Intelligent polishing device

Abstract

The utility model provides a kind of intelligent polishing device, including workbench and be located on workbench polishing robot, variable position platform, visual detection unit, quick-change tool unit, variable position platform is used to position workpiece, and can change the position of workpiece according to visual detection result, visual detection unit is located above variable position platform, for visual detection workpiece's position and polishing state, quick-change tool unit is located robot side, including multiple quick-change tools, multiple quick-change tools include rough grinding tool, fine grinding tool, cleaning tool and clamping tool, polishing robot is located variable position platform front side, its output end is movably connected with quick-change tool, polishing robot can polish workpiece according to visual detection result.The utility model automatically controls polishing robot to realize the rough grinding, fine grinding, cleaning and feeding and discharging to workpiece, realize the integrated integration automatic processing of impeller workpiece, improve processing efficiency and processing quality.

Description

Technical Field

[0001] This utility model relates to the field of polishing equipment technology, and in particular to an intelligent polishing device. Background Technology

[0002] Currently, the grinding and polishing of workpiece surfaces is mostly done manually using handheld tools and relying on experience. This makes it difficult to guarantee consistent surface quality, and manual work is inefficient and costly, significantly hindering enterprise development. This is especially true for complex workpiece surfaces, such as curved surfaces like impeller blades, where the curvature is not in one direction. Changing the direction and grinding head during grinding is necessary, which is very difficult, time-consuming, and labor-intensive to achieve entirely manually. Furthermore, it is difficult to guarantee quality when manually grinding curved surfaces. Utility Model Content

[0003] The present invention aims to provide an intelligent polishing device to overcome the shortcomings of the existing technology.

[0004] To solve the above-mentioned technical problems, the technical solution of this utility model is: an intelligent grinding device, including a worktable and a grinding robot, a positioning stage, a vision inspection unit, and a quick-change tool unit disposed on the worktable. The positioning stage is used to position the workpiece and can change the position of the workpiece according to the vision inspection results. The vision inspection unit is disposed above the positioning stage and is used to visually inspect the position and grinding status of the workpiece. The quick-change tool unit is disposed on one side of the robot and includes multiple quick-change tools, including a rough grinding tool, a fine grinding tool, a cleaning tool, and a clamping tool. The grinding robot is disposed in front of the positioning stage, and its output end is movably connected to the quick-change tools. The grinding robot can grind the workpiece according to the vision inspection results.

[0005] Furthermore, in the aforementioned intelligent grinding device, the worktable is also equipped with a transfer platform. The transfer platform is located on one side of the positioning table and includes a mounting base plate, a rotary cylinder, and a transfer plate. The mounting base plate is fixed on the worktable, and the rotary cylinder is mounted on the mounting base plate. Its output end is equipped with a transfer plate. The transfer plate is equipped with multiple workstations for placing workpieces. The multiple workstations are symmetrically arranged on both sides of the transfer plate with the rotary cylinder as the center.

[0006] Furthermore, in the aforementioned intelligent grinding device, the displacement table includes a turntable and a cylinder mounting plate disposed on the turntable. A gripper cylinder is disposed above the cylinder mounting plate. The gripper cylinder is used to clamp the workpiece. The turntable can drive the cylinder mounting plate to rotate around the X and Y directions.

[0007] Furthermore, in the aforementioned intelligent grinding device, the turntable includes a turntable base, a servo rotating platform one, a rotating plate, and a servo rotating platform two. The turntable base is U-shaped, with a servo rotating platform one rotatably connected to one side and a bearing seat that mates with the servo rotating platform one on the other side. A rotating plate is located between the servo rotating platform one and the bearing seat, and a servo rotating platform two rotatably connected to the middle of the rotating plate. The cylinder mounting plate is located at the output end of the servo rotating platform two.

[0008] Furthermore, in the aforementioned intelligent grinding device, the quick-change tool unit also includes a quick-change base. The quick-change base has a positioning top plate on its top, and the positioning top plate has multiple tool placement positions. Each tool placement position has a T-shaped hole for accommodating quick-change tools. The opening of the T-shaped hole has a positioning pin for positioning the quick-change tools, and one side of the T-shaped hole also has a detection sensor for detecting whether the tool is in place.

[0009] Furthermore, in the aforementioned intelligent grinding device, the quick-change tool includes a quick-change flange connected to the grinding robot and a functional end provided on the quick-change flange. The functional end of the coarse grinding tool is a coarse grinding head assembly for coarse grinding, the functional end of the fine grinding tool is a fine grinding head assembly for fine grinding, the functional end of the cleaning tool is a brush assembly for cleaning grinding debris from the workpiece surface, and the functional end of the clamping tool is a clamping fixture for material handling.

[0010] Furthermore, in the aforementioned intelligent polishing device, the visual inspection unit includes an inspection bracket and a 3D inspection camera. The inspection bracket is a gate-shaped bracket that spans above the positioning platform. The 3D inspection camera is mounted on the top crossbeam of the inspection bracket and is used for visual inspection of the position and polishing status of the workpiece.

[0011] Furthermore, the aforementioned intelligent grinding device also includes a raw material warehouse and a finished product warehouse, which are arranged side by side on one side of the workbench.

[0012] Furthermore, in the aforementioned intelligent grinding device, the raw material storage includes a storage base frame and a feeding rack located above the storage base frame. The feeding rack is a frame-shaped frame with corner positioning blocks at its four corners. The four corner positioning blocks form a positioning space that is compatible with the bottom frame of the feeding rack. The top of the feeding rack is provided with multiple storage positions, and each storage position is provided with a positioning structure for positioning workpieces.

[0013] Furthermore, the aforementioned intelligent grinding device also includes a composite robot, which comprises an AGV (Automated Guided Vehicle) and a material-picking robot mounted on the AGV. The AGV can move back and forth between the workbench, the raw material warehouse, and the finished product warehouse according to a movement route, and the material-picking robot has a material-picking gripper at its end. Preferably, the AGV is also equipped with a temporary storage platform, which has multiple temporary storage stations for temporarily storing workpieces.

[0014] Compared with the prior art, the beneficial effects of this utility model are: this utility model detects the position and grinding status of the workpiece through a vision detection unit, and automatically controls the grinding robot to achieve rough grinding, fine grinding, cleaning and loading / unloading of the impeller workpiece, realizing integrated automatic processing of the impeller workpiece, with a high degree of automation, improving processing efficiency and processing quality. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the intelligent polishing device of this utility model; Figure 2 This is a partial structural schematic diagram of the intelligent polishing device of this utility model; Figure 3 This is a schematic diagram of the quick-change tool unit structure of the intelligent grinding device of this utility model; In the picture: 1. Workbench; 2. Grinding robot; 3. Positioning stage; 31. Cylinder mounting plate; 32. Gripper cylinder; 33. Turntable base; 34. Servo rotary platform one; 35. Rotary plate; 36. Servo rotary platform two; 37. Bearing seat; 4. Visual inspection unit; 41. Inspection bracket; 42. 3D inspection camera; 5. Quick-change tool unit; 51. Rough grinding tool; 52. Fine grinding tool; 53. Cleaning tool; 54. Clamping tool; 55. Quick-change base; 551. T-hole; 552. Locating pin; 6. Transfer platform; 61. Mounting base plate; 62. Rotary cylinder; 63. Transfer plate; 7. Raw material warehouse; 71. Warehouse base frame; 72. Material unloading rack; 73. Corner positioning block; 8. Finished Goods Warehouse; 9. Composite robot; 91. AGV (Automated Guided Vehicle); 92. Material handling robot; 93. Material handling gripper; 94. Temporary storage platform; 95. Charging station. Detailed Implementation

[0017] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0018] Example 1 like Figure 1-3 As shown, an intelligent grinding device includes a worktable 1 and a grinding robot 2, a positioning stage 3, a vision inspection unit 4, and a quick-change tool unit 5 mounted on the worktable 1. The positioning stage 3 is used to position the workpiece and can change the position of the workpiece according to the vision inspection results. The vision inspection unit 4 is located above the positioning stage 3 and is used to visually inspect the position and grinding status of the workpiece. The quick-change tool unit 5 is located on one side of the robot 4 and includes multiple quick-change tools, including a coarse grinding tool 51, a fine grinding tool 52, a cleaning tool 53, and a clamping tool 54. The grinding robot 2 is located in front of the positioning stage 3, and its output end is movably connected to the quick-change tools. The grinding robot 2 can grind the workpiece according to the vision inspection results.

[0019] like Figure 3 As shown, the quick-change tool includes a quick-change flange connected to the grinding robot 2 and functional ends on the quick-change flange. The functional end of the rough grinding tool 51 is a rough grinding head assembly for rough grinding; the functional end of the fine grinding tool 52 is a fine grinding head assembly for fine grinding; the functional end of the cleaning tool 53 is a brush assembly for cleaning grinding debris from the workpiece surface; and the functional end of the clamping tool 54 is a clamping fixture for picking up materials. Specifically, it is used to cooperate with the grinding robot to transport the workpiece between the positioning table 3 and the transfer table 6 after picking up the material. By changing multiple quick-change tools, integrated processing of rough grinding, fine grinding, and cleaning of the workpiece, as well as automatic loading and unloading, are achieved.

[0020] In this embodiment, the coarse grinding tool 51 includes a flange connecting plate, a counterweight, a grinding support plate, a motor, and a grinding head. The flange connecting plate is connected to a quick-change flange, and a positioning hole that mates with the positioning pin 552 is provided on the flange connecting plate. The grinding support plate is located below the flange connecting plate, with a motor at one end and a counterweight at the other end to balance the two ends of the grinding support plate. The grinding head is located at the output end of the motor, and the counterweight is connected to the flange connecting plate. The fine grinding tool 52 and the cleaning tool 53 have similar structures to the coarse grinding tool 51 and will not be described in detail here.

[0021] like Figure 1-2 As shown, the vision inspection unit 4 includes an inspection bracket 41 and a 3D inspection camera 42. The inspection bracket 41 is a portal frame spanning above the positioner 3. The 3D inspection camera 42 is mounted on the top crossbeam of the inspection bracket 41 and is used for visual inspection of the workpiece's position and grinding status. The 3D camera has deep learning capabilities, is small in size, and has high precision. By collecting data, annotating, learning, and training a 3D model, it can deploy typical grinding applications. The grinding robot 2 changes its posture based on the vision inspection results, including changing the grinding position and changing the corresponding quick-change tools. The positioner changes the position of the workpiece based on the vision inspection results, including the angles in the X and Y directions, to achieve automated processing of complex curved surfaces such as impeller workpieces.

[0022] like Figure 1-2 As shown, the displacement table 3 includes a turntable and a cylinder mounting plate 31 disposed on the turntable. A gripper cylinder 32 is disposed above the cylinder mounting plate 31. The gripper cylinder 32 is used to clamp the workpiece. In this embodiment, a four-jaw cylinder is used to clamp the unprocessed position at the lower end of the impeller. The turntable can drive the cylinder mounting plate 31 to rotate around the X and Y directions.

[0023] Specifically, the turntable includes a turntable base 33, a servo rotary platform one 34, a rotary plate 35, and a servo rotary platform two 36. The turntable base 33 is U-shaped, with a servo rotary platform one 34 rotatably connected to one side and a bearing seat 37 that mates with the servo rotary platform one 34 on the other side. A rotary plate 35 is located between the servo rotary platform one 34 and the bearing seat 37. The servo rotary platform two 36 is rotatably connected to the middle of the rotary plate 35. A cylinder mounting plate 31 is located at the output end of the servo rotary platform two 36. Angle sensors for detecting angles are also installed on the servo rotary platforms one 34 and servo rotary platform two 36. The position is automatically changed by the positioner, eliminating the need for manual adjustment, reducing the number of positioning operations, and improving processing efficiency.

[0024] This invention uses impeller workpieces as the processing object. The position and grinding status of the workpiece are detected by a vision detection unit. The grinding robot is automatically controlled to perform rough grinding, fine grinding, cleaning and loading / unloading of the impeller workpiece. This achieves integrated automatic processing of impeller workpieces with a high degree of automation, improving processing efficiency and quality.

[0025] Example 2 Based on the structure of Example 1, such as Figure 1 , 2As shown, the workbench 1 is also equipped with a transfer platform 6, which is located on one side of the positioning platform 3. The transfer platform 6 includes a mounting base plate 61, a rotary cylinder 62, and a transfer plate 63. The mounting base plate 61 is fixed on the workbench 1, and the rotary cylinder 62 is mounted on the mounting base plate 61. Its output end is equipped with the transfer plate 63. The transfer plate 63 has multiple workstations for placing workpieces. The multiple workstations are symmetrically arranged on both sides of the transfer plate 63 with the rotary cylinder 62 as the center. Each workstation is also equipped with an in-situ detection sensor, which controls the loading and unloading of the composite robot 9. Among them, one side of the transfer plate 63 is used to store unprocessed workpieces, and the other side is used to store processed workpieces. The position is changed by the rotary cylinder 62, which facilitates the subsequent loading or unloading of materials from the raw material warehouse 7 to the finished product warehouse 8 by the composite robot 9.

[0026] like Figure 3 As shown, the quick-change tool unit 5 also includes a quick-change base 55. The quick-change base 55 has a positioning top plate on its top, and multiple tool placement positions on the positioning top plate. Each tool placement position has a T-shaped hole 551 for accommodating quick-change tools. A positioning pin 552 for positioning the quick-change tool is located at the opening of the T-shaped hole 551. Each quick-change tool has a positioning hole that mates with the positioning pin. A detection sensor for detecting whether the tool is in position is also provided on one side of the T-shaped hole 551. The quick-change base 55 has a compact structure and facilitates the placement and removal of quick-change tools.

[0027] like Figure 1 As shown, the aforementioned intelligent grinding device also includes a raw material storage 7 and a finished product storage 8, which are arranged side by side on one side of the workbench 1. The raw material storage 7 includes a base frame 71 and a feeding rack 72 located above the base frame 71. The base frame 71 is equipped with casters for easy movement. The feeding rack 72 is a frame-shaped frame with corner positioning blocks 73 at its four corners. The four corner positioning blocks 73 form a positioning space that fits into the bottom frame of the feeding rack 72. The top of the feeding rack 72 has multiple storage positions, each with a positioning structure for positioning the workpiece. In this embodiment, the positioning structure is a hole. The finished product storage 8 has the same structure as the raw material storage 7, and will not be described in detail here.

[0028] like Figure 1 As shown, the aforementioned intelligent grinding device also includes a composite robot 9, which comprises an AGV trolley 91 and a material-picking robot 92 mounted on the AGV trolley 91. The AGV trolley 91 can move back and forth between the workbench 1, the raw material warehouse 7, and the finished product warehouse 8 according to the movement route. The material-picking robot 92 has a material-picking gripper 93 at its end. In addition, the AGV trolley 91 is also equipped with a temporary storage platform 94, which has multiple temporary storage stations for temporarily storing workpieces, thereby improving conveying efficiency.

[0029] In addition, a charging station 95 is provided to charge the AGV trolley 91. The charging station 95 is located on one side of the raw material warehouse 7, and the AGV trolley 91 is automatically charged when idle.

[0030] In addition, workbench 1 is equipped with a touch screen that can be used for practical training and teaching.

[0031] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0032] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. An intelligent polishing device, characterized in that: The system includes a worktable and a grinding robot, a positioning stage, a vision inspection unit, and a quick-change tool unit mounted on the worktable. The positioning stage is used to position the workpiece and can change the position of the workpiece according to the vision inspection results. The vision inspection unit is located above the positioning stage and is used to visually inspect the position and grinding status of the workpiece. The quick-change tool unit is located on one side of the robot and includes multiple quick-change tools, including a rough grinding tool, a fine grinding tool, a cleaning tool, and a clamping tool. The grinding robot is located in front of the positioning stage, and its output end is movably connected to the quick-change tools. The grinding robot can grind the workpiece according to the vision inspection results.

2. The intelligent polishing device according to claim 1, characterized in that: The workbench is also equipped with a transfer platform, which is located on one side of the positioning platform. The transfer platform includes a mounting base plate, a rotary cylinder, and a transfer plate. The mounting base plate is fixed on the workbench, and the rotary cylinder is mounted on the mounting base plate. Its output end is equipped with a transfer plate. The transfer plate is equipped with multiple workstations for placing workpieces. The multiple workstations are symmetrically arranged on both sides of the transfer plate with the rotary cylinder as the center.

3. The intelligent polishing device according to claim 1, characterized in that: The displacement table includes a turntable and a cylinder mounting plate disposed on the turntable. A gripper cylinder is provided above the cylinder mounting plate. The gripper cylinder is used to clamp the workpiece. The turntable can drive the cylinder mounting plate to rotate around the X and Y directions.

4. The intelligent polishing device according to claim 3, characterized in that: The turntable includes a turntable base, a servo rotating platform one, a rotating plate, and a servo rotating platform two. The turntable base is U-shaped, with a servo rotating platform one rotatably connected to one side and a bearing seat that mates with the servo rotating platform one on the other side. A rotating plate is located between the servo rotating platform one and the bearing seat. A servo rotating platform two is rotatably connected to the middle of the rotating plate. The cylinder mounting plate is located at the output end of the servo rotating platform two.

5. The intelligent polishing device according to claim 1, characterized in that: The quick-change tool unit also includes a quick-change base, the quick-change base has a positioning top plate on the top, the positioning top plate has multiple tool placement positions, each tool placement position has a T-shaped hole for accommodating the quick-change tool, and the opening of the T-shaped hole has a positioning pin for positioning the quick-change tool.

6. The intelligent polishing device according to claim 1 or 5, characterized in that: The quick-change tool includes a quick-change flange connected to the grinding robot and a functional end on the quick-change flange. The functional end of the coarse grinding tool is a coarse grinding head assembly for coarse grinding. The functional end of the fine grinding tool is a fine grinding head assembly for fine grinding. The functional end of the cleaning tool is a brush assembly for cleaning grinding debris from the workpiece surface. The functional end of the clamping tool is a clamping fixture for picking up materials.

7. The intelligent polishing device according to claim 1, characterized in that: The visual inspection unit includes an inspection bracket and a 3D inspection camera. The inspection bracket is a portal frame that spans above the positioning platform. The 3D inspection camera is mounted on the top crossbeam of the inspection bracket and is used for visual inspection of the position and grinding status of the workpiece.

8. The intelligent polishing device according to claim 1, characterized in that: It also includes a raw material warehouse and a finished product warehouse, which are arranged side by side on one side of the workbench.

9. The intelligent polishing device according to claim 8, characterized in that: The raw material warehouse includes a warehouse base frame and a material feeding rack located above the warehouse base frame. The material feeding rack is a frame-shaped frame with corner positioning blocks at its four corners. The four corner positioning blocks form a positioning space that is adapted to the bottom frame of the material feeding rack. The top of the material feeding rack has multiple storage positions, and each storage position has a positioning structure for positioning workpieces.

10. The intelligent polishing device according to claim 8, characterized in that: It also includes a composite robot, which includes an AGV trolley and a material-picking robot mounted on the AGV trolley. The AGV trolley can move back and forth between the workbench, the raw material warehouse and the finished product warehouse according to the movement route. The material-picking robot is equipped with a material-picking gripper at its end.

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