An adaptive arc welding seam polishing system

Abstract

The utility model provides a kind of self-adapting arc welding weld polishing system, comprising: workpiece support platform, seventh ground rail, six-axis robot and the polishing execution mechanism for executing polishing job;Workpiece support platform includes mutually independent first support structure and second support structure, first support structure and second support structure are oppositely arranged, and first support structure and second support structure both include support frame, drive mechanism mounted on support frame, workpiece bracket connected with drive mechanism and can be rotated by drive mechanism, and clamping mechanism mounted on workpiece bracket;Seventh ground rail is arranged at the side of workpiece support platform, and the arrangement direction of seventh ground rail is consistent with the line direction of first support structure and second support structure;Six-axis robot is installed on seventh ground rail, and polishing execution mechanism is installed at the end of six-axis robot.The utility model realizes the all-direction position of the workpiece to be polished, dead angle processing.

Description

Technical Field

[0001] This utility model relates to the field of weld grinding technology, specifically to an adaptive arc welding weld grinding system. Background Technology

[0002] In industries such as machinery manufacturing, rail transportation, and heavy equipment, surface grinding and cleaning of large structural components (such as large welded frames and long shaft parts) is a critical process. Currently, the following problems commonly exist in grinding operations for such workpieces: Traditional processing methods mainly rely on manual grinding or a simple automated mode of "fixed workpiece, moving robot". Manual grinding is not only labor-intensive and inefficient, but also produces extremely unstable processing quality, making it difficult to guarantee consistency. At the same time, the working environment poses health hazards to the operators.

[0003] While automated solutions that use fixed fixtures to clamp workpieces and employ robots for grinding reduce the workload of manual labor to some extent, they suffer from a severe lack of flexibility. Because the workpiece is rigidly fixed, the grinding head struggles to reach all parts of the workpiece, especially hidden areas such as the bottom and inner sides, resulting in numerous processing dead zones and blind spots. To complete the grinding of the entire workpiece, the processing program often needs to be interrupted multiple times, requiring manual intervention to reposition or flip the workpiece. This repeated clamping and positioning process significantly reduces production efficiency, and repositioning introduces errors, affecting the consistency of processing accuracy. Furthermore, when large workpieces rotate under unilateral support, they are prone to vibration or swaying due to a shift in the center of gravity, resulting in poor dynamic balance. This not only affects the grinding quality but may also pose safety hazards. Utility Model Content

[0004] In order to solve the technical problems existing in the background art, this utility model proposes an adaptive arc welding seam grinding system.

[0005] This utility model proposes an adaptive arc welding seam grinding system, comprising: a workpiece support platform, a seventh ground rail, a six-axis robot, and a grinding execution mechanism for performing the grinding operation, wherein: The workpiece support table includes a first support structure and a second support structure that are independent of each other. The first support structure and the second support structure are arranged opposite to each other. Both the first support structure and the second support structure include a support frame, a drive mechanism mounted on the support frame, a workpiece bracket connected to the drive mechanism and capable of being driven to rotate by the drive mechanism, and a clamping mechanism mounted on the workpiece bracket. The seventh ground rail is set on the side of the workpiece support platform, and the arrangement direction of the seventh ground rail is consistent with the line direction connecting the first support structure and the second support structure; the six-axis robot is installed on the seventh ground rail, and the grinding execution mechanism is installed at the end of the six-axis robot.

[0006] Preferably, the workpiece support includes a horizontal frame and a lateral frame fixed to one side of the horizontal frame, wherein the lateral frame is connected to the drive mechanism; the clamping mechanism includes a limiting block, a Y-axis clamping block, a Z-axis clamping block, and a power component one and a power component two, wherein the limiting block is vertically fixed on the horizontal frame, the Y-axis clamping block is connected to the power component one and driven by the power component one to move closer to or further away from the limiting block; the Z-axis clamping block is connected to the power component two and driven by the power component two to move closer to or further away from the surface of the horizontal frame.

[0007] Preferably, the clamping mechanism is provided in two sets, which are respectively located on both sides of the rotation center line of the workpiece bracket.

[0008] Preferably, a support block is provided on the horizontal frame, the support block is located between the limiting block and the Y-axis clamping block, and the Z-axis clamping block is located above the surface where the support block is located.

[0009] Preferably, the grinding actuator is mounted on the end of the six-axis robot via a connecting seat, which is equipped with a 3D laser scanner.

[0010] Preferably, the grinding actuator includes a grinding motor and a grinding head mounted on the output shaft of the grinding motor.

[0011] Preferably, there are two seventh ground rails, which are respectively located on both sides of the workpiece support platform; there are two six-axis robots, which are respectively installed on the two seventh ground rails, and each six-axis robot has a corresponding grinding execution mechanism at its end.

[0012] The workpiece support platform in this invention comprises two independent first and second support structures. Each structure includes a support frame, a drive mechanism mounted on the support frame, a workpiece bracket connected to and driven to rotate by the drive mechanism, and a clamping mechanism mounted on the workpiece bracket. During operation, the workpiece brackets in the first and second support structures cooperate to lift the workpiece to be ground, allowing it to be suspended and rotate 360°. Simultaneously, a seventh ground rail is provided on the side of the workpiece support platform, and a six-axis robot is mounted on this rail. The grinding execution mechanism is installed at the end of the six-axis robot, enabling it to grind any part of the workpiece, thus achieving omnidirectional, dead-angle-free processing of the workpiece. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the structure of an adaptive arc welding seam grinding system proposed in this utility model; Figure 2 This is a schematic diagram of the front side structure of the first or second support structure in an adaptive arc welding seam grinding system proposed in this utility model. Figure 3 This is a schematic diagram of the rear side structure of the first or second support structure in an adaptive arc welding seam grinding system proposed in this utility model. Figure 4 This is a schematic diagram of the assembly of the grinding actuator and the six-axis robot in an adaptive arc welding seam grinding system proposed in this utility model. Figure 5 This is a schematic diagram of the grinding actuator in an adaptive arc welding seam grinding system proposed in this utility model. Detailed Implementation

[0014] Reference Figure 1 This utility model proposes an adaptive arc welding seam grinding system, comprising: a workpiece support platform, a seventh ground rail 1, a six-axis robot 2, and a grinding execution mechanism 3 for performing grinding operations, wherein: The workpiece support platform includes a first support structure A and a second support structure B that are independent of each other. The first support structure A and the second support structure B are arranged opposite to each other. Both the first support structure A and the second support structure B include a support frame 4, a drive mechanism 5 mounted on the support frame 4, a workpiece bracket 6 connected to the drive mechanism 5 and capable of being driven to rotate by the drive mechanism 5, and a clamping mechanism 7 mounted on the workpiece bracket 6.

[0015] The seventh ground rail 1 is set on the side of the workpiece support platform, and the arrangement direction of the seventh ground rail 1 is consistent with the line direction connecting the first support structure A and the second support structure B; the six-axis robot 2 is installed on the seventh ground rail 1, and the grinding execution mechanism 3 is installed at the end of the six-axis robot 2.

[0016] During the grinding operation, the distance between the first support structure A and the second support structure B is pre-adjusted according to the length of the workpiece 10 to be ground. Then, the workpiece brackets 6 in the first support structure A and the second support structure B cooperate to lift the workpiece 10, so that the workpiece 10 is in a suspended state and can be driven by the drive mechanism 5 to rotate continuously 360°. The six-axis robot 2 moves along the ground track, and combined with its own six degrees of freedom motion, drives the grinding execution mechanism 3 to reach any position of the workpiece 10 for grinding.

[0017] Reference Figure 2-3In a further embodiment, the workpiece support 6 includes a horizontal frame 61 and a lateral frame 62 fixed to one side of the horizontal frame 61, wherein the lateral frame 62 is connected to the drive mechanism 5; the clamping mechanism 7 includes a limiting block 71, a Y-axis clamping block 72, a Z-axis clamping block 73, and a power component 74 and a power component 75, wherein the limiting block 71 is vertically fixed on the horizontal frame 61, the Y-axis clamping block 72 is connected to the power component 74 and is driven by the power component 74 to move closer to or further away from the limiting block 71; the Z-axis clamping block 73 is connected to the power component 75 and is driven by the power component 75 to move closer to or further away from the surface of the horizontal frame 61.

[0018] During the grinding operation, the end of the workpiece 10 to be ground is placed on the horizontal frame 61, which provides support for the end. Power components 74 and 75 drive the Y-axis clamping block 72 and Z-axis clamping block 73 respectively to form a multi-directional clamping of the workpiece 10. This structural design achieves stable support for the end of the workpiece 10 through the cooperation of the horizontal frame 61 and the side frame 62. At the same time, the limit stop 71, power components 74 and 75 drive the Y-axis clamping block 72 and Z-axis clamping block 73 respectively to form a multi-directional coordinated clamping of the workpiece 10 in the Y-axis and Z-axis directions. This effectively limits the displacement and vibration of the workpiece 10 during the grinding process, ensuring the reliability and adaptability of the clamping while improving the accuracy and safety of the grinding operation.

[0019] Furthermore, in this embodiment, the clamping mechanism 7 is provided in two sets, which are respectively located on both sides of the rotation center line of the workpiece bracket 6. This symmetrical clamping arrangement can effectively enhance the clamping stability, prevent the workpiece 10 from shifting or vibrating due to unilateral force during rotation, and also ensure that the clamping force is evenly distributed, which is beneficial to improving the machining accuracy.

[0020] Furthermore, in this embodiment, a support block 611 is provided on the horizontal frame 61. The support block 611 is located between the limiting block 71 and the Y-axis clamping block 72, and the Z-axis clamping block 73 is located above the surface where the support block 611 is located. The placement of the support block 611 above the horizontal frame 61 forms a support surface (i.e., the upper surface of the support block 611) that has a height difference relative to the horizontal frame 61 and can be independently supported. This reduces the area of ​​the supporting surface and improves the targeting of positioning. On the other hand, it leaves sufficient space for the installation of the first power component 74 and the second power component 75 on the horizontal frame 61. At the same time, with the cooperation of the limiting block 71, the Y-axis clamping block 72 and the Z-axis clamping block 73, reliable positioning and clamping of the workpiece 10 in multiple directions are achieved, taking into account both structural compactness and functional integrity.

[0021] In a further embodiment, two seventh ground rails 1 are provided, one on each side of the workpiece support platform; two six-axis robots 2 are provided, each mounted on one of the two seventh ground rails 1, and each six-axis robot 2 has a corresponding grinding execution mechanism 3 at its end. This symmetrical layout of two seventh ground rails 1 and two six-axis robots 2 can cover the processing areas on both sides of the workpiece 10, enabling simultaneous grinding to improve efficiency while avoiding interference or waiting.

[0022] Reference Figure 4 In a further embodiment, the grinding actuator 3 is mounted on the end of the six-axis robot 2 via a connecting seat 8, on which a 3D laser scanner 9 is mounted. During the grinding operation, the 3D laser scanner 9 performs a three-dimensional morphological scan of the weld seam on the workpiece 10 to be ground, obtaining key geometric features such as weld height and weld width. The grinding actuator 3 performs precise grinding operations on the weld seam based on the data obtained by the 3D laser scanner 9. After grinding is completed, the 3D laser scanner 9 can be restarted to re-inspect the ground area to ensure grinding quality.

[0023] Reference Figure 5 In this embodiment, the grinding actuator 3 includes a grinding motor and a grinding head mounted on the output shaft of the grinding motor.

[0024] As can be seen from the above, the workpiece support platform in this utility model consists of two independent first support structures A and second support structures B. Both the first support structure A and the second support structure B include a support frame 4, a drive mechanism 5 mounted on the support frame 4, a workpiece bracket 6 connected to the drive mechanism 5 and capable of being driven to rotate by the drive mechanism 5, and a clamping mechanism 7 mounted on the workpiece bracket 6. In operation, the workpiece bracket 6 in the first support structure A and the workpiece bracket 6 in the second support structure B cooperate with each other to lift the workpiece 10 to be ground, so that the workpiece 10 is suspended and can rotate 360°. Meanwhile, a seventh ground rail 1 is set on the side of the workpiece support platform, and a six-axis robot 2 is set on the seventh ground rail 1. The grinding execution mechanism 3 is installed at the end of the six-axis robot 2 so that the grinding execution mechanism 3 can grind any part of the workpiece 10. The whole system integrates automatic clamping, workpiece repositioning and robot grinding, which reduces manual intervention, improves production efficiency and processing consistency, and realizes omnidirectional and dead-angle-free processing of the workpiece 10 to be ground. The double support structure ensures the stability and dynamic balance of the clamping, thereby improving processing efficiency and automation level while ensuring high-quality grinding effect.

[0025] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. An adaptive arc welding seam grinding system, characterized in that, include: The workpiece support platform, the seventh ground rail (1), the six-axis robot (2), and the grinding actuator (3) for performing the grinding operation, wherein: The workpiece support table includes a first support structure (A) and a second support structure (B) that are independent of each other. The first support structure (A) and the second support structure (B) are arranged opposite to each other. Both the first support structure (A) and the second support structure (B) include a support frame (4), a drive mechanism (5) mounted on the support frame (4), a workpiece bracket (6) connected to the drive mechanism (5) and capable of being driven to rotate by the drive mechanism (5), and a clamping mechanism (7) mounted on the workpiece bracket (6). The seventh ground rail (1) is set on the side of the workpiece support platform, and the arrangement direction of the seventh ground rail (1) is consistent with the line direction connecting the first support structure (A) and the second support structure (B); the six-axis robot (2) is installed on the seventh ground rail (1), and the grinding execution mechanism (3) is installed at the end of the six-axis robot (2).

2. The adaptive arc welding seam grinding system according to claim 1, characterized in that, The workpiece support (6) includes a horizontal frame (61) and a side frame (62) fixed to one side of the horizontal frame (61), wherein the side frame (62) is connected to the drive mechanism (5); the clamping mechanism (7) includes a limiting block (71), a Y-axis clamping block (72), a Z-axis clamping block (73), and a power component one (74) and a power component two (75), wherein the limiting block (71) is vertically fixed on the horizontal frame (61), the Y-axis clamping block (72) is connected to the power component one (74) and driven by the power component one (74) to move closer to or further away from the limiting block (71); the Z-axis clamping block (73) is connected to the power component two (75) and driven by the power component two (75) to move closer to or further away from the surface of the horizontal frame (61).

3. The adaptive arc welding seam grinding system according to claim 2, characterized in that, The clamping mechanism (7) is provided in two sets, which are located on both sides of the rotation center line of the workpiece bracket (6).

4. The adaptive arc welding seam grinding system according to claim 2, characterized in that, A support block (611) is provided on the horizontal frame (61). The support block (611) is located between the limiting block (71) and the Y-axis clamping block (72); the Z-axis clamping block (73) is located above the surface where the support block (611) is located.

5. The adaptive arc welding seam grinding system according to claim 1, characterized in that, The grinding actuator (3) is mounted on the end of the six-axis robot (2) via a connecting seat (8), which is equipped with a 3D laser scanner (9).

6. The adaptive arc welding seam grinding system according to claim 1, characterized in that, The grinding actuator (3) includes a grinding motor and a grinding head mounted on the output shaft of the grinding motor.

7. The adaptive arc welding seam grinding system according to any one of claims 1-6, characterized in that, There are two seventh ground rails (1), which are located on both sides of the workpiece support platform. There are two six-axis robots (2), which are installed on the two seventh ground rails (1) respectively, and each six-axis robot (2) has a corresponding grinding execution mechanism (3) at its end.

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