A large structure welding seam self-adaptive grinding equipment based on AGV mobile robot

Abstract

The application provides a large structure welding seam self-adaptive grinding equipment based on an AGV mobile robot, which comprises an AGV transfer trolley and an industrial robot installed on the top of the AGV transfer trolley; a force control polishing unit and a visual scanning module are installed at the tail end of the industrial robot; the force control polishing unit comprises a constant force actuator; the constant force actuator is fixed with a chassis at the end far from the industrial robot; a polishing part is installed on the chassis, the polishing part comprises a frame body, a carrier disc is rotatably installed on the inner side of the frame body, and a fine grinding disc and a coarse grinding disc are respectively fixed on the top surface and the bottom surface of the carrier disc; a motor is fixed on the chassis and connected with the frame body; the frame body is installed with a turnover mechanism; and the turnover mechanism is connected with a power mechanism. The power mechanism cooperates with the turnover mechanism to realize 180-degree forward and reverse turnover of the carrier disc, complete the quick switching of the coarse grinding disc and the fine grinding disc, and the power mechanism is installed on the chassis, thereby completely solving the wiring problem of the traditional built-in motor driving structure of the frame body.

Description

Technical Field

[0001] This invention relates to the field of weld seam grinding technology, and in particular to an adaptive grinding device for large-scale structural weld seams based on an AGV mobile robot. Background Technology

[0002] In fields such as engineering machinery, wind power equipment, shipbuilding, pressure vessels, and metallurgical equipment, large structural components require grinding of the welds after welding. The welds must have a smooth transition, meet surface roughness standards, and not damage the base material. These large structural components are bulky, heavy, and have irregularly distributed welds. Traditional manual grinding methods are labor-intensive, operate in harsh environments, and have inconsistent precision, easily leading to over-grinding that damages the base material, or incomplete grinding that leaves weld beads and burrs. This makes it difficult to meet the requirements for high-precision, standardized weld processing.

[0003] To ensure the precision and uniformity of weld grinding, mainstream grinding processes in the industry employ a staged grinding model. First, a coarse grinding disc removes defects such as weld excess, weld beads, and spatter, completing the initial rough grinding operation. Then, a fine grinding disc refines the ground surface, reducing surface roughness and achieving a smooth weld transition. Currently, to achieve rapid switching between coarse and fine grinding processes, existing technologies typically fix the coarse and fine grinding discs to the upper and lower ends of a carrier plate, respectively. A drive motor is directly mounted on the carrier plate frame, driving the carrier plate to rotate 180° in both directions, thus switching between coarse and fine grinding steps.

[0004] However, this structure has obvious technical defects. During the grinding operation, the frame and the carrier plate need to rotate continuously. The drive motor directly installed on the frame will rotate synchronously with the structure. Although the existing technology uses a circular conductive structure with contact contact to achieve power supply, this method requires setting multiple sets of conductive contacts and control contacts. The overall wiring structure is complex and the assembly is difficult. Moreover, long-term rotation operation is prone to poor contact and unstable conductivity, which seriously affects the operation stability of the grinding equipment.

[0005] Therefore, an adaptive grinding equipment for large structural welds based on AGV mobile robots is provided to address the above problems. Summary of the Invention

[0006] In order to solve the technical problem of inconvenient wiring in the structure of driving disk flipping and adjusting, the present invention provides an adaptive grinding equipment for large structural welds based on AGV mobile robots.

[0007] The present invention solves the above-mentioned technical problems through the following technical solutions: This invention provides an adaptive grinding equipment for large-scale structural welds based on an AGV mobile robot, including an AGV transport vehicle and an industrial robot mounted on top of the AGV transport vehicle; the end of the industrial robot is equipped with a force-controlled grinding unit and a vision scanning module; the force-controlled grinding unit includes a constant force actuator; a chassis is fixed to the end of the constant force actuator away from the industrial robot; a grinding section is mounted on the chassis, the grinding section includes a frame, a carrier plate is rotatably mounted inside the frame, and a fine grinding disc and a coarse grinding disc are fixed to the top and bottom surfaces of the carrier plate, respectively; a motor is fixed on the chassis and connected to the frame; a tilting mechanism is mounted on the frame, the tilting mechanism is used to drive the carrier plate to rotate 180° forward and backward; the tilting mechanism is connected to a power mechanism, the power mechanism includes a telescopic component fixed to the chassis, a ring is fixed to the bottom end of the telescopic component, an arc-shaped sliding sleeve is slidably sleeved on the ring, and the bottom of the arc-shaped sliding sleeve is connected to the input end of the tilting mechanism through a connecting rod.

[0008] Preferably, the frame includes a base, the top center of which is fixed to the output shaft of the motor via a first connecting shaft; a side shell and a side seat are fixed to the bottom two sides of the base respectively, the flipping mechanism is disposed in the side shell, the carrier is fixed with a rotating shaft, one end of the rotating shaft is rotatably connected to the side seat, and the other end of the rotating shaft is connected to the output end of the flipping mechanism.

[0009] Preferably, the flipping mechanism includes a rack and a cylindrical gear. The rack is slidably mounted vertically inside the side shell. The rack meshes with the cylindrical gear, and the cylindrical gear is rotatably connected to a second fixed seat fixed inside the side shell. The cylindrical gear is connected to a transmission part, and the transmission part is connected to a second connecting shaft. The second connecting shaft is rotatably mounted on the bottom side of the side shell, and one end of the second connecting shaft is fixed to the rotating shaft. The top end of the rack is connected to the bottom end of a connecting rod through an elastic connector, and the connecting rod is slidably connected to a guide hole opened on the frame.

[0010] Preferably, the transmission part includes a shaft rotatably mounted on a second fixed base, a first bevel gear is fixed at the top of the shaft and at the middle of one side of the cylindrical gear, and the two first bevel gears mesh, and a second bevel gear is fixed at the bottom of the shaft and at one end of the second connecting shaft, and the two second bevel gears mesh.

[0011] Preferably, the elastic connector includes a square frame, the bottom of which is fixed to the top of the rack, an inner seat is slidably installed vertically inside the square frame, the top of the inner seat is fixed to a connecting rod, and the connecting rod passes through a hole opened on the top of the square frame, a fixed cylinder is fixed to both the top and bottom of the square frame, a movable cylinder is slidably fitted to the fixed cylinder, and the movable cylinder is fixed to the inner seat, and the movable cylinder and the fixed cylinder are elastically connected by a second spring; a stop post is provided at the bottom of the square frame, and the stop post is fixed inside the side shell.

[0012] Preferably, a locking mechanism is provided inside the side shell, the locking mechanism being located above the second connecting shaft, the locking mechanism including a second cylinder fixed to the bottom of the second fixing seat; a third piston is fitted inside the second cylinder, a locking pin is fixed to the bottom of the third piston, and the locking pin is slidably sleeved with the bottom port of the second cylinder; locking holes are provided on both the top cylindrical surface and the bottom cylindrical surface of the second connecting shaft; the locking holes are used for inserting the locking pin; and an injection mechanism is connected to the top of the second cylinder.

[0013] Preferably, the injection mechanism includes two injection assemblies, each including a first cylinder and a pressure cylinder; a second piston is fitted inside the first cylinder, the second piston is fixedly sleeved with one end of the pressure cylinder, a third spring is provided inside the pressure cylinder, the pressure cylinder is elastically connected to the first cylinder through the third spring, and the first cylinder is connected to the top of the second cylinder through a connecting pipe.

[0014] Preferably, a push block is provided between the two oil injection assemblies, and the push block is fixed to the inner seat; the oil injection assembly located at the top of the push block is fixed to the bottom of the frame, and the oil injection assembly located at the bottom of the push block is fixed with a mounting seat, and the mounting seat is fixed to the inner wall of the side shell; the pressure cylinders of the two oil injection assemblies are both facing the push block.

[0015] Preferably, a cleaning mechanism is provided on one side of the side seat. The cleaning mechanism includes a first fixed seat fixed to one side of the frame, an air cylinder fixed on the first fixed seat, a first piston fitted inside the air cylinder, a movable column fixed to the top of the first piston, and the movable column slidably sleeved with the top of the air cylinder. The top of the movable column is provided with a spherical surface, and the top of the movable column abuts against a pressure ring. The pressure ring is fixed to the bottom of the chassis. The bottom of the first piston is elastically connected to the bottom inner wall of the air cylinder through a first spring. The bottom of the air cylinder is provided with an air inlet and an air outlet, and a first one-way valve and a second one-way valve are respectively installed at the air inlet and the air outlet. A filter is connected to the air inlet, and a blower shell is connected to the air outlet through an air pipe. The blower shell is fixed to the side of the side seat facing the carrier plate, and a blower nozzle is provided on one side of the blower shell.

[0016] Preferably, the bottom of the pressure ring is provided with an inclined surface, and the inclined surface fits against the top of the movable column.

[0017] 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.

[0018] The positive and progressive effects of this invention are as follows: The aforementioned adaptive grinding equipment for large-scale structural welds based on AGV mobile robots achieves 180° forward and reverse rotation of the carrier plate through a power mechanism and a flipping mechanism, enabling rapid switching between coarse and fine grinding plates. This completely solves the wiring problems of traditional frame-integrated motor-driven structures. The power mechanism is fixed to the chassis and does not rotate synchronously with the frame or carrier plate during operation. This eliminates the complex wiring structure of traditional multi-contact ring conductors, reducing equipment assembly difficulty and subsequent fault diagnosis and maintenance costs, and significantly improving the stability of continuous operation.

[0019] This equipment is equipped with a locking mechanism that locks and limits the second connecting shaft and the carrier plate after the carrier plate is flipped and repositioned. This effectively prevents the carrier plate and grinding disc from shaking, shifting, or rotating during the grinding process, ensuring precise positioning of the grinding disc during rough and fine grinding operations. This greatly improves the uniformity and processing accuracy of weld grinding. Furthermore, this locking mechanism does not require an independent motor or hydraulic pump; it utilizes the mechanical energy of the power mechanism's extension and retraction operation, and automatically locks and unlocks via the hydraulic transmission of the injection mechanism. The locking action can be completed synchronously with the grinding disc switching process.

[0020] This equipment is equipped with a cleaning mechanism that automatically blows air to clean the grinding disc on top after switching between coarse and fine grinding disc positions. Furthermore, relying on the rotational movement of the frame during grinding operations, the air cylinder automatically draws in and exhausts air through the squeezing action of the pressure ring and the movable column. This eliminates the need for additional power components such as fans or cylinders, continuously blowing away metal shavings, scale, grinding dust, and other foreign matter adhering to the grinding disc surface, preventing residue and ensuring optimal subsequent grinding results. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the grinding equipment and workpiece structure of the present invention; Figure 3 This is a schematic diagram of the force-controlled grinding unit of the present invention; Figure 4 This is a schematic diagram of the bottom structure of the chassis of the present invention; Figure 5 This is a schematic diagram of the bottom and top of the chassis of the present invention; Figure 6 This is a schematic diagram of the arc-shaped sliding sleeve and the circular ring of the present invention; Figure 7 This is a schematic diagram of the cleaning mechanism of the present invention; Figure 8 This is a schematic diagram of the internal structure of the side shell of the present invention; Figure 9 This is a schematic diagram of the structure of the elastic connector of the present invention; Figure 10 This is a schematic diagram of the structure inside the top side of the side shell of the present invention; Figure 11 For the present invention Figure 10 Enlarged structural diagram of section A in the middle; Figure 12 For the present invention Figure 10 Enlarged structural diagram of section B in the middle; Figure 13 This is a schematic diagram of the structure inside the bottom side of the side shell of the present invention; Figure 14 This is a schematic diagram of the locking mechanism and the second connecting shaft of the present invention.

[0022] Explanation of reference numerals in the attached figures 1. AGV transfer vehicle; 2. Industrial robot; 3. Force-controlled grinding unit; 301. Constant force actuator; 302. Chassis; 303. Grinding section; 3031. First connecting shaft; 3032. Frame; 3033. Side shell; 3034. Side seat; 3035. Carrier tray; 3036. Coarse grinding disc; 3037. Fine grinding disc; 3038. Rotating shaft; 3039. Motor; 4. Vision scanning module 5. Cleaning mechanism; 501. First fixed seat; 502. Air cylinder; 503. Movable column; 504. Pressure ring; 505. Air inlet; 506. Filter; 507. Air outlet; 508. Air pipe; 509. Blower shell; 5091. Blower nozzle; 510. First piston; 511. First spring; 512. First one-way valve; 513. Second one-way valve; 6. Power mechanism; 601 602. Telescopic component; 603. Arc-shaped sliding sleeve; 604. Ring; 605. Connecting rod; 7. Elastic connecting component; 701. Square frame; 702. Inner seat; 703. Fixed cylinder; 704. Movable cylinder; 705. Second spring; 8. Tilting mechanism; 801. Rack; 802. Second fixed seat; 803. Cylindrical gear; 804. Shaft; 805. First bevel gear; 806. Stop post; 807. Second connecting shaft; 8071. Locking hole; 808. Second bevel gear; 9. Pushing block; 10. Injection mechanism; 1001. First cylinder; 1002. Second piston; 1003. Pressure cylinder; 1004. Third spring; 1005. Connecting pipe; 1006. Mounting seat; 11. Locking mechanism; 1101. Second cylinder; 1102. Locking post; 1103. Third piston; 12. Workpiece. Detailed Implementation

[0023] 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.

[0024] like Figures 1-14As shown, an adaptive grinding equipment for large structural welds based on AGV mobile robots includes an AGV transport vehicle 1 and an industrial robot 2 mounted on top of the AGV transport vehicle 1.

[0025] The industrial robot 2 is equipped with a force-controlled grinding unit 3 and a vision scanning module 4 at its end.

[0026] The force-controlled grinding unit 3 includes a constant force actuator 301 installed on the end of the industrial robot 2; a chassis 302 is fixed to the end of the constant force actuator 301 away from the industrial robot 2; a grinding part 303 is installed on the chassis 302, the grinding part 303 includes a frame, a carrier plate 3035 is rotatably installed inside the frame, and a fine grinding plate 3037 and a coarse grinding plate 3036 are fixed on the top and bottom surfaces of the carrier plate 3035, respectively; a motor 3039 is fixed on the chassis 302, and the motor 3039 is connected to the frame.

[0027] The frame is equipped with a flipping mechanism 8, which is used to drive the carrier disk 3035 to rotate 180° in both directions.

[0028] The flipping mechanism 8 is connected to a power mechanism 6. The power mechanism 6 includes a telescopic member 601 fixed on the chassis 302. A ring 603 is fixed at the bottom end of the telescopic member 601. An arc-shaped sliding sleeve 602 is slidably sleeved on the ring 603. The bottom of the arc-shaped sliding sleeve 602 is connected to the input end of the flipping mechanism 8 through a connecting rod 604.

[0029] This equipment is suitable for grinding large workpieces up to 12 mm in size; such as... Figure 2 As shown, during the processing of workpiece 12, the AGV transfer vehicle 1 enables the entire grinding equipment to be moved to any position around workpiece 12, achieving comprehensive grinding at all positions.

[0030] After the grinding equipment moves to a position of the workpiece 12, the industrial robot 2 drives the vision scanning module 4 to move above the workpiece 12 during the grinding process. The vision scanning module 4 scans the workpiece 12 to obtain high-precision three-dimensional point cloud data. The external software system automatically identifies the outline of the workpiece 12 and the position of the surface weld based on the data, and plans and generates a grinding path based on the results.

[0031] After planning the grinding path, the industrial robot 2 drives the force-controlled grinding unit 3 to move along the path, and the force-controlled grinding unit 3 grinds the weld of the workpiece 12.

[0032] Among them, the visual scanning module 4 uses a 3D camera.

[0033] The force-controlled grinding unit 3, through the constant force actuator 301, can adaptively adjust the grinding contact force in real time, output a constant contact force during the grinding process, and can automatically extend and retract according to the contour of the workpiece 12 to achieve conformal fitting and ensure grinding uniformity.

[0034] Meanwhile, the grinding section 303 of the force-controlled grinding unit 3 has a coarse grinding disc 3036 and a fine grinding disc 3037. During the grinding process, the coarse grinding disc 3036 is used for preliminary coarse grinding. Then, the flipping mechanism 8 drives the carrier disc 3035 to rotate 180°, so that the fine grinding disc 3037 is adjusted to be below the carrier disc 3035, and fine grinding is performed by the fine grinding disc 3037. In the above, the flipping mechanism 8 drives the carrier disc 3035 to rotate, so that the coarse grinding disc 3036 and the fine grinding disc 3037 can be switched without manual replacement, which reduces the workload of the staff and has high switching efficiency and short time consumption.

[0035] Furthermore, by setting the power mechanism 6 on the chassis 302, unlike the existing technology that directly drives it through an electric motor, the frame and the structure on the frame need to rotate during the grinding process. Directly installing an electric motor on the frame would cause inconvenience in power supply wiring and control wiring. This solution can solve the above problems.

[0036] The telescopic component 601 of the power mechanism 6 is an electric push rod, a pneumatic cylinder, or a hydraulic cylinder. For example... Figure 5 As shown, the telescopic component 601 is fixedly installed inside the bottom of the chassis 302; as Figure 6 As shown, the arc-shaped sliding sleeve 602 has a groove at the top and is closed at the bottom. The width of the groove at the top is less than the radial wall thickness of the ring 603. The arc-shaped sliding sleeve 602 only slides on the ring 603 and the two will not separate.

[0037] When the power mechanism 6 provides power, the telescopic member 601 extends or retracts, causing the ring 603 to move up and down. The arc-shaped sliding sleeve 602 on the ring 603 moves together, and drives the input end of the flipping mechanism 8 to move through the connecting rod 604. During grinding, when the motor 3039 drives the frame to rotate, the connecting rod 604 and the arc-shaped sliding sleeve 602 rotate together, and the arc-shaped sliding sleeve 602 moves in a circular motion along the ring 603.

[0038] like Figure 5 As shown, the frame includes a frame base 3032, the top center of which is fixed to the output shaft of a motor 3039 via a first connecting shaft 3031; side shells 3033 and side seats 3034 are fixed to the bottom sides of the frame base 3032 respectively, the flipping mechanism 8 is disposed inside the side shell 3033, and the carrier plate 3035 is fixed with a rotating shaft 3038, one end of the rotating shaft 3038 is rotatably connected to the side seat 3034, and the other end of the rotating shaft 3038 is connected to the output end of the flipping mechanism 8.

[0039] During grinding, the motor 3039 drives the first connecting shaft 3031, the frame and the carrier 3035 to rotate, causing the coarse grinding disc 3036 and the fine grinding disc 3037 to rotate and come into contact with the workpiece 12 to achieve grinding.

[0040] The flipping mechanism 8 drives the rotating shaft 3038 to rotate, causing the carrier disk 3035 to flip, thereby adjusting the positions of the coarse grinding disk 3036 and the fine grinding disk 3037.

[0041] like Figure 8 As shown, the flipping mechanism 8 includes a rack 801 and a cylindrical gear 803. The rack 801 is slidably mounted vertically inside the side shell 3033. The rack 801 meshes with the cylindrical gear 803, and the cylindrical gear 803 is rotatably connected to a second fixed seat 802 fixed inside the side shell 3033. The cylindrical gear 803 is connected to a transmission part, and the transmission part is connected to a second connecting shaft 807. The second connecting shaft 807 is rotatably mounted on the bottom side of the side shell 3033, and one end of the second connecting shaft 807 is fixed to a rotating shaft 3038. The top end of the rack 801 is connected to the bottom end of a connecting rod 604 through an elastic connector 7, and the connecting rod 604 is slidably connected to a guide hole opened on the bracket 3032.

[0042] The transmission unit includes a shaft 804 rotatably mounted on a second fixed base 802. A first bevel gear 805 is fixed to the top of the shaft 804 and to the middle of one side of the cylindrical gear 803, and the two first bevel gears 805 mesh. A second bevel gear 808 is fixed to the bottom of the shaft 804 and to one end of the second connecting shaft 807, and the two second bevel gears 808 mesh.

[0043] When the connecting rod 604 of the power mechanism 6 moves downward, the connecting rod 604 drives the elastic connecting member 7 and the rack 801 to move downward together. Through the meshing transmission between the rack 801 and the cylindrical gear 803, the cylindrical gear 803 and a first bevel gear 805 rotate. Through the meshing transmission between the two first bevel gears 805, the shaft 804 rotates. The second bevel gear 808 at the bottom of the shaft 804 meshes with the second bevel gear 808 on the second connecting shaft 807, causing the second connecting shaft 807 to rotate. The second connecting shaft 807 drives the rotating shaft 3038 to rotate, causing the carrier disk 3035 to rotate 180°.

[0044] After the above process, the connecting rod 604 moves upward to reset, and the connecting rod 604 drives the elastic connecting member 7 and the rack 801 to move upward together. Through the meshing transmission of the rack 801 and the cylindrical gear 803, the meshing transmission of the two first bevel gears 805 and the meshing transmission of the two second bevel gears 808, the second connecting shaft 807 drives the rotating shaft 3038 to rotate in the opposite direction, and the carrier disk 3035 reverses and resets, flipping 180°.

[0045] Among them, the rack 801 and the second connecting shaft 807 are the input end and the output end of the flipping mechanism 8, respectively.

[0046] like Figures 8-9 As shown, the elastic connector 7 includes a square frame 701. The bottom of the square frame 701 is fixed to the top of the rack 801. An inner seat 702 is slidably installed vertically inside the square frame 701. The top of the inner seat 702 is fixed to a connecting rod 604, and the connecting rod 604 passes through a hole opened on the top of the square frame 701. Fixed cylinders 703 are fixed at both the top and bottom of the square frame 701. A movable cylinder 704 is slidably fitted to the fixed cylinder 703, and the movable cylinder 704 is fixed to the inner seat 702. The movable cylinder 704 and the fixed cylinder 703 are elastically connected by a second spring 705. A stop post 806 is provided at the bottom of the square frame 701, and the stop post 806 is fixed inside the side shell 3033.

[0047] The frame 701 moves to the high and low positions, and the bottom surface of the bracket 3032 and the stop post 806 provide a stop to limit the stroke of the rack 801 moving up and down.

[0048] During the vertical movement of the frame 701 between the bracket 3032 and the stop post 806, the inner seat 702 is located in the middle of the frame 701. At the same time, due to the rigidity of the second spring 705, the inner seat 702 moves together with the connecting rod 604 during the above process, and the frame 701 also moves together, causing the rack 801 to move vertically.

[0049] When the drive frame 701 moves to a high position, that is, after the frame 701 is blocked by the bracket 3032, the connecting rod 604 can continue to drive the inner seat 702 to move upward a certain distance until the inner seat 702 is attached to the top inner wall of the frame 701. When the drive frame 701 moves to a low position, that is, after the frame 701 is blocked by the stop post 806, the connecting rod 604 can continue to drive the inner seat 702 to move downward a certain distance until the inner seat 702 is attached to the bottom inner wall of the frame 701.

[0050] After the inner seat 702 is attached to the top or bottom inner wall of the frame 701, the second spring 705 is formed, pressing the frame 701 against the bracket 3032 or the stop post 806. Specifically, after the inner seat 702 is attached to the top inner wall of the frame 701, the second spring 705 at the top of the inner seat 702 is compressed and deformed, while the second spring 705 at the bottom is stretched and deformed. After the inner seat 702 is attached to the bottom inner wall of the frame 701, the second spring 705 at the top of the inner seat 702 is stretched and deformed, while the second spring 705 at the bottom is compressed and deformed. Subsequently, the inner seat 702 is driven to move downward or upward via the connecting rod 604. Before the inner seat 702 enters the middle of the frame 701, the frame 701 is pressed against the bracket 3032 or the stop post 806. Only after the inner seat 702 enters the frame 701 does the frame 701 move together.

[0051] like Figures 13-14 As shown, a locking mechanism 11 is provided inside the side shell 3033. The locking mechanism 11 is located above the second connecting shaft 807. The locking mechanism 11 includes a second cylinder 1101 fixed to the bottom of the second fixed seat 802. A third piston 1103 is fitted inside the second cylinder 1101. A locking pin 1102 is fixed to the bottom of the third piston 1103, and the locking pin 1102 is slidably sleeved with the bottom port of the second cylinder 1101. Locking holes 8071 are provided on the top cylindrical surface and the bottom cylindrical surface of the second connecting shaft 807. The locking holes 8071 are used for the insertion of the locking pin 1102. An injection mechanism 10 is connected to the top of the second cylinder 1101.

[0052] like Figures 10-14 As shown, the injection mechanism 10 includes two injection assemblies, each including a first cylinder 1001 and a pressure cylinder 1003. A second piston 1002 is fitted inside the first cylinder 1001, and the second piston 1002 is fixedly sleeved with one end of the pressure cylinder 1003. A third spring 1004 is provided inside the pressure cylinder 1003, and the pressure cylinder 1003 is elastically connected to the first cylinder 1001 through the third spring 1004. The first cylinder 1001 is connected to the top of the second cylinder 1101 through a connecting pipe 1005.

[0053] A push block 9 is provided between the two oil injection assemblies, and the push block 9 is fixed to the inner seat 702; the oil injection assembly located at the top of the push block 9 is fixed to the bottom of the frame 3032, and the oil injection assembly located at the bottom of the push block 9 is fixed with a mounting base 1006, and the mounting base 1006 is fixed to the inner wall of the side shell 3033; the pressure cylinders 1003 of the two oil injection assemblies are both facing the push block 9.

[0054] After the carrier disk 3035 is rotated 180° in both directions, the locking mechanism 11 inserts into the locking hole 8071 through the locking pin 1102 to lock the second connecting shaft 807, thereby achieving the locking limit of the carrier disk 3035 and ensuring the stability of the carrier disk 3035, the coarse grinding disk 3036 and the fine grinding disk 3037 during the grinding process.

[0055] Specifically, after the frame 701 moves to its highest position and aligns with the bottom surface of the bracket 3032, the carrier plate 3035 completes its flipping and repositioning, aligning one of its locking holes 8071 with the locking pin 1102. The inner seat 702 continues to move upward, driving the push block 9 towards the oil injection assembly at the bottom of the bracket 3032 until the push block 9 aligns with the pressure cylinder 1003. Then, the inner seat 702 drives the push block 9 to continue moving upward until the inner seat 702 aligns with the frame 701. The top inner wall is fitted, and the pushing block 9 pushes the pressure cylinder 1003 upward, causing the second piston 1002 to push the hydraulic oil in the first cylinder 1001, so that the hydraulic oil enters the second cylinder 1101 through the connecting pipe 1005. At the same time, the third spring 1004 is compressed. Through hydraulic drive, the third piston 1103 and the locking pin 1102 move downward together. The locking pin 1102 is inserted into the locking hole 8071, providing positioning and locking for the carrier plate 3035 after it is flipped and adjusted. When the inner seat 702 moves downward and drives the carrier plate 3035 to reset and flip, the inner seat 702 first moves to the middle of the square frame 701, the push block 9 separates from the pressure cylinder 1003, and the pressure cylinder 1003 and the second piston 1002 are reset by the elastic force of the third spring 1004. The first cylinder 1001 draws oil from the second cylinder 1101 through the connecting pipe 1005, and the third piston 1103 and the locking pin 1102 move upward together by hydraulic pressure. The locking pin 1102 leaves the lock hole 8071, and the unlocking is completed. After the inner seat 702 moves to the middle of the square frame 701, the inner seat 702 can drive the square frame 701 to move downward together to achieve unlocking, and then drive the carrier plate 3035 to flip.

[0056] After the frame 701 moves to its lowest position and engages with the stop post 806, the carrier plate 3035 completes its reset and flipping adjustment, aligning one of its locking holes 8071 with the locking post 1102. The inner seat 702 continues to move downward, driving the push block 9 towards the oil injection assembly on the mounting base 1006 until the push block 9 engages with the pressure cylinder 1003. Then, the inner seat 702 drives the push block 9 to continue moving downward until the inner seat 702 is aligned with the bottom of the frame 701. The inner wall is fitted, and the pushing block 9 pushes the pressure cylinder 1003 downward, causing the second piston 1002 to push the hydraulic oil in the first cylinder 1001, so that the hydraulic oil enters the second cylinder 1101 through the connecting pipe 1005. At the same time, the third spring 1004 is compressed. Through hydraulic drive, the third piston 1103 and the locking pin 1102 move downward together. The locking pin 1102 is inserted into the locking hole 8071, providing positioning and locking for the carrier plate 3035 after it is flipped and adjusted. When the inner seat 702 moves upward and drives the carrier plate 3035 to reset and flip, the inner seat 702 first moves to the middle of the square frame 701, the push block 9 separates from the pressure cylinder 1003, and the pressure cylinder 1003 and the second piston 1002 are reset by the elastic force of the third spring 1004. The first cylinder 1001 draws oil from the second cylinder 1101 through the connecting pipe 1005, and the third piston 1103 and the locking pin 1102 move upward together by hydraulic pressure. The locking pin 1102 leaves the lock hole 8071, and the unlocking is completed. After the inner seat 702 moves to the middle of the square frame 701, the inner seat 702 drives the square frame 701 to move upward together. After unlocking, the carrier plate 3035 is then driven to flip.

[0057] Through the above design, after flipping and repositioning, the locking mechanism 11 provides a locking limit to ensure the stability of the position of the tray 3035 after flipping; at the same time, the locking mechanism 11 does not require an additional power source to drive it, and it is powered by the power mechanism 6 to achieve locking and unlocking.

[0058] like Figures 5-7As shown, a cleaning mechanism 5 is provided on one side of the side seat 3034. The cleaning mechanism 5 includes a first fixed seat 501 fixed to one side of the frame 3032. An air cylinder 502 is fixed on the first fixed seat 501. A first piston 510 is fitted inside the air cylinder 502. A movable column 503 is fixed to the top of the first piston 510, and the movable column 503 is slidably sleeved with the top of the air cylinder 502. The top of the movable column 503 is provided with a spherical surface, and the top of the movable column 503 abuts against a pressure ring 504. The pressure ring 504 is fixed to the bottom of the chassis 302. The bottom of plug 510 is elastically connected to the inner wall of the bottom of air cylinder 502 via a first spring 511. The bottom of air cylinder 502 is provided with an air inlet 505 and an air outlet 507, and a first one-way valve 512 and a second one-way valve 513 are respectively installed at the air inlet 505 and the air outlet 507. A filter 506 is connected to the air inlet 505, and a blower shell 509 is connected to the air outlet 507 via an air pipe 508. The blower shell 509 is fixed to the side of side seat 3034 facing the carrier plate 3035, and a blower nozzle 5091 is provided on one side of the blower shell 509. The blower nozzle 5091 is flush with the top surface of the coarse grinding disc 3036 or fine grinding disc 3037 on the top of the carrier plate 3035. The blown airflow can sweep across the top surface of the coarse grinding disc 3036 or fine grinding disc 3037.

[0059] The bottom of the pressure ring 504 is provided with an inclined surface, and the inclined surface fits against the top of the movable column 503. The thickness of the pressure ring 504 increases sequentially from left to right.

[0060] By setting up the cleaning mechanism 5, after the coarse grinding disc 3036 or fine grinding disc 3037 is polished, it is flipped to the top of the carrier disc 3035. The coarse grinding disc 3036 or fine grinding disc 3037 is flush with the air outlet 5091. The air outlet 5091 blows out a clean airflow to blow away the debris and foreign objects attached to the coarse grinding disc 3036 or fine grinding disc 3037, ensuring the effect of subsequent polishing.

[0061] The specific working process of the cleaning mechanism 5 is as follows: After the coarse grinding disc 3036 or fine grinding disc 3037 is flipped over to the top of the carrier disc 3035, when the fine grinding disc 3037 or coarse grinding disc 3036 below the carrier disc 3035 continues to grind, the structure below the first connecting shaft 3031 rotates together, and the movable column 503 performs circumferential motion at the bottom of the pressure ring 504. During the process of the movable column 503 moving from the thinnest part to the thickest part of the pressure ring 504, the movable column 503 is pushed downward, and the movable column 503 drives the first piston 510 to move downward together. The first piston 510 pushes the gas in the air cylinder 502 and compresses the first spring 511. The gas is discharged into the air pipe 508 through the second one-way valve 513 at the air outlet 507, then input into the blower shell 509, and finally blown out from the blower port 5091 to sweep the top surface of the coarse grinding disc 3036 or fine grinding disc 3037 on the top of the carrier plate 3035 to remove foreign objects; while the movable column 503 moves from the thickest part to the thinnest part of the pressure ring 504, the elastic force of the first spring 511 causes the first piston 510 and the movable column 503 to move upward together, and the air cylinder 502 draws in external air through the air inlet 505. After being filtered by the filter 506, the external air enters the air cylinder 502 through the first one-way valve 512.

[0062] Through the above design, the coarse grinding disc 3036 and fine grinding disc 3037 on the top of the carrier disc 3035 can be cleaned by air blowing, and the cleaning mechanism 5 does not need to be driven by an additional power source.

[0063] 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 adaptive grinding equipment for large structural welds based on AGV mobile robots, characterized in that: Includes an AGV transport vehicle (1) and an industrial robot (2) mounted on top of the AGV transport vehicle (1); The end of the industrial robot (2) is equipped with a force-controlled grinding unit (3) and a vision scanning module (4). The force-controlled grinding unit (3) includes a constant force actuator (301); a chassis (302) is fixed to one end of the constant force actuator (301) away from the industrial robot (2); a grinding part (303) is installed on the chassis (302), the grinding part (303) includes a frame, a carrier plate (3035) is rotatably installed inside the frame, and a fine grinding plate (3037) and a coarse grinding plate (3036) are fixed on the top and bottom surfaces of the carrier plate (3035) respectively; a motor (3039) is fixed on the chassis (302), and the motor (3039) is connected to the frame; The frame is equipped with a flipping mechanism (8), which is used to drive the carrier plate (3035) to rotate 180° in both directions; The flipping mechanism (8) is connected to a power mechanism (6). The power mechanism (6) includes a telescopic member (601) fixed on the chassis (302). A ring (603) is fixed at the bottom end of the telescopic member (601). An arc-shaped sliding sleeve (602) is slidably sleeved on the ring (603). The bottom of the arc-shaped sliding sleeve (602) is connected to the input end of the flipping mechanism (8) through a connecting rod (604). The frame includes a base (3032), the top center of which is fixed to the output shaft of a motor (3039) via a first connecting shaft (3031); side shells (3033) and side seats (3034) are fixed to the bottom sides of the base (3032) respectively; the flipping mechanism (8) is disposed inside the side shell (3033); a rotating shaft (3038) is fixed to the carrier plate (3035); one end of the rotating shaft (3038) is rotatably connected to the side seat (3034), and the other end of the rotating shaft (3038) is connected to the output end of the flipping mechanism (8); the flipping mechanism (8) includes a rack (801) and a cylindrical gear (803); the rack (801) is slidably mounted vertically on the side shell. (3033) Inside; the rack (801) meshes with the cylindrical gear (803), and the cylindrical gear (803) is rotatably connected to the second fixed seat (802) fixed inside the side shell (3033). The cylindrical gear (803) is connected to a transmission part, and the transmission part is connected to a second connecting shaft (807). The second connecting shaft (807) is rotatably mounted on the bottom side of the side shell (3033), and one end of the second connecting shaft (807) is fixed to the rotating shaft (3038). The top end of the rack (801) is connected to the bottom end of the connecting rod (604) through an elastic connector (7). The connecting rod (604) is slidably connected to the guide hole opened on the frame (3032). The elastic connector (7) includes a square frame (701). The bottom of the frame (701) is fixed to the top of the rack (801). An inner seat (702) is vertically slidably installed inside the frame (701). The top of the inner seat (702) is fixed to the connecting rod (604), and the connecting rod (604) passes through a hole opened on the top of the frame (701). Fixed cylinders (703) are fixed at both the top and bottom of the frame (701). A movable cylinder (704) is slidably fitted to the fixed cylinder (703), and the movable cylinder (704) is fixed to the inner seat (702). The movable cylinder (704) and the fixed cylinder (703) are elastically connected by a second spring (705). A stop post (806) is provided at the bottom of the frame (701), and the stop post (806) is fixed. Inside the side shell (3033); a locking mechanism (11) is provided inside the side shell (3033), the locking mechanism (11) is located above the second connecting shaft (807), the locking mechanism (11) includes a second cylinder (1101) fixed to the bottom of the second fixed seat (802); a third piston (1103) is fitted inside the second cylinder (1101), a locking pin (1102) is fixed to the bottom of the third piston (1103), and the locking pin (1102) is slidably sleeved with the bottom port of the second cylinder (1101); a locking hole (8071) is provided on the top cylindrical surface and the bottom cylindrical surface of the second connecting shaft (807); the locking hole (8071) is used for the locking pin (1102) to be inserted;The top of the second cylinder (1101) is connected to an injection mechanism (10); the injection mechanism (10) includes two injection assemblies, each including a first cylinder (1001) and a pressure cylinder (1003); a second piston (1002) is fitted inside the first cylinder (1001), the second piston (1002) is fixedly sleeved with one end of the pressure cylinder (1003), a third spring (1004) is provided inside the pressure cylinder (1003), the pressure cylinder (1003) is elastically connected to the first cylinder (1001) through the third spring (1004), and the first cylinder (1001) is connected to the top of the second cylinder (1101) through a connecting pipe (1005); a push block (9) is provided between the two injection assemblies, and the push block (9) is fixed to the inner seat (702); The oil injection assembly located at the top of the push block (9) is fixed to the bottom of the frame (3032), and the oil injection assembly located at the bottom of the push block (9) is fixed with a mounting base (1006), and the mounting base (1006) is fixed to the inner wall of the side shell (3033); the pressure cylinders (1003) of the two oil injection assemblies are facing the push block (9).

2. The adaptive grinding equipment for large structural welds based on AGV mobile robots as described in claim 1, characterized in that: The transmission unit includes a shaft (804) rotatably mounted on a second fixed base (802). A first bevel gear (805) is fixed at the top of the shaft (804) and at the middle of one side of the cylindrical gear (803), and the two first bevel gears (805) mesh. A second bevel gear (808) is fixed at the bottom of the shaft (804) and at one end of the second connecting shaft (807), and the two second bevel gears (808) mesh.

3. The adaptive grinding equipment for large structural welds based on AGV mobile robots as described in claim 1, characterized in that: A cleaning mechanism (5) is provided on one side of the side seat (3034). The cleaning mechanism (5) includes a first fixed seat (501) fixed to one side of the frame (3032). An air cylinder (502) is fixed on the first fixed seat (501). A first piston (510) is fitted inside the air cylinder (502). A movable column (503) is fixed to the top of the first piston (510), and the movable column (503) is slidably sleeved with the top of the air cylinder (502). The top of the movable column (503) is provided with a spherical surface, and a pressure ring (504) abuts against the top of the movable column (503). The pressure ring (504) is fixed to the bottom of the chassis (302). The first piston (510) is fixed to the side seat (3034). The bottom of 10) is elastically connected to the inner wall of the bottom of the air cylinder (502) by a first spring (511). The bottom of the air cylinder (502) is provided with an air inlet (505) and an air outlet (507). The air inlet (505) and the air outlet (507) are respectively equipped with a first one-way valve (512) and a second one-way valve (513). The air inlet (505) is connected to a filter (506). The air outlet (507) is connected to a blower shell (509) through an air pipe (508). The blower shell (509) is fixed to the side of the side seat (3034) facing the carrier plate (3035). A blower nozzle (5091) is provided on one side of the blower shell (509).

4. The adaptive grinding equipment for large structural welds based on AGV mobile robots as described in claim 3, characterized in that: The bottom of the pressure ring (504) is provided with an inclined surface, and the inclined surface is in contact with the top of the movable column (503).

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