CN-121973073-A - Intelligent efficient polishing robot workstation

CN121973073ACN 121973073 ACN121973073 ACN 121973073ACN-121973073-A

Abstract

The invention discloses an intelligent efficient polishing robot workstation which comprises a detection unit, a polishing unit, a moving unit and a control system, wherein the detection unit adopts a machine vision system and is provided with a dust cover, a workpiece image and a deep learning model are utilized to reconstruct a defect three-dimensional form, various quantization parameters are extracted, the polishing unit comprises a polishing robot, a force control device and a polishing tool, the moving unit drives a workpiece to switch between a detection area and a polishing area through a sliding table module, the control system is used for adaptively matching optimal polishing parameters from a preset process parameter library through an intelligent algorithm based on the defect quantization parameters, the polishing robot is controlled to execute polishing, and automatic rechecking is performed after polishing is completed, residual defects are circularly repaired until the residual defects are qualified or judged to be defective products.

Inventors

TANG AIJUN
HAO QIANG
WU YONGHAO
JIANG XIAN
CHEN YITING
ZHU JINCAI
ZHENG ZHUOJUN
HU YANE

Assignees

广州铁路职业技术学院（广州铁路机械学校）

Dates

Publication Date: 20260505
Application Date: 20260302

Claims (9)

1. Intelligent high-efficient grinding robot workstation, its characterized in that includes: the detection unit (1) comprises a machine vision system (10) and a dust cover (11), wherein the machine vision system (10) adopts a 3D camera or a 2D camera, is fixedly arranged above a detection area and is used for detecting defect characteristics of a workpiece, and the dust cover (11) is filled with positive pressure gas and is used for preventing external dust from entering and affecting the work of the machine vision system (10) in the detection process; The polishing unit (2) comprises a high-rigidity and high-load polishing robot (20), a force control device (21), a polishing tool (22) and consumable materials, wherein the high-rigidity and high-load polishing robot (20) is used for bearing the polishing tool (22) and executing a polishing track, the force control device (21) is provided with a flexible buffer function and is arranged at the tail end of the polishing robot (20) and used for precisely controlling polishing pressure, and the polishing tool (22) and the consumable materials are selectively adapted according to the material quality and defect type of a workpiece; The movable unit (3) comprises a product clamping jig (30) and a movable sliding table module (31), wherein the product clamping jig (30) is used for fixing a workpiece, and the movable sliding table module (31) is connected with the product clamping jig (30) and is used for driving the product clamping jig (30) to switch between a detection area and a polishing area; and the control system is in communication connection with the detection unit (1), the polishing unit (2) and the moving unit (3) and is used for controlling the polishing executing mechanism to execute polishing operation on the workpiece based on the quantization parameter of the defect.
2. The intelligent efficient grinding robot workstation of claim 1, wherein the machine vision system (10) further includes a deep learning processing unit that implements three-dimensional reconstruction of defects based on deep learning techniques, extracting defect quantification parameters including defect type, location, area, height, volume, and severity.
3. The intelligent efficient grinding robot workstation as recited in claim 1, wherein the dust cover (11) is provided with a compressed air inlet for introducing compressed air into the dust cover (11) and maintaining positive pressure within the cover.
4. The intelligent efficient grinding robot workstation of claim 1, further comprising an auxiliary functional unit, wherein the auxiliary functional unit comprises a rack, a water circulation device, an automatic consumable replacement device and an air draft dust removal device; the rack is used for supporting and installing each functional module; the water circulation device is used for cooling in the polishing process; the automatic consumable replacement device is used for replacing polishing consumables in real time according to consumable abrasion conditions; the air draft dust removing device is used for treating dust generated by polishing.
5. The intelligent efficient grinding robot workstation of claim 1, the intelligent efficient grinding robot workstation having an intelligent grinding control method applied thereto, the intelligent grinding control method comprising the steps of: scanning and shooting a workpiece through a machine vision system fixedly arranged above a detection area, realizing three-dimensional reconstruction of defects based on a deep learning technology, and extracting defect quantification parameters including defect type, position, area, height, volume and severity; establishing a polishing process parameter library covering different materials and defect types, wherein the process parameters comprise polishing angles, pressures, tracks, times, moving speeds, feeding rates and dry and wet polishing modes; comprehensively analyzing the defect quantization parameters through an intelligent algorithm, and adaptively selecting an optimal process parameter combination from a process parameter library; the product clamping jig is driven by the mobile sliding table module, and the workpiece is switched from the detection area to the polishing area; The high-rigidity heavy-load polishing robot executes polishing operation under the flexible buffer control of the force control device according to the adaptively matched process parameters and the planned track; and after polishing, moving the workpiece back to the detection area for rechecking, and if the workpiece is unqualified, performing fixed-point repairability polishing according to the type, the position and the severity of the unfinished defect until the workpiece is qualified or judged to be defective.
6. The intelligent efficient grinding robot workstation of claim 5, wherein the step of performing three-dimensional reconstruction of defects based on a deep learning technique by scanning a workpiece through a machine vision system fixedly mounted above a detection area comprises: compressed air is introduced into the dust cover to keep positive pressure in the cover, so that external polishing dust is prevented from entering to influence the visual work of the machine; scanning and shooting a workpiece through a 3D camera or a 2D camera fixedly arranged above the detection area to obtain workpiece surface image data; inputting the image data into a deep learning model, identifying a defect area and classifying defect types; Three-dimensional reconstruction is carried out on the identified defect area, and geometric characteristic parameters of the defect are calculated, wherein the geometric characteristic parameters comprise defect outline, projection area, maximum height, volume and curvature change; comparing the geometric characteristic parameter with a preset threshold value, and determining the severity level of the defect; The defect type, position coordinates, geometric feature parameters and severity level are combined to form a complete defect quantification parameter set.
7. The intelligent efficient grinding robot workstation of claim 5, wherein said step of adaptively selecting an optimal process parameter combination from a process parameter library by comprehensively analyzing defect quantization parameters by an intelligent algorithm comprises: Constructing a process parameter library covering the corresponding relation between different workpiece materials, different defect types and polishing process parameters, wherein the process parameters comprise polishing angles, pressures, tracks, times, moving speeds, feeding rates and dry and wet polishing modes; taking the extracted defect type, position, area, height, volume and severity as input characteristics; comprehensively analyzing the input characteristics through an intelligent algorithm, and calculating the matching degree of the current defect characteristics and each case in the process parameter library; matching the process parameter combination with the highest similarity from a process parameter library to serve as a basic parameter; and linearly or nonlinearly adjusting the basic parameters according to the defect severity to generate an optimal process parameter combination.
8. The intelligent high-efficiency grinding robot workstation of claim 5, wherein the step of performing the grinding operation under flexible buffer control of the force control device according to the adaptively matched process parameters and planned trajectories by the high-rigidity heavy-load grinding robot comprises: according to the defect position coordinates and the defect outline, planning a local fixed-point polishing track aiming at the defect area, so that a polishing tool only covers the defect area and the neighborhood thereof, and avoiding comprehensively polishing the non-defect area; the matched polishing pressure value is sent to the force control device, so that the force control device keeps constant output force in the polishing process, flexible buffer control is realized, and the workpiece is prevented from being damaged by the hard boldly confront or challenge a powerful opponent; The force control device feeds back contact force data in real time, and the high-rigidity heavy-load polishing robot dynamically adjusts the self feeding speed and attitude angle according to the deviation between the real-time contact force and the target pressure, and precisely controls the polishing pressure; synchronously starting a water circulation device and an air draft dust removal device to cool and treat dust; automatic change consumable device is according to consumable wearing and tearing condition or preset change cycle, and the consumable of polishing is replaced in real time, guarantee polishing effect.
9. The intelligent efficient grinding robot workstation of claim 5, wherein the step of moving the workpiece back to the detection area for rechecking after finishing the grinding, and performing fixed point restorative grinding if the workpiece is not qualified comprises: after polishing, moving the sliding table module to move the workpiece from the polishing area to the detection area; Scanning and detecting the polished area through a machine vision system fixedly arranged above the detection area again under the environment of keeping the positive pressure of the dust cover, and obtaining polished surface morphology data; comparing the surface morphology data obtained by the recheck with a preset qualified standard, and judging whether the defect is completely removed; if the residual defect is detected, extracting quantification parameters of the residual defect, including updated position, area, height and severity; according to the residual defect quantization parameters, matching the repairability polishing process parameters from a process parameter library through an intelligent algorithm again; Moving the workpiece to the polishing area again, and performing fixed-point repairability polishing on the residual defect area only; repeating the rechecking and repairing steps until the workpiece is qualified or reaches the preset maximum polishing times; If the maximum polishing times or the defect severity exceeds the repairable range, judging the defective products and recording defect data and polishing history.

Description

Intelligent efficient polishing robot workstation Technical Field The invention relates to the technical field of robot polishing, in particular to an intelligent efficient polishing robot workstation. Background With the continuous improvement of the requirements of the manufacturing industry on the surface quality of workpieces, the polishing process is increasingly widely applied in the fields of aerospace, automobile manufacturing, mold processing and the like. At present, the traditional polishing operation is still mainly finished by manual operation or semi-automatic equipment, and the problems of high labor intensity, severe working environment (dust and noise), unstable polishing quality, low efficiency and the like exist in manual polishing, and the requirements on technical experience of operators are high, so that the production requirements of large-scale, high-precision and diversified products are difficult to meet. In order to solve the manual problem, the prior art has appeared that the industrial robot carries out automatic polishing, but the prior art still has the following disadvantages: 1. the intelligent perception capability is lacking, that the traditional polishing robot is in a 'teaching reproduction' mode, the defect position, type and severity of the surface of a workpiece cannot be perceived in real time, and self-adaptive polishing is difficult to realize, so that excessive polishing or insufficient polishing is caused, and even a workpiece substrate is damaged; 2. in the existing scheme, the detection and polishing are often divided into two independent stations or equipment, and a workpiece is required to be clamped and transported for many times, so that the efficiency is low, positioning errors are easy to introduce, and the polishing precision is influenced; 3. the dust interference is serious, namely, a large amount of metal or nonmetal dust is diffused in the air in a polishing site, and if a detection system (such as a visual camera) is directly exposed in a dust environment, a lens is easy to be polluted, so that an image is blurred, detection is invalid, and a subsequent polishing decision is influenced; 4. The method lacks the self-adaptive process adjustment capability, has large difference of requirements of different materials (such as cast iron, aluminum alloy and composite material) and different defect types (such as burrs, pits, weld flash and oxide skin) on polishing process parameters (pressure, angle, track, frequency and the like), is difficult to dynamically match with optimal process parameters according to detection results, and has low intelligent degree; 5. the existing polishing system is mostly not provided with closed-loop control capability of polishing, rechecking and repairing, real-time evaluation and fixed-point repairing of the polished surface quality cannot be carried out, defective products are easy to generate, and the reworking cost is increased. Therefore, the prior art cannot meet the requirements of modern production on efficient, precise and intelligent processing, and an intelligent efficient polishing robot workstation is needed to improve the automation and intelligent level of polishing operation and ensure the consistency and the high efficiency of the polishing quality of workpieces. Disclosure of Invention In order to solve the problems in the prior art related to workpiece polishing, which are mentioned in the background art, the invention provides an intelligent and efficient polishing robot workstation. The first object of the present application is achieved by the following technical solutions: an intelligent efficient grinding robot workstation comprising: the detection unit comprises a machine vision system and a dust cover, wherein the machine vision system adopts a 3D camera or a 2D camera which is fixedly arranged above a detection area and is used for detecting defect characteristics of a workpiece, and the dust cover is filled with positive pressure gas and is used for preventing external dust from entering to influence the work of the machine vision system in the detection process; The polishing device comprises a polishing unit, a polishing unit and a polishing unit, wherein the polishing unit comprises a high-rigidity large-load polishing robot, a force control device, a polishing tool and consumable materials, the high-rigidity large-load polishing robot is used for bearing the polishing tool and executing a polishing track, the force control device is provided with a flexible buffer function and is arranged at the tail end of the polishing robot and used for accurately controlling polishing pressure; The movable sliding table module is connected with the product clamping jig and used for driving the product clamping jig to switch between a detection area and a polishing area; And the control system is in communication connection with the detection unit, the polishing unit and the mobile unit and is used for co