CN106826453B - The intelligent polishing system of laser welded seam polishing - Google Patents
The intelligent polishing system of laser welded seam polishing Download PDFInfo
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- CN106826453B CN106826453B CN201710113357.4A CN201710113357A CN106826453B CN 106826453 B CN106826453 B CN 106826453B CN 201710113357 A CN201710113357 A CN 201710113357A CN 106826453 B CN106826453 B CN 106826453B
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- polishing
- control cabinet
- robot
- grinding tool
- mounting plate
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B9/00—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor
- B24B9/02—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground
- B24B9/04—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground of metal, e.g. skate blades
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B45/00—Means for securing grinding wheels on rotary arbors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
- B24B55/06—Dust extraction equipment on grinding or polishing machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
Abstract
The present invention provides a kind of intelligent polishing systems of laser welded seam polishing, mainly it is made of power control milling tools, grinding tool library and polishing control cabinet, wherein power control milling tools and a robot carry out physical connection, grinding tool library is placed in robot coverage, it is communicated between polishing control cabinet and a robot control cabinet, robot control cabinet controls robot motion；Wherein polishing control cabinet control milling tools and grinding tool library, polishing control cabinet feedback signal control polishing control cabinet to robot control cabinet, robot control cabinet and then indirectly control power control milling tools and grinding tool library.The present invention is able to achieve the Mechatronics control of whole equipment, and it is controllable whole to guarantee polish good quality and stabilization to be able to achieve the technique for grinding parameters such as polishing power, polishing grinding speed.
Description
Technical field
The present invention relates to a kind of intelligent polishing systems, and in particular, to a kind of intelligent polishing system of laser welded seam polishing.
Background technique
In current industrial automatic field, automobile production manufacture especially body workshop automatization level requires height, at present
Main vehicle enterprise productive temp is second/50-60, and is also being stepped up to quality requirements.The welding of car roof and rear cover by
Arc-welding is changed into laser welding, and the polishing of weld seam is changed into robot automation's polishing by manual polishing.Current car roof swashs
Light weld grinding mainly uses old-fashioned mechanical grinding head.The technique for grinding parameters such as power, polishing grinding speed of polishing are difficult to control,
It is difficult to ensure so as to cause polishing quality；Since technological parameter is difficult to adjust in real time, causes grinding wheel consume big, need to frequently replace and beat
Grinding abrasive disk piece, the replacement entire station of grinding wheel need to be shut down 15-20 minutes every time and the replacement of per half an hour is primary；Traditional machinery is beaten
Bistrique can not carry out grinding wheel and replace automatically, and artificial manual not timing is needed to carry out the replacement of grinding wheel；Technique for grinding parameter is not
Energy real-time update causes polishing dust particles uneven, in addition whole equipment dust removing effects are poor, remove using tradition old-fashioned housing
Dirt effect is 30% or so；Traditional mechanical grinding head cannot achieve bit shift compensation, to robot polishing track and entire clamping
Positioning accuracy request is high.Traditional mechanical grinding head apparatus is difficult to meet body workshop to beat and automobile body welding quality requirements,
Seriously affect automation, the intelligence of entire polishing station.
Summary of the invention
For the defects in the prior art, the object of the present invention is to provide a kind of intelligence polishing systems of laser welded seam polishing
System, is able to achieve the Mechatronics control of whole equipment, is able to achieve the technique for grinding parameters such as polishing power, polishing grinding speed
It is controllable whole to guarantee polish good quality and stabilization；The consumption of real-time detection grinding wheel adjusts corresponding polishing in real time
Technological parameter guarantees that grinding wheel consumption is steady and stablizes that the service life of grinding wheel is promoted to 3-4 times of tradition machinery grinding head service life；
By using quick change grinding tool, the replacement of grinding wheel can be realized automatically, promote the automatization level of entire polishing equipment；Polishing work
Skill parameter is adjusted according to the consumption real-time optimization of grinding wheel, guarantees that polishing dust even particle size is unified, in addition after using improving
Novel housing can guarantee entirely polish station dust removing effects reach 90% or more；By the automatic telescopic of flexible flange and
Using flexible nylon bonded abrasive wheel, the bit shift compensation on polishing normal force direction may be implemented, weld seam and vehicle body can be adapted to automatically
The tolerance variation of technique substantially reduces robot trajectory's debugging difficulty, promotes the intelligent level of whole equipment；Through the invention
Device can make up the deficiency of tradition machinery power console keyboard mill apparatus very well, greatly promote the automation of vehicle laser weld grinding with
It is intelligent.
According to an aspect of the present invention, a kind of intelligent polishing system of laser welded seam polishing is provided, which is characterized in that main
It to be made of power control milling tools, grinding tool library and polishing control cabinet, wherein power control milling tools and a robot carry out physics
Connection, grinding tool library are placed in robot coverage, are polished and are communicated between control cabinet and a robot control cabinet, machine
Device people's control cabinet controls robot motion；Wherein polishing control cabinet control force control milling tools and grinding tool library, polishing control cabinet are anti-
Feedback signal indirectly controls power control milling tools and grinding tool to robot control cabinet, robot control cabinet control polishing control cabinet in turn
Library.
Preferably, the power control milling tools mainly includes flexible flange and electro spindle interconnected, wherein flexibility method
Blue gas source folding is controlled by control cabinet of polishing；The gas source folding of electro spindle is controlled by control cabinet of polishing.
Preferably, the power control milling tools further includes connecting plate on the left of mounting plate, flexible flange connecting plate, installation
Connecting plate on the right side of fixed plate passes through flexible flange between mounting plate left side connecting plate and mounting plate right side connecting plate and connects
Fishplate bar connection.
Preferably, the power control milling tools further includes robot connecting flange, mounting plate, Joining clasp, aluminium profiles
Material branch, robot connecting flange are fixed on the side of mounting plate, and Joining clasp is located at the top of mounting plate, aluminum profile
Bracket is fixed on the side of Joining clasp, and robot connecting flange is located at the top of electro spindle.
Preferably, the power control milling tools further includes reinforcing rib on mounting plate, reinforcing rib under mounting plate, peace
Reinforcing rib is located at the top of reinforcing rib on mounting plate under dress fixed plate, on mounting plate under reinforcing rib, mounting plate
Reinforcing rib is all located on the left of mounting plate between connecting plate and mounting plate right side connecting plate.
Preferably, the power control milling tools further includes dust removing tube, dedusting housing, quick change grinding tool, 90 degree of link blocks right sides
Side plate, 90 degree of link block electro spindle fixed plates, 90 degree of link block left plates, fixed blocks, dust removing tube are located at mounting plate
The lower section of right side connecting plate, for dedusting housing between dust removing tube and flexible flange, quick change grinding tool is located at the lower section of dust removing tube, and nine
Ten degree of link block right side plates are between quick change grinding tool and electro spindle, on the left of 90 degree of link block right side plates and 90 degree of link blocks
By 90 degree of link block electro spindle fixed plate connections between plate, fixed block is located at the upper of 90 degree of link block electro spindle fixed plates
Side.
Preferably, the shape of the aluminum profile bracket is square.
Preferably, pass through a housing clamp connection between the dust removing tube and dedusting housing.
Preferably, the grinding tool library mainly includes quick change grinding tool, turns curtain door, turns curtain door sensor, knife handle sensor and electricity
Machine, quick change grinding tool be located at turn to turn curtain door between curtain door sensor and knife handle sensor, motor is all located at the top of quick change grinding tool.
Preferably, the start and stop and positive and negative rotation of the motor turn curtain door sensor and knife handle pass by polishing control cabinet control
Sensor gives signal Real-time Feedback to polishing control cabinet；Robot control cabinet indirectly controls motor by control polishing control cabinet
Start and stop and positive and negative rotation control turn the folding of curtain door, turning curtain door sensor will test feedback signal back to polishing control cabinet in turn
It sends robot control cabinet judgement to and turns whether curtain door opens and closes in place；Quick change grinding tool can be just carried out after turning curtain door folding in place
Automatic replacement is wanted by the way that whether the current knife position of knife handle sensor detection has quick change grinding tool and current quick change grinding tool whether to meet polishing
It asks and then passes to robot control cabinet and decision making to decide whether the automatic replacement that can be normally carried out quick change grinding tool.
Compared with prior art, the present invention has following the utility model has the advantages that one, and roof laser may be implemented by the present apparatus
The full-automation of weld grinding and intelligence；Two, the automatic replacement polishing grinding wheel of the present apparatus can overcome tradition machinery power control
Grinding head manually replaces the stopping accident of grinding wheel bring production line, promotes the use effect of entire automobile production assembly line
Tradition machinery grinding head is manually replaced grinding wheel 15-20 minutes every time and shorten to robot automatically more by rate and automatization level
Change grinding wheel 10-15 seconds；Three, the present apparatus can greatly improve the service life of grinding wheel, greatly improve the input and output of equipment
Than grinding wheel service life being promoted to 3 hours/piece from from preceding 30 minutes/piece, each grinding wheel polishing vehicle fleet size is by 50-70
/ piece is promoted to 400-500/piece；Four, the present apparatus technological parameter real time monitoring and can real-time update, technological parameter change side
Just, automobile assembly line different automobile types are adapted to and change the demand quickly changed to technique；Five, the present apparatus may be implemented to replace automatically
Grinding wheel reduces intervention of the people to station, and stability and controllability that station is substantially improved reduce the cost of labor of station simultaneously,
Robot may be implemented by tool magazine and replace grinding wheel automatically three times, each grinding wheel service life three hours is entire to polish
The station grinding wheel artificial replacement cycle is promoted to 9 hours by original half an hour, and is turned by shutting down replacement in the manufacturing originally
Become changing shifts replacement；Six, the present apparatus can greatly improve dust removing effects, promote the cleanliness of whole station and reduce station to removing
The investment of dirt equipment, dust removing effects are promoted to 90% by the old-fashioned mechanical grinding head 30% of tradition；Seven, the present apparatus can realize polishing power
Bit shift compensation on direction can reduce polishing station to the technical requirements of upper one of laser welding station, and reduce and determine vehicle body
Position installation accuracy advantageously reduces the hardware investment of previous process.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon:
Fig. 1 is the structural schematic diagram of the intelligent polishing system of laser welded seam of the present invention polishing.
Fig. 2 is the structural schematic diagram of power control milling tools in the present invention.
Fig. 3 is the structural schematic diagram in grinding tool library in the present invention.
Specific embodiment
The present invention is described in detail combined with specific embodiments below.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, various modifications and improvements can be made.These belong to the present invention
Protection scope.
As shown in Figure 1, the intelligent polishing system of laser welded seam polishing of the present invention is mainly by power control milling tools 1, grinding tool library 2
It is formed with polishing control cabinet 3, wherein power control milling tools 1 and a robot 5 carry out physical connection, and grinding tool library 2 is placed in machine
The side of device people 5, i.e. grinding tool library 2 are placed in 5 coverage of robot, 5, grinding tool library 2, robot robot control cabinets
4 all connect with polishing control cabinet 3, polish and are communicated between control cabinet 3 and robot control cabinet 4, robot control cabinet 4 controls
Robot 5 moves.Wherein polishing control cabinet 3 controls milling tools 1 and grinding tool library 2, and 3 feedback signal of control cabinet of polishing is to robot
Control cabinet 4, the control polishing control cabinet 3 of robot control cabinet 4 indirectly control power control milling tools 1 and grinding tool library 2 in turn.Pass through machine
Device people control cabinet 4 can control whole polishing system and robot 5.
Power control milling tools 1 includes flexible flange 22 interconnected and electro spindle 25, and wherein the gas source of flexible flange is opened
It closes and is controlled by control cabinet of polishing, to control the work folding of flexible flange；The gas source folding of electro spindle passes through polishing
Control cabinet is controlled, so that control electro spindle makes broaching tool and cooling.
Power control milling tools 1 further includes connecting plate 17, flexible flange connecting plate 18, mounting plate on the left of mounting plate
Right side connecting plate 19 passes through flexible flange between mounting plate left side connecting plate 17 and mounting plate right side connecting plate 19 and connects
Fishplate bar 18 connects so that it is convenient to install other elements.
Power control milling tools 1 further includes robot connecting flange 11, mounting plate 12, Joining clasp 13, aluminum profile branch
Frame 14, robot connecting flange 11 are fixed on the side of mounting plate 12, and Joining clasp 13 is located at the upper of mounting plate 12
Side, aluminum profile bracket 14 are fixed on the side of Joining clasp 13, and robot connecting flange 11 is located at the top of electro spindle 25, machine
People's connecting flange is convenient to be connect with other elements.
Power control milling tools 1 further includes that reinforcing rib 16, installation are fixed under reinforcing rib 15, mounting plate on mounting plate
Reinforcing rib 16 is located at the top of reinforcing rib 15 on mounting plate under plate, on mounting plate under reinforcing rib 15, mounting plate
Reinforcing rib 16 is all located on the left of mounting plate between connecting plate 17 and mounting plate right side connecting plate 19.
Power control milling tools 1 further includes 23,90 degree of dust removing tube 20, dedusting housing 21, quick change grinding tool link block right side plates
24,26,90 degree of link block left plates 27, fixed blocks 28 of 90 degree of link block electro spindle fixed plates, dust removing tube 20 are located at installation
The lower section of connecting plate 19 on the right side of fixed plate, dedusting housing 21 is between dust removing tube 20 and flexible flange 22, and quick change grinding tool 23
In the lower section of dust removing tube 20,90 degree of link block right side plates 24 are between quick change grinding tool 23 and electro spindle 25,90 degree of connections
It is connected between block right side plate 24 and 90 degree link block left plate 27 by 90 degree of link block electro spindle fixed plates 26, fixed block
28 are located at the top of 90 degree of link block electro spindle fixed plates 26.
90 degree of link block right side plates, 90 degree of link block electro spindle fixed plates, 90 degree of link block left plates and fixation
By being welded to connect between block, to realize that robot replaces cutter without opening and closing housing, by traditional artificial replacement grinding wheel automatically
It shorten to ten to 15 seconds within piece duration 15 to 20 minutes, and without shutting down；It is connect on the left of dedusting housing and mounting plate
It is bolted between connecting plate by one on the right side of plate, mounting plate, robot connecting flange, mounting plate, installation are solid
Reinforcing rib, mounting plate left side connecting plate, flexible flange connecting plate and installation are fixed under reinforcing rib, mounting plate on fixed board
Guarantee that six axis of robot is vertical with flexible flange holding by being welded to form mounting plate between connecting plate on the right side of plate, and plays
Associated air tube effect is supported, guarantees electro spindle axis and flexible flange by 90 degree of link block electro spindle fixed plates and fixed block
Between axis keep vertical, to guarantee to polish normal force and flexible flange stretches in same horizontal line, convenient adjustment in real time
Normal force of polishing carries out real-time displacement compensation with to grinding tool abrasive wear, realizes that housing is without folding manually by dedusting housing
Can carry out tool changing, realize the automation of tool changing, by 90 degree of link block right side plates, 90 degree of link block electro spindle fixed plates,
90 degree of link block left plates and fixed block form 90 degree of attachment devices and guarantee end device center of gravity and flexibility method under flexible flange
Blue axis, to guarantee that flexible flange receiving torque is small, passes through electro spindle and flexible flange realizes polishing method in same horizontal line
Xiang Li, polishing revolving speed, polishing decrement are controllable whole, guarantee whole polishing quality, may be implemented to polish by dedusting housing
Effective collection of dust, and 90% or more dust removing effects can be reached by its end hairbrush automatic attaching workpiece surface.Flexibility method
Polishing normal force, the polishing bit shift compensation, polishing method of control cabinet flexible flange may be implemented by communicating with polishing control cabinet in orchid
To power reaction time etc., while flexible flange Real-time Feedback currently polishes normal force and polishing displacement stroke etc. to control of polishing
Cabinet.Polishing control cabinet will obtain information and feed back to robot control cabinet progress algorithm control, adjust in real time to polishing normal force
Whole and real-time judge quick change grinding tool state of wear and in time carry out quick change grinding tool replace automatically, guarantee to polish in entire bruting process
Normal force is controllable whole in real time and can compensate the abrasion of quick change grinding tool and the automatic replacement of quick change grinding tool in time automatically.Electro spindle
Power supply start and stop by polish control cabinet controlled, to realize that the start and stop of electro spindle are controlled by polishing control cabinet.Electro spindle
By being communicated with polishing control cabinet, thus realize the control electro spindle positive and negative rotation of polishing control cabinet and revolving speed size, robot control
Cabinet may be implemented electro spindle start and stop, positive and negative rotation, revolving speed size by control polishing control cabinet and beat indirectly controlling for broaching tool.Simultaneously
Current rotating speed Real-time Feedback to polishing control cabinet and then is fed back to robot control cabinet by electro spindle, realizes the controllable of polishing revolving speed
Adjustable, after robot control cabinet receives the signal of automatic replacement quick change grinding tool, robot control cabinet control electro spindle is beaten
The automatic replacement of broaching tool progress quick change grinding tool.Polishing normal force, polishing revolving speed and polishing may be implemented by robot control cabinet
The adjustment of the technological parameters real-time control such as bit shift compensation is to guarantee to polish quality and make entire bruting process intellectually and automatically.
The shape of the aluminum profile bracket is square, in this way convenient for manufacture.
By a housing clamp connection between the dust removing tube and dedusting housing, in this way convenient for fixation.
Grinding tool library 2 includes mainly quick change grinding tool 38, turns curtain door 39, turns curtain door sensor 40, knife handle sensor 41 and motor
42, quick change grinding tool 38, which is located at, to be turned between curtain door sensor 40 and knife handle sensor 41, turns curtain door 39, motor 42 is all located at quick change mill
The top of tool 38.Wherein the start and stop and positive and negative rotation of motor 42 are controlled by polishing control cabinet 3, turn curtain door sensor 40 and knife handle passes
Sensor 41 gives signal Real-time Feedback to polishing control cabinet 3；Robot control cabinet 5 is controlled indirectly by control polishing control cabinet 3
Start and stop and the positive and negative rotation control of motor 42 processed turn the folding of curtain door 39, and turning curtain door sensor 40 will test feedback signal back to beating
Mill control cabinet 3 sends the judgement of robot control cabinet 5 in turn and turns whether curtain door opens and closes in place；After turning the folding of curtain door 39 in place
The automatic replacement that can carry out quick change grinding tool 38 detects whether current knife position has quick change grinding tool 38 and current by knife handle sensor 42
Whether quick change grinding tool 38, which meets polishing requirement and then pass to robot control cabinet 54, is decision making to decide whether that energy is normal
Carry out the automatic replacement of quick change grinding tool 38.When on grinding tool library 2 without quick change grinding tool 38 can be used to be replaced automatically, knife handle sensing
Device 41 feeds back information to robot control cabinet 4, stops working and sounds an alarm so that robot control cabinet 4 controls robot 5,
Prompt carries out the artificial replacement of quick change grinding tool 38.
Wherein, flexible flange (ACF, Active Contact Flange) is also referred to as adaptive engagement flange, be it is a can
Robot end's tool and the constant equipment of work pieces process contact surface contact force are kept, it is high-precision based on pneumatic, Analog control
Degree and highly sensitive control can guarantee that the contact force between tool and machined surface controls within scholar 1N, especially suitable for
The applications such as polishing, polishing.According to different type selectings, pressure limit is chosen as 0-100N or 0-500N, and the stroke that stretches is optional
35.5mm, 48mm, 98mm etc., optional band gravity sensing sensor is to overcome self gravity, to adapt to any machining angle
Using.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited to above-mentioned
Particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims, this not shadow
Ring substantive content of the invention.
Claims (5)
1. a kind of intelligent polishing system of laser welded seam polishing, which is characterized in that mainly by power control milling tools, grinding tool library and beat
Control cabinet composition is ground, wherein power control milling tools and a robot carry out physical connection, and it is reachable that grinding tool library is placed in robot
It in range, polishes and is communicated between control cabinet and a robot control cabinet, robot control cabinet controls robot motion；Its
Middle polishing control cabinet control force control milling tools and grinding tool library, control cabinet feedback signal of polishing is to robot control cabinet, robot
Control cabinet control polishing control cabinet indirectly controls power control milling tools and grinding tool library in turn；The power control milling tools mainly includes
Flexible flange and electro spindle interconnected, wherein the gas source folding of flexible flange is controlled by control cabinet of polishing；Electricity is main
The power supply folding of axis is controlled by control cabinet of polishing；The power control milling tools further includes connection on the left of mounting plate
Plate, flexible flange connecting plate, mounting plate right side connecting plate, mounting plate left side connecting plate and mounting plate right side connect
It is connected between fishplate bar by flexible flange connecting plate；The power control milling tools further includes robot connecting flange, installation fixation
Plate, Joining clasp, aluminum profile bracket, robot connecting flange are fixed on the side of mounting plate, and Joining clasp is located at installation
The top of fixed plate, aluminum profile bracket are fixed on the side of Joining clasp, and robot connecting flange is located at the top of electro spindle；Institute
Stating power control milling tools further includes reinforcing rib on mounting plate, reinforcing rib under mounting plate, reinforcing rib under mounting plate
The lower section of reinforcing rib on mounting plate, reinforcing rib is all located at installation under reinforcing rib, mounting plate on mounting plate
On the left of fixed plate between connecting plate and mounting plate right side connecting plate；The power control milling tools further includes dust removing tube, dedusting
Housing, quick change grinding tool, 90 degree of link block right side plates, 90 degree of link block electro spindle fixed plates, 90 degree of link block left plates,
Fixed block, dust removing tube are located at the lower section of connecting plate on the right side of mounting plate, dedusting housing between dust removing tube and flexible flange,
Quick change grinding tool is located at the lower section of dust removing tube, and 90 degree of link block right side plates are between quick change grinding tool and electro spindle, 90 degree of companies
It connects by 90 degree of link block electro spindle fixed plate connections between block right side plate and 90 degree of link block left plates, fixed block is located at
The top of 90 degree of link block electro spindle fixed plates.
2. the intelligent polishing system of laser welded seam polishing according to claim 1, which is characterized in that the aluminum profile branch
The shape of frame is square.
3. the laser welded seam according to claim 2 polishing intelligent polishing system, which is characterized in that the dust removing tube with
Pass through a housing clamp connection between dedusting housing.
4. the intelligent polishing system of the polishing of the laser welded seam according to claim 3, which is characterized in that the grinding tool library master
To include quick change grinding tool, turn curtain door, turn curtain door sensor, knife handle sensor and motor, quick change grinding tool, which is located at, turns curtain door sensor
Between knife handle sensor, turn curtain door, motor is all located at the top of quick change grinding tool.
5. the intelligent polishing system of the polishing of the laser welded seam according to claim 4, which is characterized in that the motor opens
Stop and positive and negative rotation is by polishing control cabinet control, turns curtain door sensor and knife handle sensor for signal Real-time Feedback and give polishing control
Cabinet；Robot control cabinet indirectly controls the start and stop of motor by control polishing control cabinet and positive and negative rotation control turns opening for curtain door
Close, turn curtain door sensor will test feedback signal back to polishing control cabinet so that send to robot control cabinet judgement turn curtain door
Whether open and close in place；The automatic replacement that quick change grinding tool can be just carried out after turning curtain door folding in place, is detected by knife handle sensor
Whether current knife position, which has quick change grinding tool and current quick change grinding tool whether to meet polishing, requires and then passes to robot control cabinet work
Determine to decide whether the automatic replacement that can be normally carried out quick change grinding tool out.
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| CN201710113357.4A CN106826453B (en) | 2017-02-28 | 2017-02-28 | The intelligent polishing system of laser welded seam polishing |
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| CN201710113357.4A CN106826453B (en) | 2017-02-28 | 2017-02-28 | The intelligent polishing system of laser welded seam polishing |
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| CN107116561A (en) * | 2017-06-19 | 2017-09-01 | 中国电子科技集团公司第二十八研究所 | A kind of weld grinding machine people |
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| CN108161664B (en) * | 2018-02-11 | 2023-08-22 | 鹰普航空科技有限公司 | Laser scanning polishing system and method |
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| CN111070017B (en) * | 2020-02-09 | 2020-12-11 | 徐州宁安新材料有限公司 | Grinding system and grinding process |
| CN112847128A (en) * | 2020-12-31 | 2021-05-28 | 南京熊猫电子股份有限公司 | Welding seam grinding device based on six robots |
| CN113714820A (en) * | 2021-09-09 | 2021-11-30 | 孚坤智能科技(上海)有限公司 | Force-controlled floating milling and polishing integrated device and operation method thereof |
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