Intelligent grinding system

Abstract

The utility model relates to the field of grinding equipment, in particular to an intelligent grinding system. The intelligent polishing system comprises an image acquisition unit, a visual guidance platform, an industrial robot and a polisher, the image acquisition unit and the industrial robot are respectively in signal connection with the visual guidance platform; the image acquisition unit is used for acquiring three-dimensional information of a to-be-polished object, a polisher and an industrial robot and correlating coordinate systems of the to-be-polished object, the polisher and the industrial robot to form point cloud data; the visual guidance platform is used for generating a grinding track and a control instruction based on a coordinate system of the industrial robot based on the point cloud data, and sending the grinding track and the control instruction to the industrial robot; and the industrial robot grabs a to-be-polished object according to the polishing track and the control instruction and moves the to-be-polished object to the polisher for polishing. Therefore, the high dependence on the position of the polisher is reduced, and the adaptability of the system to a production site is improved.

Description

Technical Field

[0001] This application relates to the field of grinding equipment, in particular to an intelligent grinding system. Background Art

[0002] In automated grinding systems, the use of industrial robots is widely applied in various manufacturing fields, such as automotive parts, aerospace components, consumer electronics casings, etc.

[0003] In the prior art, when an industrial robot performs grinding, both motion planning and execution must be carried out strictly according to the precise position of the grinder. Even if there is a slight change in the position of the grinder, the entire grinding process may be severely affected, thereby affecting production costs and time costs. Moreover, the high dependence on the position of the grinder also restricts the layout flexibility of the production site. Since the position of the grinder needs to be precisely fixed during grinding, it cannot be flexibly adjusted according to the actual site conditions and changes in the production process, bringing many inconveniences to production management. Summary of the Invention

[0004] In view of this, the purpose of this application is to provide an intelligent grinding system that reduces the high dependence on the position of the grinder and improves the adaptability of the system to the production site and layout.

[0005] To solve the above problems, in the first aspect, this application provides an intelligent grinding system, including an image acquisition unit, a vision guidance platform, an industrial robot, and a grinder;

[0006] Wherein, the image acquisition unit and the industrial robot are respectively signal-connected to the vision guidance platform; the industrial robot is associated with the grinder;

[0007] The image acquisition unit is used to acquire three-dimensional information of the object to be ground and form point cloud data;

[0008] The vision guidance platform is used to generate a grinding trajectory and control instructions based on the industrial robot's coordinate system based on the point cloud data, and send the grinding trajectory and control instructions to the industrial robot;

[0009] The industrial robot grabs the object to be ground according to the grinding trajectory and control instructions and moves it to the grinder for grinding.

[0010] In the above technical solution, the intelligent grinding system of this application has better adaptability and flexibility, and reduces the high dependence on the position of the grinder.

[0011] In some embodiments, the vision guidance platform includes a data processing module, a trajectory generation module, and a communication interface module.

[0012] In the above technical solution, the modular design of the vision guidance platform improves the maintainability, scalability, and reduces the system complexity.

[0013] In some embodiments, the industrial robot is provided with a mobile structure for changing the position of the object to be polished.

[0014] In the above technical solution, the versatility of the industrial robot reduces the polishing time and improves the overall production efficiency.

[0015] In some embodiments, the industrial robot is provided with a rotatable structure for rotating the angle of the object to be polished.

[0016] In the above technical solution, it is convenient for the vision guidance platform to obtain the complete 3D information of the object to be polished, improving the accuracy of the polishing trajectory planning.

[0017] In some embodiments, the industrial robot is a robotic arm.

[0018] In the above technical solution, the robotic arm has good flexibility and operating range, can control the polishing action more precisely, and is suitable for complex polishing tasks.

[0019] In some embodiments, the vision guidance platform is provided with a robotic arm unified interface for connecting the robotic arm.

[0020] In the above technical solution, it facilitates the integration of different types of robotic arms, making the expansion and maintenance of the intelligent polishing system more convenient.

[0021] In some embodiments, the image acquisition unit is a 3D camera.

[0022] In the above technical solution, precise three-dimensional visual data is provided, thus realizing more precise polishing operations, improving the working efficiency of the polishing equipment and the convenience of operation.

[0023] In some embodiments, the vision guidance platform is provided with a 3D camera unified interface for connecting the 3D camera.

[0024] In the above technical solution, the 3D camera unified interface can adapt to common 3D camera models on the market, realizing the data exchange between the 3D camera and the vision guidance platform.

[0025] In some embodiments, the grinder is fixedly installed on the workbench; the grinder is fixed within the field of view of the image acquisition unit.

[0026] In the above technical solution, the stability and reliability of the grinder during the working process are ensured.

[0027] In some embodiments, the grinder includes a milling cutter and a file, and the vision guiding platform is provided with an avoidance unit for the milling cutter and the file.

[0028] In the above technical solution, damage to the object to be ground by the grinder is avoided, and the safety and grinding accuracy of the intelligent grinding system are improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 is a schematic diagram of the overall structure of the intelligent grinding system of the present application;

[0030] Figure 2 is a block diagram of the structure of the intelligent grinding system of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0031] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Apparently, the described embodiments are some, but not all, of the embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the scope of protection of the present application.

[0032] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments of the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0033] Unless otherwise specifically stated, the relative arrangements of components and steps, numerical expressions, and values set forth in these embodiments do not limit the scope of the present application. At the same time, it should be understood that, for the sake of convenience of description, the dimensions of the various parts shown in the drawings are not drawn in actual proportional relationships. Technologies, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and devices should be regarded as part of the authorized specification. In all the examples shown and discussed herein, any specific value should be construed as merely exemplary and not as a limitation. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following drawings, and thus, once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0034] In the description of the present application, it should be understood that the orientation or positional relationship indicated by orientation terms such as "front, rear, upper, lower, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom", etc. is usually based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present application and simplifying the description. Without contrary explanation, these orientation terms do not indicate and imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation on the protection scope of the present application; the orientation terms "inside, outside" refer to the inside and outside relative to the contour of each component itself.

[0035] For the sake of convenience of description, spatial relative terms such as "above...", "over...", "on the upper surface of...", "above" and the like can be used here to describe the spatial positional relationship between a device or feature shown in the drawings and other devices or features. It should be understood that the spatial relative terms are intended to include different orientations in use or operation in addition to the orientation described in the drawings for the device. For example, if the device in the drawing is inverted, the device described as "above other devices or structures" or "over other devices or structures" will then be positioned as "below other devices or structures" or "under other devices or structures". Thus, the exemplary term "above" can include both the orientations of "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and corresponding interpretations should be made for the spatial relative descriptions used here.

[0036] In addition, it should be noted that the use of terms such as "first", "second" to limit components is only for the convenience of distinguishing the corresponding components. Without additional statement, the above terms have no special meaning. Therefore, it should not be construed as a limitation on the protection scope of the present application.

[0037] In the present application, unless otherwise clearly specified and defined, if terms such as "installed", "connected", "connected to", "fixed" etc. appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. It can be the communication inside two elements or the interaction relationship between two elements, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0038] In order to solve the problem that the current automated grinding highly depends on the position of the grinder, the following will specifically describe the present application in combination with the attached Figure 1-2 drawings.

[0039] The present application provides an intelligent grinding system, including an image acquisition unit 200, a vision guidance platform 100, an industrial robot 300, and a grinder 400. Among them, the image acquisition unit 200 and the industrial robot 300 are respectively connected to the vision guidance platform 100 by signals. The industrial robot 300 is associated with the grinder 400. The image acquisition unit 200 is used to acquire the three-dimensional information of the object 500 to be ground and form point cloud data. The vision guidance platform 100 is used to generate a grinding trajectory and control instructions based on the industrial robot's coordinate system based on the point cloud data, and send the grinding trajectory and control instructions to the industrial robot 300. The industrial robot 300 grabs the object 500 to be ground according to the grinding trajectory and control instructions and moves it to the grinder 400 for grinding.

[0040] The industrial robot 300 being associated with the grinder 400 means that the industrial robot 300 calibrates the grinder 400 to establish the coordinate system of the grinder 400 relative to the industrial robot 300, thereby providing an accurate reference for subsequent motion control. Therefore, the grinder 400 can be placed arbitrarily within the operating range of the industrial robot 300. Regardless of the position of the grinder 400, the industrial robot 300 can ensure its precise positioning in the coordinate system through calibration. This flexibility greatly improves the adaptability of the intelligent grinding system, enabling it to handle diverse workpieces and complex grinding tasks, and enhancing the flexibility and automation of the production line.

[0041] At the same time, the vision guidance platform 100 associates the object 500 to be ground captured by the image acquisition unit 200 with the coordinate system of the industrial robot 300. After the vision guidance platform 100 completes the data processing work, it will respond to the industrial robot 300 in a timely manner and wait for the call of the industrial robot 300. When the industrial robot 300 is called, it can obtain the solved grinding trajectory. This grinding trajectory is generated based on the coordinate system of the industrial robot and through adaptive analysis of the unique characteristics of the object 500 to be ground, and includes the poses of the subsequent movement of the industrial robot 300. And these pose information are solved with reference to the installation position information of the grinder 400. Subsequently, the industrial robot 300 starts to be called and executes the corresponding operations, moves according to the solved grinding trajectory, and gradually approaches the grinder 400, thereby achieving the effect of grinding the burr.

[0042] In this way, the grinder 400, the object 500 to be ground, and the industrial robot 300 are associated with each other, and the positions of the grinder 400 and the object 500 to be ground are both converted into relative positions in the coordinate system of the industrial robot 300. This relativity enables the intelligent grinding system of the present application to have better adaptability to the grinding site, and optimizes the grinding process, making the grinding process more flexible.

[0043] In some embodiments, the vision guidance platform 100 includes a data processing module 110, a trajectory generation module 120, and a communication interface module 130. The grinder 400 is fixed within the field of view of the image acquisition unit 200.

[0044] The data processing module 110 is responsible for analyzing the point cloud data obtained from the image acquisition unit 200 to ensure the accuracy and real-time nature of the data. The high-efficient data processing ability of the trajectory generation module 120 enables the system to respond quickly and generate corresponding grinding trajectories, thereby improving the overall grinding efficiency. The communication interface module 130 ensures that the vision guidance platform 100 can communicate efficiently with the industrial robot 300, quickly transmitting the grinding trajectories and control instructions. This real-time communication ability improves the collaborative working efficiency of the system and reduces errors caused by delays or unstable signals.

[0045] The modular design of the vision guidance platform 100 enables the system to be easily expanded and upgraded. Different modules can be independently developed and optimized according to needs, improving the overall flexibility and maintainability of the system.

[0046] The grinder 400 is fixed within the field of view of the image acquisition unit 200, improving the compactness of the grinding system and the layout optimization.

[0047] In some embodiments, the industrial robot 300 is provided with a mobile structure for changing the position of the object 500 to be ground.

[0048] The industrial robot 300 is not only used to perform the grinding operation, but can also be used to cooperate with the image acquisition unit 200 to collect the three-dimensional information of the object 500 to be ground. This versatility makes the industrial robot 300 not only an execution tool, but also a mobile platform for the image acquisition unit 200, improving the accuracy and integrity of the data obtained by the vision guidance platform 100.

[0049] The participation of the industrial robot 300 in data acquisition helps to achieve a more coordinated and smooth grinding process. The industrial robot 300 can perform preprocessing operations according to the instructions of the vision guidance platform 100, providing better preparation for the grinding stage, reducing the grinding time, and improving the overall production efficiency.

[0050] In some embodiments, the industrial robot 300 is provided with a rotatable structure for rotating the angle of the object 500 to be ground.

[0051] The industrial robot 300 drives the object 500 to be polished to rotate to a predetermined angle, so as to cooperate with the vision guidance platform 100 to collect information of the object 500 to be polished at this angle. Through rotations at multiple different angles, complete 3D information of the object 500 to be polished is obtained. Thus, the vision guidance platform 100 can accurately analyze key elements such as the shape, size, and surface features of the object 500 to be polished, thereby improving the accuracy of the polishing trajectory planning.

[0052] In some embodiments, the industrial robot 300 is a robotic arm.

[0053] In the above technical solution, the robotic arm can repeatedly execute tasks with high precision to ensure the consistency of each operation. Moreover, the robotic arm has multiple degrees of freedom and can move flexibly in three-dimensional space. Therefore, the robotic arm has good flexibility and an operating range, can more precisely control the polishing action, adapt to complex polishing tasks, and is suitable for the working scenario of flash polishing in this application.

[0054] In some embodiments, the vision guidance platform 100 is provided with a robotic arm unified interface 150 for connecting the robotic arm.

[0055] The robotic arm unified interface 150 uniformly encapsulates the communication protocols of multiple different models of robotic arms, achieving high compatibility with various robotic arms. A set of universal interfaces can communicate smoothly with many common robotic arms on the market. Via the robotic arm unified interface 150, the adaptive guidance polishing trajectory solved by the vision guidance platform 100 can be accurately transmitted to the robotic arm. After receiving the polishing trajectory information, the robotic arm can approach the polisher 400 along the polishing trajectory, thereby precisely polishing the object 500 to be polished and ensuring the accuracy and quality of the polishing effect.

[0056] In the above technical solution, this modular design facilitates the integration of different types of robotic arms, making the expansion and maintenance of the system more convenient.

[0057] In some embodiments, the image acquisition unit 200 is a 3D camera.

[0058] The 3D camera can accurately capture the image data of the target object and provide accurate three-dimensional visual data. At the same time, the 3D camera can also ensure that during the real-time working process, the position information of the polisher 200 can be accurately and stably obtained, providing a more accurate path planning for the polishing of objects with different shapes, realizing a more precise adaptive polishing operation, and improving the working efficiency and operation convenience of the polishing equipment.

[0059] In some embodiments, the vision guidance platform 100 is provided with a 3D camera unified interface 140 for connecting the 3D camera.

[0060] In the above technical solution, the 3D camera unified interface 140 can adapt to common 3D camera models on the market, increasing the flexibility and compatibility of the intelligent grinding system and realizing data exchange between the 3D camera and the vision guidance platform 100.

[0061] In some embodiments, the grinder 400 is fixedly installed on the workbench. The grinder 400 is fixed within the field of view of the image acquisition unit 200.

[0062] The grinder 400 being fixedly installed on the workbench can be fixedly installed on a wall, the ground, a mounting platform, a fixed bracket, etc.

[0063] Therefore, by fixing the grinder 400, the planning of the grinding trajectory of the vision guidance platform 100 becomes more convenient and reliable, reducing the requirements for the response time and computing power of the vision guidance platform 100. This makes the entire grinding process more efficient and the system response more rapid. The industrial robot 300 can perform precise movements near the known fixed position of the grinder 400, enabling the trajectory of each grinding operation to be replicated. This consistency is very suitable for processes requiring mass production, such as surface treatment processes in fields like automotive manufacturing, aerospace, and consumer electronics.

[0064] On the other hand, this convenience can also avoid damage to the object 500 to be ground by the grinder 400 and accidental collisions between the grinder 400 and the industrial robot 300, improving the grinding efficiency and operation safety.

[0065] At the same time, the fixation of the grinder 400 ensures the stability and reliability of the grinder 400 during operation. This stability is particularly important for applications requiring high-precision surface treatment. Through collaborative cooperation with the industrial robot 300, it is possible to efficiently grind various objects and achieve an ideal grinding effect.

[0066] It should be noted that the position of the grinder 400 has a certain degree of flexibility and can be randomly placed within the operating range of the industrial robot 300. Once the position of the grinder 400 is determined, it will work at a fixed position, waiting for the industrial robot 300 to grasp the object 500 to be ground and approach.

[0067] Preferably, the grinder 400 is fixed within the field of view of the image acquisition unit 200, thus making the overall structure of the intelligent grinding system of the present application more compact, helping to reduce space occupation, and thus adapting to more different working environments, especially those with limited space or complex layouts.

[0068] In some embodiments, the grinder 400 includes a milling cutter and a file, and the vision guidance platform 100 is provided with an avoidance unit for the milling cutter and the file.

[0069] During the grinding process, the milling cutter rotates at high speed to cut and shape the workpiece, capable of quickly removing a large amount of material, laying the foundation for subsequent fine grinding. The file can perform more delicate trimming and grinding on the surface of the workpiece.

[0070] Through the combined use of the milling cutter and the file in this application, the intelligent grinding system of this application can process a wider range of materials and surfaces, is applicable to various grinding scenarios, and improves the versatility and adaptability of grinding.

[0071] In this application, the vision guidance platform 100 uses the actually used milling cutter and file as preset data for generating the grinding trajectory, and is provided with an avoidance unit for the milling cutter and the file, which helps to avoid conflicts between the milling cutter and the file during operation, or conflicts between the milling cutter and the file and the object 500 to be ground. Thereby, it avoids the grinding tool 400 from damaging the object 500 to be ground, and improves the safety of the intelligent grinding system and the precision of grinding.

[0072] In the above technical solution, the above is only the preferred embodiment of the present invention and is not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An intelligent grinding system, characterized in that: It includes image acquisition unit, vision guidance platform, industrial robot and grinder; Wherein, the image acquisition unit and the industrial robot are respectively connected to the visual guidance platform signal; the industrial robot and the grinder are mutually associated; The image acquisition unit is used to acquire three-dimensional information of the object to be polished and form point cloud data; The visual guidance platform is used to generate a grinding trajectory and control instructions based on the coordinate system of the industrial robot based on the point cloud data, and send the grinding trajectory and control instructions to the industrial robot; The industrial robot grabs the object to be polished according to the polishing trajectory and the control instruction and moves to the polisher for polishing.

2. The intelligent grinding system according to claim 1, characterized in that: The visual guidance platform includes a data processing module, a trajectory generation module and a communication interface module.

3. The intelligent grinding system according to claim 1, characterized in that: The industrial robot is provided with a mobile structure for changing the position of the object to be polished.

4. The intelligent grinding system according to claim 3, characterized in that: The industrial robot is provided with a rotatable structure for rotating the angle of the object to be polished.

5. The intelligent grinding system according to claim 1, characterized in that: The industrial robot is a robotic arm.

6. The intelligent grinding system according to claim 5, characterized in that: The visual guidance platform is provided with a unified robot arm interface for connecting the robot arm.

7. The intelligent grinding system according to claim 1, characterized in that: The image acquisition unit is a 3D camera.

8. The intelligent grinding system according to claim 7, characterized in that: The visual guidance platform is provided with a 3D camera unified interface for connecting the 3D camera.

9. The intelligent grinding system according to claim 1, characterized in that: The grinder is fixedly mounted on the workbench; the grinder is fixed within the field of view of the image acquisition unit.

10. The intelligent grinding system according to claim 1, characterized in that: The grinder comprises a milling cutter and a file, and the visual guidance platform is provided with avoidance units for the milling cutter and the file.

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