Intelligent sensing reciprocating grinding and polishing system for tail end of robot

Abstract

The intelligent sensing reciprocating grinding and polishing system comprises grinding and polishing equipment and detection equipment, the grinding and polishing equipment comprises a first mounting plate, a first quick-change disc is arranged in the first mounting plate, and the bottom of the first mounting plate is fixedly connected with a force control device through screws; the bottom of the force control device is fixedly connected with a reciprocating polishing machine through screws, a square abrasive paper disc is arranged at the bottom end of the reciprocating polishing machine, the detection equipment comprises a second mounting plate, a second quick-change disc is arranged in the second mounting plate, and a visual detection head is arranged at the bottom of the second mounting plate; the intelligent sensing reciprocating grinding and polishing system for the robot tail end can detect the coating thickness of a part, calculate grinding and polishing allowance distribution, solve the problems that the allowance distribution is not uniform and a robot is difficult to grind and polish, conduct visual scanning on the part, reversely generate a workpiece CAD model, generate a robot grinding and polishing program according to a real object CAD, and improve the grinding and polishing efficiency. The problems that errors between workpiece objects and design CAD are large, and robot programs are difficult to generate are solved.

Description

TECHNICAL FIELD

[0001] The utility model relates to house building technical field, concretely for a kind of for robot end intelligent perception reciprocating grinding and polishing system. BACKGROUND

[0002] In the production and manufacturing field of automobile, high-speed rail motor car and aerospace, there are a large number of spraying parts that need to be ground and polished. At present, grinding and polishing operation mainly relies on manual work. Manual work has the problems of poor working environment and high personal safety risk. In addition, the stability and consistency of manual work products are poor, and it is more and more difficult to meet the increasingly stringent product quality requirements.

[0003] The coating of the spraying part is generally thin, and the allowable removal amount of grinding and polishing operation is generally 10-100 μm, which requires high process control of grinding and polishing operation. Secondly, there is a large error between the actual object and the design CAD of a large number of spraying parts, and the parts are free-form surfaces, which are difficult to generate robot grinding and polishing offline program through design CAD. Finally, a considerable proportion of the surface coating of the spraying part is uneven, and the coating needs to be removed quantitatively.

[0004] At present, it is difficult to carry out robot grinding and polishing operation for such parts with uneven coating distribution and large error between actual object and design CAD, and most of them rely on manual work. Manual work needs to grind and polish, detect and correct at the same time, and relies heavily on manual experience. The manual grinding and polishing rework is high, and the product quality is unstable. Therefore, we propose a robot end intelligent perception reciprocating grinding and polishing system. UTILITY MODEL CONTENT

[0005] The utility model aims to provide a robot end intelligent perception reciprocating grinding and polishing system to solve the problems raised in the above background.

[0006] To achieve the above-mentioned purpose, the utility model provides the following technical scheme: a robot end intelligent perception reciprocating grinding and polishing system, comprising grinding and polishing equipment and detection equipment. The grinding and polishing equipment comprises a No. 1 mounting plate, a No. 1 quick-change disc is arranged in the No. 1 mounting plate, a force control device is fixedly connected to the bottom of the No. 1 mounting plate through screws, and a reciprocating polishing machine is fixedly connected to the bottom of the force control device through screws. A square sandpaper disc is arranged at the bottom end of the reciprocating polishing machine. The detection equipment comprises a No. 2 mounting plate, a No. 2 quick-change disc is arranged in the No. 2 mounting plate, a visual detection head is arranged at the bottom of the No. 2 mounting plate, and a coating detection head control box and a coating detection head are arranged outside the visual detection head at the bottom of the No. 2 mounting plate.

[0007] Preferably, a dust suction pipeline is arranged outside the reciprocating polishing machine, and the end of the dust suction pipeline is arranged towards the square sandpaper disc.

[0008] Preferably, the top of the first mounting plate and the second mounting plate is symmetrically provided with vertical left and right fine positioning pin holes.

[0009] Preferably, the bottom of the second mounting plate is fixedly connected with a visual mounting plate through screws, and the visual detection head is fixedly installed on the surface of the visual mounting plate through screws.

[0010] Preferably, the bottom of the second mounting plate is fixedly connected with a visual mounting plate through screws, and the visual detection head is fixedly installed on the surface of the visual mounting plate through screws.

[0011] Preferably, the top of the first mounting plate and the second mounting plate is symmetrically provided with vertical left and right fine positioning pin holes.

[0012] Compared with the prior art, the present application has the following beneficial effects:

[0013] 1. The present application can detect the coating thickness of parts and calculate the polishing allowance distribution, and solve the problem of uneven distribution of allowance and the difficulty of polishing by robots.

[0014] 2. The present application can scan the parts visually, generate a CAD model of the workpiece in reverse, and generate a robot polishing program based on the CAD model, solving the problem of large error between the workpiece and the design CAD and the difficulty of generating a robot program.

[0015] 3. The present application can precisely control the normal force, reciprocating stroke and reciprocating frequency, and can precisely and quantitatively remove the coating by combining the coating removal depth model.

[0016] 4. The present application can automatically switch between detection and polishing equipment by quick change, and realize closed-loop polishing process control by polishing, detecting and adjusting simultaneously.

[0017] 5. The present application can realize dust removal during polishing to prevent dust accumulation from scratching the workpiece surface and keep the overall environment clean and tidy. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 The present application is a polishing equipment structure schematic diagram.

[0019] Figure 2The utility model discloses a detection equipment structure schematic view.

[0020] Figure 3 The utility model discloses a detection equipment structure schematic view.

[0021] In the drawing: 1, polishing and grinding equipment, 11, first quick change disc, 12, first mounting plate, 13, force control device, 14, reciprocating polishing machine, 15, dust suction pipeline, 16, square sandpaper disc, 17, left fine positioning pin hole, 18, right fine positioning pin hole, 2, detection equipment, 21, second quick change disc, 22, second mounting plate, 23, visual detection head, 24, visual mounting plate, 25, coating detection head control box, 26, coating detection head mounting plate, 27, coating detection head. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the utility model.

[0023] Please refer to Figure 1 And Figure 2 The utility model provides a kind of technical scheme: a kind of robot end intelligent sensing reciprocating polishing system, including polishing and grinding equipment 1 and detection equipment 2, polishing and grinding equipment 1 includes first mounting plate 12, first mounting plate 12 is provided with first quick change disc 11, the bottom of first mounting plate 12 is fixedly connected with force control device 13 by screw, and the bottom of force control device 13 is fixedly connected with reciprocating polishing machine 14 by screw, and the bottom of reciprocating polishing machine 14 is provided with square sandpaper disc 16.

[0024] It should be noted that first quick change disc 11 and first mounting plate 12 are connected by screw, and the quick switching mechanism is formed after the connection of the two, the upper portion of force control device 13 is fixedly connected with first mounting plate 12 by screw, the bottom of force control device 13 is fixedly connected with reciprocating polishing machine 14 by screw, the stability of reciprocating polishing machine 14 is ensured by the telescopic and constant force control of force control device 13 inside, square sandpaper disc 16 is arranged at the lower end of reciprocating polishing machine 14, the polishing and grinding area is larger by using square sandpaper disc 16, and square sandpaper disc 16 is detachably connected with reciprocating polishing machine 14, and square sandpaper disc 16 can be replaced after polishing for a period of time.

[0025] The detection equipment 2 comprises a second mounting plate 22, a second quick-change disc 21 is arranged in the second mounting plate 22, a visual detection head 23 is arranged at the bottom of the second mounting plate 22, and a coating detection head control box 25 and a coating detection head 27 are respectively arranged at the outer part of the bottom of the second mounting plate 22.

[0026] It should be noted that the second quick-change disc 21 and the second mounting plate 22 are connected through screws, and the two are connected to form a quick switching mechanism; the visual detection head 23 is arranged below the second mounting plate 22, and the coating detection head control box 25 and the coating detection head 27 are arranged to realize coating detection and residual distribution extraction, and guide the grinding and polishing equipment 1 to grind and polish the workpiece.

[0027] Please refer to Figure 1 , the reciprocating polishing machine 14 is externally provided with a dust suction pipeline 15, and the end of the dust suction pipeline 15 is arranged towards the square sandpaper disc 16.

[0028] It should be noted that a fixed plate is arranged outside the reciprocating polishing machine 14, a fan is arranged on the fixed plate, the air inlet end of the fan is connected with the dust suction pipeline 15, and the dust suction port of the dust suction pipeline 15 is located at the square sandpaper disc 16; when the reciprocating polishing machine 14 works, the square sandpaper disc 16 performs grinding and polishing work, and the fan on the reciprocating polishing machine 14 also works to suck and transfer the dust generated in the grinding and polishing process through the dust suction pipeline 15.

[0029] Please refer to Figure 1 、 Figure 2 and Figure 3 , the top of the first mounting plate 12 and the top of the second mounting plate 22 are symmetrically provided with left and right vertical fine positioning pin holes 17 and 18.

[0030] It should be noted that the left and right fine positioning pin holes 17 and 18 arranged at the top of the first mounting plate 12 and the second mounting plate 22 can accurately position the grinding and polishing equipment 1 and the detection equipment 2, and facilitate automatic switching.

[0031] Please refer to Figure 2 , the bottom of the second mounting plate 22 is fixedly connected with a visual mounting plate 24 through screws, and the visual detection head 23 is fixedly arranged on the surface of the visual mounting plate 24 through screws.

[0032] It should be noted that the stability of the visual detection head 23 directly affects the quality and accuracy of the image, and through screw fixation, errors caused by looseness or instability can be reduced, the consistency and reliability of the detection result can be improved, and through screw connection, the disassembly and installation between the visual detection head 23 and the second mounting plate 22 become simpler and faster. If the visual detection head 23 needs to be maintained, repaired or replaced, only the screw needs to be loosened with a tool, which is convenient to operate and saves time, and avoids complex disassembly procedures.

[0033] Please refer to Figure 3 The bottom of the second mounting plate 22 is externally connected to the visual detection head 23 by a screw, and a coating detection head mounting plate 26 is fixedly connected to the bottom of the second mounting plate 22. The coating detection head control box 25 and the coating detection head 27 are fixedly installed on the surface of the coating detection head mounting plate 26 by screws, and the coating detection head control box 25 is located above the coating detection head 27.

[0034] It should be noted that the combination of the visual detection head 23 and the coating detection head 27 can comprehensively detect the appearance and coating of the workpiece. The visual detection head 23 is responsible for identifying the appearance, shape and size of the workpiece, while the coating detection head 27 can monitor the quality, thickness and uniformity of the coating, which helps to accurately determine whether the polishing process is in place. The fixed installation design of the coating detection head control box 25 and the coating detection head 27 ensures the stability and accuracy of the detection equipment. The thickness and uniformity of the coating are crucial to the quality of the coating, and these precise detection mechanisms ensure that the quality of the coating after each polishing meets the standard.

[0035] Please refer to Figure 1 and Figure 2 The top of the first mounting plate 12 and the top of the second mounting plate 22 are provided with mounting holes, and the first quick-change disc 11 and the second quick-change disc 21 are fixedly installed in the mounting holes of the first mounting plate 12 and the second mounting plate 22, respectively.

[0036] It should be noted that similar to the polishing system, the screw connection between the second mounting plate 22 and the second quick-change disc 21 also forms a quick switching mechanism, which facilitates the quick replacement or debugging of the detection system, and facilitates the replacement and maintenance of the detection module, especially in the case of multi-task switching or workpiece demand changes.

[0037] In summary, the entire system of the utility model is composed of a polishing equipment 1 and a detection equipment 2, which can realize intelligent perception and reciprocating polishing of the workpiece through mutual cooperation, and improve the automation and intelligence of the coating polishing industry.

[0038] In the description of the utility model, need understanding is, the term "coaxial", "bottom", "one end", "top", "middle", "the other end", "upper", "one side", "top", "inner", "front", "central", "both ends" and so on indicate the orientation or positional relationship is based on the orientation or positional relationship shown in the drawing, only for the convenience of describing the utility model and simplifying the description, and not indicate or imply the device or element indicated must have a particular orientation, with a particular orientation structure and operation, therefore cannot be understood as a restriction on the utility model.

[0039] In addition, the terms "first", "second", "third", "fourth" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features, therefore, the features limited by "first", "second", "third", "fourth" can be explicitly or implicitly include at least one of the features.

[0040] In the utility model, unless otherwise expressly provided and limited, the terms "installation", "arrangement", "connection", "fixing", "screw connection" and so on should be understood broadly, for example, can be fixedly connected, can also be detachably connected, or integrated, can be mechanically connected, can also be electrically connected, can be directly connected, can also be indirectly connected through intermediate medium, can be the communication or interaction relationship between two elements, unless otherwise expressly limited, for ordinary skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0041] Although the embodiments of the utility model have been shown and described, those skilled in the art can understand that the embodiments can be changed, modified, replaced and changed in various ways without departing from the principles and spirits of the utility model, the scope of the utility model is defined by the appended claims and its equivalents.

Claims

1. A robotized end-of-arm intelligent sensing reciprocating grinding and polishing system, characterized in that, Including polishing and grinding equipment (1) and detection equipment (2), the polishing and grinding equipment (1) includes a mounting plate (12), a quick change disc (11) is arranged in the mounting plate (12), the bottom of the mounting plate (12) is fixedly connected with force control device (13) through screw, and the bottom of the force control device (13) is fixedly connected with reciprocating polishing machine (14) through screw, the bottom end of the reciprocating polishing machine (14) is provided with square sandpaper disc (16), the detection equipment (2) includes a second mounting plate (22), a second quick change disc (21) is arranged in the second mounting plate (22), the bottom of the second mounting plate (22) is provided with visual detection head (23), the bottom of the second mounting plate (22) is provided with coating detection head control box (25) and coating detection head (27) outside the visual detection head (23) respectively.

2. The system of claim 1, wherein: The reciprocating polishing machine (14) is provided with dust suction pipeline (15) outside, and the end of the dust suction pipeline (15) is arranged towards the square sandpaper disc (16).

3. The system of claim 1, wherein: The top of the mounting plate (12) and the second mounting plate (22) is symmetrically provided with left and right fine positioning pin holes (17) and (18) in vertical direction.

4. The system of claim 1, wherein: The bottom of the second mounting plate (22) is fixedly connected with visual mounting plate (24) through screw, and the visual detection head (23) is fixedly installed on the surface of the visual mounting plate (24) through screw.

5. The robotized end-of-arm intelligent sensing reciprocating grinding and polishing system of claim 4, wherein: The bottom of the second mounting plate (22) is fixedly connected with coating detection head mounting plate (26) outside the visual detection head (23) through screw, and the coating detection head control box (25) and the coating detection head (27) are fixedly installed on the surface of the coating detection head mounting plate (26) through screw, and the coating detection head control box (25) is located above the coating detection head (27).

6. The system of claim 1, wherein: The top of the mounting plate (12) and the second mounting plate (22) is provided with mounting port, and the quick change disc (11) and the second quick change disc (21) are fixedly installed in the mounting port of the mounting plate (12) and the second mounting plate (22) respectively through screw.

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