Welding seam grinding robot and grinding method based on welding seam grinding robot

Abstract

The invention relates to the field of robots, in particular to a welding seam polishing robot and a grinding method based on the welding seam polishing robot, the welding seam polishing robot comprises a measurement control system, a connection system, a left side execution unit and a right side execution unit, the left side execution unit and the right side execution unit are the same in structure, and the left side execution unit is connected with the connection system. The left execution unit and the right execution unit are distributed in a mirror symmetry manner; the welding seam grinding robot is symmetrical in structure, can grind and polish welding seams on the two sides of a welding part at the same time, integrates the mechanical technology, the measurement technology and the control technology, can achieve flexibility and automation of grinding and polishing of the welding seams, and has the advantages of being high in machining efficiency, easy to operate, convenient to use and the like.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of special robots, and particularly relates to a welding seam polishing robot and a polishing method based on the welding seam polishing robot. BACKGROUND

[0002] A ship is a vehicle capable of sailing or parking in a water area for transportation or operation. In order to make the ship have sufficient strength, rigidity, stability and reliability under external force, maintain reliable watertightness, a large ship is composed of many horizontal and vertical partitions, which are divided into cabins. These cabins are T-shaped welded by carbon steel or low alloy steel plates, that is, two plates are vertically placed in a T shape, the vertical plate in the middle is double-bevel, and the welding seam is full penetration. The cross section after welding is in the shape of "T". This type of "T" shaped component has a long length, a large number, and is modularly manufactured in parallel. The working hours account for about 30% to 50% of the total shipbuilding working hours, and the cost accounts for as high as 30% to 50%. At present, the instability of the welding seam quality is still the key bottleneck restricting the high-quality development of the industry. The welding seam quality directly affects the structural safety and service life of the ship. Welding defects may lead to high rework cost, and even cause serious accidents. In order to remove the defects generated in the welding process, improve the welding quality, enhance the fatigue strength and sealing performance of the welding seam, improve the coating effect and aesthetic appearance, and avoid local stress concentration of the welding seam, it is also necessary to polish the welding seam on both sides of the T-shaped plate. At present, due to the restriction of the welding seam position, the polishing of the welding seam mainly relies on workers holding the grinding wheel in a semi-squatting posture. The labor intensity is large, and the polishing needs to be done several times, which is low in efficiency. The sparks generated during the polishing process splash, which can easily cause harm to the eyes and respiratory organs of the operators, and the working environment is poor. The welding seam polishing workload is large, three parts are welded and seven parts are polished, the polishing time is long, which affects the construction period of the new ship, and the cost of manual polishing is high. Due to the poor welding seam polishing quality, the overall rework rate of the ship is high. Therefore, the polishing of the welding seam of the ship steel plate has been a problem in the industry.

[0003] A ship body welding seam polishing robot and a use method thereof are disclosed in Chinese patent (publication number: CN 113459099 A, publication date: October 1, 2021). The polishing device includes a lifting vehicle unit, a mechanical arm, a polishing unit, a positioning navigation unit, etc. The polishing device mainly polishes the welding seam through the polishing unit installed on the movable vehicle-mounted mechanical arm. The device has good convenience for polishing the single-sided welding seam of the ship body after assembly, such as the single-sided welding seam of the outer periphery of the ship body. However, the polishing device of the equipment is installed at the end of a long mechanical arm. During polishing, it is difficult for the grinding wheel to accurately aim at the position of the welding seam. The length of the elongated mechanical arm is too long, which can easily cause the overturning of the whole device. The device has a large volume, a heavy weight, and a relatively complex structure. In particular, the device can only use a single polishing machine to polish the single-sided welding seam, which is low in polishing efficiency. SUMMARY

[0004] The present application aims at overcoming the deficiencies of the prior art and providing a polishing robot capable of being used for welding seam polishing.

[0005] To achieve the above object, the present application adopts the technical scheme of:

[0006] A welding seam polishing robot comprises a measurement control system, a coupling system, a left execution unit and a right execution unit, the left execution unit and the right execution unit are of the same structure and are distributed in mirror symmetry.

[0007] The measurement control system comprises an input screen, a controller and a computer; the coupling system comprises a height adjustment rod, a hexagon nut, a coupling plate and a vehicle frame; the lower end of the height adjustment rod passes through the hole in the coupling plate, the inner hole of the hexagon nut and the screw hole of the vehicle frame in sequence, and the lower end of the height adjustment rod is installed on the vehicle frame through threads.

[0008] The first distance meter, the second distance meter and the third distance meter of the right execution unit are mirror symmetrically installed in the left execution unit; the first distance meter is installed on the front side of the workbench through screws, the second distance meter is installed on the left side of the workbench through screws, and the third distance meter is installed in the front end mounting groove of the vehicle frame.

[0009] The input screen is installed on the coupling plate through screws, the controller and the computer are installed in the box grid below the input screen, the distance information detected by the first distance meter, the second distance meter and the third distance meter is transmitted to the controller through data lines, the computer is connected with the controller through data lines, the input screen transmits signals to the controller, and the distance meters in the right execution unit are mirror symmetrically arranged with the distance meters in the left execution unit.

[0010] The right execution unit comprises a measurement system, a grinding and polishing system, a recycling system and a carrying system.

[0011] The measurement system comprises a first distance meter, a second distance meter and a third distance meter; the first distance meter is installed on the front side of the workbench through screws, the second distance meter is installed on the left side of the workbench through screws, and the third distance meter is installed in the front end mounting groove of the vehicle frame; the distance information measured by the first distance meter, the second distance meter and the third distance meter is transmitted to the controller through data lines.

[0012] The grinding and polishing system comprises a first guide device, a second guide device, a grinding adjustment driving mechanism, a polishing adjustment driving mechanism, a grinding wheel and a polishing wheel. The first guide device comprises a first guide wheel, a mandrel, a sleeve, a piston, a threaded pin, a spring and an adjusting screw plug. The lower end of the mandrel passes through the upper pin hole of the piston and the middle hole of the first guide wheel in sequence. The mandrel is in interference fit with the upper pin hole of the piston, clearance fit with the middle hole of the first guide wheel, and installed in the middle hole of the sleeve through clearance fit. The lower end of the threaded pin passes through the threaded pin hole on the sleeve and is inserted into the piston guide groove. The flange plate on the sleeve is provided with a mounting hole. The sleeve is coupled with the adjusting screw plug through threads. The spring is installed between the piston and the adjusting screw plug. The first guide device is installed on the vehicle frame through the mounting hole on the flange plate of the sleeve. The second guide device has the same structure as the first guide device, and the installation position of the second guide device is mirror-symmetrical with the installation position of the first guide device.

[0013] The grinding adjustment driving mechanism comprises a workbench, a guide rail, a grinding tool motor, a first distance meter, a second distance meter, a wall-hanging bolt, a first guide rod, a second guide rod, a transverse adjustment motor, a first coupling, a second coupling, a first lead screw, a second lead screw, a short bolt, a longitudinal adjustment motor, a flat nut, a slide saddle, a right side baffle, a left side baffle, a right side transverse mounting hole, a left side transverse mounting hole, a left side transverse guide hole, a right side transverse guide hole, a wall-hanging round hole, a slide seat, a threaded short hole, a transverse threaded long hole and a transverse guide light hole. The grinding tool motor is installed on the front side of the workbench. The first distance meter is installed on the front side of the workbench through a screw. The second distance meter is installed on the left side of the workbench through a screw. The workbench and the guide rail are assembled together through dovetail grooves. The guide rail is installed on the slide seat through the short bolt and the threaded short hole. The longitudinal adjustment motor is installed on the slide seat through a screw. The output shaft of the longitudinal adjustment motor is connected with the upper end of the second lead screw through the second coupling. The lower end of the second lead screw is connected with the workbench through threads. The transverse adjustment motor is installed on the slide saddle through a screw. The main shaft of the transverse adjustment motor is connected with the right end of the first lead screw through the first coupling. The left end of the first lead screw passes through the right side transverse mounting hole on the right side baffle, the transverse threaded long hole on the slide seat and the left side transverse mounting hole on the left side baffle in sequence. The right end of the first guide rod passes through the left side transverse guide hole on the left side baffle, the transverse guide light hole on the slide seat and the right side transverse guide hole on the right side baffle in sequence. The right end of the first guide rod is fixed through the flat nut. The second guide rod is installed in the same way as the first guide rod. The installation position of the second guide rod is symmetrical with the installation position of the first guide rod with the first lead screw as the center. The slide saddle is installed on the left wall plate of the vehicle frame through the wall-hanging bolt and the wall-hanging round hole.

[0014] The polishing adjustment driving mechanism is completely the same in structure as the grinding adjustment driving mechanism and is mirror-symmetrically distributed, the grinding motor spindle passes through the middle hole of the grinding wheel, the grinding wheel is fixed at the shaft end of the grinding motor spindle through a nut, and the polishing wheel is fixed at the shaft end of the polishing adjustment driving mechanism;

[0015] The recycling system comprises a grinding dust collecting device, which comprises a collecting box, an absorption pipe, a right chamber, a left chamber, a dust collection motor, a fan and a filter screen; the dust collection motor is installed in the left chamber, the fan is installed at the shaft end of the output shaft of the dust collection motor, the filter screen is arranged between the left chamber and the right chamber, the right chamber is communicated with the absorption pipe through a middle hole in the side surface, and the collecting box is located below the right chamber.

[0016] The carrying system comprises a first wheel, a second wheel, a first universal wheel, a second universal wheel, a frame and a rear wheel driving motor; the first wheel is installed at the shaft end of the outer side of the frame, the second wheel is installed at the shaft end of the rear wheel driving motor, the rear wheel driving motor is installed in the tail box of the frame, and the first universal wheel and the second universal wheel are installed at the bottom of the frame.

[0017] A grinding method of the welding seam polishing robot, the grinding method comprises the following steps:

[0018] 1) The welding seam polishing robot is transported to the site of a T-shaped steel welding piece, the height of the coupling plate is adjusted according to the height of the vertical steel plate of the T-shaped piece, the height of the welding seam polishing robot is adjusted by adjusting the height adjusting rod, the hexagonal nut and the depth of the height adjusting rod screwed into the frame, so that the welding seam polishing robot has greater processing flexibility;

[0019] 2) The power is turned on, the diameter of the grinding wheel, the back infeed depth and the rotating speed of the grinding seam, the diameter of the polishing wheel, the back infeed depth and the rotating speed, the advancing speed of the welding seam polishing robot, the distance between the first distance measuring instrument and the lowest point of the grinding wheel in the vertical direction, and the distance between the second distance measuring instrument and the end face of the grinding wheel in the horizontal direction are input into the computer through the input screen according to the width of the welding seam on both sides of the welding piece, the mechanical properties of the welding seam material and other information;

[0020] 3) The computer sends an action signal to the controller, the rear wheel driving motor drives the second wheel to rotate after receiving the instruction of the controller, under the joint action of the mirror-symmetrically distributed first guide device and the second guide device, the welding piece enters the inside of the welding seam polishing robot, and the welding seam polishing robot pauses to perform tool setting;

[0021] 4) the second distance meter measures the horizontal distance from the welding piece after receiving the instruction from the controller, the distance information measured by the second distance meter is fed back to the controller, the horizontal adjustment motor drives the first screw to rotate through the first coupling after receiving the instruction from the controller, the rotation of the first screw makes the slide horizontally move to the left, the workbench, the second distance meter and the grinding wheel also move to the left, the real-time distance information measured by the second distance meter is fed back to the controller, the horizontal distance from the second distance meter to the welding piece reaches the set value, the controller sends an instruction to stop the rotation of the horizontal adjustment motor, the grinding wheel stops moving horizontally to the left, and the grinding wheel completes the horizontal tool setting;

[0022] 5) the first distance meter measures the distance in the vertical direction from the welding piece after receiving the instruction from the controller, the distance information measured by the first distance meter is fed back to the controller, the longitudinal adjustment motor drives the second screw to rotate through the second coupling after receiving the instruction from the controller, the rotation of the second screw makes the workbench move vertically downward along the guide rail, the first distance meter and the grinding wheel move downward with the workbench, the real-time distance information measured by the first distance meter is fed back to the controller, the distance of the first distance meter reaches the set value, the controller sends an instruction to stop the rotation of the longitudinal adjustment motor, the grinding wheel stops moving downward, and the grinding wheel completes the vertical tool setting;

[0023] 6) the controller sends an instruction to the mirror-symmetrically distributed polishing adjustment driving mechanism to make the polishing wheel complete the horizontal and vertical tool setting;

[0024] 7) the dust collection motor drives the fan to start rotating and generate suction after receiving the instruction from the controller, the air near the grinding wheel and the polishing wheel is sucked into the filter device through the suction pipe;

[0025] 8) the grinding wheel and the polishing wheel rotate simultaneously to grind after receiving the instruction from the controller, the generated grinding dust is sucked into the right chamber through the suction pipe, the right chamber is separated from the left chamber by a filter screen, the waste enters the right chamber and falls into the collection box, realizing the recycling of the grinding dust, and the collected grinding dust is stored in the collection box;

[0026] 9) the rear wheel driving motor drives the second wheel to rotate after receiving the instruction from the controller, the first universal wheel and the second universal wheel support the welding seam polishing robot to move along the welding seam direction, completing the grinding and polishing of the entire welding seam;

[0027] 10) After the welding seam polishing is completed, the grinding machine motor stops working under the instruction of the controller, and the rear wheel driving motor stops rotating under the instruction of the controller;

[0028] 11) The transverse adjustment motor receives the instruction of the controller, the transverse adjustment motor drives the first lead screw to rotate reversely through the first coupling, the first lead screw moves the slide and the grinding wheel horizontally to the right to retreat to the preset position, and the controller sends an instruction to stop the transverse adjustment motor from rotating;

[0029] 12) After the longitudinal adjustment motor receives the instruction of the controller, the longitudinal adjustment motor drives the second lead screw to rotate reversely through the second coupling, the second lead screw moves the workbench and the grinding wheel vertically upward along the guide rail to retreat to the preset position, and the controller sends an instruction to stop the longitudinal adjustment motor from rotating;

[0030] 13) The controller sends an instruction to the mirror-symmetrical polishing adjustment driving mechanism to move the polishing wheel to the preset position in the horizontal direction and the vertical direction;

[0031] 14) The power is turned off, and the welding seam polishing process is completed.

[0032] The present application has the following advantages:

[0033] 1) The welding seam polishing robot provided by the present application adopts a symmetrical structure, and simultaneously polishes the welding seams on both sides of the T-shaped plate, thereby greatly improving the efficiency of welding seam polishing and greatly shortening the process time of welding seam polishing, compared with traditional manual polishing and single grinding wheel polishing.

[0034] 2) The measurement control system in the present application accurately controls the position, grinding speed, back engagement amount and feed amount of the grinding wheel and the polishing wheel, realizes accurate grinding and polishing of the welding seam, greatly improves the polishing quality of the welding seam, and makes the subsequent coating or corrosion prevention treatment more reliable.

[0035] 3) The left and right execution units in the present application are symmetrically distributed, and the guiding device with a spring is self-adaptive to vertical steel plates of different thicknesses, so that the polishing process has great flexibility and good guidance, and the welding seam polishing robot has good stability and working reliability.

[0036] 4) In the present application, the grinding dust and the grinding wheel threshing generated by grinding and polishing are sucked into the collection box through the grinding dust collection device, which improves the working environment, protects the health of workers, and avoids accidents caused by sparks.

[0037] 5) The welding seam polishing robot provided by the present application adopts a full-automatic grinding and polishing method, and can automatically stop when encountering an obstacle, thus greatly reducing the working strength of workers, reducing safety hazards, and reducing the probability of production safety accidents. BRIEF DESCRIPTION OF DRAWINGS

[0038] The following is a brief description of the content expressed by each drawing of the present application and the labels in the drawings:

[0039] Figure 1 is an axonometric view of the welding seam polishing robot of the present application;

[0040] Figure 2 is a sectional view of Figure 1 ;

[0041] Figure 3 is a right-side execution unit axonometric view of Figure 2 ;

[0042] Figure 4 is a right-side execution unit partial sectional view of Figure 3 ;

[0043] Figure 5 is a guide device structure schematic view of the present application;

[0044] Figure 6 is a partial sectional view structure schematic view of Figure 5 ;

[0045] Figure 7 is a grinding adjustment driving mechanism non-working state axonometric view;

[0046] Figure 8 is a grinding adjustment driving mechanism working state axonometric view;

[0047] Figure 9 is a grinding dust collecting device axonometric view of the present application;

[0048] Figure 10 is a partial sectional view of Figure 9 ;

[0049] Figure 11 is a single-side frame structure schematic view of the present application;

[0050] Figure 12 is a slide seat structure schematic view of the present application;

[0051] Figure 13 is a slide saddle structure schematic view of the present application.

[0052] In the figure: 101: first guide device; 102: second guide device; 201: first wheel; 202: second wheel; 301: first universal wheel; 302: second universal wheel; 401: grinding adjustment driving mechanism; 402: polishing adjustment driving mechanism; 5: grinding wheel; 6: polishing wheel; 7: grinding dust collecting device; 8: height adjustment rod; 9: hexagonal nut; 10: coupling plate; 11: input screen; 12: controller; 13: computer; 14: frame; 1401: left wall plate; 1402: right wall plate; 15: third distance measuring instrument; 16: rear wheel driving motor; 17: welding part; 1801: left execution unit; 1802: right execution unit; 10101: first guide wheel; 10102: mandrel; 10103: sleeve; 10104: piston; 10105: threaded pin; 10106: spring; 10107: adjusting screw plug; 40101: workbench; 40102: guide rail; 40103: grinding tool motor; 4010401: first distance measuring instrument; 4010402: second distance measuring instrument; 40105: wall hanging bolt; 4010601: first guide rod; 4010602: second guide rod; 40107: transverse adjustment motor; 4010801: first coupling; 4010802: second coupling; 4010901: first lead screw; 4010902: second lead screw; 40110: short bolt; 40111: longitudinal adjustment motor; 40112: flat nut; 40113: slide saddle; 4011301: right side baffle; 4011302: left side baffle; 4011303: right side transverse mounting hole; 4011304: left side transverse mounting hole; 4011305: left side transverse guide hole; 4011306: right side transverse guide hole; 4011307: wall hanging round hole; 40114: slide; 4011401: threaded short hole; 4011402: transverse threaded long hole; 4011403: transverse guide light hole; 701: collecting box; 702: absorption pipe; 703: right chamber; 704: left chamber; 705: dust collection motor; 706: fan; 707: filter screen. DETAILED DESCRIPTION

[0053] The specific embodiments of the present application will be further described in detail below with reference to the drawings, by describing the optimal embodiments.

[0054] The present application provides a welding seam grinding robot and a grinding method based on the welding seam grinding robot.

[0055] The left execution unit 1801 and the right execution unit 1802 are mirror-symmetrically distributed, and the distance between them is 100 mm.

[0056] The measurement control system comprises a first distance meter 4010401, a second distance meter 4010402, an input screen 11, a controller 12, a computer 13, and a third distance meter 15. The first distance meter 4010401 is mounted on the front side of the workbench 40101 by screws, the second distance meter 4010402 is mounted on the left side of the workbench 40101 by screws, the third distance meter 15 is mounted in the front end mounting groove of the vehicle frame 14, the input screen 11 is integrally mounted on the coupling plate 10 by screws, and the controller 12 and the computer 13 are mounted in the mounting groove of the box body of the input screen 11. The first distance meter 4010401, the second distance meter 4010402, and the third distance meter 15 transmit the detected distance information to the controller 12 through data lines, the controller 12 is connected with the computer 13 through data lines, the input screen 11 transmits signals to the controller 12, the distance meters in the right side execution unit 1802 are mirror-symmetrical with the distance meters in the left side execution unit 1801, and the whole machine contains six distance meters.

[0057] The coupling system comprises a height adjustment rod 8, a hexagon nut 9, a coupling plate 10, and a vehicle frame 14. The upper end surface of the height adjustment rod 8 is provided with an internal hexagonal hole, the lower end of the height adjustment rod 8 passes through the hole in the coupling plate 10, the internal hole of the hexagon nut 9, and the hole in the vehicle frame 14 in sequence, the lower end of the height adjustment rod 8 is mounted on the vehicle frame 14 by threads, and the upper end surface of the height adjustment rod 8 has an internal hexagonal hole for assembly and disassembly. The coupling system also contains three other structures the same as the height adjustment rod 8. The coupling plate 10 integrates the left side execution unit 1801 and the right side execution unit 1802 into a whole, and integrates the measurement control system and the two execution units at the lower end, so that the welding seam polishing robot can cooperatively polish the welding seams on both sides of the welding seam piece, and the polishing work is more efficient.

[0058] The right side execution unit 1802 comprises a measurement system, a grinding and polishing system, a recycling system, and a carrying system.

[0059] The measuring system comprises a first distance meter 4010401, a second distance meter 4010402 and a third distance meter 15. The first distance meter 4010401 is installed on the front side of the workbench 40101 by screws, and measures the distance from the vertical steel plate of the welding piece 17, so as to ensure that the weld is fully covered by the grinding wheel 5 in the horizontal direction, and the grinding wheel 5 will not collide with the vertical steel plate of the welding piece 17. The second distance meter 4010402 is installed on the left side of the workbench 40101 by screws, and measures the distance from the horizontal steel plate of the welding piece 17, so as to ensure that the weld is completely ground by the grinding wheel 5 in the vertical direction, and the grinding wheel 5 will not collide with the horizontal steel plate of the welding piece 17. The third distance meter 15 is installed in the front end mounting groove of the frame 14 to measure the distance between the weld grinding robot and the obstacle in front. When the distance between the weld grinding robot and the obstacle is less than the set distance, the weld grinding robot stops advancing to avoid collision. The first distance meter 4010401, the second distance meter 4010402 and the third distance meter 15 transmit the measured distance information to the controller 12 through the data line.

[0060] The grinding and polishing system comprises a first guide device 101, a second guide device 102, a grinding adjustment driving mechanism 401, a polishing adjustment driving mechanism 402, a grinding wheel 5, and a polishing wheel 6. The first guide device 101 comprises a first guide wheel 10101, a mandrel 10102, a sleeve 10103, a piston 10104, a threaded pin 10105, a spring 10106, and an adjusting screw plug 10107. The lower end of the mandrel 10102 passes through the upper pin hole of the piston 10104 and the middle hole of the first guide wheel 10101 in sequence. The mandrel 10102 is in interference fit with the upper pin hole of the piston 10104, and the mandrel 10102 is in clearance fit with the middle hole of the first guide wheel 10101, so that the first guide wheel 10101 can rotate freely and guide when it bears friction when the weld polishing robot advances, and will not fall down. The mandrel 10102 is installed in the middle hole of the sleeve 10103 in clearance fit, so that the first guide wheel 10101 and the piston 10104 can freely stretch along the central axis of the sleeve 10103. The threaded pin 10105 is fixed on the sleeve 10103 by threads, and its lower end is inserted into the guide groove of the piston 10104, avoiding the piston 10104 from falling off the sleeve 10103, and avoiding the piston 10104 from rotating around the axis, so that the movement direction of the first guide wheel 10101 is consistent with the advancing direction of the weld polishing robot. The flange plate on the sleeve 10103 is provided with a mounting hole, and the sleeve 10103 is coupled with the adjusting screw plug 10107 through threads. The spring 10106 is installed between the piston 10104 and the adjusting screw plug 10107, and the spring 10106 is a hard spring. By changing the thread fit length of the adjusting screw plug 10107 and the sleeve 10103, the elongation of the piston 10104 and the contact force during guiding can be adjusted. The flange plate on the sleeve 10103 is provided with a mounting hole, and the first guide device 101 is installed on the frame 14 through the mounting hole on the flange plate of the sleeve 10103. The second guide device 102 is identical in structure to the first guide device 101, and the installation position of the second guide device 102 is mirror-symmetric to the installation position of the first guide device 101. Before the weld polishing, the gap between the guide wheels of the first guide device 101 and the second guide device 102 is less than the thickness of the steel plate in the vertical direction of the T-shaped weld by changing the position of the adjusting screw plug 10107 in the guide device.

[0061] The grinding adjustment driving mechanism 401 comprises a workbench 40101, a guide rail 40102, a grinding motor 40103, a first distance meter 4010401, a second distance meter 4010402, a wall hanging bolt 40105, a first guide rod 4010601, a second guide rod 4010602, a transverse adjustment motor 40107, a first coupling 4010801, a second coupling 4010802, a first lead screw 4010901, a second lead screw 4010902, a short bolt 40110, a longitudinal adjustment motor 40111, a flat nut 40112, a slide saddle 40113, a right side baffle 4011301, a left side baffle 4011302, a right side transverse mounting hole 4011303, a left side transverse mounting hole 4011304, a left side transverse guide hole 4011305, a right side transverse guide hole 4011306, a wall hanging round hole 4011307, a slide base 40114, a threaded short hole 4011401, a transverse threaded long hole 4011402, and a transverse guide light hole 4011403. The grinding motor 40103 is installed on the front side of the workbench 40101, the first distance meter 4010401 is installed on the front side of the workbench 40101 by screws, and is opposite to the vertical steel plate of the welding part 17. The second distance meter 4010402 is installed on the left side of the workbench 40101 by screws, and is opposite to the horizontal steel plate of the welding part 17. The workbench 40101 is precisely assembled with the guide rail 40102 through a dovetail groove, the guide rail 40102 is installed on the slide base 40114 through the short bolt 40110 passing through the threaded short hole 4011401, the longitudinal adjustment motor 40111 is installed on the slide base 40114 by screws, the output shaft of the longitudinal adjustment motor 40111 is connected with the upper end of the second lead screw 4010902 through the second coupling 4010802, and the lower end of the second lead screw 4010902 is connected with the workbench 40101 through threads. The transverse adjustment motor 40107 is installed on the slide saddle 40113 by screws, the transverse adjustment motor 40107 is connected with the first lead screw 4010901 through the first coupling 4010801, the left end of the first lead screw 4010901 passes through the right side transverse mounting hole 4011303 on the right side baffle 4011301, the threaded hole on the slide base 40114, and the left side transverse mounting hole 4011304 on the left side baffle 4011302 in sequence.The right end of the first guide rod 4010601 passes through the left side transverse guide hole 4011305 on the left side baffle 4011302, the upper transverse guide light hole 4011403 on the slide 40114, and the right side transverse guide hole 4011306 on the right side baffle 4011301 in sequence, and precisely matches them, so that the above grinding wheel 5 has higher positioning accuracy, and the right end of the first guide rod 4010601 is fixed by a flat nut 40112. The second guide rod 4010602 is installed in the same way as the first guide rod 4010601, and the installation position of the second guide rod 4010602 is symmetric to the installation position of the first guide rod 4010601 with the first lead screw 4010901 as the axis. The slide saddle 40113 is installed on the left wall plate 1401 of the frame 14 through the hanging wall bolt 40105 passing through the hanging wall hole 4011307.

[0062] The polishing adjustment driving mechanism 402 is completely the same as the grinding adjustment driving mechanism 401 in structure, and their installation positions are mirror-symmetric. The end of the grinding tool motor 40103 main shaft has a step and a thread, the grinding tool motor 40103 main shaft passes through the hole in the grinding wheel 5, and the grinding wheel 5 is fixed on the shaft end of the grinding tool motor 40103 main shaft by relying on the main shaft step and the nut. The polishing wheel 6 is installed in the same way as the grinding wheel 5.

[0063] The recycling system includes a grinding dust collecting device 7, which includes a collecting box 701, an absorption pipe 702, a right chamber 703, a left chamber 704, a dust collecting motor 705, a fan 706, and a filter screen 707. The dust collecting motor 705 is installed in the left chamber 704, and the fan 706 is installed on the shaft end of the output shaft of the dust collecting motor 705. The filter screen 707 is arranged between the left chamber 704 and the right chamber 703, the right chamber 703 communicates with the absorption pipe 702 through a hole on the side, and the collecting box 701 is located below the right chamber 703. The absorption pipe 702 is made of easily deformable plastic, and the grinding wheel 5 and the polishing wheel 6 are located in the middle area in front of the absorption pipe 702 to improve the dust collection efficiency.

[0064] The measurement control system includes a first range finder 4010401, a second range finder 4010402, an input screen 11, a controller 12, a computer 13, and a third range finder 15. The first range finder 4010401 is installed on the front side of the workbench 40101 by screws, and the second range finder 4010402 is installed on the left side of the workbench 40101 by screws. The spatial position of the grinding tool is monitored, and the range finder transmits the detection signal to the controller 12. The controller 12 is connected with the computer 13 through a data line, transmits the signal to the controller 12 by operating the input screen 11, adjusts the spatial position of the grinding tool, and the third range finder 15 is installed in the front end mounting groove of the frame 14 to detect the obstacles in front of the machine to avoid collision.

[0065] The process of the welding seam polishing robot in working will be explained below in combination with the drawings, and the specific steps are as follows:

[0066] 1) The welding seam polishing robot is transported to the site of the T-shaped steel welding piece, the height of the coupling plate 10 is adjusted to be higher than the vertical steel plate according to the height of the vertical steel plate, so that the welding seam polishing robot has greater processing flexibility.

[0067] 2) According to the width of the welding seam on both sides of the welding piece 17, the mechanical properties of the welding seam material and other information, the back engagement depth, the speed of the grinding wheel 5, the back engagement depth and the speed of the polishing wheel 6, and the advancing speed of the welding seam polishing robot are input to the computer 13 through the input screen 11.

[0068] 3) The computer 13 sends an action signal to the controller 12, and the rear wheel drive motor 16 drives the second wheel 202 to rotate under the instruction of the controller 12, and under the joint action of the mirror-symmetrically distributed first guide device 101 and second guide device 102, the welding piece 17 enters the welding seam polishing robot, the welding seam polishing robot pauses and performs tool setting.

[0069] 4) The transverse adjustment motor 40107 is driven by the controller 12, and the transverse adjustment motor 40107 drives the first lead screw 4010901 to rotate through the first coupling 4010801, and the first lead screw 4010901 moves the slide 40114 horizontally to the left, and the workbench 40101, the second distance meter 4010402 and the grinding wheel 5 also move to the left, gradually approaching the vertical steel plate. The controller 12 receives the real-time distance information of the second distance meter 4010402 and combines the distance between the second distance meter 4010402 and the left end face of the grinding wheel 5 in the horizontal direction, and when the distance measured by the second distance meter 4010402 reaches the set value, the controller 12 sends an instruction to stop the transverse adjustment motor 40107, and the grinding wheel 5 and the second distance meter 4010402 also stop moving horizontally to the left, and the grinding wheel 5 completes the tool setting in the horizontal direction.

[0070] 5) After the longitudinal adjustment motor 40111 receives the instruction from the controller 12, the longitudinal adjustment motor 40111 drives the second screw rod 4010902 to rotate through the second coupling 4010802, the second screw rod 4010902 drives the workbench 40101 to move vertically downward along the guide rail 40102 through the rotation, the workbench 40101 also drives the first distance meter 4010401 and the grinding wheel 5 to move downward, gradually approaching the horizontal steel plate, the first distance meter 4010401 feeds back the real-time distance information to the controller 12, the controller 12 receives the real-time distance information of the first distance meter 4010401 and combines the distance between the first distance meter 4010401 and the lowest point of the circumference of the grinding wheel 5 in the vertical direction, when the distance of the first distance meter 4010401 reaches the set value, the controller 12 sends an instruction to stop the rotation of the longitudinal adjustment motor 40111, and the grinding wheel 5 and the first distance meter 4010401 also stop moving downward, and the grinding wheel 5 completes the vertical tool setting.

[0071] 6) The controller 12 sends an instruction to the mirror-symmetrically distributed polishing adjustment drive mechanism 402, so that the polishing wheel 6 completes the tool setting in the horizontal direction and the vertical direction.

[0072] 7) After the dust collection motor 705 receives the instruction from the controller 12, the fan 706 starts to rotate, and the suction force is generated in the left chamber 704, so that the air near the grinding wheel 5 and the polishing wheel 6 is sucked into the filtering device through the suction pipe 702.

[0073] 8) After the grinding wheel 5 and the polishing wheel 6 receive the instruction from the controller 12, they rotate and grind, and the generated grinding dust is sucked into the right chamber 703 through the suction pipe 702 connected with the middle hole, the right chamber 703 is separated from the left chamber 704 by the filter screen 707, and the waste falls into the collection box 701 after entering the right chamber 703, so that the grinding dust and the grinding particles falling from the grinding wheel are recycled, and the collected grinding dust is stored in the collection box 701.

[0074] 9) After the rear wheel drive motor 16 receives the instruction from the controller 12, the second wheel 202 is driven to rotate, the first universal wheel 301 and the second universal wheel 302 support the whole trolley to move along the weld direction, and the polishing of the whole weld is completed.

[0075] 10) After all the weld grinding is completed, the grinding tool motor 40103 stops working after receiving the instruction from the controller 12, and the rear wheel drive motor 16 stops working after receiving the instruction from the controller 12.

[0076] 11) After the transverse adjustment motor 40107 receives the instruction from the controller 12, the transverse adjustment motor 40107 drives the first lead screw 4010901 to rotate reversely through the first coupling 4010801, the first lead screw 4010901 rotates reversely to make the base 4011302 and the grinding wheel 5 move horizontally to the right to the preset position, the controller 12 sends the instruction to make the transverse adjustment motor 40107 stop rotating.

[0077] 12) After the longitudinal adjustment motor 40111 receives the instruction from the controller 12, the longitudinal adjustment motor 40111 drives the second lead screw 4010902 to rotate reversely through the second coupling 4010802, the second lead screw 4010902 rotates reversely to make the workbench 40101 and the grinding wheel 5 move vertically upward along the guide rail 40102 to the preset position, the controller 12 sends the instruction to make the longitudinal adjustment motor 40111 stop rotating.

[0078] 13) The controller 12 sends the instruction to the mirror-symmetrical distribution polishing adjustment driving mechanism 402 to make the polishing wheel 6 move to the preset position in the horizontal direction and the vertical direction.

[0079] 14) Turn off the power supply, the one-way weld polishing is finished.

[0080] Obviously, the specific implementation of the present application is not limited by the above-mentioned manner, as long as various non-essential improvements are made by adopting the method concept and technical scheme of the present application, they are within the protection scope of the present application.

Claims

1. A weld seam grinding robot, characterized in that: It includes a measurement and control system, a connection system, a left execution unit (1801) and a right execution unit (1802). The left execution unit (1801) and the right execution unit (1802) have the same structure and are distributed in a mirror symmetric manner.

2. The weld seam grinding robot according to claim 1, characterized in that: The measurement and control system includes an input screen (11), a controller (12), and a computer (13); the connection system includes a height adjustment rod (8), a hexagonal nut (9), a connecting plate (10), and a frame (14); the lower end of the height adjustment rod (8) passes through the middle hole of the connecting plate (10), the inner hole of the hexagonal nut (9), and the screw hole of the frame (14) in sequence, and the lower end of the height adjustment rod (8) is threaded onto the frame (14).

3. The weld seam grinding robot according to claim 2, characterized in that: The right-side execution unit (1802) has a first rangefinder (4010401), a second rangefinder (4010402), and a third rangefinder (15), and the left-side execution unit (1801) has a rangefinder installed in a mirror image. The first rangefinder (4010401) is installed on the front side of the workbench (40101) by screws, the second rangefinder (4010402) is installed on the left side of the workbench (40101) by screws, and the third rangefinder (15) is installed in the front mounting slot of the frame (14).

4. The weld seam grinding robot according to claim 3, characterized in that: The input screen (11) is mounted on the connecting plate (10) with screws. The controller (12) and computer (13) are installed in the box grid below the input screen (11). The first distance measuring instrument (4010401), the second distance measuring instrument (4010402), and the third distance measuring instrument (15) transmit the detected distance information to the controller (12) through data lines. The computer (13) is connected to the controller (12) through a data line. The input screen (11) transmits signals to the controller (12). The distance measuring instrument in the right execution unit (1802) is mirror-symmetrical to the distance measuring instrument in the left execution unit (1801).

5. The weld grinding robot according to claim 1, characterized in that: The right-side execution unit (1802) includes a measurement system, a grinding and polishing system, a recovery system, and a transport system.

6. A weld seam grinding robot according to claim 6, characterized in that: The measurement system includes: a first distance measuring instrument (4010401), a second distance measuring instrument (4010402), and a third distance measuring instrument (15); the first distance measuring instrument (4010401) is mounted on the front side of the workbench (40101) by screws, the second distance measuring instrument (4010402) is mounted on the left side of the workbench (40101) by screws, and the third distance measuring instrument (15) is mounted in the front mounting slot of the frame (14). The distance information measured by the first distance measuring instrument (4010401), the second distance measuring instrument (4010402), and the third distance measuring instrument (15) is transmitted to the controller (12) via a data cable.

7. A weld seam grinding robot according to claim 6, characterized in that: The grinding and polishing system includes: a first guide device (101), a second guide device (102), a grinding adjustment drive mechanism (401), a polishing adjustment drive mechanism (402), a grinding wheel (5), and a polishing wheel (6); the first guide device (101) includes: a first guide wheel (10101), a spindle (10102), a sleeve (10103), a piston (10104), a threaded pin (10105), a spring (10106), and an adjusting plug (10107); the lower end of the spindle (10102) passes sequentially through the upper pin hole of the piston (10104) and the middle hole of the first guide wheel (10101), the spindle (10102) is interference-fitted with the upper pin hole of the piston (10104), the spindle (10102) is clearance-fitted with the middle hole of the first guide wheel (10101), and the spindle (10102) passes through the clearance. The threaded pin (10105) is installed in the hole of the sleeve (10103), and its lower end passes through the threaded pin hole on the sleeve (10103) and is inserted into the guide groove of the piston (10104). The flange on the sleeve (10103) is provided with a mounting hole. The sleeve (10103) and the adjusting screw plug (10107) are connected by threads. The spring (10106) is installed between the piston (10104) and the adjusting screw plug (10107). The first guide device (101) is installed on the frame (14) through the mounting hole on the flange on the sleeve (10103). The second guide device (102) has the same structure as the first guide device (101). The installation position of the second guide device (102) is mirror-symmetrical to the installation position of the first guide device (101). The grinding and adjusting drive mechanism (401) includes: a worktable (40101), a guide rail (40102), a grinding wheel motor (40103), a first rangefinder (4010401), a second rangefinder (4010402), a wall-mounting bolt (40105), a first guide rod (4010601), a second guide rod (4010602), a transverse adjusting motor (40107), a first coupling (4010801), a second coupling (4010802), a first lead screw (4010901), a second lead screw (4010902), a short bolt (40110), a longitudinal adjusting motor (40111), a flat nut (40112), and a sliding saddle (40113). 0113), right side baffle (4011301), left side baffle (4011302), right side transverse mounting hole (4011303), left side transverse mounting hole (4011304), left side transverse guide hole (4011305), right side transverse guide hole (4011306), wall-mounting round hole (4011307), slide (40114), threaded short hole (4011401), transverse threaded long hole (4011402), transverse guide light hole (4011403); the grinding wheel motor (40103) is mounted on the front side of the worktable (40101), and the first rangefinder (4010401) is mounted on the worktable (40113) by screws. 101) On the front side, the second rangefinder (4010402) is mounted on the left side of the worktable (40101) by screws. The worktable (40101) and the guide rail (40102) are assembled together by dovetail grooves. The guide rail (40102) is mounted on the slide (40114) by the short bolt (40110) passing through the threaded short hole (4011401). The longitudinal adjustment motor (40111) is mounted on the slide (40114) by screws. The output shaft of the longitudinal adjustment motor (40111) is connected to the upper end of the second lead screw (4010902) through the second coupling (4010802). The lower end of the lever (4010902) is connected to the worktable (40101) by a thread; the transverse adjustment motor (40107) is mounted on the slide saddle (40113) by screws, and the main shaft of the transverse adjustment motor (40107) is connected to the right end of the first lead screw (4010901) by the first coupling (4010801). The left end of the first lead screw (4010901) passes through the right transverse mounting hole (4011303) on the right side baffle (4011301), the transverse threaded long hole (4011402) on the slide (40114), and the left transverse mounting hole (4011304) on the left side baffle (4011302) in sequence.The right end of the first guide rod (4010601) passes sequentially through the left transverse guide hole (4011305) on the left side baffle (4011302), the transverse guide light hole (4011403) on the slide (40114), and the right transverse guide hole (4011306) on the right side baffle (4011301). The right end of the first guide rod (4010601) is fixed by a flat nut (40112). The second guide rod (401... The installation of the second guide rod (4010602) is exactly the same as that of the first guide rod (4010601). The installation position of the second guide rod (4010602) is symmetrical with respect to the installation position of the first guide rod (4010601) about the axis of the first lead screw (4010901). The sliding saddle (40113) is installed on the left wall panel (1401) of the frame (14) through the wall mounting bolt (40105) and the wall mounting hole (4011307). The polishing adjustment drive mechanism (402) has the same structure as the grinding adjustment drive mechanism (401) and is mirror-symmetrically distributed. The spindle of the grinding wheel motor (40103) passes through the central hole of the grinding wheel (5). The grinding wheel (5) is fixed to the shaft end of the spindle of the grinding wheel motor (40103) by a nut. The polishing wheel (6) is fixed to the shaft end of the spindle of the grinding wheel motor of the polishing adjustment drive mechanism (402).

8. A weld seam grinding robot according to claim 6, characterized in that: The recycling system includes a shavings collection device (7), which includes: a collection box (701), an absorption pipe (702), a right chamber (703), a left chamber (704), a vacuum motor (705), a fan (706), and a filter (707). The vacuum motor (705) is installed in the left chamber (704), and the fan (706) is installed on the shaft end of the output shaft of the vacuum motor (705). The filter (707) is disposed between the left chamber (704) and the right chamber (703). The side of the right chamber (703) is connected to the absorption pipe (702) through a central hole. The collection box (701) is located below the right chamber (703).

9. A weld seam grinding robot according to claim 6, characterized in that: The transport system includes: a first wheel (201), a second wheel (202), a first universal wheel (301), a second universal wheel (302), a frame (14), and a rear-wheel drive motor (16); the first wheel (201) is mounted on the outer axle end of the frame (14), the second wheel (202) is mounted on the axle end of the rear-wheel drive motor (16), the rear-wheel drive motor (16) is mounted in the rear housing of the frame (14), and the first universal wheel (301) and the second universal wheel (302) are mounted on the bottom of the frame (14).

10. A grinding method using a weld grinding robot as described in any one of claims 1-9, characterized in that: The grinding method includes the following steps: 1) Transport the weld grinding robot to the site of the T-shaped steel welding part, and adjust the height adjustment rod (8), hexagonal nut (9) and the depth of the height adjustment rod (8) screwed into the frame (14) according to the height of the vertical steel plate of the T-shaped part, so as to adjust the height of the connecting plate (10) and make the weld grinding robot have greater processing flexibility. 2) Connect the power supply, and according to the width of the weld seam on both sides of the welded part (17), the mechanical properties of the weld seam material, etc., input the diameter of the grinding wheel (5), the back cutting depth of the grinding weld seam, and the rotation speed to the computer (13) through the input screen (11), input the diameter of the polishing wheel (6), the back cutting depth, and the rotation speed, input the travel speed of the weld seam grinding robot, the vertical distance between the first distance measuring instrument (4010401) and the lowest point of the grinding wheel (5), and the horizontal distance between the second distance measuring instrument (4010402) and the end face of the grinding wheel (5); 3) The computer (13) sends an action signal to the controller (12). After receiving the instruction from the controller (12), the rear wheel drive motor (16) drives the second wheel (202) to rotate. Under the combined action of the mirror-symmetrically distributed first guide device (101) and second guide device (102), the welded part (17) enters the interior of the weld grinding robot. The weld grinding robot stops moving forward to perform tool setting. 4) After receiving the command from the controller (12), the second distance measuring instrument (4010402) measures the horizontal distance to the welded part (17). The distance information measured by the second distance measuring instrument (4010402) is fed back to the controller (12). After receiving the command from the controller (12), the lateral adjustment motor (40107) drives the first lead screw (4010901) to rotate through the first coupling (4010801). The first lead screw (4010901) rotates... The slide block (40114) is moved horizontally to the left, and the worktable (40101), the second distance measuring instrument (4010402), and the grinding wheel (5) also move to the left. The distance information measured by the second distance measuring instrument (4010402) in real time is fed back to the controller (12). When the horizontal distance between the second distance measuring instrument (4010402) and the welded part (17) reaches the set value, the controller (12) issues a command to stop the horizontal adjustment motor (40107) from rotating, and the grinding wheel (5) stops moving horizontally to the left. The grinding wheel (5) completes the tool setting in the horizontal direction. 5) After receiving the instruction from the controller (12), the first distance measuring instrument (4010401) measures the vertical distance to the welded part (17). The distance information measured by the first distance measuring instrument (4010401) is fed back to the controller (12). After receiving the instruction from the controller (12), the longitudinal adjustment motor (40111) drives the second lead screw (4010902) to rotate through the second coupling (4010802). The second lead screw (4010902) is connected to the second lead screw. The worktable (40101) is rotated to move vertically downward along the guide rail (40102). The first rangefinder (4010401) and the grinding wheel (5) move downward along with the worktable (40101). The first rangefinder (4010401) measures the distance information in real time and feeds it back to the controller (12). When the distance of the first rangefinder (4010401) reaches the set value, the controller (12) issues a command to stop the longitudinal adjustment motor (40111) from rotating, and the grinding wheel (5) stops moving downward. The grinding wheel (5) completes the vertical tool setting. 6) The controller (12) sends a command to the mirror-symmetrically distributed polishing adjustment drive mechanism (402) to make the polishing wheel (6) complete the tool setting in the horizontal and vertical directions; 7) After receiving the instruction from the controller (12), the vacuum motor (705) drives the fan (706) to start rotating and generate suction. The air near the grinding wheel (5) and polishing wheel (6) is sucked into the filter device by the absorption tube (702); 8) After receiving the instruction from the controller (12), the grinding wheel (5) and the polishing wheel (6) rotate simultaneously to perform grinding. The resulting grinding debris is sucked into the right chamber (703) through the absorption pipe (702). The right chamber (703) and the left chamber (704) are separated by a filter screen (707). After the waste debris enters the right chamber (703), it falls into the collection box (701) to realize the recycling of grinding debris. The collected grinding debris is stored in the collection box (701). 9) After receiving the instruction from the controller (12), the rear wheel drive motor (16) drives the second wheel (202) to rotate. The first universal wheel (301) and the second universal wheel (302) play a supporting role, so that the weld grinding robot moves forward along the weld direction and completes the grinding and polishing of the entire weld. 10) After the weld grinding is completed, the grinding wheel motor (40103) stops working after receiving the instruction from the controller (12), and the rear wheel drive motor (16) stops rotating after receiving the instruction from the controller (12); 11) The horizontal adjustment motor (40107) receives the command from the controller (12), and the horizontal adjustment motor (40107) drives the first lead screw (4010901) to rotate in the opposite direction through the first coupling (4010801). The first lead screw (4010901) reverses and causes the slide (40114) and the grinding wheel (5) to move horizontally to the right and return to the preset position. The controller (12) issues a command to stop the horizontal adjustment motor (40107) from rotating. 12) After receiving the command from the controller (12), the longitudinal adjustment motor (40111) drives the second lead screw (4010902) to rotate in the opposite direction through the second coupling (4010802). The second lead screw (4010902) rotates in the opposite direction, causing the worktable (40101) and the grinding wheel (5) to move vertically upward along the guide rail (40102) and return to the preset position. The controller (12) issues a command to stop the longitudinal adjustment motor (40111) from rotating. 13) The controller (12) sends a command to the mirror-symmetrically distributed polishing adjustment drive mechanism (402) to move the polishing wheel (6) to a preset position in the horizontal and vertical directions; 14) Disconnect the power supply. This weld grinding process is now complete.

Images