An intelligent detection grinding unit suitable for multi-species large-specification slag pot products

Abstract

The application provides an intelligent detection grinding unit suitable for multi-species large-size slag tank products, which comprises a support frame, a moving frame, a mechanical arm, a polishing mechanism, a mounting part, a dust suction part, a visual detection part and a counterweight part. The moving frame can move along the X-axis, Y-axis and Z-axis directions, and the polishing mechanism comprising a grinding wheel is driven by the mechanical arm to adjust the position and attitude. Two mounting parts can synchronously slide along the same circular track and always keep a 180-degree central angle. The dust suction part and the visual detection part are respectively arranged on the mounting parts, and the counterweight part is arranged on the mounting part provided with the dust suction part. The two mounting parts are driven by gravity to adjust the position, so that when the polishing mechanism is inclined, the visual detection part moves to the high position of the circular track and the dust suction part moves to the low position, so that the visual detection part is kept at a relatively high position in the polishing area, the influence of the debris on the visual detection is reduced, and at the same time, the dust suction part is kept at a relatively low position, which is beneficial to collect the dust and debris generated during polishing.

Description

Technical Field

[0001] This invention relates to the field of grinding, specifically to an intelligent detection grinding unit suitable for various types of large-sized slag pot products. Background Technology

[0002] Slag pots are containers used in metallurgical production to receive, transfer, and temporarily hold molten slag. They typically have a large volume and a deep internal cavity. During use, slag pots must withstand the impact and heat of high-temperature slag, thus requiring specific conditions for the pot structure and the condition of its inner wall surface. Some slag pots are formed using a casting process, and their inner wall surface may retain oxide scale, adhering sand, burrs, and other casting residues, and some areas may also have rough or uneven surfaces. To improve the inner wall surface condition and meet subsequent usage requirements, it is usually necessary to clean and repair the inner wall of the slag pot according to the actual situation, and, if necessary, grind to remove the corresponding residues and local protrusions.

[0003] With the development of automated grinding technology, visual inspection technology is gradually being applied to the processing of castings and other metal workpieces. Existing visual inspection methods typically utilize image acquisition devices such as industrial cameras and webcams to acquire images of the workpiece surface. These images are then combined with image processing, feature recognition, and defect detection technologies to identify residues, protrusions, depressions, scratches, and processing conditions on the workpiece surface. This helps determine the area to be processed, assess the processing effect, or adjust the processing trajectory. Some intelligent visual inspection systems can also automatically analyze the acquired images using pre-set recognition algorithms and apply the detection results to path planning, position adjustment, or processing status assessment of the processing equipment, thereby reducing manual observation and judgment.

[0004] For automated grinding of the inner wall of slag pots, visual inspection can also be used to acquire image information of the contact area between the grinding wheel and the inner wall of the slag pot, thereby helping to determine the grinding area and judge the grinding status. However, the internal space of the slag pot is large, and the inner wall is usually formed by the bottom, side walls, and interconnected transitional curved surfaces. The orientation and surface shape of the inner wall vary in different locations. To adapt to the inner wall shape of different areas, the grinding mechanism needs to change its position and posture during movement, and the visual inspection equipment also needs to be set close to the grinding area to obtain clearer image information.

[0005] In existing technologies, visual inspection equipment is typically fixed near the grinding mechanism or moves synchronously with it. Its positional relationship with the grinding area is easily affected by changes in the grinding mechanism's posture. Especially when grinding the curved inner wall of a slag pot, the grinding mechanism needs to tilt in different directions. The fixed visual inspection equipment may tilt along with the grinding mechanism, causing its observation position to change. Simultaneously, dust and debris generated during grinding can easily enter the visual inspection area, obstructing image acquisition and affecting the accuracy of subsequent image processing and visual judgment.

[0006] Furthermore, the grinding process of the inner wall of the slag pot generates a significant amount of dust and debris. Existing dust collection structures typically move with the grinding mechanism, and the relative position between the dust collection port and the grinding area changes with the posture of the grinding mechanism. When the dust collection port deviates from the dust-generating area, it becomes difficult to collect the dust and debris generated during grinding in a timely manner. Therefore, how to adapt the grinding mechanism to the curved inner wall surface of slag pots of different sizes, and how to maintain the positional relationship between the visual inspection equipment and the dust collection structure and the grinding area during the adjustment of the grinding mechanism's posture, are problems that need to be solved in the automated grinding process of the inner wall of slag pots. Summary of the Invention

[0007] In order to solve the problem that the visual inspection equipment and dust collection structure are shifted due to the change in posture of the grinding mechanism during the grinding of the inner wall curved surface of the slag pot, which affects the visual inspection and dust collection effect, this invention provides an intelligent inspection and grinding unit suitable for a variety of large-sized slag pot products.

[0008] The present invention solves the above-mentioned technical problems through the following technical solutions: This invention provides an intelligent inspection and grinding unit suitable for various types of large-sized slag pot products, including a support frame, a movable frame on the top of the support frame, the movable frame being able to move along the X-axis, Y-axis and Z-axis, a robotic arm fixed at the bottom of the movable frame, and a grinding mechanism including a grinding wheel fixed on the moving end of the robotic arm. It also includes two mounting parts, which can slide synchronously along the same circular trajectory, and the central angle between the two mounting parts is always kept at 180°; the two mounting parts are respectively provided with a dust suction part and a vision detection part, and the mounting part with the dust suction part is provided with a counterweight part so that the two mounting parts can adjust their position along the circular trajectory under the action of gravity.

[0009] In this technical solution, the grinding mechanism includes a motor, which is fixed on the moving end of the robotic arm. A transmission shaft is fixed on the output end of the motor, and a grinding wheel is fixed at the end of the transmission shaft.

[0010] In this technical solution, the mounting part includes a slider, and the sliders on both mounting parts are slidably connected to the guide rail of the annular structure. The guide rail is fixed to the mobile terminal of the robotic arm through the connecting frame, and the guide rail is coaxial with the grinding wheel. The two sliders are fixedly connected by a synchronizing rod so that the two sliders move synchronously along the guide rail and maintain their relative positions.

[0011] In this technical solution, the installation unit installs the corresponding vision inspection unit or dust collection unit through the follow-up component. One side of the follow-up component can overlap with the inner wall of the slag pot and can drive the corresponding vision inspection unit or dust collection unit to move towards or away from the inner wall of the slag pot. The grinding wheel is tilted vertically, and the two follower components move in directions closer to and further away from the inner wall of the slag pot, respectively, and the amount of movement changes with the degree of tilt of the grinding wheel, so that the two follower components form opposite follower trajectories; The follow-up component is connected to the vision inspection unit or the dust collection unit via a connecting component.

[0012] In this technical solution, the follower component includes a support frame, on which at least one guide sleeve is installed. The guide sleeve extends along the axial direction of the grinding wheel, and a follower rod is slidably connected inside the guide sleeve. The follower rod is connected to the vision inspection unit or the dust collection unit through a connecting component, and a first spring is sleeved on the surface of the follower rod. One end of the follower rod, the vision inspection section, and the dust collection section are all located on the side of the grinding wheel away from the robotic arm, and are kept protruding from the circular end face of the grinding wheel under the elastic action of the first spring.

[0013] In this technical solution, the connecting component and the follower rod in the follower component move synchronously and are connected to the corresponding vision inspection unit or dust collection unit in a transmission connection, so that while the connecting component moves along the grinding wheel axis, it drives the corresponding vision inspection unit or dust collection unit to move along the grinding wheel radially. The connecting component drives the corresponding visual inspection unit or dust collection unit to move away from the inner wall of the slag pot, and causes the corresponding visual inspection unit or dust collection unit to retract radially toward the center of the grinding wheel.

[0014] In this technical solution, the connecting assembly includes at least one guide post extending radially along the grinding wheel, a movable sleeve is slidably sleeved on the guide post, a first fixed frame is fixed on the movable sleeve, a vision inspection unit or a dust suction unit is installed on the first fixed frame, and a second spring is sleeved on the guide post, with the two ends of the second spring being fixedly connected to the movable sleeve and the first fixed frame, respectively. A traveling wheel is rotatably mounted on at least one outer wall of the first fixed frame extending radially along the grinding wheel. The traveling wheel abuts against the guide plate under the elastic action of the second spring. The guide plate includes a straight guide section extending axially along the grinding wheel and an inclined guide section extending towards the center of the grinding wheel.

[0015] In this technical solution, an angle adjustment component is also included. The connecting component is connected to the corresponding vision inspection unit or dust collection unit through the angle adjustment component. The connecting component drives the corresponding vision inspection unit or dust collection unit to move radially along the grinding wheel, and the orientation of the corresponding vision inspection unit or dust collection unit is adjusted synchronously through the angle adjustment component. The visual inspection unit or the dust extraction unit moves in a direction closer to the center of the grinding wheel and rotates synchronously in the same direction.

[0016] In this technical solution, the angle adjustment component includes an outer sleeve, which is sleeved on the outer periphery of the rotating shaft and fixed to the moving end of the connecting component. The two ends of the rotating shaft are respectively fixedly connected to the corresponding vision detection unit or dust collection unit. At least one end of the rotating shaft is fixed with a transmission gear coaxially arranged therewith. A transmission rack is meshed with one side of the transmission gear. The transmission rack extends along the moving direction of the moving end of the connecting assembly and is fixed to a component of the connecting assembly other than the moving end, so that when the moving end of the connecting assembly moves relative to the transmission rack, the transmission gear rolls along the transmission rack and drives the rotating shaft to rotate.

[0017] In this technical solution, the counterweight part includes a third fixed frame, one end of which is fixed to the corresponding follower component, and the other end of which is fixed with a counterweight block.

[0018] 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.

[0019] The positive and progressive effects of this invention are as follows: This application utilizes two mounting sections that maintain a 180° central angle to support the vacuuming section and the vision inspection section. A counterweight located on one side of the vacuuming section provides gravity drive, enabling the two mounting sections to move synchronously along the same circular trajectory. Therefore, when the polishing mechanism tilts vertically, the counterweight can move the mounting section containing the vacuuming section towards a lower position on the circular trajectory, while simultaneously moving the mounting section containing the vision inspection section towards a higher position. This allows the vacuuming section and the vision inspection section to automatically adjust their relative positions according to the tilt of the polishing mechanism, preventing positional misalignment due to the overall tilt of the polishing mechanism. This ensures that the vision inspection section remains at a relatively high position and the vacuuming section remains at a relatively low position.

[0020] Since the vision inspection unit is used to visually inspect the polishing area, keeping it above the polishing area reduces obstruction of the observation field by dust and debris generated during polishing, thus facilitating the continuous acquisition of visual information about the polishing area. Simultaneously, the dust collection unit is positioned relatively low within the polishing area, which helps collect dust and debris generated during polishing and moving downwards, thereby improving dust removal efficiency in the polishing area. Therefore, the vision inspection unit and the dust collection unit can maintain a relatively reasonable positional relationship based on the tilt of the polishing mechanism, balancing visual inspection with minimizing the impact of dust on visual inspection.

[0021] Furthermore, by setting up a movable frame capable of moving along the X, Y, and Z axes, and coordinating with a robotic arm to further adjust the position and orientation of the grinding mechanism, the grinding mechanism can achieve a larger range of spatial movement inside the slag pot. It can also adjust the grinding position and trajectory according to the inner diameter, depth, and inner wall shape of different slag pot specifications. Therefore, for slag pots with different sizes and inner wall curvatures, the grinding mechanism can be moved to the corresponding grinding area through the cooperation of the movable frame and the robotic arm. Combined with the tilt adjustment of the grinding wheel, the corresponding inner wall area can be ground, thereby improving the equipment's adaptability to the grinding conditions of slag pots of different specifications. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 For the present invention Figure 1 A top-view structural diagram; Figure 3 This is a schematic diagram of the grinding mechanism and mounting part of the present invention; Figure 4 For the present invention Figure 3 A schematic diagram of the structure viewed from below; Figure 5 This is a schematic diagram of the structure of the two mounting parts of the present invention; Figure 6 For the present invention Figure 5 A schematic diagram of the structure viewed from below; Figure 7 For the present invention Figure 5 A schematic diagram of the side view structure; Figure 8 This is a schematic diagram of the structure of the follower component, the connecting component, and the adjusting component of the present invention; Figure 9 For the present invention Figure 8 A schematic diagram of the structure viewed from below; Figure 10 This is a schematic diagram of the structure of the connecting component and the adjusting component of the present invention; Figure 11 For the present invention Figure 10A structural diagram from another perspective.

[0023] Explanation of reference numerals in the attached figures 101. Support frame; 102. Moving frame; 103. Robotic arm; 104. Grinding mechanism; 105. Drive shaft; 1051. Grinding wheel; 1. Guide rail; 11. Connecting bracket; 2. Slider; 21. Synchronizing rod; 3. Follower assembly; 31. Support frame; 32. Guide sleeve; 33. Follower rod; 34. First spring; 35. Abutment plate; 4. Connecting assembly; 41. Guide column; 42. Moving sleeve; 43. First fixed frame; 44. Traveling wheel; 45. Mounting bracket; 46. Guide strip plate; 5. Angle adjustment assembly; 51. Rotation shaft; 52. Outer sleeve; 53. Transmission gear; 54. Transmission rack; 55. Second fixing bracket; 6. Visual Inspection Department; 7. Vacuum cleaning section; 8. Counterweight; 81. Third fixing frame; 82. Counterweight block. Detailed Implementation

[0024] 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.

[0025] like Figure 1 and Figure 2 As shown, an intelligent inspection and grinding unit suitable for various types of large-sized slag pot products includes a support frame 101, a movable frame 102 is provided on the top of the support frame 101, the movable frame 102 can move along the X-axis, Y-axis and Z-axis, a robotic arm 103 is fixed at the bottom of the movable frame 102, and a grinding mechanism 104 including a grinding wheel 1051 is fixed on the moving end of the robotic arm 103. It also includes two mounting parts, which can slide synchronously along the same circular trajectory, and the central angle between the two mounting parts is always kept at 180°; a dust suction part 7 and a vision detection part 6 are respectively provided on the two mounting parts, and a counterweight part 8 is provided on the mounting part with the dust suction part 7, so that the two mounting parts can adjust their positions along the circular trajectory under the action of gravity. The counterweight 8 is used to move the mounting part where the dust suction part 7 is located towards a lower position along a circular trajectory, and through the synchronous sliding between the two mounting parts, to move the mounting part where the vision inspection part 6 is located towards a higher position along a circular trajectory.

[0026] Specifically, the movement of the movable frame 102 along the X-axis, Y-axis, and Z-axis can be achieved using existing linear motion mechanisms. For example, a linear guide rail 1, a slider 2, a lead screw, and a drive motor can be arranged in the corresponding movement direction. The drive motor drives the lead screw to rotate, causing the moving parts that are threaded into the lead screw to move along the lead screw axis. Stable movement in the corresponding direction is achieved with the cooperation of the linear guide rail 1 and the slider 2. The movement mechanisms in the X-axis, Y-axis, and Z-axis directions can sequentially use mutually perpendicular linear guide rails 1 and lead screw drive mechanisms, enabling the movable frame 102 to achieve position adjustment in three mutually perpendicular directions. The above-mentioned structure for multi-axis linear movement using linear guide rails 1, lead screws, and drive motors is all prior art, and its specific structure and working principle will not be described in detail here.

[0027] During operation, the mechanical arm 103 and the grinding mechanism 104 are first adjusted to the corresponding position of the slag pot to be processed by moving the moving frame 102 along the X-axis, Y-axis and Z-axis. Then, the mechanical arm 103 drives the grinding mechanism 104 to move, so that the grinding mechanism 104 extends into the slag pot and approaches the inner wall of the slag pot. The mechanical arm 103 drives the grinding mechanism 104 to move along a predetermined trajectory, so that the grinding wheel 1051 contacts the inner wall of the slag pot and grinds and cleans the inner wall.

[0028] Example 1 In this embodiment, as Figure 3 and Figure 4 As shown, the grinding mechanism 104 includes a motor, which is fixed on the mobile terminal of the robotic arm 103. A transmission shaft 105 is fixed on the output end of the motor, and a grinding wheel 1051 is fixed at the end of the transmission shaft 105.

[0029] The motor drives the transmission shaft 105 to rotate, and the transmission shaft 105 drives the grinding wheel 1051 at the end to rotate synchronously, so that the grinding wheel 1051 contacts the inner wall of the slag pot, and the inner wall of the slag pot is polished and cleaned by the rotation of the grinding wheel 1051.

[0030] Example 2 like Figure 3 and Figure 4 As shown, the mounting part includes a slider 2, and the sliders 2 on both mounting parts are slidably connected to the guide rail 1 of the annular structure. The guide rail 1 is fixed to the mobile terminal of the robotic arm 103 through the connecting frame 11, and the guide rail 1 is coaxially arranged with the grinding wheel 1051. The two sliders 2 are fixedly connected by a synchronizing rod 21 so that the two sliders 2 move synchronously along the guide rail 1 and maintain the relative position between the two sliders 2.

[0031] like Figure 5 and Figure 6As shown, the installation unit installs the corresponding vision inspection unit 6 or dust collection unit 7 through the follower component 3. One side of the follower component 3 can overlap with the inner wall of the slag pot and can drive the corresponding vision inspection unit 6 or dust collection unit 7 to move towards or away from the inner wall of the slag pot. The grinding wheel 1051 is tilted vertically, and the two follower components 3 move in directions closer to and further away from the inner wall of the slag pot, respectively, and the amount of movement changes with the degree of tilt of the grinding wheel 1051, so that the two follower components 3 form opposite follower trajectories.

[0032] This embodiment is applicable to the grinding of the curved surface of the inner wall of a slag pot. The inner wall of the slag pot forms a continuous curved surface structure consisting of the bottom, side walls, and transition areas. The curvature and surface orientation of the inner wall vary at different grinding positions. To enable the grinding wheel 1051 to adapt to the curved surface shape at different positions on the inner wall of the slag pot, the tilting posture of the grinding wheel 1051 needs to be adjusted according to the orientation of the inner wall of the area to be ground during the grinding process. This allows the grinding wheel 1051 to contact the inner wall in a relatively suitable posture, thereby improving the adaptability of the grinding wheel 1051 to the curved surface area.

[0033] As the grinding wheel 1051 tilts vertically, the distance between its two sides and the inner wall of the slag pot changes with the degree of tilt. The visual inspection unit 6 and the dust collection unit 7, located on both sides of the grinding wheel 1051, also need to adjust their positional relationship with the inner wall of the slag pot accordingly. This application addresses this by providing follow-up components 3, enabling the visual inspection unit 6 and the dust collection unit 7 to compensate for their positions in opposite directions as the grinding wheel 1051 tilts: the follow-up component 3 on the side closer to the inner wall of the slag pot moves away from the inner wall, while the follow-up component 3 on the other side moves closer to the inner wall. The amount of movement of the follow-up components 3 on both sides changes with the degree of tilt of the grinding wheel 1051, thus allowing the visual inspection unit 6 and the dust collection unit 7 to adapt to the spatial positional changes caused by the tilt of the grinding wheel 1051.

[0034] Meanwhile, by combining the structural relationship of maintaining a 180° central angle between the two mounting parts, the two follower components 3 can form opposite follower trajectories during the tilting of the grinding wheel 1051, so that the upper vision detection unit 6 and the lower dust collection unit 7 can be adaptively adjusted respectively, thereby reducing the situation where the vision detection unit 6 deviates from the grinding area or the dust collection unit 7 moves away from the dust generation position due to the change in the posture of the grinding wheel 1051.

[0035] With the above structure, the grinding wheel 1051 can adjust its posture according to different areas of the curved surface of the inner wall of the slag pot. The visual inspection unit 6 and the dust collection unit 7 can adjust their positions according to the changes in the posture of the grinding wheel 1051, so that the visual inspection unit 6 is kept in a position suitable for observing the grinding area, and the dust collection unit 7 is kept in a position close to the grinding area. Thus, while adapting to the grinding of the curved surface of the inner wall of the slag pot, it also takes into account the visual observation of the grinding area and the dust collection.

[0036] Example 3 like Figure 8 and Figure 9 As shown, the follower assembly 3 includes a support frame 31, on which at least one guide sleeve 32 is mounted. The guide sleeve 32 extends along the axial direction of the grinding wheel 1051. A follower rod 33 is slidably connected inside the guide sleeve 32. The follower rod 33 is connected to the vision inspection unit 6 or the dust collection unit 7 through the connecting assembly 4. A first spring 34 is sleeved on the surface of the follower rod 33. The two ends of the first spring 34 are fixedly connected to the follower rod 33 and the guide sleeve 32, respectively. One end of the follower rod 33, the vision detection part 6 and the dust collection part 7 are all located on the side of the grinding wheel 1051 away from the robotic arm 103, and are kept protruding from the circular end face of the grinding wheel 1051 under the elastic action of the first spring 34.

[0037] In this embodiment, the follower rod 33 is used as a trigger rod. Its end protrudes from the corresponding visual inspection unit 6 or dust collection unit 7 in the initial state, and the trigger rod, visual inspection unit 6, and dust collection unit 7 all protrude from the circular end face of the grinding wheel 1051 away from the robotic arm 103. Therefore, when the grinding wheel 1051 is not tilted and is grinding along the inner wall of the slag pot, the trigger rod can contact the inner wall of the slag pot before the visual inspection unit 6 and the dust collection unit 7. As the grinding wheel 1051 continues to approach the inner wall of the slag pot, the trigger rod is acted upon by the inner wall and moves backward along the guide sleeve 32, compressing the first spring 34 until the end of the trigger rod still protrudes from the circular end face of the grinding wheel 1051, so that the trigger rod can continuously contact the inner wall of the slag pot, while the visual inspection unit 6 and the dust collection unit 7 remain in a position relatively close to the grinding area.

[0038] After the grinding wheel 1051 tilts vertically, the relative distance between the trigger rods on both sides and the inner wall of the slag pot changes. The trigger rod on one side of the tilt direction of the grinding wheel 1051 is further squeezed by the inner wall of the slag pot and retracts backward along the guide sleeve 32; the trigger rod on the other side moves closer to the inner wall of the slag pot under the elastic restoring force of the first spring 34, so that the two trigger rods form different axial movements. Since the two trigger rods are connected to the vision inspection unit 6 and the dust collection unit 7 respectively through the corresponding connecting components 4, the above-mentioned movement of the trigger rods can synchronously drive the vision inspection unit 6 and the dust collection unit 7 to adjust their positions, so that they can adapt to the changes in the curvature of the inner wall of the slag pot according to the tilt posture of the grinding wheel 1051.

[0039] As a preferred technical solution in this embodiment, an abutment plate 35 is fixedly provided on the side of the follower rod 33 near the inner wall of the slag pot. The abutment plate 35 is used to replace the end of the follower rod 33 in contacting the inner wall of the slag pot, so as to reduce the wear caused by the direct contact between the end of the follower rod 33 and the inner wall of the slag pot. The abutment plate 35 adopts an arc-shaped or spherical structure, so that the abutment plate 35 can form a relatively smooth contact with the inner wall of the slag pot.

[0040] Preferably, there are two guide sleeves 32 and two corresponding follower rods 33. The two follower rods 33 are located on both sides of the connecting assembly 4, and the two follower rods 33 are fixedly connected to the same abutment plate 35 so that the abutment plate 35 can move stably along the axial direction of the guide sleeve 32 under the joint support of the two follower rods 33.

[0041] Example 4 As a preferred embodiment derived from Embodiment 3, such as Figure 8-11 As shown, the connecting assembly 4 and the follower rod 33 in the follower assembly 3 move synchronously and are connected to the corresponding vision inspection unit 6 or dust collection unit 7 in a transmission connection, so that while the connecting assembly 4 moves along the axial direction of the grinding wheel 1051, it drives the corresponding vision inspection unit 6 or dust collection unit 7 to move radially along the grinding wheel 1051. The connecting component 4 drives the corresponding visual inspection unit 6 or dust collection unit 7 to move away from the inner wall of the slag pot, and causes the corresponding visual inspection unit 6 or dust collection unit 7 to retract radially toward the side closer to the center of the grinding wheel 1051.

[0042] By setting the connecting assembly 4 and the follower rod 33 to move synchronously, and by forming a transmission engagement between the connecting assembly 4 and the vision inspection unit 6 or the dust collection unit 7, the axial movement of the follower rod 33 along the grinding wheel 1051 can be converted into the radial movement of the vision inspection unit 6 or the dust collection unit 7 along the grinding wheel 1051. This allows the vision inspection unit 6 or the dust collection unit 7 to adjust radially in sync with the axial position change of the follower rod 33. Especially when the follower rod 33 moves away from the inner wall of the slag pot due to the action of the inner wall, the connecting assembly 4 can drive the corresponding vision inspection unit 6 or the dust collection unit 7 to move synchronously away from the inner wall of the slag pot and retract towards the center of the grinding wheel 1051. This reduces the change in the attitude of the grinding wheel 1051 and the interference between the vision inspection unit 6 or the dust collection unit 7 and the inner wall of the slag pot during the movement of the follower rod 33. Simultaneously, it allows the vision inspection unit 6 and the dust collection unit 7 to remain close to the grinding area, which is beneficial for both visual observation and dust collection in the grinding area.

[0043] Specifically, the connecting assembly 4 includes at least one guide post 41 extending radially along the grinding wheel 1051. A movable sleeve 42 is slidably sleeved on the guide post 41. A first fixing frame 43 is fixed on the movable sleeve 42. A vision inspection unit 6 or a dust suction unit 7 is installed on the first fixing frame 43. A second spring is sleeved on the guide post 41. The two ends of the second spring are fixedly connected to the movable sleeve 42 and the first fixing frame 43, respectively. A traveling wheel 44 is rotatably mounted on at least one outer wall of the first fixed frame 43 extending radially along the grinding wheel 1051. The traveling wheel 44 abuts against the guide plate 46 under the elastic action of the second spring. The guide plate 46 includes a straight guide section extending axially along the grinding wheel 1051 and an inclined guide section extending inclined towards the center of the grinding wheel 1051. The traveling wheel 44 can move along the straight guide section and the inclined guide section so that the first fixed frame 43 moves axially along the grinding wheel 1051 while generating a radial displacement along the grinding wheel 1051.

[0044] Specifically, the guide plate 46 remains fixed relative to the connecting assembly 4. During the movement of the connecting assembly 4, the traveling wheel 44 moves along the guide plate 46 and changes the radial position of the first fixed frame 43 under the guidance of the guide plate 46. Preferably, the guide plate 46 is fixedly mounted on the support frame 31 or the guide sleeve 32 so that the guide plate 46 and the follower assembly 3 maintain a relatively fixed positional relationship, providing guidance for the axial movement of the connecting assembly 4 to be converted into the radial movement of the first fixed frame 43.

[0045] Example 5 like Figures 8-11 As shown, it also includes an angle adjustment component 5. The connecting component 4 is connected to the corresponding vision inspection unit 6 or dust collection unit 7 through the angle adjustment component 5. The connecting component 4 drives the corresponding vision inspection unit 6 or dust collection unit 7 to move radially along the grinding wheel 1051, and the orientation of the corresponding vision inspection unit 6 or dust collection unit 7 is adjusted synchronously through the angle adjustment component 5. The visual inspection unit 6 or the dust collection unit 7 moves in a direction close to the center of the grinding wheel 1051 and rotates synchronously in a direction close to the center of the grinding wheel 1051.

[0046] Furthermore, the guide post 41 is fixed to the follower rod 33 by the mounting bracket 45.

[0047] Specifically, by setting the angle adjustment component 5, while the connecting component 4 drives the vision inspection unit 6 or the dust collection unit 7 to move radially along the grinding wheel 1051, the orientation of the vision inspection unit 6 or the dust collection unit 7 can be adjusted simultaneously, so that the radial position adjustment and the angle adjustment are linked. When the vision inspection unit 6 or the dust collection unit 7 moves towards the center of the grinding wheel 1051, its orientation rotates synchronously towards the center of the grinding wheel 1051. This allows the working orientation of the vision inspection unit 6 or the dust collection unit 7 to be adjusted synchronously during the radial retraction process, reducing the deviation of the observation direction or the dust collection direction from the grinding area caused by position changes. This enables the vision inspection unit 6 to better maintain observation of the grinding area, and the dust collection unit 7 to keep the dust inlet facing the grinding area, which is beneficial to improving the visual observation and dust collection effect during the grinding process.

[0048] The angle adjustment component 5 includes an outer sleeve 52, which is sleeved on the outer periphery of the rotation shaft 51 and fixed to the moving end of the connecting component 4. The two ends of the rotation shaft 51 are respectively fixedly connected to the corresponding vision detection unit 6 or the dust collection unit 7. At least one end of the rotating shaft 51 is fixed with a transmission gear 53 coaxially arranged therewith. One side of the transmission gear 53 is meshed with a transmission rack 54. The transmission rack 54 extends along the moving direction of the moving end of the connecting assembly 4 and is fixed on a component of the connecting assembly 4 other than the moving end, so that when the moving end of the connecting assembly 4 moves relative to the transmission rack 54, the transmission gear 53 rolls along the transmission rack 54 and drives the rotating shaft 51 to rotate.

[0049] Furthermore, the movable end of the connecting component 4 is the first fixed frame 43, and the outer sleeve 52 is fixedly installed on the first fixed frame 43 so that the outer sleeve 52 can move synchronously with the first fixed frame 43.

[0050] Specifically, the two ends of the rotating shaft 51 are respectively fixed to the lens housing of the vision inspection unit 6 or the dust collection housing of the dust collection unit 7, so that when the rotating shaft 51 rotates, it can drive the corresponding vision inspection unit 6 or dust collection unit 7 to rotate synchronously. The transmission rack 54 is fixed to the connecting assembly 4 on the components other than the first fixing frame 43 by the second fixing frame 55, so that the transmission rack 54 maintains a positional change relative to the first fixing frame 43. Both the outer tube 52 and the rotating shaft 51 extend in a direction perpendicular to the axial direction of the grinding wheel 1051. The transmission rack 54 is distributed along the moving direction of the first fixing frame 43, so that when the first fixing frame 43 drives the outer tube 52 and the rotating shaft 51 to move, the transmission gear 53 can roll along the transmission rack 54 and drive the vision inspection unit 6 or dust collection unit 7 to rotate through the rotating shaft 51.

[0051] Specifically, the first fixed frame 43 drives the outer sleeve 52, the rotation shaft 51, and the corresponding vision detection unit 6 or dust collection unit 7 to move synchronously. Since the transmission rack 54 is fixed to the fixed part of the connecting assembly 4 through the second fixed frame 55, the transmission rack 54 maintains a positional change relative to the first fixed frame 43, causing the transmission gear 53 to roll along the transmission rack 54 as it moves with the first fixed frame 43. The rolling of the transmission gear 53 drives the rotation shaft 51, which is coaxially fixed with it, to rotate, thereby causing the vision detection unit 6 or dust collection unit 7, which is fixed at both ends of the rotation shaft 51, to rotate synchronously. This converts the movement of the first fixed frame 43 into an angle adjustment of the vision detection unit 6 or dust collection unit 7, allowing the vision detection unit 6 or dust collection unit 7 to change its orientation synchronously with the radial position change of the first fixed frame 43.

[0052] Preferably, to avoid excessive rotation angles in the visual inspection unit 6 or the dust collection unit 7 during the movement of the first fixed frame 43, the diameter of the transmission gear 53 can be appropriately increased to reduce the angular displacement caused by the transmission gear 53 moving the same distance along the transmission rack 54; or, a meshing gear assembly can be provided between the transmission gear 53 and the rotation shaft 51, and the rotation angle of the rotation shaft 51 can be reduced by adjusting the transmission ratio of the gear assembly, while keeping the final rotation direction of the visual inspection unit 6 or the dust collection unit 7 unchanged, thereby making the angle adjustment of the visual inspection unit 6 or the dust collection unit 7 smoother.

[0053] Example 6 like Figure 5 and Figure 6 As shown, the counterweight 8 includes a third fixing frame 81, one end of which is fixed to the guide sleeve 32 on the corresponding follower component 3, and the other end of which is fixed to a counterweight block 82.

[0054] The visual inspection unit 6 and the dust collection unit 7 in this application both employ functional components commonly found in the prior art. The visual inspection unit 6 is used to acquire image information of the contact area between the grinding wheel 1051 and the inner wall of the slag pot. It includes at least a camera lens and a lens housing for supporting and fixing the camera lens, and can be configured with image transmission, image processing, image display, and image recognition components according to actual usage needs to achieve image acquisition and corresponding visual judgment of the grinding area. The dust collection unit 7 is used to collect dust and debris generated during the grinding process of the grinding wheel 1051. It includes at least a dust suction port and a dust suction shell for forming and supporting the dust suction channel, and can be further connected to conventional components such as an air pump, negative pressure pipeline, filter assembly, and dust collection assembly to form a complete dust collection path. The aforementioned image transmission, processing, and judgment structures, as well as air pumps, pipelines, and filtration equipment, are all conventional configurations in the fields of photography and vacuuming. Those skilled in the art can select and configure them according to actual usage needs. Therefore, the visual inspection unit 6 and the vacuuming unit 7 are only schematically represented in the accompanying drawings of this application using the lens housing and the vacuuming housing. Their specific auxiliary structures and connection methods will not be described in detail.

[0055] Furthermore, an appropriate damping structure can be provided at the sliding connection position between the two mounting parts and the guide rail 1 to increase the sliding resistance when the mounting parts move along the guide rail 1, so that the mounting parts are less likely to produce unexpected small displacements when subjected to small external forces or vibrations. Combined with the counterweight 8 provided on the corresponding mounting parts of the dust collection part 7, the gravity provided by the counterweight 8 can maintain a relatively stable positional relationship between the two mounting parts. During the process of the robotic arm 103 driving the grinding mechanism 104 to move and the grinding wheel 1051 performing grinding, the slight swaying of the mounting parts caused by mechanical vibration, inertia and other factors is reduced, thereby improving the stability of the positional maintenance of the vision detection part 6 and the dust collection part 7, while ensuring that the two can move normally along the guide rail 1 when follow-up adjustment is required.

[0056] 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. An intelligent inspection and grinding unit suitable for various types of large-sized slag pot products, comprising a support frame (101), a movable frame (102) provided on the top of the support frame (101), the movable frame (102) being movable along the X-axis, Y-axis and Z-axis, a robotic arm (103) fixed at the bottom of the movable frame (102), and a grinding mechanism (104) including a grinding wheel (1051) fixed on the moving end of the robotic arm (103), characterized in that: It also includes two mounting parts, which can slide synchronously along the same circular trajectory, and the central angle between the two mounting parts is always kept at 180°; a dust suction part (7) and a vision detection part (6) are respectively provided on the two mounting parts, and a counterweight part (8) is provided on the mounting part provided with the dust suction part (7) so that the two mounting parts can adjust their positions along the circular trajectory under the action of gravity.

2. The intelligent detection and grinding unit for multi-variety, large-size slag pot products as described in claim 1, characterized in that: The grinding mechanism (104) includes a motor, which is fixed on the moving end of the robotic arm (103). A transmission shaft (105) is fixed on the output end of the motor, and a grinding wheel (1051) is fixed at the end of the transmission shaft (105).

3. The intelligent detection and grinding unit for multi-variety, large-size slag pot products as described in claim 1, characterized in that: The mounting part includes a slider (2), and the sliders (2) on the two mounting parts are slidably connected to the guide rail (1) of the annular structure. The guide rail (1) is fixed to the mobile terminal of the robotic arm (103) through the connecting frame (11), and the guide rail (1) is coaxially arranged with the grinding wheel (1051). The two sliders (2) are fixedly connected by a synchronizing rod (21) so that the two sliders (2) move synchronously along the guide rail (1) and maintain the relative position between the two sliders (2).

4. The intelligent detection and grinding unit applicable to various types and large-size slag pot products as described in claim 1, characterized in that: The installation part installs the corresponding visual inspection part (6) or dust collection part (7) through the follower component (3). One side of the follower component (3) can overlap with the inner wall of the slag pot and can drive the corresponding visual inspection part (6) or dust collection part (7) to move towards or away from the inner wall of the slag pot. The grinding wheel (1051) is tilted vertically, and the two follower components (3) move in directions close to and away from the inner wall of the slag pot, respectively, and the amount of movement changes with the degree of tilt of the grinding wheel (1051) so that the two follower components (3) form opposite follower trajectories. The follow-up component (3) is connected to the vision detection unit (6) or the dust collection unit (7) via the connecting component (4).

5. The intelligent detection and grinding unit for multi-variety, large-size slag pot products as described in claim 4, characterized in that: The follower component (3) includes a support frame (31), on which at least one guide sleeve (32) is installed. The guide sleeve (32) extends along the axial direction of the grinding wheel (1051). A follower rod (33) is slidably connected inside the guide sleeve (32). The follower rod (33) is connected to the vision inspection unit (6) or the dust collection unit (7) through the connecting component (4). A first spring (34) is sleeved on the surface of the follower rod (33). One end of the follower rod (33), the visual inspection part (6) and the dust collection part (7) are all located on the side of the grinding wheel (1051) away from the robotic arm (103), and are kept protruding from the circular end face of the grinding wheel (1051) under the elastic action of the first spring (34).

6. The intelligent detection and grinding unit for multi-variety, large-size slag pot products as described in claim 4, characterized in that: The connecting component (4) moves synchronously with the follower component (3) and is connected to the corresponding visual inspection unit (6) or dust collection unit (7) in a transmission manner, so that while the connecting component (4) moves along the axial direction of the grinding wheel (1051), it drives the corresponding visual inspection unit (6) or dust collection unit (7) to move radially along the grinding wheel (1051). The connecting component (4) drives the corresponding visual inspection unit (6) or dust suction unit (7) to move away from the inner wall of the slag pot, and causes the corresponding visual inspection unit (6) or dust suction unit (7) to retract along the radial direction of the grinding wheel (1051) towards the center of the grinding wheel (1051).

7. The intelligent detection and grinding unit for multi-variety, large-size slag pot products as described in claim 6, characterized in that: The connecting assembly (4) includes at least one guide post (41) extending radially along the grinding wheel (1051), a movable sleeve (42) is slidably sleeved on the guide post (41), a first fixing frame (43) is fixed on the movable sleeve (42), a vision inspection unit (6) or a dust suction unit (7) is installed on the first fixing frame (43), and a second spring is sleeved on the guide post (41), with the two ends of the second spring being fixedly connected to the movable sleeve (42) and the first fixing frame (43) respectively; The first fixing frame (43) has a traveling wheel (44) rotatably mounted on at least one outer wall extending radially along the grinding wheel (1051). The traveling wheel (44) abuts against the guide plate (46) under the elastic action of the second spring. The guide plate (46) includes a straight guide section extending axially along the grinding wheel (1051) and an inclined guide section extending inclined toward the center of the grinding wheel (1051).

8. The intelligent detection and grinding unit for multi-variety, large-size slag pot products as described in claim 4, characterized in that: It also includes an angle adjustment component (5), and the connecting component (4) is connected to the corresponding visual inspection unit (6) or dust collection unit (7) through the angle adjustment component (5). The connecting component (4) drives the corresponding visual inspection unit (6) or dust collection unit (7) to move radially along the grinding wheel (1051), and adjusts the orientation of the corresponding visual inspection unit (6) or dust collection unit (7) synchronously through the angle adjustment component (5). The visual inspection unit (6) or the dust collection unit (7) moves in a direction close to the center of the grinding wheel (1051) and rotates synchronously in a direction close to the center of the grinding wheel (1051).

9. The intelligent detection and grinding unit for multi-variety, large-size slag pot products as described in claim 8, characterized in that: The angle adjustment component (5) includes an outer sleeve (52), which is sleeved on the outer periphery of the rotating shaft (51) and fixed to the moving end of the connecting component (4). The two ends of the rotating shaft (51) are respectively fixedly connected to the corresponding visual detection unit (6) or dust collection unit (7). At least one end of the rotating shaft (51) is fixed with a transmission gear (53) coaxially arranged therewith. A transmission rack (54) is meshed with one side of the transmission gear (53). The transmission rack (54) extends along the moving direction of the moving end of the connecting assembly (4) and is fixed on the connecting assembly (4) on a component other than the moving end, so that when the moving end of the connecting assembly (4) moves relative to the transmission rack (54), the transmission gear (53) rolls along the transmission rack (54) and drives the rotating shaft (51) to rotate.

10. The intelligent inspection and grinding unit applicable to various types and large-size slag pot products as described in claim 1, characterized in that: The counterweight (8) includes a third fixing frame (81), one end of which is fixed to the corresponding follower component (3), and the other end of which is fixed to a counterweight block (82).

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