Intelligent dual-robot detection grinding and polishing system for heterogeneous pieces and machining method
阅读说明：本技术 一种异构件智能双机器人检测磨抛系统及加工方法 (Intelligent dual-robot detection grinding and polishing system for heterogeneous pieces and machining method ) 是由 刘建春 马振飞 陈博伦 陈璞 黄海滨 林晓辉 于 2020-07-07 设计创作，主要内容包括：本发明公开了一种异构件智能双机器人检测磨抛系统及加工方法,主要解决了具有复杂曲面特征的异构件难以检测、磨削加工难、加工环境危害大、工人磨削效率低等问题。其中,检测磨抛系统包括传输装置、3D识别系统、工业机器人系统、激光检测装置、磨削装置、缺陷检测装置、系统控制柜和工控机。相比于现有技术,本发明通过“视觉”和“触觉”感知实现了异构件的柔性磨抛加工,可完成对较高加工精度和表面光洁度要求的复杂曲面加工。(The invention discloses an intelligent dual-robot detection grinding and polishing system and a processing method for heterogeneous pieces, and mainly solves the problems that heterogeneous pieces with complex curved surface characteristics are difficult to detect, difficult to grind and process, large in processing environment harm, low in grinding efficiency of workers and the like. The detection, grinding and polishing system comprises a transmission device, a 3D recognition system, an industrial robot system, a laser detection device, a grinding device, a defect detection device, a system control cabinet and an industrial personal computer. Compared with the prior art, the invention realizes the flexible polishing processing of the heterogeneous piece through visual perception and tactile perception, and can finish the complex curved surface processing with higher processing precision and surface smoothness requirements.)
1. The utility model provides a heterogeneous piece intelligence duplex robot detects system of polishing, its characterized in that includes:
the transmission device is used for conveying the heterogeneous pieces;
the 3D recognition system is fixed on the transmission device and used for acquiring the postures and the positions of the heterogeneous pieces;
the industrial robot system comprises a first industrial robot and a second industrial robot, wherein a first workpiece clamp is arranged at the tail end of the first industrial robot, a force position control device is arranged at the tail end of the second industrial robot, the force position control device is connected with a quick change mechanism, the quick change mechanism comprises a second workpiece clamp and a cloth wheel polishing machine which can be switched, the first workpiece clamp and the second workpiece clamp are used for grabbing the heterogeneous piece, and the cloth wheel polishing machine is used for polishing the heterogeneous piece;
the laser detection device is used for carrying out laser partition scanning measurement on the heterogeneous piece and comparing the heterogeneous piece with a standard model to obtain the machining allowance and the blank defect;
the grinding device is used for grinding the heterogeneous piece;
the defect detection device is used for detecting the quality of the machined heterogeneous piece;
the industrial robot system, the transmission device, the 3D recognition system, the laser detection device, the grinding device and the defect detection device are all electrically connected with the system control cabinet and are regulated and controlled by the system control cabinet through a PLC (programmable logic controller);
the industrial personal computer is used for sending the collected information to the 3D recognition system, the laser detection device and the defect detection device, and the industrial personal computer is used for carrying out real-time communication and coordination processing on the industrial robot system.
2. The system of claim 1, wherein the industrial robot system further comprises a robot control cabinet, the robot control cabinet is configured to receive signals from the 3D recognition system, the laser detection device, and the defect detection device, and control the actions of the first industrial robot and the second industrial robot, and the robot control cabinet is electrically connected to the system control cabinet.
3. The system of claim 1, wherein the laser detection device is a 2D laser profile scanner, the 2D laser profile scanner comprises a laser generator, a laser controller and a laser fixing bracket, the laser fixing bracket is fixed on a detection platform, the laser generator is fixed on the laser fixing bracket, the laser controller is located in the system control cabinet, the laser controller is electrically connected with the laser generator, and the laser controller transmits scanning information to the industrial personal computer through ethernet communication or USB communication.
4. A heterogeneous piece intelligent double-robot detection, grinding and polishing processing method, which uses the heterogeneous piece intelligent double-robot detection, grinding and polishing system of any one of claims 1-3, and is characterized by comprising the following steps:
s1, conveying the workpiece to a conveyer belt through a blanking channel in the conveying device, and conveying the workpiece to a position right below the first industrial camera after being screened by a screening mechanism;
s2, the first industrial camera detects that the workpiece arrives, the conveying belt stops, and the 3D recognition system guides the second industrial robot to grab the workpiece through pose recognition;
s3, the second industrial robot places the grabbed workpiece on the detection platform, the first industrial robot changes the clamping posture to clamp the workpiece for laser partition scanning measurement and compares the workpiece with the standard model to obtain the machining allowance and the blank defect, the workpiece which cannot repair the defect is placed in a waste frame, and the problem-free workpiece generates a machining path to be ground;
s4, clamping the workpiece by the first industrial robot according to the allowance information, and grinding and processing the workpiece on the grinding and polishing machine;
s5, after grinding is finished, the first industrial robot clamps the workpiece, the second industrial robot polishes the workpiece through a cloth wheel polisher, and the force position control device adjusts the posture and the tail end path of the second industrial robot by controlling the polishing pose and the polishing force, so that intelligent control in automatic polishing is achieved;
and S6, the defect detection device detects the quality of the polished workpiece.
Technical Field
The invention relates to the technical field of industrial intelligent robots, in particular to a heterogeneous piece intelligent double-robot detection grinding and polishing system and a processing method.
Background
The heterogeneous piece has special functions in different fields due to the complex and diverse curved surfaces of the heterogeneous piece. The complex curved surface reflector can effectively reduce the refraction times and power loss, the complex curved surface engine cylinder can improve the working efficiency, and the mold cavities and the automobile parts with complex curved surface shapes also meet the functional requirements and the attractiveness. However, in practical production and application, the dimensional surface integrity and the individual difference of the heterogeneous piece blank with a complex shape are large due to the factors such as plastic deformation of materials and unreasonable manufacturing process, the heterogeneous piece has a complex structure and a variable and irregular curvature, and the existing robot grinding and polishing system cannot realize automatic processing, so that a factory urgently needs an automatic grinding and polishing system with stronger adaptability, rapidness and precision to meet social requirements.
The invention patent of China with publication number CN105215809A (intelligent perception grinding robot system with explosion-proof function) provides an intelligent perception robot system integrating a 3D vision system, a force and position hybrid control system and an explosion-proof function, and improves the processing quality of large-scale complex curved surfaces through vision guidance and force control perception. The chinese patent publication CN107511745A (an intelligent cooperative operation device with multiple robots for blade machining) discloses that a grinding robot, a polishing robot, and a vision inspection robot are configured in a time-sharing manner through a cooperative operation controller with multiple robot servo shafts, so that cooperative operation with a workbench is completed, and the problems of unstable machining quality and low efficiency caused by multiple workpiece clamping are reduced. The Chinese patent with publication number CN104889864 calibrates the actual workpiece coordinate and the standard coordinate data on line through the three-dimensional laser scanner, and corrects the processing path, so that the processing process is efficient and accurate, and the processing precision is improved.
In conclusion, the existing automatic grinding and polishing system still has the problems of single grinding control and insufficient intelligent degree, a complete grinding and detection integrated system is not provided, the robots are insufficient in mutual cooperation, the grinding and polishing flexibility is low, and high-quality intelligent automatic grinding and polishing of small-batch complex curved surface workpieces cannot be realized.
Disclosure of Invention
The invention aims to provide a heterogeneous piece intelligent double-robot detection grinding and polishing system with visual, tactile and sensing functions and a processing method thereof, aiming at the problem that the intelligent detection grinding and polishing of a complex curved surface cannot be realized in the existing processing system.
In order to achieve the purpose, the invention provides the following scheme:
the invention discloses an intelligent dual-robot detection grinding and polishing system for heterogeneous pieces, which comprises:
the transmission device is used for conveying the heterogeneous pieces;
the 3D recognition system is fixed on the transmission device and used for acquiring the postures and the positions of the heterogeneous pieces;
the industrial robot system comprises a first industrial robot and a second industrial robot, wherein a first workpiece clamp is arranged at the tail end of the first industrial robot, a force position control device is arranged at the tail end of the second industrial robot, the force position control device is connected with a quick change mechanism, the quick change mechanism comprises a second workpiece clamp and a cloth wheel polishing machine which can be switched, the first workpiece clamp and the second workpiece clamp are used for grabbing the heterogeneous piece, and the cloth wheel polishing machine is used for polishing the heterogeneous piece;
the laser detection device is used for carrying out laser partition scanning measurement on the heterogeneous piece and comparing the heterogeneous piece with a standard model to obtain the machining allowance and the blank defect;
the grinding device is used for grinding the heterogeneous piece;
the defect detection device is used for detecting the quality of the machined heterogeneous piece;
the industrial robot system, the transmission device, the 3D recognition system, the laser detection device, the grinding device and the defect detection device are all electrically connected with the system control cabinet and are regulated and controlled by the system control cabinet through a PLC (programmable logic controller);
the industrial personal computer is used for sending the collected information to the 3D recognition system, the laser detection device and the defect detection device, and the industrial personal computer is used for carrying out real-time communication and coordination processing on the industrial robot system.
Preferably, the industrial robot system further comprises a robot control cabinet, the robot control cabinet is used for receiving signals of the 3D recognition system, the laser detection device and the defect detection device and controlling the actions of the first industrial robot and the second industrial robot, and the robot control cabinet is electrically connected with the system control cabinet.
Preferably, laser detection device is 2D laser profile scanner, 2D laser profile scanner includes laser generator, laser controller and laser fixed bolster, the laser fixed bolster is fixed in on the testing platform, laser generator is fixed in on the laser fixed bolster, laser controller is located in the system control cabinet, laser controller with the laser generator electricity is connected, laser controller passes through ethernet communication or USB communication mode and gives scanning information transmission for the industrial computer.
The invention also discloses an intelligent dual-robot detection, grinding and polishing processing method for the heterogeneous pieces, and the intelligent dual-robot detection, grinding and polishing system for the heterogeneous pieces comprises the following steps:
s1, conveying the workpiece to a conveyer belt through a blanking channel in the conveying device, and conveying the workpiece to a position right below the first industrial camera after being screened by a screening mechanism;
s2, the first industrial camera detects that the workpiece arrives, the conveying belt stops, and the 3D recognition system guides the second industrial robot to grab the workpiece through pose recognition;
s3, the first industrial robot places the grabbed workpiece on a detection platform, changes the clamping posture to clamp the workpiece for laser partition scanning measurement and compares the workpiece with a standard model to obtain machining allowance and blank defects, the workpiece which cannot repair the defects is placed in a waste frame, and the problem-free workpiece generates a machining path to be ground;
s4, clamping the workpiece by the first industrial robot according to the allowance information, and grinding and processing the workpiece on the grinding and polishing machine;
s5, after grinding is finished, the first industrial robot clamps the workpiece, the second industrial robot polishes the workpiece through a cloth wheel polisher, and the force position control device adjusts the posture and the tail end path of the second industrial robot by controlling the polishing pose and the polishing force, so that intelligent control in automatic polishing is achieved;
and S6, the defect detection device detects the quality of the polished workpiece.
Compared with the prior art, the invention has the following technical effects:
1. the laser detection device is adopted for detecting the blank before processing, and the grinding and polishing information is obtained to replace manual teaching to guide a machine grinding and polishing path, so that the processing precision and adaptability are improved;
2. the 3D vision recognition system is adopted to recognize the workpiece, so that the workpiece is convenient to grab, and the processing efficiency and the automation degree of factory grinding and polishing processing are improved;
3. the force position control device is adopted to control polishing and polishing force, the attitude and the tail end path of the industrial robot are adjusted in real time, and the processing quality is improved;
4. the method of double-robot cooperative operation is adopted, so that the problem that singular points cannot be polished in single-robot polishing is solved, and the flexibility of processing is improved;
5. the defect detection device is adopted to replace manual detection, so that manual assistance is reduced, the random operability of manual detection is avoided, and the consistency of product quality is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a heterogeneous intelligent dual-robot detection polishing system according to this embodiment;
FIG. 2 is a diagram of the positional relationship of a transmission device and a 3D identification system;
FIG. 3 is a diagram showing the position relationship between the quick-change mechanism and the force/position control device;
FIG. 4 is a schematic structural diagram of a laser detection device;
description of reference numerals: 1. a six-axis industrial robot; 2. a transmission device; 3. a 3D identification system; 4. a laser detection device; 5. a force position control device; 6. a robot control cabinet; 7. a system control cabinet; 8. a grinding device; 9. a defect detecting device; 1-1, a first industrial robot; 1-2, a second industrial robot; 1-11, a first workpiece holder; 1-20, a quick-change mechanism; 1-21, a second workpiece holder; 1-22, cloth wheel polishing machine; 2-1, a conveyer belt; 2-2, a blanking channel; 2-3, a screening mechanism; 3-1, a first industrial camera; 3-2, a first camera mount; 3-3, a first rack sliding rail; 4-1, a laser generator; 4-2, fixing a support by laser; 9-1, a second industrial camera; 9-2, a second camera fixing frame; 9-4 and a second sliding table.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a heterogeneous piece intelligent double-robot detection grinding and polishing system with visual, tactile and sensing functions and a processing method thereof, aiming at the problem that the intelligent detection grinding and polishing of a complex curved surface cannot be realized in the existing processing system.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
As shown in fig. 1-4, the present embodiment provides a heterogeneous piece intelligent dual-robot detection grinding and polishing system, which includes a transmission device 2, a 3D recognition system 3, an industrial robot system, a laser detection device 4, a grinding device 8, a defect detection device 9, a system control cabinet 7, and an industrial personal computer.
The transmission device 2 is used for conveying the heterogeneous pieces; the 3D recognition system 3 is fixed on the transmission device 2 and used for acquiring the postures and positions of the heterogeneous pieces; the industrial robot system comprises a first industrial robot 1-1 and a second industrial robot 1-2, wherein a first workpiece fixture 1-11 is arranged at the tail end of the first industrial robot 1-1, a force position control device 5 is arranged at the tail end of the second industrial robot 1-2, the force position control device 5 is connected with a quick-change mechanism 1-20, the quick-change mechanism 1-20 comprises a second workpiece fixture 1-21 and a cloth wheel polishing machine 1-22 which can be switched, the first workpiece fixture 1-11 and the second workpiece fixture 1-21 are used for grabbing heterogeneous pieces, and the cloth wheel polishing machine 1-22 is used for polishing the heterogeneous pieces; the laser detection device 4 is used for carrying out laser partition scanning measurement on the heterogeneous piece and comparing the heterogeneous piece with a standard model to obtain machining allowance and blank defects; the grinding device 8 is used for grinding the heterogeneous piece; the defect detection device 9 is used for detecting the quality of the machined heterogeneous piece; the industrial robot system, the transmission device 2, the 3D recognition system 3, the laser detection device 4, the grinding device 8 and the defect detection device 9 are all electrically connected with the system control cabinet 7 and are regulated and controlled by the system control cabinet 7 through a PLC; the 3D recognition system 3, the laser detection device 4 and the defect detection device 9 send the collected information to the industrial personal computer, and the industrial personal computer carries out real-time communication and coordination processing on the industrial robot system. In this embodiment, the grinding device 8 is a grinding and polishing machine with a foaming wheel, and the first industrial robot 1-1 and the second industrial robot 1-2 both adopt a six-axis industrial robot 1. Through adopting two robots to carry out collaborative operation, the problem that singular point can't carry out the polishing in single robot polishing has been solved, has improved the flexibility of processing.
The type of transmission means 2 is various and can be selected by a person skilled in the art according to need. In this embodiment, the conveying device 2 includes a conveying belt 2-1, a feeding channel 2-2 and a screening device, and the feeding channel 2-2 and the screening device are fixed above the conveying belt 2-1. The heterogeneous workpiece is conveyed to a conveyer belt 2-1 through a blanking channel 2-2 in the conveying device 2, conveyed on the conveyer belt 2-1, and conveyed to a 3D recognition system 3 after being screened by a screening mechanism 2-3. In this embodiment, the screening mechanisms 2-3 perform height screening, and the height screening structure is a structure commonly used in the art and is not described herein again.
In this embodiment, the 3D recognition system 3 is configured to perform pose recognition on the heterogeneous member on the conveyor belt 2-1, so as to perform subsequent stopping of the conveyor belt 2-1 and grabbing actions of the industrial robot, thereby improving the processing efficiency and the degree of automation of polishing processing. The 3D recognition system 3 comprises two first industrial cameras 3-1, a first camera fixing frame 3-2, a first rack sliding rail 3-3, a first sliding table and a first camera rotating table, wherein the first rack sliding rail 3-3 is fixed on the first camera fixing frame 3-2, the first sliding table is arranged on the first rack sliding rail 3-3 in a sliding mode, the first camera rotating table is fixed on the first sliding table, the first industrial cameras 3-1 are fixed on the first camera rotating table, the two first industrial cameras 3-1 are located right above a transmission device 2, and the first industrial cameras 3-1 transmit shooting information to an industrial personal computer in an Ethernet communication or USB communication mode. When the industrial camera rotating table is used, the shooting position and angle of the first industrial camera 3-1 can be adjusted by sliding the first sliding table on the first rack sliding rail 3-3 and rotating the first camera rotating table.
In this embodiment, the industrial robot system comprises a robot control cabinet 6 in addition to the first industrial robot 1-1 and the second industrial robot 1-2 described above. The robot control cabinet 6 adopts a PLC controller and is used for receiving signals of the 3D recognition system 3, the laser detection device 4 and the defect detection device 9 and controlling the actions of the first industrial robot 1-1 and the second industrial robot 1-2, and the robot control cabinet 6 is electrically connected with the system control cabinet 7.
In this embodiment, the laser detection device 4 is used for detecting a blank before processing, and the grinding and polishing path of the machine is guided by acquiring grinding and polishing information instead of manual teaching, so that the processing precision and adaptability are improved. The laser detection device 4 is a 2D laser profile scanner and comprises a laser generator 4-1, a laser controller and a laser fixing support 4-2. The laser fixing support 4-2 is fixed on the detection platform, and the laser generator 4-1 is fixed on the laser fixing support 4-2. The laser controller is located in the system control cabinet 7 and electrically connected with the laser generator 4-1, and the laser controller transmits scanning information to the industrial personal computer in an Ethernet communication or USB communication mode.
In this embodiment, the defect detecting device 9 includes a second industrial camera 9-1, a second camera fixing frame 9-2, a second rack sliding rail, a second sliding table 9-4, a second camera rotating table, and an illumination light source. The lighting source and the second rack sliding rail are fixed on a second camera fixing frame 9-2, a second sliding table 9-4 is arranged on the second rack sliding rail in a sliding mode, a second camera rotating table is fixed on the second sliding table 9-4, a second industrial camera 9-1 is fixed on the second camera rotating table, and the second industrial camera 9-1 transmits shooting information to the industrial personal computer in an Ethernet communication or USB communication mode. When the industrial camera is used, the shooting position and angle of the second industrial camera 9-1 can be adjusted by sliding the second sliding table 9-4 on the second rack sliding rail and rotating the second camera rotary table. By adopting the defect detection device 9 to replace manual detection, manual assistance is reduced, the follow-up performance of manual detection is avoided, and the consistency of product quality is improved.
In this embodiment, the force
The embodiment also provides a processing method for the intelligent dual-robot detection, grinding and polishing of the heterogeneous piece, and the system for the intelligent dual-robot detection, grinding and polishing of the heterogeneous piece comprises the following steps:
s1, conveying the workpiece to a conveyer belt 2-1 through a blanking channel 2-2 in the conveying device 2, screening by a screening mechanism 2-3, and conveying to a position right below a first industrial camera 3-1;
s2, the first industrial camera 3-1 detects that the workpiece arrives, the conveying belt 2-1 stops, and the 3D recognition system 3 guides the first industrial robot 1-1 to grab the workpiece through pose recognition;
s3, the second industrial robot 1-2 places the grabbed workpiece on a detection platform, the first industrial robot 1-1 changes the clamping posture to clamp the workpiece for laser partition scanning measurement and compares the workpiece with a standard model to obtain machining allowance and blank defects, the workpiece which cannot repair the defects is placed in a waste frame, and the problem-free workpiece generates a machining path to be ground;
s4, clamping the workpiece by the first industrial robot 1-1 according to the allowance information, and grinding and processing the workpiece on the grinding and polishing machine;
s5, after grinding is finished, the first industrial robot 1-1 clamps a workpiece, the second industrial robot 1-2 polishes the workpiece through the cloth wheel polisher 1-22, and the force and
and S6, the defect detection device 9 detects the quality of the polished workpiece.
The principle and the implementation mode of the present invention are explained by applying specific examples in the present specification, and the above descriptions of the examples are only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
- 上一篇：一种医用注射器针头装配设备
- 下一篇：一种钢管内壁抛光装置