Grinding method and equipment for panel frame

Abstract

The invention provides a panel frame polishing method and device, and relates to the technical field of panel frame polishing. The polishing method of the panel frame is used for controlling the polishing equipment of the panel frame to polish the panel frame. The polishing method comprises the steps that S01, the panel frame is moved; and S02, the panel frame is stopped at the first preset position. And S03, positioning one side of the panel frame. And S04, the panel frame is clamped from the other side. And S05, the grinding device is moved to the position above the panel frame. And S06, according to the polishing path of the workpiece, the first distance between the distance measuring sensor and the surface of the panel frame and the second distance between the distance measuring sensor and the welding seam are obtained. And S07, according to the first distance and the second distance, the height of the weld joint is obtained. And S08, according to the height of the weld joint and preset polishing parameters, the number of polishing layers is obtained. And S09, according to the number of grinding layers and the grinding path, a grinding device is moved and controlled to grind the weld joint.

Description

Technical Field

[0001] The present invention relates to the technical field of panel frame polishing, and in particular to a panel frame polishing method and equipment. Background Art

[0002] Frame workpieces are important components of many products, such as furniture, door and window frames, etc., and the panels of some industrial equipment also need panel frames for support and fixation. The frame is a workpiece made of multiple square tubes. In the processing of frame workpieces, grinding is a crucial link, which directly affects the surface quality and precision of the workpiece and the smooth progress of subsequent assembly. However, there are many problems with traditional manual grinding methods, which seriously restrict production efficiency and product quality.

[0003] In the processing of frame workpieces, the traditional manual grinding method has many significant problems. First, manual grinding is inefficient. Grinding workers need to spend a lot of time to process each part of the frame workpiece one by one, which greatly prolongs the production cycle and makes it difficult to meet the requirements of modern industry for efficient production. Secondly, the quality of manual grinding is unstable. Due to differences in the technical level and working status of grinding workers, the grinding quality of frame workpieces in different batches or even the same batch varies. For example, it is difficult to achieve complete consistency in the control of grinding intensity and precision. Some workpieces may be over-grinded, damaging the surface of the workpiece, while other workpieces may be under-grinded and the surface roughness is too high. Furthermore, manual grinding is labor-intensive. A large amount of dust and noise will be generated during the grinding process, which will cause serious harm to the health of workers. At the same time, long-term repetitive labor can easily make workers tired and increase safety risks at work. Finally, the labor cost is high. With the development of the economy, the labor cost continues to rise, which makes enterprises invest more and more in manual grinding, seriously affecting the economic benefits of enterprises.

[0004] In view of this, the applicant filed this application after studying the existing technology. Summary of the invention

[0005] The present invention provides a panel frame grinding method and equipment, aiming to improve at least one of the above-mentioned technical problems.

[0006] In order to solve the above technical problems, the present invention provides a panel frame polishing method, which is used to control a panel frame polishing device to polish the panel frame.

[0007] The panel frame grinding device comprises a conveying device, a clamping device, a first moving device and a grinding device. The conveying device is used to move the movable panel frame to a first preset position along a preset track. The clamping device is used to fix the panel frame at the first preset position. The first moving device is used to move the grinding device. The grinding device is used to grind the weld of the panel frame. The grinding device comprises a distance sensor for measuring distance and a grinding assembly for grinding the weld.

[0008] The panel frame polishing method includes steps S01 to S09.

[0009] S01, mobile panel frame.

[0010] S02. Stop the panel frame at a first preset position.

[0011] S03. Position one side of the panel frame.

[0012] S04. Clamp the panel frame from the other side.

[0013] S05. Move the grinding device above the panel frame.

[0014] S06. According to the grinding path of the workpiece, a first distance from the distance measuring sensor to the surface of the panel frame and a second distance from the distance measuring sensor to the weld are obtained.

[0015] S07. Obtain a weld height according to the first distance and the second distance.

[0016] S08. Obtain the number of grinding layers according to the weld height and pre-set grinding parameters.

[0017] S09. According to the number of grinding layers and the grinding path, move and control the grinding device to grind the weld.

[0018] In an optional embodiment, the polishing assembly includes a 3D vision camera for scanning the panel frame.

[0019] When the workpiece being polished is not the first workpiece, the polishing path is obtained through archiving. When the workpiece being polished is the first workpiece, the polishing path is obtained through steps A1 to A3.

[0020] A1. Scan the panel frame with a 3D vision camera to obtain the actual position information of the workpiece and the 3D point cloud information.

[0021] A2. Extract 3D straight line and curve features based on the 3D point cloud information.

[0022] A3. Acquire the grinding path according to the actual position information and the 3D straight line and curve features in combination with the marked drawing of the workpiece grinding position.

[0023] In an optional embodiment, the grinding assembly includes a grinding base, a grinding wheel engaged with the grinding base, a limit wheel, an in-position sensor, and a first driving member for driving the grinding wheel to rotate. The grinding wheel is configured to grind the weld by rotating. The lowest point of the limit wheel is not higher than the lowest point of the grinding wheel, so as to support the surface of the workpiece. The in-position sensor is configured to be triggered when the limit wheel contacts the surface of the workpiece.

[0024] According to the number of grinding layers and the grinding path, the grinding device is moved and controlled to grind the weld, and then steps S10 to S12 are included.

[0025] S10, determining whether the arrival sensor is triggered.

[0026] S11, when the in-place sensor is triggered, the grinding of the current weld is completed.

[0027] S12. When the in-place sensor is still not triggered after grinding is completed according to the number of grinding layers, re-measure the weld height, re-plan the number of grinding layers according to the new weld height, and move and control the grinding device to grind the weld until the in-place sensor is triggered.

[0028] In an optional embodiment, the grinding device further comprises a floating assembly. The floating assembly is coupled to the first moving device. The grinding assembly is coupled to the floating assembly. The floating assembly is adapted to allow the grinding assembly to move within a preset range so as to be able to move when squeezed. The distance measuring sensor is used to measure the distance from the sensor to a second preset position. The second preset position is configured to move with the limiting wheel.

[0029] Step S06 specifically includes step S061 to step S063.

[0030] S061. According to the grinding path of the workpiece, the limiting wheel is moved to a position where it contacts the surface of the workpiece, and a first distance from the distance measuring sensor to a second preset position is obtained when the limiting wheel contacts the surface of the workpiece.

[0031] S062, according to the grinding path of the workpiece, move the limiting wheel, and measure the dynamic distance from the distance measuring sensor to the second preset position in real time. The limiting wheel can be moved by the floating component in contact with the surface of the weld. S063: Taking the dynamic distance with the largest difference from the first distance as the second distance.

[0032] In an optional embodiment, the floating assembly includes a floating bottom plate, a floating plate slidably engaged with the floating bottom plate, and a first elastic member engaged between the floating bottom plate and the floating plate.

[0033] The floating assembly further comprises a tightening member connected to the floating bottom plate and / or the floating plate. The tightening member abuts against the first elastic member to adjust the relative position between the floating plate and the floating bottom plate when no external force is applied.

[0034] The number of the first elastic members is two, and they are arranged on two sides of the floating plate facing each other. The number of the limiting wheels is two, and they are arranged on two sides of the grinding wheel respectively. The distance measuring sensor is used as the in-position sensor.

[0035] In an optional embodiment, the grinding device further comprises a first linear motion component engaged with the first moving device and a second linear motion component engaged with the first linear motion component. The grinding component is engaged with the second linear motion component. The first linear motion component is used to drive the grinding component to move up and down. The second linear motion component is used to drive the grinding component to move horizontally.

[0036] In an optional embodiment, the clamping device includes a first clamping assembly and a second clamping assembly. The first clamping assembly includes a first clamping base, a first clamping seat slidably engaged with the first clamping base, and a second driving member transmission-connected to the first clamping seat. The second driving member is used to drive the first clamping seat to move. The first clamping seat is provided with a first inclined pressing surface. The second clamping assembly includes a second clamping base, a second clamping seat slidably engaged with the first clamping base, and a third driving member transmission-connected to the second clamping seat. The third driving member is used to drive the second clamping seat to move. The second clamping seat is provided with a second inclined pressing surface. Preferably, the second driving member is a screw slider member driven by a servo motor. The third driving member is a cylinder or an oil cylinder.

[0037] In an optional embodiment, the first moving device includes a conveyor belt for placing the panel frame and at least one limiting member arranged on the conveyor belt. The limiting member can be movably connected to the conveyor belt up and down to limit the panel workpiece to the first preset position.

[0038] In an optional embodiment, the number of the grinding devices is two. The first moving device includes an X-axis moving component and two Y-axis moving components. The Y-axis moving component is coupled to the X-axis moving component, and the X-axis moving component is used to move the Y-axis moving component along the X-axis direction. The two grinding devices are respectively coupled to the two Y-axis moving components, and the Y-axis moving components are used to move the grinding devices along the Y-axis direction.

[0039] The present application further provides a panel frame polishing device, which is used to execute a panel frame polishing method as described in any paragraph of the first aspect.

[0040] The panel frame grinding device comprises a conveying device, a clamping device, a first moving device and a grinding device. The conveying device is used to move the movable panel frame to a first preset position along a preset track. The clamping device is used to fix the panel frame at the first preset position. The first moving device is used to move the grinding device. The grinding device is used to grind the weld of the panel frame. The grinding device comprises a distance sensor for measuring distance and a grinding assembly for grinding the weld.

[0041] By adopting the above technical solution, the present invention can achieve the following technical effects.

[0042] The present invention realizes precise positioning of workpieces and automatic grinding path planning through a panel frame grinding method, which not only improves grinding efficiency and quality consistency, but also enhances the ability of the production line to process various types of workpieces.

[0043] At the same time, its unique centering fixture design ensures safe and reliable workpiece fixation, while the application of the small X-axis walking mechanism effectively reduces energy consumption, and overall provides strong support for improving production efficiency, reducing costs and enhancing market competitiveness. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0045] Figure 1 It is an axonometric view of a panel frame grinding device.

[0046] Figure 2 This is an axonometric view of the grinding component from the first perspective.

[0047] Figure 3 This is an axonometric view of the grinding component from the second perspective.

[0048] Figure 4 is an axonometric view of a floating component.

[0049] Markings in the figure. 1-transport device, 2-first moving device, 3-grinding device, 4-first clamping assembly, 5-second clamping assembly, 6-limiting member, 7-conveyor belt, 8-first clamping seat, 9-second driving member, 10-first clamping base, 11-first inclined pressing surface, 12-grinding assembly, 13-second inclined pressing surface, 14-second clamping base, 15-third driving member, 16-second clamping base, 17-first linear moving assembly, 18-second linear moving assembly, 19-in-place sensor, 20-grinding base, 21-grinding wheel, 22-limiting wheel, 23-floating bottom plate, 24-floating plate, 25-first elastic member, 26-tightening member. DETAILED DESCRIPTION

[0050] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are 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 making creative work are within the scope of protection of the present invention. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the invention claimed for protection, but merely represents the selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0051] Embodiment 1: Figures 1 to 4 As shown, an embodiment of the present invention provides a panel frame grinding device, which is used to grind the panel frame. The panel frame grinding device comprises a conveying device 1, a clamping device, a first moving device 2 and a grinding device 3. The conveying device 1 is used to move the movable panel frame to a first preset position along a preset track. The clamping device is used to fix the panel frame at the first preset position. The first moving device 2 is used to move the grinding device 3. The grinding device 3 is used to grind the weld of the panel frame. The grinding device 3 includes a distance measuring sensor for measuring distance, and a grinding assembly 12 for grinding the weld.

[0052] The panel frame grinding equipment of the present invention can accurately locate and automatically measure the weld of the workpiece, and plan the grinding path, which not only improves the grinding efficiency and quality consistency, but also enhances the ability of the production line to process various types of workpieces.

[0053] Based on the above embodiments, in an optional embodiment of the present invention, as Figures 2 to 4 As shown, the grinding device 3 further comprises a floating component. The floating component is coupled to the first moving device 2. The grinding component 12 is coupled to the floating component. The floating component is adapted to allow the grinding component 12 to move within a preset range when being squeezed.

[0054] The grinding assembly 12 includes a grinding base 20, a grinding wheel 21 connected to the grinding base 20, a limiting wheel 22, an in-position sensor 19, and a first driving member for driving the grinding wheel 21 to rotate; the grinding wheel 21 is configured to grind the weld by rotating; the lowest point of the limiting wheel 22 is not higher than the lowest point of the grinding wheel 21, and is used to support the surface of the workpiece; the in-position sensor 19 is configured to be triggered when the limiting wheel 22 contacts the surface of the workpiece. Preferably, there are two limiting wheels 22, which are respectively arranged on both sides of the grinding wheel 21.

[0055] In this embodiment, the distance sensor is used to measure the distance from the sensor to the second preset position. The second preset position is configured to move with the limit wheel 22. Specifically, the height of the weld can be measured by the distance sensor to provide a data basis for subsequent grinding of the weld. The limit wheel 22 limits the lowest grinding point to not be lower than the surface of the workpiece, ensuring that the base material of the workpiece will not be damaged.

[0056] Based on the above embodiments, in an optional embodiment of the present invention, as Figure 4 As shown, the floating assembly includes a floating bottom plate 23, a floating plate 24 slidably engaged with the floating bottom plate 23, and a first elastic member 25 engaged between the floating bottom plate 23 and the floating plate 24. The floating assembly also includes a tightening member 26 engaged with the floating bottom plate 23 and / or the floating plate 24. The tightening member 26 abuts against the first elastic member 25 to adjust the relative position between the floating plate 24 and the floating bottom plate 23 when no external force is applied. Preferably, the number of the first elastic members 25 is two, and they are disposed on both sides of the floating plate 24 facing each other.

[0057] Specifically, the distance measuring sensor is a laser distance measuring sensor, or an existing component capable of measuring distance, such as a resistance ruler. Preferably, the embodiment of the present invention uses a laser distance measuring sensor with a theoretical accuracy of 0.05mm. With the mechanism accuracy error, the actual accuracy can be controlled within ±0.2mm. When the measured distance and the theoretical distance are within the process requirements, the next weld can be polished.

[0058] On the basis of the above embodiment, in an optional embodiment of the present invention, the distance measuring sensor is used as the in-place sensor 19. Specifically, the distance measuring sensor can detect the change in distance when the distance changes (that is, when the limit wheel 22 contacts the surface of the workpiece), thereby being triggered and used as the in-place sensor 19 while measuring the distance, thereby reducing one component and reducing costs.

[0059] Based on the above embodiments, in an optional embodiment of the present invention, as Figure 2 and Figure 3 As shown, the grinding device 3 also includes a first linear motion component 17 coupled to the first motion device 2 and a second linear motion component 18 coupled to the first linear motion component 17. The grinding component 12 is coupled to the second linear motion component 18. The first linear motion component 17 is used to drive the grinding component 12 to move up and down. The second linear motion component 18 is used to drive the grinding component 12 to move horizontally.

[0060] Specifically, the floating assembly is coupled to the second linear moving assembly 18. The moving direction of the second linear moving assembly 18 is the same as the moving direction of the X-axis moving assembly. The second linear moving assembly 18 enables the grinding assemblies 12 of the two grinding devices 3 to move and grind independently, thereby reducing the X-axis moving assembly and thus effectively reducing energy consumption, which in general provides strong support for improving production efficiency, reducing costs and enhancing market competitiveness.

[0061] Based on the above embodiments, in an optional embodiment of the present invention, as Figure 1 As shown, the clamping device includes a first clamping assembly 4 and a second clamping assembly 5. The first clamping assembly 4 includes a first clamping base 10, a first clamping seat 8 slidably engaged with the first clamping base 10, and a second driving member 9 transmission-connected to the first clamping seat 8. The second driving member 9 is used to drive the first clamping seat 8 to move. The first clamping seat 8 is provided with a first inclined pressing surface 11. The second clamping assembly 5 includes a second clamping base 14, a second clamping seat 16 slidably engaged with the first clamping base 10, and a third driving member 15 transmission-connected to the second clamping seat 16. The third driving member 15 is used to drive the second clamping seat 16 to move. The second clamping seat 16 is provided with a second inclined pressing surface 13. Preferably, the second driving member 9 is a screw slider member driven by a servo motor. The third driving member 15 is a cylinder or an oil cylinder.

[0062] In the embodiment of the present invention, one side of the clamp is driven by a servo motor, and the first clamping seat 8 is moved and pushed to a suitable position according to the workpiece width data. The other side is pushed by a cylinder, and the first clamping seat 8 and the second clamping seat 16 jointly press the workpiece. The clamping seats on both sides are provided with inclined pressing surfaces, which can simultaneously play the role of centering clamping and pressing the workpiece; specifically, through the drive of the servo motor, the first clamping seat 8 can be accurately adjusted, and the first clamping seat 8 is used as the positioning side to provide accurate positioning for subsequent grinding operations, greatly improving the grinding accuracy. This unique centering clamp design ensures the safe and reliable fixation of the workpiece.

[0063] Based on the above embodiments, in an optional embodiment of the present invention, as Figure 1 As shown, the first moving device 2 includes a conveyor belt 7 for placing the panel frame and at least one limiting member 6 arranged on the conveyor belt 7. The limiting member 6 can be movably connected to the conveyor belt 7 up and down to limit the panel workpiece to the first preset position. In the embodiment of the present invention, two blockers are arranged in front and back on the conveyor belt 7 to adapt to workpieces of different lengths and reduce the walking distance.

[0064] Based on the above embodiments, in an optional embodiment of the present invention, as Figure 1 As shown, the number of the grinding devices 3 is two. The first moving device 2 includes an X-axis moving component and two Y-axis moving components. The Y-axis moving component is coupled to the X-axis moving component, and the X-axis moving component is used to move the Y-axis moving component along the X-axis direction. The two grinding devices 3 are respectively coupled to the two Y-axis moving components, and the Y-axis moving component is used to move the grinding devices 3 along the Y-axis direction. Specifically, the two grinding devices 3 are respectively arranged on both sides of the X-axis moving component to avoid mutual influence between the two grinding devices 3 during operation, thereby greatly improving the grinding efficiency; Based on the above embodiment, in an optional embodiment of the present invention, the polishing assembly 12 includes a 3D vision camera for scanning the panel frame. In this embodiment, the 3D vision camera adopts micro-structured light technology, breaks the conventional point and line laser positioning principle, adopts surface scanning to obtain a complete three-dimensional point cloud of the workpiece, and quickly extracts 3D straight line and curve features. In other embodiments, 3D vision cameras based on other principles can be used, and the present invention does not specifically limit this.

[0065] Embodiment 2: The present application further provides a panel frame polishing method, which is used to control a panel frame polishing device described in any of the embodiments to polish the panel frame. The panel frame polishing method includes steps S01 to S09.

[0066] S01, Mobile Panel Frame S02, stop the panel frame at the first preset position S03. Position one side of the panel frame S04. Clamp the panel frame from the other side S05, move the grinding device 3 to the top of the panel frame S06. According to the grinding path of the workpiece, a first distance from the distance measuring sensor to the surface of the panel frame and a second distance from the distance measuring sensor to the weld are obtained.

[0067] S07. Obtain a weld height according to the first distance and the second distance.

[0068] S08. Obtain the number of grinding layers according to the weld height and pre-set grinding parameters.

[0069] Specifically, the preset grinding parameter may be the height of a single grinding weld, or other existing parameters related to grinding. Based on the weld height, the number of grinding layers is calculated through these existing grinding parameters.

[0070] S09, moving and controlling the grinding device 3 to grind the weld according to the number of grinding layers and the grinding path.

[0071] Through the implementation of steps S01 to S09, the panel frame grinding method provided by the present invention can realize an efficient automated grinding process. Specifically, moving and positioning the panel frame (S01-S04) ensures that the workpiece is in the correct position before processing, thereby improving the accuracy and consistency of subsequent operations. By using a 3D visual camera and a laser ranging sensor to obtain weld information and plan the grinding path (S05-S07), the system can adapt to workpieces of different shapes and sizes, thereby improving the flexibility and applicability of the system. The appropriate number of grinding layers is calculated based on the weld height and preset parameters (S08), and the grinding task is accurately performed by controlling the grinding device 3 (S09), thereby ensuring the consistency of the grinding quality and the surface flatness.

[0072] The entire process not only significantly improves grinding efficiency, but also reduces dependence on manual operations, reduces production costs, and ensures the safety and reliability of grinding operations. In addition, this method also supports the processing of multiple types of workpieces, further enhancing the diversity and competitiveness of the production line.

[0073] Based on the above embodiment, in an optional embodiment of the present invention, when the workpiece to be polished is not the first workpiece, the polishing path is obtained through archiving. When the workpiece to be polished is the first workpiece, the polishing path is obtained through steps A1 to A3.

[0074] A1. Scan the panel frame with a 3D vision camera to obtain the actual position information of the workpiece and the 3D point cloud information.

[0075] A2. Extract 3D straight line and curve features based on the 3D point cloud information.

[0076] A3. Acquire the grinding path according to the actual position information and the 3D straight line and curve features in combination with the marked drawing of the workpiece grinding position.

[0077] Specifically, each type of workpiece only needs to be calibrated according to the position of the first workpiece and its initial photographing position, and the initial positions of different welds are automatically offset according to the drawings; the weld position information is automatically acquired through 3D vision, and then the weld length and number of grinding layers are set according to the requirements of the process drawings to automatically plan the grinding path.

[0078] Through the implementation of steps A1 to A3, the present invention can realize accurate grinding path planning for the first workpiece. Specifically, a 3D visual camera is used to scan the panel frame (A1) to obtain actual position information and three-dimensional point cloud data, which provides a high-precision spatial reference for subsequent processing. Then, 3D straight line and curve features (A2) are extracted from the three-dimensional point cloud, so that the system can accurately identify key parts such as welds. Finally, the specific grinding path (A3) is determined in combination with the marked drawings of the workpiece grinding position, ensuring that the grinding operation is carried out strictly in accordance with the design requirements.

[0079] This series of steps not only improves the accuracy of grinding path planning, but also enhances the automation and adaptability of the entire grinding process, thereby ensuring high-quality processing results and reducing errors that may be caused by manual intervention. In addition, for non-first workpieces, the stored path information can be directly called, further improving production efficiency and consistency.

[0080] On the basis of the above-mentioned embodiment, in an optional embodiment of the present invention, according to the number of grinding layers and the grinding path, the grinding device 3 is moved and controlled to grind the weld, and then steps S10 to S12 are also included.

[0081] S10, determining whether the arrival sensor 19 is triggered.

[0082] S11, when the in-place sensor 19 is triggered, the grinding of the current weld is completed.

[0083] S12. When the in-place sensor 19 is still not triggered after grinding is completed according to the number of grinding layers, re-measure the weld height, re-plan the number of grinding layers according to the new weld height, and move and control the grinding device 3 to grind the weld until the in-place sensor 19 is triggered.

[0084] Specifically, by judging whether the in-place sensor 19 is triggered, the grinding condition of the current weld can be accurately grasped. When the in-place sensor 19 is triggered, it indicates that the grinding of the current weld has been completed, ensuring the accuracy and completeness of the grinding. When the in-place sensor 19 is still not triggered after the grinding is completed according to the number of grinding layers, the weld height is re-measured and the number of grinding layers is re-planned, and the grinding device 3 is moved and controlled to grind the weld until the in-place sensor 19 is triggered. This process effectively ensures that the weld can be fully polished and avoids quality problems caused by insufficient grinding. At the same time, this real-time monitoring and adjustment mechanism improves the accuracy and reliability of grinding, making the quality of the weld after grinding more stable and meeting the production requirements.

[0085] On the basis of the above embodiment, in an optional embodiment of the present invention, step S06 specifically includes steps S061 to S063.

[0086] S061. According to the grinding path of the workpiece, the limiting wheel 22 is moved to a position contacting the workpiece surface, and a first distance from the distance measuring sensor to a second preset position is obtained when the limiting wheel 22 contacts the workpiece surface.

[0087] S062, according to the grinding path of the workpiece, move the limiting wheel 22, and measure the dynamic distance from the distance measuring sensor to the second preset position in real time. The limiting wheel 22 can be moved by the floating component in contact with the surface of the weld. S063: Taking the dynamic distance with the largest difference from the first distance as the second distance.

[0088] By moving the limiting wheel 22 to a position where it contacts the surface of the workpiece, the first distance from the distance sensor to the second preset position when the limiting wheel 22 contacts the surface of the workpiece is obtained, which provides a reference for the subsequent calculation of the weld height. Next, the limiting wheel 22 is moved according to the grinding path of the workpiece, and the dynamic distance from the distance sensor to the second preset position is measured in real time, wherein the limiting wheel 22 moves in contact with the surface of the weld through the floating component, and the distance information related to the weld can be accurately obtained. Finally, the dynamic distance with the largest difference from the first distance is taken as the second distance, thereby accurately determining the distance from the distance sensor to the weld. This series of steps makes the measurement of the weld height more accurate, provides accurate data support for the subsequent calculation of the number of grinding layers and grinding operations, and helps to improve the quality and accuracy of grinding.

[0089] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for polishing a panel frame, characterized in that: Used to control a panel frame grinding device to grind the panel frame; The panel frame grinding device comprises: A conveying device (1) is used to move the panel frame to a first preset position along a preset track; A clamping device, used to fix the panel frame at a first preset position; A first moving device (2) for moving the grinding device (3); A grinding device (3) for grinding the weld of the panel frame; the grinding device (3) comprises a distance sensor for measuring the distance, and a grinding assembly (12) for grinding the weld; The panel frame polishing method comprises: Mobile panel frame; stopping the panel frame at a first preset position; Position one side of the panel frame; Clamp the panel frame from the other side; Move the grinding device (3) above the panel frame; According to the grinding path of the workpiece, a first distance from the distance measuring sensor to the surface of the panel frame and a second distance from the distance measuring sensor to the weld are obtained; Acquire a weld height according to the first distance and the second distance; According to the weld height and the preset grinding parameters, the number of grinding layers is obtained; According to the number of grinding layers and the grinding path, the grinding device (3) is moved and controlled to grind the weld.

2. A method for polishing a panel frame according to claim 1, characterized in that: The polishing assembly (12) includes a 3D vision camera for scanning the panel frame; When the workpiece being polished is not the first workpiece, the polishing path is obtained through archiving; when the workpiece being polished is the first workpiece, the polishing path is obtained through the following steps: Scan the panel frame with a 3D vision camera to obtain the actual position information of the workpiece and the 3D point cloud information; Extracting 3D straight line and curve features according to the 3D point cloud information; The grinding path is obtained according to the actual position information and the 3D straight line and curve features in combination with the marked drawing of the workpiece grinding position.

3. A method for polishing a panel frame according to claim 1, characterized in that: The grinding assembly (12) comprises a grinding base (20), a grinding wheel (21) connected to the grinding base (20), a limiting wheel (22), an in-position sensor (19), and a first driving member for driving the grinding wheel (21) to rotate; the grinding wheel (21) is configured to grind the weld by rotating; the lowest point of the limiting wheel (22) is not higher than the lowest point of the grinding wheel (21) and is used to support the surface of the workpiece; the in-position sensor (19) is configured to be triggered when the limiting wheel (22) contacts the surface of the workpiece; According to the number of grinding layers and the grinding path, the grinding device (3) is moved and controlled to grind the weld, and then the method further includes: Determining whether the in-place sensor (19) is triggered; When the in-place sensor (19) is triggered, the grinding of the current weld is completed; When the in-place sensor (19) is still not triggered after grinding is completed according to the number of grinding layers, the weld height is remeasured, the number of grinding layers is replanned according to the new weld height, and the grinding device (3) is moved and controlled to grind the weld until the in-place sensor (19) is triggered.

4. A method for polishing a panel frame according to claim 3, characterized in that: The grinding device (3) further comprises a floating component; the floating component is coupled to the first moving device (2); the grinding component (12) is coupled to the floating component; the floating component is adapted to allow the grinding component (12) to move within a preset range so as to be able to move when squeezed; The distance measuring sensor is used to measure the distance from the sensor to a second preset position; wherein the second preset position is configured to move along with the limiting wheel (22); According to the grinding path of the workpiece, a first distance from the distance measuring sensor to the panel frame surface and a second distance from the distance measuring sensor to the weld are obtained, specifically including: According to the grinding path of the workpiece, the limiting wheel (22) is moved to a position contacting the surface of the workpiece, and a first distance from the distance measuring sensor to a second preset position is obtained when the limiting wheel (22) contacts the surface of the workpiece; According to the grinding path of the workpiece, the limiting wheel (22) is moved, and the dynamic distance from the distance measuring sensor to the second preset position is measured in real time; wherein the limiting wheel (22) can be moved by being attached to the surface of the weld through the floating component; The dynamic distance with the largest difference from the first distance is taken as the second distance.

5. A method for polishing a panel frame according to claim 4, characterized in that: The floating assembly comprises a floating bottom plate (23), a floating plate (24) slidably engaged with the floating bottom plate (23), and a first elastic member (25) engaged between the floating bottom plate (23) and the floating plate (24); The floating assembly further comprises a tightening member (26) coupled to the floating bottom plate (23) and / or the floating plate (24); the tightening member (26) abuts against the first elastic member (25) to adjust the relative position between the floating plate (24) and the floating bottom plate (23) when no external force is applied; The number of the first elastic members (25) is two and they are arranged on two sides of the floating plate (24) facing each other; the number of the limiting wheels (22) is two and they are arranged on two sides of the grinding wheel (21) respectively; the distance measuring sensor is used as the in-position sensor (19).

6. A method for polishing a panel frame according to any one of claims 1 to 5, characterized in that: The grinding device (3) further comprises a first linear motion component (17) coupled to the first motion device (2) and a second linear motion component (18) coupled to the first linear motion component (17); the grinding component (12) is coupled to the second linear motion component (18); the first linear motion component (17) is used to drive the grinding component (12) to move up and down; and the second linear motion component (18) is used to drive the grinding component (12) to move horizontally.

7. A method for polishing a panel frame according to any one of claims 1 to 5, characterized in that: The clamping device comprises a first clamping assembly (4) and a second clamping assembly (5); The first clamping assembly (4) comprises a first clamping base (10), a first clamping seat (8) slidably engaged with the first clamping base (10), and a second driving member (9) drivingly connected to the first clamping seat (8); the second driving member (9) is used to drive the first clamping seat (8) to move; the first clamping seat (8) is provided with a first inclined pressing surface (11); The second clamping assembly (5) comprises a second clamping base (14), a second clamping seat (16) slidably engaged with the first clamping base (10), and a third driving member (15) drivingly connected to the second clamping seat (16); the third driving member (15) is used to drive the second clamping seat (16) to move; the second clamping seat (16) is provided with a second inclined pressing surface (13); The second driving component (9) is a screw slider component driven by a servo motor; the third driving component (15) is an air cylinder or an oil cylinder.

8. A method for polishing a panel frame according to any one of claims 1 to 5, characterized in that: The first moving device (2) comprises a conveyor belt (7) for placing a panel frame and at least one limiting component (6) arranged on the conveyor belt (7); the limiting component (6) can be movably connected to the conveyor belt (7) up and down to limit the panel workpiece to the first preset position.

9. A method for polishing a panel frame according to any one of claims 1 to 5, characterized in that: The number of the grinding devices (3) is two; The first moving device (2) comprises an X-axis moving component and two Y-axis moving components; the Y-axis moving component is connected to the X-axis moving component, and the X-axis moving component is used to move the Y-axis moving component along the X-axis direction; the two grinding devices (3) are respectively connected to the two Y-axis moving components, and the Y-axis moving components are used to move the grinding devices (3) along the Y-axis direction.

10. A panel frame grinding device, characterized in that: Used to perform a panel frame grinding method as described in any one of claims 1 to 9; The panel frame grinding device comprises a conveying device (1), a clamping device, a first moving device (2) and a grinding device (3); the conveying device (1) is used to move the panel frame to a first preset position along a preset track; the clamping device is used to fix the panel frame at the first preset position; the first moving device (2) is used to move the grinding device (3); the grinding device (3) is used to grind the weld of the panel frame; the grinding device (3) comprises a distance sensor for measuring distance, and a grinding component (12) for grinding the weld.

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