Rotor support longitudinal welding seam robot milling and grinding system and longitudinal welding seam milling and grinding method

Abstract

The invention belongs to the technical field of robot control, particularly relates to a rotor support longitudinal welding seam robot milling and grinding system and a longitudinal welding seam milling and grinding method, and aims to overcome the defect of manual grinding of an existing rotor support longitudinal welding seam. The system comprises an electrical control unit, a robot milling unit, a robot polishing unit and a roller carrier automatic displacement device. The robot milling unit comprises a first ground rail device, a joint arm milling robot and a tool storage / replacement device I; the robot grinding unit comprises a second ground rail device, a joint arm grinding robot and a tool storage / replacement device II. All the units work cooperatively, automatic milling and grinding of longitudinal welding seams are achieved, the production efficiency and the product quality are improved, the working environment is improved, and the production cost is reduced. And the tool storage / replacement device is provided with a quick replacement device, so that tools are convenient to replace, and the operation efficiency is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of robot control, and in particular relates to a rotor bracket longitudinal weld seam robot milling system and a longitudinal weld seam milling method. Background Art

[0002] In modern industrial production, the rotor bracket is a key component, and its manufacturing quality plays a vital role in the performance and stability of the equipment. The rotor bracket is usually welded by the center cylinder, large vertical ribs, and annular ribs. The longitudinal weld (longitudinal weld) formed between the center cylinder and the large vertical ribs, and the annular longitudinal weld (annular longitudinal weld) formed between the annular ribs and the center cylinder and large vertical ribs are the key parts that affect the overall quality of the rotor bracket.

[0003] At present, the grinding of the longitudinal welds of the rotor bracket mainly relies on manual operation. This traditional grinding method has many disadvantages. First, manual grinding consumes a lot of manpower and requires the participation of many skilled workers, which increases production costs. Secondly, the grinding process is time-consuming, which seriously affects production efficiency and is difficult to meet the needs of large-scale industrial production. Furthermore, the grinding work is intensive, and workers need to repeat mechanical movements for a long time, which can easily lead to fatigue and work-related accidents. Moreover, the grinding site is often filled with dust, noise, and a poor working environment, which poses a great threat to the health of workers. Most importantly, manual grinding is affected by factors such as the workers' technical level, physical strength, and emotions. The quality of the longitudinal welds after grinding is uneven, and it is difficult to ensure the consistency and high precision requirements of the longitudinal welds, which in turn affects the overall performance and service life of the rotor bracket.

[0004] With the rapid development of industrial automation technology, it is urgent to improve the automation level of rotor bracket longitudinal weld grinding. The development of a longitudinal weld grinding device that can replace manual work, is efficient, accurate and stable, has become the key to solving the above problems. Summary of the invention

[0005] The purpose of the present invention is to address the deficiencies in the above-mentioned prior art and to propose a rotor bracket longitudinal weld robot milling system and longitudinal weld milling method to achieve automated grinding of the rotor bracket longitudinal weld, improve production efficiency and product quality, improve the working environment of workers, and reduce production costs.

[0006] The above objectives are achieved specifically through the following technical solutions: A robot milling and grinding system for a longitudinal weld of a rotor bracket comprises an electrical control unit, a robot milling unit, a robot grinding unit and a roller frame automatic position shifting device for supporting and rotating the rotor bracket; the robot milling unit and the robot grinding unit are respectively arranged on the left and right sides of the roller frame automatic position shifting device, and are respectively used for milling and grinding the longitudinal weld of the rotor bracket; the electrical control unit is electrically connected to the robot milling unit, the robot grinding unit and the roller frame automatic position shifting device, and is used for controlling the operation of the entire milling and grinding system.

[0007] The robot milling unit includes a first ground rail device, an articulated arm milling robot and a tool storage / replacement device I; the articulated arm milling robot is installed on the first ground rail device and performs reciprocating linear motion under the control of the first ground rail device, so as to assist in the milling of the longitudinal weld of the rotor bracket; the tool storage / replacement device I is fixedly installed on the first ground rail device, and contains milling auxiliary tools and a plurality of milling tool assemblies; the milling auxiliary tools include a tool setting instrument and a first vision device, and also include a first vision quick-change device for completing the rapid mounting of the first vision device on the articulated arm milling robot.

[0008] The robot grinding unit includes a second ground rail device, an articulated arm grinding robot and a tool storage / replacement device II; the articulated arm grinding robot is installed on the second ground rail device and performs reciprocating linear motion under the control of the second ground rail device to assist in the grinding of the longitudinal weld of the rotor bracket; the tool storage / replacement device II is fixedly installed on the second ground rail device, and a second visual device is stored therein, as well as a second visual quick-change device for quickly mounting the first visual device on the articulated arm grinding robot.

[0009] Preferably, the electrical control unit includes a first electrical cabinet, a first control cabinet, a second electrical cabinet, a second control cabinet and an operating table, the first electrical cabinet and the second control cabinet are electrically connected to the operating table respectively; the roller frame automatic positioning device, the first ground rail device and the articulated arm milling robot are electrically connected to the first electrical cabinet through the first control cabinet respectively; the roller frame automatic positioning device, the second ground rail device and the articulated arm grinding robot are electrically connected to the second electrical cabinet through the second control cabinet respectively.

[0010] Preferably, the first ground rail device includes a first ground rail body driven by an external shaft motor, a first ground rail base is arranged at the bottom of the first ground rail body, and a first slide is slidably mounted on the top of the first ground rail body; the articulated arm milling robot is mounted on the first slide.

[0011] Preferably, the milling tool assembly includes an angle head, a tool handle and a tool head which are fixedly connected in sequence and installed on the side of a quick-change disc inside the tool storage / replacement device I.

[0012] Preferably, the articulated arm milling robot comprises a robot body I, a milling spindle is installed at the end of the robot body I, and a BT40 shank interface is provided at the end of the milling spindle for installing the shank of the milling tool assembly.

[0013] Preferably, the milling spindle adopts a YTD150 permanent magnet synchronous electric spindle and is connected to an oil cooler for heat dissipation.

[0014] Preferably, the second ground rail device includes a second ground rail body driven by an external shaft motor, a second ground rail base is arranged at the bottom of the second ground rail body, and a second slide is slidably mounted on the top of the second ground rail body; the articulated arm grinding robot is mounted on the second slide.

[0015] Preferably, the articulated arm grinding robot includes a robot body II, a belt grinder is installed at the end of the robot body II through an adapter flange, and the belt grinder is electrically connected to a force control system; the belt parts in the belt grinder are replaceable, and a belt storage rack for placing spare belt parts is provided on one side of the second ground rail device.

[0016] Preferably, the force control system adopts Yuli iGrinder intelligent floating force control, including a constant force floating device M5308S35 and a grinding head controller M8412RE.

[0017] Preferably, the robot polishing unit also includes a dust removal mechanism, and the dust removal mechanism includes a dust removal main unit and a dust removal duct; the dust removal main unit adopts an industrial pulse dust collector and is electrically connected to the electrical control unit; the dust removal duct is arranged on the side of the second ground rail device and is sealed and conductively connected to the dust removal mechanism.

[0018] Preferably, both the first visual device and the second visual device are sickvisionaryTOF cameras.

[0019] A method for robot milling and grinding a longitudinal weld of a rotor support, using the above-mentioned robot milling and grinding system for a longitudinal weld of a rotor support, comprises the following steps: S1, manually start each hardware device in the milling and grinding system, including the electrical control unit, robot milling unit, robot grinding unit and roller frame automatic displacement device. All hardware devices are controlled by the electrical cabinet in the electrical control unit and can be operated on the HMI; S2, check whether the joint arm milling robot and the joint arm grinding robot are at the Home point and whether they are unloaded. If there is any abnormality, reset them manually; S3, hoisting the rotor support workpiece onto the roller frame automatic position changing device, and fixing the rotor support workpiece by using the clamping cylinder on the roller frame automatic position changing device; then calibrating the rotor support workpiece to determine and mark the first longitudinal weld processing feature position; S4, mounting the first vision device on the articulated arm milling robot and starting it, using the articulated arm milling robot to assist the first vision device in measuring the weld scar features and surrounding features of the current longitudinal weld of the rotor bracket workpiece, so as to obtain the operation program of the articulated arm milling robot; S5, simulates and optimizes the operation program of the joint arm milling robot in the software, including: analysis of motion trajectory, relative motion and interference collision, and autonomously optimizes and adjusts the posture of the joint arm milling robot by avoiding unreasonable robot target positions including singular points, unreachable points, axis limits and interference collisions. After the milling path is determined to be qualified, the joint arm milling robot is started to execute and complete the milling operation of the current longitudinal weld. S6, after the milling of the current longitudinal weld is completed, the automatic position changing device of the roller frame rotates the rotor bracket workpiece, and rotates the position of the longitudinal weld that has completed the milling operation to the position of the joint arm grinding robot; S7, mounting the second vision device on the articulated arm grinding robot and starting it, using the articulated arm grinding robot to assist the second vision device in measuring the processed longitudinal weld and surrounding features of the rotor bracket workpiece, so as to obtain the operation program of the articulated arm grinding robot; S8, simulates and optimizes the operation program of the joint arm grinding robot in the software. The optimization content includes: analysis of motion trajectory, relative motion and interference collision. By avoiding unreasonable robot target position points including singular points, unreachable points, axis limits and interference collision, the posture of the joint arm grinding robot is autonomously optimized and adjusted. After the grinding path is judged to be qualified, the joint arm grinding robot is started to execute and complete the grinding operation of the current longitudinal weld. S9, after completing the grinding of the current longitudinal weld, return to step S4 for the next longitudinal weld to be milled on the current rotor bracket workpiece, until the milling of all longitudinal weld features on the current rotor bracket workpiece is completed, adjust the articulated arm milling robot and the articulated arm grinding robot to zero position, and manually shut down the software system and various hardware devices of the milling system.

[0020] Preferably, in step S4, obtaining the operating procedure of the articulated arm milling robot includes the following steps: manually teaching the articulated arm milling robot the first longitudinal weld scar feature measurement program and saving it; executing the measurement program to obtain the longitudinal weld scar data, extracting the longitudinal weld scar features and processing the model, and obtaining key data for milling trajectory planning; matching the actual model with the design model, calibrating the rotor bracket workpiece coordinate system, and outputting the rotor bracket workpiece coordinate system data and the articulated arm milling robot program.

[0021] Preferably, in step S5, the milling operation of a single longitudinal weld is divided into longitudinal weld rough machining and longitudinal weld fine machining. A disc cutter or an inlaid round nose cutter is used for the longitudinal weld rough machining, and the residual height of the tool mark is controlled within 1 mm and the margin is within 1.5 mm. A disc cutter is used for the longitudinal weld fine machining, and the residual height of the tool mark is controlled within 0.5 mm and the margin is within 0.7 mm.

[0022] Preferably, in step S7, obtaining the operating procedure of the articulated arm grinding robot includes the following steps: manually teaching the articulated arm grinding robot the first longitudinal weld scar feature measurement program and saving it; executing the measurement program to obtain the longitudinal weld arc data, extracting the longitudinal weld arc features and processing the model, and obtaining key data for grinding trajectory planning; matching the actual model with the design model, calibrating the rotor bracket workpiece coordinate system, and outputting the rotor bracket workpiece coordinate system data and the articulated arm grinding robot program.

[0023] Preferably, in step S8, the grinding operation of the single longitudinal weld includes coarse grinding and fine grinding; a 40-mesh abrasive belt is used for coarse grinding, and an 80-mesh or above abrasive belt is used for fine grinding.

[0024] Compared with the prior art, the advantages of this technical solution are: 1. Improve production efficiency Automated operation: The robot milling unit and the robot grinding unit realize the automated operation of milling and grinding of the longitudinal weld of the rotor bracket, avoiding the time-consuming manual grinding. It can work 24 hours a day, greatly shortening the production cycle and meeting the needs of large-scale industrial production.

[0025] High-efficiency motion mechanism: The first ground rail device and the second ground rail device respectively drive the articulated arm milling robot and the articulated arm grinding robot to perform reciprocating linear motion, which expands the operating range, reduces the robot's moving and positioning time, and improves work efficiency.

[0026] Quick tool change: Tool storage / change devices I and II store milling tool assemblies and grinding tools respectively, and are equipped with quick-change devices to quickly change tools, reduce equipment downtime, and improve overall production efficiency.

[0027] 2. Improve product quality Precise motion control: The robot's high-precision motion control and real-time monitoring feedback from visual equipment ensure the accuracy of milling and grinding, avoid the uneven quality of manual grinding caused by factors such as technical level, physical strength and emotions, ensure the consistency and high-precision requirements of the longitudinal weld, and improve the overall performance and service life of the rotor bracket.

[0028] Scientific processing flow: Milling operations are divided into rough machining and finishing, grinding operations are divided into coarse grinding and fine grinding, different tools and parameters are used in different stages, and processing allowances and surface roughness are strictly controlled to ensure the quality of the final product.

[0029] Simulation optimization: The software simulates and optimizes the operating procedures of the articulated arm milling robot and the articulated arm grinding robot to analyze and avoid problems such as motion trajectory, relative motion, interference collision, etc. in advance, and further improve the processing quality.

[0030] 3. Improve the working environment: Reduce manual participation: greatly reduce the direct operation of workers at the grinding site, reduce the exposure time of workers in dusty and noisy environments, and protect the health of workers.

[0031] Dust removal mechanism: The robot grinding unit is equipped with a dust removal mechanism, which adopts an industrial pulse dust collector and a sealed and conductive dust removal duct to effectively collect the dust generated by grinding and improve the working environment.

[0032] 4. Reduce production costs Save labor costs: The automated milling system reduces the reliance on a large number of skilled workers and reduces labor costs.

[0033] Improve equipment utilization: Reasonable equipment configuration and work flow improve equipment utilization, reduce equipment idleness and loss, and reduce production costs in the long run. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a schematic diagram of the structural layout of a robot milling system for the longitudinal weld of a rotor bracket; Figure 2 This is a schematic diagram of the structure of the articulated arm milling robot; Figure 3 is a schematic structural diagram of a first ground rail device; Figure 4 is a schematic diagram of the partial structure of the second ground rail device; Figure 5 A partial explosion structure meaning diagram of the robot for the articulated arm polishing; Figure 6 Schematic diagram of automatic belt replacement for belt sanders; Figure 7 This is a schematic diagram of the axial structure of the rotor support workpiece; Figure 8 The present invention is a basic implementation flow chart of a method for robot milling of the longitudinal weld of a rotor bracket.

[0035] In the figure: 1. First ground rail device; 1.1. First ground rail body; 1.2. First ground rail base; 1.3. First slide; 2. Articulated arm milling robot; 2.1. Robot body I; 2.2. Milling spindle; 2.3. Oil cooler oil pipe; 3. Tool storage / replacement device I; 4. First vision device; 5. First vision quick change device; 6. Tool setting instrument; 7. Milling tool assembly; 8. Quick change plate; 9. Second ground rail device; 9.1. Second ground rail body; 9.2. Second ground rail base; 9.3. Second slide; 10. Articulated arm grinding robot; 10.1. Robot body Ⅱ; 10.2, adapter flange; 10.3, belt grinder; 10.4, belt parts; 10.5, cover opening cylinder; 10.6, tensioning cylinder; 11, tool storage / replacement device Ⅱ; 12, second vision equipment; 13, second vision quick change device; 14, roller frame automatic displacement device; 15, rotor bracket workpiece; 15.1, longitudinal weld; 15.2, large vertical rib; 15.3, center cylinder; 16, first electrical cabinet; 17, first control cabinet; 18, second electrical cabinet; 19, second control cabinet; 20, operating table; 21, belt storage rack; 22, dust removal host. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution of the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings of the embodiments of the present invention. It should not be understood that the present invention is limited to the following examples. Without departing from the concept of the present invention, the deformation and improvement of the present invention in this field should be included in the protection scope of the claims of the present invention.

[0037] Unless otherwise defined, the technical terms or scientific terms used in the present disclosure should be understood by people with ordinary skills in the field to which the present disclosure belongs. The words "or", "comprising" and the like used in the present disclosure mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects.

[0038] Example 1 This embodiment discloses a rotor bracket longitudinal weld robot milling system, as a preferred implementation of this embodiment, such as Figure 1As shown, it includes: an electrical control unit, a robot milling unit, a robot grinding unit and a roller frame automatic displacement device 14 for supporting and rotating the rotor bracket. Each part has a clear division of labor and works in coordination to achieve efficient milling and grinding of the longitudinal weld 15.1 of the rotor bracket. Specifically: the roller frame automatic displacement device 14 shoulders the key task of supporting and rotating the rotor bracket, and its stable operation is the basis for ensuring the accuracy of subsequent processing. The robot milling unit and the robot grinding unit are symmetrically arranged on the left and right sides of the roller frame automatic displacement device 14, respectively, with a clear division of labor. The former focuses on milling the longitudinal weld 15.1 of the rotor bracket, and the latter is responsible for completing the grinding process. As the "brain" of the entire system, the electrical control unit is electrically connected to the robot milling unit, the robot grinding unit and the roller frame automatic displacement device 14. Through precise instructions, it fully controls the operation of the entire milling and grinding system, ensures the coordination between the units, and efficiently completes the production task.

[0039] The robot milling unit includes a first ground rail device 1, an articulated arm milling robot 2 and a tool storage / replacement device Ⅰ3. The first ground rail device 1: carries the articulated arm milling robot 2 and provides it with a track for reciprocating linear motion, so that the robot can perform milling operations on the longitudinal weld 15.1 of the rotor bracket at different positions, thereby expanding the scope of operation. The articulated arm milling robot 2: is installed on the first ground rail device 1, and with its flexible joint structure, it can accurately perform milling work on the longitudinal weld 15.1 of the rotor bracket to ensure the accuracy and quality of milling. The tool storage / replacement device Ⅰ3: is fixed at one end of the first ground rail device 1, and stores a variety of milling auxiliary tools and milling tool assemblies 7 inside. The milling auxiliary tools include a tool setting instrument 6 and a first visual device 4, and also include a first visual quick-change device 5 for completing the rapid mounting of the first visual device 4 on the articulated arm milling robot 2. Among them, the tool setting instrument 6 is used to accurately calibrate the tool position to ensure milling accuracy; the first vision equipment 4 is matched with the first vision quick-change device 5, which can be quickly mounted on the articulated arm milling robot 2 to scan the surface of the rotor bracket workpiece 15 and obtain three-dimensional data information of the workpiece surface. By analyzing and processing these data, path planning is carried out for subsequent milling operations to ensure that the milling tool assembly 7 can mill the longitudinal weld 15.1 according to the most optimized path, thereby improving milling efficiency and quality.

[0040] The robot grinding unit includes a second ground rail device 9, an articulated arm grinding robot 10 and a tool storage / replacement device II 11. The second ground rail device 9: Similar to the first ground rail device 1, it provides a motion track for the articulated arm grinding robot 10, so that it can grind the longitudinal weld 15.1 at different positions to meet the grinding requirements of different positions. The articulated arm grinding robot 10: Installed on the second ground rail device 9, through its flexible mechanical structure, it performs grinding operations on the longitudinal weld 15.1 of the rotor bracket, removes burrs and unevenness after milling, and improves the surface quality of the weld. The tool storage / replacement device II 11: Fixed at one end of the second ground rail device 9, the second visual device 12 and the second visual quick-change device 13 are stored inside. The second visual device 12 can be quickly mounted on the articulated arm grinding robot 10 based on the second visual quick-change device 13, and is used to scan the surface of the rotor bracket workpiece 15 and collect surface feature data. Based on these data, the system can plan the best path for the grinding operation, making the grinding process more accurate and efficient, and effectively ensuring that the surface flatness and smoothness of the weld after grinding meet the process requirements.

[0041] The articulated arm grinding robot 10 is installed on the second ground rail device 9 and performs reciprocating linear motion under the control of the second ground rail device 9 to assist in the grinding of the longitudinal weld 15.1 of the rotor bracket; the tool storage / replacement device II 11 is fixedly installed on the second ground rail device 9, and stores a second visual device 12 and a second visual quick-change device 13 for quickly mounting the first visual device 4 on the articulated arm grinding robot 10.

[0042] The roller frame automatic displacement device 14 is used to support and rotate the rotor bracket, and its role is very critical. During the robot milling and grinding process, it can not only adjust the position and angle of the rotor bracket as needed, so that the longitudinal weld 15.1 is in the best processing position, improving the processing efficiency and quality; it also accurately rotates the longitudinal weld 15.1 position after milling by the joint arm milling robot 2 to the position of the joint arm grinding robot 10. This precise position conversion realizes the seamless connection between the milling and grinding processes, greatly improves the consistency and efficiency of the entire processing process, and avoids the position deviation and time loss that may be caused by manual handling.

[0043] In summary, this technical solution has the following characteristics: High degree of automation: The entire milling process is coordinated by the electrical control unit, and each robot and device operates automatically, which reduces manual intervention, reduces labor intensity, and improves production efficiency.

[0044] High processing accuracy: The robot's high-precision motion control and the real-time monitoring feedback of the visual equipment ensure the accuracy of milling and grinding, and can meet the high processing quality requirements for the rotor bracket longitudinal weld 15.1.

[0045] Convenient tool replacement: The tool storage / replacement device is equipped with a quick-change device, which enables the milling tool assembly 7, visual equipment and other tools to be quickly replaced, shortening the equipment's downtime and improving production efficiency.

[0046] Strong adaptability: The automatic position changing device 14 of the roller frame can adjust the position and angle of the rotor bracket, which is suitable for processing the longitudinal weld seams 15.1 of rotor brackets of different specifications and shapes, thus expanding the application range of the system.

[0047] Example 2 The present embodiment discloses a rotor bracket longitudinal weld robot milling system. As a preferred implementation of the present embodiment, that is, based on Embodiment 1, its electrical control unit includes a first electrical cabinet 16, a first control cabinet 17, a second electrical cabinet 18, a second control cabinet 19 and an operating table 20. This multi-component design, through reasonable division of labor and cooperation, realizes comprehensive and precise control of the entire milling system.

[0048] The central role of the console 20: The console 20 is the key interface for the operator to interact with the system and is electrically connected to the first electrical cabinet 16 and the second control cabinet 19. The operator can conveniently input various control instructions on the console 20 and monitor the operating status of the system in real time, such as setting the process parameters of milling and grinding, and viewing the operation log of the equipment, so as to achieve intuitive control of the entire milling and grinding process.

[0049] The roller frame automatic displacement device 14, the first ground rail device 1 and the articulated arm milling robot 2 are electrically connected to the first electrical cabinet 16 through the first control cabinet 17. This connection method enables the first electrical cabinet 16 to centrally manage and distribute electricity, providing a stable energy supply for this part of the equipment. At the same time, the first control cabinet 17 can pre-process and preliminarily analyze the transmitted data to ensure that the data received by the first electrical cabinet 16 is accurate and effective, thereby achieving precise control of milling-related equipment. For example, when the milling speed of the articulated arm milling robot 2 needs to be adjusted, the instruction is issued from the operating console 20, and after being parsed and processed by the first control cabinet 17, it is accurately conveyed to the first electrical cabinet 16, and then the first electrical cabinet 16 sends the control signal to the articulated arm milling robot 2 to ensure that it runs at the set speed.

[0050] The roller frame automatic displacement device 14, the second ground rail device 9 and the articulated arm grinding robot 10 are electrically connected to the second electrical cabinet 18 through the second control cabinet 19. Similarly, the second electrical cabinet 18 is responsible for powering the grinding-related equipment, and the second control cabinet 19 plays a role as a bridge and data processing in the process of data transmission and control command issuance. This connection method ensures the coordinated work between the various devices in the grinding process. When it is necessary to adjust the grinding force or change the grinding path, the relevant instructions can be quickly and accurately transmitted to each device, ensuring the efficiency and accuracy of the grinding work.

[0051] In summary, this technical solution has the following characteristics: Control accuracy: By connecting devices with different functions to the corresponding electrical cabinets and control cabinets, refined control of each device is achieved, which can meet the high-precision requirements of speed, force, position and other parameters during milling and grinding.

[0052] System stability: This group connection method avoids the risk of affecting the operation of the entire system due to a single device failure. If an electrical failure occurs in a device, the corresponding control cabinet can quickly cut off the connection of the faulty device without affecting the normal operation of other devices, ensuring the stability and continuity of the system operation.

[0053] Maintenance convenience: During equipment maintenance and troubleshooting, since the electrical connections of each device are clear and definite, technicians can quickly locate the electrical cabinet and control cabinet where the fault is located, shortening the maintenance time and improving the maintenance efficiency of the equipment.

[0054] Strong scalability: When the system needs to be upgraded or new equipment needs to be added, the system functions can be easily expanded by simply making expansion connections on the corresponding electrical cabinets and control cabinets. It has good scalability and compatibility.

[0055] Example 3 The present embodiment discloses a rotor bracket longitudinal weld robot milling system, as a preferred implementation of the present embodiment, that is, based on embodiment 1 or 2, its first ground rail device 1 includes a first ground rail body 1.1 driven by an external shaft motor, and a first ground rail base 1.2 is arranged at the bottom of the first ground rail body 1.1. Therefore, the first ground rail device 1 is centered on the first ground rail body 1.1 driven by an external shaft motor, and the first ground rail base 1.2 at the bottom is transformed from the main body rectangular steel. Rectangular steel has good strength and stability, and can provide a solid support foundation for the entire ground rail device, ensuring that it remains stable and not prone to deformation or displacement when carrying the articulated arm milling robot 2 and during operation. The first slide seat 1.3 is slidably installed on the top of the first ground rail body 1.1, and the articulated arm milling robot 2 is installed on the first slide seat 1.3. This structural design provides a reliable track for the movement of the robot.

[0056] Correspondingly, the second ground rail device 9 includes a second ground rail body 9.1 driven by an external shaft motor, and a second ground rail base 9.2 is arranged at the bottom of the second ground rail body 9.1. That is, the second ground rail device 9 is similar to the first ground rail device 1, and the second ground rail body 9.1 is also driven by an external shaft motor, and the second ground rail base 9.2 at the bottom is modified by the main body rectangular steel to ensure the stability of the structure. The second slide seat 9.3 is slidably installed on the top of the second ground rail body 9.1, and the articulated arm grinding robot 10 is installed on the second slide seat 9.3, which provides conditions for the operation movement of the grinding robot.

[0057] More specifically, regarding size and stroke: the first ground rail body 1.1 and the second ground rail body 9.1 are each designed to have a total length of 5.5 meters, and an effective stroke of ≥4 meters. Such a length and stroke design can meet the position requirements for processing most of the longitudinal welds 15.1 of the rotor bracket, so that the articulated arm milling robot 2 and the articulated arm grinding robot 10 can move within a larger range, and process welds at different positions without frequently adjusting the overall position of the equipment, thereby improving the convenience and efficiency of processing. Regarding load-bearing capacity: the load-bearing capacity can reach 3000KG, which means that the ground rail device can carry heavier robots and related tools, and can operate stably even when performing complex processing tasks, ensuring the normal operation of the robot, and adapting to the processing requirements of large rotor brackets in various industrial production scenarios. Regarding walking speed and positioning accuracy: the walking speed is 1m / s, which can quickly move the robot to the specified position while ensuring processing accuracy, reduce waiting time during processing, and improve overall processing efficiency. The repeat positioning accuracy reaches ±0.05mm, which ensures the accuracy of the robot when it moves to the same position every time, ensures the high consistency of processing quality, and meets the requirements for high-precision processing of the 15.1 longitudinal weld of the rotor bracket.

[0058] Therefore, based on this embodiment, the seventh-axis linkage is realized based on the external shaft motor drive. External shaft motor drive: The first ground rail body 1.1 and the second ground rail body 9.1 are driven separately by external shaft motors provided by the robot manufacturer, with a power of 3kW. This professional external shaft motor can provide stable and strong power to ensure that the ground rail device can operate normally under various working conditions and accurately control the movement speed and position of the ground rail. Seventh-axis linkage: The seventh-axis linkage of the first ground rail body 1.1 and the articulated arm milling robot 2, and the second ground rail body 9.1 and the articulated arm grinding robot 10 is realized. Through this linkage mode, the robot's degree of freedom of movement is increased, and a more complex and flexible motion trajectory can be achieved, further improving the processing accuracy and efficiency. For example, when processing some irregularly shaped rotor bracket longitudinal welds 15.1, the robot can better fit the weld shape for processing through linkage with the ground rail to ensure the processing quality.

[0059] Furthermore, considering the possible damage to the external shaft caused by dust particles at the operation site, the first ground rail body 1.1 and the second ground rail body 9.1 respectively adopt a fully enclosed integral structure. This protective design can effectively prevent dust particles from entering the ground rail device, prevent dust from corroding key components such as the external shaft motor and the slide seat, reduce the probability of equipment failure, extend the service life of the equipment, and ensure that the ground rail device can operate stably even in harsh working environments.

[0060] Example 4 This embodiment discloses a rotor bracket longitudinal weld robot milling system. As a preferred implementation of this embodiment, that is, based on Embodiment 1, 2 or 3, the milling tool assembly 7 includes an angle head, a tool handle and a tool head fixedly connected in sequence, and is installed on the side of the quick-change disk 8 inside the tool storage / replacement device Ⅰ3.

[0061] The design of the angle head is extremely critical. It can change the cutting angle of the tool so that the cutter head can mill the longitudinal weld 15.1 of the rotor bracket from different directions. For example, when facing some complex-shaped welds, the angle head can be flexibly adjusted to ensure that the cutter head is in full contact with the weld, achieve precise milling, and effectively improve the flexibility and adaptability of processing. The tool handle plays the role of connecting and transmitting power. It closely connects the angle head with the cutter head, and stably transmits the power from the articulated arm milling robot 2 to the cutter head to ensure the stability of the cutter head during high-speed rotation and cutting. The cutter head is the part that directly participates in the milling operation. Its material and shape are selected according to different processing requirements. For example, a cutter head made of cemented carbide has high hardness and wear resistance, can efficiently cut various metal materials, and ensure milling quality and processing efficiency.

[0062] The milling tool assembly 7 is installed on the side of the quick-change tray 8 inside the tool storage / replacement device Ⅰ3. This installation method has many advantages. The first is that it is extremely convenient to replace the tool. When it is necessary to replace the milling tool assembly 7 of different specifications or wear, the operator only needs to quickly complete the removal and installation of the tool through simple operations at the tool storage / replacement device Ⅰ3. The design of the quick-change tray 8 can realize the rapid positioning and locking of the tool, greatly shortening the time for tool replacement, reducing the downtime of the equipment, and improving production efficiency. Secondly, the tool is installed on the side of the quick-change tray 8 for easy management and storage, forming an orderly tool storage layout inside the tool storage / replacement device Ⅰ3, which is convenient for the operator to take the required tool at any time, and also protects the tool from collision and damage when not in use.

[0063] In this regard, this technical solution has the following characteristics: Improved processing quality: The reasonable design and connection of the angle head, tool holder and tool head ensure the stability and cutting accuracy of the tool during the milling process, which can effectively improve the processing quality of the longitudinal weld 15.1 of the rotor bracket, reduce the surface roughness of the weld after milling, and improve the dimensional accuracy to meet more stringent process requirements.

[0064] Operation efficiency guarantee: The milling tool assembly 7 installed on the side of the quick-change plate 8 has the characteristic of quick replacement, which enables the tool to be quickly switched when facing different processing tasks or tool wear, ensuring the continuity of the milling operation and avoiding affecting the overall processing progress due to long tool replacement time.

[0065] Example 5 This embodiment discloses a rotor bracket longitudinal weld robot milling system, as a preferred implementation of this embodiment, that is, based on embodiments 1, 2, 3 or 4, its joint arm milling robot 2 is based on the robot body Ⅰ2.1, and its flexibility and multi-joint design can move freely in a complex workspace to meet the processing requirements of the longitudinal welds 15.1 at different positions of the rotor bracket. A milling spindle 2.2 is installed at the end of the robot body Ⅰ2.1, which is a key component for directly performing milling actions. A BT40 tool handle interface is set at the end of the milling spindle 2.2, which is specifically used to install the tool handle of the milling tool assembly 7. The BT40 tool handle interface has good versatility and stability. It can closely cooperate with the tool handle of the milling tool assembly 7 to ensure that the tool will not loosen or shift during high-speed milling, thereby ensuring the accuracy and safety of the milling operation. This standardized interface design also facilitates operators to quickly replace the appropriate milling tool assembly 7 according to different processing tasks, thereby improving work efficiency.

[0066] Example 6 This embodiment discloses a rotor bracket longitudinal weld robot milling system. As a preferred implementation of this embodiment, based on Example 5, its milling spindle 2.2 adopts a YTD150 permanent magnet synchronous electric spindle and is connected to an oil cooler for heat dissipation. Compared with the traditional asynchronous electric spindle, the permanent magnet synchronous electric spindle has higher efficiency and power density, and can output powerful power at lower energy consumption to drive the milling tool assembly 7 to rotate at high speed. When milling the rotor bracket longitudinal weld 15.1, high speed can achieve more efficient cutting and improve processing efficiency. At the same time, the permanent magnet synchronous electric spindle has high speed control accuracy, and can accurately adjust the speed according to different processing materials and process requirements to ensure the stability of milling quality. For example, when processing metal materials with higher hardness, the speed can be appropriately reduced to ensure the durability of the tool and the accuracy of milling; when processing softer materials, the speed can be increased to speed up the processing speed.

[0067] In addition, in order to ensure the stability and reliability of the milling spindle 2.2 under long-term high-speed operation, the milling spindle 2.2 is connected to an oil cooler for heat dissipation. During the milling process, the high-speed rotation of the milling spindle 2.2 will generate a large amount of heat. If the heat cannot be dissipated in time, the spindle temperature will be too high, which will affect the precision and life of the spindle and may even damage the spindle. The oil cooler takes away the heat generated by the spindle by circulating cooling oil, so that the spindle always remains within a suitable operating temperature range. This heat dissipation method has the characteristics of high heat dissipation efficiency and precise temperature control. It can effectively extend the service life of the milling spindle 2.2, reduce the maintenance cost and downtime of the equipment, ensure the continuous and stable operation of the articulated arm milling robot 2, and provide reliable equipment support for the milling processing of the longitudinal weld 15.1 of the rotor bracket.

[0068] Example 7 This embodiment discloses a rotor bracket longitudinal weld robot milling system, as a preferred implementation of this embodiment, that is, based on any one of embodiments 1 to 6, its joint arm grinding robot 10 is based on the robot body II 10.1, and with its flexible joint structure, it can move freely in the workspace and accurately reach various positions of the rotor bracket longitudinal weld 15.1 to meet the diverse grinding needs. The end of the robot body II 10.1 is installed with a belt grinder 10.3 through an adapter flange 10.2. The adapter flange 10.2 ensures a stable connection between the belt grinder 10.3 and the robot body, so that the grinder remains stable during operation and avoids affecting the grinding effect due to looseness.

[0069] The force control system of the belt grinder 10.3 uses the Yuli iGrinder intelligent floating force control, which includes the constant force floating device M5308S35 and the grinding head controller M8412RE, and has excellent performance. The grinding pressure is constant, ensuring that the grinding force of the belt on the longitudinal weld 15.1 of the rotor bracket remains consistent throughout the grinding process, avoiding uneven grinding surface due to uneven pressure, and ensuring the stability of the grinding quality. Yuli iGrinder intelligent floating force control can adjust the floating degree of freedom in real time, with an axial floating range of 0~35mm and an axial force range of 0~500N. This feature enables the grinding robot to flexibly adjust the grinding force and position according to the actual situation of the longitudinal weld 15.1 of the rotor bracket. For example, when the weld surface is uneven or irregular in shape, the belt grinder 10.3 can adaptively fit the weld surface by adjusting the floating degrees of freedom, achieving more precise grinding, effectively avoiding the impact of excessive or insufficient grinding on product quality, and improving the adaptability of the equipment to different working conditions.

[0070] The sanding belt member 10.4 in the sanding belt grinder 10.3 is replaceable, and this design greatly improves the continuous working ability of the equipment. After the sanding belt is worn, the operator can quickly replace the new sanding belt, reduce the downtime caused by the sanding belt wear, and improve production efficiency. At the same time, a sanding belt storage rack 21 is set on one side of the second ground rail device 9, which is specially used to place the spare sanding belt member 10.4, which is of great significance for the automatic replacement of the sanding belt member 10.4.

[0071] The steps for automatically replacing the abrasive belt element 10.4 of the abrasive belt grinder 10.3 are as follows: The first step in replacing the abrasive belt is to open the cover of the abrasive belt sander 10.3 using the cover opening cylinder 10.5 on the cover of the abrasive belt sander 10.3. This automated cover opening method has significant advantages over the traditional manual cover opening method. The cover opening cylinder 10.5 can accurately control the cover opening action with fast and stable speed, which greatly shortens the preparation time before replacing the abrasive belt. At the same time, it avoids the problems of incomplete opening of the cover or uneven force caused by manual operation, ensures the smooth progress of the subsequent replacement process, and reduces the safety risks caused by improper manual operation.

[0072] The second step is to retract the tensioning cylinder 10.6 inside the belt sander 10.3, so that the old belt 10.4 loses tension and can fall off smoothly. The tensioning cylinder 10.6 plays a key role in maintaining the tension of the belt during the belt sanding process, and its retraction action is cleverly designed when replacing the belt. By accurately controlling the extension and retraction of the tensioning cylinder 10.6, it is ensured that the old belt can fall off naturally after losing tension, without manual disassembly, reducing labor intensity and improving replacement efficiency. At the same time, it also reduces safety hazards such as scratches caused by manual contact with the old belt.

[0073] The third step is to align the belt grinder 10.3 with the belt storage rack 21 through the manipulator. This process relies on a high-precision manipulator positioning system to ensure that the belt grinder 10.3 can be accurately docked with the belt storage rack 21. Subsequently, the tensioning mechanism on the belt grinder 10.3 and the belt storage rack 21 shrinks to create conditions for the sleeve connection of the belt. After the belt grinder 10.3 is sleeved on the belt piece 10.4 on the belt storage rack 21, the tensioning mechanism of the belt storage rack 21 opens to tighten the belt piece 10.4. The coordinated design of this tensioning mechanism ensures the stability and accuracy of the new belt during installation, so that the belt can be evenly stressed, avoiding the belt deviation or uneven tension, thereby ensuring the quality and stability of subsequent grinding operations.

[0074] The entire process of automatically replacing the belt piece 10.4, from opening the cover, removing the old belt, to installing the new belt, is automated, greatly shortening the belt replacement time. This enables the belt sander 10.3 to resume working status more quickly, reduces equipment downtime, and improves production efficiency, which is especially suitable for large-scale production scenarios. The automated replacement process ensures the consistency and accuracy of each belt replacement, avoids the problem of irregular belt installation that may be caused by manual belt replacement, thereby ensuring the stability of the belt during the grinding process and providing a strong guarantee for improving the product grinding quality. Automated replacement reduces frequent manual contact with the equipment, reduces the probability of damage to the equipment due to human factors, extends the service life of the equipment, and indirectly reduces the maintenance cost of the equipment.

[0075] Example 8 The present embodiment discloses a rotor bracket longitudinal weld robot milling and grinding system. As a preferred implementation of the present embodiment, that is, based on any one of embodiments 1 to 7, the robot grinding unit also includes a dust removal mechanism, and the dust removal mechanism includes a dust removal host 22 and a dust removal pipeline.

[0076] The dust removal host 22 uses an industrial pulse dust collector, which is specially designed for industrial scenes and has a strong dust collection capacity, and can effectively collect a large amount of dust generated during the grinding process. It is electrically connected to the electrical control unit, and can be automatically controlled by the electrical control unit. According to the start and stop of the grinding operation, the dust removal function is automatically turned on or off to ensure that dust is handled in time when it is generated, while avoiding unnecessary energy consumption.

[0077] The dust removal duct is arranged on the side of the second ground rail device 9, and this layout design is ingenious. Since the articulated arm grinding robot 10 moves and works on the second ground rail device 9, the dust removal duct is arranged on its side, which can make the dust suction port closer to the grinding area and improve the dust suction efficiency. The dust removal duct is sealed and connected with the dust removal host 22, which ensures the sealing of the entire dust suction system, prevents dust leakage, and ensures the stability of the dust suction effect.

[0078] When the articulated arm grinding robot 10 performs grinding operations, the friction between the sanding belt and the longitudinal weld 15.1 of the rotor bracket will generate a large amount of dust. At this time, the industrial pulse dust collector starts, and the dust is sucked into the dust collector through the dust removal pipeline through a strong suction force. The dust collector is equipped with a pulse dust cleaning device. During the dust collection process, a pulse airflow is regularly sent to the filter bag to make the dust attached to the filter bag fall off and fall into the dust box, thereby ensuring the air permeability of the filter bag and the continuous and efficient operation of the dust collector.

[0079] This technical solution can improve the working environment, effectively reduce the dust concentration in the workshop, protect the health of operators, and reduce the risk of occupational diseases; prevent dust from damaging the grinding equipment and other electronic components, and extend the service life of the equipment; and prevent dust from flying in the workshop, which affects product quality and other production processes. The efficient work of the dust removal mechanism ensures the stable operation of the robot grinding unit and the cleanliness of the production environment.

[0080] Example 9 The present embodiment discloses a robot milling system for the longitudinal weld of a rotor bracket. As a preferred implementation of the present embodiment, that is, based on any one of embodiments 1 to 8, the first visual device 4 and the second visual device 12 both use sickvisionaryTOF cameras.

[0081] In the rotor bracket longitudinal weld 15.1 robot milling and grinding system, both milling and grinding operations have extremely high requirements for the weld position, shape and workpiece surface detection accuracy. Based on the principle of time of flight, the sickvisionaryTOF camera can accurately measure the distance between the object and the camera and obtain high-precision three-dimensional data. For the complex geometric shape of the rotor bracket longitudinal weld 15.1, the camera can clearly and accurately identify the start and end positions of the weld and the contour of the weld, providing a reliable data basis for subsequent milling and grinding path planning, ensuring that the processing accuracy meets strict industrial standards.

[0082] In industrial production, time efficiency is crucial. The sickvisionaryTOF camera has fast data acquisition capabilities, can obtain a large amount of point cloud data in a short time, and quickly complete the scanning of the surface of the rotor bracket workpiece 15. This enables the robot to quickly respond to the data collected by the visual equipment during the actual processing, and adjust the processing parameters and paths in time, which greatly improves production efficiency and meets the production line's demand for efficient operation.

[0083] Industrial production environments often have various interference factors, such as light changes, electromagnetic interference, etc. The sickvisionaryTOF camera uses advanced optical and electronic technologies and has excellent anti-interference capabilities. It can work stably under different lighting conditions and accurately obtain measurement data without being affected by ambient light fluctuations. At the same time, in complex electromagnetic environments, the camera can also maintain normal operation, ensuring the stability and reliability of visual inspection, and providing strong guarantees for the continuous operation of the robot milling system in harsh industrial environments.

[0084] The sickvisionaryTOF camera has a large field of view and can cover a large measurement range at one time, reducing the number and time of scanning the workpiece. At the same time, the high resolution ensures that the collected data is rich in details, and even tiny weld defects or subtle features on the surface of the workpiece can be clearly captured. This allows the status of the workpiece to be fully and carefully understood when inspecting the rotor bracket, providing more accurate information for milling and grinding operations.

[0085] The first visual device 4 uses a sickvisionaryTOF camera. By accurately scanning the surface of the rotor bracket workpiece 15, the three-dimensional data obtained can help the system accurately calculate the relative position and angle between the milling tool assembly 7 and the weld. Based on these data, the system can plan the most optimized milling path so that the milling tool assembly 7 can be processed at the best cutting angle and depth, which not only improves the milling efficiency, but also reduces the wear of the tool, extends the service life of the tool, and reduces production costs. The second visual device 12 uses a sickvisionaryTOF camera to monitor the grinding state of the workpiece surface in real time during the grinding process. By comparing the three-dimensional data before and after grinding, the system can promptly find areas where the grinding is uneven or the expected grinding effect is not achieved, and adjust the working parameters of the grinding robot, such as grinding force, speed and path, to ensure that the entire weld surface can be evenly and high-quality polished, thereby improving the surface quality and consistency of the product.

[0086] Example 10 This embodiment discloses a method for robot milling of a longitudinal weld of a rotor bracket. As a preferred implementation of this embodiment, any one of the robot milling systems for the longitudinal weld of a rotor bracket in Embodiments 1 to 9 is adopted, and the method includes the following steps: S1, hardware device startup. Manually start each hardware device in the milling and grinding system. The electrical control unit serves as the core hub. It controls the robot milling unit, the robot grinding unit and the roller frame automatic displacement device 14 through the electrical cabinet, and can be operated on the HMI (Human Machine Interface) of the operating table 20, realizing the convenience of human-machine interaction. This centralized control method ensures that each hardware device runs in an orderly manner under unified instructions, avoiding equipment damage or abnormal operation due to improper startup sequence or communication failure. At the same time, the HMI operation interface enables operators to intuitively monitor the equipment status and adjust parameters in time, thereby improving the accuracy and efficiency of operations.

[0087] S2, robot status check. Check whether the joint arm milling robot 2 and the joint arm grinding robot 10 are at the Home point (i.e., initial position) and whether they are unloaded. This is a key step to ensure the normal operation of the robot. If there is an abnormality, manual reset can correct the robot position and load status in time to avoid position deviation, collision and other problems in the subsequent processing process, and ensure processing accuracy and equipment safety.

[0088] S3, workpiece clamping and calibration stage. Workpiece clamping: The rotor bracket workpiece 15 is hoisted onto the roller frame automatic positioner 14 and fixed with a clamping cylinder to ensure the stability of the workpiece during processing and prevent the reduction of processing accuracy due to the shaking of the workpiece. The use of the clamping cylinder realizes automated clamping, improves the clamping efficiency, and ensures the consistency of the clamping force. Workpiece calibration: The rotor bracket workpiece 15 is calibrated to determine and mark the processing feature position of the first longitudinal weld 15.1, providing an accurate starting position reference for subsequent milling and grinding operations. Accurate calibration is the basis for ensuring the accuracy of the entire milling and grinding process, and can ensure that the robot processes the longitudinal weld 15.1 according to the predetermined path to avoid processing errors due to position deviation.

[0089] S4, visual measurement and milling program acquisition. The first visual device 4 is mounted on the joint arm milling robot 2 and started, and the robot-assisted visual device is used to measure the weld scar and surrounding features of the longitudinal weld 15.1 to obtain the operation program. This visual measurement method can obtain three-dimensional information of the workpiece surface in real time, provide accurate data support for the robot's milling operation, enable the robot to process according to the actual shape and position of the weld, and improve the adaptability and accuracy of the processing.

[0090] S5, simulation optimization of milling operation program. The operation program of the articulated arm milling robot 2 is simulated and optimized in the software. The optimization content includes: analysis of motion trajectory, relative motion and interference and collision conditions. By avoiding unreasonable robot target position points including singular points, unreachable points, axis limits and interference and collisions, the posture of the articulated arm milling robot 2 is autonomously optimized and adjusted to ensure the rationality and safety of the milling path. The simulation optimization process can discover potential problems in advance, reduce the trial and error costs in actual processing, and improve processing efficiency and quality. After the milling path is judged to be qualified, the articulated arm milling robot 2 is started to execute and complete the milling operation of the current longitudinal weld 15.1.

[0091] S6, process conversion from milling operation to grinding operation. After completing the milling of the current longitudinal weld 15.1, the roller frame automatic position change device 14 rotates the position of the milled longitudinal weld 15.1 to the position of the joint arm grinding robot 10, realizing the seamless connection of the milling and grinding processes. This automated process conversion method reduces manual intervention, improves production efficiency, and ensures the position accuracy of the workpiece between different processes.

[0092] S7, visual measurement and polishing program acquisition. The second visual device 12 is mounted on the articulated arm polishing robot 10 and started, and the articulated arm polishing robot 10 is used to assist the second visual device 12 to measure the processed longitudinal weld 15.1 and surrounding features of the rotor bracket workpiece 15 to obtain the operation program of the articulated arm polishing robot 10.

[0093] S8, simulation optimization of the grinding operation program. The operation program of the articulated arm grinding robot 10 is simulated and optimized in the software, and the optimization content includes: analysis of motion trajectory, relative motion and interference and collision conditions, and autonomous optimization and adjustment of the posture of the articulated arm grinding robot 10 by avoiding unreasonable robot target position points including singular points, unreachable points, axis limits and interference and collisions. The optimization focus of the grinding operation is to ensure good contact between the grinding tool and the workpiece, avoid over-grinding or under-grinding, and ensure that the surface quality after grinding meets the requirements. After the grinding path is judged to be qualified, the articulated arm grinding robot 10 is started to execute and complete the grinding operation of the current longitudinal weld 15.1.

[0094] S9, after finishing the grinding of the current longitudinal weld 15.1, return to step S4 for the next longitudinal weld 15.1 to be milled of the current rotor support workpiece 15, until the milling work of all longitudinal welds 15.1 features on the current rotor support workpiece 15 is completed, and the rotor support workpiece 15 is fully processed. This cyclic processing method improves the utilization rate of the equipment, reduces the idle time of the equipment, and is suitable for mass production. After the processing is completed, the robot is adjusted to the zero position, and the software system and hardware equipment are manually shut down to ensure the safety and stability of the equipment in the non-working state, and also prepare for the next processing.

[0095] Embodiment 11 This embodiment discloses a method for robot milling of a longitudinal weld of a rotor bracket. As a preferred implementation of this embodiment, based on Embodiment 10, in step S4, obtaining the operation program of the articulated arm milling robot 2 includes the following steps: First, manually teach the articulated arm milling robot 2 the first longitudinal weld 15.1 weld scar feature measurement program and save it, which can be reused later without secondary teaching. Manually teach the articulated arm milling robot 2 the first longitudinal weld 15.1 weld scar feature measurement program, which is the key starting point for obtaining the entire operation program. By manually operating the articulated arm milling robot 2, accurately measuring the first longitudinal weld 15.1 weld scar feature, the articulated arm milling robot 2 can learn the most accurate measurement path and method. This method makes full use of the operator's experience and ability to judge the actual situation to ensure that the measurement program meets the actual processing requirements. For example, the operator can flexibly adjust the motion trajectory and measurement angle of the articulated arm milling robot 2 according to the actual shape, position and surrounding environment of the weld to make the measurement result more accurate. Save the taught measurement program and reuse it later without secondary teaching. This greatly improves work efficiency and reduces repetitive work. In mass production, the longitudinal weld 15.1 of each rotor bracket workpiece 15 has similar characteristics. By reusing the existing measurement program, the tedious teaching process for each workpiece is avoided, saving a lot of time and labor costs, while also ensuring the consistency and stability of the measurement program.

[0096] Secondly, execute the measurement program to obtain the longitudinal weld 15.1 weld scar data, extract the longitudinal weld 15.1 weld scar features and process the model to obtain the key data for milling trajectory planning. Execute the measurement program to obtain the longitudinal weld 15.1 weld scar data. This step is one of the core links in obtaining the operation program. The joint arm milling robot 2 accurately measures the longitudinal weld 15.1 weld scar according to the preset measurement program, and can obtain rich original data, which contains key information such as the shape, size, and position of the weld. Accurate data is the basis for subsequent processing and directly affects the planning and processing quality of the milling trajectory. Extract the longitudinal weld 15.1 weld scar features and process the model, and extract the key data for milling trajectory planning from the original data. This requires the use of advanced algorithms and data analysis techniques to screen, analyze and process a large amount of measurement data, remove noise and interference information, and extract truly useful weld features. For example, the boundary of the weld is determined by the edge detection algorithm, and the shape model of the weld is obtained by the surface fitting algorithm. The processed models and key data can provide an accurate basis for milling trajectory planning, making the milling process more precise and efficient.

[0097] Finally, the actual model is matched with the design model, the rotor bracket workpiece 15 coordinate system is calibrated, and the rotor bracket workpiece 15 coordinate system data and the joint arm milling robot 2 program are output. Matching the actual model with the design model can ensure the accuracy and consistency of the processing. By comparing the weld model obtained by actual measurement with the design model, the difference between the actual weld and the design requirements can be found, and the processing parameters and trajectory can be adjusted in time to avoid processing errors caused by weld deviation. For example, if it is found that the position or shape of the actual weld is deviated from the design model, the deviation can be compensated by adjusting the robot's motion trajectory to ensure that the weld after milling meets the design requirements. Calibrate the rotor bracket workpiece 15 coordinate system, output the rotor bracket workpiece 15 coordinate system data and the joint arm milling robot 2 program. Accurate coordinate system calibration is the key to ensuring that the robot is processed in the correct position. By calibrating the coordinate system, the robot's motion coordinates can be accurately corresponding to the actual position of the workpiece, so that the robot can mill the weld according to the predetermined trajectory. At the same time, the output workpiece coordinate system data and robot program provide precise guidance for the subsequent processing process to ensure the smooth progress of the entire milling operation.

[0098] Example 12 This embodiment discloses a method for robot milling of the longitudinal weld of a rotor bracket. As a preferred implementation of this embodiment, that is, based on Embodiment 10 or 11, in step S5, the milling operation of a single longitudinal weld 15.1 is divided into rough machining of the longitudinal weld 15.1 and fine machining of the longitudinal weld 15.1.

[0099] For the rough machining of the longitudinal weld 15.1, a disc cutter or an inlaid round nose cutter is used. The disc cutter has a large cutting edge and high cutting efficiency, and can quickly remove a large amount of material. It is suitable for preliminary milling of the longitudinal weld 15.1 in the rough machining stage. The inlaid round nose cutter combines the arc cutting edge characteristics of the round nose cutter. While ensuring the cutting efficiency, it can reduce the cutting force to a certain extent and reduce the impact on the workpiece. For some rotor bracket longitudinal welds 15.1 with complex shapes or soft materials, the inlaid round nose cutter can better meet the processing needs and avoid excessive cutting or uneven cutting. The residual height of the cutter mark is controlled within 1mm and the allowance is within 1.5mm. This parameter setting is to reserve a suitable machining allowance for subsequent fine machining while ensuring the machining efficiency. The residual height of the cutter mark is controlled within 1mm. Although a certain surface roughness is allowed, it will not affect the positioning and cutting of subsequent fine machining. The allowance within 1.5mm can ensure that the uneven parts left by rough machining can be completely removed during fine machining, and the fine machining time will not be too long due to excessive allowance, which will affect the overall machining efficiency. At the same time, reasonable allowance control can also reduce tool wear, extend tool life, and reduce machining costs.

[0100] The disc cutter is used for finishing of the longitudinal weld 15.1. Compared with rough machining, more attention is paid to the accuracy of the cutter and the ability to control the surface quality. The disc cutter can achieve fine finishing of the weld surface through precise tool paths and cutting parameters during finishing, so that the weld surface meets higher flatness and finish requirements. The residual height of the cutter mark is controlled within 0.5mm and the allowance is within 0.7mm. This strict parameter requirement is intended to ensure the final processing quality. The residual height of the cutter mark is controlled within 0.5mm, which can make the weld surface smoother and meet the high-precision product quality standards. The allowance is controlled within 0.7mm, which can not only ensure the removal of minor defects left by rough machining, but also avoid excessive cutting to cause workpiece dimensional deviation. This precise allowance control is crucial to ensure the dimensional accuracy and performance stability of the rotor bracket, ensuring that the product can operate normally during subsequent assembly and use.

[0101] This technical solution combines roughing and finishing, quickly removes most of the excess through roughing, creates a good foundation for finishing, and then fine-tune the weld through finishing, which can effectively improve the surface quality and dimensional accuracy of the weld, and meet the strict requirements of different products for longitudinal weld 15.1 processing. Reasonable tool selection and parameter control enable roughing and finishing to maximize their effectiveness at their respective stages, avoiding the inefficiency or unstable quality problems that may be caused by a single processing method, thereby improving the overall processing efficiency and reducing production costs.

[0102] Embodiment 13 This embodiment discloses a method for robot milling of a longitudinal weld of a rotor bracket. As a preferred implementation of this embodiment, that is, based on Embodiment 10, 11 or 12, in step S7, obtaining the operation program of the joint arm grinding robot 10 includes the following steps: First, manually teach the joint arm robot the first longitudinal weld 15.1 weld scar feature measurement program and save it, which can be reused later without secondary teaching. Manually teach the joint arm grinding robot 10 the first longitudinal weld 15.1 weld scar feature measurement program, which is an important beginning for the generation of the grinding operation program. Relying on their own experience, the operator controls the joint arm grinding robot 10 to accurately measure the first longitudinal weld 15.1 weld scar feature, which allows the joint arm grinding robot 10 to master the measurement path that best fits the actual situation. For example, when faced with complex weld shapes or irregular welds caused by welding processes, the operator can flexibly adjust the movements of the joint arm grinding robot 10 to ensure the accuracy of the measurement. This method makes up for the lack of judgment of complex situations in the initial stage of autonomous learning of the joint arm grinding robot 10, and lays a solid foundation for subsequent grinding work. The measurement program completed by the first teaching is saved, and there is no need to teach again during subsequent processing, which is fully demonstrated in mass production scenarios. Although the longitudinal weld 15.1 features of each rotor bracket are slightly different, they are similar overall. Reusing the existing measurement procedures greatly saves manpower and time costs and improves production efficiency. At the same time, it also ensures the consistency of the grinding and measurement procedures of different batches of products, which is conducive to ensuring the stability of product quality.

[0103] Secondly, execute the measurement program to obtain the arc data of the longitudinal weld 15.1, extract the arc features of the longitudinal weld 15.1 and process the model to obtain the key data for grinding trajectory planning. Execute the measurement program to obtain the arc data of the longitudinal weld 15.1. This step is the core link of obtaining the grinding operation program. The articulated arm grinding robot 10 carefully measures the arc part of the longitudinal weld 15.1 according to the preset measurement program, and the large amount of raw data collected covers the key information such as the curvature, curvature, and position of the weld. These data are an important basis for subsequent grinding trajectory planning, and their accuracy directly affects the grinding effect. Extract key features from the collected arc data of the longitudinal weld 15.1, and process the model to obtain key data for grinding trajectory planning. This process uses professional data processing algorithms to remove noise and interference in the measurement data, and accurately extract the key features of the weld, such as determining the starting and ending positions of the weld, calculating the curvature change of the weld, etc. By analyzing and processing these key data, an accurate weld model is constructed to provide precise guidance for grinding trajectory planning, ensuring that the grinding process can closely fit the actual shape of the weld and improve the grinding quality.

[0104] Finally, the actual model is matched with the design model, the rotor bracket workpiece 15 coordinate system is calibrated, and the rotor bracket workpiece 15 coordinate system data and the joint arm grinding robot 10 program are output. The weld model obtained by actual measurement is matched with the design model. This step is crucial to ensure grinding accuracy and product quality. By comparing the two, the deviation between the actual weld and the design requirements can be found in time, such as the shape deviation and position offset of the weld. Once the deviation is found, the grinding parameters and trajectory can be adjusted in a targeted manner to ensure that the weld after final grinding meets the design standards and avoid product quality problems caused by weld deviation. The rotor bracket workpiece 15 coordinate system is calibrated to ensure that the motion coordinates of the joint arm grinding robot 10 establish an accurate correspondence with the actual position of the workpiece. This process enables the joint arm grinding robot 10 to accurately reach the predetermined position during grinding and perform grinding operations according to the precise trajectory. The output rotor bracket workpiece 15 coordinate system data and the joint arm grinding robot 10 program provide an accurate action guide for subsequent grinding operations, ensure the smooth progress of grinding work, improve the accuracy and efficiency of grinding, and thus ensure the performance stability of the product during subsequent assembly and use.

[0105] Embodiment 14 This embodiment discloses a method for robot milling of a longitudinal weld of a rotor bracket. As a preferred implementation of this embodiment, that is, based on Embodiment 10, 11, 12 or 13, in step S8, the grinding operation of a single longitudinal weld 15.1 includes coarse grinding and fine grinding.

[0106] Coarse grinding stage: Selection of abrasive belt mesh: For rough grinding, use a 40-mesh abrasive belt 10.4. The mesh represents the coarseness of the abrasive particles on the surface of the abrasive belt. The abrasive particles of a 40-mesh abrasive belt are relatively large. In the rough grinding stage, the primary task is to quickly remove the large protrusions, burrs and thick machining allowances on the surface of the longitudinal weld 15.1 after milling. Larger abrasive particles can cut off more material per unit time, thereby improving the grinding efficiency, making the weld surface initially flat, and creating good basic conditions for the subsequent fine grinding process.

[0107] Grinding effect and efficiency: With the powerful cutting effect of large-grain abrasives, coarse grinding can quickly reduce the roughness of the weld surface and grind the uneven weld to a relatively flat state. Although there is still a certain degree of roughness on the surface after coarse grinding, this roughness can be effectively eliminated in the fine grinding stage. Moreover, due to the rapid cutting in the coarse grinding stage, the time of the entire grinding process is greatly shortened, the production efficiency is improved, and the advantages are obvious in mass production.

[0108] Fine grinding stage: Selection of abrasive belt mesh: For fine grinding, use abrasive belts with meshes of 80 or above, such as 80 mesh, 100 mesh or even higher mesh. As the mesh increases, the abrasive particles on the surface of the abrasive belt become finer and finer. In the fine grinding stage, it is necessary to further improve the flatness and finish of the weld surface to meet higher quality standards. Fine abrasive particles can trim the weld surface more finely and remove the subtle marks and unevenness left by rough grinding.

[0109] Grinding effect and quality: Through fine grinding with 80 mesh and above abrasive belt 10.4, the roughness of the weld surface is significantly reduced and the surface finish is greatly improved. This high-quality grinding effect is crucial for some rotor bracket products with extremely high surface quality requirements. It can meet the requirements of the product in high-precision assembly and use, and improve the overall performance and reliability of the product. At the same time, during the fine grinding process, due to the fine effect of the abrasive particles, the uniformity of the grinding can be better controlled, avoiding over-grinding or under-grinding, and ensuring the stability of the grinding quality.

[0110] This technical solution combines coarse grinding with fine grinding, and arranges the process of coarse grinding first and then fine grinding, giving full play to the advantages of different mesh sanding belts 10.4. Coarse grinding ensures the grinding efficiency and quickly removes a large amount of excess, while fine grinding ensures the grinding quality and makes the weld surface meet high precision requirements. This combination method not only meets the needs of production efficiency, but also ensures product quality. It is an optimized grinding process solution. Reasonable division of coarse grinding and fine grinding avoids the problems of inefficiency and excessive loss of sanding belts caused by the single use of high-mesh sanding belts for full-process grinding, and also avoids the situation where only low-mesh sanding belts cannot meet quality requirements. By optimizing the grinding process, production costs are reduced and the economic benefits of the enterprise are improved.

[0111] Embodiment 15 This embodiment discloses a method for robot milling of the longitudinal weld of a rotor bracket, as a preferred implementation of this embodiment, that is, based on any one of embodiments 10 to 14, in steps S4 and S7, the first visual device 4 is mounted on the end of the robot body I, and the second visual device 12 is mounted on the end of the robot body II, and the corresponding robots carry them to complete the scanning of the entire rotor bracket workpiece 15. This mounting method makes full use of the flexibility and precise motion control capabilities of the robot. Robot body I and robot body II can accurately move the visual device to the desired position according to the preset path, ensuring a comprehensive and dead-angle-free scanning of all parts of the rotor bracket workpiece 15. For example, for a rotor bracket with a complex shape, the robot can adjust the angle and position of the visual device through the coordinated movement of multiple joints, obtain information on areas that are difficult to directly observe, and thus provide complete data support for subsequent processing.

[0112] The first visual device 4 and the second visual device 12 scan the rotor support workpiece 15 twice respectively to complete the surface model reconstruction of the rotor support workpiece 15. Specifically: First remote scan: After the rotor support workpiece 15 is placed and fixed, the visual device first scans from the remote end. The main purpose of this step is to obtain the overall contour of the workpiece. By scanning from the remote end, the workpiece can be initially observed within a larger field of view, and the general shape, size and relative position relationship of each part of the workpiece can be quickly outlined. This provides a macroscopic framework for subsequent fine scanning, which helps to identify key areas and plan more accurate scanning paths. For example, after obtaining the overall contour, the position of the polished area in the entire workpiece can be clearly identified, preparing for subsequent targeted scanning.

[0113] Secondary scanning trajectory planning and fine data acquisition: According to the overall contour data obtained from the first scan, the secondary scanning trajectory is planned. This is a process of micro-refinement based on macro information. By analyzing the overall contour, the specific range and characteristics of the polished area can be determined, so as to plan the scanning trajectory in a targeted manner and ensure that the fine surface model data of the polished area is obtained. For example, for the longitudinal weld 15.1 area, the secondary scan can more accurately measure the shape, width, height of the weld and the transition to the surrounding area. These fine data are crucial for accurately planning the milling and grinding paths and ensuring the processing quality.

[0114] In the present technical solution, the first visual device 4 and the second visual device 12 scan the rotor bracket workpiece 15 twice to complete the reconstruction of the workpiece surface model. This method ensures the integrity and accuracy of the acquired data. Through two scans, the workpiece can be observed from different angles and levels, avoiding data omissions or deviations that may occur in a single scan. For example, the overall contour data obtained by the first scan and the fine data obtained by the secondary scan complement each other, so that the reconstructed surface model more realistically reflects the actual situation of the workpiece, providing a reliable data basis for subsequent processing. Accurate surface model reconstruction plays a key role in improving the quality of milling and grinding operations. In the milling operation, based on accurate surface model data, the path of the milling tool assembly 7 can be planned more accurately, avoiding over-milling or under-milling, and improving milling accuracy and surface quality. In the grinding operation, the grinding parameters and paths can be adjusted according to the surface model data to ensure the uniformity and consistency of the grinding and meet the high-precision requirements for the workpiece surface.

Claims

1. A rotor bracket longitudinal weld robot milling system, characterized by: It comprises an electrical control unit, a robot milling unit, a robot grinding unit and a roller frame automatic position shifting device (14) for supporting and rotating a rotor support; the robot milling unit and the robot grinding unit are respectively arranged on the left and right sides of the roller frame automatic position shifting device (14), and are respectively used to mill and grind the longitudinal weld (15.1) of the rotor support; the electrical control unit is respectively electrically connected to the robot milling unit, the robot grinding unit and the roller frame automatic position shifting device (14), and is used to control the operation of the entire milling and grinding system; The robot milling unit comprises a first ground rail device (1), an articulated arm milling robot (2) and a tool storage / replacement device I (3); the articulated arm milling robot (2) is mounted on the first ground rail device (1) and performs reciprocating linear motion under the control of the first ground rail device (1) to assist in the milling of the longitudinal weld (15.1) of the rotor bracket; the tool storage / replacement device I (3) is fixedly mounted on the first ground rail device (1) and contains milling auxiliary tools and a plurality of milling tool assemblies (7); the milling auxiliary tools include a tool setting instrument (6) and a first visual device (4), and also include a first visual quick-change device (5) for completing the quick mounting of the first visual device (4) on the articulated arm milling robot (2); The robot grinding unit comprises a second ground rail device (9), an articulated arm grinding robot (10) and a tool storage / replacement device II (11); the articulated arm grinding robot (10) is mounted on the second ground rail device (9) and performs reciprocating linear motion under the control of the second ground rail device (9) to assist in performing the grinding of the longitudinal weld seam (15.1) of the rotor bracket; the tool storage / replacement device II (11) is fixedly mounted on the second ground rail device (9), and contains a second visual device (12) and a second visual quick-change device (13) for quickly mounting the first visual device (4) on the articulated arm grinding robot (10).

2. A rotor bracket longitudinal weld robot milling system as claimed in claim 1, characterized in that: The electrical control unit comprises a first electrical cabinet (16), a first control cabinet (17), a second electrical cabinet (18), a second control cabinet (19) and an operating table (20); the first electrical cabinet (16) and the second control cabinet (19) are electrically connected to the operating table (20) respectively; the roller frame automatic displacement device (14), the first ground rail device (1) and the articulated arm milling robot (2) are electrically connected to the first electrical cabinet (16) respectively through the first control cabinet (17); and the roller frame automatic displacement device (14), the second ground rail device (9) and the articulated arm grinding robot (10) are electrically connected to the second electrical cabinet (18) respectively through the second control cabinet (19).

3. A rotor bracket longitudinal weld robot milling system as claimed in claim 1, characterized in that: The first ground rail device (1) comprises a first ground rail body (1.1) driven by an external shaft motor, a first ground rail base (1.2) being arranged at the bottom of the first ground rail body (1.1), and a first slide seat (1.3) being slidably mounted on the top of the first ground rail body (1.1); the articulated arm milling robot (2) is mounted on the first slide seat (1.3).

4. A rotor bracket longitudinal weld robot milling system as claimed in claim 1, characterized in that: The milling tool assembly (7) comprises an angle head, a tool handle and a tool head which are fixedly connected in sequence, and is mounted on the side of a quick-change plate (8) inside the tool storage / replacement device I (3).

5. A rotor bracket longitudinal weld robot milling system as claimed in claim 1, characterized in that: The articulated arm milling robot (2) comprises a robot body I (2.1), a milling spindle (2.2) being mounted at the end of the robot body I (2.1), and a BT40 tool holder interface being arranged at the end of the milling spindle (2.2) for mounting a tool holder of a milling tool assembly (7).

6. A rotor bracket longitudinal weld robot milling system as claimed in claim 5, characterized in that: The milling spindle (2.2) adopts a YTD150 permanent magnet synchronous electric spindle and is connected to an oil cooler for heat dissipation.

7. A rotor bracket longitudinal weld robot milling system as claimed in claim 1, characterized in that: The second ground rail device (9) comprises a second ground rail body (9.1) driven by an external shaft motor, a second ground rail base (9.2) being arranged at the bottom of the second ground rail body (9.1), and a second slide seat (9.3) being slidably mounted on the top of the second ground rail body (9.1); the articulated arm polishing robot (10) is mounted on the second slide seat (9.3).

8. A rotor bracket longitudinal weld robot milling system as claimed in claim 7, characterized in that: The articulated arm grinding robot (10) comprises a robot body II (10.1), a belt grinder (10.3) being mounted on the end of the robot body II (10.1) via an adapter flange (10.2), the belt grinder (10.3) being electrically connected to a force control system; the belt pieces (10.4) in the belt grinder (10.3) are replaceable, and a belt storage rack (21) for storing spare belt pieces (10.4) is disposed on one side of the second ground rail device (9).

9. A rotor bracket longitudinal weld robot milling system as claimed in claim 8, characterized in that: The force control system adopts Yuli iGrinder intelligent floating force control, including a constant force floating device M5308S35 and a grinding head controller M8412RE.

10. A rotor bracket longitudinal weld robot milling system as claimed in claim 8, characterized in that: The robot polishing unit further comprises a dust removal mechanism, and the dust removal mechanism comprises a dust removal main unit (22) and a dust removal duct; the dust removal main unit (22) adopts an industrial pulse dust collector and is electrically connected to the electrical control unit; the dust removal duct is arranged on the side of the second ground rail device (9) and is sealed and conductively connected to the dust removal mechanism.

11. A rotor bracket longitudinal weld robot milling system as claimed in claim 1, characterized in that: Both the first visual device (4) and the second visual device (12) are sickvisionaryTOF cameras.

12. A method for robot milling of the longitudinal weld of a rotor support, characterized in that: A rotor bracket longitudinal weld robot milling system as described in any one of claims 1 to 11 is used. The following steps are involved: S1, manually start each hardware device in the milling and grinding system, including the electrical control unit, the robot milling unit, the robot grinding unit and the roller frame automatic displacement device (14), all the hardware devices are controlled by the electrical cabinet in the electrical control unit and can be operated on the HMI; S2, check whether the articulated arm milling robot (2) and the articulated arm grinding robot (10) are at the Home point and whether they are unloaded. If there is any abnormality, manually reset them; S3, hoisting the rotor support workpiece (15) onto the roller frame automatic position changing device (14), and fixing the rotor support workpiece (15) using a clamping cylinder on the roller frame automatic position changing device (14); then calibrating the rotor support workpiece (15) to determine and mark the processing feature position of the first longitudinal weld (15.1); S4, mounting the first vision device (4) on the articulated arm milling robot (2) and starting it, using the articulated arm milling robot (2) to assist the first vision device (4) in measuring the weld scar features and surrounding features of the current longitudinal weld (15.1) of the rotor support workpiece (15), so as to obtain the operation program of the articulated arm milling robot (2); S5, simulating and optimizing the operation program of the articulated arm milling robot (2) in the software, wherein the optimization content includes: analyzing the motion trajectory, relative motion and interference collision, and autonomously optimizing and adjusting the posture of the articulated arm milling robot (2) by avoiding unreasonable robot target position points including singular points, unreachable points, axis limits and interference collisions. After the milling path is determined to be qualified, the articulated arm milling robot (2) is started to execute and complete the milling operation of the current longitudinal weld (15.1); S6, after the milling of the current longitudinal weld (15.1) is completed, the roller frame automatic position changing device (14) rotates the rotor support workpiece (15) to rotate the position of the longitudinal weld (15.1) that has completed the milling operation to the position of the articulated arm grinding robot (10); S7, mounting the second vision device (12) on the articulated arm grinding robot (10) and starting it, using the articulated arm grinding robot (10) to assist the second vision device (12) in measuring the processed longitudinal weld (15.1) and surrounding features of the rotor bracket workpiece (15), so as to obtain the operation program of the articulated arm grinding robot (10); S8, simulating and optimizing the operation program of the joint arm grinding robot (10) in the software, wherein the optimization content includes: analyzing the motion trajectory, relative motion and interference collision conditions, and autonomously optimizing and adjusting the posture of the joint arm grinding robot (10) by avoiding unreasonable robot target position points including singular points, unreachable points, axis limits and interference collisions. After the grinding path is determined to be qualified, the joint arm grinding robot (10) is started to execute and complete the grinding operation of the current longitudinal weld (15.1); S9, after completing the grinding of the current longitudinal weld (15.1), return to step S4 for the next longitudinal weld (15.1) to be milled on the current rotor support workpiece (15), until the milling work of all longitudinal weld (15.1) features on the current rotor support workpiece (15) is completed, the articulated arm milling robot (2) and the articulated arm grinding robot (10) are adjusted to zero position, and the software system and various hardware devices of the milling system are manually shut down.

13. A method for robot milling of a longitudinal weld of a rotor support as claimed in claim 12, characterized in that: In step S4, obtaining the operation program of the articulated arm milling robot (2) comprises the following steps: Manually teach the joint arm milling robot (2) the first longitudinal weld (15.1) weld scar feature measurement program and save it; Execute the measurement program to obtain the weld scar data of the longitudinal weld (15.1), extract the weld scar features of the longitudinal weld (15.1) and process the model to obtain key data for milling trajectory planning; The actual model is matched with the design model, the coordinate system of the rotor bracket workpiece (15) is calibrated, and the coordinate system data of the rotor bracket workpiece (15) and the program of the articulated arm milling robot (2) are output.

14. A method for robot milling of a longitudinal weld of a rotor support as claimed in claim 12, characterized in that: In the step S5, the milling operation of the single longitudinal weld (15.1) is divided into the rough machining of the longitudinal weld (15.1) and the fine machining of the longitudinal weld (15.1). The rough machining of the longitudinal weld (15.1) uses a disc cutter or an inlaid round nose cutter, and the residual height of the cutter mark is controlled within 1 mm and the margin is within 1.5 mm. The fine machining of the longitudinal weld (15.1) uses a disc cutter, and the residual height of the cutter mark is controlled within 0.5 mm and the margin is within 0.7 mm.

15. A method for robot milling of a longitudinal weld of a rotor support as claimed in claim 12, characterized in that: In step S7, obtaining the operation program of the articulated arm polishing robot (10) comprises the following steps: Manually teach the joint arm to perform the robot's first longitudinal weld (15.1) weld scar feature measurement program and save it; Execute the measurement program to obtain the arc data of the longitudinal weld (15.1), extract the arc features of the longitudinal weld (15.1) and process the model to obtain key data for grinding trajectory planning; The actual model is matched with the design model, the coordinate system of the rotor support workpiece (15) is calibrated, and the coordinate system data of the rotor support workpiece (15) and the program of the joint arm grinding robot (10) are output.

16. A method for robot milling of a longitudinal weld of a rotor support as claimed in claim 12, characterized in that: In the step S8, the grinding operation of the single longitudinal weld (15.1) includes coarse grinding and fine grinding; the coarse grinding uses a 40-mesh abrasive belt (10.4), and the fine grinding uses an 80-mesh or higher abrasive belt (10.4).

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