Welding seam polishing monitoring device
By designing a weld grinding monitoring device including a robot, grinding mechanism and flexible adjustment monitoring mechanism, the detection deviation caused by equipment vibration during weld grinding is solved, and high-accurate weld quality detection is achieved, and it is suitable for a variety of working conditions.
Patent Information
- Application Number
- CN202420993684.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-05-08
- Publication Date
- 2025-03-14
- Estimated Expiration
- 2034-05-08
AI Technical Summary
In the existing welding technology, the visual acquisition deviation caused by equipment vibration during the weld grinding process affects the accuracy of weld quality detection. Moreover, the existing equipment is not convenient to adjust and cannot adapt to a variety of weld grinding detection conditions.
Design a weld grinding monitoring device, including a robot, a grinding mechanism and a monitoring mechanism. The monitoring mechanism consists of an image acquisition member, a first direction adjustment bracket and a second direction adjustment bracket. Through the adjustment of these support, the image acquisition member can flexibly move in three-dimensional space and adapt to different working conditions.
It effectively reduces the acquisition deviation caused by vibration during grinding, improves the accuracy of weld quality detection, and enables the monitoring device to be suitable for a variety of grinding and testing conditions.
Smart Images
Figure CN222609006U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of welding, and more specifically to a welding seam grinding monitoring device. Background Art
[0002] With the development of welding technology, people's demand for the quality of the workpiece surface is also increasing. For the welds that appear during the welding process, the welds can be polished to meet the demand for improving the surface quality of the workpiece. In the process of welding the car roof, the welds also need to be polished, and the polishing equipment will polish the entire weld along the weld. In order to be able to detect the quality of weld polishing in real time, the polished welds can be inspected by adding visual acquisition equipment to the polishing equipment. However, since the polishing equipment will vibrate during the polishing process, the visual acquisition equipment mounted on the polishing equipment will have acquisition deviations, which will be detrimental to the accurate acquisition of the polishing detection results. Some additional visual acquisition devices are not easy to adjust and cannot be applied to a variety of weld polishing detection conditions. Utility Model Content
[0003] The purpose of the utility model is to overcome the deficiencies of the prior art and provide a weld grinding monitoring device that can be used to grind welds and monitor the quality of the welds after grinding, thereby improving the weld grinding quality and being applicable to a variety of grinding detection conditions.
[0004] In order to solve the above technical problems, the technical solution adopted by the utility model is:
[0005] A weld grinding monitoring device is provided, comprising a robot, wherein a grinding mechanism and a monitoring mechanism are connected to the robot via a connecting flange frame, wherein the monitoring mechanism comprises an image acquisition component, a first direction adjustment bracket, and a second direction adjustment bracket, wherein the image acquisition component is connected to an adjustment end of the second direction adjustment bracket via the first direction adjustment bracket, the fixed end of the second direction adjustment bracket is connected to the connecting flange frame, and the first direction adjustment bracket and the second direction adjustment bracket are not parallel to each other; and a control processing mechanism is also included, wherein the robot, the grinding mechanism, and the image acquisition component are all communicatively connected to the control processing mechanism.
[0006] Preferably, the first direction adjustment bracket is provided with a first sliding part, and the image acquisition component is connected to the first direction adjustment bracket through the first sliding part; the second direction adjustment bracket is provided with a second sliding part, and the first direction adjustment bracket is connected to the second direction adjustment bracket through the second sliding part; the sliding directions of the first sliding part and the second sliding part are arranged perpendicular to each other, and the image acquisition component can be moved away from or close to the polishing mechanism through the first sliding part.
[0007] Preferably, the first sliding part includes a plurality of first waist-shaped holes, and the first direction adjustment bracket is connected to the image acquisition component after passing through the first waist-shaped holes through a locking piece; the second sliding part includes a plurality of second waist-shaped holes, and the second direction adjustment bracket is connected to the first direction adjustment bracket after passing through the second waist-shaped holes through a locking piece.
[0008] Preferably, the monitoring mechanism further comprises an extension frame, and the second direction adjustment bracket is connected to the connecting flange frame via the extension frame.
[0009] Preferably, the grinding mechanism comprises a grinding disc and a driving member drivingly connected to the grinding disc, a fixed end of the driving member is connected to a connecting flange frame, and the driving member is communicatively connected to a control processing mechanism.
[0010] Preferably, the polishing mechanism further comprises a telescopic mechanism communicatively connected to the control processing mechanism, and the fixed end of the driving member is connected to the connecting flange frame via the telescopic mechanism.
[0011] Preferably, the grinding mechanism further comprises a grinding cover arranged around the grinding disc, and the grinding cover is connected to the connecting flange frame via an adjustable connecting frame.
[0012] Preferably, a plurality of brushes are connected to the grinding cover, and the brush heads of the brushes face the grinding end of the grinding disc.
[0013] Preferably, the polishing cover is also connected with a plurality of air pipes.
[0014] Preferably, the control processing mechanism includes a PLC controller, and also includes an industrial computer and a robot control cabinet electrically connected to the PLC controller. The image acquisition component is electrically connected to the industrial computer, and the robot and polishing mechanism are electrically connected to the robot control cabinet; the industrial computer is also electrically connected to a display.
[0015] Compared with the prior art, the beneficial effects of the utility model are:
[0016] The utility model discloses a weld grinding monitoring device. The robot can drive a grinding mechanism to perform grinding operations and can drive an image acquisition component of the monitoring mechanism to acquire images and transmit the images to a control processing mechanism for processing, so as to detect the quality of the weld. The monitoring mechanism is installed on a connecting flange frame, which can effectively reduce the acquisition deviation caused by vibration during the grinding process, thereby improving the accuracy of the detection result. The setting of a first direction adjustment bracket and a second direction adjustment bracket can improve the adjustment convenience of the image acquisition component, so that the monitoring mechanism can be applicable to a variety of grinding detection conditions. BRIEF DESCRIPTION OF THE DRAWINGS
[0017] Figure 1 This is a structural schematic diagram of a weld grinding monitoring device of the utility model;
[0018] Figure 2 This is a partial structural schematic diagram of a weld grinding monitoring device of the utility model;
[0019] Figure 3 It is a structural diagram of the monitoring mechanism of the utility model;
[0020] Figure 4 It is a structural schematic diagram of the grinding mechanism of the utility model;
[0021] Figure 5 It is a connection diagram of the control processing mechanism of the utility model.
[0022] The illustrations are as follows:
[0023] 1-robot, 2-grinding mechanism, 21-grinding disc, 22-driving member, 221-motor, 222-mounting seat, 23-trachea, 24-telescopic mechanism, 25-grinding cover, 26-adjustable connecting frame, 261-third waist-shaped hole, 27-brush, 3-monitoring mechanism, 31-first direction adjustment bracket, 311-first sliding part, 32-second direction adjustment bracket, 321-second sliding part, 33-image acquisition part, 34-extension frame, 35-adjustment plate, 351-mounting hole, 36-rib plate, 4-control processing mechanism, 41-PLC controller, 42-industrial computer, 43-robot control cabinet, 44-display, 5-connecting flange frame, 51-connecting flange. DETAILED DESCRIPTION
[0024] The utility model is further described below in conjunction with specific implementation methods. The drawings are only used for exemplary descriptions, and are only schematic diagrams, not actual pictures, and cannot be understood as limitations on this patent; in order to better illustrate the embodiments of the utility model, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product; for those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted.
[0025] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.
[0026] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present utility model, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.
[0027] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.
[0028] In the present utility model, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.
[0029] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.
[0030] Example 1
[0031] like Figures 1 to 5 The first embodiment of a weld grinding monitoring device of the utility model is shown, including a robot 1, a grinding mechanism 2 and a monitoring mechanism 3 are connected to the robot 1 through a connecting flange frame 5, wherein the monitoring mechanism 3 includes an image acquisition component 33, a first direction adjustment bracket 31, and a second direction adjustment bracket 32, the image acquisition component 33 is connected to the adjustment end of the second direction adjustment bracket 32 through the first direction adjustment bracket 31, the fixed end of the second direction adjustment bracket 32 is connected to the connecting flange frame 5, the first direction of the first direction adjustment bracket 31 and the second direction of the second direction adjustment bracket 32 are not parallel to each other, specifically, the first direction and the second direction can be set perpendicular to each other; and also includes a control processing mechanism 4, the robot 1, the grinding mechanism 2, and the image acquisition component 33 are all connected to the control processing mechanism 4 in communication. In this embodiment, the connecting flange frame 5 has a connecting flange 51, and the connecting flange frame 5 is connected to the flange end of the robot 1 through the connecting flange 51.
[0032] The robot 1 can drive the grinding mechanism 2 to perform grinding operations and can drive the image acquisition component 33 of the monitoring mechanism 3 to collect images and transmit the images to the control processing mechanism 4 for processing to obtain the current weld quality; the monitoring mechanism 3 is installed on the connecting flange frame 5, which can effectively reduce the collection deviation caused by the vibration during the grinding process and improve the accuracy of the detection result; the setting of the first direction adjustment bracket 31 and the second direction adjustment bracket 32 can improve the adjustment convenience of the image acquisition component 33, so that the monitoring mechanism 3 can be applied to a variety of grinding and detection conditions. The weld grinding monitoring device of the utility model can be used to monitor the grinding quality of the automobile roof weld. After the grinding mechanism 2 completes the forward grinding of the automobile roof, while the grinding mechanism 2 performs reverse grinding, it can collect images through the image acquisition component 33 and transmit the images to the control processing mechanism 4. The control processing mechanism 4 processes the images through the existing image processing method and obtains the current weld quality.
[0033] like Figure 2 and Figure 3 As shown, the first direction adjustment bracket 31 is provided with a first sliding part 311, and the image acquisition component 33 is connected to the first direction adjustment bracket 31 through the first sliding part 311; the second direction adjustment bracket 32 is provided with a second sliding part 321, and the first direction adjustment bracket 31 is connected to the second direction adjustment bracket 32 through the second sliding part 321; the sliding directions of the first sliding part 311 and the second sliding part 321 are perpendicular to each other, and the image acquisition component 33 can be moved away from or close to the grinding mechanism 2 through the first sliding part 311. Among them, the image acquisition component 33 can be a 3D camera.
[0034] In this embodiment, the first direction adjustment bracket 31 is a first L-shaped structure, the first sliding part 311 includes a plurality of first waist-shaped holes provided on one side of the first L-shaped structure, the first direction adjustment bracket 31 is connected to the image acquisition component 33 after the locking member passes through the first waist-shaped holes; the second sliding part 321 includes a plurality of second waist-shaped holes, the second direction adjustment bracket 32 is connected to the other side of the first L-shaped structure after the locking member passes through the second waist-shaped holes. The position of the image acquisition component 33 relative to the grinding mechanism 2 can be adjusted through the first waist-shaped holes provided on the first direction adjustment bracket 31 and the second waist-shaped holes provided on the second direction adjustment bracket 32. Specifically, the locking member can be a bolt assembly.
[0035] like Figure 3 As shown, the monitoring mechanism 3 also includes an extension frame 34 and an adjustment plate 35, the second direction adjustment bracket 32 is connected to one end of the extension frame 34, and the other end of the extension frame 34 is connected to the connecting flange frame 5 through the adjustment plate 35. The setting of the extension frame 34 can facilitate the monitoring mechanism 3 to be suitable for the grinding mechanism 2, so that the weld to be detected after grinding can be located within the image acquisition range of the image acquisition member 33. In this embodiment, the extension frame 34 is a second L-shaped structure. In order to improve the supporting strength of the second L-shaped structure, a rib plate 36 is connected to the second L-shaped structure. In this embodiment, a plurality of mounting holes 351 are provided on the upper edge of the adjustment plate 35 in the direction from the connecting flange 51 to the image acquisition member 33, and the adjustment plate 35 is connected to the extension frame 34 after passing through the mounting hole 351 through the locking member. In this embodiment, the mounting hole 351 can be a waist-shaped hole. The setting of a plurality of mounting holes 351 can be used to adjust the relative position between the monitoring mechanism 3 and the grinding mechanism 2. In this embodiment, the position adjustment of the monitoring mechanism 3 in the X, Y, and Z directions can be achieved through the provision of the first waist-shaped hole, the mounting hole 351, and the second waist-shaped hole.
[0036] like Figure 1 and Figure 5As shown, the control processing mechanism 4 includes a PLC controller 41, an industrial computer 42 and a robot control cabinet 43 electrically connected to the PLC controller 41, the image acquisition component 33 is electrically connected to the industrial computer 42, and the robot 1 and the grinding mechanism 2 are electrically connected to the robot control cabinet 43; the industrial computer 42 is also electrically connected to a display 44. The display 44 is provided to facilitate operators to view monitoring results.
[0037] Example 2
[0038] This embodiment is similar to embodiment 1, except that Figure 2 and Figure 4 As shown, in this embodiment, the grinding mechanism 2 includes a grinding disc 21, a driving member 22 connected to the grinding disc 21, and a telescopic mechanism 24, the fixed end of the telescopic mechanism 24 is connected to the connecting flange frame 5, the lifting end of the telescopic mechanism 24 is connected to the fixed end of the driving member 22, and the grinding disc 21 extends out of the connecting flange frame 5; the driving member 22 and the telescopic mechanism 24 are both electrically connected to the robot control cabinet 43. The telescopic direction of the telescopic mechanism 24 is arranged parallel to the sliding direction of the second sliding part 321, and the setting of the telescopic mechanism 24 can be used for the required activity adjustment of the grinding disc 21 during the grinding process, that is, the grinding disc 21 can be close to or away from the workpiece to be polished according to the grinding requirements. In this embodiment, the driving member 22 includes a motor 221 and a mounting seat 222, the motor 221 is connected to the telescopic mechanism 24 through the mounting seat 222, and the output shaft of the motor 221 is connected to the grinding disc 21. In this embodiment, the telescopic mechanism 24 can include an adaptive motor.
[0039] like Figure 2 and Figure 4 As shown, the grinding mechanism 2 also includes a grinding cover 25 arranged around the grinding disc 21, and the grinding cover 25 is connected to the connecting flange frame 5 through an adjustable connecting frame 26, wherein the adjustable connecting frame 26 is connected to an end of the connecting flange frame 5 away from the connecting flange 51. Specifically, the end of the grinding cover 25 away from the adjustable connecting frame 26 has an opening, and the grinding disc 21 extends from the opening and performs the grinding operation. A side of the grinding cover 25 close to the motor 221 is provided with an escape position for the output shaft of the motor 221. The setting of the grinding cover 25 can prevent the dust generated during the grinding process from splashing.
[0040] like Figure 4 As shown, the adjustable connecting frame 26 is provided with a third waist-shaped hole 261, and the adjustable connecting frame 26 is connected to the grinding cover 25 after passing through the third waist-shaped hole 261 through a locking member. In this embodiment, the extension direction of the third waist-shaped hole 261 and the sliding direction of the second sliding portion 321 are arranged parallel to each other, and the arrangement of the third waist-shaped hole 261 enables the grinding cover 25 to be applicable to grinding discs 21 of various specifications.
[0041] like Figure 4As shown, a plurality of brushes 27 are connected to the open portion of the grinding cover 25. Specifically, the entire open portion of the grinding cover 25 is arranged with brushes 27. The arrangement of the brushes 27 ensures that the grinding disc 21 is always located in a relatively closed area surrounded by the grinding cover 25 and the brushes 27 during the grinding operation, and the closed area can be flexibly contacted with the workpiece to be ground through the brushes 27.
[0042] Example 3
[0043] This embodiment is similar to embodiment 1 or 2, except that Figure 4 As shown, in this embodiment, the grinding cover 25 is also connected to a plurality of air pipes 23, and the air pipes 23 are used to be connected to the suction mechanism, so that the dust generated during the grinding process can be sucked away through the air pipes 23, thereby preventing the dust from remaining on the surface of the workpiece.
[0044] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations of the present invention. Ordinary technicians in the field can change, modify, replace and modify the above embodiments within the scope of the present invention.
[0045] Obviously, the above embodiments of the utility model are only examples for clearly explaining the utility model, and are not intended to limit the implementation methods of the utility model. For ordinary technicians in the relevant field, other different forms of changes or modifications can be made on the basis of the above description. It is not necessary and impossible to list all the implementation methods here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the utility model should be included in the protection scope of the claims of the utility model.
Claims
1. A weld grinding monitoring device, characterized in that: The invention comprises a robot (1), wherein the robot (1) is connected to a grinding mechanism (2) and a monitoring mechanism (3) via a connecting flange frame (5), wherein the monitoring mechanism (3) comprises an image acquisition component (33), a first direction adjustment bracket (31), and a second direction adjustment bracket (32), wherein the image acquisition component (33) is connected to an adjustment end of the second direction adjustment bracket (32) via the first direction adjustment bracket (31), and a fixed end of the second direction adjustment bracket (32) is connected to the connecting flange frame (5), and the first direction adjustment bracket (31) and the second direction adjustment bracket (32) are not parallel to each other; and further comprises a control processing mechanism (4), wherein the robot (1), the grinding mechanism (2), and the image acquisition component (33) are all connected to the control processing mechanism (4) in communication.
2. The weld grinding monitoring device according to claim 1, characterized in that: The first direction adjustment bracket (31) is provided with a first sliding part (311), and the image acquisition component (33) is connected to the first direction adjustment bracket (31) via the first sliding part (311); the second direction adjustment bracket (32) is provided with a second sliding part (321), and the first direction adjustment bracket (31) is connected to the second direction adjustment bracket (32) via the second sliding part (321); the sliding directions of the first sliding part (311) and the second sliding part (321) are arranged perpendicular to each other, and the image acquisition component (33) can be moved away from or close to the grinding mechanism (2) via the first sliding part (311).
3. The weld grinding monitoring device according to claim 2, characterized in that: The first sliding portion (311) comprises a plurality of first waist-shaped holes, and the first direction adjustment bracket (31) is connected to the image acquisition component (33) after passing through the first waist-shaped holes via a locking member; the second sliding portion (321) comprises a plurality of second waist-shaped holes, and the second direction adjustment bracket (32) is connected to the first direction adjustment bracket (31) after passing through the second waist-shaped holes via a locking member.
4. The weld grinding monitoring device according to claim 1, characterized in that: The monitoring mechanism (3) also includes an extension frame (34), and the second direction adjustment bracket (32) is connected to the connecting flange frame (5) via the extension frame (34).
5. The weld grinding monitoring device according to any one of claims 1 to 4, characterized in that: The grinding mechanism (2) comprises a grinding disc (21), a driving member (22) drivingly connected to the grinding disc (21), a fixed end of the driving member (22) being connected to a connecting flange frame (5), and the driving member (22) being communicatively connected to a control processing mechanism (4).
6. The weld grinding monitoring device according to claim 5, characterized in that: The grinding mechanism (2) further comprises a telescopic mechanism (24) which is communicatively connected to the control processing mechanism (4), and the fixed end of the driving member (22) is connected to the connecting flange frame (5) via the telescopic mechanism (24).
7. The weld grinding monitoring device according to claim 5, characterized in that: The grinding mechanism (2) further comprises a grinding cover (25) arranged around the grinding disc (21), and the grinding cover (25) is connected to the connecting flange frame (5) via an adjustable connecting frame (26).
8. The weld grinding monitoring device according to claim 7, characterized in that: The polishing cover (25) is also connected to a plurality of brushes (27), and the brush heads of the brushes (27) face toward the polishing end of the polishing disc (21).
9. The weld grinding monitoring device according to claim 7, characterized in that: The polishing cover (25) is also connected to a plurality of air pipes (23).
10. The weld grinding monitoring device according to any one of claims 1 to 4, characterized in that: The control processing mechanism (4) comprises a PLC controller (41), an industrial computer (42) and a robot control cabinet (43) electrically connected to the PLC controller (41); the image acquisition component (33) is electrically connected to the industrial computer (42); the robot (1) and the grinding mechanism (2) are both electrically connected to the robot control cabinet (43); and the industrial computer (42) is also electrically connected to a display (44).