Weld joint polishing device and method for wheel product

Abstract

The invention is suitable for the technical field of wheel product machining, and provides a welding seam polishing device and method for a wheel product, the device comprises a rack and two sets of sliding mechanisms, the two sets of sliding mechanisms are vertically and horizontally arranged on the rack respectively, the device further comprises a fixing mechanism used for clamping a rim, and the fixing mechanism is used for fixing the rim; the fixing mechanism is mounted on the sliding mechanism which is horizontally arranged; the detection mechanism and the grinding mechanism are located on the vertically-arranged sliding mechanism, and the detection mechanism is used for collecting coordinate information of base metal beside a welding seam and a preset original point and generating a height array; the fixing mechanism, the grinding mechanism, the sliding mechanism and the detection mechanism are all electrically connected with the central control unit, the central control unit is used for receiving detection data and outputting a control instruction, and the problems that traditional manual grinding is low in efficiency, poor in precision, insufficient in consistency and the like are solved.

Description

Technical Field

[0001] This invention relates to the field of wheel product processing technology, specifically to a wheel product weld grinding device and method. Background Technology

[0002] Grinding the weld seams of steel wheel rims is a crucial step in automated wheel production lines. After the rims are made from cut sheet metal through processes such as rounding, butt welding, and slag removal, the weld seams on the workpiece surface need to be ground to ensure a smooth finish. Traditionally, this grinding operation relies heavily on manual labor, which has several drawbacks: First, manual operation is inefficient, and each weld takes a long time. In mass production scenarios, the capacity bottleneck is prominent and it is difficult to meet the needs of large-scale production. Secondly, the grinding quality relies entirely on the technician's experience, resulting in poor consistency in grinding precision, flatness, and excess height. Over-grinding or under-grinding is likely to occur, leading to insufficient product quality stability. Third, the labor intensity is high. The hand-held grinding tools vibrate strongly, the working environment is dusty, and long-term work can easily lead to worker fatigue. At the same time, labor costs are high, material waste is serious, and the rework rate remains high. Fourth, its applicability is limited. It is difficult to grind welds on complex curved surfaces and in narrow spaces, and dead corners are easily not properly treated.

[0003] Existing technologies lack automated systems that can adapt to mass production and achieve standardized grinding control. Some existing automated grinding equipment can only perform simple fixed-track grinding and cannot dynamically adjust the motion trajectory and grinding parameters according to the actual situation of the weld. Furthermore, the parameters are not supported by precise mathematical models for optimization, resulting in problems such as insufficient grinding accuracy and poor adaptability. At the same time, the grinding structure is relatively simple and cannot remove the debris generated during grinding in a timely manner, affecting the grinding effect. It is difficult to effectively solve the problems of efficiency, quality, cost, and adaptability of manual grinding.

[0004] Therefore, in view of the above situation, there is an urgent need to provide a device and method for grinding the weld seams of wheel products to overcome the shortcomings in current practical applications. Summary of the Invention

[0005] The purpose of this invention is to provide a welding seam grinding device and method for wheel products, aiming to solve the problems mentioned in the background art.

[0006] This invention is implemented as follows: a weld seam grinding device for wheel products includes a frame and a sliding mechanism. Two sets of sliding mechanisms are provided, one vertically and one horizontally mounted on the frame. The device also includes: A fixing mechanism for clamping the wheel rim, the fixing mechanism being mounted on a horizontally arranged sliding mechanism; A detection mechanism and a grinding mechanism are located on a vertically arranged sliding mechanism. The detection mechanism is used to collect the coordinate information of the base material next to the weld and the preset origin and generate a height array. The fixing mechanism, grinding mechanism, sliding mechanism, and detection mechanism are all electrically connected to the central control unit, which is used to receive detection data and output control commands.

[0007] As a further embodiment of the present invention: the fixing mechanism includes a bracket, a clamping block and a cylinder, the cylinder is mounted on the bracket, the telescopic end of the cylinder is fixedly connected to the clamping block, and the clamping block is provided in three sets; The clamping block is inverted triangular in shape.

[0008] As a further embodiment of the present invention: the detection mechanism includes a forward and backward servo displacement sensor and a data processing module; The servo displacement sensor records the height data of the base material next to the weld in real time, generates an array of front and rear positions and corresponding base material heights, and transmits the array to the central control unit.

[0009] As a further embodiment of the present invention: the grinding mechanism includes a support base, a main shaft, a grinding block, two servo motors and a drive motor. The drive motor is mounted on the support base and is used to drive the main shaft to rotate. The servo motor is mounted on a vertically arranged sliding mechanism and is used to drive the support base to move back and forth and up and down. The grinding block is fixedly installed at the end of the main shaft, and there are two sets of grinding blocks. The two sets of grinding blocks are fixedly connected, and each set of grinding blocks is provided with multiple grinding components.

[0010] As a further aspect of the present invention: the grinding block has a first guide cavity and a second guide cavity, and multiple sets of the second guide cavity are provided. The first guide cavity and the second guide cavity are connected through a connecting hole. The main shaft is provided with a second guide tube, and there are two second guide tubes. The two second guide tubes are respectively used to connect the two sets of first guide cavities in the grinding block. An air guide ring is also rotatably mounted on the main shaft, and a sealed space is formed between the air guide ring and the outer surface of the main shaft. The second guide tube is connected to the sealed space through a third guide tube. The air guide ring is also provided with a first guide tube. The grinding assembly includes: A piston plate is slidably installed in the second flow guide cavity, and a spring is provided in the second flow guide cavity for elastically supporting the piston plate. A limiting stop bar is used to limit the piston plate, and the limiting stop bar is disposed in the second flow guide cavity; A grinding disc is slidably mounted on a grinding block, the grinding disc being able to extend beyond the surface of the grinding block, and the grinding disc being connected to the piston plate via a linkage rod; The blow holes are provided in multiple sets on the grinding surface of the grinding disc, and the angle between the spray direction of the blow holes and the grinding surface of the grinding disc is an acute angle. The guide grooves are formed in the grinding disc, the linkage rod and the piston plate, and the guide grooves are connected to the purging holes. The piston plate is provided with a circular hole that is connected to the guide grooves; wherein, multiple guide grooves are interconnected. The control column is located in the second guide cavity. The end of the control column slides and engages with the circular hole on the piston plate. The outer wall of the control column is in contact with the inner wall of the circular hole. The control column is also provided with a groove. When the groove coincides with the circular hole, the gas can enter the guide groove through the circular hole.

[0011] As a further aspect of the present invention, the grinding components on the two sets of grinding blocks are arranged alternately.

[0012] As a further aspect of the present invention: the detection mechanism further includes a vision detection module, which is used to collect image information of the weld and compare it with a preset standard image to assist in judging the grinding effect. If the preset standard is not met, the central control unit controls the grinding mechanism to perform secondary grinding.

[0013] The present invention also provides a method for grinding weld seams in wheel products, using the apparatus described above, and the method includes the following steps: S1: The steel rim is manually moved to the clamping area of ​​the fixing mechanism. The central control unit controls the cylinder to drive the inverted triangular clamping block to clamp the rim. The detection mechanism detects whether the rim is in place. S2: If the rim is in place, the sliding mechanism drives the rim to slide along the guide rail to the processing position; S3: The servo displacement sensor of the detection mechanism collects the height data of the base material next to the weld, generates an array of front and rear positions and corresponding base material heights, and transmits it to the central control unit. The central control unit has a built-in dynamic motion planning algorithm that integrates multi-dimensional constraints. S4: The central control unit uses a built-in dynamic motion planning algorithm that integrates multi-dimensional constraints to plan the grinding motion trajectory and initial parameters based on the height array, Gaussian filter formula, cubic spline interpolation formula and piecewise Bézier curve fitting formula, and controls the grinding mechanism to grind the weld. S5: During the grinding process, the vision inspection module acquires weld images in real time, and the central control unit calculates the deviation value and dynamically adjusts the grinding parameters through the PID closed-loop control formula. S6: After grinding, the sliding mechanism drives the rim to the unloading station, where the rim is manually removed, completing one grinding operation.

[0014] As a further aspect of the present invention: in S4, the dynamic motion planning algorithm performs the following steps: S41: Data preprocessing: The height array transmitted by the testing agency is subjected to noise reduction and filtering. Gaussian filtering formula is used to remove abnormal data points, and cubic spline interpolation formula is used to complete the missing data to generate a continuous base material height curve. Gaussian filter formula: ; in, This represents the deviation between the original height data and the mean of the neighboring data. This represents the standard deviation of the filter, ranging from 0.1 to 0.3. This is the output value of the filtered data; Cubic spline interpolation formula: ; in, Given the height data points, For cubic spline basis functions, The number of known data points. These are the interpolated continuous height values; S42: Constraint construction, constructing a multi-dimensional constraint system including grinding accuracy constraints, mechanism motion limit constraints, weld reinforcement target constraints, and grinding efficiency constraints; S43: Trajectory planning. Based on the preprocessed base material height curve and multi-dimensional constraint system, the motion trajectory of the grinding mechanism is planned using a piecewise Bézier curve fitting formula, so that the trajectory satisfies all constraints while achieving adaptive fitting between the grinding path and the base material height curve. Piecewise Bézier curve fitting formula: ; in, For parameter variables, For trajectory control points, The coefficients are binomial coefficients. The order of the curve. The coordinates of the planned trajectory points; S44: Parameter dynamic optimization. Based on the weld image data fed back by the vision inspection module during real-time grinding, the deviation value Δ between the current grinding effect and the preset standard is calculated. The grinding speed, grinding angle and grinding force parameters are dynamically adjusted through the PID closed-loop control formula. When the deviation value Δ>0.05mm, the grinding force is adjusted first, and the adjustment range is 5%-15% of the initial value. When the deviation value Δ≤0.05mm, the grinding parameters are kept stable. PID closed-loop control formula: ; in, For adjusting the grinding parameters, This is a proportionality coefficient used for rapid response to real-time deviations. These are integral coefficients used to eliminate static bias. These are the differential coefficients, used to suppress parameter overshoot. This is the real-time deviation value at the current moment. To make the most of the time, For integration time variable, 0 The cumulative deviation over time period t. This represents the rate of change of deviation.

[0015] By adopting the above technical solution, the present invention has the following beneficial effects: By accurately collecting the height data of the base material through the testing agency, and combining it with the dynamic motion planning algorithm of the central control unit that integrates multi-dimensional constraints, and introducing mathematical formulas such as Gaussian filtering, cubic spline interpolation, piecewise Bézier curve fitting and PID closed-loop control, the system achieves accurate preprocessing of grinding data, accurate trajectory planning and dynamic optimization of parameters. This avoids the problems of uneven grinding and low precision caused by manual grinding relying on experience and traditional automated equipment grinding with fixed trajectories. It ensures that the flatness of the weld grinding has an allowable error of no more than ±0.02mm and the excess height is controlled within 0-0.3mm, which significantly improves the consistency of grinding quality and reduces the risk of over-grinding and under-grinding. Automated operation, combined with grinding efficiency constraints in dynamic motion planning algorithms, reduces the time spent on repeated manual adjustments and tests. The grinding time of a single weld seam is controlled within a preset threshold, adapting to the needs of mass production and effectively breaking through the capacity bottleneck. Automated operations reduce reliance on skilled workers and lower labor costs; at the same time, precise grinding control and dynamic parameter optimization reduce material waste and rework rates caused by poor grinding, further reducing production costs. The inverted triangular clamping device of the fixing mechanism, combined with cylinder adjustment, is compatible with various specifications of steel rims, and the central control unit supports parameter storage and recall, reducing changeover time and improving the applicability and production flexibility of the equipment. It avoids direct manual operation in harsh environments with high dust and strong vibrations, reducing labor intensity and protecting the health of operators; the mechanism motion limit constraints in the dynamic motion planning algorithm prevent equipment from being overloaded and extend the service life of the equipment; the alarm mechanism can provide timely warning of faults and improve operational safety. Attached Figure Description

[0016] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0017] Figure 1 This is a perspective view of the present invention.

[0018] Figure 2 This is a plan view of the present invention.

[0019] Figure 3 This is a schematic diagram of the grinding mechanism in this invention.

[0020] Figure 4 for Figure 3 The left view.

[0021] Figure 5 for Figure 4 A partial sectional view.

[0022] Figure 6 This is a schematic diagram of the internal structure of the grinding block in this invention.

[0023] Figure 7 This is a schematic diagram of the grinding component in this invention.

[0024] Figure 8 for Figure 7 A schematic diagram of the structure behind the hidden piston plate.

[0025] Figure 9 for Figure 7 The right view.

[0026] Figure 10 This is a cross-sectional view of the grinding component in this invention.

[0027] Reference numerals: 1-Frame, 2-Sliding mechanism, 3-Fixing mechanism, 4-Detection mechanism, 5-Grinding mechanism, 6-Main shaft, 7-Conduit 1, 8-Air guide ring, 9-Grinding block, 10-Grinding disc, 11-Conduit 2, 12-Conduit 3, 13-Connecting hole, 14-Piston plate, 15-Purge hole, 16-Limit stop bar, 17-Spring, 18-Linkage rod, 19-Control column, 20-Groove, 21-Guide groove, 22-Guide cavity 1, 23-Guide cavity 2. Detailed Implementation

[0028] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0029] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0030] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0031] The present invention will be further explained below with reference to specific embodiments.

[0032] Please see Figures 1-10 The present invention provides a weld grinding device for wheel products, comprising: The frame 1 and the sliding mechanism 2 are provided in two sets, which are respectively vertically and horizontally arranged on the frame 1. The fixing mechanism 3 is used to clamp the wheel rim and is mounted on the horizontally arranged sliding mechanism 2; The detection mechanism 4 and the grinding mechanism 5 are located on the vertically set sliding mechanism. The detection mechanism 4 is used to collect the coordinate information of the base material next to the weld and the preset origin and generate a height array. The fixing mechanism, grinding mechanism, sliding mechanism, and detection mechanism are all electrically connected to the central control unit, which is used to receive detection data and output control commands.

[0033] For a more specific example, please refer to Figures 1-2The fixing mechanism 3 includes a bracket, a clamping block and a cylinder. The cylinder is mounted on the bracket and its telescopic end is fixedly connected to the clamping block. The clamping block is provided in three sets. The clamping block is inverted triangular in shape, which is adapted to the unique structure of the wheel rim. The clamping force can be adjusted by a cylinder to adapt to different specifications of steel wheel rims.

[0034] For a more specific example, please refer to Figures 1-2 The detection mechanism 4 includes a front-to-back servo displacement sensor and a data processing module, which are used to collect the coordinate information of the base material next to the weld and the preset origin and generate a height array; The servo displacement sensor records the height data of the base material next to the weld in real time, generates an array of front and rear positions and corresponding base material heights, and transmits the array to the central control unit.

[0035] For a more specific example, please refer to Figures 1-10 The grinding mechanism 5 includes a support base, a spindle 6, a grinding block 9, two servo motors and a drive motor. The drive motor is mounted on the support base and is used to drive the spindle 6 to rotate. The servo motor is mounted on the vertically mounted sliding mechanism 2 and is used to drive the support base to move back and forth and up and down, thereby driving the grinding mechanism 5 to move as a whole. The grinding block 9 is fixedly installed on the end of the spindle 6, and there are two sets of grinding blocks 9. The two sets of grinding blocks 9 are fixedly connected, and each set of grinding blocks 9 is provided with multiple grinding components. The grinding block 9 has a first guide cavity 22 and a second guide cavity 23, and multiple sets of second guide cavities 23 are provided. The first guide cavity 22 and the second guide cavity 23 are connected through a connecting hole 13. The main shaft 6 is provided with a second guide tube 11, and two second guide tubes 11 are provided. The two second guide tubes 11 are respectively used to connect the two sets of first guide cavities 22 in the grinding block 9. An air guide ring 8 is also rotatably mounted on the main shaft 6, and a sealed space is formed between the air guide ring 8 and the outer surface of the main shaft 6. The second guide tube 11 is connected to the sealed space through a third guide tube 12. The air guide ring 8 is also provided with a first guide tube 7. The grinding assembly includes: Piston plate 14, which is slidably installed in the flow guide cavity 23, and the flow guide cavity 23 is provided with a spring 17 for elastically supporting the piston plate 14. A limiting stop 16 is used to limit the piston plate 14, and the limiting stop 16 is disposed in the flow guide cavity 23; A grinding disc 10 is slidably mounted on the grinding block 9. The grinding disc 10 can extend out of the surface of the grinding block 9, and the grinding disc 10 is connected to the piston plate 14 by a linkage rod 18. The blow-off holes 15 are provided in multiple sets on the grinding surface of the grinding disc 10, and the angle between the spray direction of the blow-off holes 15 and the grinding surface of the grinding disc 10 is an acute angle. A guide groove 21 is formed in the grinding disc 10, the linkage rod 18 and the piston plate 14. The guide groove 21 is connected to the purging hole 15. A circular hole is formed on the piston plate 14 that is connected to the guide groove 21. The multiple guide grooves 21 are interconnected. And a control column 19 is provided in the second guide cavity 23. The end of the control column 19 slides and slides with the round hole on the piston plate 14, and the outer wall of the control column 19 is in contact with the inner wall of the round hole. The control column 19 is also provided with a groove 20. When the groove 20 coincides with the round hole, the gas can enter the guide groove 21 through the round hole. The grinding components on the two sets of grinding blocks 9 are arranged alternately to facilitate the removal of impurities.

[0036] In this embodiment, during use, the first conduit 7 is connected to an external air source. Utilizing the coordinated arrangement of the first conduit 7, the air guide ring 8, and the third conduit 12, gas can be introduced into different guide chambers 22 via the second conduit 11. If the area to be polished is small, only the polishing components on one set of polishing blocks 9 will operate, avoiding damage to other parts of the rim. After the gas enters the first guide chamber 22, it will enter the second guide chamber 23 through the connecting hole 13, thereby pushing the piston plate 14 to move. This causes the piston plate 14 to press against the limiting stop 16, and the linkage rod 18 can drive the grinding disc 1. The synchronous movement of the piston plate 10 allows the grinding surface of the grinding disc 10 to contact the rim, facilitating the grinding operation. When the piston plate 14 is pressed onto the limiting stop 16, the groove 20 will coincide with the round hole on the piston plate 14, allowing gas to enter the guide groove 21 through the round hole and be ejected through the blow-out hole 15, thereby blowing away impurities between the grinding disc 10 and the rim. Since the air output of the blow-out hole 15 is fixed, after the piston plate 14 is pressed onto the limiting stop 16, it is only necessary to increase the gas input to ensure that the piston plate 14 is always pressed onto the limiting stop 16, thus avoiding affecting the grinding effect.

[0037] For a more specific example, please refer to Figures 1-2 The sliding mechanism 2 includes a slider, a guide rail, and a base plate. The guide rail is mounted on the base plate, and the slider is disposed on the guide rail. A lubrication assembly is provided between the slider and the guide rail of the sliding mechanism. The central control unit can automatically control the start and stop of the lubrication assembly according to the running time to ensure the motion accuracy and service life of the sliding mechanism.

[0038] In a more specific example, an alarm mechanism is also included, which is electrically connected to the central control unit. When the detection mechanism 4 detects that the rim is not in place, the grinding parameters are abnormal, or the mechanism malfunctions, the central control unit triggers the alarm mechanism to issue a warning signal. The central control unit supports parameter storage and recall functions, and can preset grinding parameter schemes for different specifications of rims. When changing rim specifications, the corresponding scheme can be directly recalled to reduce changeover time.

[0039] For a more specific example, please refer to Figures 1-2 The inspection mechanism 4 also includes a vision inspection module, which is used to collect image information of the weld and compare it with a preset standard image to help judge the grinding effect. If the preset standard is not met, the central control unit controls the grinding mechanism 5 to perform secondary grinding.

[0040] Please see Figures 1-10 This invention also provides a method for grinding weld seams in wheel products, using the apparatus described above, the method comprising: S1: The steel rim is manually moved to the clamping area of ​​the fixing mechanism 3. The central control unit controls the cylinder to drive the inverted triangular clamping block to clamp the rim. The detection mechanism 4 detects whether the rim is in place. S2: If the rim is in place, the sliding mechanism 2 drives the rim to slide along the guide rail to the processing position; S3: The servo displacement sensor of the detection mechanism 4 collects the height data of the base material next to the weld, generates an array of front and rear positions and corresponding base material heights, and transmits it to the central control unit. The central control unit has a built-in dynamic motion planning algorithm that integrates multi-dimensional constraints. S4: The central control unit uses a built-in dynamic motion planning algorithm that integrates multi-dimensional constraints to plan the grinding motion trajectory and initial parameters based on the height array, Gaussian filter formula, cubic spline interpolation formula and piecewise Bézier curve fitting formula. It controls two servo motors to drive the grinding mechanism 5 to move, and at the same time starts the drive motor to drive the spindle 6 and grinding block 9 to rotate, and grind the weld. S5: During the grinding process, the vision inspection module acquires weld images in real time, and the central control unit calculates the deviation value and dynamically adjusts the grinding parameters through the PID closed-loop control formula. S6: After grinding, the sliding mechanism 2 drives the rim to the unloading station, and the rim is manually removed to complete one grinding operation.

[0041] For a more specific example, please refer to Figures 1-2 In S4, the dynamic motion planning algorithm performs the following steps: S41: Data preprocessing, noise reduction and filtering are performed on the height array transmitted by the testing agency 4, abnormal data points are removed by Gaussian filtering formula, missing data are filled by cubic spline interpolation formula, and a continuous parent material height curve is generated. Gaussian filter formula:

[0042] in, This represents the deviation between the original height data and the mean of the neighboring data. This represents the standard deviation of the filter, ranging from 0.1 to 0.3. This is the output value of the filtered data; Cubic spline interpolation formula:

[0043] in, Given the height data points, For cubic spline basis functions, The number of known data points. These are the interpolated continuous height values; S42: Constraint Construction. Construct a multi-dimensional constraint system including grinding accuracy constraints, mechanism motion limit constraints, weld height target constraints, and grinding efficiency constraints. Among them, the grinding accuracy constraint sets the allowable error of weld flatness to not exceed ±0.02mm, the mechanism motion limit constraint limits the maximum speed, maximum stroke, and acceleration threshold of the servo motor, the weld height target constraint sets the weld height after grinding to be 0-0.3mm, and the grinding efficiency constraint sets the grinding time of a single weld to not exceed a preset threshold. S43: Trajectory planning. Based on the preprocessed base material height curve and multi-dimensional constraint system, the motion trajectory of the grinding mechanism is planned using a piecewise Bézier curve fitting formula, so that the trajectory satisfies all constraints while achieving adaptive fitting between the grinding path and the base material height curve. Piecewise Bézier curve fitting formula:

[0044] in, For parameter variables, These are the trajectory control points (obtained by discretizing the parent material height curve). The coefficients are binomial coefficients. The order of the curve (values ​​3-5). The coordinates of the planned trajectory points; S44: Parameter dynamic optimization. Based on the weld image data fed back by the vision inspection module during real-time grinding, the deviation value Δ between the current grinding effect and the preset standard is calculated. The grinding speed, grinding angle and grinding force parameters are dynamically adjusted through the PID closed-loop control formula. When the deviation value Δ>0.05mm, the grinding force is adjusted first, and the adjustment range is 5%-15% of the initial value. When the deviation value Δ≤0.05mm, the grinding parameters are kept stable. PID closed-loop control formula:

[0045] in, The grinding parameter adjustment amount (unit: matched according to the type of adjustment parameter, force is N, speed is r / min, and angle is °). This is a proportionality coefficient (ranging from 1.2 to 2.5), used for rapid response to real-time deviations. This is the integral coefficient (value 0.01-0.05), used to eliminate static bias. These are the differential coefficients (ranging from 0.1 to 0.3), used to suppress parameter overshoot. For the current time ( Real-time deviation value (unit: mm) at time (time). Polishing time (unit: seconds). For integration time variables (traversing 0) (t is any point in time, in seconds). 0 Cumulative deviation over time period t (unit: mm) s), The deviation rate is expressed in mm / s.

[0046] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A weld grinding device for wheel products, comprising a frame and a sliding mechanism, wherein two sets of sliding mechanisms are provided, the two sets of sliding mechanisms being vertically and horizontally arranged on the frame respectively, characterized in that, Also includes: A fixing mechanism for clamping the wheel rim, the fixing mechanism being mounted on a horizontally arranged sliding mechanism; A detection mechanism and a grinding mechanism are located on a vertically arranged sliding mechanism. The detection mechanism is used to collect the coordinate information of the base material next to the weld and the preset origin and generate a height array. The fixing mechanism, grinding mechanism, sliding mechanism, and detection mechanism are all electrically connected to the central control unit, which is used to receive detection data and output control commands.

2. The wheel product weld grinding device according to claim 1, characterized in that, The fixing mechanism includes a bracket, a clamping block, and a cylinder. The cylinder is mounted on the bracket, and the telescopic end of the cylinder is fixedly connected to the clamping block. The clamping block is provided in three sets. The clamping block is inverted triangular in shape.

3. The wheel product weld grinding device according to claim 1, characterized in that, The detection mechanism includes a forward and backward servo displacement sensor and a data processing module; The servo displacement sensor records the height data of the base material next to the weld in real time, generates an array of front and rear positions and corresponding base material heights, and transmits the array to the central control unit.

4. The wheel product weld grinding device according to claim 1, characterized in that, The grinding mechanism includes a support base, a main shaft, grinding blocks, two servo motors, and a drive motor. The drive motor is mounted on the support base and is used to drive the main shaft to rotate. The servo motor is mounted on a vertically arranged sliding mechanism and is used to drive the support base to move back and forth and up and down. The grinding blocks are fixedly installed at the end of the main shaft, and there are two sets of grinding blocks. The two sets of grinding blocks are fixedly connected, and each set of grinding blocks is equipped with multiple grinding components.

5. The weld grinding device for wheel products according to claim 4, characterized in that, The grinding block has a first flow guide cavity and a second flow guide cavity, and multiple sets of the second flow guide cavity are provided. The first flow guide cavity and the second flow guide cavity are connected through a connecting hole. The main shaft is provided with a second guide tube, and there are two second guide tubes. The two second guide tubes are used to connect the two sets of first flow guide cavities in the grinding block respectively. An air guide ring is also rotatably mounted on the main shaft, and a sealed space is formed between the air guide ring and the outer surface of the main shaft. The second guide tube is connected to the sealed space through a third guide tube. The air guide ring is also provided with a first guide tube. The grinding assembly includes: A piston plate is slidably installed in the second flow guide cavity, and a spring is provided in the second flow guide cavity for elastically supporting the piston plate. A limiting stop bar is used to limit the piston plate, and the limiting stop bar is disposed in the second flow guide cavity; A grinding disc is slidably mounted on a grinding block, the grinding disc being able to extend beyond the surface of the grinding block, and the grinding disc being connected to the piston plate via a linkage rod; The blow holes are provided in multiple sets on the grinding surface of the grinding disc, and the angle between the spray direction of the blow holes and the grinding surface of the grinding disc is an acute angle. The guide grooves are formed in the grinding disc, the linkage rod and the piston plate, and the guide grooves are connected to the purging holes. The piston plate is provided with a circular hole that is connected to the guide grooves; wherein, multiple guide grooves are interconnected. The control column is located in the second guide cavity. The end of the control column slides and engages with the circular hole on the piston plate. The outer wall of the control column is in contact with the inner wall of the circular hole. The control column is also provided with a groove. When the groove coincides with the circular hole, the gas can enter the guide groove through the circular hole.

6. The weld grinding device for wheel products according to claim 5, characterized in that, The grinding components on the two sets of grinding blocks are arranged alternately.

7. The wheel product weld grinding device according to claim 1, characterized in that, The inspection mechanism also includes a vision inspection module, which is used to collect image information of the weld and compare it with a preset standard image to help judge the grinding effect. If the preset standard is not met, the central control unit controls the grinding mechanism to perform secondary grinding.

8. A method for grinding weld seams in wheel products, using the weld seam grinding apparatus as described in claim 4, characterized in that, The method includes the following steps: S1: The steel rim is manually moved to the clamping area of ​​the fixing mechanism. The central control unit controls the cylinder to drive the inverted triangular clamping block to clamp the rim. The detection mechanism detects whether the rim is in place. S2: If the rim is in place, the sliding mechanism drives the rim to slide along the guide rail to the processing position; S3: The servo displacement sensor of the detection mechanism collects the height data of the base material next to the weld, generates an array of front and rear positions and corresponding base material heights, and transmits it to the central control unit. The central control unit has a built-in dynamic motion planning algorithm that integrates multi-dimensional constraints. S4: The central control unit uses a built-in dynamic motion planning algorithm that integrates multi-dimensional constraints to plan the grinding motion trajectory and initial parameters based on the height array, Gaussian filter formula, cubic spline interpolation formula and piecewise Bézier curve fitting formula, and controls the grinding mechanism to grind the weld. S5: During the grinding process, the vision inspection module acquires weld images in real time, and the central control unit calculates the deviation value and dynamically adjusts the grinding parameters through the PID closed-loop control formula. S6: After grinding, the sliding mechanism drives the rim to the unloading station, where the rim is manually removed, completing one grinding operation.

9. The method according to claim 8, characterized in that, In S4, the dynamic motion planning algorithm performs the following steps: S41: Data preprocessing: The height array transmitted by the testing agency is subjected to noise reduction and filtering. Gaussian filtering formula is used to remove abnormal data points, and cubic spline interpolation formula is used to complete the missing data to generate a continuous base material height curve. Gaussian filter formula: ； in, This represents the deviation between the original height data and the mean of the neighboring data. This represents the standard deviation of the filter, ranging from 0.1 to 0.

3. This is the output value of the filtered data; Cubic spline interpolation formula: ； in, Given the height data points, For cubic spline basis functions, The number of known data points. These are the interpolated continuous height values; S42: Constraint construction, constructing a multi-dimensional constraint system including grinding accuracy constraints, mechanism motion limit constraints, weld reinforcement target constraints, and grinding efficiency constraints; S43: Trajectory planning. Based on the preprocessed base material height curve and multi-dimensional constraint system, the motion trajectory of the grinding mechanism is planned using a piecewise Bézier curve fitting formula, so that the trajectory satisfies all constraints while achieving adaptive fitting between the grinding path and the base material height curve. Piecewise Bézier curve fitting formula: ； in, For parameter variables, For trajectory control points, The coefficients are binomial coefficients. The order of the curve. The coordinates of the planned trajectory points; S44: Parameter dynamic optimization. Based on the weld image data fed back by the vision inspection module during real-time grinding, the deviation value Δ between the current grinding effect and the preset standard is calculated. The grinding speed, grinding angle and grinding force parameters are dynamically adjusted through the PID closed-loop control formula. When the deviation value Δ>0.05mm, the grinding force is adjusted first, and the adjustment range is 5%-15% of the initial value. When the deviation value Δ≤0.05mm, the grinding parameters are kept stable. PID closed-loop control formula: ； in, For adjusting the grinding parameters, This is a proportionality coefficient used for rapid response to real-time deviations. These are integral coefficients used to eliminate static bias. These are the differential coefficients, used to suppress parameter overshoot. This is the real-time deviation value at the current moment. To make the most of the time, For integration time variable, 0 The cumulative deviation over time period t. This represents the rate of change of deviation.

Images