CN111168531A - Front end integration for rod defect grinding robot - Google Patents
Front end integration for rod defect grinding robot Download PDFInfo
- Publication number
- CN111168531A CN111168531A CN202010099261.9A CN202010099261A CN111168531A CN 111168531 A CN111168531 A CN 111168531A CN 202010099261 A CN202010099261 A CN 202010099261A CN 111168531 A CN111168531 A CN 111168531A
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- Prior art keywords
- servo motor
- grinding
- fixed
- robot
- mounting flange
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- 230000007547 defect Effects 0.000 title claims abstract description 31
- 230000010354 integration Effects 0.000 title claims abstract description 17
- 230000007704 transition Effects 0.000 claims description 10
- 230000000007 visual effect Effects 0.000 claims description 8
- 230000010485 coping Effects 0.000 claims description 4
- 230000002596 correlated effect Effects 0.000 claims 1
- 230000008901 benefit Effects 0.000 abstract description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000010191 image analysis Methods 0.000 description 2
- 238000004381 surface treatment Methods 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B19/00—Single-purpose machines or devices for particular grinding operations not covered by any other main group
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/04—Headstocks; Working-spindles; Features relating thereto
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/12—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving optical means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
- B24B55/04—Protective covers for the grinding wheel
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
Abstract
The invention discloses a front end integration for a bar defect grinding robot, which comprises a mounting flange, a force position actuator, a floating grinding head, a servo motor, a vision system and a controller, wherein the upper end of the force position actuator is fixed with the movable end of the robot through the mounting flange, the servo motor is fixed at the lower end of the force position actuator, the floating grinding head is fixed on an output shaft of the servo motor, the vision system is fixed on the mounting flange and used for identifying and positioning surface defects of bars, and the force position actuator, the servo motor and the vision system are respectively in signal association with the controller. The invention has the advantages that: the floating grinding structure based on the force position actuator is adopted, the grinding depth and the grinding track are accurately controlled, and the grinding precision is improved. Meanwhile, the surface defects of the bar are accurately identified and positioned through a vision system, the integration level is high, and the grinding efficiency is convenient to improve.
Description
Technical Field
The invention relates to front end integration of a bar defect grinding robot, in particular to a robot front end integration system for metallurgical manufacturing, and belongs to the technical field of robot front end integration.
Background
At present, in the production practice of metallurgical manufacturing enterprises, after surface flaw detection is carried out on a bar, if surface defects such as pits, cracks and the like exist, the bar can be stored in a warehouse after being qualified through surface treatment. The following two common coping modes are mainly adopted: 1. manually using a hand-held grinder. The grinding depth is uncontrollable, the surface quality is not high, the ground round bar can not meet the requirements of flaw detection and surface quality inspection, and can only be sold as a second-class product, the efficiency is low, the labor intensity is high, and the round bar has dust damage to human bodies; 2. the movable rack is matched with the fixed grinding head to peel off the round bar integrally, the mode lacks a recognition means of local defects, local grinding cannot be carried out, accurate control on grinding depth cannot be realized, grinding amount is large, grinding accuracy is low, and the round bar after grinding can only be sold in a specification grade.
Disclosure of Invention
The purpose of the invention is as follows: in view of the above problems, the present invention aims to provide a front end integration for a rod defect grinding robot, which can accurately control the grinding depth and track and improve the rod surface treatment quality.
The technical scheme is as follows: the utility model provides a front end is integrated for rod defect coping robot, includes mounting flange, power position executor, unsteady bistrique, servo motor, visual system, controller, power position executor upper end is passed through mounting flange is fixed with the movable end of robot, the lower extreme is fixed servo motor, unsteady bistrique is fixed on servo motor's the output shaft, visual system fixes mounting flange is last for the surface defect of discernment and location rod, power position executor, servo motor, visual system respectively with the controller signal is relevant.
The principle of the invention is as follows: when the device is used, the controller firstly controls the vision system to recognize and position the defects of the bar material through signals, then controls the servo motor to start through signals, and controls the robot to drive the floating grinding head to approach the defect point through signals to grind. Because the force position actuator is installed, during grinding, the controller can constantly detect the pressure of the floating grinding head through the built-in pressure sensor, so that the floating grinding head can keep constant force for grinding, the grinding depth is controlled in real time, the surface of the bar is prevented from being ground into blue-purple, meanwhile, the controller can control the floating grinding head to grind along a set contour through signals of the built-in displacement sensor of the force position actuator and record a grinding track, and grinding precision is improved.
Further, the floating grinding head comprises a grinding tool, a bearing pressing sleeve, an angular contact bearing and a transition flange, wherein the grinding tool and the angular contact bearing are sleeved on the output shaft of the servo motor in a manner of being adjacent to each other, the angular contact bearing is adjacent to the servo motor, the bearing pressing sleeve is sleeved on the angular contact bearing, the transition flange is sleeved on the bearing pressing sleeve, and the end part of the transition flange is fixed with the servo motor so as to form a more stable grinding structure.
Further, the grinding tool comprises a fine grinding wheel and a coarse grinding wheel which are arranged on the output shaft of the servo motor in an adjacent sleeved mode, so that the same robot front end structure is used for performing coarse grinding and fine grinding, and the grinding efficiency is improved.
Further, the rough grinding wheel is adjacent to the angular contact bearing, the finish grinding wheel is fixed on the end of the output shaft of the servo motor, and the diameter of the finish grinding wheel is larger than that of the rough grinding wheel, so that the structure of the grinding tool is further optimized.
Further, still include the range finding running roller, the range finding running roller pass through the ear seat with servo motor is fixed, the range finding running roller with the power position executor sets up in servo motor's a set of opposite side. During the range finding, after the gyro wheel was close and leaned on the rod, the built-in pressure sensor of power position executor detected pressure change to detect the position of rod, simultaneously, the gyro wheel can be followed axial and circumference and rolled the range finding along the rod surface, thereby the position that accurate positioning needs the coping.
Preferably, the distance measuring roller, the output shaft of the servo motor and the mounting flange are axially and mutually perpendicular.
Further, vision system includes industry camera, structure light source, guard shield, the guard shield is whole to be under the narrow flaring structure of width, upper end closure, lower extreme opening, its upper end pass through the connecting plate with mounting flange is fixed, the industry camera is installed upper end position in the guard shield, and the orientation the lower extreme opening of guard shield, the structure light source is installed lower extreme opening part in the guard shield, and the orientation the guard shield below, industry camera, structure light source with the controller signal is relevant. In this structure, shoot the image on rod surface through industry camera, pass to the controller, the controller utilizes current algorithm to carry out image analysis, the surface defect of sign and location rod, and structure light source, guard shield can do benefit to industry camera and shoot more clear image, the follow-up image analysis of being convenient for.
Further, the reflector panel has been laid to the guard shield internal surface to the lower extreme opening part spotlight of guard shield, improve the shooting effect of industry camera, in order to further promote the definition that the image was shot.
Has the advantages that: compared with the prior art, the invention has the advantages that: the floating grinding structure based on the force position actuator is adopted, the grinding depth and the grinding track are accurately controlled, and the grinding precision is improved. Meanwhile, the surface defects of the bar are accurately identified and positioned through a vision system, the integration level is high, and the grinding efficiency is convenient to improve.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a cross-sectional view of a vision system;
fig. 3 is a schematic view of a floating grinding head connection structure;
FIG. 4 is a schematic view of a distance measuring state of the distance measuring roller;
fig. 5 is a schematic view of a grinding state of the floating grinding head.
Detailed Description
The invention will be further elucidated with reference to the drawings and specific examples, which are intended to illustrate the invention and are not intended to limit the scope of the invention.
The front end integration for the rod defect grinding robot is shown in the attached drawing 1 and comprises a mounting flange 1, a force position actuator 2, a floating grinding head 3, a servo motor 4, a vision system 5, a distance measuring roller 6 and a controller.
The upper end of the force position actuator 2 is fixed with the movable end of the robot through a mounting flange 1, the lower end of the force position actuator is fixed with a servo motor 4, a floating grinding head 3 is fixed on an output shaft of the servo motor 4, and a vision system 5 is fixed on the mounting flange 1 and used for identifying and positioning surface defects of the bar. In this embodiment, as shown in fig. 3, the floating grinding head 3 includes a grinding tool 31, a bearing pressing sleeve 32, an angular contact bearing, and a transition flange 33, the grinding tool 31 and the angular contact bearing are adjacently sleeved on an output shaft of the servo motor 4, the angular contact bearing is adjacent to the servo motor 4, the bearing pressing sleeve 32 is sleeved on the angular contact bearing, the transition flange 33 is sleeved on the bearing pressing sleeve 32, and an end portion of the transition flange is fixed to the servo motor 4. In this embodiment, the grinding tool 31 includes a finish grinding wheel 31a and a rough grinding wheel 31b that are adjacently fitted on the output shaft of the servo motor 4. The rough grinding wheel 31b is adjacent to an angular contact bearing, the finish grinding wheel 31a is fixed to the end of the output shaft of the servomotor 4, and the diameter of the finish grinding wheel 31a is larger than that of the rough grinding wheel 31 b.
As shown in fig. 3, the distance measuring roller 6 is fixed to the transition flange 33 through an ear seat, and the distance measuring roller 6 and the force position actuator 2 are disposed on a set of opposite sides of the servo motor 4. In the embodiment, the distance measuring roller 6, the output shaft of the servo motor 4 and the mounting flange 1 are axially and mutually perpendicular.
As shown in fig. 2, the vision system 5 includes an industrial camera 51, a structural light source 52, and a shield 53, wherein the shield 53 has a flaring structure with a narrow top and a wide bottom, the upper end is closed, the lower end is opened, the upper end is fixed with the mounting flange 1 through a connecting plate, the industrial camera 51 is installed in the shield 53 at the upper end position and faces the lower end opening of the shield 53, and the structural light source 52 is installed in the shield 53 at the lower end opening and faces below the shield 53. The inner surface of the shield 53 is laid with a reflector.
The force position actuator 2, the servo motor 4, the industrial camera 51 and the structure light source 52 are respectively associated with controller signals and are respectively associated with controller signals.
When the front end of the rod defect grinding robot is used in an integrated mode, the visual system 5 is used for recognizing and positioning the surface defects of the rod, specifically, the industrial camera 51 is used for shooting the surface images of the rod and transmitting the images to the controller, the defect types of the surface of the rod are recognized and positioned through analysis of the existing algorithm, and a corresponding grinding mode is obtained. And then, as shown in figure 4, the position relation between the floating grinding head 3 and the defects of the bar is positioned and accurately measured again through the distance measuring roller 6, so that the positioning accuracy is ensured. Then, as shown in fig. 5, the controller signals the floating grinding heads 3 to approach the defect position, and the servo motor 4 is started to finish the rough grinding and the finish grinding by the rough grinding wheel 31b and the finish grinding wheel 31a, respectively. During grinding, the force position actuator is arranged between the robot and the floating grinding head 3, the built-in pressure sensor can detect the pressure of the floating grinding head and keeps communication connection with the controller so as to keep constant force for grinding, the grinding depth is controlled in real time, the surface of a bar is prevented from being ground into blue-purple, meanwhile, the controller can control the floating grinding head to grind along a set contour through a displacement sensor signal built in the force position actuator and record a grinding track, and the grinding precision is improved.
Claims (8)
1. The utility model provides a front end is integrated that is used for rod defect coping robot which characterized in that: including mounting flange (1), power position executor (2), bistrique (3), servo motor (4), visual system (5), controller float, power position executor (2) upper end is passed through mounting flange (1) is fixed with the movable end of robot, the lower extreme is fixed servo motor (4), bistrique (3) of floating are fixed on the output shaft of servo motor (4), visual system (5) are fixed on mounting flange (1) for the surface defect of discernment and location rod, power position executor (2), servo motor (4), visual system (5) respectively with the controller signal is relevant.
2. The front end integration for a rod defect sharpening robot of claim 1, wherein: the floating grinding head (3) comprises a grinding tool (31), a bearing pressing sleeve (32), an angular contact bearing and a transition flange (33), wherein the grinding tool (31) and the angular contact bearing are arranged adjacently and are sleeved on an output shaft of the servo motor (4), the angular contact bearing is adjacent to the servo motor (4), the bearing pressing sleeve (32) is sleeved on the angular contact bearing, the transition flange (33) is sleeved on the bearing pressing sleeve (32), and the end part of the transition flange is fixed with the servo motor (4).
3. The front end integration for a rod defect sharpening robot of claim 2, wherein: the grinding tool (31) comprises a fine grinding wheel (31a) and a rough grinding wheel (31b) which are sleeved on the output shaft of the servo motor (4) and are adjacent to each other.
4. The front end integration for a rod defect sharpening robot of claim 3, wherein: the rough grinding wheel (31b) is adjacent to the angular contact bearing, the finish grinding wheel (31a) is fixed on the end of the output shaft of the servo motor (4), and the diameter of the finish grinding wheel (31a) is larger than that of the rough grinding wheel (31 b).
5. The front end integration for a rod defect sharpening robot of claim 1, wherein: still include range finding running roller (6), range finding running roller (6) through the ear seat with servo motor (4) are fixed, range finding running roller (6) with power position executor (2) set up in a set of opposite side of servo motor (4).
6. The front end integration for a rod defect sharpening robot of claim 1, wherein: the distance measuring roller (6), the output shaft of the servo motor (4) and the mounting flange (1) are axially and mutually perpendicular.
7. The front end integration for a rod defect sharpening robot of claim 1, wherein: visual system (5) include industry camera (51), structure light source (52), guard shield (53) wholly are under the narrow wide flaring structure, and upper end is closed, lower extreme opening, its upper end pass through the connecting plate with mounting flange (1) is fixed, industry camera (51) are installed upper end position in guard shield (53), and the orientation the lower extreme opening of guard shield (53), install structure light source (52) lower extreme opening part in guard shield (53), and the orientation guard shield (53) below, industry camera (51), structure light source (52) with the controller signal is correlated with.
8. The front end integration for a rod defect sharpening robot of claim 1, wherein: and a reflector is paved on the inner surface of the shield (53).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010099261.9A CN111168531B (en) | 2020-02-18 | 2020-02-18 | Front end integration for bar defect coping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010099261.9A CN111168531B (en) | 2020-02-18 | 2020-02-18 | Front end integration for bar defect coping robot |
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| Publication Number | Publication Date |
|---|---|
| CN111168531A true CN111168531A (en) | 2020-05-19 |
| CN111168531B CN111168531B (en) | 2024-07-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010099261.9A Active CN111168531B (en) | 2020-02-18 | 2020-02-18 | Front end integration for bar defect coping robot |
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| Country | Link |
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| CN (1) | CN111168531B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111872796A (en) * | 2020-08-12 | 2020-11-03 | 新兴河北工程技术有限公司 | Automatic polishing equipment for casting pipe bell mouth and using method |
| CN114310539A (en) * | 2020-10-12 | 2022-04-12 | 太原科技大学 | A bar chamfering robot system and method |
| CN114770289A (en) * | 2022-03-23 | 2022-07-22 | 深圳市智能机器人研究院 | Grinding and polishing device and calibration method |
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| JPH0274157U (en) * | 1988-11-29 | 1990-06-06 | ||
| CN101497179A (en) * | 2009-03-13 | 2009-08-05 | 袁文斌 | Apparatus for detecting diameter of steel blank regrinding machine grinding wheel based on machine vision |
| CN102120307A (en) * | 2010-12-23 | 2011-07-13 | 中国科学院自动化研究所 | System and method for grinding industrial robot on basis of visual information |
| CN105081903A (en) * | 2015-09-06 | 2015-11-25 | 东莞市莞智成机器人技术有限公司 | Robot grinding system for outer surface of cylinder with boss |
| CN110355660A (en) * | 2019-08-14 | 2019-10-22 | 宝鸡石油钢管有限责任公司 | A kind of pipe end inner and outer welding automatic polishing device for spiral welded pipe production line |
| CN211805334U (en) * | 2020-02-18 | 2020-10-30 | 江苏金恒信息科技股份有限公司 | Front end integration for rod defect grinding robot |
-
2020
- 2020-02-18 CN CN202010099261.9A patent/CN111168531B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0274157U (en) * | 1988-11-29 | 1990-06-06 | ||
| CN101497179A (en) * | 2009-03-13 | 2009-08-05 | 袁文斌 | Apparatus for detecting diameter of steel blank regrinding machine grinding wheel based on machine vision |
| CN102120307A (en) * | 2010-12-23 | 2011-07-13 | 中国科学院自动化研究所 | System and method for grinding industrial robot on basis of visual information |
| CN105081903A (en) * | 2015-09-06 | 2015-11-25 | 东莞市莞智成机器人技术有限公司 | Robot grinding system for outer surface of cylinder with boss |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111872796A (en) * | 2020-08-12 | 2020-11-03 | 新兴河北工程技术有限公司 | Automatic polishing equipment for casting pipe bell mouth and using method |
| CN114310539A (en) * | 2020-10-12 | 2022-04-12 | 太原科技大学 | A bar chamfering robot system and method |
| CN114770289A (en) * | 2022-03-23 | 2022-07-22 | 深圳市智能机器人研究院 | Grinding and polishing device and calibration method |
| CN114770289B (en) * | 2022-03-23 | 2024-02-06 | 深圳市智能机器人研究院 | Grinding and polishing device and calibration method |
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| Publication number | Publication date |
|---|---|
| CN111168531B (en) | 2024-07-05 |
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