Flexible grinding and polishing equipment for high-hardness metal workpiece and using method of flexible grinding and polishing equipment

Abstract

The invention discloses high-hardness metal workpiece flexible grinding and polishing equipment and a using method thereof. The high-hardness metal workpiece flexible grinding and polishing equipment comprises a supporting mechanism, a clamping mechanism, a six-axis mechanical arm, a workpiece scanning mechanism and a grinding and polishing mechanism. The clamping mechanism is connected to the upper end of the supporting mechanism to clamp a workpiece. The workpiece scanning mechanism is connected to the six-axis mechanical arm to scan the appearance of a workpiece. The grinding and polishing mechanism is connected to the six-axis mechanical arm to grind and polish the workpiece. The clamping mechanism, the six-axis mechanical arm, the workpiece scanning mechanism and the grinding and polishing mechanism are all in communication connection with the control system. The electromagnetic principle is used for driving, the deviation between the pressure between a grinding and polishing tool and a workpiece being ground and polished in the grinding and polishing process and a set value is controlled, and the better response speed is achieved; and meanwhile, a process management mode combining deep learning and a 3D laser three-dimensional scanning technology is used, a better fitting machining scheme can be automatically matched and generated, and the intelligent automatic production process is achieved.

Description

Technical Field

[0001] This invention relates to the field of metal workpiece grinding and polishing technology, and more specifically to a flexible grinding and polishing device for high-hardness metal workpieces and its usage method. Background Technology

[0002] In the current field of grinding and polishing, traditional grinding and polishing equipment generally lacks the ability to intelligently control grinding methods. In particular, when grinding and polishing high-hardness metal workpieces, the inability to accurately and intelligently control parameters such as force and position during the grinding process can easily lead to localized pressure overload on the workpiece, causing some areas of the workpiece to overheat due to excessive pressure. The direct consequence of overheating is that the metal workpiece burns and blackens, subsequently triggering secondary annealing and becoming brittle, significantly affecting the quality and performance of the workpiece.

[0003] Furthermore, the application of intelligent solutions in the grinding and polishing field currently has many shortcomings. When processing raw materials of various types or in different initial states, existing systems often cannot automatically adapt and adjust grinding and polishing strategies. This means that in actual production, manual intervention or reprogramming is frequently required to ensure the normal operation of grinding and polishing. This manual intervention not only increases the labor intensity of operators but is also prone to errors and mistakes due to the subjectivity and limitations of manual operation. At the same time, frequent manual intervention and programming adjustments also lead to relatively low overall production efficiency in the factory, failing to meet the needs of modern large-scale production.

[0004] Therefore, how to provide a flexible grinding and polishing equipment that can accurately position and intelligently control the grinding process, has a high degree of automation, and is applicable to high-hardness metal workpieces is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] In view of this, the present invention provides a flexible grinding and polishing equipment for high-hardness metal workpieces and its usage method. By optimizing and innovating the grinding methods and processes for high-hardness metal workpieces, high-quality grinding and polishing work can be completed. With the help of an electromagnetically driven variable stiffness compliant actuator, precise force and position control can be achieved, effectively solving various production defects that are prone to occur when grinding and polishing high-hardness metal materials, including overheating and annealing, and excessive grinding. By leveraging 3D laser scanning technology, combined with deep learning algorithms and a series of peripheral supporting equipment, an intelligent and automated grinding process is constructed.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A flexible grinding and polishing device for high-hardness metal workpieces includes:

[0008] Supporting institutions;

[0009] A clamping mechanism, comprising a clamp rotatably connected to the upper end of the support mechanism to clamp a workpiece;

[0010] A six-axis robotic arm, wherein the six-axis robotic arm is arranged opposite to the support mechanism;

[0011] The workpiece scanning mechanism includes a fixed plate, a scanner, and a deep learning camera. The fixed plate is detachably connected to the clamping part of the six-axis robotic arm. The scanner and the deep learning camera are respectively fixed to both ends of one side panel of the fixed plate to scan the appearance of the workpiece.

[0012] A polishing mechanism includes a bidirectional commutator, a force-controlled end effector, a rotating shaft, and polishing tools. The fixed end of the bidirectional commutator is detachably connected to the other side plate of the fixed plate. The force-controlled end effector is fixed to the rotating end of the bidirectional commutator. The rotating shaft has two sets, with one end symmetrically rotatably connected to both sides of the force-controlled end effector. The polishing tools are detachably connected to the other end of the rotating shaft.

[0013] The clamping mechanism, the six-axis robotic arm, the workpiece scanning mechanism, and the polishing mechanism are all communicatively connected to the control system.

[0014] The beneficial effects of the technical solution of the present invention are that, through unified allocation by the control system, the workpiece scanning mechanism can scan the appearance contour of the workpiece to be polished, and the workpiece is polished by the grinding and polishing mechanism. The grinding and polishing mechanism can achieve precise force and position control through the force-controlled end effector, which effectively solves a variety of production defects that are easy to occur when grinding and polishing high-hardness metal materials, including overheating and annealing and over-grinding.

[0015] Preferably, a connecting flange is fixed to one side panel of the fixing plate, and the connecting flange is screwed to the clamp of the six-axis robotic arm. The scanner and deep learning camera are symmetrically arranged on both sides of the connecting flange. The connection between the fixing plate and the six-axis robotic arm clamp is achieved through the connecting flange, making installation and disassembly convenient and quick.

[0016] Preferably, a flange is fixed to the panel on the other side of the fixing plate opposite to the connecting flange, and the fixed end of the bidirectional commutator is screwed onto the flange. The flange enables the connection between the grinding and polishing mechanism and the workpiece scanning mechanism, ensuring that the bidirectional commutator does not cause mechanical interference to the scanner and deep learning camera when switching grinding and polishing tools.

[0017] Preferably, the support mechanism includes a placement platform, a bracket, and a housing; the bottom end of the bracket is vertically fixed to the top surface of the placement platform; the housing is fixed to the top end of the bracket, and the clamp is rotatably connected to one side wall of the housing. The housing and bracket support the clamp, facilitating the gripping and releasing of the workpiece.

[0018] Preferably, it also includes an indexing plate, which is fixed to the top surface of the placement platform. The indexing plate is driven by the clamp to adjust the rotation angle of the clamp. The indexing plate controls the clamp, enabling the workpiece to rotate within a 360° stroke, ensuring that the grinding and polishing tools can more flexibly select the grinding angle, and also facilitating the clamping or replacement of the workpiece to be ground; combined with the control system, the angle of the indexing plate can be preset.

[0019] Preferably, the system further includes a dust collection mechanism, which comprises a dust collector connected to the inner cavity of the housing via an exhaust pipe. The end of the exhaust pipe furthest from the dust collector penetrates the side wall of the housing and corresponds to the clamp. The dust collector collects the dust generated during the grinding and polishing process, preventing dust pollution and ensuring a more environmentally friendly grinding and polishing process.

[0020] Preferably, the scanner is a 3D laser scanner. 3D laser scanning technology allows for more precise acquisition of the workpiece's external contour and shape. Combined with the deep learning algorithm of a deep learning camera, it enables an intelligent and automated polishing process.

[0021] Preferably, the force-controlled end effector is an electromagnetic variable stiffness compliant actuator. The electromagnetic variable stiffness compliant actuator can achieve precise force and position control, effectively solving various production defects that are prone to occur when grinding and polishing high-hardness metal materials, including overheating and annealing, and excessive grinding.

[0022] Preferably, the bidirectional commutator and the force-controlled end effector are fitted with a protective shell around their outer periphery.

[0023] This invention also provides a method for using a flexible grinding and polishing device for high-hardness metal workpieces. The method, employing the aforementioned technical solution, includes the following steps:

[0024] S1. The fixture clamps the workpiece and flips it to a preset angle;

[0025] S2, a six-axis robotic arm drives a scanner and a deep learning camera to scan the workpiece and obtain workpiece size, appearance and 3D point cloud images; workpiece data information is transmitted to the control system to generate a grinding and polishing plan;

[0026] S3, the six-axis robotic arm drives the force-controlled end effector to the predetermined position, and the grinding and polishing tool performs fine grinding and polishing on the workpiece;

[0027] S4, the six-axis robotic arm drives the scanner and deep learning camera again to scan the workpiece and judge the polishing quality;

[0028] S5. If the quality is acceptable, store the workpiece; if the quality is unacceptable, repeat steps S2 to S4 until the final polished workpiece is acceptable.

[0029] As can be seen from the above technical solution, compared with the prior art, the present invention discloses a flexible grinding and polishing equipment for high-hardness metal workpieces and its usage method. The force-controlled end effector is driven by electromagnetic principles to control the deviation between the pressure and the set value between the grinding and polishing tool and the workpiece being ground and polished during the grinding and polishing process, and has a better response speed. It uses a process management method that combines deep learning and 3D laser three-dimensional scanning technology, which can automatically match and generate a more suitable processing plan, realize an intelligent automated production process, and upgrade the grinding and polishing work from a small-batch manual production process to a large-scale mass production process.

[0030] This equipment solves the problems of low polishing quality and frequent manual intervention in existing technologies. By combining deep learning algorithms with 3D laser scanning technology, it automatically generates processing solutions tailored to actual needs, achieving an intelligent and automated production process. The force-controlled end effector optimizes force and position control during the polishing process, improving response speed and force control accuracy, thus ensuring processing quality. This invention not only improves production efficiency, yield, and product quality, but also reduces operational difficulty and labor intensity. Attached Figure Description

[0031] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0032] Figure 1 Schematic diagram of the grinding and polishing equipment provided by the present invention Figure 1 ;

[0033] Figure 2 Schematic diagram of the grinding and polishing equipment provided by the present invention Figure 2 ;

[0034] Figure 3 A schematic diagram of the support mechanism structure provided by the present invention;

[0035] Figure 4 The schematic diagram of the grinding and polishing mechanism provided in this law is as follows;

[0036] Figure 5 for Figure 3 A schematic diagram of the exploded structure;

[0037] Figure 6 This is a schematic diagram of the workpiece scanning mechanism provided by the present invention;

[0038] Figure 7 This is a schematic diagram of the grinding and polishing production line structure provided by the present invention.

[0039] in,

[0040] 1-Supporting mechanism; 11-Placement platform; 12-Bracket; 13-Box base;

[0041] 2-Clamping mechanism; 21-Indexing plate; 22-Clamp;

[0042] 3-Workpiece;

[0043] 4-Six-axis robotic arm;

[0044] 5-Workpiece scanning mechanism; 51-Fixing plate; 52-Connecting flange; 53-Flange; 54-Scanner; 55-Deep learning camera;

[0045] 6-Grinding and polishing mechanism; 61-Bidirectional commutator; 62-Protective housing; 63-Force-controlled end effector; 64-Rotating shaft; 65-Grinding and polishing tool;

[0046] 7-Dust collection mechanism; 71-Dust collector; 72-Exhaust pipe;

[0047] 8-Control system; 81-Control workbench; 82-Host computer; 83-Human-machine interface terminal; 84-Cluster control cabinet;

[0048] 9-Logistics guidance line. Detailed Implementation

[0049] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0050] Example 1:

[0051] See appendix Figures 1-2 This invention discloses a flexible grinding and polishing device for high-hardness metal workpieces, comprising:

[0052] Supporting structure 1;

[0053] The clamping mechanism 2 includes a clamp 22, which is rotatably connected to the upper end of the support mechanism 1 to clamp the workpiece 3.

[0054] A six-axis robotic arm 4 is arranged opposite to the support mechanism 1.

[0055] The workpiece scanning mechanism 5 includes a fixed plate 51, a scanner 54 and a deep learning camera 55. The fixed plate 51 is detachably connected to the clamping part of the six-axis robotic arm 4. The scanner 54 and the deep learning camera 55 are respectively fixed to the two ends of one side panel of the fixed plate 51 to scan the appearance of the workpiece 3.

[0056] The grinding and polishing mechanism 6 includes a bidirectional commutator 61, a force-controlled end effector 63, a rotating shaft 64, and a grinding and polishing tool 65. The fixed end of the bidirectional commutator 61 is detachably connected to the other side plate of the fixing plate 51. The force-controlled end effector 63 is fixed to the rotating end of the bidirectional commutator 61. The rotating shaft 64 has two sets, with one end symmetrically rotating and connected to both sides of the force-controlled end effector 63. The grinding and polishing tool 65 is detachably connected to the other end of the rotating shaft 64.

[0057] Among them, the clamping mechanism 2, the six-axis robotic arm 4, the workpiece scanning mechanism 5, and the grinding and polishing mechanism 6 are all communicatively connected to the control system 8.

[0058] In this embodiment, the control system 8 includes a control workbench 81 and a host computer 82 fixed on the top surface of the control workbench 81.

[0059] As shown in the figure, the control system presets the rotation angle of the fixture. After the fixture picks up the workpiece, it rotates to the preset angle. The six-axis robotic arm can drive the scanner and deep learning camera to scan the workpiece contour to obtain the workpiece size, appearance and 3D point cloud image information. After transmitting this information to the control system, a grinding and polishing scheme can be preset. The six-axis robotic arm controls the grinding and polishing mechanism to perform grinding and polishing cutting operations on the workpiece. Grinding and polishing tools are rotatably connected to both sides of the force-controlled end effector. Different grinding and polishing tools can be switched through the bidirectional commutator to perform grinding and polishing operations on the workpiece.

[0060] In this embodiment, scanner 54 is a 3D laser scanner. The 3D laser scanner utilizes 3D laser scanning technology, combined with the deep learning algorithm of a deep learning camera, to automatically match and generate a more suitable processing solution, thus realizing an intelligent and automated production process.

[0061] It's important to note that a deep learning camera is a camera system that incorporates deep learning technology. It uses deep learning algorithms to process image data, enabling more intelligent image recognition, analysis, and processing. The core principle of a deep learning camera is to utilize deep learning models (such as Convolutional Neural Networks (CNNs) and Recurrent Neural Networks (RNNs)) to process image data. These models are trained on large amounts of labeled data, automatically learning features in images and applying them to subsequent tasks such as image recognition, object detection, and scene reconstruction. Deep learning cameras can employ commercially available binocular stereo vision cameras, active binocular stereo imaging cameras, stereo vision cameras, structured light cameras, and other similar devices.

[0062] In this embodiment, the force-controlled end effector 63 is an electromagnetic variable stiffness compliant actuator.

[0063] like Figure 5 As shown, the electromagnetic variable stiffness compliant actuator utilizes electromagnetic principles and a voice coil motor structure to control the deviation between the pressure and the set value between the grinding / polishing tool and the workpiece being ground / polished during the grinding / polishing process. Compared with existing technologies using pneumatic variable stiffness compliant devices, it has a better response speed.

[0064] Electromagnetic variable stiffness compliant actuators are devices that achieve adjustable stiffness through electromagnetic principles, and are widely used in robotics, automation equipment, and vibration control. Stiffness adjustment is typically based on the interaction of electromagnetic fields. Their core components include an electromagnetic coil and a permanent magnet. By changing the current in the coil, the magnetic field strength can be altered, thereby adjusting the device's stiffness. For example, by employing a coaxial coil-permanent magnet design and optimizing the structural parameters of the electromagnetic interaction system, an analytical mapping from input current to output force and stiffness characteristics can be achieved.

[0065] The electromagnetic variable stiffness compliant actuator used in this invention has the key technical indicators listed in Table 1. Its response speed and force control accuracy should be significantly higher than those of the pneumatic variable stiffness compliant device, while maintaining the contact force adjustment range, protection level, operating temperature, and position compensation indicators on par with existing pneumatic variable stiffness compliant devices.

[0066] Table 1 Key Technical Indicators of Electromagnetic Variable Stiffness Compliance Device

[0067]

[0068] To further optimize the above technical solution, effective protection should be provided for the bidirectional commutator and the force-controlled end effector, such as... Figure 4 As shown, a protective shell 62 is fastened around the bidirectional commutator 61 and the force-controlled end effector 63.

[0069] In some other specific embodiments, a connecting flange 52 is fixed on one side panel of the fixing plate 51. The connecting flange 52 is screwed to the clamp of the six-axis robotic arm 4. The scanner 54 and the deep learning camera 55 are symmetrically arranged on both sides of the connecting flange 52.

[0070] like Figure 6 As shown, the fixed plate is made of sheet metal, and the connecting flange includes a flange plate and a connecting sleeve. The flange plate is bolted to the fixed plate, and the connecting sleeve is connected to the fixture of the six-axis robotic arm. The scanner and the deep learning camera are located on the same side of the fixed plate as the connecting flange.

[0071] To further optimize the above technical solution, a flange 53 is fixed to the panel on the other side of the fixing plate 51 relative to the connecting flange 52, and the fixed end of the bidirectional commutator 61 is screwed onto the flange 53.

[0072] The flange and connecting flange are arranged coaxially. The bidirectional commutator and force-controlled end effector are located on both sides of the fixed plate, along with the scanner and deep learning camera. The design of the flange and connecting flange ensures that the bidirectional commutator will not cause mechanical interference to the scanner and deep learning camera when switching grinding and polishing tools.

[0073] To further optimize the above technical solution, better realize the installation of the fixture, and ensure the clamping of the workpiece, the support mechanism 1 includes a placement platform 11, a bracket 12, and a box base 13; the bottom end of the bracket 12 is vertically fixed to the top surface of the placement platform 11; the box base 13 is fixed to the top end of the bracket 11, and the fixture 22 is rotatably connected to one side wall of the box base 23.

[0074] like Figure 3 As shown, there are two sets of supports arranged symmetrically. The lower ends of the two sets of supports are bolted or welded to the top surface of the platform through connecting plates. The upper side walls of the two sets of supports are connected by a fixed shaft to a box base. The box base is a hollow structure. The clamp is an automatic clamp. The clamp is rotatably connected to one side wall of the box base, which can automatically clamp and release the workpiece.

[0075] To further optimize the above technical solution and precisely adjust the rotation angle of the fixture, an indexing plate 21 is also included. The indexing plate 21 is fixed on the top surface of the placement platform 11 and is connected to the fixture 22 to adjust the rotation angle of the fixture 22.

[0076] The indexing plate is fixed on the top surface of the platform and located on one side of the bracket. The indexing plate is a high-precision indexing plate with an accuracy of 0.5°. The indexing plate is connected to the host computer for communication. The host computer presets the rotation angle, and the indexing plate drives the clamp to control the clamp to rotate to the preset angle, resulting in a higher degree of automation and intelligence.

[0077] In some other specific embodiments, the dust generated during the grinding and polishing process is collected to ensure the environmental protection of the grinding and polishing process. The dust collection mechanism 7 includes a dust collector 71. The dust collector 71 is connected to the inner cavity of the housing 23 through an exhaust pipe 72. The end of the exhaust pipe 72 away from the dust collector 71 passes through the side wall of the housing 23 and corresponds to the clamp 22.

[0078] The dust collector and fixture are symmetrically arranged on the two side walls of the housing. The exhaust pipe is inserted into the inner cavity of the housing, and the outlet of the exhaust pipe passes through the side wall of the housing connecting the fixture. When grinding and polishing workpieces, the dust collector and exhaust pipe collect powder and other dust to prevent pollution of the working environment.

[0079] Example 2:

[0080] This invention discloses a method for using a flexible grinding and polishing device for high-hardness metal workpieces. The method employs the flexible grinding and polishing device for high-hardness metal workpieces described in Example 1, using a semi-automatic mode, and includes the following steps:

[0081] S1. The fixture clamps the workpiece and flips it to a preset angle;

[0082] The operator places the workpiece to be processed in the fixture, which is then rotated to the optimal angle preset by a high-precision indexing plate to prepare for the initial scanning operation;

[0083] S2, a six-axis robotic arm drives a scanner and a deep learning camera to scan the workpiece and obtain workpiece size, appearance and 3D point cloud images; workpiece data information is transmitted to the control system to generate a grinding and polishing plan;

[0084] In this embodiment, the workpiece data information is transmitted to the host computer. After receiving the data, the host computer analyzes the workpiece information through a pre-trained and integrated artificial intelligence model, and intelligently generates a personalized processing plan for the workpiece, including key instructions such as grinding path and polishing parameters.

[0085] S3, the six-axis robotic arm drives the force-controlled end effector to the predetermined position, and the grinding and polishing tool performs fine grinding and polishing on the workpiece;

[0086] Based on the processing plan generated in step S2, the six-axis robotic arm precisely drives the force-controlled end effector to the predetermined starting position and starts the grinding and polishing program;

[0087] During this process, the force position control method driven by the force-controlled end effector (electromagnetic variable stiffness compliant actuator) ensures the best contact and action effect between the grinding and polishing tool and the workpiece surface. Furthermore, the high precision of the electromagnetic variable stiffness compliant actuator in controlling the force position and the high speed of response control ensure that the surface of high-hardness metal workpieces will not undergo secondary annealing or over-grinding during the grinding process.

[0088] S4, the six-axis robotic arm drives the scanner and deep learning camera again to scan the workpiece and judge the polishing quality;

[0089] The basis for judging the quality of polishing is to verify whether its appearance and 3D features fully meet the preset quality standards.

[0090] S4. If the quality is qualified, the fixture will automatically release the workpiece, and the operator will take it out for subsequent processing or packaging or to store the workpiece.

[0091] If the quality is not up to standard, the system will automatically repeat the grinding and polishing process from step S2 to step S4 until the workpiece meets the quality requirements.

[0092] Throughout the process, the control system will promptly notify the operator of information regarding the end of the grinding and polishing cycle and preparation for unloading, ensuring a smooth and efficient process.

[0093] Example 3:

[0094] This embodiment discloses a flexible grinding and polishing production line for high-hardness metal workpieces, which uses multiple flexible grinding and polishing equipment for high-hardness metal workpieces as described in Embodiment 1.

[0095] like Figure 7 As shown, multiple grinding and polishing devices as described in Example 1 are installed at point 9 of the logistics guide line. These multiple grinding and polishing devices are automated and intelligently controlled by a set of control systems 8.

[0096] The control system 8 in this embodiment includes a control workbench 81, a host computer 82, a human-computer interaction terminal 83, and a cluster control cabinet 84; the host computer 82 and the human-computer interaction terminal 83 are placed on the control workbench 81, and the cluster control cabinet 84 is located on one side of the control workbench 81.

[0097] The host computer 82, the human-machine interaction terminal 83 and the cluster control cabinet 84 are interconnected and control the grinding and polishing programs of multiple grinding and polishing equipment through the cluster control cabinet 84.

[0098] Example 4:

[0099] This invention discloses a method for using a flexible grinding and polishing device for high-hardness metal workpieces. The method employs the flexible grinding and polishing device for high-hardness metal workpieces described in Embodiment 3, using a fully automatic mode, and includes the following steps:

[0100] S1. The fixture clamps the workpiece and flips it to a preset angle;

[0101] The material supply equipment in the factory is guided by the logistics guide line to transfer the workpiece to be polished to the workpiece fixture position.

[0102] Subsequently, the fixture automatically clamps the workpiece and adjusts it to a preset suitable angle through a high-precision indexing plate to prepare for the initial scanning.

[0103] S2, a six-axis robotic arm drives a scanner and a deep learning camera to scan the workpiece and obtain workpiece size, appearance and 3D point cloud images; workpiece data information is transmitted to the control system to generate a grinding and polishing plan;

[0104] In this embodiment, the workpiece data information is transmitted to the cluster control cabinet, and the pre-trained artificial intelligence model generates a processing plan based on the obtained data. It intelligently generates a personalized processing plan for the workpiece, including key instructions such as grinding path and polishing parameters.

[0105] S3, the six-axis robotic arm drives the force-controlled end effector to the predetermined position, and the grinding and polishing tool performs fine grinding and polishing on the workpiece;

[0106] Based on the processing plan generated in step S2, the six-axis robotic arm precisely drives the force-controlled end effector to the predetermined starting position and starts the grinding and polishing program;

[0107] During this process, the force position control method driven by the force-controlled end effector (electromagnetic variable stiffness compliant actuator) ensures the best contact and action effect between the grinding and polishing tool and the workpiece surface. Furthermore, the high precision of the electromagnetic variable stiffness compliant actuator in controlling the force position and the high speed of response control ensure that the surface of high-hardness metal workpieces will not undergo secondary annealing or over-grinding during the grinding process.

[0108] S4, the six-axis robotic arm drives the scanner and deep learning camera again to scan the workpiece and judge the polishing quality;

[0109] The basis for judging the quality of polishing is to verify whether its appearance and 3D features fully meet the preset quality standards.

[0110] S4. If the quality is qualified, the fixture will automatically release the workpiece, which will be collected by the recycling device arranged in the factory, waiting for subsequent processing or packing.

[0111] If the quality is not up to standard, the system will automatically repeat the grinding and polishing process from step S2 to step S4 until the workpiece meets the quality requirements.

[0112] Throughout the process, the control system will promptly notify the operator of information regarding the end of the grinding and polishing cycle and preparation for unloading, ensuring a smooth and efficient process.

[0113] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0114] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A flexible grinding and polishing equipment for high-hardness metal workpieces, characterized in that, include: Supporting structure (1); The clamping mechanism (2) includes a clamp (22) which is rotatably connected to the upper end of the support mechanism (1) to clamp the workpiece (3); A six-axis robotic arm (4) is arranged opposite to the support mechanism (1); The workpiece scanning mechanism (5) includes a fixed plate (51), a scanner (54) and a deep learning camera (55). The fixed plate (51) is detachably connected to the clamping part of the six-axis robotic arm (4). The scanner (54) and the deep learning camera (55) are respectively fixed to the two ends of one side panel of the fixed plate (51) to scan the appearance of the workpiece (3). The grinding and polishing mechanism (6) includes a bidirectional commutator (61), a force-controlled end effector (63), a rotating shaft (64), and a grinding and polishing tool (65). The fixed end of the bidirectional commutator (61) is detachably connected to the other side plate of the fixed plate (51). The force-controlled end effector (63) is fixed to the rotating end of the bidirectional commutator (61). The rotating shaft (64) has two sets, and one end of each set is symmetrically rotated and connected to both sides of the force-controlled end effector (63). The grinding and polishing tool (65) is detachably connected to the other end of the rotating shaft (64). The clamping mechanism (2), the six-axis robotic arm (4), the workpiece scanning mechanism (5), and the polishing mechanism (6) are all communicatively connected to the control system (8).

2. The flexible grinding and polishing equipment for high-hardness metal workpieces according to claim 1, characterized in that, A connecting flange (52) is fixed on one side panel of the fixing plate (51). The connecting flange (52) is screwed to the clamp of the six-axis robotic arm (4). The scanner (54) and the deep learning camera (55) are symmetrically arranged on both sides of the connecting flange (52).

3. The flexible grinding and polishing equipment for high-hardness metal workpieces according to claim 2, characterized in that, The fixing plate (51) is fixed with a flange (53) on the panel on the other side of the connecting flange (52), and the fixing end of the bidirectional commutator (61) is screwed onto the flange (53).

4. The flexible grinding and polishing equipment for high-hardness metal workpieces according to claim 1, characterized in that, The support mechanism (1) includes a placement platform (11), a bracket (12) and a box base (13); the bottom end of the bracket (12) is vertically fixed to the top surface of the placement platform (11); the box base (13) is fixed to the top of the bracket (11), and the clamp (22) is rotatably connected to one side wall of the box base (23).

5. The flexible grinding and polishing equipment for high-hardness metal workpieces according to claim 4, characterized in that, It also includes an indexing plate (21), which is fixed on the top surface of the placement platform (11) and is connected to the clamp (22) to adjust the rotation angle of the clamp (22).

6. The flexible grinding and polishing equipment for high-hardness metal workpieces according to claim 4, characterized in that, It also includes a dust collection mechanism (7), which includes a dust collector (71). The dust collector (71) is connected to the inner cavity of the housing (23) through an exhaust pipe (72). The end of the exhaust pipe (72) away from the dust collector (71) passes through the side wall of the housing (23) and corresponds to the clamp (22).

7. The flexible grinding and polishing equipment for high-hardness metal workpieces according to claim 1, characterized in that, The scanner (54) is a 3D laser scanner.

8. The flexible grinding and polishing equipment for high-hardness metal workpieces according to claim 1, characterized in that, The force-controlled end effector (63) is an electromagnetic variable stiffness compliant actuator.

9. The flexible grinding and polishing equipment for high-hardness metal workpieces according to claim 1, characterized in that, The bidirectional commutator (61) and the force-controlled end effector (63) are fitted with protective shells (62).

10. A method for using a flexible grinding and polishing equipment for high-hardness metal workpieces, characterized in that, The flexible grinding and polishing equipment for high-hardness metal workpieces according to any one of claims 1 to 9 includes the following steps: S1. The fixture clamps the workpiece and flips it to a preset angle; S2, a six-axis robotic arm drives a scanner and a deep learning camera to scan the workpiece and obtain workpiece size, appearance and 3D point cloud images; workpiece data information is transmitted to the control system to generate a grinding and polishing plan; S3, the six-axis robotic arm drives the force-controlled end effector to the predetermined position, and the grinding and polishing tool performs fine grinding and polishing on the workpiece; S4, the six-axis robotic arm drives the scanner and deep learning camera again to scan the workpiece and judge the polishing quality; S5. If the quality is acceptable, store the workpiece; if the quality is unacceptable, repeat steps S2 to S4 until the final polished workpiece is acceptable.

Images