A rotor support longitudinal weld seam robot milling and grinding system and longitudinal weld seam milling and grinding method

Abstract

The present application belongs to the technical field of robot control, and particularly relates to a rotor support longitudinal weld robot milling and grinding system and a longitudinal weld milling and grinding method, aiming at solving the drawbacks of manual polishing of the rotor support longitudinal weld. The system comprises an electrical control unit, a robot milling unit, a robot polishing unit and a roller frame automatic displacement device. The robot milling unit comprises a first ground rail device, an articulated arm milling robot and a tool storage / replacement device I; the robot polishing unit comprises a second ground rail device, an articulated arm polishing robot and a tool storage / replacement device II. The units work cooperatively to realize automatic milling and polishing of the longitudinal weld, improve production efficiency and product quality, improve the working environment and reduce production cost. Moreover, the tool storage / replacement device is equipped with a quick-change device, which facilitates tool replacement and improves work efficiency.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of robot control, and particularly relates to a rotor support longitudinal weld robot milling system and a longitudinal weld milling method. BACKGROUND

[0002] In modern industrial production, the rotor support as a key component, its manufacturing quality plays a crucial role in the performance and stability of the equipment. The rotor support is usually welded by a center cylinder, a large stand and a ring-shaped rib plate. The longitudinal weld formed between the center cylinder and the large stand (longitudinal weld), and the ring-shaped longitudinal weld formed between the ring-shaped rib plate and the center cylinder and the large stand (ring longitudinal weld), are the key positions affecting the overall quality of the rotor support.

[0003] At present, the longitudinal weld grinding of the rotor support mainly relies on manual operation. This traditional grinding method has many drawbacks. First, manual grinding consumes a lot of manpower, requiring many skilled workers to participate, increasing production costs. Second, the grinding process is time-consuming, seriously affecting production efficiency and making it difficult to meet the needs of large-scale industrial production. Third, the grinding work is intensive, and workers need to repeat mechanical movements for a long time, which can easily lead to fatigue and accidents. Moreover, the grinding site is often filled with dust and noise, and the working environment is poor, posing a great threat to the health of workers. Most importantly, manual grinding is affected by factors such as worker skill level, physical strength and mood, and the quality of the longitudinal weld after grinding is uneven, making it difficult to ensure the consistency and high precision of the longitudinal weld, and thus affecting the overall performance and service life of the rotor support.

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

[0005] The present application aims to overcome the shortcomings of the prior art and provides a rotor support longitudinal weld robot milling system and a longitudinal weld milling method, which realizes automatic grinding of the longitudinal weld of the rotor support, improves production efficiency and product quality, improves the working environment of workers, and reduces production costs.

[0006] The above-mentioned purposes are achieved by the following technical solutions:

[0007] A rotor support longitudinal weld seam robot milling and grinding system, comprising an electrical control unit, a robot milling unit, a robot polishing unit and a roller frame automatic displacement device for supporting and rotating the rotor support; the robot milling unit and the robot polishing unit are respectively arranged on the left and right sides of the roller frame automatic displacement device, and are respectively used for milling and polishing the longitudinal weld seam of the rotor support; the electrical control unit is electrically connected with the robot milling unit, the robot polishing unit and the roller frame automatic displacement device, and is used for controlling the operation of the entire milling and grinding system.

[0008] The robot milling unit comprises 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 moves reciprocatingly and linearly under the control of the first ground rail device, and is used for assisting in performing the milling work on the longitudinal weld seam of the rotor support; the tool storage / replacement device I is fixedly installed on the first ground rail device, and stores milling auxiliary tools and a plurality of milling cutter assemblies inside; the milling auxiliary tools comprise a tool setting gauge and a first vision equipment, and further comprise a first vision quick-change device for quickly mounting the first vision equipment on the articulated arm milling robot.

[0009] The robot polishing unit comprises a second ground rail device, an articulated arm polishing robot and a tool storage / replacement device II; the articulated arm polishing robot is installed on the second ground rail device and moves reciprocatingly and linearly under the control of the second ground rail device, and is used for assisting in performing the polishing work on the longitudinal weld seam of the rotor support; the tool storage / replacement device II is fixedly installed on the second ground rail device, and stores a second vision equipment and a second vision quick-change device for quickly mounting the first vision equipment on the articulated arm polishing robot inside.

[0010] Preferably, the electrical control unit comprises a first electrical cabinet, a first control cabinet, a second electrical cabinet, a second control cabinet and an operation table, and the first electrical cabinet and the second control cabinet are electrically connected with the operation table; the roller frame automatic displacement device, the first ground rail device and the articulated arm milling robot are electrically connected with the first electrical cabinet through the first control cabinet; and the roller frame automatic displacement device, the second ground rail device and the articulated arm polishing robot are electrically connected with the second electrical cabinet through the second control cabinet.

[0011] Preferably, the first ground rail device comprises 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 sliding seat is slidingly installed at the top of the first ground rail body; and the articulated arm milling robot is installed on the first sliding seat.

[0012] Preferably, the milling cutter assembly comprises an angle head, a tool shank and a tool bit which are fixedly connected in sequence, and is installed on the side of the quick-change disc inside the tool storage / replacement device I.

[0013] Preferably, the articulated arm milling robot comprises a robot body I, a milling spindle is mounted at the end of the robot body I, and a BT40 tool holder interface is arranged at the end of the milling spindle for mounting a tool holder of a milling tool assembly.

[0014] Preferably, the milling spindle adopts a YTD150 type permanent magnet synchronous electric spindle, and is connected with an oil cooling machine for heat dissipation.

[0015] Preferably, the second ground rail device comprises 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 sliding seat is slidingly mounted at the top of the second ground rail body; the articulated arm polishing robot is mounted on the second sliding seat.

[0016] Preferably, the articulated arm polishing robot comprises a robot body II, a belt sander is mounted at the end of the robot body II through an adapter flange, and a force control system is electrically connected to the belt sander; a belt piece in the belt sander is replaceably arranged, and a belt storage rack for placing spare belt pieces is arranged on one side of the second ground rail device.

[0017] Preferably, the force control system adopts a Yulisi iGrinder intelligent floating force control, and comprises a constant force floating device M5308S35 and a grinding head controller M8412RE.

[0018] Preferably, the robot polishing unit further comprises a dust removal mechanism, and the dust removal mechanism comprises a dust removal host and a dust removal pipeline; the dust removal host adopts an industrial pulse dust collector and is electrically connected to the electrical control unit; the dust removal pipeline is arranged on the side of the second ground rail device and is in sealed and conductive connection with the dust removal mechanism.

[0019] Preferably, the first vision device and the second vision device both select a sick visionary TOF camera.

[0020] A rotor support longitudinal weld seam robot milling and grinding method adopts the above-mentioned rotor support longitudinal weld seam robot milling and grinding system, and comprises the following steps:

[0021] S1, manually starting each hardware device in the milling and grinding system, including the electrical control unit, the robot milling unit, the robot polishing unit and the 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;

[0022] S2, checking whether the articulated arm milling robot and the articulated arm polishing robot are at the Home point and are empty, and manually resetting if there is an abnormality;

[0023] S3, hoist the rotor support workpiece to the roller frame automatic displacement device, and fix the rotor support workpiece by using the pressing cylinder on the roller frame automatic displacement device; then calibrate the rotor support workpiece to determine and mark the first longitudinal weld processing feature position;

[0024] S4, mount the first visual equipment on the articulated arm milling robot and start it, and use the articulated arm milling robot to assist the first visual equipment to measure the current strip longitudinal weld weld scar feature and the surrounding feature of the rotor support workpiece, so as to obtain the operation program of the articulated arm milling robot;

[0025] S5, simulate and optimize the operation program of the articulated arm milling robot in the software, and the optimization content includes: analysis of motion trajectory, relative motion and interference collision, and autonomous optimization and adjustment of the posture of the articulated arm milling robot by avoiding unreasonable robot target position points including singular points, unattainable points, axis limit and interference collision; after the milling path is determined to be qualified, start the articulated arm milling robot to perform and complete the milling operation of the current strip longitudinal weld;

[0026] S6, after the milling of the current strip longitudinal weld is completed, the roller frame automatic displacement device rotates the rotor support workpiece, and rotates the position of the longitudinal weld on which the milling operation is completed to the position of the articulated arm polishing robot;

[0027] S7, mount the second visual equipment on the articulated arm polishing robot and start it, and use the articulated arm polishing robot to assist the second visual equipment to measure the processed longitudinal weld and the surrounding feature of the rotor support workpiece, so as to obtain the operation program of the articulated arm polishing robot;

[0028] S8, simulate and optimize the operation program of the articulated arm polishing robot in the software, and the optimization content includes: analysis of motion trajectory, relative motion and interference collision, and autonomous optimization and adjustment of the posture of the articulated arm polishing robot by avoiding unreasonable robot target position points including singular points, unattainable points, axis limit and interference collision; after the polishing path is determined to be qualified, start the articulated arm polishing robot to perform and complete the polishing operation of the current strip longitudinal weld;

[0029] S9, after the polishing of the current strip longitudinal weld is completed, return to step S4 for the next to-be-milled and polished longitudinal weld of the current rotor support workpiece, until the milling and polishing work of all longitudinal weld features on the current rotor support workpiece is completed, and the articulated arm milling robot and the articulated arm polishing robot are adjusted to zero position, and the software system and each hardware device of the milling and polishing system are manually turned off.

[0030] Preferably, in the step S4, the operation program of the articulated arm milling robot is obtained by the following steps: manually teaching a first longitudinal seam weld scar feature measurement program of the articulated arm milling robot and saving; executing the measurement program to obtain longitudinal seam weld scar data, extracting longitudinal seam weld scar features and processing the model to obtain key data for milling trajectory planning; matching the actual model with the design model, calibrating the rotor support workpiece coordinate system, and outputting the rotor support workpiece coordinate system data and the articulated arm milling robot program.

[0031] Preferably, in the step S5, the milling operation of a single longitudinal seam is divided into longitudinal seam rough machining and longitudinal seam fine machining, the longitudinal seam rough machining uses a disc cutter or an inlaid round nose cutter, the control of the tool mark residual height is within 1mm, and the excess is within 1.5mm, the longitudinal seam fine machining uses a disc cutter, the control of the tool mark residual height is within 0.5mm, and the excess is within 0.7mm.

[0032] Preferably, in the step S7, the operation program of the articulated arm polishing robot is obtained by the following steps: manually teaching a first longitudinal seam weld scar feature measurement program of the articulated arm polishing robot and saving; executing the measurement program to obtain longitudinal seam arc data, extracting longitudinal seam arc features and processing the model to obtain key data for polishing trajectory planning; matching the actual model with the design model, calibrating the rotor support workpiece coordinate system, and outputting the rotor support workpiece coordinate system data and the articulated arm polishing robot program.

[0033] Preferably, in the step S8, the polishing operation of a single longitudinal seam includes rough polishing and fine polishing; the rough polishing uses a 40 mesh abrasive belt, and the fine polishing uses an 80 mesh or above abrasive belt.

[0034] Compared with the prior art, the technical scheme has the advantages that:

[0035] I. Improve production efficiency

[0036] Automatic operation: Through the robot milling unit and the robot polishing unit, the automatic operation of the rotor support longitudinal seam milling and polishing is realized, the time consumption of manual polishing is avoided, the 24-hour uninterrupted work is realized, the production cycle is greatly shortened, and the large-scale industrial production demand is met.

[0037] High-efficiency motion mechanism: the first ground rail device and the second ground rail device drive the articulated arm milling robot and the articulated arm polishing robot to move reciprocatingly and linearly respectively, the operation range is expanded, the robot moving and positioning time is reduced, and the work efficiency is improved.

[0038] Quick tool replacement: the tool storage / replacement device I and II respectively store the milling cutter assembly and the polishing tool, and are provided with quick replacement devices, so that the tools can be quickly replaced, the equipment downtime is reduced, and the overall production efficiency is improved.

[0039] II. Improve product quality

[0040] Precise motion control: The high-precision motion control of the robot and the real-time monitoring feedback of the vision equipment ensure the accuracy of milling and polishing, avoiding the uneven quality caused by factors such as technical level, physical strength, and emotions in manual polishing, ensuring the consistency and high-precision requirements of the longitudinal weld, and improving the overall performance and service life of the rotor support.

[0041] Scientific processing flow: The milling operation is divided into rough machining and finishing machining, and the polishing operation is divided into rough grinding and fine grinding. Different tools and parameters are used in different stages to strictly control the processing allowance and surface roughness, ensuring the quality of the final product.

[0042] Simulation optimization: The operation program of the articulated arm milling robot and the articulated arm polishing robot is simulated and optimized in the software, which can analyze and avoid problems such as motion trajectory, relative motion, and interference collision in advance, further improving the processing quality.

[0043] III. Improve working environment

[0044] Reduce manual participation: The direct operation of workers in the polishing site is greatly reduced, reducing the exposure time of workers in the environment with dust and noise, and protecting the health of workers.

[0045] Dust removal mechanism: The dust removal mechanism equipped in the robot polishing unit uses an industrial pulse dust collector and a sealed dust removal pipeline, effectively collecting the dust generated during polishing, and improving the working environment.

[0046] IV. Reduce production cost

[0047] Save labor cost: The automatic milling and grinding system reduces the dependence on a large number of skilled workers, reducing labor costs.

[0048] Improve equipment utilization: Reasonable equipment configuration and working process improve the utilization rate of equipment, reduce equipment idle and wear, and reduce production costs in the long run. BRIEF DESCRIPTION OF DRAWINGS

[0049] Figure 1 It is a structural layout diagram of a rotor support longitudinal weld robot milling and grinding system;

[0050] Figure 2 It is a structural diagram of an articulated arm milling robot;

[0051] Figure 3 It is a structural diagram of a first ground rail device;

[0052] Figure 4 It is a partial structural diagram of a second ground rail device;

[0053] Figure 5 Local explosion structure diagram for joint arm polishing robot;

[0054] Figure 6 Principle diagram for automatic replacement of abrasive belt for abrasive belt polishing machine;

[0055] Figure 7 Axial structure diagram for rotor support workpiece;

[0056] Figure 8 Basic implementation flowchart of a rotor support longitudinal weld robot milling and grinding method.

[0057] In the drawings:

[0058] 1, first ground rail device; 1.1, first ground rail body; 1.2, first ground rail base; 1.3, first sliding seat; 2, joint arm milling robot; 2.1, robot body I; 2.2, milling spindle; 2.3, oil cooling machine oil pipe; 3, tool storage / replacement device I; 4, first vision equipment; 5, first vision quick-change device; 6, tool setting instrument; 7, milling tool assembly; 8, quick-change disc; 9, second ground rail device; 9.1, second ground rail body; 9.2, second ground rail base; 9.3, second sliding seat; 10, joint arm polishing robot; 10.1, robot body II; 10.2, adapter flange; 10.3, abrasive belt polishing machine; 10.4, abrasive belt; 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 support workpiece; 15.1, longitudinal weld; 15.2, large stud; 15.3, center cylinder; 16, first electrical cabinet; 17, first control cabinet; 18, second electrical cabinet; 19, second control cabinet; 20, operation table; 21, abrasive belt storage rack; 22, dust removal main machine. DETAILED DESCRIPTION

[0059] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions of the embodiments of the present application will be described clearly and completely below with reference to the drawings of the embodiments of the present application, which should not be understood as limiting the present application to the following examples. The present application in the form of deformation and improvement in the art without departing from the concept of the present application should be included in the protection scope of the claims of the present application.

[0060] Unless otherwise defined, technical terms or scientific terms used in the present disclosure should be understood as the usual meaning understood by a person with ordinary skill in the art to which the present disclosure belongs. The similar words such as "or", "including" and the like used in the present disclosure mean that the elements or objects appearing before the words cover the elements or objects listed after the words and their equivalents, without excluding other elements or objects.

[0061] Example 1

[0062] This embodiment discloses a robotic milling system for the longitudinal weld seam of a rotor support. As a preferred implementation of this embodiment, as shown below... Figure 1 As shown, the system includes an electrical control unit, a robotic milling unit, a robotic grinding unit, and an automatic roller frame positioning device 14 for supporting and rotating the rotor support. Each component has a clear division of labor and works collaboratively to achieve efficient milling and grinding of the longitudinal weld seam 15.1 of the rotor support. Specifically, the automatic roller frame positioning device 14 is responsible for supporting and rotating the rotor support; its stable operation is fundamental to ensuring the accuracy of subsequent processing. The robotic milling unit and the robotic grinding unit are symmetrically arranged on the left and right sides of the automatic roller frame positioning device 14, with a clear division of labor: the former focuses on milling the longitudinal weld seam 15.1 of the rotor support, while the latter is responsible for completing the grinding process. The electrical control unit, as the "brain" of the entire system, is electrically connected to the robotic milling unit, the robotic grinding unit, and the automatic roller frame positioning device 14. Through precise command issuance, it comprehensively controls the operation of the entire milling and grinding system, ensuring coordinated cooperation between units and efficiently completing production tasks.

[0063] The robotic milling unit includes a first ground rail device 1, an articulated arm milling robot 2, and a tool storage / changing device I 3. The first ground rail device 1 supports the articulated arm milling robot 2, providing it with a track for reciprocating linear motion, enabling the robot to perform milling operations on the longitudinal weld seam 15.1 of the rotor support from different positions, thus expanding its working range. The articulated arm milling robot 2 is mounted on the first ground rail device 1. With its flexible joint structure, it precisely performs milling work on the longitudinal weld seam 15.1 of the rotor support, ensuring milling accuracy and quality. The tool storage / changing device I 3 is fixed to one end of the first ground rail device 1 and internally stores various milling auxiliary tools and milling cutter assemblies 7. The milling auxiliary tools include a tool setter 6 and a first vision device 4, and also include a first vision quick-change device 5 for quickly mounting the first vision device 4 onto the articulated arm milling robot 2. Among them, the tool setter 6 is used to accurately calibrate the tool position to ensure milling accuracy; the first vision device 4, together with the first vision quick-change device 5, can be quickly mounted on the articulated arm milling robot 2 to scan the surface of the rotor support workpiece 15, obtain the three-dimensional data information of the workpiece surface, and through the analysis and processing of these data, to plan the path for subsequent milling operations, ensuring that the milling tool assembly 7 can mill the longitudinal weld 15.1 according to the optimal path, thereby improving milling efficiency and quality.

[0064] The robot polishing unit comprises a second ground rail device 9, an articulated arm polishing robot 10 and a tool storage / replacement device II 11. The second ground rail device 9, similar to the first ground rail device 1, provides a movement track for the articulated arm polishing robot 10, enabling it to polish the longitudinal weld 15.1 at different positions to meet the polishing requirements of different positions. The articulated arm polishing robot 10 is installed on the second ground rail device 9 and, through its flexible mechanical structure, performs polishing operations on the longitudinal weld 15.1 of the rotor support, removing burrs, unevenness, etc. after milling, thereby improving the surface quality of the weld. The tool storage / replacement device II 11 is fixed at one end of the second ground rail device 9 and stores the second visual equipment 12 and the second visual quick-change device 13 inside. The second visual equipment 12 can be quickly mounted on the articulated arm polishing robot 10 based on the second visual quick-change device 13 and is used to scan the surface of the rotor support workpiece 15 to collect surface feature data. Based on these data, the system can plan the best path for the polishing operation, making the polishing process more accurate and efficient and effectively ensuring that the flatness and smoothness of the polished weld surface meet the process requirements.

[0065] The articulated arm polishing 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 performing polishing work on the longitudinal weld 15.1 of the rotor support; the tool storage / replacement device II 11 is fixedly installed on the second ground rail device 9 and stores the second visual equipment 12 and the second visual quick-change device 13 inside, which is used to quickly mount the first visual equipment 4 on the articulated arm polishing robot 10.

[0066] The roller frame automatic displacement device 14 is used to support and rotate the rotor support and is very critical. During the robot milling and polishing process, it can not only adjust the position and angle of the rotor support as needed to place the longitudinal weld 15.1 in the best machining position, thereby improving machining efficiency and quality, but also precisely rotate the position of the longitudinal weld 15.1 after being milled by the articulated arm milling robot 2 to the work station of the articulated arm polishing robot 10. This precise position conversion enables seamless connection between the milling and polishing processes, greatly improving the continuity and efficiency of the entire machining process and avoiding position deviation and time loss caused by manual handling.

[0067] In summary, the technical solution has the following characteristics:

[0068] High degree of automation: The entire milling and polishing process is coordinated by an electrical control unit, and each robot and device operates automatically, reducing manual intervention, reducing labor intensity and improving production efficiency.

[0069] High machining accuracy: The robot's high-precision motion control and real-time monitoring feedback from vision equipment ensure the accuracy of milling and grinding, which can meet the high machining quality requirements of the rotor support longitudinal weld seam 15.1.

[0070] Easy tool replacement: The tool storage / replacement device is equipped with a quick-change device, which allows for the rapid replacement of tools such as milling cutter assembly 7 and vision equipment, reducing equipment downtime and improving production efficiency.

[0071] High adaptability: The automatic roller frame positioning device 14 can adjust the position and angle of the rotor support, and is suitable for processing the longitudinal weld seam 15.1 of rotor supports of different specifications and shapes, thus expanding the application range of the system.

[0072] Example 2

[0073] This embodiment discloses a robotic milling system for longitudinal weld seams of rotor supports. As a preferred implementation of this embodiment, 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, achieves comprehensive and precise control over the entire milling system.

[0074] The central role of the control panel 20: As the key interface for operator interaction with the system, the control panel 20 is electrically connected to the first electrical cabinet 16 and the second control cabinet 19. Operators can conveniently input various control commands on the control panel 20 and monitor the system's operating status in real time, such as setting milling and grinding process parameters and viewing equipment operation logs, thereby achieving intuitive control over the entire milling and grinding process.

[0075] The automatic roller frame positioning device 14, the first ground rail device 1, and the articulated arm milling robot 2 are electrically connected to the first electrical cabinet 16 via the first control cabinet 17. This connection allows the first electrical cabinet 16 to centrally manage and distribute power, providing a stable energy supply for this part of the equipment. Simultaneously, the first control cabinet 17 can preprocess and perform preliminary analysis on the transmitted data, ensuring the accuracy and effectiveness of the data received by the first electrical cabinet 16, thereby achieving precise control of the milling-related equipment. For example, when it is necessary to adjust the milling speed of the articulated arm milling robot 2, the command is issued from the operating console 20, parsed and processed by the first control cabinet 17, and accurately transmitted to the first electrical cabinet 16. The first electrical cabinet 16 then sends the control signal to the articulated arm milling robot 2, ensuring that it operates at the set speed.

[0076] The roller frame automatic displacement device 14, the second ground rail device 9, and the articulated arm polishing robot 10 are electrically connected to the second control cabinet 19 and the second electrical cabinet 18. Similarly, the second electrical cabinet 18 is responsible for powering the polishing-related equipment, and the second control cabinet 19 acts as a bridge and data processor during data transmission and control instruction delivery. This connection ensures the coordinated work of the polishing devices. When the polishing intensity or path needs to be adjusted, relevant instructions can be quickly and accurately transmitted to each device, ensuring efficient and accurate polishing.

[0077] In summary, the technical solution has the following characteristics:

[0078] Control precision: By connecting different functional devices to corresponding electrical cabinets and control cabinets, fine control of each device is achieved, meeting the high-precision requirements for speed, intensity, position, and other parameters during milling and polishing.

[0079] System stability: This grouping connection method avoids the risk of affecting the entire system operation due to a single device failure. If a device has an electrical fault, the corresponding control cabinet can quickly disconnect the faulty device without affecting the normal operation of other devices, ensuring the stability and continuity of system operation.

[0080] Maintenance convenience: During equipment maintenance and troubleshooting, since the electrical connections of each device are clear and explicit, technicians can quickly locate the faulty electrical cabinet and control cabinet, shortening the repair time and improving the maintenance efficiency of the equipment.

[0081] Strong scalability: When the system needs to be upgraded or new devices are added, only the corresponding electrical cabinets and control cabinets need to be expanded, making it easy to expand the system's functionality with good scalability and compatibility.

[0082] Example 3

[0083] The embodiment discloses a rotor support longitudinal weld seam robot milling system, as a preferred embodiment of the embodiment, that is, based on embodiment 1 or 2, the first ground rail device 1 includes a first ground rail body 1.1 driven by an external shaft motor, and the bottom of the first ground rail body 1.1 is provided with a first ground rail base 1.2. Therefore, the first ground rail device 1 takes the first ground rail body 1.1 driven by the external shaft motor as the core, and the first ground rail base 1.2 at the bottom is modified from a rectangular steel body. The rectangular steel has good strength and stability, can provide a solid support foundation for the entire ground rail device, and ensures stability during the bearing of the joint arm milling robot 2 and the running process, and is not easy to deform or displace. The first ground rail body 1.1 is slidably installed with a first sliding seat 1.3 on the top, and the joint arm milling robot 2 is installed on the first sliding seat 1.3. This structure design provides a reliable track for the movement of the robot.

[0084] Correspondingly, the second ground rail device 9 includes a second ground rail body 9.1 driven by an external shaft motor, and the bottom of the second ground rail body 9.1 is provided with a second ground rail base 9.2. That is, the second ground rail device 9 is similar to the first ground rail device 1, 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 from a rectangular steel body, ensuring the stability of the structure. The second ground rail body 9.1 is slidably installed with a second sliding seat 9.3 on the top, and the joint arm polishing robot 10 is installed on the second sliding seat 9.3, providing conditions for the movement of the polishing robot.

[0085] More specifically, for the size and stroke: the total length of the first ground rail body 1.1 and the second ground rail body 9.1 is designed to be 5.5 meters, and the effective stroke is ≥4 meters. Such length and stroke design can meet the position requirements of most rotor support longitudinal weld seams 15.1 processing, so that the joint arm milling robot 2 and the joint arm polishing robot 10 can move in a larger range and process weld seams at different positions, without the need to frequently adjust the overall position of the equipment, improving the convenience and efficiency of processing. For the load capacity: the load capacity can reach 3000KG, which means that the ground rail device can carry heavier robots and related tools, and can stably run even when performing complex processing tasks, ensuring the normal operation of the robot and adapting to the processing requirements of large rotor supports in various industrial production scenes. For walking speed and positioning accuracy: the walking speed is 1m / s, which can quickly move the robot to the specified position under the premise of ensuring the processing accuracy, reduce the waiting time in the processing process, and improve the overall processing efficiency. The repeated positioning accuracy reaches ±0.05mm, ensuring the accuracy of the robot when moving to the same position each time, ensuring the high consistency of the processing quality, and meeting the requirements of high-precision processing of rotor support longitudinal weld seams 15.1.

[0086] Thus, based on the present embodiment, the seventh axis linkage is achieved based on external shaft motor drive. The first ground rail body 1.1 and the second ground rail body 9.1 are driven by external shaft motors provided by the robot manufacturer, with a power of 3 kW. Such professional external shaft motors can provide stable and powerful power to ensure that the ground rail device can operate normally under various working conditions and accurately control the moving speed and position of the ground rail. The seventh axis linkage: the first ground rail body 1.1 and the articulated arm milling robot 2, the second ground rail body 9.1 and the articulated arm polishing robot 10 are linked by the seventh axis. Through this linkage, the freedom of the robot is increased, and more complex and flexible motion trajectories can be achieved, further improving the accuracy and efficiency of processing. For example, when processing some irregularly shaped rotor support longitudinal welds 15.1, the robot can better fit the weld shape for processing through linkage with the ground rail, ensuring processing quality.

[0087] Further, considering the damage that dust particles in the operating field may cause to the external shaft, the first ground rail body 1.1 and the second ground rail body 9.1 adopt a whole structure in a fully enclosed form. This protective design can effectively block dust particles from entering the interior of the ground rail device, avoid dust erosion on key components such as external shaft motors and slides, reduce the probability of equipment failure, prolong the service life of the equipment, and ensure that the ground rail device can operate stably in harsh working environments.

[0088] Embodiment 4

[0089] The present embodiment discloses a rotor support longitudinal weld robot milling and grinding system. As a preferred embodiment of the present embodiment, the milling tool assembly 7 includes an angle head, a tool shank, and a tool bit fixedly connected in sequence, and is installed on the side surface of the quick-change disc 8 inside the tool storage / replacement device I 3 based on embodiments 1, 2, or 3.

[0090] The design of the angle head is extremely critical. It can change the cutting angle of the tool, so that the tool bit can mill the rotor support longitudinal weld 15.1 from different directions. For example, when facing some complex-shaped welds, the angle head can be flexibly adjusted to ensure that the tool bit is in full contact with the weld, achieving precise milling and effectively improving the flexibility and adaptability of processing. The tool shank serves to connect and transmit power. It connects the angle head and the tool bit closely and stably transmits power from the articulated arm milling robot 2 to the tool bit, ensuring the stability of the tool bit during high-speed rotation cutting. The tool bit is the part directly involved in milling operations. Its material and shape are selected according to different processing requirements. For example, a tool bit made of hard alloy material has high hardness and wear resistance, which can efficiently cut various metal materials, ensuring milling quality and processing efficiency.

[0091] The milling tool assembly 7 is installed on the side of the quick-change disc 8 inside the tool storage / replacement device I 3. This installation method has many advantages. First of all, it is very 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 perform a simple operation at the tool storage / replacement device I 3 to quickly complete the disassembly and installation of the tool. The design of the quick-change disc 8 can realize quick positioning and locking of the tool, greatly shortening the time for replacing the tool, reducing the downtime of the equipment, and improving the production efficiency. Secondly, the tool is installed on the side of the quick-change disc 8, which is convenient for management and storage, forms an orderly tool storage layout inside the tool storage / replacement device I 3, and is convenient for the operator to take the required tool at any time, and also protects the tool from being damaged when not in use.

[0092] The technical scheme has the following characteristics:

[0093] Processing quality improvement: The reasonable design and connection of the angle head, tool shank and tool head ensure the stability and cutting precision of the tool during milling, which can effectively improve the processing quality of the longitudinal weld 15.1 of the rotor support, reduce the surface roughness of the milled weld, and have higher size accuracy, which meets more stringent process requirements.

[0094] Operation efficiency guarantee: The milling tool assembly 7 installed on the side of the quick-change disc 8 has the characteristic of quick replacement, which can quickly switch the tool when facing different processing tasks or tool wear, ensure the continuity of the milling operation, and avoid affecting the overall processing progress due to too long tool replacement time.

[0095] Example 5

[0096] This embodiment discloses a rotor support longitudinal weld robot milling and grinding system, which is a preferred embodiment of the embodiment, i.e. based on embodiment 1, 2, 3 or 4, the articulated arm milling robot 2 is based on the robot body I 2.1, and the flexibility and multi-joint design can freely move in a complex working space to meet the processing needs of the longitudinal weld 15.1 of the rotor support at different positions. A milling spindle 2.2 is installed at the end of the robot body I 2.1, which is a key component for directly performing milling action. The end of the milling spindle 2.2 is provided with a BT40 tool shank interface, which is specially used for installing the tool shank of the milling tool assembly 7. The BT40 tool shank interface has good universality and stability, which can tightly cooperate with the tool shank of the milling tool assembly 7, ensure that the tool will not be loose or displaced during high-speed milling, and ensure the accuracy and safety of the milling operation. This standardized interface design also facilitates the operator to quickly replace the appropriate milling tool assembly 7 according to different processing tasks, and improves the work efficiency.

[0097] Example 6

[0098] The embodiment discloses a rotor support longitudinal weld seam robot milling and grinding system. As a preferred embodiment of the embodiment, i.e. based on embodiment 5, the milling spindle 2.2 adopts a YTD150 type permanent magnet synchronous electric spindle, which is connected with an oil cooler for heat dissipation. Compared with a traditional asynchronous electric spindle, the permanent magnet synchronous electric spindle has higher efficiency and power density, can output powerful power at lower energy consumption, and drives the milling cutter assembly 7 to rotate at high speed. When milling the rotor support longitudinal weld seam 15.1, high speed can realize more efficient cutting and improve the processing efficiency. Meanwhile, the speed control accuracy of the permanent magnet synchronous electric spindle is high, and the speed can be accurately adjusted according to different processing materials and process requirements, so that the stability of the milling quality is ensured. For example, when processing metal materials with high hardness, the speed can be appropriately reduced to ensure the durability of the cutter and the accuracy of the milling; and when processing soft materials, the speed can be increased to speed up the processing speed.

[0099] In addition, in order to ensure the stability and reliability of the milling spindle 2.2 under long-time high-speed operation, the milling spindle 2.2 is connected with an oil cooler for heat dissipation. During the milling process, the milling spindle 2.2 rotates at high speed and generates a large amount of heat. If the heat cannot be dissipated in time, the spindle temperature will be too high, which will affect the accuracy and service life of the spindle, and even the spindle may be damaged. The oil cooler circulates cooling oil to take away the heat generated by the spindle, so that the spindle always maintains in a suitable working temperature range. This heat dissipation method has the characteristics of high heat dissipation efficiency and precise temperature control, can effectively prolong 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 of the rotor support longitudinal weld seam 15.1.

[0100] Embodiment 7

[0101] The embodiment discloses a rotor support longitudinal weld seam robot milling and grinding system. As a preferred embodiment of the embodiment, i.e. based on any one of embodiments 1-6, the articulated arm polishing robot 10 takes the robot body II 10.1 as the main body, and can freely move in the working space and accurately reach each position of the rotor support longitudinal weld seam 15.1 thanks to the flexible joint structure, so as to meet diversified polishing requirements. The end of the robot body II 10.1 is provided with a belt sander 10.3 through a adapter flange 10.2, and the adapter flange 10.2 ensures the stable connection between the belt sander 10.3 and the robot body, so that the sander remains stable during work and avoids affecting the polishing effect due to looseness.

[0102] The force control system of the belt sander 10.3 adopts the Yuli iGrinder intelligent floating force control system, which includes a constant force floating device M5308S35 and a grinding head controller M8412RE, and has excellent performance. The polishing pressure is constant, ensuring that the polishing force of the belt on the longitudinal weld 15.1 of the rotor support remains consistent throughout the polishing process, avoiding uneven polishing surfaces caused by uneven pressure, and ensuring the stability of the polishing quality. The Yuli iGrinder intelligent floating force control system can adjust the floating degree in real time, with an axial floating range of 0-35mm and an axial force range of 0-500N. This feature allows the polishing robot to flexibly adjust the polishing force and position according to the actual situation of the longitudinal weld 15.1 of the rotor support. For example, when encountering uneven or irregular weld surfaces, the belt sander 10.3 can adapt to the weld surface by adjusting the floating degree, achieving more accurate polishing and effectively avoiding the impact of over-polishing or under-polishing on product quality, improving the adaptability of the equipment to different working conditions.

[0103] The belt piece 10.4 in the belt sander 10.3 can be replaced, which greatly improves the continuous working ability of the equipment. After the belt is worn out, the operator can quickly replace the new belt, reducing downtime caused by belt wear and improving production efficiency. At the same time, a belt storage rack 21 is provided on one side of the second ground rail device 9, which is used to store spare belt pieces 10.4 and is of great significance to automatic replacement of belt pieces 10.4.

[0104] The steps of the belt sander 10.3 to automatically replace the belt piece 10.4 are as follows:

[0105] The first step of replacing the belt is to open the cover of the belt sander 10.3 by the opening cover cylinder 10.5 on the cover of the belt sander 10.3. This automatic opening cover method has significant advantages over traditional manual opening cover. The opening cover cylinder 10.5 can accurately control the opening cover action, with fast and stable speed, greatly shortening the preparation time before replacing the belt. At the same time, it avoids problems such as incomplete opening of the cover or uneven force caused by manual operation, ensuring the smooth progress of the subsequent replacement process and reducing safety risks caused by improper manual operation.

[0106] The second step is to retract the tension cylinder 10.6 inside the belt sander 10.3, so that the old belt piece 10.4 loses tension and can be easily removed. The tension cylinder 10.6 plays a key role in maintaining the tension of the belt during the polishing process, and its retraction action is designed ingeniously when replacing the belt. By accurately controlling the extension and retraction of the tension cylinder 10.6, it ensures that the old belt can naturally fall off after losing tension without manual disassembly, reducing labor intensity, improving replacement efficiency, and also reducing the risk of scratches caused by manual contact with the old belt.

[0107] The third step is that the abrasive belt sander 10.3 is aligned with the abrasive belt storage rack 21 by the mechanical arm, which relies on a high-precision mechanical arm positioning system to ensure that the abrasive belt sander 10.3 can accurately dock with the abrasive belt storage rack 21. Subsequently, the abrasive belt sander 10.3 and the tensioning mechanism on the abrasive belt storage rack 21 are retracted to create conditions for the splicing of the abrasive belt. After the abrasive belt sander 10.3 is spliced on the abrasive belt piece 10.4 on the abrasive belt storage rack 21, the tensioning mechanism of the abrasive belt storage rack 21 is opened to tighten the abrasive belt piece 10.4. The coordinated design of this tensioning mechanism ensures the stability and accuracy of the new abrasive belt during installation, allowing the abrasive belt to be uniformly stressed and avoiding situations such as belt deviation or uneven tension, thereby ensuring the quality and stability of subsequent polishing operations.

[0108] The entire process of automatically replacing the abrasive belt piece 10.4, from opening the cover, removing the old abrasive belt to installing the new abrasive belt, is achieved through automatic operation, greatly shortening the abrasive belt replacement time. This allows the abrasive belt sander 10.3 to quickly return to work, reducing equipment downtime and improving production efficiency, especially suitable for large-scale production scenarios. The automated replacement process ensures the consistency and accuracy of each abrasive belt replacement, avoiding the problem of non-standard abrasive belt installation that may occur due to manual replacement, thereby ensuring the stability of the abrasive belt during polishing and providing a strong guarantee for improving product polishing quality. Automation reduces the need for frequent human contact with equipment, reducing the probability of damage to the equipment caused by human factors, extending the service life of the equipment, and indirectly reducing maintenance costs.

[0109] Embodiment 8

[0110] This embodiment discloses a rotor support longitudinal seam robot milling system, as a preferred embodiment of this embodiment, i.e. based on any one of embodiments 1-7, the robot polishing unit further comprises a dust removal mechanism, and the dust removal mechanism comprises a dust removal main machine 22 and a dust removal pipeline.

[0111] The dust removal main machine 22 is selected from an industrial pulse dust collector. This dust collector is designed specifically for industrial scenarios and has strong dust collection capacity, which can effectively collect a large amount of dust generated during polishing. It is electrically connected with the electrical control unit and can be automatically controlled through the electrical control unit. According to the start and stop of the polishing operation, the dust removal function is automatically turned on or off to ensure that dust is promptly treated when it is generated, while avoiding unnecessary energy consumption.

[0112] The dust removal pipeline is arranged on the side of the second ground rail device 9, which is a clever design. Since the articulated arm polishing robot 10 moves and works on the second ground rail device 9, arranging the dust removal pipeline on the side can make the dust suction port closer to the polishing area, improving the dust suction efficiency. The dust removal pipeline is in sealed and conductive connection with the dust removal main machine 22, ensuring the sealing of the entire dust suction system, preventing dust leakage, and ensuring the stability of the dust suction effect.

[0113] When the articulated arm polishing robot 10 is polishing, the friction between the abrasive belt and the longitudinal weld 15.1 of the rotor support will generate a large amount of dust. At this time, the industrial pulse dust collector is started, and the dust is sucked into the dust collector through the dust removal pipeline by strong suction. The dust collector is equipped with a pulse dust cleaning device, which periodically sends pulse airflow to the filter bag during dust collection, causing the dust attached to the filter bag to fall into the dust collection box, thereby ensuring the air permeability of the filter bag and the continuous and efficient operation of the dust collector.

[0114] The technical solution one is to improve the working environment, effectively reduce the dust concentration in the workshop, protect the health of the operators, and reduce the risk of occupational diseases; the second is to prevent dust from damaging the polishing equipment and other electronic components, prolonging the service life of the equipment; the third is to avoid dust flying in the workshop, affecting product quality and other production processes. Through the efficient work of the dust removal mechanism, the stable operation of the robot polishing unit and the cleanliness of the production environment are ensured.

[0115] Example 9

[0116] This embodiment discloses a rotor support longitudinal weld robot milling and grinding system, which is a preferred embodiment of this embodiment, i.e., based on any one of embodiments 1-8, the first vision device 4 and the second vision device 12 are both selected as sick visionary TOF cameras.

[0117] In the rotor support longitudinal weld 15.1 robot milling and grinding system, whether it is milling or polishing work, there are very high requirements for the detection accuracy of the weld position, shape and workpiece surface. The sick visionary TOF camera is based on the Time of Flight principle, which can accurately measure the distance between the object and the camera, and obtain high-precision three-dimensional data. For the complex geometry of the rotor support longitudinal weld 15.1, this 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 polishing path planning, ensuring that the machining precision meets the stringent industrial standards.

[0118] In industrial production, time efficiency is of utmost importance. The sickvisionary TOF camera has fast data acquisition capabilities, enabling it to obtain a large amount of point cloud data in a short time, quickly completing the scanning of the surface of the rotor support workpiece 15. This allows the robot to quickly respond to the data collected by the vision device during actual processing, adjusting processing parameters and paths in a timely manner, greatly improving production efficiency and meeting the needs of the production line for efficient operation.

[0119] Industrial production environments often have various interference factors, such as changes in light, electromagnetic interference, etc. The sickvisionary TOF camera uses advanced optical and electronic technology, with excellent anti-interference ability. It can work stably and accurately acquire measurement data under different lighting conditions, unaffected by environmental light fluctuations. At the same time, in complex electromagnetic environments, the camera can also maintain normal operation, ensuring the stability and reliability of visual detection, providing strong support for the continuous operation of the robot milling and grinding system in harsh industrial environments.

[0120] The sickvisionary TOF camera has a large field of view, capable of covering a larger measurement range at once, reducing the number of times and time of scanning the workpiece. At the same time, high resolution ensures that the data collected is rich in detail, even small weld defects or subtle features on the surface of the workpiece can be clearly captured. This allows for a comprehensive and detailed understanding of the state of the workpiece when detecting the rotor support, providing more accurate information for milling and grinding operations.

[0121] The first vision device 4 uses a sickvisionary TOF camera to accurately scan the surface of the rotor support workpiece 15, and the three-dimensional data obtained can help the system accurately calculate the relative position and angle of the milling tool assembly 7 and the weld. Based on these data, the system can plan the most optimal milling path, allowing the milling tool assembly 7 to process at the best cutting angle and depth, not only improving milling efficiency, but also reducing tool wear, extending tool life, and reducing production costs. The second vision device 12 uses a sickvisionary TOF camera to monitor the polishing state of the workpiece surface in real time during polishing. By comparing the three-dimensional data before and after polishing, the system can quickly find areas where polishing is uneven or does not meet the expected polishing effect, and adjust the working parameters of the polishing robot, such as polishing force, speed, and path, to ensure that the entire weld surface is polished evenly and with high quality, improving the surface quality and consistency of the product.

[0122] Example 10

[0123] The embodiment discloses a rotor support longitudinal weld seam robot milling and grinding method, as a preferred embodiment of the embodiment, any one of the rotor support longitudinal weld seam robot milling and grinding system in embodiments 1-9 is adopted, and the method comprises the following steps:

[0124] S1, the hardware device starts. Each hardware device in the milling and grinding system is manually started. The electrical control unit is the core hub. The robot milling unit, the robot polishing unit and the roller frame automatic displacement device 14 are controlled by the electrical cabinet. The HMI (Human Machine Interface) operation of the operation table 20 can be realized, and the convenience of human-computer interaction is realized. This centralized control mode ensures that each hardware device runs in order under unified instructions, avoids equipment damage or abnormal operation caused by improper starting sequence or communication failure. At the same time, the HMI operation interface enables the operator to intuitively monitor the equipment state and timely adjust the parameters, thereby improving the accuracy and efficiency of operation.

[0125] S2, the robot state checking. Whether the joint arm milling robot 2 and the joint arm polishing robot 10 are at the Home point (i.e. the initial position) and whether they are empty are checked, which is a key step to ensure that the robot works normally. If there is an abnormality, manual resetting can timely correct the position and load state of the robot, avoid position deviation, collision and other problems in the subsequent processing process, and ensure the processing precision and equipment safety.

[0126] S3, the workpiece clamping and calibration stage. Workpiece clamping: the rotor support workpiece 15 is hoisted to the roller frame automatic displacement device 14 and fixed by using the pressing cylinder, so as to ensure the stability of the workpiece in the processing process and prevent the processing precision from being reduced due to workpiece shaking. The use of the pressing cylinder realizes automatic clamping, improves the clamping efficiency, and ensures the consistency of the clamping force. Workpiece calibration: the rotor support workpiece 15 is calibrated, the first longitudinal weld seam 15.1 processing feature position is determined and marked, and an accurate starting position reference is provided for the subsequent milling and polishing operation. Accurate calibration is the basis for ensuring the accuracy of the entire milling and grinding process, which can ensure that the robot processes the longitudinal weld seam 15.1 according to the predetermined path, and avoids processing errors caused by position deviation.

[0127] S4, visual measurement and milling program acquisition. The first visual device 4 is mounted on the joint arm milling robot 2 and started, the robot auxiliary visual device is used to measure the weld scar and the surrounding features of the longitudinal weld seam 15.1, and the operation program is acquired. This visual measurement method can acquire the three-dimensional information of the workpiece surface in real time, provide accurate data support for the milling operation of the robot, make the robot process according to the actual shape and position of the weld seam, and improve the adaptability and precision of the processing.

[0128] S5, milling operation program simulation optimization. The operation program of the articulated arm milling robot 2 is simulated and optimized in the software, and the optimization content includes: analysis of motion trajectory, relative motion and interference collision, and autonomous optimization and adjustment of the posture of the articulated arm milling robot 2 by avoiding unreasonable robot target position points including singular points, unattainable points, axis limit points and interference collision points, to ensure the rationality and safety of the milling path. The simulation optimization process can discover potential problems in advance, reduce trial and error costs in actual processing, and improve processing efficiency and quality. After the milling path is determined to be qualified, the articulated arm milling robot 2 is started to perform and complete the milling operation of the current longitudinal weld seam 15.1.

[0129] S6, process conversion from milling operation to polishing operation. After completing the milling of the current longitudinal weld seam 15.1, the roller frame automatic displacement device 14 rotates the position of the completed milling longitudinal weld seam 15.1 to the working position of the articulated arm polishing robot 10, realizing seamless connection of the milling and polishing processes. This automatic process conversion method reduces manual intervention, improves production efficiency, and ensures the position accuracy of the workpiece between different processes.

[0130] 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 second visual device 12 is assisted by the articulated arm polishing robot 10 to measure the machined longitudinal weld seam 15.1 and the surrounding features of the rotor support workpiece 15, to obtain the operation program of the articulated arm polishing robot 10.

[0131] S8, polishing operation program simulation optimization. The operation program of the articulated arm polishing robot 10 is simulated and optimized in the software, and the optimization content includes: analysis of motion trajectory, relative motion and interference collision, and autonomous optimization and adjustment of the posture of the articulated arm polishing robot 10 by avoiding unreasonable robot target position points including singular points, unattainable points, axis limit points and interference collision points. The optimization of the polishing operation focuses on ensuring good contact between the polishing tool and the workpiece, avoiding excessive polishing or insufficient polishing, and ensuring that the surface quality after polishing meets the requirements. After the polishing path is determined to be qualified, the articulated arm polishing robot 10 is started to perform and complete the polishing operation of the current longitudinal weld seam 15.1.

[0132] S9, after finishing the polishing of the current longitudinal weld 15.1, return to step S4 for the next longitudinal weld 15.1 to be milled and polished on the current rotor support workpiece 15, until the milling and polishing work of all longitudinal welds 15.1 features on the current rotor support workpiece 15 is completed, realizing the overall processing of the rotor support workpiece 15. This kind of circular processing mode improves the utilization rate of the equipment, reduces the idle time of the equipment, and is suitable for batch production. After completing the processing, the robot is adjusted to zero position, and the software system and hardware equipment are manually turned off to ensure the safety and stability of the equipment in the non-working state, and also prepare for the next processing.

[0133] Example 11

[0134] The embodiment discloses a rotor support longitudinal weld robot milling method, as a preferred embodiment of the embodiment, that is, based on example 10, in step S4, the operation program of the articulated arm milling robot 2 includes the following steps:

[0135] First, manually teach the articulated arm milling robot 2 the first longitudinal weld 15.1 weld scar feature measurement program and save it for later reuse without the need for secondary teaching. Manually teaching the articulated arm milling robot 2 the first longitudinal weld 15.1 weld scar feature measurement program is the key starting point for obtaining the entire operation program. By manually operating the articulated arm milling robot 2, the first longitudinal weld 15.1 weld scar feature is accurately measured, which enables the articulated arm milling robot 2 to learn the most accurate measurement path and method. This method makes full use of the experience and judgment ability of the operator to the actual situation, ensuring 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, making the measurement result more accurate. Save the taught measurement program for later reuse without the need for secondary teaching. This greatly improves work efficiency and reduces repetitive labor. In batch production, the longitudinal weld 15.1 features of each rotor support workpiece 15 are similar, and by reusing the existing measurement program, the tedious teaching process for each workpiece is avoided, saving a lot of time and labor cost, while ensuring the consistency and stability of the measurement program.

[0136] Secondly, the measurement program is executed to obtain the longitudinal weld 15.1 weld bead data, the longitudinal weld 15.1 weld bead features are extracted, and the model is processed to obtain the key data for milling trajectory planning. The measurement program is executed to obtain the longitudinal weld 15.1 weld bead data, which is one of the core steps of obtaining the job program. The articulated arm milling robot 2 accurately measures the longitudinal weld 15.1 weld bead according to the preset measurement program, which can obtain rich raw data containing key information such as the shape, size, and position of the weld. Accurate data is the basis for subsequent processing, which directly affects the planning of the milling trajectory and the processing quality. The longitudinal weld 15.1 weld bead features are extracted and the model is processed to extract the key data for milling trajectory planning from the raw data. This requires the use of advanced algorithms and data analysis techniques to filter, analyze, and process a large amount of measurement data, remove noise and interference information, and extract the real useful weld features. For example, the edge detection algorithm is used to determine the boundary of the weld, and the surface fitting algorithm is used to obtain the shape model of the weld. The processed model and key data can provide accurate basis for milling trajectory planning, making the milling process more accurate and efficient.

[0137] Finally, the actual model is matched with the design model, the rotor support workpiece 15 coordinate system is calibrated, and the rotor support workpiece 15 coordinate system data and the articulated arm milling robot 2 program are output. The actual model is matched with the design model, which can ensure the accuracy and consistency of the processing. By comparing the actual measurement weld model 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 deviates from the design model, the deviation can be compensated by adjusting the motion trajectory of the robot to ensure that the milled weld meets the design requirements. The rotor support workpiece 15 coordinate system is calibrated, and the rotor support workpiece 15 coordinate system data and the articulated arm milling robot 2 program are output. Accurate coordinate system calibration is the key to ensuring that the robot processes in the correct position. By calibrating the coordinate system, the motion coordinates of the robot can be accurately matched with 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 of the workpiece coordinate system data and the robot program provides accurate guidance for the subsequent processing process, ensuring the smooth progress of the entire milling operation.

[0138] Example 12

[0139] The embodiment discloses a rotor support longitudinal weld robot milling method, which is a preferred embodiment of the embodiment, i.e. based on example 10 or 11, in step S5, the milling operation of a single longitudinal weld 15.1 is divided into longitudinal weld 15.1 rough machining and longitudinal weld 15.1 finish machining.

[0140] The longitudinal weld 15.1 is roughed using a disc cutter or an embedded nose cutter. The disc cutter has a larger cutting edge and higher cutting efficiency, which can quickly remove a large amount of material, suitable for initial milling of the longitudinal weld 15.1 in the roughing stage. The embedded nose cutter combines the characteristics of the nose cutter's arc cutting edge, which can reduce the cutting force to a certain extent while ensuring cutting efficiency, and can better adapt to the machining requirements of the rotor support longitudinal weld 15.1 with complex shape or soft material, avoiding excessive cutting or uneven cutting. The residual height of the tool mark is controlled within 1 mm, and the excess is within 1.5 mm. Such parameter setting is to ensure the machining efficiency and reserve appropriate machining allowance for subsequent finishing. Although the residual height of the tool mark is controlled within 1 mm, it allows a certain surface roughness, but does not affect the positioning and cutting of subsequent finishing. The excess of 1.5 mm can ensure that the uneven parts left by roughing can be completely removed during finishing, and will not cause excessive finishing time and affect the overall machining efficiency due to excessive allowance. At the same time, reasonable allowance control can also reduce tool wear, prolong tool life, and reduce processing cost.

[0141] The disc cutter is used for finishing of the longitudinal weld 15.1. Compared with roughing, more attention is paid to the precision and surface quality control ability of the tool at this time. The disc cutter can realize fine finishing of the weld surface through accurate tool path and cutting parameters during finishing, so that the weld surface can meet higher flatness and smoothness requirements. The residual height of the tool mark is controlled within 0.5 mm, and the excess is within 0.7 mm. This strict parameter requirement aims to ensure the final processing quality. The residual height of the tool mark is controlled within 0.5 mm, which can make the weld surface smoother and meet the high-precision product quality standard. The excess is controlled within 0.7 mm, which can ensure the removal of small defects left by roughing and avoid excessive cutting leading to size deviation of the workpiece. This precise allowance control is crucial to ensure the dimensional accuracy and performance stability of the rotor support, ensuring that the product can operate normally in the subsequent assembly and use process.

[0142] The rough and fine finishing of the present technical solution can effectively improve the surface quality and dimensional accuracy of the weld, meet the strict requirements of different products for the machining of the longitudinal weld 15.1, and create a good foundation for finishing by quickly removing most of the allowance during roughing. Reasonable tool selection and parameter control make roughing and finishing play the maximum efficiency in their respective stages, avoiding the problems of low efficiency or unstable quality that may be caused by single machining method, thereby improving the overall machining efficiency and reducing the production cost.

[0143] Example 13

[0144] The embodiment discloses a rotor support longitudinal weld seam robot milling method, as a preferred embodiment of the embodiment, i.e. based on embodiments 10, 11 or 12, in step S7, obtaining the operation program of the articulated arm polishing robot 10 includes the following steps:

[0145] Firstly, the first longitudinal weld seam 15.1 weld scar feature measurement program of the articulated arm polishing robot is artificially taught and saved, which can be reused subsequently without second teaching. The first longitudinal weld seam 15.1 weld scar feature measurement program of the articulated arm polishing robot 10 is artificially taught, which is an important beginning of the generation of the polishing operation program. The operator controls the articulated arm polishing robot 10 to accurately measure the first longitudinal weld seam 15.1 weld scar feature according to his own experience, so that the articulated arm polishing robot 10 can master the measurement path closest to the actual situation. For example, when facing complex weld seam shapes or irregular weld seams caused by welding processes, the operator can flexibly adjust the action of the articulated arm polishing robot 10 to ensure the accuracy of the measurement. This way makes up for the deficiency of the articulated arm polishing robot 10 in judging complex situations in the early stage of autonomous learning, and lays a solid foundation for subsequent polishing work. The measurement program completed by the first teaching is saved, and subsequent processing does not need to be taught again, which has obvious advantages in batch production scenarios. Although the features of the longitudinal weld seams 15.1 of each rotor support are slightly different, they are similar overall, and the reuse of the existing measurement program greatly saves manpower and time cost and improves production efficiency. At the same time, it also ensures the consistency of the polishing measurement program of different batches of products, which is conducive to ensuring the stability of product quality.

[0146] Secondly, the measurement program is executed to obtain the longitudinal weld seam 15.1 arc data, the longitudinal weld seam 15.1 arc feature is extracted and the model is processed to obtain the key data for polishing trajectory planning. The measurement program is executed to obtain the longitudinal weld seam 15.1 arc data, which is the core link of obtaining the polishing operation program. The articulated arm polishing robot 10 measures the arc part of the longitudinal weld seam 15.1 according to the preset measurement program, and a large amount of original data collected covers the key information of the curvature, radian and position of the weld seam. These data are important basis for subsequent polishing trajectory planning, and their accuracy directly affects the polishing effect. The key features are extracted from the collected longitudinal weld seam 15.1 arc data, and the model is processed to obtain the key data for polishing trajectory planning. This process uses professional data processing algorithms to remove noise and interference in the measurement data, and accurately extracts the key features of the weld seam, such as determining the start and end positions of the weld seam and calculating the curvature change of the weld seam. Through the analysis and processing of these key data, an accurate weld seam model is constructed to provide accurate guidance for polishing trajectory planning, ensuring that the polishing process can closely fit the actual shape of the weld seam and improving the polishing quality.

[0147] Finally, the actual model is matched with the design model, the rotor support workpiece 15 coordinate system is calibrated, and the rotor support workpiece 15 coordinate system data and the joint arm polishing robot 10 program are output. The actual measured weld model is matched with the design model, and this step is crucial to ensure polishing accuracy and product quality. By comparing the two, deviations between the actual weld and the design requirements can be found in time, such as shape deviation and position deviation of the weld. Once the deviation is found, the polishing parameters and trajectory can be adjusted accordingly to ensure that the final polished weld meets the design standards and avoids product quality problems caused by weld deviation. The rotor support workpiece 15 coordinate system is calibrated to ensure that the motion coordinates of the joint arm polishing robot 10 accurately correspond to the actual position of the workpiece. This process allows the joint arm polishing robot 10 to accurately reach the predetermined position during polishing and perform polishing operations according to the precise trajectory. The output rotor support workpiece 15 coordinate system data and joint arm polishing robot 10 program provide accurate action guidelines for subsequent polishing operations, ensuring smooth polishing work, improving polishing accuracy and efficiency, and thus ensuring the performance stability of the product during subsequent assembly and use.

[0148] Embodiment 14

[0149] This embodiment discloses a rotor support longitudinal weld robot milling and polishing method, which is a preferred embodiment of this embodiment, i.e., based on embodiments 10, 11, 12 or 13, in step S8, the polishing work of a single longitudinal weld 15.1 includes coarse grinding and fine grinding.

[0150] Coarse grinding stage:

[0151] Abrasive belt mesh selection: coarse grinding selects a 40 mesh abrasive belt 10.4. The mesh represents the fineness of the abrasive particles on the surface of the abrasive belt. The abrasive particles of the 40 mesh abrasive belt are relatively large. In the coarse grinding stage, the primary task is to quickly remove the large protrusions, burrs and thick machining allowances on the surface of the milled longitudinal weld 15.1. Larger abrasive particles can cut more material in a unit of time, thereby improving polishing efficiency and making the weld surface initially flat, creating good conditions for the subsequent fine grinding process.

[0152] Polishing effect and efficiency: With the strong cutting action of large abrasive particles, coarse grinding can quickly reduce the roughness of the weld surface and initially polish the uneven weld to a relatively flat state. Although the surface after coarse grinding still has a certain degree of roughness, 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 polishing process is greatly shortened, improving production efficiency, which is obvious in batch production.

[0153] Fine grinding stage:

[0154] Sand belt mesh selection: fine grinding uses 80 mesh and above sand belt 10.4, such as 80 mesh, 100 mesh or even higher mesh sand belt. As the mesh increases, the abrasive particles on the surface of the sand belt become smaller and smaller. In the fine grinding stage, the flatness and smoothness of the weld surface need to be further improved to meet higher quality standards. Fine abrasive particles can finely trim the weld surface and remove fine traces and unevenness left by coarse grinding.

[0155] Polishing effect and quality: through the fine polishing of 80 mesh and above sand belt 10.4, the roughness of the weld surface is significantly reduced and the surface smoothness is greatly improved. This high-quality polishing effect is crucial for some rotor support products with extremely high surface quality requirements, which can meet the requirements of the products in high-precision assembly and use, improve the overall performance and reliability of the products. At the same time, during the fine grinding process, due to the fine action of the abrasive particles, the uniformity of polishing can be better controlled to avoid over-polishing or under-polishing, ensuring the stability of polishing quality.

[0156] This technical solution adopts the combination of coarse grinding and fine grinding, and arranges the process of coarse grinding first and then fine grinding, which fully utilizes the advantages of sand belts 10.4 with different meshes. Coarse grinding ensures polishing efficiency and quickly removes a large amount of excess, while fine grinding ensures polishing quality and makes the weld surface meet high-precision requirements. This combined approach meets the demand for production efficiency and ensures product quality, which is an optimized polishing process solution. Reasonable division of coarse grinding and fine grinding avoids the problems of low efficiency and rapid sand belt wear caused by using high-mesh sand belts for the whole polishing process, and avoids the situation that low-mesh sand belts cannot meet the quality requirements. Through optimizing the polishing process, production cost is reduced and the economic benefit of the enterprise is improved.

[0157] Embodiment 15

[0158] This embodiment discloses a rotor support longitudinal weld seam robot milling and grinding method, which is a preferred embodiment of this embodiment, i.e. based on any one of embodiments 10-14, in steps S4 and S7, the first vision device 4 is mounted at the end of the robot body I, and the second vision device 12 is mounted at the end of the robot body II, which are carried by the corresponding robots to complete the scanning of the entire rotor support workpiece 15. This mounting method fully utilizes the flexibility and precise motion control capability of the robot. The robot body I and the robot body II can accurately move the vision device to the required position according to the preset path, ensuring comprehensive and dead-angle-free scanning of each part of the rotor support workpiece 15. For example, for a rotor support with complex shape, the robot can adjust the angle and position of the vision device through the coordinated motion of multiple joints, obtain information of the area that is difficult to directly observe, and provide complete data support for subsequent processing.

[0159] Both the first vision device 4 and the second vision device 12 scan the rotor bracket workpiece 15 twice respectively to complete the surface model reconstruction of the rotor bracket workpiece 15. Specifically:

[0160] First remote scanning: After the rotor bracket workpiece 15 is placed and fixed, the vision 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 preliminarily observed in a larger field of view, and the approximate shape, size and relative position relationship of each part of the workpiece can be quickly outlined. This provides a macro framework for subsequent fine scanning and helps to determine the key areas and plan more accurate scanning paths. For example, after obtaining the overall contour, the location of the polishing area in the entire workpiece can be determined, which prepares for subsequent targeted scanning.

[0161] Second scanning trajectory planning and fine data acquisition: According to the overall contour data obtained by the first scanning, the second 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 polishing area can be determined, so that the scanning trajectory can be planned specifically to ensure that the fine surface model data of the polishing area is obtained. For example, for the longitudinal weld 15.1 area, the second scanning can more accurately measure the shape, width, height and transition with the surrounding area of the weld, and these fine data are crucial for accurately planning the milling and polishing path and ensuring the processing quality.

[0162] In the technical solution, the first vision device 4 and the second vision device 12 both scan the rotor bracket workpiece 15 twice to complete the surface model reconstruction of the workpiece. This method ensures the completeness and accuracy of the obtained data. Through two scans, the workpiece can be observed from different angles and levels, avoiding data omission or deviation that may occur in single scanning. For example, the overall contour data obtained by the first scanning and the fine data obtained by the second scanning complement each other, so that the reconstructed surface model more truly 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 polishing operations. In the milling operation, based on accurate surface model data, the path of the milling tool assembly 7 can be planned more accurately to avoid excessive milling or insufficient milling, improving milling precision and surface quality. In the polishing operation, polishing parameters and paths can be adjusted according to the surface model data to ensure the uniformity and consistency of polishing, meeting the high-precision requirements of the workpiece surface.

Claims

1. A method of robotically milling and grinding a longitudinal weld seam of a rotor support, characterized in that, A rotor support longitudinal weld seam robot milling and grinding system is adopted; The milling and grinding system comprises an electrical control unit, a robot milling unit, a robot grinding unit and a roller frame automatic displacement device (14); the robot milling unit and the robot grinding unit are respectively arranged on the left and right sides of the roller frame automatic displacement device (14); the electrical control unit is electrically connected with the robot milling unit, the robot grinding unit and the roller frame automatic displacement device (14); The robot milling unit comprises a first ground rail device (1) and a joint arm milling robot (2); the joint arm milling robot (2) is installed on the first ground rail device (1) and moves reciprocatingly and linearly under the control of the first ground rail device (1), and is used for assisting in performing the milling work on the rotor support longitudinal weld seam (15.1); The robot grinding unit comprises a second ground rail device (9) and a joint arm grinding robot (10); the joint arm grinding robot (10) is installed on the second ground rail device (9) and moves reciprocatingly and linearly under the control of the second ground rail device (9), and is used for assisting in performing the grinding work on the rotor support longitudinal weld seam (15.1); The milling and grinding method comprises the following steps: S1, manually starting 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 by HMI; S2, checking whether the joint arm milling robot (2) and the joint arm grinding robot (10) are at the Home point and are empty, and manually resetting if there is an abnormality; S3, hoisting the rotor support workpiece (15) to the roller frame automatic displacement device (14), and fixing the rotor support workpiece (15) by using the pressing cylinder on the roller frame automatic displacement device (14); then calibrating the rotor support workpiece (15) to determine and mark the first longitudinal weld seam (15.1) processing feature position; S4, mounting the first visual device (4) on the joint arm milling robot (2) and starting the same, and assisting the first visual device (4) in measuring the current strip longitudinal weld seam (15.1) weld scar feature and peripheral feature of the rotor support workpiece (15) by using the joint arm milling robot (2), to obtain the working procedure of the joint arm milling robot (2); S5, simulating and optimizing the working procedure of the joint arm milling robot (2) in the software, and the optimization contents include: analyzing the motion trajectory, relative motion and interference collision, avoiding unreasonable robot target position points including singular points, unattainable points, axis limit and interference collision, and autonomously optimizing and adjusting the posture of the joint arm milling robot (2), after the milling path is determined to be qualified, starting the joint arm milling robot (2) to perform and complete the milling work on the current strip longitudinal weld seam (15.1). S6, after the current longitudinal weld (15.1) is milled, the roller frame automatic displacement device (14) rotates the rotor support workpiece (15), and the longitudinal weld (15.1) on which the milling operation is completed is rotated to the work station of the articulated arm polishing robot (10); S7, the second visual device (12) is mounted on the articulated arm polishing robot (10) and started, and the second visual device (12) measures the machined longitudinal weld (15.1) and the surrounding features of the rotor support workpiece (15) with the assistance of the articulated arm polishing robot (10) to obtain the operation program of the articulated arm polishing robot (10); S8, the operation program of the articulated arm polishing robot (10) is simulated and optimized in the software, and the optimization content includes: analysis of motion trajectory, relative motion and interference collision, by avoiding unreasonable robot target position points including singular points, unattainable, axis limit and interference collision, the posture of the articulated arm polishing robot (10) is autonomously optimized and adjusted, after the polishing path is determined to be qualified, the articulated arm polishing robot (10) is started to perform and complete the polishing operation of the current longitudinal weld (15.1); S9, after the polishing of the current longitudinal weld (15.1) is completed, the next longitudinal weld (15.1) to be milled and polished on the current rotor support workpiece (15) returns to step S4, until the milling and polishing work of all longitudinal welds (15.1) on the current rotor support workpiece (15) is completed, the articulated arm milling robot (2) and the articulated arm polishing robot (10) are adjusted to zero position, and the software system and each hardware device of the milling and polishing system are manually turned off.

2. The method of claim 1, wherein: In the adopted rotor support longitudinal weld robot milling and polishing system, the robot milling unit further comprises a tool storage / replacement device I, the tool storage / replacement device I (3) is fixedly installed on the first ground rail device (1), and the inside of the tool storage / replacement device I (3) stores milling auxiliary tools and a plurality of milling tool assemblies (7); the milling auxiliary tools include a tool setting gauge (6) and a first visual device (4), and further include a first visual quick change device (5) for quickly mounting the first visual device (4) on the articulated arm milling robot (2).

3. The method of claim 2, wherein: In the adopted rotor support longitudinal weld robot milling and polishing system, the milling tool assembly (7) comprises an angle head, a tool shank and a tool head which are fixedly connected in sequence, and is installed on the side surface of a quick change disc (8) in the inside of the tool storage / replacement device I (3).

4. The method of claim 1, wherein, In the adopted rotor support longitudinal weld robot milling and polishing system, the robot polishing unit further comprises a tool storage / replacement device II (11), the tool storage / replacement device II (11) is fixedly installed on the second ground rail device (9), the inside of the tool storage / replacement device II (11) 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 polishing robot (10) is further included.

5. The method of claim 1, wherein, The electric control unit of the adopted rotor support longitudinal weld seam robot milling and grinding system includes a first electric cabinet (16), a first control cabinet (17), a second electric cabinet (18), a second control cabinet (19) and an operation table (20), the first electric cabinet (16) and the second control cabinet (19) are electrically connected with the operation 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 with the first electric cabinet (16) through the first control cabinet (17) respectively; the roller frame automatic displacement device (14), the second ground rail device (9) and the articulated arm polishing robot (10) are electrically connected with the second electric cabinet (18) through the second control cabinet (19) respectively.

6. The method of claim 1, wherein, The first ground rail device (1) of the adopted rotor support longitudinal weld seam robot milling and grinding system includes a first ground rail body (1.1) driven by an external shaft motor, a first ground rail base (1.2) is arranged at the bottom of the first ground rail body (1.1), and a first sliding seat (1.3) is slidingly installed at the top of the first ground rail body (1.1); the articulated arm milling robot (2) is installed on the first sliding seat (1.3).

7. The method of claim 1, wherein, The articulated arm milling robot (2) of the adopted rotor support longitudinal weld seam robot milling and grinding system includes a robot body I (2.1), a milling spindle (2.2) is installed at the tail end of the robot body I (2.1), and a BT40 tool shank interface is arranged at the end of the milling spindle (2.2) to install a tool shank of a milling tool assembly (7).

8. The method of claim 7, wherein: The milling spindle (2.2) of the articulated arm milling robot (2) of the adopted rotor support longitudinal weld seam robot milling and grinding system adopts a YTD150 type permanent magnet synchronous electric spindle, and the milling spindle (2.2) is connected with an oil cooling machine for heat dissipation.

9. The method of claim 1, wherein, The second ground rail device (9) of the adopted rotor support longitudinal weld seam robot milling and grinding system includes a second ground rail body (9.1) driven by an external shaft motor, a second ground rail base (9.2) is arranged at the bottom of the second ground rail body (9.1), and a second sliding seat (9.3) is slidingly installed at the top of the second ground rail body (9.1); the articulated arm polishing robot (10) is installed on the second sliding seat (9.3).

10. The method of claim 1, wherein, The articulated arm polishing robot (10) of the adopted rotor support longitudinal weld seam robot milling and grinding system includes a robot body II (10.1), a belt sander (10.3) is installed at the tail end of the robot body II (10.1) through an adapter flange (10.2), and the belt sander (10.3) is electrically connected with a force control system; a belt piece (10.4) in the belt sander (10.3) is replaceably arranged, and a belt storage rack (21) for placing a spare belt piece (10.4) is arranged on one side of the second ground rail device (9).

11. The method of claim 1, wherein, The robot polishing unit of the longitudinal seam robot milling and grinding system further comprises a dust removal mechanism, and the dust removal mechanism comprises a dust removal host (22) and a dust removal pipeline; the dust removal host (22) is an industrial pulse dust collector and is electrically connected with the electrical control unit; the dust removal pipeline is arranged on the side of the second ground rail device (9) and is in sealing and conductive connection with the dust removal mechanism.

12. The method of claim 1, wherein, In the step S4, the operation program of the articulated arm milling robot (2) is obtained by the following steps: The first longitudinal seam (15.1) weld scar feature measurement program of the articulated arm milling robot (2) is manually taught and saved; The weld scar data of the longitudinal seam (15.1) is obtained by executing the measurement program, the weld scar feature of the longitudinal seam (15.1) is extracted, and the model is processed to obtain key data for milling trajectory planning; The actual model is matched with the design model, the rotor support workpiece (15) coordinate system is calibrated, and the rotor support workpiece (15) coordinate system data and the articulated arm milling robot (2) program are output.

13. The method of claim 1, wherein: In the step S5, the milling operation of a single longitudinal seam (15.1) is divided into longitudinal seam (15.1) rough machining and longitudinal seam (15.1) finishing, the longitudinal seam (15.1) rough machining uses a disc cutter or an embedded round nose cutter, the control of the residual height of the cutter mark is within 1mm, and the excess is within 1.5mm, the longitudinal seam (15.1) finishing uses a disc cutter, the control of the residual height of the cutter mark is within 0.5mm, and the excess is within 0.7mm.

14. The method of claim 1, wherein, In the step S7, the operation program of the articulated arm polishing robot (10) is obtained by the following steps: The first longitudinal seam (15.1) weld scar feature measurement program of the articulated arm polishing robot (10) is manually taught and saved; The circular arc data of the longitudinal seam (15.1) is obtained by executing the measurement program, the circular arc feature of the longitudinal seam (15.1) is extracted, and the model is processed to obtain key data for polishing trajectory planning; The actual model is matched with the design model, the rotor support workpiece (15) coordinate system is calibrated, and the rotor support workpiece (15) coordinate system data and the articulated arm polishing robot (10) program are output.

15. The method of claim 1, wherein, In the step S8, the polishing operation of a single longitudinal seam (15.1) comprises rough polishing and fine polishing; the rough polishing uses a 40 mesh abrasive belt (10.4), and the fine polishing uses an 80 mesh or above abrasive belt (10.4).

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