Dust collection device and method for automatic polishing of large-sized workpieces

Abstract

This invention discloses a dust collection device and method for automated grinding of large-size workpieces. The device includes a dust collection hood, a fixed connecting plate, a force control actuator, a spindle connecting plate, a grinding spindle, and a grinding wheel. The top of the fixed connecting plate is fixedly connected to the end of a robot. The dust collection hood is located on the front of the fixed connecting plate. The force control actuator and the spindle connecting plate are connected to the back of the fixed connecting plate. The grinding spindle is connected below the spindle connecting plate, and the output end of the grinding spindle is connected to a grinding wheel. The grinding wheel is located inside the dust collection hood and grinds the surface of the part. By forming a sealed space, the suction pressure of the dust collection system is increased. Channels are set on both sides of the dust collection hood to guide splashing sparks, effectively improving the particle capture capability of the dust collection system.

Description

Technical Field

[0001] This invention relates to a dust collection device and method for automated grinding of large workpieces, belonging to the field of robotic intelligent grinding technology. Background Technology

[0002] The application of robots in manufacturing is becoming increasingly common. In particular, automatic welding, automatic loading and unloading, and automatic spraying have been widely and successfully implemented. However, there is still much technical research to be done on the application of robots in the automated polishing of industrial products.

[0003] Manual grinding operates under harsh conditions. The cumulative effects of noise, dust, and vibration on the human body can cause serious damage over time. Therefore, industries such as casting grinding, wind turbine blade grinding, and large structural component grinding already face problems of high labor costs, low grinding efficiency, and difficulty in recruiting workers. Thus, the need for automated grinding using robots is extremely urgent. Intelligent robotic grinding can significantly improve efficiency, as well as grinding quality and consistency. Most importantly, robots can easily cope with harsh grinding environments and maintain high-quality operation continuously. However, a thorny issue has always existed in the grinding of large structural components using robots: the large amount of grinding debris and dust generated during grinding can damage the entire factory environment if not conducted in a closed space. Traditional solutions involve building enclosed grinding chambers to completely surround the intelligent grinding workstations, installing dust removal devices inside, and regularly cleaning the grinding chambers. However, for the automated grinding of large structural components, building a closed grinding room would incur high costs and cause great inconvenience, because large structural components are generally transported by overhead cranes, and a closed roof would affect the arrival of large structural components at the fixed work position. Therefore, dust collection in the automated grinding of large structural components has always been a troublesome problem. Summary of the Invention

[0004] To address the shortcomings of existing technologies, the present invention aims to provide a dust collection device and method for automated grinding of large-sized workpieces, which solves the problems of dust scattering everywhere and lack of automatic tool changing function in existing technologies.

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

[0006] A dust collection device for automated grinding of large workpieces includes a dust collection hood, a fixed connecting plate, a force control actuator, a spindle connecting plate, a grinding spindle, and a grinding wheel;

[0007] The top of the fixed connection plate is fixedly connected to the end of the robot. The dust collection hood is set on the front of the fixed connection plate. The force control actuator and the spindle connection plate are connected to the back of the fixed connection plate. The grinding spindle is connected to the bottom of the spindle connection plate. The output end of the grinding spindle is connected to a grinding wheel. The grinding wheel is located inside the dust collection hood to grind the surface of the parts.

[0008] Furthermore, the aforementioned dust collection hood includes a hood housing, a dust suction port, and connecting pipes;

[0009] The housing has a circular design with a through hole at the top that connects to a connecting pipe, which in turn connects to the main unit of the dust removal equipment. The bottom of the housing has a dust suction port.

[0010] Furthermore, the aforementioned dust collection hood also includes a sealing strip, which is installed around the dust suction port, and the sealing strip and the dust collection hood form a closed space.

[0011] Furthermore, the aforementioned sealing strip is made of a high-temperature resistant flexible material.

[0012] Furthermore, the aforementioned shell adopts a sandwich structure, and sound insulation material is placed inside the sandwich structure.

[0013] Furthermore, an inner shell is also arranged parallel inside the aforementioned outer shell. The inner shell has the same shape as the outer shell, and the gap between the inner shell and the outer shell forms a channel.

[0014] Furthermore, a U-shaped opening is provided at the lower back of the aforementioned dust collection hood, which is used to avoid the grinding spindle.

[0015] Furthermore, the aforementioned also includes a housing movement device and wing plates;

[0016] The hood moving device includes a guide rail and a ball screw. The guide rail is set on the front of the fixed connecting plate, the ball screw is fixed on the side of the fixed connecting plate, the wing plate is connected to the back of the dust collection hood, the back of the wing plate is connected to the guide rail by a slider, and the side of the wing plate is connected to the ball screw.

[0017] Furthermore, the aforementioned fixed connecting plate is provided with a camera connecting plate, which is used to place a vision camera.

[0018] A method for collecting dust during automated grinding of large workpieces, comprising the following steps:

[0019] In response to the received grinding instruction, the robot moves to the appropriate position and begins grinding: the robot moves along the direction of the ungrinded weld seam;

[0020] The main unit of the dust removal equipment is controlled to suck up dust from the dust collection hood through connecting pipes;

[0021] In response to the tool change command, the main unit of the dust removal equipment is controlled to stop operating, and the cover moving device is controlled to move the dust collection cover to the top of the fixed connecting plate to perform automatic tool change;

[0022] In response to the command that the automatic tool change is complete, the control cover moving device drives the dust collection cover to reset.

[0023] The beneficial effects achieved by this invention are as follows:

[0024] 1. The dust removal effect is significant. By forming a closed space, the suction pressure of the dust removal system is increased. Channels are set on both sides of the dust removal hood to guide splashing sparks, which effectively improves the particle capture ability of the dust collection system.

[0025] 2. It can effectively reduce grinding noise. By setting up a cover with sound-absorbing material and a more enclosed space, the transmission of noise can be reduced.

[0026] 3. The applicability of the dust removal system has been increased. This dust removal system, integrated with the robot, can be used for dust collection in the automated grinding of various ultra-large structural parts, solving the problem that large structural parts are not suitable for building dust removal rooms, and can effectively collect grinding dust.

[0027] 4. While achieving the dust collection function, it still has the function of automatically changing grinding tools. Through the innovative design of the lifting device, the dust collection hood is raised to a non-interference position when automatic grinding tool changing is required. After the grinding tool is changed, the dust collection hood is returned to its original position, saving the time of changing tools and improving the production rhythm and production efficiency. Attached Figure Description

[0028] Figure 1 This is a front view of the collecting device of the present invention;

[0029] Figure 2 This is a left view of the collecting device of the present invention;

[0030] Figure 3 This is a bottom view of the collecting device of the present invention;

[0031] Figure 4 This is a cross-sectional view of the dust collection hood of the present invention.

[0032] The meanings of the reference numerals in the figure are as follows: 1-Dust collection hood; 2-House moving device; 3-Fixed connecting plate; 4-Force control actuator; 5-Main spindle connecting plate; 6-Grinding spindle; 7-Grinding wheel; 8-Wing plate; 11-House shell; 12-Sealing strip; 13-Dust suction port; 14-Connecting pipe; 15-Inner shell; 16-Layer; 17-U-shaped opening; 21-Guide rail; 22-Ball screw; 31-Camera connecting plate. Detailed Implementation

[0033] The technical solution of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments and specific features in the embodiments are detailed descriptions of the technical solution of the present application, rather than limitations thereof. In the absence of conflict, the embodiments and technical features in the embodiments can be combined with each other.

[0034] This embodiment discloses a dust collection device for automated grinding of large-size workpieces, combining and Figures 1 to 3 It includes a dust collection hood 1, a hood moving device 2, a fixed connecting plate 3, a force control actuator 4, a spindle connecting plate 5, a grinding spindle 6, a grinding wheel 7, and a wing plate 8.

[0035] The top of the fixed connecting plate 3 is fixedly connected to the end of the robot by bolts. The cover moving device 2 is located on the front of the fixed connecting plate 3. The dust collection hood 1 is connected to the cover moving device 2 through the wing plate 8. The cover moving device 2 can drive the dust collection hood 1 to move up and down. The back of the fixed connecting plate 3 is also provided with a force control actuator 4 and a spindle connecting plate 5. A grinding spindle 6 is located below the spindle connecting plate 5. The output end of the grinding spindle 6 is connected to a grinding wheel 7. The grinding wheel 7 can be located inside the dust collection hood 1 to grind the surface of the parts.

[0036] Figure 4 As shown, the dust collection hood 1 includes a hood housing 11, a sealing strip 12, a dust suction port 13, a connecting pipe 14, an inner housing 15, a sandwich layer 16, and a U-shaped opening 17.

[0037] The housing 11 features a circular design, allowing for the collection of flying sparks from the grinding wheel at close range, achieving excellent collection efficiency. The housing 11 also employs a sandwich structure, with sound-absorbing and high-temperature-resistant material placed inside the sandwich 16 to reduce noise generated during grinding. A connecting pipe 14 is located at the top of the housing 11, connecting to the main unit of the dust collection equipment. A through-hole is located directly below the connecting pipe 14, effectively collecting grinding dust and flying sparks. Inside the housing 11, a parallel inner housing 15 is provided, identical in shape to the housing 11. The gap between the inner housing 15 and the housing 11 forms a channel, allowing flying sparks to travel along the side channels after impacting the dust collection housing and then be quickly sucked in by the main unit of the dust collection equipment. The housing 11 is equipped with a dust suction port 13, around which high-temperature resistant flexible sealing strips 12 are connected. The sealing strips 12 can be combined with the dust collection hood 1 to form a more enclosed space, increasing the suction capacity of the dust collection hood 1 while preventing sparks and dust generated during grinding from escaping from below. The flexible strips can effectively adapt to various surfaces and have sufficient compatibility with inconsistencies in the size of the grinding samples. As the grinding wheel wears, the flexible sealing strips 12 automatically bend and compress to fit the grinding sample, ensuring the airtightness of the space. A U-shaped opening 17 is also opened at the lower back of the dust collection hood 1 for placing the grinding spindle 6.

[0038] The wing plates 8 extending on the left and right sides of the dust collection hood 1 assist in moving the dust collection hood to a non-interfering position when changing grinding tools. The symmetrical structure ensures stability during the movement. The wing plates 8 are fixed to the cover moving device 2 by bolts. When changing the grinding wheel, the dust collection hood 1 is raised and moved by the cover moving device 2 to fully expose the grinding wheel and perform a quick change operation without causing the grinding wheel to collide with the dust collection hood 1.

[0039] The cover moving device 2 includes a guide rail 21 and a ball screw 22. The guide rail 21 is located on the front of the fixed connecting plate 3, and the ball screw 22 is fixed to the side of the fixed connecting plate 3 by bolts. The back of the wing plate 8 is connected to the guide rail 21, and the side of the wing plate 8 is connected to the ball screw 22. The use of a ball screw for driving ensures the accuracy of the cover movement, while also occupying a small space, moving smoothly, and having good reliability and durability. The guide rail 21 is used to guide the dust collection cover 1 to move upward. Placing the cover moving device 2 on the fixed connecting plate 3 can effectively reduce the load on the force control actuator and increase the force control actuator's ability to place other tools. A camera connecting plate 31 is provided on the fixed connecting plate 3, which can hold a vision camera for visual guidance.

[0040] Example 2

[0041] Based on the aforementioned dust collection device for automated grinding of large-size workpieces, this embodiment discloses a dust collection method for automated grinding of large-size workpieces, the specific implementation of which is as follows:

[0042] By installing the collection device on the robot's end joint and integrating it with the robot, a flexible grinding workstation can be formed.

[0043] a) The robot obtains the position of the weld seam on the workpiece through the vision system, and then feeds back the grinding command to the robot. The robot moves to the appropriate position and begins grinding.

[0044] b) In order to achieve a good dust removal effect, when planning the grinding path, the robot needs to move along the direction of the ungrinded weld. This will raise the grinding sparks at a certain angle and achieve a better collection effect.

[0045] c) The dust removal equipment host is connected to the dust collection hood 1 through the connecting pipe 14. A spark catcher needs to be installed between the dust collection hood 1 and the dust removal equipment host. This device can effectively filter sparks and prevent sparks from accumulating in the suction system, which can cause the temperature to be too high and cause combustion.

[0046] d) When grinding is completed and the grinding tool needs to be changed, stop the main dust removal equipment, issue a movement command, move the dust collection hood to the top of the fixed connection plate through the cover moving device, and then execute the automatic tool change command.

[0047] e) Once the tool has been automatically changed, a dust collection hood reset command is issued. The dust collection hood then covers the grinding wheel, allowing grinding to continue.

[0048] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A dust collection device for automated grinding of large-size workpieces, characterized in that, Includes dust collection hood (1), fixed connecting plate (3), force control actuator (4), spindle connecting plate (5), grinding spindle (6), and grinding wheel (7); The top of the fixed connecting plate (3) is fixedly connected to the end of the robot. The dust collection hood (1) is set on the front of the fixed connecting plate (3). The force control actuator (4) and the spindle connecting plate (5) are connected to the back of the fixed connecting plate (3). The grinding spindle (6) is connected to the bottom of the spindle connecting plate (5). The output end of the grinding spindle (6) is connected to a grinding wheel (7). The grinding wheel (7) is located inside the dust collection hood (1) to grind the surface of the parts. It also includes a housing moving device (2) and a wing plate (8); The cover moving device (2) includes a guide rail (21) and a ball screw (22). The guide rail (21) is set on the front of the fixed connecting plate (3), the ball screw (22) is fixed on the side of the fixed connecting plate (3), the wing plate (8) is connected to the back of the dust collection cover (1), the back of the wing plate (8) is connected to the guide rail (21) by a slider, and the side of the wing plate (8) is connected to the ball screw (22). The dust collection hood (1) includes a hood housing (11), a dust suction port (13), and a connecting pipe (14). The housing (11) adopts a circular design. The top of the housing (11) is provided with a through hole, which is connected to a connecting pipe (14). The connecting pipe (14) is connected to the dust removal equipment host. The bottom of the housing (11) is provided with a dust suction port (13). The dust collection hood (1) also includes a sealing strip (12), which is arranged around the dust suction port (13), and the sealing strip (12) and the dust collection hood (1) form a closed space; The dust collection hood (1) also has a U-shaped opening (17) at the lower back end, which is used to avoid the grinding spindle (6).

2. The dust collection device for automated grinding of large-size workpieces according to claim 1, characterized in that, The sealing strip (12) is made of a high-temperature resistant flexible material.

3. The dust collection device for automated grinding of large-size workpieces according to claim 1, characterized in that, The shell (11) adopts a sandwich structure, and sound insulation material is placed inside the sandwich structure.

4. The dust collection device for automated grinding of large-size workpieces according to claim 1, characterized in that, An inner shell (15) is also arranged parallel inside the cover shell (11). The inner shell (15) has the same shape as the cover shell (11), and the gap between the inner shell (15) and the cover shell (11) forms a channel.

5. The dust collection device for automated grinding of large-size workpieces according to claim 1, characterized in that, The fixed connecting plate (3) is provided with a camera connecting plate (31), which is used to place a vision camera.

6. A method for collecting dust during automated grinding of large workpieces, characterized in that, The dust collection device for automated grinding of large-size workpieces according to any one of claims 1-5 is used, and the collection method includes the following steps: In response to the received grinding instruction, the robot moves to the appropriate position and begins grinding: the robot moves along the direction of the ungrinded weld seam; The main unit of the dust removal equipment is controlled to suck up the dust in the dust collection hood (1) through the connecting pipe (14); In response to the tool change command, the main unit of the dust removal equipment is controlled to stop operating, and the cover moving device (2) is controlled to move the dust collection cover (1) to the top of the fixed connecting plate (3) to perform automatic tool change; In response to the command that the tool has been automatically replaced, the control cover moving device (2) drives the dust collection cover (1) to reset.

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