Automatic polishing device, automatic welding polishing system and welding polishing control method

Abstract

The application belongs to the technical field of automatic welding and polishing, and discloses an automatic polishing device, an automatic welding and polishing system and a welding and polishing control method. The polishing driving assembly of the automatic polishing device can tension the polishing abrasive belt in the first direction and drive the polishing abrasive belt to polish the workpiece. The curvature adjusting driving assembly is arranged on the first mounting seat, and the two sets of curvature adjusting members are distributed on the two sides of the polishing abrasive belt in the second direction. The curvature adjusting driving assembly can drive the two sets of curvature adjusting members to approach or move away from the workpiece in the first direction, so that the curvature of the profiling line formed among the part of the polishing abrasive belt in contact with the workpiece and the two sets of curvature adjusting members during polishing of the workpiece is the same as the expected curvature of the position of the weld on the workpiece, and the first direction is perpendicular to the second direction. In the process of polishing the workpiece, the curvature of the workpiece can be corrected to the expected curvature synchronously, the polishing efficiency, polishing quality and universality of the automatic polishing device are improved, and the polishing abrasive belt is convenient to replace.

Description

Technical Field

[0001] This invention relates to the field of automatic welding and grinding technology, and in particular to an automatic grinding device, an automatic welding and grinding system, and a welding and grinding control method. Background Technology

[0002] The function of automatic grinding devices is to smooth the surface of objects that are not smooth, and to flatten the surface of objects that are uneven. They are mainly used in processing techniques such as deburring, surface rust treatment, polishing, and grinding.

[0003] In the production of the roller type, the sheet metal is first rolled into a roughly cylindrical shape using a plate rolling machine, leaving the two ends of the sheet metal along the circumference of the roll flat to facilitate welding. After welding, the weld excess is ground off, and then the welded roller is placed back into the plate rolling machine for rounding. After rounding, the area around the weld on the outer circumference of the roller is further ground to ensure that the outer circumference of the roller achieves the desired roundness.

[0004] For large and heavy rollers, existing automatic grinding equipment typically uses a motor to drive one of its transmission wheels to rotate around its central axis, which in turn drives an abrasive belt wrapped around the outer circumference of the two transmission wheels to grind the longitudinal weld seams of the roller. However, this type of automatic grinding device cannot simultaneously and accurately correct local areas where the roundness of the roller's weld seams does not meet the requirements during the grinding process, resulting in poor grinding effect and low efficiency. Summary of the Invention

[0005] The purpose of this invention is to provide an automatic grinding device, an automatic welding and grinding system, and a welding and grinding control method to solve the problem that existing automatic grinding devices cannot synchronously and accurately correct local areas where the roundness of the weld seam of the roller does not meet the requirements during the grinding process, resulting in poor grinding effect and low efficiency.

[0006] To achieve this objective, the present invention adopts the following technical solution:

[0007] An automatic polishing device includes a polishing unit, wherein the polishing unit comprises:

[0008] A grinding body, the grinding body including a grinding belt and a grinding drive assembly disposed on a first mounting base, the grinding drive assembly being able to tension the grinding belt along a first direction and drive the grinding belt to grind the workpiece.

[0009] A grinding adjustment structure includes two sets of curvature adjustment components and a curvature adjustment drive assembly disposed on the first mounting base. The two sets of curvature adjustment components are distributed at intervals on both sides of the grinding belt along a second direction. The curvature adjustment drive assembly can drive the two sets of curvature adjustment components to move closer to or further away from the workpiece along the first direction, so that when grinding the workpiece, the curvature of the contour line formed by the part of the grinding belt in contact with the workpiece and the two sets of curvature adjustment components can be the same as the expected curvature. The first direction is perpendicular to the second direction.

[0010] As a preferred embodiment of the above-mentioned automatic grinding device, the grinding drive assembly includes a pulley assembly, a grinding drive component, and a tension drive component disposed on the first mounting base. The output shaft of the grinding drive component is connected to the input end of the pulley assembly and can drive the pulley assembly to run. The grinding sanding belt is sleeved on the pulley assembly.

[0011] The input ends of the grinding drive and the pulley assembly are both connected to the output end of the tension drive, and the tension drive can drive the input ends of the grinding drive and the pulley assembly to move synchronously along the first direction.

[0012] As a preferred embodiment of the above-mentioned automatic polishing device, the pulley assembly includes a drive pulley and a driven pulley. The driven pulley is rotatably connected to the first mounting base and distributed below the drive pulley along the first direction. The polishing belt is sleeved on the drive pulley and the driven pulley.

[0013] The output shaft of the grinding drive is connected to the drive pulley and can drive the drive pulley to rotate around its own central axis. The output end of the tension drive is connected to the housing of the grinding drive and the axle of the drive pulley. The tension drive can drive the grinding drive and the drive pulley to move synchronously closer to or further away from the driven pulley along the first direction.

[0014] As a preferred embodiment of the above-mentioned automatic polishing device, the curvature adjustment component includes a limiting connector and a universal ball-shaped adjustment component. The limiting connector is connected to the output end of the curvature adjustment drive component, and the limiting connector forms a limiting space. The universal ball-shaped adjustment component is limited to the limiting space and partially extends out of the limiting space.

[0015] As a preferred embodiment of the above-mentioned automatic grinding device, the grinding unit further includes a force compensator, the first mounting base being connected to the output end of the force compensator, and the force compensator being able to adjust the grinding force applied to the workpiece by the grinding belt.

[0016] As a preferred embodiment of the above-mentioned automatic polishing device, the automatic polishing device further includes a replacement unit, which includes a support frame, a first pushing component, and a second pushing component. The support frame is used to support a pre-stored sanding belt. The first pushing component can synchronously push the support frame and the sanding belt supported on the support frame along a third direction. The second pushing component can push the sanding belt on the support frame along the third direction. The first direction is perpendicular to the second direction and both are perpendicular to the third direction.

[0017] As a preferred embodiment of the above-mentioned automatic polishing device, the support frame includes two support components, which are spaced apart along the first direction; a clearance space is formed between the two support components along the first direction, and the second pushing component is distributed in the clearance space and can push the polishing belt on the support frame along the third direction.

[0018] The support assembly includes a support plate and a plurality of support rods. The outer peripheral wall of the support plate is arc-shaped, and the arc-shaped openings of the two support plates are opposite to each other. The plurality of support rods of the support assembly are distributed at intervals along the circumferential direction of the arc and are all fixedly disposed on the outer peripheral wall of the support plate.

[0019] The first pushing component can push multiple support rods of one of the supporting components along the third direction, all of which are inserted into the outer periphery of the drive pulley, and can simultaneously push multiple support rods of another supporting component, all of which are inserted into the outer periphery of the driven pulley.

[0020] As a preferred embodiment of the above-mentioned automatic polishing device, the first pushing component includes two first pushing drive members disposed on the second mounting base, and the two first pushing drive members are disposed in a one-to-one correspondence with the two support components; the first pushing drive members can drive the support plate to move in a third direction.

[0021] As a preferred embodiment of the above-mentioned automatic polishing device, the replacement unit further includes a spacing adjustment drive, which can drive one of its first push drive components to move along the first direction.

[0022] As a preferred embodiment of the above-mentioned automatic polishing device, the second pushing component includes a second pushing drive member disposed on the second mounting base, and a pushing block connected to the output end of the second pushing drive member, wherein the second pushing drive member can drive the pushing block to move along the third direction;

[0023] When the second push drive member drives the push block to move closer to the drive pulley, the side of the push block near the drive pulley can abut against the sanding belt; when the second push drive member drives the push block to move away from the drive pulley, the push block does not contact the sanding belt.

[0024] As a preferred embodiment of the above-mentioned automatic polishing device, the push block includes a connecting part connected to the second push drive member, and two push parts connected to both ends of the connecting part along the second direction. The push parts are provided with an abutting surface and a clearance surface distributed at an acute angle. The abutting surface is used to abut the polishing belt along the third direction, and the clearance surface is used to avoid the polishing belt.

[0025] An automatic welding and grinding system includes at least one loading station, at least one unloading station, at least one welding station, at least one grinding station, a buffer station, a conveyor line, and a mother-daughter conveyor trolley. The mother-daughter conveyor trolley is arranged on the conveyor line and can transport workpieces from one of the loading station, the unloading station, the welding station, the grinding station, and the buffer station to another. The automatic welding and grinding system also includes a grinding robotic arm and the aforementioned automatic grinding device. A first mounting base is connected to the output end of the grinding robotic arm, and the grinding robotic arm can drive the grinding unit to move and / or rotate.

[0026] A welding and grinding control method is provided for use in the aforementioned automatic welding and grinding system, wherein the workpiece is a roller, and the welding and grinding control method includes:

[0027] The weld seam of a welded workpiece;

[0028] After the welding is completed, the workpiece is transported from the welding station to the grinding station; the grinding drive assembly is controlled to drive the grinding belt; according to the location of the weld and the size of the weld reinforcement, the grinding robot arm is controlled to drive the grinding belt to apply grinding force to the outer peripheral wall of the workpiece to grind the weld reinforcement.

[0029] After the weld reinforcement is ground down, the workpiece is transported from the grinding station to the unloading station.

[0030] The workpiece on the unloading station is lifted to the plate rolling machine for rounding.

[0031] After the rounding is completed, the workpiece on the plate rolling machine is lifted to the unloading station;

[0032] The workpiece is transported from the unloading station to the grinding station;

[0033] The two sets of curvature adjustment components are moved along the first direction according to the expected curvature; the grinding drive assembly is controlled to drive the grinding belt; the grinding robot arm is controlled to drive the grinding belt and the two sets of curvature adjustment components to move synchronously according to the location of the weld, so that the curvature adjustment components contact the outer peripheral wall of the workpiece and the grinding belt applies grinding force to the outer peripheral wall of the workpiece, and the curvature of the outer peripheral wall at the location of the weld on the workpiece is the expected curvature.

[0034] The expected curvature is the curvature of the roller.

[0035] As a preferred embodiment of the above-mentioned welding and grinding control method, the steps for welding the weld seam of the workpiece include:

[0036] Obtain weld parameters, which include at least weld shape, weld depth, and weld width;

[0037] Welding parameters are determined based on the weld parameters, and the welding parameters include at least welding current, welding voltage, wire feed speed and welding machine moving speed;

[0038] Weld the workpiece according to the welding parameters.

[0039] The beneficial effects of this invention are:

[0040] This invention provides an automatic grinding device, an automatic welding grinding system, and a welding grinding control method. The automatic grinding device includes a curvature adjustment drive assembly capable of independently adjusting the distribution positions of two sets of curvature adjustment components along a first direction. When the workpiece to be ground is a flat piece, the grinding drive assembly directly drives the grinding belt to grind the flat piece. Alternatively, before or during grinding, the curvature adjustment drive assembly can move the two sets of curvature adjustment components along the first direction, ensuring that the two sets of curvature adjustment components and the portion of the grinding belt in contact with the workpiece are all on the same horizontal plane, thus improving the stability and grinding quality of the flat piece. When the workpiece being polished is a roller or a curved panel with a certain curvature, before polishing the workpiece, the curvature adjustment drive assembly drives two sets of curvature adjustment components to move along the first direction until the curvature of the contour line formed between the part of the polishing belt in contact with the workpiece and the two sets of curvature adjustment components is the same as the expected curvature. It can be understood that the expected curvature is the curvature of the roller or the curvature of the curved panel. During the polishing process, the two sets of curvature adjustment components limit the polishing depth of the polishing belt, so that the workpiece can be polished and the curvature of the workpiece can be corrected accurately and efficiently.

[0041] Secondly, the grinding drive assembly can tension the grinding belt in the first direction, ensuring the grinding quality and efficiency of the grinding belt throughout the grinding process, and facilitating the replacement of the grinding belt. Understandably, when it is necessary to replace the grinding belt, the grinding belt can be loosened by the grinding drive assembly, and a new grinding belt can be removed and replaced.

[0042] Therefore, this automatic grinding device can be used to grind flat parts, rollers of different diameters, and curved panels with different curvatures, effectively improving its versatility. Secondly, during the grinding process, the automatic grinding device can ensure the grinding quality of the grinding belt and simultaneously correct the curvature of the workpiece to the expected curvature, effectively improving the grinding efficiency and quality of the automatic grinding device. Furthermore, the automatic grinding device allows for easy replacement of the grinding belt. Attached Figure Description

[0043] Figure 1 This is a schematic diagram of the structure of the dynamic grinding device provided in a specific embodiment of the present invention;

[0044] Figure 2 This is a partial structural diagram of the grinding unit of the moving grinding device provided in a specific embodiment of the present invention. Figure 1 ;

[0045] Figure 3 This is a partial structural diagram of the grinding unit of the moving grinding device provided in a specific embodiment of the present invention. Figure 2 ;

[0046] Figure 4 This is a partial structural diagram of the replacement unit of the dynamic grinding device provided in a specific embodiment of the present invention. Figure 1 ;

[0047] Figure 5 This is a partial structural diagram of the replacement unit of the dynamic grinding device provided in a specific embodiment of the present invention. Figure 2 ;

[0048] Figure 6 This is a partial structural diagram of the replacement unit of the dynamic grinding device provided in a specific embodiment of the present invention. Figure 3 ;

[0049] Figure 7 for Figure 5 A partial view at point A;

[0050] Figure 8 This is a schematic diagram of the structure of the replacement unit of the dynamic grinding device provided in a specific embodiment of the present invention;

[0051] Figure 9 This is a schematic diagram of the structure of the automatic welding and grinding system provided in a specific embodiment of the present invention;

[0052] Figure 10 This is a partial structural diagram of the automatic welding and grinding system provided in a specific embodiment of the present invention. Figure 1 ;

[0053] Figure 11 This is a partial structural diagram of the automatic welding and grinding system provided in a specific embodiment of the present invention. Figure 2 ;

[0054] Figure 12 This is a partial structural diagram of the automatic welding and grinding system provided in a specific embodiment of the present invention. Figure 1 three.

[0055] In the picture:

[0056] 100. Workpiece;

[0057] 1. Grinding unit; 11. Grinding belt; 12. Curvature adjustment component; 121. Limiting connector; 122. Universal ball joint adjustment component; 13. Curvature adjustment drive assembly; 131. Curvature adjustment drive component; 132. Guide rod; 133. Guide plate; 14. Grinding drive component; 15. Tensioning drive component; 161. Drive pulley; 162. Driven pulley; 17. First mounting base; 18. Third mounting base; 19. Bearing plate; 20. Force compensator;

[0058] 2. Support components; 21. Support plate; 22. Support rod;

[0059] 3. First push driver;

[0060] 4. Second mounting base; 41. Elongated hole;

[0061] 5. Second push component; 51. Second push driver; 52. Push block; 521. Connecting part; 522. Pushing part; 5221. Abutting surface; 5222. Avoiding surface;

[0062] 6. First sub-pitch adjustment drive;

[0063] 7. Second sub-pitch adjustment drive;

[0064] 8. Protective cover;

[0065] 91. Dust cover; 911. Dustproof body; 912. Opening and closing door; 92. Opening and closing drive component; 93. Screen curtain;

[0066] 111. Loading station; 112. Unloading station; 113. Welding station; 114. Grinding station; 115. Buffer station; 116. Conveyor line; 117. Mother-daughter conveyor trolley;

[0067] 120. Grinding robotic arm; 1201. First translation mechanism;

[0068] 130. Welding robotic arm; 1301. Welding machine. Detailed Implementation

[0069] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0070] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0071] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0072] In the description of this embodiment, the terms "upper," "lower," "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention. In addition, the terms "first" and "second" are used only for distinction in description and have no special meaning.

[0073] In the production of roller-type rollers, the sheet metal is first rolled into a roughly cylindrical shape using a plate rolling machine, leaving the two ends of the sheet metal along the circumference of the roll flat to facilitate welding. After welding, the weld excess is ground off, and then the welded roller is placed back into the plate rolling machine for rounding. After rounding, the area around the weld on the outer circumference of the roller is further ground to ensure that the outer circumference of the roller achieves the desired roundness.

[0074] For large and heavy rollers, existing automatic grinding equipment typically uses a motor to drive one of its transmission wheels to rotate around its central axis, which in turn drives an abrasive belt wrapped around the outer circumference of the two transmission wheels to grind the longitudinal weld seams of the roller. However, this type of automatic grinding device cannot simultaneously and accurately correct local areas where the roundness of the roller's weld seams does not meet the requirements during the grinding process, resulting in poor grinding effect and low efficiency.

[0075] Therefore, the present invention provides an automatic polishing device, such as... Figure 1-3 As shown, the automatic grinding device includes a grinding unit 1, which includes a grinding body and a grinding adjustment structure. The grinding body includes a grinding belt 11 and a grinding drive assembly disposed on a first mounting base 17. The grinding drive assembly can tension the grinding belt 11 along a first direction and drive the grinding belt 11 to grind the workpiece 100. The grinding adjustment structure includes two sets of curvature adjustment components 12 and a curvature adjustment drive assembly 13 disposed on the first mounting base 17. The two sets of curvature adjustment components 12 are spaced apart on both sides of the grinding belt 11 along a second direction. The curvature adjustment drive assembly 13 can drive the two sets of curvature adjustment components 12 to move closer to or further away from the workpiece 100 along the first direction, so that when grinding the workpiece 100, the curvature of the contour line formed by the part of the grinding belt 11 that contacts the workpiece 100 and the two sets of curvature adjustment components 12 can be the same as the expected curvature of the weld location on the workpiece 100. The first direction is perpendicular to the second direction.

[0076] This automatic grinding device is equipped with a curvature adjustment drive assembly 13, which can independently adjust the distribution position of two sets of curvature adjustment elements 12 along the first direction. When the workpiece 100 to be ground is a flat piece, the grinding belt 11 is directly driven by the grinding drive assembly to grind the flat piece. Alternatively, before or during the grinding process, the curvature adjustment drive assembly 13 can move the two sets of curvature adjustment elements 12 along the first direction, so that the two sets of curvature adjustment elements 12 and the parts of the workpiece 100 in contact with the workpiece 100 are all on the same horizontal plane, which can improve the stability and grinding quality of the flat piece. When the workpiece 100 being polished is a roller or a curved panel with a certain curvature, before polishing the workpiece 100, the curvature adjustment drive assembly 13 drives the two sets of curvature adjustment components 12 to move along the first direction until the curvature of the contour line formed between the part of the polishing belt 11 that contacts the workpiece 100 and the two sets of curvature adjustment components 12 is the same as the expected curvature. It can be understood that the expected curvature is the curvature of the roller or the curvature of the curved panel. During the polishing process, the two sets of curvature adjustment components 12 limit the polishing depth of the polishing belt 11, so that the workpiece 100 can be polished and the curvature of the workpiece 100 can be corrected accurately and efficiently.

[0077] Secondly, the grinding drive assembly can tension the grinding belt 11 along the first direction, so that the grinding quality and grinding efficiency of the grinding belt 11 can be guaranteed throughout the grinding process, and the grinding belt 11 can be easily replaced. It can be understood that when the grinding belt 11 needs to be replaced, the grinding belt 11 can be loosened by the grinding drive assembly, and the grinding belt 11 can be disassembled and replaced with a new grinding belt 11.

[0078] Therefore, this automatic grinding device can be used to grind flat parts, grinding rollers with the same diameter, and grinding curved panels with different curvatures, effectively improving the versatility of the automatic grinding device; secondly, the automatic grinding device can ensure the grinding quality of the grinding belt 11 during the grinding of workpiece 100, and can simultaneously correct the curvature of workpiece 100 to the expected curvature, effectively improving the grinding efficiency and grinding quality of the automatic grinding device; thirdly, the automatic grinding device makes it easy to replace the grinding belt 11.

[0079] Among them, such as Figure 1-3As shown, the grinding drive assembly includes a pulley assembly, a grinding drive component 14, and a tensioning drive component 15 disposed on the first mounting base 17. The output shaft of the grinding drive component 14 is connected to the input end of the pulley assembly and can drive the pulley assembly to run. The grinding belt 11 is sleeved on the pulley assembly. The input ends of both the grinding drive component 14 and the pulley assembly are connected to the output end of the tensioning drive component 15. The tensioning drive component 15 can drive the input ends of the grinding drive component 14 and the pulley assembly to move synchronously along a first direction. This configuration allows the grinding drive assembly to both tension or relax the grinding belt 11 along the first direction and drive the grinding belt 11 to grind the workpiece 100.

[0080] Specifically, such as Figure 1-3 As shown, the pulley assembly includes a drive pulley 161 and a driven pulley 162. The driven pulley 162 is rotatably connected to the first mounting base 17 and distributed below the drive pulley 161 along the first direction. The abrasive belt 11 is sleeved on the drive pulley 161 and the driven pulley 162. The output shaft of the grinding drive 14 is connected to the drive pulley 161 and can drive the drive pulley 161 to rotate around its own central axis. The output end of the tension drive 15 is connected to the housing of the grinding drive 14 and the axle of the drive pulley 161. The tension drive 15 can drive the grinding drive 14 and the drive pulley 161 to move synchronously closer to or further away from the driven pulley 162 along the first direction. Understandably, when the abrasive belt 11 needs to be tensioned, the tensioning drive 15 drives the grinding drive 14 and the drive pulley 161 to move away from the driven pulley 162 in the first direction simultaneously, so as to tension the abrasive belt 11 and ensure the grinding quality of the abrasive belt 11. When the abrasive belt 11 needs to be replaced, the tensioning drive 15 drives the grinding drive 14 and the drive pulley 161 to move closer to the driven pulley 162 in the first direction simultaneously, so that the abrasive belt 11 is relaxed, and the abrasive belt 11 can be disassembled and replaced with a new abrasive belt 11. Among them, the grinding drive 14 drives the drive pulley 161 to rotate around its own central axis, thereby driving the driven pulley 162 to rotate around its own central axis, so as to drive the abrasive belt 11 to grind the workpiece 100. The connection method between the drive pulley 161 and the driven pulley 162 and the abrasive belt 11 is the prior art and will not be described in detail here.

[0081] Specifically, such as Figure 1-3As shown, the output end of the tensioning drive 15 is connected to the housing of the grinding drive 14 and the axle of the drive pulley 161 via the support plate 19. Further, the output end of the tensioning drive 15 is connected to the support plate 19 by welding or threaded connection. The support plate 19 is connected to the housing of the grinding drive 14 by welding or threaded connection. The support plate 19 is rotatably connected to the axle of the drive pulley 161 via a bearing, or the axle of the drive pulley 161 is fixedly sleeved on the support plate 19. When the axle of the drive pulley 161 is fixedly sleeved on the support plate 19, the wheel body of the drive pulley 161 is rotatably connected to the axle of the drive pulley 161.

[0082] Specifically, in this embodiment, the tensioning drive 15 is a drive cylinder. In other embodiments, the tensioning drive 15 may also be a linear motor or an electric actuator, etc. It is sufficient that it can drive the grinding drive 14 and the drive pulley 161 to synchronously move closer to or further away from the driven pulley 162 along the first direction.

[0083] Specifically, in this embodiment, the grinding drive 14 is a rotary motor. The output shaft of the rotary motor drives the drive pulley 161 to rotate around its own central axis, thereby enabling it to drive the grinding belt 11 to grind the workpiece 100.

[0084] Among them, such as Figure 2 and Figure 3 As shown, the curvature adjustment component 12 includes a limiting connector 121 and a universal ball-shaped adjustment component 122. The limiting connector 121 is connected to the output end of the curvature adjustment drive assembly 13, forming a limiting space. The universal ball-shaped adjustment component 122 is confined within the limiting space and partially extends out of it. It can be understood that the universal ball-shaped adjustment component 122 is spherical or ellipsoidal, and the outer peripheral wall of the portion of the universal ball-shaped adjustment component 122 extending out of the limiting connector 121 is a spherical curved surface. During the grinding of the workpiece 100, the curvature adjustment component 12, while limiting the grinding depth of the grinding belt 11, can reduce the contact area with the outer peripheral wall of the roller, reduce the resistance of the moving grinding belt 11, improve the stability of the moving grinding belt 11, and effectively extend the service life of the universal ball-shaped adjustment component 122.

[0085] Preferably, the universal ball joint adjustment component 122 is spherical, and the limiting space is correspondingly spherical; moreover, the universal ball joint adjustment component 122 can rotate relative to the limiting connector 121. This configuration allows the universal ball joint adjustment component 122 to roll on the surface of the workpiece 100, thereby further reducing the resistance of the moving grinding belt 11, improving the stability of the moving grinding belt 11, and further extending the service life of the universal ball joint adjustment component 122.

[0086] Among them, such as Figure 2 and Figure 3As shown, the curvature adjustment drive assembly 13 includes a curvature adjustment drive 131 disposed on the first mounting base 17, and a guide assembly connected to the output end of the curvature adjustment drive 131. Both sets of curvature adjustment elements 12 are disposed on the output end of the guide assembly. The curvature adjustment drive 131 can drive the two sets of curvature adjustment elements 12 to move synchronously along the first direction, and the guide assembly can guide the two sets of curvature adjustment elements 12 to move synchronously along the first direction.

[0087] Specifically, in this embodiment, the curvature adjustment drive 131 is a linear motor. In other embodiments, the curvature adjustment drive 131 may also be a drive cylinder or an electric actuator, etc. It is sufficient that it can drive the two sets of curvature adjustment components 12 to move synchronously along the first direction.

[0088] Specifically, such as Figure 1-3 As shown, the guide assembly includes a guide rod 132 and a guide plate 133 slidably connected along a first direction. There are two guide rods 132, each corresponding to one of two sets of curvature adjustment components 12. The guide plate 133 is also connected to the output end of the curvature adjustment drive component 131, and the guide rods 132 are also connected to the first mounting base 17. The limiting connectors 121 of both sets of curvature adjustment components 12 are connected to the guide plate 133. The two sets of curvature adjustment components 12 are spaced apart on both sides of the driven pulley 162 along a second direction. This arrangement allows the curvature adjustment drive component 131 to drive the two sets of curvature adjustment components 12 to move synchronously along the first direction, and the guide assembly to guide the two sets of curvature adjustment components 12 to move synchronously along the first direction. The connection between the guide plate 133 and the output end of the curvature adjustment drive component 131 can be welding or threaded. The connection between the guide rod 132 and the first mounting base 17 can also be welding or threaded.

[0089] Preferably, such as Figure 1-3 As shown, each set of curvature adjustment components 12 includes two curvature adjustment components 12, which are spaced apart along a third direction. The first direction is perpendicular to the second direction and both are perpendicular to the third direction. This improves the working stability of the grinding adjustment structure. It is understood that the number of curvature adjustment components 12 in each set can also be one, three, or four, etc.

[0090] Among them, such as Figure 1-3As shown, the grinding unit 1 also includes a force compensator 20. A first mounting base 17 is connected to the force compensator 20, which can adjust the grinding force applied to the workpiece 100 by the grinding belt 11. Specifically, in this embodiment, the force compensator 20 is connected to the output end of the grinding robot arm 120 via a third mounting base 18. The first mounting base 17 is connected to the output end of the force compensator 20. The grinding unit 1 is moved and / or rotated by the grinding robot arm 120. Therefore, by setting the force compensator 20, force compensation can be performed, especially during the grinding of rollers or curved panels, to keep the grinding force of the grinding belt 11 approximately constant, thereby further improving the grinding quality. The specific structure of the force compensator 20 is prior art and will not be described in detail here.

[0091] Among them, such as Figure 1 and Figure 4-6 As shown, the automatic polishing device also includes a replacement unit, which includes a support frame, a first pushing component, and a second pushing component 5. The support frame supports the pre-stored polishing belt 11. The first pushing component can synchronously push the support frame and the polishing belt 11 supported on the support frame along a third direction. The second pushing component 5 can push the polishing belt 11 on the support frame along a third direction. The first direction is perpendicular to the second direction and both are perpendicular to the third direction. Specifically, when the polishing belt 11 needs to be replaced, the tensioning drive component 15 first drives the polishing drive component 14 and the drive pulley 161 to synchronously approach the driven pulley 162 along the first direction, causing the polishing belt 11 to relax. The polishing robot arm 120 drives the polishing unit 1 to move, so that the axis of the drive pulley 161 is perpendicular to the horizontal plane or at an angle. The polishing belt 11 can slide off the drive pulley 161 and the driven pulley 162 under its own gravity. At this time, the polishing robot arm 120 drives the polishing unit 1 to move. The movement aligns the drive pulley 161 with the horizontal plane, and then the grinding robot arm 120 moves the grinding unit 1, aligning the grinding belt 11 on the pulley assembly with the pre-stored grinding belt 11 on the support frame along a third direction. The first and second pushing components 5 then work together to place the pre-stored grinding belt 11 onto the outer circumference of the drive pulley 161 and driven pulley 162, thus automatically changing the grinding belt 11 and improving the performance of the automatic grinding device. After changing the grinding belt, the tensioning drive 15 drives the grinding drive 14 and drive pulley 161 to move synchronously away from the driven pulley 162 along a first direction, tensioning the grinding belt 11 to prevent it from falling off and to facilitate subsequent grinding of the workpiece 100.

[0092] Specifically, such as Figure 4-6As shown, the support frame includes two support components 2, which are spaced apart along a first direction. A clearance space is formed between the two support components 2 along the first direction. A second pushing component 5 is distributed within the clearance space and can push the abrasive belt 11 on the support frame along a third direction. Each support component 2 includes a support plate 21 and multiple support rods 22. The outer peripheral wall of the support plate 21 is arc-shaped, and the arc-shaped openings of the two support plates 21 face each other. The multiple support rods 22 of the support component 2 are spaced apart along the arc-shaped circumference and are all fixedly installed on the outer peripheral wall of the support plate 21. The first pushing component can push multiple support rods 22 of one support component 2, which are inserted into the outer periphery of the drive pulley 161, along a third direction, and can simultaneously push multiple support rods 22 of the other support component 2, which are inserted into the outer periphery of the driven pulley 162. It can be understood that the shape formed by the multiple support rods 22 of the two support components 2 is consistent with the shape of the two ends of the abrasive belt 11 in the tensioned state along the first direction. Specifically, when the ends of multiple support rods 22 of one support assembly 2 near the drive pulley 161 are all inserted into the outer periphery of the drive pulley 161, the multiple support rods 22 of the one support assembly 2 are spaced apart on the outer periphery of the drive pulley 161. When the ends of multiple support rods 22 of another support assembly 2 near the driven pulley 162 are all inserted into the outer periphery of the driven pulley 162, the multiple support rods 22 of the other support assembly 2 are spaced apart on the outer periphery of the driven pulley 162.

[0093] After the abrasive belt 11 is removed from the drive pulley 161 and driven pulley 162, the first pushing component pushes two sets of support components 2 along the third direction, so that the multiple support rods 22 of one support component 2 are evenly distributed on the outer periphery of the drive pulley 161 near one end, and the multiple support rods 22 of the other support component 2 are evenly distributed on the outer periphery of the driven pulley 162 near one end. This arrangement allows the second pushing component 5 to push the pre-stored abrasive belt 11 on the support frame and fit it on the outer periphery of the drive pulley 161 and driven pulley 162 along the third direction, so as to complete the automatic replacement of the abrasive belt 11 and further improve the working performance of the automatic grinding device.

[0094] Understandably, multiple pre-stored abrasive belts 11 can be fitted onto the support rod 22 along its extension direction. This avoids the need for frequent pre-storing of abrasive belts 11 onto the support rod 22, thus improving work efficiency. Preferably, the spacing between the multiple pre-stored abrasive belts 11 on the support frame is equal.

[0095] More specifically, the first push component includes two first push drive members 3 disposed on the second mounting base 4, and the two first push drive members 3 are disposed in a one-to-one correspondence with the two support components 2; the first push drive members 3 can drive the support plate 21 to move in a third direction.

[0096] In this embodiment, the first pushing drive component 3 is a driving cylinder. In other embodiments, the first pushing drive component 3 may also be a linear motor or an electric actuator, etc. It is sufficient that it can drive the support plate 21 to move in a third direction.

[0097] Specifically, such as Figure 4-6 As shown, the second push assembly 5 includes a second push drive 51 disposed on the second mounting base 4, and a push block 52 connected to the output end of the second push drive 51. The second push drive 51 can drive the push block 52 to move in a third direction. When the second push drive 51 drives the push block 52 to move closer to the drive pulley 161, the side of the push block 52 close to the drive pulley 161 can abut against the sanding belt 11. When the second push drive 51 drives the push block 52 to move away from the drive pulley 161, the push block 52 does not contact the sanding belt 11.

[0098] When the two first push drive members 3 respectively drive the multiple support rods 22 of one of their support components 2 to be evenly distributed around the outer periphery of the drive pulley 161 near one end of the drive pulley 161, and the multiple support rods 22 of the other support component 2 to be evenly distributed around the outer periphery of the driven pulley 162 near one end of the driven pulley 162, the second push drive member 51 drives the push block 52 to move towards the drive pulley 161. When the side of the push block 52 near the drive pulley 161 abuts against the grinding belt 11, it drives the push block 52 and the support frame to move. The pre-stored abrasive belt 11 moves synchronously along a third direction towards the drive pulley 161 until the outermost abrasive belt 11 pre-stored on the support frame is fitted onto the outer periphery of the drive pulley 161 and the driven pulley 162. At this time, the second push drive 51 drives the push block 52 away from the drive pulley 161 along a third direction, and the first push drive 3 drives the support frame and the pre-stored abrasive belt 11 away from the drive pulley 161 along a third direction. The grinding robot arm 120 drives the grinding unit 1 away from the replacement unit. It can be understood that after the abrasive belt 11 is replaced, it is preferable to use the second push drive 51 to drive the push block 52 away from the drive pulley 161 along a third direction, the first push drive 3 to drive the support frame and the pre-stored abrasive belt 11 away from the drive pulley 161 along a third direction, and the grinding robot arm 120 to drive the grinding unit 1 away from the replacement unit to perform synchronous operations, which can further improve the efficiency of replacing the abrasive belt 11.

[0099] In this embodiment, the second push drive component 51 is a drive cylinder. In other embodiments, the second push drive component 51 may also be a linear motor or an electric actuator, etc. It is sufficient that it can drive the push block 52 to move in a third direction. The housing of the second push drive component 51 is connected to the second mounting base 4. The second mounting base 4 is fixedly disposed at a fixed position away from the grinding robot arm 120, and the grinding robot arm 120 can drive the grinding unit 1 to move to the area where the second mounting base 4 is located.

[0100] More specifically, such as Figure 4-8 As shown, the push block 52 includes a connecting part 521 connected to the second push drive member 51, and two push parts 522 connected to both ends of the connecting part 521 along the second direction. The push parts 522 are provided with abutting surfaces 5221 and avoidance surfaces 5222 distributed at acute angles. The abutting surfaces 5221 are used to abut against the sanding belt 11 along the third direction, and the avoidance surfaces 5222 are used to avoid the sanding belt 11. This ensures that during the process of the second push drive 51 driving the push block 52 to move closer to the drive pulley 161, the push block 52 can effectively fit the outermost sanding belt 11 pre-stored on the support frame onto the outer periphery of the drive pulley 161 and the driven pulley 162. During the process of the second push drive 51 driving the push block 52 away from the drive pulley 161 in a third direction, the push block 52 is prevented from accidentally touching the remaining sanding belt 11 pre-stored on the support frame, so as to ensure that the position of the sanding belt 11 pre-stored on the support frame remains unchanged. This facilitates the automatic detection of whether the sanding belt 11 pre-stored on the support frame is properly fitted onto the drive pulley 161 and the driven pulley 162 by controlling the drive parameters of the second push drive 51.

[0101] Specifically, in this embodiment, such as Figure 7 As shown, the pushing part 522 is a right triangle, the contact surface 5221 corresponds to one of the right triangle's legs, and the avoidance surface 5222 corresponds to the right triangle's hypotenuse.

[0102] Preferably, there are multiple pushing blocks 52, which are spaced apart along the length of the support rod 22 and are all connected to the output end of the second pushing drive member 51. This arrangement effectively reduces the travel of the output end of the second pushing drive member 51 along the third direction, and ensures that each pre-stored abrasive belt 11 on the support frame can be pushed along the third direction to the end of the support frame near the drive pulley 161. In this embodiment, as... Figure 4-6 As shown, the connecting part 521 of the multiple push blocks 52 is preferably an integral structure.

[0103] The replacement unit also includes a spacing adjustment drive, which can drive one of its first push drive components 3 to move along a first direction. Specifically, when the spacing adjustment drive drives its first push drive component 3 to move along the first direction, it drives the corresponding support component 2 to move synchronously along the first direction. This configuration allows the support frame to pre-store sanding belts 11 of different sizes and specifications; secondly, for sanding belts 11 of the same size and specification pre-stored on the support frame, the sanding belts 11 on the support frame can be tensioned to prevent changes in the distribution position of the pre-stored sanding belts 11, and the spacing between the two support components 2 along the first direction can also be reduced, making it easier to pre-store sanding belts 11 on the support frame.

[0104] Specifically, in this embodiment, the spacing adjustment drive is a drive cylinder. In other embodiments, the spacing adjustment drive can also be a linear motor or an electric actuator, etc. The goal is to adjust the spacing between the two first push drive components 3 along the first direction.

[0105] Optionally, there are multiple spacing adjustment drivers, which are distributed at intervals along a third direction; some of the spacing adjustment drivers are located on the second mounting base 4, and the remaining spacing adjustment drivers are located between the two first push drivers 3.

[0106] Specifically, such as Figure 4-6 As shown, the spacing adjustment drive unit disposed on the second mounting base 4 is the first sub-spacing adjustment drive unit 6; the spacing adjustment drive unit disposed between the two first push drive units 3 is the second sub-spacing adjustment drive unit 7.

[0107] Specifically, such as Figure 5 As shown, the second mounting base 4 has an elongated hole 41 extending along the first direction. The output end of the first push drive 3 passes through the elongated hole 41 along the third direction and is connected to the output end of the first sub-pitch adjustment drive 6. The housing of the first push drive 3 is connected to the corresponding support plate 21. This enables the first push drive 3 and the corresponding support assembly 2 to move synchronously along the first direction.

[0108] Specifically, one of the output end of the other first push drive 3 and the housing of the first push drive 3 is connected to the second mounting base 4, and the other is connected to the corresponding support plate 21. The second sub-pitch adjustment drive 7 is connected between the two first push drive 3s.

[0109] This configuration allows for the smooth adjustment of the spacing between the two support components 2 along the first direction using multiple spacing adjustment drives.

[0110] Specifically, such as Figure 1 and Figure 8As shown, the replacement unit also includes a protective cover 8, which has a protective cavity for accommodating the support frame, the first pushing component, the second pushing component 5, and the spacing adjustment drive, etc.

[0111] Among them, such as Figure 1 As shown, the grinding body also includes a dust cover 91 disposed on the first mounting base 17. The dust cover 91 covers the outer periphery of the grinding belt 11 and has an opening at one end along the first direction, with the grinding belt 11 extending out of the opening along the first direction. Two sets of curvature adjustment members 12 are evenly distributed outside the dust cover 91. This arrangement can protect the grinding belt 11 and the pulley assembly, and prevent grinding debris from flying everywhere. Secondly, the evenly distributed curvature adjustment members 12 outside the dust cover 91 can prevent debris from affecting the movement performance of the universal ball adjustment member 122, thereby further improving the working performance and service life of the universal ball adjustment member 122.

[0112] Specifically, such as Figure 1 As shown, the dust cover 91 includes a dust cover body 911 and an opening / closing door 912 rotatably connected to the dust cover body 911. The grinding body also includes an opening / closing drive assembly disposed on the first mounting base 17. The opening / closing drive assembly can drive the opening / closing door 912 to rotate, so that the opening / closing door 912 has an open state and a closed state. When the opening / closing door 912 is in the open state, the replacement unit can replace the grinding sand belt 11. When the opening / closing door 912 is in the closed state, the dust cover body 911 and the opening / closing door 912 form an opening.

[0113] Specifically, such as Figure 1 As shown, the opening and closing drive assembly includes an opening and closing drive member 92. The housing of the opening and closing drive member 92 is rotatably connected to the first mounting base 17, and the output end of the opening and closing drive member 92 is rotatably connected to the opening and closing door 912, so as to enable the opening and closing door 912 to be opened or closed.

[0114] Preferably, such as Figure 1 As shown, both the opening end of the door 912 and the dustproof body 911 near the opening are provided with a shielding curtain 93, which is a flexible shielding curtain. This arrangement can both shield the debris generated during grinding and allow the grinding belt 11 to contact the workpiece 100 and grind the workpiece 100.

[0115] Specifically, in this embodiment, the opening / closing drive component 92 is a drive cylinder. In other embodiments, the opening / closing drive component 92 may also be a linear motor or an electric actuator, etc. It is sufficient that it can drive the opening or closing of the door 912.

[0116] This invention also provides an automated welding and grinding system, such as Figure 9-12As shown, the system includes at least one loading station 111, at least one unloading station 112, at least one welding station 113, at least one grinding station 114, a buffer station 115, a conveyor line 116, and a mother-daughter conveyor trolley 117. The mother-daughter conveyor trolley 117 is located on the conveyor line 116 and can transport the workpiece 100 from one of the loading station 111, unloading station 112, welding station 113, grinding station 114, and buffer station 115 to another. The automatic welding and grinding system also includes a grinding robot arm 120 and the aforementioned automatic grinding device. A first mounting base 17 is connected to the output end of the grinding robot arm 120, and the grinding robot arm 120 can drive the grinding unit 1 to move and / or rotate. Specifically, the first mounting base 17 is connected to a force compensator 20, and the force compensator 20 is connected to the output end of the grinding robot arm 120 through a second mounting base 4.

[0117] By adopting the aforementioned automatic grinding device, the automatic welding and grinding system effectively improves its versatility; secondly, it ensures the grinding efficiency and quality of the grinding belt 11 during the grinding of workpiece 100; and it also facilitates the replacement of the grinding belt 11.

[0118] Specifically, such as Figure 9-12 As shown, at least one loading station 111, at least one unloading station 112, at least one welding station 113, at least one grinding station 114, and a buffer station 115 are distributed at intervals on both sides of the conveyor line 116 along the extension direction of the conveyor line 116.

[0119] like Figure 9-12 As shown, specifically, in this embodiment, the exemplary configuration includes two loading stations 111, two unloading stations 112, two welding stations 113, and two grinding stations 114. The buffer station 115 and the two welding stations 113 are spaced apart along the extension direction of the conveyor line 116 and are all located on one side of the conveyor line 116; the two loading stations 111, the two unloading stations 112, and the two grinding stations 114 are spaced apart along the extension direction of the conveyor line 116 and are all located on the other side of the conveyor line 116. Further, the two grinding stations 114 are distributed between the two loading stations 111 and the two unloading stations 112.

[0120] Specifically, in this embodiment, such as Figure 9 , Figure 10 and Figure 12As shown, there is one grinding robot arm 120 and one grinding unit 1. The grinding robot arm 120 is positioned outside the two grinding stations 114 via a first translation mechanism 1201. The first translation mechanism 1201 can drive the grinding robot arm 120 to move back and forth between the two grinding stations 114 along the extension direction of the conveyor line 116. As an alternative, there are two grinding robot arms 120 and two grinding units 1, with two grinding robot arms 120 and two grinding units 1 arranged in a one-to-one correspondence. The two grinding stations 114 are located between the two grinding robot arms 120. This improves the efficiency of grinding the workpiece 100. The specific structure of the first translation mechanism 1201 is prior art and will not be described in detail here.

[0121] Among them, such as Figure 9-11 As shown, the automatic welding and grinding system also includes a welding robotic arm 130 and a welding machine 1301 connected to the output end of the welding robotic arm 130. The welding machine 1301 is used to weld the workpiece 100.

[0122] Specifically, in this embodiment, such as Figure 9-11 As shown, there are two welding robotic arms 130 and two welding machines 1301, with each welding robotic arm 130 corresponding to one welding machine 1301. Two welding stations 113 are located between the two welding robotic arms 130. Alternatively, there is only one welding robotic arm 130 and one welding machine 131. The welding robotic arm 130 is positioned outside the two welding stations 113 via a second translation mechanism. This second translation mechanism allows the welding robotic arm 130 to move back and forth between the two welding stations 113 along the extension direction of the conveyor line 116, thereby improving the efficiency of welding the workpiece 100. The specific structure of the second translation mechanism is prior art and will not be described in detail here.

[0123] Specifically, the automatic welding and grinding system also includes a regulated power supply and a water-cooled box. The regulated power supply is used to provide welding current to the welding machine 1301 at least, and the water-cooled box is used to cool the welding machine 1301 at least.

[0124] The system includes a buffer station 115, two loading stations 111, and two unloading stations 112. This allows for the simultaneous handling of workpieces 100 that are being welded, workpieces 100 with excess grinding height, and workpieces 100 with corrected curvature. It can also buffer unwelded, welded, ungrinded, or ground workpieces 100, thereby improving the efficiency of the automatic welding and grinding system and ensuring its smooth operation.

[0125] Preferably, the output end of the welding robotic arm 130 is equipped with a first monitor, which includes at least a first laser, a first camera, and an arc tracker. The first laser can acquire at least the depth and width of the weld, and the distance between the weld and the welding head of the welding machine 1301. The first camera can acquire at least the shape of the weld, and the arc tracker can acquire at least the oscillation amplitude and welding speed of the welding head of the welding machine 1301. This facilitates control of the welding robotic arm 130 to move the welding machine 1301. It is understood that other monitoring devices with different functions can also be installed at the output end of the welding robotic arm 130 according to actual working conditions.

[0126] Preferably, the output end of the grinding robot arm 120 is provided with a second monitor, which includes at least a second laser. The second laser can at least obtain the distance between the lowermost end of the grinding belt 11 and the workpiece 100 along the first direction.

[0127] Optionally, when workpiece 100 is placed at the loading station 111, the loading station 111 can drive the roller to rotate around its own central axis. When workpiece 100 is placed at the unloading station 112, the unloading station 112 can drive the roller to rotate around its own central axis. When workpiece 100 is placed at the buffer station 115, the buffer station 115 can drive the roller to rotate around its own central axis. Specifically, when the workpiece 100 is placed at the welding station 113, the welding station 113 can drive the roller to rotate around its own central axis. This facilitates the adjustment of the weld seam distribution on the roller, which is directly above the roller, facilitating welding by the welding machine 1301. When workpiece 100 is placed at the grinding station 114, the grinding station 114 can drive the roller to rotate around its own central axis. This facilitates the adjustment of the weld seam distribution on the roller, which is directly above the roller, facilitating grinding of the weld seam area by the grinding belt 11.

[0128] The specific structures of the loading station 111, unloading station 112, welding station 113, grinding station 114, and buffer station 115 are existing technologies and will not be described in detail here.

[0129] Among them, such as Figure 9 and Figure 10 As shown, the mother-daughter transport trolley 117 includes a mother trolley mounted on the conveyor line 116 and a daughter trolley mounted on the mother trolley. The mother trolley can drive the daughter trolley and the workpiece 100 mounted on the daughter trolley to move along the extension direction of the conveyor line 116. The daughter trolley can drive the workpiece 100 to move in a fourth direction, which is perpendicular to the extension direction of the conveyor line 116 and parallel to the horizontal plane. This allows the mother-daughter transport trolley 117 to transport the workpiece 100 from one of the loading station 111, unloading station 112, welding station 113, grinding station 114, and buffer station 115 to another. The specific structure of the mother-daughter transport trolley 117 is prior art and will not be described in detail here.

[0130] This invention also provides a welding and grinding control method for implementation in the aforementioned automatic welding and grinding system. When the workpiece 100 is a roller, by employing this welding and grinding control method to weld and grind the roller, the welding quality can be guaranteed during the welding and grinding process of the workpiece 100, the grinding quality of the grinding belt 11 can be effectively guaranteed, and the curvature of the workpiece 100 can be effectively corrected to the expected curvature, thereby effectively improving the working efficiency and quality of the automatic welding and grinding system.

[0131] The welding and grinding control method includes:

[0132] S100, the workpiece 100 is transported from the loading station 111 to the welding workpiece 100.

[0133] Specifically, the workpiece 100 is transported from the loading station 111 to the welding workpiece 100 via the mother-daughter transport trolley 117.

[0134] S200, weld seam of welding workpiece 100.

[0135] Specifically, step S200 includes:

[0136] S210. Obtain weld parameters, which include at least weld shape, weld depth, and weld width.

[0137] Specifically, welding parameters are acquired using a first laser and a first camera.

[0138] S220. Determine the welding parameters based on the weld parameters. The welding parameters shall include at least the welding current, welding voltage, wire feed speed and the moving speed of the welding machine 1301.

[0139] This setup allows for precise determination of welding parameters based on different weld parameters, thereby effectively improving welding quality.

[0140] Once the weld is completed, proceed to step S300.

[0141] S300, the workpiece 100 is transported from the welding station 113 to the grinding station 114; the grinding drive assembly is controlled to drive the grinding belt 11; according to the location of the weld and the size of the weld height, the grinding robot arm 120 is controlled to drive the grinding belt 11 to apply grinding force to the outer peripheral wall of the workpiece 100 to grind the weld height.

[0142] Specifically, the workpiece 100 is transported from the welding station 113 to the grinding station 114 via the mother-daughter transport trolley 117.

[0143] Specifically, the distance between the lowest point of the grinding belt 11 along the first direction and the weld is determined by the second laser. The position of the grinding belt 11 is adjusted according to the distance value so that the lowest point of the grinding belt 11 along the first direction contacts the weld and a grinding force is applied to the weld to grind the excess height of the weld.

[0144] After the weld reinforcement is ground down, proceed to step S400.

[0145] S400, the workpiece 100 is conveyed from the grinding station 114 to the unloading station 112.

[0146] Specifically, the workpiece 100 is transported from the grinding station 114 to the unloading station 112 by the mother-daughter transport trolley 117.

[0147] S500, lift the workpiece 100 on the unloading station 112 to the plate rolling machine for rounding.

[0148] Once the alignment is complete, proceed to step S600.

[0149] S600, lift workpiece 100 from the plate rolling machine to the unloading station 112.

[0150] S700, the workpiece 100 is transported from the unloading station 112 to the grinding station 114.

[0151] Specifically, the workpiece 100 is transported from the unloading station 112 to the grinding station 114 by the mother-daughter transport trolley 117.

[0152] Specifically, the rounded workpiece 100 is first lifted to the unloading station 112, and then the workpiece 100 is transported from the unloading station 112 to the grinding station 114, instead of directly lifting the workpiece 100 to the grinding station 114. The purpose is to avoid the grinding robot arm 120 and / or the grinding unit 1 interfering with the lifting device, and to avoid the lifting device damaging the grinding robot arm 120 and / or the grinding unit 1.

[0153] S800: Adjust the two sets of curvature adjustment components 12 to move along the first direction according to the expected curvature; control the grinding drive assembly to drive the grinding belt 11; control the grinding robot arm 120 to drive the grinding belt 11 and the two sets of curvature adjustment components 12 to move synchronously according to the weld position, so that the curvature adjustment component 12 contacts the outer peripheral wall of the workpiece 100 and the grinding belt 11 applies grinding force to the outer peripheral wall of the workpiece 100, and the curvature of the outer peripheral wall at the weld position on the workpiece 100 is the expected curvature.

[0154] Understandably, the expected curvature is the curvature of the roller.

[0155] Specifically, the distance between the lowest point of the grinding belt 11 along the first direction and the weld is determined by the second laser. The position of the grinding belt 11 is adjusted according to the distance so that the lowest point of the grinding belt 11 along the first direction contacts the weld, and a grinding force is applied to the weld. This continues until the curvature of the outer peripheral wall of the weld location on the roller is ground to the expected curvature.

[0156] S900, the workpiece 100 is conveyed from the grinding station 114 to the unloading station 112.

[0157] Specifically, the workpiece 100 is transported from the grinding station 114 to the unloading station 112 by the mother-daughter transport trolley 117.

[0158] S1000, lift the workpiece 100 on the unloading station 112 to the expected position. This completes the welding, grinding, and rounding of the roller.

[0159] This effectively improves the quality and precision of the processed rollers.

[0160] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art will be able to make various obvious changes, readjustments, and substitutions without departing from the scope of protection of the present invention. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. An automatic polishing device, characterized in that, Includes a polishing unit (1), said polishing unit (1) comprising: The grinding body includes a grinding belt (11) and a grinding drive assembly disposed on a first mounting base (17). The grinding drive assembly can tension the grinding belt (11) in a first direction and can drive the grinding belt (11) to grind the workpiece (100). The grinding adjustment structure includes two sets of curvature adjustment components (12) and a curvature adjustment drive assembly (13) disposed on the first mounting base (17). The two sets of curvature adjustment components (12) are distributed at intervals along the second direction on both sides of the grinding belt (11). The curvature adjustment drive assembly (13) can drive the two sets of curvature adjustment components (12) to move closer to or further away from the workpiece (100) along the first direction, so that when grinding the workpiece (100), the curvature of the contour line formed between the part of the grinding belt (11) in contact with the workpiece (100) and the two sets of curvature adjustment components (12) can be the same as the expected curvature. The first direction is perpendicular to the second direction.

2. The automatic polishing device according to claim 1, characterized in that, The grinding drive assembly includes a pulley assembly, a grinding drive component (14), and a tensioning drive component (15) disposed on the first mounting base (17). The output shaft of the grinding drive component (14) is connected to the input end of the pulley assembly and can drive the pulley assembly to run. The grinding sand belt (11) is sleeved on the pulley assembly. The input ends of the grinding drive (14) and the pulley assembly are both connected to the output end of the tension drive (15). The tension drive (15) can drive the input ends of the grinding drive (14) and the pulley assembly to move synchronously along the first direction.

3. The automatic polishing device according to claim 2, characterized in that, The pulley assembly includes a drive pulley (161) and a driven pulley (162). The driven pulley (162) is rotatably connected to the first mounting base (17) and distributed below the drive pulley (161) along the first direction. The abrasive belt (11) is sleeved on the drive pulley (161) and the driven pulley (162). The output shaft of the grinding drive (14) is connected to the drive pulley (161) and can drive the drive pulley (161) to rotate around its own central axis. The output end of the tension drive (15) is connected to the housing of the grinding drive (14) and the axle of the drive pulley (161). The tension drive (15) can drive the grinding drive (14) and the drive pulley (161) to move synchronously towards or away from the driven pulley (162) along the first direction.

4. The automatic polishing device according to any one of claims 1-3, characterized in that, The curvature adjustment component (12) includes a limiting connector (121) and a universal ball adjustment component (122). The limiting connector (121) is connected to the output end of the curvature adjustment drive assembly (13). The limiting connector (121) forms a limiting space. The universal ball adjustment component (122) is limited to the limiting space and partially extends out of the limiting space.

5. The automatic polishing device according to any one of claims 1-3, characterized in that, The grinding unit (1) also includes a force compensator (20), and the first mounting base (17) is connected to the output end of the force compensator (20). The force compensator (20) can adjust the grinding force applied by the grinding belt (11) to the workpiece (100).

6. The automatic polishing device according to claim 3, characterized in that, The automatic polishing device also includes a replacement unit, which includes a support frame, a first pushing component, and a second pushing component (5). The support frame is used to support a pre-stored polishing belt (11). The first pushing component can simultaneously push the support frame and the polishing belt (11) supported on the support frame along a third direction. The second pushing component (5) can push the polishing belt (11) on the support frame along the third direction. The first direction is perpendicular to the second direction and both are perpendicular to the third direction.

7. The automatic polishing device according to claim 6, characterized in that, The support frame includes two support components (2), which are spaced apart along the first direction; along the first direction, a clearance space is formed between the two support components (2), and the second pushing component (5) is distributed in the clearance space and can push the sanding belt (11) on the support frame along the third direction. The support assembly (2) includes a support plate (21) and a plurality of support rods (22). The outer peripheral wall of the support plate (21) is arc-shaped, and the arc-shaped openings of the two support plates (21) are opposite to each other. The plurality of support rods (22) of the support assembly (2) are distributed at intervals along the circumferential direction of the arc and are all fixedly set on the outer peripheral wall of the support plate (21). The first pushing component can push multiple support rods (22) of one of the support components (2) along the third direction, all of which are inserted into the outer periphery of the drive pulley (161), and can simultaneously push multiple support rods (22) of another support component (2) into the outer periphery of the driven pulley (162).

8. The automatic polishing device according to claim 7, characterized in that, The first push component includes two first push drive members (3) disposed on the second mounting base (4), and the two first push drive members (3) are disposed in a one-to-one correspondence with the two support components (2); the first push drive members (3) can drive the support plate (21) to move in a third direction.

9. The automatic polishing device according to claim 8, characterized in that, The replacement unit further includes a spacing adjustment drive, which can drive one of its first push drive (3) to move along the first direction.

10. The automatic polishing device according to claim 6, characterized in that, The second push component (5) includes a second push drive (51) disposed on the second mounting base (4) and a push block (52) connected to the output end of the second push drive (51). The second push drive (51) can drive the push block (52) to move along the third direction. When the second push drive member (51) drives the push block (52) to move closer to the drive pulley (161), the side of the push block (52) close to the drive pulley (161) can abut against the sanding belt (11); when the second push drive member (51) drives the push block (52) to move away from the drive pulley (161), the push block (52) does not contact the sanding belt (11).

11. The automatic polishing device according to claim 10, characterized in that, The push block (52) includes a connecting part (521) connected to the second push drive (51), and two push parts (522) connected to both ends of the connecting part (521) along the second direction. The push parts (522) are provided with an abutting surface (5221) and a clearance surface (5222) distributed at an acute angle. The abutting surface (5221) is used to abut against the sanding belt (11) along the third direction, and the clearance surface (5222) is used to avoid the sanding belt (11).

12. An automatic welding and grinding system, comprising at least one loading station (111), at least one unloading station (112), at least one welding station (113), at least one grinding station (114), a buffer station (115), a conveyor line (116), and a mother-daughter conveyor trolley (117), wherein the mother-daughter conveyor trolley (117) is disposed on the conveyor line (116) and is capable of conveying a workpiece (100) from one of the loading station (111), the unloading station (112), the welding station (113), the grinding station (114), and the buffer station (115) to another, and the automatic welding and grinding system further comprising a grinding robotic arm (120), characterized in that, It also includes the automatic polishing device according to any one of claims 1-11, wherein the first mounting base (17) is connected to the output end of the polishing robot arm (120), and the polishing robot arm (120) can drive the polishing unit (1) to move and / or rotate.

13. A welding and grinding control method, characterized in that, For use in the automatic welding and grinding system of claim 12, wherein the workpiece (100) is a roller, the welding and grinding control method includes: The weld seam of the welded workpiece (100); After the welding is completed, the workpiece (100) is transported from the welding station (113) to the grinding station (114); the grinding drive assembly is controlled to drive the grinding belt (11); the grinding robot arm (120) is controlled to drive the grinding belt (11) to apply grinding force to the outer peripheral wall of the workpiece (100) according to the location of the weld and the size of the weld height, and the weld height is ground. After the weld reinforcement is ground, the workpiece (100) is transported from the grinding station (114) to the unloading station (112); The workpiece (100) on the unloading station (112) is lifted to the plate rolling machine for rounding; After the rounding is completed, the workpiece (100) on the plate rolling machine is lifted to the unloading station (112); The workpiece (100) is conveyed from the unloading station (112) to the grinding station (114); According to the expected curvature, the two sets of curvature adjustment components (12) are adjusted to move along the first direction; the grinding drive assembly is controlled to drive the grinding belt (11); according to the location of the weld, the grinding robot arm (120) is controlled to drive the grinding belt (11) and the two sets of curvature adjustment components (12) to move synchronously, so that the curvature adjustment component (12) contacts the outer peripheral wall of the workpiece (100) and the grinding belt (11) applies grinding force to the outer peripheral wall of the workpiece (100), and the curvature of the outer peripheral wall at the location of the weld on the workpiece (100) is the expected curvature; The expected curvature is the curvature of the roller.

14. The welding and grinding control method according to claim 13, characterized in that, The steps for welding the workpiece (100) include: Obtain weld parameters, which include at least weld shape, weld depth, and weld width; Welding parameters are determined based on the weld parameters, and the welding parameters include at least welding current, welding voltage, wire feed speed and welding machine moving speed; Weld the workpiece (100) according to the welding parameters.

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