Small part grinding robot production system

Abstract

The invention belongs to the technical field of polishing robots, and discloses a small workpiece polishing robot production system, and hardware in the system is composed of a conveying device, a first roller way conveying material frame, a workpiece, a feeding photographing recognition camera, a first mechanical arm, a scanning table photographing recognition camera, an abrasive belt side face polishing platform, a second mechanical arm, a double-sided chamfering machine and a first roller way conveying material frame. The device comprises a grinding abrasive belt, a control cabinet, an electric box, a working platform, a tool clamp and a safe and environment-friendly facility. A workpiece is finely ground through the grinding abrasive belt, the grinding abrasive belt can adjust the contact strength between the grinding abrasive belt and the workpiece, the problem that grinding cannot be continued due to abrasion is effectively avoided, the working efficiency of the whole grinding device is remarkably improved, the opportunity that workers make contact with the dangerous environment is reduced through robot operation, and the labor intensity of workers is reduced. And replacement and adjustment can be carried out according to different workpiece shapes and grinding requirements, and various production requirements can be flexibly met.

Description

Technical Field

[0001] The invention belongs to the technical field of polishing robots, and in particular relates to a small-part polishing robot production system. Background Art

[0002] The small parts grinding workstation is used for R3 arc chamfering and side scale grinding of free edges, structural holes, water flow holes of small parts such as triangle plates, watertight patches, stiffener plates, flat irons, etc. during the cutting stage of hull structures to meet PSPC shipbuilding standards.

[0003] Through its precise control system and robotic arm, the grinding robot is able to perform various grinding tasks, such as removing burrs, scale or dirt from the surface of castings, forgings or welds, and performing polishing to improve the surface quality and aesthetics of the parts.

[0004] When grinding, general devices grind the workpiece by the contact between the grinding wheel and the workpiece. However, the grinding wheel will wear out the workpiece due to long-term grinding, so the worn part of the grinding wheel can no longer contact the workpiece, resulting in the inability to contact and grind the workpiece. Therefore, it needs to be modified and optimized. Summary of the invention

[0005] The object of the present invention is to provide a small-part polishing robot production system to solve the problems raised in the above-mentioned background technology.

[0006] In order to achieve the above-mentioned purpose, the present invention provides the following technical solutions: a small-piece grinding robot production system, the hardware of which consists of: a conveying device, a roller conveyor material frame 1, a workpiece, a loading photo recognition camera, a mechanical arm 1, a scanning table photo recognition camera, a sand belt side grinding platform, a mechanical arm 2, a double-sided chamfering machine, a roller conveyor material frame 2, a grinding belt, a control cabinet, an electrical box, a work platform and a fixture and safety and environmental protection facilities;

[0007] The software in this system consists of: handling and grasping robot module, visual recognition module, chamfering and grinding module, electrical module and central control module;

[0008] The visual recognition module consists of a grasping visual component and a polishing visual component.

[0009] Preferably, the grasping vision component and the polishing vision recognition module adopt a 3D photography method, which provides accurate measurement and positioning for the polishing vision recognition module. Its field of view covers the free edge scanning table, the measurement accuracy is 1mm, and the photography time for each batch is less than 15s.

[0010] Preferably, the system is compatible with the workpiece quality as follows: the non-verticality of the cutting surface is ≤10°, there is no dross, the notch and protrusion are <±2mm, and the length is <=10mm.

[0011] Preferably, the workflow of the visual recognition module is: A1, taking photos with a camera; A2, image processing; A3, converting the image processed data into: workpiece posture and workpiece information.

[0012] Preferably, the working process of the handling and grasping robot module is: analyzing the image-processed data and grasping the workpiece and placing it in the positioning area.

[0013] Preferably, the working process of the chamfer grinding module is: generating free edge identification and grinding trajectory through a positioning system, and then grinding the workpiece.

[0014] Preferably, the central control module is composed of an industrial computer (centralized control console), a robot control system, a communication system, and visual system related hardware and software.

[0015] Preferably, the industrial computer adopts a touch-type industrial-grade industrial computer to centrally control the operation of the workstation equipment, which includes a visual system, a robot control system, a workbench system, a data processing system, and a data statistics system.

[0016] Preferably, the chamfering and grinding module is composed of a double-sided simultaneous chamfering device and a belt grinder.

[0017] Preferably, the double-sided simultaneous chamfering device is composed of a double-sided simultaneous grinding power head, a grinding table and an automatic tool changing system;

[0018] The double-sided grinding power head consists of two independent grinding discs, upper and lower. When the workpiece is grabbed and moved to the grinding disc position, the upper grinding disc is lifted, and the workpiece is continued to move into the grinding area, and then the upper grinding disc falls, and together with the lower grinding disc, the workpiece is limited. After the grinding disc is started, the grasping robot controls the workpiece to move along the grinding track, the disc rotates itself, and the upper and lower discs independently perform free edge chamfering. Because the upper and lower disc systems are both equipped with processing compensation mechanisms, even if there are accumulated errors in the visual photography and grasping actions, the equipment can operate normally to ensure the chamfering quality. At the same time, the chamfering device has an automatic chip removal and cleaning function.

[0019] The beneficial effects of the present invention are as follows:

[0020] The present invention uses a grinding belt to finely grind the workpiece. The grinding belt can adjust the contact force between itself and the workpiece, effectively avoiding the problem of being unable to continue grinding due to wear, thereby significantly improving the working efficiency of the entire grinding device, ensuring the high-quality completion of the workpiece, and greatly improving production efficiency. Through automated operations, the grinding speed is accelerated while ensuring the consistency of the grinding quality. The advanced control system can achieve high-precision positioning and grinding operations to ensure the surface quality and accuracy of small workpieces. In the long run, robot grinding can reduce labor costs, while reducing errors and scrap rates caused by human factors, improving overall economic benefits, and being safe and reliable: robot operations reduce the chances of personnel contacting dangerous environments, improve operational safety, and reduce the risk of work-related injuries. Robot operations can be replaced and adjusted according to different workpiece shapes and grinding requirements, and can flexibly adapt to various production needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the structure of the present invention;

[0022] Figure 2 This is a schematic diagram of the structure of the abrasive belt side grinding platform of the present invention;

[0023] Figure 3 This is a schematic diagram of the structure of a mechanical arm of the present invention;

[0024] Figure 4 This is a schematic diagram of the structure of the camera for taking photos and identifying images on the scanning platform of the present invention;

[0025] Figure 5 It is a schematic diagram of the structure of the conveying device of the present invention;

[0026] Figure 6 It is a structural schematic diagram of the double-sided chamfering machine of the present invention;

[0027] Figure 7 This is a schematic diagram of the structure of the second mechanical arm of the present invention;

[0028] Figure 8 This is a schematic diagram of the central control system of the present invention;

[0029] Fig. 9 This is the system logic control diagram of the present invention.

[0030] In the figure: 1. Conveying device; 2. Roller conveyor frame 1; 3. Workpiece; 4. Loading photo recognition camera; 5. Robotic arm 1; 6. Scanning table photo recognition camera; 7. Sanding belt side grinding platform; 8. Robotic arm 2; 9. Double-sided chamfering machine; 10. Roller conveyor frame 2; 11. Grinding belt; 12. Control cabinet; 13. Electric box. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] like Figures 1 to 9 As shown, the embodiment of the present invention provides a small-piece grinding robot production system, and the hardware in the system consists of: a conveyor 1, a roller conveyor material frame 1 2, a workpiece 3, a loading photo recognition camera 4, a robotic arm 1 5, a scanning table photo recognition camera 6, a sand belt side grinding platform 7, a robotic arm 2 8, a double-sided chamfering machine 9, a roller conveyor material frame 2 10, a grinding belt 11, a control cabinet 12, an electric box 13, a work platform and a fixture and safety and environmental protection facilities;

[0033] The software in this system consists of: handling and grasping robot module, visual recognition module, chamfering and grinding module, electrical module and central control module;

[0034] The visual recognition module consists of a grasping vision component and a polishing vision component.

[0035] First, the staff starts the forklift to place the roller conveyor material frame 2 containing the workpiece to be processed on the top of the conveying device 1, and then the conveying device 1 drives the roller conveyor material frame 2 to move forward. When the roller conveyor material frame 2 moves to the bottom of the loading photo recognition camera 4, the loading photo recognition camera 4 recognizes the workpiece through photo recognition, so that the robot arm 5 can smoothly clamp the workpiece and place it on the bottom of the scanning table photo recognition camera 6, and then the scanning table photo recognition camera 6 takes a photo to recognize the workpiece, and then the workpiece is clamped by the robot arm 2 8 and moved to the top of the abrasive belt side grinding platform 7, the robot arm 2 8 clamps the workpiece, and the grinding belt 11 grinds the side of the workpiece, and then the workpiece is moved to the top of the double-sided chamfering machine 9 by the robot arm 2 8, and the workpiece is chamfered and polished by the double-sided chamfering machine 9, and finally the workpiece is placed in the roller conveyor material frame 2 10 by the robot arm 2 8, and the roller conveyor material frame 2 10 is transferred away by the forklift.

[0036] The side of the workpiece is finely polished by the grinding belt 11. The grinding belt 11 can adjust the contact force between itself and the workpiece, effectively avoiding the problem of being unable to continue polishing due to wear, thereby significantly improving the working efficiency of the entire grinding device, ensuring the high-quality completion of the workpiece, and greatly improving production efficiency. Through automated operations, the grinding speed is accelerated while ensuring the consistency of the grinding quality. The use of advanced control systems can achieve high-precision positioning and grinding operations to ensure the surface quality and accuracy of small workpieces. In the long run, robot grinding can reduce labor costs, while reducing errors and scrap rates caused by human factors, improving overall economic benefits, and being safe and reliable: robot operations reduce the chances of personnel contacting dangerous environments, improve operational safety, and reduce the risk of work-related injuries. They can be replaced and adjusted according to different workpiece shapes and grinding requirements, and can flexibly adapt to various production needs.

[0037] Among them, the grasping vision components and polishing vision recognition modules adopt 3D photography, which provides accurate measurement and positioning for the polishing vision recognition modules. Its field of view covers the free edge scanning table, with a measurement accuracy of 1mm. The photography time for each batch is less than 15s each time.

[0038] The 3D photography method used by the grasping visual components and the polishing visual recognition module plays a vital role in the polishing robot production system. This technology provides accurate measurement and positioning services for the polishing visual recognition module through high-precision 3D photography, greatly improving the accuracy and efficiency of the polishing operation. Specifically, the 3D photography method has a wide field of view and can fully cover the free edge scanning table, ensuring accurate capture of every corner of the workpiece. Its measurement accuracy is as high as 1mm, which meets the needs of high-precision polishing operations and ensures the polishing quality of the workpiece surface. In addition, each batch of photography takes less than 15 seconds, which significantly improves the speed of the polishing operation, reduces waiting time, and further improves the overall production efficiency. The application of this technology not only improves the automation level of the polishing operation, but also reduces the errors caused by human factors, providing a strong guarantee for the efficient and accurate operation of the polishing robot production system.

[0039] Among them, the system's compatibility with workpiece quality is: cutting surface non-verticality ≤ 10°, no slag, notches and protrusions < ± 2mm, length <= 10mm.

[0040] The system has high compatibility with workpiece quality and can process workpieces with a non-vertical cutting surface of no more than 10°. At the same time, it requires the workpiece to be free of dross, with notches and protrusions controlled within ±2mm and a length of no more than 10mm. These features ensure that the system can accurately identify and polish workpieces of various quality conditions, improve production flexibility and yield, and meet diverse production needs.

[0041] The workflow of the visual recognition module is as follows: A1, camera taking pictures, A2, image processing, A3, converting the image processed data into: workpiece posture and workpiece information.

[0042] The workflow of the visual recognition module is efficient and accurate. First, the workpiece image is captured by a camera, followed by image processing to extract key features. Finally, the processed image data is converted into the specific position and detailed information of the workpiece, providing precise guidance for subsequent grinding operations, ensuring the accuracy and efficiency of grinding.

[0043] Among them, the working process of the handling and grasping robot module is: analyze the data after image processing, grasp the workpiece, and place it in the positioning area.

[0044] The handling and grasping robot module accurately analyzes the data after image processing, intelligently identifies the position and posture of the workpiece, quickly executes the grasping action, and places the workpiece accurately in the positioning area. This process realizes the efficient connection from workpiece identification to handling, improves the automation level and operating efficiency of the production line, and ensures the smooth progress of subsequent polishing processes.

[0045] Among them, the working process of the chamfering and grinding module is: generate free edge identification and grinding trajectory through the positioning system, and then grind the workpiece.

[0046] The chamfering and grinding module uses the positioning system to accurately generate the identification information and grinding trajectory of the free edge, and then the workpiece is carefully ground based on this information. This process ensures the accuracy and efficiency of grinding, effectively improves the quality and consistency of the workpiece surface, and meets the requirements of high-precision processing.

[0047] Among them, the central control module is composed of an industrial computer (centralized control console), a robot control system, a communication system, and visual system related hardware and software.

[0048] By realizing unified scheduling and monitoring of the entire production process, it ensures the collaborative operation among various modules, improves the automation and intelligence level of the production line, and provides a solid guarantee for efficient and accurate production;

[0049] Among them, the industrial computer uses a touch-type industrial-grade industrial computer to centrally control the operation of this workstation equipment, which includes a visual system, a robot control system, a workbench system, a data processing system, and a data statistics system.

[0050] As the core of the workstation, the industrial computer centrally controls the visual system, robot control system, workbench system, and data processing and statistical system. This integrated design greatly improves the control convenience and operating efficiency of the equipment, ensures seamless connection between various systems, and provides strong technical support for efficient and accurate production operations.

[0051] Among them, the chamfering and grinding module is composed of a double-sided simultaneous chamfering device and a belt grinder.

[0052] Among them, the double-sided simultaneous chamfering device is composed of a double-sided simultaneous grinding power head, a grinding table and an automatic tool changing system;

[0053] The double-sided grinding power head consists of two independent grinding discs, upper and lower. When the workpiece is grabbed and moved to the grinding disc position, the upper grinding disc is lifted, and the workpiece is continued to move into the grinding area, and then the upper grinding disc falls, and together with the lower grinding disc, the workpiece is limited. After the grinding disc is started, the grasping robot controls the workpiece to move along the grinding track, the disc rotates itself, and the upper and lower discs independently perform free edge chamfering. Because the upper and lower disc systems are both equipped with processing compensation mechanisms, even if there are accumulated errors in the visual photography and grasping actions, the equipment can operate normally to ensure the chamfering quality. At the same time, the chamfering device has an automatic chip removal and cleaning function.

[0054] Working principle and usage process:

[0055] First, the staff starts the forklift to place the roller conveyor material frame 2 containing the workpiece to be processed above the conveying device 1, and then the conveying device 1 drives the roller conveyor material frame 2 to move forward. When the roller conveyor material frame 2 moves to the bottom of the loading photo recognition camera 4, the loading photo recognition camera 4 recognizes the workpiece through photo recognition, so that the robot arm 5 can smoothly clamp the workpiece and place it at the bottom of the scanning table photo recognition camera 6, and then the scanning table photo recognition camera 6 takes a photo to recognize the workpiece, and then the workpiece is clamped by the robot arm 2 8 and moved to the top of the abrasive belt side grinding platform 7, the robot arm 2 8 clamps the workpiece, and the grinding belt 11 grinds the side of the workpiece, and then the workpiece is moved to the top of the double-sided chamfering machine 9 by the robot arm 2 8, and the workpiece is chamfered and polished by the double-sided chamfering machine 9, and finally the workpiece is placed in the roller conveyor material frame 2 10 by the robot arm 2 8, and the roller conveyor material frame 2 10 is transferred away by the forklift.

[0056] The system project includes robot workstation hardware (and its affiliated base, tooling table, tooling fixtures, visual recognition equipment, safe operation protection facilities, etc.) and software.

[0057] This equipment has no rigid requirements for the placement of incoming materials. Workpieces can be placed and stacked at will. The 3D vision component takes a picture of the material bin and automatically identifies the top plate in the stack and then grabs it.

[0058] This project can be integrated and interconnected with the data acquisition system, digital manufacturing system and other systems in the processing workshop to realize the communication interface of production monitoring, information statistics, data analysis and other functions. The equipment adopts open and interoperable fieldbus interface standards.

[0059] It can realize automatic statistics, analysis, feedback and other functions for production data, support industry standardized interfaces and customized interfaces, and be compatible with system integration and interconnection functions such as data acquisition systems and digital manufacturing systems. Some interfaces can be customized and developed according to needs to realize data interconnection.

[0060] Production information management can display daily production plans, collect daily production information, consumable life plans and actual reminders, and some key equipment parameter collection functions. Accumulated statistics are displayed and stored according to the set parameters, work logs and alarm logs are automatically generated, and industrial control standard communication protocols are supported.

[0061] For production data, it can realize daily, monthly and annual production plan scheduling according to user customization, make statistics on actual production data, and have data synchronization function, and have statistics and early warning functions for equipment consumables and energy consumption. It can classify and group alarm information, save it locally, upload it to the server, and support industry standard communication protocols.

[0062] The equipment is connected to the visualization system, which can display the polishing performance and other related contents in real time, and the visualization display is configured on site. Special management software is designed to display the planned completion, completed and uncompleted production status on the display in real time.

[0063] Open communication protocol, providing industrial communication specifications used by equipment, communication files of messages, field lists and message examples.

[0064] Provide key manufacturing data interfaces such as chamfering meters, start and stop time, equipment repair and maintenance information, and provide interface documentation.

[0065] Safety protection and environmental protection equipment and facilities:

[0066] 1. A safety fence is installed around the workstation area, with a height of 1.8m

[0067] 2. The loading and unloading stations are equipped with alarm devices.

[0068] 3. The automatic working area is equipped with a maintenance safety door, which is equipped with an electronic safety lock. When the safety door is opened, the system automatically stops running and sounds an audible and visual alarm.

[0069] 4. Dangerous and anti-collision areas of the workstation are painted with yellow and black 45° diagonal stripes and safety warning signs.

[0070] 5. Fault diagnosis: There is an automatic fault diagnosis system, including automatic fault alarm, operation avoidance sound and light warning, information prompts and automatic protection shutdown functions.

[0071] 6. Emergency stop buttons and warning lights are installed in multiple locations of the workstation so that equipment can be stopped quickly at each location.

[0072] 7. Set up a movable iron chip waste collection box and set a baffle to limit the splashing of iron chips.

[0073] Electrical System

[0074] ①The protection level of the electric control box shall not be lower than IP54, and the protection level of the robot servo motor shall not be lower than IP65.

[0075] ② A 220V socket is provided in the electric control box to facilitate fault inspection and component replacement.

[0076] ③ Each device’s dedicated control panel should be equipped with (including but not limited to):

[0077] (1) Control buttons for each device.

[0078] (2) Indicator lights or other devices are provided to display the operating status of each device.

[0079] (3) Emergency stop button.

[0080] (4) Fault alarm device.

[0081] ④ The electrical system has shunt protection and self-diagnosis function.

[0082] ⑤The electrical system has multiple protection functions such as over-voltage, under-voltage, short circuit, phase loss, overload, phase sequence protection and motor overcurrent protection.

[0083] The camera captures three-dimensional point cloud data, and one of the key points is to find the plane. The point cloud has an xyz three-dimensional coordinate system. Only the surface of the workpiece is scanned and the point cloud within a certain thickness range is extracted to fit the plane. Taking pictures will capture multiple workpieces, and multiple planes will be analyzed to obtain the contour edge of each plane. Then the center of gravity of each plane is analyzed according to the plane contour, and then the point cloud plane with the highest center of gravity is selected to capture.

[0084] The material taking camera takes 12 seconds to take pictures and process the images;

[0085] The robot moves from the origin to the top of the silo for 3 seconds;

[0086] Special magnetic suction device absorbs the parts from the roller feeding bin for 4 seconds;

[0087] The robot moves to the scanning turntable for 5 seconds;

[0088] The robot places the part on the scanning turntable for 4 seconds;

[0089] Subtotal time: T1 = 12 + 3 + 4 + 5 + 4 = 28 s;

[0090] The scanning table scans and processes the image for 12 seconds (when this action occurs, the grinding robot is still processing the previous workpiece, so this action does not occupy the cycle time);

[0091] The robot moves from the origin to above the scanning platform for 3s;

[0092] The special suction device absorbs the parts from the scanning table for 4 seconds;

[0093] The robot moves to the vicinity of the grinding wheel grinding table for 5 seconds;

[0094] Move to the side grinder and grind the port point for 6 seconds;

[0095] The side grinding machine performs side grinding for 11 seconds (with the standard workpiece FB 100*10-635 as a reference, the free edge grinding length is 0.71m, and the grinding line speed is 66mm / s);

[0096] The robot moves with the material to the chamfering waiting position for 5 seconds;

[0097] Subtotal time: T2 = 3 + 4 + 5 + 6 + 11 + 5 = 34s;

[0098] The robot moves from the chamfering waiting position to the chamfering workbench where the power head is aligned with the tool for 9 seconds;

[0099] Free edge grinding for 21 seconds (with the standard workpiece FB 100*10-635 as a reference, the double-sided free edge chamfer length is 0.71m, the speed is temporarily set at 41mm / s*, and the two grinding corners each take 2 seconds);

[0100] Retract the knife for 4 seconds;

[0101] The robot moves to the unloading bin for 3 seconds;

[0102] The robot places the workpiece into the bin for 2 seconds;

[0103] The robot returns to the origin for 2 seconds;

[0104] Subtotal time: T3=9+21+4+3+2+2=41s.

[0105] The positioning accuracy of the robotic arm is 0.05mm, the protection level of the main body is IP65, the protection level of the wrist is IP67, the main body has six axes, and the movement is smooth and without lag.

[0106] The magnetic grabbing device consists of two electromagnets and a matching distance-adjusting tool. The magnetic attraction of a single electromagnet is 200kg. The matching distance-adjusting tool enables the visual component to automatically adjust the distance between the two magnets before grabbing when it detects that the size of the workpiece being polished is too large or too small.

[0107] This device uses permanent magnet magnetization, the magnet attraction is in the normally closed state, and demagnetization is achieved through electrical control. If the power is suddenly cut off, the magnetic force will remain in the normal state of attraction, so the magnetic retention capacity of the electromagnet of this device is much higher than 15 minutes.

[0108] The grabbing vision component obtains the image and position of the workpiece through the vision system, guides the robot to grab and carry the workpiece, and has the mixed material disorder grabbing function, workpiece measurement and positioning function. The vision system is suitable for the recognition and positioning of dark, black, highly reflective objects and multi-directional targets. It uses high-level impact and shockproof hardware, is stable and reliable, has adjustable scanning speed, and IP65 safety protection level.

[0109] The requirements for disordered placement are low, and they can overlap and tilt with each other (as long as the physical space does not interfere with the grasping). The grasping vision system can quickly extract the top-level non-interference graspable workpiece, and plan the grasping position according to the shape of the workpiece to ensure the stability of the entire movement process (the default workpiece density distribution is uniform), so as to reduce the work requirements for operators at other cutting and sorting stations.

[0110] At the same time, in order to achieve unmanned operation for grinding small components, the chamfering device is equipped with an automatic tool changing system. According to actual production needs, 8 tool magazine positions can be set. When the system counts that the grinding length reaches the service life of the blade, the system alarms and automatically completes the tool changing action: the table is separated along both sides until the tool magazine is lifted to replace the upper and lower tool disc heads until the table merges inwards.

[0111] The forklift or crane on the roller line loads the material pallet without entering the grinding operation area. According to the material flow direction, the pallet picked out after grinding is used as the next material discharge pallet after grinding, and the cycle is repeated. The logistics rhythm is simple and there is no need to always replace empty pallets at the unloading position.

[0112] In addition, this equipment can place multiple silos in the loading buffer area, reducing the time and frequency of loading and unloading for operators, reducing the use of lifting and forklift equipment, improving the degree of automation, improving efficiency, and freeing up operators.

[0113] The grinding technology route adopts the workpiece coordinate system algorithm. The workpiece moves, the cutter head is stationary, and both sides are ground at the same time. The beat is smooth, there is no bloated movement, and the grasping-grinding-unloading and placement are done in one go, which can effectively shorten the time for grinding a single piece of parts. The grinding unit is double-sided chamfering at the same time, and there is no need for a flap mechanism, which occupies a smaller area. If the same amount of equipment is invested, the output is several times that of the traditional flap method, which improves the utilization rate of land resources. Because the special machine type grinding is used, its rigidity is higher than that of the robot arm, so both the linear grinding speed and the free edge grinding speed are higher than the robot arm type.

[0114] This equipment is equipped with an 8-position automatic tool changer. When the blade life reaches the upper limit, the system can automatically identify and automatically change the tool. Before or after get off work every day, workers will uniformly replace the tools in the tool magazine. During the 8 hours of operation, there is no need to change the tool, which can improve the overall equipment utilization rate and reduce the safety risk of entering the work area due to manual tool change. Our company has put this tool change technology into practical application in many shipbuilding industry chamfering projects.

[0115] The unique design of the power head cutter disc can adapt to cutting surfaces that are not vertical within 10°, has lower requirements for incoming materials, and is more adaptable to workpieces.

[0116] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0117] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A small parts polishing robot production system, characterized by: The system is composed of hardware and software, wherein the hardware is composed of: a conveying device (1), a roller conveying material frame (2), a workpiece (3), a loading photo identification camera (4), a mechanical arm (5), a scanning table photo identification camera (6), a sanding belt side grinding platform (7), a mechanical arm (8), a double-sided chamfering machine (9), a roller conveying material frame (10), a grinding belt (11), a control cabinet (12), an electric box (13), an operating platform and a fixture and safety and environmental protection facilities; The software in this system consists of: handling and grasping robot module, visual recognition module, chamfering and grinding module, electrical module and central control module; The visual recognition module consists of a grasping visual component and a polishing visual component.

2. A small parts polishing robot production system according to claim 1, characterized in that: The grasping vision component and the polishing vision recognition module adopt a 3D photography method, which provides accurate measurement and positioning for the polishing vision recognition module. Its field of view covers the free edge scanning table, the measurement accuracy is 1mm, and the photography time for each batch is less than 15s.

3. A small parts polishing robot production system according to claim 1, characterized in that : The system's compatibility with workpiece quality is: non-verticality of the cutting surface ≤10°, no slag, notches and protrusions <±2mm, length <=10mm.

4. A small parts polishing robot production system according to claim 1, characterized in that: The workflow of the visual recognition module is: A1, camera taking pictures, A2, image processing, A3, converting the image processed data into: workpiece posture and workpiece information.

5. The small parts polishing robot production system according to claim 1, characterized in that: The working process of the handling and grasping robot module is: analyzing the image processed data and grasping the workpiece and placing it in the positioning area.

6. A small parts polishing robot production system according to claim 1, characterized in that: The working process of the chamfer grinding module is: generating free edge identification and grinding trajectory through the positioning system, and then grinding the workpiece.

7. The small parts polishing robot production system according to claim 1, characterized in that: The central control module is composed of an industrial computer (centralized control console), a robot control system, a communication system, and visual system related hardware and software.

8. A small parts polishing robot production system according to claim 7, characterized in that: The industrial computer adopts a touch-type industrial-grade industrial computer to centrally control the operation of the workstation equipment, which includes a visual system, a robot control system, a workbench system, a data processing system, and a data statistics system.

9. The small parts polishing robot production system according to claim 1, characterized in that: The chamfering and grinding module is composed of a double-sided simultaneous chamfering device and a belt grinder.

10. A small parts polishing robot production system according to claim 9, characterized in that :Double-sided simultaneous chamfering device: It consists of a double-sided simultaneous grinding power head, a grinding table and an automatic tool changing system; The double-sided grinding power head consists of two sets of independent grinding discs, upper and lower. The upper grinding disc falls down and limits the workpiece together with the lower grinding disc. The upper and lower disc systems are both equipped with processing compensation mechanisms to enable the equipment to operate normally. The chamfering device has automatic chip removal and cleaning functions.

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