Large workpiece grinding method and grinding device

Abstract

The invention provides a large workpiece machining and grinding method. The large workpiece machining and grinding method comprises the steps of S1, workpiece reference position determination, S2, local area matching, S3, grinding path correction, S4, workpiece surface grinding and the like. The grinding device comprises a grinding unit replacing device, a tool replacing device and a grinding robot. The grinding method and the grinding device can adapt to grinding of different large workpieces, can compensate and correct position deviation of the workpieces, can automatically match and recognize grinding areas, can correct grinding paths, can automatically complete grinding unit replacement and tool replacement in the workpiece grinding process, and are high in practicability. And the polishing of burrs generated by machining of large workpieces can be completed in a full-automatic manner in the whole process.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of workpiece machining polishing process and equipment, in particular to a large workpiece polishing method and polishing device. BACKGROUND

[0002] In some large workpiece manufacturing process, each area or component needs to be processed and manufactured by machining. During machining such as turning, milling and drilling, burrs will be generated in the local area of the workpiece due to machining. These burrs need to be removed by polishing. Generally, manual polishing is used with an angle grinder. Manual polishing of small workpieces is acceptable, but for large workpieces, the workload of manual polishing is huge, the efficiency is low, and when the workpiece requires high precision, the precision of manual polishing is difficult to guarantee.

[0003] Through retrieval, there are technical documents in the prior art that disclose methods or devices for polishing workpieces using automatic polishing equipment. For example, the invention patent publication document with publication number "CN116079531A" and the title "Polishing device and method for machining of railway vehicle bogie". Disclosed is a polishing device for machining of railway vehicle bogie, comprising a polishing platform and a polishing head, the polishing head is slidingly installed on the polishing platform, the surface of the polishing platform is provided with a moving platform on one side, the moving platform is provided with a lifting platform capable of lifting above, the lifting platform is provided with a driving assembly capable of lifting the polishing head on one side, the moving platform is provided with a dust suction nozzle, the dust suction nozzle is close to the side of the polishing head, and the dust suction nozzle can be adjusted horizontally according to the polishing position of the polishing head, the second electric sliding table and the second linear guide rail are provided with bogie limiting assemblies on one side; the upper surface of the lifting platform is provided with a driving motor. This prior art scheme can polish large workpieces such as frames, but it cannot meet the requirements when the polishing precision of the workpiece is required to be high and the polishing path needs to be automatically planned according to different workpieces. SUMMARY

[0004] In view of the deficiencies of the prior art, the present application provides a large workpiece machining polishing method, which specifically comprises the following steps: Workpiece reference position determination S1, place the workpiece in a determined area, form the reference position information of the workpiece based on the determined area, and form the preset polishing path according to the reference position information of the workpiece.

[0005] Local area matching S2, obtain the real-time position information of at least one local area of the workpiece, and compare the real-time position information with the reference position information of the corresponding area of the workpiece to form the relative position information ΔK of the workpiece relative to the reference position information.

[0006] Polishing path correction S3, correct the preset polishing path according to the relative position information ΔK.

[0007] Workpiece surface grinding S4: The grinding device is controlled to grind the workpiece according to the modified grinding path.

[0008] Furthermore, in the step of determining the workpiece reference position S1, the reference position information is determined by a specific workpiece model data, or by acquiring a real-time image of the workpiece.

[0009] Furthermore, in the step of local area matching S2, a real-time image of the local area is acquired by a 3D camera. After point cloud data processing, the image is compared with the reference position information of the workpiece corresponding to the area to obtain the relative position information ΔK of the local area relative to the reference position information.

[0010] Furthermore, the local area matching step S2 also includes a coarse positioning step for the workpiece, that is, the workpiece is first placed on the positioning reference component, so that the initial position deviation of the workpiece after coarse positioning by the positioning reference component is within the allowable range, ensuring that the 3D camera can acquire real-time images of the local area when it moves near the local area.

[0011] Furthermore, in the step of local area matching S2, the grinding area is used as the local area for local area matching, that is, the real-time position information of the workpiece grinding area is obtained, and the relative position information ΔK of the workpiece relative to the reference position information is formed by comparing the real-time position with the reference position information of the corresponding area of ​​the workpiece.

[0012] Furthermore, when the 3D camera acquires real-time images of the polishing area and performs point cloud data processing and matching, it uses the adjacent processed surface K2 or unprocessed surface K3 within the polishing area as the matching basis.

[0013] Furthermore, in the step of workpiece surface grinding S4, different grinding units are used according to the characteristics of the grinding surface. After the same grinding unit completes the grinding of all the grinding surfaces, another grinding unit is switched. Under the current grinding unit, the same grinding tool is used to grind all the grinding surfaces before switching to another grinding tool.

[0014] A large workpiece machining and grinding device is also proposed, including a planned grinding work area, a support base installed on the grinding work area, and a grinding robot deployed in the grinding work area. The grinding robot specifically includes a robotic arm, with a grinding unit and a 3D camera connected to the end of the robotic arm, and grinding tools connected to the grinding unit.

[0015] Furthermore, it also includes a grinding unit replacement device, which includes a grinding unit support platform, on which vertical support columns are connected to support and carry different grinding units.

[0016] Furthermore, the support mechanism consists of a positioning pin connected to the support column, which can guide and position the grinding unit; an electromagnet is installed at the top of the support column, and the grinding unit is fixed by the electromagnet when it is placed on the support column.

[0017] Furthermore, it also includes a tool changing device. The grinding unit is connected to the grinding tool through a quick-change connector. The tool changing device includes a clamping assembly and a working platform for supporting the clamping assembly. The clamping assembly is used to clamp the outer peripheral surface of the grinding tool and can drive the grinding tool to separate from the quick-change connector axially.

[0018] Furthermore, the quick-connect coupling includes an outer sleeve and an inner sleeve that are coaxially connected. The outer sleeve and the inner sleeve can slide relative to each other axially. One end of the inner sleeve has a receiving space for inserting and removing grinding tools. The inner sidewall of the end of the receiving space has a through hole, in which a ball is embedded. There is a clearance space between the outer sidewall of the inner sleeve and the inner sidewall of the outer sleeve. When the outer sleeve slides upward relative to the inner sleeve axially, the clearance space can be opened so that the ball can be retracted radially into the clearance space. When the outer sleeve slides downward relative to the inner sleeve axially, it can abut and push the ball to extend radially into the receiving space.

[0019] Furthermore, a groove is opened at one end of the grinding tool to cooperate with the radial engagement component, and the clearance space is formed by the first annular inclined surface of the inner sidewall of the outer sleeve and the second annular inclined surface of the outer sidewall of the inner sleeve.

[0020] Furthermore, a spring is installed at the end of the outer sleeve, and one end of the spring is connected to a retaining ring on the main shaft connection end. The outer sleeve and the outer wall of the inner sleeve are limited by a step.

[0021] Furthermore, the clamping assembly includes a first clamping plate and a first driving unit for driving the first clamping plate to move upward, and also includes a third clamping plate and a second driving unit for driving the third clamping plate to move downward. The first clamping plate and the third clamping plate are fixed together by a second clamping plate. The first clamping plate has a first slot for clamping the outer sleeve, and the outer wall of the outer sleeve has a first annular groove. The second clamping plate has a second slot, the outer wall of the inner sleeve has a second annular groove, the third clamping plate has a third slot, and the outer wall of the grinding tool has a third annular groove.

[0022] Compared with the prior art, the technical solution of this application has the following beneficial effects: the grinding method and grinding device proposed in this invention can be adapted to grinding different large workpieces, can compensate and correct the positional offset of the workpiece, can automatically match and identify the grinding area and correct the grinding path, can automatically complete the replacement of grinding unit and tool during the workpiece grinding process, and can automatically complete the entire process of grinding large workpieces with burrs caused by machining. Attached Figure Description

[0023] Figure 1 Schematic diagram of the K-frame grinding principle; Figure 2 : Figure 1 Enlarged view at point A, illustrating the principle of local region matching. Figure 2 ; Figure 3 : Figure 1 Enlarged view at point B, illustrating the principle of local region matching. Figure 3 ; Figure 4 Schematic diagram of local region matching principle Figure 3 ; Figure 5 : Schematic diagram of the overall structure of the grinding device; Figure 6 Schematic diagram of the grinding unit replacement device; Figure 7 Schematic diagram of the support column structure for the grinding unit replacement device; Figure 8 Schematic diagram of the tool changing device; Figure 9 : Figure 8 Enlarged view at point C; Figure 10 Schematic diagram of the grinding unit structure; Figure 11 : Figure 9 Enlarged view at point D; Figure 12 Schematic diagram of quick-connect coupling structure; Figure 13 : Axial sectional view of quick-connect coupling; Figure 14 : Figure 13 A magnified view of a portion of the image; Figure 15 : Figure 13 Sectional view along direction E. Detailed Implementation

[0024] 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.

[0025] This embodiment first relates to a method for machining and grinding large workpieces, specifically including the following steps: Workpiece reference position determination S1: Place the workpiece in a defined area, form reference position information of the workpiece based on the defined area, and form a preset grinding path based on the reference position information of the workpiece.

[0026] Local region matching S2 obtains real-time position information of at least one local region of the workpiece, and compares the real-time position with the reference position information of the corresponding region of the workpiece to form the relative position information ΔK of the workpiece relative to the reference position information.

[0027] The grinding path correction S3 corrects the preset grinding based on the relative position information ΔK.

[0028] Workpiece surface grinding S4: The grinding device is controlled to grind the workpiece according to the modified grinding path.

[0029] This embodiment uses the frame K of a certain type of bogie as a specific example. In the step of determining the workpiece reference position S1, the frame K is first placed in a defined area. A grinding device is deployed in this defined area. The grinding device can drive a high-speed rotating grinding tool to move and press against the workpiece surface within the defined area to grind the surface to be ground. It is understood that the grinding device can drive the grinding tool to move within a spatial range. One typical implementation is a six-axis mechanical arm (11) with a grinding unit (12) connected to its end. The grinding unit (12) is connected to a grinding tool, which is driven by the grinding unit (12) to rotate at high speed and press against the surface of the workpiece, thereby smoothing out burrs and other defects on the workpiece surface. It is understood that the specifications and dimensions of the frame K and the surface to be ground are known or can be preset. The frame K is placed in a defined area, and a reference position information is determined for the frame K within this defined area. The typical representation of this basic positional information would be a spatial coordinate system based on the defined region, where the reference position of the framework K within this spatial coordinate system is characterized by specific spatial coordinates. Similarly, the specific position of the robotic arm (11) based on this defined region is also known, therefore the reference position of the grinding tool is also known and can be characterized by spatial coordinates. Figure 1 As shown, if a certain machining surface of the framework K needs to be polished, refer to the shaded filling surface of the framework K. Based on the aforementioned reference position information, a preset polishing path that drives the polishing tool to move can be formed.

[0030] Step S2, local area matching, is essential for grinding large workpieces. The frame K is relatively large, but the surface to be ground differs significantly from the overall size of the frame K. If grinding is performed according to a preset grinding path based on the reference position information after the frame K is placed, grinding accuracy will be difficult to guarantee. This is because the positional deviation caused by the placement of the large-sized frame K will result in a significant offset from the preset grinding path. Therefore, in this embodiment, real-time matching of the local area after workpiece placement is used to correct the deviation from the reference position. Specifically, after the frame K is placed and reference position information is generated, the real-time position of a certain local area is obtained through measurement, image recognition, and other means. The comparison between the real-time position of this area and its reference position information results in an offset, i.e., a relative position information ΔK. (See also...) Figure 2 After component K is placed, a reference position information will be determined based on a local area K1 of its specifications and dimensions [see solid line area]. The real-time position of this local area K1 [see dashed line area] can be obtained through actual measurement and other means. Comparing the two yields the relative position information ΔK. It should be noted that selecting this local area as close as possible to the surface to be ground will provide more beneficial relative position information ΔK for grinding accuracy. Furthermore, matching multiple local areas and processing multiple relative position information ΔKs can also improve the impact of relative position information ΔK on grinding accuracy.

[0031] Following the above, after obtaining the relative position information ΔK through local region matching S2, the preset grinding path can be corrected based on the offset represented by this relative position information ΔK. The corrected grinding path will accurately grind the structure K at its real-time position after it is placed.

[0032] In a more preferred embodiment, the step of determining the workpiece reference position S1 can be performed in different ways. One way is to determine it based on a defined workpiece model. Specifically, in this embodiment, after importing the three-dimensional model of the framework K, the reference position information of each region of the framework K can be obtained based on the aforementioned determined region.

[0033] Another approach is to use real-time image acquisition to determine the reference position information of the workpiece. In this embodiment, the frame K is placed strictly in the designated area according to the calibration position, and the reference position information of the frame K is determined by image acquisition, recognition, and point cloud data generation. The above two methods are for different application scenarios. When the workpiece to be ground is formed by machining, the workpiece's dimensional accuracy is high and the workpiece consistency is good, so its reference position information can be obtained by importing the workpiece's model data. However, some workpieces are not formed by machining, such as castings, and the workpiece's dimensional specifications fluctuate greatly. Therefore, it is necessary to determine the reference position information of each individual workpiece through real-time images to ensure the accuracy of the reference position information.

[0034] In a more preferred embodiment, in the step of local region matching S2, a typical implementation method is to acquire a real-time image of the local region using a 3D camera, process the point cloud data, and compare it with the reference position information of the workpiece corresponding to the region to obtain the relative position information ΔK of the local region relative to the reference position information. In this embodiment, a 3D camera (13) will be deployed on the robotic arm (11), and the 3D camera (13) will move under the drive of the robotic arm (11) to take pictures and identify the local region of the frame K.

[0035] In a more preferred embodiment, since the viewing angle range of the 3D camera (13) is limited, for large workpieces such as the frame K, if the positional deviation of the frame K is large when it is placed in the grinding work area (2), the local area may exceed the viewing angle range of the 3D camera (13) and cannot be accurately identified when the robotic arm (11) moves to the vicinity of the local area to be identified. To solve this problem, the local area matching step S2 also includes a coarse positioning step for the workpiece. Specifically, when the frame K is placed in the grinding work area (2), it will be coarsely positioned by mechanical limiting to ensure that the initial positional deviation of the frame K is controlled within a reasonable range. This reasonable range will ensure that the 3D camera (13) can acquire real-time images of the local area when it moves to the vicinity of the local area.

[0036] In this embodiment, multiple support seats (21) are fixed in the grinding work area (2). When the frame K is hoisted into the grinding work area (2), the support seats (21) are used to limit the four corners of the frame K for coarse positioning.

[0037] Based on the above implementation method, the step of local region matching S2 will be further optimized to further improve the accuracy of local region matching and ensure that the relative position information ΔK obtained after local region matching is as accurate as possible. The workpiece is divided into regions during grinding, meaning that there will be multiple grinding areas that need to be ground. Therefore, by directly using the grinding area as the local region to perform step S2, the obtained relative position information ΔK will be the relative position information ΔK of the grinding area. The grinding path corrected based on this relative position information ΔK will also directly target the corresponding grinding area, making the obtained relative position information ΔK more direct and effective, ensuring its accuracy.

[0038] As mentioned above, when performing local area matching on multiple grinding areas, we can first perform local area matching on all local areas one by one, and then, based on the relative position information ΔK of the different grinding areas, perform grinding path correction on each grinding area. On the one hand, this can improve the movement efficiency of the robotic arm (11), and on the other hand, it can ensure the accuracy of the grinding path correction for each grinding area.

[0039] Based on the above implementation method, when the 3D camera (13) acquires real-time images of the polishing area and performs point cloud data processing and matching, it needs to accurately match the reference position information based on adjacent 3D spatial surfaces. To ensure accurate and effective matching, it is preferable to use adjacent processing surfaces K2 within the polishing area as the matching basis. For example... Figure 3 As shown, because the machined surface K2 of the framework K will require grinding due to machining burrs, using the adjacent machined surface K2 as the matching basis means that the relative position information ΔK obtained after matching is the relative position information ΔK of the surface that needs to be ground. This will allow the grinding path to be corrected more directly. Another situation will be as follows: Figure 4 As shown, a certain grinding area of ​​the framework K has only one machined surface K2, and its adjacent surface will be the non-machined surface K3. At this time, the relative position information ΔK can also be obtained by matching the machined surface K2 and the non-machined surface K3. At least the matching of the machined surface K2 of the grinding surface is accurate, direct and effective.

[0040] Based on the above implementation method, in order to further improve the grinding efficiency, the planning of the grinding path in step S4 of grinding the workpiece surface has been optimized. Since the workpiece has different specifications, shapes and sizes of grinding areas, different grinding units (12) and grinding tools may be required. In order to minimize the number of times the grinding unit (12) and grinding tools are replaced, in this implementation method, different grinding units (12) will be used according to the characteristics of the grinding surface. After the same grinding unit (12) has completed the grinding of all the processing surfaces, another grinding unit (12) will be replaced.

[0041] Furthermore, in the current grinding unit (12), all grinding surfaces are ground using the same type of grinding tool before changing to another type of grinding tool.

[0042] In this embodiment, the grinding surfaces of the frame K will be categorized into three types: curved edges, holes, and straight edges. Different grinding units (12) and grinding tools will correspond to these three types of grinding surfaces. For example, curved edges and holes will use a radial floating force control unit and a round file grinding tool; straight edges will use an axial floating force control unit and a louvered blade tool. Therefore, when planning the grinding path, the frame K will first use an axial floating force control unit combined with a louvered blade tool to complete the grinding of all straight edges, and then switch to a radial floating force control unit using a round file grinding tool to complete the grinding of the curved edges and holes.

[0043] When grinding a workpiece using the above method, the first point of actual grinding should be as close as possible to the very beginning of the grinding edge, and should not exceed it, otherwise it may cause tool collision due to excessive pressure; for the last point of actual grinding, in order to ensure that the second half of the grinding feature is completely ground, the last point of the grinding trajectory needs to be extended beyond the last point of the actual grinding feature. To prevent tool bounce from hitting the workpiece body, the speed of the second half of the grinding trajectory is increased to ensure that the tool is retracted before tool bounce occurs.

[0044] Based on the above-described grinding method, this embodiment also relates to a grinding device for machining large workpieces. See details below. Figure 5 The system includes a planned and defined grinding work area (2), a support base (21) installed on the grinding work area (2), and a grinding robot (1) in the grinding work area (2). The grinding robot (1) specifically includes a robotic arm (11), with a grinding unit (12) and a three-dimensional camera (13) connected to the end of the robotic arm (11). Grinding tools are connected to the grinding unit (12). The frame K is placed in the grinding work area (2) and coarsely positioned by the support base (21). The robotic arm (11) can drive the grinding unit (12) to grind the grinding surfaces of each processing surface of the frame K based on the modified grinding path. During this process, the three-dimensional camera (13) is used to perform local area matching of the grinding area of ​​the frame K.

[0045] In a more preferred embodiment, to facilitate the replacement of different grinding units (12), a grinding unit replacement device (3) is also included near the grinding work area (2) and within the coverage area of ​​the robotic arm (11). See details [link to relevant documentation]. Figure 6 and Figure 7 The grinding unit replacement device (3) specifically includes a grinding unit carrying platform (31), on which a support mechanism is connected for supporting different grinding units (12).

[0046] In a more preferred embodiment, see [link to specific details].Figure 7 The support mechanism is a vertical support column (32), and a positioning component is connected to the support column (32). The positioning component can guide and position the grinding unit (12), so that the grinding unit (12) can be accurately placed on the support column (32).

[0047] In a more preferred embodiment, the positioning component may be a positioning pin (33) connected to the top of the support column (32). The grinding unit (12) can be accurately positioned by the positioning pin (33) and its positioning hole.

[0048] In a more preferred embodiment, since the center of gravity of the polishing unit (12) may shift when it is placed on the support column (32), an electromagnet (34) is installed at the top of the support column (32) to prevent the polishing unit (12) from tipping over due to the center shift. When the polishing unit (12) is placed on the support column (32), the electromagnet (34) is used to attract and fix the polishing unit (12). When the polishing unit (12) needs to be replaced, the robotic arm (11) is accurately driven to the vicinity of the support column (32), and the polishing unit (12) to be disassembled is placed on the support column (32). The electromagnet (34) and the positioning pin (33) are used to guide, position and attract the polishing unit (12), and the robotic arm (11) is disconnected from the polishing unit (12). Then drive the robotic arm (11) to the vicinity of another support column (32), connect the grinding unit (12) that needs to be replaced, and control the electromagnet (34) to disconnect. At this time, the grinding unit (12) that needs to be replaced is driven away from the support column (32) by the robotic arm (11) to complete the replacement.

[0049] In a more preferred embodiment, in order to effectively protect the grinding unit (12), the grinding unit support platform (31) is also provided with a protective cover (35), which can be closed or opened by an opening and closing drive mechanism.

[0050] The opening and closing drive mechanism can be an opening and closing drive cylinder (36) and a guide rail (37) mounted on the bearing platform (31) of the grinding unit. The protective cover (35) is connected to the actuating end of the opening and closing drive cylinder (36) mounted on the guide rail (37).

[0051] As can be seen from the above embodiments, when grinding large workpieces in certain local areas, due to the small size of the workpiece, the conventional pneumatic tool changing structure requires an air source and complex air circuits, occupying too much space, resulting in an excessively large grinding unit 12, which is difficult to adapt to grinding scenarios in confined spaces. To solve this problem, based on the above embodiments, a method and device for tool changing using a mechanical means is proposed. Specifically, the workpiece surface grinding S4 step involves a tool changing method, which is completed by a tool changing device (4). The tool changing device (4) includes a clamping assembly, see details below.Figure 8 , Figure 9 , Figure 10 and Figure 11 .

[0052] The robotic arm (11) is connected to the grinding unit (12) and the grinding tool (42) is connected through a quick-change connector (41). The grinding tool (42) can be inserted and removed axially within the quick-change connector (41) and specifically includes the following steps.

[0053] Tool clamping S41, drive robotic arm (11) to move grinding tool (42) to clamping assembly, clamping assembly is used to clamp the outer circumferential surface of grinding tool (42), and can drive grinding tool (42) to separate quick-change connector (41) axially, clamping assembly also clamps at least one grinding tool (12) for replacement, using clamping assembly to clamp grinding tool (42); Tool disassembly S42 maintains the clamping force of the clamping assembly on the grinding tool (42) and causes the grinding tool (42) and quick-change connector (41) to separate relative to each other along the axial direction, so that the grinding tool (42) is disengaged from the quick-change connector (41); Tool loading S43 drives the robotic arm (11) to move the quick-change connector (41) to the grinding tool (12) on the clamping assembly for replacement, so that the grinding tool (12) is inserted into the quick-change connector (41) axially to complete the tool replacement.

[0054] In a more preferred embodiment, see details below. Figures 12 to 15 The quick-connector (41) includes an outer sleeve (43) and an inner sleeve (44) that are coaxially connected. The outer sleeve (43) and the inner sleeve (44) can slide relative to each other axially. One end of the inner sleeve (44) is provided with a receiving space (45) for inserting and removing the grinding tool (12). A through hole (451) is provided on the inner side wall of the end of the receiving space (45). A radial engaging member is embedded in the through hole (451). There is a clearance space (46) between the outer side wall of the inner sleeve (44) and the inner side wall of the outer sleeve (43). When the outer sleeve (43) slides upward relative to the inner sleeve (44) axially, the clearance space (46) can be opened so that the radial engaging member can be retracted into the clearance space (46) radially. When the outer sleeve (43) slides downward relative to the inner sleeve (44) axially, it can abut and push the radial engaging member to extend into the receiving space (45) radially.

[0055] Correspondingly, a groove (121) is provided at one end of the grinding tool (12) to cooperate with the radial engaging member. When the radial engaging member is inserted into the groove (121), the grinding tool (12) is axially restricted within the receiving space (45). When the radial engaging member retracts into the clearance space (46), the restriction is released, and the grinding tool (12) can be pulled out from the receiving space (45). It should be noted that when the radial engaging member is inserted into the groove (121), it is abutted against the inner sidewall of the outer sleeve (43). At this time, the radial engaging member maintains a stable restrictive force on the end of the grinding tool (12) through the groove (121). Under this stable restrictive force, the grinding tool (12) can be prevented from rotating relative to the inner sleeve (44).

[0056] In a more preferred embodiment, the side wall of the grinding tool (12) and the inner sleeve (44) can be connected by a key to increase the rotational limiting force of the grinding tool (12) relative to the inner sleeve (44), but the control accuracy and angle of the grinding tool (12) axially inserting into the receiving space (45) of the inner sleeve (44) are limited.

[0057] In step S41, the clamping assembly will simultaneously clamp the inner sleeve (44), the outer sleeve (43), and the grinding tool (12).

[0058] In step S42, while maintaining the position of the inner sleeve (44), the outer sleeve (43) is axially slid upward relative to the inner sleeve (44) to open the clearance space (46). At this time, the grinding tool (12) is pulled out axially downward. Under the pushing action of the end slot (121) of the grinding tool (12), the radial locking member retracts into the clearance space (46), and the grinding tool (12) is successfully pulled out.

[0059] In step S43, when the robotic arm (11) is driven to the grinding tool (12) for replacement on the clamping assembly, the clearance space (46) is kept open. The grinding tool (12) for replacement is inserted into the receiving space (45) axially upward using the clamping assembly. At this time, the outer sleeve (43) is axially slid downward relative to the inner sleeve (44) using the clamping assembly, and the radial engaging member is pushed radially into the receiving space (45) and embedded in the slot (121) of the grinding tool (12). At this time, the grinding tool (12) is axially fixed and restricted in the receiving space (45) to complete the tool replacement.

[0060] In a more preferred embodiment, the clearance space (46) is formed by a first annular inclined surface (431) on the inner sidewall of the outer sleeve (43) and a second annular inclined surface (441) on the outer sidewall of the inner sleeve (44). When the outer sleeve (43) slides axially downward relative to the inner sleeve (44), the first annular inclined surface (431) can push the radial engaging member into the receiving space (45). Conversely, the first annular inclined surface (431) and the second annular inclined surface (441) separate axially relative to each other, thereby opening the clearance space (46) and allowing the radial engaging member to retract into the clearance space (46).

[0061] In a more preferred embodiment, the radial engaging member is a ball (452) embedded in a through hole (451), the through hole (451) being a tapered hole. The taper of the tapered hole is very small, allowing the ball (452) to extend into the receiving space (45) without falling out.

[0062] In a more preferred embodiment, the groove (121) of the grinding tool (12) is an arc-shaped groove that mates with the ball (452). This increases the contact force between the ball (452) and one end of the grinding tool (12) when the ball (452) is embedded in the arc-shaped groove, making the insertion of the grinding tool (12) more stable.

[0063] In a more preferred embodiment, one end of the inner sleeve (44) has an extended spindle connection end (442), and the spindle connection end (442) and the inner wall of the outer sleeve (43) are engaged by a flat key (443). This prevents relative rotation between the inner sleeve (44) and the outer sleeve (43).

[0064] In a more preferred embodiment, a spring (432) is installed at the end of the outer sleeve (43), one end of the spring (432) is connected to a retaining ring (443) on the main shaft connection end (442), and the outer sleeve (43) and the outer side wall of the inner sleeve (44) are limited by a step. When the outer sleeve (43) is pulled axially upward by the clamping assembly, after the clamping assembly is released, the outer sleeve (43) will return to its original position under the reset action of the spring (432) and be limited by the step, so that the inner side wall of the inner sleeve (44) can maintain the resistance force acting on the ball (452).

[0065] In a more preferred embodiment, one end of the grinding tool (12) and the receiving space (45) are fitted with a conical surface. Since the grinding tool (12) needs to rotate at high speed, the conical surface fit is beneficial for dynamic balance under high speed rotation, and the conical surface fit also has a limiting effect on the insertion of the grinding tool (12) into the receiving space (45).

[0066] In a more preferred embodiment, see details below. Figure 11 and Figure 12The tool changing device (4) includes a clamping assembly and a working platform for carrying the clamping assembly. The clamping assembly includes a first clamping plate (47) and a first driving unit for driving the first clamping plate (47) to move upward. It also includes a third clamping plate (49) and a second driving unit for driving the third clamping plate (49) to move downward. A second clamping plate (48) is fixed between the first clamping plate (47) and the third clamping plate (49). A first slot (471) for clamping the outer sleeve (43) is opened on the first clamping plate (47). A first annular groove (433) is opened on the outer wall of the outer sleeve (43). A second slot (481) is opened on the second clamping plate (48). A second annular groove (445) is opened on the outer wall of the inner sleeve (44). A third slot (491) is opened on the third clamping plate (49). A third annular groove (122) is opened on the outer wall of the grinding tool (12).

[0067] When disassembling the tool, the drive arm (11) inserts the outer sleeve (43) and inner sleeve (44) into the first bayonet (471) and the second bayonet (481) respectively through the first annular groove (433) and the second annular groove (445). At the same time, the grinding tool (12) is inserted into the third bayonet (491) through the third annular groove (122). The drive plate (47) pulls the outer sleeve (43) upward, and then drives the third plate (49) downward to pull out the grinding tool (12). At this time, the grinding tools (12) that need to be replaced and are locked in the other third bayonet (491) of the third plate (49) are also pulled downward to keep the position of the third plate (49) unchanged.

[0068] When loading the tool, first drive the robotic arm (11) to make the outer sleeve (43) and inner sleeve (44) exit the first clamping plate (47) and the second clamping plate (48), then drive the robotic arm (11) to clamp the outer sleeve (43) and inner sleeve (44) into the other first clamping slot (471) and second clamping slot (481) respectively. At this time, the grinding tool (12) to be replaced is in the corresponding axial position. Drive the first clamping plate (47) to pull the outer sleeve (43) upward, and drive the third clamping plate (49) to drive the grinding tool (12) to be replaced upward to insert into the inner sleeve (44). Then drive the first clamping plate (47) to reset the outer sleeve (43) downward. The replacement grinding tool (12) is firmly inserted into the inner sleeve (44) to complete the tool replacement.

[0069] The first drive unit and the second drive unit can use cylinders to drive the first clamping plate (47) and the third clamping plate (49). The second clamping plate (48) is fixedly connected to the working platform through the connecting columns at both ends.

[0070] Using the grinding method and grinding device proposed in this invention, large workpieces can be automatically matched and identified for grinding area and the grinding path can be corrected. During the workpiece grinding process, the grinding unit and tool can be automatically replaced. For grinding large workpieces with burrs caused by machining, the entire process can be completed automatically.

[0071] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0072] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A method for machining and grinding large workpieces, characterized in that, Specifically, it includes the following steps: Workpiece reference position determination S1: Place the workpiece in a defined area, form reference position information of the workpiece based on the defined area, and form a preset grinding path based on the reference position information of the workpiece. Local region matching S2 obtains real-time position information of at least one local region of the workpiece, and compares the real-time position with the reference position information of the corresponding region of the workpiece to form the relative position information ΔK of the workpiece relative to the reference position information. S3, the grinding path correction, corrects the preset grinding based on the relative position information ΔK; Workpiece surface grinding S4: The grinding device is controlled to grind the workpiece according to the modified grinding path.

2. The method for machining and grinding large workpieces as described in claim 1, characterized in that, In the step of determining the workpiece reference position S1, the reference position information is determined by a specific workpiece model data, or by acquiring a real-time image of the workpiece.

3. The method for machining and grinding large workpieces as described in claim 2, characterized in that, In the step of local area matching S2, the real-time image of the local area is obtained by the three-dimensional camera (13). After point cloud data processing, it is compared with the reference position information of the workpiece corresponding to the area to obtain the relative position information ΔK of the local area relative to the reference position information.

4. The method for machining and grinding large workpieces as described in claim 3, characterized in that, The local area matching step S2 also includes a coarse positioning step for the workpiece, that is, the workpiece is first placed on the positioning reference component, so that the initial position deviation of the workpiece after coarse positioning by the positioning reference component is within the allowable range, ensuring that the three-dimensional camera (13) can acquire the real-time image of the local area when it moves to the vicinity of the local area.

5. The method for machining and grinding large workpieces as described in claim 3, characterized in that, In the step of local area matching S2, the grinding area is used as the local area for local area matching, that is, the real-time position information of the workpiece grinding area is obtained, and the relative position information ΔK of the workpiece relative to the reference position information is formed by comparing the real-time position with the reference position information of the corresponding area of ​​the workpiece.

6. The method for machining and grinding large workpieces as described in claim 5, characterized in that, When the 3D camera (13) acquires real-time images of the polishing area and performs point cloud data processing and matching, it uses the adjacent processed surface K2 or unprocessed surface K3 in the polishing area as the matching basis.

7. The method for machining and grinding large workpieces as described in claim 1, characterized in that, In the step of workpiece surface grinding S4, different grinding units (12) are used according to the characteristics of the grinding surface. After the same grinding unit (12) completes the grinding of all the processing surfaces, another grinding unit (12) is replaced. Under the current grinding unit (12), the same grinding tool is used to grind all the grinding surfaces before another grinding tool is replaced.

8. A large workpiece machining and grinding device, characterized in that, The plan includes a polishing work area (2), a support base (21) is installed on the polishing work area (2), and a polishing robot (1) is deployed in the polishing work area (2). The polishing robot (1) specifically includes a robotic arm (11), a polishing unit (12) and a three-dimensional camera (13) are connected at the end of the robotic arm (11), and a polishing tool (42) is connected on the polishing unit (12).

9. The large workpiece machining and grinding device as described in claim 8, characterized in that, It also includes a grinding unit replacement device (3), which includes a grinding unit carrying platform (31), on which a vertical support column (32) is connected to support different grinding units (12).

10. The large workpiece machining and grinding device as described in claim 9, characterized in that, The support mechanism is a positioning pin (33) connected to the support column (32), which can guide and position the grinding unit (12); an electromagnet (34) is installed at the top of the support column (32), and the electromagnet (34) is used to attract and fix the grinding unit (12) when the grinding unit (12) is placed on the support column (32).

11. The large workpiece machining and grinding device as described in claim 10, characterized in that, It also includes a tool changing device (4), and the grinding unit (12) is connected to the grinding tool (42) through a quick-change connector (41). The tool changing device (4) includes a clamping assembly and a working platform for carrying the clamping assembly. The clamping assembly is used to clamp the outer peripheral surface of the grinding tool (42) and can drive the grinding tool (42) to separate from the quick-change connector (41) axially.

12. The large workpiece machining and grinding device as described in claim 11, characterized in that, The quick-connector (41) includes an outer sleeve (43) and an inner sleeve (44) that are coaxially connected. The outer sleeve (43) and the inner sleeve (44) can slide relative to each other axially. One end of the inner sleeve (44) is provided with a receiving space (45) for inserting and removing the grinding tool (12). A through hole (451) is provided on the inner side wall of the end of the receiving space (45). A ball (452) is embedded in the through hole (451). There is a clearance space (46) between the outer side wall of the inner sleeve (44) and the inner side wall of the outer sleeve (43). When the outer sleeve (43) slides upward relative to the inner sleeve (44) axially, the clearance space (46) can be opened so that the ball (452) can be retracted into the clearance space (46) radially. When the outer sleeve (43) slides downward relative to the inner sleeve (44) axially, it can abut and push the ball (452) to extend into the receiving space (45) radially.

13. The large workpiece machining and grinding device as described in claim 12, characterized in that, The grinding tool (12) has a groove (121) at one end that cooperates with the radial engagement member. The clearance space (46) is formed by the first annular inclined surface (431) of the inner sidewall of the outer sleeve (43) and the second annular inclined surface (441) of the outer sidewall of the inner sleeve (44).

14. The large workpiece machining and grinding device as described in claim 13, characterized in that, A spring (432) is installed at the end of the outer sleeve (43). One end of the spring (432) is connected to a retaining ring (443) on the main shaft connection end (442). The outer sleeve (43) and the outer side wall of the inner sleeve (44) are limited by a step.

15. The large workpiece machining and grinding device as described in claim 14, characterized in that, The clamping assembly includes a first clamping plate (47) and a first driving unit for driving the first clamping plate (47) to move upward, and also includes a third clamping plate (49) and a second driving unit for driving the third clamping plate (49) to move downward. The first clamping plate (47) and the third clamping plate (49) are fixed to a second clamping plate (48). The first clamping plate (47) has a first slot (471) for clamping the outer sleeve (43), the outer wall of the outer sleeve (43) has a first annular groove (433), the second clamping plate (48) has a second slot (481), the outer wall of the inner sleeve (44) has a second annular groove (445), the third clamping plate (49) has a third slot (491), and the outer wall of the grinding tool (12) has a third annular groove (122).

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