Flexible production line for the conformal finishing of the inner cavity of a shell

Abstract

This invention provides a flexible production line for conformal grinding of the inner cavity of a housing, including a feeding mechanism, a conveying mechanism, and multiple grinding stations. The conveying mechanism is equipped with a 3D vision recognition system to identify the workpiece model before gripping it and transport it to the fixture of the corresponding grinding station. After processing, the workpiece is returned to the feeding mechanism. Each grinding station is equipped with a grinding execution mechanism, which is also equipped with a vision inspection mechanism for real-time observation and inspection of the grinding effect on the inner cavity of the housing. Through the cooperation of the 3D vision recognition system and multiple grinding stations, the grinding station can be automatically selected according to different workpiece specifications, achieving flexible conformal grinding of the inner cavity. Simultaneously, the vision inspection mechanism monitors the grinding quality in real time, improving processing accuracy and the automation level of the production line.

Description

Technical Field

[0001] This invention relates to the field of polishing, specifically a flexible production line for conformal polishing of the inner cavity of a housing. Background Technology

[0002] In existing technologies, the grinding of the inner cavity of a housing typically relies on manual operation or fixed tooling. Manual grinding requires operators to hold and move the grinding tool within the housing cavity, which is not only labor-intensive but also makes it difficult to ensure consistent grinding quality for each workpiece. This is especially true for housings with complex shapes or varying sizes, where manual operation can easily result in un-grinded areas, over-grinding, or uneven surfaces. Furthermore, manual operation in confined spaces poses safety hazards and has low production efficiency.

[0003] Some automated equipment uses fixed robotic arms or multi-axis machine tools for internal cavity grinding. However, these devices are typically designed for workpieces of specific sizes or structures, making it difficult to adapt to the processing needs of shells with different specifications. In actual production, to accommodate multiple workpiece models, frequent tooling changes or adjustments to processing parameters are often required. This not only increases production preparation time but also limits the flexibility and automation level of the production line. Furthermore, the current internal cavity grinding process relies heavily on manual observation or intermittent sampling for quality inspection, failing to achieve real-time, continuous monitoring of the entire internal cavity surface, making it difficult to detect some defects in a timely manner.

[0004] Therefore, existing technologies for grinding the inner cavity of housings have the following main problems: it is difficult to achieve flexible processing on housings of different specifications and shapes; grinding quality is difficult to control stably; detection methods are not continuous and real-time enough, limiting production efficiency and automation level; and at the same time, operational safety and labor intensity still need to be improved. Summary of the Invention

[0005] This invention addresses the problems of difficulty in achieving flexible processing of workpieces of different specifications, difficulty in stable control of grinding quality, and lack of continuous and real-time detection methods in existing shell cavity grinding processes, by providing a flexible production line for conformal grinding of shell cavities.

[0006] The present invention solves the above-mentioned technical problems through the following technical solutions:

[0007] This invention provides a flexible production line for conformal grinding of the inner cavity of a housing, including a feeding mechanism, a conveying mechanism, and multiple grinding stations. The conveying mechanism is equipped with a 3D vision recognition system, which is used to transfer the workpiece to be ground from the feeding mechanism to the fixture of the corresponding grinding station, and to remove the workpiece from the grinding station and return it to the feeding mechanism after grinding. The 3D vision recognition system is used to identify the model of the gripped workpiece so that the conveying mechanism can transport the workpiece to the corresponding grinding station for grinding.

[0008] The polishing station is equipped with a polishing execution mechanism, which is equipped with a visual inspection mechanism for observing the polishing effect.

[0009] The visual inspection mechanism includes an endoscope, which is positioned on one side of the workpiece being polished. The endoscope is fixed to the drive unit by a support rod, which is located outside the drive spindle.

[0010] A cleaning module is provided on one side of the endoscope for cleaning the endoscope surface by airflow. The cleaning module includes a drive component, a transition component and a flow guide component. The drive component is connected to the flow guide component through the transition component. The airflow generated by the drive component is delivered to the flow guide component through the transition component and guided to the endoscope surface by the flow guide component.

[0011] Airflow is used to clean the endoscope by blowing air onto its surface, thus preventing dust from affecting the field of vision.

[0012] The airflow guiding component is used to guide the airflow generated by the drive component to the camera end face of the endoscope and the side near the inner wall of the workpiece cavity, respectively. The airflow to the side near the inner wall of the workpiece cavity disappears before the airflow to the camera end face of the endoscope, and the airflow speed decreases, so that the final cleaning position of the endoscope before the airflow stops is the camera end face.

[0013] Part of the airflow is blown onto the endoscope camera end face, thereby blowing away dust and debris on the endoscope surface; another part is blown towards one side of the workpiece, which can, to some extent, blow away dust near the inner wall of the workpiece and improve the clarity of visual inspection.

[0014] Meanwhile, the airflow blowing towards the endoscope camera end disappears last, ensuring a good cleaning effect. At the same time, the airflow gradually weakens, resulting in an even better cleaning effect.

[0015] The model of the workpiece is first identified by a 3D vision recognition system, and then different grinding stations are selected for grinding to achieve flexible grinding of the inner cavity of shells of different specifications.

[0016] The polishing effect inside the housing can be visually inspected by a vision inspection mechanism installed on the polishing actuator.

[0017] In this technical solution, the grinding actuator includes a drive unit, a self-rotating drive spindle is fixed on the output end of the drive unit, and a grinding component is fixed on the end of the drive spindle.

[0018] Specifically, the grinding actuator is mounted on the grinding station via a connecting part, which is fixedly mounted on the housing of the drive unit. The drive unit is preferably a motor, and therefore the connecting part is fixed to the motor housing to achieve a stable connection between the grinding actuator and the drive unit. As the terminal output component of the grinding station, the grinding actuator, driven by the drive unit, rotates or moves the grinding tool, thereby grinding the workpiece.

[0019] In this technical solution, the drive assembly includes a cylindrical pressure shell, at least one end of which is closed. A second piston plate that can be reset after being moved is slidably connected inside the pressure shell. An air guide pipe is fixed on one side end face of the pressure shell. The air guide pipe is connected to the transition assembly. A one-way valve is fixed on the outer wall of the pressure shell near the air guide pipe.

[0020] A transmission rod is fixed on the outer wall of the second piston plate and is perpendicular to the second piston plate. A driven block is fixed at the end of the transmission rod.

[0021] The drive block is fixed on the outer wall of the drive spindle. The drive block, which rotates with the drive spindle, overlaps with the driven block and pushes the driven block to move.

[0022] When the drive spindle drives the grinding workpiece to rotate, the drive block on the drive spindle also rotates. The rotating drive block repeatedly pushes the driven block to move. After the drive block disengages from the driven block, the driven block resets. Then the drive block rotates to the same position again and pushes the driven block to move again. This cycle repeats, thereby driving the second piston plate to reciprocate inside the pressure chamber. During the movement of the second piston plate, outside air is drawn into the pressure chamber through a one-way valve and then compressed into the air guide pipe, thus being delivered to the transition component.

[0023] A one-way valve is also installed at the connection between the air duct and the pressurized shell.

[0024] When the driven block is pushed by the driving block, it pushes the second piston plate to move synchronously through the transmission rod. When the transmission rod is pushed, the second spring deforms. When the driving block disengages from the driven block, the transmission rod returns to its original position under the elastic force of the spring, thereby driving the second piston plate and the driven block to reset.

[0025] Furthermore, the transmission rod and the pressure shell are coaxially arranged and arranged radially along the drive shaft. The pressure shell is fixed to the bearing rod or other components fixedly connected to the bearing rod by a synchronizing rod.

[0026] In this technical solution, the transition component includes a cylindrical receiving shell, which is fixed to the bearing rod by at least one fixing rod. A first piston plate is slidably connected in the inner cavity of the receiving shell. The first piston plate can return to its original position after being moved. An air guide pipe is connected to one of the circular outer walls of the receiving shell, and the air guide pipe communicates with the cavity formed between the inner wall of the receiving shell and the first piston plate.

[0027] The outer annular wall of the housing has two connection holes at different locations. The housing is connected to the flow guide assembly through the two connection holes, and one of the connection holes is located closer to the end face of the housing where the air guide tube is located.

[0028] Specifically, a telescopic rod is fixed on the end face of the first piston plate away from the air guide pipe, and the telescopic rod is fixed on the inner wall of the housing. A first spring is sleeved on the surface of the telescopic rod, and the two ends of the first spring are respectively fixed to the two ends of the telescopic rod.

[0029] In this technical solution, the flow guiding component includes a flow dividing shell, which is fixed at the connection between the support rod and the endoscope. The flow dividing shell is provided with two independent air chambers, which are respectively connected to the first flow guiding tube and the second flow guiding tube. The first flow guiding tube and the second flow guiding tube are respectively fixed on the corresponding outer wall of the flow dividing shell.

[0030] The end of the first guide tube protrudes from the camera end face and then bends back towards the camera end face. The second guide tube is a straight tube that protrudes from the camera end face and extends towards one side of the inner wall of the workpiece, but does not protrude from the grinding end face of the workpiece.

[0031] The first guide tube is connected to the connection hole on the side near the guide tube through the corresponding air chamber, and the second guide tube is connected to the other connection hole through another air chamber.

[0032] Specifically, the connection hole on the side closer to the air guide tube is connected to the split shell through the first connection tube and communicates with the corresponding air chamber; in contrast, the connection hole on the side farther from the air guide tube is connected to the split shell through the second connection tube and communicates with another air chamber.

[0033] The drive unit is a structure that can drive the drive spindle to rotate, preferably a motor, and the grinding part is a grinding wheel.

[0034] In this technical solution, the material handling mechanism includes a ground rail, on which a robot that can move along the ground rail is installed, and the robot is equipped with a robotic arm that can move with multiple degrees of freedom. The end of the robotic arm is equipped with a gripper for clamping the workpiece, and the robot is equipped with a 3D vision recognition system.

[0035] The material feeding mechanism is located on one side of the end of the ground rail, and the grinding stations are distributed on both sides of the ground rail along its length.

[0036] In this technical solution, the 3D vision recognition system includes a 3D camera mounted on a robot and an image processing unit electrically connected to the 3D camera. The 3D camera is used to acquire three-dimensional image information of the workpiece, and the image processing unit is used to identify the model and spatial posture of the workpiece based on the three-dimensional image information, so as to control the robot to transport the workpiece to the corresponding grinding station.

[0037] Based on common knowledge in the field, the above-mentioned preferred conditions can be combined arbitrarily to obtain various preferred embodiments of the present invention.

[0038] The positive and progressive effects of this invention are as follows:

[0039] By setting up a 3D vision recognition system to identify the workpieces to be processed, the system can acquire three-dimensional image information of the workpieces before grasping them, and analyze the information to identify the workpiece's model and spatial orientation. Based on the recognition results, the robot transports the workpiece to a grinding station matching that model for processing. This allows for the automatic matching of grinding equipment or grinding parameters to shells of different specifications and structures, thereby achieving flexible, conformal grinding of the internal cavities of shells of different sizes. This method reduces manual identification and sorting steps, increases the automation level of the production line, and enables the grinding equipment to adapt to the processing needs of various workpiece models, thus improving production efficiency and processing adaptability.

[0040] Furthermore, by installing a visual inspection mechanism on the grinding actuator, the internal surface of the housing can be observed and inspected in real time during or after grinding. This allows for the acquisition of grinding status and surface quality information within the housing cavity, thereby determining whether the grinding effect meets preset requirements. This visual inspection mechanism enables direct monitoring of the grinding area within the cavity, facilitating the timely detection of un-grinded areas, insufficient grinding, or surface defects, thus improving the controllability of the grinding quality within the housing cavity. Simultaneously, visual inspection avoids frequent disassembly and inspection of the workpiece, thereby improving inspection efficiency and ensuring the continuity of the production process. Attached Figure Description

[0041] Figure 1 This is a schematic diagram of the grinding actuator of the present invention;

[0042] Figure 2 For the present invention Figure 1 A structural diagram from another perspective;

[0043] Figure 3 This is a schematic diagram of the structure of the grinding component and cleaning module of the present invention;

[0044] Figure 4 This is a schematic diagram of the connection structure between the cleaning module and the endoscope of the present invention;

[0045] Figure 5 For the present invention Figure 4 A schematic diagram of the frontal view of the structure with the endoscope camera face as the reference;

[0046] Figure 6 For the present invention Figure 5 Schematic diagram of the cross-sectional structure at point AA;

[0047] Figure 7For the present invention Figure 4 A top-view structural diagram;

[0048] Figure 8 For the present invention Figure 7 Schematic diagram of the cross-sectional structure at point AA;

[0049] Figure 9 This is a schematic diagram of the grinding actuator with a dust extraction component according to the present invention;

[0050] Figure 10 For the present invention Figure 9 A structural diagram from another perspective;

[0051] Figure 11 This is a schematic diagram of the overall structure of the production line of the present invention;

[0052] Figure 12 This is a schematic diagram of the polishing process of the present invention.

[0053] Explanation of reference numerals in the attached figures

[0054] 1. Drive unit; 11. Drive spindle;

[0055] 2. Dust extraction assembly; 21. Collection cover; 22. First connecting pipe; 23. Second connecting pipe; 24. External connecting pipe; 25. Mounting rod;

[0056] 3. Polished parts;

[0057] 4. Connecting parts;

[0058] 5. Supporting rod; 51. Fixing rod;

[0059] 6. Endoscope;

[0060] 7. Transition assembly; 71. Receiving shell; 72. First piston plate; 73. Inner connecting rod; 74. Outer connecting rod; 75. First spring;

[0061] 8. Flow guiding assembly; 81. Flow splitter shell; 82. First connecting pipe; 83. First flow guiding pipe; 84. Second flow guiding pipe; 85. Flow guiding cover; 86. Second connecting pipe;

[0062] 9. Drive assembly; 91. Pressurized housing; 92. One-way valve; 93. Air guide pipe; 94. Synchronizing rod; 95. Second piston plate; 951. Transmission rod; 96. Driven block; 97. Second spring; 98. Drive block;

[0063] 101. Grinding station; 102. Ground rail; 103. Robot; 104. Loading pallet; 105. Unloading pallet; 106. Safety fence; 107. 3D camera. Detailed Implementation

[0064] The present invention will be further illustrated by way of embodiments below, but the present invention is not limited to the scope of the embodiments.

[0065] like Figure 1 and Figure 11 As shown, the flexible production line for conformal grinding of the inner cavity of the housing includes a feeding mechanism, a conveying mechanism, and multiple grinding stations 101. The conveying mechanism is equipped with a 3D vision recognition system, which is used to transfer the workpiece to be ground from the feeding mechanism to the fixture of the corresponding grinding station 101, and to remove the workpiece from the grinding station 101 and return it to the feeding mechanism after grinding. The 3D vision recognition system is used to identify the model of the gripped workpiece so that the conveying mechanism can transport the workpiece to the corresponding grinding station 101 for grinding.

[0066] The polishing station 101 is equipped with a polishing execution mechanism, which is equipped with a visual inspection mechanism for observing the polishing effect.

[0067] In this application, a 3D vision recognition system is used to acquire three-dimensional image information of the workpiece before it is grasped. This information is then analyzed to identify the workpiece's model and spatial orientation. Based on the recognition results, the robot can transport the workpiece to the corresponding grinding station 101 for processing. In this way, shells of different specifications and structures can be automatically matched with appropriate grinding stations and grinding processes, thereby achieving flexible, conformal grinding of the shell's internal cavity. This structure reduces the steps of manual workpiece identification and sorting, improves the automation level of the production line, and enables the grinding system to adapt to the processing needs of various shell models, thereby improving overall production efficiency and equipment utilization.

[0068] Furthermore, by installing a visual inspection mechanism on the grinding actuator, the grinding area of ​​the housing cavity can be observed and inspected in real time during or after grinding, obtaining the grinding status and quality information of the inner cavity surface to determine whether the grinding effect meets the preset requirements. This visual inspection mechanism can intuitively monitor the grinding status of the inner cavity, which is conducive to timely detection of un-grinded areas, insufficient grinding, or surface defects, improving the controllability of grinding quality, while reducing the workload of manual disassembly or repeated inspections, thereby improving inspection efficiency and ensuring the continuity of grinding operations.

[0069] Example 1

[0070] In this embodiment, as Figure 1 and Figure 2 As shown, the grinding actuator includes a drive unit 1, a self-rotating drive spindle 11 is fixed on the output end of the drive unit 1, and a grinding component 3 is fixed on the end of the drive spindle 11.

[0071] The visual inspection mechanism includes an endoscope 6, which is disposed on one side of the grinding part 3. The endoscope 6 is fixed to the drive unit 1 by a support rod 5, which is fixed in an area outside the drive spindle 11.

[0072] Specifically, the grinding actuator is mounted on the grinding station 101 via a connecting part 4. The connecting part 4 is fixedly mounted on the housing of the drive unit 1, which is preferably a motor. Therefore, the connecting part 4 is fixed to the motor housing to achieve a stable connection between the grinding actuator and the drive unit 1. As the terminal output component of the grinding station 101, the grinding actuator drives the grinding tool to rotate or move under the drive of the drive unit 1, thereby performing grinding processing on the workpiece.

[0073] Furthermore, the grinding station 101 can adopt a CNC machine tool structure capable of movement in the X, Y, and Z directions. The multi-axis motion of the machine tool drives the grinding actuator to perform grinding operations at different spatial positions. Alternatively, the grinding station 101 can also adopt a robotic arm structure with multi-degree-of-freedom motion capabilities. The robotic arm drives the grinding actuator to move in multiple directions and angles to adapt to grinding requirements of different shapes and positions. Through these structural designs, the grinding actuator can flexibly adjust its posture and position within a spatial range, thereby achieving grinding treatment of different parts of the workpiece and improving the adaptability and processing efficiency of the grinding process.

[0074] Furthermore, the specific structure of the connecting part 4 can be configured according to the structural form of the grinding station 101. For example, when the grinding station 101 is a CNC machine tool structure, the connecting part 4 can be configured as a mounting flange, mounting base, or bracket structure to be fixed to the machine tool spindle or slide; when the grinding station 101 is a robotic arm structure, the connecting part 4 can be configured as an end-effector mounting base or adapter plate for installation on the end-effector of the robotic arm. Through the above structural configuration, the grinding actuator can be adapted to different types of grinding station 101 structures, achieving stable installation and reliable transmission, thereby ensuring the stability and adaptability of the grinding operation.

[0075] Example 2

[0076] like Figure 3 and Figure 4 As shown, a cleaning module for cleaning the surface of the endoscope 6 by airflow is provided on one side of the endoscope 6. The cleaning module includes a drive component 9, a transition component 7 and a flow guide component 8. The drive component 9 is connected to the flow guide component 8 through the transition component 7. The airflow generated by the drive component 9 is delivered to the flow guide component 8 through the transition component 7 and guided to the surface of the endoscope 6 by the flow guide component 8.

[0077] By incorporating a cleaning module that delivers airflow to the surface of the endoscope 6, the airflow reaches the camera end face of the endoscope 6, thereby cleaning away grinding dust, debris, and other impurities adhering to the surface of the endoscope 6 and preventing dust accumulation on the camera end face that could affect image quality. Through continuous or intermittent airflow, the surface of the endoscope 6 lens can be kept clean during the grinding process, allowing the visual inspection mechanism to continuously obtain clear and stable image information, thus ensuring effective observation of the grinding area within the housing cavity. This structural design helps avoid blind spots or image blurring caused by dust obstruction, improving the accuracy and reliability of visual inspection results. It also reduces equipment downtime due to manual lens cleaning, thereby improving the continuity of the grinding process and inspection efficiency.

[0078] Specifically, the accompanying drawings of this application mainly show the lens portion of the endoscope 6 used to acquire image information of the internal cavity of the housing. In practical applications, the endoscope 6 also includes the endoscope 6 body connected to the lens, signal transmission lines, and image processing terminals. The endoscope 6 body contains an image acquisition unit and an illumination assembly. The illumination assembly is preferably a ring-shaped LED light source or a fiber optic light guide structure, used to provide illumination to the internal cavity of the housing to improve the clarity of image acquisition.

[0079] The endoscope 6 lens is electrically connected to an external image processing terminal or display terminal via a connecting cable. The image processing terminal is used to process, display, or store the image information acquired by the endoscope 6 so that the operator or control system can observe and judge the polishing effect of the inner cavity of the housing.

[0080] Furthermore, the endoscope 6 can also be equipped with a mounting bracket or fixture to stably mount the endoscope 6 near the grinding actuator, thereby enabling the endoscope 6 lens to be aimed at the grinding area inside the housing for image acquisition. Those skilled in the art can select existing mature industrial endoscope 6 structures according to actual needs, and combine them with display devices, image processing modules, and lighting components to achieve visual inspection of the grinding area. Therefore, the above structures are not shown one by one in the accompanying drawings.

[0081] The airflow guiding component 8 is used to guide the airflow generated by the driving component 9 to the camera end face of the endoscope 6 and the side near the inner wall of the workpiece cavity, respectively. The airflow flowing to the side near the inner wall of the workpiece cavity disappears before the airflow flowing to the camera end face of the endoscope 6, and the airflow speed becomes smaller and smaller, so that the final cleaning position of the endoscope 6 before the airflow stops is the camera end face.

[0082] By setting up an airflow cleaning structure, the airflow generated by the drive component 9 is diverted by the guide component 8 and directed to different areas. Part of the airflow blows towards the camera end face of the endoscope 6, thereby blowing away grinding dust, debris, and other impurities adhering to the lens surface, preventing dust from obstructing the lens and affecting image acquisition quality. Another part of the airflow is guided to the side wall near the inner cavity of the workpiece, dispersing or cleaning dust generated during the grinding process near the inner wall of the workpiece to a certain extent. This reduces the accumulation of suspended dust in the inspection area, improving the clarity of the visual inspection area and enabling the visual inspection mechanism to more clearly obtain the grinding status and surface condition of the inner cavity of the housing. Through this airflow diversion method, not only can the lens of the endoscope 6 be cleaned, but the environmental conditions of the inspection area can also be improved to a certain extent, thereby enhancing the stability and reliability of visual inspection.

[0083] Furthermore, by rationally designing the airflow path, the airflow blowing towards the sidewall of the workpiece's inner cavity disappears before the airflow blowing towards the imaging end face of the endoscope 6. This means that even as the airflow gradually weakens and eventually stops, there is still airflow acting on the imaging end face of the endoscope 6, ensuring that the lens surface receives final cleaning before the airflow stops. This structure prevents dust from redepositing on the lens surface after the airflow stops, improving the effectiveness of lens cleaning. Simultaneously, the gradual weakening of the airflow during cessation reduces the severe disturbance of dust in the detection area, allowing the dust to gradually settle, thereby further improving the clarity and stability of the images acquired by the endoscope 6.

[0084] like Figure 4 and Figure 8 As shown, the drive assembly 9 includes a cylindrical pressurized housing 91, at least one end of which is closed. A second piston plate 95 that can be reset after being moved is slidably connected inside the pressurized housing 91. An air guide pipe 93 is fixed on one side end face of the pressurized housing 91. The air guide pipe 93 is connected to the transition assembly 7. A one-way valve 92 is fixed on the outer wall of the pressurized housing 91 near the air guide pipe 93.

[0085] A transmission rod 951 is fixed on the outer wall of the second piston plate 95 and is perpendicular to the second piston plate 95. A driven block 96 is fixed on the end of the transmission rod 951.

[0086] The drive block 98 is fixed on the outer wall of the drive spindle 11. The drive block 98, which rotates with the drive spindle 11, connects with the driven block 96 and pushes the driven block 96 to move.

[0087] When the drive spindle 11 drives the grinding part 3 to rotate, the drive block 98 on the drive spindle 11 also rotates. The rotating drive block 98 repeatedly pushes the driven block 96 to move. After the drive block 98 disengages from the driven block 96, the driven block 96 resets. Then the drive block 98 rotates to the same position again and pushes the driven block 96 to move again. This cycle repeats, thereby driving the second piston plate 95 to reciprocate inside the pressure shell 91. During the movement of the second piston plate 95, the outside air is drawn into the pressure shell 91 through the one-way valve 92 and then compressed into the air guide pipe 93, thereby being delivered to the transition component 7.

[0088] A one-way valve 92 is also provided at the connection between the air duct 93 and the pressurized shell 91.

[0089] When the driven block 96 is pushed by the driven block 98, it pushes the second piston plate 95 to move synchronously through the transmission rod 951. When the transmission rod 951 is pushed, the second spring 97 deforms. When the driven block 98 disengages from the driven block 96, the transmission rod 951 returns to its original position under the elasticity of the spring, thereby driving the second piston plate 95 and the driven block 96 to reset.

[0090] A relatively sealed sliding connection structure is formed between the second piston plate 95 and the pressure shell 91, allowing the second piston plate 95 to reciprocate within the pressure shell 91 and guide and pressurize the airflow during this movement. Through this structural arrangement, while ensuring smooth movement of the second piston plate 95, a basic sealing effect is achieved between the second piston plate 95 and the pressure shell 91, thereby allowing the airflow to generate a certain pressure within the pressure shell 91 and be guided to the subsequent airflow channel.

[0091] Furthermore, since the airflow in this application is mainly used to blow away and clean dust from the camera end face of the endoscope 6 and the vicinity of the workpiece cavity, the requirements for airflow pressure and airtightness are relatively low. Therefore, a completely sealed structure is not required between the second piston plate 95 and the pressure shell 91; a relatively sealed sliding connection is sufficient to meet the usage requirements. In other words, while ensuring that the second piston plate 95 can slide stably and generate a certain airflow pushing effect, a certain small gap is allowed between it and the pressure shell 91 to reduce the structural machining accuracy requirements and reduce frictional resistance. This is beneficial to improving the reliability and service life of the structure, while also simplifying the machining and assembly difficulty and reducing manufacturing costs.

[0092] Furthermore, the transmission rod 951 and the pressure shell 91 are coaxially arranged and arranged radially along the drive shaft 11. The pressure shell 91 is fixed to the bearing rod 5 or other components fixedly connected to the bearing rod 5 by the synchronizing rod 94.

[0093] Specifically, a second spring 97 is sleeved on the surface of the transmission rod 951, and the two ends of the second spring 97 are respectively fixed to the transmission rod 951 and the pressure shell 91 or the extension end of the pressure shell 91.

[0094] Preferably, the end faces of the drive block 98 and the transmission block that are in contact are symmetrical arc-shaped structures, and both sides of the pressure shell 91 are closed. The transmission rod 951 passes through the closed end face of the pressure shell 91, and the second spring 97 is located outside the pressure shell 91, with its two ends fixed to the transmission rod 951 and the outer wall of the pressure shell 91, respectively.

[0095] If one side of the pressurized housing 91 is closed, its closed end face is connected to the air guide pipe 93. The corresponding end of the second spring 97 is fixed on the bearing ring, which is sleeved on the surface of the transmission rod 951. The bearing ring is fixed to the side wall of the pressurized housing 91 by a rod, forming an extension end of the pressurized housing 91. The cavity formed by the piston plate and the inner wall of the pressurized housing 91 is connected to the inner cavity of the air guide pipe 93.

[0096] like Figures 4-6 As shown, the transition assembly 7 includes a cylindrical receiving shell 71, which is fixed to the bearing rod 5 by at least one fixing rod 51. A first piston plate 72 is slidably connected in the inner cavity of the receiving shell 71. The first piston plate 72 can return to its original position after being moved. An air guide pipe 93 is connected to one of the circular outer walls of the receiving shell 71, and the air guide pipe 93 communicates with the cavity formed between the inner wall of the receiving shell 71 and the first piston plate 72.

[0097] The housing 71 has two connection holes at different locations on its annular outer wall. The housing is connected to the flow guide assembly 8 through the two connection holes, and one of the connection holes is located closer to the end face of the housing 71 where the air guide tube 93 is located.

[0098] Specifically, a telescopic rod is fixed on the end face of the first piston plate 72 away from the air guide pipe 93, and the telescopic rod is fixed on the inner wall of the housing 71. A first spring 75 is sleeved on the surface of the telescopic rod, and the two ends of the first spring 75 are respectively fixed to the two ends of the telescopic rod.

[0099] Furthermore, the telescopic rod includes an inner connecting rod 73, the surface of which is slidably sleeved with an outer connecting rod 74. One of the inner connecting rod 73 and the outer connecting rod 74 is fixed on the first piston plate 72, and the other is fixed on the inner wall of the receiving shell 71. The two ends of the first spring 75 are respectively fixed on the inner connecting rod 73 and the outer connecting rod 74.

[0100] When the first spring 75 is in its normal state, the first piston plate 72 is located between the two connecting holes.

[0101] Airflow enters the cavity formed by the first piston plate 72 and the inner wall of the receiving shell 71 through the air guide pipe 93, thereby pressurizing the cavity. Part of the airflow enters the diversion shell 81 through the first connecting pipe 82 and flows out through the first guide pipe 83, while the other part remains inside the receiving shell 71. Since the incoming gas is greater than the outgoing gas, the first piston plate 72 is pushed, which causes the telescopic rod to shorten and the first spring 75 to deform. Under the high-speed rotation of the drive main shaft 11, the airflow continues to flow into the inner cavity of the receiving shell 71, pushing the first piston plate 72 past another more distant connecting hole. At this time, the airflow is diverted to the inside of the second connecting pipe 86, and after passing through the diversion shell 81, it is ejected from the second guide pipe 84 or the guide shroud 85 fixed to the end of the second guide pipe 84.

[0102] After grinding is completed, the drive shaft stops rotating, and the drive assembly 9 no longer supplies airflow into the housing 71. At this time, the airflow supply inside the housing 71 is cut off. Subsequently, the first spring 75, which is in a compressed state, begins to recover its deformation. Under the action of the elastic restoring force of the first spring 75, it pushes the first piston plate 72 to move in the corresponding direction, so that the remaining gas in the housing 71 is gradually squeezed and discharged through the airflow channel.

[0103] Furthermore, as the first spring 75 releases its elastic potential energy, its driving force gradually decreases with the gradual reduction of deformation. Therefore, the moving speed of the first piston plate 72 exhibits a trend of changing from fast to slow. During this process, the airflow pushed out of the receiving shell 71 also gradually decreases, causing the intensity of the final ejected airflow to gradually weaken. Through the above structural arrangement, the airflow can continue to act on the cleaning area in a gradually weakening manner after the air supply stops, thereby avoiding the re-adhesion of dust caused by the sudden cessation of airflow. At the same time, it is beneficial to gradually remove residual dust from the detection area, improving the cleaning effect of the endoscope 6 lens and the detection area.

[0104] After the first piston plate 72 passes the farthest connecting hole, the second guide pipe 84 stops ejecting airflow, while the first guide pipe 83 continues to eject airflow.

[0105] The sliding seal structure between the first piston plate 72 and the receiving shell 71 is similar to the sliding seal structure between the second piston plate 95 and the pressure shell 91.

[0106] The specific volume and cross-sectional area ratio of the housing 71 and the pressurizing housing 91 are not limited by the structure shown in the attached drawings, nor is the diameter of the air duct 93 limited by the attached drawings. The attached drawings are only schematic representations, and those skilled in the art can adjust the dimensions of both according to specific structural requirements and airflow parameter requirements during actual implementation. In implementation, the cross-sectional area of ​​the pressurizing housing 91 is preferably larger than that of the housing 71.

[0107] The flow guiding assembly 8 includes a flow dividing shell 81, which is fixed at the connection between the support rod 5 and the endoscope 6. The flow dividing shell 81 has two independent air chambers inside, which are respectively connected to the first flow guiding tube 83 and the second flow guiding tube 84. The first flow guiding tube 83 and the second flow guiding tube 84 are respectively fixed on the corresponding outer wall of the flow dividing shell 81.

[0108] The end of the first guide tube 83 protrudes from the camera end face and then bends back towards the camera end face. The second guide tube 84 is a straight tube that protrudes from the camera end face and extends towards one side of the inner wall of the workpiece, but does not protrude from the grinding end face of the grinding part 3.

[0109] The first guide tube 83 is connected to the connection hole on the side near the air guide tube 93 through the corresponding air chamber, and the second guide tube 84 is connected to another connection hole through another air chamber.

[0110] Specifically, the connection hole on the side closer to the air guide tube 93 is connected to the split shell 81 through the first connection tube 82 and communicates with the corresponding air chamber; in contrast, the connection hole on the side farther from the air guide tube 93 is connected to the split shell 81 through the second connection tube 86 and communicates with another air chamber.

[0111] The drive unit 1 is a structure that can drive the drive spindle 11 to rotate, preferably a motor, and the grinding part 3 is a grinding wheel.

[0112] Example 3

[0113] like Figure 11 As shown, the material handling mechanism includes a ground rail 102, on which a robot 103 that can move along the ground rail 102 is mounted. The robot 103 is equipped with a robotic arm that can move with multiple degrees of freedom. The end of the robotic arm is equipped with a gripper for clamping workpieces. The robot 103 is equipped with a 3D vision recognition system.

[0114] The feeding mechanism is located on one side of the end of the ground rail 102, and the grinding station 101 is distributed on both sides of the ground rail 102 along the length of the ground rail 102.

[0115] The 3D vision recognition system includes a 3D camera 107 mounted on a robot 103 and an image processing unit electrically connected to the 3D camera 107. The 3D camera 107 is used to acquire three-dimensional image information of the workpiece, and the image processing unit is used to identify the model and spatial posture of the workpiece based on the three-dimensional image information, so as to control the robot 103 to transport the workpiece to the corresponding grinding station 101.

[0116] The feeding mechanism includes multiple feeding trays 104 and unloading trays 105. The feeding trays 104 are used to place the workpieces to be polished, and the unloading trays 105 are used to place the workpieces after polishing. The robot 103 uses a robotic arm and gripper to grab the workpieces on the feeding trays 104 and place the polished workpieces on the unloading trays 105.

[0117] Preferably, both the loading pallet 104 and the unloading pallet 105 are mounted on the AGV trolley, which is used to drive the pallets to move between the loading station, the unloading station, and the material storage area.

[0118] Preferably, a safety fence 106 is set up around the production line to safely isolate the robot 103, the grinding station 101 and the material conveying mechanism.

[0119] Preferably, the production line also includes a gripper library containing grippers of various models. The robot 103 can automatically change the corresponding gripper in the gripper library according to the workpiece model to adapt to the clamping requirements of workpieces of different sizes or structures.

[0120] During the production process, the workers first place the workpieces to be polished on the loading pallet 104, which is then transported to the loading station by the AGV trolley at the bottom.

[0121] The robot 103 moves along the ground track 102 to the loading station. Before grabbing the workpiece, the robot 103 acquires the three-dimensional image information of the workpiece on the loading tray 104 through the 3D camera 107 installed on the robot 103. The image processing unit analyzes the three-dimensional image information to identify the model and spatial posture of the workpiece.

[0122] Based on the identification results, robot 103 controls the robotic arm and gripper to grasp the corresponding workpiece and move along the ground rail 102 to the front of the grinding station 101 that matches the workpiece model. When robot 103 arrives at the corresponding grinding station 101, the automatic door of the grinding station 101 opens, and the robotic arm places the workpiece on the fixture of the grinding station 101, or directly clamps the workpiece for positioning using the gripper; then the robotic arm exits the grinding station 101, the automatic door closes, and the grinding station 101 begins the grinding operation on the workpiece.

[0123] After grinding is completed, the robotic arm and gripper can directly remove the workpiece from the grinding station 101, or the automatic door of the grinding station 101 can be reopened, and the robotic arm can reach into the grinding station 101 to grab the ground workpiece. Then the robot 103 moves along the ground rail 102 to the unloading station and places the ground workpiece on the unloading tray 105.

[0124] The unloading pallet 105 is transported to the warehouse or storage area by the AGV trolley at the bottom to complete the transfer and storage of the workpiece. Then the AGV trolley drives the unloading pallet 105 back to the initial position for the next cycle of operation.

[0125] When the model range of the workpieces to be processed is large, the robot 103 can automatically change to the corresponding model of gripper in the gripper library according to the workpiece model identified by the 3D vision recognition system, so as to ensure that different workpieces can be stably clamped and the subsequent grinding process can be completed.

[0126] In this embodiment, the robot 103, robotic arm, gripper, and 3D vision recognition system can all be implemented using conventional technical solutions in the field. The robot 103 can be an existing industrial mobile robot 103 or a track-based mobile robot 103, capable of moving along the ground track 102 and achieving multi-degree-of-freedom motion through the robotic arm. The robotic arm and gripper can adopt the end effector structure of an existing industrial robot 103, used for gripping, handling, and placing workpieces. Their specific structural forms can be conventionally designed according to the workpiece size and shape, or existing mature products can be selected.

[0127] The 3D vision recognition system can be implemented using existing mature 3D vision recognition technology, including a 3D camera 107 mounted on the robot 103 and an image processing unit electrically connected to it. The 3D camera 107 is used to acquire 3D images or point cloud data of the workpiece, and the image processing unit is used to analyze the data to identify the workpiece's model, position, and posture, and send the recognition results to the robot 103 control system to control the robot 103 to complete the corresponding grasping and transportation actions. The specific implementation methods of the robot 103 control, vision recognition, and grasping control described above are all conventional technical means that can be implemented by those skilled in the art based on existing technology, therefore, their specific structures and control algorithms will not be further limited here.

[0128] Example 4

[0129] like Figure 9 and Figure 10 As shown, it also includes a dust extraction assembly 2, which includes multiple collection covers 21 located on one side of the cleaning module. A first connecting pipe 22 is connected to the collection cover 21, and all the first connecting pipes 22 are connected to a second connecting pipe 23. An external pipe 24 for connecting an external air pump is connected to the second connecting pipe 23. One end of the mounting rod 25 is fixed to the second connecting pipe 23, and the other end is fixed in the same area as the fixed position of the support rod 5.

[0130] Safety is improved by using an air pump to remove dust from the grinding area.

[0131] This invention is not limited to the embodiments described above. Any changes in shape or structure shall fall within the protection scope of this invention. The protection scope of this invention is defined by the appended claims. Those skilled in the art may make various changes or modifications to these embodiments without departing from the principles and essence of this invention, but all such changes and modifications shall fall within the protection scope of this invention.

Claims

1. A flexible production line for conformal grinding of the inner cavity of a housing, characterized in that: It includes a feeding mechanism, a conveying mechanism, and multiple grinding stations (101); the conveying mechanism is equipped with a 3D vision recognition system, which is used to transfer the workpiece to be ground from the feeding mechanism to the fixture of the corresponding grinding station (101), and after grinding, remove the workpiece from the grinding station (101) and put it back into the feeding mechanism; the 3D vision recognition system is used to identify the model of the gripped workpiece, so that the conveying mechanism can transport the workpiece to the corresponding grinding station (101) for grinding; The polishing station (101) is equipped with a polishing execution mechanism, and the polishing execution mechanism is equipped with a visual inspection mechanism for observing the polishing effect; The visual inspection mechanism includes an endoscope (6), which is disposed on one side of the grinding part (3) and is fixed to the drive unit (1) by a support rod (5); A cleaning module for cleaning the surface of the endoscope (6) by airflow is provided on one side of the endoscope (6). The cleaning module includes a drive component (9), a transition component (7) and a flow guide component (8). The drive component (9) is connected to the flow guide component (8) through the transition component (7). The airflow generated by the drive component (9) is delivered to the flow guide component (8) through the transition component (7) and guided to the surface of the endoscope (6) by the flow guide component (8). The flow guiding component (8) is used to guide the airflow generated by the driving component (9) to the camera end face of the endoscope (6) and the side near the inner wall of the workpiece cavity, respectively. The airflow flowing to the side near the inner wall of the workpiece cavity disappears before the airflow flowing to the camera end face of the endoscope (6), and the airflow speed becomes smaller and smaller, so that the final cleaning position of the endoscope (6) before the airflow stops is the camera end face. The drive assembly (9) includes a pressurized housing (91), and a second piston plate (95) that can be moved and reset is slidably connected inside the pressurized housing (91). A duct (93) is fixed on one side end face of the pressurized housing (91), and the duct (93) is connected to the transition assembly (7). A one-way valve (92) is fixed on the outer wall of the pressurized housing (91) near the duct (93). A transmission rod (951) is fixed on the outer wall of the second piston plate (95), and a driven block (96) is fixed on the end of the transmission rod (951). Drive block (98), which is fixed on the outer wall of drive spindle (11), and the drive block (98) rotates with drive spindle (11) and overlaps with driven block (96), and pushes driven block (96) to move; The transition assembly (7) includes a cylindrical receiving shell (71), which is fixed to the support rod (5) by at least one fixing rod (51). A first piston plate (72) is slidably connected in the inner cavity of the receiving shell (71). The first piston plate (72) can return to its original position after being moved. The air guide pipe (93) is connected to one of the circular outer walls of the receiving shell (71). The outer annular wall of the housing (71) has two connection holes at different positions. The housing is connected to the flow guide assembly (8) through the two connection holes, and one of the connection holes is located closer to the end face of the housing (71) where the air guide tube (93) is located. The flow guiding assembly (8) includes a flow splitting shell (81), which is fixed at the connection between the support rod (5) and the endoscope (6). The flow splitting shell (81) has two independent air chambers inside, which are respectively connected to the first flow guiding tube (83) and the second flow guiding tube (84). The end of the first guide tube (83) protrudes from the camera end face and then bends back towards the camera end face. The second guide tube (84) is a straight tube and protrudes from the camera end face and extends towards one side of the inner wall of the workpiece. The first guide tube (83) is connected to the connection hole on the side near the guide tube (93) through the corresponding air chamber, and the second guide tube (84) is connected to another connection hole through another air chamber.

2. The flexible production line for conformal grinding of the inner cavity of the housing as described in claim 1, characterized in that: The grinding actuator includes a drive unit (1), a self-rotating drive spindle (11) is fixed on the output end of the drive unit (1), and a grinding component (3) is fixed on the end of the drive spindle (11).

3. The flexible production line for conformal grinding of the inner cavity of the housing as described in claim 1, characterized in that: The material handling mechanism includes a ground rail (102), on which a robot (103) that can move along the ground rail (102) is mounted. The robot (103) is equipped with a mechanical arm that can move with multiple degrees of freedom. The end of the mechanical arm is equipped with a gripper for clamping workpieces. The robot (103) is equipped with a 3D vision recognition system.

4. The flexible production line for conformal grinding of the inner cavity of the housing as described in claim 3, characterized in that: The feeding mechanism is located on one side of the end of the ground rail (102), and the grinding station (101) is distributed on both sides of the ground rail (102) along the length of the ground rail (102).

5. The flexible production line for conformal grinding of the inner cavity of the housing as described in claim 3, characterized in that: The 3D vision recognition system includes a 3D camera (107) mounted on a robot (103) and an image processing unit electrically connected to the 3D camera (107). The 3D camera (107) is used to acquire three-dimensional image information of the workpiece. The image processing unit is used to identify the model and spatial posture of the workpiece based on the three-dimensional image information, so as to control the robot (103) to transport the workpiece to the corresponding grinding station (101).

Images