Online grinding robot system, grinding method and online automatic control device

Abstract

The invention discloses an online grinding robot system, and discloses a grinding method and an online automatic control device for the online grinding robot system. The online grinding robot system comprises a conveying line, a six-axis manipulator, a grinding mechanism, a width gauge, a high-speed camera and a dust collection mechanism; and a dynamic force control algorithm is adapted to planeness errors possibly existing in the steel belt, pressure compensation is conducted in real time, constant-pressure grinding is achieved, and grinding uniformity is improved.

Description

Technical Field

[0001] The present invention relates to the field of grinding equipment, and particularly to an on-line grinding robot system, a grinding method, and an on-line automatic control device. Background Art

[0002] Before the small-sized galvanized steel strip is coiled and formed, the galvanized layer at the edge needs to be ground, and the grinding quality is crucial for the product performance. There are many deficiencies in the existing grinding equipment. Manually adjusting the grinding force is difficult to adapt to the change in the thickness of the steel strip, resulting in poor grinding uniformity; for thin and narrow steel strips, due to insufficient strength and tension, they are prone to bending and deformation, causing uneven grinding before and after, and it is inconvenient to adjust the counterweight, often resulting in incomplete grinding in some areas. Referring to the patent with the application number CN115476211A, it discloses a grinding machine for small-sized galvanized steel strips. By setting a grinding adjustment mechanism, a steel strip support adjustment mechanism, etc., the grinding uniformity and adaptability are improved to a certain extent. However, in this solution, there is still a problem of insufficient automatic control during the grinding process, lacking real-time dynamic adjustment of the grinding pressure and being difficult to accurately adapt to the flatness error on the surface of the steel strip. Summary of the Invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. For this purpose, the present invention provides an on-line grinding robot system that can achieve constant-pressure grinding and improve grinding uniformity.

[0004] The present invention also provides a grinding method and an on-line automatic control device having the above on-line grinding robot system.

[0005] According to an embodiment of the first aspect of the present invention, the on-line grinding robot system includes a conveyor line, a six-axis manipulator, a grinding mechanism, a width gauge, a high-speed camera, and a dust suction mechanism;

[0006] The conveyor line is used to convey the steel strip, and an installation platform is horizontally arranged on the conveyor line;

[0007] The six-axis manipulator is fixed in the middle of the installation platform. The end of the six-axis manipulator is the end joint. The six-axis manipulator is internally provided with a trajectory control unit for controlling the movement trajectory of the end joint, and the six-axis manipulator is internally provided with a monitoring unit for monitoring the horizontal angle of the end joint;

[0008] The grinding mechanism includes a driving cylinder and a grinding element. The driving cylinder is fixedly connected to the end joint, the driving direction of the driving cylinder is collinear with the end joint, and a floating joint is connected between the driving end of the driving cylinder and the grinding element. The grinding element has a grinding surface;

[0009] The width gauge is slidably arranged on one side of the conveyor line and is used to detect the width of the steel strip;

[0010] A high-speed camera is arranged above the conveyor line, and the high-speed camera is used to detect the surface of the steel strip and identify defects on the surface of the steel strip;

[0011] The dust suction mechanism is installed on the end joint;

[0012] Wherein, the driving cylinder is connected to a gas source system through a gas source pipeline, an electro-pneumatic proportional valve is arranged on the gas source pipeline, and the monitoring unit is electrically connected to the electro-pneumatic proportional valve to control the air supply pressure of the gas source pipeline;

[0013] Wherein, the gravity of the entire grinding mechanism is set as G, and the constant pressure required for grinding the steel strip is F 目标 ;

[0014] At any position of the end joint, the real-time included angle between the end joint and the grinding surface is α, and the real-time component force of the gravity G in the axial direction of the driving cylinder is F α , F α = G x sinα, the instantaneous output pressure of the driving cylinder is F, then F = F 目标 -F α .

[0015] The on-line grinding robot system according to the embodiment of the present invention has at least the following beneficial effects: By adapting to the flatness error that may exist in the steel strip itself through a dynamic force control algorithm, pressure compensation is carried out in real time to achieve constant-pressure grinding and improve the grinding uniformity.

[0016] According to some embodiments of the present invention, the grinding element includes:

[0017] A housing with a driving cavity arranged inside, and a through hole is arranged through the bottom of the driving cavity;

[0018] A driving motor is fixed on the top of the driving cavity, the output shaft of the driving motor is fixedly connected with a transmission shaft, the transmission shaft is pivotally penetrated through the through hole, and the transmission shaft and the driving cylinder are coaxial;

[0019] A grinding stone is fixedly connected to the end of the transmission shaft.

[0020] According to some embodiments of the present invention, a cooling sleeve is fixedly connected to the lower end of the housing. A cooling groove is provided inside the cooling sleeve, and a cooling medium is disposed in the cooling groove. A groove is provided at the upper end of the grindstone. The cooling sleeve is embedded in the groove and is rotatably engaged with the groove. Two return pipes are respectively provided on both sides of the transmission shaft. A return groove is provided inside the housing, and the return groove is connected to the two return pipes so that the lower ends of the two return pipes are in communication. The lower ends of the two return pipes are immersed in the cooling medium of the cooling groove. One of the return pipes is provided with a one-way valve, and a fan blade is provided on the shaft body of the transmission shaft.

[0021] According to some embodiments of the present invention, a liquid pump mechanism is provided inside one of the return pipes. The liquid pump mechanism includes:

[0022] A fixing block fixed to the upper end of the return pipe;

[0023] A first magnetic block slidably disposed at the lower end of the return pipe;

[0024] A reset member having one end fixedly connected to the fixing block and the other end fixedly connected to the first magnetic block;

[0025] A second magnetic block fixed to the side wall of the transmission shaft. The second magnetic block can rotate with the rotation of the transmission shaft and intermittently rotate below the first magnetic block;

[0026] Wherein, the sides of the second magnetic block and the first magnetic block facing each other have the same magnetic poles to drive the first magnetic block to slide towards the fixing block; the reset member is elastic to drive the first magnetic block away from the fixing block;

[0027] Wherein, the first magnetic block and the second magnetic block are both provided with through holes, and the one-way valve is provided in one of the through holes.

[0028] According to some embodiments of the present invention, an annular positioning groove is provided on the inner side surface of the groove, and an annular positioning protrusion is provided on the side wall of the cooling sleeve. The positioning protrusion is embedded in the positioning groove and is rotatably engaged with the positioning groove.

[0029] According to some embodiments of the present invention, a plurality of dust suction holes are provided through the lower end of the housing, and ventilation holes are provided through the upper end. A dust delivery groove is provided through the outside of the dust suction hole. A filter screen is provided at one end of the dust suction hole close to the ventilation hole. The dust suction mechanism includes:

[0030] A dust suction hood sleeved outside the grindstone. The dust suction hood is in a horn shape and is fixedly connected to the lower end of the housing and is in communication with the dust suction hole;

[0031] The dust collection box is arranged around the lower end of the housing, and the dust collection box is communicated with the dust suction hole through the ash conveying groove;

[0032] The dust baffle is rotatably connected to the outer inner wall of the dust suction hole at one end. The dust baffle is rotatable so that the dust baffle is flat in the dust suction hole and closes the dust suction hole, or the dust baffle forms an included angle and forms a dust suction channel with the inner wall of the dust suction hole. The dust baffle is arranged below the ash conveying groove.

[0033] According to some embodiments of the present invention, one end of the dust baffle is rotatably connected to the lower side surface of the ash conveying groove. The lower side surface of the dust suction hole is horizontally arranged, and the lower side surface of the ash conveying groove can abut against the lower surface of the dust baffle to restrict the flat position of the dust baffle.

[0034] According to some embodiments of the present invention, the upper end of the dust collection box is open, and a cover body is detachably installed at the upper end of the dust collection box.

[0035] The grinding method according to the second aspect embodiment of the present invention is used to control the on-line grinding robot system according to the first aspect embodiment of the present invention, and includes the following steps:

[0036] Step 1: The conveyor line decelerates uniformly and conveys the steel strip to a preset position;

[0037] Step 2: The width measuring instrument reciprocates along one side of the conveyor line, measures the total length of the steel strip and the width of each section area, and transmits the length data and width data to the trajectory control unit through the width measuring instrument;

[0038] Step 3: The high-speed camera takes pictures of the surface of the steel strip. A coordinate system is established with one end of the steel strip as the origin, the conveying direction is the Y axis, and the direction perpendicular to the conveying direction is the X axis, and the coordinate information is transmitted to the trajectory control unit. If there are convex defects on the surface of the steel strip, step 4.1 is performed; if there are scratch defects on the surface of the steel strip, step 4.2 is performed; if there are no defects on the surface of the steel strip, step 5 is performed;

[0039] Step 4.1: Calculate the defect position coordinates. According to the defect position coordinates, the trajectory control unit generates concentric ring paths with gradually decreasing radii with the center of the convex defect as the origin. The grinding mechanism is controlled by the trajectory control unit to grind gradually from the edge to the inside, and the output pressure of the driving cylinder increases as the radius of the grinding area decreases. After completion, step 5 is performed;

[0040] Step 4.2: Calculate the defect position coordinates. The trajectory control unit generates a main trajectory and multiple sub-trajectories. The main trajectory extends along the scratch direction and extends 10 mm at both ends. The sub-trajectories are perpendicular to the scratch direction. The grinding mechanism is controlled by the trajectory control unit to reciprocate along the main trajectory and the sub-trajectories respectively. After completion, step 5 is performed;

[0041] According to the length data and width data, the trajectory control unit generates a straight trajectory and an oblique transition trajectory. The grinding mechanism is controlled by the trajectory control unit to move along the straight trajectory and the oblique transition trajectory respectively to grind the entire surface of the steel strip. The dust suction mechanism is synchronously started to remove debris from the surface of the steel strip, and step 6 is performed;

[0042] Step 6: Output the ground steel strip through the conveyor line, input the next steel strip, and perform step 1;

[0043] Among them, the straight trajectory is arranged along the conveying direction, multiple straight trajectories are arranged, and the multiple straight trajectories are arranged side by side and cover the entire steel strip. The two ends of the oblique transition trajectory are respectively connected to the starting point and the end point of two adjacent straight trajectories;

[0044] Among them, in step 4.1, step 4.2 and step 5, the real-time included angle α between the end joint and the grinding surface is detected by the monitoring unit, and the real-time component force F of the gravity G in the axial direction of the driving cylinder is calculated according to the included angle α α = G x sinα, and the instantaneous output pressure F of the driving cylinder is controlled by the electro-hydraulic proportional valve so that F = F 目标 -F α .

[0045] According to the grinding method of the embodiment of the present invention, it has at least the following beneficial effects: By adapting to the flatness error that may exist in the steel strip itself through the dynamic force control algorithm, pressure compensation is performed in real time to achieve constant pressure grinding and improve the grinding uniformity.

[0046] The on-line automatic control device according to the third aspect embodiment of the present invention is used to control the on-line grinding robot system according to the first aspect embodiment of the present invention.

[0047] According to the grinding robot automatic control device of the embodiment of the present invention, it has at least the following beneficial effects: By adapting to the flatness error that may exist in the steel strip itself through the dynamic force control algorithm, pressure compensation is performed in real time to achieve constant pressure grinding and improve the grinding uniformity.

[0048] The additional aspects and advantages of the present invention will be partially given in the following description, partially become obvious from the following description, or be understood through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] The present invention will be further described below in conjunction with the drawings and embodiments, wherein:

[0050] Figure 1 is a schematic diagram of the on-line grinding robot system according to the embodiment of the present invention;

[0051] Figure 2 is a flowchart of the grinding method according to the embodiment of the present invention;

[0052] Figure 3 Schematic diagram of the grinding mechanism of the on-line grinding robot system according to an embodiment of the present invention;

[0053] Figure 4 Schematic diagram of the six-axis manipulator of the on-line grinding robot system according to an embodiment of the present invention;

[0054] Figure 5 Cross-sectional schematic diagram of the grinding element and the dust suction mechanism of the on-line grinding robot system according to an embodiment of the present invention;

[0055] Figure 6 is Figure 5 Cross-sectional schematic diagram in the A-A direction of

[0056] 100, conveyor line; 110, mounting table;

[0057] 200, six-axis manipulator; 210, end joint;

[0058] 300, grinding mechanism; 310, driving cylinder; 320, grinding element; 321, housing; 3211, through hole; 3212, driving cavity; 3213, dust suction hole; 3214, ash delivery groove; 3215, ventilation hole; 3216, filter screen; 322, driving motor; 3221, transmission shaft; 3222, fan blade; 323, grinding stone; 3231, grinding surface; 3232, groove; 3233, positioning groove; 330, cooling sleeve; 331, cooling groove; 332, positioning protrusion; 340, return pipe; 341, return groove; 342, one-way valve; 351, fixing block; 352, first magnetic block; 353, resetting member; 360, second magnetic block; 370, through hole;

[0059] 400, width gauge;

[0060] 500, high-speed camera;

[0061] 600, dust suction mechanism; 610, dust suction hood; 620, dust collection box; 621, cover body; 630, dust baffle;

[0062] 700, cooling medium;

[0063] 800, floating joint; Detailed implementation manners

[0064] The embodiments of the present invention will be described in detail below. Examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and are only used to explain the present invention and should not be construed as a limitation to the present invention.

[0065] In the description of the present invention, it should be understood that for the orientation description, such as the orientation or positional relationship indicated by up, down, front, back, left, right, etc., is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention.

[0066] In the description of the present invention, the meaning of "several" is one or more, the meaning of "multiple" is two or more, "greater than", "less than", "exceeding", etc. are understood not to include the original number, and "above", "below", "within", etc. are understood to include the original number. If there is a description of "first" and "second", it is only for the purpose of distinguishing technical features and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or implicitly indicating the sequence relationship of the indicated technical features.

[0067] In the description of the present invention, unless otherwise clearly defined, words such as "set", "installed", "connected", etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meaning of the above words in the present invention in combination with the specific content of the technical solution.

[0068] Referring to Figures 1 to 6 , an online grinding robot system according to an embodiment of the present invention includes a conveyor line 100, a six-axis manipulator 200, a grinding mechanism 300, a width gauge 400, a high-speed camera 500, and a dust suction mechanism 600; wherein,

[0069] The conveyor line 100 is used to convey the steel strip, and an installation table 110 is horizontally arranged on the conveyor line 100;

[0070] The six-axis manipulator 200 is fixed in the middle of the installation table 110. The end of the six-axis manipulator 200 is an end joint 210. The six-axis manipulator 200 is internally provided with a trajectory control unit for controlling the movement trajectory of the end joint 210, and the six-axis manipulator 200 is internally provided with a monitoring unit for monitoring the horizontal angle of the end joint 210;

[0071] The grinding mechanism 300 includes a driving cylinder 310 and a grinding element 320. The driving cylinder 310 is fixedly connected to the end joint 210. The driving direction of the driving cylinder 310 is collinear with the end joint 210. A floating joint 800 is connected between the driving end of the driving cylinder 310 and the grinding element 320. The grinding element 320 has a grinding surface 3231;

[0072] The width gauge 400 is slidably arranged on one side of the conveyor line 100, and the width gauge 400 is used to detect the width of the steel strip;

[0073] The high-speed camera 500 is arranged above the conveyor line 100, and the high-speed camera 500 is used to detect the surface of the steel strip and identify defects on the surface of the steel strip;

[0074] The dust suction mechanism 600 is installed on the end joint 210;

[0075] Among them, the driving cylinder 310 is connected to a gas source system through a gas source pipeline, an electro-pneumatic proportional valve is arranged on the gas source pipeline, and the monitoring unit is electrically connected to the electro-pneumatic proportional valve to control the air supply pressure of the gas source pipeline;

[0076] Among them, the gravity of the entire grinding mechanism 300 is set as G, and the constant pressure required for grinding the steel strip is F 目标 ;

[0077] At any position of the end joint 210, the real-time included angle between the end joint 210 and the grinding surface 3231 is α, and the real-time component force of the gravity G in the axial direction of the driving cylinder 310 is F α , F α = G x sinα, the instantaneous output pressure of the driving cylinder 310 is F, then F = F 目标 -F α .

[0078] Referring to Figure 2 , in actual use, the grinding method of the on-line grinding robot system of this embodiment includes the following steps:

[0079] Step 1: The conveyor line 100 decelerates uniformly and conveys the steel strip to a preset position;

[0080] Step 2: The width gauge 400 reciprocates along one side of the conveyor line 100, measures the total length of the steel strip and the width of each section, and transmits the length data and width data to the trajectory control unit through the width gauge 400;

[0081] Step 3: The high-speed camera 500 takes a picture of the surface of the steel strip, establishes a coordinate system with one end of the steel strip as the origin, the conveying direction as the Y-axis, and the direction perpendicular to the conveying direction as the X-axis, and transmits the coordinate information to the trajectory control unit. If there are convex defects on the surface of the steel strip, then go to Step 4.1; if there are scratch defects on the surface of the steel strip, then go to Step 4.2; if there are no defects on the surface of the steel strip, then go to Step 5;

[0082] Step 4.1: Calculate the defect position coordinates. According to the defect position coordinates, the trajectory control unit generates a concentric ring path with a gradually decreasing radius with the center of the convex defect as the origin, and controls the grinding mechanism 300 to grind gradually from the edge to the inside through the trajectory control unit, and the output pressure of the driving cylinder 310 increases as the radius of the grinding area decreases. After completion, go to Step 5;

[0083] Step 4.2: Calculate the coordinates of the defect position. The trajectory control unit generates a main trajectory and multiple sub-trajectories. The main trajectory extends along the direction of the scratch and extends 10 mm at each end. The sub-trajectories are perpendicular to the scratch direction. The trajectory control unit controls the grinding mechanism 300 to reciprocate along the main trajectory and the sub-trajectories respectively. After completion, proceed to Step 5;

[0084] Step 5: According to the length data and width data, the trajectory control unit generates a straight trajectory and an oblique transition trajectory. The trajectory control unit controls the grinding mechanism 300 to move along the straight trajectory and the oblique transition trajectory respectively to grind the entire surface of the steel strip; simultaneously start the dust suction mechanism 600 to remove debris from the surface of the steel strip, and proceed to Step 6;

[0085] Step 6: Output the ground steel strip through the conveyor line 100 and input the next steel strip, and proceed to Step 1;

[0086] Among them, the straight trajectory is set along the conveying direction, multiple straight trajectories are arranged side by side and cover the entire steel strip, and the two ends of the oblique transition trajectory are respectively connected to the starting point and the ending point of two adjacent straight trajectories;

[0087] Among them, in Step 4.1, Step 4.2 and Step 5, the monitoring unit detects the real-time angle α between the end joint 210 and the grinding surface 3231, and calculates the real-time component force F of the gravity G in the axial direction of the driving cylinder 310 according to the angle α α = Gx sinα, and controls the instantaneous output pressure F of the driving cylinder 310 through the electro-hydraulic proportional valve, so that F = F 目标 -F α .

[0088] In summary, through the dynamic force control algorithm, the flatness error that may exist in the steel strip itself is adapted, and the pressure compensation is carried out in real time to achieve constant pressure grinding and improve the grinding uniformity.

[0089] The trajectory control unit generates corresponding motion trajectories according to various data received (including the width and length of the steel strip from the width gauge 400 and the coordinate data from the high-speed camera 500), and controls the end joint 210 to move according to this trajectory; while the monitoring unit real-time monitors the horizontal angle of the end joint 210 and feeds back the angle information to the central processing unit. The central processing unit is used to coordinate the operation of the entire equipment. Specifically, the central processing unit is electrically connected to the electro-hydraulic proportional valve at the same time, and according to F α = G x sinα and F = F 目标 -F α The operation relationship calculates the instantaneous pressure that the driving cylinder 310 needs to provide, and the electro-hydraulic proportional valve controls the air supply pressure of the air source pipeline to achieve precise control of the pressure and achieve constant pressure grinding. Among them, refer toFigure 4 The six-axis robot 200 drives the movement of each joint through multiple motors. The trajectory control unit uses the built-in kinematic algorithm to convert the target trajectory into the movement instructions of each joint, achieving large-area grinding coverage.

[0090] In addition, in this embodiment, the floating joint 800 can improve the control accuracy of the pressure. During the force application process, it can achieve pure axial force transmission and automatic lateral force unloading, enabling the grinding surface 3231 to fit the surface of the steel strip (including convex defects or scratch defects), with the advantages of axial rigidity and radial flexibility, improving the processing accuracy.

[0091] Furthermore, in the embodiment of the present invention, there is also an on-line automatic control device for controlling the on-line grinding robot system of the present invention. The on-line automatic control device enables the on-line grinding robot system to perform the grinding process according to the grinding method.

[0092] Furthermore, in the driving cylinder 310, a magnetic ring is built into the driving cylinder 310. The magnetic ring moves synchronously with the piston of the driving cylinder 310. A magnetic switch (such as a Hall sensor) is installed outside the driving cylinder 310 and is used to detect the position of the magnetic ring to determine whether the piston reaches the extension / retraction end point. In practical applications, through the signal of the magnetic ring, it can be confirmed whether the driving cylinder 310 reaches the preset pressure position (such as the pre-pressure position before the grinding element 320 contacts the steel strip), avoiding rigid collisions.

[0093] It should be mentioned that regarding the above-mentioned high-speed camera 500, the high-speed camera 500 is started to perform high-speed shooting on the surface of the steel strip stationary at the preset position, obtaining multiple images; taking one end of the steel strip (such as the left end or the right end) as the origin, setting the conveying direction of the steel strip as the Y-axis, and setting the direction perpendicular to the conveying direction as the X-axis to establish a plane rectangular coordinate system; the captured images are processed by image analysis software to identify whether there are convex defects, scratch defects or no defects on the surface of the steel strip, and enter the corresponding processing steps according to the defect type.

[0094] On the one hand, aiming at the shape characteristics of the convex defects, a concentric ring path is adopted to grind from the edge to the inside (to avoid pushing the material of the convex part too much to the periphery). Combining with the dynamic adjustment of the pressure, the convex part can be gradually ground flat, improving the effect of defect treatment;

[0095] On the other hand, for scratches, the grinding mechanism 300 is controlled to first reciprocate along the main trajectory to perform preliminary grinding on the scratches, and then reciprocate along each sub-trajectory to grind the area around the scratches, so as to eliminate the scratches and make the grinding area smoothly transition with the surrounding surface. Grinding along the scratch direction of the main trajectory can effectively remove the scratches, and grinding in the vertical direction of the sub-trajectory can process the uneven area around the scratches, making the ground surface more flat and smooth (eliminating the edge effect of the scratches in the vertical direction).

[0096] It should be emphasized that in step 5, the linear trajectory is arranged along the conveying direction, perpendicular to the conveying direction, or at an angle to the conveying direction.

[0097] The driving cylinder 310 generates a driving force according to the received pressure control signal through the air pressure provided by the air source system, and pushes the grinding element 320 towards the surface of the steel strip. In some embodiments, referring to Figure 3 、 5 and 6, the grinding element 320 includes a housing 321, a driving motor 322, and a grinding stone 323. A driving cavity 3212 is arranged inside the housing 321, and a through hole 3211 is arranged through the bottom of the driving cavity 3212; the driving motor 322 is fixed at the top of the driving cavity 3212, the output shaft of the driving motor 322 is fixedly connected with a transmission shaft 3221, the transmission shaft 3221 pivotally penetrates through the through hole 3211, and the transmission shaft 3221 is coaxial with the driving cylinder 310; the grinding stone 323 is fixedly connected with the end of the transmission shaft 3221.

[0098] Specifically, after the driving motor 322 is powered on, the output shaft rotates, driving the transmission shaft 3221 to rotate, and the transmission shaft 3221 then drives the grinding stone 323 to rotate at a high speed; the grinding surface 3231 of the rotating grinding stone 323 contacts the surface of the steel strip to perform grinding operations on the steel strip. Since the transmission shaft 3221 is coaxial with the driving cylinder 310, the driving force of the driving cylinder 310 can be transmitted along the axial direction of the transmission shaft 3221. Combining the above-mentioned technical solution of "real-time attitude perception - gravity component compensation - pressure dynamic adjustment", the grinding stone 323 contacts the steel strip with an appropriate pressure.

[0099] Furthermore, during the rotation of the transmission shaft 3221, the grinding stone 323 is prone to generating heat. For this reason, referring to Figure 5 , a cooling sleeve 330 is fixedly connected to the lower end of the housing 321. A cooling groove 331 is arranged inside the cooling sleeve 330, and a cooling medium 700 is arranged in the cooling groove 331. A groove 3232 is arranged at the upper end of the grinding stone 323. The cooling sleeve 330 is embedded in the groove 3232 and can rotate in cooperation with the groove 3232. Two return pipes 340 are respectively arranged on both sides of the transmission shaft 3221. A return groove 341 is arranged inside the housing 321, and the return groove 341 is connected to the two return pipes 340 so that the lower ends of the two return pipes 340 are in communication. The lower ends of the two return pipes 340 are immersed in the cooling medium 700 in the cooling groove 331. One of the return pipes 340 is provided with a one-way valve 342, and a fan blade 3222 is arranged on the shaft body of the transmission shaft 3221.

[0100] During the actual processing, the grinding stone 323 rotates at high speed and generates heat by friction with the steel belt, causing the temperature of the grinding stone 323 to rise; the cooling medium 700 in the cooling tank 331 absorbs the heat of the grinding stone 323 and its temperature rises; with the rotation of the transmission shaft 3221, the cooling medium 700 in the return pipe 340 is driven to flow. The high-temperature cooling medium 700 enters the return groove 341 of the housing 321 through the return pipe 340. After certain cooling treatment, the low-temperature cooling medium 700 returns to the cooling tank 331 through another return pipe 340, realizing the circulation of the cooling medium 700; the one-way valve 342 ensures that the cooling medium 700 can only flow in one direction, ensuring the normal progress of the circulation. Through the circulating flow of the cooling medium 700, the temperature of the grinding stone 323 is effectively reduced, preventing the grinding stone 323 from being damaged due to overheating or reducing the grinding efficiency, and extending the service life of the grinding stone 323. It should be emphasized that during the flow of the cooling medium 700, it will pass through the drive cavity 3212. The fan blade 3222 of the transmission shaft 3221 in the drive cavity 3212 will drive the gas to flow, and the cold gas will cool the cooling medium 700 in the return groove 341, reducing the temperature of the cooling medium 700 that re-enters the cooling tank 331.

[0101] As a further optimization of the above solution, referring to Figure 5, one of the return pipes 340 is internally provided with a liquid pump mechanism, and the liquid pump mechanism includes a fixed block 351, a first magnetic block 352, a reset member 353, and a second magnetic block 360. The fixed block 351 is fixed to the upper end of the return pipe 340; the first magnetic block 352 is slidably disposed at the lower end of the return pipe 340; one end of the reset member 353 is fixedly connected to the fixed block 351, and the other end is fixedly connected to the first magnetic block; the second magnetic block 360 is fixed to the side wall of the transmission shaft 3221, and the second magnetic block 360 can rotate with the rotation of the transmission shaft 3221 and intermittently rotate below the first magnetic block 352; wherein, the opposite sides of the second magnetic block 360 and the first magnetic block 352 have the same magnetic poles to drive the first magnetic block 352 to slide towards the fixed block 351; the reset member 353 has elasticity to drive the first magnetic block 352 away from the fixed block 351; wherein, the first magnetic block 352 and the second magnetic block 360 are both provided with through holes 370, and one of the through holes 370 is provided with the one-way valve 342. It can be understood that when the transmission shaft 3221 rotates, the second magnetic block 360 fixed to its side wall rotates therewith; when the second magnetic block 360 rotates below the first magnetic block 352, due to the same magnetic poles on the opposite sides of the two, a repulsive force is generated to drive the first magnetic block 352 to slide towards the fixed block 351, compressing the reset member 353. At this time, a negative pressure is formed in the return pipe 340 above the first magnetic block 352, sucking the cooling medium 700 in the cooling tank 331; when the second magnetic block 360 rotates away from below the first magnetic block 352, the elastic force of the reset member 353 drives the first magnetic block 352 away from the fixed block 351 and returns to its original position, pushing the sucked cooling medium 700 to the return tank 341; the one-way valve 342 ensures that the cooling medium 700 can only flow towards the return tank 341 to avoid backflow. Utilizing the rotational power of the transmission shaft 3221, without an additional power source, the automatic circulation of the cooling medium 700 is realized, improving the efficiency and reliability of the circulation of the cooling medium 700.

[0102] Preferably, referring to Figure 5 , an annular positioning groove 3233 is provided on the inner side surface of the groove 3232, and an annular positioning protrusion 332 is provided on the side wall of the cooling sleeve 330. The positioning protrusion 332 is embedded in the positioning groove 3233 and is rotationally matched with the positioning groove 3233. The stable connection and flexible rotation between the cooling sleeve 330 and the grinding stone 323 are realized, ensuring that the cooling sleeve 330 can reliably cool the grinding stone 323 during the rotation of the grinding stone 323 without affecting the normal rotation of the grinding stone 323. In addition, the shape fit between the positioning groove 3233 and the positioning protrusion 332 can form a labyrinth structure to prevent the cooling medium 700 from flowing out.

[0103] Referring to Step 5, during the grinding process, the dust suction mechanism 600 works synchronously and uses the air flow principle to collect debris in a timely manner (mainly surface metal debris and excess coating), so that the steel strip can be cleaned while being ground. Preferably, referring to Figure 5 , in some embodiments, a plurality of dust suction holes 3213 are provided through the lower end of the housing 321, and ventilation holes 3215 are provided through the upper end. A dust delivery groove 3214 is provided through the outside of the dust suction hole 3213. A filter screen 3216 is provided at one end of the dust suction hole 3213 close to the ventilation hole 3215. The dust suction mechanism 600 includes a dust suction hood 610, a dust collection box 620, and a dust baffle 630. The dust suction hood 610 is sleeved outside the grindstone 323. The dust suction hood 610 is in a horn shape and is fixedly connected to the lower end of the housing 321 and communicates with the dust suction hole 3213. The dust collection box 620 is disposed around the lower end of the housing 321. The dust collection box 620 communicates with the dust suction hole 3213 through the dust delivery groove 3214. One end of the dust baffle 630 is rotatably connected to the outer inner wall of the dust suction hole 3213. The dust baffle 630 is rotatable so that the dust baffle 630 lies flat in the dust suction hole 3213 to close the dust suction hole 3213, or the dust baffle 630 forms an angle with the inner wall of the dust suction hole 3213 to form a dust suction channel. The dust baffle 630 is disposed below the dust delivery groove 3214. During actual work, the debris generated during the grinding process is collected by the dust suction hood 610. Due to the suction force inside the dust suction mechanism 600 (caused by the gas flow formed by the above-mentioned fan blade 3222 to form a negative pressure), the debris enters the interior of the housing 321 through the dust suction hole 3213. After filtering larger particles through the filter screen 3216, it enters the dust collection box 620 through the dust delivery groove 3214. When dust suction is not required, the dust baffle 630 rotates and lies flat in the dust suction hole 3213 to close the dust suction hole 3213 to prevent foreign objects from entering. When dust suction is required, the dust baffle 630 rotates to form a dust suction channel with the inner wall of the dust suction hole 3213 to allow debris to pass through, efficiently collecting grinding debris. The filter screen 3216 filters to prevent large particles from blocking the pipeline. The dust baffle 630 controls the opening and closing of the dust suction channel to ensure the normal operation of the dust suction mechanism 600 when needed, and at the same time avoids the debris on the filter screen 3216 from falling back onto the steel strip. In addition, the horn-shaped dust suction hood 610 can also expand the collection range.

[0104] As an optimization of the dust suction mechanism 600, referring to Figure 5, one end of the dust shield 630 is rotatably connected to the lower side surface of the ash conveying chute 3214, the lower side surface of the dust suction hole 3213 is horizontally arranged, and the lower side surface of the ash conveying chute 3214 can be in contact with the lower surface of the dust shield 630 to restrict the flat position of the dust shield 630. On the one hand, when it is necessary to close the dust suction hole 3213, rotate the dust shield 630 so that its lower surface is in contact with the horizontal lower side surface of the ash conveying chute 3214. The dust shield 630 is flatly arranged in the dust suction hole 3213 to completely close the dust suction hole 3213, preventing foreign objects from entering from the outside or internal debris from leaking out. On the other hand, when it is necessary to open the dust suction channel, rotate the dust shield 630 upward so that the dust shield 630 rotates on the lower side surface of the ash conveying chute 3214 and forms a certain angle with the inner wall of the dust suction hole 3213, forming a channel through which debris can pass. The airflow during dust suction drives the debris to enter the dust suction hole 3213 through this channel. It should be emphasized that when the dust suction channel is opened, one end of the dust shield 630 rotates on the lower side surface of the ash conveying chute 3214, so that the debris originally piled on the dust shield 630 can slide along the inclined dust shield 630 into the dust collection box 620. In order to facilitate the handling of the debris in the dust collection box 620, the upper end of the dust collection box 620 is open, and a cover body 621 is detachably installed at the upper end of the dust collection box 620.

[0105] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those of ordinary skill in the art to which the present invention pertains, various changes can be made without departing from the gist of the present invention.

Claims

1. An online grinding robot system, characterized in that, Including: A conveyor line (100) for conveying a steel strip, and an installation platform (110) is horizontally arranged on the conveyor line (100); A six-axis robot (200) is fixed in the middle of the installation platform (110). The end of the six-axis robot (200) is an end joint (210). A trajectory control unit is built in the six-axis robot (200), and the trajectory control unit is used to control the movement trajectory of the end joint (210). A monitoring unit for monitoring the horizontal angle of the end joint (210) is built in the six-axis robot (200); A grinding mechanism (300) includes a driving cylinder (310) and a grinding element (320). The driving cylinder (310) is fixedly connected to the end joint (210). The driving direction of the driving cylinder (310) is collinear with the end joint (210). A floating joint (800) is connected between the driving end of the driving cylinder (310) and the grinding element (320), and the grinding element (320) has a grinding surface (3231); A width gauge (400) is slidably arranged on one side of the conveyor line (100), and the width gauge (400) is used to detect the width of the steel strip; A high-speed camera (500) is arranged above the conveyor line (100), and the high-speed camera (500) is used to detect the surface of the steel strip and identify defects on the surface of the steel strip; A dust suction mechanism (600) is installed on the end joint (210); Wherein, the driving cylinder (310) is connected to a gas source system through a gas source pipeline, and an electro-pneumatic proportional valve is arranged on the gas source pipeline. The monitoring unit is electrically connected to the electro-pneumatic proportional valve to control the air supply pressure of the gas source pipeline; Among them, the gravity of the entire grinding mechanism (300) is set as G, and the constant pressure required for grinding the steel strip is F 目标 ; At any position of the end joint (210), the real-time included angle between the end joint (210) and the grinding surface (3231) is α, and the real-time component force of the gravity G in the axial direction of the driving cylinder (310) is F α , F α = G x sinα, the instantaneous output pressure of the driving cylinder (310) is F, then F = F 目标 -F α .

2. The online grinding robot system according to claim 1, characterized in that, The grinding element (320) includes: A housing (321) with a driving cavity (3212) arranged inside, and a through hole (3211) is arranged through the bottom of the driving cavity (3212); A driving motor (322) is fixed on the top of the driving cavity (3212). The output shaft of the driving motor (322) is fixedly connected to a transmission shaft (3221). The transmission shaft (3221) pivotally penetrates through the through hole (3211), and the transmission shaft (3221) is coaxial with the driving cylinder (310); A grindstone (323) is fixedly connected to the end of the transmission shaft (3221).

3. The online grinding robot system according to claim 2, wherein, A cooling sleeve (330) is fixedly connected to the lower end of the housing (321). A cooling groove (331) is arranged inside the cooling sleeve (330), and a cooling medium (700) is arranged in the cooling groove (331). A groove (3232) is arranged at the upper end of the grindstone (323). The cooling sleeve (330) is embedded in the groove (3232) and can be rotationally matched with the groove (3232). Two return pipes (340) are respectively arranged on both sides of the transmission shaft (3221). A return groove (341) is arranged inside the housing (321). The return groove (341) is connected to the two return pipes (340) so that the lower ends of the two return pipes (340) are in open communication. The lower ends of the two return pipes (340) are immersed in the cooling medium (700) in the cooling groove (331). One of the return pipes (340) is provided with a one-way valve (342), and a fan blade (3222) is arranged on the shaft body of the transmission shaft (3221).

4. The on-line grinding robot system according to claim 3, characterized in that A liquid pump mechanism is arranged in one of the return pipes (340). The liquid pump mechanism includes: A fixed block (351) fixed to the upper end of the return pipe (340); A first magnetic block (352) slidably arranged at the lower end of the return pipe (340); A reset member (353) with one end fixedly connected to the fixed block (351) and the other end fixedly connected to the first magnetic block (352); A second magnetic block (360) fixed to the side wall of the transmission shaft (3221). The second magnetic block (360) can rotate with the rotation of the transmission shaft (3221) and intermittently rotate below the first magnetic block (352); Wherein, the magnetic poles of the opposite sides of the second magnetic block (360) and the first magnetic block (352) are the same to drive the first magnetic block (352) to slide towards the fixed block (351); the reset member (353) has elasticity to drive the first magnetic block (352) away from the fixed block (351); Wherein, the first magnetic block (352) and the second magnetic block (360) are both provided with through holes (370), and the one-way valve (342) is arranged in one of the through holes (370).

5. The on-line grinding robot system according to claim 3, characterized in that An annular positioning groove (3233) is arranged on the inner side surface of the groove (3232), and an annular positioning protrusion (332) is arranged on the side wall of the cooling sleeve (330). The positioning protrusion (332) is embedded in the positioning groove (3233) and is rotationally matched with the positioning groove (3233).

6. The online grinding robot system according to claim 3, wherein A plurality of dust suction holes (3213) are arranged through the lower end of the housing (321), and ventilation holes (3215) are arranged through the upper end. A dust delivery groove (3214) is arranged through the outside of the dust suction hole (3213). A filter screen (3216) is arranged at one end of the dust suction hole (3213) close to the ventilation hole (3215). The dust suction mechanism (600) includes: The dust suction hood (610) is sleeved outside the grindstone (323). The dust suction hood (610) is in a horn shape, is fixedly connected to the lower end of the housing (321), and is communicated with the dust suction hole (3213). The dust collection box (620) is arranged around the lower end of the housing (321). The dust collection box (620) is communicated with the dust suction hole (3213) through the ash conveying groove (3214). The dust blocking plate (630) has one end rotatably connected to the outer inner wall of the dust suction hole (3213). The dust blocking plate (630) is rotatable so that the dust blocking plate (630) is flatly arranged in the dust suction hole (3213) to close the dust suction hole (3213), or the dust blocking plate (630) forms an angle and forms a dust suction channel with the inner wall of the dust suction hole (3213). The dust blocking plate (630) is arranged below the ash conveying groove (3214).

7. The online grinding robot system according to claim 6, characterized in that One end of the dust blocking plate (630) is rotatably connected to the lower side surface of the ash conveying groove (3214). The lower side surface of the dust suction hole (3213) is horizontally arranged. The lower side surface of the ash conveying groove (3214) can abut against the lower surface of the dust blocking plate (630) to restrict the flat arrangement position of the dust blocking plate (630).

8. The on-line grinding robot system according to claim 6, characterized in that, The upper end of the dust collection box (620) is open, and a cover body (621) is detachably installed at the upper end of the dust collection box (620).

9. A grinding method for controlling the online grinding robot system according to any one of claims 1 to 8, characterized in that It includes the following steps: Step 1: The conveyor line (100) decelerates uniformly and conveys the steel strip to a preset position. Step 2: The width measuring instrument (400) reciprocates along one side of the conveyor line (100) to measure the total length of the steel strip and the width of each section area. The length data and width data are transmitted to the trajectory control unit through the width measuring instrument (400). Step 3: The high-speed camera (500) photographs the surface of the steel strip. A coordinate system is established with one end of the steel strip as the origin, the conveying direction is the Y-axis, and the direction perpendicular to the conveying direction is the X-axis. The coordinate information is transmitted to the trajectory control unit. If there are convex defects on the surface of the steel strip, go to Step 4.1; if there are scratch defects on the surface of the steel strip, go to Step 4.2; if there are no defects on the surface of the steel strip, go to Step 5. Step 4.1: Calculate the defect position coordinates. According to the defect position coordinates, the trajectory control unit generates concentric ring paths with gradually decreasing radii with the center of the convex defect as the origin. The grinding mechanism (300) is controlled by the trajectory control unit to grind gradually from the edge to the inside, and the output pressure of the driving cylinder (310) increases as the radius of the grinding area decreases. After completion, go to Step 5. Step 4.2: Calculate the defect position coordinates. The trajectory control unit generates a main trajectory and multiple sub-trajectories. The main trajectory extends along the direction of the scratch and extends 10 mm at both ends. The sub-trajectories are perpendicular to the scratch direction. The grinding mechanism (300) is controlled by the trajectory control unit to reciprocate along the main trajectory and the sub-trajectories respectively. After completion, go to Step 5. Step 5: According to the length data and width data, the trajectory control unit generates a straight trajectory and an oblique transition trajectory, and controls the grinding mechanism (300) to move along the straight trajectory and the oblique transition trajectory respectively through the trajectory control unit to grind the entire surface of the steel strip; simultaneously start the dust suction mechanism (600) to remove debris from the surface of the steel strip and proceed to Step 6; Step 6: Output the polished steel strip through the conveyor line (100), input the next steel strip, and proceed to Step 1; Among them, the straight trajectory is set along the conveying direction, multiple straight trajectories are set, the multiple straight trajectories are arranged side by side and cover the entire steel strip, and the two ends of the oblique transition trajectory are respectively connected to the starting point and the ending point of two adjacent straight trajectories; Among them, in step 4.1, step 4.2 and step 5, the real-time included angle α between the end joint (210) and the grinding surface (3231) is detected by the monitoring unit, and the real-time component force F of the gravity G in the axial direction of the driving cylinder (310) is calculated according to the included angle α α = G x sinα, and the instantaneous output pressure F of the driving cylinder (310) is controlled by the electro-hydraulic proportional valve, so that F = F 目标 -F α .

10. Online automatic control device, characterized in that, For controlling the on-line grinding robot system according to any one of claims 1 to 8.

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