Square workpiece self-adaptive polishing robot system based on machine vision and control method

Abstract

A square workpiece self-adaptive polishing robot system based on machine vision comprises an industrial robot, a force control belt sander, a robot mounting base, a safety guardrail, a workpiece table, an automatic belt replacing device, a camera mounting cabinet support, a robot control cabinet, a belt sander force control cabinet, a camera mounting cabinet, a control cabinet and a turnover mechanism. When in use, the device can automatically identify the size of a workpiece and automatically plan a polishing path according to the size of the workpiece, is suitable for surface polishing treatment of square workpieces of different specifications, can effectively improve the surface polishing quality and efficiency of the square workpieces, reduces the labor intensity, reduces the production cost of enterprises, and improves the intelligence and automation level of manufacturing enterprises; the workpiece can be automatically overturned through the overturning mechanism, manual overturning of the workpiece is not needed, the whole process is automatic, and safety is high.

Description

Technical Field

[0001] The invention relates to the technical field of mechanical polishing processing, and in particular to a square workpiece adaptive polishing robot system based on machine vision and a control method. Background Art

[0002] In modern manufacturing, polishing of square workpieces is an important and challenging process. Traditional square workpiece polishing methods mostly rely on manual operation, which faces many difficulties. Workers are prone to fluctuations in polishing quality due to fatigue during long-term polishing operations, making it difficult to ensure the consistency of product quality throughout the production process. At the same time, manual polishing is relatively inefficient and difficult to meet the growing demand for large-scale and efficient industrial production. Moreover, it is difficult for manual operation to accurately control the degree of polishing of each surface and edge of a square workpiece based on experience, which often results in significant differences in surface quality between different workpieces or different parts of the same workpiece.

[0003] In order to solve the above problems, the 2D camera and laser ranging sensor are combined with the corresponding algorithm to automatically identify the size of the workpiece. These data are transmitted to the industrial robot through the programmable controller. The industrial robot generates a polishing path through the automatic path planning algorithm. During the polishing process, the force-controlled sanding belt machine can control the polishing force and automatically change the sanding belt after it is worn, thereby realizing automatic polishing of square workpieces of different sizes and improving the quality and efficiency of polishing. Summary of the invention

[0004] The purpose of the present invention is to provide a square workpiece adaptive polishing robot system and control method based on machine vision, aiming to solve the problems in the prior art that the existing workpiece polishing robot system cannot automatically identify the workpiece size, requires manual teaching programming, and cannot automatically plan the robot polishing path.

[0005] To achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a square workpiece adaptive polishing robot system based on machine vision, comprising: an industrial robot, a force-controlled sanding belt machine, a robot mounting seat, a safety guardrail, a workpiece table, an automatic belt changing device, a camera mounting cabinet bracket, a robot control cabinet, a sanding belt machine force control cabinet, a camera mounting cabinet, a control cabinet, and a flipping mechanism; The robot control cabinet is equipped with an automatic polishing trajectory planning algorithm, receives workpiece size information from the industrial computer, communicates with the polishing force controller of the sanding machine, controls the industrial robot to polish according to the planned trajectory, and can realize real-time detection and adjustment of the polishing force; The system control cabinet controls the industrial robot, the force-controlled sanding machine, the automatic belt changing device, the camera installation cabinet, and the flip mechanism respectively and realizes coordinated work; the interior of the camera installation cabinet is provided with a camera assembly and a laser ranging sensor assembly.

[0006] Preferably, the interior of the camera installation cabinet is provided with a wire protection ring, a first wiring terminal, two cylinders, a heat dissipation fan, and a camera installation cabinet door, and a solenoid valve is provided on one side of the first wiring terminal; The camera assembly includes a camera mounting seat arranged inside the camera mounting cabinet, a 2D camera is arranged on one side of the camera mounting seat, a laser ranging sensor is arranged on one side of the 2D camera, a light source fixing plate is arranged on one side of the camera mounting seat, and a camera light source is arranged on the outer side of the light source fixing plate.

[0007] Preferably, the system control cabinet includes a power module, a programmable controller, a switch, an air switch, a relay, a socket module, a second wiring terminal, a C45 guide rail, a wire trough, a light source controller, and an industrial computer which are arranged inside the control cabinet.

[0008] Preferably, the flipping mechanism includes a slider arranged on the workpiece table, a slide groove for limiting and guiding the slider is arranged at the lower part of the slider, a threaded sleeve connected to the slider is arranged in the slide groove, the internal thread of the threaded sleeve is connected to a threaded rod, the end of the threaded rod passes through the worktable and is provided with a first motor on the outside, a first supporting tray and a second supporting tray are arranged on the workpiece table, and edges are arranged around the first supporting tray and the second supporting tray, a workpiece is arranged on the first supporting tray, first arc-shaped support members are arranged on both sides of the first supporting tray, second arc-shaped support members are arranged on both sides of the second supporting tray, an arc frame is arranged on the outside of the second arc-shaped support member, a rotating block is arranged inside the arc frame, a rotating rod is coaxially fixed to the rotating block, and the rotating rod passes through the worktable and is provided with a second motor on the outside.

[0009] The beneficial effects of the present invention are: 1. When in use, the present invention can automatically identify the size of the workpiece, automatically plan the polishing path according to the size of the workpiece, and is suitable for surface polishing of square workpieces of different specifications. It can effectively improve the quality and efficiency of the surface polishing of square workpieces, reduce labor intensity, reduce enterprise production costs, and enhance the intelligence and automation level of manufacturing enterprises.

[0010] 2. When the present invention is in use, the workpiece can be automatically flipped through the flipping mechanism, without the need for manual flipping of the workpiece. The whole process is automated and highly safe. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic diagram of the overall structure of the present invention from different viewing angles; Figure 3 It is a schematic diagram of the overall structure of the present invention from a top view; Figure 4 It is a schematic diagram of the overall structure of the camera installation cabinet of the present invention; Figure 5 It is a schematic diagram of the camera installation cabinet of the present invention when viewed from above; Figure 6 It is a schematic diagram of the plan view cross-sectional structure of the system control cabinet of the present invention; Figure 7 It is a schematic diagram of the overall structure of the flipping mechanism of the present invention; Figure 8 It is a schematic diagram of the overall structure of the flipping mechanism of the present invention in different states; Fig. 9 It is a schematic diagram of the side cross-sectional structure of the turning mechanism of the present invention; Fig.10 Schematic diagram of the top view of the flip mechanism of the present invention Fig.11 The present invention Figure 7 The enlarged structural diagram at A in the middle; Fig.12 It is a schematic diagram of the overall operation flow of the present invention; Fig.13 It is a schematic diagram of workpiece size recognition and polishing path planning of the present invention; In the figure: 1. Industrial robot; 2. Force-controlled belt sander; 3. Robot mounting seat; 4. Automatic belt changing device; 5. Workpiece; 6. Workpiece table; 7. Camera mounting cabinet; 8. Camera mounting cabinet bracket; 9. Robot control cabinet; 10. System control cabinet; 11. Belt sander force control cabinet; 12. Safety guardrail; 13. Industrial computer display; 14. Wire protection ring; 15. First terminal; 16. Solenoid valve; 17. Camera light source; 18. Cylinder; 19. Laser ranging sensor; 20. Camera mounting seat; 21. 2D camera; 22. Camera mounting cabinet door; 23. Optical Source fixing plate; 24, heat dissipation fan; 25, power supply module; 26, programmable controller; 27, switch; 28, light source controller; 29, industrial computer; 30, air switch; 31, relay; 32, C45 guide rail; 33, wire trough; 34, second terminal block; 35, socket module; 36, arc frame; 37, arc support; 38, first tray; 39, second tray; 40, second motor; 41, slide; 42, slider; 43, rotating block; 44, rotating rod; 46, threaded sleeve; 47, threaded rod; 48, first motor. DETAILED DESCRIPTION

[0012] The specific implementation of the present invention will be further described below in conjunction with the accompanying drawings.

[0013] Embodiment 1: This embodiment provides a square workpiece adaptive polishing robot system based on machine vision, such as Figure 1-11As shown, it includes: an industrial robot 1, a force-controlled sanding machine 2, a robot mounting seat 3, a safety fence 12, a workpiece table 6, an automatic belt changing device 4, a camera mounting cabinet bracket 8, a robot control cabinet 9, a sanding machine force control cabinet 11, a camera mounting cabinet 7, a system control cabinet 10, and a flip mechanism; The robot control cabinet 9 controls the operation of the industrial robot 1, communicates with the sanding machine force control cabinet 11, controls the start and stop of the sanding machine, speed adjustment and automatic belt change, etc., to achieve constant force control and automatic belt change during the polishing process; The system control cabinet 10 controls the force-controlled sanding machine 2, the automatic belt-changing device 4, the camera installation cabinet 7, and the flipping mechanism respectively and realizes coordinated operation; the interior of the camera installation cabinet 10 is provided with a camera assembly and a laser ranging sensor assembly.

[0014] In this embodiment, a programmable logic controller, an industrial computer, a power supply, etc. are installed in the camera installation cabinet support system control cabinet 10, wherein the programmable controller is used for the control of the polishing system opening (such as the opening and closing of the camera installation cabinet 7 door, the start and stop of the camera, the start and stop of the robot, etc.), data reading and output, logical operations, etc., so as to realize the coordinated and orderly operation of each subsystem; the interior of the camera installation cabinet 7 is provided with a camera assembly and a laser ranging sensor assembly, which can automatically identify the size of the workpiece through the image recognition algorithm, and the robot control cabinet 9 has a built-in trajectory automatic planning algorithm, which can automatically plan the polishing trajectory according to the size data of the workpiece 5, and control the industrial robot 1 to work according to the planned trajectory. In addition, it can communicate with the sanding belt machine force control cabinet 11 to control the start and stop of the sanding belt machine, speed adjustment and belt changing, etc. The sanding belt machine force control cabinet 11 can adjust the polishing force in real time according to the set value to achieve constant force polishing to ensure the polishing quality. In addition, the start and stop, speed, and belt changing mechanism of the sanding belt drive motor can be controlled; When the workpiece 5 needs to be polished, the system control cabinet 10 obtains the image information of the workpiece 5 through the camera installation cabinet 7, the industrial computer 29 processes the image, obtains the workpiece size data, and transmits the data to the programmable controller 26, the programmable controller 26 transmits the size data to the controller in the robot control cabinet 9 through the PROFINET communication interface, the controller plans the polishing path according to the built-in polishing path planning algorithm, the industrial robot drives the power-controlled sanding belt machine 2 to move above the workpiece 5, and polishes the workpiece 5 according to the planned path. After polishing, when the belt changing conditions are met, the sanding belt of the force-controlled sanding belt machine 2 is replaced by the industrial robot 1 and the automatic belt changing device 4. At the same time, after polishing one side of the workpiece 5 is completed, the workpiece 5 can be flipped by the flipping mechanism, and then the other side can be polished.

[0015] Embodiment 2, on the basis of embodiment 1, as Figure 1-6As shown, the interior of the camera installation cabinet 7 is provided with a wire protection ring 14, a first wiring terminal 15, two cylinders 18, a heat dissipation fan 24, and a camera installation cabinet door 22, and a solenoid valve 16 is provided on one side of the first wiring terminal 15; The camera assembly includes a camera mounting seat 20 arranged inside the camera mounting cabinet 7, a 2D camera 21 is arranged on one side of the camera mounting seat 20, a laser ranging sensor 19 is arranged on one side of the 2D camera 21, a light source fixing plate 23 is arranged on one side of the camera mounting seat 20, and a camera light source 17 is arranged on the outer side of the light source fixing plate 23.

[0016] In this embodiment, the camera installation cabinet 7 can realize automatic opening and closing of the cabinet door, which is used to protect the 2D camera 21 and the laser ranging sensor 19 from being disturbed by dust during the polishing process. The solenoid valve 16 can control the extension and retraction of the cylinder 18. When it is necessary to take a picture, the push rod of the cylinder 18 extends to drive the camera installation cabinet door 22 to open. At the same time, the light source 17 ensures the brightness of the 2D camera 21 when taking pictures, ensuring the recognition accuracy of the workpiece image. After the picture is taken, the push rod of the cylinder 18 is retracted to drive the camera installation cabinet door 22 to close. The cooling fan 24 is used for heat dissipation of the camera installation cabinet. The wires and air pipes in the camera installation cabinet 7 all enter and exit through the wire protection ring 14.

[0017] Embodiment 3, on the basis of embodiment 2, as Figure 1-6 As shown, the system control cabinet 10 includes a power module 25, a programmable controller 26, a switch 27, an air switch 30, a relay 31, a socket module 35, a second terminal block 34, a C45 guide rail 32, a wire trough 33, a light source controller 28, and an industrial computer 29 which are arranged inside the system control cabinet 10.

[0018] In this embodiment, the power module 25 supplies power to the 2D camera 21 and the laser ranging sensor 19, the programmable controller 26 is used to control the start and stop of the 2D camera 21 and the laser ranging sensor 19, data transmission, switch signal control of the industrial robot 1, and opening and closing of the camera installation cabinet 7, the air switch 30 is used for the on and off and protection of the total power supply of the system control cabinet 10, the socket module 35 is used for powering the 2D camera 21, the laser ranging sensor 19, the industrial computer 29, the light source controller 28 and the switch 27, the switch 27 is used for network port communication between the 2D camera 21, the laser ranging sensor 19, the industrial computer 29 and the industrial robot 1, the light source controller 28 is used to adjust the luminous intensity of the camera light source 17, and the industrial computer 29 is used for image processing, data generation and transmission.

[0019] Embodiment 4, on the basis of embodiment 3, as Figure 1-2 and Figure 7-11As shown, the flip mechanism includes a slider 42 arranged on the workpiece table 6, a slide groove 41 for limiting and guiding the slider 42 is arranged at the lower part of the slider 42, a threaded sleeve 46 connected to the slider 42 is arranged in the slide groove 41, the internal thread of the threaded sleeve 46 is connected to a threaded rod 47, the end of the threaded rod 47 passes through the worktable 6 and is provided with a first motor 48 outside, a first tray 38 and a second tray 39 are arranged on the workpiece table 6, and the first tray 38 and the second tray 39 are provided with edges around them, a workpiece 5 is arranged on the first tray 38, first arc-shaped support members 37 are arranged on both sides of the first tray 38, second arc-shaped support members 45 are arranged on both sides of the second tray 39, an arc frame 36 is arranged on the outer side of the second arc-shaped support member 45, a rotating block 43 is arranged inside the arc frame 36, a rotating rod 44 is coaxially fixedly arranged on the rotating block 43, and the rotating rod 44 passes through the worktable 6 and is provided with a second motor 40 outside.

[0020] In this embodiment, when the workpiece 5 needs to be flipped, the first motor 48 is first started, and the output end of the first motor 48 rotates to drive the threaded rod 47 to rotate, and the threaded rod 47 rotates to drive the threaded sleeve 46 to move, and the threaded sleeve 47 moves to drive the slider 42 to move, and the slider 42 moves to drive the first arc-shaped support member 37 to move, and the first arc-shaped support member 37 moves to drive the first tray 38 to move, and the first tray 38 moves to drive the workpiece 5 to move. When the first arc-shaped support member 37 moves to the bottom of the arc frame 36, the slider 42 and the arc frame 36 form a closed circle, and the second motor 48 is started at this moment. 0, the output end of the second motor 40 rotates to drive the rotating rod 44 to rotate, the rotating rod 44 rotates to drive the rotating block 43 to rotate, the rotating block 43 rotates to drive the first arc support member 37 and the second arc support member 45 to rotate 180° with the central axis of the rotating rod 44 as the center, so that the second arc support frame 45 falls into the slider 42, the first arc support member 37 and the second arc support member 45 rotate to drive the first support tray 38 and the second support tray 39 to rotate 180° with the central axis of the rotating rod 44 as the center, so that the workpiece 5 rotates 180°, and at this moment the first motor 48 is started to return the workpiece 5 to the original polishing position.

[0021] Working principle: The camera installation cabinet 7 can realize automatic opening and closing of the door to protect the 2D camera 21 and the laser ranging sensor 19 from being disturbed by dust during the polishing process. The solenoid valve 16 can control the extension and retraction of the cylinder 18. When it is necessary to take a photo, the push rod of the cylinder 18 extends to drive the camera installation cabinet door 22 to open. At the same time, the light source 17 ensures the brightness of the 2D camera 21 when taking photos, ensuring the recognition accuracy of the workpiece image. After the photo is taken, the push rod of the cylinder 18 is retracted to drive the camera installation cabinet door 22 to close. The cooling fan 24 is used for heat dissipation in the camera installation cabinet. The wires and air pipes in the camera installation cabinet 7 enter and exit through the wire guard ring 14; the power module 25 supplies power to the 2D camera 21 and the laser ranging sensor 19 The programmable controller 26 is used to control the start and stop of the 2D camera 21 and the laser ranging sensor 19, data transmission, switch signal control of the industrial robot 1, and the opening and closing of the camera installation cabinet 7. The air switch 30 is used for the on-off and protection of the total power supply of the system control cabinet 10. The socket module 35 is used for powering the 2D camera 21, the laser ranging sensor 19, the industrial computer 29, the light source controller 28, and the switch 27. The switch 27 is used for network port communication between the 2D camera 21, the laser ranging sensor 19, the industrial computer 29, and the industrial robot 1. The light source controller 28 is used to adjust the luminous intensity of the camera light source 17. The industrial computer 29 is used for image processing, data generation and transmission;The workpiece to be polished is placed on the workpiece table 6, the system is started, and the system is initialized first. The industrial robot 1 moves to the initial point, the programmable controller 26 controls the solenoid valve 16 to turn on, the camera installation cabinet 7 is opened, the 2D camera 21 takes a picture of the workpiece 5, and the laser ranging sensor 19 measures the thickness of the workpiece. The 2D camera 21 and the laser ranging sensor 19 transmit the collected workpiece size information to the industrial computer 29 through the network port communication. The industrial computer 29 processes the image data. At the same time, the programmable controller 26 controls the solenoid valve 16 to turn off, the camera installation cabinet 7 is closed, and the industrial computer 29 measures the length and width of the processed workpiece. The thickness data is transmitted to the industrial robot 1, the controller of the industrial robot 1 plans the polishing path according to the size data of the workpiece 5, the programmable controller 26 controls the force-controlled sanding machine 2 to start, the industrial robot 1 starts, and polishes the surface of the workpiece according to the planned path. When the workpiece 5 needs to be turned over, the first motor 48 is started first, the output end of the first motor 48 rotates to drive the threaded rod 47 to rotate, the threaded rod 47 rotates to drive the threaded sleeve 46 to move, the threaded sleeve 47 moves to drive the slider 42 to move, the slider 42 moves to drive the first arc support 37 to move, and the first arc support The support member 37 moves to drive the first support tray 38 to move, and the first support tray 38 moves to drive the workpiece 5 to move. When the first arc-shaped support member 37 moves to the bottom of the arc frame 36, the slider 42 and the arc frame 36 form a closed circle. At this moment, the second motor 40 is started, and the output end of the second motor 40 rotates to drive the rotating rod 44 to rotate. The rotating rod 44 rotates to drive the rotating block 43 to rotate. The rotating block 43 rotates to drive the first arc-shaped support member 37 and the second arc-shaped support member 45 to rotate 180° with the central axis of the rotating rod 44 as the center of the circle, so that the second arc-shaped support frame 45 falls into the slider 42, and the first The arc support 37 and the second arc support 45 rotate to drive the first support plate 38 and the second support plate 39 to rotate 180° with the central axis of the rotating rod 44 as the center, so that the workpiece 5 rotates 180°. At this time, the first motor 48 is started to return the workpiece 5 to the original polishing position; after polishing, when the number of workpieces polished by the force-controlled sanding belt machine 2 reaches a certain number, it is determined that the sanding belt is excessively worn, and the industrial robot 1 will guide the force-controlled sanding belt machine 2 to the automatic belt changing device 4 for sanding belt replacement. If it is detected that the sanding belt is not excessively worn, the industrial robot 1 returns to the origin, and polishing is completed, ready for the next workpiece polishing. ;

[0022] In combination with the above process, this solution provides a control method for a square workpiece adaptive polishing robot based on machine vision, which specifically includes the following steps: S1: Place the workpiece to be polished on the workpiece table, start the system, initialize the system first, move the industrial robot to the initial point, the programmable controller controls the solenoid valve to turn on, the cylinder drives the camera installation cabinet door to open, the 2D camera takes a picture of the workpiece, the laser ranging sensor measures the thickness of the workpiece, and the 2D camera and the laser ranging sensor transmit the collected workpiece size information to the industrial computer through network port communication.

[0023] S2: The industrial computer processes the image data. At the same time, the controllable programmer controls the solenoid valve to disconnect and the camera installation cabinet to close. The industrial computer transmits the processed workpiece length, width and thickness data to the industrial robot.

[0024] S3: The industrial robot plans the polishing path according to the workpiece size data, the programmable controller controls the force-controlled sanding machine to start, and the industrial robot starts to polish the workpiece surface according to the planned path.

[0025] S4: After the single-side polishing of the workpiece surface is completed, the industrial robot moves to the initial point, and the flipping mechanism on the workpiece table flips the workpiece. After the flipping is completed, the back of the workpiece is polished again according to steps S1-S3.

[0026] S5: After polishing is completed, if the force-controlled sanding belt machine has polished a certain number of workpieces, the sanding belt is judged to be excessively worn, and the industrial robot moves the force-controlled sanding belt machine to the automatic belt changing device to replace the sanding belt. If the sanding belt is judged to be not excessively worn, the industrial robot returns to the origin, and polishing is completed, preparing for the next workpiece polishing.

[0027] When planning the polishing path for the workpiece 5, first, the 2D camera 21 takes a picture of the upper surface of the workpiece 5 and transmits it to the industrial computer 29. The industrial computer 29 uses an image processing algorithm to process the picture to obtain the length L and width W of the workpiece. The laser ranging sensor 19 measures the thickness H of the workpiece. The industrial computer 29 transmits these three data to the PLC through the communication interface. Finally, the PLC transmits the data to the robot control cabinet 9 through the output interface. The robot control cabinet 9 assigns L, W, and H to variables nLength, nWidth, and nThickness respectively. According to the polishing process requirements of the workpiece and the shortest path principle, the S-shaped polishing route is determined, and the spacing between adjacent line segments is nDis. The initial coordinate values ​​of pStart are: x=2, y=-25+i*nDis, z=2, and the initial coordinate values ​​of pEnd are: x= nWidth+10, y=-25+i*nDis, z=2. When running on an odd route (arranged from right to left), the offsets of the first point relative to pStart are: △x=-8, △y=0, △z=-4, the offsets of the second point relative to pStart are: △x=-8, △y=0, △z=-2, the offsets of the third point relative to pEnd are: △x=-8, △y=0, △z=-2, and the offsets of the fourth point relative to pEnd are: △x=-10, △y=0, △z=-4. When running on an even-numbered route (arranged from right to left), the offsets of the first point relative to pEnd are: △x=-10, △y=0, △z=-4, the offsets of the second point pEnd are: △x=-8, △y=0, △z=-2, the offsets of the third point relative to pStart are: △x=-8, △y=0, △z=-2, and the offsets of the fourth point relative to pStart are: △x=-8, △y=0, △z=-4. In this way, the grinding wheel can complete a polishing of the workpiece surface.

[0028] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0029] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A square workpiece adaptive polishing robot system based on machine vision, characterized in that: include: Industrial robot (1), force-controlled sanding machine (2), safety guardrail (12), workpiece table (6), automatic belt changing device (4), camera mounting cabinet bracket (8), robot control cabinet (9), sanding machine force control cabinet (11), camera mounting cabinet (7), system control cabinet (10), flipping mechanism; The robot control cabinet (9) controls the operation of the industrial robot (1), communicates with the sanding machine force control cabinet (11), controls the start and stop of the sanding machine, speed adjustment, automatic belt change, etc., and realizes constant force control and automatic belt change during the polishing process; The system control cabinet (10) controls the force-controlled sanding machine (2), the automatic belt-changing device (4), and the camera installation cabinet (7) respectively, and realizes coordinated operation; a camera assembly and a laser distance-measuring sensor assembly are arranged inside the camera installation cabinet (7).

2. The square workpiece adaptive polishing robot system based on machine vision according to claim 1 is characterized in that: The camera installation cabinet (7) is provided with a wire protection ring (14), a first wiring terminal (15), two cylinders (18), a cooling fan (24), and a camera installation cabinet door (22) inside, and a solenoid valve (16) is provided on one side of the first wiring terminal (15); The camera assembly comprises a camera mounting seat (20) arranged inside a camera mounting cabinet (7), a 2D camera (21) being arranged on one side of the camera mounting seat (20), a laser distance measuring sensor (19) being arranged on one side of the 2D camera (21), a light source fixing plate (23) being arranged on one side of the camera mounting seat (20), and a camera light source (17) being arranged on the outer side of the light source fixing plate (23).

3. The square workpiece adaptive polishing robot system based on machine vision according to claim 1 is characterized in that: The system control cabinet (10) comprises a power module (25), a programmable controller (26), a switch (27), an air switch (30), a relay (31), a socket module (35), a second wiring terminal (34), a C45 guide rail (32), a wire trough (33), a light source controller (28), and an industrial computer (29), which are arranged inside the system control cabinet (10).

4. The square workpiece adaptive polishing robot system based on machine vision according to claim 1 is characterized in that: The flip mechanism comprises a slider (42) arranged on the work table (6), a slide groove (41) for limiting and guiding the slider (42) is arranged at the lower part of the slider (42), a threaded sleeve (46) connected to the slider (42) is arranged in the slide groove (41), a threaded rod (47) is connected to the inner thread of the threaded sleeve (46), the end of the threaded rod (47) passes through the outside of the work table (6), a first motor (48) is arranged, and a first bearing tray (38) and a second bearing tray (39) are arranged on the work table (6), and the first bearing tray (38) and The second tray (39) is provided with edges on all sides, a workpiece (5) is provided on the first tray (38), first arc-shaped support members (37) are provided on both sides of the first tray (38), second arc-shaped support members (45) are provided on both sides of the second tray (39), an arc-shaped frame (36) is provided outside the second arc-shaped support member (45), a rotating block (43) is provided inside the arc-shaped frame (36), a rotating rod (44) is coaxially fixedly provided on the rotating block (43), and a second motor (40) is provided outside the rotating rod (44) that passes through the workbench (6).

5. A control method for a square workpiece adaptive polishing robot based on machine vision, using a square workpiece adaptive polishing robot system based on machine vision as described in claims 1-4, characterized in that: The following steps are involved: S1: The workpiece (5) to be polished is placed on the workpiece table, the system is started, the system is initialized first, the industrial robot (1) moves to the initial point, the programmable controller controls the solenoid valve (16) to be turned on, the cylinder (18) drives the camera installation cabinet door (22) to open, the 2D camera (21) takes a picture of the workpiece, the laser distance sensor (19) measures the thickness of the workpiece, and the 2D camera (21) and the laser distance sensor (19) transmit the collected size information of the workpiece (5) to the industrial computer (29) through network port communication; S2: The industrial computer (29) processes the image data. At the same time, the controllable programmer controls the electromagnetic valve to be disconnected, the camera installation cabinet (7) is closed, and the industrial computer (29) transmits the processed length, width and thickness data of the workpiece (5) to the industrial robot; S3: the industrial robot (1) plans a polishing path according to the size data of the workpiece (5), the programmable controller controls the force-controlled sanding machine to start, and the industrial robot (1) starts to polish the surface of the workpiece (5) according to the planned path; S4: After the front side of the workpiece (5) is polished, the industrial robot (1) moves to the initial point, and the flipping mechanism on the workpiece table (6) flips the workpiece (5). After the flipping is completed, the back side of the workpiece (5) is polished according to steps S1-S3; S5: After polishing is completed, if the force-controlled sanding belt machine (2) has polished a certain number of workpieces, it is determined that the sanding belt is excessively worn, and the industrial robot (1) moves the force-controlled sanding belt machine (2) to the automatic belt changing device to replace the sanding belt. If it is determined that the sanding belt is not excessively worn, the industrial robot (1) returns to the origin, and polishing is completed, so that the next workpiece (5) is ready for polishing.

6. The control method of a square workpiece adaptive polishing robot based on machine vision according to claim 5 is characterized in that: In S3, after the polishing of the front side of the workpiece (5) is completed, the turning mechanism turns the workpiece over and polishes the back side of the workpiece.

7. The method for controlling a square workpiece adaptive polishing robot based on machine vision according to claim 5, characterized in that: The flipping mechanism in S4 includes a flipping actuator for clamping and flipping the workpiece 180° and a translation actuator for horizontally moving the workpiece to the flipping actuator.

8. The control method of a square workpiece adaptive polishing robot based on machine vision according to claim 5 is characterized in that: The force-controlled sanding belt machine (2) in S3 is provided with a force sensor for detecting and adjusting the polishing force during the polishing process.

9. The method for controlling a square workpiece adaptive polishing robot based on machine vision according to claim 5, characterized in that: In S3, the controller of the industrial robot (1) determines the polishing path of the workpiece (5) according to the size information detected by the 2D camera (21) and the laser ranging sensor (19), the polishing process requirements of the workpiece (5) and the shortest path principle. The specific process of the polishing path planning includes: the length L, width W and thickness H of the workpiece (5) are obtained by the coordinated operation of the 2D camera (21), the laser ranging sensor (19) and the industrial computer (29), and the three data are transmitted to the PLC through the communication interface. The PLC transmits the data to the robot control cabinet (9) through the output interface. The robot control cabinet (9) assigns L, W and H to variables nLength, nWidth and nThickness respectively, and determines an S-shaped polishing route according to the polishing process requirements of the workpiece and the shortest path principle, wherein the spacing between adjacent line segments is nDis, the number of revolutions is i, the initial coordinate values ​​of pStart are set to x=2, y=-25+i*nDis, and z=2, and the initial coordinate values ​​of pEnd are set to x= nWidth+10, y=-25+i*nDis, z=2. When running on an odd route, that is, from right to left, the offsets of the first point relative to pStart are △x=-8, △y=0, △z=-4, the offsets of the second point relative to pStart are △x=-8, △y=0, △z=-2, the offsets of the third point relative to pEnd are △x=-8, △y=0, △z=-2, the offsets of the fourth point relative to pEnd are △x=-10, △y=0, △z=-4. When running on an even route, that is, from right to left, the offsets of the first point relative to pEnd are △x=-10, △y=0, △z=-4, the offsets of the second point pEnd are △x=-8, △y=0, △z=-2, the offsets of the third point relative to pStart are △x=-8, △y=0, △z=-2, the offsets of the fourth point relative to pStart are △x=-8, △y=0, △z=-4, and so on.

10. The control method of a square workpiece adaptive polishing robot based on machine vision according to claim 9, characterized in that: The polishing path planning algorithm can be adjusted according to the shape of the polishing surface to polish other types of workpieces (5). The size and shape of the polishing workpiece (5) are not limited. The length and width of the polishing workpiece (5) are smaller than the edges of the first supporting plate (38) and the height is smaller than the height of the ring (36).

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