Electronic component self-adaptive grinding device based on machine vision

Abstract

The invention discloses an electronic component self-adaptive polishing device based on machine vision, which relates to the technical field of electronic component polishing and comprises a self-adaptive mechanical arm, a polisher mounted at an execution end of the self-adaptive mechanical arm and a sensor system on the outer surface of the self-adaptive mechanical arm. When the device is used, the winding motor is started, the winding rope is released, the telescopic spring pushes the telescopic sleeve rod to be gradually unfolded, the fixing shaft is pushed to transversely move, and the two separation tables are opened towards the two sides. The forward and reverse motor is started to drive the two rotating rods to rotate reversely, the telescopic sleeve rod drives the fixed shaft to rotate downwards, the two separating tables rotate downwards, and the T-shaped table is isolated and used independently. Pictures are shot through the industrial camera, the self-adaptive mechanical arm is started, self-adaptive adjustment is conducted according to the outline of a component, the polishing speed, angle, force and the like are monitored through the sensor system, related data are adjusted in a self-adaptive mode, and intelligent self-adaptive polishing is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of electronic component polishing, and in particular to an electronic component adaptive polishing device based on machine vision. Background Art

[0002] Electronic components are the basic components of electronic circuits and are used to realize functions such as processing, transmission, storage and control of electronic signals. In the production and processing of electronic components, some electronic components with metal shells usually need to be polished in order to obtain better surface finish and remove burrs or oxide layers so that subsequent electroplating, welding and other processes can be carried out better. Intelligent manufacturing equipment can achieve efficient, accurate and flexible production of equipment through the integration of automation and intelligent technology. The adaptive polishing device can achieve high-precision polishing of electronic components.

[0003] In the prior art, when polishing electronic components, they generally need to be placed on a polishing table, and then the intelligent robotic arm drives the polishing head to move to the polishing location for polishing. The polishing table is generally square in shape. However, in addition to square, electronic components also have cylindrical shapes. When the cylindrical components are placed on the square polishing table, their circumferential sides are located above the square polishing table instead of outside the polishing table. In this case, when the polishing head polishes the side of the cylindrical component, the edge of the polishing head will frequently contact the top of the polishing table, generating additional resistance and friction, causing the motion trajectory of the polishing head to shift, resulting in a decrease in polishing accuracy, affecting the quality and performance of the components, and also aggravating the wear of the polishing head and the polishing table, reducing their service life.

[0004] Therefore, we propose an electronic component adaptive polishing device based on machine vision to solve the problems raised in the above background technology. Summary of the invention

[0005] The purpose of the present invention is to provide an adaptive polishing device for electronic components based on machine vision, so as to solve the problem proposed in the above background technology that when a cylindrical electronic component is placed on a square polishing table for polishing, its circumferential side is located on the square polishing table, so that the edge of the polishing head frequently contacts the polishing table, generating additional resistance and friction, causing the movement trajectory of the polishing head to shift, resulting in a decrease in polishing accuracy, and affecting the quality and performance of the component.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an electronic component adaptive grinding device based on machine vision, comprising an adaptive mechanical arm and a grinder installed at its execution end, and a sensor system on the outer surface of the adaptive mechanical arm, a processing box is arranged on the front surface of the adaptive mechanical arm, a rotating platform system and a separation component installed on the top of the rotating platform system are arranged inside the processing box, and a gathering component is arranged on the outer surface of the separation component; The separation component includes two separation platforms. On one side of each of the two separation platforms, a closing groove is provided. A T-shaped platform is movably embedded in the interior of the two closing grooves. At the bottom of the outer surfaces on both sides of the two separation platforms, fixed shafts are fixedly installed. A sliding track is movably sleeved on the outer surface of each of the four fixed shafts. The fixed shaft first moves horizontally along a linear trajectory in the sliding track and then rotates downward along an arc trajectory, driving the separation platform to horizontally move away from the outer surface of the T-shaped platform and then flip downward to separate the T-shaped platform for independent use.

[0007] Preferably, the separation component further includes a forward and reverse motor and two rotating rods. Gears are fixedly connected to both ends of the two rotating rods. Fixed blocks are fixedly installed on the outer surfaces of the four fixed shafts. Telescopic sleeve rods are fixedly installed on the outer surface of one side of each of the four fixed blocks. A telescopic spring is provided inside each of the four telescopic sleeve rods. Two winding ropes are fixedly connected to one side inside each of the four telescopic sleeve rods. Two limiting support plates are fixedly installed on the top of the rotating platform system.

[0008] Preferably, the separation component further includes a winding rod and a winding motor. Two inclined baffles are movably sleeved on the outer surface of the winding rod. Two protective sleeve tubes are provided inside each of the four telescopic springs. Arc-shaped grooves are provided on the outer surfaces at both ends of the two rotating rods. An annular vacuum suction cup component is provided inside the T-shaped platform. Two support seats are fixedly installed at the bottom of the T-shaped platform. Linear vacuum suction cup components are provided inside each of the two separation platforms.

[0009] Preferably, an intelligent control platform is provided on the front surface of the processing box. Industrial cameras are provided on both sides inside the processing box. The bottoms of the two support seats are fixedly installed on the top of the rotating platform system. Two support rods are fixedly installed on the outer surface of each of the four sliding tracks. The bottoms of the multiple support rods are fixedly installed on the top of the rotating platform system. The bottom of the forward and reverse motor is installed on one side of the top of the rotating platform system through an auxiliary plate. The outer surface of the winding rod is located between the two support seats.

[0010] Preferably, the outer surfaces of the eight winding ropes are respectively movably embedded in the interiors of the eight protective sleeve tubes. Every two adjacent winding ropes among the eight winding ropes form a group. One ends of the four groups of winding ropes respectively movably penetrate to the outer surfaces of the four telescopic sleeve rods. The outer surfaces of the four groups of winding ropes are respectively movably embedded in the interiors of the four arc-shaped grooves. One ends of the four groups of winding ropes are fixedly connected to the outer surface of the winding rod.

[0011] Preferably, one side outer surface of the winding motor is mounted on one side outer surface of one of the limiting support plates through bolts. The output end of the winding motor movably penetrates to the other side outer surface of one of the limiting support plates. One end of the winding motor is fixedly connected to one end of the winding rod. The other end of the winding rod movably penetrates to the outer surface of the other limiting support plate. The bottoms of the two inclined baffle plates are fixedly mounted on the top of the rotary platform system.

[0012] Preferably, two of the four telescopic sleeve rods in each horizontal part are taken as a group. One ends of the two groups of telescopic sleeve rods are respectively fixedly mounted on the outer surfaces at one ends of the two rotating rods. Every two adjacent gears among the four gears are meshed with each other. The output end of the positive and negative motor is fixedly connected to one side outer surface of one of the gears. The two ends of the four rotating rods respectively movably penetrate to one side outer surfaces of the two limiting support plates.

[0013] Preferably, the folding component includes two extension platforms. A plurality of arc-shaped insertion rods are fixedly mounted at the tops of the outer surfaces on one sides of the two extension platforms. First magnets are arranged inside the two extension platforms. Electromagnets are arranged at the edges inside the two separation platforms. L-shaped plates are fixedly mounted inside the two separation platforms. Second magnets are arranged on the outer surfaces on one sides of the two L-shaped plates. A plurality of connecting rods are fixedly mounted on the outer surfaces on one sides of the two second magnets. Rotating grooves are formed at the edges of the bottoms of the two separation platforms. Rotating bars are movably embedded in the two rotating grooves. Central rods are movably embedded in the two rotating bars.

[0014] Preferably, five of the plurality of connecting rods distributed horizontally are taken as a group. One ends of the two groups of connecting rods are both fixedly mounted with connecting plates. A plurality of Z-shaped ejecting rods are fixedly mounted at the tops of the outer surfaces on one sides of the two connecting plates. Return springs are movably sleeved on the outer surfaces of the plurality of connecting rods. The two first magnets are magnetically connected to the outer surfaces on one sides of the two electromagnets respectively. The two second magnets are magnetically connected to the outer surfaces on the other sides of the two electromagnets respectively. One side outer surfaces of the two extension platforms are respectively in contact with one side outer surfaces of the two separation platforms. The two ends of the two central rods are respectively fixedly mounted on both sides inside the two rotating grooves. One side outer surfaces of the two rotating bars are respectively fixedly connected to the bottoms of the outer surfaces on one sides of the two extension platforms.

[0015] Preferably, a plurality of arc-shaped slots are formed on the outer surface of one side of each of the two separating platforms. A plurality of ejecting grooves are formed on one side inside each of the two separating platforms, and the ejecting grooves communicate with the arc-shaped slots. One ends of two groups of connecting rods respectively pass through the inside of two L-shaped plates movably. The outer surfaces of a plurality of arc-shaped inserting rods are respectively inserted into the plurality of arc-shaped slots movably. A plurality of Z-shaped ejecting rods are evenly divided into two groups. One ends of the two groups of Z-shaped ejecting rods respectively pass through the outer surfaces of the two L-shaped plates movably. A plurality of reset springs are evenly divided into two groups. One ends of the two groups of reset springs are respectively fixedly connected to one side inside the two L-shaped plates, and the other ends of the two groups of reset springs are respectively fixedly connected to the outer surfaces of one side of the two connecting plates.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. When the present invention is in use, start the winding motor to release the winding rope. The telescopic spring gradually rebounds, pushing the telescopic sleeve rod to gradually unfold. Its thrust pushes the fixed shaft to move horizontally, causing the two separating platforms to open to both sides. When the winding motor automatically shuts down, the forward and reverse motor starts. Two meshing gears drive the two rotating rods to rotate in the reverse direction. The fixed shaft is driven to rotate downward through the telescopic sleeve rod, causing the two separating platforms to rotate downward, isolating the T-shaped platform and using it alone. Moreover, both separating platforms rotate to the lower position, avoiding contact between the grinding head and the separating platform, which is beneficial to improving the grinding accuracy and extending the service life of the grinding head. By using an industrial camera to take pictures, start the adaptive robotic arm, and perform adaptive adjustment according to the profile of the component captured. The sensor system monitors the grinding speed, angle, force, etc., and adaptively adjusts relevant data to achieve intelligent adaptive grinding.

[0017] 2. When the present invention is in use, start the forward and reverse motor to drive the two separating platforms to rotate upward. When the forward and reverse motor automatically shuts down, the winding motor starts to wind the winding rope, slowly generating a pulling force on the telescopic sleeve rod, causing the telescopic sleeve rod to contract, and then pulling the two separating platforms to close together again, wrapping the T-shaped platform in the closing groove and restoring to the initial state, which is convenient for grinding and processing square components. Under the action of the separating component, it can either be combined into a closed grinding platform or separated and opened to form an isolated grinding platform, flexibly adjusting the structure of the grinding platform to adapt to grinding and processing of square and cylindrical components of different shapes, effectively avoiding contact between the grinding head and the grinding platform, and improving the adaptability and flexibility.

[0018] 3. When the present invention is in use, both electromagnets are turned off simultaneously. The thrusts on the second magnet and the return spring disappear. Under the resilience of the return spring, the connecting plate is pulled to move, driving multiple Z-shaped ejector rods to enter the arc-shaped slots from the ejection slots, generating an ejecting thrust on the arc-shaped ejector rod, thereby generating a thrust on the top of the extension table. Under the action of gravity, the extension table drives the rotating bar to rotate downward around the central rod to the bottom of the separation table, thereby reducing the width of the entire grinding platform, facilitating the placement of square components with a smaller width for grinding. By expanding and retracting the extension table, the width of the grinding platform can be adjusted to adapt to the processing of square components with different widths, greatly improving the flexibility and applicability of the intelligent grinding device. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a first-angle perspective view of an electronic component adaptive grinding device based on machine vision according to the present invention; Figure 2 is a second-angle perspective view of an electronic component adaptive grinding device based on machine vision according to the present invention; Figure 3 is a schematic structural cross-sectional view of an electronic component adaptive grinding device based on machine vision according to the present invention; Figure 4 is an unfolded perspective view of the structure of the separation component in an electronic component adaptive grinding device based on machine vision according to the present invention; Figure 5 is an unfolded perspective view of the structure of the separation table in an electronic component adaptive grinding device based on machine vision according to the present invention; Figure 6 is an unfolded perspective view of the structure of the T-shaped table in an electronic component adaptive grinding device based on machine vision according to the present invention; Figure 7 is a schematic structural cross-sectional view of the T-shaped table in an electronic component adaptive grinding device based on machine vision according to the present invention; Figure 8 is a schematic view of the structure of the extension table in an electronic component adaptive grinding device based on machine vision according to the present invention; Figure 9 is a schematic structural cross-sectional view of the extension table in an electronic component adaptive grinding device based on machine vision according to the present invention; Figure 10 is a schematic structural cross-sectional view of the separation table in an electronic component adaptive grinding device based on machine vision according to the present invention; Figure 11 is a schematic structural cross-sectional view of the arc-shaped slot in an electronic component adaptive grinding device based on machine vision according to the present invention; Figure 12Stereoscopic view of the structure of the rotating rod in an adaptive grinding device for electronic components based on machine vision according to the present invention; Figure 13 Stereoscopic view of the structure of the winding rod in an adaptive grinding device for electronic components based on machine vision according to the present invention; Figure 14 Schematic cross-sectional view of the structure of the telescopic sleeve rod in an adaptive grinding device for electronic components based on machine vision according to the present invention; Figure 15 Schematic cross-sectional view of the structure of the arc-shaped groove in an adaptive grinding device for electronic components based on machine vision according to the present invention.

[0020] In the figure: 1. Processing box; 2. Adaptive robotic arm; 3. Grinder; 4. Intelligent control platform; 5. Industrial camera; 6. Separation component; 601. Separation table; 602. Closing groove; 603. T-shaped table; 604. Ring-shaped vacuum suction cup component; 605. Linear vacuum suction cup component; 606. Fixed shaft; 607. Fixed block; 608. Sliding track; 609. Telescopic sleeve rod; 610. Rotating rod; 611. Gear; 612. Reversible motor; 613. Limit support plate; 614. Telescopic spring; 615. Protective sleeve; 616. Arc-shaped groove; 617. Support rod; 618. Winding rod; 619. Winding motor; 620. Inclined baffle; 621. Winding rope; 622. Support seat; 623. Ejecting groove; 624. Arc-shaped insertion slot; 7. Rotating platform system; 8. Closing component; 801. Expansion table; 802. First magnet; 803. Electromagnet; 804. Rotating groove; 805. Central rod; 806. Rotating bar; 807. L-shaped plate; 808. Arc-shaped insertion rod; 809. Connecting rod; 810. Connecting plate; 811. Return spring; 812. Z-shaped ejecting rod; 813. Second magnet; 9. Sensor system. Detailed implementation mode

[0021] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0022] Embodiment 1: Please refer to Figures 1 - 15As shown in the figure, the present invention provides a technical solution: an adaptive grinding device for electronic components based on machine vision, including an adaptive robotic arm 2 and a grinder 3 installed at its execution end, as well as a sensor system 9 on the outer surface of the adaptive robotic arm 2. A processing box 1 is arranged on the front surface of the adaptive robotic arm 2. A rotating platform system 7 and a separation component 6 installed on the top of the rotating platform system 7 are arranged inside the processing box 1. A closing component 8 is arranged on the outer surface of the separation component 6; the separation component 6 includes two separation platforms 601. Closing grooves 602 are opened on the opposite sides of the two separation platforms 601. A T-shaped platform 603 is movably embedded in the two closing grooves 602. Fixed shafts 606 are fixedly installed at the bottoms of the outer surfaces of the two sides of the two separation platforms 601. Sliding tracks 608 are movably sleeved on the outer surfaces of the four fixed shafts 606. The fixed shafts 606 first move horizontally along a straight track in the sliding tracks 608, and then rotate downward along an arc track, driving the separation platforms 601 to horizontally move away from the outer surface of the T-shaped platform 603 and then flip to the lower side to separate the T-shaped platform 603 for independent use. The separation component 6 further includes a positive and negative motor 612 and two rotating rods 610. Gears 611 are fixedly connected to both ends of the two rotating rods 610. Fixed blocks 607 are fixedly installed on the outer surfaces of the four fixed shafts 606. Telescopic sleeve rods 609 are fixedly installed on the outer surfaces of one sides of the four fixed blocks 607. Telescopic springs 614 are arranged inside the four telescopic sleeve rods 609. Two winding ropes 621 are fixedly connected to one side inside each of the four telescopic sleeve rods 609. Two limiting support plates 613 are fixedly installed on the top of the rotating platform system 7. The separation component 6 further includes a winding rod 618 and a winding motor 619. Two inclined baffles 620 are movably sleeved on the outer surface of the winding rod 618. Two protective sleeve tubes 615 are arranged inside each of the four telescopic springs 614. Arc grooves 616 are opened on the outer surfaces of both ends of the two rotating rods 610. An annular vacuum suction cup component 604 is arranged inside the T-shaped platform 603. Two support seats 622 are fixedly installed at the bottom of the T-shaped platform 603. Linear vacuum suction cup components 605 are arranged inside the two separation platforms 601. An intelligent control platform 4 is arranged on the front surface of the processing box 1. Industrial cameras 5 are arranged on both sides inside the processing box 1. The bottoms of the two support seats 622 are fixedly installed on the top of the rotating platform system 7. Two support rods 617 are fixedly installed on the outer surfaces of the four sliding tracks 608. The bottoms of the multiple support rods 617 are fixedly installed on the top of the rotating platform system 7. The bottom of the positive and negative motor 612 is installed on one side of the top of the rotating platform system 7 through an auxiliary plate. The outer surface of the winding rod 618 is located between the two support seats 622. The outer surfaces of the eight winding ropes 621 are respectively movably embedded inside the eight protective sleeve tubes 615. Every two adjacent winding ropes 621 out of the eight winding ropes 621 form a group. One ends of the four groups of winding ropes 621 respectively movably penetrate through the outer surfaces of the four telescopic sleeve rods 609. The outer surfaces of the four groups of winding ropes 621 are respectively movably embedded inside the four arc grooves 616.One end of each of the four sets of winding ropes 621 is fixedly connected to the outer surface of the winding rod 618. The outer surface of one side of the winding motor 619 is mounted on the outer surface of one of the limiting support plates 613 by bolts. The output end of the winding motor 619 movably penetrates to the outer surface of the other side of one of the limiting support plates 613. One end of the winding motor 619 is fixedly connected to one end of the winding rod 618. The other end of the winding rod 618 movably penetrates to the outer surface of the other limiting support plate 613. The bottoms of the two inclined baffles 620 are fixedly mounted on the top of the rotary platform system 7. For the four telescopic sleeve rods 609, every two telescopic sleeve rods 609 in the horizontal part are taken as a group. One ends of the two groups of telescopic sleeve rods 609 are respectively fixedly mounted on the outer surfaces at one ends of the two rotating rods 610. Every two adjacent gears 611 among the four gears 611 are meshed with each other. The output end of the forward and reverse motor 612 is fixedly connected to the outer surface of one of the gears 611. The two ends of the four rotating rods 610 respectively movably penetrate to the outer surface of one side of the two limiting support plates 613.,

[0023] In this embodiment, during use, the adaptive robotic arm 2, the grinder 3, the industrial camera 5, the forward and reverse motor 612, the winding motor 619, the rotary platform system 7, the electromagnet 803, the sensor system 9 and the intelligent control platform 4 are electrically connected. The initial states of the two separating tables 601 are as Figure 5 shown, closed together. The T-shaped table 603 is embedded in the two closing grooves 602. The two extension tables 801 in the closing assembly 8 are respectively magnetically attracted and connected to the sides of the two separating tables 601, expanding the overall area of the separating tables 601. The top of the T-shaped table 603 is flush with the tops of the two separating tables 601. The air outlet ends of the two linear vacuum suction cup components 605 and the annular vacuum suction cup component 604 are respectively connected to external separate vacuum suction devices. When it is necessary to grind a square electronic component, place it in the middle on the top of the grinding platform composed of the separating table 601 and the extension table 801, so that the four sides of the square electronic component are all outside the grinding platform, as Figure 4As shown, start two vacuum suction devices, and use two linear vacuum suction cup components 605 to adsorb the square electronic components. Use the industrial camera 5 to take pictures of the electronic components, start the adaptive robotic arm 2, and make adaptive adjustments according to the profile of the photographed electronic components, so as to polish them. During the polishing process, use the sensor system 9 to monitor the polishing speed, angle, force, etc., and adaptively adjust the relevant data to achieve intelligent adaptive polishing. When it is necessary to polish cylindrical electronic components, start the winding motor 619, and its output drives the winding rod 618 to rotate, slowly release the four groups of winding ropes 621 that are wound up, so that the lengths of the four groups of winding ropes 621 gradually become longer, and the tightening tension on the telescopic sleeve rod 609 gradually becomes smaller, and the extrusion force on the telescopic spring 614 also gradually becomes smaller. At this time, the compressed telescopic spring 614 gradually rebounds and unfolds, pushing the telescopic sleeve rod 609 to gradually unfold. One end of the protective sleeve 615 is fixedly connected to the other side inside the telescopic sleeve rod 609, that is, near the rotating rod 610. When the telescopic sleeve rod 609 unfolds, it drives the protective sleeve 615 to move on the outer surface of the part of the winding rope 621 located inside the telescopic spring 614, and at the same time, the winding rope 621 slides inside the arc groove 616. The structure of the sliding track 608 is as Figure 5 shown, consisting of a horizontal track and a downward arc track. As the telescopic sleeve rod 609 unfolds, it will exert a thrust on the fixed block 607, further pushing the fixed shaft 606 to first move horizontally along the horizontal track of the sliding track 608, and then pushing the two separation platforms 601 to first move horizontally, so that the two separation platforms 601 move outward to both sides on the outer surface of the T-shaped platform 603 and open. When the winding motor 619 automatically shuts down, the winding ropes 621 are completely released, the telescopic sleeve rod 609 is completely unfolded, and there is still a surplus in the part of the winding ropes 621 located between the rotating rod 610 and the winding rod 618, which is convenient for the winding ropes 621 to have enough space for movement when the telescopic sleeve rod 609 rotates later, without affecting the rotation of the telescopic sleeve rod 609, and the two separation platforms 601 completely move away from the T-shaped platform 603. At the same time, the positive and negative motor 612 automatically starts, driving the meshed gears 611 to rotate in the reverse direction, driving the two rotating rods 610 to rotate in the reverse direction, further driving the telescopic sleeve rods 609 on both sides to rotate in the reverse direction at the same time, driving the fixed shaft 606 to continue to rotate along the arc track of the sliding track 608 through the fixed block 607. At this time, the separation platforms 601 will rotate downward in an arc with the rotating rod 610 as the axis, so that the two separated separation platforms 601 rotate downward in the reverse direction at the same time from the outer surface of the T-shaped platform 603, isolating the T-shaped platform 603, which can be used alone, and the two separation platforms 601 both rotate to the lower part and are not located next to the T-shaped platform 603, avoiding contact with the separation platforms 601 when polishing the periphery of the cylindrical components, causing unnecessary damage. Then place the cylindrical components on the top of the isolated T-shaped platform 603, as Figure 7As shown, at this time, the circumference of the cylindrical component is located outside the T-shaped table 603. Start another vacuum suction device, and use the annular vacuum suction cup component 604 to adsorb and fix the cylindrical component. Then start the industrial camera 5 and the adaptive robotic arm 2 for intelligent grinding. At this time, when the grinder 3 grinds the circumferential side of the cylindrical component, its grinding head will not contact the top of the grinding table, avoiding the generation of additional resistance, which is beneficial to improving the grinding accuracy and extending the service life of the grinding head. By starting the positive and negative motor 612 again, drive the two separation tables 601 to rotate upward along the arc track of the sliding track 608. When the positive and negative motor 612 automatically shuts down, the winding motor 619 starts simultaneously to wind the winding rope 621, shortening the length of the winding rope 621. When the surplus part is wound up, continue to wind the winding rope 621, and at the same time, a pulling force is generated on the telescopic sleeve rod 609, causing the telescopic sleeve rod 609 to contract, thereby pulling the two separation tables 601 to move horizontally relative to each other and close together again, wrapping the T-shaped table 603 in the closing groove 602 and restoring to the initial state, facilitating the grinding process of the square component. Under the action of the separation component 6, it can be combined into a closed grinding platform or separated and opened to form an isolated grinding platform, flexibly adjusting the structure of the grinding table to adapt to the grinding of square and cylindrical components of different shapes, effectively avoiding the contact between the grinding head and the grinding table, improving the adaptability and flexibility, and solving the problem that when a cylindrical electronic component is placed on a square grinding table for grinding, its circumferential side is located on the square grinding table, causing the edge of the grinding head to frequently contact the grinding table, generating additional resistance and friction, resulting in the deviation of the movement track of the grinding head, the decline of the grinding accuracy, and the influence on the quality and performance of the component.

[0024] Embodiment 2: As Figures 1 - 3 shown, the adaptive robotic arm 2 and the grinder 3 installed at its execution end, as well as the sensor system 9 on the outer surface of the adaptive robotic arm 2. A processing box 1 is arranged on the front surface of the adaptive robotic arm 2. A rotating platform system 7 and a separation component 6 installed on the top of the rotating platform system 7 are arranged inside the processing box 1. A closing component 8 is arranged on the outer surface of the separation component 6. An intelligent control platform 4 is arranged on the front surface of the processing box 1. Industrial cameras 5 are arranged on both sides inside the processing box 1.

[0025] In this embodiment, during use, the adaptive robotic arm 2, the rotary platform system 7, the grinder 3, and the sensor system 9 are all existing mature technologies. Among them, the grinder 3 is installed at the execution end of the adaptive robotic arm 2. The sensor system 9 includes a force sensor, a speed sensor, a displacement sensor, an angle sensor, etc., which are respectively installed at various monitoring positions of the adaptive robotic arm 2. The grinding table can be adjusted to three different states through the separation component 6 and the folding component 8. Adjust the grinding table as needed, then place the corresponding electronic components on the grinding table and fix them with a vacuum chuck. Start the adaptive robotic arm 2 and the industrial camera 5. The industrial camera 5 takes images of the electronic components and transmits the captured image information to the intelligent control platform 4 for recognition and processing. The adaptive robotic arm 2 transports the grinder 3 to the component according to the received feedback information, and then starts the grinder 3 to evenly grind the contour around the electronic component, realizing an adaptive grinding process. According to the captured image information, determine the shape of the component, whether it is square or cylindrical. Then, the sensor system 9 on the adaptive robotic arm 2 will continuously monitor the motion state of the adaptive robotic arm 2. For example, the force sensor measures the grinding force and transmits it to the control system. The control system compares the preset force value range with the current measured value, calculates the amount that needs to be adjusted through an algorithm, and then sends instructions to the power system and transmission mechanism of the adaptive robotic arm 2 to change the motion parameters of the transmission mechanism, thereby realizing the adaptive adjustment of the grinding force. For example, the displacement sensor and the angle sensor monitor the actual position and angle of the grinding head, compare them with the target position and angle preset in the control system, and adjust the position and angle of the grinding head through the precise positioning mechanism in the adaptive robotic arm 2 to achieve adaptive positioning, etc. When local unevenness or defects are detected on the surface of the component in the captured image, the intelligent control platform 4 will control the adaptive robotic arm 2 to adjust the position and force of the grinding head to focus on grinding this area.

[0026] Embodiment 3: As Figure 5 and Figures 8 - 11As shown, the folding component 8 includes two extension platforms 801. At the top of the outer surface of one side of the two extension platforms 801, a plurality of arc-shaped insertion rods 808 are fixedly installed. First magnets 802 are arranged inside the two extension platforms 801. Electromagnets 803 are arranged at the edges inside the two separation platforms 601. L-shaped plates 807 are fixedly installed inside the two separation platforms 601. Second magnets 813 are arranged on the outer surface of one side of the two L-shaped plates 807. A plurality of connecting rods 809 are fixedly installed on the outer surface of the two second magnets 813. Rotation grooves 804 are opened at the edges of the bottoms of the two separation platforms 601. Rotation bars 806 are movably embedded inside the two rotation grooves 804. Central rods 805 are movably embedded inside the two rotation bars 806. Every five horizontally distributed connecting rods 809 among the plurality of connecting rods 809 form a group. At one end of the two groups of connecting rods 809, connecting plates 810 are fixedly installed. At the top of the outer surface of one side of the two connecting plates 810, a plurality of Z-shaped ejecting rods 812 are fixedly installed. Return springs 811 are movably sleeved on the outer surfaces of the plurality of connecting rods 809. The two first magnets 802 are magnetically connected to the outer surfaces of one side of the two electromagnets 803 respectively. The two second magnets 813 are magnetically connected to the outer surfaces of the other side of the two electromagnets 803 respectively. The outer surfaces of one side of the two extension platforms 801 are in contact with the outer surfaces of one side of the two separation platforms 601 respectively. The two ends of the two central rods 805 are fixedly installed on both sides inside the two rotation grooves 804 respectively. The outer surfaces of one side of the two rotation bars 806 are fixedly connected to the bottoms of the outer surfaces of one side of the two extension platforms 801 respectively. A plurality of arc-shaped slots 624 are opened on the outer surfaces of one side of the two separation platforms 601. A plurality of ejecting grooves 623 are opened on one side inside the two separation platforms 601, and the ejecting grooves 623 communicate with the arc-shaped slots 624. One ends of the two groups of connecting rods 809 respectively pass through the inside of the two L-shaped plates 807 movably. The outer surfaces of the plurality of arc-shaped insertion rods 808 are movably embedded inside the plurality of arc-shaped slots 624 respectively. The plurality of Z-shaped ejecting rods 812 are evenly divided into two groups. One ends of the two groups of Z-shaped ejecting rods 812 respectively pass through the outer surfaces of the two L-shaped plates 807 movably. The plurality of return springs 811 are evenly divided into two groups. One ends of the two groups of return springs 811 are fixedly connected to one side inside the two L-shaped plates 807 respectively. The other ends of the two groups of return springs 811 are fixedly connected to the outer surfaces of one side of the two connecting plates 810 respectively.

[0027] In this embodiment, during use, the first magnet 802 and the electromagnet 803 attract each other with opposite polarities, and the second magnet 813 and the electromagnet 803 repel each other with the same polarities. At the same time, both electromagnets 803 are turned off, causing the magnetism between the first magnet 802 and the electromagnet 803 to disappear, and the magnetism between the second magnet 813 and the electromagnet 803 to disappear. At this time, the thrust on the second magnet 813 and the return spring 811 disappears. Under the resilience of the return spring 811, the connecting plate 810 is pulled to move, and the second magnet 813 is pushed towards the electromagnet 803 through the connecting rod 809, further driving a plurality of Z-shaped ejector rods 812 to move into the ejection groove 623 and enter the inside of the arc-shaped slot 624, generating an ejection thrust on the arc-shaped plug rod 808, thereby generating a thrust on the top of the extension table 801. Under the action of gravity, the extension table 801 drives the rotating bar 806 to rotate downward with the central rod 805 as the axis, and drives the arc-shaped plug rod 808 to move out of the arc-shaped slot 624, so that the two extension tables 801 respectively rotate to the bottom of the two separation tables 601, thereby reducing the width of the entire grinding platform, facilitating the grinding process of square components with a smaller width. By expanding and retracting the extension table 801, the width of the grinding platform can be adjusted to adapt to the processing of square components with different widths, greatly improving the flexibility and applicability of the intelligent grinding equipment.

[0028] The effects achieved by the entire mechanism and its working principle are as follows: When it is necessary to polish a square electronic component, place it in the center on the top of the polishing platform composed of the separation table 601 and the extension table 801, and start two vacuum suction devices. The square electronic component is adsorbed by two linear vacuum suction cup components 605. The electronic component is photographed by the industrial camera 5, and the adaptive robotic arm 2 is started. It is adaptively adjusted according to the contour of the photographed electronic component, and then polished. During the polishing process, the sensor system 9 monitors the polishing speed, angle, force, etc., and adaptively adjusts the relevant data. When it is necessary to polish a cylindrical electronic component, start the winding motor 619. The output end drives the winding rod 618 to rotate, and slowly releases the four groups of winding ropes 621 that are wound up. The tightening tension of the telescopic sleeve rod 609 gradually becomes smaller, and the compressed telescopic spring 614 gradually rebounds and unfolds, pushing the telescopic sleeve rod 609 to gradually unfold. As the telescopic sleeve rod 609 unfolds, it will generate a thrust on the fixed block 607, further pushing the fixed shaft 606 to first move horizontally along the horizontal track of the sliding track 608, and then pushing the two separation tables 601 to move horizontally first, and open to both sides on the outer surface of the T-shaped table 603. When the winding motor 619 automatically shuts down, the forward and reverse motor 612 automatically starts, driving the meshing gear 611 to rotate in the reverse direction, driving the two rotating rods 610 to rotate in the reverse direction, further driving the telescopic sleeve rods 609 on both sides to rotate in the reverse direction at the same time. The fixed shaft 606 is driven by the fixed block 607 to continue rotating along the arc track of the sliding track 608. At this time, the separation table 601 will rotate downward in an arc with the rotating rod 610 as the axis, so that the two separated separation tables 601 rotate downward in the reverse direction at the same time from the outer surface of the T-shaped table 603, isolating the T-shaped table 603 for independent use, and both separation tables 601 rotate to the lower position. Then place the cylindrical component on the top of the isolated T-shaped table 603, start another vacuum suction device, adsorb and fix the cylindrical component by the annular vacuum suction cup component 604, and then start the industrial camera 5 and the adaptive robotic arm 2 for intelligent polishing.Turn off both electromagnets 803 simultaneously, causing the magnetism between the first magnet 802 and the electromagnet 803 to disappear, and the magnetism between the second magnet 813 and the electromagnet 803 to disappear. At this time, the thrust on the second magnet 813 and the return spring 811 disappears. Under the resilience of the return spring 811, the connecting plate 810 is pulled to move. Through the connecting rod 809, the second magnet 813 is pushed towards the electromagnet 803, further driving a plurality of Z-shaped ejector rods 812 to move into the ejection slot 623 and enter the inside of the arc-shaped slot 624, generating an ejection thrust on the arc-shaped ejector rod 808, thereby generating a thrust on the top of the extension table 801. Under the action of gravity, the extension table 801 drives the rotating bar 806 to rotate downward around the central rod 805, and drives the arc-shaped ejector rod 808 to move out of the arc-shaped slot 624, so that the two extension tables 801 respectively rotate to the bottom of the two separation tables 601, thereby reducing the width of the entire grinding platform and facilitating the grinding process of square components with a smaller width.

[0029] Among them, the adaptive robotic arm 2, the grinder 3, the intelligent control platform 4, the industrial camera 5, the forward and reverse motor 612, the winding motor 619, the rotating platform system 7, the electromagnet 803, and the sensor system 9 are all prior arts. Their components and operating principles are all publicly known technologies and will not be explained in detail here.

[0030] Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An adaptive grinding device for electronic components based on machine vision, comprising an adaptive robotic arm (2) and a grinder (3) installed at its execution end, as well as a sensor system (9) on the outer surface of the adaptive robotic arm (2), characterized in that: A processing box (1) is arranged on the front surface of the adaptive robotic arm (2). A rotary platform system (7) and a separation component (6) installed on the top of the rotary platform system (7) are arranged inside the processing box (1), and a folding component (8) is arranged on the outer surface of the separation component (6). The separation component (6) includes two separation platforms (601). Closing grooves (602) are formed on the opposite sides of the two separation platforms (601). A T-shaped platform (603) is movably embedded in the two closing grooves (602). Fixed shafts (606) are fixedly installed at the bottoms of the outer surfaces of the two sides of the two separation platforms (601). Sliding tracks (608) are movably sleeved on the outer surfaces of the four fixed shafts (606). The fixed shafts (606) drive the separation platforms (601) to horizontally move away from the outer surface of the T-shaped platform (603) along a straight track horizontally first and then rotate downward along an arc track in the sliding tracks (608), and then turn to the lower side to separate the T-shaped platform (603) for independent use.

2. The adaptive grinding device for electronic components based on machine vision according to claim 1, characterized in that: The separation component (6) further includes a positive and negative motor (612) and two rotating rods (610). Gears (611) are fixedly connected to both ends of the two rotating rods (610). Fixed blocks (607) are fixedly installed on the outer surfaces of the four fixed shafts (606). Telescopic sleeve rods (609) are fixedly installed on the outer surfaces of one sides of the four fixed blocks (607). Telescopic springs (614) are arranged inside the four telescopic sleeve rods (609). Two winding ropes (621) are fixedly connected to one side inside the four telescopic sleeve rods (609). Two limiting support plates (613) are fixedly installed on the top of the rotary platform system (7).

3. The adaptive grinding device for electronic components based on machine vision according to claim 2, wherein: The separation component (6) further includes a winding rod (618) and a winding motor (619). Two inclined baffles (620) are movably sleeved on the outer surface of the winding rod (618). Two protective sleeve tubes (615) are arranged inside the four telescopic springs (614). Arc-shaped grooves (616) are formed on the outer surfaces of both ends of the two rotating rods (610). An annular vacuum suction cup component (604) is arranged inside the T-shaped platform (603). Two support seats (622) are fixedly installed at the bottom of the T-shaped platform (603). Linear vacuum suction cup components (605) are arranged inside the two separation platforms (601).

4. The adaptive grinding device for electronic components based on machine vision according to claim 3, wherein: An intelligent control platform (4) is arranged on the front surface of the processing box (1). Industrial cameras (5) are arranged on both sides inside the processing box (1). The bottoms of the two support seats (622) are fixedly installed on the top of the rotary platform system (7). Two support rods (617) are fixedly installed on the outer surfaces of the four sliding tracks (608). The bottoms of the multiple support rods (617) are fixedly installed on the top of the rotary platform system (7). The bottom of the positive and negative motor (612) is installed on one side of the top of the rotary platform system (7) through an auxiliary plate. The outer surface of the winding rod (618) is located between the two support seats (622).

5. The adaptive grinding device for electronic components based on machine vision according to claim 4, characterized in that: The outer surfaces of the eight winding ropes (621) are respectively movably embedded in the interiors of eight protective sleeves (615). Every two adjacent winding ropes (621) among the eight winding ropes (621) form a group. One ends of the four groups of winding ropes (621) respectively movably penetrate to the outer surfaces of the four telescopic sleeve rods (609). The outer surfaces of the four groups of winding ropes (621) are respectively movably embedded in the interiors of four arc-shaped grooves (616). One ends of the four groups of winding ropes (621) are all fixedly connected to the outer surface of the winding rod (618).

6. The adaptive polishing device for electronic components based on machine vision according to claim 5, wherein: One side outer surface of the winding motor (619) is mounted on one side outer surface of one of the limiting support plates (613) through bolts. The output end of the winding motor (619) movably penetrates to the other side outer surface of one of the limiting support plates (613). One end of the winding motor (619) is fixedly connected to one end of the winding rod (618). The other end of the winding rod (618) movably penetrates to the outer surface of the other limiting support plate (613). The bottoms of the two inclined baffles (620) are both fixedly mounted on the top of the rotary platform system (7).

7. The adaptive grinding device for electronic components based on machine vision according to claim 6, characterized in that: Every two telescopic sleeve rods (609) in the horizontal part of the four telescopic sleeve rods (609) form a group. One ends of the two groups of telescopic sleeve rods (609) are respectively fixedly mounted on the outer surfaces at one ends of the two rotating rods (610). Every two adjacent gears (611) among the four gears (611) are meshed with each other. The output end of the forward and reverse motor (612) is fixedly connected to one side outer surface of one of the gears (611). The two ends of the four rotating rods (610) respectively movably penetrate to one side outer surfaces of the two limiting support plates (613).

8. The adaptive grinding device for electronic components based on machine vision according to claim 1, wherein: The folding component (8) includes two extension platforms (801). A plurality of arc-shaped insertion rods (808) are fixedly mounted at the tops of one side outer surfaces of the two extension platforms (801). First magnets (802) are arranged inside the two extension platforms (801). Electromagnets (803) are arranged at the edges inside the two separation platforms (601). L-shaped plates (807) are fixedly mounted inside the two separation platforms (601). Second magnets (813) are arranged on one side outer surfaces of the two L-shaped plates (807). A plurality of connecting rods (809) are fixedly mounted on one side outer surfaces of the two second magnets (813). Rotating grooves (804) are respectively formed at the edges of the bottoms of the two separation platforms (601). Rotating bars (806) are respectively movably embedded in the two rotating grooves (804). Central rods (805) are respectively movably embedded in the two rotating bars (806).

9. The adaptive grinding device for electronic components based on machine vision according to claim 8, characterized in that: Every five of the multiple connecting rods (809) distributed horizontally are grouped together. At one end of each of the two groups of connecting rods (809), connecting plates (810) are fixedly installed. At the top of the outer surface of one side of each of the two connecting plates (810), a plurality of Z-shaped ejector rods (812) are fixedly installed. A return spring (811) is movably sleeved on the outer surface of each of the multiple connecting rods (809). The two first magnets (802) are magnetically connected to the outer surface of one side of the two electromagnets (803) respectively. The two second magnets (813) are magnetically connected to the outer surface of the other side of the two electromagnets (803) respectively. One side outer surface of each of the two extension platforms (801) is in contact with the outer surface of one side of each of the two separation platforms (601). The two ends of each of the two central rods (805) are fixedly installed on both sides inside the two rotation grooves (804) respectively. One side outer surface of each of the two rotation bars (806) is fixedly connected to the bottom of the outer surface of one side of each of the two extension platforms (801).

10. The adaptive grinding device for electronic components based on machine vision according to claim 9, characterized in that: On the outer surface of one side of each of the two separation platforms (601), a plurality of arc-shaped slots (624) are formed. On one side inside each of the two separation platforms (601), a plurality of ejection grooves (623) are formed, and the ejection grooves (623) communicate with the arc-shaped slots (624). One end of each of the two groups of connecting rods (809) movably penetrates into the inside of the two L-shaped plates (807) respectively. The outer surface of each of the plurality of arc-shaped insertion rods (808) is movably embedded in the inside of the plurality of arc-shaped slots (624) respectively. The plurality of Z-shaped ejector rods (812) are evenly divided into two groups. One end of each of the two groups of Z-shaped ejector rods (812) movably penetrates through the outer surface of the two L-shaped plates (807) respectively. The plurality of return springs (811) are evenly divided into two groups. One end of each of the two groups of return springs (811) is fixedly connected to one side inside each of the two L-shaped plates (807). The other end of each of the two groups of return springs (811) is fixedly connected to the outer surface of one side of each of the two connecting plates (810).

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