Intelligent sensing reciprocating grinding and polishing system for tail end of robot

Abstract

The intelligent sensing reciprocating grinding and polishing system comprises grinding and polishing equipment and detection equipment, the grinding and polishing equipment comprises a first mounting plate, a first quick-change disc is arranged in the first mounting plate, and the bottom of the first mounting plate is fixedly connected with a force control device through screws; the bottom of the force control device is fixedly connected with a reciprocating polishing machine through screws, a square abrasive paper disc is arranged at the bottom end of the reciprocating polishing machine, the detection equipment comprises a second mounting plate, a second quick-change disc is arranged in the second mounting plate, and a visual detection head is arranged at the bottom of the second mounting plate; the intelligent sensing reciprocating grinding and polishing system for the robot tail end can detect the coating thickness of a part, calculate grinding and polishing allowance distribution, solve the problems that the allowance distribution is not uniform and a robot is difficult to grind and polish, conduct visual scanning on the part, reversely generate a workpiece CAD model, generate a robot grinding and polishing program according to a real object CAD, and improve the grinding and polishing efficiency. The problems that errors between workpiece objects and design CAD are large, and robot programs are difficult to generate are solved.

Description

Technical Field

[0001] The invention relates to the technical field of house construction, and in particular to an intelligent sensing reciprocating grinding and polishing system for a robot end. Background Art

[0002] In the manufacturing fields of automobiles, high-speed trains, aerospace, etc., there are a large number of spray-painted parts that need to be ground and polished. Currently, the grinding and polishing operations are mainly done manually. On the one hand, the working environment of manual work is harsh and there are great risks to personal safety. On the other hand, the stability and consistency of manual work products are poor, and it is increasingly difficult to adapt to the increasingly stringent product quality requirements.

[0003] The coating on sprayed parts is generally thin, and the allowable removal amount for grinding and polishing is generally 10-100μm, which requires relatively high process control for grinding and polishing operations; secondly, there are large errors between the actual objects and the design CAD for a large number of sprayed parts, and the parts are free-form surfaces, making it difficult to generate robot grinding and polishing offline programs through the design CAD; finally, a considerable proportion of sprayed parts have uneven surface coatings, which require quantitative removal of the coating.

[0004] Currently, it is difficult to perform robot grinding and polishing on parts with uneven coating distribution and large errors between the actual object and the designed CAD. Most of the work relies on manual work, and manual work requires grinding, polishing, inspection, and correction at the same time, which is heavily dependent on manual experience. The rework rate of manual grinding and polishing is relatively high, and the product quality is unstable. For this reason, we propose a reciprocating grinding and polishing system for intelligent perception at the robot end. Summary of the invention

[0005] The object of the present invention is to provide a robot end intelligent sensing reciprocating grinding and polishing system to solve the problems raised in the above background technology.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a robot end intelligent perception reciprocating grinding and polishing system, including grinding and polishing equipment and detection equipment, the grinding and polishing equipment including a No. 1 mounting plate, a No. 1 quick-change disk is arranged in the No. 1 mounting plate, the bottom of the No. 1 mounting plate is fixedly connected to a force control device by screws, and the bottom of the force control device is fixedly connected to a reciprocating polishing machine by screws, the bottom of the reciprocating polishing machine is provided with a square sandpaper disk, the detection equipment includes a No. 2 mounting plate, a No. 2 quick-change disk is arranged in the No. 2 mounting plate, a visual inspection head is arranged at the bottom of the No. 2 mounting plate, and a coating inspection head control box and a coating inspection head are respectively arranged on the outside of the visual inspection head at the bottom of the No. 2 mounting plate.

[0007] Preferably, a dust suction duct is arranged outside the reciprocating polishing machine, and the end of the dust suction duct is arranged toward the square sandpaper disc.

[0008] Preferably, the tops of the No. 1 mounting plate and the No. 2 mounting plate are both symmetrically provided with a left precision positioning pin hole and a right precision positioning pin hole in the vertical direction.

[0009] Preferably, the bottom of the second mounting plate is fixedly connected to a vision mounting plate by screws, and the vision detection head is fixedly mounted on the surface of the vision mounting plate by screws.

[0010] Preferably, the bottom of the second mounting plate is located outside the visual inspection head and is fixed with a coating inspection head mounting plate by screws, the coating inspection head control box and the coating inspection head are both fixedly mounted on the surface of the coating inspection head mounting plate by screws, and the coating inspection head control box is located above the coating inspection head.

[0011] Preferably, the tops of the No. 1 mounting plate and the No. 2 mounting plate are both provided with mounting openings, and the No. 1 quick-change plate and the No. 2 quick-change plate are fixedly mounted inside the mounting openings of the No. 1 mounting plate and the No. 2 mounting plate respectively by screws.

[0012] Compared with the prior art, the present invention has the following beneficial effects: 1. The intelligent sensing reciprocating grinding and polishing system for the robot end of the present invention can detect the coating thickness of parts and calculate the distribution of grinding and polishing allowances, thereby solving the problem of uneven distribution of allowances and difficulty in robot grinding and polishing.

[0013] 2. The present invention is used for the robot end intelligent perception reciprocating grinding and polishing system, which can perform visual scanning on parts, reversely generate a workpiece CAD model, and generate a robot grinding and polishing program based on the physical CAD, thereby solving the problem that there is a large error between the physical workpiece and the design CAD, and the robot program is difficult to generate.

[0014] 3. The intelligent sensing reciprocating grinding and polishing system for the robot end of the present invention can accurately control the normal force, reciprocating stroke and reciprocating frequency, etc., and can accurately and quantitatively remove the coating in combination with the coating removal depth model.

[0015] 4. The present invention is used for the robot end intelligent perception reciprocating grinding and polishing system. The robot can automatically switch the detection and grinding and polishing equipment through quick change, and realize the closed-loop grinding and polishing process control of grinding, detecting and adjusting at the same time.

[0016] 5. The present invention is used for the robot end intelligent sensing reciprocating grinding and polishing system to achieve dust removal during the grinding and polishing process, prevent dust accumulation from scratching the workpiece surface, and keep the overall environment clean and tidy. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the structure of the grinding and polishing equipment of the present invention; Figure 2 It is a schematic diagram of the structure of the detection equipment of the present invention; Figure 3It is a schematic diagram of the structure of the detection equipment of the present invention.

[0018] In the figure: 1. Grinding and polishing equipment; 11. No. 1 quick-change plate; 12. No. 1 mounting plate; 13. Force control device; 14. Reciprocating polishing machine; 15. Dust suction duct; 16. Square sandpaper disc; 17. Left precision positioning pin hole; 18. Right precision positioning pin hole; 2. Inspection equipment; 21. No. 2 quick-change plate; 22. No. 2 mounting plate; 23. Visual inspection head; 24. Visual mounting plate; 25. Coating inspection head control box; 26. Coating inspection head mounting plate; 27. Coating inspection head. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] See also Figure 1 and Figure 2 The present invention provides a technical solution: a robot end intelligent perception reciprocating grinding and polishing system, including grinding and polishing equipment 1 and detection equipment 2, the grinding and polishing equipment 1 includes a No. 1 mounting plate 12, a No. 1 quick-change disk 11 is arranged in the No. 1 mounting plate 12, the bottom of the No. 1 mounting plate 12 is fixedly connected to a force control device 13 by screws, and the bottom of the force control device 13 is fixedly connected to a reciprocating polisher 14 by screws, and the bottom of the reciprocating polisher 14 is provided with a square sandpaper disk 16.

[0021] It should be noted that the No. 1 quick-change disk 11 and the No. 1 mounting plate 12 are connected by screws, and a quick switching mechanism is formed after the two are connected. The upper part of the force control device 13 is fixedly connected to the No. 1 mounting plate 12 by screws, and the bottom of the force control device 13 is fixedly connected to the reciprocating polishing machine 14 by screws. The internal telescopic and constant force control of the force control device 13 ensures the stability of the reciprocating polishing machine 14 during polishing. A square sandpaper disc 16 is arranged at the lower end of the reciprocating polishing machine 14. The square sandpaper disc 16 makes the polishing area larger. The square sandpaper disc 16 is detachably connected to the reciprocating polishing machine 14, and the square sandpaper disc 16 can be replaced after polishing for a period of time.

[0022] The inspection equipment 2 includes a No. 2 mounting plate 22, a No. 2 quick-change disk 21 is arranged inside the No. 2 mounting plate 22, a visual inspection head 23 is arranged at the bottom of the No. 2 mounting plate 22, and a coating inspection head control box 25 and a coating inspection head 27 are respectively arranged outside the visual inspection head 23 at the bottom of the No. 2 mounting plate 22.

[0023] It should be noted that the No. 2 quick-change disk 21 and the No. 2 mounting plate 22 are connected by screws, and the two are connected to form a quick switching mechanism. The visual inspection head 23 is arranged under the No. 2 mounting plate 22. Cooperating with the coating inspection head control box 25 and the coating inspection head 27, coating inspection and residue distribution extraction can be realized, and the grinding and polishing equipment 1 can be guided to perform workpiece grinding and polishing.

[0024] See also Figure 1 A dust suction pipe 15 is arranged outside the reciprocating polishing machine 14 , and the end of the dust suction pipe 15 is arranged toward the square sandpaper disc 16 .

[0025] It should be noted that a fixed plate is provided outside the reciprocating polishing machine 14, on which a fan is installed, and the air inlet end of the fan is connected to the dust suction pipe 15, and the dust suction port of the dust suction pipe 15 is located at the square sandpaper disc 16. When the reciprocating polishing machine 14 is working, the square sandpaper disc 16 performs grinding and polishing work, and the fan on the reciprocating polishing machine 14 also works, and the dust generated during the grinding and polishing process is sucked in and transferred through the dust suction pipe 15.

[0026] See also Figure 1 , Figure 2 and Figure 3 The tops of the No. 1 mounting plate 12 and the No. 2 mounting plate 22 are symmetrically provided with a left precision positioning pin hole 17 and a right precision positioning pin hole 18 in the vertical direction.

[0027] It should be noted that, by providing the left precision positioning pin hole 17 and the right precision positioning pin hole 18 on the top of the No. 1 mounting plate 12 and the No. 2 mounting plate 22, the grinding and polishing equipment 1 and the testing equipment 2 can be accurately positioned, facilitating automatic switching.

[0028] See also Figure 2 The bottom of the second mounting plate 22 is fixedly connected with a vision mounting plate 24 by screws, and the vision detection head 23 is fixedly mounted on the surface of the vision mounting plate 24 by screws.

[0029] It should be noted that the stability of the visual inspection head 23 directly affects the quality and accuracy of the image. Fixing with screws can reduce errors caused by looseness or instability, and improve the consistency and reliability of the inspection results. Through screw connection, the disassembly and installation between the visual inspection head 23 and the second mounting plate 22 become simpler and faster. If the visual inspection head 23 needs maintenance, inspection or replacement, it is only necessary to use tools to loosen the screws. The operation is convenient, time-saving, and avoids complicated disassembly procedures.

[0030] See also Figure 3The bottom of the second mounting plate 22 is located outside the visual inspection head 23 and is fixed with a coating inspection head mounting plate 26 by screws. The coating inspection head control box 25 and the coating inspection head 27 are both fixedly mounted on the surface of the coating inspection head mounting plate 26 by screws. The coating inspection head control box 25 is located above the coating inspection head 27. It should be noted that the combination of the visual inspection head 23 and the coating inspection head 27 can perform comprehensive inspections on the appearance and coating of the workpiece. The visual inspection head 23 is responsible for identifying the appearance, shape, size and other information of the workpiece, while the coating inspection head 27 can monitor the quality, thickness, uniformity and the like of the coating, which helps to accurately determine whether the grinding and polishing process is in place. The fixed installation design of the coating inspection head control box 25 and the coating inspection head 27 ensures the stability and accuracy of the inspection equipment. The thickness and uniformity of the coating are crucial to the quality of the coating. These precise inspection mechanisms ensure that the quality of the coating meets the standard after each grinding.

[0031] See also Figure 1 and Figure 2 The tops of the No. 1 mounting plate 12 and the No. 2 mounting plate 22 are both provided with mounting openings, and the No. 1 quick-change plate 11 and the No. 2 quick-change plate 21 are fixedly mounted inside the mounting openings of the No. 1 mounting plate 12 and the No. 2 mounting plate 22 by screws, respectively.

[0032] It should be noted that, similar to the grinding and polishing system, the screw connection between the No. 2 mounting plate 22 and the No. 2 quick-change plate 21 also forms a quick switching mechanism, which facilitates the rapid replacement or debugging of the detection system and the replacement and maintenance of the detection module, especially in the case of multi-task switching or changes in workpiece requirements.

[0033] In summary, the entire system of the present invention consists of two subsystems, namely, grinding and polishing equipment 1 and detection equipment 2. Through the cooperation of the two subsystems, intelligent perception and reciprocating grinding and polishing of workpieces can be realized, thereby improving the automation and intelligence of the coating grinding and polishing industry.

[0034] In the description of the present invention, it is necessary to understand that the terms "coaxial", "bottom", "one end", "top", "middle", "the other end", "upper", "one side", "top", "inside", "front", "center", "both ends" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0035] In addition, the terms "first", "second", "third" and "fourth" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first", "second", "third" and "fourth" may explicitly or implicitly include at least one of such features.

[0036] In the present invention, unless otherwise clearly stipulated and limited, the terms such as "installation", "setting", "connection", "fixation" and "screw-on" 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, ordinary technicians in this field can understand the specific meanings of the above terms in the present invention according to the specific circumstances.

[0037] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A robot end intelligent sensing reciprocating grinding and polishing system, characterized in that: The invention comprises a grinding and polishing device (1) and a detection device (2), wherein the grinding and polishing device (1) comprises a No. 1 mounting plate (12), wherein a No. 1 quick-change disk (11) is arranged in the No. 1 mounting plate (12), a force control device (13) is fixedly connected to the bottom of the No. 1 mounting plate (12) by screws, and a reciprocating polisher (14) is fixedly connected to the bottom of the force control device (13) by screws, and a square sandpaper disk (16) is arranged at the bottom of the reciprocating polisher (14), and the detection device (2) comprises a No. 2 mounting plate (22), wherein a No. 2 quick-change disk (21) is arranged in the No. 2 mounting plate (22), a visual detection head (23) is arranged at the bottom of the No. 2 mounting plate (22), and a coating detection head control box (25) and a coating detection head (27) are respectively arranged outside the visual detection head (23) at the bottom of the No. 2 mounting plate (22).

2. The intelligent sensing reciprocating grinding and polishing system for robot end according to claim 1, characterized in that: A dust suction pipe (15) is arranged outside the reciprocating polishing machine (14), and the end of the dust suction pipe (15) is arranged toward the square sandpaper disc (16).

3. The intelligent sensing reciprocating grinding and polishing system for robot end according to claim 1, characterized in that: The tops of the first mounting plate (12) and the second mounting plate (22) are both symmetrically provided with a left precision positioning pin hole (17) and a right precision positioning pin hole (18) in a vertical direction.

4. The intelligent sensing reciprocating grinding and polishing system for robot end according to claim 1, characterized in that: The bottom of the second mounting plate (22) is fixedly connected to a vision mounting plate (24) by means of screws, and the vision detection head (23) is fixedly mounted on the surface of the vision mounting plate (24) by means of screws.

5. The intelligent sensing reciprocating grinding and polishing system for robot end according to claim 4 is characterized in that: The bottom of the second mounting plate (22) is located outside the visual inspection head (23) and is fixedly connected to a coating inspection head mounting plate (26) by screws. The coating inspection head control box (25) and the coating inspection head (27) are both fixedly mounted on the surface of the coating inspection head mounting plate (26) by screws. The coating inspection head control box (25) is located above the coating inspection head (27).

6. The intelligent sensing reciprocating grinding and polishing system for robot end according to claim 1, characterized in that: The tops of the first mounting plate (12) and the second mounting plate (22) are both provided with mounting openings, and the first quick-change plate (11) and the second quick-change plate (21) are respectively fixedly mounted inside the mounting openings of the first mounting plate (12) and the second mounting plate (22) by means of screws.

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