Snowboard grinding system

Abstract

The present invention provides a snowboard grinding system, which includes a grinding station module, a defect detection module, and a waxing and polishing module. The grinding station module, the defect detection module, and the waxing and polishing module are sequentially arranged according to the processing sequence of the snowboard. The grinding station module is used for grinding the side edge and the bottom edge of the snowboard. The defect detection module is used for detecting defects of the ground snowboard. The waxing and polishing module is used for waxing and polishing the snowboard. By sequentially performing grinding operation, defect detection operation, waxing and polishing operation, and roughness detection operation on the snowboard through the grinding station module, the defect detection module, the waxing and polishing module, and the roughness detection module, and transporting the snowboard through the first robotic arm, the second robotic arm, and the third robotic arm, it helps to improve the grinding effect of the snowboard, has a high degree of mechanization, helps to improve the grinding efficiency of the snowboard, and has high stability in snowboard processing.

Description

Technical Field

[0001] The present invention relates to the technical field of snowboard processing equipment, and specifically, to a snowboard grinding machine system. Background Art

[0002] A snowboard is a skiing sports equipment, generally divided into alpine boards, cross-country biathlon boards, ski jump boards, freestyle boards, snowboards, etc. Generally, a snowboard is composed of multiple layers, including elastic plates, board cores, fiberglass composite materials, polymer material bottoms, metal edges, etc.

[0003] During the processing of snowboards, the snowboards need to be polished. In the prior art, most snowboards are polished manually, with poor polishing quality and low efficiency.

[0004] The Chinese patent with the publication number CN212700471U discloses a snowboard grinding and positioning device, including: a bearing assembly, a clamping and positioning assembly, and a fixing assembly. The bearing assembly includes a workbench, a bearing boss, and a plurality of buffer elastic strips. The clamping and positioning assembly includes a first clamping plate, a second clamping plate, a first clamping plate driving member, a second clamping plate driving member, a plurality of first clamping limit members, and a plurality of second clamping limit members. The fixing assembly includes a first sliding plate, a second sliding plate, a first sliding driving member, and a second sliding driving member. The first sliding plate and the second sliding plate are respectively slidably arranged on the bearing boss. The first sliding driving member is connected to the first sliding plate, and the second sliding driving member is connected to the second sliding plate.

[0005] The inventor believes that the grinding effect of the existing snowboard grinding equipment in the prior art is poor and the grinding efficiency is low, and there is room for improvement. Summary of the Invention

[0006] Aiming at the defects in the prior art, the purpose of the present invention is to provide a snowboard grinding machine system.

[0007] According to a snowboard grinding machine system provided by the present invention, it includes a grinding station module, a defect detection module, and a waxing and polishing module. The grinding station module, the defect detection module, and the waxing and polishing module are arranged in sequence according to the processing order of the snowboard. The grinding station module is used for grinding the side edge and bottom edge of the snowboard. The defect detection module is used for defect detection of the ground snowboard. The waxing and polishing module is used for waxing and polishing the snowboard.

[0008] Preferably, the grinding station module includes a fixture module, a side edge grinding device, and a bottom edge grinding device. The side edge grinding device is used for grinding the side edge of the snowboard installed on the fixture module, and the bottom edge grinding device is used for grinding the bottom edge of the snowboard installed on the fixture device.

[0009] Preferably, a first robotic arm and a second robotic arm are provided on the side of the fixture module. The side edge grinding device is installed on the first robotic arm, and the bottom edge grinding device is installed on the second robotic arm.

[0010] Preferably, the defect detection module includes a support device, a vision detection device, and a detection fixture device; the detection fixture device is provided on one side of the support device, the vision detection device is slidably provided on the support device, and the vision detection device is located above the detection fixture device.

[0011] Preferably, the waxing and polishing module includes a second loading and unloading device, a polishing device, and a wax spraying device. The second loading and unloading device is provided on one side of the detection fixture device; the second loading and unloading device is used to transfer the snowboard, the polishing device is used to polish the bottom surface of the snowboard, and the wax spraying device is used to perform wax spraying operations on the snowboard.

[0012] Preferably, a third robotic arm is movably provided on one side of the detection fixture device. The second loading and unloading device and the polishing device are both installed on the third robotic arm. The third robotic arm is used to switch the working states of the second loading and unloading device and the polishing device, and the third robotic arm does not allow the second loading and unloading device and the polishing device to operate on a single snowboard simultaneously.

[0013] Preferably, a roughness detection module is further included. The roughness detection module is located at the rear side of the waxing and polishing module. The roughness detection module includes a second support device, a roughness detection device, and a second detection fixture device; the second detection fixture device is provided on one side of the second support device, the roughness detection device is slidably provided on the second support device, and the roughness detection device is located above the second detection fixture device.

[0014] Preferably, a blanking transfer station is provided on one side of the roughness detection device, and a loading station is provided on one side of the grinding station module.

[0015] Preferably, a snowboard buffer station is provided between the grinding station module and the defect detection module.

[0016] Preferably, a non-conforming station is provided on one side of the defect detection module.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] 1. The present invention performs grinding operations, defect detection operations, waxing and polishing operations, and roughness detection operations on the snowboard in sequence through a grinding station module, a defect detection module, a waxing and polishing module, and a roughness detection module, and transports the snowboard through a first robotic arm, a second robotic arm, and a third robotic arm, which helps to improve the grinding effect of the snowboard, has a high degree of mechanization, helps to improve the grinding efficiency of the snowboard, and has high stability in snowboard processing;

[0019] 2. The present invention drives a loading and unloading device and a side edge grinding device through the first robotic arm, and drives a bottom edge grinding device through the second robotic arm, thereby realizing automatic loading and unloading of the snowboard grinding station, grinding the side edge of the snowboard, and grinding the bottom edge of the snowboard, which helps to improve the grinding efficiency and precision, and has a high degree of automation;

[0020] 3. The present invention transports the snowboard through a second loading and unloading device installed on the third robotic arm, and performs a polishing operation on the snowboard clamped on the installation fixture through a polishing power head group installed on the third robotic arm. The third robotic arm switches the working states of the second loading and unloading device and the polishing power head group, which helps to improve the convenience of waxing and polishing the snowboard, helps to improve the waxing and polishing effect, has a high degree of automation, and helps to reduce labor costs;

[0021] 4. The present invention enables the roughness detection device to perform a sliding movement on the second support device through the cooperation of the second support device, the roughness detection device, and the second detection fixture device, thereby detecting the roughness of multiple sites of the snowboard clamped on the second detection fixture device, which helps to improve the precision of snowboard roughness detection, also helps to improve the efficiency of snowboard roughness detection, and has a high degree of mechanization. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Other features, objectives, and advantages of the present invention will become more apparent by reading the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0023] Figure 1 It is a schematic diagram mainly showing the overall structure of the snowboard grinding machine system of the present invention;

[0024] Figure 2 It is a schematic diagram mainly showing the overall structure of the snowboard grinding station mechanism of the present invention;

[0025] Figure 3 It is a schematic diagram mainly showing the overall structure of the fixture module of the present invention;

[0026] Figure 4 It is a schematic diagram mainly showing the overall front structure of the fixture base of the present invention;

[0027] Figure 5This is a schematic diagram mainly showing the overall structure of the back of the fixture base of the present invention;

[0028] Figure 6 This is a schematic diagram mainly showing the overall structure of the loading and unloading device of the present invention;

[0029] Figure 7 This is a schematic diagram mainly showing the overall structure of the defect detection module of the present invention;

[0030] Figure 8 This is a schematic diagram mainly showing the overall structure of the drive component of the present invention;

[0031] Figure 9 This is a schematic diagram mainly showing the overall structure of the vision detection device of the present invention;

[0032] Figure 10 This is a schematic diagram mainly showing the overall structure of the detection fixture device of the present invention;

[0033] Figure 11 This is a schematic diagram mainly showing the overall structure of the waxing and polishing module of the present invention;

[0034] Figure 12 This is a schematic diagram mainly showing the overall structure of the second loading and unloading device of the present invention;

[0035] Figure 13 This is a schematic diagram mainly showing the overall structure of the roughness detection module of the present invention;

[0036] Figure 14 This is a schematic diagram mainly showing the overall structure of the second drive component of the present invention;

[0037] Figure 15 This is a schematic diagram mainly showing the overall structure of the roughness detection device of the present invention;

[0038] Figure 16 This is a schematic diagram mainly showing the overall structure of the detection fixture device of the present invention.

[0039] As shown in the figure:

[0040] Detailed implementation manners

[0041] The present invention will be described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several changes and improvements can still be made. These all belong to the protection scope of the present invention.

[0042] Such asFigure 1 As shown in the figure, a snowboard grinding system provided by the present invention includes a grinding station module 2, a defect detection module 3, a waxing and polishing module 5, and a roughness detection module 4. The grinding station module 2, the defect detection module 3, the waxing and polishing module 5, and the roughness detection module 4 are arranged in sequence according to the processing sequence of the snowboard.

[0043] As Figure 2 shown in the figure, the grinding station module 2 includes a fixture module 11, a loading and unloading device 202, a side edge grinding device 203, and a bottom edge grinding device 204.

[0044] As Figure 3 shown in the figure, the fixture module 11 includes a dust suction device 101 and a fixture base 102. The dust suction device 101 stands on the ground, and the length direction of the dust suction device 101 is the same as the width direction of the production line of the grinding system. The fixture base 102 is horizontally installed on the upper side of the dust suction device 101. On the side of the fixture base 102 facing away from the dust suction device 101, a positioning and adsorption component, a circumferential clamping component 104, and a constant force support component 105 are fixedly installed.

[0045] As Figure 4 shown in the figure, the fixture base 102 is a rectangular thin plate structure with a certain structural strength, and provides an installation basis for the positioning and adsorption component, the circumferential clamping component 104, and the constant force support component 105. On the fixture base 102, three support frames 1021 are vertically fixedly installed by bolts. The three support frames 1021 are spaced and fixedly installed on one side of the fixture base 102 in the length direction. The heights of the three support frames 1021 gradually increase from the end of the fixture base 102 to the middle of the fixture base 102. And on the other side of the fixture base 102 in the length direction, one support frame 1021 is also vertically fixedly installed by bolts. The four support frames 1021 are all located in the middle of the fixture base 102 in the width direction.

[0046] The positioning and adsorption component includes a first suction cup 103. One first suction cup 103 is fixedly installed on the upper sides of the four support frames 1021 respectively, and the mouths of the four suction cups are all arranged upward. The heights of the first suction cups 103 on the three support frames 1021 on one side of the fixture base 102 in the length direction increase sequentially from the outside to the inside, and the arrangement of the three first suction cups 103 matches the arc contour of the tail of the snowboard. The front end and the rear end of the snowboard are adsorbed and fixed by the cooperation of the four first suction cups 103, so as to install the snowboard on the fixture base 102, play a role in positioning the snowboard in the vertical direction, and position the snowboard in the horizontal coordinate system.

[0047] As Figure 4As shown in the figure, the circumferential clamping assembly 104 includes a pneumatic clamp 1041 and a second suction cup 1042. Three pneumatic clamps 1041 are arranged at intervals along the length direction of the fixture base 102 in the middle of the fixture base 102. The three pneumatic clamps 1041 are all located in the middle of the width direction of the fixture base 102. The heights of the three pneumatic clamps 1041 are slightly higher than the highest first suction cup 103, and the moving directions of the three pneumatic clamps 1041 are all parallel to the width direction of the fixture base 102. After the positioning and adsorption assembly adsorbs and fixes the snowboard, the three pneumatic clamps 1041 work and clamp the left and right sides of the snowboard, so as to position the coordinate system center line of the snowboard.

[0048] One second suction cup 1042 is fixed on one side of the pneumatic clamp 1041 in the middle along the length direction of the fixture base 102 by bolts and nuts. The mouth of the second suction cup 1042 faces upward, and the height of the mouth of the second suction cup 1042 is slightly lower than the height of the pneumatic clamp 1041. With the second suction cup 1042 fixedly installed on the pneumatic clamp 1041, the snowboard is adsorbed by the second suction cup 1042 while being clamped by the pneumatic clamp 1041, realizing the positioning and strengthening of the snowboard.

[0049] As Figure 4 shown in the figure, the constant force support assembly 105 includes a support cylinder 1051, a third suction cup 1052 and a support plate 1053. Two support cylinders 1051 are installed at intervals by bolts between any two adjacent pneumatic clamps 1041, and one support cylinder 1051 is fixedly installed by bolts at one end of the fixture base 102 where a support frame 1021 is installed. One support plate 1053 is fixedly installed vertically by bolts on the support cylinder 1051 located at the end of the fixture base 102 in the length direction, and on the support cylinder 1051 adjacent to the support cylinder 1051. The tops of the two support plates 1053 are in contact with the snowboard, and an arc portion 1054 is formed on the upper side of the support plate 1053 located at the end of the fixture base 102 in the length direction, and the arc portion 1054 is in contact with the front end of the snowboard.

[0050] One third suction cup 1052 is fixedly installed on each of the other three support cylinders 1051, and the mouths of the three third suction cups 1052 all face upward. After the circumferential clamping assembly 104 clamps the snowboard, the support cylinder 1051 is started, and the three third suction cups 1052 and the two support plates 1053 gradually move upward and contact the snowboard under the action of the corresponding support cylinder 1051. When the upward acting force of the two support plates 1053 on the snowboard reaches the rated acting force, the support cylinder 1051 stops.

[0051] Further, in order to protect the snowboard and reduce the occurrence of damage to the snowboard caused by contact with the positioning and adsorption component, the circumferential clamping component 104, and the constant force support component 105, the tops of the two support plates 1053 are covered with nylon material with inverted rounded corners. In order to further improve the stability of the positioning and adsorption component, the circumferential clamping component 104, and the constant force support component 105 in adsorbing and fixing the snowboard, the first suction cup 103, the second suction cup 1042, and the third suction cup 1052 all adopt a micro-directional alignment adsorption structure.

[0052] As Figure 3 , Figure 4 and Figure 5 shown, the dust suction device 101 includes a dust suction sheet metal frame 1011. The dust suction sheet metal frame 1011 is located at the top of the dust suction device 101. A positioning pin 106 is connected between the fixture base 102 and the dust suction sheet metal frame 1011. The positioning pin 106 sequentially passes through the pin holes on the fixture base 102 and the pin holes on the dust suction sheet metal frame 1011 from top to bottom. The positioning pin 106 is in transitional fit with the fixture base 102 and the dust suction sheet metal frame 1011 respectively, and a positioning pin 106 is installed at each of the four corners of the fixture base 102. The positioning installation of the fixture base 102 and the dust suction sheet metal frame 1011 is realized by means of the four positioning pins 106. The fixture base 102 and the dust suction sheet metal frame 1011 are also fixedly connected by fixing bolts, which improves the tightness and reliability of the installation of the fixture base 102 and the dust suction sheet metal frame 1011.

[0053] As Figure 2 and Figure 6 shown, a first robotic arm 205 is fixedly installed on one side in the width direction of the dust suction device 101. A first fixed seat 206 is connected between the first robotic arm 205 and the ground, so that the first robotic arm 205 is stably and reliably installed on one side of the dust suction device 101. The first robotic arm 205 is a six-degree-of-freedom robotic arm, and the first robotic arm 205 can perform automatic operations within six degrees of freedom by means of the built-in program module.

[0054] Both the loading and unloading device 202 and the side edge grinding device 203 are installed on the first robotic arm 205. The loading and unloading device 202 includes a bracket 212, a suction assembly 222, and a clamping assembly. The bracket 212 is a long strip-shaped metal structure with a certain structural strength. The bracket 212 serves as the mounting base for both the suction assembly 222 and the clamping assembly, and the middle part of the bracket 212 is horizontally fixedly installed on the rotating shaft at the end of the first robotic arm 205. The suction assembly 222 includes a fourth suction cup 2221 and a driving cylinder 2222. The cylinder body of the driving cylinder 2222 is fixedly installed on the lower side wall of the bracket 212. The piston rod of the driving cylinder 2222 is vertically arranged, and the piston rod of the driving cylinder 2222 moves in a direction away from or towards the bracket 212. The fourth suction cup 2221 is fixedly installed at the end of the piston rod of the driving cylinder 2222, and the mouth of the fourth suction cup 2221 faces away from the bracket 212.

[0055] When the first robotic arm 205 drives the loading and unloading device 202 to work, the driving cylinder 2222 is activated to drive the fourth suction cup 2221 to move downward, and the fourth suction cup 2221 adsorbs the snowboard to be grabbed. In order to improve the stability of the fourth suction cup 2221 in adsorbing the snowboard. Three groups of the suction assemblies 222 are fixedly installed at equal intervals in the middle of the bracket 212. The three spaced suction assemblies 222 work together to adsorb the snowboard to be grabbed. The three spaced adsorption points improve the stability and reliability of the suction assembly 222 in adsorbing the snowboard.

[0056] The clamping assembly is a second pneumatic clamp 232. One second pneumatic clamp 232 is fixedly installed on one side of the three suction assemblies 222 on the lower side wall of the bracket 212, and two second pneumatic clamps 232 are fixedly installed at intervals on the other side of the three suction assemblies 222 on the lower side wall of the bracket 212. The jaws of the three second pneumatic clamps 232 all face away from the bracket 212. After the suction assembly 222 adsorbs the snowboard, the piston rod of the driving cylinder 2222 contracts, and the snowboard moves with the fourth suction cup 2221 into the jaws of the three second pneumatic clamps 232. The three second pneumatic clamps 232 work simultaneously to clamp the snowboard, improving the stability of the loading and unloading device 202 in grabbing the snowboard. In order to reduce the damage caused by the contact between the snowboard and the second pneumatic clamp 232, the parts of the three second pneumatic clamps 232 in contact with the snowboard are all coated with protective blocks made of nylon material.

[0057] Furthermore, in order to improve the accuracy of the loading and unloading device 202 in grabbing the snowboard, an induction switch 242 is fixedly installed on the lower side wall of the bracket 212. The induction switch 242 is used to detect the induction signal of the snowboard, and five induction switches 242 are installed at intervals along the length direction of the bracket 212 on the bracket 212. The five induction switches 242 are distributed at both ends and in the middle of the bracket 212, so as to be able to detect the signals of snowboards of different lengths.

[0058] AsFigure 2 and Figure 6 As shown in Figure 6 , the side edge grinding device 203 includes a side edge grinding head 213 and a side edge grinding shaft 223. The side edge grinding shaft 223 is vertically fixed in the middle of the upper side of the bracket 212. The side edge grinding head 213 uses a hard CBN grinding wheel. The side edge grinding head 213 is coaxially fixedly installed on the side edge grinding shaft 223. The side edge grinding head 213 is driven by a motor on the first robotic arm 205, so as to drive the side edge grinding head 213 to rotate for grinding operations.

[0059] The end rotation shaft on the first robotic arm 205 is controlled to rotate through an internal software module, realizing the interchange of the upper and lower positions of the loading and unloading device 202 and the side edge grinding device 203, and further realizing the switching between the two working states of the loading and unloading operation and the side edge grinding operation.

[0060] As Figure 2 shown, on the other side in the width direction of the dust suction device 101, a second robotic arm 207 is fixedly installed. A second fixed seat 208 is connected between the second robotic arm 207 and the ground, so that the second robotic arm 207 is stably and reliably installed on the side of the dust suction device 101. The second robotic arm 207 is a six-degree-of-freedom robotic arm, and the second robotic arm 207 can perform automatic operations within six degrees of freedom with the help of an internal program module.

[0061] The bottom edge grinding device 204 is fixedly installed at the end of the second robotic arm 207. The bottom edge grinding device 204 includes a rough grinding head 214, a fine grinding head 224, and a bottom edge grinding shaft 234. The bottom edge grinding shaft 234 is vertically rotatably installed at the end of the second robotic arm 207. The rough grinding head 214 uses abrasive paper. The rough grinding head 214 is coaxially fixedly installed at the top of the bottom edge grinding shaft 234. The fine grinding head 224 uses a hard CBN grinding wheel. The fine grinding head 224 is coaxially fixedly installed at the bottom of the bottom edge grinding shaft 234. The bottom edge grinding shaft 234 is driven by a motor on the second robotic arm 207. The rotation of the bottom edge grinding shaft 234 drives the rough grinding head 214 and the fine grinding head 224 to rotate. Then, through the program module built in the second robotic arm 207, the second robotic arm 207 is controlled to move along a specific program trajectory to realize the rough grinding and fine grinding of the snowboard bottom plate installed on the fixture module 11.

[0062] As Figure 1 and Figure 7As shown in the figure, the defect detection module 3 is fixedly installed on the ground at the rear side of the first robotic arm 205. The grinding station module 2 is arranged at an interval from the defect detection module 3, and a snowboard buffer station 601 is formed between the grinding station module 2 and the defect detection module 3. The snowboard completed by the grinding of the grinding station module 2 is placed in the snowboard buffer station 601 by the loading and unloading device 202 controlled by the first robotic arm 205 to facilitate the next process. The defect detection module 3 includes a support device 301, a vision detection device 302, and a detection fixture device 303. Both the support device 301 and the detection fixture device 303 are erected on the ground. The length direction of the support device 301 is the same as the length direction of the grinder system production line. The detection fixture device 303 is located on one side of the support device 301 in the width direction close to the first robotic arm 205. The vision detection device 302 is slidably installed on the support device 301. The sliding direction of the vision detection device 302 is the same as the length direction of the support device 301, and the vision detection device 302 is located above the detection fixture device 303.

[0063] As Figure 7 shown, the support device 301 includes a support base 3011 and a moving track 3012. The support base 3011 is erected on the ground, and the moving track 3012 is laid on the top of the support base 3011. The length direction of the moving track 3012 is the same as the length direction of the support base 3011, and two moving tracks 3012 are laid at intervals on the top of the support base 3011, thus providing an installation basis for the vision detection device 302.

[0064] As Figure 8 and Figure 9 shown, the vision detection device 302 includes a vision instrument 3021 and a mounting plate 3022. The mounting plate 3022 is horizontally installed on the two moving tracks 3012 and is respectively slidably matched with the two moving tracks 3012. The two moving tracks 3012 allow the mounting plate 3022 to make a horizontal sliding movement along its length direction. A driving component 304 for driving the vision detection device 302 to move on the support base 3011 is installed between the support device 301 and the vision detection device 302. The driving component 304 includes a driving motor 3041, a gear 3042, and a rack 3043. The driving motor 3041 is fixedly installed on the mounting plate 3022 by bolts. The output shaft of the driving motor 3041 is horizontally arranged and extends out of the mounting plate 3022. The gear 3042 is coaxially and fixedly installed at the end of the output shaft of the driving motor 3041. The rack 3043 is horizontally fixedly installed on the top of the support base 3011. The rack 3043 is located on the side of the support base 3011 away from the detection fixture device 303. The rack 3043 is arranged in parallel with the two moving tracks 3012, and the rack 3043 is meshed with the gear 3042.

[0065] The driving motor 3041 starts to drive the gear 3042 to rotate. By means of the meshing of the rack 3043 fixedly installed on the support base 3011 and the gear 3042 installed at the end of the output shaft of the driving motor 3041, the mounting plate 3022 slides along the length direction of the two moving tracks 3012 on the moving tracks 3012, realizing the horizontal sliding movement of the vision detection device 302 on the support device 301.

[0066] There is an instrument fixing frame 3023 connected between the vision instrument 3021 and the mounting plate 3022. The instrument fixing frame 3023 is a metal frame body with a certain structural strength and provides an installation basis for the vision instrument 3021. The instrument fixing frame 3023 includes a horizontal part and a vertical part. One piece is integrally formed at each end of the vertical part for the horizontal part. And the upper horizontal part extends from its connection with the vertical part towards the side close to the detection fixture device 303, and the lower horizontal part extends from its connection with the vertical part towards the side away from the detection fixture device 303.

[0067] The vision instrument 3021 is suspended and fixed on the lower side of the upper horizontal part by bolts. The lower horizontal part is movably installed on the mounting plate 3022, and the mounting plate 3022 allows the instrument fixing frame 3023 to slide thereon. A second driving cylinder 305 is horizontally fixedly installed on the mounting plate 3022 by bolts. The telescopic direction of the output shaft of the second driving cylinder 305 is perpendicular to the length direction of the moving track 3012, and the end of the output shaft of the second driving cylinder 305 is fixedly connected to the instrument fixing frame 3023. When the second driving cylinder 305 starts, it drives the instrument fixing frame 3023 to perform a horizontal sliding movement on the mounting plate 3022 in a direction perpendicular to the moving track 3012, thereby driving the vision instrument 3021 to perform a horizontal sliding movement in a direction perpendicular to the moving track 3012, improving the convenience for the staff to adjust the position of the vision instrument 3021.

[0068] A solenoid valve 306 is also fixedly installed on the mounting plate 3022. The solenoid valve 306 is electrically connected to the second driving cylinder 305, and the solenoid valve 306 is used to control the opening, closing and movement of the second driving cylinder 305.

[0069] When the vision instrument 3021 is working, the scanner on the vision instrument 3021 scans the snowboard fixedly installed on the detection fixture. The vision instrument 3021 divides the snowboard into three to five regions, preferably four regions, and drives the vision instrument 3021 to move along the length direction of the moving track 3012 through the cooperation of the driving motor 3041, the gear 3042 and the rack 3043, so as to scan the four regions on the snowboard one by one. When the scanner on the vision instrument 3021 performs the scanning operation, each region is divided into multiple blocks, with an interval of 0.5 mm between each block, and the intervals are distinguished by lines. The scanner conveys the scanning results to the processing module of the vision instrument 3021 for processing, and the processing module calculates the difference between the minimum value and the maximum value of the lines. When the difference between the minimum value and the maximum value of the lines is less than or equal to 0.4 mm, it is qualified; when the difference between the minimum value and the maximum value of the lines is greater than 0.4 mm, it is unqualified. If the number of unqualified lines in each region of the snowboard is less than 10 and not continuous, it is a qualified product; if the number of unqualified lines in each region of the snowboard is greater than 10 or continuous adjacent, it is an unqualified product. Thus, it can be detected whether the bottom surface of the ski board after grinding is completely ground thoroughly, or whether there are defects such as pits and cracks on the bottom surface of the ski board.

[0070] As Figure 10 shown, the detection fixture device 303 includes a detection fixture base 3031, a support suction cup 307, a pneumatic adsorption assembly 308 and a pneumatic support assembly 309. The detection fixture base 3031 stands on one side in the width direction of the support base 3011. The length direction of the detection fixture base 3031 is parallel to the length direction of the support base 3011, and the height of the detection fixture base 3031 is less than the height of the support base 3011. The support suction cup 307, the pneumatic adsorption assembly 308 and the pneumatic support assembly 309 are all fixedly installed on the upper side wall of the detection fixture base 3031.

[0071] The support suction cup 307 includes a second support frame 3071 and a sixth suction cup 3072. The second support frame 3071 is vertically and fixedly installed on the upper side wall of the detection fixture base 3031 through bolts. Seven second support frames 3071 are fixedly installed on the detection fixture base 3031 at intervals along the length direction of the detection fixture base 3031. One sixth suction cup 3072 is fixedly installed on the upper side of any second support frame 3071, and the mouths of the seven sixth suction cups 3072 are all facing upward.

[0072] There are three groups of pneumatic adsorption components 308 arranged at intervals along the length direction of the detection fixture base 3031. One pneumatic adsorption component 308 is located on one side of the detection fixture base 3031 in the length direction, and the remaining two pneumatic adsorption components 308 are located in the middle of the detection fixture base 3031 and are arranged adjacent to each other at intervals. There are three groups of support suction cups 307 between the pneumatic adsorption component 308 on one side of the detection fixture base 3031 in the length direction and the pneumatic adsorption components 308 in the middle of the detection fixture base 3031. The three groups of pneumatic adsorption components 308 are all arranged at intervals with the support suction cups 307.

[0073] Since the components, structures, and installation methods of the three groups of pneumatic adsorption components 308 are the same, one group of pneumatic adsorption components 308 will be taken as an example for description: The pneumatic adsorption component 308 includes a first cylinder 3081 and a fifth suction cup 3082. The first cylinder 3081 is fixedly installed on the top wall of the detection fixture base 3031. The piston rod of the first cylinder is arranged vertically. The fifth suction cup 3082 is fixedly installed at the end of the piston rod of the first cylinder 3081, and the mouth of the fifth suction cup 3082 faces upward.

[0074] There are four groups of pneumatic support components 309 arranged at intervals along the length direction of the detection fixture base 3031. One pneumatic support component 309 is fixedly installed at one end of the detection fixture base 3031 on the side where the pneumatic adsorption component 308 is located. Two of the pneumatic support components 309 are arranged at staggered intervals with the three support suction cups 307 close to the pneumatic support component 309 at the end of the detection fixture base 3031. Another pneumatic support component 309 is located between the second support suction cup 307 and the third support suction cup 307 at the other end of the detection fixture base 3031. The four pneumatic support components 309 are all arranged at intervals with any support suction cup 307 and any drive adsorption component.

[0075] Since the components, structures, and installation methods of the four groups of pneumatic support components 309 are the same, one group of pneumatic support components 309 will be taken as an example for description: The pneumatic support component 309 includes a second cylinder 3091 and a second support plate 3092. The second cylinder 3091 is fixedly installed on the top of the detection fixture base 3031. The piston rod of the second cylinder 3091 is arranged vertically. The second support plate 3092 is vertically fixedly installed at the upper end of the piston rod of the second cylinder 3091 by bolts. In order to reduce the damage to the snowboard caused by the contact between the second support plate 3092 and the snowboard, the upper end of the second support plate 3092 is made of nylon material.

[0076] When the snowboard is installed on the detection fixture device 303, the seven sixth suction cups 3072 on the seven support suction cups 307 operate simultaneously to adsorb the snowboard. Then, the three first cylinders 3081 and the four second cylinders 3091 are activated and drive the three fifth suction cups 3082 and the four second support plates 3092 to move upward respectively until the three fifth suction cups 3082 adsorb the snowboard and the four second support plates 3092 come into contact and cooperate with the snowboard, and the installation is completed. At this time, the seven sixth suction cups 3072 and the three fifth suction cups 3082 have a downward acting force on the snowboard, and the four second support plates 3092 have an upward acting force on the snowboard. The cooperation of the upward and downward acting forces stably fixes the snowboard on the detection fixture device 303 and makes the length direction of the snowboard installed on the detection fixture device 303 the same as the length direction of the detection fixture base 3031, thereby improving the convenience of detecting the snowboard when the vision instrument 3021 moves along the length direction of the detection fixture base 3031.

[0077] As Figure 11 shown, the polishing detection module 5 includes a mounting fixture, a second loading and unloading device 501, a polishing device, and a wax spraying device. The mounting fixture stands on the ground, and the second loading and unloading device 501, the polishing device, and the wax spraying device are all installed on the ground on the side of the mounting fixture.

[0078] As Figure 11 and Figure 12 shown, a ground rail group 504 is laid on the ground on the side of the support device 301 facing away from the detection fixture device 303. The length direction of the ground rail group 504 is parallel to the length direction of the detection fixture device 303. A third robotic arm 5041 is movably installed on the ground rail group 504, and the ground rail group 504 allows the third robotic arm 5041 to reciprocate along its length direction. The third robotic arm 5041 is a six-degree-of-freedom robotic arm and has five joints. Both the second loading and unloading device 501 and the polishing device are fixedly installed on the rotating shaft at the end of the third robotic arm.

[0079] The second loading and unloading device 501 includes a second support 5011, a second adsorption assembly 505, and a second clamping assembly. The second support 5011 is a long strip-shaped metal structure with a certain structural strength. The second support 5011 serves as the installation foundation for both the second adsorption assembly 505 and the second clamping assembly, and the middle part of the second support 5011 is horizontally and fixedly installed on the rotating shaft at the end of the third robotic arm 5041. The second adsorption assembly 505 includes a ninth suction cup 5051 and a ninth driving cylinder 5052. The cylinder body of the ninth driving cylinder 5052 is fixedly installed on the lower side wall of the second support 5011. The piston rod of the ninth driving cylinder 5052 is vertically arranged, and the piston rod of the ninth driving cylinder 5052 moves in a direction away from or towards the second support 5011. The ninth suction cup 5051 is fixedly installed at the end of the piston rod of the ninth driving cylinder 5052, and the mouth of the ninth suction cup 5051 faces away from the second support 5011.

[0080] The third robotic arm 5041 controls the rotation of the rotating shaft at its end to switch the second loading and unloading device 501 to the working state. The ninth driving cylinder 5052 is activated to drive the ninth suction cup 5051 to move downward, so that the ninth suction cup 5051 adsorbs the snowboard to be grabbed. In order to improve the stability of the ninth suction cup 5051 in adsorbing the snowboard. Three groups of the second adsorption assemblies 505 are fixedly installed at equal intervals in the middle of the second support 5011. The three spaced second adsorption assemblies 505 work together to adsorb the snowboard to be grabbed. The three spaced adsorption points improve the stability and reliability of the second adsorption assembly 505 in adsorbing the snowboard.

[0081] The second clamping assembly is a fourth pneumatic clamp 5012. One fourth pneumatic clamp 5012 is fixedly installed on one side of the three groups of second adsorption assemblies 505 on the lower side wall of the second support 5011, and two fourth pneumatic clamps 5012 are fixedly installed at intervals on the other side of the three groups of second adsorption assemblies 505 on the lower side wall of the second support 5011. The jaws of the three fourth pneumatic clamps 5012 all face away from the second support 5011. After the second adsorption assembly 505 adsorbs the snowboard, the piston rod of the ninth driving cylinder 5052 contracts, and the snowboard moves with the ninth suction cup 5051 into the jaws of the three fourth pneumatic clamps 5012. The three fourth pneumatic clamps 5012 operate simultaneously to clamp the snowboard, improving the stability of the second loading and unloading device 501 in grabbing the snowboard. In order to reduce the damage caused by the contact between the snowboard and the fourth pneumatic clamp 5012, the parts of the three fourth pneumatic clamps 5012 in contact with the snowboard are all coated with protection blocks made of nylon material.

[0082] Furthermore, in order to improve the accuracy of the second loading and unloading device 501 in grabbing the snowboard, a second sensing switch 5013 is fixedly installed on the lower side wall of the second bracket 5011. The second sensing switch 5013 is used to detect the sensing signal of the snowboard, and five second sensing switches 5013 are installed on the second bracket 5011 at intervals along the length direction of the second bracket 5011. The five second sensing switches 5013 are distributed at both ends and the middle of the second bracket 5011, so that the signals of snowboards of different lengths can be detected.

[0083] like Figure 12 As shown, the polishing device is a polishing power head group 502, which includes a rotating shaft 5021 and a polishing wheel 5022. The rotating shaft 5021 is vertically rotatably mounted on the middle part of the second bracket 5011 away from the second adsorption component 505, and the polishing wheel 5022 is coaxially and fastened on the end of the rotating shaft 5021 away from the second adsorption component 505. The third mechanical arm 5041 controls the rotation of the rotating shaft at its end to switch the polishing device to the working state, and the power source on the third mechanical arm drives the rotating shaft 5021 to rotate, thereby driving the polishing wheel 5022 to rotate, thereby realizing the polishing operation of the polishing wheel 5022 on the snowboard installed on the detection fixture device 303.

[0084] The third robotic arm 5041 slides along the track of the ground rail group 504 on the ground rail group 504, grabs the snowboard stored in the snowboard cache station 601 through the second loading and unloading device 501, and clamps the snowboard polished by the polishing station module 2 to the detection fixture device 303, and inspects it through the visual instrument 3021.

[0085] A non-conforming station 602 is formed on the ground of the ground rail assembly 504 on the side away from the supporting device 301. After the visual instrument 3021 detects the non-conforming products, the third robotic arm 5041 controls the second loading and unloading device 501 to grab them from the detection fixture device 303 and place them in the non-conforming station 602. After the visual instrument 3021 detects the qualified products, the third robotic arm 5041 controls the second loading and unloading device 501 to grab them from the detection fixture device 303 and proceed to the next process.

[0086] like Figure 11As shown in the figure, a polishing wheel library 506 is fixedly installed vertically on the ground between the grinding station module 2 and the defect detection module 3. A plurality of polishing wheels 5022 are stored in the polishing wheel library 506. The horizontal distance between the polishing wheel library 506 and the ground rail group 504 is 416 mm, and the vertical distance between the polishing wheel library 506 and the ground rail group 504 is 866 mm. When the third robotic arm 5041 drives the polishing power head group 502 to the polishing wheel library 506, the polishing wheel 5022 on the polishing power head group 502 can be replaced. A wax spraying device is also vertically installed on the ground between the grinding station module 2 and the defect detection module 3. The wax spraying device is a wax spraying group 503. The horizontal distance between the wax spraying group 503 and the ground rail group 504 is 803 mm, and the vertical distance between the wax spraying group 503 and the ground rail group 504 is 1254 mm.

[0087] For the snowboard that has passed the inspection by the defect detection module 3, the third robotic arm 5041 controls the second loading and unloading device 501 to grab and move it to the nozzle of the wax spraying group 503 for wax spraying operation. Then the third robotic arm 5041 controls the second loading and unloading device 501 to install the wax-sprayed snowboard onto the inspection fixture device 303. Then the third robotic arm 5041 switches the polishing power head group 502 to the working state and polishes the snowboard installed on the inspection fixture device 303. Then the third robotic arm 5041 switches the second loading and unloading device 501 to the working state, grabs the snowboard that has completed the polishing operation on the inspection fixture device 303 and transports it to the roughness detection module 4 for roughness detection.

[0088] As Figure 1 and Figure 13 shown in the figure, the roughness detection module 4 includes a second support device 401, a roughness detection device 402, and a second inspection fixture device 403. Both the second support device 401 and the second inspection fixture device 403 are erected on the ground, and the second inspection fixture device 403 is located on one side of the second support device 401 in the width direction. The roughness detection device 402 is slidably installed on the second support device 401. The sliding direction of the roughness detection device 402 is the same as the length direction of the second support device 401, and the roughness detection device 402 is located above the second inspection fixture device 403.

[0089] As Figure 13As shown, the second support device 401 includes a second support base 4011 and a second moving track 4012. The second support base 4011 stands upright on the ground, and the second moving track 4012 is laid on the top of the second support base 4011, and the length direction of the second moving track 4012 is the same as that of the second support base 4011. Two second moving tracks 4012 are laid in parallel and spaced apart on the top of the second support base 4011. The two second moving tracks 4012 simultaneously serve as the installation base for the roughness detection device 402, and the two second moving tracks 4012 have a guiding effect, so that the roughness detection device 402 makes a reciprocating sliding movement along the length direction of the second support base 4011 on the second support base 4011.

[0090] As Figure 14 and Figure 15 shown, the roughness detection device 402 includes a roughness meter 4021, a second mounting plate 4022, and a roughness terminal box 4023. The second mounting plate 4022 is horizontally installed above the two second moving tracks 4012 at the same time. The second mounting plate 4022 is slidably engaged with the two second moving tracks 4012 respectively, and the two second moving tracks 4012 allow the second mounting plate 4022 to make a horizontal sliding movement along its length direction. A second driving component 404 is installed between the second support device 401 and the roughness detection device 402, and the second driving component 404 drives the roughness detection device 402 to move along the length direction of the second moving track 4012 on the second support base 4011.

[0091] The second driving component 404 includes a second driving motor 4041, a second gear 4042, and a second rack 4043. The body of the second driving motor 4041 is fixedly installed on the second mounting plate 4022, and the output shaft of the second driving motor 4041 is horizontally arranged and extends out of the second mounting plate 4022. The second gear 4042 is coaxially and fixedly installed at the end of the output shaft of the second driving motor 4041. The second rack 4043 is horizontally and fixedly installed on the top of the second support base 4011, and the second rack 4043 is located on the side of the second support base 4011 away from the second detection fixture device 403. The length direction of the second rack 4043 is the same as that of the two second moving tracks 4012, and the second rack 4043 is meshed with the second gear 4042.

[0092] When the second driving motor 4041 is started, it drives the second gear 4042 to rotate. By means of the meshing of the second rack 4043 fixedly installed on the second support base 4011 and the second gear 4042 installed at the end of the output shaft of the second driving motor 4041, the second mounting plate 4022 makes a horizontal reciprocating sliding movement along the length direction of the second moving track 4012 on the second support base 4011.

[0093] A moving adjustment device 405 is installed between the roughness meter 4021 and the second mounting plate 4022. The moving adjustment device 405 includes a first slide rail 4051, a second slide rail 4052, a third slide rail 4053, a first driving electric cylinder 4054, a second driving electric cylinder 4055, and a third driving electric cylinder 4056. The first slide rail 4051 is horizontally and fixedly installed on the top wall of the second mounting plate 4022 by bolts, and the length direction of the first slide rail 4051 is the same as the length direction of the second moving track 4012. The first driving electric cylinder 4054 is fixedly installed on the first slide rail 4051, and the telescopic direction of the piston rod of the first driving electric cylinder 4054 is the same as the length direction of the first slide rail 4051.

[0094] The second slide rail 4052 is slidably installed on the first slide rail 4051. The length direction of the second slide rail 4052 is horizontally perpendicular to the length direction of the first slide rail 4051, and the first slide rail 4051 allows the second slide rail 4052 to slide along the length direction of the first slide rail 4051. To achieve the reciprocating movement of the second slide rail 4052 on the first slide rail 4051, the bottom of the second slide rail 4052 is fixedly connected to the end of the piston rod of the first driving electric cylinder 4054. When the first driving electric cylinder 4054 is started, it drives the second slide rail 4052 to make a reciprocating sliding movement along the length direction of the first slide rail 4051 on the first slide rail 4051. The second driving electric cylinder 4055 is fixedly installed on the second slide rail 4052, and the telescopic direction of the piston rod of the second driving electric cylinder 4055 is the same as the length direction of the second slide rail 4052.

[0095] The third slide rail 4053 is slidably installed on the second slide rail 4052. The length direction of the third slide rail 4053 is vertically perpendicular to the length direction of the first slide rail 4051, and the second slide rail 4052 allows the third slide rail 4053 to slide along the length direction of the second slide rail 4052. To achieve the reciprocating movement of the third slide rail 4053 on the second slide rail 4052, the bottom of the third slide rail 4053 is fixedly connected to the end of the piston rod of the second driving electric cylinder 4055. When the second driving electric cylinder 4055 is started, it drives the third slide rail 4053 to make a reciprocating sliding movement along the length direction of the second slide rail 4052 on the second slide rail 4052. The third driving electric cylinder 4056 is fixedly installed on the third slide rail 4053, and the telescopic direction of the piston rod of the third driving electric cylinder 4056 is the same as the length direction of the third slide rail 4053.

[0096] A second mounting bracket 409 is slidably mounted on the third slide rail 4053. The second mounting bracket 409 is vertically arranged, and the length direction of the second mounting bracket 409 is the same as the length direction of the first slide rail 4051, and one side in the length direction of the second mounting bracket 409 extends out of the third slide rail 4053. The end of the piston rod of the third driving electric cylinder 4056 is fixedly connected to the second mounting bracket 409. When the third driving electric cylinder 4056 is started, the second mounting bracket 409 is driven to perform a reciprocating sliding movement along the length direction of the third slide rail 4053. The roughness meter 4021 is horizontally and fixedly mounted on the side of the second mounting bracket 409 facing away from the third slide rail 4053 by bolts. The detection end of the roughness meter 4021 extends out of the second mounting bracket 409, and one end of the roughness meter 4021 extending out of the second mounting bracket 409 extends above the second detection fixture device 403.

[0097] The roughness terminal box 4023 is fixedly mounted in the middle of the second support base 4011 in the length direction. The roughness terminal box 4023 is electrically connected to the roughness meter 4021 through a wire, and the roughness terminal box 4023 does not interfere with the movement of the roughness meter 4021 along the length direction of the second slide rail 4052 on the second support base 4011. The roughness of the outer surface of the snowboard to be measured is detected by the cooperation of the roughness meter 4021 and the roughness terminal box 4023, which improves the accuracy of the roughness detection of the outer surface of the snowboard.

[0098] As Figure 16 shown, the second detection fixture device 403 includes a second detection fixture base 4031, a second support suction cup 406, a second pneumatic adsorption assembly 407, and a second pneumatic support assembly 408. The second detection fixture base 4031 stands on one side of the second support base 4011 in the width direction. The length direction of the second detection fixture base 4031 is parallel to the length direction of the second support base 4011, and the height of the second detection fixture base 4031 is less than the height of the second support base 4011. The second support suction cup 406, the second pneumatic adsorption assembly 407, and the second pneumatic support assembly 408 are all fixedly mounted on the top wall of the second detection fixture base 4031.

[0099] The second support suction cup 406 includes a third support frame 4061 and an eighth suction cup 4062. The third support frame 4061 is vertically and fixedly mounted on the top of the second detection fixture base 4031 by bolts. Seven third support frames 4061 are fixedly mounted on the second detection fixture base 4031 at intervals along the length direction of the second detection fixture base 4031. One eighth suction cup 4062 is fixedly mounted on the upper side of any one of the third support frames 4061, and the mouths of the seven eighth suction cups 4062 are all facing upward.

[0100] The second pneumatic adsorption assembly 407 is provided with three groups at intervals along the length direction of the second detection fixture base 4031. One of the second pneumatic adsorption assemblies 407 is located on one side of the second detection fixture base 4031 in the length direction, and the remaining two second pneumatic adsorption assemblies 407 are located in the middle of the second detection fixture base 4031 and are arranged adjacent to each other at intervals. Three groups of second support suction cups 406 are installed between the second pneumatic adsorption assembly 407 on one side of the second detection fixture base 4031 in the length direction and the second pneumatic adsorption assemblies 407 in the middle of the second detection fixture base 4031. The three groups of second pneumatic adsorption assemblies 407 are all arranged at intervals from the second support suction cups 406.

[0101] Since the components, structures, and installation methods of the three groups of second pneumatic adsorption assemblies 407 are all the same, one group of second pneumatic adsorption assemblies 407 will be taken as an example for description: The second pneumatic adsorption assembly 407 includes a third air cylinder 4071 and a seventh suction cup 4072. The third air cylinder 4071 is fixedly installed on the top wall of the second detection fixture base 4031. The piston rod of the third air cylinder 4071 is arranged vertically. The seventh suction cup 4072 is fixedly installed at the end of the piston rod of the third air cylinder 4071, and the mouth of the seventh suction cup 4072 faces upward.

[0102] The second pneumatic support assembly 408 is provided with four groups at intervals along the length direction of the second detection fixture base 4031. One of the second pneumatic support assemblies 408 is fixedly installed at one end of the second detection fixture base 4031 on the side where the second pneumatic adsorption assembly 407 is located. Two of the second pneumatic support assemblies 408 are arranged at staggered intervals with the three second support suction cups 406 close to the second pneumatic support assembly 408 at the end of the second detection fixture base 4031. Another second pneumatic support assembly 408 is located between the second and third second support suction cups 406 at the other end of the second detection fixture base 4031. The four second pneumatic support assemblies 408 are all arranged at intervals from any second support suction cup 406 and any second pneumatic adsorption assembly 407.

[0103] Since the components, structures, and installation methods of the four groups of second pneumatic support assemblies 408 are all the same, one group of second pneumatic support assemblies 408 will be taken as an example for description: The second pneumatic support assembly 408 includes a fourth air cylinder 4081 and a third support plate 4082. The fourth air cylinder 4081 is fixedly installed on the top of the second detection fixture base 4031. The piston rod of the fourth air cylinder 4081 is arranged vertically. The third support plate 4082 is vertically fixedly installed at the upper end of the piston rod of the fourth air cylinder 4081 by bolts. In order to reduce the damage to the snowboard caused by the contact between the third support plate 4082 and the snowboard, the upper end of the third support plate 4082 is made of nylon material.

[0104] When the third robotic arm 5041 controls the second loading and unloading device 501 to install the polished snowboard onto the second detection fixture device 403, the seven eighth suction cups 4062 on the seven second support suction cups 406 operate simultaneously to adsorb the snowboard. Subsequently, the three third cylinders 4071 and the four fourth cylinders 4081 are activated and respectively drive the three seventh suction cups 4072 and the four third support plates 4082 to move upward until the three seventh suction cups 4072 adsorb the snowboard and the four third support plates 4082 come into contact and cooperate with the snowboard, indicating the installation is complete. At this time, the seven eighth suction cups 4062 and the three seventh suction cups 4072 exert a downward force on the snowboard, while the four third support plates 4082 exert an upward force on the snowboard. The combined action of the upward and downward forces stably fixes the snowboard on the second detection fixture device 403 and aligns the length direction of the snowboard installed on the second detection fixture device 403 with the length direction of the second detection fixture base 4031, thereby improving the convenience of the roughness meter 4021 to detect the snowboard when moving along the length direction of the second detection fixture base 4031.

[0105] The roughness meter 4021 moves along the second slide rail 4052 and respectively conducts roughness detections on five positions, namely, at one-fifth, two-fifths, three-fifths, four-fifths of the length of the snowboard installed on the second detection fixture device 403, and at one end of the length. When the roughness detection data is > Ra0.4um, the snowboard is determined to be unqualified. The unqualified products are grabbed by the third robotic arm 5041 controlling the second loading and unloading device 501 and subjected to repeated waxing and polishing operations, followed by roughness detection again. Snowboards that are still determined to be unqualified after repeating the process twice are grabbed by the third robotic arm 5041 controlling the second loading and unloading device 501 and sent to the unqualified station 602 for manual discrimination. When the roughness data detection is ≤ Ra0.4um, the snowboard is determined to be qualified. A blanking transfer station 603 is fixedly installed on the ground behind the second detection fixture device 403. The qualified snowboards are grabbed by the third robotic arm 5041 controlling the second loading and unloading device 501 and sent to the blanking transfer station 603, awaiting manual blanking of the snowboards at the blanking transfer station 603.

[0106] As Figure 1 shown, a wire body protection 604 surrounds the periphery of the grinder system production line. The wire body protection surrounds the grinding station module 2, the defect detection module 3, the waxing and polishing module 4, and the roughness detection module 5, and 604 is made transparent, thus facilitating the staff to observe the operation status of the equipment. On the side of the first robotic arm 205 facing away from the defect detection module 3, a loading station 605 is formed. The unqualified station 602 and the loading station 605 are on the same side, and the wire body protection 604 forms gaps at the loading station 605 and the unqualified station 602 to facilitate the operation of the first robotic arm 205 and the third robotic arm 5041.

[0107] Infrared detection switches are installed around the feeding station 605 and the non-conforming station 602, which are used to detect the accidental intrusion of personnel during equipment processing and stop the equipment emergently. The console 606 and the touch screen console 607 are respectively installed on the left and right sides in the length direction of the line protection 604 to facilitate the operation of the equipment in the grinder system by the staff. A safety console 608 is also installed on the line protection 604 on the left side of the non-conforming station 602. The safety console 608 can perform emergency stop, reset the equipment, and start the equipment. Similarly, the touch screen console 607 is installed on the right side of the feeding station, and the touch screen console can perform emergency stop, reset the equipment, and start the equipment.

[0108] A water chiller 6081, an electrical control cabinet 6082, and a robot control cabinet 6083 are also installed outside the line protection. The robot control cabinet 6083 is placed close to the robot for the convenience of peripheral operation and observation of the water chiller 6081, the electrical control cabinet 6082, and the robot control cabinet 6083. An upper computer screen 6084 is installed at the right front end of the line protection 604 to facilitate the operator or the visitor to know the equipment dynamics and production status. A loading rack 609 is placed outside the line protection of the feeding station 605 to facilitate loading.

[0109] Working principle

[0110] During operation, the first robotic arm 205 is defaulted to the standby state. When the first robotic arm 205 is in the standby state, the loading and unloading device 202 faces downward. When the first robotic arm 205 is started, the first robotic arm 205 moves and drives the loading and unloading device 202 to grasp the snowboard. The first robotic arm 205 moves and drives the loading and unloading device 202 to load the snowboard into the fixture module 11. The first robotic arm 205 switches the side edge grinding device 203 to the working state, and drives the side edge grinding device 203 to perform profiling side edge grinding on the snowboard installed on the fixture module 11. After the grinding is completed, the first robotic arm 205 returns to the origin and remains in the standby state. Then, the second robotic arm 207 is started to drive the rough grinding head 214 to perform bottom grinding on the snowboard. The second robotic arm 207 is started to drive the fine grinding head 224 to perform fine grinding correction on the bottom surface of the snowboard after rough grinding. After the fine grinding is completed, the second robotic arm 207 returns to the origin. The first robotic arm 205 drives the loading and unloading device 202 to grasp the processed snowboard and transfer it to the snowboard buffer station 601. Then, the first robotic arm 205 returns to the origin and remains in the standby state. The rotation shaft at the end of the third robotic arm 5041 is rotated to switch the second loading and unloading device 501 to the working state. Then, the ninth driving cylinder 5052 is started to drive the ninth suction cup 5051 to move downward, so that the ninth suction cup 5051 adsorbs the snowboard to be grasped in the snowboard buffer station 601. Then, the piston rod of the ninth driving cylinder 5052 contracts, and the snowboard moves with the ninth suction cup 5051 into the jaws of the three fourth pneumatic clamps 5012. The three fourth pneumatic clamps 5012 operate simultaneously to clamp the snowboard. Then, the second loading and unloading device 501 installs the snowboard on the inspection fixture device 303. The vision inspection device 302 performs defect inspection on the snowboard installed on the inspection fixture device 303. If the inspection is unqualified, the second loading and unloading device 501 transports the snowboard to the unqualified station 602. If the inspection is qualified, the next step is entered. The second loading and unloading device 501 first removes the snowboard from the inspection fixture device 303, then moves the snowboard to the nozzle of the wax spraying group 503 for wax spraying, and then moves the snowboard back to the inspection fixture device 303 to clamp it. The rotation shaft at the end of the third robotic arm 5041 is rotated to switch the polishing power head group 502 to the working state. The polishing power head group 502 is started to perform polishing operation on the snowboard clamped on the inspection fixture device 303. Then, the third robotic arm 5041 controls the second loading and unloading device 501 to transfer the polished snowboard to the second inspection fixture base 4031.The snowboard is first installed on the seven second support suction cups 406. The seven eighth suction cups 4062 operate simultaneously to adsorb the snowboard. Then, the three third cylinders 4071 and the four fourth cylinders 4081 are started, and respectively drive the three seventh suction cups 4072 and the four third support plates 4082 to move upward until the three seventh suction cups 4072 adsorb the snowboard and the four third support plates 4082 are in contact and cooperate with the snowboard, and the installation is completed. Then, the second drive motor 4041 is started. The second drive motor 4041 drives the roughness detection device 402 through the cooperation of the second gear 4042 and the second rack 4043 to move from one end of the second support base 4011 to the other end until the roughness meter 4021 moves to a position one-fifth of the length of the second support base 4011 and stops. The roughness meter 4021 moves downward along the third slide rail 4053 until the roughness meter 4021 senses the bottom of the snowboard. The roughness meter 4021 moves backward along the second slide rail 4052 to realize the roughness detection of the snowboard. After the detection is completed, the roughness meter 4021 resets. The roughness meter 4021 continues to move and stops and detects respectively at four positions, namely, two-fifths of the length of the second support base 4011, three-fifths of the length of the second support base 4011, four-fifths of the length of the second support base 4011, and the other end of the second support base 4011. When the roughness detection data is > Ra0.4um, the snowboard is determined to be unqualified. The unqualified products are grabbed by the second loading and unloading device 501 controlled by the third robotic arm 5041 and the waxing and polishing operations are repeated, and then the roughness detection is carried out again. The snowboards that are still determined to be unqualified after repeating twice are grabbed by the second loading and unloading device 501 controlled by the third robotic arm 5041 to the unqualified station 602 for manual discrimination. When the roughness data detection is ≤ Ra0.4um, the snowboard is determined to be qualified.

[0111] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present application.

[0112] The specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. Without conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. A snowboard grinding system, characterized in that, It includes a grinding station module (2), a defect detection module (3), and a waxing and polishing module (5). The grinding station module (2), the defect detection module (3), and the waxing and polishing module (5) are arranged in sequence according to the processing sequence of the snowboard. The grinding station module (2) is used for grinding the side edge and bottom edge of the snowboard. The defect detection module (3) is used for defect detection of the ground snowboard. The waxing and polishing module (5) is used for waxing and polishing the snowboard. The grinding station module (2) includes a fixture module (11), a side edge grinding device (203), and a bottom edge grinding device (204). The side edge grinding device (203) is used for grinding the side edge of the snowboard installed on the fixture device (11), and the bottom edge grinding device (204) is used for grinding the bottom edge of the snowboard installed on the fixture device (11). On the side of the fixture module (11), there are a first robotic arm (205) and a second robotic arm (207). The side edge grinding device (203) is installed on the first robotic arm, and the bottom edge grinding device (204) is installed on the second robotic arm (207). The defect detection module (3) includes a support device (301), a vision detection device (302), and a detection fixture device (303). The detection fixture device (303) is arranged on one side of the support device (301), and the vision detection device (302) is slidably arranged on the support device (301), and the vision detection device (302) is located above the detection fixture device (303). The waxing and polishing module (5) includes a second loading and unloading device (501), a polishing device, and a wax spraying device. The second loading and unloading device (501) is arranged on one side of the detection fixture device (303). The second loading and unloading device (501) is used for transporting the snowboard. The polishing device is used for polishing the bottom surface of the snowboard. The wax spraying device is used for wax spraying operation on the snowboard. On one side of the detection fixture device (303), there is a third robotic arm (5041) movably arranged. Both the second loading and unloading device (501) and the polishing device are installed on the third robotic arm (5041). The third robotic arm (5041) is used for switching the working states of the second loading and unloading device (501) and the polishing device, and the third robotic arm (5041) does not allow the second loading and unloading device (501) and the polishing device to operate on one snowboard simultaneously. It further includes a roughness detection module (4). The roughness detection module (4) is located at the rear side of the waxing and polishing module (5). The roughness detection module (4) includes a second support device (401), a roughness detection device (402), and a second detection fixture device (403). The second detection fixture device (403) is arranged on one side of the second support device (401). The roughness detection device (402) is slidably arranged on the second support device (401), and the roughness detection device (402) is located above the second detection fixture (403) device.

2. The snowboard grinding system according to claim 1, characterized in that, A blanking transfer station (603) is arranged on one side of the roughness detection device (402), and a loading station (605) is arranged on one side of the grinding station module.

3. A snowboard grinding system according to claim 1, characterized in that, A snowboard buffer station (601) is arranged between the grinding station module (2) and the defect detection module (3).

4. A snowboard grinding system according to claim 1, wherein, A non-conforming station (602) is arranged on one side of the defect detection module (3).

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