Movable grinding equipment

Abstract

Movable grinding equipment relates to the technical field of grinding equipment and comprises a moving trolley, a guardrail, a mechanical arm, a sand changing station, a wire groove and a control cabinet are installed on the top of the moving trolley, a displayer, an operation table and a control screen are installed on the control cabinet, and a grinding tool is installed at the movable end of the mechanical arm. By optimizing a polishing path, adjusting polishing parameters and the like, the polishing quality and efficiency are improved, the production cost is reduced, the competitiveness of automobile production is improved, manual hand actions are integrated on an integral tool, defect detection and calibration can be continuously, effectively and uniformly completed, and the production efficiency is improved by combining an industrial mechanical arm. According to the method, the defect processing work in a large area can be realized, the conventional problems of wrong marking, processing omission and the like of workers are avoided, the method has good observability and recordability, and a good reference model is provided for continuous improvement of the process, so that a uniform judgment standard can be formed.

Description

Technical Field

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

[0002] During the production of automobiles, the quality of the paint on the body is directly related to the appearance and market value of the car. However, even on the most advanced production lines, random defects such as scratches, color differences, and orange peel may occur. In order to ensure that every car coming out of the production line is flawless, automobile manufacturers have adopted a series of strict measures to repair random defects in the paint. When the car body comes out of the painting area on the production line, engineers will use professional high-brightness lights and detection tools to conduct a comprehensive inspection of the car body. This inspection method can clearly show any subtle defects and ensure that technicians can accurately identify and locate the problem area. Once a random defect is detected, the repair team on the production line will take immediate action. For minor scratches or orange peel, technicians will use special polishes and tools for local treatment to quickly remove defects and restore the smoothness of the paint surface. For color differences or other more complex problems, the car body will be guided to the designated repair area for further processing; However, the current grinding work has the following disadvantages: A. The manual processing method cannot ensure that the personnel can maintain continuous concentration and judgment when they are tired, which can easily lead to common problems such as wrong marking and missed processing. There is no unified evaluation standard for manual processing, and different operators often have different results after processing; B. With the increase in automobile production, manual work efficiency is difficult to match the current production rhythm; C. The work is high-intensity, noisy, and dusty, and the health of personnel also faces certain challenges; D. The manual processing method is not very observable and recordable, and there is no good reference template for continuous process improvement. Summary of the invention

[0003] The technical problem to be solved by the present invention is to overcome the existing defects and provide a movable grinding equipment, which improves the quality and efficiency of grinding, reduces production costs, and improves the competitiveness of automobile production by optimizing the grinding path, adjusting the grinding parameters, etc. It integrates manual hand movements into an overall tool, and can continuously, effectively and uniformly complete defect detection and calibration. Combined with an industrial robot arm, it can realize defect processing work in a larger area, avoiding conventional problems such as workers' incorrect marking and omissions in processing, has good observability and recordability, and has a good reference template for continuous process improvement, thereby being able to form a unified evaluation standard, which can effectively solve the problems in the background technology.

[0004] In order to achieve the above-mentioned object of the invention, the present invention adopts the following technical scheme: A movable grinding equipment comprises a mobile trolley, the top of which is respectively equipped with a guardrail, a mechanical arm, a sand changing station, a wire trough and a control cabinet, the control cabinet is respectively equipped with a display, an operating table and a control screen, and a grinding tool is installed at the movable end of the mechanical arm, an alarm light is installed at the corner of the guardrail, a power switch, a power interface, a boost valve and a pressure regulating valve are respectively installed on the side of the guardrail, and the boost valve and the pressure regulating valve are equipped with air filters.

[0005] Furthermore, the mobile trolley is an AGV trolley, and liftable legs are installed at the bottom of the mobile trolley.

[0006] Furthermore, the polishing tool includes a shell, a lifting cylinder and a 3D camera. The shell is assembled at the end of the robotic arm. Three groups of lifting cylinders are assembled on the shell. The lifting ends of the three groups of lifting cylinders are correspondingly installed with polishing units, flexible polishing units and spray units. The 3D camera is installed at the bottom of the shell.

[0007] Furthermore, the spray unit includes an atomizer and an atomizing nozzle. There are several atomizing nozzles, and the several atomizing nozzles are arranged at the lifting end of the lifting cylinder. The atomizer is installed at the bottom of the bracket of the shell, and the atomizer is connected to the inside of the atomizing nozzle through a pipe.

[0008] Furthermore, the flexible grinding unit includes a force control unit and a sandpaper grinding head. The force control unit is assembled at the lifting end of the lifting cylinder. A servo motor is provided at the end of the force control unit. The sandpaper grinding head is mounted on the output shaft of the servo motor.

[0009] Furthermore, the polishing unit includes an air motor and a polishing head. The air motor is installed at the lifting end of the lifting cylinder, and the polishing head is fixed on the output shaft of the air motor.

[0010] Furthermore, the sand changing station includes a sand changing box, a scraper and a glue gun, wherein the scraper is fixed at the box opening of the sand changing box, and the glue gun is installed on the top bracket of the sand changing box.

[0011] Furthermore, the sand changing station also includes a first flexible clamp, a sandpaper placement rack, a sandpaper tube and a second flexible clamp. The sandpaper placement rack and the sandpaper tube are both fixed on the inner side of the sand changing box. The first flexible clamp is fixed on the bracket end of the sandpaper placement rack, and the second flexible clamp is fixed on the port position of the sandpaper tube.

[0012] Furthermore, a cylinder for lifting the sandpaper inside the sand changing station is installed at the position corresponding to the sandpaper placement rack and the sandpaper tube.

[0013] Compared with the prior art, the beneficial effects of the present invention are: the movable grinding equipment has the following advantages: 1. It uses computer vision, deep learning and other technologies to receive information such as defect type, location, depth, etc. given by previous visual defect detection, and realizes automatic processing of paint defects through robot system calibration technology, multi-robot collaborative operation technology, adaptive control and other technologies, ensuring that the polishing robot can accurately and efficiently handle various defects. It improves the quality and efficiency of polishing, reduces production costs and improves the competitiveness of automobile production by optimizing polishing paths, adjusting polishing parameters and other methods.

[0014] 2. It integrates manual hand movements into an overall tool, which can continuously, effectively and uniformly complete defect detection and calibration. It can perform actions such as flexible sandpaper grinding, spraying polishing liquid and polishing. Combined with industrial robotic arms, it can achieve defect processing in larger areas. It avoids common problems such as workers' incorrect marking and omissions in processing. It has good observability and recordability, and has a good reference template for continuous process improvement, thereby forming a unified evaluation standard. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention; Figure 2 It is a schematic diagram of the local structure of the power supply part of the present invention; Figure 3 It is a schematic diagram of the local structure of the mechanical arm of the present invention; Figure 4 It is a schematic diagram of the local structure of the grinding tool of the present invention; Figure 5 It is a schematic diagram of the partial side structure of the grinding tool of the present invention; Figure 6 It is a schematic diagram of a partial first cross-sectional structure of a grinding tool of the present invention; Figure 7 It is a schematic diagram of a partial second cross-sectional structure of the grinding tool of the present invention; Figure 8 It is a schematic diagram of the local structure of the sand changing box of the present invention; Fig. 9 It is a schematic diagram of the partial side structure of the sand changing box of the present invention; Fig.10 It is a schematic diagram of the internal structure of the sand changing box of the present invention; Fig.11 It is a schematic diagram of the local structure of the glue spray gun of the present invention.

[0016] In the figure: 1-mobile trolley, 2-guardrail, 3-mechanical arm, 4-grinding tool, 41-lifting cylinder, 42-housing, 43-polishing head, 44-atomizer, 45-sandpaper grinding head, 46-atomizing nozzle, 47-3D camera, 48-force control unit, 5-sand changing station, 51-sand changing box, 52-first flexible clamp, 53-sandpaper placement rack, 54-scraper, 55-glue gun, 56-sandpaper tube, 57-second flexible clamp, 6-alarm light, 7-wire trough, 8-control cabinet, 9-display, 10-operating table, 11-control screen, 12-power switch, 13-power interface, 14-boosting valve, 15-pressure regulating valve, 16-air filter. DETAILED DESCRIPTION

[0017] The present invention can be explained in detail by the following examples, and the purpose of disclosing the present invention is to protect all technical improvements within the scope of the present invention.

[0018] See also Figure 1-11 The present embodiment provides a technical solution: a movable grinding device, comprising a mobile trolley 1, a guardrail 2, a mechanical arm 3, a sand changing station 5, a wire trough 7 and a control cabinet 8 are respectively installed on the top of the mobile trolley 1, a display 9, an operating table 10 and a control screen 11 are respectively installed on the control cabinet 8, and a grinding tool 4 is installed on the movable end of the mechanical arm 3, an alarm light 6 is installed at the corner of the guardrail 2, a power switch 12, a power interface 13, a boost valve 14 and a pressure regulating valve 15 are respectively installed on the side of the guardrail 2, and an air filter 16 is installed on the boost valve 14 and the pressure regulating valve 15.

[0019] It uses technologies such as computer vision and deep learning to receive information such as defect type, location, depth, etc. given by previous visual defect detection, and realizes automatic processing of paint defects through robot system calibration technology, multi-robot collaborative operation technology, adaptive control and other technologies, ensuring that the polishing robot can accurately and efficiently handle various defects. It improves the quality and efficiency of polishing by optimizing polishing paths, adjusting polishing parameters, etc., reduces production costs, and improves the competitiveness of automobile production.

[0020] The mobile trolley 1 is an AGV trolley, and a liftable support leg is installed at the bottom of the mobile trolley 1. The grinding equipment is moved to the working area by the mobile trolley 1 and stably supported by the liftable support leg.

[0021] The grinding tool 4 includes a shell 42, a lifting cylinder 41 and a 3D camera 47. The shell 42 is assembled at the end of the robot arm 3. Three sets of lifting cylinders 41 are assembled on the shell 42. The lifting ends of the three sets of lifting cylinders 41 are correspondingly equipped with polishing units, flexible grinding units and spray units. The 3D camera 47 is installed at the bottom of the shell 42. When performing defect detection, the previous process first determines the approximate location of the defect. In the current process, the 3D camera 47 performs local scanning and shooting to determine the type of defect. After processing by the host computer, a processing mode is issued, such as a conventional processing mode, which integrates manual hand movements into an integral tool, and can continuously, effectively and uniformly complete defect detection and calibration. It can perform sandpaper flexible grinding, spraying polishing liquid and polishing. Combined with an industrial robot arm, it can realize defect processing work in a larger area. It avoids conventional problems such as workers' wrong marking and missing processing, has good observability and recordability, and has a good reference template for continuous process improvement, so that a unified evaluation standard can be formed.

[0022] The spray unit includes an atomizer 44 and an atomizing nozzle 46. There are several atomizing nozzles 46. Several atomizing nozzles 46 are arranged at the lifting end of the lifting cylinder 41. The atomizer 44 is installed at the bottom of the bracket of the shell 42. The atomizer 44 is connected to the inside of the atomizing nozzle 46 through a pipeline. The atomizer 44 can quantitatively transport atomized liquid to the atomizing nozzle 46 under the control of the air path. It can also adjust the spraying area by itself. It improves the quality of automobile production by spraying deionized water or polishing liquid.

[0023] The flexible grinding unit includes a force control unit 48 and a sandpaper grinding head 45. The force control unit 48 is assembled at the lifting end of the lifting cylinder 41. A servo motor is provided at the end of the force control unit 48. The sandpaper grinding head 45 is installed on the output shaft of the servo motor. The sandpaper grinding head 45 is extended under the lifting action of the internal lifting cylinder 41 to perform local grinding. Constant force grinding is achieved through the force control unit 48 to avoid collision damage to the paint surface. After grinding is completed, the sandpaper grinding head 45 is retracted, and the output shaft of the servo motor drives the sandpaper grinding head 45 to rotate, thereby performing grinding operations.

[0024] The polishing unit includes an air motor and a polishing head 43. The air motor is installed at the lifting end of the lifting cylinder 41. The polishing head 43 is fixed on the output shaft of the air motor. The polishing head 43 is extended under the lifting action of the lifting cylinder 41. After dipping in the polishing paste squeezed out from a fixed position, it performs polishing. The output shaft of the air motor drives the polishing head 43 to rotate, thereby performing flexible polishing.

[0025] The sand-changing station 5 includes a sand-changing box 51, a scraper 54 and a glue gun 55. The scraper 54 is fixed at the box opening of the sand-changing box 51. The glue gun 55 is installed on the top bracket of the sand-changing box 51. The sand-changing station 5 also includes a first flexible clamp 52, a sandpaper placement rack 53, a sandpaper tube 56 and a second flexible clamp 57. The sandpaper placement rack 53 and the sandpaper tube 56 are all fixed on the inner side of the sand-changing box 51. The first flexible clamp 52 is fixed at the bracket end of the sandpaper placement rack 53, and the second flexible clamp 57 is fixed at the port position of the sandpaper tube 56. The end of the robot arm 3 drives the grinding tool 4 to move, from To carry out the grinding operation, when the polishing head 43 and the sandpaper grinding head 45 are changing the sandpaper, the ends thereof are first scraped off by the scraper 54, and then the surfaces of the polishing head 43 and the sandpaper grinding head 45 are sprayed with glue by the glue spray gun 55. Then, the polishing head 43 and the sandpaper grinding head 45 are moved to the positions of the first flexible clamp 52 and the second flexible clamp 57 under the drive of the robot arm 3, so that the sandpaper can be taken. Then, the sandpaper is adhered to the surfaces of the polishing head 43 and the sandpaper grinding head 45. The sandpaper is easy to replace, which saves the trouble of manual operation, thereby improving the grinding efficiency.

[0026] The inner side of the sand changing station 5 is provided with a cylinder for lifting the sandpaper therein corresponding to the position of the sandpaper placing rack 53 and the sandpaper tube 56, thereby pushing the sandpaper at the bottom of the sandpaper placing rack 53 and the sandpaper tube 56 down to the top position, thereby facilitating its access.

[0027] The working principle of a movable grinding device provided by the present invention is as follows: the grinding device is moved to the working area by a mobile trolley 1, and stably supported by liftable legs. When performing defect detection, the approximate location of the defect is first determined by the previous process, and the type of defect is determined by a 3D camera 47 in the current process. After being processed by the host computer, a processing mode is issued, such as a conventional processing mode, in which the atomizing nozzle 46 sprays deionized water at the surface to be processed, and the sandpaper grinding head 45 is extended under the lifting action of the internal lifting cylinder 41 to perform local grinding, and the force control unit is used to control the surface of the surface to be processed. Element 48 realizes constant force grinding, thereby avoiding collision damage to the paint surface. After grinding, the sandpaper grinding head 45 is retracted, and the polishing head 43 is extended under the lifting action of the lifting cylinder 41. After dipping the polishing paste squeezed out from a fixed position, it performs the polishing operation. The output shaft of the pneumatic motor drives the polishing head 43 to rotate, thereby performing flexible polishing until the operation is completed. The atomizer 44 can quantitatively deliver the atomized liquid to the atomizing nozzle 46 under the control of the air path, and it can also adjust the spraying area by itself. The shell 42 is mainly used to protect the internal structure to prevent dust from entering the moving mechanism; The end of the robot arm 3 drives the grinding tool 4 to move, so as to perform the grinding operation. When the polishing head 43 and the sandpaper grinding head 45 are changing the sandpaper, their ends are first scraped off by the scraper 54, and then the surfaces of the polishing head 43 and the sandpaper grinding head 45 are sprayed with glue by the glue gun 55. Then, the polishing head 43 and the sandpaper grinding head 45 are moved to the position of the first flexible clamp 52 and the second flexible clamp 57 under the drive of the robot arm 3, so that they can take the sandpaper, and then the sandpaper is bonded to the surface of the polishing head 43 and the sandpaper grinding head 45.

[0028] It is worth noting that the components disclosed in the above embodiments are all universal standard parts or components known to technical personnel in this field, and their structures and principles can be known to technical personnel through technical manuals or through conventional experimental methods. The force control unit 48 can adopt the force control unit in the patent with authorization announcement number CN 114654308 B.

[0029] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances, for example, the rotational connection can be a rotational connection through a bearing.

[0030] The parts of the present invention that are not described in detail are prior art. Although the present invention is specifically demonstrated and introduced in conjunction with the preferred implementation scheme, there are many methods and approaches to specifically implement the technical solution. The above is only a preferred implementation scheme of the present invention, but technical personnel in the relevant field should understand that various changes can be made to the present invention in form and details without departing from the spirit and scope of the present invention as defined in the attached claims, and all of them are within the scope of protection of the present invention.

Claims

1. A movable grinding device, comprising a movable trolley (1), characterized in that: The top of the mobile trolley (1) is respectively equipped with a guardrail (2), a mechanical arm (3), a sand changing station (5), a wire trough (7) and a control cabinet (8); the control cabinet (8) is respectively equipped with a display (9), an operating table (10) and a control screen (11); and a grinding tool (4) is installed at the movable end of the mechanical arm (3); an alarm light (6) is installed at the corner of the guardrail (2); a power switch (12), a power interface (13), a boost valve (14) and a pressure regulating valve (15) are respectively installed on the side of the guardrail (2); and the boost valve (14) and the pressure regulating valve (15) are equipped with air filters (16).

2. A movable grinding device according to claim 1, characterized in that: The mobile trolley (1) is an AGV trolley, and a liftable support leg is installed at the bottom of the mobile trolley (1).

3. The movable grinding device according to claim 1, characterized in that: The grinding tool (4) comprises a housing (42), a lifting cylinder (41) and a 3D camera (47); the housing (42) is mounted on the end of a mechanical arm (3); three groups of lifting cylinders (41) are mounted on the housing (42); polishing units, flexible grinding units and spray units are mounted on the lifting ends of the three groups of lifting cylinders (41); and the 3D camera (47) is mounted on the bottom of the housing (42).

4. A movable grinding device according to claim 3, characterized in that: The spray unit comprises an atomizer (44) and an atomizing nozzle (46). A plurality of atomizing nozzles (46) are provided. The plurality of atomizing nozzles (46) are arranged at the lifting end of the lifting cylinder (41). The atomizer (44) is mounted at the bottom of the bracket of the housing (42). The atomizer (44) is connected to the inside of the atomizing nozzle (46) through a pipeline.

5. The movable grinding device according to claim 3, characterized in that: The flexible grinding unit comprises a force control unit (48) and a sandpaper grinding head (45); the force control unit (48) is mounted on the lifting end of the lifting cylinder (41); a servo motor is provided at the end of the force control unit (48); and the sandpaper grinding head (45) is mounted on the output shaft of the servo motor.

6. The movable grinding device according to claim 3, characterized in that: The polishing unit comprises an air motor and a polishing head (43); the air motor is mounted on the lifting end of the lifting cylinder (41); and the polishing head (43) is fixed on the output shaft of the air motor.

7. The movable grinding device according to claim 1, characterized in that: The sand-changing station (5) comprises a sand-changing box (51), a scraper (54) and a glue gun (55); the scraper (54) is fixed at the box opening of the sand-changing box (51); and the glue gun (55) is installed on a top bracket of the sand-changing box (51).

8. The movable grinding device according to claim 7, characterized in that: The sand changing station (5) further comprises a first flexible clamp (52), a sandpaper placement rack (53), a sandpaper tube (56) and a second flexible clamp (57); the sandpaper placement rack (53) and the sandpaper tube (56) are both fixed on the inner side of the sand changing box (51); the first flexible clamp (52) is fixed on the bracket end of the sandpaper placement rack (53); and the second flexible clamp (57) is fixed on the port position of the sandpaper tube (56).

9. The movable grinding device according to claim 8, characterized in that: A cylinder for lifting the sandpaper inside the sand changing station (5) is installed at a position corresponding to the sandpaper placement rack (53) and the sandpaper cylinder (56) on the inner side of the sand changing station (5).

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