Automatic polishing machine for large sheet metal welding parts based on three-dimensional model

Abstract

This invention discloses an automatic grinding machine for large sheet metal welded parts based on a three-dimensional model, comprising a control module; a gantry assembly mounted above a base plate assembly; a worktable assembly mounted on the base plate assembly; a traverse assembly mounted on the side of the gantry; a lifting assembly mounted on the side of the traverse assembly; and an actuator assembly mounted at the end of the side of the lifting assembly. The worktable assembly, traverse assembly, lifting assembly, and actuator assembly are each communicatively connected to the control module and their movements are controlled by the control module. The control system includes a three-dimensional model reading module and a grinding position recognition module. The workpiece to be ground is mounted on the worktable. Based on the read grinding position information, the control system controls the worktable assembly, traverse assembly, and lifting assembly to move to the grinding position, and controls the actuator assembly to automatically grind the workpiece at the specified position. This invention utilizes a program to read and automatically recognize the grinding position, guiding the grinding head to automatically grind the surface, making it simple, easy to implement, and highly automated.

Description

Technical Field

[0001] This invention relates to the field of automation equipment technology, specifically to an automatic grinding machine for large sheet metal welded parts based on a three-dimensional model. Background Technology

[0002] After sheet metal welding is completed, various weld beads and weld seams remain on the workpiece surface, which can be removed by grinding and polishing. Furthermore, surfaces requiring painting also need grinding to remove burrs, oil, and dust from the substrate, improving the mechanical adhesion of the paint. Many companies incorporate grinding and polishing processes into their equipment manufacturing operations. Many small and medium-sized enterprises produce relatively few products but a wide variety, often relying on traditional manual grinding. This excessive dependence on skilled personnel leads to continuously increasing labor costs and inconsistent processing quality. Additionally, grinding generates a lot of metal dust, and prolonged exposure to this environment can pose certain health risks.

[0003] Therefore, the development of automated grinding equipment is crucial. A key aspect of automated grinding is obtaining the location of the grinding point. Traditional industrial robots typically use a teaching method to acquire grinding path points. When workpiece types change frequently, this leads to excessively time-consuming frequent teaching to obtain grinding path points. Other methods use machine vision to identify the grinding surface and determine the grinding point by extracting feature points. However, this becomes cumbersome when the workpiece is three-dimensional and the grinding surface is distributed across all surfaces. Summary of the Invention

[0004] The present invention proposes an automatic grinding machine for large sheet metal welded parts based on a three-dimensional model, which can solve the above-mentioned technical problems.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] An automatic grinding machine for large sheet metal welded parts based on a three-dimensional model includes a base plate assembly, a gantry assembly, a worktable assembly, a transverse movement assembly, a lifting assembly, an actuator assembly, and a control cabinet, with a control system installed inside the control cabinet;

[0007] The gantry assembly is mounted above the base plate assembly; the worktable assembly is mounted on the base plate assembly; the traverse assembly is mounted on the side of the gantry; the lifting assembly is mounted on the side of the traverse assembly; the actuator assembly is mounted on the side end of the lifting assembly; the worktable assembly, traverse assembly, lifting assembly, and actuator assembly are all communicatively connected to the control system and their movements are controlled by the control system.

[0008] The control system includes a 3D model reading module and a grinding position recognition module.

[0009] The workpiece to be ground is mounted on the worktable assembly. The control system, based on the grinding position information read, controls the worktable assembly, the transverse assembly, and the lifting assembly to move to the grinding position, and controls the actuator assembly to achieve automatic grinding of the workpiece at the specified position.

[0010] Furthermore, the main body of the base plate assembly is a large base plate, on which two linear guide rails are installed to guide the worktable assembly. Limiters are installed on the two sides of the large base plate to limit the front and rear extreme positions of the worktable. There are mounting structures at both ends for mounting the gantry assembly. It also includes a worktable assembly drive servo motor, a reducer, and a drive gear. After the worktable drive servo motor is reduced in speed by the reducer, the drive gear engages with the rack of the worktable assembly to realize the front and rear relative movement of the worktable assembly and the base plate assembly.

[0011] Furthermore, the gantry assembly includes a left column, a right column, and a main beam. Both the left and right columns are designed as gantry structures, and their bottoms are connected to the base plate via assembly. Two linear guide rails are installed on the side of the main beam to guide the lateral movement assembly. A rack is installed on the main beam to cooperate with the drive gear of the lateral movement assembly to realize the left and right movement of the lateral movement assembly. Limiters are installed at both ends of the main beam to limit the extreme positions of the lateral movement assembly. A drag chain is installed on the main beam to support the cables and pneumatic equipment that move with the lateral movement assembly.

[0012] Furthermore, the main body of the worktable assembly is a worktable plate with T-slots for easy workpiece installation. Two sets of four sliders are installed below the worktable plate, which cooperate with the linear guide rail of the base plate assembly to guide the worktable plate and the base plate. A rack is installed below the rack, which cooperates with the drive gear of the base plate assembly to move the worktable assembly back and forth.

[0013] Furthermore, the lateral movement assembly includes a mounting plate. One side of the mounting plate is equipped with two sets of four sliders (II), which cooperate with the linear guide rails (II) of the gantry assembly to guide the lateral movement assembly and the gantry assembly. The mounting plate includes a lateral movement servo motor, a reducer (II), and a drive gear (II). After being reduced in speed by the reducer (II), the drive gear (II) cooperates with the rack (II) of the gantry assembly to achieve relative left-right movement between the lateral movement assembly and the gantry assembly. Simultaneously, the other side of the mounting plate is also equipped with two sets of four sliders (III), which cooperate with the linear guide rails (III) of the lifting assembly to guide the lifting assembly and the lateral movement assembly. The mounting plate includes a lifting servo motor, a reducer (III), and a drive gear (III). After being reduced in speed by the reducer (III), the drive gear (III) cooperates with the rack (III) of the lifting assembly to achieve relative lifting and lowering movement between the lifting assembly and the lateral movement assembly.

[0014] Furthermore, the lifting assembly includes a lifting column, on which two linear guide rails and a rack are installed. The linear guide rails cooperate with the slider of the transverse assembly to guide the lifting assembly when it moves relative to the transverse assembly. The rack cooperates with the drive gear of the transverse assembly to achieve the lifting and lowering movement of the lifting assembly relative to the transverse assembly. Limiters are installed at the upper and lower ends of the lifting column to limit the extreme positions of the lifting assembly.

[0015] Furthermore, the actuator assembly includes an electric spindle, a servo motor, a cylinder, and a grinding tool. The grinding tool is mounted on the electric spindle, and the grinding of the workpiece is achieved by direct drive of the electric spindle. The servo motor adjusts the azimuth angle of the electric spindle, and after the cylinder is vented, the grinding tool is pressed tightly against the workpiece with a set pressure.

[0016] Furthermore, the control system performs the following steps:

[0017] On the 3D model of the welded part, mark the surface to be polished with polygons. The surface to be polished is called the marked surface. Fill the polygon mark with any color different from the original color of the model and save it in STEP / STP format.

[0018] S1. Use the program to parse and read the STEP / STP file. All marked faces of the model in the STEP / STP file can be read.

[0019] S2. Model using the AnyCAD modeling engine and display features using the display engine;

[0020] S3. Obtain the position of the read-in marked surface and save the coordinates of the position point containing the position information to a collection;

[0021] S4. Position point fitting: Fit the position points of the surface to be processed, and divide the marked surface into classes I, II, and III according to the number of points in the final set of position points, thereby obtaining the position point coordinates required for the next step of path planning.

[0022] As can be seen from the above technical solution, the automatic grinding machine for large sheet metal welding parts based on three-dimensional model of the present invention uses a program to read and automatically identify the grinding position, and guides the grinding head to automatically grind the grinding surface. When there are many types of processing objects and small batches, the processing path can be generated quickly, avoiding the trouble caused by frequent teaching. It has the characteristics of simple and easy operation and high degree of automation. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the grinding machine assembly structure of the present invention;

[0024] Figure 2 This is a schematic diagram of the base plate assembly structure of the present invention;

[0025] Figure 3 This is a schematic diagram of the gantry assembly structure of the present invention;

[0026] Figure 4 This is a schematic diagram of the worktable assembly structure of the present invention;

[0027] Figure 5a This is a frontal view schematic diagram of the transverse displacement assembly of the present invention;

[0028] Figure 5b This is a rear-view schematic diagram of the transverse displacement assembly of the present invention;

[0029] Figure 6 This is a schematic diagram of the lifting assembly structure of the present invention;

[0030] Figure 7a This is a front view structural diagram of the actuator of the present invention;

[0031] Figure 7b This is a side view of the actuator of the present invention. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of the present invention, but not all embodiments.

[0033] like Figure 1 As shown, the large sheet metal welding automatic grinding machine based on a three-dimensional model described in this embodiment includes: a base plate assembly 1, a gantry assembly 2, a worktable assembly 3, a transverse movement assembly 4, a lifting assembly 5, an actuator assembly 6, and a control cabinet, wherein a control system is installed inside the control cabinet;

[0034] The gantry assembly 2 is mounted above the base plate assembly 1; the worktable assembly 3 is mounted on the base plate assembly 1; the lateral movement assembly 4 is mounted on the side of the gantry 2; the lifting assembly 5 is mounted on the side of the lateral movement assembly 4; and the actuator assembly 6 is mounted on the side end of the lifting assembly. The worktable assembly 3, lateral movement assembly 4, lifting assembly 5, and actuator assembly 6 are all communicatively connected to the control system and their movements are controlled by the control system.

[0035] The control system includes a 3D model reading module and a grinding position recognition module;

[0036] The workpiece to be ground is installed on the worktable assembly. The control system controls the worktable 3, the transverse assembly 4, and the lifting assembly 5 to move to the grinding position based on the grinding position information read, and controls the actuator assembly to realize automatic grinding of the workpiece at the specified position.

[0037] like Figure 2 As shown, the main body of the base plate assembly 1 is a large base plate 101, on which two linear guide rails 102 are installed to guide the worktable assembly 3. Limiters 103 are installed on the two sides of the large base plate to limit the front and rear extreme positions of the worktable assembly. There are mounting structures 104 at both ends for mounting the gantry assembly 2. There is a worktable drive servo motor 105, a reducer 106 and a drive gear 107. After the worktable drive servo motor 105 is reduced by the reducer 106, the drive gear 107 cooperates with the rack of the worktable assembly to realize the front and rear relative movement of the worktable assembly 3 and the base plate assembly.

[0038] like Figure 3 As shown, the gantry assembly 2 mainly consists of a left column 201, a right column 202, and a main beam 203. Both the left and right columns are designed as gantry structures, and their bottoms are connected to the base plate 101 via assembly. Two linear guide rails 204 are installed on the side of the main beam 203 to guide the transverse assembly 4. A rack 205 is installed on the main beam 203 to cooperate with the drive gear of the transverse assembly 4 to realize the left and right movement of the transverse assembly 4. Limiters 206 are installed at both ends of the main beam to limit the extreme positions of the transverse assembly. A drag chain 207 is installed on the main beam to support the cables and pneumatic components that move with the transverse assembly.

[0039] like Figure 4 As shown, the main body of the worktable assembly 3 is the worktable plate 301. The worktable plate has a T-slot to facilitate the installation of workpieces. Two sets of four sliders 302 are installed under the worktable plate, which cooperate with the linear guide rail 102 of the base plate assembly to guide the worktable plate and the base plate. A rack 303 is installed below, which cooperates with the drive gear 107 of the base plate assembly to realize the forward and backward movement of the worktable assembly.

[0040] like Figure 5a and Figure 5bAs shown, the mounting plate 401 of the transverse assembly 4 has two sets of four sliders 402 mounted on one side, which cooperate with the linear guide rails 204 of the gantry assembly to guide the transverse assembly 4 and the gantry assembly 2. It includes a transverse servo motor 403, a reducer 404, and a drive gear 405. After the transverse servo motor 403 is reduced in speed by the reducer 404, the drive gear 405 cooperates with the rack 205 of the gantry assembly to achieve left-right movement of the transverse assembly 4 and the gantry assembly 2. The lifting assembly 5 moves relative to the horizontal assembly 4. At the same time, the other side of the mounting plate 401 is also equipped with two sets of four sliders 406, which cooperate with the linear guide rail of the lifting assembly to guide the lifting assembly 5 and the horizontal assembly 4. There is a lifting servo motor 407, a reducer 408 and a drive gear 409. After the lifting servo motor 407 is reduced by the reducer 408, the drive gear 409 cooperates with the rack of the lifting assembly to realize the lifting relative movement of the lifting assembly 5 and the horizontal assembly 4.

[0041] like Figure 6 As shown, the lifting assembly 5 has a lifting column 501. Two linear guide rails 502 and a rack 503 are installed on the lifting column 501. The linear guide rails 502 cooperate with the slider of the transverse assembly 4 to guide the movement of the lifting assembly 5 relative to the transverse assembly 4. The rack 503 cooperates with the drive gear 409 of the transverse assembly 4 to realize the lifting and lowering movement of the lifting assembly 5 relative to the transverse assembly 4. Limiters 504 are installed at the upper and lower ends of the lifting column to limit the extreme positions of the movement of the lifting assembly.

[0042] like Figure 7a and 7b As shown, the actuator assembly 6 mainly consists of an electric spindle 601, a servo motor 602, a cylinder 603, and a grinding tool 604. The grinding tool 604 is mounted on the electric spindle, and the grinding of the workpiece is achieved by direct drive of the electric spindle. The servo motor 602 adjusts the azimuth angle of the electric spindle, and after the cylinder 603 is vented, the grinding tool is pressed tightly against the workpiece with a certain pressure.

[0043] After the workpiece is installed on the worktable, the 3D model of the workpiece in STP / Step format with the grinding surface information marked is imported into the computer of the control system. The control system recognizes the workpiece size and shape information, and reads the position information of the surface to be ground. Through coordinate transformation, the position information of the grinding surface in the machine tool coordinate system is obtained, and path planning is performed to direct the machine's worktable, transverse assembly, lifting assembly and actuators to achieve grinding of the surface.

[0044] Specifically, the control system performs the following steps:

[0045] On the 3D model of the sheet metal welded part, the surface to be polished is marked with polygons. In this embodiment, rectangular markings are specifically used. The surface to be polished is called the marked surface. After filling the polygon markings with any color different from the original color of the model, the model is saved in STEP / STP format. Then the control system executes the following steps:

[0046] (1) File parsing: The program parses and reads the STEP / STP file, and can read all the marked faces of the model in the STEP / STP file.

[0047] (2) Model display: Modeling is done through AnyCAD modeling engine, and features are displayed through display engine.

[0048] (3) Obtaining location information: Obtain the location of the read-in marked surface and save the coordinates of the location points containing the location information to a set. This method uses a set that can represent the marked surface. m i Location point set P i To describe location information, since the marked surface is rectangular, the initial set of location points is obtained. P i It should include the four vertices of the rectangle.

[0049] (4) Position point fitting: According to the actual situation, the actual machining area of ​​the end face grinding tool is a circle with a certain diameter. The position points of the surface to be machined are fitted. And according to the number of points in the final set of position points, the marked surface is divided into three categories: I, II, and III, so as to obtain the position point coordinates required for the next step of path planning.

[0050] The "file parsing" mentioned in step (1) specifically includes the following steps:

[0051] (11) Create a STEP / STP file reader.

[0052] (12) Construct the topology graphics reading environment class required by the reader, which allows the reader to read all the colors of the 3D model.

[0053] (13) Select the STEP / STP drawing file locally and read the STEP / STP file based on the AnyCAD open source code library.

[0054] (14) Read the shape and color of the model into memory.

[0055] The "model display" mentioned in step (2) specifically includes the following steps:

[0056] (21) AnyCAD modeling engine uses the input parameters to model each graphic and saves it as a topology type object.

[0057] (22) Call the ShowGeometry() method to attach the topology graph to a fixed scene node.

[0058] (23) Display topology-type objects using the AnyCAD display engine.

[0059] The "obtaining the position information of the surface to be processed" mentioned in step (3) is achieved by using a surface that can represent the marked surface. m i Location P i A set is used to describe the location information. Since the marked surface is a rectangle, the initial set of location points is obtained. P i It should include the four vertices of the rectangle. Specifically, it includes the following steps:

[0060] (31) Read TopoShape type topology graphics from the 3D model file.

[0061] (32) When traversing each topological graph, determine whether the color attribute value of the topological graph is equal to the given value. If they are equal, store it in the set of marked faces. M In the middle, and use the face vertex acquisition method to obtain this marked face. m i Location point set P i If they are not equal, they are stored in the set of unmarked faces. U middle.

[0062] (33) If reading the TopoShape type topology graph is not finished, repeat steps (31)-(33).

[0063] The "position point fitting" mentioned in step (4) specifically includes the following steps:

[0064] (41) From the set of marked faces M{m 1 ,m 2 ,m 3 ,…} Read a marked face m i ∈M ;

[0065] (42) If the read graph m i It can be completely covered by the end face circle of the end face grinding tool, thus covering this surface. m i Save to Ⅰ Class set F Ⅰ In the middle, then in this figure mi Location point set P i The internal storage contains a point, which is a graphic element. m i Find the geometric center point and execute step (47).

[0066] (43) If the figure m i Location point set P i If three points are on the same straight line, keep the two points with the largest distance and remove the middle point;

[0067] (44) If P i If there are two points in the set of points, and the distance between these two points is less than the diameter of the end face circle of the grinding tool, then from the point set... P i Delete these two points and move them to the point set. P i Add the midpoint between these two points; this midpoint will not participate in further fitting.

[0068] (45) If point set P i If the number of interior points is 2, then this face... m i This can be viewed as a surface whose processing path is a line segment; this surface is saved to... Ⅱ Class set F Ⅱ In the middle, execute step (46);

[0069] (46) If point set P i If the number of interior points is greater than 2, then save this face to... Ⅲ Class set F Ⅲ middle;

[0070] (47) Determine the set of marked faces M Is the reading complete? If not, repeat steps (41)-(47).

[0071] After performing all four steps above, you can obtain the location point information of all marked surfaces contained in the STEP / STP file, and these points are stored in the location point set of each part. Moreover, the marked surfaces are also divided into three categories: I, II, and III. Category I surfaces can be treated as a point for machining, the machining path of Category II surfaces can be regarded as a line segment, and Category III surfaces provide the point set information required for specific path planning.

[0072] In summary, the automatic grinding machine for large sheet metal welded parts based on a three-dimensional model of the present invention uses a program to read and automatically identify the grinding position, and guides the grinding head to automatically grind the grinding surface. When there are many types of processing objects and small batches, the processing path can be generated quickly, avoiding the trouble caused by frequent teaching. It has the characteristics of simple and easy operation and high degree of automation.

[0073] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An automatic grinding machine for large sheet metal welded parts based on a three-dimensional model, comprising a base plate assembly (1), a gantry assembly (2), a worktable assembly (3), a transverse movement assembly (4), a lifting assembly (5), an actuator assembly (6), and a control cabinet, wherein a control system is installed inside the control cabinet; characterized in that: The gantry assembly (2) is mounted above the base plate assembly (1); the worktable assembly (3) is mounted on the base plate assembly (1); the transverse traverse assembly (4) is mounted on the side of the gantry assembly (2); the lifting assembly (5) is mounted on the side of the transverse traverse assembly (4); the actuator assembly (6) is mounted on the side end of the lifting assembly; the worktable assembly (3), the transverse traverse assembly (4), the lifting assembly (5), and the actuator assembly (6) are respectively connected to the control system and their movements are controlled by the control system. The control system includes a 3D model reading module and a grinding position recognition module. The workpiece to be polished is mounted on the worktable assembly (3). The control system controls the worktable assembly (3), the transverse assembly (4), and the lifting assembly (5) to move to the polishing position according to the polishing position information read, and controls the actuator assembly to realize automatic polishing of the workpiece at the specified position. The control system performs the following steps. On the 3D model of the welded part, mark the surface to be polished with polygons. The surface to be polished is called the marked surface. Fill the polygon mark with any color different from the original color of the model and save it in STEP / STP format. S1. Use the program to parse and read the STEP / STP file. All marked faces of the model in the STEP / STP file can be read. S2. Model using the AnyCAD modeling engine and display features using the display engine; S3. Obtain the position of the read-in marked surface and save the coordinates of the position point containing the position information to a collection; S4. Position point fitting: Fit the position points of the surface to be processed, and divide the marked surface into classes I, II, and III according to the number of points in the final set of position points, so as to obtain the position point coordinates required for the next path planning. Specifically, step S4 includes: S41. From the set of marked faces M{m 1 ,m 2 ,m 3 ,…} Read a marked face m i ∈M ; S42. If the marked surface is read m i This marked surface can be completely covered by the end face circle of the end face grinding wheel. m i Save to Ⅰ Class set F Ⅰ In the middle, then on this marked surface m i Location point set P i Internally, a point is stored; this point is the marker surface. m i Find the geometric center point and proceed to step S47; S43. If the marked surface m i Location point set P i If three points are on the same straight line, keep the two points with the largest distance and remove the middle point; S44. If P i If there are two points in the set of points, and the distance between these two points is less than the diameter of the end face circle of the grinding tool, then from the point set... P i Delete these two points and move them to the point set. P i Add the midpoint between these two points; this midpoint will not be used for further fitting. S45. If point set P i If the number of interior points is 2, then this marked surface... m i This can be viewed as a surface whose processing path is a line segment; save this marked surface to... Ⅱ Class set F Ⅱ In the middle, execute step S46; S46. If point set P i If the number of interior points is greater than 2, then save this marked surface to... Ⅲ Class set F Ⅲ middle; S47. Determine the set of marked faces M Has the reading been completed? If not, repeat steps S41-S47.

2. The automatic grinding machine for large sheet metal welded parts based on a three-dimensional model according to claim 1, characterized in that: The main body of the base plate assembly (1) is a large base plate (101), on which two linear guide rails (102) are installed to guide the worktable assembly (3). Limiters (103) are installed on the two sides of the large base plate to limit the front and rear extreme positions of the worktable assembly. There are mounting structures (104) at both ends to install the gantry assembly (2). The base plate assembly (1) also includes a worktable drive servo motor (105), a reducer (106) and a drive gear (107). After the worktable drive servo motor (105) is reduced by the reducer (106), the drive gear (107) cooperates with the rack (303) of the worktable assembly (3) to realize the front and rear relative movement of the worktable assembly (3) and the base plate assembly (1).

3. The automatic grinding machine for large sheet metal welded parts based on a three-dimensional model according to claim 2, characterized in that: The gantry assembly (2) includes a left column (201), a right column (202) and a main beam (203). The left column (201) and the right column (202) are both designed as gantry structures. The bottom is connected to the base plate (101) by assembly. Two linear guide rails (204) are installed on the side of the main beam (203) to guide the transverse assembly (4). A rack (205) is installed on the main beam (203) to cooperate with the drive gear (405) of the transverse assembly (4) to realize the left and right movement of the transverse assembly (4). Limiters (206) are installed at both ends of the main beam to limit the extreme position of the transverse assembly. A drag chain (207) is installed on the main beam to support the cables and pneumatic equipment that move with the transverse assembly.

4. The automatic grinding machine for large sheet metal welded parts based on a three-dimensional model according to claim 3, characterized in that: The main body of the worktable assembly (3) is the worktable plate (301). The worktable plate (301) has a T-slot to facilitate the installation of workpieces. Two sets of four sliders (302) are installed under the worktable plate (301) and cooperate with the linear guide rail (102) of the base plate assembly to realize the guiding function between the worktable plate (301) and the base plate. A rack (303) is installed below and cooperates with the drive gear (107) of the base plate assembly to realize the forward and backward movement of the worktable assembly.

5. The automatic grinding machine for large sheet metal welded parts based on a three-dimensional model according to claim 4, characterized in that: The transverse assembly (4) includes a mounting plate (401), a transverse servo motor (403), a second reducer (404), a second drive gear (405), a lifting servo motor (407), a third reducer (408), and a third drive gear (409). Two sets of four sliders (402) are mounted on one side of the mounting plate (401), which cooperate with the linear guide rails (204) of the gantry assembly to guide the transverse assembly (4) and the gantry assembly (2). After the transverse servo motor (403) is reduced in speed by the second reducer (404), the second drive gear (405)... The gantry assembly (4) and the gantry assembly (2) are engaged with the rack and pinion (205) of the gantry assembly to achieve the left and right relative movement of the lateral movement assembly (4) and the gantry assembly (2); at the same time, two sets of four sliders (406) are also installed on the other side of the mounting plate (401), which are engaged with the linear guide rails of the lifting assembly to achieve the guiding function of the lifting assembly (5) and the lateral movement assembly (4). After the lifting servo motor (407) is reduced by the reducer (408), the drive gear (409) is engaged with the rack and pinion (503) of the lifting assembly to achieve the lifting relative movement of the lifting assembly (5) and the lateral movement assembly (4).

6. The automatic grinding machine for large sheet metal welded parts based on a three-dimensional model according to claim 5, characterized in that: The lifting assembly (5) includes a lifting column (501), on which two linear guide rails (502) and a rack (503) are installed. The linear guide rails (502) cooperate with the slider (406) of the transverse assembly (4) to guide the lifting assembly (5) relative to the transverse assembly (4). The rack (503) cooperates with the drive gear (409) of the transverse assembly (4) to realize the lifting and lowering movement of the lifting assembly (5) relative to the transverse assembly (4). Limiters (504) are installed at the upper and lower ends of the lifting column to limit the extreme positions of the lifting assembly movement.

7. The automatic grinding machine for large sheet metal welded parts based on a three-dimensional model according to claim 5, characterized in that: The actuator assembly (6) includes an electric spindle (601), a servo motor (602), a cylinder (603), and a grinding tool (604). The grinding tool (604) is mounted on the electric spindle and the workpiece is ground by direct drive of the electric spindle. The servo motor (602) adjusts the azimuth angle of the electric spindle. After the cylinder (603) is ventilated, the grinding tool is pressed tightly against the workpiece with a set pressure.

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