Equipment and method for continuous feeding and discharging and uninterrupted polishing of marine arc slab

Abstract

The invention discloses equipment and method for continuous feeding and discharging and uninterrupted polishing of marine arc slabs, the size and center coordinates of the arc slabs are collected through a three-dimensional vision device on a feeding and discharging robot, the robot is guided to grab the arc slabs and flatly place the arc slabs on a tool clamp table, and then the clamp table adjusts the positions of the arc slabs according to size information and fixes the arc slabs; the tool clamp table enters a grinding station and turns over the arc plate to be vertical, a line laser vision sensor on a grinding robot detects the position of a free edge, the grinding robot is guided to move according to a track, and a six-dimensional force control device detects stress of a grinding tool and completes posture correction; and meanwhile, the feeding and discharging robot and the tool clamp table on the other side are prepared in the same mode, when the arc plate is polished and pushed out, the fed arc plate on the other side enters a polishing station, the same polishing operation is completed, flexible automatic polishing is achieved, the polishing application range is greatly widened, unmanned continuous polishing operation is achieved, and the production efficiency is improved. And the working efficiency is greatly improved.

Description

technical field [0001] The invention relates to the technical field of grinding marine parts, in particular to a device and method for continuous loading and unloading and uninterrupted grinding of marine arc plates. Background technique [0002] The free edge of the marine arc plate mainly refers to the corner edge of the marine arc plate that is not connected with other parts and is directly exposed to the internal environment of the cabin. Therefore, in order to avoid premature corrosion and peeling off of the anti-rust paint on the free edge of the arc plate and reduce the maintenance cost of the ship, the free edge of the arc plate needs to be rounded and polished to increase the adhesion area of ​​the anti-rust paint. The traditional arc plate free edge grinding usually uses a manual hand-held pneumatic chamfering machine to grind the free edge fillet of the arc plate laid on the ground. Turn all arc plates over and continue grinding on the other side. This grinding ...

AI Technical Summary

Problems solved by technology

[0004] Some people in China have conducted research on the automatic grinding of marine arc plates and achieved certain results, but most of them are still in an ideal environment and have not been practically promoted to the industrial robot site for workpiece grinding. The main problems are as follows: (1 ) can’t be applied to situations where there is a large blanking error of the pre-order arc plate, many covering specifications, and the grinding surface is not smooth; (2) the grinding efficiency is low; (3) the grinding equipment is expensive and the maintenance cost is high

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