Robot for machining welding seam of rear steel rail of milling machine

Abstract

The utility model relates to the technical field of steel rail welding seam machining, and discloses a robot for machining a steel rail welding seam behind a milling machine, which is used for grinding the steel rail welding seam at a grinding machining position and comprises a grinding mechanism and a dust removal mechanism, the grinding mechanism comprises a mechanical arm and a grinding part, and the mechanical arm is provided with a fixed end and a movable end. The polishing part is connected with the movable end of the mechanical arm. The dust removal mechanism comprises a dust removal funnel and a dust suction pipe, the dust removal funnel is arranged below the polishing machining position, the inner diameter of the dust removal funnel is gradually reduced in the direction away from the polishing machining position, the air inlet end of the dust suction pipe faces the polishing machining position, and the air outlet end is used for communicating with negative pressure dust suction equipment. The robot for machining the welding seam of the steel rail behind the milling machine can polish the welding seam of the welded steel rail, and dust formed in the polishing process can be prevented from harming the health of workers.

Description

Technical Field

[0001] The utility model relates to the technical field of rail weld processing, in particular to a robot used for processing rail welds after a milling machine. Background Art

[0002] Using welding technology to weld multiple sections of rails into longer seamless rails can reduce vibration and noise caused by joint gaps and extend the service life of the rails. After the rails are welded in the welded rail base, the welds need to be rough milled and polished.

[0003] Publication No. CN221111222U discloses a rail grinding robot comprising a multi-jointed manipulator and a tool magazine. The multi-jointed manipulator is connected to a flexible force-controlled flange, on which an electric spindle is mounted. The tool magazine houses several tools that are detachably connected to the electric spindle. The multi-jointed manipulator comprises a base and multiple movable arms, which are connected in sequence. A drive element is provided between adjacent movable arms to drive the movable arms. The movable arm at the head end is rotatably connected to the base, while the movable arm at the tail end is connected to the flexible force-controlled flange. The tool magazine comprises a tool holder and a mounting assembly mounted on the tool holder for detachably clamping the tools.

[0004] When the rails are ground by the above-mentioned grinding robot, a lot of dust is generated during the grinding process, which is not conducive to the factory environment and the health of the workers. Utility Model Content

[0005] The purpose of the utility model is to overcome the above technical deficiencies and propose a robot for processing rail welds after a milling machine, so as to solve the technical problem in the prior art that dust generated during the grinding process threatens the health of workers.

[0006] In order to achieve the above technical purpose, the present invention adopts the following technical solutions:

[0007] The utility model provides

[0008] A robot for processing rail welds after a milling machine is used to grind rail welds at a grinding processing position, comprising:

[0009] A grinding mechanism, comprising a robotic arm and a grinding portion, wherein the robotic arm has a fixed end and a movable end, and the grinding portion is connected to the movable end of the robotic arm; and

[0010] The dust removal mechanism includes a dust removal funnel and a dust extraction pipe. The dust removal funnel is arranged below the grinding processing position. The inner diameter of the dust removal funnel gradually decreases in the direction away from the grinding processing position. The air inlet end of the dust extraction pipe faces the grinding processing position, and the air outlet end is used to connect to the negative pressure dust extraction equipment.

[0011] In one embodiment, the robot for processing rail welds after a milling machine also includes a walking mechanism, the walking mechanism includes a workbench, and a grinding processing position is formed on the workbench; the fixed end of the robotic arm is connected to the workbench, the dust removal mechanism also includes a dust removal frame, the dust removal frame is connected to the workbench, the dust removal funnel is connected to the dust removal frame, and is connected to the workbench via the dust removal frame.

[0012] In one embodiment, the bottom of the dust removal funnel is open;

[0013] The dust removal mechanism further includes a chip removal box, which is arranged between the dust removal funnel and the workbench and is communicated with the bottom opening of the dust removal funnel.

[0014] In one embodiment, the walking mechanism also includes a fixed base, a slide rail assembly and a linear drive assembly. The slide rail assembly is arranged on the fixed base, the workbench is connected to the slide rail assembly, and is slidably connected to the fixed base through the slide rail assembly. The linear drive assembly is connected to the workbench and the fixed base, and is used to drive the workbench to slide relative to the fixed base.

[0015] In one embodiment, the robot for processing rail welds after a milling machine also includes a clamping and centering mechanism, which includes a support frame and a centering component. The support frame is connected to the workbench and forms a rail channel for the rails to pass through. The centering component is connected to the support frame and has two centering parts located on both sides of the two rail channels, which are used to center the rails through the two centering parts.

[0016] In one embodiment, the clamping and centering mechanism further includes a clamping assembly, which is connected to the support frame and is used to clamp or release the rail.

[0017] In one embodiment, the clamping and centering mechanism further includes a roller, which is disposed in the rail channel of the support frame and is rotatably connected to the support frame.

[0018] In one embodiment, there are two clamping and centering mechanisms, which are arranged on both sides of the grinding processing position, and the rail channels in the two clamping and centering mechanisms are coaxially arranged.

[0019] In one embodiment, the robot for processing rail welds after a milling machine further includes a weld visual detection mechanism, which is connected to the workbench, and the detection end of the weld visual detection mechanism is arranged relative to the weld of the rail at the grinding processing position.

[0020] In one embodiment, the robot for processing rail welds after a milling machine further includes a tool magazine connected to the workbench, and the tool magazine is provided with a variety of grinding structures that can replace the grinding part of the robot arm.

[0021] Compared with the prior art, the robot provided by the present invention is used for processing rail welds after a milling machine. After the rails are roughly milled by the milling machine, they enter the rail grinding processing position. At this time, the robotic arm is started, and the robotic arm drives the grinding part to move and drives the grinding part to rotate at high speed through the electric spindle on the robotic arm. The grinding part rotates at high speed to grind the welds of the rails. During the grinding process, dust will be generated, and negative pressure suction will be formed in the dust extraction pipe. The dust generated during the grinding process is adsorbed by the negative pressure suction and the dust generated during the grinding is extracted through the dust extraction pipe, which can prevent the dust generated during the grinding process from endangering the health of the workers. The large particles of impurities formed during the grinding process fall into the dust removal funnel under the action of gravity, and the large particles of impurities are collected and accommodated by the dust removal funnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic structural diagram of a robot for processing rail welds after a milling machine, provided by an embodiment of the present utility model;

[0023] Figure 2 This is a schematic structural diagram of a robot for processing rail welds after a milling machine, including a grinding mechanism, a dust removal mechanism, a clamping and centering mechanism, a weld visual inspection mechanism, and a tool magazine, provided by one embodiment of the present invention;

[0024] Figure 3 This is a schematic structural diagram of a clamping and centering mechanism and a weld visual inspection mechanism in a robot for processing rail welds on a milling machine, provided by one embodiment of the present invention;

[0025] Figure 4 The utility model is provided in an embodiment of the present invention, which is a schematic structural diagram of the walking mechanism of a robot for processing rail welds after a milling machine.

[0026] Description of reference numerals:

[0027] Walking mechanism 1; workbench 11; fixed base 12; slide rail assembly 13; linear drive assembly 14; grinding mechanism 2; robotic arm 21; grinding part 22; dust removal mechanism 3; dust removal funnel 31; dust extraction pipe 32; dust removal rack 33; chip removal box 34; clamping and centering mechanism 4; support frame 41; centering assembly 42; centering part 421; rotating arm 422; driving cylinder 423; tooth structure 424; clamping assembly 43; gantry 431; clamping head 432; clamping cylinder 433; roller 44; weld seam visual inspection mechanism 5; tool magazine 6; CNC machining center 7; operation console 8. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0029] In order to solve the technical problem that dust generated during the grinding process threatens the health of workers, the utility model provides a robot for processing rail welds after a milling machine, which can avoid the dust generated during the grinding process from threatening the health of workers.

[0030] It should be noted that the robot described in the present invention is used for but not limited to rail weld processing, etc. For the convenience of explanation, in the present invention, only the application of the robot in rail weld processing is used as an example for explanation, and the principles of the robot applied to other types of equipment are essentially the same as those applied to rail weld processing, so they will not be described one by one here.

[0031] See also Figure 1 , Figure 1 This is a structural schematic diagram of a robot for processing rail welds after a milling machine in one embodiment of the utility model. A robot for processing rail welds after a milling machine includes a walking mechanism 1, a grinding mechanism 2 and a dust removal mechanism 3: the walking mechanism 1 includes a workbench 11, and a grinding processing position is formed on the workbench 11; the grinding mechanism 2 includes a robotic arm 21 and a grinding part 22, the robotic arm 21 has a fixed end and a movable end, the fixed end of the robotic arm 21 is connected to the workbench 11, and the grinding part 22 is connected to the movable end of the robotic arm 21; the dust removal mechanism 3 includes a dust removal funnel 31 and a dust extraction pipe 32, the dust removal funnel 31 is connected to the workbench 11 and is arranged below the grinding processing position, the inner diameter of the dust removal funnel 31 gradually decreases in the direction away from the grinding processing position, the air inlet end of the dust extraction pipe 32 faces the grinding processing position, and the air outlet end is used to connect to the negative pressure dust extraction equipment.

[0032] Specifically, after the rail is rough-milled by the milling machine, it enters the rail grinding processing position. At this time, the robotic arm 21 is started, and the robotic arm 21 drives the grinding part 22 to move and drives the grinding part 22 to rotate at high speed through the electric spindle on the robotic arm 21. The grinding part 22 rotates at high speed to grind the weld of the rail. During the grinding process, dust will be generated, and negative pressure suction will be formed in the dust extraction pipe 32. Dust with smaller particle size will be adsorbed through the dust extraction pipe 32, and the dust generated by grinding will be extracted through the dust extraction pipe 32, which can avoid the dust generated during the grinding process from endangering the health of the workers; large particles of impurities formed during the grinding process fall into the dust removal funnel 31 under the action of gravity, and the large particles of impurities are collected and accommodated by the dust removal funnel 31.

[0033] It should be understood that the negative pressure dust extraction equipment can be connected to the dust extraction pipes in the factory, or it can be a dust removal fan and dust purifier, etc.; the dust extraction pipe 32 can be fixed to the workbench through a bracket, a cover, etc., and can also be fixed to the movable end of the robotic arm 21.

[0034] It should be understood that the grinding processing position can be any area on the workbench, preferably above the middle of the workbench.

[0035] It should be understood that the air inlet end of the dust extraction pipe 32 is arranged above the grinding processing position, and can also be arranged on the side of the grinding processing position. Figure 2 As shown, in one embodiment, the air inlet end of the dust extraction pipe 32 is arranged on the side of the grinding processing position.

[0036] It should be understood that the robotic arm 21 and the grinding part 22 are both existing mechanisms. The robotic arm 21 can be a multi-axis robotic mobile phone or a multi-axis robot that can enable the grinding part 22 to move along the weld; the grinding part 22 can be a grinding head or a grinding head of various shapes and sizes.

[0037] In order to support the dust removal funnel 31, Figure 2 As shown, in one embodiment, the dust removal mechanism 3 further includes a dust removal frame 33 , the dust removal frame 33 is connected to the workbench 11 , the dust removal funnel 31 is connected to the dust removal frame 33 , and is connected to the workbench 11 via the dust removal frame 33 .

[0038] By providing the dust removal frame 33 , the dust removal frame 33 can support the dust removal funnel 31 , thereby achieving the fixation of the dust removal funnel 31 relative to the workbench 11 .

[0039] The dust removal frame 33 can be formed by combining various types and structures of profiles by welding with a splicing machine or the like.

[0040] In order to collect the large-sized or large-particle chips formed during the grinding process, for this purpose, such as Figure 2 As shown, in one embodiment, the bottom of the dust removal funnel 31 is open; the dust removal mechanism 3 also includes a chip removal box 34, which is arranged between the dust removal funnel 31 and the workbench 11 and is connected to the bottom opening of the dust removal funnel 31.

[0041] During the grinding process, dust and large impurities are formed and enter the dust removal funnel 31 . The large impurities are carried along the dust removal funnel 31 into the chip removal box 34 under the action of gravity, and the large impurities are collected by the chip removal box 34 .

[0042] It should be understood that the chip box 34 is open on one side relative to the dust collection funnel 31, and the chip box 34 is slidably placed on the dust collection rack 33. The chip box 34 and the dust collection funnel 31 are spaced apart and can also be detachably connected by bolts, threads and snaps.

[0043] like Figure 4 As shown, in one embodiment, the walking mechanism 1 also includes a fixed base 12, a slide rail assembly 13 and a linear drive assembly 14. The slide rail assembly 13 is arranged on the fixed base 12, the workbench 11 is connected to the slide rail assembly 13, and is slidably connected to the fixed base 12 through the slide rail assembly 13. The linear drive assembly 14 connects the workbench 11 and the fixed base 12, and is used to drive the workbench 11 to slide relative to the fixed base 12.

[0044] By setting up a fixed base 12 and a sliding assembly, the workbench 11 can be supported and the workbench 11 can slide relative to the fixed base 12. By setting up a linear drive component, when it is necessary to control the movement of the workbench 11, the grinding mechanism 2 and the dust removal mechanism 3, the linear drive component is started, and the linear drive component drives the workbench 11 to slide relative to the fixed base 12. During the movement of the workbench 11, the grinding mechanism 2 and the dust removal mechanism 3 are driven to move.

[0045] The linear drive assembly 14 may be a hydraulic cylinder, or an electrically driven screw-nut mechanism, etc.

[0046] The slide rail assembly 13 may be a slide rail and a slider, a slide rail and a slide table, a slide groove and a slide table, etc.

[0047] In order to position the rails to be ground, Figure 1 and Figure 3 As shown, for this purpose, in one embodiment, the robot for processing rail welds after a milling machine also includes a clamping and centering mechanism 4, which includes a support frame 41 and a centering component 42. The support frame 41 is connected to the workbench 11 and forms a rail channel for the rails to pass through. The centering component 42 is connected to the support frame 41 and has two centering parts 421 located on both sides of the two rail channels, which are used to center the rails through the two centering parts 421.

[0048] By providing the clamping centering mechanism 4, after the rail passes through the rail channel, the centering assembly 42 is activated, and the two centering parts 421 of the centering assembly 42 move toward each other to achieve centering of the rail.

[0049] It should be understood that the centering assembly 42 may be a fork-arm centering mechanism or other centering mechanisms, such as Figure 3As shown, in one embodiment, the centering assembly 42 includes two rotating arms 422, two centering parts 421 and a driving cylinder 423. The two rotating arms 422 are symmetrically arranged on both sides of the rail channel and are respectively rotatably connected to the support frame 41. A tooth structure 424 is formed between the two rotating arms 422. The tooth structures 424 of the two rotating arms 422 are engaged with each other. The two centering parts 421 are arranged on both sides of the rail channel and are respectively connected to the two rotating arms 422. The shell of the driving cylinder 423 is hinged to the support frame 41, and the output shaft is hinged to one rotating arm 422.

[0050] When it is necessary to center the rails through the centering assembly 42, the driving cylinder 423 is started, and the driving cylinder 423 drives one rotating arm 422 to rotate, and the rotating arm 422 drives the other rotating arm 422 to rotate through the meshing tooth structure 424. The rotation of the two rotating arms 422 drives the two centering parts 421 to approach each other, and the two centering parts 421 approaching each other align the rails.

[0051] It should be understood that the tooth structure 424 can be a gear, a rack, a gear block, etc.

[0052] The centering portion 421 may be a block, a clamping body, or the like of various types.

[0053] In order to clamp the rail to be ground, Figure 3 As shown, in one embodiment, the clamping and centering mechanism 4 further includes a clamping assembly 43 , which is connected to the support frame 41 and is used to clamp or release the rail.

[0054] Before the rail needs to be ground, the rail is clamped to the support frame 41 by the clamping assembly 43 , and the rail is released after the grinding is completed.

[0055] It should be understood that the clamping assembly 43 can be a cylinder clamping assembly 43, a hydraulic cylinder clamping assembly 43, an electric clamping assembly 43, etc. Specifically, Figure 3 As shown, in one embodiment, the clamping assembly 43 includes a gantry 431, a clamping head 432 and a clamping cylinder 433. The gantry 431 is connected to the support frame 41 and spans the rail channel. The clamping head 432 is arranged relative to the top of the rail. The shell of the clamping cylinder 433 is connected to the gantry 431, and the output shaft of the clamping cylinder 433 is connected to the clamping head 432.

[0056] When the rail needs to be clamped, the clamping cylinder 433 is started, and the clamping cylinder 433 drives the clamping head 432 to clamp the top of the rail to the support frame 41, thereby clamping the rail. When the rail needs to be released, the clamping cylinder 433 drives the clamping head 432 to move away from the rail, so that the clamping assembly 43 releases the rail.

[0057] The rail channel is a channel formed between the support frame 41 and the gantry 431 for the rails to pass through.

[0058] In order to facilitate the sliding of the rail relative to the support frame 41, Figure 3 As shown, in one embodiment, the clamping and centering mechanism 4 further includes a roller 44 , which is disposed in the rail channel of the support frame 41 and is rotatably connected to the support frame 41 .

[0059] By setting the roller 44, the rail is set on the roller 44 and slides over the top of the roller 44. The rail is supported by the support frame 41 through the roller 44. The roller 44 can reduce the sliding resistance between the rail and the support frame 41.

[0060] In order to clamp and fix the two rail sections on both sides of the weld, Figure 3 As shown, in one embodiment, there are two clamping and centering mechanisms 4, which are arranged on both sides of the grinding processing position, and the rail channels in the two clamping and centering mechanisms 4 are coaxially arranged.

[0061] By providing two clamping and centering mechanisms 4 , the centering assemblies 42 in the two clamping and centering mechanisms 4 can center the rails on both sides of the weld.

[0062] It should be understood that the two clamping and centering mechanisms 4 may be completely identical or partially different, for example, Figure 2 As shown, in one embodiment, the clamping assembly 43 is not provided in the clamping and centering mechanism 4 near the robot arm 21 .

[0063] In order to detect the quality of the weld after welding and grinding, in one embodiment, the robot used for processing the rail weld after the milling machine also includes a weld visual detection mechanism 5, the weld visual detection mechanism 5 is connected to the workbench 11, and the detection end of the weld visual detection mechanism 5 is arranged relative to the weld of the rail at the grinding processing position.

[0064] Among them, the weld visual detection mechanism 5 is an existing device that can detect welds. The weld visual detection mechanism 5 can be set at the bottom, side and top of the rail. Specifically, in one embodiment, the weld visual detection mechanism 5 is fixed above the rail through a bracket.

[0065] In order to replace the type of the grinding portion 22 and the worn grinding portion 22, for this purpose, as shown in FIG. Figure 1 and Figure 2As shown, in one embodiment, the robot for processing rail welds after a milling machine also includes a tool magazine 6, which is connected to the workbench 11, and is provided with a variety of grinding structures (not shown in the figure) that can replace the grinding part 22 of the robot arm 21.

[0066] When the grinding part 22 needs to be replaced, the robot arm 21 controls the grinding part 22 to enter the tool magazine 6, removes the used grinding part 22 through the tool changing structure in the tool magazine 6, and replaces it with a new grinding part 22.

[0067] The tool magazine 6 is an existing structure capable of replacing the grinding portion 22 , which will not be discussed in detail in this application.

[0068] Among them, the grinding structure includes a grinding head, a grinding knife, etc. that can perform a grinding function.

[0069] like Figure 1 As shown, in one embodiment, the robot for processing rail welds after a milling machine also includes a CNC machining center 7 and an operation console 8. The CNC machining center 7 is set on a workbench 11. The CNC machining center 7 is used to perform preliminary milling of the rails. The operation console 8 is set on a fixed base 12. The operation console 8 is electrically connected to the clamping assembly 43, the centering assembly 42, the CNC machining center 7, the robotic arm 21, etc., and is used to control the corresponding equipment to perform actions.

[0070] Among them, the CNC machining center 7 can be a CNC milling machine, which is used to rough mill the welds of the rails before grinding them. It is arranged in front of the clamping and centering mechanism 4. The operation console 8 is a control cabinet with control switches such as start and pause, which is used to control the actions of the clamping component 43, the centering component 42, the CNC machining center 7, the robotic arm 21, etc.

[0071] The specific embodiments of the present invention described above do not limit the scope of protection of the present invention. Any other corresponding changes and modifications made based on the technical concept of the present invention should be included in the scope of protection of the claims of the present invention.

Claims

1. A robot for processing rail welds after a milling machine, used for grinding rail welds at a grinding processing position, characterized in that: include: The polishing mechanism comprises a mechanical arm and a polishing part, wherein the mechanical arm has a fixed end and a movable end, and the polishing part is connected to the movable end of the mechanical arm; and The dust removal mechanism includes a dust removal funnel and a dust extraction pipe. The dust removal funnel is arranged below the grinding processing position. The inner diameter of the dust removal funnel gradually decreases in the direction away from the grinding processing position. The air inlet end of the dust extraction pipe faces the grinding processing position, and the air outlet end is used to connect to the negative pressure dust extraction equipment.

2. The robot for processing rail welds after a milling machine according to claim 1, characterized in that: It also includes a walking mechanism, which includes a workbench, on which the grinding processing position is formed; the fixed end of the robotic arm is connected to the workbench, and the dust removal mechanism also includes a dust removal rack, which is connected to the workbench, and the dust removal funnel is connected to the dust removal rack, and is connected to the workbench via the dust removal rack.

3. The robot for processing rail welds after a milling machine according to claim 2, characterized in that: The bottom of the dust removal funnel is open; The dust removal mechanism further includes a chip removal box, which is arranged between the dust removal funnel and the workbench and is communicated with the bottom opening of the dust removal funnel.

4. The robot for processing rail welds after a milling machine according to claim 2, characterized in that: The walking mechanism also includes a fixed base, a slide rail assembly and a linear drive assembly. The slide rail assembly is arranged on the fixed base. The workbench is connected to the slide rail assembly and is slidably connected to the fixed base through the slide rail assembly. The linear drive assembly is connected to the workbench and the fixed base, and is used to drive the workbench to slide relative to the fixed base.

5. The robot for processing rail welds after a milling machine according to claim 2, characterized in that: It also includes a clamping and centering mechanism, which includes a support frame and a centering component. The support frame is connected to the workbench and forms a rail channel for the rails to pass through. The centering component is connected to the support frame and has two centering parts located on both sides of the two rail channels, which are used to center the rails through the two centering parts.

6. The robot for processing rail welds after a milling machine according to claim 5, characterized in that: The clamping and centering mechanism further includes a clamping assembly, which is connected to the support frame and is used to clamp or release the rail.

7. The robot for processing rail welds after a milling machine according to claim 5, characterized in that: The clamping and centering mechanism further includes a roller, which is arranged in the rail channel of the support frame and is rotatably connected to the support frame.

8. The robot for processing rail welds after a milling machine according to claim 5, characterized in that: There are two clamping and centering mechanisms, which are arranged on both sides of the grinding processing position, and the rail channels in the two clamping and centering mechanisms are coaxially arranged.

9. The robot for processing rail welds after a milling machine according to claim 2, characterized in that: It also includes a weld visual detection mechanism, which is connected to the workbench, and the detection end of the weld visual detection mechanism is arranged relative to the weld of the rail at the grinding processing position.

10. The robot for processing rail welds after a milling machine according to claim 2, characterized in that: The utility model further comprises a tool magazine connected to the workbench, and the tool magazine is provided with a plurality of grinding structures capable of replacing the grinding part of the robot arm.

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