Autonomous grinding and polishing robot for welding line of large structural member
A technology of large-scale structural parts and robots, applied in grinding/polishing equipment, machine tools suitable for grinding workpiece edges, grinding machines, etc., can solve problems such as difficulty in ensuring shape accuracy, unstable processing quality, low efficiency, etc. The effect of processing flexibility and efficiency, overcoming the limitation of processing range, and reducing labor intensity
Inactive Publication Date: 2011-09-21
JILIN UNIV
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Problems solved by technology
[0003] The invention provides an autonomous grinding and polishing robot for welding seams of large-scale structural parts to solve the problems of time-consuming, laborious and inefficient manual grinding and polishing, and it is difficult to ensure shape accuracy and unstable processing quality.
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[0020] The walking module 1 and the grinding and polishing execution module 2 are connected to the frame 3 respectively.
[0021] Wherein, the structure of walking module 1 is: driving shaft 102 and driven shaft 104 are fixed on the frame 3, DC stepping reduction motor 101 is fixed on the frame, is connected with driving shaft 102 by gear pair 103, driving wheel 109 and The guide wheels 106 are respectively connected with the driving shaft 102 and the driven shaft 104. The caterpillar structure is composed of side bending chains 108 with attached plates wound on the driving wheels 109 and the guide wheels 106. The vacuum suction cup adsorption mechanism 5 is connected with the chain 108 through the attached plates. , the steering mechanism 4 is fixed on the frame 3, and is connected with the driven shaft 104 and the guide wheel 106 respectively.
[0022] Wherein, the structure of the steering mechanism 4 is: the linear motor 404 is fixed on the frame 3 through the motor flange...
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The invention relates to an autonomous grinding and polishing robot for a welding line of a large structural member, belonging to the field of mechanical manufacture. A walking module and a grinding and polishing executing module are connected with a stand, a drive shaft and a driven shaft are fixed on the stand, a drive wheel and a guide wheel are respectively connected with a drive shaft and a driven shaft, a track structure is connected with a sucker adsorbing mechanism through a track attaching plate, a steering device consists of a linear motor fixed on the stand and a driven shaft, the grinding and polishing executing module is fixed on the stand through a grinding and polishing feeding mechanism consisting of a two-degree-to-freedom linear module, and a grinding and polishing mechanism is connected with a vertical feeding module through a screw nut and a sliding block. The robot can realize autonomous grinding and polishing on the welding line of the large structural member, thereby greatly reducing labor cost of manual machining and labor intensity of workers, and improving machining flexibility.
Description
technical field [0001] The invention belongs to the field of mechanical manufacturing, in particular to an autonomous operation robot used for grinding and polishing treatment of weld seams of large structural parts. Background technique [0002] Welding forming has strong adaptability, high connection strength and good connection airtightness, and is widely used in the forming of large structural parts. At present, the formation of large planes and curved surfaces such as trains, ships and airplanes is mostly made of block components after splicing and welding. In the past 20 years, the development speed of welding technology can be said to be faster than any period, and the degree of welding mechanization and automation has been continuously improved. It can be done manually by workers. Manual grinding and polishing is not only time-consuming, laborious, and inefficient, but also difficult to ensure shape accuracy and unstable processing quality. Contents of the invent...
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IPC IPC(8): B24B9/04
Inventor 张雷赵继曲兴田冀世军王昕邵奎伟
Owner JILIN UNIV