Automatic grinding device for forklift part polishing

Abstract

The invention relates to the technical field of part production and machining, and provides a forklift part polishing automatic grinding device which comprises a shell, a flexible clamping mechanism, a three-dimensional scanning system, a self-adaptive grinding head assembly, a quality detection device, a dust removal system and a numerical control center. The inner wall of the shell is fixedly connected with an upper plate and a lower plate; the three-dimensional scanning system is used for collecting appearance information of forklift parts and transmitting the appearance information to the numerical control center, the numerical control center processes the received information based on the numerical control center, three-dimensional modeling is conducted on the surfaces of the forklift parts, and the optimal grinding path is generated and then transmitted to the self-adaptive grinding head assembly. After receiving the optimal grinding path of the numerical control center, the self-adaptive grinding head assembly grinds the forklift parts according to the optimal grinding path; and the dust removal system is used for cleaning dust after polishing is completed. According to the invention, a vision-force control cooperative technology is adopted, so that the universality and the adaptive adjustment capability are improved; and due to multi-process integration, repeated clamping errors are reduced.

Description

Technical Field

[0001] The invention relates to the technical field of parts production and processing, and in particular to an automatic polishing device for forklift parts polishing. Background Art

[0002] Forklifts are industrial handling vehicles, which refer to various wheeled handling vehicles for loading and unloading, stacking and short-distance transportation of palletized goods. Forklifts are often used for the transportation of large objects in warehouses, usually powered by fuel engines or batteries. When forklifts are manufactured, the required parts will be polished. The surface treatment of forklift parts is crucial to product performance and life.

[0003] However, most existing automated grinding equipment uses fixed trajectory programming, but forklift parts are of many types and complex structures (such as special-shaped surfaces and edges), lack versatility, and lack adaptive adjustment capabilities. Summary of the invention

[0004] The invention provides an automatic grinding device for polishing of forklift parts, aiming to solve the existing problems.

[0005] The present invention is implemented as follows: an automatic polishing device for forklift parts, the automatic polishing device for forklift parts comprising: a housing, a flexible clamping mechanism, a three-dimensional scanning system, an adaptive grinding head assembly, a quality detection device, a dust removal system and a numerical control center; An upper plate and a lower plate are fixedly connected to the inner wall of the shell, and both the upper plate and the lower plate are hollow plates. A flexible clamping mechanism is arranged in the shell, and the flexible clamping mechanism includes an adjustable pneumatic clamp for rotating the parts in the vertical direction and a rotating worktable for rotating the parts in the horizontal direction. The rotating worktable is rotatably connected to the top of the lower plate, and a rotating shaft is connected to the bottom center of the rotating worktable. The other end of the rotating shaft vertically penetrates the lower plate and is connected to a first rotating motor. The first rotating motor drives the rotating worktable to rotate. A pair of adjustable pneumatic clamps are installed on the inner wall of the shell, and the pair of adjustable pneumatic clamps are symmetrically arranged.

[0006] The 3D scanning system is used to collect appearance information of forklift parts and transmit it to the CNC center. The CNC center processes the received information based on it, performs 3D modeling on the surface of the forklift parts, automatically identifies burrs, welds and other areas that need to be processed, generates the optimal grinding path and transmits it to the adaptive grinding head assembly.

[0007] After the adaptive grinding head assembly receives the optimal grinding path from the CNC center, it grinds the forklift parts according to the optimal grinding path.

[0008] The dust removal system is used to clean the dust after grinding.

[0009] Preferably, the adjustable pneumatic clamp includes a cylinder, a connecting plate, a second rotating motor, a rotating shaft, a rotating plate, two clamping rails, two grippers and a plurality of adjustment blocks, one end of the cylinder is fixedly connected to the inner wall of the shell, and the other end is fixedly connected to the connecting plate, the rotating motor is embedded in the side of the connecting plate away from the cylinder, one end of the rotating shaft is connected to the output end of the rotating motor, and the other end is fixedly connected to the center of the rotating plate, the two clamping rails are symmetrically arranged on the side of the rotating plate away from the rotating shaft, one end of the two grippers slide in the two clamping rails respectively, and the plurality of adjustment blocks are divided into two groups, and the two groups of adjustment blocks are respectively rotatably connected to the ends of the two grippers away from the rotating plate.

[0010] Preferably, the flexible clamping mechanism further comprises a pressure sensor, which is arranged on the clamping surfaces of the plurality of adjustment blocks of the adjustable pneumatic clamp. The pressure sensor provides real-time feedback of the clamping force to avoid deformation of forklift parts due to over-tightening of the clamping.

[0011] Preferably, the three-dimensional scanning system includes an X-axis scanning head, a Y-axis scanning head, a lifting guide rail, a sliding block and a high frame rate industrial camera. The lifting guide rail is installed on the side wall of the shell, the sliding block is slidably connected in the lifting rail, the X-axis scanning head and the high frame rate industrial camera are fixedly installed on the side of the sliding block facing the rotating worktable, and the Y-axis scanning head is fixedly connected to the bottom of the upper plate corresponding to the center of the rotating worktable.

[0012] Preferably, the X-axis scanning head, the Y-axis scanning head and the high frame rate industrial camera are all provided with transparent protective covers around them.

[0013] Preferably, the adaptive grinding head assembly includes a rotating base, a robotic arm, a replaceable grinding head and a vibration sensor. The rotating base is rotatably connected to the top surface of the lower plate, one end of the robotic arm is connected to the rotating base, and the other end is connected to the replaceable grinding head. The vibration sensor is installed at one end of the robotic arm close to the replaceable grinding head, so that the CNC center can adjust the rotation speed and feed rate in real time according to the contact pressure.

[0014] Preferably, the replaceable grinding head supports rapid replacement of sanding belts, grinding wheels or polishing wheels of different grit sizes.

[0015] Preferably, the dust removal system includes a high-pressure fan, a dust hood and a dust collecting pipe. The high-pressure fan is fixedly mounted on the top of the inner wall of the shell. The dust hood is funnel-shaped. The flared end of the dust hood is connected to the upper plate around, and the collecting end is connected to the inlet of the high-pressure fan. One end of the dust collecting pipe passes through the top of the shell and is connected to the outlet of the high-pressure fan, and the other end is connected to an external pipe to output dust and fine chips.

[0016] Compared with the prior art, the present invention has the following beneficial effects: Vision-force control collaborative technology: Combining 3D vision positioning and dynamic force control to achieve adaptive grinding of complex surfaces. The 3D scanning system collects the appearance of parts and builds a 3D model. The optimal grinding path is set according to the 3D model to improve versatility. The vibration sensor of the adaptive grinding head assembly transmits the vibration rate during grinding to the CNC center in real time, which facilitates the CNC center to adjust the speed and feed rate in real time according to the contact pressure, improving the adaptive adjustment capability.

[0017] Multi-process integration: A single device completes the entire process of deburring, rough grinding, and fine polishing, reducing repeated clamping errors. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are 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 creative work.

[0019] Figure 1 is a schematic diagram of the overall structure of an embodiment of the present invention; Figure 2 is a schematic cross-sectional structural diagram of an embodiment of the present invention; Figure 3 It is a schematic diagram of the top view of the structure of the adjustable pneumatic clamp according to an embodiment of the present invention.

[0020] The markings in the accompanying drawings are: 1. Shell; 201. Upper plate; 202. Lower plate; 3. Rotating workbench; 4. Adjustable pneumatic clamp; 401. Cylinder; 402. Connecting plate; 403. Second rotating motor; 404. Rotating axis; 405. Rotating plate; 406. Clamping track; 407. Grasping clamp; 408. Adjusting block; 501. X-axis scanning head; 502. Y-axis scanning head; 503. Lifting guide rail; 504. Sliding block; 505. High frame rate industrial camera; 601. Rotating base; 602. Robotic arm; 603. Replaceable grinding head; 604. Vibration sensor; 701. High-pressure fan; 702. Dust hood; 703. Dust collection pipe. DETAILED DESCRIPTION

[0021] In order to more fully understand the technical content of the present invention, the technical solution of the present invention is further introduced and illustrated in conjunction with specific embodiments below, but is not limited thereto. The technical solution in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is only a part of the embodiment of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present invention.

[0022] refer to Figures 1 to 3 The automatic polishing device for forklift parts includes: a housing 1, a flexible clamping mechanism, a three-dimensional scanning system, an adaptive grinding head assembly, a quality inspection device, a dust removal system and a CNC center; The inner wall of the shell 1 is fixedly connected with an upper plate 201 and a lower plate 202, both of which are hollow plates. A flexible clamping mechanism is arranged in the shell 1, and the flexible clamping mechanism includes an adjustable pneumatic clamp 4, a rotating worktable 3 and a pressure sensor. The rotating worktable 3 is rotatably connected to the top of the lower plate 202, and a rotating shaft is connected to the bottom center of the rotating worktable 3. The other end of the rotating shaft vertically penetrates the lower plate 202 and is connected to a first rotating motor. The first rotating motor drives the rotating worktable 3 to rotate. The inner wall of the shell 1 A pair of adjustable pneumatic clamps 4 are installed, and the pair of adjustable pneumatic clamps 4 are symmetrically arranged. The rotating worktable 3 is used to rotate the parts in the horizontal direction, and the adjustable pneumatic clamps 4 are used to rotate the parts in the vertical direction. The rotating worktable 3 cooperates with the adjustable pneumatic clamps 4 to support multi-angle positioning of forklift parts; the adjustable pneumatic clamps 4 include a cylinder 401, a connecting plate 402, a second rotating motor 403, a rotating shaft 404, a rotating plate 405, two clamping rails 406, and two gripping clamps 4 07 and multiple adjustment blocks 408, one end of the cylinder 401 is fixedly connected to the inner wall of the shell 1, and the other end is fixedly connected to the connecting plate 402, the rotating motor is embedded in the side of the connecting plate 402 away from the cylinder 401, one end of the rotating shaft 404 is connected to the output end of the rotating motor, and the other end is fixedly connected to the center of the rotating plate 405, two clamping rails 406 are symmetrically arranged on the side of the rotating plate 405 away from the rotating shaft 404, one end of the two gripping clamps 407 slides in the two clamping rails 406 respectively, and multiple adjustment blocks 408 are provided. The node blocks 408 are divided into two groups. The two groups of adjustment blocks 408 are respectively rotatably connected to the ends of the two clamps 407 away from the rotating plate 405. The adjustment blocks 408 are hemispherical. The multiple adjustment blocks 408 rotatably connected to the clamps 407 can adjust the rotation angle according to the appearance of the forklift parts, so as to adapt to parts of different shapes. The pressure sensor is arranged on the clamping surface of the multiple adjustment blocks 408 of the adjustable pneumatic clamp 4. The pressure sensor feeds back the clamping force in real time to avoid deformation of the forklift parts caused by excessive clamping.

[0023] The three-dimensional scanning system includes an X-axis scanning head 501, a Y-axis scanning head 502, a lifting rail 503, a sliding block 504 and a high frame rate industrial camera 505. The lifting rail 503 is installed on the side wall of the shell 1, and the sliding block 504 is slidably connected in the lifting rail. The X-axis scanning head 501 and the high frame rate industrial camera 505 are fixedly installed on the side of the sliding block 504 facing the rotating worktable 3. The Y-axis scanning head 502 is fixedly connected to the bottom of the upper plate 201 corresponding to the center of the rotating worktable 3. The sliding block 504 slides along the lifting rail to drive the X-axis scanning head 501 and the high frame rate industrial camera 505 to move to a suitable horizontal position to scan and capture images of forklift parts. The scanning head and the camera transmit the collected information to the CNC center. The X-axis scanning head 501, the Y-axis scanning head 502 and the high frame rate industrial camera 505 are all provided with transparent protective covers. The CNC center processes the received information based on 3D visual scanning technology, performs three-dimensional modeling on the surface of forklift parts, automatically identifies burrs, welds and other areas that need to be processed, and generates the optimal grinding path using AI algorithms.

[0024] The adaptive grinding head assembly includes a rotating base 601, a mechanical arm 602, a replaceable grinding head 603 and a vibration sensor 604. The rotating base 601 is rotatably connected to the top surface of the lower plate 202. One end of the mechanical arm 602 is connected to the rotating base 601, and the other end is connected to the replaceable grinding head 603. The replaceable grinding head 603 supports the rapid replacement of sanding belts, grinding wheels or polishing wheels of different grits to meet the requirements of multiple processes from rough grinding to fine polishing. The vibration sensor 604 is installed on one end of the mechanical arm 602 close to the replaceable grinding head 603, and transmits the vibration rate during grinding to the CNC center in real time, so that the CNC center can adjust the rotation speed and feed rate in real time according to the contact pressure.

[0025] The dust removal system includes a high-pressure fan 701, a dust collecting hood 702 and a dust collecting pipe 703. The high-pressure fan 701 is fixedly installed on the top of the inner wall of the shell 1. The dust collecting hood 702 is funnel-shaped. The flared end of the dust collecting hood 702 is connected to the upper plate 201 on all sides, and the collecting end is connected to the inlet of the high-pressure fan 701. One end of the dust collecting pipe 703 passes through the top of the shell 1 and is connected to the outlet of the high-pressure fan 701, and the other end can be connected to an external pipe to output dust and fine debris.

[0026] The working principle of the present invention is as follows: the operator places the forklift parts in the clamping mechanism, the 3D scanning system scans and generates a 3D model, the CNC center plans the grinding path, the driving mechanical arm 602 drives the grinding head to operate according to the preset trajectory, and the force control module adjusts the grinding pressure in real time to ensure that the material is evenly removed from the surface. After the processing is completed, the laser detection data is fed back to the database for process optimization. After the grinding is completed, the high-pressure fan 701 is started to absorb the dust and fine debris in the shell 1 into the dust collecting pipe 703, and the dust and fine debris are output through the external pipe to clean the inside of the shell 1.

[0027] The embodiments described above are only part of the embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any ordinary technician in the field can make equivalent replacements or changes according to the technical solutions and inventive concepts of the present invention within the technical scope disclosed by the present invention, and they should be covered by the protection scope of the present invention.

Claims

1. An automatic polishing device for forklift parts, characterized in that: The automatic grinding device for polishing forklift parts comprises: a housing (1), a flexible clamping mechanism, a three-dimensional scanning system, an adaptive grinding head assembly, a quality detection device, a dust removal system and a numerical control center; An upper plate (201) and a lower plate (202) are fixedly connected to the inner wall of the shell (1), and the upper plate (201) and the lower plate (202) are both hollow plates. A flexible clamping mechanism is arranged in the shell (1), and the flexible clamping mechanism comprises an adjustable pneumatic clamp (4) for rotating the part in the vertical direction and a rotating table (3) for rotating the part in the horizontal direction. The rotating table (3) is rotatably connected to the top of the lower plate (202), and a rotating shaft is connected to the center of the bottom of the rotating table (3). The other end of the rotating shaft vertically penetrates the lower plate (202) and is connected to a first rotating motor. The first rotating motor drives the rotating table (3) to rotate. A pair of adjustable pneumatic clamps (4) are installed on the inner wall of the shell (1), and the pair of adjustable pneumatic clamps (4) are symmetrically arranged. The 3D scanning system is used to collect the appearance information of forklift parts and transmit it to the CNC center. The CNC center processes the received information based on the CNC center, performs 3D modeling on the surface of forklift parts, automatically identifies burrs, welds and other areas that need to be processed, generates the optimal grinding path and transmits it to the adaptive grinding head assembly; After receiving the optimal grinding path from the CNC center, the adaptive grinding head assembly grinds the forklift parts according to the optimal grinding path; The dust removal system is used to clean the dust after grinding.

2. The automatic polishing device for forklift parts according to claim 1, characterized in that: The adjustable pneumatic clamp (4) comprises a cylinder (401), a connecting plate (402), a second rotating motor (403), a rotating shaft (404), a rotating plate (405), two clamping rails (406), two gripping clamps (407) and a plurality of adjusting blocks (408). One end of the cylinder (401) is fixedly connected to the inner wall of the housing (1), and the other end is fixedly connected to the connecting plate (402). The rotating motor is embedded in a side of the connecting plate (402) away from the cylinder (401). One end of the shaft (404) is connected to the output end of the rotating motor, and the other end is fixedly connected to the center of the rotating plate (405). Two clamping tracks (406) are symmetrically arranged on a side of the rotating plate (405) away from the rotating shaft (404). One end of two gripping clamps (407) slides in the two clamping tracks (406) respectively. The plurality of adjustment blocks (408) are evenly divided into two groups. The two groups of adjustment blocks (408) are respectively rotatably connected to one end of the two gripping clamps (407) away from the rotating plate (405).

3. The automatic polishing device for forklift parts according to claim 2, characterized in that: The flexible clamping mechanism further comprises a pressure sensor, which is arranged on the clamping surfaces of the plurality of adjustment blocks (408) of the adjustable pneumatic clamp (4). The pressure sensor provides real-time feedback of the clamping force to avoid deformation of forklift parts caused by excessive clamping.

4. The automatic polishing device for forklift parts according to claim 1, characterized in that: The three-dimensional scanning system comprises an X-axis scanning head (501), a Y-axis scanning head (502), a lifting guide rail (503), a sliding block (504) and a high frame rate industrial camera (505), wherein the lifting guide rail (503) is mounted on a side wall of a housing (1), the sliding block (504) is slidably connected in the lifting rail, the X-axis scanning head (501) and the high frame rate industrial camera (505) are fixedly mounted on a side of the sliding block (504) facing the rotating worktable (3), and the Y-axis scanning head (502) is fixedly connected to a position at the bottom of an upper plate (201) corresponding to the center of the rotating worktable (3).

5. The automatic polishing device for forklift parts according to claim 4, characterized in that: The X-axis scanning head (501), the Y-axis scanning head (502) and the high frame rate industrial camera (505) are all provided with transparent protective covers on their peripheries.

6. The automatic polishing device for forklift parts according to claim 1, characterized in that: The adaptive grinding head assembly comprises a rotating base (601), a mechanical arm (602), a replaceable grinding head (603) and a vibration sensor (604); the rotating base (601) is rotatably connected to the top surface of the lower plate (202); one end of the mechanical arm (602) is connected to the rotating base (601) and the other end is connected to the replaceable grinding head (603); the vibration sensor (604) is installed at one end of the mechanical arm (602) close to the replaceable grinding head (603), so that the numerical control center can adjust the rotation speed and feed rate in real time according to the contact pressure.

7. The automatic polishing device for forklift parts according to claim 6, characterized in that: The replaceable grinding head (603) supports the rapid replacement of grinding belts, grinding wheels or polishing wheels of different grits.

8. The automatic polishing device for forklift parts according to claim 1, characterized in that: The dust removal system comprises a high-pressure fan (701), a dust collecting hood (702) and a dust collecting pipe (703); the high-pressure fan (701) is fixedly mounted on the top of the inner wall of the housing (1); the dust collecting hood (702) is funnel-shaped; the flared end of the dust collecting hood (702) is connected to the periphery of the upper plate (201); the collecting end is connected to the inlet of the high-pressure fan (701); one end of the dust collecting pipe (703) passes through the top of the housing (1) and is connected to the outlet of the high-pressure fan (701); the other end is connected to an external pipe to discharge dust and fine debris.

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