Intelligent grinding and polishing system for small workpiece coating robot

Abstract

The intelligent grinding and polishing system comprises a base system, and a detection equipment rapid replacement support, a grinding and polishing equipment rapid replacement support, an electric control system, a feeding and discharging system, a robot control system, an industrial robot and an automatic abrasive paper replacement system are sequentially arranged at the top of the base system. The detection equipment rapid replacement support, the grinding and polishing equipment rapid replacement support, the electric control system, the feeding and discharging system, the robot control system, the industrial robot and the automatic abrasive paper replacement system are fixedly installed on the top of the base system through bolts. According to the system, communication among a detection equipment rapid replacement support, a grinding and polishing equipment rapid replacement support, a dust removal system, a protection system, a feeding and discharging system, an industrial robot, an automatic abrasive paper replacement system, grinding and polishing equipment, detection equipment and the like can be achieved, and automatic tool replacement, automatic abrasive material replacement and automatic feeding and discharging can be achieved; robot control over the grinding and polishing process and technological parameters is achieved, and the grinding and polishing quality is guaranteed.

Description

Technical Field

[0001] The invention relates to the technical field of production and manufacturing, and in particular to an intelligent grinding and polishing system for a small workpiece coating robot. Background Art

[0002] In the automotive, aerospace and other manufacturing fields, small workpieces need to be ground and polished after spraying. Currently, this mainly relies on manual work, which produces a lot of dust and a harsh environment, and there is a great risk of occupational injury. Secondly, the amount of coating removed by grinding and polishing is generally small (generally 10-100μm), and over-polishing is very easy to occur manually. It is increasingly difficult to meet quality requirements for product consistency and pass rate.

[0003] There are some robot systems on the market that are suitable for coating grinding and polishing of small workpieces, but they generally require good consistency of incoming workpieces, regular product shapes, or small errors between the physical model of the product and the design CAD model, so that the robot grinding and polishing offline program can be generated based on the design CAD.

[0004] Due to manufacturing errors and material deformation, there are a large number of small workpieces with large errors between the actual objects and CAD, making it difficult to design CAD production robot offline programs. The coating of these small workpieces is currently mainly completed by manual labor, and it is difficult to use robots for grinding and polishing. For this reason, we propose an intelligent grinding and polishing system for small workpiece coating robots. Summary of the invention

[0005] The purpose of the present invention is to provide an intelligent grinding and polishing system for small workpiece coating robots to solve the problems raised in the above-mentioned background technology.

[0006] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: an intelligent grinding and polishing system for a small workpiece coating robot, comprising a base system, wherein a detection equipment quick-change bracket, a grinding and polishing equipment quick-change bracket, an electric control system, a loading and unloading system, a robot control system, an industrial robot and an automatic sandpaper changing system are sequentially arranged on the top of the base system, and the detection equipment quick-change bracket, the grinding and polishing equipment quick-change bracket, the electric control system, the loading and unloading system, the robot control system, the industrial robot and the automatic sandpaper changing system are all fixedly installed on the top of the base system by bolts, a dust removal system is arranged on the outside of the base system, and detection equipment and grinding and polishing equipment are respectively arranged on the top of the detection equipment quick-change bracket and the grinding and polishing equipment quick-change bracket, and a quick-change disk is fixedly installed on the end flange surface of the industrial robot by screws.

[0007] Preferably, the loading and unloading system includes a welding frame, and a left guide rail and a right guide rail are symmetrically arranged at both ends of the top of the welding frame. The two left guide rails and the two right guide rails are fixedly connected to the top of the welding frame by screws. The top of the welding frame is located between the two left guide rails and a left cylinder is fixedly installed by screws. The top of the welding frame is located between the two right guide rails and a right cylinder is fixedly installed by screws. The piston rod ends of the left cylinder and the right cylinder are respectively installed with a left clamp system and a right clamp system.

[0008] Preferably, a dust hopper is provided at one end of the top of the welding frame away from the left cylinder and the right cylinder, the left clamp system and the right clamp system are located in the dust hopper, a dust pipe is welded and fixed to the bottom of the dust hopper, the dust hopper is welded and fixed to the top of the welding frame, and the dust pipe is welded and fixed to the top of the inner wall of the welding frame.

[0009] Preferably, pins are symmetrically arranged on the top of the detection equipment quick-change bracket and the grinding and polishing equipment quick-change bracket, and connecting seats are arranged on the top of the detection equipment and the grinding and polishing equipment, and sockets are symmetrically opened on the top of the connecting seat, and the tops of the pins on the top of the detection equipment quick-change bracket and the grinding and polishing equipment quick-change bracket are respectively matched and connected in the sockets on the top connecting seats of the detection equipment and the grinding and polishing equipment.

[0010] Preferably, a protection system is fixedly installed on the top of the base system by screws, and the detection equipment quick-change bracket, grinding and polishing equipment quick-change bracket, electronic control system, robot control system, industrial robot and automatic sandpaper changing system are all located in the protection system.

[0011] Preferably, one end of the welding frame is fixedly mounted on the top of the base system by screws, and the other end of the welding frame is located outside the base system.

[0012] Preferably, the dust removal system is fixedly installed on the ground by anchor bolts.

[0013] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention can realize reverse modeling of workpieces and generate robot grinding and polishing programs, solving the problem that there is a large error between the actual workpiece and the design CAD, making it difficult to generate robot programs.

[0014] 2. The robot intelligent grinding and polishing system for coating small workpieces of the present invention can realize precise process control of robot grinding and polishing, and is equipped with a robot grinding and polishing coating removal depth model, which can effectively avoid the over-polishing problem caused by manual grinding and polishing of small workpiece coatings. The quality after robot grinding and polishing is stable and the product consistency is good.

[0015] 3. The small workpiece coating robot intelligent grinding and polishing system of the present invention can automatically replace the end tool and can automatically realize visual scanning reverse modeling and robot grinding and polishing.

[0016] 4. The small workpiece coating robot intelligent grinding and polishing system of the present invention can automatically replace grinding and polishing consumables, and perform process interpolation for consumable loss during grinding and polishing to ensure stable grinding and polishing quality of the robot.

[0017] 5. The small workpiece coating robot intelligent grinding and polishing system of the present invention can realize grinding and polishing dust removal, ensuring a clean and tidy working environment on site. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is an isometric view of the intelligent grinding and polishing system for coating small workpieces of the present invention; Figure 2 It is an isometric view of the intelligent grinding and polishing system for coating small workpieces of the present invention; Figure 3 It is a schematic diagram of the internal structure of the protection system of the intelligent grinding and polishing system of the small workpiece coating robot of the present invention; Figure 4 It is an isometric view of the loading and unloading system in the intelligent grinding and polishing system of the small workpiece coating robot of the present invention.

[0019] In the figure: 1. Base system; 2. Quick-change bracket for detection equipment; 3. Quick-change bracket for grinding and polishing equipment; 4. Electronic control system; 5. Dust removal system; 6. Protection system; 7. Loading and unloading system; 701. Left clamp system; 702. Dust hopper; 703. Right clamp system; 704. Dust suction duct; 705. Left guide rail; 706. Left cylinder; 707. Right cylinder; 708. Right guide rail; 709. Welding frame; 8. Robot control system; 9. Industrial robot; 10. Automatic sandpaper changing system; 11. Grinding and polishing equipment; 12. Detection equipment; 13. Quick-change disc. DETAILED DESCRIPTION

[0020] 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.

[0021] See also Figure 1 , Figure 2 and Figure 3The present invention provides a technical solution: a robot intelligent grinding and polishing system for coating small workpieces, comprising a base system 1, wherein a detection equipment quick-change bracket 2, a grinding and polishing equipment quick-change bracket 3, an electric control system 4, a loading and unloading system 7, a robot control system 8, an industrial robot 9 and an automatic sandpaper changing system 10 are sequentially arranged on the top of the base system 1, and the detection equipment quick-change bracket 2, the grinding and polishing equipment quick-change bracket 3, the electric control system 4, the loading and unloading system 7, the robot control system 8, the industrial robot 9 and the automatic sandpaper changing system 10 are all fixedly installed on the top of the base system 1 by bolts.

[0022] It should be noted that the base system 1 plays the role of installing other equipment and adjusting the level. The detection equipment quick-change bracket 2, the grinding and polishing equipment quick-change bracket 3, the electronic control system 4, the loading and unloading system 7, the robot control system 8, the industrial robot 9 and the automatic sandpaper changing system 10 are all fixedly installed on the top of the base system 1 by bolts. The fixing of the screws can provide a firm connection to ensure that the various components will not loosen or shift during operation. At the same time, the screw connection can easily disassemble and reinstall the various components. If a component needs to be replaced, adjusted or repaired, it can be conveniently operated by unscrewing the screws. Compared with welding or permanent fixation, the screw connection is more flexible and saves time and manpower. The electronic control system 4 and the robot control system 8 are the control systems of the invention, which can realize the communication between the detection equipment quick-change bracket 2, the grinding and polishing equipment quick-change bracket 3, the dust removal system 5, the protection system 6, the loading and unloading system 7, the industrial robot 9, the automatic sandpaper changing system 10, the grinding and polishing equipment 11, the detection equipment 12, etc., and can automatically change tools, automatically change abrasives, and automatically load and unload materials to realize robot control of the grinding and polishing process and process parameters to ensure the quality of grinding and polishing.

[0023] A dust removal system 5 is arranged outside the base system 1, and detection equipment 12 and grinding and polishing equipment 11 are arranged on the top of the detection equipment quick change bracket 2 and the grinding and polishing equipment quick change bracket 3 respectively. A quick change disc 13 is fixedly installed on the end flange surface of the industrial robot 9 by screws.

[0024] It should be noted that the detection equipment quick-change bracket 2 and the grinding and polishing equipment quick-change bracket 3 serve as the tool library of the intelligent grinding and polishing system, which respectively store the detection equipment 12 and the grinding and polishing equipment 11. The quick-change disc 13 installed on the end flange of the industrial robot 9 can automatically grab the detection equipment 12 and the grinding and polishing equipment 11, so as to achieve the purpose of quick tool replacement, automatic grinding and polishing, and automatic detection.

[0025] See also Figure 4The loading and unloading system 7 includes a welding frame 709, and the two ends of the top of the welding frame 709 are symmetrically provided with a left guide rail 705 and a right guide rail 708. The two left guide rails 705 and the two right guide rails 708 are fixedly connected to the top of the welding frame 709 by screws. The top of the welding frame 709 is located between the two left guide rails 705 and is fixedly installed with a left cylinder 706 by screws. The top of the welding frame 709 is located between the two right guide rails 708 and is fixedly installed with a right cylinder 707 by screws. The piston rod ends of the left cylinder 706 and the right cylinder 707 are respectively installed with a left clamp system 701 and a right clamp system 703.

[0026] It should be noted that the loading and unloading system 7 is installed on the base system 1, which transports the products to be processed for the entire system and transports the processed products out. It can work in two stations to save loading and unloading time. The left guide rail 705, the left cylinder 706, the right cylinder 707, and the right guide rail 708 are fixed to the welding frame 709 by screws to form a two-station transportation system, and the left clamp system 701 and the right clamp system 703 are installed above it, so as to complete the loading and unloading of the workpiece.

[0027] See also Figure 4 A dust hopper 702 is provided at one end of the top of the welding frame 709 away from the left cylinder 706 and the right cylinder 707. The left clamp system 701 and the right clamp system 703 are located in the dust hopper 702. A dust suction pipe 704 is welded and fixed to the bottom of the dust hopper 702. The dust hopper 702 is welded and fixed to the top of the welding frame 709, and the dust suction pipe 704 is welded and fixed to the top of the inner wall of the welding frame 709.

[0028] It should be noted that the dust hopper 702 and the dust duct 704 are connected by welding and fixed on the welding frame 709, and the dust duct 704 is connected to the dust removal system 5 through a hose, so that the grinding dust can be extracted.

[0029] See also Figure 3 The tops of the detection equipment quick-change bracket 2 and the grinding and polishing equipment quick-change bracket 3 are symmetrically provided with pins, the tops of the detection equipment 12 and the grinding and polishing equipment 11 are both provided with connecting seats, and the tops of the connecting seats are symmetrically provided with sockets, and the tops of the pins on the tops of the detection equipment quick-change bracket 2 and the grinding and polishing equipment quick-change bracket 3 are respectively matched and connected in the sockets on the connecting seats at the tops of the detection equipment 12 and the grinding and polishing equipment 11.

[0030] It should be noted that the grinding and polishing equipment 11 and the testing equipment 12 are respectively placed on the grinding and polishing equipment quick-change bracket 3 and the testing equipment quick-change bracket 2 through pin positioning, which facilitates the rapid replacement of the equipment.

[0031] See also Figure 1 and Figure 2 A protection system 6 is fixed on the top of the base system 1 by screws, and the detection equipment quick-change bracket 2, the grinding and polishing equipment quick-change bracket 3, the electronic control system 4, the robot control system 8, the industrial robot 9 and the automatic sandpaper changing system 10 are all located in the protection system 6.

[0032] It should be noted that the base system 1 serves to install other equipment and adjust the level. The base system 1 and the protection system 6 form the framework of the entire system, which can prevent the dust generated during the grinding and polishing process from diffusing into the air, and then the dust can be collected and processed by the dust removal system 5.

[0033] See also Figure 1 and Figure 2 One end of the welding frame 709 is fixedly mounted on the top of the base system 1 by screws, and the other end of the welding frame 709 is located outside the base system 1.

[0034] It should be noted that one end of the welding frame 709 is located outside the protection system 6, which is convenient for loading the workpiece onto the welding frame 709, and then the workpiece is clamped and transported to the inside of the protection system 6 through the cooperation of the left cylinder 706, the right cylinder 707, the left clamp system 701 and the right clamp system 703.

[0035] See also Figure 2 The dust removal system 5 is fixed on the ground by anchor bolts.

[0036] It should be noted that the dust removal system 5 is fixed to the ground by anchor bolts and placed on the side of the base system 1. The dust removal system 5 is connected to the dust suction duct 704 to facilitate dust removal of dust generated during the processing.

[0037] In summary, the present invention can realize communication between the detection equipment quick replacement bracket 2, the grinding and polishing equipment quick replacement bracket 3, the dust removal system 5, the protection system 6, the loading and unloading system 7, the industrial robot 9, the automatic sandpaper changing system 10, the grinding and polishing equipment 11, the detection equipment 12, etc., and can automatically replace tools, automatically replace abrasives, and automatically load and unload materials, realize robotic control of the grinding and polishing process and process parameters, and ensure the quality of grinding and polishing.

[0038] 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.

[0039] 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.

[0040] 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.

[0041] 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. An intelligent grinding and polishing system for small workpiece coating robots, characterized in that: The invention comprises a base system (1), wherein the top of the base system (1) is provided with a detection equipment quick-change bracket (2), a grinding and polishing equipment quick-change bracket (3), an electric control system (4), a loading and unloading system (7), a robot control system (8), an industrial robot (9) and an automatic sandpaper changing system (10) in sequence, and the detection equipment quick-change bracket (2), the grinding and polishing equipment quick-change bracket (3), the electric control system (4), the loading and unloading system (7), the robot control system (8), the industrial robot (9) and the automatic sandpaper changing system (10) are all fixedly mounted on the top of the base system (1) by bolts, a dust removal system (5) is arranged outside the base system (1), the tops of the detection equipment quick-change bracket (2) and the grinding and polishing equipment quick-change bracket (3) are provided with detection equipment (12) and grinding and polishing equipment (11) respectively, and a quick-change plate (13) is fixedly mounted on the end flange surface of the industrial robot (9) by screws.

2. According to claim 1, the intelligent grinding and polishing system for coating small workpieces by a robot is characterized by: The loading and unloading system (7) comprises a welding frame (709), and the two ends of the top of the welding frame (709) are symmetrically provided with a left guide rail (705) and a right guide rail (708), and the two left guide rails (705) and the two right guide rails (708) are fixedly connected to the top of the welding frame (709) by screws. The top of the welding frame (709) is located between the two left guide rails (705) and is fixedly installed with a left cylinder (706) by screws. The top of the welding frame (709) is located between the two right guide rails (708) and is fixedly installed with a right cylinder (707) by screws. The piston rod ends of the left cylinder (706) and the right cylinder (707) are respectively installed with a left clamp system (701) and a right clamp system (703).

3. The intelligent grinding and polishing system for coating small workpieces according to claim 2 is characterized in that: A dust hopper (702) is provided at one end of the top of the welding frame (709) away from the left cylinder (706) and the right cylinder (707); the left clamp system (701) and the right clamp system (703) are located in the dust hopper (702); a dust suction pipe (704) is welded and fixed to the bottom of the dust hopper (702); the dust hopper (702) is welded and fixed to the top of the welding frame (709); and the dust suction pipe (704) is welded and fixed to the top of the inner wall of the welding frame (709).

4. The intelligent grinding and polishing system for coating small workpieces according to claim 1 is characterized in that: The tops of the detection equipment quick-change bracket (2) and the grinding and polishing equipment quick-change bracket (3) are symmetrically provided with pins, the tops of the detection equipment (12) and the grinding and polishing equipment (11) are both provided with connecting seats, and the tops of the connecting seats are symmetrically provided with sockets, and the tops of the pins on the tops of the detection equipment quick-change bracket (2) and the grinding and polishing equipment quick-change bracket (3) are respectively matched and connected to the sockets on the top connecting seats of the detection equipment (12) and the grinding and polishing equipment (11).

5. The intelligent grinding and polishing system for coating small workpieces according to claim 1, characterized in that: A protection system (6) is fixedly mounted on the top of the base system (1) by means of screws, and the detection equipment quick-change bracket (2), the grinding and polishing equipment quick-change bracket (3), the electric control system (4), the robot control system (8), the industrial robot (9) and the automatic sandpaper changing system (10) are all located inside the protection system (6).

6. The intelligent grinding and polishing system for coating small workpieces according to claim 3 is characterized by: One end of the welding frame (709) is fixedly mounted on the top of the base system (1) by means of screws, and the other end of the welding frame (709) is located outside the base system (1).

7. The intelligent grinding and polishing system for coating small workpieces according to claim 1, characterized in that: The dust removal system (5) is fixedly installed on the ground by means of anchor bolts.

Images