Wide band steel surface grinding device based on multi-axis robot and band steel production line

Abstract

The utility model provides a wide-width strip steel surface grinding device based on a multi-axis robot and a strip steel production line. The wide-width strip steel surface grinding device based on the multi-axis robot comprises a mechanical arm, a linear module, a pressing device and a grinding material assembly. The mechanical arm is connected with the linear module, a downward pressing device is installed on the linear module, and the material grinding assembly is installed on the downward pressing device; the mechanical arm can drive the linear module to move, and the linear module comprises a fixed part and a movable part; the mechanical arm is connected with the fixed part, the movable part can move relative to the fixed part, and the downward pressing device is installed on the movable part. The polishing width is equal to the sum of the moving distance of the tail end of the mechanical arm and the stroke of the linear module, the polishing width is greatly increased, the action range of the mechanical arm is small, and the requirement of polishing equipment for surrounding space is lowered.

Description

TECHNICAL FIELD

[0001] The utility model relates to the strip steel automatic polishing technical field, specifically, it relates to a wide width strip steel surface polishing device based on multi -shaft robot, especially, it relates to a wide width strip steel surface flexible high -speed polishing device based on multi -shaft robot. BACKGROUND

[0002] The roll and rolling mill that contact with the strip steel in the production strip steel process of the cold rolling mill pickling and treatment line unit and vibration make the strip steel surface appear various defects, such as "roll mark, vibration mark, scratch, incoming material steel defect etc." These potential periodic defects are usually very fine and difficult to find, so the strip steel surface needs to be polished to identify these defects.

[0003] At present, the cold-rolled plate is mostly polished by manual operation at home and abroad, the operator holds an oil stone to polish the surface in the width direction of the strip steel, then directly observes the polished surface with naked eyes to judge whether defects exist, and the polishing method has high labor cost, low efficiency and large workload, and is prone to missed detection. It is understood that some places in China have adopted robot polishing, which is basically applied to the fields of polishing and grinding.

[0004] However, there are still pain points in polishing the strip steel with super wide width (such as more than 1850mm): the robot has limited arm span, and it is difficult to cover the large polishing range of the strip steel (such as more than 1850mm*5400mm). If the super wide strip steel polishing requirement is to be met, a robot with large arm span needs to be selected, which requires expanding the floor area, and for the space-limited working conditions, due to the large volume of the robot with large arm span, it is difficult to effectively arrange on site.

[0005] Patent document CN115464480A discloses a strip steel surface polishing machine, which comprises a polishing machine support, a servo motor is fixed on the polishing machine support, a transmission shaft of the servo motor is provided with a speed reducer, a rotating shaft is arranged on the speed reducer, a swing arm is arranged on the rotating shaft, a gas cylinder is arranged at one end of the swing arm, a flexible polishing head is fixed on the piston telescopic rod of the gas cylinder, and a polishing oil stone is arranged below the flexible polishing head.

[0006] Patent document CN218984162U discloses a strip steel surface polishing system, comprising a gantry support, a rotating platform device and a polishing device; the rotating platform device comprises a rotating platform body fixedly installed below the horizontal part of the gantry support, an output flange rotatably installed below the rotating platform body, and a rotating drive device driving the output flange to rotate; the polishing device comprises a truss, a driving module, a pressing device and a flexible polishing head, the flexible polishing head is installed below the pressing device, the pressing device is arranged on the truss, the truss allows the pressing device to move along the length direction of the truss, and the driving module drives the pressing device to reciprocate along the length direction of the truss. By driving the output flange to rotate through the rotating drive device, the truss is driven to rotate, and the pressing device and the flexible polishing head are driven to reciprocate along the length direction of the truss through the driving module, so that the polishing track on the surface of the strip steel is a straight line, and the occurrence of the cross angle of the grinding marks can be effectively avoided, thereby facilitating the imaging detection of the strip steel.

[0007] The above two schemes have the following defects: if a small-size polishing machine or polishing system is selected, the movement range of the polishing head is small, the wide strip steel cannot be fully covered and polished, and there is a grinding omission phenomenon. If a large-size polishing machine or polishing system is used, the overall volume of the equipment is large, and it is difficult to effectively arrange in the field with high space size requirements. Utility model content

[0008] In view of the defects in the prior art, the purpose of the utility model is to provide a wide-width strip steel surface polishing device based on a multi-axis robot and a strip steel production line.

[0009] According to the wide-width strip steel surface polishing device based on a multi-axis robot provided by the utility model, the mechanical arm, the linear module, the pressing device and the abrasive assembly are arranged.

[0010] The mechanical arm is connected with the linear module, the pressing device is installed on the linear module, and the abrasive assembly is installed on the pressing device.

[0011] The mechanical arm can drive the linear module to move, the linear module comprises a fixed part and a moving part, the mechanical arm is connected with the fixed part, the moving part can move relative to the fixed part along the width direction of the strip steel to be polished, and the pressing device is installed on the moving part.

[0012] Preferably, the mechanical arm comprises a six-axis robot or a six-axis mechanical arm.

[0013] Preferably, the fixed part comprises a support, a servo motor and a transmission gear, the servo motor and the transmission gear are both installed on the support, and the support is connected with the mechanical arm.

[0014] The moving part comprises a belt structure, the belt structure is sleeved on the transmission gear, and the pressing device is connected with the belt structure; the servo motor can drive the transmission gear to drive the belt structure, so that the relative movement of the pressing device and the mechanical arm is realized.

[0015] Preferably, the fixing part comprises a support, a screw rod and a rotary motor, the screw rod and the rotary motor are both installed on the support; the support is connected with the mechanical arm;

[0016] The moving part is a ball nut; the ball nut is sleeved on the screw rod, and the rotary motor is connected with the screw rod and used for driving the screw rod to rotate.

[0017] Preferably, the fixing part comprises a support and a track; the track is installed on the support; the support is connected with the mechanical arm; the moving part comprises a sliding block and a linear motor; the linear motor is used for driving the sliding block to move in the track;

[0018] The pressing device is connected with the sliding block.

[0019] Preferably, the pressing device comprises a shell and a cylinder;

[0020] The cylinder is installed in the shell, and an end portion of the cylinder is directly or indirectly connected with the abrasive assembly.

[0021] Preferably, the abrasive assembly comprises a pneumatic clamp jaw, a clamping plate, an abrasive handle, a flexible base and an abrasive;

[0022] The pneumatic clamp jaw clamps the abrasive handle through the clamping plate, the flexible base is installed in the abrasive handle, and the flexible base is connected with the abrasive.

[0023] Preferably, the flexible base is connected with the abrasive in a bonding mode.

[0024] Preferably, the utility model further comprises a ground rail;

[0025] The length direction of the ground rail is consistent with the length direction of the to-be-polished strip steel.

[0026] The mechanical arm is installed on the ground rail and can move along the length direction of the ground rail.

[0027] The flexible base is a sponge.

[0028] According to the strip steel production line provided by the utility model, the wide-strip steel surface polishing device based on the multi-axis robot is adopted.

[0029] Compared with the prior art, the utility model has the beneficial effects that:

[0030] The utility model discloses under the premise of the limited movement range of smaller size mechanical arm, through the design of linear module, has extended the movement range of abrasive assembly, makes the polishing device whole can be applicable to wider strip steel, has improved the adaptability of polishing device. BRIEF DESCRIPTION OF DRAWINGS

[0031] Other features, objects and advantages of the utility model will become more apparent through reading the following detailed description of non-restrictive embodiments with reference to the accompanying drawings:

[0032] Figure 1 It is three-dimensional schematic view of the utility model;

[0033] Figure 2 It is structural schematic view of the utility model;

[0034] Figure 3 It is working range schematic view of the utility model;

[0035] Figure 4 It is linear module, down pressure device and abrasive assembly installation relation schematic view;

[0036] Figure 5 It is abrasive schematic view;

[0037] Figure 6 It is three-dimensional schematic view of the utility model including ground rail, wherein linear module is not embodied;

[0038] Figure 7 It is structural schematic view of Figure 6 .

[0039] It is shown in the drawing:

[0040] DETAILED DESCRIPTION

[0041] The utility model will be explained in detail below in combination with specific embodiment. The following embodiment will help the person skilled in the art to further understand the utility model, but does not limit the utility model in any form. It should be pointed out that, for ordinary skilled in the art, without departing from the concept of the utility model, can also make a number of changes and improvements. These all belong to the protection scope of the utility model.

[0042] The utility model provides a kind of wide strip steel surface polishing device based on multi-axis robot, as Figures 1-5As shown, it comprises a mechanical arm 1, a linear module 2, a pressing device 3 and an abrasive assembly 4; the mechanical arm 1 is connected with the linear module 2, specifically, the mechanical arm 1 and the linear module 2 can be fastened by an adapter plate; the pressing device 3 is installed on the linear module 2, and the abrasive assembly 4 is installed on the pressing device 3.

[0043] The mechanical arm 1 can drive the linear module 2 to move, the linear module 2 comprises a fixed part and a moving part; the mechanical arm 1 is connected with the fixed part, and the moving part can move along the width direction of the steel strip 5 to be polished relative to the fixed part, and the pressing device 3 is installed on the moving part. In a preferred embodiment, the mechanical arm 1 is a six-axis robot or a six-axis mechanical arm, and the model of the six-axis robot can be ABB-irb6700-150.

[0044] In a preferred embodiment, the linear module can adopt a belt type linear module, specifically, the fixed part comprises a bracket, a servo motor and a transmission gear; the servo motor and the transmission gear are both installed on the bracket; the bracket is connected with the mechanical arm 1. The moving part comprises a belt structure, the belt structure is sleeved on the transmission gear, and the pressing device 3 is connected with the belt structure; the servo motor can drive the transmission gear to drive the belt structure to realize the relative movement of the pressing device 3 and the mechanical arm 1.

[0045] In another preferred embodiment, the linear module can also adopt the following structure: the fixed part comprises a bracket, a lead screw and a rotary motor, and the lead screw and the rotary motor are both installed on the bracket; the bracket is connected with the mechanical arm 1. The moving part is a ball nut; the ball nut is sleeved on the lead screw, and the rotary motor is connected with the lead screw for driving the lead screw to rotate.

[0046] In other preferred embodiments, a linear motor can also be used to directly drive the pressing device; that is, the linear module can also be a reciprocating linear motor. Specifically, the fixed part comprises a bracket and a track; the track is installed on the bracket; the bracket is connected with the mechanical arm 1; the moving part comprises a sliding block and a linear motor; the linear motor is used to drive the sliding block to move in the track; and the pressing device 3 is connected with the sliding block.

[0047] Of course, the linear module can also adopt other existing linear reciprocating structures, and the existing linear reciprocating structure is a specific structure that can be realized by combining the prior art by those skilled in the art, which is not described here.

[0048] The pressing device 3 includes a housing and a cylinder; the cylinder is installed inside the housing, and its end is directly or indirectly connected to the abrasive assembly 4. The cylinder is used to drive the abrasive assembly 4 to move up and down, so as to approach or move away from the strip steel 5 to be ground in the vertical direction. In a preferred embodiment, the end of the cylinder is connected to the abrasive assembly 4 via a sliding plate or a connecting plate, and the cylinder can be a telescopic cylinder. In another preferred embodiment, the pressing device 3 can be a constant force pressing device, which achieves constant pressing force through a pressure control system to ensure a stable grinding effect on the strip steel.

[0049] The abrasive assembly 4 includes a pneumatic gripper 41, a clamping plate 42, an abrasive handle 43, a flexible substrate 44, and an abrasive 45;

[0050] The pneumatic gripper 41 holds the abrasive handle 43 via the clamping plate 42. The flexible base 44 is installed inside the abrasive handle 43 and is connected to the abrasive 45. The flexible base 44 can be a sponge. In this invention, the use of the pneumatic gripper 41 and clamping plate 42 to hold the abrasive part facilitates the replacement of the abrasive. The abrasive handle, flexible base, and abrasive are bonded together with an adhesive material, which facilitates the replacement of any one of the components.

[0051] like Figure 3 As shown, State 1 illustrates the grinding device reaching its left limit position, and State 2 illustrates the grinding device reaching its right limit position. The grinding width is the sum of the robotic arm's end-effector movement distance and the linear module's stroke. Compared to grinding devices with only a robotic arm, this design incorporates a linear module, with the abrasive assembly 4 mounted on it, significantly increasing the grinding width. Furthermore, compared to grinding devices with only a robotic arm, it reduces the robotic arm's range of motion in the width direction, lowering the space requirements for the grinding equipment.

[0052] This invention can also be understood as integrating a high-speed linear motion mechanism into a standard six-axis robot, serving as an extension axis for the robot's sixth axis, significantly increasing the robot's original reach. For the grinding needs of ultra-wide strip steel (e.g., widths exceeding 1850mm), this solution not only enables flexible high-speed grinding of wide strip steel surfaces but also effectively meets the grinding range requirements. Simultaneously, the extension axis of the robot's sixth axis allows for high-speed linear motion, satisfying the unit's fast cycle time requirements. In typical construction sites, the space on both sides of the quality inspection table is limited. In confined spaces, it is difficult to increase the working width using existing strip steel equipment, and modifications are challenging. This solution, however, allows for easier and lower-cost unit modifications. The reduced robot movement range still meets the constraints of confined spaces, and the rotation of the robot's end effector makes it easier to achieve grinding trajectories at different angles. This reduces manual labor intensity and costs, significantly improves production efficiency, and achieves automation and intelligence in strip steel grinding.

[0053] In summary, the utility model discloses the situation of the plurality of steel defects and the on-line polishing in the state of the steel building Zhang, and the polishing trace can satisfy the cold-rolled steel defect polishing process requirement.The polishing form of mechanical arm, linear module, down pressure device, abrasive assembly can realize wide width steel full coverage polishing, can greatly reduce the unit reconstruction time and capital cost, significantly improve the polishing speed. Reduce the labor intensity and cost, greatly improve the production efficiency, realize the automation and intelligentization of the steel polishing.

[0054] As shown in Figure 6 、 Figure 7 In a preferred example, the wide width steel surface polishing device based on the multi-axis robot further comprises a ground rail 6; The length direction of the ground rail 6 is consistent with the length direction of the steel to be polished 5; The mechanical arm 1 is installed on the ground rail 6 and can move along the length direction of the ground rail 6. That is, this embodiment increases the ground rail as an expansion axis on the basis of the mechanical arm 1, and a small mechanical arm 1 can realize the polishing demand of large-span steel. The polishing of the mechanical arm 1 in the length direction of the steel to be polished 5 can greatly increase the polishing length, and the polishing length can be more than 5000mm. The polishing speed is significantly improved to meet the fast rhythm demand of the unit, and can be applied to the on-line unit and the offline inspection table. The single-side ground rail installation saves the installation space. Reduce the labor intensity and cost, greatly improve the production efficiency, realize the automation and intelligentization of the steel polishing.

[0055] The utility model also provides a wide width steel production line, adopts the wide width steel surface polishing device based on the multi-axis robot.

[0056] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, therefore it cannot be understood as a limitation to the present application.

[0057] The specific embodiments of the utility model are described above. It should be understood that the utility model is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essential content of the utility model. In the case of no conflict, the embodiments of the present application and the features in the embodiments can be combined with each other at will.

Claims

1. A wide strip steel surface grinding device based on a multi-axis robot, characterized in that, It includes a robotic arm (1), a linear module (2), a pressing device (3), and an abrasive assembly (4); The robotic arm (1) is connected to the linear module (2), and a pressing device (3) is installed on the linear module (2). The abrasive assembly (4) is installed on the pressing device (3). The robotic arm (1) can drive the linear module (2) to move. The linear module (2) includes a fixed part and a moving part. The robotic arm (1) is connected to the fixed part, and the moving part can move relative to the fixed part along the width direction of the strip steel (5) to be ground. The pressing device (3) is installed on the moving part.

2. The wide strip steel surface grinding device based on a multi-axis robot according to claim 1, characterized in that, The robotic arm (1) includes a six-axis robot or a six-axis robotic arm.

3. The wide strip steel surface grinding device based on a multi-axis robot according to claim 1, characterized in that, The fixed part includes a bracket, a servo motor and a transmission gear; the servo motor and the transmission gear are both mounted on the bracket; the bracket is connected to the robotic arm (1); The moving part includes a belt structure, which is mounted on the transmission gear. The pressing device (3) is connected to the belt structure. The servo motor can drive the transmission gear to drive the belt structure, so as to realize the relative movement between the pressing device (3) and the robotic arm (1).

4. The wide strip steel surface grinding device based on a multi-axis robot according to claim 1, characterized in that, The fixing part includes a bracket, a lead screw and a rotary motor, both of which are mounted on the bracket; the bracket is connected to the robotic arm (1); The moving part is a ball nut; the ball nut is fitted onto the lead screw, and the rotary motor is connected to the lead screw to drive the lead screw to rotate.

5. The wide strip steel surface grinding device based on a multi-axis robot according to claim 1, characterized in that, The fixed part includes a bracket and a track; the track is mounted on the bracket; the bracket is connected to the robotic arm (1); the moving part includes a slider and a linear motor; the linear motor is used to drive the slider to move in the track; The pressing device (3) is connected to the slider.

6. The wide strip steel surface grinding device based on a multi-axis robot according to claim 1, characterized in that, The pressing device (3) includes a housing and a cylinder; The cylinder is installed inside the housing, and the end of the cylinder is directly or indirectly connected to the abrasive assembly (4).

7. The wide strip steel surface grinding device based on a multi-axis robot according to claim 1, characterized in that, The abrasive assembly (4) includes a pneumatic gripper (41), a clamping plate (42), an abrasive handle (43), a flexible substrate (44), and an abrasive (45); The pneumatic gripper (41) holds the abrasive handle (43) through the clamping plate (42), the flexible base (44) is installed inside the abrasive handle (43), and the flexible base (44) is connected to the abrasive (45).

8. The wide strip steel surface grinding device based on a multi-axis robot according to claim 7, characterized in that, The flexible substrate (44) is bonded to the abrasive (45).

9. The wide strip steel surface grinding device based on a multi-axis robot according to claim 7, characterized in that, It also includes the ground track (6); The length direction of the ground rail (6) is consistent with the length direction of the strip steel (5) to be ground; The robotic arm (1) is mounted on the ground rail (6) and is capable of moving along the length of the ground rail (6).

10. A strip steel production line, characterized in that, The wide strip steel surface grinding device based on a multi-axis robot as described in any one of claims 1-9 is adopted.

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