Movable grinding equipment

Abstract

Movable grinding equipment relates to the technical field of grinding equipment and comprises a moving trolley, a guardrail, a mechanical arm, a sand changing station, a wire groove and a control cabinet are installed on the top of the moving trolley, a displayer, an operation table and a control screen are installed on the control cabinet, and a grinding tool is installed at the movable end of the mechanical arm. By optimizing a polishing path, adjusting polishing parameters and the like, the polishing quality and efficiency are improved, the production cost is reduced, the competitiveness of automobile production is improved, manual hand actions are integrated on an integral tool, defect detection and calibration can be continuously, effectively and uniformly completed, and the production efficiency is improved by combining an industrial mechanical arm. According to the method, the defect processing work in a large area can be realized, the conventional problems of wrong marking, processing omission and the like of workers are avoided, the method has good observability and recordability, and a good reference model is provided for continuous improvement of the process, so that a uniform judgment standard can be formed.

Description

TECHNICAL FIELD

[0001] The utility model relates to polishing equipment technical field especially, it is movable polishing equipment. BACKGROUND

[0002] In the production process of the automobile, the paint quality of the vehicle body is directly related to the appearance and market value of the automobile. However, even on the most advanced production line, random defects such as scratches, color difference, orange peel phenomenon, etc. may occur. In order to ensure that every vehicle driven out of the production line is perfect, the automobile manufacturer takes a series of strict paint random defect repair measures. After the vehicle body drives out of the paint spraying area on the production line, engineers will use professional high-brightness light and detection tools to conduct a comprehensive inspection of the vehicle body. This inspection method can clearly show any slight defects, ensuring that technicians can accurately identify and locate the problem area. Once the random defect is detected, the repair team on the production line will immediately act. For minor scratches or orange peel phenomenon, technicians will use special polish and tools for local treatment to quickly remove the defect and restore the smoothness of the paint surface. For color difference or other more complex problems, the vehicle body will be guided to the designated repair area for further treatment;

[0003] However, the current polishing work has the following disadvantages:

[0004] A manual processing method, it is difficult to ensure that personnel can still guarantee sustained concentration and judgment under fatigue, which can easily lead to errors such as marking, missing processing, etc. The manual processing method has no unified evaluation standard, and the results of different operators will be different;

[0005] B Under the condition of increasing automobile production, the work efficiency of manual work is difficult to match the current production rhythm;

[0006] C Its work intensity is high, high noise, dust, personnel health also faces certain challenges;

[0007] D The manual processing method does not have good observability and recordability, and there is no good reference model for process continuous improvement. INVENTION CONTENT

[0008] The utility model wants to overcome the present defect, provide a portable polishing equipment, its through optimization polishing path, adjustment polishing parameter etc. mode, improve the quality and efficiency of polishing, reduce production cost, improve the competitiveness of car production, it will artificial hand action integration to a whole tool, can continuously effectively unifiedly complete the detection and calibration of the defect, combine industrial robot arm, can realize the defect processing work of larger area, it avoids the worker error mark, misses processing etc. conventional problem, has good observability and recordability, has good reference model for process continuous improvement, thereby can form unified evaluation standard, can effectively solve the problem in the background art.

[0009] In order to realize the utility model purposes, the utility model adopts the following technical solutions:

[0010] A portable polishing equipment, including mobile trolley, the top of mobile trolley is installed with guardrail, mechanical arm, sand changing station, wire slot and control cabinet respectively, display, operation platform and control screen are installed on control cabinet respectively, and the movable end of mechanical arm is installed with polishing tool, alarm lamp is installed at the corner of guardrail, power switch, power interface, pressure booster and pressure regulating valve are installed on the side of guardrail respectively, and air filter is assembled on pressure booster and pressure regulating valve.

[0011] Further, the mobile trolley is AGV trolley, and liftable supporting legs are installed at the bottom of the mobile trolley.

[0012] Further, the polishing tool includes a shell, a lifting cylinder and a 3D camera, the shell is assembled at the end of the mechanical arm, three sets of lifting cylinders are assembled on the shell, polishing units, flexible polishing units and spray units are installed at the lifting ends of the three sets of lifting cylinders correspondingly, and the 3D camera is installed at the bottom of the shell.

[0013] Further, the spray unit includes an atomizer and atomizing nozzles, the atomizing nozzles are provided in plurality, the plurality of atomizing nozzles are arranged at the lifting ends of the lifting cylinders, the atomizer is installed at the bottom of the bracket of the shell, and the atomizer is in communication with the interiors of the atomizing nozzles through a pipeline.

[0014] Further, the flexible polishing unit includes a force control unit and a sandpaper polishing head, the force control unit is assembled at the lifting end of the lifting cylinder, a servo motor is arranged at the end of the force control unit, and the sandpaper polishing head is installed on the output shaft of the servo motor.

[0015] Further, the polishing unit includes a pneumatic motor and a polishing head, the pneumatic motor is installed at the lifting end of the lifting cylinder, and the polishing head is fixed on the output shaft of the pneumatic motor.

[0016] Further, the sand changing station comprises a sand changing box, a scraper fixed at a box opening position of the sand changing box, and a glue gun installed on a top support of the sand changing box.

[0017] Further, the sand changing station further comprises a first flexible chuck, a sand paper placing rack, a sand paper cylinder, and a second flexible chuck, the sand paper placing rack and the sand paper cylinder are fixed at inner sides of the sand changing box, the first flexible chuck is fixed at an end of a support of the sand paper placing rack, and the second flexible chuck is fixed at a port position of the sand paper cylinder.

[0018] Further, a cylinder for lifting sand paper in the sand changing station is installed at positions corresponding to the sand paper placing rack and the sand paper cylinder.

[0019] Compared with the prior art, the movable polishing equipment has the following advantages.

[0020] 1. The movable polishing equipment receives the information of defect category, position, depth and the like given by front-end visual defect detection through computer vision and deep learning technology, and realizes automatic processing of the paint surface defects through robot system calibration technology, multi-robot collaborative operation technology, adaptive control technology and the like, so that the polishing robot can accurately and efficiently process various defects, the polishing path is optimized, the polishing parameters are adjusted, the polishing quality and efficiency are improved, the production cost is reduced, and the competitiveness of automobile production is improved.

[0021] 2. The movable polishing equipment integrates manual hand movements into an overall tool, can continuously and effectively uniformly complete defect detection and calibration, can perform sand paper flexible polishing, spraying polishing liquid and polishing movements, can realize large-area defect processing work in combination with an industrial robot, avoids common problems such as worker error marking and omission processing, has good observability and recordability, has a good reference model for process continuous improvement, and thus a unified evaluation standard can be formed. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 is a three-dimensional structure schematic diagram of the utility model;

[0023] Figure 2 is a power supply part local structure schematic diagram of the utility model;

[0024] Figure 3 is a mechanical arm local structure schematic diagram of the utility model;

[0025] Figure 4 is a polishing tool local structure schematic diagram of the utility model;

[0026] Figure 5 is a polishing tool local side structure schematic diagram of the utility model;

[0027] Figure 6 It is the local first section structure schematic view of the polishing tool of the utility model;

[0028] Figure 7 It is the local second section structure schematic view of the polishing tool of the utility model;

[0029] Figure 8 It is the local structure schematic view of the sand changing box of the utility model;

[0030] Figure 9 It is the local side structure schematic view of the sand changing box of the utility model;

[0031] Figure 10 It is the internal structure schematic view of the sand changing box of the utility model;

[0032] Figure 11 It is the local structure schematic view of the glue spraying gun of the utility model.

[0033] In the drawing: 1 - moving trolley, 2 - guardrail, 3 - mechanical arm, 4 - polishing tool, 41 - lifting cylinder, 42 - shell, 43 - polishing head, 44 - atomizer, 45 - sandpaper polishing head, 46 - atomizing nozzle, 47 - 3D camera, 48 - force control unit, 5 - sand changing station, 51 - sand changing box, 52 - first flexible chuck, 53 - sandpaper placing rack, 54 - scraper, 55 - glue spraying gun, 56 - sandpaper cylinder, 57 - second flexible chuck, 6 - alarm lamp, 7 - wire slot, 8 - control cabinet, 9 - display, 10 - operation table, 11 - control screen, 12 - power switch, 13 - power interface, 14 - pressure increasing valve, 15 - pressure regulating valve, 16 - air filter. DETAILED DESCRIPTION

[0034] The utility model can be explained in detail through the following embodiments, and the purpose of the utility model is to protect all technical improvements within the scope of the utility model.

[0035] Please refer to Figures 1-11 The embodiment provides a technical scheme: a movable polishing equipment, including moving trolley 1, the top of moving trolley 1 is respectively installed with guardrail 2, mechanical arm 3, sand changing station 5, wire slot 7 and control cabinet 8, control cabinet 8 is respectively installed with display 9, operation table 10 and control screen 11, and the movable end of mechanical arm 3 is installed with polishing tool 4, the corner of guardrail 2 is installed with alarm lamp 6, the side of guardrail 2 is respectively installed with power switch 12, power interface 13, pressure increasing valve 14 and pressure regulating valve 15, and air filter 16 is equipped on pressure increasing valve 14 and pressure regulating valve 15.

[0036] It utilizes computer vision and deep learning technologies, receives defect categories, locations, depths and other information given by the front visual defect detection, and realizes automatic processing of the paint defects through robot system calibration technology, multi-robot collaborative operation technology, adaptive control technology and other technologies, so that the polishing robot can accurately and efficiently process various defects. It optimizes the polishing path, adjusts the polishing parameters and other ways to improve the quality and efficiency of polishing, reduce production costs and improve the competitiveness of automobile production.

[0037] The mobile trolley 1 is an AGV trolley, and the bottom of the mobile trolley 1 is provided with a liftable support leg. The polishing equipment is moved to the working area by the mobile trolley 1, and is stably supported by the liftable support leg.

[0038] The polishing tool 4 includes a shell 42, a lifting cylinder 41 and a 3D camera 47. The shell 42 is assembled at the end of the mechanical arm 3, and three sets of lifting cylinders 41 are assembled on the shell 42. The lifting ends of the three sets of lifting cylinders 41 are correspondingly provided with a polishing unit, a flexible polishing unit and a spraying unit. The 3D camera 47 is installed at the bottom of the shell 42. The approximate position of the defect is determined by the previous process before defect detection, and the type of the defect is determined by local scanning and shooting by the 3D camera 47 in the current process. After being processed by the upper computer, the processing mode is issued, such as the conventional processing mode. The manual hand action is integrated into a whole tool, which can continuously and effectively complete the detection and calibration of the defect. It can perform sandpaper flexible polishing, spraying polishing liquid and polishing actions, and can realize large-area defect processing work in combination with an industrial robot. It avoids conventional problems such as worker error marking and omission processing, has good observability and recordability, and has a good reference model for process continuous improvement, so as to form a unified evaluation standard.

[0039] The spraying unit includes an atomizer 44 and atomizing nozzles 46. The atomizing nozzles 46 are provided in plurality, and the plurality of atomizing nozzles 46 are arranged at the lifting ends of the lifting cylinders 41. The atomizer 44 is installed at the bottom of the bracket of the shell 42. The atomizer 44 is in communication with the inside of the atomizing nozzles 46 through a pipeline. The atomizer 44 can quantitatively deliver atomized liquid to the atomizing nozzles 46 under the control of the gas circuit, and can also adjust the spraying area. It sprays ionized water or polishing liquid to improve the quality of automobile production.

[0040] The flexible polishing unit comprises a force control unit 48 and a sandpaper polishing head 45, the force control unit 48 is assembled at the lifting end of the lifting cylinder 41, the end of the force control unit 48 is provided with a servo motor, the sandpaper polishing head 45 is installed on the output shaft of the servo motor, the sandpaper polishing head 45 is extended under the lifting action of the internal lifting cylinder 41 to perform local polishing, and constant force polishing is realized through the force control unit 48, so as to avoid collision damage to the paint surface, and after polishing, the sandpaper polishing head 45 is retracted, and the output shaft of the servo motor drives the sandpaper polishing head 45 to rotate, so as to perform polishing work.

[0041] The polishing unit comprises a pneumatic motor and a polishing head 43, the pneumatic motor is installed at the lifting end of the lifting cylinder 41, and the polishing head 43 is fixed on the output shaft of the pneumatic motor. The polishing head 43 is extended under the lifting action of the lifting cylinder 41, and after the polishing paste squeezed at the fixed position is dipped, polishing work is performed. The output shaft of the pneumatic motor drives the polishing head 43 to rotate, so as to perform flexible polishing.

[0042] The sand changing station 5 comprises a sand changing box 51, a scraper 54 and a glue spraying gun 55, the scraper 54 is fixed at the box opening position of the sand changing box 51, the glue spraying gun 55 is installed on the top bracket of the sand changing box 51, the sand changing station 5 further comprises a first flexible chuck 52, a sandpaper placing rack 53, a sandpaper cylinder 56 and a second flexible chuck 57, the sandpaper placing rack 53 and the sandpaper cylinder 56 are both fixed at the inner side of the sand changing box 51, the first flexible chuck 52 is fixed at the bracket end of the sandpaper placing rack 53, and the second flexible chuck 57 is fixed at the port position of the sandpaper cylinder 56. The end of the mechanical arm 3 drives the polishing tool 4 to move, so as to perform polishing work. When the polishing head 43 and the sandpaper polishing head 45 change sandpaper, the end thereof is scraped by the scraper 54 first, then the surface of the polishing head 43 and the sandpaper polishing head 45 is sprayed by the glue spraying gun 55, then the polishing head 43 and the sandpaper polishing head 45 are moved to the positions of the first flexible chuck 52 and the second flexible chuck 57 under the driving of the mechanical arm 3, so that the sandpaper is taken and used, and then the sandpaper is adhered to the surface of the polishing head 43 and the sandpaper polishing head 45. The sandpaper is convenient to replace, the trouble of manual operation is saved, and the polishing efficiency is improved.

[0043] The inner side of the sand changing station 5 is provided with a cylinder corresponding to the positions of the sandpaper placing rack 53 and the sandpaper cylinder 56, which lifts the internal sandpaper to push the sandpaper at the bottom of the sandpaper placing rack 53 and the sandpaper cylinder 56 to the top position, so as to facilitate taking and using.

[0044] The working principle of the movable polishing equipment is as follows: the polishing equipment is moved to a working area by the moving trolley 1, is stably supported by the liftable supporting legs, and is subjected to defect detection; when the current process is performed, the 3D camera 47 is used for local scanning and shooting to determine the type of the defect, and a processing mode is issued after being processed by the upper computer, such as a conventional processing mode; the atomizing nozzle 46 sprays ionized water to the surface to be processed, the sandpaper polishing head 45 is extended under the lifting action of the internal lifting cylinder 41, and local polishing is performed; constant force polishing is realized by the force control unit 48, so that collision damage to the paint surface is avoided; after polishing is completed, the sandpaper polishing head 45 is retracted, the polishing head 43 is extended under the lifting action of the lifting cylinder 41, and after the polishing paste squeezed at a fixed position is taken, polishing work is performed; the output shaft of the pneumatic motor drives the polishing head 43 to rotate, so that flexible polishing is performed until the work is completed; the atomizer 44 can quantitatively deliver atomized liquid to the atomizing nozzle 46 under the control of the gas circuit, and can also adjust the spraying area; the shell 42 mainly protects the internal structure and prevents dust from entering the movement mechanism.

[0045] The end of the mechanical arm 3 drives the polishing tool 4 to move, so as to perform polishing work; when the sandpaper is replaced, the end of the polishing head 43 and the sandpaper polishing head 45 is scraped by the scraper 54 first, then the surface of the polishing head 43 and the sandpaper polishing head 45 is sprayed by the glue gun 55, then the polishing head 43 and the sandpaper polishing head 45 are moved to the positions of the first flexible chuck 52 and the second flexible chuck 57 under the driving of the mechanical arm 3, so that the sandpaper is taken and used, and then the sandpaper is adhered to the surface of the polishing head 43 and the sandpaper polishing head 45.

[0046] It is worth noting that the components disclosed in the above embodiments are all general standard components or components known to those skilled in the art, the structure and principle of which can be known by technical personnel through a technical manual or obtained through a conventional experimental method, and the force control unit 48 can adopt the force control unit in the patent with the authorization announcement number CN 114654308 B.

[0047] In the utility model, unless another definite provision and limitation, the terms such as " install " " connect " " fixed " and so on should be broad sense understanding, for example, can be fixed connection, also can be detachable connection, or be integrated;Can be mechanical connection, also can be electrical connection;It can be directly connected, also can be indirectly connected through intermediate medium, can be the intercommunication of two elements or the interaction of two elements, unless another definite limitation is made.For ordinary skilled in the art, the specific meaning of the above terms in the utility model can be understood according to specific circumstances, such as rotary connection can be rotary connection through bearing.

[0048] The utility model discloses the part of not detailed is prior art, although the utility model has been specifically shown and introduced in combination with preferred implementation scheme, and the specific implementation this technical scheme method and approach is many, and the above only is the preferred implementation mode of the utility model, but the skilled person in the art should understand that can make various changes to the utility model in form and in details without departing from the spirit and scope of the utility model defined in the appended claims, and all are the protection scope of the utility model.

Claims

1. A mobile grinding apparatus comprising a mobile trolley (1), characterized in that: The top of the mobile trolley (1) is respectively provided with a guardrail (2), a mechanical arm (3), a sand changing station (5), a wire slot (7) and a control cabinet (8), the control cabinet (8) is respectively provided with a display (9), an operation table (10) and a control screen (11), and the movable end of the mechanical arm (3) is provided with a polishing tool (4), the corner of the guardrail (2) is provided with an alarm lamp (6), the side of the guardrail (2) is respectively provided with a power switch (12), a power interface (13), a pressure increasing valve (14) and a pressure regulating valve (15), and the pressure increasing valve (14) and the pressure regulating valve (15) are provided with an air filter (16).

2. A portable sharpening apparatus as defined in claim 1, wherein: The mobile trolley (1) is an AGV trolley, and the bottom of the mobile trolley (1) is provided with a liftable supporting leg.

3. A portable sanding apparatus as defined in claim 1, wherein: The polishing tool (4) comprises an outer shell (42), a lifting cylinder (41) and a 3D camera (47), the outer shell (42) is assembled at the end of the mechanical arm (3), the outer shell (42) is provided with three groups of lifting cylinders (41), the lifting ends of the three groups of lifting cylinders (41) are correspondingly provided with a polishing unit, a flexible polishing unit and a spraying unit, and the 3D camera (47) is installed at the bottom of the outer shell (42).

4. A portable sharpening apparatus as defined in claim 3, wherein: The spraying unit comprises an atomizer (44) and atomizing nozzles (46), the atomizing nozzles (46) are provided in plurality, the plurality of atomizing nozzles (46) are arranged at the lifting ends of the lifting cylinders (41), and the atomizer (44) is installed at the bottom of the support of the outer shell (42) and communicates with the interiors of the atomizing nozzles (46) through a pipeline.

5. A portable sharpening apparatus as defined in claim 3, wherein: The flexible polishing unit comprises a force control unit (48) and a sandpaper polishing head (45), the force control unit (48) is assembled at the lifting end of the lifting cylinder (41), and the end of the force control unit (48) is provided with a servo motor, and the sandpaper polishing head (45) is installed on the output shaft of the servo motor.

6. A portable sharpening apparatus as defined in claim 3, wherein: The polishing unit comprises a pneumatic motor and a polishing head (43), the pneumatic motor is installed at the lifting end of the lifting cylinder (41), and the polishing head (43) is fixed on the output shaft of the pneumatic motor.

7. The portable sanding apparatus of claim 1, wherein: The sand changing station (5) comprises a sand changing box (51), a scraper (54) and a glue spraying gun (55), the scraper (54) is fixed at the box opening position of the sand changing box (51), and the glue spraying gun (55) is installed on the top support of the sand changing box (51).

8. A portable sharpening apparatus as defined in claim 7, wherein: The sand changing station (5) further comprises a first flexible chuck (52), a sandpaper placing rack (53), a sandpaper cylinder (56) and a second flexible chuck (57), the sandpaper placing rack (53) and the sandpaper cylinder (56) are both fixed at the inner side of the sand changing box (51), the first flexible chuck (52) is fixed at the support end of the sandpaper placing rack (53), and the second flexible chuck (57) is fixed at the port position of the sandpaper cylinder (56).

9. A portable sharpening apparatus as defined in claim 8, wherein: The inner side of the sand changing station (5) is provided with a cylinder for lifting the sandpaper in the sandpaper placing rack (53) and the sandpaper cylinder (56).

Images