Automatic identification and constant force contour grinding equipment for large ship plate

Abstract

The application provides an automatic identification and constant force contour grinding device suitable for large ship plates, which comprises a mechanical arm; a positioning part is arranged at the execution end of the mechanical arm, the positioning part is provided with a polishing part and an identification scanning part; a switching table is arranged on one side of the mechanical arm, side discs are fixed on the top of the switching table, the side discs are rotatably installed with a loading disc through a rotating shaft; a rotating part is arranged at the bottom of the switching table; a rotating part is arranged at the bottom of the side of the switching table close to the mechanical arm, the output shaft of the rotating part is fixed with a chuck; an extension protection assembly is arranged on the top of the rotating part, and the extension protection assembly surrounds the outside of the chuck. The device realizes multi-station layout, when the loading disc of any station is rotated to the machining position with the switching table, the chuck clamps the rotating shaft at the bottom of the loading disc, the rotating part drives the loading disc and the workpiece to rotate, and the multi-angle polishing requirement of the workpiece is met; the extension protection assembly and the driving mechanism are arranged, and the generated chippings and dust in the polishing process can be effectively blocked into the chuck.

Description

Technical Field

[0001] This invention relates to the field of marine plate processing technology, and in particular to an automatic identification and constant force conformal grinding equipment suitable for large marine plates. Background Technology

[0002] As a critical load-bearing component of a ship, the surface flatness, edge smoothness, and overall processing quality of composite rudder plates directly determine the stability and structural safety of the vessel. Defects such as burrs, rough edges, or uneven welds on the rudder plate surface can easily lead to abnormal fluid resistance during navigation, and even cause fatigue damage to the rudder plate structure. Therefore, the grinding process in rudder plate production is a core step in ensuring product quality. With the increasing industrialization and intelligence of shipbuilding, automated intelligent grinding equipment is gradually being adopted for processing.

[0003] In existing technologies, to improve the grinding efficiency of large marine plates, a multi-station processing layout is generally adopted. Multiple stations alternately perform workpiece loading / unloading and grinding operations, achieving overlapping utilization of work time. However, such multi-station grinding equipment has the following drawbacks: To ensure that the workpiece at each station can rotate and adjust its position during grinding to achieve multi-angle, all-around grinding, a separate power structure to drive the workpiece rotation is required under each station. This design increases the manufacturing cost of the equipment and wastes the power structure. Simultaneously, the connection between the power structure and the station lacks protection, allowing grinding dust and debris to easily enter. If a chuck is used for clamping and mounting between the power structure and the station, dust and debris can easily enter the chuck's track sliding mechanism.

[0004] Therefore, to address the above issues, we provide an automatic identification and constant force conformal grinding equipment suitable for large marine plates. Summary of the Invention

[0005] In order to solve the technical problem that each workstation requires a separate power structure to drive the workpiece to rotate, resulting in wasted power structure, this invention provides an automatic identification and constant force conformal grinding equipment suitable for large marine plates.

[0006] The present invention solves the above-mentioned technical problems through the following technical solutions: This invention provides an automatic identification and constant-force conformal grinding device suitable for large marine plate components, including a robotic arm; the execution end of the robotic arm is provided with an adjustment part, which is equipped with a grinding part and an identification scanning part; the grinding part includes a force-controlled flexible grinding head; an exchange table is provided on one side of the robotic arm, and side plates are fixed on both sides of the top of the exchange table, with a material tray mounted on the side plate via a rotating shaft; a rotating part is provided in the middle of the bottom side of the exchange table, which drives the exchange table to rotate, so that the material trays on both sides of the exchange table are alternately adjusted to be closer to or farther from the robotic arm; a rotating part is provided at the bottom of the side of the exchange table near the robotic arm, and a chuck is fixed to the output shaft of the rotating part, with clamping blocks on both sides of the chuck; a telescopic protective assembly is provided at the top of the rotating part, which surrounds the outside of the chuck; it also includes a drive mechanism for driving the telescopic protective assembly to extend and retract, and a pressure bar is provided at the input end of the drive mechanism; the pressure bar is used for the clamping blocks to push.

[0007] Preferably, the telescopic protective assembly includes an outer cylinder and an inner cylinder; the outer cylinder is sleeved on the outside of the inner cylinder, and the bottom end of the outer cylinder is fixedly sleeved on the bottom end of the chuck; the bottom edge of the inner cylinder is provided with a bottom edge, and the outer ring of the bottom edge slides in fit with the inner wall of the outer cylinder; a sealing ring is fixed on the top surface of the bottom edge; and a sealing gasket is fixed on the top surface of the inner cylinder; the driving mechanism is connected to the inner cylinder.

[0008] Preferably, the driving mechanism includes a suction assembly and a telescopic rod; the side wall of the chuck has a side groove, the suction assembly is installed in the side groove, and the suction assembly is connected to the telescopic rod through a connecting pipe.

[0009] Preferably, the suction assembly includes a suction cylinder fixedly installed in the side groove; a first piston is fitted inside the suction cylinder, one side of the first piston and the inner wall of the suction cylinder form a first hydraulic cavity, and a first spring is provided in the first hydraulic cavity, the two ends of the first spring are respectively fixed to the side wall of the first piston and the inner wall of one end of the suction cylinder, and a movable column is fixed to the first piston, and one end of the movable column is fixed to the pressure strip.

[0010] Preferably, the telescopic rod includes a sleeve and a movable rod. The bottom end of the sleeve is fixed to the inner wall of the bottom of the outer cylinder. The sleeve is sleeved on the movable rod. A second piston is fixed to the bottom end of the movable rod, and the second piston cooperates with the inner wall of the sleeve. The bottom surface of the second piston and the inner wall of the sleeve form a second hydraulic cavity. The connecting pipe is fixed between the suction cylinder and the sleeve, and both ends of the connecting pipe are respectively connected to the first hydraulic cavity and the second hydraulic cavity. A connecting seat is fixed to the top end of the movable rod, and the connecting seat is fixed to the inner wall of the inner cylinder.

[0011] Preferably, a blower ring shell is provided on the inner side of the sealing gasket, and the blower ring shell is coaxially arranged with the sealing gasket; a plurality of air supply mechanisms are provided at the bottom of the blower ring shell in a ring array; and an annular opening is provided on the outer side of the blower ring shell.

[0012] Preferably, the air supply mechanism includes an air cylinder; an air inlet and an air outlet are respectively provided on both sides of the bottom of the air cylinder, and a first one-way valve and a second one-way valve are respectively installed in the air outlet and the air inlet; the air inlet and the air outlet are respectively fixedly connected to an air inlet pipe and an air outlet pipe, and the air inlet pipe is connected to a filter; the air outlet pipe is connected to the inner wall of the inner cylinder and is fixedly connected to the blower ring shell; a third piston is fitted inside the air cylinder, a third spring is provided at the bottom of the third piston, a pressure column is fixed at the top of the third piston, and the pressure column is slidably sleeved with the top of the air cylinder; a pressure plate is provided at the top of the pressure column, and the pressure plate is fixed to the bottom inner wall of the outer cylinder through a stand.

[0013] Preferably, the exhaust pipe is provided with a plurality of elastic connectors at equal intervals; the elastic connectors include a sleeve fixed to the inner wall of the inner cylinder, the sleeve having a hole that slides with the exhaust pipe, the top of the sleeve being elastically connected to a sleeve plate by a second spring and the sleeve plate being fixedly sleeved on the exhaust pipe, and the bottom of the sleeve having a baffle plate that is fixedly sleeved on the exhaust pipe.

[0014] Preferably, a stop is provided inside the bottom end of the air cylinder.

[0015] Preferably, both the exhaust pipe and the intake pipe are fixed with a mounting base, which is fixed to the outer wall of the air cylinder.

[0016] Based on common knowledge in the field, the above-mentioned preferred conditions can be combined arbitrarily to obtain various preferred embodiments of the present invention.

[0017] The positive and progressive effects of this invention are as follows: The aforementioned automatic identification and constant-force conformal grinding equipment for large marine plates utilizes a multi-station layout achieved through an exchange table. A single rotating part and chuck are located only on one side near the robotic arm. Once the workpiece tray at any station rotates to the processing position with the exchange table, the chuck clamps the rotating shaft at the bottom of the workpiece using clamping blocks. The rotating part drives the workpiece tray and workpiece to rotate, meeting the multi-angle grinding requirements of the workpiece. Compared to existing designs that require a rotary drive structure at each station, this solution significantly reduces the number of rotating parts used, lowering equipment manufacturing costs.

[0018] Equipped with a telescopic protective component and a drive mechanism, the chuck provides reliable enclosed protection. When the chuck is holding the rotating shaft for workpiece grinding, the telescopic protective component automatically extends to form a closed space with the side plate of the exchange table, completely surrounding the chuck and effectively preventing debris and dust generated during grinding from entering the chuck's interior, thus avoiding debris jamming the clamping block's sliding track. Simultaneously, the drive mechanism requires no external power source; it drives the telescopic protective component's extension and retraction in conjunction with the opening and closing of the chuck's clamping blocks, achieving synchronized operation between the protective action and the chuck's working state, eliminating the need for manual intervention.

[0019] The sealing gasket on the top surface of the telescopic protective assembly is self-cleaning, ensuring the reliability of the sealing protection. This equipment uses a blower ring and air supply mechanism set inside the sealing gasket. The telescopic protective assembly drives the air supply mechanism to automatically send clean airflow into the blower ring. The airflow blows and cleans the sealing gasket through the ring opening, effectively removing debris, dust and other foreign objects attached to the surface of the sealing gasket, and preventing foreign objects from affecting the sealing performance between the sealing gasket and the side plate. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the structure of the top of the base of the present invention; Figure 3 This is a schematic diagram of the inner structure of the telescopic protective component of the present invention; Figure 4 This is a schematic diagram of the cross-sectional structure of the telescopic protective component of the present invention; Figure 5 This is a schematic diagram of the top structure of the rotating part of the present invention; Figure 6 For the present invention Figure 5 Enlarged structural diagram of section A in the middle; Figure 7 This is a schematic diagram of the drive mechanism of the present invention; Figure 8 This is a schematic diagram of the air supply mechanism of the present invention; Figure 9 This is a schematic diagram of the air supply mechanism and telescopic protective assembly of the present invention; Figure 10 This is a schematic diagram of the top structure of the air supply mechanism of the present invention; Figure 11 This is a schematic diagram of the bottom structure of the air supply mechanism of the present invention.

[0021] Explanation of reference numerals in the attached figures 1. Base; 2. Rotating part; 3. Exchange table; 301. Side plate; 4. Material tray; 401. Rotating shaft; 5. Rotating part; 6. Chuck; 601. Clamping block; 602. Side groove; 7. Robotic arm; 701. Adjustment part; 8. Grinding motor; 9. Force-controlled flexible grinding head; 10. Identification and scanning part; 11. Telescopic protective assembly; 1101. Outer cylinder; 1102. Inner cylinder; 1103. Bottom edge; 1104. Sealing ring; 12. Sealing gasket; 13. Blowing ring shell; 1301. Annular opening; 14. Drive mechanism; 1401. Suction cylinder; 1402. First spring; 1403. First piston; 1404. Moving column; 140 5. Pressure bar; 1406. Connecting pipe; 1407. Sleeve; 1408. Second piston; 1409. Movable rod; 1410. Connecting seat; 15. Air supply mechanism; 1501. Air cylinder; 1502. Pressure column; 1503. Exhaust pipe; 1504. Inlet pipe; 1505. Fixed seat; 1506. Sleeve seat; 1507. Second spring; 1508. Sleeve disc; 1509. Baffle plate; 1510. Filter; 1511. Pressure plate; 1512. Stand; 1513. Third piston; 1514. Third spring; 1515. Baffle seat; 1516. First check valve; 1517. Second check valve; 16. Workpiece. Detailed Implementation

[0022] The present invention will be further illustrated by way of embodiments below, but the present invention is not limited to the scope of the embodiments described herein.

[0023] like Figures 1-11 As shown, an automatic identification and constant force conformal grinding equipment suitable for large marine plates includes a robotic arm 7; the execution end of the robotic arm 7 is provided with an adjustment part 701, the adjustment part 701 is equipped with a grinding part and an identification scanning part 10; the grinding part includes a force-controlled flexible grinding head 9.

[0024] A transfer table 3 is provided on one side of the robotic arm 7. Side plates 301 are fixed on both sides of the top of the transfer table 3. The side plates 301 are rotatably mounted with a material tray 4 via a rotating shaft 401.

[0025] A rotating part 2 is provided at the bottom center of the exchange table 3. The rotating part 2 is used to drive the exchange table 3 to rotate, so that the material trays 4 on both sides of the exchange table 3 are alternately adjusted to be closer to the robotic arm 7 or farther away from the robotic arm 7; a base 1 is provided at the bottom of the rotating part 2.

[0026] The bottom of the exchange table 3 near the robotic arm 7 is provided with a rotating part 5. The output shaft of the rotating part 5 is fixed with a chuck 6, and clamping blocks 601 are provided on both sides of the chuck 6.

[0027] The top of the rotating part 5 is provided with a telescopic protective component 11, which surrounds the outside of the chuck 6.

[0028] It also includes a drive mechanism 14 for driving the telescopic protective assembly 11 to extend and retract, wherein the input end of the drive mechanism 14 is provided with a pressure bar 1405; the pressure bar 1405 is used for the clamping block 601 to push.

[0029] Among them, the adjusting part 701, the rotating part 2 and the rotating part 5 are all preferably motors.

[0030] The exchange table 3 is equipped with two material trays 4 on both sides to form a dual-station layout. The exchange table 3 and the top structure of the exchange table 3 are driven to rotate 180° together through the rotating part 2, so that the two material trays 4 move alternately to a position close to the robotic arm 7 or away from the robotic arm 7. The workpiece 16 on the material tray 4 close to the robotic arm 7 is ground, while the workpiece 16 is loaded and unloaded on the material tray 4 away from the robotic arm 7 by the operator. This allows the loading and unloading time to overlap with the grinding operation, thereby improving production efficiency.

[0031] In practice, the top of the loading tray 4 is equipped with a clamp, such as a pneumatic clamp or a traditional manual clamp; when the workpiece 16 is loaded, the workpiece 16 is clamped and positioned by the clamp.

[0032] like Figure 2 As shown, after the rotating part 2 drives the exchange table 3 to rotate and the material tray 4 moves to the side close to the robotic arm 7, the rotating shaft 401 at the bottom of the material tray 4 moves between the two clamping blocks 601 of the chuck 6. The chuck 6 is driven by electric or pneumatic power. The chuck 6 brings the two clamping blocks 601 closer to each other to clamp the bottom end of the rotating shaft 401. Subsequently, when the robotic arm 7 drives the grinding part to move and grind the workpiece 16, the rotating part 5 drives the chuck 6 and the rotating shaft 401 clamped on it to rotate together, so that the material tray 4 drives the workpiece 16 on it to rotate, which makes it convenient for the top of the workpiece 16 to move to the position close to the robotic arm 7, thereby facilitating the multi-angle grinding of the workpiece 16 and reducing the difficulty of adjusting the posture of the robotic arm 7.

[0033] After grinding, the chuck 6 moves the two clamping blocks 601 away from each other, canceling the clamping at the bottom of the rotating shaft 401, which does not affect the subsequent rotation and adjustment of the exchange table 3.

[0034] The above solution uses a single rotating part 5 in conjunction with a chuck 6. After the material tray 4 moves close to the robotic arm 7, a connection is established by clamping the rotating shaft 401 below it, thereby driving the material tray 4 to rotate. This ensures that the workpiece 16 can rotate and be repositioned during grinding, while eliminating the need for a separate rotating part 5 to drive each material tray 4, thus reducing the number of rotating parts 5 used. It should be noted that this solution is particularly suitable for multi-station grinding equipment, such as exchange table 3 with processing stations on all four sides (front, back, left, and right). The exchange table 3 rotates 90° each time, moving one station closer to the robotic arm 7 for grinding. Using the above solution, the number of rotating parts 5 used can be reduced by three.

[0035] like Figure 1 As shown, the output shaft of the adjustment unit 701 is fixed with a grinding motor 8, the output shaft of the grinding motor 8 is connected to the force-controlled flexible grinding head 9, and an identification scanning unit 10 is installed on the outer shell of the grinding motor 8 away from the force-controlled flexible grinding head 9.

[0036] During the grinding of workpiece 16, the adjustment unit 701 drives the grinding motor 8 to rotate, bringing the force-controlled flexible grinding head 9 at the output shaft position closer to workpiece 16, or bringing the identification scanning unit 10 closer to workpiece 16, for grinding or identification of workpiece 16. At the same time, the adjustment unit 701 rotates to adjust the grinding angle of the force-controlled flexible grinding head 9 to meet different grinding angle requirements.

[0037] Before the workpiece 16 is polished by the force-controlled flexible polishing head 9, the identification and scanning unit 10 is brought close to the workpiece 16. The identification and scanning unit 10 can perform an all-round scan of the workpiece 16 to obtain high-precision three-dimensional point cloud data. The external software system automatically identifies the posture, curved surface contour, burrs and surface weld positions of the workpiece 16 based on the data, and tailors a polishing program for each workpiece 16 and plans the polishing path based on the results.

[0038] The recognition and scanning unit 10 uses a 3D camera to achieve 3D laser scanning.

[0039] After recognition and scanning, the robotic arm 7, in conjunction with the force-controlled flexible grinding head 9, removes burrs and flash along the edge of the workpiece 16 according to the path generated by the scan, thus achieving grinding.

[0040] The force-controlled flexible grinding head 9 adopts an integrated force-controlled flexible grinding head 9, which realizes the integration of sensing, control and execution based on pneumatic principle. During the grinding process, it accurately outputs constant contact force and can automatically extend and retract according to the curved surface contour to achieve conformal fit, ensure grinding uniformity and significantly improve surface quality.

[0041] The above design enables automatic identification and constant force conformal grinding.

[0042] The telescopic protective component 11 is used to protect the chuck 6 and prevent the debris and dust generated during grinding from entering the components of the chuck 6, such as preventing them from entering the groove of the sliding mounting block 601, thereby preventing the block 601 from sliding.

[0043] After a material tray 4 moves above the rotating part 5, the telescopic protective assembly 11 is driven by the drive mechanism 14 to extend the telescopic protective assembly 11. The top of the telescopic protective assembly 11 abuts against the bottom surface of the side plate 301. The telescopic protective assembly 11 and the side plate 301 form a closed protective space that surrounds the chuck 6, thus protecting the chuck 6.

[0044] like Figure 6 As shown, the telescopic protective assembly 11 includes an outer cylinder 1101 and an inner cylinder 1102; the outer cylinder 1101 is sleeved on the outside of the inner cylinder 1102, and the bottom end of the outer cylinder 1101 is fixedly sleeved on the bottom end of the chuck 6; the bottom edge of the inner cylinder 1102 is provided with a bottom edge 1103, and the outer ring of the bottom edge 1103 slides with the inner wall of the outer cylinder 1101; a sealing ring 1104 is fixed on the top surface of the bottom edge 1103; and a sealing gasket 12 is fixed on the top surface of the inner cylinder 1102; the driving mechanism 14 is connected to the inner cylinder 1102.

[0045] During the rotation of the exchange station 3, the telescopic protective assembly 11 remains as follows: Figures 3-6 The retracted state shown does not affect the entry of the rotating shaft 401 above the chuck 6. After the rotation adjustment is completed and one rotating shaft 401 moves above the chuck 6, the drive mechanism 14 drives the inner cylinder 1102 to move upward until the sealing gasket 12 at the top of the inner cylinder 1102 is in contact with the bottom surface of the side plate 301 and the sealing ring 1104 is in contact with the inner wall of the top of the outer cylinder 1101. The telescopic protective assembly 11 then extends to seal and protect the chuck 6. In the extended state, a seal is formed between the inner cylinder 1102 and the outer cylinder 1101 through the sealing ring 1104, and a seal is formed between the top of the inner cylinder 1102 and the side plate 301 through the sealing gasket 12, ensuring a sealing effect.

[0046] like Figures 6-7 As shown, the drive mechanism 14 includes a suction assembly and a telescopic rod; the side wall of the chuck 6 has a side groove 602, the suction assembly is installed in the side groove 602, and the suction assembly is connected to the telescopic rod through a connecting pipe 1406.

[0047] The suction assembly includes a suction cylinder 1401 fixedly installed in the side groove 602; a first piston 1403 is fitted inside the suction cylinder 1401, one side of the first piston 1403 and the inner wall of the suction cylinder 1401 form a first hydraulic cavity, and a first spring 1402 is provided in the first hydraulic cavity. The two ends of the first spring 1402 are fixed to the side wall of the first piston 1403 and the inner wall of one end of the suction cylinder 1401, respectively. A movable column 1404 is fixed to the first piston 1403, and one end of the movable column 1404 is fixed to the pressure strip 1405.

[0048] The telescopic rod includes a sleeve 1407 and a movable rod 1409. The bottom end of the sleeve 1407 is fixed to the inner wall of the bottom of the outer cylinder 1101. The sleeve 1407 is sleeved on the movable rod 1409. A second piston 1408 is fixed to the bottom end of the movable rod 1409, and the second piston 1408 cooperates with the inner wall of the sleeve 1407. The bottom surface of the second piston 1408 and the inner wall of the sleeve 1407 form a second hydraulic cavity. The connecting pipe 1406 is fixed between the suction cylinder 1401 and the sleeve 1407, and both ends of the connecting pipe 1406 are connected to the first hydraulic cavity and the second hydraulic cavity, respectively. A connecting seat 1410 is fixed to the top end of the movable rod 1409, and the connecting seat 1410 is fixed to the inner wall of the inner cylinder 1102.

[0049] Hydraulic oil is contained in the first hydraulic chamber, the second hydraulic chamber, and the connecting pipe 1406.

[0050] like Figures 5-6 As shown, when the telescopic protective assembly 11 is in the retracted state, the two clamping blocks 601 of the chuck 6 are in the open state, the clamping blocks 601 press the pressure bar 1405, and the first spring 1402 is in the stretched state. During the process of the two clamping blocks 601 approaching each other and clamping the bottom end of the rotating shaft 401, the clamping blocks 601 separate from the pressure bar 1405, canceling the pushing on the pressure bar 1405. The elastic force of the first spring 1402 causes the first piston 1403, the movable column 1404, and the pressure bar 1405 to move together. The first piston 1403 pushes the hydraulic oil in the first hydraulic chamber, so that the hydraulic oil enters the second hydraulic chamber through the connecting pipe 1406. The entering hydraulic oil pushes the second piston 1408 and the movable rod 1409 upward through hydraulic pressure, and drives the inner cylinder 1102 upward through the connecting seat 1410, so that the telescopic protective assembly 11 itself extends.

[0051] When the two clamping blocks 601 move away from each other and the clamping of the bottom end of the rotating shaft 401 is released, the clamping blocks 601 move closer to the pressure bar 1405. The clamping blocks 601 push the pressure bar 1405 to move. The pressure bar 1405 drives the first piston 1403 to move through the movable column 1404, which increases the volume of the first hydraulic chamber. The first hydraulic chamber is sucked in, so that the hydraulic oil in the second hydraulic chamber enters the first hydraulic chamber through the connecting pipe 1406. The second piston 1408 and the movable rod 1409 move downward to reset. The movable rod 1409 drives the inner cylinder 1102 to move downward through the connecting seat 1410, so that the telescopic protective assembly 11 automatically retracts.

[0052] With the above design, when the rotating shaft 401 is clamped, the telescopic protective component 11 automatically extends to form protection; when the clamping of the rotating shaft 401 is released, the telescopic protective component 11 automatically retracts to avoid hindering the rotating shaft 401 from leaving the chuck 6; at the same time, the extension and retraction of the telescopic protective component 11 is driven by the movement and pushing of the clamping block 601 and the restoring force of the first spring 1402, without the need for an additional power source.

[0053] like Figures 3-4 As shown, a blower ring shell 13 is provided on the inner side of the sealing gasket 12, and the blower ring shell 13 is coaxially arranged with the sealing gasket 12; a plurality of air supply mechanisms 15 arranged in a ring array are provided at the bottom of the blower ring shell 13; and an annular opening 1301 is provided on the outer side of the blower ring shell 13.

[0054] By using the blower ring housing 13 in conjunction with the air supply mechanism 15, the sealing gasket 12 can be cleaned, preventing foreign matter and dust from adhering to the sealing gasket 12 and affecting the seal between it and the side plate 301.

[0055] The cleaning process of the sealing gasket 12 is as follows: the air supply mechanism 15 blows clean air into the blower ring housing 13, and the air is blown out through the annular opening 1301 to blow air at various points along the length of the sealing gasket 12 to remove foreign objects.

[0056] like Figures 8-11As shown, the air supply mechanism 15 includes an air cylinder 1501; an air inlet and an air outlet are respectively provided on both sides of the bottom of the air cylinder 1501, and a first one-way valve 1516 and a second one-way valve 1517 are respectively installed in the air outlet and the air inlet; the air inlet and the air outlet are respectively fixedly connected to an air inlet pipe 1504 and an air outlet pipe 1503, and the air inlet pipe 1504 is connected to a filter 1510, and the air outlet pipe 1503 is connected to the inner wall of the inner cylinder 1102, and the air outlet pipe 1504 is connected to the filter 1510. 03 is fixedly connected to the blower ring shell 13; a third piston 1513 is fitted inside the air cylinder 1501, a third spring 1514 is provided at the bottom of the third piston 1513, a pressure column 1502 is fixed at the top of the third piston 1513, and the pressure column 1502 is slidably sleeved with the top of the air cylinder 1501. A pressure plate 1511 is provided at the top of the pressure column 1502, and the pressure plate 1511 is fixed to the bottom inner wall of the outer cylinder 1101 through the upright frame 1512.

[0057] The exhaust pipe 1503 is provided with multiple elastic connectors at equal intervals; the elastic connectors include a sleeve 1506 fixed to the inner wall of the inner cylinder 1102, the sleeve 1506 has a hole, and the hole is slidably engaged with the exhaust pipe 1503. The top of the sleeve 1506 is elastically connected to a sleeve plate 1508 through a second spring 1507, and the sleeve plate 1508 is fixedly sleeved on the exhaust pipe 1503. The bottom of the sleeve 1506 is provided with a baffle 1509, and the baffle 1509 is fixedly sleeved on the exhaust pipe 1503.

[0058] A stop 1515 is provided inside the bottom end of the air cylinder 1501.

[0059] Both the exhaust pipe 1503 and the intake pipe 1504 are fixed with a fixing seat 1505, which is fixed to the outer wall of the air cylinder 1501.

[0060] The telescopic protective component 11 is in the retracted state, and the air supply mechanism 15 is as follows: Figure 9 As shown, the annular opening 1301 of the blower ring housing 13 is flush with the top surface of the sealing gasket 12, while the top of the blower ring housing 13 protrudes from the top surface of the sealing gasket 12. When the telescopic protective assembly 11 extends, the inner cylinder 1102 drives the air supply mechanism 15 (excluding the pressure plate 1511 and the upright frame 1512) to move upward together. The pressure column 1502 moves closer to the pressure plate 1511. After the top of the pressure column 1502 is in contact with the pressure plate 1511, the inner cylinder 1102 continues to drive the above structure to move upward together. The pressure column 1502 is blocked by the pressure plate 1511, causing the pressure column 1502 to move downward about the air cylinder 1501. The pressure column 1502 drives the third piston 1513 to push the gas in the air cylinder 1501, so that the gas is discharged into the exhaust pipe 1503 through the first one-way valve 1516 at the air outlet, and then enters the blower ring shell 13 through the exhaust pipe 1503, automatically supplying airflow to the blower ring shell 13.

[0061] In the above description, the third piston 1513 moves downward within the cylinder 1501 until it contacts the stop 1515. Before the inner cylinder 1102 reaches its highest position, there is still a gap between the sealing gasket 12 and the side plate 301. Subsequently, as the inner cylinder 1102 continues to move upward, the third piston 1513 is blocked by the stop 1515. The pressure column 1502 and the third piston 1513 cannot move relative to the cylinder 1501, thus preventing the cylinder 1501 and the exhaust pipe 15 from moving. 03. The intake pipe 1504 moves downward together, and the exhaust pipe 1503 slides downward about the hole on the sleeve 1506. At the same time, the second spring 1507 is compressed, increasing the compression of the second spring 1507. The exhaust pipe 1503 drives the blower ring shell 13 to move downward, so that the top surface of the blower ring shell 13 is lower than the top surface of the sealing gasket 12. When the telescopic protective assembly 11 is extended, only the sealing gasket 12 is in contact with the side plate 301, and the blower ring shell 13 does not contact the side plate 301.

[0062] When the telescopic protective assembly 11 retracts, the inner cylinder 1102 drives the air supply mechanism 15 (excluding the pressure plate 1511 and the upright frame 1512) to move downwards together. The pressure column 1502 separates from the pressure plate 1511, and the air supply mechanism 15 is reset to its original position by the elastic force of the third spring 1514 and the second spring 1507. Figure 9 In the indicated state, the third piston 1513 moves upward inside the air cylinder 1501, and the air cylinder 1501 draws in outside air to supplement the airflow. Specifically, the outside air is filtered by the filter 1510 and enters the air cylinder 1501 through the air inlet pipe 1504 and the second one-way valve 1517 to ensure the cleanliness of the supplementary airflow. The compression force of the second spring 1507 drives the exhaust pipe 1503 and the air cylinder 1501 to move together until the baffle 1509 is attached to the bottom of the sleeve 1506 and the top of the blower ring shell 13 extends from above the sealing gasket 12.

[0063] Through the above design, the vertical movement of the inner cylinder 1102 provides power to the air supply mechanism 15, enabling the air supply mechanism 15 to automatically blow clean airflow into the blower ring housing 13 without the need for an additional power source. Furthermore, when cleaning the sealing gasket 12, the top of the blower ring housing 13 extends from above the sealing gasket 12, making the annular opening 1301 flush with the top surface of the sealing gasket 12, ensuring the cleaning effect. After blowing, the vertical movement of the inner cylinder 1102 continues to provide power, causing the air cylinder 1501, exhaust pipe 1503, and blower ring housing 13 to move downwards relative to the inner cylinder 1102, thereby lowering the top surface of the blower ring housing 13 below the top surface of the sealing gasket 12. This prevents the blower ring housing 13 from contacting the bottom surface of the side plate 301, ensuring that the blower ring housing 13 does not rub against the side plate 301 during subsequent rotation of the chuck 6.

[0064] It should be noted that the second spring 1507 is always in a compressed state. When the bottom surface of the third piston 1513 is in contact with the stop seat 1515, the compression force of the third spring 1514 in this state is less than the elastic force of the second spring 1507. Before the third piston 1513 contacts the stop seat 1515, the pressure column 1502 moves downward about the air cylinder 1501, and the elastic connector remains as before. Figures 9-11 The state shown remains unchanged. Only after the third piston 1513 and the stop seat 1515 are in contact, and the pressure column 1502 moves downward, will the air cylinder 1501, the exhaust pipe 1503 and the blower ring shell 13 move downward to compress the second spring 1507.

[0065] The above scheme enables automatic cleaning of the sealing gasket 12, while the side plate 301, which is in contact with the sealing gasket 12, is manually cleaned during the loading and unloading of the workpiece 16 after it is moved away from the robotic arm 7.

[0066] This invention is not limited to the embodiments described above. Any changes made to their shape or structure fall within the protection scope of this invention. The protection scope of this invention is defined by the appended claims. Those skilled in the art can make various changes or modifications to these embodiments without departing from the principles and essence of this invention, but all such changes and modifications fall within the protection scope of this invention.

Claims

1. An automatic identification and constant-force conformal grinding equipment for large marine plate components, including a robotic arm; characterized in that: The robotic arm's execution end is equipped with an adjustment unit, which is fitted with a grinding unit and an identification scanning unit; the grinding unit includes a force-controlled flexible grinding head. A switching platform is provided on one side of the robotic arm, and side plates are fixed on both sides of the top of the switching platform. The side plates are rotatably mounted with a material tray via a rotating shaft. A rotating part is provided at the bottom center of the exchange table. The rotating part is used to drive the exchange table to rotate, so that the material trays on both sides of the exchange table are alternately adjusted to be closer to or farther away from the robotic arm. The bottom of the exchange table near the robotic arm is provided with a rotating part, the output shaft of the rotating part is fixed with a chuck, and clamping blocks are provided on both sides of the chuck; The top of the rotating part is provided with a telescopic protective component, which surrounds the outside of the chuck. It also includes a drive mechanism for driving the telescopic protective assembly to extend and retract, wherein the input end of the drive mechanism is provided with a pressure bar; the pressure bar is used for the clamping block to push; The telescopic protective assembly includes an outer cylinder and an inner cylinder; the outer cylinder is sleeved outside the inner cylinder, and the bottom end of the outer cylinder is fixedly sleeved at the bottom end of the chuck; the bottom edge of the inner cylinder is provided with a bottom edge, and the outer ring of the bottom edge slides with the inner wall of the outer cylinder; a sealing ring is fixed on the top surface of the bottom edge, and a sealing gasket is fixed on the top surface of the inner cylinder; the driving mechanism is connected to the inner cylinder; the driving mechanism includes a suction assembly and a telescopic rod; a side groove is opened on the side wall of the chuck, and the suction assembly is installed in the side groove; the suction assembly is connected to the telescopic rod through a connecting pipe; the suction assembly includes a suction cylinder fixedly installed in the side groove; a first piston is fitted inside the suction cylinder, and one side of the first piston forms a first hydraulic pressure with the inner wall of the suction cylinder. The system includes a first hydraulic chamber and a first spring inside the first hydraulic chamber. The two ends of the first spring are fixed to the side wall of the first piston and the inner wall of one end of the suction cylinder, respectively. The first piston is fixed with a movable column, and one end of the movable column is fixed to the pressure bar. The telescopic rod includes a sleeve and a movable rod. The bottom end of the sleeve is fixed to the inner wall of the bottom of the outer cylinder. The sleeve is sleeved on the movable rod. The bottom end of the movable rod is fixed with a second piston, and the second piston cooperates with the inner wall of the sleeve. The bottom surface of the second piston and the inner wall of the sleeve form a second hydraulic chamber. The connecting pipe is fixed between the suction cylinder and the sleeve, and both ends of the connecting pipe are connected to the first hydraulic chamber and the second hydraulic chamber, respectively. The top end of the movable rod is fixed with a connecting seat, and the connecting seat is fixed to the inner wall of the inner cylinder.

2. The automatic identification and constant force conformal grinding equipment for large marine plates as described in claim 1, characterized in that: The inner side of the sealing gasket is provided with a blower ring shell, and the blower ring shell is coaxially arranged with the sealing gasket; the bottom of the blower ring shell is provided with a plurality of air supply mechanisms arranged in a ring array; the outer side of the blower ring shell is provided with a ring opening.

3. The automatic identification and constant force conformal grinding equipment for large marine plates as described in claim 2, characterized in that: The air supply mechanism includes an air cylinder; an air inlet and an air outlet are respectively provided on both sides of the bottom of the air cylinder, and a first one-way valve and a second one-way valve are respectively installed in the air outlet and the air inlet; the air inlet and the air outlet are respectively fixedly connected to an air inlet pipe and an air outlet pipe, and the air inlet pipe is connected to a filter; the air outlet pipe is connected to the inner wall of the inner cylinder and is fixedly connected to the blower ring shell; a third piston is fitted inside the air cylinder, a third spring is provided at the bottom of the third piston, a pressure column is fixed at the top of the third piston, and the pressure column is slidably sleeved with the top of the air cylinder; a pressure plate is provided at the top of the pressure column, and the pressure plate is fixed to the bottom inner wall of the outer cylinder through a stand.

4. The automatic identification and constant force conformal grinding equipment for large marine plates as described in claim 3, characterized in that: The exhaust pipe is provided with multiple elastic connectors at equal intervals; the elastic connectors include a sleeve fixed to the inner wall of the inner cylinder, the sleeve having a hole that slides with the exhaust pipe, the top of the sleeve being elastically connected to a sleeve plate by a second spring and the sleeve plate being fixedly sleeved on the exhaust pipe, and the bottom of the sleeve having a baffle plate that is fixedly sleeved on the exhaust pipe.

5. The automatic identification and constant force conformal grinding equipment for large marine plates as described in claim 3, characterized in that: A stop is provided inside the bottom end of the air cylinder.

6. The automatic identification and constant force conformal grinding equipment for large marine plates as described in claim 3, characterized in that: Both the exhaust pipe and the intake pipe are fixed with mounting bases, which are fixed to the outer wall of the air cylinder.

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