Equipment for automatically polishing vehicle body through robot and operation method of equipment

Abstract

The invention discloses equipment for automatically polishing a vehicle body through robots and an operation method of the equipment, and relates to the technical field of polishing equipment.The equipment comprises a station sealing protection device, two walking shafts are arranged on the inner bottom wall of the station sealing protection device, and polishing robots are movably arranged on the two walking shafts; full-automatic grinding equipment is arranged at the top end of the grinding robot, and the outer wall of the full-automatic grinding equipment is fixedly sleeved with an air injection piece. The dust collector is matched with the exhaust pipe to convey filtered air into the air injection part, air flow is injected through the air injection part to blow dust attached to a vehicle body, meanwhile, the dust collector is matched with the dust collection pipe to collect the drifting dust, and therefore dust remaining on the surface of the vehicle body is reduced; when the movable rod moves into the concave part, the movable rod loses thrust and drives the scraper to move downwards, and when the movable rod is separated from the concave part, the movable rod is pushed to adjust the scraper to move upwards, so that dust attached to the surface of the dust filtering plate is scraped and swept through the scraper.

Description

Technical Field

[0001] The present invention relates to the technical field of grinding equipment, and in particular to equipment for automatically grinding a vehicle body with a robot and an operating method thereof. Background Art

[0002] Urban rail vehicles refer to railway vehicles with high passenger capacity in the city, that is, railway vehicles used for urban rail transit. Robots are needed for automatic polishing when puttingty on the outer side walls, end walls and roof side arc areas of urban rail vehicles and when puttingty on the outer side walls and roof side arc areas of EMU vehicles.

[0003] The existing patent (Announcement No.: CN114800171B) discloses an equipment and method for automatically grinding the weld seams of the side wall skin of a car body by a robot, which belongs to the field of industrial robot automatic processing application technology. The equipment includes a robot, a grinding head module and a train body workpiece. The grinding process includes: extraction of characteristic curves of the weld seams of the side wall skin of the train body, planning of grinding process trajectories, generation of trajectory program files recognizable by the robot, and calibration of the grinding tool and workpiece coordinate system. In the process of implementing this solution, it was found that the following problems exist in the prior art and have not been well solved: when the device is used, it is easy to generate a lot of dust when grinding the car body through the grinding head module. Part of the dust is collected by a dust collection device. However, after the car body is ground, its surface is still prone to dust adhesion. Summary of the invention

[0004] In order to improve the problem that the above-mentioned device easily generates a lot of dust when grinding the vehicle body through the grinding head module during use, part of the dust is collected by the dust suction equipment, but the surface of the vehicle body is still prone to dust adhesion after grinding, the present invention provides a robot automatic grinding vehicle body equipment and an operating method thereof.

[0005] The present invention provides a robot automatic grinding vehicle body equipment and an operation method thereof, which adopts the following technical solutions: A robot automatically polishes a vehicle body, comprising a closed workstation protection device, wherein the inner bottom wall of the closed workstation protection device is provided with two walking shafts, and polishing robots are movably provided on the two walking shafts, and a fully automatic polishing device is provided on the top of the polishing robot, and an outer wall fixed sleeve of the fully automatic polishing device is provided with a jet component, and a telescopic dust collecting sleeve is fixedly provided on the side wall of the jet component, and a vacuum cleaner is fixedly provided on the side wall of the base of the polishing robot, and an air inlet end of the vacuum cleaner is connected to the telescopic dust collecting sleeve by providing a dust suction pipe, and an air outlet end of the vacuum cleaner is connected to the jet component by providing an exhaust pipe.

[0006] Through the above technical scheme, the grinding robot controls the full-automatic grinding equipment to move and fit with the vehicle body, and then the vehicle body is continuously grinded by the full-automatic grinding equipment. At the same time, the dust generated by the grinding is collected by the telescopic dust collecting cover, and the dust in the telescopic dust collecting cover is extracted by the vacuum cleaner and the dust collecting pipe.

[0007] Optionally, in the above-mentioned equipment for automatic vehicle body polishing by a robot, a limit block is provided on the bottom surface of the polishing robot, the limit block is located inside the walking shaft and slidingly cooperates with the inner wall of the walking shaft, and an electric roller is provided on the bottom surface of the polishing robot.

[0008] Optionally, in the above-mentioned equipment for automatic vehicle body polishing by a robot, the fully automatic polishing equipment includes a motor and a three-head polisher, the motor is fixedly arranged on the top of the polishing robot, and the three-head polisher is fixedly arranged on the rotating shaft of the motor.

[0009] Optionally, in the above-mentioned equipment for automatic vehicle body grinding by a robot, the three-head grinder comprises a housing, three electric push rods are arranged inside the housing, and electric grinding heads are fixedly arranged at the protruding ends of the electric push rods.

[0010] Optionally, in the above-mentioned equipment for automatic vehicle body polishing by a robot, a cavity is opened inside the jet component, and a plurality of nozzles are arranged on a side of the jet component facing the telescopic dust collecting sleeve, and the nozzles are connected to the cavity.

[0011] Optionally, in the above-mentioned equipment for automatic polishing of vehicle bodies by a robot, the retractable dust collecting cover includes a round tube and a movable tube, the round tube is fixedly arranged on the side of the jet component, the movable tube is movably inserted into the inner wall of the round tube, one end of the movable tube extending out of the round tube is connected to the end of the round tube away from the jet component by setting a plurality of first springs, and the end of the movable tube extending out of the round tube is provided with a plurality of ball bearings.

[0012] Optionally, in the above-mentioned equipment for automatic vehicle body polishing by a robot, a dust filter plate is provided inside the vacuum cleaner, and an electrostatic eliminator is provided inside the vacuum cleaner.

[0013] Optionally, in the above-mentioned equipment for automatic vehicle body polishing by a robot, a movable rod is movably connected to the bottom surface of the vacuum cleaner, the upper end of the movable rod is inserted into the vacuum cleaner and fixedly provided with a scraper, the scraper is slidably matched with the outer wall of the dust filter plate, a plurality of recesses are provided on the top surface of the walking shaft, and the lower end of the movable rod is movably matched with the inner wall of the recess.

[0014] Optionally, in the above-mentioned equipment for automatic vehicle body polishing by a robot, the lower end of the movable rod is connected to the inner bottom wall of the vacuum cleaner by providing a second spring.

[0015] Another technical solution proposed by the present invention is a robot automatic polishing vehicle body equipment and an operating method thereof, comprising the following steps: S101: First, a dedicated traction device moves the vehicle body into a closed protective device at the workstation, and a mechanical stopper is installed in the closed protective device to position the vehicle body. Lines are drawn at corresponding deceleration positions and stop positions of the vehicle body to remind the driver to decelerate and stop the transportation of the vehicle body. The vehicle body is then fixed at the parking position by the mechanical stopper. S102: The position of the front and side of the vehicle body is automatically detected by the vehicle body positioning detection function in the polishing robot system, and compared with the data stored in the system to determine whether the vehicle body is positioned properly. If there is a deviation, the robot system automatically corrects the trajectory to perform the polishing operation; S103: Then, the fully automatic grinding device is controlled by the grinding robot to move and fit the vehicle body, and then the vehicle body is continuously polished by the fully automatic grinding device. At the same time, the dust generated by the grinding is collected by the telescopic dust collecting cover, and the dust in the telescopic dust collecting cover is extracted by the vacuum cleaner and the dust collecting pipe; S104: The filtered gas is delivered to the jet component through the cooperation of the vacuum cleaner and the exhaust pipe, and then the jet component sprays air to sweep the dust attached to the vehicle body, and at the same time, the vacuum cleaner and the dust collection pipe cooperate to collect the floating dust; S105: The grinding robot continuously moves along the walking axis until the vehicle body is completely polished, at which time the grinding robot stops running and opens the safety door lock of the station enclosed protective device, and then pulls the vehicle body out of the station enclosed protective device through a special traction device.

[0016] In summary, the present invention includes at least one of the following beneficial effects: The filtered gas is delivered to the jet part through the cooperation of the vacuum cleaner and the exhaust pipe, and then the jet part sprays the airflow to sweep the dust attached to the vehicle body. At the same time, the vacuum cleaner and the dust collection pipe are used to collect the floating dust, thereby reducing the dust remaining on the surface of the vehicle body. When the movable rod moves into the depression, the movable rod loses thrust and drives the scraper to move downward. When the movable rod is separated from the depression, the movable rod is thrusted to move the scraper upward, thereby scraping the dust attached to the surface of the dust filter plate through the scraper. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a three-dimensional structural schematic diagram of the present invention; Figure 2 is a partial three-dimensional expanded structural cross-sectional view of the vacuum cleaner of the present invention; Figure 3 It is a partial three-dimensional structural schematic diagram of the present invention; Figure 4It is a partial three-dimensional unfolded structural cross-sectional view of the fully automatic grinding equipment of the present invention.

[0018] In the figure: 1. workstation closed protection device; 2. walking axis; 21. depression; 3. grinding robot; 31. limit block; 4. full-automatic grinding equipment; 41. motor; 42. three-head grinder; 421. housing; 422. electric push rod; 423. electric grinding head; 5. jet part; 51. cavity; 52. nozzle; 6. telescopic dust collection sleeve; 61. round tube; 62. movable tube; 63. first spring; 64. ball; 7. vacuum cleaner; 71. dust filter plate; 72. static eliminator; 73. movable rod; 74. scraper; 75. second spring; 8. dust suction pipe; 9. exhaust pipe. DETAILED DESCRIPTION

[0019] The following is combined with Figure 1-4 The present invention is described in further detail.

[0020] Please refer to the attached figure in the instruction manual Figure 1-4 An embodiment of the present invention is as follows: a robot automatically polishes a vehicle body, comprising a closed workstation protection device 1, wherein the inner bottom wall of the closed workstation protection device 1 is provided with two walking shafts 2, and a polishing robot 3 is movably provided on the two walking shafts 2. It should be noted that the polishing robot 3 adopts a Kuka downward-probing robot, which has a rated load of 120KG, a maximum motion range of up to 3901mm, a posture repeatability positioning accuracy of ±0.10mm, and a protection level of IP65.

[0021] A limit block 31 is provided on the bottom surface of the grinding robot 3. The limit block 31 is located inside the walking shaft 2 and slides with the inner wall of the walking shaft 2. An electric roller is provided on the bottom surface of the grinding robot 3. The limit block 31 is used to limit the grinding robot 3 inside the walking shaft 2, so that the grinding robot 3 can only slide along the inner wall of the walking shaft 2, and the electric roller is used to facilitate the control of the walking of the grinding robot 3.

[0022] A fully automatic grinding device 4 is arranged at the top of the grinding robot 3, and the fully automatic grinding device 4 can also be connected by a universal connection. The fully automatic grinding device 4 includes a motor 41 and a three-head grinder 42. The motor 41 is fixedly arranged at the top of the grinding robot 3, and the three-head grinder 42 is fixedly arranged on the rotating shaft of the motor 41. The motor 41 can be used to drive the three-head grinder 42 to rotate, thereby facilitating the adjustment of the angle of the three-head grinder 42.

[0023] The three-head grinder 42 includes a housing 421, and three electric push rods 422 are arranged inside the housing 421. Electric grinding heads 423 are fixedly arranged at the protruding ends of the electric push rods 422. The electric push rods 422 facilitate the movement of the electric grinding heads 423, thereby realizing independent adjustment of the three electric grinding heads 423, and enabling the three-head grinder 42 to grind different positions of the vehicle body, thereby increasing the grinding effect of the vehicle body.

[0024] It should be noted that the fully automatic grinding equipment 4 is a three-head product, so it can greatly improve work efficiency, and the grinding robot 3 is equipped with an anti-collision protection function. When the grinding robot 3 collides with the vehicle body, it will automatically stop running to protect the vehicle body and the grinding robot 3. At the same time, the grinding operation will be automatically stopped, and the fault information will be transmitted to the control system. At this time, the grinding operation can only be restarted after manual reset of the upper computer; the three-head grinder 42 provides triple power, which can effectively shorten the grinding time, and each grinding head of the three-head grinder 42 can be adjusted independently, and the number of grinding heads used can be controlled according to the planned grinding path and grinding area.

[0025] It should be noted that the three-head grinder 42 adopts an end face grinding method. By adjusting the number of electric grinding heads 423 used, contour grinding of large planes, small planes and curved surfaces can be achieved. Each electric grinding head 423 is driven by an SPS electric grinding master, with a variable rotation direction and an adjustable speed of 0-7000rpm. It is connected by Velcro and uses porous back velvet sandpaper.

[0026] The outer wall of the full-automatic grinding equipment 4 is fixedly sleeved with a jet component 5, and a telescopic dust collecting sleeve 6 is fixedly provided on the side wall of the jet component 5. The telescopic dust collecting sleeve 6 includes a circular tube 61 and a movable tube 62. The circular tube 61 is fixedly provided on the side of the jet component 5, and the movable tube 62 is movably inserted into the inner wall of the circular tube 61. The end of the movable tube 62 extending out of the circular tube 61 is connected to the end of the circular tube 61 away from the jet component 5 by providing a plurality of first springs 63. The end of the movable tube 62 extending out of the circular tube 61 is provided with a plurality of ball bearings 64. The first spring 63 facilitates the movement of the movable tube 62, thereby prompting the movable tube 62 to contact with the vehicle body, and the ball bearings 64 reduce the friction between the movable tube 62 and the vehicle body when the full-automatic grinding equipment 4 drives the telescopic dust collecting sleeve 6 to move, and reduce the possibility of the movable tube 62 scratching the vehicle body. At the same time, the dust generated by grinding is collected by the cooperation of the movable tube 62 and the circular tube 61.

[0027] A vacuum cleaner 7 is fixedly provided on the side wall of the base of the grinding robot 3, and a movable rod 73 is movably inserted into the bottom surface of the vacuum cleaner 7. The upper end of the movable rod 73 is inserted into the vacuum cleaner 7 and a scraper 74 is fixedly provided. The scraper 74 slides with the outer wall of the dust filter plate 71. A plurality of recesses 21 are provided on the top surface of the walking shaft 2. The lower end of the movable rod 73 movably cooperates with the inner wall of the recess 21. When the grinding robot 3 moves, it drives the vacuum cleaner 7 to move synchronously. At this time, the movable rod 73 intermittently coincides with the inner wall of the recess 21. When the movable rod 73 moves into the recess 21, the movable rod 73 loses thrust and drives the scraper 74 to move downward. When the movable rod 73 is separated from the recess 21, the movable rod 73 is thrust to mobilize the scraper 74 to move upward, thereby scraping the dust attached to the surface of the dust filter plate 71 through the scraper 74.

[0028] The lower end of the movable rod 73 is connected to the inner bottom wall of the vacuum cleaner 7 by setting a second spring 75. The second spring 75 facilitates the movable rod 73 to move downward, so that the lower end of the movable rod 73 is always in contact with the top surface of the traveling shaft 2.

[0029] The air inlet end of the vacuum cleaner 7 is connected to the telescopic dust collecting cover 6 by setting a dust suction pipe 8, and the air outlet end of the vacuum cleaner 7 is connected to the jet component 5 by setting an exhaust pipe 9. A cavity 51 is provided inside the jet component 5, and a plurality of nozzles 52 are provided on the side of the jet component 5 facing the telescopic dust collecting cover 6. The nozzle 52 is connected to the cavity 51. The vacuum cleaner 7 cooperates with the exhaust pipe 9 to facilitate the delivery of airflow into the cavity 51, and then the airflow is sprayed through the nozzle 52 to blow away the dust on the surface of the vehicle body.

[0030] A dust filter plate 71 is provided inside the vacuum cleaner 7, and an electrostatic eliminator 72 is provided inside the vacuum cleaner 7. The dust filter plate 71 is used to filter dust, thereby reducing the possibility of the airflow containing dust being discharged back into the telescopic dust collecting sleeve 6 through the exhaust pipe 9, and the electrostatic eliminator 72 is used to eliminate the static electricity in the dust.

[0031] In summary: the grinding robot 3 controls the full-automatic grinding device 4 to move and fit with the vehicle body, and then the full-automatic grinding device 4 is operated to continuously grind the vehicle body, and at the same time, the dust generated by grinding is collected by the telescopic dust collecting cover 6, and the dust in the telescopic dust collecting cover 6 is extracted by the vacuum cleaner 7 and the vacuum pipe 8; The filtered gas is transported to the jet component 5 through the cooperation of the vacuum cleaner 7 and the exhaust pipe 9, and then the jet component 5 sprays air to blow away the dust attached to the vehicle body. At the same time, the vacuum cleaner 7 and the vacuum pipe 8 cooperate to collect the floating dust, thereby reducing the dust remaining on the surface of the vehicle body.

[0032] In order to better demonstrate a robot automatic polishing vehicle body equipment, this embodiment now proposes a robot automatic polishing vehicle body equipment and an operation method thereof, including the following steps: Step 1: First, a special traction device is used to move the vehicle body into the closed protection device 1 of the workstation, and a mechanical stopper is installed in the closed protection device 1 of the workstation to position the vehicle body, and lines are drawn at the corresponding deceleration position and stop position of the vehicle body to remind the driver to slow down and stop the transportation of the vehicle body, and then the vehicle body is fixed in the parking position by the mechanical stopper; Step 2: The body positioning detection function in the grinding robot 3 system automatically detects the position of the front and side of the body, and compares it with the data stored in the system to determine whether the body is in the correct position. If there is any deviation, the robot system automatically corrects the trajectory for grinding. Step 3: Then the polishing robot 3 controls the fully automatic polishing device 4 to move and fit the vehicle body, and then the fully automatic polishing device 4 is operated to continuously polish the vehicle body, and at the same time, the dust generated by the polishing is collected by the telescopic dust collecting cover 6, and the dust in the telescopic dust collecting cover 6 is extracted by the vacuum cleaner 7 and the vacuum pipe 8; Step 4: The filtered gas is delivered to the jet element 5 through the cooperation of the vacuum cleaner 7 and the exhaust pipe 9, and then the jet element 5 sprays air to sweep the dust attached to the vehicle body, and at the same time, the vacuum cleaner 7 and the dust collection pipe 8 cooperate to collect the floating dust; Step 5: The grinding robot 3 keeps walking along the walking axis 2 until the vehicle body is completely polished, at which time the grinding robot 3 stops running, opens the safety door lock of the station closed protective device 1, and then pulls the vehicle body out of the station closed protective device 1 through a special traction device.

[0033] The above are all preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Therefore, any equivalent changes made based on the structure, shape, and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A robot-assisted automatic vehicle body polishing device, comprising a station sealing and protective device (1), characterized in that: The inner bottom wall of the station enclosed protective device (1) is provided with two walking shafts (2), and a grinding robot (3) is movably provided on each of the two walking shafts (2). A fully automatic grinding device (4) is provided at the top of the grinding robot (3). An air jet component (5) is fixedly provided on the outer wall of the fully automatic grinding device (4). A telescopic dust collecting sleeve (6) is fixedly provided on the side wall of the air jet component (5). A dust collector (7) is fixedly provided on the side wall of the base of the grinding robot (3). The air inlet end of the dust collector (7) is connected to the telescopic dust collecting sleeve (6) by means of a dust suction pipe (8), and the air outlet end of the dust collector (7) is connected to the air jet component (5) by means of an exhaust pipe (9).

2. The robot automatic polishing equipment for vehicle bodies according to claim 1, characterized in that: A limit block (31) is provided on the bottom surface of the grinding robot (3); the limit block (31) is located inside the walking shaft (2) and is slidably engaged with the inner wall of the walking shaft (2); and an electric roller is provided on the bottom surface of the grinding robot (3).

3. The robot automatic polishing equipment for vehicle bodies according to claim 1, characterized in that: The fully automatic grinding device (4) comprises a motor (41) and a three-head grinder (42); the motor (41) is fixedly arranged on the top of the grinding robot (3); and the three-head grinder (42) is fixedly arranged on the rotating shaft of the motor (41).

4. The robot automatic polishing equipment for vehicle bodies according to claim 3, characterized in that: The three-head grinder (42) comprises a housing (421), three electric push rods (422) are arranged inside the housing (421), and electric grinding heads (423) are fixedly arranged at the protruding ends of the electric push rods (422).

5. The robot automatic polishing equipment for vehicle bodies according to claim 1, characterized in that: A cavity (51) is provided inside the jet component (5), and a plurality of nozzles (52) are provided on a side of the jet component (5) facing the telescopic dust collecting sleeve (6), wherein the nozzles (52) are in communication with the cavity (51).

6. The robot automatic polishing equipment for vehicle bodies according to claim 1, characterized in that: The telescopic dust collecting sleeve (6) comprises a circular tube (61) and a movable tube (62); the circular tube (61) is fixedly arranged on the side of the jet component (5); the movable tube (62) is movably plugged into the inner wall of the circular tube (61); one end of the movable tube (62) extending out of the circular tube (61) is connected to one end of the circular tube (61) away from the jet component (5) by means of a plurality of first springs (63); and one end of the movable tube (62) extending out of the circular tube (61) is provided with a plurality of balls (64).

7. The robot automatic polishing equipment for vehicle bodies according to claim 1, characterized in that: A dust filter plate (71) is arranged inside the vacuum cleaner (7), and a static eliminator (72) is arranged inside the vacuum cleaner (7).

8. The robot automatic polishing equipment for vehicle bodies according to claim 7, characterized in that: A movable rod (73) is movably inserted into the bottom surface of the vacuum cleaner (7); the upper end of the movable rod (73) is inserted into the vacuum cleaner (7) and fixedly provided with a scraper (74); the scraper (74) is slidably engaged with the outer wall of the dust filter plate (71); a plurality of recesses (21) are formed on the top surface of the travel shaft (2); and the lower end of the movable rod (73) is movably engaged with the inner wall of the recess (21).

9. The robot automatic polishing equipment for vehicle bodies according to claim 8, characterized in that: The lower end of the movable rod (73) is connected to the inner bottom wall of the vacuum cleaner (7) by means of a second spring (75).

10. An operating method of the robot automatic polishing equipment for vehicle bodies according to any one of claims 1 to 9, comprising the following steps: S101: First, a dedicated traction device moves the vehicle body into the workstation closed protection device (1), and a mechanical stopper is installed in the workstation closed protection device (1) to position the vehicle body, and lines are drawn at corresponding deceleration positions and stop positions of the vehicle body to remind the driver to decelerate and stop the transportation of the vehicle body, and then the vehicle body is fixed at the parking position by the mechanical stopper; S102: The position of the front and side of the vehicle body is automatically detected by the body positioning detection function in the polishing robot (3) system, and compared with the data stored in the system to determine whether the vehicle body is positioned properly. If there is a deviation, the robot system automatically corrects the trajectory to perform the polishing operation; S103: the fully automatic grinding device (4) is then controlled by the grinding robot (3) to move and fit with the vehicle body, and the vehicle body is then continuously ground by the fully automatic grinding device (4), and dust generated by grinding is collected by the telescopic dust collecting cover (6), and dust in the telescopic dust collecting cover (6) is extracted by the cooperation of the dust collector (7) and the dust collecting pipe (8); S104: The filtered gas is delivered to the jet element (5) through the cooperation of the vacuum cleaner (7) and the exhaust pipe (9), and then the jet element (5) sprays air to sweep away the dust attached to the vehicle body, and at the same time, the dust is collected through the cooperation of the vacuum cleaner (7) and the dust collection pipe (8); S105: The grinding robot (3) continues to move along the walking axis (2) until the vehicle body is completely polished. At this time, the grinding robot (3) stops running and opens the safety door lock of the workstation closed protection device (1). Then, the vehicle body is pulled out of the workstation closed protection device (1) by a special pulling device.

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