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

Abstract

The application discloses an online polishing robot system, and discloses a polishing method and an online automatic control device for the online polishing robot system, wherein the online polishing robot system comprises a conveying line, a six-axis manipulator, a polishing mechanism, a width measuring instrument, a high-speed camera and a dust suction mechanism; the planeness error possibly existing in the steel belt is adapted through a dynamic force control algorithm, pressure compensation is performed in real time, constant-pressure polishing is realized, and polishing uniformity is improved.

Description

Technical Field

[0001] This invention relates to the field of grinding equipment, and in particular to an online grinding robot system, grinding method, and online automatic control device. Background Technology

[0002] Small-diameter galvanized steel strips require edge grinding of the galvanized layer before coiling, and the grinding quality is crucial to product performance. Existing grinding equipment has several shortcomings. Manually adjusting the grinding force is difficult to adapt to variations in steel strip thickness, resulting in poor grinding uniformity. For thin and narrow steel strips, insufficient strength and tension make them prone to bending and deformation, causing uneven grinding. Furthermore, the inconvenience of counterweight adjustment often leads to incomplete grinding in certain areas. Referring to patent application number CN115476211A, a small-diameter galvanized steel strip grinding machine is disclosed. By setting up grinding adjustment mechanisms and steel strip support adjustment mechanisms, it improves grinding uniformity and adaptability to some extent. However, this solution still suffers from insufficient automated control of the grinding process, lacking real-time dynamic adjustment of grinding pressure, making it difficult to accurately adapt to the flatness errors of the steel strip surface. Summary of the Invention

[0003] This invention aims to at least solve one of the technical problems existing in the prior art. To this end, this invention proposes an online grinding robot system capable of constant pressure grinding, thereby improving grinding uniformity.

[0004] The present invention also proposes a grinding method and an online automatic control device having the above-mentioned online grinding robot system.

[0005] An online polishing robot system according to a first aspect of the present invention includes a conveyor line, a six-axis manipulator, a polishing mechanism, a width measuring instrument, a high-speed camera, and a dust collection mechanism;

[0006] The conveyor line is used to transport steel strips, and the conveyor line is equipped with mounting platforms horizontally.

[0007] The six-axis robot is fixed in the middle of the mounting platform. The end of the six-axis robot is the end joint. The six-axis robot has a built-in trajectory control unit, which is used to control the movement trajectory of the end joint. The six-axis robot also has a built-in monitoring unit for monitoring the horizontal angle of the end joint.

[0008] The grinding mechanism includes a drive cylinder and a grinding element. The drive cylinder and the end joint are fixedly connected. The driving direction of the drive cylinder is collinear with that of the end joint. A floating joint is connected between the driving end of the drive cylinder and the grinding element. The grinding element has a grinding surface.

[0009] A width measuring instrument is slidably mounted on one side of the conveyor line, and the width measuring instrument is used to detect the width of the steel strip;

[0010] A high-speed camera is positioned above the conveyor line and is used to detect the surface of the steel strip and identify surface defects.

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

[0012] The drive cylinder is connected to an air source system via an air source pipeline. The air source pipeline is equipped with an electro-proportional valve. The monitoring unit is electrically connected to the electro-proportional valve to control the air supply pressure of the air source pipeline.

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

[0014] At any position of the final joint, the real-time included angle between the final joint and the grinding surface is α, and the real-time component of gravity G in the axial direction of the drive 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 online grinding robot system according to embodiments of the present invention has at least the following beneficial effects: by adapting to the possible flatness error of the steel strip itself through a dynamic force control algorithm, pressure compensation is performed in real time to achieve constant pressure grinding and improve grinding uniformity.

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

[0017] The housing has a drive cavity inside, and a through hole is provided at the bottom of the drive cavity;

[0018] A drive motor is fixed to the top of the drive cavity. The output shaft of the drive motor is fixedly connected to a transmission shaft. The transmission shaft can pivotally pass through the through hole. The transmission shaft and the drive cylinder are coaxial.

[0019] The grinding stone is fixedly connected to the end of the drive 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, a cooling medium is provided inside the cooling groove, a groove is provided at the upper end of the grinding stone, the cooling sleeve is embedded in the groove and can rotate with the groove, two return pipes are respectively provided on both sides of the drive shaft, a return groove is provided inside the housing, the return groove is connected to the two return pipes so that the lower openings of the two return pipes are connected, the lower openings of the two return pipes are immersed in the cooling medium in the cooling groove, one of the return pipes is provided with a one-way valve, and the shaft of the drive shaft is provided with fan blades.

[0021] According to some embodiments of the present invention, one of the reflux pipes has a built-in liquid pump mechanism, the liquid pump mechanism comprising:

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

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

[0024] The reset component is fixedly connected at one end to the fixing block and at the other end to the first magnetic block;

[0025] The second magnetic block is fixed to the side wall of the transmission shaft. The second magnetic block can rotate with the rotation of the transmission shaft, so as to rotate intermittently to the position below the first magnetic block.

[0026] The second magnetic block and the first magnetic block have their opposite magnetic poles aligned to drive the first magnetic block to slide toward the fixed block; the reset member is elastic to drive the first magnetic block away from the fixed block.

[0027] Both the first magnetic block and the second magnetic block are provided with perforations, and one of the perforations is provided with the one-way valve.

[0028] According to some embodiments of the present invention, the inner side of the groove is provided with an annular positioning groove, and the side wall of the cooling sleeve is provided with an annular positioning protrusion. The positioning protrusion is embedded in the positioning groove and rotates 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 a vent hole is provided through the upper end. A dust feeding groove is provided through the outer side of the dust suction holes, and a filter screen is provided at the end of the dust suction holes near the vent hole. The dust suction mechanism includes:

[0030] A dust cover is fitted over the grinding stone. The dust cover is flared and fixedly connected to the lower end of the housing, and communicates with the dust suction hole.

[0031] A dust collection box is arranged around the lower end of the housing, and the dust collection box is connected to the dust feeding trough and the dust suction hole;

[0032] A dust baffle is rotatably connected at one end to the inner wall of the outer side of the suction hole. The dust baffle can rotate so that it is flat inside the suction hole and closes the suction hole, or it is angled and forms a suction channel with the inner wall of the suction hole. The dust baffle is located below the dust feeding trough.

[0033] According to some embodiments of the present invention, one end of the dust baffle is rotatably connected to the lower side of the ash feeding trough, the lower side of the dust suction hole is horizontally arranged, and the lower side of the ash feeding trough can abut against the lower surface of the dust baffle to constrain 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 is detachably installed on the upper end of the dust collection box.

[0035] A polishing method according to a second aspect of the present invention, used to control an online polishing robot system according to a first aspect of the present invention, includes the following steps:

[0036] Step 1: The conveyor line decelerates evenly and conveys the steel belt to the preset position;

[0037] Step 2: The width measuring instrument moves back and forth along one side of the conveyor line to measure the total length of the steel strip and the width of each section. The length and width data are then transmitted to the track control unit via the width measuring instrument.

[0038] Step 3: The high-speed camera captures images of the steel strip surface. A coordinate system is established with one end of the steel strip as the origin, the conveying direction as the Y-axis, and the perpendicular conveying direction as the X-axis. The coordinate information is then transmitted to the trajectory control unit. If the steel strip surface has raised defects, proceed to step 4.1; if the steel strip surface has scratches, proceed to step 4.2; if the steel strip surface has no defects, proceed to step 5.

[0039] Step 4.1: Calculate the coordinates of the defect location. Based on the coordinates of the defect location, the trajectory control unit generates a concentric loop path with a gradually decreasing radius, with the center of the protruding defect as the origin. The trajectory control unit controls the grinding mechanism to grind from the edge to the inside step by step, and the output pressure of the drive cylinder increases as the radius of the grinding area decreases. After completion, proceed to step 5.

[0040] Step 4.2: Calculate the coordinates of the defect location. The trajectory control unit generates the main trajectory and multiple sub-trajectories. The main trajectory extends along the direction of the scratch and extends 10mm at each end. The sub-trajectories are perpendicular to the direction of the scratch. The trajectory control unit controls the grinding mechanism to reciprocate along the main trajectory and sub-trajectories respectively. After completion, proceed to step 5.

[0041] Based on the length and width data, the trajectory control unit generates a straight trajectory and an oblique transition trajectory. The trajectory control unit controls the grinding mechanism to move along the straight trajectory and the oblique transition trajectory respectively to grind the entire surface of the steel strip. Simultaneously, the dust collection mechanism is started to remove debris from the surface of the steel strip, proceeding to step 6.

[0042] Step 6: Output the polished steel strip via the conveyor line and input the next steel strip to proceed to Step 1;

[0043] Among them, the straight track is set along the conveying direction, and multiple straight tracks are set. The multiple straight tracks are set side by side and cover the entire steel belt. The two ends of the oblique transition track are connected to the starting point and the ending point of two adjacent straight tracks respectively.

[0044] In steps 4.1, 4.2, and 5, the monitoring unit detects the real-time angle α between the end joint and the grinding surface, and calculates the real-time component F of gravity G in the axial direction of the drive cylinder based on the angle α. α =G x sinα, the instantaneous output pressure F of the drive cylinder is controlled by an electro-proportional valve, so that F = F 目标 -F α .

[0045] The grinding method according to the embodiments of the present invention has at least the following beneficial effects: by adapting 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 grinding uniformity.

[0046] An online automatic control device according to a third aspect of the present invention is used to control an online grinding robot system according to a first aspect of the present invention.

[0047] The automatic control device for the grinding robot according to the embodiments of the present invention has at least the following beneficial effects: by adapting the dynamic force control algorithm to the possible flatness error of the steel strip itself, pressure compensation is performed in real time to achieve constant pressure grinding and improve grinding uniformity.

[0048] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0049] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0050] Figure 1 This is a schematic diagram of an online polishing robot system according to an embodiment of the present invention;

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

[0052] Figure 3 This is a schematic diagram of the grinding mechanism of the online grinding robot system according to an embodiment of the present invention;

[0053] Figure 4 This is a schematic diagram of a six-axis manipulator in an online polishing robot system according to an embodiment of the present invention;

[0054] Figure 5 This is a cross-sectional schematic diagram of the grinding elements and dust collection mechanism of the online grinding robot system according to an embodiment of the present invention;

[0055] Figure 6 for Figure 5 A schematic cross-sectional view along the AA direction.

[0056] 100. Conveyor line; 110. Mounting platform;

[0057] 200. Six-axis robotic arm; 210. End joint;

[0058] 300. Grinding mechanism; 310. Drive cylinder; 320. Grinding element; 321. Housing; 3211. Through hole; 3212. Drive chamber; 3213. Dust suction hole; 3214. Ash feeding trough; 3215. Vent hole; 3216. Filter screen; 322. Drive motor; 3221. Drive 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. Reset component; 360. Second magnetic block; 370. Perforation;

[0059] 400. Width measuring instrument;

[0060] 500. High-speed camera;

[0061] 600. Vacuuming mechanism; 610. Vacuum hood; 620. Dust collection box; 621. Cover; 630. Dust baffle;

[0062] 700. Cooling medium;

[0063] 800, Floating Joint; Detailed Implementation

[0064] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein 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 with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0065] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0066] In the description of this invention, "several" means one or more, "more than" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0067] In the description of this invention, unless otherwise explicitly defined, terms such as "set up," "install," and "connect" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0068] Reference Figures 1 to 6 An online polishing robot system according to an embodiment of the present invention includes a conveyor line 100, a six-axis robotic arm 200, a polishing mechanism 300, a width measuring instrument 400, a high-speed camera 500, and a dust collection mechanism 600; wherein,

[0069] The conveyor line 100 is used to convey steel strips, and the conveyor line 100 is provided with a mounting platform 110 horizontally;

[0070] The six-axis robot 200 is fixed in the middle of the mounting platform 110. The end of the six-axis robot 200 is the end joint 210. The six-axis robot 200 has a built-in trajectory control unit, which is used to control the movement trajectory of the end joint 210. The six-axis robot 200 also has a built-in monitoring unit for monitoring the horizontal angle of the end joint 210.

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

[0072] A width measuring instrument 400 is slidably disposed on one side of the conveyor line 100, and the width measuring instrument 400 is used to detect the width of the steel strip;

[0073] A high-speed camera 500 is positioned above the conveyor line 100. The high-speed camera 500 is used to detect the surface of the steel strip and identify surface defects of the steel strip.

[0074] The dust collection mechanism 600 is mounted on the end joint 210;

[0075] The drive cylinder 310 is connected to an air source system via an air source pipeline. The air source pipeline is equipped with an electric proportional valve. The monitoring unit is electrically connected to the electric proportional valve to control the air supply pressure of the air source pipeline.

[0076] Here, 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, the real-time included angle between the end joint 210 and the grinding surface 3231 is α, and the real-time component of gravity G in the axial direction of the drive 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] Reference Figure 2 In practical use, the grinding method of the online grinding robot system in this embodiment includes the following steps:

[0079] Step 1: The conveyor line decelerates uniformly and transports the steel belt to the preset position;

[0080] Step 2: The width measuring instrument 400 moves back and forth along one side of the conveyor line 100 to measure the total length of the steel strip and the width of each section. The length and width data are then transmitted to the track control unit via the width measuring instrument 400.

[0081] Step 3: The high-speed camera 500 captures images of the steel strip surface. A coordinate system is established with one end of the steel strip as the origin, the conveying direction as the Y-axis, and the perpendicular conveying direction as the X-axis. The coordinate information is then transmitted to the trajectory control unit. If the steel strip surface has raised defects, proceed to step 4.1; if the steel strip surface has scratches, proceed to step 4.2; if the steel strip surface has no defects, proceed to step 5.

[0082] Step 4.1: Calculate the coordinates of the defect location. Based on the coordinates of the defect location, the trajectory control unit generates a concentric loop path with a gradually decreasing radius, with the center of the protruding defect as the origin. The trajectory control unit controls the grinding mechanism 300 to grind from the edge to the inside step by step, and the output pressure of the drive cylinder 310 increases as the radius of the grinding area decreases. After completion, proceed to step 5.

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

[0084] Step 5: Based on the length 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, the dust collection mechanism 600 is started to remove debris from the surface of the steel strip, and then proceeds to step 6.

[0085] Step 6: The polished steel strip is output through conveyor line 100 and the next steel strip is input to proceed to step 1;

[0086] Among them, the straight track is set along the conveying direction, and multiple straight tracks are set. The multiple straight tracks are set side by side and cover the entire steel belt. The two ends of the oblique transition track are connected to the starting point and the ending point of two adjacent straight tracks respectively.

[0087] In steps 4.1, 4.2, and 5, the monitoring unit detects the real-time included angle α between the end joint 210 and the grinding surface 3231, and calculates the real-time component F of gravity G in the axial direction of the drive cylinder 310 based on the included angle α. α =Gx sinα, the instantaneous output pressure F of the drive cylinder 310 is controlled by the electric proportional valve, so that F = F 目标 -F α .

[0088] In summary, by adapting the dynamic force control algorithm to the possible flatness error of the steel strip itself, pressure compensation is performed in real time to achieve constant pressure grinding and improve grinding uniformity.

[0089] The trajectory control unit generates a corresponding motion trajectory based on various received data (including the width and length of the steel strip from the width measuring instrument 400, and coordinate data from the high-speed camera 500), and controls the end joint 210 to move according to this trajectory. Meanwhile, the monitoring unit monitors the horizontal angle of the end joint 210 in real time and feeds the angle information back to the central processing unit. The central processing unit coordinates the operation of the entire device; specifically, it is also electrically connected to an electric proportional valve, which, according to F... α =G x sinα and F = F 目标 -F α The calculation relationship is used to determine the instantaneous pressure required by the drive cylinder 310, and the air supply pressure of the air source pipeline is controlled by an electro-proportional valve to achieve precise pressure control and constant pressure grinding. Among these, reference... Figure 4 The six-axis robotic arm 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 motion commands for each joint, achieving large-area grinding coverage.

[0090] Furthermore, in this embodiment, the floating joint 800 can improve the pressure control accuracy. During the stress process, it can achieve pure axial force transmission and automatic lateral force unloading, so that the grinding surface 3231 fits the steel strip surface (including protrusion defects or scratch defects), which has the advantages of axial rigidity and radial flexibility, and improves the processing accuracy.

[0091] Furthermore, in an embodiment of the present invention, an online automatic control device is provided for controlling the online polishing robot system of the present invention. The online automatic control device enables the online polishing robot system to perform the polishing process according to the polishing method.

[0092] Furthermore, the drive cylinder 310 has a built-in magnetic ring that moves synchronously with the piston of the drive cylinder 310. A magnetic switch (such as a Hall sensor) is installed on the outside of the drive cylinder 310 to detect the position of the magnetic ring and determine whether the piston has reached the extension / retraction endpoint. In practical applications, the signal from the magnetic ring can confirm whether the drive cylinder 310 has reached the preset pressure position (such as the pre-pressure position before the grinding element 320 contacts the steel strip) to avoid rigid collisions.

[0093] It should be mentioned that, regarding the aforementioned high-speed camera 500, when the high-speed camera 500 is activated, it takes high-speed pictures of the surface of the steel strip stationary at a preset position, acquiring multiple images; taking one end of the steel strip (such as the left or right end) as the origin, the conveying direction of the steel strip is set as the Y-axis, and the direction perpendicular to the conveying direction is set as the X-axis, establishing a planar rectangular coordinate system; the captured images are processed by image analysis software to identify whether there are protrusion defects, scratch defects, or no defects on the surface of the steel strip, and proceed to the corresponding processing steps according to the defect type.

[0094] On the one hand, considering the shape characteristics of the protruding defects, a concentric ring path is used to grind from the edge to the inside (avoiding pushing too much material of the protruding part to the periphery). Combined with dynamic adjustment of pressure, the protruding part can be gradually ground flat, improving the effect of defect treatment.

[0095] On the other hand, regarding scratches, the grinding mechanism 300 first reciprocates along the main trajectory to perform preliminary grinding on the scratches, and then reciprocates along each secondary trajectory to grind the area around the scratches, so as to eliminate the scratches and make the grinding area transition smoothly with the surrounding surface. Grinding along the scratch direction of the main trajectory can effectively remove the scratches, while grinding in the vertical direction of the secondary trajectory can handle the uneven areas around the scratches, making the surface after grinding smoother (eliminating the edge effect of the scratches in the vertical direction).

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

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

[0098] Specifically, after the drive 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 high speed. The grinding surface 3231 of the rotating grinding stone 323 contacts the surface of the steel belt, performing grinding operations on the steel belt. Since the transmission shaft 3221 is coaxial with the drive cylinder 310, the driving force of the drive cylinder 310 can be transmitted along the axial direction of the transmission shaft 3221. Combined with the above-mentioned technical solution of "real-time attitude perception - gravity component compensation - dynamic pressure adjustment", the grinding stone 323 contacts the steel belt with appropriate pressure.

[0099] Furthermore, during the rotation of the drive shaft 3221, the grinding stone 323 easily generates heat. Therefore, referring to... Figure 5 The lower end of the housing 321 is fixedly connected to a cooling sleeve 330. The cooling sleeve 330 has a cooling groove 331 inside, and the cooling groove 331 contains a cooling medium 700. The upper end of the grinding stone 323 has a groove 3232. The cooling sleeve 330 is embedded in the groove 3232 and can rotate with the groove 3232. Two return pipes 340 are respectively provided on both sides of the drive shaft 3221. The housing 321 has a return groove 341 inside, and the return groove 341 is connected to the two return pipes 340 so that the lower openings of the two return pipes 340 are connected. The lower openings 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. The shaft of the drive shaft 3221 is provided with a fan blade 3222.

[0100] During actual processing, the high-speed rotation of the grinding stone 323 generates heat through friction with the steel belt, causing its temperature to rise. The cooling medium 700 in the cooling tank 331 absorbs the heat from the grinding stone 323, raising its temperature. As the drive shaft 3221 rotates, it drives the cooling medium 700 in the return pipe 340 to flow. The high-temperature cooling medium 700 enters the return groove 341 of the housing 321 through the return pipe 340. After a certain cooling process, the low-temperature cooling medium 700 returns to the cooling tank 331 through another return pipe 340, thus achieving the circulation of the cooling medium 700. The one-way valve 342 ensures that the cooling medium 700 can only flow in one direction, guaranteeing the normal circulation. Through the circulation of the cooling medium 700, the temperature of the grinding stone 323 is effectively reduced, preventing damage or reduced grinding efficiency due to overheating 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 chamber 3212. The fan blades 3222 of the drive shaft 3221 in the drive chamber 3212 will drive the gas flow, and the cold gas will cool the cooling medium 700 in the return tank 341, so that the temperature of the cooling medium 700 that re-enters the cooling tank 331 will be reduced.

[0101] As a further optimization of the above scheme, referring to Figure 5One of the return pipes 340 has a built-in liquid pump mechanism, which includes a fixing block 351, a first magnetic block 352, a reset member 353, and a second magnetic block 360. The fixing 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 fixing 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 drive shaft 3221, and the second magnetic block 360 can move with the drive shaft 3221. The drive shaft 3221 rotates intermittently to a position below the first magnetic block 352; wherein the magnetic poles of the second magnetic block 360 and the first magnetic block 352 are aligned on opposite sides, thereby driving the first magnetic block 352 to slide toward the fixed block 351; the reset member 353 is elastic, thereby driving the first magnetic block 352 away from the fixed block 351; wherein both the first magnetic block 352 and the second magnetic block 360 are provided with a through hole 370, one of which is provided with the one-way valve 342. Understandably, when the drive shaft 3221 rotates, the second magnetic block 360 fixed to its side wall rotates accordingly. When the second magnetic block 360 rotates to below the first magnetic block 352, since their opposite magnetic poles are aligned, a repulsive force is generated, driving 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, drawing in the cooling medium 700 from 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, restoring it to its original position, pushing the drawn-in 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, preventing backflow. Utilizing the rotational power of the drive shaft 3221, automatic circulation of the cooling medium 700 is achieved without an additional power source, improving the efficiency and reliability of the cooling medium 700 circulation.

[0102] Preferably, refer to Figure 5 The inner side of the groove 3232 is provided with an annular positioning groove 3233, and the side wall of the cooling sleeve 330 is provided with an annular positioning protrusion 332. The positioning protrusion 332 is embedded in the positioning groove 3233 and rotates with the positioning groove 3233. This achieves a stable connection and flexible rotation between the cooling sleeve 330 and the grinding stone 323, ensuring that the cooling sleeve 330 can reliably cool the grinding stone 323 during its rotation, 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 polishing process, the dust collection mechanism 600 works simultaneously and uses airflow principles to collect debris (mainly surface metal debris and excess coating) in a timely manner, so that the steel belt can be cleaned while being polished. Preferably, referring to... Figure 5 In some embodiments, the lower end of the housing 321 is provided with a plurality of dust suction holes 3213, and the upper end is provided with a vent hole 3215. A dust feeding groove 3214 is provided through the outer side of the dust suction holes 3213. A filter screen 3216 is provided at the end of the dust suction hole 3213 near the vent 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 fitted over the grinding stone 323. The dust suction hood 610 is trumpet-shaped and is fixedly connected to the lower end of the housing 321 and to the dust suction holes. 3213 is connected; the dust collection box 620 is arranged around the lower end of the housing 321, and the dust collection box 620 is connected to the dust suction hole 3213 through the dust feeding trough 3214; one end of the dust baffle 630 is rotatably connected to the outer inner wall of the dust suction hole 3213, and the dust baffle 630 can rotate so that the dust baffle 630 is flat inside the dust suction hole 3213 and closes the dust suction hole 3213, or the dust baffle 630 is at an angle and forms a dust suction channel with the inner wall of the dust suction hole 3213, and the dust baffle 630 is arranged below the dust feeding trough 3214. During actual operation, the debris generated during grinding is collected by the dust collection hood 610. Due to the suction force inside the dust collection mechanism 600 (the negative pressure formed by the air flow caused by the aforementioned fan blades 3222), the debris enters the housing 321 through the dust collection hole 3213. After being filtered by the filter screen 3216 to remove larger particles, it enters the dust collection box 620 through the dust conveying chute 3214. When dust collection is not required, the dust baffle 630 rotates and lies horizontally inside the dust collection hole 3213, sealing the dust collection hole. 3213, to prevent debris from entering; when vacuuming is needed, the dust baffle 630 rotates to form a vacuum channel with the inner wall of the vacuum hole 3213, allowing debris to pass through and efficiently collecting grinding debris. The filter screen 3216 filters to prevent large particles from clogging the pipe. The dust baffle 630 controls the opening and closing of the vacuum channel to ensure that the vacuuming mechanism 600 works normally when needed, while preventing debris on the filter screen 3216 from falling back onto the steel belt. In addition, the horn-shaped vacuum hood 610 can expand the collection range.

[0104] As an optimization of the vacuuming mechanism 600, refer to Figure 5One end of the dust baffle 630 is rotatably connected to the lower side of the ash feeding trough 3214. The lower side of the dust suction hole 3213 is horizontally positioned, and the lower side of the ash feeding trough 3214 can abut against the lower surface of the dust baffle 630 to constrain the horizontal position of the dust baffle 630. On one hand, when it is necessary to close the dust suction hole 3213, the dust baffle 630 is rotated so that its lower surface abuts against the horizontal lower side of the ash feeding trough 3214. The dust baffle 630 is horizontally positioned inside the dust suction hole 3213, completely sealing the dust suction hole 3213 and preventing external debris from entering or internal debris from leaking out. On the other hand, when it is necessary to open the dust suction channel, the dust baffle 630 is rotated upward so that the dust baffle 630 rotates on the lower side of the ash feeding trough 3214 and forms a certain angle with the inner wall of the dust suction hole 3213, forming a channel for debris to pass through. The airflow during dust suction carries the debris through this channel into the dust suction hole 3213. It is important to emphasize that when the dust extraction channel is opened, one end of the dust baffle 630 rotates on the lower side of the dust conveying trough 3214, allowing the debris originally piled on the dust baffle 630 to slide down the inclined dust baffle 630 into the dust collection box 620. To facilitate the handling of debris in the dust collection box 620, the upper end of the dust collection box 620 is open, and a cover 621 is detachably installed on 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 skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. An online polishing robot system, characterized by, The utility model relates to a kind of steel strip surface grinding device, including: Conveying line (100) for conveying steel strip, the conveying line (100) is equipped with installation platform (110) horizontally; Six-axis manipulator (200) is fixed in the middle of the installation platform (110), the end of the six-axis manipulator (200) is last joint (210), trajectory control unit is built-in in the six-axis manipulator (200), the trajectory control unit is used to control the moving track of the last joint (210), monitoring unit for monitoring the horizontal angle of the last joint (210) is built-in in the six-axis manipulator (200); Polishing mechanism (300) includes drive cylinder (310) and polishing element (320), the drive cylinder (310) and the last joint (210) are fixedly connected, the drive direction of the drive cylinder (310) and the last joint (210) are collinear, floating joint (800) is connected between the drive end of the drive cylinder (310) and the polishing element (320), the polishing element (320) has polishing face (3231); Width measuring instrument (400) is slidably arranged at one side of the conveying line (100), and the width measuring instrument (400) is used to detect the width of steel strip; High-speed camera (500) is arranged above the conveying line (100), and the high-speed camera (500) is used to detect steel strip surface and identify steel strip surface defect; Dust suction mechanism (600) is installed on the last joint (210); Wherein, the drive cylinder (310) is connected with gas source system by gas supply pipeline, the gas supply pipeline is provided with electric proportional valve, the monitoring unit and the electric proportional valve are electrically connected to control the gas supply pressure of the gas supply pipeline; Wherein, set the gravity of the whole polishing mechanism (300) is G, the constant pressure required for steel belt polishing is F 目标 ; The real-time angle between the end joint (210) and the polishing surface (3231) is α, the real-time component of the gravity G in the axis 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 polishing robot system of claim 1, wherein, The polishing element (320) includes: Shell (321) is internally provided with drive cavity (3212), the bottom of the drive cavity (3212) is provided with through hole (3211) penetratingly; Drive motor (322) is fixed at the top of the drive cavity (3212), the output shaft of the drive motor (322) is fixedly connected with transmission shaft (3221), the transmission shaft (3221) is pivotally penetrated in the through hole (3211), the transmission shaft (3221) and the drive cylinder (310) are coaxial; Grinding stone (323) is fixedly connected with the end of the transmission shaft (3221).

3. The online polishing robot system of claim 2, wherein, The lower end of the shell (321) is fixedly connected with a cooling sleeve (330), the cooling sleeve (330) is internally provided with a cooling groove (331), the cooling groove (331) is internally provided with a cooling medium (700), the upper end of the grinding stone (323) is provided with a groove (3232), the cooling sleeve (330) is embedded in the groove (3232) and can rotate with the groove (3232), both sides of the transmission shaft (3221) are respectively provided with two return pipes (340), the shell (321) is internally provided with a return groove (341), the return groove (341) is connected with the two return pipes (340), so that the lower end openings of the two return pipes (340) are in communication, the lower end openings 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 the shaft body of the transmission shaft (3221) is provided with a fan blade (3222).

4. The online polishing robot system of claim 3, wherein, One of the return pipes (340) is internally provided with a liquid pump mechanism, the liquid pump mechanism comprises: 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) fixedly connected at one end to the fixed block (351) and at the other end 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 transmission shaft (3221) and rotate intermittently below the first magnetic block (352); Wherein, the opposite poles of the second magnetic block (360) and the first magnetic block (352) are consistent, so as to drive the first magnetic block (352) to slide towards the fixed block (351); the reset member (353) has elasticity, so as to drive the first magnetic block (352) to move away from the fixed block (351); Wherein, the first magnetic block (352) and the second magnetic block (360) are both provided with a perforation (370), one of the perforations (370) is provided with the one-way valve (342).

5. The online polishing robot system of claim 3, wherein, The inner side of the groove (3232) is provided with a positioning groove (3233) in the form of a ring, the side wall of the cooling sleeve (330) is provided with a positioning protrusion (332) in the form of a ring, the positioning protrusion (332) is embedded in the positioning groove (3233) and rotates with the positioning groove (3233).

6. The online polishing robot system of claim 3, wherein, The lower end of the shell (321) is provided with a plurality of dust suction holes (3213), the upper end is provided with a ventilation hole (3215), the outer side of the dust suction hole (3213) is provided with a dust conveying groove (3214), one end of the dust suction hole (3213) close to the ventilation hole (3215) is provided with a filter screen (3216), and the dust suction mechanism (600) comprises: A dust suction cover (610) is sleeved outside the grinding stone (323), the dust suction cover (610) is trumpet-shaped, is fixedly connected with the lower end of the shell (321), and communicates with the dust suction hole (3213); A dust collecting box (620) is arranged around the lower end of the shell (321), and the dust collecting box (620) communicates with the dust suction hole (3213) through the dust conveying chute (3214); A dust blocking plate (630) is rotatably connected to the outer side wall of the dust suction hole (3213), the dust blocking plate (630) can be rotated to be arranged in the dust suction hole (3213) and close the dust suction hole (3213), or the dust blocking plate (630) is arranged at an angle and forms a dust suction channel with the inner wall of the dust suction hole (3213), and the dust blocking plate (630) is arranged below the dust conveying chute (3214).

7. The online polishing robot system of claim 6, wherein, One end of the dust blocking plate (630) is rotatably connected to the lower side of the dust conveying chute (3214), the lower side of the dust suction hole (3213) is horizontally arranged, and the lower side of the dust conveying chute (3214) can abut against the lower surface of the dust blocking plate (630) to constrain the flat arrangement position of the dust blocking plate (630).

8. The online polishing robot system of claim 6, wherein, The upper end of the dust collecting box (620) is open, and a cover (621) is detachably arranged on the upper end of the dust collecting box (620).

9. A grinding method for controlling the online grinding robot system according to any one of claims 1 to 8, characterized by, The method comprises the following steps: Step 1: uniformly decelerate the conveying line (100) and convey the steel belt to a preset position; Step 2: reciprocally move a width measuring instrument (400) along one side of the conveying line (100) to measure the total length of the steel belt and the width of each area, and transmit the length data and the width data to a track control unit through the width measuring instrument (400); Step 3: a high-speed camera (500) photographs the surface of the steel belt, establishes a coordinate system with one end of the steel belt as the origin, the conveying direction as the Y axis and the vertical conveying direction as the X axis, and transmits the coordinate information to the track control unit, if the surface of the steel belt has a protruding defect, step 4.1 is performed, if the surface of the steel belt has a scratch defect, step 4.2 is performed, and if the surface of the steel belt has no defect, step 5 is performed; Step 4.1: calculate the defect position coordinates, generate a concentric ring path with gradually reduced radius with the center of the protruding defect as the origin according to the defect position coordinates, and control the grinding mechanism (300) to gradually polish from the edge to the inside through the track control unit, and increase the output pressure of the driving cylinder (310) as the radius of the polishing area decreases, and then perform step 5; Step 4.2: calculate the defect position coordinates, generate a main track and multiple sub-tracks, the main track extends along the extension direction of the scratch, and the two ends each extend by 10 mm, and the sub-tracks are perpendicular to the scratch direction, control the grinding mechanism (300) to reciprocate along the main track and the sub-tracks through the track control unit, and then perform step 5; Step 5: According to the length data and the width data, the trajectory control unit generates straight line trajectories and oblique transition trajectories, and controls the polishing mechanism (300) to move along the straight line trajectories and the oblique transition trajectories respectively to polish the entire surface of the steel strip; simultaneously, the dust collection mechanism (600) is started to remove the debris on the surface of the steel strip, and step 6 is performed; Step 6: The polished steel strip is output through the conveying line (100), and the next steel strip is input, and step 1 is performed; The straight line trajectories are arranged along the conveying direction, and a plurality of straight line 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 the adjacent two straight line trajectories; In step 4.1, step 4.2 and step 5, the real-time angle a between the end joint (210) and the polishing surface (3231) is detected by the monitoring unit, and the real-time component F of the gravity G in the axis direction of the driving cylinder (310) is calculated according to the angle a α =G x sin a, the instantaneous output pressure F of the driving cylinder (310) is controlled by the electric proportional valve, so that F=F 目标 α .​ 10. An online automatic control device, characterized by, A control method for the online polishing robot system according to any one of claims 1 to 8.

Images