Mobile robot hydraulic control constant force grinding back gouging equipment and welding post-processing system

Abstract

The utility model provides a mobile robot hydraulic control constant force grinding back gouging device and a welding post-processing system, the mobile robot hydraulic control constant force grinding back gouging device comprises a mobile platform, the mobile platform comprises a platform body, a mobile wheel and an anchoring piece, and the anchoring piece moves along the height direction of the device; the back gouging mechanism comprises a moving arm, a control module, a compatible connecting frame and at least two grinding heads, the control module is in signal connection with the moving arm, and the compatible connecting frame is in matched connection with the at least two grinding heads; and the table body, the anchoring piece and the control module are respectively connected with the control mechanism. The back gouging mechanism is driven by the movable platform to move and is positioned through the anchoring piece, so that the back gouging process is stable, meanwhile, the back gouging mechanism can machine elements to be subjected to back gouging in different scenes through different grinding heads, the application range of the equipment is widened, and the working efficiency is improved. Compared with a conventional back gouging technology at the present stage, the back gouging method has the advantages of being flexible to use, convenient to operate, stable in use process, high in universality, high in machining efficiency, high in controllability and the like.

Description

Technical Field

[0001] The utility model relates to the technical field of root cleaning processing, in particular to a liquid-controlled constant-force grinding and root cleaning device for a mobile robot and a post-welding treatment system. Background Art

[0002] In current industrial production, the quality and performance of welded structures are crucial for the safety and reliability of the entire project. The welds produced during the welding process need to undergo strict grinding and root cleaning treatments to ensure the strength and tightness of the welded joints.

[0003] Carbon arc air gouging for root cleaning is a widely used root cleaning method in industry. It generates a carbon arc between a carbon rod and a workpiece, locally heats the metal to a molten state, and then uses compressed air to blow away the molten metal, thereby achieving the purpose of cleaning the weld. However, this method will generate strong noise, a large amount of dust and harmful gases during operation, causing long-term damage to the respiratory system, hearing and overall health of the operators.

[0004] On the other hand, due to the lack of a general-purpose special root cleaning device, manual participation is inevitably required during the processing. Although this grinding and root cleaning method has less impact on the environment than carbon arc air gouging, it has poor stability, low efficiency, and the dust generated during the grinding process also poses a threat to the health of the operators. Especially when dealing with welds of complex shapes, the operation is difficult, the root cleaning quality cannot be guaranteed, and it is easy to cause greater damage to the surface of the workpiece, affecting the yield rate of the welded joints. Summary of the Invention

[0005] Therefore, the technical problem to be solved by the utility model is to overcome the problems of limited application range and processing stability of the existing root cleaning devices, and provide a liquid-controlled constant-force grinding and root cleaning device for a mobile robot and a post-welding treatment system.

[0006] To solve the above technical problem, the utility model provides a liquid-controlled constant-force grinding and root cleaning device for a mobile robot, which includes: a mobile platform, the mobile platform includes a platform body, a plurality of mobile wheels and at least one anchoring member, the plurality of mobile wheels and the anchoring member are both arranged at the bottom of the platform body, and the anchoring member moves along the height direction of the device to make the mobile wheels disengage from / contact the moving surface; a root cleaning mechanism, the root cleaning mechanism is arranged on the platform body, and it includes a moving arm, a control module, a compatible connection frame and at least two types of grinding heads, the control module is signal-connected with the moving arm, the compatible connection frame is arranged at the working end of the moving arm and can be matched and connected with at least two types of the grinding heads; a control mechanism, the platform body, the anchoring member and the control module are respectively connected with the control mechanism.

[0007] In an embodiment of the present utility model, the anchoring member includes a hydraulic cylinder and a jacking device. The jacking device is connected to the piston of the hydraulic cylinder. When the jacking device is in the jacking state, the moving wheels are separated from the moving surface; when the jacking device is in the contracted state, the moving wheels contact the moving surface.

[0008] In an embodiment of the present utility model, the moving platform further includes a mounting plate and at least one lifting member. The mounting plate is arranged at the center of the table body, the root cleaning mechanism is connected to the table body through the mounting plate, and at least one lifting member is arranged at the edge of the table body and is connected to an external hoisting device.

[0009] In an embodiment of the present utility model, the moving platform further includes an alarm member, and the alarm member is connected to the control mechanism.

[0010] In an embodiment of the present utility model, a driving module is arranged inside the table body, and the driving module is connected to the control mechanism.

[0011] In an embodiment of the present utility model, the control mechanism includes an electric control cabinet, a power supply mechanism and a housing. The housing is arranged on the table body, the electric control cabinet and the power supply mechanism are respectively arranged inside the housing and are connected by wires.

[0012] In an embodiment of the present utility model, a wire reel, a pneumatic source treatment triple unit and a maintenance door are arranged on the housing. The wire reel is arranged on the top of the housing, and the maintenance door is arranged on the side of the housing away from the root cleaning mechanism.

[0013] In an embodiment of the present utility model, the control mechanism further includes a display and an operation screen. The display and the operation screen are respectively connected to the electric control cabinet and are respectively arranged on the housing.

[0014] In an embodiment of the present utility model, the root cleaning mechanism further includes a laser vision sensor. The laser vision sensor is connected to the control mechanism and is arranged at the working end of the moving arm.

[0015] The present utility model also provides a post-welding treatment system, which includes the above-mentioned mobile robot hydraulic constant force grinding and root cleaning equipment.

[0016] The above technical solution of the present utility model has the following advantages compared with the prior art:

[0017] The mobile robot hydraulic constant force grinding and root cleaning equipment and the post-welding treatment system described in the present utility model drive the root cleaning mechanism to move to the working space through a mobile platform, and can fix its working position through an anchoring part, thereby making the root cleaning process always stable. At the same time, the root cleaning mechanism can process the elements to be root cleaned in different scenarios through different grinding heads under the driving action of the control mechanism, thereby greatly improving the application range of this equipment. Compared with the current conventional root cleaning technology, this application has significant advantages such as flexible use, easy operation, stable use process, high universality, high processing efficiency, and strong controllability. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to make the content of the present utility model easier to be clearly understood, the following further details the present utility model according to the specific embodiments of the present utility model in conjunction with the drawings.

[0019] Figure 1 is a schematic three-dimensional structure diagram of the mobile robot hydraulic constant force grinding and root cleaning equipment in the preferred embodiment of the present utility model;

[0020] Figure 2 is Figure 1 a schematic three-dimensional structure diagram of the mobile platform in the mobile robot hydraulic constant force grinding and root cleaning equipment shown;

[0021] Figure 3 is Figure 1 a schematic diagram of the working state of the mobile robot hydraulic constant force grinding and root cleaning equipment shown under the first working condition;

[0022] Figure 4 is Figure 1 a schematic diagram of the working state of the mobile robot hydraulic constant force grinding and root cleaning equipment shown under the second working condition.

[0023] Explanation of the reference numerals in the drawings: 100, mobile platform; 110, table body; 120, mounting plate; 130, moving wheel; 140, anchoring part; 150, alarm part; 160, lifting part; 200, root cleaning mechanism; 210, moving arm; 220, laser vision sensor; 230, compatible connection frame; 240, grinding head; 300, control mechanism; 310, housing; 311, air source treatment triple unit; 312, maintenance door; 320, wire reel; 330, display; 340, operation screen; 400, element to be root cleaned. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0024] The following further illustrates the present utility model in conjunction with the drawings and specific embodiments, so that those skilled in the art can better understand the present utility model and be able to implement it, but the embodiments cited do not limit the present utility model.

[0025] Embodiment 1

[0026] See Figure 1 As shown in Figure 1 , this embodiment provides a mobile robot hydraulic constant-force grinding and root cleaning device, which includes: a mobile platform 100, the mobile platform 100 includes a platform body 110, a plurality of mobile wheels 130 and at least one anchoring member 140. The plurality of mobile wheels 130 and the anchoring member 140 are both arranged at the bottom of the platform body 110. The anchoring member 140 moves along the height direction of the device to make the mobile wheels 130 disengage from / contact the moving surface; a root cleaning mechanism 200, the root cleaning mechanism 200 is arranged on the platform body 110, and includes a moving arm 210, a control module, a compatible connection frame 230 and at least two types of grinding heads 240. The control module is in signal connection with the moving arm 210. The compatible connection frame 230 is arranged at the working end of the moving arm 210 and can be matched and connected with at least two types of the grinding heads 240; a control mechanism 300, the platform body 110, the anchoring member 140 and the control module are respectively connected to the control mechanism 300.

[0027] The mobile robot hydraulic constant-force grinding and root cleaning device described in the present utility model drives the root cleaning mechanism 200 to move to the working space through the mobile platform 100, and can fix its working position through the anchoring member 140, so that the root cleaning process is always stable. At the same time, the root cleaning mechanism 200 can process the elements 400 to be root cleaned in different scenarios through different grinding heads 240 under the driving action of the control mechanism 300. Therefore, the applicable range of this device is greatly improved. Compared with the current conventional root cleaning technology, this application has significant advantages such as flexible use, easy operation, stable use process, high universality, high processing efficiency and strong controllability.

[0028] Participate Figure 1 And Figure 2 As shown in Figure 2 , the bearing surface of the mobile platform 100 in this embodiment is preferably rectangular, which is used to drive the control mechanism 300 and the root cleaning mechanism 200 to move to adjust the actual working position. The root cleaning mechanism 200 is arranged in the middle of the mobile platform 100, and the control mechanism 300 is arranged at the edge of the mobile platform 100. Further, in this embodiment, the mobile platform 100 includes four mobile wheels 130 and four anchoring members 140. The four mobile wheels 130 are respectively arranged at the four corners of the platform body 110, and the four anchoring members 140 are arranged in one-to-one correspondence with the four mobile wheels 130. This can maximize the stability of the device during the moving process and the working process on the premise of reducing the cost of components.

[0029] Specifically, the anchoring member 140 in this embodiment includes a hydraulic cylinder and a jacking device. The jacking device is connected to the piston of the hydraulic cylinder. When the jacking device is in the jacking state, the moving wheels 130 are separated from the moving surface; when the jacking device is in the contracted state, the moving wheels 130 contact the moving surface. Based on this, when the anchoring member 140 jacks up, it can support the entire device and keep the device in a stable state, thereby avoiding the device from shaking or tipping over, and improving its stability and safety during operation.

[0030] See Figure 1 As shown, in this embodiment, the mobile platform 100 further includes a mounting plate 120 and at least one lifting member 160. The mounting plate 120 is disposed at the center of the platform body 110. The root cleaning mechanism 200 is connected to the platform body 110 through the mounting plate 120. At least one lifting member 160 is disposed at the edge of the platform body 110 and is connected to an external hoisting device. When there are obstacles on the moving path of the mobile platform 100 that prevent it from moving to the target working position, the external hoisting device can achieve the hoisting effect of the entire device through the connection with the lifting member 160. Specifically, in this embodiment, there are four lifting members 160, and the four lifting members 160 are respectively disposed at the four corners of the platform body 110.

[0031] In this embodiment, the mobile platform 100 further includes an alarm member 150, and the alarm member 150 is connected to the control mechanism 300. During the movement of the platform body 110, the alarm member 150 can emit an alarm to remind the operators around the device to take evasive action. It is preferably an audible and visual alarm light.

[0032] In this embodiment, a driving module is provided inside the platform body 110, and the driving module is connected to the control mechanism 300. The operator can perform real-time regulation on the driving module through the control mechanism 300, thereby improving the flexibility of use of this device. The operator can also preset parameters for the driving module through the control mechanism 300, thereby improving the automation level of this device.

[0033] See Figures 1 to 4As shown in the figure, the control mechanism 300 in this embodiment includes an electric control cabinet, a power supply mechanism, and a housing 310. The housing 310 is arranged on the table 110. The electric control cabinet and the power supply mechanism are respectively arranged inside the housing 310 and are connected by wires. Specifically, the power supply device in this embodiment is preferably a storage battery, which only requires one wire to supply power to the overall device. In other embodiments, other power sources can also be selected for the power supply device, and the present utility model does not make specific limitations thereto. Further, the control mechanism 300 further includes a display 330 and an operation screen 340. The display 330 and the operation screen 340 are respectively connected to the electric control cabinet and are respectively arranged on the housing 310. Further, the display 330 can display the storage battery power in real time, and when the power is insufficient, it can be moved to the charging position for charging. Furthermore, for the convenience of wire storage, a wire reel 320 is also provided on the housing 310 in this embodiment. The wire reel 320 is arranged on the top of the housing 310. During the operation of the device, the wires can be stored in the wire reel 320 to avoid dragging the cables during the movement of the device, thereby improving the cleanliness and safety during use.

[0034] During actual root grinding and cleaning, dust will be generated. To prevent dust from entering the control mechanism 300 and damaging the internal electric control cabinet, an air source treatment triple unit 311 and a maintenance door 312 are provided on the housing 310 in this embodiment. The maintenance door 312 is arranged on the side of the housing 310 away from the root cleaning mechanism 200, and the air source treatment triple unit 311. Further, the housing 310 has high tightness, so the heat generated by its internal structure during operation cannot be discharged in time. Therefore, on the one hand, the air source treatment triple unit 311 can supply compressed air into the housing 310 to dissipate heat from devices such as the electric control box, and on the other hand, the air source treatment triple unit 311 can also be used for dust prevention of the housing.

[0035] Furthermore, while sucking dust, it can also perform air cooling on the electric control cabinet, thereby further improving the service life of this device.

[0036] In this embodiment, the root cleaning mechanism 200 further includes a laser vision sensor 220. The laser vision sensor 220 is connected to the control mechanism 300 and is arranged at the working end of the moving arm 210. In this embodiment, the laser vision sensor 220 is used for the trajectory planning guidance of automatic root grinding and cleaning. In this embodiment, one end of the compatible connection frame 230 is connected to the moving arm 210, and the other end can replace different grinding heads 240 according to actual situations. During actual operation, the control module in the root cleaning mechanism 200 can be adjusted through the control mechanism 300, thereby realizing the automated processing process of this device.

[0037] Embodiment Two

[0038] This embodiment provides a post-welding treatment system, which includes the above-mentioned mobile robot hydraulic constant-force grinding and root cleaning equipment.

[0039] In summary, the mobile robot hydraulic constant-force grinding and root cleaning equipment and the post-welding treatment system according to the present utility model drive the root cleaning mechanism 200 to move to the working space through the mobile platform 100, and can fix its working position through the anchoring member 140, so that the root cleaning process is always stable. At the same time, the root cleaning mechanism 200 can process the components 400 to be root cleaned in different scenarios through different grinding heads 240 under the driving action of the control mechanism 300, thereby greatly improving the applicable range of this equipment. Compared with the current conventional root cleaning technology, this application has significant advantages such as flexible use, easy operation, stable use process, high universality, high processing efficiency, and strong controllability.

[0040] Obviously, the above embodiments are merely examples given for clear illustration and are not limitations on the implementation manners. For those of ordinary skill in the art, other different forms of changes or modifications can be made on the basis of the above description. It is not necessary and impossible to enumerate all the implementation manners here. And the obvious changes or modifications derived therefrom are still within the protection scope of the present utility model.

Claims

1. A mobile robot hydraulic constant force grinding and root cleaning device, characterized in that: Comprising: A mobile platform, which includes a platform body, a plurality of mobile wheels, and at least one anchoring member. The plurality of mobile wheels and the anchoring member are both arranged at the bottom of the platform body, and the anchoring member moves along the height direction of the equipment to make the mobile wheels disengage from / contact the moving surface; A root cleaning mechanism, which is arranged on the platform body and includes a moving arm, a control module, a compatible connection frame, and at least two types of grinding heads. The control module is signal-connected to the moving arm, the compatible connection frame is arranged at the working end of the moving arm, and can be matched and connected with at least two types of the grinding heads; A control mechanism, to which the platform body, the anchoring member, and the control module are respectively connected.

2. The liquid-controlled constant-force grinding and root cleaning device for a mobile robot according to claim 1, wherein: The anchoring member includes a hydraulic cylinder and a jacking device. The jacking device is connected to the piston of the hydraulic cylinder. When the jacking device is in the jacking state, the mobile wheels disengage from the moving surface; when the jacking device is in the contracted state, the mobile wheels contact the moving surface.

3. The liquid-controlled constant-force grinding and root cleaning device for a mobile robot according to claim 1, characterized in that: The mobile platform further includes a mounting plate and at least one lifting member. The mounting plate is arranged at the center of the platform body, the root cleaning mechanism is connected to the platform body through the mounting plate, and at least one lifting member is arranged at the edge of the platform body and is connected to an external hoisting device.

4. The liquid-controlled constant-force grinding and root cleaning device for a mobile robot according to claim 1, wherein: The mobile platform further includes an alarm member, and the alarm member is connected to the control mechanism.

5. The mobile robot hydraulic constant force grinding and root cleaning device according to claim 1, characterized in that: A driving module is arranged inside the platform body, and the driving module is connected to the control mechanism.

6. The liquid-controlled constant-force grinding and root cleaning device for a mobile robot according to claim 1, wherein: The control mechanism includes an electric control cabinet, a power supply mechanism, and a housing. The housing is arranged on the platform body, the electric control cabinet and the power supply mechanism are respectively arranged inside the housing, and are connected by wires.

7. The mobile robot hydraulic constant force grinding and root cleaning device according to claim 6, characterized in that: A wire reel, a pneumatic source treatment triple unit, and a maintenance door are arranged on the housing. The wire reel is arranged on the top of the housing, and the maintenance door is arranged on the side of the housing away from the root cleaning mechanism.

8. The mobile robot hydraulic constant force grinding and root cleaning device according to claim 6, characterized in that: The control mechanism further includes a display and an operation screen. The display and the operation screen are respectively connected to the electric control cabinet and are respectively arranged on the housing.

9. The liquid-controlled constant-force grinding and root cleaning device for a mobile robot according to claim 1, characterized in that: The root cleaning mechanism further includes a laser vision sensor. The laser vision sensor is connected to the control mechanism and is arranged at the working end of the moving arm.

10. A post-welding treatment system, characterized in that: A mobile robot hydraulic control constant force grinding and root cleaning device according to any one of claims 1 to 9.

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