Robotic grinding and polishing device

Abstract

The present invention provides a robot grinding and polishing device, which includes: at least one grinder; a visual mechanism; a ground rail walking mechanism; a robot, which is arranged on the ground rail walking mechanism, and a replacement mechanism is provided at the end of the robot's manipulator. The present invention replaces the robot's end parts by means of a replacement mechanism arranged on the robot, so as to replace the grinder or visual mechanism installed on the robot, and then install the visual mechanism or grinder on the end of the robot's manipulator; the ground rail walking mechanism drives the robot to adjust the position along the length direction and the vertical direction of the workpiece to be polished in place, so that the robot drives the visual mechanism or grinder to adjust the position along the periphery of the workpiece to be polished in combination with the posture change, so as to realize the position acquisition of the outer surface of the workpiece to be polished or the grinding and polishing of the outer surface of the workpiece to be polished.

Description

Technical Field

[0001] The invention relates to the technical field of grinding and polishing, and in particular to a robot grinding and polishing device. Background Art

[0002] After casting, the workpiece is the raw material for the grinding workpiece, which generally needs to be ground and polished. The raw material of the grinding workpiece is formed into a finished casting workpiece (finished workpiece) after grinding. Before using professional equipment for grinding, the parts need to be sorted, arranged, and positioned, and the grinding process also requires loading and unloading. Although the loading and unloading and sorting processes of casting workpieces have been automated through special machine tools, most of the grinding and polishing processes can only be completed manually.

[0003] However, casting workpieces, especially wind blades, are often complex in structure and heavy in weight, and manual grinding and polishing are labor-intensive and inefficient. Summary of the invention

[0004] In view of this, the present invention proposes a robot grinding and polishing device, aiming to solve the problem of high labor intensity and low efficiency in the existing grinding and polishing of wind energy blades.

[0005] The present invention proposes a robot grinding and polishing device, which includes: at least one grinder for grinding and polishing the outer surface of a workpiece to be grinded; a visual mechanism for performing image acquisition of the outer surface of the workpiece to be grinded to obtain the position of the outer surface of the workpiece to be grinded, so as to adjust the posture trajectory of the robot based on the position of the outer surface of the workpiece to be grinded; a ground rail walking mechanism; a robot, which is arranged on the ground rail walking mechanism, and a replacement mechanism is provided at the end of the manipulator of the robot, the replacement mechanism is used to replace the parts at the end of the manipulator, so that the visual mechanism or the grinder can be installed to the end of the manipulator, and the ground rail walking mechanism is used to drive the robot to adjust the position along the length direction and the vertical direction of the workpiece to be grinded in place, so that the robot drives the visual mechanism or the grinder to adjust the position along the outer periphery of the workpiece to be grinded in combination with the posture change, thereby realizing the position acquisition of the outer surface of the workpiece to be grinded or the grinding and polishing of the outer surface of the workpiece to be grinded.

[0006] Furthermore, in the above-mentioned robot grinding and polishing device, the ground rail walking mechanism includes: a ground rail assembly, which is used to guide the axial direction of the workpiece to be ground in place; a walking assembly, which is adjustably connected to the ground rail assembly along the length direction of the ground rail assembly; a walking drive assembly is connected to the walking assembly, which is used to drive the walking assembly to adjust its position along the length direction of the ground rail assembly; a supporting base, which is adjustably connected to the walking assembly in the vertical direction, is used to support the robot and drive the robot to adjust its position in the vertical direction, and also enables the robot to adjust its position along the length direction of the ground rail assembly with the walking assembly, thereby realizing the movement of the robot in the axial and vertical directions along the workpiece to be ground in place; the supporting base is connected to a base A driving assembly is used to drive the support base to adjust its position along the vertical direction; a horizontal position sensor is used to detect the horizontal position of the walking assembly adjusted on the ground rail assembly; the horizontal position sensor is also connected to a walking controller, which is used to receive the horizontal position detected by the horizontal position sensor, and control the walking driving assembly according to the horizontal position, so as to control the walking assembly to move forward, backward or stop; a vertical position sensor is used to detect the vertical position of the support base adjusted on the walking assembly; the vertical position sensor is also connected to the walking controller, and the walking controller is also used to receive the vertical position detected by the vertical position sensor, and control the base driving assembly according to the vertical position, so as to control the support base to move upward, downward or stop.

[0007] Furthermore, in the above-mentioned robot grinding and polishing device, a dust cover is provided on the ground rail assembly and / or the walking assembly, and the dust cover is a telescopic structure.

[0008] Furthermore, in the above-mentioned robot grinding and polishing device, the replacement mechanism includes: at least two auxiliary connecting plates, used to clamp the visual mechanism or grinder to perform image acquisition or grinding of the workpiece to be polished; a main connecting plate, arranged at the end of the robot's manipulator; a connecting component is provided on the auxiliary connecting plate, used to connect the visual mechanism or grinder; a clamping piece is provided on the auxiliary connecting plate or the connecting component, used to be clamped on the tool library; a locking assembly is arranged on the main connecting plate, used to lock or unlock the main connecting plate and the auxiliary connecting plate when any one of the auxiliary connecting plates is pressed against the connecting wall of the main connecting plate.

[0009] Furthermore, in the above-mentioned robot grinding and polishing device, a mounting column is protrudingly provided at the axial position of the main connecting plate, and a mounting groove for inserting the mounting column is recessed at the axial position of the auxiliary connecting plate; the mounting column is provided with a mounting hole along its radial direction, and the locking assembly is at least partially located in the mounting hole, and the locking assembly is adjustably connected to the mounting column along the length direction of the mounting hole, so that it is partially protruding outside the mounting hole to contact the inner side wall of the mounting groove and apply a top pressure to the inner side wall of the mounting groove, thereby realizing locking between the main connecting plate and the auxiliary connecting plate.

[0010] Furthermore, in the above-mentioned robot grinding and polishing device, an air hole is provided on the main connecting plate, which is connected to the mounting hole and is used to connect an air suction and blowing device to blow air into the mounting hole so that the locking assembly moves toward the open end of the mounting hole until a top pressure is applied to the inner wall of the mounting groove; or, air is sucked into the mounting hole so that the locking assembly moves away from the open end of the mounting hole, thereby creating a gap between the locking assembly and the inner wall of the mounting groove, thereby achieving unlocking between the main connecting plate and the auxiliary connecting plate.

[0011] Furthermore, the above-mentioned robot grinding and polishing device also includes: a tool support frame, one end of which is provided with an opening; a support plate, which is arranged inside the tool support frame, and the support plate is provided with a plurality of clamping structures for clamping and supporting the visual mechanism or the grinder to achieve temporary storage of the visual mechanism or the grinder.

[0012] Furthermore, in the above-mentioned robot grinding and polishing device, the support plate can be rotatably arranged in the tool support frame to drive the visual mechanism or grinder fixed on the support plate to rotate, so that the visual mechanism or grinder currently required to be replaced is rotated to the position to be replaced.

[0013] Furthermore, in the above-mentioned robot grinding and polishing device, a dust baffle is provided at the opening to block debris.

[0014] Furthermore, the above-mentioned robot grinding and polishing device also includes: a control mechanism, connected to the visual mechanism, for receiving the position of the outer surface of the workpiece to be ground obtained by the visual mechanism, and adjusting the posture trajectory of the robot accordingly.

[0015] The robot grinding and polishing device provided by the present invention replaces the robot's terminal parts through a replacement mechanism arranged on the robot, so as to replace the grinder or visual mechanism installed on the robot, and then install the visual mechanism or grinder on the robot's manipulator terminal; the robot is driven by a ground rail walking mechanism to adjust the position of the workpiece to be ground in place along the length direction and along the vertical direction, so that the robot drives the visual mechanism or grinder to adjust the position along the periphery of the workpiece to be ground in combination with the posture change, thereby realizing the position acquisition of the outer surface of the workpiece to be ground or the grinding and polishing of the outer surface of the workpiece to be ground, thereby solving the problem of high labor intensity and low efficiency in manual grinding and polishing of wind energy blades in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0017] Figure 1 An axonometric diagram of a robot grinding and polishing device provided in an embodiment of the present invention;

[0018] Figure 2 A schematic diagram of a partial structure of a robot grinding and polishing device provided in an embodiment of the present invention;

[0019] Figure 3 A structural block diagram of a robot grinding and polishing device provided in an embodiment of the present invention;

[0020] Figure 4 A schematic diagram of the structure of the tool library usage status provided by an embodiment of the present invention;

[0021] Figure 5 A schematic diagram of the structure of a tool library provided by an embodiment of the present invention;

[0022] Figure 6 Another structural schematic diagram of the tool library usage status provided by an embodiment of the present invention;

[0023] Figure 7 Another structural diagram of a tool library provided by an embodiment of the present invention;

[0024] Figure 8 A structural block diagram of a tool library provided by an embodiment of the present invention;

[0025] Fig. 9 A schematic diagram of the structure of a ground rail running mechanism provided by an embodiment of the present invention;

[0026] Fig.10 for Fig. 9 A partial enlarged view of the

[0027] Fig.11 A structural block diagram of a ground rail travel mechanism provided by an embodiment of the present invention;

[0028] Fig.12 Another structural block diagram of the ground rail running mechanism provided by an embodiment of the present invention;

[0029] Fig.13 A schematic diagram of the structure of a replacement mechanism provided by an embodiment of the present invention;

[0030] Fig.14 A schematic diagram of the structure of a main connection disk provided in an embodiment of the present invention;

[0031] Fig.15 A schematic structural diagram of a secondary connecting disk provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0032] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present disclosure and to be able to fully convey the scope of the present disclosure to those skilled in the art. It should be noted that, in the absence of conflict, the embodiments of the present invention and the features described in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0033] See also Figures 1 to 3 , which shows the preferred structure of the robot grinding and polishing device provided by the embodiment of the present invention. As shown in the figure, the device includes: at least one grinder 1, a visual mechanism 2, a tool library 3, a ground rail walking mechanism 4, a robot 5, a replacement mechanism 6 and a control mechanism 7; wherein,

[0034] Each grinder 1 is used for grinding and polishing the outer surface of the workpiece 8 to be grinded. Specifically, in order to facilitate the replacement of the grinder, the grinder 1 can be set to multiple, and each grinder 1 can be the same grinder, so that the grinder 1 can be replaced when the grinder is damaged or the grinding time reaches its effective time limit, thereby ensuring the quality of grinding; of course, it can also be different grinders so that according to the grinding process requirements, a grinder that can grind different roughnesses can be selected, and it can also be a combination type, that is, some of them are the same grinders, and the other part of the grinders are different. The workpiece 8 to be polished can be a large curved surface part such as an automobile sheet metal part, a wind turbine blade or an aircraft blade, or it can be other parts, which is not limited in this embodiment; the outer surface of the workpiece 8 to be polished can be a curved surface structure, or it can be other structures, which is not limited in this embodiment.

[0035] The visual mechanism 2 is used to perform image acquisition of the outer surface of the workpiece 8 to be polished to obtain the position of the outer surface of the workpiece 8 to be polished, so as to adjust the posture trajectory of the robot 5 based on the position of the outer surface of the workpiece to be polished for polishing. Specifically, the visual mechanism 2 performs photography, i.e., image acquisition, and analyzes the position of the outer surface of the workpiece 8 to be polished according to the acquired image, so that the robot adjusts the posture trajectory of the robot 5 according to the position of the outer surface of the workpiece 8 to be polished, switches the grinder 1, and performs polishing of the workpiece 8 to be polished.

[0036] The tool library 3 is used to store the grinder 1 and the visual mechanism 2, so that the robot 5 can replace the grinder 1 and the visual mechanism 2 according to the needs. Specifically, the tool library 3 can be set on the ground rail walking mechanism 4, or can be set at other locations, which is not limited in this embodiment.

[0037] The ground rail walking mechanism 4 is used to support the robot 5 and drive the robot 5 along the axial direction of the workpiece 8 to be polished (such as Figure 1 horizontal direction as shown) and vertical direction (relative to Figure 1 Specifically, in order to facilitate the grinding of the workpiece 8 to be polished, a support frame (not shown in the figure) can be provided to support the workpiece 8 to be polished, so that the workpiece 8 to be polished is arranged horizontally at the position to be polished, that is, the length direction of the workpiece 8 to be polished is arranged horizontally, so as to facilitate the grinding of the outer surface of the workpiece 8 to be polished. The ground rail walking mechanism 4 can be arranged along the length direction of the workpiece 8 to be polished in place, so as to drive the robot 5 to adjust the position along the length direction and the vertical direction of the workpiece 8 to be polished in place, that is, to adjust the position of the robot 5 along the length direction and the vertical direction of the workpiece 8 to be polished in place.

[0038] The robot 5 is arranged on the ground rail walking mechanism 4, and the end of the robot 5 is provided with a replacement mechanism 6, which is used to replace the parts of the end of the robot 5, so that the visual mechanism 2 or the grinder 1 is installed at the end of the robot 5. The ground rail walking mechanism 4 drives the robot 5 to adjust the position along the length direction and the vertical direction of the workpiece 8 to be polished in place, so that the adjustment of the overall position of the robot 5 combined with its own posture trajectory drives the visual mechanism 2 or the grinder 1 to adjust the position along the periphery of the workpiece 8 to be polished, thereby realizing the position acquisition of the outer surface of the workpiece 8 to be polished or the polishing of the outer surface of the workpiece 8 to be polished. Specifically, the robot 5 can be a six-axis robot, for example, it can be an M-20iA / 35M robot, or it can be other robots, which are not limited in this embodiment. The robot 5 can adjust the position under the action of the ground rail walking mechanism, and can change the posture at the same position in combination with its own posture trajectory to perform image acquisition or polishing of different positions of the outer surface of the workpiece 8 to be polished, thereby realizing image acquisition or polishing of all positions of the outer surface of the workpiece 8 to be polished. In this embodiment, one robot 5 is provided on the ground rail traveling mechanism 4 for illustration. Of course, a plurality of robots 5 may also be provided on the ground rail traveling mechanism 4 so as to perform grinding and image acquisition simultaneously.

[0039] The end of the manipulator of the robot 5 may also be provided with an end floating compensation mechanism (not shown in the figure) to drive the parts, especially the grinder 1, disposed at the end of the manipulator to float in multiple directions, so as to ensure that the grinder 1 grinds the outer surface of the workpiece 8 to be polished with a constant grinding force and a constant position when the outer surface of the workpiece 8 to be polished is polished at the same position, and the constant grinding force at each position of the outer surface of the workpiece 8 to be polished can be ensured, thereby ensuring the polishing accuracy of the outer surface of the workpiece 8 to be polished. Among them, the end floating compensation mechanism can be disposed between the end of the manipulator and the main connecting plate 61 of the replacement mechanism 6, so as to adjust the position of the main connecting plate 61, and then perform floating constant force grinding adjustment on the grinder 1 connected to the auxiliary connecting plate 62, so as to automatically compensate for the trajectory error during grinding, so that the grinder outputs a constant grinding force. A grinding sensor may be provided on the grinder 1 to detect the grinding force applied by the grinder to the workpiece 8 to be grinded during grinding, and send the grinding force to the control mechanism 7. When the grinding force is less than a threshold value, the control mechanism 7 controls the terminal floating compensation mechanism to adjust the position of the grinder 1, so that the grinder 1 applies a constant force to the workpiece 8 to be grinded, so as to perform grinding compensation in both positive and negative directions (i.e., toward the workpiece to be grinded and away from the workpiece to be grinded), so as to accurately control the grinding position and contact pressure of the grinding robot, which can fundamentally solve the jamming phenomenon in the grinding process, and can also provide feedback control to ensure that the contour after grinding meets the standard accuracy requirements of the workpiece, and completely solve the problems of grinding inconsistency, excessive grinding or insufficient grinding caused by workpiece size errors or process differences.

[0040] The control mechanism 7, the ground rail walking mechanism 4, and the robot 5 are used to determine the position adjustment route and the posture trajectory of the robot 5 that the ground rail walking mechanism 4 drives the robot 5 to adjust the position according to the preliminary three-dimensional model of the workpiece to be polished and the intended position of the workpiece 8 to be polished, and control the operation of the ground rail walking mechanism 4 and the posture change of the manipulator based on the adjustment route of the ground rail walking mechanism 4 and the posture trajectory of the robot 5, so as to achieve the position adjustment of the visual mechanism set at the end of the manipulator and complete the acquisition of the position of the outer surface of the workpiece to be polished 8. Specifically, in this embodiment, according to the length and height of the workpiece to be polished 8 in place, the workpiece to be polished in place can be segmented along the length direction and along the vertical direction of the workpiece to be polished in place, so that at different stop positions in the length direction of the workpiece to be polished in place and different stop positions in the vertical direction, through the posture change of the manipulator, the corresponding outer surface of the workpiece to be polished 8 at the stop position of the robot 5 is imaged, thereby achieving the acquisition of all images of the outer surface of the workpiece to be polished 8. The control mechanism can determine the outer surface model parameters of the workpiece 8 to be polished according to the imported three-dimensional model, determine and determine the adjustment route of the ground rail walking mechanism 4 in combination with the intended position of the workpiece 8 to be polished, that is, the different stop positions corresponding to the robot 5 and the posture trajectory of the robot 5 corresponding to each stop position of the robot 5. The control mechanism 7 is also used to determine the replacement posture trajectory according to the position of the tool library 3, so as to perform corresponding posture changes based on the replacement posture trajectory after image acquisition and / or polishing, so as to replace the visual mechanism or the grinder.

[0041] The control mechanism 7 is also connected to the visual mechanism 2, and is used to receive the position of the outer surface of the workpiece 8 to be polished obtained by the visual mechanism 2, and adjust the posture trajectory of the robot 5 accordingly, and control the operation of the ground rail walking mechanism 4 and the posture change of the manipulator based on the position adjustment route of the ground rail walking mechanism 4 and the adjusted posture trajectory of the robot 5, so that the grinder set at the end of the manipulator is adjusted in position to complete the polishing of the outer surface of the workpiece 8 to be polished. Specifically, the control mechanism receives the position of the outer surface of the workpiece 8 to be polished obtained by the visual mechanism 2, analyzes and determines the actual three-dimensional model of the workpiece 8 to be polished and the actual outer surface parameters, judges the deviation between the actual outer surface parameters and the outer surface model parameters, and adjusts the posture trajectory of the robot 5 accordingly, and then controls the operation of the ground rail walking mechanism 4 and the posture change of the manipulator according to the position adjustment route of the ground rail walking mechanism 4 and the adjusted posture trajectory of the robot 5 during polishing, thereby achieving the polishing of the outer surface of the workpiece 8 to be polished.

[0042] See also Figures 4 to 7 , which shows the preferred structure of the tool library provided by the embodiment of the present invention. As shown in the figure, the tool library 3 includes: a tool support frame 31 and a support plate 32; wherein,

[0043] An opening 311 is provided on one side of the tool support frame 31. Specifically, the tool support frame 31 is a shell structure or a box structure with a hollow interior and an open end, so that the manipulator of the robot 5 can extend into the tool support frame 31 to replace the visual mechanism 2 or the grinder 1 disposed in the tool support frame 31.

[0044] The support plate 32 is arranged inside the tool support frame 31, and is used to clamp the visual mechanism 2 and the grinder 1. Specifically, the support plate 32 can be arranged inside the tool support frame 31, and is used to realize the support clamping of the visual mechanism 2 or the grinder 1, so as to realize the fixation of the visual mechanism 2 or the grinder 1, that is, temporary storage, and thus facilitate the replacement of parts on the end of the manipulator of the robot 5. Preferably, a clamping structure 321 can be provided on the support plate 32, which is used to clamp the visual mechanism 2 or the grinder 1; in this embodiment, the clamping structure can be an arc groove structure, so that the connecting component 63 connected to the visual mechanism 2 or the grinder 1 is clamped at the arc groove structure, and the clamping support of each connecting component is realized, so as to realize the fixation of the visual mechanism 2 or the grinder 1; preferably, the arc groove structure is opened upward, so that the connecting component 63 is clamped into the arc groove structure from the opening, and the support and limitation of the connecting component 63 are realized by the support plate 32. In this embodiment, the visual mechanism 2 or the grinder 1 is connected to the auxiliary connecting plate 62 of the replacement mechanism 6 through a connecting assembly 63, so that the three form an integrated connection structure, and then the main connecting plate 61 of the replacement mechanism 6 disposed at the end of the manipulator of the robot 5 is replaced with a different auxiliary connecting plate 62 to achieve the replacement of the visual mechanism 2 or the grinder 1, so that the visual mechanism 2 or the grinder 1 is installed at the end of the manipulator and moves with the end of the manipulator; the auxiliary connecting plate 62 can also be fixed by the fixing of the connecting assembly 63, so that the visual mechanism 2 or the grinder 1 can be fixed, that is, temporarily stored. There are at least two of the fixing mechanisms, so that the temporary storage of a grinder 1 and the visual mechanism 2 can be achieved at the same time, so as to achieve the replacement between the grinder 1 and the visual mechanism 2. Of course, there can also be multiple fixing mechanisms, so as to achieve the temporary storage of the visual mechanism 2 and multiple grinders 1.

[0045] To prevent dust or grinding dust from falling onto the visual mechanism 2 or the grinder 1 stored in the tool support frame 31 , a dust shield (not shown) is provided at the opening 311 to block debris from entering the tool support frame 31 . Specifically, one end of the dust baffle can be hinged on a first side of the opening 311 of the tool support frame 31, and the other end of the dust baffle can be detachably connected to the second side of the opening 311 so as to be opened and replaced when the visual mechanism 2 and the grinder 1 are replaced; preferably, the dust baffle and the opening 311 can be connected through an opening and closing assembly to drive the opening and closing of the dust baffle, thereby realizing the automatic opening and closing of the dust baffle; further preferably, the control mechanism is also connected to the opening and closing assembly, and is used to control the operation of the opening and closing assembly according to the position change and posture change of the robot 5 before replacing the grinder 1 or the visual mechanism 2, so as to drive the dust baffle to open, so as to avoid the dust baffle interfering with the replacement of the end parts of the manipulator, and after the replacement is completed, the control mechanism controls the operation of the opening and closing assembly to drive the dust baffle to close, so as to achieve a dustproof effect.

[0046] Continue to see Figure 4 and Figure 5 In one implementation of the tool library 3 in the present embodiment, the support plate 32 can be a square plate structure, which is vertically arranged in the tool support frame 31, and the clamping structure 321 is arranged side by side along the length direction of the support plate 32 to realize the bottom support and limitation of multiple connecting components 63, thereby facilitating the installation and removal of the connecting components 63 on the support plate 32, and then facilitating the installation and removal of the visual mechanism 2 and the grinder 1, thereby facilitating the replacement of the visual mechanism 2 and the grinder 1 on the robot 5.

[0047] Continue to see Figures 6 to 8In another implementation of the tool library 3 in the present embodiment, the support plate 32 may be a circular plate structure, which is rotatably disposed in the tool support frame 31, as a multi-station rotating storage plate, to drive the visual mechanism 2 or grinder 1 fixed on the support plate 32 to rotate, so that the visual mechanism 2 or grinder 1 currently required to be replaced is rotated to the position to be replaced, thereby facilitating the replacement of the visual mechanism 2 or grinder 1. Preferably, the support plate 32 may be connected to a rotating motor 33 to drive the support plate 32 to rotate. Among them, at least two clamping members 34 may be provided on the support plate 32, and the clamping members 34 may be arranged on the outer wall of the support plate 32 along the circumference of the support plate 32, and the clamping members 34 may be a vertically arranged clamping plate, and a circular arc groove structure with an opening facing upward is provided on the top thereof, so as to realize the clamping and limiting of the connecting component 63 as a clamping structure. In this embodiment, a turntable position sensor 35 may also be provided on the tool support frame 31 to detect the support plate 32 and obtain the position information of the visual mechanism 2 or grinder 1 currently required to be replaced on the support plate 32; the turntable position sensor 35 is connected to a rotation controller 36, which is used to receive the position information of the visual mechanism 2 or grinder 1 currently required to be replaced detected by the turntable position sensor 35, determine whether the visual mechanism 2 or grinder 1 currently required to be replaced is in the position to be replaced according to the position information of the visual mechanism 2 or grinder 1 currently required to be replaced, and obtain the replacement position result; when the replacement position result shows that the visual mechanism 2 or grinder 1 currently required to be replaced is not in the position to be replaced, control the support plate 32 to rotate so that the support plate 32 drives the visual mechanism 2 or grinder 1 currently required to be replaced to rotate to the position to be replaced. Preferably, the rotation controller 36 is also used to rotate the visual mechanism 2 or grinder 1 currently required to be replaced to the position to be replaced according to the rotation direction and rotation angle of the support plate 32. Further preferably, the rotation controller 36 is also connected to the rotation motor 33, and is used to determine the rotation direction and number of rotations of the rotation motor 33 according to the rotation direction and rotation angle of the support plate 32, and determine the driving instruction according to the rotation direction and number of rotations of the rotation motor 33 and send it to the rotation motor 33, so that the rotation motor 33 rotates according to the driving instruction, and drives the visual mechanism 2 or grinder 1 that needs to be replaced to rotate to the position to be replaced. Further preferably, the rotation controller 36 is also used to determine the rotation direction and number of rotations of the rotation motor 33 according to the rotation direction and rotation angle of the support plate 32, and determine the driving instruction according to the rotation direction and number of rotations and send it to the rotation motor 33, so that the rotation motor 33 rotates according to the driving instruction, and drives the support plate 32 to rotate to the position to be replaced. Of course, the rotation controller 36 can be set independently, or it can be incorporated into the control mechanism 7, and there is no limitation on it in this embodiment.

[0048] See also Figure 1 , Figures 9 to 12, which shows the preferred structure of the ground rail running mechanism provided by the embodiment of the present invention. As shown in the figure, the ground rail running mechanism 4 includes: a ground rail assembly 41, a running assembly 42 and a support base 43; wherein,

[0049] The ground rail assembly 41 is used to guide the workpiece 8 to be polished in the axial direction. Specifically, the ground rail assembly 41 can be arranged along the axial direction of the workpiece 8 to be polished in place to guide the walking assembly 42 in the axial direction of the workpiece 8 to be polished in place, so that the walking assembly 42 can be adjusted in position along the length direction of the ground rail assembly 41, and then the walking assembly 42 can be adjusted in position along the axial direction of the workpiece 8 to be polished in place. In other words, the ground rail assembly 41 serves as an axial guide rail for the workpiece 8 to be polished in place to guide the adjustment of the position of the walking assembly 42 along the axial direction of the workpiece 8 to be polished in place. Preferably, a groove structure is provided on the top of the ground rail assembly 41 to guide through the protrusions on both sides, and the internal groove is used as a reserved space for arranging the communication line. A gear rack mechanism can also be arranged to reduce the overall occupied space of the device, and the gear rack mechanism is arranged in the ground rail assembly 41, and can be protected by a dust cover 49 provided on the outer cover of the ground rail assembly 41.

[0050] The running assembly 42 is disposed on the ground rail assembly 41, and the running assembly 42 is arranged along the length direction of the ground rail assembly 41 (eg Fig. 9The walking assembly 42 is connected to the ground rail assembly 41 in an adjustable position (in the vertical direction shown). Specifically, the walking assembly 42 is slidably connected to the ground rail assembly 41 along the length direction of the ground rail assembly 41, or a roller is provided at the bottom of the walking assembly 42 and connected to the ground rail assembly 41 in a rolling connection manner, so as to achieve the position adjustment of the walking assembly 42 along the length direction of the ground rail assembly 41; at the same time, the walking assembly 42 also serves as a guide rail in the vertical direction to guide the position of the support base 43 in the vertical direction. Among them, the walking assembly 42 can be vertically arranged on the ground rail assembly 41 to achieve the guidance of the support base 43 in the vertical direction. In order to achieve the position adjustment of the walking assembly 42 along the length direction of the ground rail assembly 41, preferably, a walking drive assembly 44 is connected to the walking assembly 42, which is used to drive the walking assembly 42 to adjust its position along the length direction of the ground rail assembly 41, for example, the walking assembly 42 can be driven to slide along the length direction of the ground rail assembly 41 or the roller at the bottom of the walking assembly 42 can be driven to roll, so as to drive the walking assembly 42 to walk along the length direction of the ground rail assembly 41. Among them, the tool library 3 can be set on the walking component 42, so that the tool library 3 and the robot 5 can move synchronously with the walking component 42 along the length direction of the ground rail component 41, that is, along the length direction of the ground rail component 41, the tool library 3 and the robot 5 are located at the same position, so as to facilitate the replacement of the grinder 1 or the visual mechanism 2 on the robot 5. In this embodiment, the walking component 42 can also be an internal hollow shell structure for installing the support control mechanism 7 and / or other components such as various controllers. Preferably, a groove structure is provided on the top of the walking component 42 to guide through the protrusions on both sides, and the internal groove is used as a reserved space for arranging the communication line. A gear rack mechanism can also be arranged to reduce the overall occupied space of the device, and the gear rack mechanism is arranged in the walking component 42, and can be protected by a dust cover 49 provided on the outer cover of the walking component 42.

[0051] The support base 43 is arranged in a vertical direction (relative to Fig. 9The support base 43 is connected to the walking assembly 42 in an adjustable position (for the position shown), used to support the robot 5 and drive the robot 5 to adjust its position in the vertical direction, and also enables the robot 5 to adjust its position along the length direction of the ground rail assembly 41 along the walking assembly 42, thereby realizing the movement of the robot 5 along the axial and vertical directions of the workpiece 8 to be polished in place, thereby enabling the robot 5 to perform image acquisition and polishing of the entire outer surface of the workpiece 8 to be polished in combination with its own posture changes. Specifically, the support base 43 can be slidably connected to the walking assembly 42 in the vertical direction to drive the robot 5 to move in the vertical direction to adjust the height position of the fixed part of the robot 5; at the same time, the support base 43 also adjusts its position along the length direction of the ground rail assembly 41 along the walking assembly 42, thereby driving the robot 5 to move along the length direction of the ground rail assembly 41, that is, the axial direction of the workpiece 8 to be polished, to realize the horizontal direction of the fixed part of the robot 5, especially the axial position of the workpiece 8 to be polished. In order to achieve the position adjustment of the support base 43 in the vertical direction, preferably, a base driving assembly 45 is connected to the support base 43, which is used to drive the support base 43 to adjust its position along the length direction of the walking assembly 42, that is, the vertical direction. For example, the support base 43 can be driven to slide along the length direction of the support base 43.

[0052] The ground rail assembly 41 may be provided with a horizontal position sensor 46 for detecting the horizontal position of the walking assembly 42 adjusted on the ground rail assembly 41; the horizontal position sensor 46 is also connected to a walking controller 48 for receiving the horizontal position detected by the horizontal position sensor 46, and controlling the walking drive assembly 44 according to the horizontal position, especially controlling the forward drive, reverse drive or stop drive of the walking drive assembly 44, and then controlling the forward, backward or stop movement of the walking assembly 42. Specifically, the walking controller 48 is also used to control the walking drive assembly 44 so that the walking assembly 42 walks in sections along the length direction of the ground rail assembly 41 and stops at the connection point of the horizontal section, so that the robot 5 can grind and polish or collect images of the corresponding horizontal section of the workpiece 8 to be polished at the same horizontal position through vertical position adjustment and the posture change of the robot 5 itself. For example, the axial direction of the workpiece 8 to be polished can be divided into three sections, each section corresponds to a horizontal section connection point on the ground rail assembly 41, that is, the ground rail assembly 41 can have three horizontal section connection points, so that the walking assembly 42 gradually stops at each horizontal section connection point, and at this position, the image acquisition and polishing of the corresponding section of the workpiece 8 to be polished are performed in combination with the vertical position of the support base 43 and the posture change of the robot 5 itself. The horizontal position sensor 46 can be a plurality of walking position sensors, which correspond to the sections of the workpiece 8 to be polished, that is, the number of horizontal section connection points on the ground rail assembly 41, to detect whether the walking assembly 42 has reached the corresponding horizontal section connection point and obtain the walking result. The walking controller 48 is used to receive the walking results detected by each walking position sensor. When the walking result shows that the walking assembly 42 has reached the corresponding horizontal section connection point, the walking controller 48 controls the walking drive assembly 44 to stop driving, so that the walking assembly 42 stops walking, and then the walking assembly 42 stops at the corresponding horizontal section connection point. Of course, there may be multiple walking components 42 that are respectively arranged at the connection points of each horizontal section, each of which is provided with a slidable support base and a robot to grind and polish the corresponding horizontal section of the workpiece 8 to be grinded.

[0053] The travel drive assembly 44 may be provided with a vertical position sensor 47 for detecting the vertical position of the support base 43 adjusted on the travel assembly 42; the travel controller 48 is also connected to the vertical position sensor 47, for receiving the vertical position detected by the vertical position sensor 47, and controlling the base drive assembly 45 according to the vertical position, especially controlling the forward drive, reverse drive or stop drive of the base drive assembly 45, and then controlling the upward movement, downward movement or stop movement of the support base 43. Specifically, the travel controller 48 is also used to control the base drive assembly 45, so that the support base 43 can travel in sections along the length direction of the travel assembly 42 and stop at the vertical section connection point, so that the robot 5 stops at the same vertical position and the same horizontal position, and the corresponding vertical section of the same horizontal position of the workpiece 8 to be polished is polished or imaged in combination with the posture change of the robot 5 itself. For example, the workpiece 8 to be polished can be divided into three sections along the vertical direction, and each section corresponds to a vertical section connection point on the walking component 42, that is, the walking component 42 can have three vertical section connection points, so that the support base 43 gradually stops at each vertical section connection point, and at this position, combined with the posture change of the robot 5 itself, the image acquisition and polishing of the same horizontal section and the same vertical corresponding section on the workpiece 8 to be polished are performed. Of course, for the same vertical section connection point on the same walking component 42, the walking drive component 44 can control the walking component 42 to drive the robot 5 to walk to the next horizontal section connection point, so as to perform image acquisition and polishing of the vertical corresponding section on the next horizontal section of the workpiece 8 to be polished. The vertical position sensor 47 can be a plurality of base in-position sensors, which correspond one to one with the sections of the workpiece 8 to be polished in the vertical direction, that is, the number of vertical section connection points on the walking component 42, so as to detect whether the support base 43 reaches the corresponding vertical section connection point and obtain the base movement result. The travel controller 48 is used to receive the base movement results detected by each base in-position sensor. When the base movement results show that the support base 43 reaches the corresponding vertical segment connection point, the travel controller 48 controls the base drive assembly 45 to stop moving so that the support base 43 stops moving, and then the support base 43 stops at the corresponding vertical segment connection point.

[0054] Continue to see Figures 9 and 10, a dust cover 49 is provided on the ground rail assembly 41 and / or the travel assembly 42 to prevent dust or grinding dust from falling onto the ground rail assembly 41 and / or the travel assembly 42, thereby preventing the position adjustment of the travel assembly 42 and / or the support base 43 from being blocked. Specifically, the provision of the dust cover 49 can prevent dust or grinding dust from falling onto the ground rail assembly 41 and / or the travel assembly 42, and in particular, can prevent dust or grinding dust from falling onto the guide rails of the ground rail assembly 41 and / or the travel assembly 42, thereby preventing dust or grinding dust from blocking the movement of the travel assembly 42 and / or the support base 43. At the same time, it can also prevent dust or grinding dust from falling onto the transmission parts of the travel drive assembly 44 and / or the base drive assembly 45 embedded in the ground rail assembly 41 and / or the travel assembly 42, thereby preventing dust or grinding dust from interfering with the movement of the travel drive assembly 44 and / or the base drive assembly 45. In this embodiment, there can be two dust covers 49 on the floor rail assembly 41, which are respectively arranged on both sides of the walking assembly 42 to cover the floor rail assembly 41 on both sides of the walking assembly 42, and each section of the dust cover 49 is a telescopic structure to be telescopic with the movement of the walking assembly 42 along the length direction of the floor rail assembly 41; there are also two dust covers 49 on the walking assembly 42, which are respectively arranged on both sides of the supporting base 43 to cover the walking assembly 42 on both sides of the supporting base 43, and each section of the dust cover 49 is a telescopic structure to be telescopic with the movement of the supporting base 43 along the length direction of the walking assembly 42.

[0055] Continue to see Figures 9 and 10 The support base 43 can be an L-shaped structure or an inverted L-shaped structure, and its first connecting plate can be slidably connected to the guide rail of the walking component 42, and the second connecting plate is used to support the robot 5 so that the fixed part of the robot 5 is fixed to the second connecting plate by bolts or other connecting methods.

[0056] In this embodiment, the travel drive assembly 44 and / or the base drive assembly 45 both include: a drive motor and a transmission member; wherein the power input end of the transmission member is connected to the drive motor, and is used to convert the rotation of the drive motor into the reciprocating linear motion of the travel assembly 42 along the length direction of the ground rail assembly 41 or the reciprocating linear motion of the support base 43 along the length direction of the travel assembly 42. Specifically, the transmission member can be a gear rack mechanism or a ball screw mechanism. In this embodiment, the gear rack mechanism is used as an example for explanation. The drive motor of the travel drive assembly 44 can be arranged on the travel assembly 42, and the gear of the gear rack mechanism is connected to the drive motor of the travel drive assembly 44 to rotate with the drive motor of the travel drive assembly 44; the rack of the gear rack mechanism is arranged on the travel drive assembly 44 to drive the travel assembly 42 to reciprocate linear motion along the length direction of the rack. Among them, the gear rack mechanism can be arranged in the groove of the ground rail assembly 41 to save space and can be protected by the dust cover 49 arranged at the opening of the groove of the ground rail assembly 41. The structure of the base drive assembly 45 can be the same as that of the travel drive assembly 44, and the relevant parts between the two can be referenced to each other.

[0057] See also Figures 13 to 15 , which shows the preferred structure of the replacement mechanism provided by the embodiment of the present invention. As shown in the figure, the replacement mechanism 6 includes: a main connection disk 61 and at least two auxiliary connection disks 62; wherein,

[0058] At least two auxiliary connection plates 62 are used to clamp the visual mechanism 2 or the grinder 1 to perform image acquisition or grinding of the workpiece 8 to be polished. Specifically, there can be at least two auxiliary connection plates 62, one of which has the visual mechanism 2 clamped thereon, and the other auxiliary connection plates 62 have the grinder 1 clamped thereon. In order to facilitate the installation of the visual mechanism 2 or the grinder 1 on the auxiliary connection plates 62, preferably, a connecting component 63 is provided on the auxiliary connection plates 62, which is used to connect the visual mechanism 2 or the grinder 1, and then install the visual mechanism 2 or the grinder 1 on the auxiliary connection plates 62, and then replace the auxiliary connection plates 62 connected to the main connection plates 61, that is, replace the visual mechanism 2 or the grinder 1 connected to the main connection plates 61 by replacing different auxiliary connection plates 62; one end of the connecting component 63 is connected to the auxiliary connection plates 62, and the other end is connected to the visual mechanism 2 or the grinder 1. Preferably, the connecting component 63 and the auxiliary connecting plate 62 are detachably connected to each other so as to realize the replacement of the connecting component 63 connected to the auxiliary connecting plate 62. When the grinder 1 used on the connecting component 63 is damaged, other connecting components 63 connected to the auxiliary connecting plate 62 with qualified grinders can be replaced, thereby increasing the service life of the auxiliary connecting plate 62.

[0059] The main connection disk 61 is arranged on the end of the manipulator of the robot 5. Specifically, the main connection disk 61 can be arranged on the end of the manipulator of the robot 5, so that the position of the main connection disk 61 can be adjusted by changing the posture of the robot 5, thereby driving the main connection disk 61 to move to the tool library 3, replacing the auxiliary connection disk 62, and also allowing the visual mechanism 2 or the grinder 1 on the replaced auxiliary connection disk 62 to move accordingly.

[0060] The main connection plate 61 is provided with a locking assembly 65 for pressing any auxiliary connection plate 62 against the connection wall surface (such as Fig.13 The main connection disk 61 and the auxiliary connection disk 62 are locked when the main connection disk 61 and the auxiliary connection disk 62 are connected. Specifically, there can be multiple locking components 65 and they can be evenly arranged along the circumference of the main connection disk 61, so that the main connection disk 61 and the auxiliary connection disk 62 pressed on the main connection disk 61 can be connected through one or more locking components 65, so as to achieve the locking between the main connection disk 61 and the auxiliary connection disk 62. At the same time, the locking component 65 can also achieve the unlocking between the main connection disk 61 and the auxiliary connection disk 62, so as to connect the main connection disk 61 with other auxiliary connection disks 62, and then achieve the replacement of the auxiliary connection disk 62, so as to replace different or the same grinder 1, and also achieve the replacement between the visual mechanism 2 and the grinder 1, so as to perform grinding and polishing or replace the visual mechanism 2 for image acquisition.

[0061] The auxiliary connection plate 62 or the connection assembly 63 may be provided with a fastening member 64 for fastening to the tool magazine 3 to store the auxiliary connection plate 62 and the visual mechanism 2 or the grinder 1 provided on the auxiliary connection plate 62. Specifically, the fastening member 64 may be provided on a side of the connection assembly 63 away from the auxiliary connection plate 62 (e.g. Fig.13 The clamping member 64 is provided with a limiting groove 641 to be clamped and limited to the support plate 32 of the tool magazine 3, that is, supported on the clamping structure 321 by the bottom wall of the limiting groove 641, and the side walls of the limiting groove 641 are used to limit the two sides of the support plate 32, so that the limiting groove 641 is clamped and limited to the support plate 32. Among them, the clamping member 64 can be fixedly connected to the auxiliary connecting plate 62 by screws penetrating the clamping member 64 and the connecting assembly, and of course, it can also be connected by other connection methods, which are not limited in this embodiment.

[0062] See also Fig.14, which is a schematic diagram of the structure of the main connecting disk provided by an embodiment of the present invention. As shown in the figure, a mounting column 611 is convexly provided at the axial position of the main connecting disk 61, and the mounting column 611 may also be multiple; a guiding and positioning structure 612 may also be provided on the main connecting disk 61, which is used to guide and position the approaching movement of the auxiliary connecting disk 62, so that the auxiliary connecting disk 62 is pressed against the connecting wall surface of the main connecting disk 61, and the auxiliary connecting disk 62 and the main connecting disk 61 are coaxially arranged and avoid relative rotation between the two, thereby ensuring that the auxiliary connecting disk 62 is installed to the relative installation position between the main connecting disk 61, thereby ensuring that the grinder 1 or the visual mechanism 2 is installed to the relative installation position at the end of the manipulator, thereby realizing grinding or image acquisition through the grinder 1 or the visual mechanism 2. Among them, the mounting column 611 may be a frustum-shaped structure to guide the installation of the auxiliary connecting disk 62; of course, it may also be other structures, which are not limited in this embodiment.

[0063] See also Fig.15 , which is a schematic diagram of the structure of the secondary connection disk provided by an embodiment of the present invention. As shown in the figure, a mounting groove (not shown in the figure) is recessed at the axial position of the secondary connection disk 62, so that the mounting column 611 can be inserted into the mounting groove to ensure the axial positioning of the main connection disk 61 and the secondary connection disk 62, that is, to ensure that the main connection disk 61 and the secondary connection disk 62 are coaxially arranged; the locking components 65 on the mounting column 611 can be arranged along the radial direction of the mounting column 611, so that the locking components 65 can apply a top pressure to the inner side wall of the mounting groove to achieve locking between the main connection disk 61 and the secondary connection disk 62.

[0064] In this embodiment, the mounting post 611 is provided with a mounting hole along its radial direction, and the locking assembly 65 can be at least partially connected to the mounting hole in an adjustable position along the length direction of the mounting hole; the mounting hole can be connected with an air hole 613 for connecting an air suction and blowing device to blow air into the mounting hole so that the locking assembly 65 moves toward the open end of the mounting hole until the locking assembly 65 is partially protruded outside the mounting hole and contacts the inner side wall of the mounting groove and applies a top pressure to the inner side wall of the mounting groove; or, the mounting hole is suctioned so that the locking assembly 65 moves away from the open end of the mounting hole, thereby allowing a gap to exist between the locking assembly 65 and the inner side wall of the mounting groove. Preferably, the locking assembly 65 is a ball structure, and a top pressure groove is provided on the inner side wall of the mounting groove, which is adapted to the outer surface of the ball structure, so that the ball structure and the clamping structure are completely fitted, thereby increasing the contact area between the two, thereby increasing the top pressure applied by the locking assembly 65 to the inner side wall of the mounting groove. The top-pressing groove may be an arcuate spherical structure matched with the ball or an arcuate cylinder matched with the ball arranged along the axial direction of the auxiliary connecting plate 62; the arcuate spherical structure may further limit the position between the ball and the mounting groove.

[0065] Continue to see Fig.13The connecting assembly 63 includes: a first connecting plate 631 and a second connecting plate 632; wherein, the first connecting plate 631 and the second connecting plate 6321 are arranged at an angle, the first connecting plate 631 is used to connect to the auxiliary connecting plate 62, and the second connecting plate 632 is used to clamp the grinder 1 or the visual mechanism 2. The angle between the two can avoid interference between the grinder 1 or the visual mechanism 2 and the auxiliary connecting plate 62, and at the same time, the clamping member 64 can be given way so that the clamping member 64 can be clamped to the support plate 32.

[0066] In this embodiment, each component such as the grinder 1, the visual mechanism 2, the tool library 3, the ground rail walking mechanism 4, the robot 5, and the replacement mechanism 6 can be provided in two sets, which are respectively arranged on both sides of the workpiece 8 to be grinded, so as to respectively perform image acquisition or grinding and polishing on the outer surfaces on both sides of the workpiece 8 to be grinded.

[0067] In summary, the robot grinding and polishing device provided in this embodiment replaces the end parts of the robot 5 through a replacement mechanism arranged on the robot 5, so as to replace the grinder 1 or the visual mechanism 2 installed on the robot 5, and then the visual mechanism 2 or the grinder 1 is installed on the end of the manipulator of the robot 5; the robot 5 is driven by the ground rail walking mechanism 4 to adjust the position along the length direction and the vertical direction of the workpiece 8 to be grinded in place, so that the robot drives the visual mechanism 2 or the grinder 1 to adjust the position along the periphery of the workpiece 8 to be grinded in combination with the posture change, thereby realizing the position acquisition of the outer surface of the workpiece 8 to be grinded or the grinding and polishing of the outer surface of the workpiece 8 to be grinded.

[0068] It should be noted that, in the description of the present invention, terms such as "up", "down", "left", "right", "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is merely for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0069] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0070] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A robot grinding and polishing device, characterized in that: include: at least one grinder for grinding and polishing the outer surface of the workpiece to be ground; A visual mechanism, used for performing image acquisition of the outer surface of the workpiece to be polished to obtain the position of the outer surface of the workpiece to be polished, so as to adjust the posture trajectory of the robot based on the position of the outer surface of the workpiece to be polished; Ground rail running mechanism; A robot is arranged on the ground rail walking mechanism, and a replacement mechanism is provided at the end of the manipulator of the robot, the replacement mechanism is used to replace the parts at the end of the manipulator, so that the visual mechanism or the grinder is installed at the end of the manipulator, and the ground rail walking mechanism is used to drive the robot to adjust the position along the length direction and the vertical direction of the workpiece to be polished in place, so that the robot drives the visual mechanism or the grinder to adjust the position along the periphery of the workpiece to be polished in combination with the posture change, thereby realizing the position acquisition of the outer surface of the workpiece to be polished or the polishing of the outer surface of the workpiece to be polished; The control mechanism is connected to the ground rail walking mechanism and the robot respectively, and is used to determine the position adjustment route and the posture trajectory of the robot driven by the ground rail walking mechanism to adjust the position of the robot according to the preliminary three-dimensional model of the workpiece to be polished and the pre-positioned position of the workpiece to be polished, and control the operation of the ground rail walking mechanism and the posture change of the manipulator based on the adjustment route of the ground rail walking mechanism and the posture trajectory of the robot, so as to achieve the position adjustment of the visual mechanism arranged at the end of the manipulator and complete the acquisition of the position of the outer surface of the workpiece to be polished; the control mechanism is also used to determine the outer surface model parameters of the workpiece to be polished according to the imported three-dimensional model, determine and combine the pre-positioned position of the workpiece to be polished, determine different stop positions corresponding to the robot and the posture trajectory of the robot corresponding to each stop position of the robot, so as to perform image acquisition of the corresponding outer surface of the workpiece to be polished at different stop positions in the length direction of the workpiece to be polished in place and different stop positions along the vertical direction through the posture change of the manipulator, thereby realizing the acquisition of all images of the outer surface of the workpiece to be polished; The ground rail running mechanism comprises: A ground rail assembly, used for axially guiding the workpiece to be ground in place; A walking assembly, wherein the walking assembly is adjustably connected to the ground rail assembly along the length direction of the ground rail assembly; the walking assembly is connected to a walking drive assembly for driving the walking assembly to adjust its position along the length direction of the ground rail assembly; A support base is adjustably connected to the walking assembly in the vertical direction, used to support the robot and drive the robot to adjust its position in the vertical direction, and also enables the robot to adjust its position along the length direction of the ground rail assembly along with the walking assembly, thereby realizing the movement of the robot in the axial and vertical directions along the workpiece to be polished in place; the support base is connected to a base drive assembly, used to drive the support base to adjust its position in the vertical direction; A horizontal position sensor is used to detect the horizontal position of the walking component adjusted on the ground rail component; the horizontal position sensor is also connected to a walking controller, which is used to receive the horizontal position detected by the horizontal position sensor and control the walking drive component according to the horizontal position to control the walking component to move forward, backward or stop; the walking controller is also used to control the walking drive component to make the walking component move in sections along the length direction of the ground rail component and stop at the horizontal section connection point, so that the robot can grind and polish or collect images of the corresponding horizontal section of the workpiece to be polished through vertical position adjustment and the robot's own posture change at the same horizontal position; A vertical position sensor, used to detect the vertical position of the support base adjusted on the travel assembly; the vertical position sensor is also connected to the travel controller, and the travel controller is also used to receive the vertical position detected by the vertical position sensor, and control the base drive assembly according to the vertical position to control the support base to move upward, move downward or stop moving; The travel controller is also used to control the base driving assembly, so that the supporting base moves in sections along the length direction of the travel assembly and stops at the vertical section connection point, so that the robot stops at the same vertical position and the same horizontal position, and performs polishing or image acquisition on the corresponding vertical section at the same horizontal position of the workpiece to be polished in combination with the posture change of the robot itself; The ground rail assembly and the travel assembly are provided with dust covers, and the dust covers are telescopic structures; The replacement mechanism comprises: At least two auxiliary connection plates for clamping a visual mechanism or a grinder to perform image acquisition or grinding of a workpiece to be ground; A main connecting plate is arranged at the end of the manipulator of the robot; a connecting component is arranged on the auxiliary connecting plate, which is used to connect the visual mechanism or the grinder; a clamping component is arranged on the auxiliary connecting plate or the connecting component, which is used to be clamped on the tool library; A locking assembly, arranged on the main connection disk, for locking or unlocking the main connection disk and the auxiliary connection disk when any one of the auxiliary connection disks presses against a connection wall surface of the main connection disk; The main connecting disk is provided with a mounting post at the axial position, and a guide positioning structure is also provided on the main connecting disk for guiding and positioning the approaching movement of the auxiliary connecting disk, and the mounting post is a frustum-shaped structure; the auxiliary connecting disk is provided with a mounting groove for inserting the mounting post at the axial position; the locking components on the mounting post are all arranged along the radial direction of the mounting post, so that the locking components can apply a top pressure to the inner side wall of the mounting groove to achieve locking between the main connecting disk and the auxiliary connecting disk; The mounting post is provided with a mounting hole along its radial direction, the locking assembly is at least partially connected to the mounting hole in an adjustable position along the length direction of the mounting hole, and the locking assembly is adjustably connected to the mounting post along the length direction of the mounting hole, so as to partially protrude outside the mounting hole to contact the inner side wall of the mounting groove and apply a top pressure to the inner side wall of the mounting groove, thereby realizing locking between the main connecting plate and the auxiliary connecting plate; The main connecting disk is provided with an air hole, which is connected to the mounting hole and is used to connect an air suction and blowing device to blow air into the mounting hole so that the locking assembly moves toward the open end of the mounting hole until a top pressure is applied to the inner wall of the mounting groove; or, the mounting hole is suctioned so that the locking assembly moves away from the open end of the mounting hole, thereby creating a gap between the locking assembly and the inner wall of the mounting groove, thereby achieving unlocking between the main connecting disk and the auxiliary connecting disk; the locking assembly is a ball structure, and a top pressure groove is provided on the inner wall of the mounting groove, which is adapted to the outer surface of the ball structure so that the ball structure fits the clamping structure; the top pressure groove is an arcuate spherical structure that matches the ball or an arcuate cylindrical surface that matches the ball and is arranged along the axial direction of the auxiliary connecting disk.

2. The robot grinding and polishing device according to claim 1, characterized in that: Also includes: A tool support frame having an opening at one end; A support plate is arranged inside the tool support frame, and a plurality of clamping structures are arranged on the support plate for clamping and supporting the visual mechanism or the grinder to realize temporary storage of the visual mechanism or the grinder.

3. The robot grinding and polishing device according to claim 2, characterized in that: The support plate is rotatably arranged in the tool support frame to drive the visual mechanism or grinder fixed on the support plate to rotate, so that the visual mechanism or grinder currently required to be replaced is rotated to the position to be replaced.

4. The robot grinding and polishing device according to claim 2, characterized in that: A dustproof baffle is provided at the opening to block debris.

5. The robot grinding and polishing device according to claim 1, characterized in that: The control mechanism is also connected to the visual mechanism, and is used to receive the position of the outer surface of the workpiece to be polished obtained by the visual mechanism, and adjust the posture trajectory of the robot accordingly.

Images