Automatic grinding device and method for grinding annular seams of cabin body

Abstract

The present invention discloses an automatic grinding device for the annular seam of a cabin body, comprising a base plate, an annular motion device, a supporting device, a longitudinal clamping device, a feeding device, a radial clamping device and a grinding device. The base plate restricts the automatic grinding device for the annular seam of the cabin body to the I-beam on the cabin body through the longitudinal clamping device and the radial clamping device. The annular motion device, the longitudinal clamping device, the feeding device, the radial clamping device and the supporting device are all installed on the base plate. The grinding device is installed on the feeding device. The feeding device provides the feeding amount to the grinding device, and the grinding device mills the annular seam. The present invention also discloses an automatic grinding method for the annular seam of a cabin body. Advantages: The present invention is used to replace manual grinding. Compared with manual grinding, the present invention has good grinding effect, high efficiency and can perform continuous work.

Description

Technical Field

[0001] The invention relates to a grinding device and a grinding method, and in particular to an automatic grinding device and a grinding method for an annular seam of a space capsule. Background Art

[0002] The diameter of the space capsule is four or five meters, and the length is more than ten meters. The existing space capsule is welded by thin plates, and an I-beam 9 is set on the thin plates to improve the strength. An annular weld is formed between the I-beam and the thin plates, referred to as an annular weld 12; and a longitudinal weld is formed between the thin plates, referred to as a longitudinal weld 13. Figure 4 shown.

[0003] Currently, the known grinding devices cannot be applied to the annular seams on the space capsule body, and manual grinding is used, which is inefficient, time-consuming and labor-intensive, and the quality of the annular seams after grinding is poor. Summary of the invention

[0004] The purpose of the present invention is to propose an automatic grinding device for the annular seam of a space capsule suitable for grinding the annular seam on the capsule body in view of the problems in the background technology.

[0005] The technical solution adopted by the present invention is: an automatic grinding device for the annular seam of a cabin body, comprising an automatic grinding device for the annular seam of a cabin body, the automatic grinding device for the annular seam of a cabin body being located as a whole in the inner cavity of the cabin body, the automatic grinding device for the annular seam of a cabin body comprising a bottom plate, an annular motion device, a supporting device, a longitudinal clamping device, a feeding device, a radial clamping device and a grinding device,

[0006] The bottom plate restricts the automatic grinding device of the cabin annular seam to the I-beam on the cabin through the longitudinal clamping device and the radial clamping device. The annular motion device, the longitudinal clamping device, the feeding device, the radial clamping device and the supporting device are all installed on the bottom plate. The grinding device is installed on the feeding device. The feeding device drives the grinding device to realize feeding, and the grinding device mills the annular seam.

[0007] The circumferential motion device and the supporting device are respectively disposed at the front and rear ends of the bottom plate. The circumferential motion device drives the bottom plate to move along the I-beam on the cabin body. The longitudinal clamping device and the radial clamping device cooperate with each other to restrict the cabin body annular seam automatic grinding device as a whole to the I-beam on the cabin body. The feeding device is installed on the bottom plate to realize the feeding of the grinding device. The grinding device is arranged on the feeding device.

[0008] Further optimization technical solutions of the device of the present invention:

[0009] The circumferential motion device includes a power wheel, a reducer and a servo motor. The reducer is installed at the front end of the base plate. The servo motor is connected to the reducer. The motor shaft of the servo motor is connected to the input shaft of the reducer. The power wheel is arranged on the output shaft of the reducer. The power wheel fits the wing plate surface of the upper flange of the I-beam. The power wheel is made of nylon material. The servo motor drives the power wheel to rotate. The rotation of the power wheel drives the automatic circumferential seam grinding device of the cabin body to move along the upper flange of the I-beam on the cabin body. In the circumferential motion device of the present invention, the power wheel is made of nylon material, which increases the contact area with the wing plate surface of the upper flange of the I-beam and prevents the wing plate surface of the upper flange of the I-beam from being scratched. In the circumferential motion device, the servo motor is powered on and started, and the power wheel rotates. Through the friction between the wing plate surface of the upper flange of the I-beam, the automatic circumferential seam grinding device of the cabin body is driven to move along the upper flange of the I-beam on the cabin body.

[0010] The supporting device includes a connecting plate, a connecting shaft and a supporting wheel. A through groove is provided on the plate surface of the connecting plate, and the supporting wheel is installed in the through groove. The supporting wheel is rotatably arranged on the connecting shaft, and both ends of the connecting shaft are supported on the connecting plate. The connecting plate is installed on the rear end of the bottom plate, and the supporting wheel is rollingly supported on the wing plate surface of the upper flange of the I-beam. The supporting device of the present invention and the circumferential motion device work together to support the automatic grinding device for the annular seam of the cabin body. The supporting wheel in the supporting device is made of nylon material, which increases the contact area with the wing plate surface of the upper flange of the I-beam and prevents scratching the wing plate surface of the upper flange of the I-beam.

[0011] The longitudinal clamping device includes two fixed longitudinal clamping wheels and a movable longitudinal clamping wheel component, which are arranged in a triangular shape at the two side edges of the bottom plate, and are used to clamp the cabin annular seam automatic grinding device as a whole on the upper flange of the I-beam; the movable longitudinal clamping wheel component includes two guide rails, a movable plate, a first clamping cylinder and a first longitudinal clamping wheel, the two guide rails are parallel and spaced and extend outwardly perpendicular to the bottom plate and are arranged at one side edge of the bottom plate, the movable plate is arranged on the two guide rails, and the first longitudinal clamping wheel is rotatably arranged at the first On the clamping wheel shaft, the upper end of the first clamping wheel shaft is fixed on the moving plate, the first longitudinal clamping wheel is suspended below the moving plate and the outer surface of the first longitudinal clamping wheel can be pressed against one side of the web of the I-beam, the first clamping cylinder is arranged on the upper plate surface of the bottom plate, and the piston rod of the first clamping cylinder is connected to the moving plate; the two fixed longitudinal clamping wheels are installed at the edge of the other side of the bottom plate through the second clamping wheel shaft, the two fixed longitudinal clamping wheels are respectively rotatably arranged on the second clamping wheel shaft, the two fixed longitudinal clamping wheels are both suspended below the bottom plate and the outer surface can be pressed against the other side of the web of the I-beam. The longitudinal clamping device uses two longitudinal clamping wheels and one movable longitudinal clamping wheel to clamp the two sides of the web of the I-beam respectively, and the two longitudinal clamping wheels and one movable longitudinal clamping wheel are both made of nylon.

[0012] The radial clamping device includes four radial clamping mechanisms arranged in a rectangular shape at the edges of both sides of the base plate, of which two radial clamping mechanisms are arranged at the two ends of the movable plate through a fixed plate, and the remaining two radial clamping mechanisms are fixed to the base plate through a fixed plate; the four radial clamping mechanisms all include a second clamping cylinder, an adapter and a radial clamping wheel, the cylinder body of the second clamping cylinder is connected to the fixed plate, the adapter is arranged at the end of the piston rod of the second clamping cylinder, and the radial clamping wheel is rotatably arranged on the adapter through a third clamping wheel shaft; the four radial clamping wheels are all suspended below the base plate and the outer surfaces of the four radial clamping wheels can be close to the back of the wing plate of the upper flange of the I-beam. The four radial clamping wheels in the radial clamping device are divided into two groups to clamp the back of the wing plate of the upper flange of the I-beam.

[0013] In the technical solution of the present invention, the longitudinal clamping device and the radial clamping device cooperate with each other to connect the cabin annular seam automatic grinding device as a whole with the I-beam. In the technical solution of the present invention, the clamping force of the longitudinal clamping device and the radial clamping device is provided by a cylinder, the clamping force is adjustable, and the clamping wheel is made of nylon, which can effectively reduce the vibration of the equipment during the grinding process and improve the grinding accuracy.

[0014] The feeding device includes a base plate, a servo motor, a synchronous belt transmission pair, a ball screw nut pair, a lifting plate, a support seat and two vertical guide rails. The base plate is vertically arranged on the bottom plate, the servo motor and the support seat are respectively arranged on the two side surfaces of the base plate, the upper end bearing of the ball screw in the ball screw nut pair is connected to the support seat, and the ball screw is arranged vertically; the driving pulley and the driven pulley in the synchronous belt transmission pair are respectively connected to the motor shaft of the servo motor and the upper end of the ball screw, the lifting plate is connected to the screw nut in the ball screw nut pair, the two vertical guide rails are arranged at intervals on one side surface of the base plate, and the sliders arranged in cooperation with the two vertical guide rails are connected on the lifting plate. The feeding device in the technical solution of the present invention has an adjustable stroke, and the grinding feed amount can be adjusted according to the actual grinding situation to improve the grinding efficiency.

[0015] The grinding device includes a six-dimensional force sensor, a buffer and a pneumatic grinder. The six-dimensional force sensor is arranged on the back of the lifting plate. The buffer is installed on the six-dimensional force sensor and is located below the six-dimensional force sensor. A positioning plate is installed below the buffer. The pneumatic grinder is installed on the positioning plate and is located directly above the annular gap. The grinding device is equipped with a six-dimensional force sensor, which can measure the force and torque generated in all directions during grinding in real time, which plays an important role in the later research on grinding conditions; the grinding device is equipped with a buffer, which can effectively play a role in shock absorption, which is conducive to the stability of force during grinding and improves the quality of the grinding surface.

[0016] The automatic grinding device for the annular seam of the cabin also includes a displacement measuring device for measuring the travel distance of the grinding device on the I-beam, a camera for recording the grinding process and a laser seam finder for weld positioning and weld quality inspection after grinding. The displacement measuring device and the camera are both located at the rear end of the base plate, and the displacement measuring device and the camera are respectively located on both sides of the base plate; the laser seam finder is located on one side of the front end of the base plate and is located below the base plate; the displacement measuring device includes a roller, a transmission shaft, a bearing seat and an encoder, the bearing seat is fixed to the rear end of the base plate, the transmission shaft is rotatably connected to the bearing seat through a bearing, the encoder output shaft is connected to one end of the transmission shaft, the roller is arranged on the other end of the transmission shaft, and the roller is close to the wing plate surface of the upper flange of the I-beam; the camera and the grinding device are on the same side of the base plate, and the camera is suspended at the edge of one side of the base plate through an extension arm extending outward perpendicular to the base plate; the laser seam finder and the grinding device are on the same side of the base plate, and the laser seam finder is suspended directly above the annular seam to be ground through an L-shaped bracket, and the L-shaped bracket is arranged on the base plate. The laser seam finder of the present invention scans the contour of the weld and can detect the quality of grinding in real time so as to make timely modifications and improve the grinding efficiency; it is equipped with a camera that can record the grinding process and the grinding effect in real time, which is conducive to real-time monitoring of the grinding process and improvement of the subsequent grinding process.

[0017] The present invention discloses a method for grinding annular seams of a cabin body annular seam automatic grinding device, comprising the following steps:

[0018] Step 1: Install the automatic grinding device for the annular seam of the cabin body on the I-beam of the cabin body whose annular seam is to be ground, wherein the pneumatic grinder is not installed;

[0019] Step 2: Adjust the feeding position of the feeding device in the device of step 1 to the highest point;

[0020] Step 3: Replace the milling cutter on the pneumatic grinder with a roughing cutter;

[0021] Step 4: Install the pneumatic grinder in step 3 on the positioning plate so that the rough milling cutter faces the annular seam; the preset position is the starting point;

[0022] Step 5: Turn on the camera and the laser seam finder;

[0023] Step 6: Start the reducer and servo motor in the circumferential motion device to rotate forward, drive the power wheel to rotate and drive the cabin body annular seam automatic grinding device as a whole to move a certain distance along the upper flange of the I-beam on the cabin body; the laser seam finder scans the annular seam within this distance and determines the position of the annular seam;

[0024] Step 7: After step 6 is completed, the reducer and servo motor in the circumferential motion device are started to rotate in the opposite direction, and the power wheel rotates to drive the automatic grinding device for the annular seam of the cabin to return to the starting point;

[0025] Step 8: Start the reducer and servo motor in the annular motion device to rotate forward, and the power wheel rotates to drive the automatic grinding device of the cabin annular seam to move from the starting point to the end point of the distance scanned by the laser seam finder; at the same time, start the pneumatic grinder and the rough milling cutter rotates; start the feeding device, and the feeding device provides the feed amount to the rough milling cutter toward the annular seam, and the rough milling cutter starts feeding and milling;

[0026] Step 9: After step 8 is completed, the reducer and servo motor in the circumferential motion device are started to rotate in the opposite direction, and the power wheel rotates to drive the automatic grinding device for the annular seam of the cabin to return to the starting point;

[0027] Step 10: After step 9 is completed, the reducer and servo motor in the circumferential motion device are started to rotate forward, and the power wheel is driven to rotate to drive the automatic grinding device of the cabin circumferential seam to move from the starting point to the end point of the distance scanned by the laser seam finder. The laser seam finder scans and detects the weld allowance of the milling surface within this distance to ensure that the weld allowance is within the range of 0.5-1mm;

[0028] Step 11: The automatic grinding device for the annular seam of the cabin body is at the end of this distance, and this position is used as the starting point, and steps 6 to 10 are repeated until the rough milling of the entire annular seam is completed;

[0029] Step 12: Remove the pneumatic grinder from the positioning plate, remove the rough milling cutter installed on the pneumatic grinder and install the fine milling cutter; then reinstall the pneumatic grinder on the positioning plate;

[0030] Step 13: Start the reducer and servo motor in the circumferential motion device to rotate forward, drive the power wheel to rotate and drive the cabin body annular seam automatic grinding device to move along the upper flange of the I-beam on the cabin body. The laser seam finder scans the entire annular seam, and the difference between the highest point and the lowest point of the annular seam is determined by the laser seam finder. This difference is used as the feed amount of the fine milling cutter for the first milling;

[0031] Step 14: Start the reducer and servo motor in the annular motion device to rotate forward, the power wheel rotates to drive the cabin annular seam automatic grinding device to move along the upper flange of the I-beam on the cabin, and start the pneumatic grinder at the same time, and the fine milling cutter rotates; start the feed device, the feed device provides feed amount to the fine milling cutter toward the annular seam, and the fine milling cutter starts the first feed fine milling;

[0032] Step 15: After the fine milling cutter completes the first fine milling, the reducer and servo motor in the circumferential motion device are started again to rotate forward, and the power wheel is driven to rotate to drive the cabin body circular seam automatic grinding device as a whole to move along the upper flange of the I-beam on the cabin body. The laser seam finder scans the entire circular seam, and the weld excess height is detected by the laser seam finder. This excess height is used as the feed amount of the fine milling cutter for the second milling;

[0033] Step 16: Start the reducer and servo motor in the annular motion device to rotate forward, and the power wheel rotates to drive the automatic grinding device of the cabin annular seam to move along the upper flange of the I-beam on the cabin body for one circle, and at the same time start the pneumatic grinder, and the fine milling cutter rotates; start the feeding device, and the feeding device provides a feed amount to the fine milling cutter toward the annular seam, and the fine milling cutter starts the second feed fine milling;

[0034] Step 17: After the finishing milling cutter completes the second round of finishing, the reducer and servo motor in the circumferential motion device are started again to rotate forward, and the power wheel is driven to rotate to drive the cabin circumferential seam automatic grinding device as a whole to move along the upper flange of the I-beam on the cabin. The laser seam finder scans the entire circumferential seam and detects the weld excess height through the laser seam finder. If the excess is less than 0.2mm, it meets the requirement; otherwise, repeat steps 15 and 16.

[0035] Step 1 is specifically as follows: Step 101: adjusting the longitudinal clamping device and the radial clamping mechanism in the device to be in a maximum open state, ensuring that the longitudinal clamping device and the radial clamping mechanism can be placed on the I-beam of the cabin body;

[0036] Step 102: Start the first clamping cylinder to push the first longitudinal clamping wheel so that its outer surface is pressed against one side of the web of the I-beam, and at the same time, the outer surfaces of the two fixed longitudinal clamping wheels are pressed against the other side of the web of the I-beam; the first clamping cylinder stops;

[0037] Step 103: Synchronously start the four second clamping cylinders to push the four radial clamping wheels so that their outer surfaces simultaneously cling to the back side of the wing plate of the upper flange of the I-beam.

[0038] Compared with the prior art, the present invention has the following beneficial effects:

[0039] The device of the present invention can automatically grind the entire annular seam by simply installing the device as a whole on the I-beam of the cabin body without manual operation, thereby improving efficiency and quality.

[0040] The method of the present invention adopts a rough milling cutter for processing and then adopts a fine milling cutter for milling, which can effectively prevent over-milling of the rough milling cutter, thereby protecting the cabin; the segmented grinding of the annular seam can greatly improve the grinding efficiency and ensure the grinding quality; after the fine milling is completed, the contour of the weld is scanned by a laser seam finder to ensure that the grinding excess height meets the grinding requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is the first structural schematic diagram of the automatic grinding device for the cabin annular seam.

[0042] Figure 2 It is a second structural schematic diagram of the automatic grinding device for the cabin annular seam.

[0043] Figure 3It is a structural diagram of the base plate.

[0044] Figure 4 This is a schematic diagram of the structure of the space capsule.

[0045] Figure 5 It is a structural schematic diagram of the circular motion device.

[0046] Figure 6 It is a structural schematic diagram of the supporting device.

[0047] Figure 7 It is the first structural schematic diagram of the automatic grinding device for the cabin annular seam installed on the I-beam (reflecting the positional relationship between the longitudinal clamping device and the radial clamping device).

[0048] Figure 8 It is a second structural schematic diagram of the automatic grinding device for the cabin annular seam installed on the I-beam (reflecting the positional relationship between the longitudinal clamping device and the radial clamping device).

[0049] Fig. 9 It is a schematic diagram of the assembly of the fixed longitudinal clamping wheel and the second clamping wheel shaft.

[0050] Fig.10 It is a structural schematic diagram of the radial clamping mechanism.

[0051] Fig.11 It is the third structural schematic diagram of the automatic grinding device for the cabin annular seam installed on the I-beam (reflecting the positional relationship of the feeding device).

[0052] Fig.12 It is a schematic diagram of the assembly relationship between the feeding device and the grinding device.

[0053] Fig.13 It is a structural schematic diagram of the displacement measuring device. DETAILED DESCRIPTION

[0054] The technical solution of the present invention is described in detail below, but the protection scope of the present invention is not limited to the embodiments.

[0055] To make the content of the present invention more clearly understood, the following Figure 1-Figure 13 The specific implementation manner is further described.

[0056] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0057] like Figure 1 and 2As shown, an automatic grinding device for the annular seam of a cabin body comprises an automatic grinding device for the annular seam of a cabin body, which is located as a whole in the inner cavity of the cabin body, and the automatic grinding device for the annular seam of a cabin body comprises a base plate 1, a circumferential motion device 2, a supporting device 3, a longitudinal clamping device 4, a feeding device 6, a radial clamping device 7, a grinding device 8 and a displacement measuring device 5 for measuring the travel distance of the grinding device 8 on the I-beam, a camera 10 for recording the grinding process and a laser seam finder 11 for weld positioning and weld quality detection after grinding.

[0058] like Figure 1 and 2 As shown, the bottom plate 1 restricts the automatic grinding device of the annular seam of the cabin body to the I-beam 9 on the cabin body through the longitudinal clamping device 4 and the radial clamping device 7. The circumferential motion device 2, the longitudinal clamping device 4, the feeding device 6, the radial clamping device 7 and the supporting device 3 are all installed on the bottom plate 1. The grinding device 8 is installed on the feeding device 6. The feeding device 6 provides the feeding amount to the grinding device 8, and the grinding device 8 mills the annular seam; the circumferential motion device 2 and the supporting device 3 are respectively disposed at the front and rear ends of the bottom plate 1. The circumferential motion device 2 drives the bottom plate 1 to move along the I-beam 9 on the cabin body. The longitudinal clamping device 4 and the radial clamping device 7 cooperate with each other to restrict the automatic grinding device of the annular seam of the cabin body to the I-beam 9 on the cabin body. The feeding device 6 is installed on the bottom plate 1 to drive the feeding of the grinding device 8. The circumferential movement of the grinding device 8 is driven by the circumferential motion device 2; the grinding device 8 is arranged on the feeding device 6.

[0059] like Figure 3 As shown, the bottom plate 1 of this embodiment is made of steel plate, and the bottom plate 1 is arranged according to the needs of structural installation.

[0060] like Figure 3 As shown in Figures 4 and 5, the circumferential motion device 2 drives the bottom plate 1 to move along the I-beam 9 on the cabin body 1. In this embodiment, the circumferential motion device 2 includes a power wheel 201, a reducer 202 and a first servo motor 203. The reducer 202 is installed at the front end of the bottom plate 1, the first servo motor 203 is connected to the reducer 202, the motor shaft of the first servo motor 203 is connected to the input shaft of the reducer 202, the power wheel 201 is arranged on the output shaft of the reducer 202, the power wheel 201 fits the wing plate surface of the upper flange of the I-beam 9, the power wheel 201 is made of nylon material, the first servo motor 203 drives the power wheel 201 to rotate, and the rotation of the power wheel 201 drives the cabin body annular seam automatic grinding device as a whole to move along the upper flange of the I-beam 9 on the cabin body.

[0061] The circumferential motion device 2 is installed on the bottom plate 1 through the reducer 202, and the circumferential motion device 2 is located at the front end of the entire grinding device. The power wheel 201 is made of nylon material to increase the contact area with the wing plate surface of the upper flange of the I-beam, while preventing the wing plate surface of the upper flange of the I-beam from being scratched. The first servo motor 203 is powered on and started, and the power wheel 201 rotates, and through the friction between the wing plate surface of the upper flange of the I-beam, the automatic grinding device for the circumferential seam of the cabin body is driven as a whole to move along the upper flange of the I-beam on the cabin body.

[0062] like Figure 6 As shown, the supporting device 3 includes a connecting plate 301, a connecting shaft 302 and a supporting wheel 304. A through groove is provided on the plate surface of the connecting plate 301, and the supporting wheel 304 is installed in the through groove. Both ends of the supporting wheel 304 are rotatably arranged on the connecting shaft 302 through bearings, and both ends of the connecting shaft 302 are supported on the connecting plate 301; the connecting plate 301 is installed at the rear end of the base plate 1, and the supporting wheel 304 is rollingly supported on the wing plate surface of the upper flange of the I-beam 9.

[0063] like Figure 1 As shown in FIG. 2 , the circumferential motion device 2 and the supporting device 3 are respectively disposed at the front and rear ends of the bottom plate 1, and the circumferential motion device 2 and the supporting device 3 simultaneously support the bottom plate 1 on the wing plate surface of the upper flange of the I-beam 9. When the circumferential motion device 2 is powered, the power wheel 201 rotates, and the supporting wheel 304 also rotates, so that the cabin annular seam automatic grinding device as a whole moves along the upper flange of the I-beam on the cabin.

[0064] like Figure 1 and 2 As shown, the longitudinal clamping device 4 and the radial clamping device 7 cooperate with each other to restrict the automatic grinding device for the annular seam of the cabin body to the I-beam 9 on the cabin body as a whole.

[0065] like Figure 7 and 8 As shown, the longitudinal clamping device 4 includes two fixed longitudinal clamping wheels 41 and a movable longitudinal clamping wheel component 42. The two fixed longitudinal clamping wheels and the movable longitudinal clamping wheel are arranged in a triangle at the two side edges of the bottom plate 1, and are used to clamp the automatic annular seam grinding device of the cabin body as a whole on the upper flange of the I-beam 9.

[0066] like Figure 8As shown, the movable longitudinal clamping wheel component 42 includes two guide rails 422, a movable plate 421, a first clamping cylinder 423 and a first longitudinal clamping wheel 424. The two guide rails 422 are parallel and spaced apart and extend outwardly perpendicular to the base plate 1 and are arranged at the edge of one side of the base plate 1. The movable plate 421 is arranged on the two guide rails 422. The back side of the movable plate 421 is fixed to a slider matched with the two guide rails 422. At the same time, both ends of the movable plate 421 are indirectly supported on the base plate 1. The first longitudinal clamping wheel 424 is rotatably set on the first clamping wheel shaft, the upper end of the first clamping wheel shaft is fixed on the movable plate 421, the first longitudinal clamping wheel 424 is suspended below the movable plate 421 and the outer surface of the first longitudinal clamping wheel 424 can be close to one side surface of the web of the I-beam 9, the first clamping cylinder 423 is set on the upper plate surface of the base plate 1, and the piston rod end of the first clamping cylinder 423 is connected to the movable plate 421 through the transition block 425, and the transition block 425 is set on the movable plate 421.

[0067] like Figure 7 and 9 As shown, two fixed longitudinal clamping wheels 41 are installed at the other side edge of the bottom plate 1 through the second clamping wheel shaft. The two fixed longitudinal clamping wheels 41 are respectively rotatably arranged on the second clamping wheel shaft. The two fixed longitudinal clamping wheels 41 are both suspended below the bottom plate 1 and the outer surfaces can be close to the other side of the web of the I-beam 9. Fig. 9 As shown, the tops of the second clamping wheel shafts of the two fixed longitudinal clamping wheels 41 are fixed on the base plate 1 .

[0068] The working process of the longitudinal clamping device 4 in this embodiment is as follows: when the longitudinal clamping of the device needs to be implemented, the two fixed longitudinal clamping wheels 41 and the first longitudinal clamping wheel 424 are arranged in a triangle at the two side edges of the base plate 1, and the first clamping cylinder 423 is actuated to drive the movable plate 421 to move, driving the first longitudinal clamping wheel 424 to approach the I-beam 9, until finally the outer surface of the first longitudinal clamping wheel 424 can be close to one side of the web of the I-beam 9, and the outer surfaces of the two fixed longitudinal clamping wheels 4 can be close to the other side of the web of the I-beam 9.

[0069] like Figure 7 and 8 As shown, the radial clamping device 7 includes four radial clamping mechanisms arranged in a rectangular shape at the edges of both sides of the bottom plate 1, two of which are arranged at the two ends of the moving plate 421 through the pad connecting plates 76, and the remaining two radial clamping mechanisms are fixed on the bottom plate 1 through the pad connecting plates 76. The pad connecting plates 76 located at both ends of the moving plate 421 are supported on the bottom plate 1, and the pad connecting plates 76 and the bottom plate 1 are in sliding friction.

[0070] like Fig.10As shown, the four radial clamping mechanisms all include a second clamping cylinder 71, an adapter 72 and a radial clamping wheel 73. The connecting flange plate 74 on the cylinder body of the second clamping cylinder 71 is connected to the pad connecting plate 76. The adapter 72 is arranged at the end of the piston rod 75 of the second clamping cylinder 71. The radial clamping wheel 73 is rotatably arranged on the adapter 72 through the third clamping wheel shaft. The four radial clamping wheels 73 are all suspended below the base plate 1 and the outer surfaces of the four radial clamping wheels 73 can be close to the back side of the wing plate of the upper flange of the I-beam 9.

[0071] The working process of the radial clamping device 7 in this embodiment is that when radial clamping of the device needs to be implemented, the four second clamping cylinders 71 act simultaneously, driving the four radial clamping wheels 73 to approach the back side of the wing plate of the upper flange of the I-beam 9, and at the same time, two of the radial clamping wheels 73 approach the I-beam 9 under the action of the first clamping cylinder 423; until finally the outer surfaces of the four second clamping cylinders 71 can be close to the back side of the wing plate of the upper flange of the I-beam 9.

[0072] like Figure 1 and 11 As shown, the feeding device 6 is installed on the bottom plate 1 to drive the feeding of the grinding device 8. The feeding device 6 includes a base plate 65, a second servo motor 61, a synchronous belt transmission pair 62, a ball screw nut pair 63, a lifting plate 64, a support seat 66 and two vertical guide rails 67. The base plate 65 is vertically arranged on the bottom plate 1, the second servo motor 61 and the support seat 66 are respectively arranged on the two side surfaces of the base plate 65, the upper end bearing of the ball screw in the ball screw nut pair 63 is connected to the support seat 66, and the ball screw is arranged vertically; the driving pulley and the driven pulley in the synchronous belt transmission pair 62 are respectively connected to the motor shaft of the second servo motor 61 and the upper end of the ball screw, the lifting plate 64 is connected to the screw nut in the ball screw nut pair 63, and the two vertical guide rails 67 are arranged at intervals on one side surface of the base plate 65, and two sliders are arranged on the lifting plate 64 to cooperate with the two vertical guide rails 67.

[0073] The feeding device 6 of this embodiment is powered by the second servo motor 61, which is transmitted to the ball screw nut pair 63 through the synchronous belt transmission pair 62. The ball screw in the ball screw nut pair 63 rotates, driving the nut to move up and down along the ball screw, thereby driving the lifting plate 64 to rise or fall. In this embodiment, the lifting plate 64 is connected to the grinding device 8, so as to realize the feeding of the grinding device 8.

[0074] like Fig.11 As shown, the feeding device 6 also includes a grating ruler 68 for measuring the feeding amount. The scale grating of the grating ruler 68 is vertically installed on the base plate 65, and the grating reading head 681 of the grating ruler 68 is installed on the side of the lifting plate 64 to measure the descending stroke of the lifting plate 64 and monitor the feeding amount.

[0075] like Figure 1 and2 As shown, the movement of the grinding device 8 is driven by the circumferential motion device 2 , and the feeding of the grinding device 8 is provided by the feeding device 6 ; the grinding device 8 is arranged on the feeding device 6 .

[0076] like Fig.12 As shown, the grinding device 8 includes a six-dimensional force sensor 81, a buffer 82 and a pneumatic grinder 83. The six-dimensional force sensor 81 is arranged on the back of the lifting plate 64, the buffer 82 is installed on the six-dimensional force sensor 81 and is located below the six-dimensional force sensor 81, a positioning plate 85 is installed below the buffer 82, and the pneumatic grinder 83 is installed on the positioning plate 85 and is located directly above the annular gap.

[0077] In this embodiment, the six-dimensional force sensor 81 is an outsourced part, which is directly purchased. The six-dimensional force sensor 81 in this embodiment preferably adopts the six-dimensional force sensor sold by Kunwei (Beijing) Technology Co., Ltd. or Changzhou Kunwei Sensor Technology Co., Ltd. The six-dimensional force sensor has a six-dimensional force detection function and provides a full set of feedback control algorithms. At the same time, the range is: Fx / Fy / Fz is 400N / 400N / 800N respectively, and the torque Mx / My / Mz is 40Nm / 40Nm / 40Nm respectively.

[0078] In this embodiment, the function of the buffer 82 is to provide a buffer force to the pneumatic grinder 83. The buffer used in this embodiment is also an outsourced part, which is directly purchased. The buffer in this embodiment preferably adopts the Austrian FERROBOTICS active tactile flange, which has a maximum force of 800N, a stroke of 48mm, a maximum overturning moment of 350Nm, and a maximum torsional moment of 350Nm.

[0079] In this embodiment, the pneumatic grinder 83 is a purchased part, which is directly purchased. In this embodiment, the weld grinder PY1027 sold by Shanghai Jinwei Hardware Machinery Co., Ltd. is preferably used. The weld grinder is suitable for milling and flattening special-shaped flat butt welds. The main purpose is: it is suitable for removing the excess height of the weld of metal butt welds (pipe butt arc welds and sheet metal butt welds). The significance of the weld bead grinder for milling (grinding) the weld excess height is: 1. Removing the weld excess height is conducive to detecting surface defects of the weld. If the weld is not subjected to non-destructive testing, the welding effect can be observed after the excess height is milled. 2. Removing the weld excess height and processing the excess height to be flush with the parent material is conducive to stress release in the heat-affected zone and to ensuring the strength of the weld.

[0080] Features of weld grinding machine:

[0081] This machine is suitable for processing small carbon steel weldments and standard weld bead (weld seam) excess height (less than 3mm).

[0082] There is no limit on the excess height of welds (weld seams) of non-ferrous metals such as stainless steel, aluminum, and copper.

[0083] 1. The height removal of the weld excess height can be adjusted within 0-5mm (see the figure below).

[0084] 2. The tool removes the excess weld at high speed, steadily and smoothly.

[0085] 3. No dust is generated in the workplace and there is no pollution.

[0086] 4. Metal powder is easy to recycle.

[0087] 5. No sparks are generated and it complies with safety production requirements.

[0088] Requirements:

[0089] 1. Connect the gas pipe with an inner diameter of more than 5mm to ensure the pressure and flow required for power;

[0090] 2. If the weld bead excess height is higher than 3mm, it is recommended to operate in batches to ensure the cutting speed and protect the service life of the tool;

[0091] 3. The tool must be pushed forward slowly (downward push) during high-speed operation. Slow push can ensure the smoothness of the cutting surface. Pushing the cutting surface too quickly may produce wavy lines.

[0092] 4. In order not to damage the welding base material, leave some room when adjusting the tool gap, and then choose a suitable polishing machine for fine polishing.

[0093] 5. Recommended models for fine polishing: EZ-7060 or EZ-7060E.

[0094] Tool suitable material:

[0095] Carbon steel, stainless steel, aluminum alloy, aluminum, copper, plastic

[0096] The tool is suitable for application:

[0097] 1. Milling the excess height of weld bead and weld spot of precision welded parts;

[0098] 2. Clear the flash burrs of castings;

[0099] This weld grinding machine is equipped with special tools, weld bead excess height milling cutter. Specifically: Tool selection (red words are commonly used):

[0100] Y2710 (coarse teeth) Special type: suitable for processing welds, welding spots and protrusions of copper, aluminum alloy and other non-ferrous metals;

[0101] Y2720 (medium-thick) special type: suitable for processing welds, welding spots and protrusions of copper and aluminum alloy non-ferrous metals;

[0102] Y2725 (medium teeth) general type: suitable for processing stainless steel, carbon steel welds and welding spots;

[0103] Y2730 (medium-fine) fine type: suitable for thick and fine grinding of welding points and welds and burr treatment of plastic parts;

[0104] Y2740 (fine teeth) fine type: suitable for thick and fine grinding of welding points and welds and burr treatment of plastic parts.

[0105] like Fig.12 As shown, a limit switch 86 is installed at the end of the lifting plate 64. The limit switch 86 measures the distance between the pneumatic grinder 83 and the back of the wing plate at the lower flange of the I-beam. The limit switch 86 is used to prevent the pneumatic grinder 83 from being damaged due to excessive feed.

[0106] like Figure 1 As shown, the automatic grinding device for the annular seam of the cabin body also includes a displacement measuring device 5 for measuring the travel distance of the grinding device 8 on the I-beam, a camera 10 for recording the grinding process, and a laser seam finder 11 for weld positioning and weld quality inspection after grinding. The displacement measuring device 5 and the camera 10 are both located at the rear end of the base plate 1, and the displacement measuring device 5 and the camera 10 are respectively located on both sides of the base plate 1; the laser seam finder 11 is located on one side of the front end of the base plate 1 and is below the base plate 1.

[0107] like Fig.13 As shown, the displacement measuring device 5 includes a roller 51, a transmission shaft 52, a bearing seat 53 and an encoder 54. The bearing seat 53 is fixed to the rear end of the base plate 1. The transmission shaft 52 is rotatably connected to the bearing seat 53 through a bearing. The output shaft of the encoder 54 is connected to one end of the transmission shaft 52. The roller 51 is arranged on the other end of the transmission shaft 52. The roller 51 is close to the wing plate surface of the upper flange of the I-beam. When the circumferential motion device 2 slips, the displacement measuring device 5 detects that the circumferential motion device 2 slips.

[0108] The working principle of the displacement measuring device 5 in this embodiment is: the displacement measuring device 5 moves together with the base plate 1 under the action of the circumferential motion device 2, the roller 51 rubs against the wing plate surface of the upper flange of the I-beam, and the rotation of the roller 51 is transmitted to the encoder 54 through the transmission shaft 52, and the encoder 54 measures the travel distance of the grinding device 8 on the I-beam.

[0109] like Figure 1 As shown, the camera 10 and the grinding device 8 are located on the same side of the base plate 1 , and the camera 10 is suspended at an edge of one side of the base plate 1 through an extension arm 101 extending outward perpendicularly to the base plate 1 .

[0110] In this embodiment, the camera 10 is an externally purchased component, which is directly purchased. In this embodiment, the Hikvision MV-CA060-10GC is preferably used, and the camera provides a real-time video detection function and a light source illumination function.

[0111] like Figure 1 As shown, the laser seam finder 11 and the grinding device 8 are located on the same side of the base plate 1 , and the laser seam finder 11 is suspended directly above the annular seam to be ground by an L-shaped bracket 1101 , and the L-shaped bracket 1101 is set on the base plate 65 .

[0112] In this embodiment, the laser seam finder 11 is a purchased part, which is directly purchased. In this embodiment, the laser seam finder sold by Sairong Information Technology Co., Ltd. is preferably used. The laser seam finder can realize automatic recognition of welds, including geometric information such as weld width and weld height; the working distance of the laser seam finder covers 100-150mm, and the measurement accuracy is better than 0.05mm.

[0113] The present invention is used to replace manual grinding. Compared with manual grinding, the present invention has good grinding effect, high efficiency and can perform continuous work.

[0114] A method for grinding annular seams of a cabin body annular seam automatic grinding device comprises the following steps:

[0115] Step 1: Install the automatic grinding device for the annular seam of the cabin body on the I-beam 9 of the cabin body whose annular seam is to be ground, wherein; the pneumatic grinder 83 is not installed; Step 1 is specifically as follows: Step 101: Adjust the longitudinal clamping device and the radial clamping mechanism in the device to make them in the maximum open state, to ensure that the longitudinal clamping device and the radial clamping mechanism can be placed on the I-beam of the cabin body; Step 102: Start the first clamping cylinder 423, push the first longitudinal clamping wheel 424 so that its outer surface is close to one side of the web of the I-beam 9, and at the same time, the outer surfaces of the two fixed longitudinal clamping wheels 41 are close to the other side of the web of the I-beam 9; the first clamping cylinder 423 stops; Step 103: Synchronously start the four second clamping cylinders 71, push the four radial clamping wheels 73 so that their outer surfaces are simultaneously close to the back side of the wing plate of the upper flange of the I-beam 9.

[0116] Step 2: Adjust the feeding position of the feeding device 6 in the device of step 1 to the highest point;

[0117] Step 3: The milling cutter on the pneumatic grinder 83 is replaced with a roughing cutter;

[0118] Step 4: Install the pneumatic grinder 83 of step 3 on the positioning plate 85 so that the rough milling cutter faces the annular seam; the preset position is the starting point;

[0119] Step 5: Turn on the camera 10 and the laser seam finder 11;

[0120] Step 6: Start the reducer 202 and the first servo motor 203 in the circumferential motion device 2 to rotate forward, drive the power wheel 201 to rotate, and drive the cabin body annular seam automatic grinding device as a whole to move a distance along the upper flange of the I-beam 9 on the cabin body; the laser seam finder 11 scans the annular seam within this distance and determines the position of the annular seam;

[0121] Step 7: After step 6 is completed, the reducer 202 and the first servo motor 203 in the circumferential motion device 2 are started to rotate in the opposite direction, and the power wheel 201 rotates to drive the automatic grinding device for the annular seam of the cabin to return to the starting point;

[0122] Step 8: Start the reducer 202 and the first servo motor 203 in the annular motion device 2 to rotate forward, and the power wheel 201 rotates to drive the automatic grinding device for the annular seam of the cabin body to move from the starting point to the end point of the distance scanned by the laser seam finder 11; at the same time, start the pneumatic grinder 83, and the rough milling cutter rotates; start the feeding device 6, and the feeding device 6 provides a feed amount to the rough milling cutter toward the annular seam, and the rough milling cutter starts feeding and milling;

[0123] Step 9: After step 8 is completed, the reducer 202 and the first servo motor 203 in the circumferential motion device 2 are started to rotate in the opposite direction, and the power wheel 201 rotates to drive the automatic grinding device for the annular seam of the cabin to return to the starting point;

[0124] Step 10: After step 9 is completed, the reducer 202 and the first servo motor 203 in the circumferential motion device 2 are started to rotate forward, and the power wheel 201 is driven to rotate to drive the automatic grinding device of the cabin annular seam to move from the starting point to the end point of the distance scanned by the laser seam finder 11. The laser seam finder 11 scans and detects the weld allowance of the milling surface within this distance to ensure that the weld allowance is within the range of 0.5-1mm;

[0125] Step 11: The automatic grinding device for the annular seam of the cabin body is at the end of this distance, and this position is used as the starting point, and steps 6 to 10 are repeated until the rough milling of the entire annular seam is completed;

[0126] Step 12: Remove the pneumatic grinder 83 from the positioning plate 85, remove the rough milling cutter installed on the pneumatic grinder 83 and install a fine milling cutter; then reinstall the pneumatic grinder 83 on the positioning plate 85;

[0127] Step 13: Start the reducer 202 and the first servo motor 203 in the circumferential motion device 2 to rotate forward, drive the power wheel 201 to rotate and drive the cabin body annular seam automatic grinding device as a whole to move along the upper flange of the I-beam 9 on the cabin body for one circle, and the laser seam finder 11 scans the entire annular seam. The difference between the highest point and the lowest point of the annular seam is determined by the laser seam finder 11, and this difference is used as the feed amount of the first milling of the fine milling cutter;

[0128] Step 14: Start the reducer 202 and the first servo motor 203 in the annular motion device 2 to rotate forward, the power wheel 201 rotates to drive the cabin annular seam automatic grinding device to move along the upper flange of the I-beam 9 on the cabin, and at the same time start the pneumatic grinder 83, and the fine milling cutter rotates; start the feeding device 6, the feeding device 6 provides the fine milling cutter with a feed amount toward the annular seam, and the fine milling cutter starts the first feeding fine milling;

[0129] Step 15: After the fine milling cutter completes the first fine milling, the reducer 202 and the first servo motor 203 in the circumferential motion device 2 are started again to rotate forward, and the power wheel 201 is driven to rotate to drive the cabin body annular seam automatic grinding device as a whole to move along the upper flange of the I-beam 9 on the cabin body. The laser seam finder 11 scans the entire annular seam, and the laser seam finder 11 detects the weld excess height, which is used as the feed amount of the fine milling cutter for the second milling;

[0130] Step 16: Start the reducer 202 and the first servo motor 203 in the annular motion device 2 to rotate forward, the power wheel 201 rotates to drive the automatic grinding device of the cabin annular seam to move along the upper flange of the I-beam 9 on the cabin body for one circle, and at the same time start the pneumatic grinder 83, and the fine milling cutter rotates; start the feeding device 6, the feeding device 6 provides the fine milling cutter with a feed amount toward the annular seam, and the fine milling cutter starts the second feeding fine milling;

[0131] Step 17: After the finishing cutter completes the second round of finishing milling, the reducer 202 and the first servo motor 203 in the circumferential motion device 2 are started again to rotate forward, driving the power wheel 201 to rotate and drive the automatic grinding device of the cabin annular seam as a whole to move one circle along the upper flange of the I-beam 9 on the cabin body. The laser seam finder 11 scans the entire annular seam, and the laser seam finder 11 detects the weld excess height. If the excess is less than 0.2mm, it meets the requirement; otherwise, repeat steps 15 and 16.

[0132] The parts not involved in the present invention are the same as the prior art or can be implemented by using the prior art.

[0133] As described above, although the present invention has been shown and described with reference to specific preferred embodiments, it should not be construed as limiting the present invention itself. Various changes in form and details may be made without departing from the spirit and scope of the present invention as defined in the appended claims.

Claims

1. An automatic grinding device for the annular seam of a cabin, It is characterized in that The automatic grinding device for the annular seam of the cabin body is located in the inner cavity of the cabin body. The automatic grinding device for the annular seam of the cabin body includes a bottom plate, an annular motion device, a supporting device, a longitudinal clamping device, a feeding device, a radial clamping device and a grinding device. The bottom plate restricts the automatic grinding device of the cabin annular seam to the I-beam on the cabin through the longitudinal clamping device and the radial clamping device. The annular motion device, the longitudinal clamping device, the feeding device, the radial clamping device and the supporting device are all installed on the bottom plate. The grinding device is installed on the feeding device. The feeding device drives the grinding device to realize feeding, and the grinding device mills the annular seam. The circumferential motion device and the supporting device are respectively disposed at the front and rear ends of the bottom plate. The circumferential motion device drives the bottom plate to move along the I-beam on the cabin body. The longitudinal clamping device and the radial clamping device cooperate with each other to restrict the cabin body annular seam automatic grinding device as a whole to the I-beam on the cabin body. The feeding device is installed on the bottom plate to realize the feeding of the grinding device. The grinding device is arranged on the feeding device. The circumferential motion device includes a power wheel, a reducer and a first servo motor. The reducer is installed at the front end of the bottom plate. The first servo motor is connected to the reducer. The motor shaft of the first servo motor is connected to the input shaft of the reducer. The power wheel is arranged on the output shaft of the reducer. The power wheel fits the wing plate surface of the upper flange of the I-beam. The power wheel is made of nylon. The first servo motor drives the power wheel to rotate. The rotation of the power wheel drives the automatic grinding device for the annular seam of the cabin to move along the upper flange of the I-beam on the cabin as a whole. The supporting device comprises a connecting plate, a connecting shaft and a supporting wheel. A through groove is provided on the plate surface of the connecting plate, and the supporting wheel is installed in the through groove. The supporting wheel is rotatably arranged on the connecting shaft, and both ends of the connecting shaft are supported on the connecting plate. The connecting plate is installed at the rear end of the bottom plate, and the supporting wheel is rollingly supported on the wing plate surface of the upper flange of the I-beam. The longitudinal clamping device includes two fixed longitudinal clamping wheels and one movable longitudinal clamping wheel component, which are arranged in a triangle at the two side edges of the bottom plate and are used to clamp the cabin annular seam automatic grinding device as a whole on the upper flange of the I-beam; The movable longitudinal clamping wheel component comprises two guide rails, a movable plate, a first clamping cylinder and a first longitudinal clamping wheel. The two guide rails are parallel and spaced apart and extend outwardly perpendicular to the bottom plate and are arranged at one side edge of the bottom plate. The movable plate is arranged on the two guide rails. The first longitudinal clamping wheel is rotatably arranged on the first clamping wheel shaft. The upper end of the first clamping wheel shaft is fixed to the movable plate. The first longitudinal clamping wheel is suspended below the movable plate and the outer surface of the first longitudinal clamping wheel can be closely attached to one side surface of the web of the I-beam. The first clamping cylinder is arranged on the upper plate surface of the bottom plate. The piston rod of the first clamping cylinder is connected to the movable plate. The fixed longitudinal clamping wheels are rotatably arranged on the second clamping wheel shafts respectively. The two fixed longitudinal clamping wheels are suspended below the bottom plate and the outer surfaces thereof can be closely attached to the other side surface of the web of the I-beam.

2. The automatic grinding device for the annular seam of a cabin body according to claim 1, It is characterized in that The radial clamping device comprises four radial clamping mechanisms arranged in a rectangular shape at the edges of both sides of the bottom plate, wherein two radial clamping mechanisms are arranged at both ends of the movable plate through a fixing plate, and the remaining two radial clamping mechanisms are fixed to the bottom plate through a fixing plate; The four radial clamping mechanisms all include a second clamping cylinder, an adapter and a radial clamping wheel. The cylinder body of the second clamping cylinder is connected to the fixed plate. The adapter is arranged at the end of the piston rod of the second clamping cylinder. The radial clamping wheel is rotatably arranged on the adapter through the third clamping wheel shaft. The four radial clamping wheels are all suspended below the bottom plate, and the outer surfaces of the four radial clamping wheels can be closely attached to the back side of the wing plate of the upper flange of the I-beam.

3. The automatic grinding device for the annular seam of a cabin body according to claim 1, It is characterized in that The feeding device includes a base plate, a second servo motor, a synchronous belt transmission pair, a ball screw nut pair, a lifting plate, a support seat and two vertical guide rails. The base plate is vertically arranged on the bottom plate, the second servo motor and the support seat are respectively arranged on both side surfaces of the base plate, the upper end bearing of the ball screw in the ball screw nut pair is connected to the support seat, and the ball screw is vertically arranged; the driving pulley and the driven pulley in the synchronous belt transmission pair are respectively connected to the motor shaft of the second servo motor and the upper end of the ball screw, the lifting plate is connected to the screw nut in the ball screw nut pair, two vertical guide rails are arranged at intervals on one side surface of the base plate, and sliders arranged on the two vertical guide rails are connected to the lifting plate.

4. The automatic grinding device for the annular seam of a cabin body according to claim 3, It is characterized in that The grinding device includes a six-dimensional force sensor, a buffer and a pneumatic grinder. The six-dimensional force sensor is arranged on the back of the lifting plate, the buffer is installed on the six-dimensional force sensor and is located below the six-dimensional force sensor, a positioning plate is installed below the buffer, and the pneumatic grinder is installed on the positioning plate and is located directly above the annular gap.

5. The automatic grinding device for the annular seam of a cabin body according to claim 4, It is characterized in that The automatic grinding device for the circumferential seam of the cabin also includes a displacement measuring device for measuring the travel distance of the grinding device on the I-beam, a camera for recording the grinding process, and a laser seam finder for weld positioning and weld quality inspection after grinding. The displacement measuring device and the camera are both located at the rear end of the bottom plate, and the displacement measuring device and the camera are respectively located on both sides of the bottom plate; the laser seam finder is located on one side of the front end of the bottom plate and below the bottom plate; The displacement measuring device includes a roller, a transmission shaft, a bearing seat and an encoder. The bearing seat is fixed at the rear end of the base plate. The transmission shaft is rotatably connected to the bearing seat through a bearing. The encoder output shaft is connected to one end of the transmission shaft. The roller is arranged on the other end of the transmission shaft. The roller is closely attached to the wing plate surface of the upper flange of the I-beam. The camera and the grinding device are located on the same side of the bottom plate, and the camera is suspended at the edge of one side of the bottom plate through an extension arm extending outward perpendicularly to the bottom plate; The laser seam finder and the grinding device are located on the same side of the bottom plate. The laser seam finder is suspended directly above the annular seam to be ground through an L-shaped bracket, and the L-shaped bracket is arranged on the base plate.

6. A method for grinding annular seams based on the automatic grinding device for annular seams of a cabin body according to any one of claims 1 to 5, It is characterized in that The steps include: Step 1: Install the automatic grinding device for the annular seam of the cabin body on the I-beam of the cabin body whose annular seam is to be ground, wherein the pneumatic grinder is not installed; Step 2: Adjust the feeding position of the feeding device in the device of step 1 to the highest point; Step 3: Replace the milling cutter on the pneumatic grinder with a roughing cutter; Step 4: Install the pneumatic grinder in step 3 on the positioning plate so that the rough milling cutter faces the annular seam; the preset position is the starting point; Step 5: Turn on the camera and the laser seam finder; Step 6: Start the reducer and the first servo motor in the circumferential motion device to rotate forward, drive the power wheel to rotate and drive the cabin body annular seam automatic grinding device as a whole to move a distance along the upper flange of the I-beam on the cabin body; the laser seam finder scans the annular seam within this distance and determines the position of the annular seam; Step 7: After step 6 is completed, the reducer and the first servo motor in the circumferential motion device are started to rotate in the opposite direction, and the power wheel rotates to drive the automatic grinding device for the annular seam of the cabin to return to the starting point; Step 8: Start the reducer and the first servo motor in the annular motion device to rotate forward, and the power wheel rotates to drive the automatic grinding device of the cabin annular seam to move from the starting point to the end point of the distance scanned by the laser seam finder; at the same time, start the pneumatic grinder and the rough milling cutter rotates; start the feeding device, and the feeding device provides a feed amount to the rough milling cutter toward the annular seam, and the rough milling cutter starts feeding and milling; Step 9: After step 8 is completed, the reducer and the first servo motor in the circumferential motion device are started to rotate in the opposite direction, and the power wheel rotates to drive the automatic grinding device for the annular seam of the cabin to return to the starting point; Step 10: After step 9 is completed, the reducer and the first servo motor in the circumferential motion device are started to rotate forward, and the power wheel is driven to rotate to drive the automatic grinding device of the cabin annular seam to move from the starting point to the end point of the distance scanned by the laser seam finder. The laser seam finder scans and detects the weld allowance of the milling surface within this distance to ensure that the weld allowance is within the range of 0.5-1mm; Step 11: The automatic grinding device for the annular seam of the cabin body is at the end of this distance, and this position is used as the starting point, and steps 6 to 10 are repeated until the rough milling of the entire annular seam is completed; Step 12: Remove the pneumatic grinder from the positioning plate, remove the rough milling cutter installed on the pneumatic grinder and install the fine milling cutter; then reinstall the pneumatic grinder on the positioning plate; Step 13: Start the reducer and the first servo motor in the circumferential motion device to rotate forward, drive the power wheel to rotate and drive the cabin body annular seam automatic grinding device as a whole to move along the upper flange of the I-beam on the cabin body for one circle, and the laser seam finder scans the entire annular seam. The laser seam finder determines the difference between the highest point and the lowest point of the annular seam, and this difference is used as the feed amount of the fine milling cutter for the first milling; Step 14: Start the reducer and the first servo motor in the annular motion device to rotate forward, and the power wheel rotates to drive the automatic grinding device of the cabin annular seam to move along the upper flange of the I-beam on the cabin body for one circle, and at the same time start the pneumatic grinder, and the fine milling cutter rotates; start the feeding device, and the feeding device provides a feed amount to the fine milling cutter toward the annular seam, and the fine milling cutter starts the first feed fine milling; Step 15: After the fine milling cutter completes the first fine milling, the reducer and the first servo motor in the circumferential motion device are started again to rotate forward, and the power wheel is driven to rotate to drive the cabin body annular seam automatic grinding device as a whole to move along the upper flange of the I-beam on the cabin body. The laser seam finder scans the entire annular seam, and the weld excess height is detected by the laser seam finder. This excess height is used as the feed amount of the fine milling cutter for the second milling; Step 16: Start the reducer and the first servo motor in the annular motion device to rotate forward, and the power wheel rotates to drive the automatic grinding device of the cabin annular seam to move along the upper flange of the I-beam on the cabin body for one circle, and at the same time start the pneumatic grinder, and the fine milling cutter rotates; start the feeding device, and the feeding device provides a feed amount to the fine milling cutter toward the annular seam, and the fine milling cutter starts the second feed fine milling; Step 17: After the finishing cutter completes the second round of finishing, the reducer and the first servo motor in the circumferential motion device are started again to rotate forward, and the power wheel is driven to rotate to drive the automatic grinding device of the cabin annular seam to move along the upper flange of the I-beam on the cabin. The laser seam finder scans the entire annular seam and detects the weld excess height through the laser seam finder. If the excess is less than 0.2mm, it meets the requirement; otherwise, repeat steps 15 and 16.

7. The annular seam grinding method according to claim 6, It is characterized in that Step 1 is as follows: Step 101: adjusting the longitudinal clamping device and the radial clamping mechanism in the device to be in the maximum open state, ensuring that the longitudinal clamping device and the radial clamping mechanism can be placed on the I-beam of the cabin body; Step 102: Start the first clamping cylinder to push the first longitudinal clamping wheel so that its outer surface is pressed against one side of the web of the I-beam, and at the same time, the outer surfaces of the two fixed longitudinal clamping wheels are pressed against the other side of the web of the I-beam; the first clamping cylinder stops; Step 103: Synchronously start the four second clamping cylinders to push the four radial clamping wheels so that their outer surfaces simultaneously cling to the back side of the wing plate of the upper flange of the I-beam.

Images