A trajectory self-generating conformal grinding production line

Abstract

The present invention proposes a trajectory self-generated conformal grinding production line, which includes an automatic feeding mechanism, a workpiece coarse positioning mechanism, a 3D laser automatic detection and recognition and fine positioning system, a visual automatic generation of grinding trajectory system and a grinding six-axis robot, etc. The various mechanisms and systems cooperate with each other to solve the problems of automatic loading and unloading, automatic shape correction, and automatic grinding of large engineering steel parts, the inability to accurately position large workpieces, large dimensional errors, and serious self-deformation. The production line is truly automated and intelligent, realizing high-reliability, high-precision, and high-flexibility production, greatly reducing personnel participation and improving production safety and reliability.

Description

Technical Field

[0001] The invention relates to an automatic grinding technology, in particular to a trajectory self-generating conformal grinding production line. Background Art

[0002] In the current process, the grinding process for large steel parts basically adopts manual sorting and manual grinding. However, in the actual production process, it is difficult to realize automated grinding production due to the large variety of workpieces, large dimensional errors and large deformation of the workpieces themselves. The main difficulties include the following points:

[0003] 1. It is difficult to realize automatic loading of various types of workpieces, and it is even more difficult to realize workpiece positioning.

[0004] 2. The programming task of multi-variety workpieces is large, and each workpiece needs to be programmed, which seriously affects work efficiency and cannot meet actual production needs.

[0005] 3. The workpiece size error is large and there is a large distortion, and the workpiece cannot be accurately positioned on the tooling. The automatic grinding equipment on the market cannot solve the problems of inaccurate positioning, large workpiece error, and especially distortion.

[0006] In summary, due to the above-mentioned main problems, the existing automatic grinding equipment on the market cannot meet the requirements, and grinding can only rely on manual labor, with a 100% manual participation rate, high manual utilization rate, poor working environment, low efficiency, and low safety factor. Summary of the invention

[0007] The purpose of the present invention is to provide a trajectory self-generated conformal grinding production line, which realizes automated operation, automatic scanning, automatic graphic generation, automatic shape correction, unmanned operation of the entire grinding process, high grinding efficiency, precise positioning, high grinding quality, safety and reliability for various types of large steel parts.

[0008] The technical solution of the present invention is: a trajectory self-generating conformal grinding production line, comprising an automatic feeding mechanism, the automatic feeding mechanism is used to place the workpieces to be ground on the feeding conveying roller of the automatic feeding mechanism, and the workpieces are automatically grabbed one by one by a manipulator to the grinding conveying roller of one automatic grinding process;

[0009] A workpiece rough positioning mechanism 1, the workpiece rough positioning mechanism 1 includes a pushing device, the pushing device pushes the workpiece on the grinding conveying roller of the first automatic grinding process into place and performs the first rough positioning, and the first lifting mechanism corresponding to the grinding conveying roller of the first automatic grinding process lifts the workpiece away and locks it to prepare for grinding;

[0010] 3D laser automatic detection, identification and precise positioning system 1, the robot of the 3D laser automatic detection, identification and precise positioning system 1 holds a 3D line scanning laser to scan the polished workpiece in all directions, and obtains the actual contour of the workpiece by generating a point cloud graphic through scanning, that is, the scanning generates the actual shape and size of the workpiece and the spatial position coordinates of the workpiece, realizing the first accurate positioning of the workpiece position;

[0011] A visual automatic generation of grinding trajectory system 1, wherein the visual software of the visual automatic generation of grinding trajectory system 1 processes the point cloud graphics, extracts the contour of the workpiece and the position to be ground, and automatically calculates and generates the grinding trajectory and the required grinding tool, and sends the data to the automatic grinding device 1;

[0012] Automatic grinding device 1, the automatic grinding device 1 performs grinding by matching corresponding grinding parameters after receiving the grinding trajectory coordinates, and during the grinding process, the automatic grinding device 1 automatically changes the tool according to the process requirements and completes all grinding processes.

[0013] At least some embodiments further include a turning machine, which turns over the workpiece after the workpiece is lowered to the grinding conveyor roller and the surface of the workpiece is polished by the automatic grinding device, so that the unpolished surface of the workpiece is in a ready state to be polished.

[0014] At least some embodiments further include a workpiece rough positioning mechanism 2 for performing a grinding operation on the un-grinded surface of the workpiece, a second lifting mechanism, a 3D laser automatic detection and recognition and precise positioning system 2, a visual automatic generation of grinding trajectory system 2 and an automatic grinding device 2;

[0015] After the workpiece on the grinding conveyor roller is conveyed to the second automatic grinding process, the second workpiece rough positioning mechanism repeats the action of the first workpiece rough positioning mechanism to perform a second rough positioning on the workpiece. At this time, the corresponding second lifting mechanism lifts the workpiece away and locks it to prepare for grinding.

[0016] The 3D laser automatic detection and identification and precise positioning system 2 and the visual automatic generation of grinding trajectory system 2 respectively repeat the operations of the 3D laser automatic detection and identification and precise positioning system 1 and the visual automatic generation of grinding trajectory system 1 to achieve a second accurate positioning of the workpiece position and automatically calculate the generated grinding trajectory and the required grinding tools, and then send the data transmission to the automatic grinding device 2. The automatic grinding device 2 repeats the operations of the automatic grinding device 1 to complete all grinding processes of the unpolished surface of the workpiece.

[0017] In at least some embodiments, the pushing device includes a pushing power device, a guide assembly and a pushing assembly. The pushing power device and the guide assembly are respectively arranged on one side of the grinding conveying roller, and the power output direction of the pushing power device is parallel to the extension direction of the guide assembly and is respectively perpendicular to the conveying direction of the grinding conveying roller. The pushing assembly is arranged at one end of the guide assembly close to the grinding conveying roller. The pushing power device drives the pushing assembly to move along the extension direction of the guide assembly and pushes the workpiece to the opposite side of the grinding conveying roller.

[0018] In at least some embodiments, the first lifting mechanism and the second lifting mechanism are the same, and respectively include a driving lifting device, a supporting assembly and a suction assembly. The driving lifting device drives the supporting assembly to lift the workpiece and the suction assembly contacts the workpiece and sucks and fixes it, and then completely lifts the workpiece off the grinding conveyor roller.

[0019] At least some embodiments further include a correction machine for the next process, wherein the correction machine is used to adjust the flatness of the workpiece that has been polished by the automatic polishing device 1 and the automatic polishing device 2.

[0020] In at least some embodiments, the manipulator is a truss manipulator.

[0021] In at least some embodiments, a telescopic door is provided at the junction of the truss robot and the grinding conveyor roller.

[0022] In at least some embodiments, the automatic polishing device 1 is the same as the automatic polishing device 2, and each is a six-axis polishing robot.

[0023] At least some embodiments further include a real-time force control system, which includes an integrated force sensor and force control software. The integrated force sensor is electrically connected to the six-axis polishing robot and is used to measure the component forces and torques of the six axes of the six-axis robot in real time. The force control software adjusts the real-time polishing speed and polishing force according to the information transmitted by the integrated force sensor and sends it to the six-axis robot.

[0024] By adopting the above technical solution, the beneficial effects of the present invention are:

[0025] The track self-generating conformable grinding production line of the present invention includes an automatic feeding mechanism, a workpiece rough positioning mechanism, a 3D laser automatic detection and identification and fine positioning system, a visual automatic generation of grinding track system and a grinding six-axis robot, etc., and each mechanism and system cooperates with each other to solve the problems of automatic loading and unloading, automatic shape correction, automatic grinding of large engineering steel parts, inability to accurately position large workpieces, large dimensional errors, and serious self-deformation. The production line is truly automated and intelligent, achieving high reliability, high precision, and high flexibility production, greatly reducing personnel participation, and improving production safety and reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a structural schematic diagram of an embodiment of the present invention;

[0027] Figure 2 Schematic diagram of a workpiece coarse positioning mechanism in an embodiment of the present invention.

[0028] As shown in the figure:

[0029] ; DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0031] like Figure 1 to Figure 2 As shown in FIG. 1 , a trajectory self-generating conformal grinding production line includes:

[0032] The automatic feeding mechanism 1 includes a feeding conveyor roller 10 and a truss manipulator 11. The automatic feeding mechanism 1 is used to place the workpieces to be polished on the feeding conveyor roller 10, and the manipulator automatically grabs them one by one to the polishing conveyor roller 4 at one place of the automatic polishing process; preferably, the manipulator is a truss manipulator 11 (existing structure, no further description). In addition, the feeding conveyor roller 10 is used for manual loading and caching of workpieces to be polished. The conveying speed meets the project requirements, and a mechanical fixed stop is set at the end of the roller line;

[0033] A workpiece rough positioning mechanism 2, the workpiece rough positioning mechanism 2 includes a pushing device 20, the pushing device 20 pushes the workpiece on the grinding conveying roller 4 at the first step of the automatic grinding process into place and performs the first rough positioning, the first lifting mechanism 3 corresponding to the grinding conveying roller 4 at the first step of the automatic grinding process lifts the workpiece away and locks it to prepare for grinding; the above-mentioned grinding conveying roller 4 is used for conveying the workpiece to be polished by the grinding unit of the six-axis robot, the load meets the use requirements, and a mechanical fixed stop is set at the end of the roller line;

[0034] 3D laser automatic detection, identification and precise positioning system 1, the robot of the 3D laser automatic detection, identification and precise positioning system 1 holds a 3D line scanning laser to scan the polished workpiece in all directions, and obtains the actual contour of the workpiece by generating a point cloud graphic through scanning, that is, the scanning generates the actual shape and size of the workpiece and the spatial position coordinates of the workpiece, realizing the first accurate positioning of the workpiece position;

[0035] A visual automatic generation of grinding trajectory system 1, wherein the visual software of the visual automatic generation of grinding trajectory system 1 processes the point cloud graphics, extracts the contour of the workpiece and the position to be ground, and automatically calculates and generates the grinding trajectory and the required grinding tool, and sends the data to the automatic grinding device 1;

[0036] Automatic grinding device 1, the automatic grinding device 1 performs grinding by matching corresponding grinding parameters after receiving the grinding trajectory coordinates, and during the grinding process, the automatic grinding device 1 automatically changes the tool according to the process requirements and completes all grinding processes.

[0037] In order to prevent the grinding debris from contaminating the external area and to ensure the safety of the operation, it is considered to provide a telescopic door 5 at the connection between the truss manipulator 11 and the grinding conveyor roller 4.

[0038] In the technical solution of the present invention, Figure 1 As shown in the figure, it also includes a turning machine 7 (existing structure, no further description is given), which turns over the workpiece after the surface is polished by the automatic polishing device after it descends to the polishing conveying roller 4, so that the unpolished surface of the workpiece is in a ready state to be polished. The turning action is stable and reliable, meeting the needs of large-tonnage products.

[0039] Furthermore, if Figure 1 As shown in , if another surface of the workpiece is polished, specifically, the solution of the present invention also includes a workpiece rough positioning mechanism 2 8 for performing a polishing operation on the unpolished surface of the workpiece, a second lifting mechanism, a 3D laser automatic detection and recognition and precise positioning system 2, a visual automatic generation of polishing trajectory system 2 and an automatic polishing device 2;

[0040] After the workpiece on the grinding conveyor roller 4 is conveyed to the second automatic grinding process, the workpiece rough positioning mechanism 2 repeats the action of the workpiece rough positioning mechanism 1 2 to perform a second rough positioning on the workpiece. At this time, the corresponding second lifting mechanism lifts the workpiece away and locks it to prepare for grinding;

[0041] The 3D laser automatic detection and identification and precise positioning system 2 and the visual automatic generation of grinding trajectory system 2 respectively repeat the operations of the 3D laser automatic detection and identification and precise positioning system 1 and the visual automatic generation of grinding trajectory system 1 to achieve a second accurate positioning of the workpiece position and automatically calculate the generated grinding trajectory and the required grinding tools, and then send the data transmission to the automatic grinding device 2. The automatic grinding device 2 repeats the operations of the automatic grinding device 1 to complete all grinding processes of the unpolished surface of the workpiece.

[0042] In this example, the above-mentioned 3D laser automatic detection, identification and precise positioning system preferably uses a laser profiler, which uses a blue laser of about 400nm. The laser is diffused into a line laser through a cylindrical objective lens and then projected onto the surface of the target object to form diffuse reflection, thereby forming a clear image on the light receiving component and generating a stable and high-precision profile. Each profile contains more than three thousand data points, and the accuracy is greatly improved. In addition, stable measurements can be made even under conditions of relatively strong ambient light (below 10,000 Lux). Traditional models use red lasers, with coarse imaging beams and uneven profiles; the imaging beam of the blue laser is finer and the accuracy of measuring the profile is higher.

[0043] In addition, the 3D laser automatic detection, identification and precise positioning system of the present invention has a correction function. It is understandable that large steel plates themselves are deformable and will bend, and large steel plates are relatively thick. It is difficult for general shaping mechanisms to press and restore deformation. Although there is a correction machine for correction in the subsequent process, there is no correction mechanism in the current grinding process. Therefore, it is scanned by line scanning laser. After scanning, the actual and real dimensions of the large steel plates can all be collected. For example, even if a certain position of the large steel plate is warped at a large angle or bent at a large angle, the actual position can be detected, and the actual grinding trajectory is subsequently generated according to the actual size, contour, position, etc., that is, the correction operation is automatically realized during the grinding process.

[0044] The visual automatic generation of grinding trajectory system adopts visual customized software to automatically pick up the trajectory according to the scanned point cloud parameters, thereby automatically producing the actual grinding trajectory, and transmitting the program to the grinding six-axis robot through the system.

[0045] Preferably, the automatic polishing device 1 is the same as the automatic polishing device 2, which are a polishing six-axis robot 1A and a polishing six-axis robot 2B. The polishing six-axis robot is preferably an industrial six-axis robot, which can realize intelligent and fast polishing procedures. The robot is driven by a servo motor and can realize digital control. The polishing six-axis robot and equipment such as a truss manipulator are controlled by the system to ensure that the polishing six-axis robot and equipment such as a truss manipulator do not interfere with each other.

[0046] There is no human intervention in the entire automatic grinding process. The grinding path of the six-axis robot is completely generated by the 3D laser automatic detection and recognition and precise positioning system and the visual automatic generation of grinding trajectory system, which greatly improves the grinding efficiency and effect.

[0047] Specifically, Figure 2 As shown in the figure, the above-mentioned pushing device 20 includes a pushing power device 200, a guide component 201 and a pushing component 202. The pushing power device 200 and the guide component 201 are respectively arranged on one side of the grinding and conveying roller 4, and the power output direction of the pushing power device 200 is parallel to the extension direction of the guide component 201 and is respectively perpendicular to the conveying direction of the grinding and conveying roller 4. The pushing component 202 is arranged at one end of the guide component 201 close to the grinding and conveying roller 4. The pushing power device 200 drives the pushing component 202 to move along the extension direction of the guide component 201, and pushes the workpiece to the opposite side of the grinding and conveying roller 4.

[0048] like Figure 2 As shown in the figure, the first lifting mechanism 3 and the second lifting mechanism are the same, and respectively include a driving lifting device (not shown in the figure), a supporting assembly 30 and a suction assembly 31. The driving lifting device drives the supporting assembly 30 to lift the workpiece, and the suction assembly 31 contacts the workpiece and sucks and fixes it, and then completely lifts the workpiece away from the grinding conveying roller 4. Preferably, the driving lifting device is a lifting cylinder. The suction assembly 31 is an electromagnet.

[0049] like Figure 2 As shown in, preferably, in this embodiment, the above-mentioned support assembly 30 includes a long support plate and a short support plate arranged on the mounting base, and the long support plate and the short support plate are arranged one by one along the conveying direction of the grinding conveyor roller, and the long support plate and the short support plate are respectively extended in a direction perpendicular to the conveying direction of the grinding conveyor roller.

[0050] like Figure 2 As shown in the figure, in order to adapt to the shape characteristics of various types of large steel parts, in this embodiment, the above-mentioned long mounting plate includes at least one, the short supporting plate includes at least one, and the long supporting plate is arranged in the middle of the arrangement area, the short supporting plate part is arranged on one side of the long supporting plate, and the remaining short supporting plates are arranged on the opposite side of the long supporting plate.

[0051] Furthermore, in order to further fix the initially positioned workpiece and facilitate subsequent operations, such as grinding processes, in this embodiment, suction components 31 are respectively provided on the mounting bases between the adjacent support plates of the long support plates and the short support plates arranged one by one.

[0052] Specifically, the suction assembly 31 is arranged close to the side of the corresponding support plate. The support plate there may be a corresponding long support plate or a short support plate, and the long and short support plates are determined according to the actual arrangement position.

[0053] In the technical solution, the pushing power device is a pushing cylinder, the guide assembly is a guide rod, the pushing assembly is a pushing plate, and the pushing plate extends along the conveying direction of the grinding conveyor roller.

[0054] Furthermore, in order to meet the reliability of thrust and pushing and the uniform distribution of thrust, etc., the pushing cylinders include an odd number, and the pushing cylinders are arranged one by one along the conveying direction of the grinding conveyor roller. Two guide rods are arranged between two adjacent pushing cylinders in all the pushing cylinders, and a guide rod is arranged on the outer side of the pushing cylinder located in the first position, and a guide rod is arranged on the outer side of the pushing cylinder located in the last position.

[0055] It can be understood that the above-mentioned grinding conveying roller 4 includes rolling rollers arranged one by one along the conveying direction. After the push device 20 roughly positions the workpiece, the lifting mechanism below is lifted up, so that the suction component 31 (such as an electromagnet, because large steel parts can use magnetic suction parts, if it is other materials, air suction can be used) contacts the workpiece and fixes it by magnetic suction. The lifting mechanism completely lifts the workpiece off the grinding conveying roller 4 and waits for the grinding operation. The adsorption force of the selected electromagnet meets the grinding requirements, and the workpiece will not fall off during the grinding process. For workpieces with large differences in external dimensions, it is necessary to simply adjust the position of the electromagnet. The overall structure is stable, the layout is reasonable, and the mechanical structure runs stably and smoothly without jamming.

[0056] Understandably, if Figure 1 As shown in , it also includes an orthopedic machine 6 of the next process, and the orthopedic machine 6 is used to adjust the flatness of the workpiece polished by the automatic polishing device 1 and the automatic polishing device 2.

[0057] Furthermore, in order to better improve the polishing quality, the technical solution of the present invention also includes a real-time force control system, which includes an integrated force sensor and force control software. The integrated force sensor is electrically connected to the polishing six-axis robot and is used to measure the component forces and torques of the six axes of the six-axis robot in real time. The force control software adjusts the real-time polishing speed and polishing force according to the information transmitted by the integrated force sensor and sends it to the six-axis robot.

[0058] It can be understood that the integrated force sensor can specifically measure the component forces and torques of the six axes of the six-axis grinding robot in real time, and adjust the grinding speed and force of the six-axis grinding robot according to the feedback information, so as to effectively locate the edges and surface contours when deburring complex shapes, and ensure smoothness and constancy throughout the entire grinding process.

[0059] The integrated force sensor also has functions such as sensor calibration, load identification and gravity compensation. During contour grinding, the six-axis grinding robot can control the pushing force, pushing depth and grinding speed through the integrated force sensor. The six-axis grinding robot will not remove the target depth while maintaining the control of the pushing force. In terms of direction control, it can simultaneously control the force in two mutually perpendicular directions. In summary, the real-time force control system can control the grinding force and grinding speed. For example, when a bump suddenly appears on the grinding track, the grinding track will first be adjusted according to the feedback of the integrated force sensor so that the tool can be ground along the outer wheel of the workpiece, thereby ensuring the constant grinding force and ensuring that the workpiece will not be damaged. Secondly, the six-axis grinding robot can also reduce the grinding speed to knock off the bump, which can also protect the equipment and the spindle. During use, the two functions can be used separately or simultaneously.

[0060] The working principle of the present invention is briefly described as follows, and the process flow is as follows:

[0061] S01: The staff puts the large steel plate (boom plate) on the conveyor line of the feeding conveyor roller 10 (it can be stacked as needed), and the boom plate is transported to the right end on the feeding roller line 10 (such as Figure 1 As shown in ), the conveyor line of the loading conveyor roller can buffer different numbers of workpieces according to the weight of the workpieces;

[0062] S02: ① The truss manipulator 11 grabs the boom plate from the feeding conveyor roller 10, ② the telescopic door 5 opens, ③ the truss manipulator 11 puts the boom plate on the grinding conveyor roller 4, ④ the truss manipulator 11 withdraws, and the telescopic door 5 closes;

[0063] S03: ① After the truss manipulator 11 places the boom plate onto the grinding conveyor roller 4, the workpiece rough positioning mechanism 2 performs preliminary positioning on the workpiece; ② The robot of the 3D laser automatic detection, identification and precise positioning system 1 holds a 3D line scanning laser to scan the workpiece to be polished in all directions, and obtains the actual contour of the workpiece by scanning to generate a point cloud graphic, that is, the scanning generates the actual shape and size of the workpiece and the spatial position coordinates of the workpiece, and realizes the first accurate positioning of the workpiece position; the visual software of the visual automatic generation of grinding trajectory system 1 processes the point cloud graphic, extracts the workpiece contour and the position to be polished, and automatically calculates and generates the grinding trajectory and the required grinding tool, and sends the data to the automatic grinding device 1; ③ The automatic grinding device 1 grinds and chamfers the front side of the boom plate as required, that is, the automatic grinding device 1 matches the corresponding grinding parameters after receiving the grinding trajectory coordinates, and during the grinding process, the automatic grinding device 1 automatically changes the tool according to the process requirements and completes all grinding processes. ④ After the grinding is completed, the first lifting mechanism 3 descends and places the movable arm plate on the grinding conveying roller 4, ⑤ the movable arm plate moves to the left and enters the turning machine 7;

[0064] S04 station: the boom plate enters the flip machine 7, which flips the boom plate 180°, and the boom plate enters the next grinding station, namely the workpiece rough positioning mechanism 2, the 3D laser automatic detection and identification and precise positioning system 2, and the visual automatic generation of grinding trajectory system 2. Repeat the above operations and then perform back grinding. During the flipping process of the flip machine 4, the robots of the first grinding process sequence and the second grinding process sequence can continue to grind the workpiece, so the flip machine 7 has a cache function, which greatly saves the whole line beat.

[0065] S05 station: After the grinding is completed, the second lifting mechanism descends, and the movable arm plate is placed on the grinding conveying roller 4, and the movable arm plate moves to the left and enters the orthopedic machine 6.

Claims

1. A trajectory self-generating conformal grinding production line, characterized in that: include: An automatic feeding mechanism, which is used to place the workpieces to be polished on the feeding conveyor roller of the automatic feeding mechanism, and automatically grab them one by one to the polishing conveyor roller of one automatic polishing process through a manipulator; A workpiece rough positioning mechanism 1, the workpiece rough positioning mechanism 1 includes a pushing device, the pushing device pushes the workpiece on the grinding conveying roller of the first automatic grinding process into place and performs the first rough positioning, and the first lifting mechanism corresponding to the grinding conveying roller of the first automatic grinding process lifts the workpiece away and locks it to prepare for grinding; 3D laser automatic detection, identification and precise positioning system 1, the robot of the 3D laser automatic detection, identification and precise positioning system 1 holds a 3D line scanning laser to scan the polished workpiece in all directions, and obtains the actual contour of the workpiece by generating a point cloud graphic through scanning, that is, the scanning generates the actual shape and size of the workpiece and the spatial position coordinates of the workpiece, realizing the first accurate positioning of the workpiece position; A visual automatic generation of grinding trajectory system 1, wherein the visual software of the visual automatic generation of grinding trajectory system 1 processes the point cloud graphics, extracts the workpiece contour and the position to be ground, and automatically calculates and generates the grinding trajectory, and sends the data to the automatic grinding device 1; the automatic grinding device 1, the automatic grinding device 1 matches the corresponding grinding parameters after receiving the grinding trajectory coordinates, and during the grinding process, the automatic grinding device 1 automatically changes the tool according to the process requirements and completes all grinding processes; It also includes a turning machine, which turns over the workpiece after the surface of the workpiece is polished by the automatic polishing device after being lowered to the polishing conveying roller, so that the unpolished surface of the workpiece is in a ready state to be polished; It also includes a workpiece rough positioning mechanism 2 for performing a grinding operation on the un-grinded surface of the workpiece, a second lifting mechanism, a 3D laser automatic detection, recognition and precise positioning system 2, a visual automatic generation of grinding trajectory system 2 and an automatic grinding device 2; After the workpiece on the grinding conveyor roller is conveyed to the second automatic grinding process, the second workpiece rough positioning mechanism repeats the action of the first workpiece rough positioning mechanism to perform a second rough positioning on the workpiece. At this time, the corresponding second lifting mechanism lifts the workpiece away and locks it to prepare for grinding. The 3D laser automatic detection and identification and precise positioning system 2 and the visual automatic generation of grinding trajectory system 2 respectively repeat the operations of the 3D laser automatic detection and identification and precise positioning system 1 and the visual automatic generation of grinding trajectory system 1 to achieve a second accurate positioning of the workpiece position and automatically calculate the generated grinding trajectory and the required grinding tools, and then send the data transmission to the automatic grinding device 2. The automatic grinding device 2 repeats the operations of the automatic grinding device 1 to complete all grinding processes of the unpolished surface of the workpiece.

2. The trajectory self-generating conformal grinding production line according to claim 1 is characterized in that: The pushing device includes a pushing power device, a guide assembly and a pushing assembly. The pushing power device and the guide assembly are respectively arranged on one side of the grinding conveying roller, and the power output direction of the pushing power device is parallel to the extension direction of the guide assembly and is respectively perpendicular to the conveying direction of the grinding conveying roller. The pushing assembly is arranged at one end of the guide assembly close to the grinding conveying roller. The pushing power device drives the pushing assembly to move along the extension direction of the guide assembly and pushes the workpiece to the opposite side of the grinding conveying roller.

3. The trajectory self-generating conformal grinding production line according to claim 1 is characterized in that: The first lifting mechanism and the second lifting mechanism are the same, and respectively include a driving lifting device, a supporting assembly and a suction assembly. The driving lifting device drives the supporting assembly to lift the workpiece and the suction assembly contacts the workpiece and sucks and fixes it, and then completely lifts the workpiece off the grinding conveying roller.

4. The trajectory self-generating conformal grinding production line according to claim 1 is characterized in that: It also includes an orthopedic machine for the next process, which is used to adjust the flatness of the workpiece polished by the automatic polishing device 1 and the automatic polishing device 2.

5. The trajectory self-generating conformal grinding production line according to claim 1, characterized in that: The manipulator is a truss manipulator.

6. The trajectory self-generating conformal grinding production line according to claim 5 is characterized in that: A telescopic door is provided at the junction of the truss manipulator and the grinding conveying roller.

7. The trajectory self-generating conformal grinding production line according to claim 1, characterized in that: The automatic polishing device 1 is the same as the automatic polishing device 2, and each is a six-axis polishing robot.

8. The trajectory self-generating conformal grinding production line according to claim 7, characterized in that: It also includes a real-time force control system, which includes an integrated force sensor and force control software. The integrated force sensor is electrically connected to the six-axis grinding robot and is used to measure the component forces and torques of the six axes of the six-axis robot in real time. The force control software adjusts the real-time grinding speed and grinding force according to the information transmitted by the integrated force sensor and sends it to the six-axis robot.

Images