An adaptive polishing device for electronic components based on machine vision

Abstract

The present invention discloses an adaptive polishing device for electronic components based on machine vision, which relates to the technical field of electronic component polishing, and includes an adaptive robotic arm and a polisher installed at its execution end, as well as a sensor system on the outer surface of the adaptive robotic arm. When the present invention is used, the winding motor is started, the winding rope is released, and the telescopic spring pushes the telescopic sleeve rod to gradually unfold, pushing the fixed shaft to move laterally, so that the two separation platforms are opened to both sides. The forward and reverse motors are started, driving the two rotating rods to rotate in opposite directions, and the fixed shaft is driven to rotate downward by the telescopic sleeve rod, so that the two separation platforms rotate downward, isolating the T-stage for separate use. Pictures are taken by an industrial camera, and the adaptive robotic arm is started. Adaptive adjustments are made according to the contours of the components. The polishing speed, angle, and force are monitored by the sensor system, and the relevant data are adaptively adjusted to achieve intelligent adaptive polishing.

Description

Technical Field

[0001] The present 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 fundamental components of electronic circuits, enabling functions such as electronic signal processing, transmission, storage, and control. During the production and processing of electronic components, some metal-cased components often require polishing to achieve a smoother surface and remove burrs or oxide layers, facilitating subsequent electroplating, welding, and other processes. Intelligent manufacturing equipment, through the integration of automation and intelligent technologies, enables efficient, precise, and flexible production. Adaptive polishing devices enable 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 polishing head is driven by an intelligent robotic arm to move to the polishing area for polishing. The polishing table is generally square, but 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, rather than 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 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, causing the edge of the polishing head to frequently contact 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, and affecting the quality and performance of the component.

[0006] To achieve the above objectives, the present invention provides the following technical solutions: an adaptive grinding device for electronic components based on machine vision, comprising an adaptive robotic arm and a grinder mounted on its execution end, and a sensor system on the outer surface of the adaptive robotic arm; a processing box is provided on the front surface of the adaptive robotic arm; a rotating platform system and a separation assembly mounted on top of the rotating platform system are provided inside the processing box; and a retraction assembly is provided on the outer surface of the separation assembly;

[0007] The separation assembly includes two separation platforms, and a closing groove is provided on the opposite side of the two separation platforms. A T-shaped platform is movably embedded in the two closing grooves. Fixed shafts are fixedly installed at the bottom of the outer surfaces of both sides of the two separation platforms, and the outer surfaces of the four fixed shafts are movably sleeved with sliding tracks. The fixed shafts first move horizontally along a straight track in the sliding track and then rotate downward along an arc track, thereby driving the separation platform to move horizontally away from the outer surface of the T-shaped platform and then flip it downward to separate the T-shaped platform for separate use.

[0008] Preferably, the separation component also includes a forward and reverse motor and two rotating rods, both ends of the two rotating rods are fixedly connected to gears, the outer surfaces of the four fixed shafts are fixedly installed with fixed blocks, the outer surface of one side of the four fixed blocks is fixedly installed with a telescopic sleeve rod, the interior of the four telescopic sleeve rods is provided with a telescopic spring, one side of the interior of the four telescopic sleeve rods is fixedly connected to two winding ropes, and two limit support plates are fixedly installed on the top of the rotating platform system.

[0009] Preferably, the separation assembly also includes a winding rod and a winding motor, the outer surface of the winding rod is movably sleeved with two inclined baffles, two protective sleeves are provided inside 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 stage, two support seats are fixedly installed on the bottom of the T-shaped stage, and linear vacuum suction cup components are provided inside the two separation stages.

[0010] Preferably, an intelligent control platform is provided on the front surface of the processing box, industrial cameras are provided on both sides of the inside of the processing box, the bottoms of the two support seats are fixedly mounted on the top of the rotating platform system, the outer surfaces of the four sliding rails are fixedly mounted with two support rods, the bottoms of the multiple support rods are fixedly mounted on the top of the rotating platform system, the bottom of the forward and reverse motor is mounted on one side of the top of the rotating platform system through an auxiliary plate, and the outer surface of the winding rod is located between the two support seats.

[0011] Preferably, the outer surfaces of the eight winding ropes are movably embedded in the interior of eight protective sleeves respectively, and each two adjacent winding ropes of the eight winding ropes form a group. One ends of the four groups of winding ropes are movably passed through the outer surfaces of the four telescopic sleeves respectively, and the outer surfaces of the four groups of winding ropes are movably embedded in the interior of four arc-shaped grooves respectively, and one ends of the four groups of winding ropes are fixedly connected to the outer surface of the winding rod.

[0012] Preferably, one side outer surface of the winding motor is installed on the one side outer surface of one of the limit support plates by bolts, the output end of the winding motor is movable through the other side outer surface of one of the limit support plates, one end of the winding motor is fixedly connected to one end of the winding rod, and the other end of the winding rod is movable through the outer surface of the other limit support plate, and the bottoms of the two inclined baffles are fixedly installed on the top of the rotating platform system.

[0013] Preferably, the two telescopic sleeves in each horizontal part of the four telescopic sleeves form a group, one end of the two groups of telescopic sleeves are respectively fixedly mounted on the outer surface of one end of the two rotating rods, the four gears are meshed and connected between each two adjacent gears, the output end of the forward and reverse motor is fixedly connected to the outer surface of one side of one of the gears, and the two ends of the four rotating rods are respectively movable through the outer surface of one side of the two limit support plates.

[0014] Preferably, the folding assembly includes two expansion platforms, a plurality of arc-shaped plug rods are fixedly installed at the top of the outer surface of one side of the two expansion platforms, a first magnet is arranged inside the two expansion platforms, an electromagnet is arranged at the edge inside the two separation platforms, an L-shaped plate is fixedly installed inside the two separation platforms, a second magnet is arranged on the outer surface of one side of the two L-shaped plates, a plurality of connecting rods are fixedly installed on the outer surface of one side of the two second magnets, a rotating groove is opened at the edge of the bottom of the two separation platforms, a rotating bar is movably embedded in the interior of the two rotating grooves, and a center rod is movably embedded in the interior of the two rotating bars.

[0015] Preferably, each of the five connecting rods distributed laterally forms a group, and a connecting plate is fixedly installed at one end of each of the two groups of connecting rods. A plurality of Z-shaped top rods are fixedly installed at the top of the outer surface of one side of the two connecting plates, and a return spring is movably sleeved on the outer surfaces of the multiple connecting rods. The two first magnets are magnetically connected to the outer surfaces of one side of the two electromagnets respectively, and the two second magnets are magnetically connected to the outer surfaces of the other side of the two electromagnets respectively. The outer surfaces of one side of the two extension platforms are respectively in contact with the outer surfaces of one side of the two separation platforms, and the two ends of the two center rods are respectively fixedly installed on both sides of the inside of the two rotating grooves, and the outer surfaces of one side of the two rotating bars are respectively fixedly connected to the bottom of the outer surfaces of one side of the two extension platforms.

[0016] Preferably, a plurality of arc-shaped slots are provided on the outer surface of one side of the two separation platforms, a plurality of ejection slots are provided on one side inside the two separation platforms, and the ejection slots are connected to the arc-shaped slots, one end of the two groups of connecting rods are respectively movable to penetrate the interior of the two L-shaped plates, the outer surfaces of the plurality of arc-shaped insertion rods are respectively movably embedded in the interior of the plurality of arc-shaped slots, the plurality of Z-shaped ejector rods are evenly divided into two groups, one end of the two groups of Z-shaped ejector rods are respectively movable to penetrate the outer surfaces of the two L-shaped plates, the plurality of return springs are evenly divided into two groups, one end of the two groups of return springs are respectively fixedly connected to one side inside the two L-shaped plates, and the other end of the two groups of return springs are respectively fixedly connected to the outer surface of one side of the two connecting plates.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] 1. When the present invention is used, the winding motor is started, the winding rope is released, and the telescopic spring gradually rebounds, pushing the telescopic sleeve to gradually unfold. Its thrust pushes the fixed shaft to move laterally, so that the two separation platforms are opened to both sides. When the winding motor is automatically turned off, the forward and reverse motors are started, and the two meshing gears drive the two rotating rods to rotate in opposite directions, and the fixed shaft is driven to rotate downward by the telescopic sleeve, so that the two separation platforms rotate downward, and the T-type stage is isolated and used separately. Both separation platforms are rotated to the bottom to avoid contact between the grinding head and the separation platform, which is beneficial to improve the grinding accuracy and increase the service life of the grinding head. Pictures are taken by an industrial camera, and the adaptive robotic arm is started. Adaptive adjustments are made according to the contours of the components captured. The grinding speed, angle, and force are monitored by the sensor system, and the relevant data are adaptively adjusted to achieve intelligent adaptive grinding.

[0019] 2. When the present invention is used, the forward and reverse motors are started to drive the two separation platforms to rotate upward. When the forward and reverse motors are automatically turned off, the winding motor is started to wind the winding rope, slowly generating tension on the telescopic sleeve, causing the telescopic sleeve to shrink, and then pulling the two separation platforms together again, wrapping the T-shaped platform in the closing groove, restoring the initial state, and facilitating the grinding of square components. Under the action of the separation component, it can be combined into a closed grinding platform or separated and opened to form an isolated grinding platform. The structure of the grinding platform can be flexibly adjusted to adapt to the grinding of components of different shapes such as square and cylindrical shapes, effectively avoiding contact between the grinding head and the grinding platform, and improving adaptability and flexibility.

[0020] 3. When the present invention is used, the two electromagnets are turned off at the same time, and the thrust exerted on the second magnet and the reset spring disappears. Under the rebound of the reset spring, the connecting plate is pulled to move, driving multiple Z-shaped ejector rods from the ejection groove into the arc-shaped slot, generating an ejection force on the arc-shaped insertion rod, thereby generating a thrust on the top of the expansion table. Under the action of gravity, the expansion table drives the rotating bar to rotate downward to the bottom of the separation table with the center rod as the axis, thereby reducing the width of the entire grinding platform and facilitating the placement of smaller square components for grinding. By expanding and contracting the expansion table, the width of the grinding platform can be adjusted to accommodate the processing of square components of different widths, greatly improving the flexibility and applicability of the intelligent grinding equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a first-angle stereoscopic view of an electronic component adaptive polishing device based on machine vision according to the present invention;

[0022] Figure 2 A second-angle stereoscopic view of an electronic component adaptive polishing device based on machine vision according to the present invention;

[0023] Figure 3 This is a schematic cross-sectional view of the structure of an electronic component adaptive polishing device based on machine vision according to the present invention;

[0024] Figure 4 This is a perspective view of the structure of the separation components in the adaptive polishing device for electronic components based on machine vision of the present invention;

[0025] Figure 5 This is a perspective view of the structure of a separation table in a self-adaptive polishing device for electronic components based on machine vision according to the present invention;

[0026] Figure 6 This is a perspective view of the structure of a T-type stage in an electronic component adaptive polishing device based on machine vision of the present invention;

[0027] Figure 7 This is a schematic cross-sectional view of the structure of a T-type stage in an electronic component adaptive polishing device based on machine vision of the present invention;

[0028] Figure 8 This is a schematic structural diagram of an expansion platform in a machine vision-based adaptive polishing device for electronic components according to the present invention;

[0029] Figure 9 This is a schematic cross-sectional view of the structure of an expansion platform in a machine vision-based adaptive polishing device for electronic components according to the present invention;

[0030] Figure 10This is a schematic cross-sectional view of the structure of a separation table in a machine vision-based adaptive polishing device for electronic components according to the present invention;

[0031] Figure 11 This is a schematic cross-sectional view of the structure of an arc-shaped slot in an adaptive grinding device for electronic components based on machine vision according to the present invention;

[0032] Figure 12 This is a perspective view of the structure of a rotating rod in an adaptive polishing device for electronic components based on machine vision according to the present invention;

[0033] Figure 13 This is a perspective view of the structure of a winding rod in a self-adaptive polishing device for electronic components based on machine vision according to the present invention;

[0034] Figure 14 This is a schematic cross-sectional view of the structure of a telescopic sleeve in a self-adaptive polishing device for electronic components based on machine vision according to the present invention;

[0035] Figure 15 The figure is a schematic cross-sectional view of the structure of the arc groove in the adaptive grinding device for electronic components based on machine vision of the present invention.

[0036] In the picture:

[0037] 1. Processing box; 2. Adaptive robotic arm; 3. Sander; 4. Intelligent control platform; 5. Industrial camera; 6. Separation components; 601. Separation table; 602. Closing groove; 603. T-type table; 604. Annular vacuum suction cup component; 605. Linear vacuum suction cup component; 606. Fixed shaft; 607. Fixed block; 608. Sliding track; 609. Telescopic sleeve; 610. Rotating rod; 611. Gear; 612. Forward and reverse motor; 613. Limit support plate; 614. Telescopic spring; 615. Protective sleeve; 616. Arc groove; 617. Support Rod; 618, winding rod; 619, winding motor; 620, tilt baffle; 621, winding rope; 622, support seat; 623, ejection slot; 624, arc-shaped slot; 7, rotating platform system; 8, folding assembly; 801, expansion table; 802, first magnet; 803, electromagnet; 804, rotating slot; 805, center rod; 806, rotating bar; 807, L-shaped plate; 808, arc-shaped plug rod; 809, connecting rod; 810, connecting plate; 811, reset spring; 812, Z-shaped ejector rod; 813, second magnet; 9, sensor system. DETAILED DESCRIPTION

[0038] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the implementation regulations described are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0039] Example 1: Please refer to Figures 1-15As shown, the present invention provides a technical solution: 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, and a sensor system 9 on the outer surface of the adaptive robotic arm 2, a processing box 1 is provided 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 provided inside the processing box 1, and a folding component 8 is provided on the outer surface of the separation component 6; the separation component 6 comprises two separation platforms 601, and a closing groove 602 is provided on the opposite side of the two separation platforms 601, and a T-shaped stage 603 is movably embedded in the two closing grooves 602, and a fixed shaft 606 is fixedly installed at the bottom of the outer surface of both sides of the two separation platforms 601. The four fixed shafts The outer surface of 606 is movably sleeved with a sliding track 608. The fixed shaft 606 moves horizontally along a straight track in the sliding track 608, and then rotates downward along an arc track, driving the separation platform 601 to move horizontally away from the outer surface of the T-shaped platform 603, and then flip it downward to separate the T-shaped platform 603 for separate use. The separation component 6 also includes a forward and reverse motor 612 and two rotating rods 610. Both ends of the two rotating rods 610 are fixedly connected with gears 611. The outer surfaces of the four fixed shafts 606 are fixedly installed with fixed blocks 607. The outer surface of one side of the four fixed blocks 607 is fixedly installed with a telescopic sleeve rod 609. The interior of the four telescopic sleeve rods 609 is provided with a telescopic spring 614. One side of the interior of the four telescopic sleeve rods 609 is fixed There are two winding ropes 621 connected, two limit support plates 613 are fixedly installed on the top of the rotating platform system 7, the separation component 6 also includes a winding rod 618 and a winding motor 619, the outer surface of the winding rod 618 is movably sleeved with two inclined baffles 620, two protective sleeves 615 are set inside the four telescopic springs 614, and arc grooves 616 are opened on the outer surfaces of the two rotating rods 610 at both ends. An annular vacuum suction cup component 604 is set inside the T-stage 603, and two support seats 622 are fixedly installed on the bottom of the T-stage 603. Linear vacuum suction cup components 605 are set inside the two separation platforms 601, an intelligent control platform 4 is set on the front surface of the processing box 1, industrial cameras 5 are set on both sides of the interior of the processing box 1, and two support seats 6 The bottoms of the four sliding rails 608 are fixedly mounted on the top of the rotating platform system 7. Two support rods 617 are fixedly mounted on the outer surfaces of the four sliding rails 608. The bottoms of the multiple support rods 617 are fixedly mounted on the top of the rotating platform system 7. The bottoms of the forward and reverse motors 612 are mounted 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 movably embedded in the interiors of the eight protective sleeves 615. Each adjacent two winding ropes 621 of the eight winding ropes 621 form a group. One end of the four groups of winding ropes 621 are movably penetrated to the outer surfaces of the four telescopic sleeves 609. The outer surfaces of the four groups of winding ropes 621 are movably embedded in the interiors of the four arc-shaped grooves 616.One end of each of the four groups 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 installed on the outer surface of one side of one of the limit support plates 613 by bolts. The output end of the winding motor 619 movably passes through the outer surface of the other side of one of the limit 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 passes through the outer surface of the other limit support plate 613. The bottoms of the two inclined baffles 620 are fixedly mounted on the top of the rotating platform system 7. The two telescopic rods 609 of each horizontal part of the four telescopic rods 609 form a group. One end of the two groups of telescopic rods 609 are respectively fixedly mounted on the outer surface of one end of the two rotating rods 610. Each adjacent two gears 611 of the four gears 611 are meshed and connected. The output end of the forward and reverse motor 612 is fixedly connected to the outer surface of one side of one of the gears 611. The two ends of the four rotating rods 610 movably pass through the outer surface of one side of the two limit support plates 613.

[0040] In this embodiment, when in use, the adaptive robotic arm 2, the grinder 3, the industrial camera 5, the forward and reverse motor 612, the winding motor 619, the rotating platform system 7, the electromagnet 803, the sensor system 9 and the intelligent control platform 4 are electrically connected. The initial state of the two separation platforms 601 is as follows: Figure 5 As shown, they are folded together, the T-shaped stage 603 is embedded in the two folding grooves 602, and the two extension stages 801 in the folding assembly 8 are magnetically connected to the sides of the two separation stages 601, respectively, thereby expanding the overall area of ​​the separation stages 601. The top of the T-shaped stage 603 is flush with the tops of the two separation stages 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 polish the square electronic components, place them in the center on the top of the polishing platform composed of the separation stage 601 and the extension stage 801, so that the four sides of the square electronic components are all located outside the polishing platform, as shown in FIG. Figure 4As shown, two vacuum suction devices are activated, and two linear vacuum suction cups 605 are used to absorb the square electronic components. An industrial camera 5 captures the electronic components, and the adaptive robotic arm 2 is activated to adaptively adjust according to the captured contours of the electronic components, thereby polishing them. During the polishing process, the sensor system 9 monitors the polishing speed, angle, and force, and adaptively adjusts the relevant data to achieve intelligent adaptive polishing. When it is necessary to polish cylindrical electronic components, the winding motor 619 is activated, and its output end drives the winding rod 618 to rotate, slowly releasing the four sets of wound winding ropes 621. The length of the four sets of winding ropes 621 gradually increases, the tightening tension on the telescopic sleeve 609 gradually decreases, and the extrusion force on the telescopic spring 614 also gradually decreases. At this time, the squeezed telescopic spring 614 gradually rebounds and expands, pushing the telescopic sleeve 609 to gradually expand. One end of the protective sleeve 615 is fixedly connected to the other side of the telescopic sleeve 609, that is, near the rotating rod 610. When the telescopic sleeve 609 is unfolded, the protective sleeve 615 is driven to move on the outer surface of the part of the winding rope 621 located inside the telescopic spring 614, and the winding rope 621 slides inside the arc groove 616. The structure of the sliding track 608 is as follows Figure 5 As shown, it is composed of a transverse track and a downward curved track. As the telescopic sleeve 609 is deployed, it will generate thrust on the fixed block 607, further pushing the fixed shaft 606 to move transversely along the transverse track of the sliding track 608, and then pushing the two separation platforms 601 to move transversely first, so that the two separation platforms 601 move to the sides and open on the outer surface of the T-shaped stage 603. When the winding motor 619 is automatically turned off, the winding rope 621 is completely released, the telescopic sleeve 609 is fully deployed, and the part of the winding rope 621 located between the rotating rod 610 and the winding rod 618 has surplus space, which is convenient for the subsequent rotation of the telescopic sleeve 609. The winding rope 621 has sufficient space to move without affecting the rotation of the telescopic sleeve 609, and the two separation platforms 601 are completely removed from the T-shaped stage 603. At the same time, the forward and reverse motors 612 automatically start, driving the meshed gears 611 to rotate in the opposite direction, driving the two rotating rods 610 to rotate in the opposite direction, and further driving the telescopic sleeve rods 609 on both sides to rotate in the opposite direction at the same time, and 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 platform 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 opposite direction from the outer surface of the T-stage 603 at the same time, isolating the T-stage 603 so that it can be used separately, and both separation platforms 601 are rotated to the bottom and are not located next to the T-stage 603, so as to avoid contact with the separation platform 601 when grinding the periphery of the cylindrical component, causing unnecessary damage. Then put the cylindrical component on the top of the isolated T-stage 603, as shown in FIG. Figure 7As shown, at this time, the circumference of the cylindrical component is located outside the T-stage 603, and another vacuum suction device is started to adsorb and fix the cylindrical component through the annular vacuum suction cup component 604, and then the industrial camera 5 and the adaptive robot arm 2 are started 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 additional resistance, which is beneficial to improving the grinding accuracy and increasing the service life of the grinding head. By restarting the forward and reverse motors 612, the two separation platforms 601 are driven to rotate upward along the arc track of the sliding track 608. When the forward and reverse motors 612 are automatically turned off, the winding motor 619 is started at the same time to wind up the winding rope 621 and shorten the length of the winding rope 621. After the surplus part is wound up, the winding rope 621 continues to be wound up, and at the same time, the telescopic sleeve 609 generates tension, causing the telescopic sleeve 609 to contract, thereby pulling the two separation platforms 601 to move horizontally relative to each other, closing together again, wrapping the T-shaped stage 603 in the closing groove 602, and restoring the initial state, which is convenient for grinding and processing square components. 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. The structure of the grinding platform can be flexibly adjusted to adapt to the grinding processing of components of different shapes such as square and cylindrical shapes, effectively avoiding the contact between the grinding head and the grinding platform, improving adaptability and flexibility, and solving the problem that when cylindrical electronic components are placed on the square grinding platform for grinding, their circumferential side edges are located on the square grinding platform, causing the edge of the grinding head to frequently contact the grinding platform, generating additional resistance and friction, causing the movement trajectory of the grinding head to shift, resulting in a decrease in grinding accuracy, and affecting the quality and performance of the components.

[0041] Example 2: Figure 1-Figure 3 As shown, 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 set 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 set inside the processing box 1, a folding component 8 is set on the outer surface of the separation component 6, an intelligent control platform 4 is set on the front surface of the processing box 1, and industrial cameras 5 are set on both sides of the inside of the processing box 1.

[0042] In this embodiment, when in use, the adaptive robotic arm 2, the rotating platform system 7, the grinder 3 and the sensor system 9 are all existing mature technologies, wherein 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 and an angle sensor, etc., which are respectively installed at various monitoring points of the adaptive robotic arm 2. The grinding table can be adjusted to three different states by the separation component 6 and the folding component 8. The grinding table is adjusted as needed, and then the corresponding electronic components are placed on the grinding table and fixed by a vacuum suction cup. The adaptive robotic arm 2 and the industrial camera 5 are started. The industrial camera 5 takes an image 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 to achieve an adaptive grinding process. Based on the captured image information, the shape of the component is determined to be square or cylindrical. The sensor system 9 on the adaptive robotic arm 2 then monitors the motion state of the adaptive robotic arm 2 in real time. For example, a force sensor measures the grinding force and transmits it to the control system. The control system compares the current measured value with a preset force range, calculates the required adjustment through an algorithm, and then issues instructions to the power system and transmission mechanism of the adaptive robotic arm 2 to change the transmission mechanism's motion parameters, thereby achieving adaptive adjustment of the grinding force. For example, displacement sensors and angle sensors 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 precision positioning mechanism in the adaptive robotic arm 2 to achieve adaptive positioning. If a local unevenness or defect on the component surface is detected, 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 that area.

[0043] Example 3: Figure 5 and Figures 8-11As shown, the folding assembly 8 includes two expansion platforms 801, and a plurality of arc-shaped plug rods 808 are fixedly installed on the top of the outer surface of one side of the two expansion platforms 801. A first magnet 802 is set inside the two expansion platforms 801, and an electromagnet 803 is set at the edge of the interior of the two separation platforms 601. An L-shaped plate 807 is fixedly installed inside the two separation platforms 601, and a second magnet 813 is set 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 one side of the two second magnets 813. A rotating groove 807 is provided on the edge of the bottom of the two separation platforms 601. 04, the interior of the two rotating grooves 804 is movably embedded with a rotating bar 806, and the interior of the two rotating bars 806 is movably embedded with a center rod 805, and a plurality of connecting rods 809 are arranged in a group of five connecting rods 809 distributed laterally. One end of the two groups of connecting rods 809 is fixedly installed with a connecting plate 810, and the top of the outer surface of one side of the two connecting plates 810 is fixedly installed with a plurality of Z-shaped top rods 812. The outer surfaces of the plurality of connecting rods 809 are movably sleeved with a reset spring 811, and 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 81 3 are magnetically connected to the other outer surfaces of the two electromagnets 803, the outer surfaces of one side of the two expansion platforms 801 are in contact with the outer surfaces of one side of the two separation platforms 601, the two ends of the two center rods 805 are fixedly installed on both sides of the inside of the two rotation slots 804, the outer surfaces of one side of the two rotation bars 806 are fixedly connected to the bottom of the outer surface of one side of the two expansion platforms 801, the outer surfaces of one side of the two separation platforms 601 are each provided with a plurality of arc-shaped slots 624, and the inner side of the two separation platforms 601 is each provided with a plurality of ejection slots 623, and the ejection slots 623 are aligned with the arc-shaped slots 624. The two groups of connecting rods 809 are connected, and one end of the two groups of connecting rods 809 is movable and penetrates the interior of the two L-shaped plates 807. The outer surfaces of the multiple arc-shaped plug rods 808 are movably embedded in the interior of the multiple arc-shaped slots 624. The multiple Z-shaped top rods 812 are evenly divided into two groups, and one end of the two groups of Z-shaped top rods 812 is movable and penetrates the outer surface of the two L-shaped plates 807. The multiple return springs 811 are evenly divided into two groups, and one end of the two groups of return springs 811 is fixedly connected to one side of the interior of the two L-shaped plates 807, and the other end of the two groups of return springs 811 is fixedly connected to the outer surface of one side of the two connecting plates 810.

[0044] In this embodiment, when in use, the first magnet 802 and the electromagnet 803 are attracted to each other due to their opposite polarity, and the second magnet 813 and the electromagnet 803 are repelled to each other due to their like polarity. At the same time, the two electromagnets 803 are turned off, so that the magnetism between the first magnet 802 and the electromagnet 803 disappears, and the magnetism between the second magnet 813 and the electromagnet 803 disappears. At this time, the thrust exerted on the second magnet 813 and the return spring 811 disappears. Under the rebound of the return spring 811, the connecting plate 810 is pulled to move, and the second magnet 813 is pushed toward the electromagnet 803 through the connecting rod 809, further driving the multiple Z-shaped ejector rods 812 to move into the ejection groove 623 and enter the arc-shaped slot 624, generating an ejection force on the arc-shaped insertion rod 808, thereby generating a thrust on the top of the expansion platform 801. Under the action of gravity, the expansion platform 801 drives the rotating bar 806 to rotate downward with the center rod 805 as the axis, and drives the arc-shaped insertion rod 808 to move out of the arc-shaped slot 624, so that the two expansion platforms 801 are rotated to the bottom of the two separation platforms 601 respectively, thereby reducing the width of the entire grinding platform, making it easier to place square components with smaller widths for grinding processing. By expanding and contracting the extension table 801, the width of the polishing platform can be adjusted to accommodate the processing of square components of different widths, greatly improving the flexibility and applicability of the intelligent polishing equipment.

[0045] The overall mechanism achieves the following effects and operates as follows: When polishing a square electronic component, it is centered on top of the polishing platform consisting of a separation table 601 and an expansion table 801. Two vacuum suction devices are activated, and the square electronic component is held by two linear vacuum suction cups 605. An industrial camera 5 captures the electronic component, and the adaptive robotic arm 2 is activated, adaptively adjusting according to the captured contour of the component to polish it. During the polishing process, the sensor system 9 monitors the polishing speed, angle, and force, and adaptively adjusts the relevant data. When polishing a cylindrical electronic component, the winding motor 619 is activated, and its output drives the winding rod 618 to rotate, slowly releasing the four sets of winding ropes 621. The tightening tension of the telescopic sleeve 609 gradually decreases, and the compressed telescopic spring 614 gradually rebounds and expands, pushing the telescopic sleeve 609 to gradually expand. As the telescopic sleeve 609 is extended, it generates thrust on the fixed block 607, further pushing the fixed shaft 606 to move laterally along the horizontal track of the sliding track 608, thereby pushing the two separation platforms 601 to move laterally first and open to the sides on the outer surface of the T-shaped stage 603. When the winding motor 619 is automatically turned off, the forward and reverse motors 612 are automatically started, driving the meshed gears 611 to rotate in the opposite direction, driving the two rotating rods 610 to rotate in the opposite direction, and further driving the telescopic sleeves 609 on both sides to rotate in the opposite direction at the same time. The fixed shaft 606 is driven by the fixed block 607 to continue to rotate along the curved track of the sliding track 608. 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 opposite directions from the outer surface of the T-shaped stage 603 at the same time, isolating the T-shaped stage 603 for independent use, and both separation platforms 601 rotate to the bottom. Then, the cylindrical component is placed on the top of the isolated T-stage 603, and another vacuum suction device is started. The cylindrical component is adsorbed and fixed by the annular vacuum suction cup component 604, and then the industrial camera 5 and the adaptive robot arm 2 are started for intelligent polishing.At the same time, the two electromagnets 803 are turned off, so that the magnetism between the first magnet 802 and the electromagnet 803 disappears, and the magnetism between the second magnet 813 and the electromagnet 803 disappears. At this time, the thrust exerted on the second magnet 813 and the return spring 811 disappears. Under the rebound of the return spring 811, the connecting plate 810 is pulled to move, and the second magnet 813 is pushed toward the electromagnet 803 through the connecting rod 809, further driving the multiple Z-shaped ejector rods 812 to move into the ejection groove 623 and enter the arc-shaped slot 624, generating an ejection force on the arc-shaped insertion rod 808, thereby generating a thrust on the top of the expansion platform 801. Under the action of gravity, the expansion platform 801 drives the rotating bar 806 to rotate downward with the center rod 805 as the axis, and drives the arc-shaped insertion rod 808 to move out of the arc-shaped slot 624, so that the two expansion platforms 801 are rotated to the bottom of the two separation platforms 601 respectively, thereby reducing the width of the entire grinding platform, making it easier to place square components with smaller widths for grinding processing.

[0046] Among them, the adaptive robotic arm 2, grinder 3, intelligent control platform 4, industrial camera 5, forward and reverse motor 612, winding motor 619, rotating platform system 7, electromagnet 803 and sensor system 9 are all existing technologies, and their components and usage principles are all public technologies, so no further explanation will be given here.

[0047] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An electronic component adaptive polishing device based on machine vision, comprising an adaptive robotic arm (2), a polisher (3) mounted on an execution end thereof, and a sensor system (9) on the outer surface of the adaptive robotic arm (2), characterized in that: A processing box (1) is provided on the front surface of the adaptive robot arm (2), a rotating platform system (7) and a separation component (6) mounted on the top of the rotating platform system (7) are provided inside the processing box (1), and a folding component (8) is provided on the outer surface of the separation component (6); The separation assembly (6) includes two separation platforms (601), and the two separation platforms (601) are provided with a closing groove (602) on opposite sides. A T-shaped platform (603) is movably embedded in the two closing grooves (602). Fixed shafts (606) are fixedly installed at the bottom of the outer surfaces of both sides of the two separation platforms (601). The outer surfaces of the four fixed shafts (606) are movably sleeved with sliding tracks (608). The fixed shafts (606) first move horizontally along a straight track in the sliding track (608) and then rotate downward along an arc track, thereby driving the separation platform (601) to move horizontally away from the outer surface of the T-shaped platform (603) and then turn it downward, so that the T-shaped platform (603) is separated and used separately. The separation assembly (6) further includes a forward and reverse motor (612) and two rotating rods (610), both ends of the two rotating rods (610) are fixedly connected to gears (611), the outer surfaces of the four fixed shafts (606) are fixedly mounted with fixed blocks (607), one side outer surface of the four fixed blocks (607) is fixedly mounted with telescopic sleeves (609), the interiors of the four telescopic sleeves (609) are provided with telescopic springs (614), one side of the interiors of the four telescopic sleeves (609) are fixedly connected to two winding ropes (621), and the top of the rotating platform system (7) is fixedly mounted with two limit support plates (613); The separation assembly (6) further comprises a winding rod (618) and a winding motor (619); the outer surface of the winding rod (618) is movably provided with two inclined baffles (620); two protective sleeves (615) are provided inside the four telescopic springs (614); arc-shaped grooves (616) are provided on the outer surfaces at both ends of the two rotating rods (610); an annular vacuum suction cup component (604) is provided inside the T-shaped stage (603); two support seats (622) are fixedly installed on the bottom of the T-shaped stage (603); and linear vacuum suction cup components (605) are provided inside the two separation stages (601); An intelligent control platform (4) is provided on the front surface of the processing box (1), industrial cameras (5) are provided on both sides of the interior of the processing box (1), the bottoms of the two support seats (622) are fixedly mounted on the top of the rotating platform system (7), the outer surfaces of the four sliding rails (608) are fixedly mounted with two support rods (617), the bottoms of the plurality of support rods (617) are fixedly mounted on the top of the rotating platform system (7), the bottom of the forward and reverse motor (612) is mounted on one side of the top of the rotating platform system (7) through an auxiliary plate, and the outer surface of the winding rod (618) is located between the two support seats (622).

2. The electronic component adaptive polishing device based on machine vision according to claim 1, characterized in that: The outer surfaces of the eight reeling ropes (621) are movably embedded in the interior of the eight protective sleeves (615), and each two adjacent reeling ropes (621) of the eight reeling ropes (621) form a group. One end of the four groups of reeling ropes (621) are movably penetrated to the outer surface of the four telescopic sleeve rods (609), and the outer surfaces of the four groups of reeling ropes (621) are movably embedded in the interior of the four arc-shaped grooves (616), and one end of the four groups of reeling ropes (621) are fixedly connected to the outer surface of the reeling rod (618).

3. The electronic component adaptive polishing device based on machine vision according to claim 2, characterized in that: One side outer surface of the winding motor (619) is mounted on one side outer surface of one of the limit support plates (613) by means of bolts, and the output end of the winding motor (619) is movable through the other side outer surface of one of the limit support plates (613), one end of the winding motor (619) is fixedly connected to one end of the winding rod (618), and the other end of the winding rod (618) is movable through the outer surface of the other limit support plate (613), and the bottoms of the two inclined baffles (620) are both fixedly mounted on the top of the rotating platform system (7).

4. The electronic component adaptive polishing device based on machine vision according to claim 3, characterized in that: The two telescopic sleeves (609) in each horizontal part of the four telescopic sleeves (609) form a group, one end of the two groups of telescopic sleeves (609) are respectively fixedly mounted on the outer surface of one end of the two rotating rods (610), the four gears (611) are meshedly connected between each two adjacent gears (611), the output end of the forward and reverse motor (612) is fixedly connected to the outer surface of one side of one of the gears (611), and the two ends of the four rotating rods (610) are respectively movable and penetrate the outer surface of one side of the two limit support plates (613).

5. The electronic component adaptive polishing device based on machine vision according to claim 1, characterized in that: The folding assembly (8) comprises two expansion platforms (801), a plurality of arc-shaped plug rods (808) are fixedly installed on the top of the outer surface of one side of the two expansion platforms (801), a first magnet (802) is provided inside the two expansion platforms (801), an electromagnet (803) is provided at the edge of the interior of the two separation platforms (601), an L-shaped plate (807) is fixedly installed inside the two separation platforms (601), a second magnet (813) is provided 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 one side of the two second magnets (813), a rotation groove (804) is provided at the edge of the bottom of the two separation platforms (601), a rotation bar (806) is movably embedded in the interior of the two rotation grooves (804), and a center rod (805) is movably embedded in the interior of the two rotation bars (806).

6. The electronic component adaptive polishing device based on machine vision according to claim 5, characterized in that: Each of the five connecting rods (809) distributed laterally among the multiple connecting rods (809) forms a group, one end of each of the two groups of connecting rods (809) is fixedly mounted with a connecting plate (810), the top of the outer surface of one side of each of the two connecting plates (810) is fixedly mounted with a plurality of Z-shaped top rods (812), the outer surfaces of each of the multiple connecting rods (809) are movably sleeved with a return spring (811), the two first magnets (802) are magnetically connected to the outer surfaces of one side of each of the two electromagnets (803), the two second magnets (813) are magnetically connected to the outer surfaces of the other side of each of the two electromagnets (803), the outer surfaces of one side of each of the two expansion platforms (801) are in contact with the outer surfaces of one side of each of the two separation platforms (601), the two ends of the two center rods (805) are fixedly mounted on both sides of the inside of the two rotating grooves (804), and the outer surfaces of one side of each of the two rotating bars (806) are fixedly connected to the bottom of the outer surfaces of one side of each of the two expansion platforms (801).

7. The electronic component adaptive polishing device based on machine vision according to claim 6, characterized in that: The outer surface of one side of the two separation platforms (601) is provided with a plurality of arc-shaped slots (624), and the inner side of the two separation platforms (601) is provided with a plurality of ejection slots (623), and the ejection slots (623) are connected to the arc-shaped slots (624). One end of the two groups of connecting rods (809) is movably inserted into the inner side of the two L-shaped plates (807), and the outer surfaces of the plurality of arc-shaped insertion rods (808) are movably embedded in the inner side of the plurality of arc-shaped slots (624). The plurality of Z-shaped ejector rods (812) are evenly divided into two groups, and one end of the two groups of Z-shaped ejector rods (812) is movably inserted into the outer surface of the two L-shaped plates (807). The plurality of return springs (811) are evenly divided into two groups, and one end of the two groups of return springs (811) is fixedly connected to one side of the inner side of the two L-shaped plates (807), and the other end of the two groups of return springs (811) is fixedly connected to the outer surface of one side of the two connection plates (810).

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