Workpiece weld inspection and milling equipment

Abstract

The present invention provides a workpiece weld inspection and milling equipment, which belongs to the field of milling of large excess welds, and specifically includes: a robot; and a grinding part, which is connected to the head end of the robot body, and is used to grind the surface of the workpiece under the drive of the robot body, so as to control the removal depth of the weld, wherein the grinding part includes a grinding mechanism and a protection mechanism; the grinding mechanism includes: a frame; a workpiece detection component, which is used to detect the surface of the workpiece; a milling component, which is used to mill the surface of the workpiece according to the detection result of the workpiece detection component; a sanding belt grinding component, which is used to grind the surface of the workpiece according to the detection result of the workpiece detection component; a chain rotation component, which is used to drive the sanding belt grinding component in real time according to the detection result of the workpiece detection component. Through the processing scheme of the present application, the large excess weld is subjected to targeted and refined milling.

Description

Technical Field

[0001] The invention relates to the field of milling of large-residue welds, and in particular to a workpiece weld inspection and milling equipment. Background Art

[0002] In large manufacturing industries such as high-speed rail, heavy industry and shipbuilding, there are a lot of large component welding. Although the welding of large components has been gradually automated, due to the processing tolerance of the large components themselves, the clamping positioning error, welding thermal deformation and welding process instability, there are large deviations in the position and margin of the welds after welding of large components. At present, general special equipment is not competent for this type of welds, and the relevant welds are mainly polished manually.

[0003] Manual grinding has disadvantages such as large grinding workload, harsh environment, low efficiency, difficulty in ensuring product quality and poor product consistency. Even if the cylinder floating method is forcibly used to mill the weld, the equipment generally needs to be set on the component and then mill the component, the grinding parameters are difficult to control (grinding force, grinding disc wear interpolation and grinding disc contact pressure, etc.) and the grinding allowance of large-allowance welds themselves is inconsistent, resulting in poor grinding quality and consistency, and ultimately a lot of manual repair work is still required. Summary of the invention

[0004] Therefore, in order to overcome the above-mentioned shortcomings of the prior art, the present invention provides a workpiece weld inspection and milling equipment for targeted fine milling of large excess welds.

[0005] In order to achieve the above-mentioned purpose, the present invention provides a workpiece weld inspection and milling equipment, comprising: a robot arm having a numerical control base and a robot arm body arranged on the numerical control base, and the tail end of the robot arm body is connected to the numerical control base; and a grinding part connected to the head end of the robot arm body, used for grinding the surface of the workpiece under the drive of the robot arm body, so as to control the removal depth of the weld, wherein the grinding part comprises a grinding mechanism connected to the head end of the robot arm body and a protective mechanism sleeved on the outside of the grinding mechanism; the grinding mechanism comprises: a frame; a workpiece detection assembly fixed on the frame and is located at the front end of the grinding path, for detecting the surface of the workpiece; a milling assembly, fixed on the frame and arranged at the rear end of the workpiece detection assembly, for milling the surface of the workpiece according to the detection result of the workpiece detection assembly; a belt grinding assembly, fixed on the frame and arranged at the rear end of the milling assembly, for grinding the surface of the workpiece according to the detection result of the workpiece detection assembly; a chain rotating assembly, fixed on the frame and arranged at the rear end of the milling assembly and flush with the belt grinding assembly, for driving the belt grinding assembly in real time according to the detection result of the workpiece detection assembly.

[0006] In one embodiment, the workpiece detection component includes a visual detection sensor and a control chip. The visual detection sensor is located at the front end of the grinding path, detects the surface condition of the area to be ground and generates detection results in real time. The control chip dynamically controls the movement of the milling component and the belt grinding component according to the detection results.

[0007] In one of the embodiments, the milling assembly includes a power spindle fixed on the frame and a milling cutter head connected to the power spindle for milling the surface of the workpiece.

[0008] In one embodiment, the milling assembly also includes a milling cutter limiting pulley located on the side of the milling cutter head and a milling force control unit connected to the power spindle. The milling cutter limiting pulley is used to protect the milling cutter head from being damaged during milling, and the milling force control unit is used to achieve flexible curved surface milling according to the surface complexity of the workpiece.

[0009] In one embodiment, the milling force control unit includes: a data processor for receiving detection results and generating a control signal; a pressure member for applying downward milling pressure of the milling cutter head according to the control signal; and a milling force control elastic member for adjusting the milling force.

[0010] In one embodiment, the belt grinding assembly includes: a follower wheel, whose axis is fixed to the upper end of the frame and is linked to the chain rotating assembly through a chain; a grinding wheel, whose axis is fixed to the lower end of the follower wheel and is used to grind the surface of the workpiece driven by the sanding belt; a tensioning wheel unit, whose axis is fixed to the frame and is used to tension the sanding belt; a grinding force control unit, which is arranged between the follower wheel and the grinding wheel and is used to control the force applied to the grinding wheel according to the detection result of the workpiece detection assembly, thereby realizing flexible curved surface grinding.

[0011] In one of the embodiments, the tensioning wheel unit includes a tensioning cylinder and a pressure wheel. The tensioning cylinder drives the pressure wheel to move forward, and the pressure wheel is in close contact with the back side of the abrasive belt, so that the abrasive belt is always kept in a tight state.

[0012] In one embodiment, the chain rotating assembly includes: a transmission motor, the motor output shaft is connected to the driving wheel, the driving wheel is connected to the driven wheel of the belt grinding assembly through a chain; an idler wheel assembly is arranged at the upper end of the chain and is used to tension the chain.

[0013] In one embodiment, the protective mechanism includes: a cover body, used to accommodate the grinding mechanism, having a liftable front cover and a rear cover cooperating with the liftable front cover; a cover lifting cylinder, used to lift the cover; a cover lifting linear guide rail, arranged between the liftable front cover and the rear cover, used to control the liftable front cover to not deviate from the relative movement direction when it is lifted up and down; a brush dust guard, arranged at the lower edge of the cover body, used to prevent dust and particulate matter from overflowing from the bottom of the workstation.

[0014] Compared with the prior art, the advantages of the present invention are: in view of the large grinding workload of large-allowance welds, uneven weld grinding allowance and weld position deviation, the weld allowance (weld height, width and misalignment information extraction) and weld position deviation information are extracted by the workpiece detection component at the front end of the equipment, and then the robot trajectory is adaptively corrected by adjusting the position of the robot arm, thereby overcoming the difficulties of difficult grinding and unstable grinding caused by inconsistent weld positions; and the milling and grinding process is intelligently adjusted in real time online through the detection results of the workpiece detection component, and the milling component and the belt grinding component are used to realize customized grinding of welds with different allowances, thereby realizing precise process control of milling and grinding. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0016] Figure 1 Schematic diagram of the structure of the workpiece weld inspection and milling equipment in an embodiment of the present invention;

[0017] Figure 2 is a schematic structural diagram of a grinding portion in an embodiment of the present invention;

[0018] Figure 3 is a schematic structural diagram of a grinding mechanism in an embodiment of the present invention;

[0019] Figure 4 is a schematic structural diagram of a milling assembly in an embodiment of the present invention;

[0020] Figure 5 is a schematic structural diagram of a belt grinding assembly in an embodiment of the present invention;

[0021] Figure 6 is a schematic structural diagram of a tensioning wheel unit in an embodiment of the present invention;

[0022] Figure 7 is a schematic structural diagram of a chain rotating assembly in an embodiment of the present invention;

[0023] Figure 8 Schematic diagram of the structure of the protection mechanism in the embodiment of the present invention. DETAILED DESCRIPTION

[0024] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0025] The following describes the implementation methods of the present application through specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The present application can also be implemented or applied through other different specific implementation methods, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that, in the absence of conflict, the following embodiments and the features in the embodiments can be combined with each other. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work belong to the scope of protection of the present application.

[0026] It should be noted that various aspects of the embodiments within the scope of the appended claims are described below. It should be apparent that the aspects described herein can be embodied in a wide variety of forms, and any specific structure and / or function described herein is merely illustrative. Based on the present application, it should be understood by those skilled in the art that an aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number and aspect described herein can be used to implement the device and / or practice the method. In addition, other structures and / or functionalities other than one or more of the aspects described herein can be used to implement this device and / or practice this method.

[0027] It should also be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present application. The drawings only show components related to the present application rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0028] Additionally, in the following description, specific details are provided to facilitate a thorough understanding of the examples. However, one skilled in the art will appreciate that aspects may be practiced without these specific details.

[0029] like Figure 1 As shown, an embodiment of the present application provides a workpiece weld inspection and milling equipment, including a robot arm 1 and a grinding part 2.

[0030] The robot 1 has a numerical control base and a robot body arranged on the numerical control base, and the tail end of the robot body is connected to the numerical control base. The numerical control base is connected to the workpiece detection component 12 in the grinding part 2 for communication. The numerical control base can be connected to the workpiece detection component 12 for communication through a wireless module, or can be connected to the workpiece detection component 12 for communication through wires arranged in the robot body. The wireless module can be a Bluetooth module, an infrared module, a wifi module, a zigbee module, etc. The numerical control base moves the robot body according to the detection result of the workpiece detection component 12, drives the grinding part 2 to move freely, and thereby ensures that the grinding part 2 corresponds to the position of the large excess weld to be milled in real time.

[0031] The grinding part 2 is connected to the head end of the robot body and is used to grind the surface of the workpiece under the drive of the robot body, so as to control the removal depth of the weld.

[0032] like Figure 2 As shown, the grinding part 2 includes a grinding mechanism 4 connected to the head end of the robot body and a protection mechanism 3 sleeved on the outside of the grinding mechanism.

[0033] The protection mechanism 3 is arranged outside the grinding mechanism 4 to protect the grinding mechanism 4 from being disturbed by external debris and ensure the normal operation of the grinding mechanism 4. The protection mechanism 3 can also prevent the particles or dust generated by the grinding mechanism 4 from overflowing to the outside of the grinding station when the grinding mechanism 4 performs milling work, thereby reducing the diffusion of dust or particles. In one embodiment, the protection mechanism 3 can also be a transparent shell so that the user can observe the operation of the grinding mechanism 4 in real time. Figure 2 As shown, except for the workpiece detection component 12 of the grinding mechanism 4 which is not protected by the protection mechanism 3 , all other components are protected by the protection mechanism 3 .

[0034] like Figure 3 As shown, the grinding mechanism 4 includes a frame, a workpiece detection assembly 12 , a milling assembly 11 , a belt grinding assembly 10 and a chain rotating assembly 9 .

[0035] The frame is connected to the robot body through the through hole at the upper end of the protection mechanism 3, and the workpiece detection component 12, the milling component 11, the belt grinding component 10 and the chain rotation component 9 are all fixed on the frame.

[0036] The workpiece detection component 12 is fixed on the frame and located at the front end of the grinding path, and is used to detect the surface of the workpiece. In one embodiment, the workpiece detection component 12 may include a visual detection sensor and a control chip. The visual detection sensor is located at the front end of the grinding path, and detects the surface condition of the area to be ground and generates detection results in real time. The visual detection sensor can be a laser visual detection sensor, a photographic element, or an infrared visual detection sensor. The control chip dynamically controls the movement of the milling component and the abrasive belt grinding component according to the detection results. The control chip can generate the size data and position data of the weld according to the detection results. The control chip can store a pre-trained recognition model, and the recognition model can be obtained by learning and training based on a sample weld image taken in advance. The control chip can be an electronic component with computing functions such as FPGA, CPU, GPU, etc.

[0037] The milling assembly 11 is fixed on the frame and arranged at the rear end of the workpiece detection assembly 12, and is used to mill the workpiece surface according to the detection result of the workpiece detection assembly. The control chip in the workpiece detection assembly 12 stores the distance coordinates between the milling assembly 11 and the visual detection sensor so as to accurately generate the milling path of the milling assembly 11 on the weld. The milling assembly 11 may include a milling cutter or a milling disk, etc.

[0038] The abrasive belt grinding assembly 10 is fixed on the frame and arranged at the rear end of the milling assembly, and is used to grind the workpiece surface according to the detection result of the workpiece detection assembly. The control chip in the workpiece detection assembly 12 can control the abrasive belt grinding assembly 10 to grind the workpiece surface after the milling assembly 11 mills the weld, thereby ensuring that the final workpiece surface is smooth.

[0039] The chain rotating assembly 9 is fixed on the frame and arranged at the rear end of the milling assembly and flush with the belt grinding assembly, and is used to drive the belt grinding assembly in real time according to the detection result of the workpiece detection assembly. The chain rotating assembly 9 may include a transmission motor and the like.

[0040] The above-mentioned workpiece weld inspection and milling equipment, in view of the large grinding workload of large-allowance welds, uneven weld grinding allowance and weld position deviation, extracts weld allowance (weld height, width and misalignment information extraction) and weld position deviation information through the workpiece detection component at the front end of the equipment, and then realizes adaptive correction of the robot trajectory by adjusting the position of the robot arm, thereby overcoming the difficulties of difficult grinding and unstable grinding caused by inconsistent weld position; and uses the detection results of the workpiece detection component to make real-time online intelligent adjustments to the milling and grinding process, and uses the milling component and belt grinding component to realize customized grinding of welds with different allowances, thereby realizing precise process control of milling and grinding.

[0041] like Figure 4As shown, in one embodiment, the milling assembly 11 includes a power spindle 13 fixed on a frame, and a milling cutter head 14 connected to the power spindle 13 for milling the surface of a workpiece. In one embodiment, the milling assembly 11 also includes a milling cutter limit pulley 15 located on the side of the milling cutter head and a milling force control unit 16 connected to the power spindle, and the milling cutter limit pulley 15 is used to protect the milling cutter head from being damaged during milling. The milling force control unit 16 is used to achieve flexible curved surface milling according to the surface complexity of the workpiece.

[0042] In one embodiment, the milling force control unit 16 includes a data processor, a pressure member and a milling force control elastic member.

[0043] The data processor is used to receive the detection results and generate a control signal. The data processor can receive the electric control signal generated by the control chip, or directly receive the detection results generated by the visual detection sensor. The data processor generates a control signal for controlling the force of the milling cutter head according to the received detection results.

[0044] The pressure piece is used to apply downward milling pressure to the milling head according to the control signal.

[0045] The milling force control elastic member is used to adjust the milling force. The milling force control elastic member can be a spring or a plastic with a memory function.

[0046] like Figure 5 As shown, in one embodiment, the belt grinding assembly 10 includes a follower wheel 20 , a grinding wheel 22 , a grinding belt 24 , a tensioning wheel unit 23 and a grinding force control unit 25 .

[0047] The follower wheel 20, whose wheel axis is fixed on the upper end of the frame, is linked with the chain rotating assembly through the chain. The follower wheel 20 transmits power to the grinding wheel 22 through the sand belt 24.

[0048] The grinding wheel 22, whose wheel axis is fixed at the lower end of the follower wheel, is used to grind the surface of the workpiece driven by the abrasive belt 24. The grinding wheel 22 contacts the surface of the workpiece and starts grinding.

[0049] The tensioning wheel unit 23 is fixed on the frame and is used to tension the abrasive belt 24 so that the grinding action can run normally. The tensioning wheel unit 23 is located between the follower wheel 20 and the grinding wheel 22.

[0050] The grinding force control unit 25 is arranged between the follower wheel and the grinding wheel, and is used to control the force applied to the grinding wheel according to the detection result of the workpiece detection assembly, so as to realize flexible curved surface grinding. The grinding force control unit 25 connects various components or units in the entire belt grinding device 10. It can improve the grinding quality and realize flexible curved surface grinding according to the surface complexity of the workpiece.

[0051] like Figure 6 As shown, in one embodiment, the tensioning wheel unit 23 includes a tensioning cylinder 26 and a pressure wheel 27. The tensioning cylinder 26 drives the pressure wheel 27 to move forward, and the pressure wheel 27 is in close contact with the back side of the sanding belt 24, so that the sanding belt 24 is always kept in a tight state.

[0052] In one embodiment, the grinding force control unit 25 can be similar to the structure of the milling force control unit 16, including a data processor, a pressure piece and a grinding force control elastic piece. The pressure applied by the grinding force control unit 25 to the grinding wheel 22 can be weaker than the pressure applied by the milling force control unit 16 to the milling head 14.

[0053] The data processor is used to receive the detection result and generate a control signal. The data processor can receive the electric control signal generated by the control chip, or directly receive the detection result generated by the visual detection sensor. The data processor generates a control signal for controlling the force applied by the grinding wheel 22 according to the received detection result.

[0054] The pressure piece is used to apply downward grinding pressure to the grinding wheel 22 according to the control signal.

[0055] The grinding force control elastic member is used to adjust the grinding force. The grinding force control elastic member can be a spring or a plastic with a memory function.

[0056] like Figure 7 As shown, in one embodiment, the chain rotation assembly 9 includes a transmission motor 17 and an idler wheel assembly 19 .

[0057] The transmission motor 17, the motor output shaft is connected to the driving wheel 18, and the driving wheel 18 is connected to the follower wheel 20 of the belt grinding assembly through the chain 21. The transmission motor 17 drives the driving wheel 18 and the chain 21 to perform a cyclic rotation. The transmission motor 17 is installed directly below the frame and is located on the side away from the workpiece detection assembly 12.

[0058] The idler wheel assembly 19 is arranged at the upper end of the chain and is used to tension the chain. The idler wheel assembly 19 includes an idler wheel and a mounting member for fixing the idler wheel on the frame. The idler wheel is pressed on the top of the chain 21, and it can tension the chain 21 to ensure the normal circulation of the chain 21.

[0059] like Figure 8 As shown, in one embodiment, the protection mechanism 3 includes a cover body, a cover lifting cylinder 7, a cover lifting linear guide rail 8 and a brush dustproof rib 5.

[0060] The cover body is used to accommodate the grinding mechanism and has a liftable front cover 6 and a rear cover matched with the liftable front cover.

[0061] The cover lifting cylinder 7 is used to lift the cover.

[0062] The cover lifting linear guide rail 8 is arranged between the liftable front cover 6 and the rear cover, and is used to control the liftable front cover 6 to not deviate in the relative movement direction when the liftable front cover 6 is lifted up and down.

[0063] The brush dustproof rib 5 is arranged at the lower edge of the cover body to prevent dust and particles from overflowing from the bottom of the workstation.

[0064] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A workpiece weld inspection and milling equipment, characterized in that: include: A robot arm having a numerical control base and a robot arm body disposed on the numerical control base, and a rear end of the robot arm body is connected to the numerical control base; as well as The grinding part is connected to the head end of the robot body and is used to grind the surface of the workpiece under the drive of the robot body, so as to control the removal depth of the weld. The polishing part includes a polishing mechanism connected to the head end of the robot body and a protective mechanism sleeved on the outside of the polishing mechanism. The grinding mechanism includes: frame; A workpiece detection assembly, fixed on the frame and located at the front end of the grinding path, for detecting the surface of the workpiece; the workpiece detection assembly includes a visual detection sensor and a control chip; A milling assembly is fixed on the frame and arranged at the rear end of the workpiece detection assembly, and is used for milling the workpiece surface according to the detection result of the workpiece detection assembly; the milling assembly comprises a power spindle fixed on the frame, a milling cutter head connected to the power spindle for milling the workpiece surface, a milling cutter limiting pulley located on the side of the milling cutter head, and a milling force control unit connected to the power spindle, the milling cutter limiting pulley is used to protect the milling cutter head from being damaged during milling, and the milling force control unit is used to realize flexible curved surface milling according to the surface complexity of the workpiece; the control chip stores the distance coordinates between the milling assembly and the visual detection sensor so as to accurately generate the milling path of the milling assembly for the weld; A belt grinding assembly is fixed on the frame and arranged at the rear end of the milling assembly, and is used to grind the surface of the workpiece according to the detection result of the workpiece detection assembly; after the milling assembly mills the weld, the control chip controls the belt grinding assembly to grind the surface of the workpiece, thereby ensuring that the final workpiece surface is smooth; A chain rotating assembly is fixed on the frame and arranged at the rear end of the milling assembly and flush with the abrasive belt grinding assembly, and is used to drive the abrasive belt grinding assembly in real time according to the detection result of the workpiece detection assembly. The visual detection sensor is located at the front end of the grinding path, detects the surface condition of the area to be ground and generates detection results in real time. The control chip dynamically controls the movement of the milling component and the abrasive belt grinding component according to the detection results; the control chip generates the size data and position data of the weld according to the detection results; the CNC base moves the robot body according to the detection results of the workpiece detection component, drives the grinding part to move freely, and thus ensures that the grinding part corresponds to the position of the large excess weld to be milled in real time. The milling force control unit comprises: A data processor, used for receiving the detection results and generating a control signal; A pressure member, used for applying downward milling pressure to the milling cutter head according to a control signal; Milling force control elastic parts are used to adjust the milling force. The belt grinding assembly comprises: A follower wheel, the wheel axis of which is fixed to the upper end of the frame and is linked to the chain rotating assembly through a chain; A grinding wheel, the wheel axis of which is fixed at the lower end of the follower wheel, and is used to grind the surface of the workpiece driven by the abrasive belt; A grinding force control unit is arranged between the follower wheel and the grinding wheel, and is used to control the force applied to the grinding wheel according to the detection result of the workpiece detection assembly, so as to realize flexible curved surface grinding. The protection mechanism comprises: A cover body, used for accommodating the grinding mechanism; The brush dustproof rib is arranged at the lower edge of the cover body and is used to prevent dust and particles from overflowing from the bottom of the workstation.

2. The workpiece weld inspection and milling equipment according to claim 1, characterized in that: The belt sanding assembly also includes: A tensioning wheel unit, the axis of which is fixed on the frame, is used for tensioning the abrasive belt.

3. The workpiece weld inspection and milling equipment according to claim 2, characterized in that: The tensioning wheel unit includes a tensioning cylinder and a pressure wheel. The tensioning cylinder drives the pressure wheel to move forward. The pressure wheel is in close contact with the back side of the sand belt, so that the sand belt is always kept in a tensioned state.

4. The workpiece weld inspection and milling equipment according to claim 1, characterized in that: The chain rotating assembly comprises: A transmission motor, wherein the motor output shaft of the transmission motor is connected to a driving wheel, and the driving wheel is connected to a follower wheel of the abrasive belt grinding assembly through a chain; An idler wheel assembly is arranged at the upper end of the chain and is used for tensioning the chain.

5. The workpiece weld inspection and milling equipment according to claim 1, characterized in that: The cover body comprises a liftable front cover and a rear cover matched with the liftable front cover, and the protection mechanism further comprises: A cover lifting cylinder, used for lifting the cover; The cover lifting linear guide rail is arranged between the liftable front cover and the rear cover, and is used to control the liftable front cover to not deviate in the relative movement direction when the liftable front cover is lifted up and down.

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