CN107116561A - A kind of weld grinding machine people - Google Patents
A kind of weld grinding machine people Download PDFInfo
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- CN107116561A CN107116561A CN201710465584.3A CN201710465584A CN107116561A CN 107116561 A CN107116561 A CN 107116561A CN 201710465584 A CN201710465584 A CN 201710465584A CN 107116561 A CN107116561 A CN 107116561A
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- polishing
- control module
- weld
- seam
- laser
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/022—Optical sensing devices using lasers
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Human Computer Interaction (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
- Manipulator (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention provides a kind of weld grinding machine people, including robot body and polishing workbench, the robot body is provided with polishing executing agency, rotary working platform mechanism and cutter-exchange mechanism, and the polishing executing agency, rotary working platform mechanism and cutter-exchange mechanism are controlled by electric assembly control system.In the present invention, the polishing executing agency includes constant force output device, sanding apparatus and laser welded seam detecting system；Robot body is provided with end output shaft, and floating constant force output device is arranged on the output shaft of end.
Description
Technical field
The present invention relates to polishing instrument field, particularly a kind of weld grinding machine people.
Background technology
Weld grinding after metal parts welding at this stage, generally passes through handwork or the method for using automation special plane
Polished.The former beats in the qualification that grinding efficiency is low, labor strength is big, quality of polishing is greatly dependent on workman
Mill quality is difficult to ensure, and a large amount of dust produced in bruting process seriously endangers workers ' health.The latter is typically only capable to be directed to
The part of certain specific structure, production flexibility degree is not high, with high costs, while to workpiece uniformity when being polished using special plane
It is required that higher, for the part that welding deformation is serious or weld bead height is changed greatly often cause mother metal damage, workpiece turned-down edge,
There are the polishing defects such as more crator residual on surface.
The content of the invention
Goal of the invention：The technical problems to be solved by the invention are to be beaten in view of the shortcomings of the prior art there is provided a kind of weld seam
Grind robot.
In order to solve the above-mentioned technical problem, the invention provides a kind of weld grinding machine people, including robot body and
Polishing workbench, the robot body is described provided with polishing executing agency, rotary working platform mechanism and cutter-exchange mechanism
Polishing executing agency, rotary working platform mechanism and cutter-exchange mechanism are controlled by electric assembly control system.
In the present invention, the polishing executing agency includes constant force output device, sanding apparatus and laser welded seam detecting system；
Robot body is provided with end output shaft, and floating constant force output device is arranged on the output shaft of end；
Sanding apparatus includes polishing motor and fixes bent angle, polishing motor cylinder, polishing air cylinder fixed plate, polishing servo electricity
Machine, polishing handle and grinding disc, polishing motor are fixed bent angle and are arranged in the setting of floating constant force output device, air cylinder fixed plate of polishing
Be arranged on constant force output device set bottom, polishing motor cylinder and polishing servomotor be arranged on polishing motor fix bent angle and
Between air cylinder fixed plate of polishing, polishing handle is fixedly connected with grinding disc, and polishing handle is removably attachable on polishing servomotor；
Laser welded seam detecting system sweeps seam instrument fixation bent angle including laser and laser sweeps seam instrument, and laser sweeps seam instrument and fixes bent angle
Be arranged on the output shaft of end, laser sweep seam instrument be arranged on laser sweep seam instrument fix bent angle on.
In the present invention, described floating constant force output device can in real time be examined by built-in constant force sensing compensation actuator
Polishing power is surveyed, according to polishing force feedback result by servo valve adjusting actuator internal pressure and elongation, grinding head pair is realized
The floating constant force polishing of workpiece.
In the present invention, the laser welded seam detecting system sweeps the line laser that sends of seam instrument along bead direction pair by laser
Crator residual altitude after polishing is scanned, and noise reduction feeds back to electric assembly control system after filtering by detection data,
Judge whether to need to continue executing with sanding operation, so as to ensure quality of polishing, realize that closed loop is polished.
In the present invention, the tool changing frequency that the cutter-exchange mechanism can be according to setting realizes in bruting process grinding head more
The closed-loop control changed, tool changing frequency can be according to polishing experience setting.
In the present invention, the cutter-exchange mechanism includes changing tool rest bracket, tool changing frame workbench, tool changing frame support beam, knife
The support of frame frame height and knife brackets, tool changing frame support beam and tool changing frame workbench are arranged on and change tool rest bracket upper end, tool changing
Frame workbench is provided with more than one knife brackets, and knife brackets are provided with spare blade.
In the present invention, the tool changing frame workbench has two layers.
In the present invention, on the tool changing frame workbench be provided be used for control spare blade clamp or unclamp it is pneumatic
Chuck.
In the present invention, the rotary working platform mechanism includes polishing workbench and rotary table base, work of polishing
It is rotatably provided in as platform on rotary table base.
In the present invention, the robot body both sides are provided with safe grating, and someone swarms into automatic alarm.
In the present invention, water cooling unit is provided with outside the robot body, for polishing servomotor cooling.
Electric controlling assembly system includes sanding apparatus control module in the present invention, and constant force output device control module swashs
Light weld inspection system control module, knife-changing system control module and systematic collaboration control module.Sanding apparatus control module exists
The action of control polishing servomotor, regulation polishing motor speed are transmitted in bruting process by analog signalses.Laser welded seam
Detecting system control module, by being detected and being fed back to weldquality, realizes the closed-loop control of polishing quality.Constant force is exported
Device control module is fought each other by being acquired to the force-sensing sensor built in floating constant force output device to polishing power with feedback
Mill actuator stem force is adjusted.Knife-changing system control module, by the transmission of analog signalses, is controlled on cutter-exchange mechanism
The clamping and release of pneumatic chuck.Systematic collaboration control module is in bruting process, by sanding apparatus control module, constant force
Output device control module, laser welded seam detecting system control module, knife-changing system control module gathers information and integrated
Analysis and processing, enable always to cover system electrical control module Collaboration.
Electric controlling assembly system includes sanding apparatus control module, constant force output device control module, laser welded seam inspection
Examining system control module, knife-changing system control module and systematic collaboration control module；
Sanding apparatus control module transmits the unlatching of control polishing servomotor in bruting process by analog signalses
With closing, polishing servomotor to the clamping of handle of polishing, action executing and signal acquisition are unclamped, while by electrical apparatus control system people
The motor speed of machine interactive interface setting, user's setting polishing number of times is transmitted by digital quantity signal, is passed to polishing motor and is adjusted
Motor speed is saved, workpiece is polished by setting polishing number of times；
Laser welded seam detecting system control module, is transmitted by digital quantity signal, before and after collection laser sweeps seam instrument to polishing
Weld bead height carries out surface sweeping, and scanning result is compared with the workpiece surface quality required value that man-machine interface is set, and judges whether
Need to continue to polish, will determine that result is transferred to systematic collaboration control module by analog signalses, mould is controlled by systematic collaboration
Block is coordinated sanding apparatus according to the polishing number of times that polishing quality closed loop control algorithm is calculated and carried out with milling robot body
Action.
Constant force output device control module to the force-sensing sensor built in floating constant force output device to polishing power by entering
Row collection, and feedback result is transferred to servo valve built in floating constant force output device by analog signalses, control servo valve
Opening and closing, and then control floating constant force output device air pressure inside, to polishing actuator stem force be adjusted.
Knife-changing system control module, by the transmission of analog signalses, pneumatic chuck is to cutter on control cutter-exchange mechanism
Logic planning can be carried out to exchanging knives process by clamping with unclamping, and being internally embedded algorithm, according to the man-machine friendship of electrical equipment assembly control system
Interface is changed, the polishing head status and tool changing frequency of user's setting automatically and reasonably take cutter.
Systematic collaboration control module is in bruting process, by sanding apparatus control module, constant force output device control
Module, laser welded seam detecting system control module, knife-changing system control module, robot body carries control system and gathers letter
Breath carries out comprehensive analysis and processing, makes robot can be with co-operating with other each mechanisms.
In the present invention, the polishing quality closed loop control algorithm is mainly comprised the following steps：
Step 1：Before polishing, laser sweeps seam system and workpiece weld seam is scanned, record weld bead height h1yMaximum allowable weldering
Stitch height h2；
Step 2：Record user's setting polishing number of times k；
Step 3：Workpiece is polished, workpiece weld bead height is scanned after polishing, now weld seam residual is high for record
Spend h3；
Step 4：Judge h3With h2Size, if h3<h2Step 7 is then jumped to, if h3〉h2Then jump to step 10；
Step 5：Calculate polishing welding seams height Δ h=h1-h3, with each average polishing amount
Step 6：It is calculated as ensureing completing polishing amount h'=h needed for polishing quality, next sanding operation3-h2；
Step 7：Polishing number of times needed for calculating polishing next time：k1=int (k (h ,/Δ h)+0.5)；
Step 8：Number of times will be polished by systematic collaboration control module, polishing actuating mechanism controls module is passed to, based on
Calculate polishing number of times perform sanding operation, by grinding workpieces in place, and can ensure that without cross polishing phenomenon damage mother metal；
Step 9：Sanding operation is completed, step 3 is jumped to；
Step 10：Testing result shows satisfactory quality of polishing, and terminates sanding operation.
Beneficial effect：The present invention can realize that grinding head follows weld bead height to do forming movement, realize metal parts weld seam
Floating constant force is polished, and is efficiently solved the workpiece that post welding distortion is serious, weld bead height uniformity is poor and is difficult to use automation equipment
The technical bottleneck of polishing.Meanwhile, polishing power is set to constant force and carries out floating polishing, can effectively prevent that power is excessive causes for polishing
Polishing turned-down edge, polishing amount it is excessive cause mother metal damage etc. polishing defect.Laser welded seam detecting system of the present invention can
Effectively realize bruting process automatic detection, it is ensured that workpiece surface quality after polishing, efficiently solve and set using existing automatically grinding
It is standby, the problems such as when being polished, the polishing that easily occurs is not in place, weld seam residual is larger.With reference to automatic tool changer, this set system
System can automatically grinding, adjust automatically bruting process parameter, automatic detection polishing quality, whether need according to testing result automatic decision
Want secondary polishing and bruting process empirically changes grinding head automatically, it is achieved that the closed-loop control of polishing overall process,
Whole system is increasingly automated, possesses certain intellectuality, and the operating efficiency of polishing operation, surface quality can be greatly improved and drops
Low polishing operation working strength.
Brief description of the drawings
The present invention is done with reference to the accompanying drawings and detailed description and further illustrated, it is of the invention above-mentioned or
Otherwise advantage will become apparent.
Fig. 1 is the overall structure diagram of robot；
Fig. 2 is each control module control planning of robot and information transmitting methods schematic diagram；
Fig. 3 is the structural representation of polishing executing agency of robot；
Fig. 4 is robot constant force output device schematic diagram；
Fig. 5 is robot automatic tool changer structure chart；
Fig. 6 is robot polishing operation flow chart；
Fig. 7 is that robot grinding disc changes flow chart automatically.
Embodiment
The present invention is elaborated below in conjunction with accompanying drawing.
Embodiment：
Such as a kind of weld grinding machine people that Fig. 1, the present embodiment are provided, including electric assembly control system 1, polishing machine
Human body 2, milling robot base 3, robot control cabinet 4, chilled water system 5, robot fixed block 6, floating constant force output dress
Put 7, laser and sweep seam instrument and fix bent angle 8, laser and sweep seam instrument 9, polishing motor and fix bent angle 10, polishing motor cylinder 11, polishing gas
Cylinder fixed plate 12, polishing servomotor 13, polishing handle 14, grinding disc 15, polishing workbench 16, rotary table deceleration canine tooth
Wheel 17, rotary table reduction pinion teeth 18, rotary table base 19, rotary working platform motor 20, rotary work
Platform motor installs housing 21, changes tool rest bracket 22, tool changing frame workbench 23, tool changing frame support beam 24, knife rest frame
Height support 25, pneumatic chuck 26 and knife brackets 27；
Rotary table base 16 is fixed on the ground, and motor is installed housing 21 and is connected with table base, rotates work
Make platform motor 20 to be placed in motor installation housing 21, after the instruction that electrical equipment assembly control system is sent is received, electricity
Machine rotates successively band moving gear 17,18 and rotated, further to drive being rotated in horizontal plane for whole polishing workbench.
Electrical equipment assembly control system is industrial computer in the present embodiment.
Such as Fig. 3, floating constant force output device 7, laser sweep seam instrument fixation bent angle 8, laser and sweep seam instrument 9, polishing motor and fix
Bent angle 10, polishing motor cylinder 11, polishing air cylinder fixed plate 12, polishing servomotor 13, polishing handle 14, the composition of grinding disc 15 are beaten
Grind executing agency.Floating constant force output device 7, the floating constant force being fixed on by flange on robot end's output shaft, which is exported, to be filled
The constant polishing power of 7 offers is provided, polishing of floating is realized.Servomotor 13 of polishing simultaneously fixes bent angle phase with float flange by motor
Connection, axially axially consistent with constant force output device 7, polishing motor realizes release and the folder for handle 14 of polishing by cylinder of polishing
Tightly.Polishing cylinder is fixed by polishing air cylinder fixed plate 12 with polishing motor, and grinding disc 15 is fixed on polishing handle 14.Polishing is made
During industry, grinding disc is driven to rotate at a high speed by motor of polishing, while it is constant to apply one to workpiece by floating constant force output device
Polishing power, realize polishing to workpiece.Laser sweeps seam instrument 9, and bent angle 10 and floating constant force output device 7 are fixed by sweeping seam instrument
It is fixed on the axle of robot the 6th, can detects that polishing welding seams are remained in real time after polishing, it is ensured that polishing quality.
Such as Fig. 4, floating constant force output device includes constant force sensing compensation actuator and the servo valve connected with source of the gas, permanent
Power sensing compensation actuator applies external force by adjusting air pressure inside, can be in axial stretching, spring-like structure, and passes through feedback
It is constant that force-sensing sensor of the time less than 400ms keeps axial direction to apply external force, it is ensured that bruting process can be along weld bead height to work
Part, which floats, polishes.
It is polishing system automatic tool changer such as Fig. 5, cutter-exchange mechanism includes changing tool rest bracket 22, tool changing frame workbench
23rd, tool changing frame support beam 24, knife rest frame height support 25 and knife brackets 27, tool changing frame support beam 24 and the work of tool changing frame are flat
Platform 23, which is arranged on, changes the upper end of tool rest bracket 22, and tool changing frame workbench 23 is provided with more than one knife brackets 27, cutter support
Frame 27 is provided with spare blade.Standby polishing pad is placed on knife brackets 27, coordinates pneumatic chuck 26 to realize the clamping of cutter, pine
Open.By robot travel limit, support 25 is increased by knife rest away from robot side cutter and raised, facilitates robot to take automatically
Use grinding disc.
In such as Fig. 2, the present invention, the polishing quality closed loop control algorithm is mainly comprised the following steps：
Step 1：Before polishing, laser sweeps seam system and workpiece weld seam is scanned, record weld bead height h1yMaximum allowable weldering
Stitch height h2；
Step 2：Record user's setting polishing number of times k；
Step 3：Workpiece is polished, workpiece weld bead height is scanned after polishing, now weld seam residual is high for record
Spend h3；
Step 4：Judge h3With h2Size, if h3<h2Step 7 is then jumped to, if h3〉h2Then jump to step 10；
Step 5：Calculate polishing welding seams height Δ h=h1-h3, with each average polishing amount
Step 6：It is calculated as ensureing completing polishing amount h'=h needed for polishing quality, next sanding operation3-h2；
Step 7：Polishing number of times needed for calculating polishing next time：k1=int (k (h ,/Δ h)+0.5)；
Step 8：Number of times will be polished by systematic collaboration control module, polishing actuating mechanism controls module is passed to, based on
Calculate polishing number of times perform sanding operation, by grinding workpieces in place, and can ensure that without cross polishing phenomenon damage mother metal；
Step 9：Sanding operation is completed, step 3 is jumped to；
Step 10：Testing result shows satisfactory quality of polishing, and terminates sanding operation.Such as Fig. 2
Such as Fig. 6, the course of work of this milling robot includes teaching programming, polishing operation, polishing three ranks of quality testing
Section, whole system operation workflow is as follows：
Before polishing operation, can by the flexible frocks such as L-type locating piece and pressing plate will clamping workpiece be polished to being polished flat
On platform.
Operation robot body 1 is crossed, floating constant force output device, workpiece polishing mechanism, laser detection system is driven close to workpiece.
Rotary table motor receives enabling signal simultaneously, drives rotary table gear 17,18 to rotate, and then drives polishing
Workbench collaboration milling robot body rotates in horizontal plane.Polishing pad is moved into commissure makes it be risen with workpiece weld seam
Initial point is fitted, and adjusts robot end's position of output axle, makes it in polishing plane normal direction.According to weld bead height, it is being polished flat
Constant force sensing compensation actuator, polishing amount when decrement is polishing are compressed in the normal direction of face.Mobile grinding disc, makes it along weld seam
The last point of weld seam is moved to, end point position has been recorded.Grinding disc is raised to safe altitude, now milling robot and rotation work is recorded
Make platform position, complete the generation of robot polishing track., can be by above-mentioned system during generation polishing track using off-line programming software
The three-dimensional CAD model of system is imported in off-line programming software, sets up the robot coordinate system being consistent with actual conditions, world coordinates
System, according to workpiece under world coordinate system and milling robot relative position, sets part position relative with robot in threedimensional model
Put, according still further to position while welding, generate the offline track of bruting process.
Further, according to bruting process track, polishing program is generated using pilot teaching device or off-line programming software, in polishing
Setting polishing number of times in program.
Further, as stated above, setting laser sweeps movement locus when seam instrument is scanned to weld seam, generates this hair
The bright system performs robotic motion routine during polishing quality testing operation.
After robot polishing programming is completed, by being touched on the electric assembly control system power distribution cabinet of milling robot
Screen setting polishing parameter, can setup parameter it is as follows：
1) weld bead height setting value：The weld bead height standard value of setting；
2) the polishing power that constant force output device is exported；
3) standby grinding head abrasion condition, the new of grinding head is represented in industrial control system program using binary number storage value
Former affection condition, 1 represents new grinding head, and 0 represents old grinding head, and 11 indicate no grinding head；
4) the workpiece number of packages (the tool changing frequency in bruting process) that new grinding disc can polish；
Further, laser sweeps seam instrument before robot performs sanding operation, is driven by robot close to position while welding, right
Workpiece weld seam to be polished is scanned, each weld bead height before system record polishing.
Further, according to write program and the polishing parameter of setting, robot sanding operation is performed.Installed in machine
Servomotor on the output shaft of human body end is powered, and is rotated at a high speed according to setting speed, while driving polishing handle and polishing pad
Rotation.Constant force sensing performs compensator servo valve and opened, and constant force sensor is axially elongated, by setting decrement polishing workpiece,
Now polishing pad is set constant force sensing compensation actuator output pressure to workpiece pressure.If portion weld bead height surpasses
Predicted value is crossed, by the existing amount of feeding, polishing pad is excessive to workpiece pressure applied, resultant direction and direction of feed suffered by grinding head
On the contrary, the quick full sensor of power detects polishing power more than setting power inside constant force sensing compensation actuator, then testing result is transmitted
To constant force output device control module, the module transmits signals to sensor servo valve, by servo valve regulation air pressure inside,
Axial shortening elongation, grinding head is raised, and polishing amount reduction, polishing power reduces, until polishing power is performed with constant force sensing compensation
Device applies constant force and balanced each other.Complete after sanding operation, if polishing number of times is less than in program to this section of weld grinding number of times, beat
Mill is raised to safe altitude, returns to polishing starting point and repeats polishing action, realizes the power that automatically controls and polish of polishing operation
Automatically adjust.
Complete after sanding operation, drive laser welded seam scanner to be moved to commissure by robot motion, swashed by line
Light is scanned along bead direction to the crator residual altitude after polishing, and noise reduction feeds back to weld seam after filtering by detection data
Laser detection system control module, and be compared with weld bead height setting value, judge whether to need to continue executing with sanding operation,
It will determine that result is transferred to systematic collaboration control module, systematic collaboration control module is to robot if measured value is less than polishing value
Instruction is made, polishing stops, if residual weld bead height is more than setting value after polishing, systematic collaboration control module is according to polishing matter
Closed loop control algorithm is measured, required polishing number of times of polishing again is calculated, transmits signals to sanding apparatus control module,
Control end polishing actuator according to weld seam residual altitude, continue workpiece of polishing, until grinding workpieces quality according with process requirements,
Realize the bruting process closed-loop control based on polishing workpiece quality detection.
It is bruting process automatic tool changer algorithm flow such as Fig. 7, polishing is completed after a workpiece, and workpiece number of times of having polished adds
1, if same grinding disc has been polished, workpiece number of packages exceedes setting value, and robot performs replacing grinding disc operation automatically.From moving
Knife system control module calls internal processes, and standby grinding head is traveled through one by one, until finding the current cutter for not placing grinding head
Bracket, pneumatic chuck receives industrial computer instruction and outwarded winding automatically, and current grinding disc is placed on knife brackets by polishing servomotor
Polishing handle is unclamped by servo valve afterwards, current location grinding head situation is changed to deposit mill by automatic tool changer control module
Grinding head is damaged, standby grinding head is traveled through again, until finding the knife brackets for placing new grinding head, then system is transmitted signals to
Collaborative Control module, the module control machine people moves at this with servomotor and takes new grinding head, completes automatic tool changer operation,
Start next workpiece of polishing.Pneumatic chuck receives the instruction that industrial computer sends and again clamps all reserve tools simultaneously, beats
Bistrique has added up polishing workpiece number of packages zero.
After all auto-actions of milling robot are finished, robot returns to origin.Realize that the automatic of polishing overall process beats
Whether mill, adjust automatically bruting process parameter, automatic detection polishing quality, foundation testing result automatic decision need secondary polishing
And bruting process changes grinding head according to setup parameter, the closed-loop control automatic job of polishing overall process is realized.
After polishing operation terminates, robot returns to origin, successively closing machine people power supply, robot control cabinet power supply,
The electric assembly control system power distribution cabinet power supply of milling robot.
Two pairs of safe gratings are provided with around milling robot, there are personnel to be strayed into operation area when robot automatic job
Domain robot stops immediately, it is ensured that production safety.
Milling robot servomotor is connected by water pipe with water cooling unit, prevents bruting process electric machine main shaft temperature mistake
Height, damages servomotor.
The present invention carries polishing executing agency to workpiece target location by the free degree and the arm exhibition of robot body and carried out
Polishing.Cheng Qian is crossed in sanding operation, first according to technological parameters such as workpiece attribute, crator height, contacts area in electric assembly
Polishing power is set in control system.Operating personnel carry out the Motion trajectory of bruting process simultaneously by teaching or off-line programing
Polishing posture is set.In bruting process, polishing system ensures that polishing executing agency can be permanent by floating constant force output device
Power equipressure is contacted with workpiece, carries out sanding and polishing work, it is ensured that collapsed angle without polishing, and removal amount of polishing is consistent.Polishing execution machine
Structure includes sensing compensation actuator and the servo valve being connected with source of the gas, and constant force sensing compensation actuator is by adjusting air pressure inside
Apply external force, can be in axial stretching, spring-like structure and can holding shaft less than 400ms force-sensing sensor by feedback time
It is constant to applied external force, it is ensured that workpiece can be floated along weld bead height and polished in sanding operation.Simultaneously in sanding operation knot
Shu Hou, electric assembly control system uses laser welded seam detecting system, by line laser along bead direction to the crator after polishing
Residual altitude is scanned, and by detection data, noise reduction feeds back to electric assembly control system after filtering, judges whether needs
Sanding operation is continued executing with, polishing executing agency realizes the closed loop of polishing overall process according to control system instruction action
Control, so as to ensure quality of polishing, efficiently solves weldering and efficiently solves that post welding distortion is serious, weld bead height uniformity is poor
Workpiece is difficult to the technical bottleneck polished with automation equipment.
The invention provides a kind of weld grinding machine people, the method and approach for implementing the technical scheme are a lot, with
Only it is the preferred embodiment of the present invention described in upper, it is noted that for those skilled in the art, not
On the premise of departing from the principle of the invention, some improvements and modifications can also be made, these improvements and modifications also should be regarded as the present invention
Protection domain.Each part being not known in the present embodiment can use prior art to be realized.
Claims (9)
1. a kind of weld grinding machine people, it is characterised in that including robot body and polishing workbench, the robot sheet
Body is provided with polishing executing agency, rotary working platform mechanism and cutter-exchange mechanism, the polishing executing agency, rotary working platform
Mechanism is controlled with cutter-exchange mechanism by electric assembly control system.
2. a kind of weld grinding machine people according to claim 1, it is characterised in that the polishing executing agency includes perseverance
Power output device, sanding apparatus and laser welded seam detecting system；
Robot body is provided with end output shaft, and floating constant force output device (7) is arranged on the output shaft of end；
Sanding apparatus includes polishing motor and fixes bent angle (10), polishing motor cylinder (11), polishing air cylinder fixed plate (12), polishing
Servomotor (13), polishing handle (14) and grinding disc (15), polishing motor fix bent angle (10) and are arranged on floating constant force output dress
Put on (7), polishing air cylinder fixed plate (12) is arranged on constant force output device and sets (7) bottom, polishing motor cylinder and is beaten (11)
Mill servomotor (13) is arranged on polishing motor and fixed between bent angle (10) and polishing air cylinder fixed plate (12), polishing handle (14) and
Grinding disc (15) is fixedly connected, and polishing handle (14) is removably attachable on polishing servomotor (13)；
Laser welded seam detecting system sweeps seam instrument fixation bent angle (8) including laser and laser sweeps seam instrument (9), and laser sweeps seam instrument fixed bend
Angle (8) is arranged on the output shaft of end, and laser, which sweeps seam instrument (9) and is arranged on laser and sweeps seam instrument, to be fixed on bent angle (8).
3. a kind of weld grinding machine people according to claim 1, it is characterised in that the cutter-exchange mechanism includes tool changing frame
Base (22), tool changing frame workbench (23), tool changing frame support beam (24), knife rest frame height support (25) and knife brackets
(27), tool changing frame support beam (24) and tool changing frame workbench (23), which are arranged on, changes tool rest bracket (22) upper end, tool changing frame work
Make platform (23) provided with more than one knife brackets (27), knife brackets (27) are provided with spare blade.
4. a kind of weld grinding machine people according to claim 3, it is characterised in that the tool changing frame workbench (23)
It is provided with the pneumatic chuck (26) for being used for controlling spare blade to clamp or unclamp.
5. a kind of weld grinding machine people according to claim 1, it is characterised in that rotary working platform mechanism bag
Polishing workbench and rotary table base are included, polishing workbench is rotatably provided on rotary table base.
6. a kind of weld grinding machine people according to claim 1, it is characterised in that the robot body both sides are provided with
Safe grating.
7. a kind of weld grinding machine people according to claim 1, it is characterised in that be provided with outside the robot body
Water cooling unit, for cooling to polishing servomotor (13).
8. a kind of weld grinding machine people according to claim 1, it is characterised in that electric controlling assembly system includes beating
Mill apparatus control module, constant force output device control module, laser welded seam detecting system control module, knife-changing system control module
And systematic collaboration control module；
Sanding apparatus control module transmits the action of control polishing servomotor, regulation in bruting process by analog signalses
Polishing motor speed；
Laser welded seam detecting system control module realizes the closed loop control of polishing quality by being detected and being fed back to weldquality
System；
Constant force output device control module to the force-sensing sensor built in floating constant force output device to polishing power by adopting
Polishing actuator stem force is adjusted with feedback for collection；
Knife-changing system control module controls the clamping and release of pneumatic chuck on cutter-exchange mechanism by the transmission of analog signalses；
Systematic collaboration control module is in bruting process, by sanding apparatus control module, constant force output device control module, laser
Weld inspection system control module, knife-changing system control module gathers information and carries out comprehensive analysis and processing, makes weld grinding
Robot energy Collaboration.
9. a kind of weld grinding machine people according to claim 8, it is characterised in that calculated including polishing quality closed-loop control
Method, step is as follows：
Step 1：Before polishing, laser sweeps seam system and workpiece weld seam is scanned, and records weld bead heightMaximum allowable weld seam is high
Spend h2；
Step 2：Record user's setting polishing number of times k；
Step 3：Workpiece is polished, workpiece weld bead height is scanned after polishing, now weld seam residual altitude h is recorded3；
Step 4：Judge h3With h2Size, if h3<h2Step 7 is then jumped to, if h3〉h2Then jump to step 10；
Step 5：Calculate polishing welding seams height Δ h=h1-h3, with each average polishing amount
Step 6：It is calculated as ensureing completing polishing amount h'=h needed for polishing quality, next sanding operation3-h2；
Step 7：Polishing number of times needed for calculating polishing next time：k1=int (k (h ,/Δ h)+0.5)；
Step 8：Number of times will be polished by systematic collaboration control module, polishing actuating mechanism controls module is passed to, beaten by calculating
Grind number of times and perform sanding operation, and can ensure that without polishing phenomenon damage mother metal excessively by grinding workpieces in place；
Step 9：Sanding operation is completed, step 3 is jumped to；
Step 10：Laser welded seam detecting system control module detects that quality meets if testing result shows polishing to weld seam
It is required that, terminate sanding operation.
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| CN108161633A (en) * | 2018-03-14 | 2018-06-15 | 天津智通信息系统集成有限公司 | A kind of high ferro side wall weld seam milling combination unit |
| CN108406801A (en) * | 2018-03-23 | 2018-08-17 | 芜湖鲍斯柯机器人有限公司 | Robotic laser welds grinding device |
| CN108406545A (en) * | 2018-03-14 | 2018-08-17 | 天津智通信息系统集成有限公司 | A kind of modified high ferro side wall weld seam milling combination unit |
| CN108705539A (en) * | 2018-04-10 | 2018-10-26 | 柳州铁道职业技术学院 | Weld seam grinding and polishing robot control system and its method |
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| CN109605191A (en) * | 2018-12-28 | 2019-04-12 | 敏实汽车技术研发有限公司 | A kind of automatically grinding system of aluminium profile product |
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