Grinding and milling system and grinding and milling robot

Abstract

The present invention discloses a grinding and milling system and a grinding and milling robot. The grinding and milling system comprises a floating plate (100) and a mounting plate (200) arranged in parallel and spaced apart. A floating connection mechanism (700) is connected between the floating plate (100) and the mounting plate (200). The floating connection mechanism (700) comprises a first direction axis and a second direction axis which are mutually crossed and fixedly connected. The first direction axis and the second direction axis are respectively connected to the floating plate (100) and the mounting plate (200) in a resettable manner. The floating plate and the mounting plate are connected by the floating connection mechanism, which not only ensures the floating rotation and floating displacement of the floating plate, but also enables the floating plate to move only within the movable range limited by the floating connection mechanism. It can be understood that the grinding position of the grinding work head is limited within a certain range, thereby ensuring the controllability of the grinding position.

Description

Technical Field

[0001] The invention relates to the technical field of engineering machinery, and in particular to a grinding and milling system and a grinding and milling robot. Background Art

[0002] Grinding is divided into line grinding, surface grinding, and radial grinding. It is an indispensable basic process in the manufacturing industry, especially in the engineering machinery industry with many welding processes. Before welding, the metal surface needs to be ground to expose the metal. After welding, the weld needs to be ground to remove welding spatter and slag inclusions, incomplete penetration, and incomplete fusion, which cause stress concentration. Different local grinding methods of welds can eliminate weld stress concentration and possible weld quality problems, greatly improve the fatigue strength of welds, and prevent the occurrence of weld cracks. At the same time, milling will be faster when cleaning the back of the weld.

[0003] Different grinding methods are required during the welding process. For example, radial grinding is best for interlayer grinding, surface grinding is best for weld excess grinding, and milling is more efficient for back root cleaning of double-sided welds. Grinding on uneven structural surfaces with drastic changes in surface curves is prone to vibration. Therefore, how to balance multiple grinding methods and milling is a research issue.

[0004] In addition, in order to switch between multiple grinding methods, the grinding head needs to have a certain floating performance, and the controllability of the floating space directly affects the processing effect of the weld. Therefore, how to ensure the controllability of the grinding position while taking into account multiple grinding methods is a problem worth studying. Summary of the invention

[0005] The object of the present invention is to provide a grinding and milling system, which takes into account milling and various grinding methods, has a controllable grinding position, a good weld processing effect, and effectively suppresses grinding vibration.

[0006] In order to achieve the above-mentioned object, the present invention provides a grinding and milling system, the grinding and milling system comprises a floating plate and a mounting plate arranged in parallel and spaced apart, a floating connection mechanism is connected between the floating plate and the mounting plate, the floating connection mechanism comprises a first direction axis and a second direction axis intersecting and fixedly connected to each other, the first direction axis and the second direction axis are respectively connected to the floating plate and the mounting plate in a resettable manner;

[0007] The floating plate can rotate around a first direction axis of the first direction axis or around a second direction axis of the second direction axis, and the floating plate can deflect along the first direction axis or along the second direction axis.

[0008] The first direction axis and the second direction axis are arranged perpendicular to each other.

[0009] In one embodiment, the floating connection mechanism includes a cross-axis assembly, which includes a first shaft and a second shaft as the first direction axis and extending in opposite directions along the first direction axis, and a third shaft and a fourth shaft as the second direction axis and extending in opposite directions along the second direction axis.

[0010] In one embodiment, the floating connection mechanism includes a connecting sleeve mounted on the first direction axis and the second direction axis, the connecting sleeve includes a first connecting sleeve installed to the outer shaft end of the first shaft rod, a second connecting sleeve installed to the outer shaft end of the second shaft rod, a third connecting sleeve installed to the outer shaft end of the third shaft rod, and a fourth connecting sleeve installed to the outer shaft end of the fourth shaft rod, the first connecting sleeve and the second connecting sleeve are fixedly connected to the floating plate, and the third connecting sleeve and the fourth connecting sleeve are fixedly connected to the mounting plate.

[0011] In one embodiment, the cross-axis assembly further comprises:

[0012] a central pedestal, to which the inner ends of the first shaft, the second shaft, the third shaft and the fourth shaft are fixedly connected; and

[0013] A spring assembly, comprising a first return spring sleeved on the first direction axis and a second return spring sleeved on the second direction axis;

[0014] Wherein, the inner ends of the first return spring and the second return spring respectively abut against the central seat, and the other ends press outward against the corresponding connecting sleeve.

[0015] In one embodiment, the grinding and milling system includes the floating connection mechanism and the floating adjustment mechanism for adjusting the floating position of the floating plate, which are arranged from the inside to the outside along the radial direction of the mounting plate. The floating plate is provided with a vibration sensor for detecting vibration data of the floating plate. The floating adjustment mechanism is multiple and independently arranged and includes:

[0016] a single-acting cylinder pivotally connected between the floating plate and the mounting plate and capable of adjusting the spacing between the pivotally connected ends; and

[0017] An oil cylinder regulating pipeline, used for transmitting hydraulic oil and connected to the oil inlet end of the single-acting oil cylinder;

[0018] Wherein, a one-way proportional throttle valve for regulating the oil inlet and oil return of the single-acting cylinder is arranged on the oil cylinder regulating pipeline.

[0019] In one embodiment, the one-way proportional throttle valve includes an oil inlet one-way valve and an oil return proportional throttle valve which are arranged in parallel on the cylinder regulating pipeline. The oil inlet one-way valve allows hydraulic oil to flow from the cylinder regulating pipeline to the single-acting cylinder and prohibits the reverse flow. The proportional throttle valve allows hydraulic oil to flow proportionally from the single-acting cylinder back into the cylinder regulating pipeline.

[0020] In one embodiment, the weld grinding and milling system further includes a mounting platform for mounting the mounting disk and a mounting disk driving structure for driving the mounting disk to move in a direction perpendicular to the mounting platform, wherein the mounting disk driving structure includes:

[0021] A balancing cylinder, used for adjusting the output pressure of the floating plate and extending from the carrying platform, wherein a tension and compression sensor for monitoring the output pressure is provided between the carrying platform and the mounting plate; and

[0022] A guide shaft extending from the carrying platform;

[0023] Wherein, a linear slider connected between the balancing cylinder and the mounting plate and capable of sliding and braking along the length direction of the guide shaft is arranged on the guide shaft.

[0024] In one embodiment, the weld grinding and milling system also includes a floating locking structure for locking and fixing the floating plate, the floating locking structure includes a locking pin cylinder and a locking latch extending from the mounting plate and being sequentially connected in transmission, and the floating plate is provided with a pin hole for inserting the locking latch.

[0025] In addition, the present invention also provides a grinding and milling robot, which includes the above-mentioned grinding and milling system.

[0026] Through the above technical scheme, the present invention provides a grinding and milling system, which connects the floating plate and the mounting plate through a floating connection mechanism, which not only ensures the floating rotation and floating offset of the floating plate, but also makes the floating plate move only within the movable range limited by the floating connection mechanism, which can be understood as limiting the grinding position of the grinding work head within a certain range to ensure the controllability of the grinding position. The floating adjustment mechanism and the balancing cylinder adjust the angle and position of the floating plate, and make the floating plate have floating freedom at multiple angles and can be locked when floating to a certain angle, which can not only realize the surface grinding, line grinding, radial grinding and milling of the weld, but also adjust the telescopic damping of the single-acting oil cylinder to suppress vibration.

[0027] Other features and advantages of the present invention will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1is a schematic diagram of a grinding and milling system provided in a specific embodiment of the present invention;

[0029] Figure 2 yes Figure 1 A partial structural diagram showing the floating plate, mounting plate, cross shaft assembly and connecting sleeve;

[0030] Figure 3 yes Figure 2 Schematic diagram of the local structure from different perspectives, showing the cross shaft assembly and connecting sleeve;

[0031] Figure 4 It is a schematic diagram of a grinding state provided by a specific embodiment of the present invention, showing the grinding of a curved weld and a flat weld of a workpiece;

[0032] Figure 5 is a schematic diagram of a grinding state provided by a specific embodiment of the present invention, showing the grinding of a line weld of a workpiece;

[0033] Figure 6 is a schematic diagram of a grinding state provided by a specific embodiment of the present invention, showing the radial weld grinding of a workpiece;

[0034] Figure 7 is a schematic diagram of a grinding state provided by a specific embodiment of the present invention, showing the milling of a fillet weld of a workpiece; and

[0035] Figure 8 It is a schematic diagram of a grinding state provided in a specific embodiment of the present invention, showing the milling of a butt weld of a workpiece.

[0036] Description of Reference Numerals

[0037] 100 Floating plate 200 Mounting plate

[0038] 300 Single-acting cylinder 4 Cylinder adjustment pipeline

[0039] 310 with rod cavity 320 without rod cavity

[0040] 500 One-way proportional throttle valve

[0041] 510 Oil inlet check valve 520 Oil return proportional throttle valve

[0042] 610 Gas pipeline 620 Proportional pressure reducing valve

[0043] 630 Gas-to-Liquid Converter

[0044] 700 Floating Connection

[0045] 710 first shaft 720 second shaft

[0046] 730 third axis 740 fourth axis

[0047] 750 First connecting sleeve 760 Second connecting sleeve

[0048] 770 Third connecting sleeve 780 Fourth connecting sleeve

[0049] 8 Guide shaft 9 Balance cylinder

[0050] 10 Linear Slider 11 Carrying Platform

[0051] 12 Tension and compression sensor 13 Locking pin cylinder

[0052] 14 Locking pin 15 Pin hole

[0053] 16 Vibration sensor 17 Center stand

[0054] 1800 Spring Assembly

[0055] 1810 first return spring 1820 second return spring

[0056] A Axis of the first direction B Axis of the second direction DETAILED DESCRIPTION

[0057] The specific implementation of the present invention is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the present invention, and is not used to limit the present invention.

[0058] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0059] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0060] refer to Figures 1 to 8 The structural schematic diagram of the grinding and milling system shown in the figure, a grinding and milling system provided by the present invention, the grinding and milling system includes a floating plate 100 and a mounting plate 200 arranged in parallel and spaced apart, a floating connection mechanism 700 is connected between the floating plate 100 and the mounting plate 200, the floating connection mechanism 700 includes a first direction axis and a second direction axis that are intersecting and fixedly connected to each other, the first direction axis and the second direction axis are respectively resettably connected to the floating plate 100 and the mounting plate 200; wherein the floating plate 100 can rotate around a first direction axis A of the first direction axis or around a second direction axis B of the second direction axis, and the floating plate 100 can be offset along the first direction axis A or along the second direction axis B.

[0061] The present invention aims to provide a grinding and milling system to solve the problem of how to ensure the controllability of the grinding position on the basis of taking into account a variety of grinding methods when grinding in complex postures. Different grinding forms are required for grinding during the welding process. However, the existing weld processing devices are single in form, and the surface grinding, line grinding, and radial grinding functions cannot be taken into account, and they cannot have grinding and milling functions. For the surface grinding of uneven structural surfaces with drastic changes in curved surfaces, vibration is prone to occur, which affects the grinding effect. In particular, when grinding in complex postures, the controllability of the grinding position of the grinding work head is poor, which affects the grinding effect. Therefore, how to ensure the controllability of the grinding position on the basis of taking into account a variety of grinding methods is worthy of attention. In order to solve the above problems, the grinding and milling system of the present invention is designed, and the grinding position is controllable, the weld processing effect is good, and the grinding vibration is effectively suppressed.

[0062] In the present invention, a grinding and milling system for grinding and milling welds is provided for the manufacturing industry, especially the engineering machinery industry. Firstly, it should be explained that, for the convenience of understanding, a coordinate system is established in the grinding and milling system, wherein Figure 1 The direction shown by the mounting plate 200 is taken as the XY plane, and the direction perpendicular to the mounting plate 200 is taken as the Z axis. The grinding and milling system may include a floating plate 100 at the bottom and a mounting plate 200 at the top, such as Figure 4 As shown, a grinding head can be installed on the floating plate 100, and the grinding head is fixedly connected to the floating plate 100. The grinding head and the floating plate 100 can be fixed by welding or bolting, which is not specifically limited here. The floating plate 100 and the mounting plate 200 are roughly arranged in parallel. The floating plate 100 can float or move at multiple angles. Therefore, in the floating or moving state, the floating plate 100 and the mounting plate can be in a non-parallel state. The shapes of the floating plate 100 and the mounting plate 200 can be various, such as a circular plate, a rectangular plate or an elliptical plate, etc., which are not specifically limited here.

[0063] The floating plate 100 and the mounting plate 200 can be connected by a floating connection mechanism 700, and the floating connection mechanism 700 can include a first direction axis and a second direction axis that are fixedly connected, wherein the first direction axis and the second direction axis can form a certain angle, for example, the angle can be 45°, 60° or 90°. Further, the first direction axis and the second direction axis are respectively connected to the floating plate 100 and the mounting plate 200 in a resettable manner. Taking the first direction axis as an example, it can be understood that the first direction axis and the floating plate 100 can be connected by a resettable connection member, and the resettable connection member can be fixedly connected to the floating plate 100 and can be movably connected to the first direction axis, so that the floating plate 100 can slide along the length direction of the first direction axis and rotate around the first direction axis. For example, the resettable connection member can be a connecting sleeve, wherein the outer shaft end of the first direction axis is sleeved with the connecting sleeve; or, the resettable connection member can be an inner shaft rod, wherein the outer shaft end of the first direction axis can be provided with a shaft hole, and one end of the inner shaft rod connected to the floating plate 100 can be sleeved in the above-mentioned shaft hole.

[0064] For the floating connection mechanism 700, in one implementation, the first direction axis and the second direction axis are arranged perpendicular to each other, that is, the angle between the first direction axis and the second direction axis is 90°. The first direction axis and the second direction axis that are perpendicular to each other and fixedly connected can be L-shaped axes, which are not shown in the figure. It can be understood that the number of the first direction axis and the second direction axis is one, one end of the first direction axis and the second direction axis are vertically connected, and the other end is sleeved with a connecting sleeve, one connecting sleeve is fixedly connected to the floating plate 100, and the other connecting sleeve is fixedly connected to the mounting plate 200. The L-shaped axis has the characteristics of simple structure and low production cost.

[0065] In one embodiment, if Figure 2 and Figure 3 As shown, the floating connection mechanism 700 may include a cross-axis assembly, wherein the cross-axis assembly may include a first axis 710 and a second axis 720 as first direction axes and extending in opposite directions along a first direction axis A, and a third axis 730 and a fourth axis 740 as second direction axes and extending in opposite directions along a second direction axis B.

[0066] In one embodiment, the resettable connection member may be a connection sleeve, and the floating connection mechanism 700 includes a connection sleeve sleeved on the first direction axis and the second direction axis, and the connection sleeve may include a first connection sleeve 750 mounted to the outer shaft end of the first shaft rod 710, a second connection sleeve 760 mounted to the outer shaft end of the second shaft rod 720, a third connection sleeve 770 mounted to the outer shaft end of the third shaft rod 730, and a fourth connection sleeve 780 mounted to the outer shaft end of the fourth shaft rod 740. Further, the first connection sleeve 750 and the second connection sleeve 760 may be fixedly connected to the floating plate 100, and the third connection sleeve 770 and the fourth connection sleeve 780 may be fixedly connected to the mounting plate 200. The connecting sleeve connected to the mounting plate 200 serves as a fixed end. Since the first direction axis and the second direction axis can rotate in the connecting sleeve along the circumferential direction of the connecting sleeve or slide along the axial direction of the connecting sleeve, the first direction axis, the second direction axis and the connecting sleeve connected to the floating plate 100 serve as movable ends, so that the floating plate 100 can rotate around the first direction axis A of the first direction axis or around the second direction axis B of the second direction axis, thereby achieving the floating of the XY direction rotational freedom of the floating plate 100. In addition, the floating plate 100 can deviate along the first direction axis A or along the second direction axis B, thereby achieving the floating of the XY direction translational freedom of the floating plate 100. The floating plate 100 is connected to the mounting plate 200 through the floating connection mechanism 700, which ensures the floating rotation and floating offset of the floating plate 100, that is, the floating of the rotation and translational freedom in the XY direction, so as to adapt to milling and various grinding methods, and effectively suppress grinding vibration; and due to the connection limitation of the floating connection mechanism 700, the floating plate 100 can only move within the floating space of the floating connection mechanism 700, which can be understood as limiting the grinding position of the grinding work head to a certain range. When encountering an uneven grinding place, the floating plate 100 has a floating space, which can produce an evasive offset or rotation, but the floating direction and floating angle are limited, thereby ensuring the controllability of the position of the grinding work head and improving the processing effect of the weld.

[0067] Specifically, it can be understood that the number of the first direction axis and the second direction axis are both two, and the whole is in a cross shape. The first direction axis and the second direction axis form two fixed connection points with the floating plate 100 and the mounting plate 200 respectively to ensure the stability of the connection. The third connecting sleeve 770 and the fourth connecting sleeve 780 are fixedly connected to the mounting plate 200 as fixed ends. When the third shaft rod 730 and the fourth shaft rod 740 rotate around the second direction axis B of the second direction axis, the floating plate 100 pivots around the axis of the third connecting sleeve 770 and the fourth connecting sleeve 780. The first connecting sleeve 750 and the second connecting sleeve 760 can also rotate around the first direction axis A, so that the floating plate 100 can also rotate around the first direction axis A; in addition, the floating plate can also be offset along the first direction axis A or along the second direction axis B, and has the floating degree of rotation and translation freedom in the XY direction.

[0068] In order to reset the floating disk offset, a reset drive structure is designed. In one embodiment, Figure 2 and Figure 3 As shown, the cross-axis assembly can also include a center base 17, and the inner ends of the first shaft 710, the second shaft 720, the third shaft 730 and the fourth shaft 740 are fixedly connected to the center base 17; and a spring assembly 1800, including a first return spring 1810 sleeved on the first direction axis and a second return spring 1820 sleeved on the second direction axis; wherein the inner ends of the first return spring 1810 and the second return spring 1820 are respectively against the center base 17, and the other ends are pressed outward against the corresponding connecting sleeves. When the grinding work head encounters complex posture grinding, such as the grinding surface is uneven, or the grinding work head encounters a rigid protruding surface, since the floating plate 100 has a certain floating space, the floating plate 100 can produce an evasive offset at this time, and the first reset spring 1810 or the second reset spring 1820 is compressed or stretched. After passing through the rigid protruding surface, the floating plate 100 is reset by the reset of the first reset spring 1810 or the second reset spring 1820. The structure is simple, easy to operate, and has good controllability.

[0069] For the floating of the floating disk 100, a floating driving force needs to be provided. In one embodiment, Figure 1As shown, the grinding and milling system includes a floating connection mechanism 700 and a floating adjustment mechanism arranged from the inside to the outside along the radial direction of the mounting plate 200, and the floating adjustment mechanism is multiple and independently arranged. The number of floating adjustment mechanisms can be 3 or 4, but is not limited thereto. Each floating adjustment mechanism is independently controlled, and a pivot connection end is formed between each floating adjustment mechanism and the floating plate 100 and the mounting plate 200. The spacing between the two pivot connection ends of a floating adjustment mechanism can be adjusted. The spacing between the floating plate 100 and the mounting plate 200 formed by each floating adjustment mechanism can be different, so that the floating plate 100 presents a certain deflection angle, which is convenient for adjusting the position and angle of the grinding work head. The floating adjustment mechanism can be a structure with a telescopic function, such as a cylinder, a telescopic rod or a single-acting cylinder.

[0070] During the weld grinding and milling process, the floating plate 100 needs to be adjusted following the weld surface, and the weld surface is often uneven. It is difficult for the floating plate 100 to adapt to the drastic changes in the weld structure surface. For this reason, the floating adjustment mechanism is structurally designed. In one embodiment, the floating adjustment mechanism may include a single-acting cylinder 300, which is pivotally connected between the floating plate 100 and the mounting plate 200 and can adjust the spacing between the pivotal connection ends; and a cylinder adjustment pipeline 4, which is used to transmit hydraulic oil and is connected to the oil inlet end of the single-acting cylinder 300; wherein the cylinder adjustment pipeline 4 is provided with a one-way proportional throttle valve 500 for adjusting the oil inlet and return of the single-acting cylinder 300. Specifically, as Figure 1 and Figure 2 As shown, the floating adjustment mechanism can use a single-acting cylinder 300, and inject hydraulic oil into or discharge hydraulic oil into the single-acting cylinder 300 through the cylinder adjustment pipeline 4 to adjust the extension length of the valve stem of the single-acting cylinder 300, thereby achieving the spacing adjustment of the pivot connection end. Figure 4 and Figure 5 As shown in FIG. 1 , the extension lengths of the valve stems of different single-acting oil cylinders 300 are different, and the floating plate 100 presents different adjustment angles; Figure 6 As shown, the extension length of the valve stems of different single-acting oil cylinders 300 is the same, and the floating plate 100 is horizontal. The single-acting oil cylinder 300 can be powered by an oil pump, that is, a pump body and an oil tank, or it can be driven by pneumatic drive and gas-liquid conversion. In order to achieve the rigidity adjustment of the grinding work head and the buffer adjustment during the grinding or milling process, a one-way proportional throttle valve 500 can be set on the oil cylinder adjustment pipeline 4, so that when the grinding work head encounters a rigid structure, part of the hydraulic oil flows back into the oil cylinder adjustment pipeline 4, so that the grinding work head forms an adaptively offset floating rigidity adjustment to achieve flexible operation.

[0071] Specifically, in one embodiment, Figure 1As shown, the one-way proportional throttle valve 500 includes an oil inlet one-way valve 510 and an oil return proportional throttle valve 520 which are arranged in parallel on the oil cylinder regulating pipeline 4, wherein the oil inlet one-way valve 510 as the oil inlet oil circuit allows the hydraulic oil to flow from the oil cylinder regulating pipeline 4 to the single-acting oil cylinder 300 and prohibits the reverse flow. When the hydraulic oil is injected into the single-acting oil cylinder 300, a certain pre-pressure is formed in the single-acting oil cylinder 300 to adjust the rigidity of the single-acting oil cylinder 300. The proportional throttle valve 520 as the oil return oil circuit allows the hydraulic oil to proportionally return from the single-acting oil cylinder 300 to the oil cylinder regulating pipeline 4. It can be understood that the proportional throttle valve 520 can adjust the opening and closing degree of the pipeline. When the hydraulic oil in the single-acting cylinder 300 needs to be discharged, the proportional throttle valve 520 can be fully opened. When the telescopic damping of the grinding work head needs to be adjusted, the proportional throttle valve 520 can be adjusted to open approximately one-third, one-quarter or one-fifth, etc., so that the hydraulic oil flows back along the opened part of the pipeline. Due to the small opening, it has a certain throttling effect, thereby achieving proportional reflux. The telescopic damping of the single-acting cylinder 300 is changed by adjusting the opening of the proportional throttle valve 520 to suppress vibration. Further, in one embodiment, the grinding and milling system also includes a vibration sensor 16 disposed on the floating plate 100 and used to detect the vibration data of the floating plate 100. The vibration size during the grinding process can be monitored by the vibration sensor 16, which is convenient for controlling the opening of the one-way proportional throttle valve 500 to change the telescopic damping of the single-acting cylinder 300 to suppress vibration. For example, when the grinding work head encounters a rigid and uneven weld during the grinding process, the vibration data of the floating plate 100 can be obtained through the vibration sensor 16, and the opening size of the proportional throttle valve 520 can be adjusted according to the vibration data. At this time, there is a passage between the cylinder regulating pipeline 4 and the single-acting cylinder 300, and the grinding work head is subjected to the force of the weld. Driven by this force, a part of the hydraulic oil can flow back into the cylinder regulating pipeline 4 along the proportional throttle valve 520. The distance between the pivot connection ends of the single-acting cylinder 300 changes, so that the angle of the floating plate 100 is deflected to adapt to the weld at that location, thereby achieving vibration suppression grinding.

[0072] In the present invention, the structure of the single-acting oil cylinder 300 is designed. Specifically, the single-acting oil cylinder 300 may include a rod chamber 310 and a rodless chamber 320. The cylinder body of the rodless chamber 320 may be pivotally connected to the mounting plate 200, the valve stem of the rod chamber 310 may be pivotally connected to the floating plate 100, and the oil cylinder regulating pipeline 4 is connected to the rod chamber 310. The cylinder body of the rodless chamber 320 and the mounting plate 200, and the valve stem and the floating plate 100 may be pivotally connected through a ball pair. An adjusting spring may be provided at the rodless chamber 320 to further play a buffering role. The valve stem of the rod chamber 310 may adjust the extended length under the action of the hydraulic oil in the rodless chamber 320, and may adapt to a variety of grinding methods.

[0073] The oil inlet and oil return of the single-acting oil cylinder 300 need to be driven by a driving structure. Specifically, in one embodiment, Figure 1 As shown, the floating adjustment mechanism also includes a single-acting cylinder driving structure for driving the single-acting cylinder 300 to extend and retract. The single-acting cylinder driving structure is a pneumatic driving structure and includes: a gas pipeline 610, a proportional pressure reducing valve 620 and a gas-liquid converter 630; wherein, the gas pipeline 610 extends from the cylinder adjustment pipeline 4; the proportional pressure reducing valve 620 is used to adjust the gas pressure in the gas pipeline 610 and is arranged on the gas pipeline 610; and the gas-liquid converter 630 is used for gas-liquid conversion between the gas pipeline 610 and the cylinder adjustment pipeline 4 and is arranged between the gas pipeline 610 and the cylinder adjustment pipeline 4. The extension and retraction of the single-acting cylinder 300 is regulated by the single-acting cylinder driving structure. First, there is a gas-liquid converter 630 between the gas pipeline 610 and the cylinder regulating pipeline 4. The gas pressure in the gas pipeline 610 is controlled by the proportional reducing valve 620. The gas pressure is converted into oil pressure by the gas-liquid converter 630, and the oil pressure is applied to the single-acting cylinder 300 through the single-acting cylinder regulating pipeline 4. In this way, the output force and damping size of the single-acting cylinder 300 can be adjusted, so that the grinding working head can closely follow the changing surface of the workpiece and suppress vibration at the same time.

[0074] In addition, in this embodiment, the weld grinding and milling system may also include a mounting platform 11 for mounting the mounting disk 200 and a mounting disk driving structure for driving the mounting disk 200 to move in a direction perpendicular to the mounting platform 11, and the mounting disk driving structure may include a balancing cylinder 9 for adjusting the output pressure of the floating disk 100 and extending from the mounting platform 11; and a guide shaft 8 extending from the mounting platform 11; wherein the guide shaft 8 is provided with a linear slider 10 connected between the balancing cylinder 9 and the mounting disk 200 and capable of sliding and braking along the length direction of the guide shaft 8. Specifically, the mounting disk 200 can be mounted by the mounting platform 11, and the mounting platform 11 can be connected to a robot or a fixed mounting platform. The mounting disk 200 is connected to the mounting platform 11 through the mounting disk driving structure, wherein the balancing cylinder 9 provides a sliding driving force for the linear slider 10, thereby adjusting the position of the mounting disk 200 in the Z-axis direction, so that the mounting disk 200 has the floating ability of the translational freedom in the Z-axis direction. In addition, the grinding pressure can be adjusted by the balancing cylinder 9 during the actual grinding process.

[0075] Furthermore, in one embodiment, the linear slider 10 may include a first linear slider and a second linear slider, the balancing cylinder 9 is centrally disposed between the first linear slider and the second linear slider, and a guide rail clamp for positioning the linear slider 10 is disposed on the linear slider 10 to achieve braking of the linear slider 10. The first linear slider and the second linear slider facilitate better transmission of pressure and control of the mounting plate 200, and the guide rail clamp can be used to lock and position the linear slider 10 to limit floating of the mounting plate 200 in the Z-axis direction.

[0076] In addition, in one embodiment, a tension and compression sensor 12 for monitoring the output pressure is provided between the carrying platform 11 and the mounting plate 200. The tension and compression sensor can monitor the change of the grinding pressure in real time, so as to facilitate the adjustment of the air pressure of the balancing cylinder 9.

[0077] In one embodiment, a floating locking structure for locking and fixing the floating disk 100 is provided between the floating disk 100 and the mounting disk 200. The floating locking structure includes a locking pin cylinder 13 and a locking latch 14 extending from the mounting disk 200 and connected in sequence. The floating disk 100 is provided with a pin hole 15 capable of plugging the locking latch 14. The locking pin cylinder 13 can drive the locking latch 14 to make a linear motion. When the locking latch 14 is retracted, the locking latch 14 is separated from the pin hole 15 on the floating disk 100. At this time, the floating disk 100 can float. When the locking latch 14 is extended, the locking latch 14 is plugged into the pin hole 15 on the floating disk 100. At this time, the floating disk 100 may not float along the XY direction, but can only float in a small range along the Z-axis direction.

[0078] Through the rotational offset freedom of the XY axis and the translational freedom of the Z axis, the grinding and milling system can switch between multiple grinding modes. Specifically, in one embodiment, when grinding the curved surface weld and the flat surface weld of the workpiece, a grinding work head is mounted under the floating plate 100, such as Figure 4 As shown, at this time, the floating locking structure is in an unlocked state, that is, the locking pin 14 and the pin hole 15 are separated, and the oil return proportional throttle valve 520 is not closed. At this time, each single-acting cylinder 300 is filled with a certain amount of hydraulic oil and has a certain telescopic damping. The grinding work head can present different angles. During the grinding process, the grinding work head contacts the uneven surface of the workpiece and floats under the action of the floating adjustment mechanism to ensure the fit between the grinding work head and the curved surface.

[0079] In one embodiment, when grinding the weld seam of a workpiece, Figure 5As shown, at this time, the floating locking structure is in an unlocked state, and the return oil proportional throttle valve 520 is in a partially closed state. The angle of the grinding work head is adjusted by controlling the hydraulic oil filled in the single-acting cylinder 300. During the grinding process, the grinding work head contacts the surface of the workpiece. Under the action of the contact force, part of the hydraulic oil in the single-acting cylinder 300 will flow back along the proportional throttle valve 520, so that the grinding work head has a certain floating space, realizing adaptive avoidance and effectively suppressing grinding vibration.

[0080] In one embodiment, when grinding the radial weld of a workpiece, Figure 6 As shown, at this time, the floating locking structure is in a locked state, the return oil proportional throttle valve 520 is in a closed state, and the single-acting cylinder 300 is in a rigid state. During the grinding process, the grinding head contacts the surface of the workpiece. At this time, the grinding head can only float in the Z-axis direction to achieve radial grinding;

[0081] In one embodiment, when milling the fillet weld of a workpiece, the milling head needs to be replaced first. Figure 7 and Figure 8 As shown, at this time, the floating locking structure is in a locked state, the return oil proportional throttle valve 520 is in a closed state, and the guide rail clamp of the linear slider is in a locked state, converting the flexibility of the structure into rigidity to adapt to workpiece milling.

[0082] In addition, the present invention also provides a grinding and milling robot, which includes the above-mentioned grinding and milling system, wherein the carrying platform 11 can be installed on the grinding and milling robot. During the grinding and milling process, the floating plate 100 is connected to the mounting plate 200 through the floating connection mechanism 700, which not only ensures the floating rotation and floating offset of the floating plate 100, but also makes the floating plate 100 move only within the movable range limited by the floating connection mechanism 700, which can be understood as limiting the grinding position of the grinding work head within a certain range to ensure the controllability of the grinding position. Further, the angle and position of the floating plate 100 are adjusted by the floating adjustment mechanism and the balancing cylinder, and the floating plate 100 has a plurality of floating degrees of freedom at multiple angles and can float to a certain angle and lock, so that the welding curved surface with large curvature changes such as welds can be realized, line grinding, radial grinding, and the grinding work head can be kept parallel to the working surface or at a certain angle to grind the workpiece without adjusting the posture of the grinding and milling robot. By adjusting the floating locking structure, the oil return proportional throttle valve 520 and the guide clamp, the grinding work head can be adjusted to achieve switching between flexible grinding, rigid grinding and milling. By adjusting the telescopic damping of the single-acting cylinder 300, for grinding workpieces with uneven surfaces and welding surfaces with drastic changes in structural surfaces, it can not only quickly respond to surface changes but also effectively suppress grinding vibrations.

[0083] It should be particularly noted that other structures and functions of the grinding and milling system and the grinding and milling robot in the embodiment of the present invention are known to ordinary technicians in the field, and are not described here to reduce redundancy.

[0084] The preferred embodiments of the present invention are described in detail above in conjunction with the accompanying drawings. However, the present invention is not limited to the specific details in the above embodiments. Within the technical concept of the present invention, a variety of simple modifications can be made to the technical solution of the present invention.

[0085] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships known based on the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0086] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0087] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0088] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0089] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0090] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A grinding and milling system, characterized in that: The grinding and milling system comprises a floating plate (100) and a mounting plate (200) which are arranged in parallel and spaced apart from each other, a floating connection mechanism (700) being connected between the floating plate (100) and the mounting plate (200), the floating connection mechanism (700) comprising a first direction axis and a second direction axis which are mutually crossed and fixedly connected, the first direction axis and the second direction axis being respectively connected to the floating plate (100) and the mounting plate (200) in a resettable manner; The floating plate (100) can rotate around a first direction axis of the first direction axis or around a second direction axis of the second direction axis, and the floating plate (100) can deflect along the first direction axis or along the second direction axis; The first direction axis and the second direction axis are arranged perpendicular to each other; The floating connection mechanism (700) comprises a cross shaft assembly, the cross shaft assembly comprising a first shaft rod (710) and a second shaft rod (720) serving as the first direction axis and extending in the opposite direction along the first direction axis, and a third shaft rod (730) and a fourth shaft rod (740) serving as the second direction axis and extending in the opposite direction along the second direction axis; A grinding work head is fixedly connected to the floating plate (100).

2. The grinding and milling system according to claim 1, characterized in that: The floating connection mechanism (700) includes a connecting sleeve sleeved on the first direction axis and the second direction axis, and the connecting sleeve includes a first connecting sleeve (750) installed on the outer shaft end of the first shaft rod (710), a second connecting sleeve (760) installed on the outer shaft end of the second shaft rod (720), a third connecting sleeve (770) installed on the outer shaft end of the third shaft rod (730), and a fourth connecting sleeve (780) installed on the outer shaft end of the fourth shaft rod (740). The first connecting sleeve (750) and the second connecting sleeve (760) are fixedly connected to the floating plate (100), and the third connecting sleeve (770) and the fourth connecting sleeve (780) are fixedly connected to the mounting plate (200).

3. The grinding and milling system according to claim 2, characterized in that: The cross shaft assembly also includes: a central pedestal (17), wherein the inner ends of the first shaft (710), the second shaft (720), the third shaft (730) and the fourth shaft (740) are fixedly connected to the central pedestal (17); and A spring assembly (1800) comprising a first return spring (1810) sleeved on the first direction axis and a second return spring (1820) sleeved on the second direction axis; Wherein, the inner ends of the first return spring (1810) and the second return spring (1820) respectively abut against the central seat (17), and the other ends press outward against the corresponding connecting sleeve.

4. The grinding and milling system according to any one of claims 1 to 3, characterized in that: The grinding and milling system comprises the floating connection mechanisms (700) arranged in intervals from the inside to the outside along the radial direction of the mounting plate (200) and a floating adjustment mechanism for adjusting the floating position of the floating plate (100), the floating plate (100) being provided with a vibration sensor (16) for detecting vibration data of the floating plate (100), the floating adjustment mechanisms being multiple and independently arranged and comprising: a single-acting oil cylinder (300) pivotally connected between the floating plate (100) and the mounting plate (200) and capable of adjusting the spacing between the pivotally connected ends; and An oil cylinder regulating pipeline (4), used for transmitting hydraulic oil and connected to an oil inlet end of the single-acting oil cylinder (300); Wherein, the oil cylinder regulating pipeline (4) is provided with a one-way proportional throttle valve (500) for regulating the oil inlet and oil return of the single-acting oil cylinder (300).

5. The grinding and milling system according to claim 4, characterized in that: The one-way proportional throttle valve (500) comprises an oil inlet one-way valve (510) and an oil return proportional throttle valve (520) which are arranged in parallel on the oil cylinder regulating pipeline (4); the oil inlet one-way valve (510) allows hydraulic oil to flow from the oil cylinder regulating pipeline (4) to the single-acting oil cylinder (300) and prohibits the reverse flow; and the oil return proportional throttle valve (520) allows hydraulic oil to proportionally return from the single-acting oil cylinder (300) to the oil cylinder regulating pipeline (4).

6. The grinding and milling system according to claim 4, characterized in that: The grinding and milling system further comprises a mounting platform (11) for mounting the mounting disk (200) and a mounting disk driving structure for driving the mounting disk (200) to move in a direction perpendicular to the mounting platform (11), wherein the mounting disk driving structure comprises: a balancing cylinder (9) for adjusting the output pressure of the floating plate (100) and extending from the carrying platform (11), wherein a tension and compression sensor (12) for monitoring the output pressure is provided between the carrying platform (11) and the mounting plate (200); and A guide shaft (8) extending from the carrying platform (11); Wherein, the guide shaft (8) is provided with a linear slider (10) which is connected between the balancing cylinder (9) and the mounting plate (200) and can slide and brake along the length direction of the guide shaft (8).

7. The grinding and milling system according to claim 4, characterized in that: The grinding and milling system also includes a floating locking structure for locking and fixing the floating plate (100), the floating locking structure including a locking pin cylinder (13) and a locking latch (14) extending from the mounting plate (200) and being sequentially connected in transmission, and the floating plate (100) is provided with a pin hole (15) capable of plugging the locking latch (14).

8. A grinding and milling robot, characterized in that: The grinding and milling robot comprises a grinding and milling system according to any one of claims 1 to 7.

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