CN112846987A - Three-dimensional imaging polishing method and polishing device - Google Patents
Three-dimensional imaging polishing method and polishing device Download PDFInfo
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- CN112846987A CN112846987A CN202110115177.6A CN202110115177A CN112846987A CN 112846987 A CN112846987 A CN 112846987A CN 202110115177 A CN202110115177 A CN 202110115177A CN 112846987 A CN112846987 A CN 112846987A
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- 238000005498 polishing Methods 0.000 title claims abstract description 236
- 238000003384 imaging method Methods 0.000 title claims abstract description 104
- 238000000034 method Methods 0.000 title claims abstract description 30
- 238000000227 grinding Methods 0.000 claims abstract description 80
- 239000000428 dust Substances 0.000 claims description 40
- 238000007789 sealing Methods 0.000 claims description 6
- 238000010521 absorption reaction Methods 0.000 claims description 5
- 230000001681 protective effect Effects 0.000 claims description 4
- 238000007667 floating Methods 0.000 claims description 3
- 239000011796 hollow space material Substances 0.000 claims description 3
- 238000003801 milling Methods 0.000 claims 5
- 230000015572 biosynthetic process Effects 0.000 claims 1
- 238000005516 engineering process Methods 0.000 abstract description 7
- 230000008569 process Effects 0.000 description 7
- 230000000694 effects Effects 0.000 description 3
- 238000007689 inspection Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
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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
- B24B9/00—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor
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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
- B24B27/00—Other grinding machines or devices
- B24B27/0084—Other grinding machines or devices the grinding wheel support being angularly adjustable
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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
- 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
- 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
- B24B49/16—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 taking regard of the load
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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
- B24B55/06—Dust extraction equipment on grinding or polishing machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention relates to a three-dimensional imaging polishing method and a polishing device, wherein the polishing method comprises the following steps: three-dimensional imaging scanning is carried out on a workpiece object to be polished → a polishing three-dimensional model of the workpiece to be polished is obtained → a point to be polished of the edge of a polishing area required by the workpiece to be polished is analyzed and identified → a polishing track model is formed → the polishing robot carries out accurate polishing on the workpiece → three-dimensional imaging scanning is carried out on the workpiece object after polishing is completed → the polishing quality of the workpiece is analyzed. The grinding method solves the problem that the grinding efficiency and the grinding precision of the special grinding machine tool in the prior art are poor, the shielded grinding point on the workpiece to be ground is determined through a three-dimensional imaging scanning technology, and then the corresponding position of the shielded grinding point in the three-dimensional model is calculated according to the coordinate position of the workpiece to be ground, so that the selection of the grinding area of the three-dimensional model can be accurately determined, and the grinding efficiency and the grinding precision of the workpiece are greatly improved.
Description
Technical Field
The invention belongs to the technical field of polishing devices, and particularly relates to a three-dimensional imaging polishing method and a polishing device.
Background
In the manufacturing process of the die, grinding is an important process, the influence of the surface grinding quality of the die on the overall quality of the die is large, and therefore the surface grinding quality requirement of the die is relatively high. In order to solve the problems that the traditional manual operation has severe working environment, harms the health of workers and cannot ensure the quality, efficiency and consistency of processing, a large number of special numerical control devices and traditional large-scale industrial mechanical arms appear in the prior art, the automatic devices are designed and developed and are successfully applied to various grinding processing fields, but the special grinding machine tool in the prior art still has the problems of long process time, high cost and poor grinding efficiency and grinding precision, so that the application of the special grinding machine tool is influenced.
Disclosure of Invention
The invention aims to provide a three-dimensional imaging grinding method and a grinding device, the grinding device can replace manual work to carry out workpiece grinding and polishing operation, can be used for surface grinding, polishing and other operations of workpieces, and can be widely applied to industries such as automobile industry, bathroom hardware industry, IT industry and the like.
In order to achieve the purpose, the invention adopts the following technical scheme:
a three-dimensional imaging polishing method comprises the following steps:
s1, fixing the relative position coordinates of the workpiece to be polished, the polishing robot and the three-dimensional imaging scanning device, performing 360-degree imaging scanning on the workpiece to be polished by using the three-dimensional imaging scanning device, and then sending the acquired imaging information to the controller for data processing;
the S2 controller obtains a polishing three-dimensional model of the workpiece to be polished according to the received workpiece imaging information;
the S3 controller analyzes and identifies the to-be-polished point at the edge of the polishing area needed by the to-be-polished workpiece according to the received workpiece imaging information, then calculates the track polishing point corresponding to the to-be-polished point in the polishing three-dimensional model obtained in the step 2, marks the calculated track polishing point in the polishing three-dimensional model, and forms a polishing track model;
the S4 controller analyzes and identifies the type of the workpiece to be polished and the size of the burr type on the surface of the workpiece to be polished according to the received workpiece imaging information, and determines a polishing tool and polishing parameters according to the identification result;
the S5 controller controls the grinding robot to drive the grinding tool to accurately grind the workpiece according to the formed grinding track model and the grinding parameters;
s6, after polishing, utilizing a three-dimensional imaging scanning device to perform 360-degree imaging scanning on the polished workpiece real object, then sending the obtained imaging information to a controller for data processing, and analyzing the polishing quality of the workpiece by the controller according to the received workpiece imaging information after polishing;
the S7 controller analyzes and identifies whether burrs are left on the surface of the workpiece according to the received imaging information of the workpiece after polishing is completed, and analyzes the polishing quality of the workpiece according to the burrs;
s8, analyzing and identifying the residual position of burrs on the surface of the workpiece by the controller according to the received imaging information of the workpiece after polishing is completed, determining a point to be polished, calculating a track polishing point of the point to be polished corresponding to the polishing three-dimensional model, marking the calculated track polishing point in the polishing three-dimensional model, and forming a polishing track model;
and S9, the controller controls the grinding robot to drive the grinding tool to grind the residual burrs on the surface of the workpiece again according to the formed grinding track model.
The polishing method solves the problem that the polishing efficiency and polishing precision of the special polishing machine tool in the prior art are poor: (1) according to the three-dimensional model grinding method, the shielded grinding points on the workpiece to be ground are determined through a three-dimensional imaging scanning technology, and then the corresponding positions of the shielded grinding points in the three-dimensional model are calculated according to the coordinate positions of the workpiece to be ground, so that the selection of the grinding area of the three-dimensional model can be accurately determined, and the grinding efficiency and the grinding precision of the workpiece are greatly improved; (2) the type of the workpiece to be polished and the size of the burr type on the surface of the workpiece to be polished are analyzed and identified, the polishing tool and the polishing parameters are determined according to the identification result, the used polishing tool and polishing parameters can be accurately selected according to different types of workpieces and types of burrs to be polished, the method can be flexibly applied to polishing of different types of workpieces, and is more flexible to use and wider in application range; (3) after polishing is finished, an automatic quality inspection process is also set, whether burrs are left on the surface of the workpiece is analyzed and identified, the polishing quality of the workpiece is analyzed accordingly, and the polishing quality and polishing consistency of the workpiece are ensured; (4) after polishing is finished, the positions of burr residues are determined through a three-dimensional imaging scanning technology, so that the track polishing points of the points to be polished in the three-dimensional polishing model can be accurately calculated, and the polishing efficiency and polishing precision of secondary polishing are greatly improved.
The invention also discloses a three-dimensional imaging polishing system, and the polishing system performs polishing operation according to any one of the steps when polishing the workpiece.
The three-dimensional imaging polishing device comprises a device body and a control system;
the device body comprises an operation table, a polishing robot, a polishing tool and a three-dimensional imaging scanning device, wherein the three-dimensional imaging scanning device is arranged on the polishing robot, and the polishing tool is detachably connected to the tail end of the polishing robot;
the control system comprises a controller and a control panel, wherein the controller is electrically connected with the control panel;
the operation table, the three-dimensional imaging scanning device, the polishing robot and the polishing tool are all electrically connected with the controller.
The polishing robot end-to-end connection has six-dimensional force sensor, six-dimensional force sensor is connected to polishing tool detachable, six-dimensional force sensor with the controller electric connection.
The grinding tool is a floating constant force grinding tool.
Preferably, a transparent protective cover is arranged on the side surface of the operating platform. When the staff is controlling, can play the guard action to the staff, effectively prevent to polish and add the personal safety that splashes and cause the threat to operating personnel with the piece. The protection casing is transparent material, can also make things convenient for the staff to observe the process of polishing.
Preferably, the protection casing is including the inlayer wall that is close to the operation panel and the outer wall of keeping away from the operation panel, form hollow space between inlayer wall and the outer wall, evenly densely covered is provided with a plurality of dust absorption holes on the inlayer wall, be provided with the gas vent on the outer wall, the gas vent passes through the pipeline and is connected with dust exhausting fan's air inlet, dust exhausting fan's gas outlet passes through the pipeline and is connected with the air inlet of dust remover, the lower extreme of protection casing is provided with dust clearance mouth, the articulated sealing door that is provided with in dust clearance mouth department, dust exhausting fan and dust remover all with the controller electric connection.
Dust that produces during the processing of polishing is in the dust absorption hole that evenly gathers the setting from the inlayer wall under the effect of fan is inhaled the protection casing in, then gets into the fan from the gas vent on the outer wall, gets into the dust remover from the fan again and removes dust and handle, can effectively collect and clear up the dust that produces during the processing of polishing, guarantees the clean environment in the workshop. After a period of time, the staff can open sealing door, clears up the sedimentary dust in protection casing bottom through dust clearance mouth, facilitates more convenient to use and operation.
Advantageous effects
The polishing method comprises the following steps: three-dimensional imaging scanning is carried out on a workpiece object to be polished → a polishing three-dimensional model of the workpiece to be polished is obtained → a point to be polished of the edge of a polishing area required by the workpiece to be polished is analyzed and identified → a polishing track model is formed → the polishing robot carries out accurate polishing on the workpiece → three-dimensional imaging scanning is carried out on the workpiece object after polishing is completed → the polishing quality of the workpiece is analyzed.
The polishing method solves the problem that the polishing efficiency and polishing precision of the special polishing machine tool in the prior art are not good enough, and has the following advantages: (1) according to the three-dimensional model grinding method, the shielded grinding points on the workpiece to be ground are determined through a three-dimensional imaging scanning technology, and then the corresponding positions of the shielded grinding points in the three-dimensional model are calculated according to the coordinate positions of the workpiece to be ground, so that the selection of the grinding area of the three-dimensional model can be accurately determined, and the grinding efficiency and the grinding precision of the workpiece are greatly improved; (2) the type of the workpiece to be polished and the size of the burr type on the surface of the workpiece to be polished are analyzed and identified, the polishing tool and the polishing parameters are determined according to the identification result, the used polishing tool and polishing parameters can be accurately selected according to different types of workpieces and types of burrs to be polished, the method can be flexibly applied to polishing of different types of workpieces, and is more flexible to use and wider in application range; (3) after polishing is finished, an automatic quality inspection process is also set, whether burrs are left on the surface of the workpiece is analyzed and identified, the polishing quality of the workpiece is analyzed accordingly, and the polishing quality and polishing consistency of the workpiece are ensured; (4) after polishing is finished, the positions of burr residues are determined through a three-dimensional imaging scanning technology, so that the track polishing points of the points to be polished in the three-dimensional polishing model can be accurately calculated, and the polishing efficiency and polishing precision of secondary polishing are greatly improved.
The polishing device provided by the invention performs three-dimensional imaging scanning on a workpiece to be polished through a three-dimensional imaging scanning device, then sends the acquired imaging information to the controller, the controller acquires a polishing three-dimensional model of the workpiece to be polished according to the received workpiece imaging information, analyzes and identifies a point to be polished at the edge of a polishing area required by the workpiece to be polished, then calculates a track polishing point corresponding to the point to be polished in the polishing three-dimensional model, marks the calculated track polishing point in the polishing three-dimensional model to form a polishing track model, and the controller controls the polishing robot to precisely polish the workpiece according to the formed polishing track model.
Drawings
Fig. 1 is a schematic structural diagram of a three-dimensional imaging polishing device according to embodiment 2 of the present patent;
FIG. 2 is a schematic structural diagram of a three-dimensional imaging polishing device according to embodiment 3 of the present patent;
in the figure, 1: an operation table; 2: a polishing robot; 3: polishing the tool; 4: a three-dimensional imaging scanning device; 5: a control panel; 6: a control box; 7: a robot mount; 8: a protective cover; 9: an inner wall; 10: an outer wall; 11: an exhaust port; 12: a dust removal fan; 13: a dust remover; 14: and (4) sealing the door.
Detailed Description
Hereinafter, the present invention will be described in detail. Before the description is made, it should be understood that the terms used in the present specification and the appended claims should not be construed as limited to general and dictionary meanings, but interpreted based on the meanings and concepts corresponding to technical aspects of the present invention on the basis of the principle that the inventor is allowed to define terms appropriately for the best explanation. Accordingly, the description proposed herein is just a preferable example for the purpose of illustrations only, not intended to limit the scope of the invention, so it should be understood that other equivalents and modifications could be made thereto without departing from the spirit and scope of the invention.
The following examples are given by way of illustration of embodiments of the invention and are not to be construed as limiting the invention, and it will be understood by those skilled in the art that modifications may be made without departing from the spirit and scope of the invention.
Example 1
A three-dimensional imaging polishing method comprises the following steps:
s1, fixing the relative position coordinates of the workpiece to be polished, the polishing robot and the three-dimensional imaging scanning device, performing 360-degree imaging scanning on the workpiece to be polished by using the three-dimensional imaging scanning device, and then sending the acquired imaging information to the controller for data processing;
the S2 controller obtains a polishing three-dimensional model of the workpiece to be polished according to the received workpiece imaging information;
the S3 controller analyzes and identifies the to-be-polished point at the edge of the polishing area needed by the to-be-polished workpiece according to the received workpiece imaging information, then calculates the track polishing point corresponding to the to-be-polished point in the polishing three-dimensional model obtained in the step 2, marks the calculated track polishing point in the polishing three-dimensional model, and forms a polishing track model;
the S4 controller analyzes and identifies the type of the workpiece to be polished and the size of the burr type on the surface of the workpiece to be polished according to the received workpiece imaging information, and determines a polishing tool and polishing parameters according to the identification result;
the S5 controller controls the grinding robot to drive the grinding tool to accurately grind the workpiece according to the formed grinding track model and the grinding parameters;
s6, after polishing, utilizing a three-dimensional imaging scanning device to perform 360-degree imaging scanning on the polished workpiece real object, then sending the obtained imaging information to a controller for data processing, and analyzing the polishing quality of the workpiece by the controller according to the received workpiece imaging information after polishing;
the S7 controller analyzes and identifies whether burrs are left on the surface of the workpiece according to the received imaging information of the workpiece after polishing is completed, and analyzes the polishing quality of the workpiece according to the burrs;
s8, analyzing and identifying the residual position of burrs on the surface of the workpiece by the controller according to the received imaging information of the workpiece after polishing is completed, determining a point to be polished, calculating a track polishing point of the point to be polished corresponding to the polishing three-dimensional model, marking the calculated track polishing point in the polishing three-dimensional model, and forming a polishing track model;
and S9, the controller controls the grinding robot to drive the grinding tool to grind the residual burrs on the surface of the workpiece again according to the formed grinding track model.
The polishing method solves the problem that the polishing efficiency and polishing precision of the special polishing machine tool in the prior art are poor: (1) according to the three-dimensional model grinding method, the shielded grinding points on the workpiece to be ground are determined through a three-dimensional imaging scanning technology, and then the corresponding positions of the shielded grinding points in the three-dimensional model are calculated according to the coordinate positions of the workpiece to be ground, so that the selection of the grinding area of the three-dimensional model can be accurately determined, and the grinding efficiency and the grinding precision of the workpiece are greatly improved; (2) the type of the workpiece to be polished and the size of the burr type on the surface of the workpiece to be polished are analyzed and identified, the polishing tool and the polishing parameters are determined according to the identification result, the used polishing tool and polishing parameters can be accurately selected according to different types of workpieces and types of burrs to be polished, the method can be flexibly applied to polishing of different types of workpieces, and is more flexible to use and wider in application range; (3) after polishing is finished, an automatic quality inspection process is also set, whether burrs are left on the surface of the workpiece is analyzed and identified, the polishing quality of the workpiece is analyzed accordingly, and the polishing quality and polishing consistency of the workpiece are ensured; (4) after polishing is finished, the positions of burr residues are determined through a three-dimensional imaging scanning technology, so that the track polishing points of the points to be polished in the three-dimensional polishing model can be accurately calculated, and the polishing efficiency and polishing precision of secondary polishing are greatly improved.
Example 2
As shown in fig. 1, a three-dimensional imaging polishing system, the three-dimensional imaging polishing device includes a device body and a control system;
the device body comprises an operation table 1, a polishing robot 2, a polishing tool 3 and a three-dimensional imaging scanning device 4, wherein the three-dimensional imaging scanning device is arranged on the polishing robot, and the polishing tool is detachably connected to the tail end of the polishing robot;
the control system comprises a controller and a control panel 5, wherein the controller and the control panel are electrically connected;
the operation table, the three-dimensional imaging scanning device, the polishing robot and the polishing tool are all electrically connected with the controller.
The control elements such as the controller are arranged in the control box 6, and the grinding robot 2 is arranged on the robot mounting seat 7.
The polishing robot end-to-end connection has six-dimensional force sensor, six-dimensional force sensor is connected to polishing tool detachable, six-dimensional force sensor with the controller electric connection.
The grinding tool is a floating constant force grinding tool.
The PLC controller used in the embodiment has the model number of S7-400, is suitable for the field of medium and high performance automatic control, and is strong in performance and simple to operate.
When the grinding system is used for grinding a workpiece, grinding operation is executed according to the following steps:
s1, fixing the relative position coordinates of the workpiece to be polished, the polishing robot and the three-dimensional imaging scanning device, performing 360-degree imaging scanning on the workpiece to be polished by using the three-dimensional imaging scanning device, and then sending the acquired imaging information to the controller for data processing;
the S2 controller obtains a polishing three-dimensional model of the workpiece to be polished according to the received workpiece imaging information;
the S3 controller analyzes and identifies the to-be-polished point at the edge of the polishing area needed by the to-be-polished workpiece according to the received workpiece imaging information, then calculates the track polishing point corresponding to the to-be-polished point in the polishing three-dimensional model obtained in the step 2, marks the calculated track polishing point in the polishing three-dimensional model, and forms a polishing track model;
the S4 controller analyzes and identifies the type of the workpiece to be polished and the size of the burr type on the surface of the workpiece to be polished according to the received workpiece imaging information, and determines a polishing tool and polishing parameters according to the identification result;
the S5 controller controls the grinding robot to drive the grinding tool to accurately grind the workpiece according to the formed grinding track model and the grinding parameters;
s6, after polishing, utilizing a three-dimensional imaging scanning device to perform 360-degree imaging scanning on the polished workpiece real object, then sending the obtained imaging information to a controller for data processing, and analyzing the polishing quality of the workpiece by the controller according to the received workpiece imaging information after polishing;
the S7 controller analyzes and identifies whether burrs are left on the surface of the workpiece according to the received imaging information of the workpiece after polishing is completed, and analyzes the polishing quality of the workpiece according to the burrs;
s8, analyzing and identifying the residual position of burrs on the surface of the workpiece by the controller according to the received imaging information of the workpiece after polishing is completed, determining a point to be polished, calculating a track polishing point of the point to be polished corresponding to the polishing three-dimensional model, marking the calculated track polishing point in the polishing three-dimensional model, and forming a polishing track model;
and S9, the controller controls the grinding robot to drive the grinding tool to grind the residual burrs on the surface of the workpiece again according to the formed grinding track model.
Example 3
As shown in fig. 2, a three-dimensional imaging polishing system, the three-dimensional imaging polishing device includes a device body and a control system;
the device body comprises an operation table 1, a polishing robot 2, a polishing tool 3 and a three-dimensional imaging scanning device 4, wherein the three-dimensional imaging scanning device is arranged on the polishing robot, and the polishing tool is detachably connected to the tail end of the polishing robot;
the control system comprises a controller and a control panel 5, wherein the controller and the control panel are electrically connected;
the operation table, the three-dimensional imaging scanning device, the polishing robot and the polishing tool are all electrically connected with the controller.
And a transparent protective cover 8 is arranged on the side surface of the operating platform. When the staff is controlling, can play the guard action to the staff, effectively prevent to polish and add the personal safety that splashes and cause the threat to operating personnel with the piece. The protection casing is transparent material, can also make things convenient for the staff to observe the process of polishing.
The protection casing is including the inlayer wall 9 that is close to the operation panel and the outer wall 10 of keeping away from the operation panel, form hollow space between inlayer wall and the outer wall, evenly densely covered is provided with a plurality of dust absorption holes on the inlayer wall, be provided with gas vent 11 on the outer wall, the gas vent passes through the pipeline and is connected with dust exhausting fan 12's air inlet, dust exhausting fan's gas outlet passes through the pipeline and is connected with dust remover 13's air inlet, the lower extreme of protection casing is provided with dust clearance mouth, the articulated sealing door 14 that is provided with of dust clearance mouth department, dust exhausting fan and dust remover all with the controller electric connection.
Dust that produces during the processing of polishing is in the dust absorption hole that evenly gathers the setting from the inlayer wall under the effect of fan is inhaled the protection casing in, then gets into the fan from the gas vent on the outer wall, gets into the dust remover from the fan again and removes dust and handle, can effectively collect and clear up the dust that produces during the processing of polishing, guarantees the clean environment in the workshop. After a period of time, the staff can open sealing door, clears up the sedimentary dust in protection casing bottom through dust clearance mouth, facilitates more convenient to use and operation.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions.
Claims (10)
1. A three-dimensional imaging polishing method is characterized by comprising the following steps:
s1, fixing the relative position coordinates of the workpiece to be polished, the polishing robot and the three-dimensional imaging scanning device, performing 360-degree imaging scanning on the workpiece to be polished by using the three-dimensional imaging scanning device, and then sending the acquired imaging information to the controller for data processing;
the S2 controller obtains a polishing three-dimensional model of the workpiece to be polished according to the received workpiece imaging information;
the S3 controller analyzes and identifies the to-be-polished point at the edge of the polishing area needed by the to-be-polished workpiece according to the received workpiece imaging information, then calculates the track polishing point corresponding to the to-be-polished point in the polishing three-dimensional model obtained in the step 2, marks the calculated track polishing point in the polishing three-dimensional model, and forms a polishing track model;
the S4 controller analyzes and identifies the type of the workpiece to be polished and the size of the burr type on the surface of the workpiece to be polished according to the received workpiece imaging information, and determines a polishing tool and polishing parameters according to the identification result;
the S5 controller controls the grinding robot to drive the grinding tool to accurately grind the workpiece according to the formed grinding track model and the grinding parameters;
and S6, after polishing, carrying out 360-degree imaging scanning on the polished workpiece real object by using a three-dimensional imaging scanning device, then sending the obtained imaging information to a controller for data processing, and analyzing the polishing quality of the workpiece by the controller according to the received workpiece imaging information after polishing.
2. The three-dimensional stereo imaging grinding method according to claim 1, characterized in that: in the step 6, the controller analyzes and identifies whether burrs are left on the surface of the workpiece according to the received imaging information of the workpiece after polishing.
3. The three-dimensional stereoscopic imaging sanding method of claim 2, wherein: the controller analyzes and identifies the residual position of burrs on the surface of the workpiece according to the received imaging information of the workpiece after polishing is completed, so as to determine a point to be polished, calculate a track polishing point corresponding to the point to be polished in the polishing three-dimensional model, mark the calculated track polishing point in the polishing three-dimensional model, and form a polishing track model.
4. The three-dimensional stereoscopic imaging sanding method of claim 3, wherein: and the controller controls the polishing robot to drive the polishing tool to polish the residual burrs on the surface of the workpiece again according to the formed polishing track model.
5. The utility model provides a three-dimensional formation of image grinding device which characterized in that: the grinding system performing a grinding operation in accordance with the steps of any one of claims 1 to 4 when grinding a workpiece.
6. The three-dimensional stereoscopic imaging milling apparatus of claim 5, wherein: comprises a device body and a control system;
the device body comprises an operation table, a polishing robot, a polishing tool and a three-dimensional imaging scanning device, wherein the three-dimensional imaging scanning device is arranged on the polishing robot, and the polishing tool is detachably connected to the tail end of the polishing robot;
the control system comprises a controller and a control panel, wherein the controller is electrically connected with the control panel;
the operation table, the three-dimensional imaging scanning device, the polishing robot and the polishing tool are all electrically connected with the controller.
7. The three-dimensional stereoscopic imaging milling apparatus of claim 6, wherein: the polishing robot end-to-end connection has six-dimensional force sensor, six-dimensional force sensor is connected to polishing tool detachable, six-dimensional force sensor with the controller electric connection.
8. The three-dimensional stereoscopic imaging milling apparatus of claim 7, wherein: the grinding tool is a floating constant force grinding tool.
9. The three-dimensional stereoscopic imaging milling apparatus of claim 6, wherein: and a transparent protective cover is arranged on the side surface of the operating platform.
10. The three-dimensional stereoscopic imaging milling apparatus of claim 9, wherein: the protection casing is including the inlayer wall that is close to the operation panel and the outer wall of keeping away from the operation panel, form hollow space between inlayer wall and the outer wall, evenly densely covered is provided with a plurality of dust absorption holes on the inlayer wall, be provided with the gas vent on the outer wall, the gas vent passes through the pipeline and is connected with dust exhausting fan's air inlet, dust exhausting fan's gas outlet passes through the pipeline and is connected with the air inlet of dust remover, the lower extreme of protection casing is provided with dust clearance mouth, the articulated sealing door that is provided with in dust clearance mouth department, dust exhausting fan and dust remover all with the controller electric connection.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110115177.6A CN112846987A (en) | 2021-01-28 | 2021-01-28 | Three-dimensional imaging polishing method and polishing device |
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| CN202110115177.6A CN112846987A (en) | 2021-01-28 | 2021-01-28 | Three-dimensional imaging polishing method and polishing device |
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| CN113681469A (en) * | 2021-10-22 | 2021-11-23 | 南通豪派金属制品有限公司 | Intelligent control method and system for polishing equipment |
| CN114986393A (en) * | 2022-06-14 | 2022-09-02 | 广东天太机器人有限公司 | Automatic-deviation-correcting polishing and grinding mechanical arm control system and method |
| CN116117676A (en) * | 2023-04-17 | 2023-05-16 | 河北新泰鸿汽车零部件有限公司 | Part processing polishing machine and polishing process |
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