Steel ring welding seam grinding machine

Abstract

The utility model discloses a steel ring welding seam grinding machine, which belongs to the technical field of grinding equipment, and comprises a working table, a grinding executing mechanism, a steel ring welding seam grinding mechanism, a steel ring welding seam grinding mechanism and a steel ring welding seam grinding mechanism, and the grinding executing mechanism comprises a multi-joint mechanical arm arranged on the working table and a grinding executor assembled at the tail end of the multi-joint mechanical arm; the support plate is fixed on the workbench; the positioning driving mechanism comprises a double-roller transmission wheel train which is arranged at the bottom of the supporting plate and is in contact with the outer edge of the steel ring, and a double-roller positioning unit arranged at the top of the supporting plate; the control end is arranged on the supporting plate and electrically connected with the multi-joint mechanical arm, the grinding actuator, the double-roller transmission wheel train and the double-roller positioning unit. According to the utility model, through the cooperation of the double-roller transmission wheel train and the double-roller positioning unit, constant clamping torque is applied through the double-roller positioning unit, so that in the grinding process, the workpiece displacement of a steel ring caused by higher grinding frequency is effectively reduced, and the position in the grinding process is accurate.

Description

Technical Field

[0001] This utility model relates to the field of grinding equipment technology, specifically a steel ring weld grinding machine. Background Technology

[0002] In the field of steel ring welding and manufacturing, weld grinding is a core process to ensure product dimensional accuracy and surface quality. Current technologies generally employ fixed grinding wheels or semi-automated robotic arm grinding equipment, whose typical structure includes basic tooling fixtures, a rotary drive module, and a single-point grinding tool. Fixed grinding wheels rely on manual adjustment of the steel ring angle and control of the grinding wheel feed via a foot switch. While inexpensive, this method suffers from poor processing consistency and high labor intensity. Automated equipment, on the other hand, often uses a servo motor-driven three-jaw chuck to hold the steel ring, combined with a six-axis robotic arm following a preset trajectory to perform grinding. While this improves work efficiency, it is prone to system resonance during high-speed grinding.

[0003] The drawback of existing technology is that the workpiece displacement caused by mechanical vibration during the grinding process is relatively large. When using high-power grinding equipment to grind welds, the vibration acceleration of the equipment body can reach 12-15 m / s². 2 After being transferred to the steel ring by the clamp, the steel ring experiences periodic displacement deviation, causing it to move radially.

[0004] Therefore, we propose a steel ring weld grinding machine to solve the problems mentioned above.

[0005] The information disclosed above in this background section is only intended to enhance the understanding of the background section of this utility model, and therefore may include prior art that is not known to those skilled in the art. Utility Model Content

[0006] The purpose of this utility model is to provide a steel ring weld grinding machine to solve the problem of large workpiece displacement caused by mechanical vibration in the existing technology mentioned in the background.

[0007] To achieve the above objectives, this utility model provides a steel ring weld grinding machine, including a workbench, and further comprising:

[0008] Grinding actuator, including a multi-joint robotic arm mounted on a workbench and a grinding actuator assembled at its end;

[0009] Support plate, fixed on the workbench;

[0010] The positioning drive mechanism includes a double roller drive wheel system disposed at the bottom of the support plate and in contact with the outer edge of the steel ring, and a double roller positioning unit disposed at the top of the support plate.

[0011] The control terminal is mounted on the support plate and is electrically connected to the multi-joint robotic arm, grinding actuator, double roller drive system, and double roller positioning unit.

[0012] Preferably, the dual-roller drive system includes:

[0013] The first drive motor is fixed on the workbench;

[0014] Two sets of drive rollers are rotatably connected to the support plate, and the two sets of drive rollers are connected by synchronous belt drive.

[0015] The output shaft of the first drive motor is fixed to one of the transmission rollers.

[0016] Preferably, the transmission roller adopts a bidirectional linear tapering geometry, and its outer diameter is symmetrically distributed along its axial center.

[0017] Preferably, the dual-roller positioning unit includes:

[0018] Top plate, fixedly installed on the top of the support plate;

[0019] The pressure actuator is located below the top plate;

[0020] A horizontal drive mechanism is mounted on the top plate and support plate and is used to drive the linear motion of the pressure actuator.

[0021] Preferably, the pressure actuator has two sets, symmetrically distributed along the centerline of the two sets of drive rollers, and each set of pressure actuators includes:

[0022] Two sets of vertical guide rods are provided, each with a sliding groove. The top of the rod is fixed to the bottom surface of the top plate, and a telescopic rod is installed inside.

[0023] The transmission rod is provided in two sets. The top end is connected to the horizontal drive mechanism, and the bottom end passes through the slide groove and is rotatably connected to the telescopic rod.

[0024] The positioning roller, rotatably connected between the two sets of transmission rods, has the same shape as the transmission roller.

[0025] Preferably, the horizontal drive mechanism includes:

[0026] The second drive motor is fixed inside the top plate cavity;

[0027] The bidirectional lead screw is connected to the output shaft of the second drive motor via a gear pair, and both ends extend out of the top plate and are rotatably connected to the support plate.

[0028] The slide table is provided in two sets, which are respectively threaded onto both ends of the bidirectional lead screw, and the top end of the transmission rod is rotatably connected to the slide table.

[0029] A horizontal guide rod is fixed on both sides of the top plate and to the support plate, and the slide is slidably mounted on the horizontal guide rod.

[0030] Compared with the prior art, the beneficial effects of this utility model are:

[0031] (1) This utility model uses the coordinated cooperation of the double roller drive wheel system and the double roller positioning unit to apply a constant clamping torque through the double roller positioning unit and clamp the steel ring together with the double roller drive wheel system. During the grinding process, the displacement of the workpiece caused by the steel ring at a high grinding frequency is effectively reduced, so that the position is accurate during the grinding process.

[0032] (2) This utility model ensures accurate positioning during the grinding process by using the clamping force provided by the double roller positioning unit. In the low-pressure drive mode, the work position can be adjusted by the double roller transmission wheel system, making the operation simple and convenient.

[0033] The above overview is for illustrative purposes only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of the present invention will become readily apparent from the accompanying drawings and the following detailed description. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0035] Figure 2 for Figure 1 A structural diagram from another perspective, hiding the steel ring;

[0036] Figure 3 This is a schematic diagram of the structure of the double-roller positioning unit of this utility model;

[0037] Figure 4 This is a schematic diagram of the structure of Embodiment 2 of this utility model.

[0038] In the diagram: 1. Workbench; 2. Multi-joint robotic arm; 3. Grinding actuator; 4. Support plate; 5. Double roller drive system; 6. Double roller positioning unit; 7. Control terminal;

[0039] 51. First drive motor; 52. Transmission roller; 53. Synchronous belt;

[0040] 61. Top plate; 62. Pressure actuator; 63. Horizontal drive mechanism;

[0041] 621. Vertical guide rod; 622. Telescopic rod; 623. Transmission rod; 624. Positioning roller;

[0042] 631. Second drive motor; 632. Two-way lead screw; 633. Slide table; 634. Horizontal guide rod. Detailed Implementation

[0043] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. It should be noted that the drawings are schematic and not illustrated to scale. For clarity and convenience, the relative sizes and proportions of the parts shown in the drawings have been exaggerated or reduced in size. Any size is only illustrative and not limiting.

[0044] Example 1:

[0045] Please see Figure 1 A steel ring weld grinding machine includes: a workbench 1, and a grinding actuator including a multi-joint robotic arm 2 mounted on the workbench 1 and a grinding actuator 3 mounted at its end; a support plate 4 fixed on the workbench 1; a positioning drive mechanism including a double-roller drive wheel system 5 mounted at the bottom of the support plate 4 and in contact with the outer edge of the steel ring, and a double-roller positioning unit 6 mounted at the top of the support plate 4; and a control terminal 7 mounted on the support plate 4 and electrically connected to the multi-joint robotic arm 2, the grinding actuator 3, the double-roller drive wheel system 5, and the double-roller positioning unit 6.

[0046] In the above technical solution, the multi-joint robotic arm 2 and the grinding actuator 3 are both existing devices used to grind the weld seam of the steel ring.

[0047] The double-roller drive system 5 in the positioning drive mechanism is used to place the steel ring. The outer edge of the bottom of the steel ring contacts the double-roller drive system 5, and works with the double-roller positioning unit 6 to perform actions according to the working conditions: when the double-roller positioning unit 6 applies pressure to the steel ring, the double-roller drive system 5 and the double-roller positioning unit 6 provide clamping force for the steel ring to avoid the steel ring from moving due to adverse factors such as vibration during the weld grinding process; when the pressure of the double-roller positioning unit 6 decreases, it drives the steel ring to rotate through the double-roller drive system 5 until the next grinding point.

[0048] The pressure regulation of the double roller positioning unit 6 relies on the preset parameterized control logic of the control terminal 7. Given that the steel ring is a standardized industrial product with definite external dimensions, an automatic matching mechanism for pressure parameters can be realized by constructing a process database. That is, different models of steel rings can correspond to different optimal pressure thresholds. During the weld grinding stage, the double roller positioning unit 6 maintains a constant clamping torque. When the work position needs to be adjusted, it switches to low-pressure drive mode and achieves angle positioning through the double roller transmission wheel system 5.

[0049] The advantage of the above technical solution is that, through the coordinated cooperation of the double roller drive wheel system 5 and the double roller positioning unit 6, the problem of large workpiece displacement caused by mechanical vibration in traditional grinding operations is solved.

[0050] In addition, another advantage of the above technical solution is that the pressure can be dynamically adjusted according to the grinding conditions, avoiding excessive pressure from hindering the rotation adjustment during station change, and avoiding excessive vibration displacement caused by excessively low pressure.

[0051] Please see Figure 1 and Figure 2 The double roller drive system 5 includes: a first drive motor 51, fixed on the workbench 1; two sets of drive rollers 52, rotatably connected to the support plate 4, and the two sets of drive rollers 52 are connected by a synchronous belt 53; the output shaft of the first drive motor 51 is fixed to one of the drive rollers 52, and the drive roller 52 adopts a bidirectional linear tapering geometry, and its outer diameter is symmetrically distributed along its axial center.

[0052] The process of driving the steel ring to rotate is completed under low pressure conditions. During driving: the first drive motor 51 drives the transmission roller 52 to rotate, and the transmission roller 52 drives the steel ring to rotate. The low pressure provided by the double roller positioning unit 6 can maintain the stability of the steel ring during the rotation process.

[0053] Please see Figure 2 and Figure 3 The double roller positioning unit 6 includes: a top plate 61, which is fixedly installed on the top of the support plate 4; a pressure actuator 62, which is located below the top plate 61; and a horizontal drive mechanism 63, which is installed on the top plate 61 and the support plate 4 and is used to drive the pressure actuator 62 to move linearly.

[0054] The pressure actuator 62 has two sets, which are symmetrically distributed along the center line of the two sets of transmission rollers 52. Each set of pressure actuator 62 includes: two sets of vertical guide rods 621, which have a sliding groove and are fixed at the top of the top plate 61. A telescopic rod 622 is movably installed inside the guide rods 623; two sets of transmission rods 623, which are connected to the horizontal drive mechanism 63 at the top and pass through the sliding groove and are rotatably connected to the telescopic rod 622 at the bottom; and a positioning roller 624, which is rotatably connected between the two sets of transmission rods 623 and has the same shape as the transmission rollers 52.

[0055] Based on this, the roller surface of the positioning roller 624 is covered with a rubber layer with a high coefficient of friction to ensure the stability of the steel ring when it is clamped.

[0056] The horizontal drive mechanism 63 includes: a second drive motor 631, fixed in the inner cavity of the top plate 61; a bidirectional lead screw 632, which is connected to the output shaft of the second drive motor 631 through a gear pair, and both ends extend out of the top plate 61 and are rotatably connected to the support plate 4; a slide table 633, which has two sets, respectively threaded onto both ends of the bidirectional lead screw 632, and the top end of the transmission rod 623 is rotatably connected to the slide table 633; ​​and a horizontal guide rod 634, which is fixed on both sides of the top plate 61 and fixed to the support plate 4, and the slide table 633 is slidably mounted on the horizontal guide rod 634.

[0057] During operation, the second drive motor 631 drives the bidirectional lead screw 632 to rotate, causing the slide table 633 to move linearly, which in turn drives the transmission rod 623 to move and change its angle. The bottom end of the transmission rod 623 moves downward in the vertical direction, which in turn drives the telescopic rod 622 to move downward, thereby causing the positioning roller 624 to move downward to clamp the steel ring.

[0058] In the above technical solution, since the transmission roller 52 with a bidirectional linear tapering configuration and the positioning roller 624 with the same configuration are adopted, the displacement deviation caused by grinding vibration can be further suppressed when the clamping force is applied during the grinding stage.

[0059] Example 2:

[0060] Please see Figure 4 and combined Figure 1 In comparison, the support plate 4 also has an inlet and outlet for loading and unloading steel rings. During loading, the positioning roller 624 is in the initial state. After installation through the inlet and outlet, it is controlled to press down. During the unloading stage, the positioning roller 624 is reset and can be unloaded from the inlet and outlet.

[0061] Working principle: In use, the steel ring is first installed on the double roller drive gear train 5 in the initial state. The operator inputs relevant information such as the steel ring model into the control terminal 7. The control terminal 7 controls the double roller positioning unit 6 to press down. In high pressure mode, the weld seam is ground by the cooperation of the multi-joint robotic arm 2 and the grinding actuator 3. The control terminal 7 controls the switch to low pressure mode, and controls the double roller drive gear train 5 to drive the steel ring to rotate, so as to realize the switching of the work position. After the grinding is completed, the double roller positioning unit 6 is reset, and the steel ring can be unloaded.

[0062] All standard parts used in this invention can be purchased from the market, and irregularly shaped parts can be customized according to the description and drawings. The specific connection methods for each part all employ conventional methods such as bolts, rivets, and welding, which are mature technologies in the prior art. The machinery, parts, and equipment all use conventional models in the prior art, and the circuit connections also use conventional connection methods in the prior art, which will not be detailed here. Any content not described in detail in this specification belongs to the prior art known to those skilled in the art.

[0063] In the description of this utility model, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. "A plurality of" means two or more, unless otherwise explicitly specified.

[0064] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0065] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0066] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0067] The accompanying drawings of the embodiments disclosed in this utility model only involve the structures involved in the embodiments disclosed in this utility model. Other structures can refer to the general design. In the absence of conflict, the same embodiment and different embodiments of this utility model can be combined with each other.

[0068] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A rim weld polishing machine comprising a worktable (1), characterized in that, Also include: Grinding actuators, including a multi-joint robot arm (2) provided on the workbench (1) and a grinding executor (3) assembled at the end thereof; Support plate (4), fixed on the workbench (1); Positioning drive mechanism, including double roller transmission gear (5) provided at the bottom of the support plate (4) and in contact with the outer edge of the steel ring, and double roller positioning unit (6) provided at the top of the support plate (4); Control end (7) provided on the support plate (4) and electrically connected with the multi-joint robot arm (2), the grinding executor (3), the double roller transmission gear (5) and the double roller positioning unit (6).

2. A garter spring weld polishing machine as defined in claim 1 wherein: The double roller transmission gear (5) comprises: First drive motor (51), fixed on the workbench (1); Two groups of transmission rollers (52) are rotatably connected to the support plate (4), and the two groups of transmission rollers (52) are drivingly connected by synchronous belts (53); The output shaft of the first drive motor (51) is fixed with one of the transmission rollers (52).

3. A garter spring weld polishing machine as defined in claim 2 wherein: The transmission roller (52) adopts a bidirectional linear taper geometry, and the outer diameter size is symmetrically distributed along the axial center.

4. A garter spring weld polishing machine as defined in claim 1 wherein: The double roller positioning unit comprises: Top plate (61), fixedly installed at the top end of the support plate (4); Pressure actuator (62), provided below the top plate (61); Horizontal drive mechanism (63), installed on the top plate (61) and the support plate (4), and used for driving the linear motion of the pressure actuator (62).

5. A garter spring weld polishing machine as defined in claim 4 wherein: The pressure actuator (62) has two groups and is symmetrically distributed along the center line of the two groups of transmission rollers (52), and each group of pressure actuators (62) comprises: Vertical guide rod (621), provided with two groups, provided with a sliding slot, fixed at the bottom surface of the top plate (61), and internally movably installed with telescopic rods (622); Transmission rod (623), provided with two groups, top end drivingly connected with the horizontal drive mechanism (63), bottom end penetrating through the sliding slot and rotatably connected with the telescopic rod (622); Positioning roller (624), rotatably connected between the two groups of transmission rods (623), and having the same shape as the transmission roller (52).

6. A garter spring weld polishing machine as defined in claim 5 wherein: The horizontal drive mechanism (63) comprises: Second drive motor (631), fixed in the inner cavity of the top plate (61); Double screw (632), drivingly connected with the output shaft of the second drive motor (631) through a gear pair, and both ends penetrating out of the top plate (61) and rotatably connected with the support plate (4); Slide table (633), provided with two groups, respectively threadedly sleeved on both ends of the double screw (632), and the top end of the transmission rod (623) is rotatably connected with the slide table (633); Horizontal guide rod (634), fixed on both sides of the top plate (61) and fixed with the support plate (4), and the slide table (633) is slidingly installed on the horizontal guide rod (634).

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