A kind of grinding system and grinding process

Abstract

The invention discloses a grinding system and a grinding process. A deflection angle type sensor is mounted on a mechanical arm; measurement before and after grinding is performed on a ground workpiece on a plane in space; the measurement results are analyzed; whether a convex point exists in a grinding path is determined; when it is determined that the convex point exists in the grinding path, local grinding is performed and then machining is performed; according to the grinding system, the planeness before and after grinding is analyzed; the mechanical arm can perform re-machining in real time, so that a remounting step is omitted; and the purpose of online detection automation is achieved.

Description

technical field [0001] The invention relates to the field of processing and manufacturing, more specifically, to a grinding system and a grinding process. Background technique [0002] With the rapid development of industry and manufacturing, welding is a widely used processing method in the forming of structural parts, which has the advantages of high connection strength, strong adaptability, and good connection sealing. After welding, the excess welding metal material needs to be removed. Grinding and polishing to remove the post-weld weld is not only a process requirement to obtain a smooth and consistent surface of the connected parts, but also a way to reduce welding stress. Therefore, removing the post-weld weld of structural parts The excess metal material has practical significance. [0003] At present, the removal of excess metal materials in welds of structural parts is still done manually by workers. Technical workers use polishing tools such as polishing wheels ...

AI Technical Summary

Problems solved by technology

[0003] At present, the removal of excess metal materials in welds of structural parts is still done manually by workers. Technical workers use polishing tools such as polishing wheels to polish the welds of structural parts. Not only is the labor intensity high and the efficiency is low, but the processing accuracy is also difficult to guarantee. , Workers often wear the base metal during welding seam grinding and polishing. More importantly, the dust generated during the grinding and polishing process will also endanger the health of operators. Operators sometimes have to work at high places and in small spaces. The working environment is harsh, so there is an urgent need for automation of welding seam grinding and polishing of structural parts

If a machine tool is used for automatic grinding and polishing of weld seams of structural parts, the size of the machine tool needs to be larger than that of the structural parts. Such large-scale equipment is difficult to process and assemble, and the processing flexibility is insufficient and the cost is expensive.

[0004] At present, the application of robotic arms in industry has been quite extensive, and the robotic arm technology using robotic arms for grinding, polishing and deburring has also become quite common. However, there are relatively few analyzes on the direct application of robotic arms to the grinding of grinding workpieces

Because the accumulated error of each axis of the robot arm is large, it cannot meet the requirements of high-precision detection

For the measurement of high-precision grinding workpieces, a three-coordinate measuring instrument is usually used for measurement. However, the machine working space of the three-coordinate measuring instrument is limited, and the workpiece needs to be moved from the grinding position to the three-coordinate measuring instrument during measurement. The three-coordinate measuring instrument The degree of freedom of the measuring instrument relative to the mechanical arm is also low, so there is still no complete, high-precision and high-degree-of-freedom grinding system that can detect workpieces after grinding

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