CN108326682A - AGV automatic polishing equipment and method - Google Patents
AGV automatic polishing equipment and method Download PDFInfo
- Publication number
- CN108326682A CN108326682A CN201810292380.9A CN201810292380A CN108326682A CN 108326682 A CN108326682 A CN 108326682A CN 201810292380 A CN201810292380 A CN 201810292380A CN 108326682 A CN108326682 A CN 108326682A
- Authority
- CN
- China
- Prior art keywords
- agv
- roll
- automatic polishing
- grinding machine
- control cabinet
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000005498 polishing Methods 0.000 title claims abstract description 27
- 238000000034 method Methods 0.000 title abstract description 5
- 239000000428 dust Substances 0.000 claims abstract description 6
- 238000000605 extraction Methods 0.000 claims description 6
- 238000004140 cleaning Methods 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims description 2
- 230000003287 optical effect Effects 0.000 claims 1
- 238000007517 polishing process Methods 0.000 claims 1
- 230000032258 transport Effects 0.000 claims 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- 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
- B24B19/00—Single-purpose machines or devices for particular grinding operations not covered by any other main group
- B24B19/16—Single-purpose machines or devices for particular grinding operations not covered by any other main group for grinding sharp-pointed workpieces, e.g. needles, pens, fish hooks, tweezers or record player styli
-
- 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
-
- 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
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/12—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving optical means
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
- Grinding Of Cylindrical And Plane Surfaces (AREA)
Abstract
The invention belongs to the field of automatic grinding equipment, in particular to AGV automatic grinding equipment and a method thereof, wherein the AGV automatic grinding equipment comprises a grinding manipulator and is characterized in that the grinding manipulator is arranged on the AGV, the grinding manipulator adjusts the vertical lifting height on the AGV through a distance adjusting device, a laser sensing device is fixed at the top of the distance adjusting device through a support rod, and an electrical control cabinet is arranged at the rear part of the distance adjusting device; the automatic line-laying machine has the advantages that the polishing mechanical arm and the AGV are combined together, and the automatic line-laying machine has the functions of leveling, dust removal and automatic line laying, is pioneering in the industry, improves the working efficiency and reduces the labor intensity.
Description
Technical field
The invention belongs to automatic polishing equipment field, especially a kind of AGV automatic polishing equipments and its method.
Background technology
Traditional wind electricity blade grinding apparatus is manual grinding or polishes using individual manipulator that polishing in this way is got up
Very inconvenient, for large parts, polishing efficiency of getting up is very low, in addition tradition AGV devices be unable to automatic leveling, dedusting and
Unwrapping wire is inconvenient.
Invention content
To solve the above-mentioned problems, a kind of AGV automatic polishing equipments of present invention proposition and its method.
This AGV automatic polishing equipments, including grinding machine hand, which is characterized in that grinding machine hand is mounted on AGV
On, grinding machine hand adjusts the vertical lift height on AGV by roll-setting gear, is fixed by supporting rod at the top of roll-setting gear
There are laser sensor, roll-setting gear rear portion to have electrical control cabinet.
Grinding machine hand model pacifies river MH180-120.
Roll-setting gear is lead screw roll-setting gear, including first motor, stand, lead screw and gearbox, grinding machine hand be located at
In movable platform, movable platform is embedded in AGV, and stand is fixed on AGV, and movable platform is connect with the wire rod thread in stand,
Lead screw one end is connect by gearbox with first motor.
Roll-setting gear can also be pneumatic roll-setting gear or hydraulic distance-regulating device.
The bottoms AGV are equipped with leveling structure, and leveling structure is the combination of horizontal extension hydraulic cylinder and vertical telescopic hydraulic cylinder,
Horizontal extension cylinder ends are fixed with vertical telescopic hydraulic cylinder, and vertical telescopic hydraulic cylinder side is equipped with ranging inductor, AGV
The inside is equipped with hydraulic system, and hydraulic system includes oil cylinder, hydraulic pump and valve group, and hydraulic system is connected to each hydraulic cylinder.
It is that the second motor drives unwrapping wire roller unwrapping wire and take-up that, which there are paying off system, paying off system in the rear portions AGV,.
There is dust-extraction unit to be mounted on AGV by electrical control cabinet, dust-extraction unit is made of dust cleaning case and vacuum pump.
Before AGV and three vertical sides of both sides are equipped with bumper, and the rear ends AGV are equipped with anticollision laser on paying off system
Scanner.
Above-mentioned all motors, vacuum pump, hydraulic system, laser sensor and ranging inductor all connect with electrical control cabinet
It connects；When in use, the first step, at the scene surrounding arrange laser reflection plate；Blade is transported to polishing region and supported solid by second step
It is fixed；Third walks, and connects field power supply, is debugged under manual mode, pre-programmed polishing location point；4th step opens automatically grinding mould
Formula；5th step, AGV are fed back to location information in electrical control cabinet by laser sensor, electrical control cabinet order AGV rows
It sails to assigned work point, if position does not meet assigned work point, AGV adjusts position, if position meets assigned work point,
AGV opens leveling structure leveling；Grinding machine hand is started to work；Polishing information is fed back to electrical control cabinet by grinding machine hand,
6th step, judges whether AGV needs to drive to next operating point, needs then to return to the 5th step, need not then electrical control
Cabinet, which then controls AGV, to be packed up leveling structure and is back to initial position.
The beneficial effects of the invention are as follows grinding machine hand and AGV are combined together, and with leveling, dedusting and automatic
Unwrapping wire function belongs to pioneering in the industry, improves working efficiency, reduce labor intensity.
Description of the drawings
Fig. 1 schematic structural views of the invention；
Fig. 2 front views of the present invention；
Fig. 3 work flow diagrams
Fig. 4 partial enlarged views A
Fig. 5 partial enlarged views B
In Fig. 1 to Fig. 5,1, grinding machine hand, 1.1, movable platform, 2, AGV, on, 3, roll-setting gear, 3.1, first motor,
3.2, stand, 3.3, lead screw, 3.4, gearbox, 4, laser sensor, 4.1, supporting rod, 5, electrical control cabinet, 6, leveling knot
Structure, 6.1, horizontal extension hydraulic cylinder, 6.2, vertical telescopic hydraulic cylinder, 6.3, ranging inductor, 7, dust-extraction unit, 7.1, dedusting
Case, 7.2, vacuum pump, 8, paying off system, the 8.1, second motor, 8.2, unwrapping wire roller, 9, hydraulic system, 10, bumper, 11, anti-
Hit laser scanner.
Specific implementation mode
In Fig. 1 to Fig. 5, this AGV automatic polishing equipments, including grinding machine hand 1, which is characterized in that sander
Tool hand 1 is mounted on AGV2, which is characterized in that grinding machine hand 1 adjusts the vertical lift height on AGV2 by roll-setting gear 3
Degree, 3 top of roll-setting gear are fixed with laser sensor 4 by supporting rod 4.1, and there is electrical control cabinet 5 at 3 rear portion of roll-setting gear.
Grinding machine hand model pacifies river MH180-120.
Roll-setting gear 3 is lead screw roll-setting gear, including first motor 3.1, stand 3.2, lead screw 3.3, gearbox 3.4, is beaten
Mill manipulator 1 is located in movable platform 1.1, and movable platform 1.1 is embedded in AGV2, and stand 3.2 is fixed on AGV2, movable platform
1.1 are threadedly coupled with the lead screw 3.3 in stand 3.2, and 3.3 one end of lead screw is connect by gearbox 3.4 with first motor 3.1.
Roll-setting gear 3 can also be pneumatic roll-setting gear or hydraulic distance-regulating device.
Further, gearbox uses gear shift structure（It is not drawn into figure）.
The bottoms AGV2 are equipped with leveling structure 6, and leveling structure 6 is horizontal extension hydraulic cylinder 6.1, vertical telescopic hydraulic cylinder
6.2 and ranging inductor 6.3 combination, 6.1 end of horizontal extension hydraulic cylinder is fixed with vertical telescopic hydraulic cylinder 6.2, vertically stretches
6.2 side of contracting hydraulic cylinder is equipped with ranging inductor 6.3, and hydraulic system 9 is equipped with inside AGV, and hydraulic system 9 includes oil cylinder（Figure
In be not drawn into）, hydraulic pump（It is not drawn into figure）And valve group（It is not drawn into figure）, hydraulic system 9 is connected to each hydraulic cylinder.
It is that the second motor 8.1 drives 8.2 unwrapping wire of unwrapping wire roller and take-up that, which there are paying off system 8, paying off system 8 in the rear portions AGV2,.
Before AGV2 and three vertical sides of both sides are equipped with bumper 10, and the rear ends AGV are equipped with anticollision on paying off system 8
Laser scanner 11.
There is dust-extraction unit 7 to be mounted on AGV2 by electrical control cabinet 5, dust-extraction unit 7 is by dust cleaning case 7.1 and vacuum pump 7.2
It constitutes.
Further, dust cleaning case 7.1 uses bag-type dust structure（It is not drawn into figure）.
Above-mentioned all motors, vacuum pump 11.2, hydraulic system 9, laser sensor 4 and ranging inductor 6.3 with it is electrical
Switch board 5 is electrically connected；When in use, the first step, at the scene surrounding arrange laser reflection plate；Blade is transported to polishing by second step
Region simultaneously supports fixation；Third walks, and connects field power supply, is debugged under manual mode, pre-programmed polishing location point；4th step, is opened
Open automatically grinding pattern；5th step, AGV2 are fed back to ranging information in electrical control cabinet 5 by laser sensor 4, electrically
Switch board 5 makes AGV2 travel to assigned work point, if position does not meet assigned work point, returns to the 5th step, AGV2 adjusts position
It sets；If position meets assigned work point, enter the 6th step, AGV2 opens 6 leveling of leveling structure；Grinding machine hand 1 starts
Work；Polishing information is fed back to electrical control cabinet 5 by grinding machine hand 1；It is next to judge whether AGV2 needs to drive to for 6th step
A operating point needs then to return to the 5th step, then electrical control cabinet 5 then need not control AGV2 and packs up leveling structure 6 and be back to
Initial position.
Claims (9)
1. a kind of AGV automatic polishing equipments, including grinding machine hand, which is characterized in that grinding machine hand is mounted on AGV,
Grinding machine hand adjusts the vertical lift height on AGV by roll-setting gear, is fixed with by supporting rod at the top of roll-setting gear
There is electrical control cabinet at laser sensor, roll-setting gear rear portion.
2. a kind of AGV automatic polishing equipments according to claim 1, which is characterized in that laser sensor includes swashing
Optical transmitting set and laser pickoff.
3. a kind of AGV automatic polishing equipments according to claim 2, which is characterized in that roll-setting gear is lead screw roll adjustment
Device, including first motor, stand, lead screw and gearbox, grinding machine hand are located in movable platform, and movable platform is embedded in AGV
In, stand is fixed on AGV, and movable platform is connect with the wire rod thread in stand, and lead screw one end passes through gearbox and the first electricity
Machine connects.
4. a kind of AGV automatic polishing equipments according to claim 2, which is characterized in that roll-setting gear can also be gas
Dynamic roll-setting gear or hydraulic distance-regulating device.
5. a kind of AGV automatic polishing equipments according to claim 3 or 4, which is characterized in that the bottoms AGV are equipped with tune
Flat structure, leveling structure are the combination of horizontal extension hydraulic cylinder and vertical telescopic hydraulic cylinder, and horizontal extension cylinder ends are fixed
There are vertical telescopic hydraulic cylinder, 6.2 side of vertical telescopic hydraulic cylinder that ranging inductor 6.3 is installed, hydraulic system is equipped with inside AGV
9, hydraulic system 9 includes oil cylinder（It is not drawn into figure）, hydraulic pump（It is not drawn into figure）And valve group（It is not drawn into figure）, hydraulic system
9 are connected to each hydraulic cylinder.
6. a kind of AGV automatic polishing equipments according to claim 5, which is characterized in that there is paying off system at the rear portions AGV,
Paying off system is that the second motor drives unwrapping wire roller unwrapping wire and take-up.
7. a kind of AGV automatic polishing equipments according to claim 6, which is characterized in that there is dedusting by electrical control cabinet
Device is mounted on AGV, and dust-extraction unit is made of dust cleaning case and vacuum pump.
8. a kind of AGV automatic polishing equipments according to claim 7, which is characterized in that three of before AGV and both sides
Vertical side is equipped with bumper, and the rear ends AGV are equipped with anticollision laser scanner on paying off system.
9. a kind of AGV automates polishing process, which is characterized in that the first step, at the scene surrounding arrange laser reflection plate；Second
Step, transports to polishing region by blade and supports fixation；Third walks, and connects field power supply, is debugged under manual mode, pre-programmed polishing
Location point；4th step opens automatically grinding pattern；5th step, AGV are fed back to ranging information electrically by laser sensor
In switch board, electrical control cabinet makes AGV travel to assigned work point；If position does not meet assigned work point, the 5th step is returned,
AGV adjusts position；If position meets assigned work point, enter the 6th step, AGV opens leveling structure leveling；Grinding machine
Hand is started to work；Polishing information is fed back to electrical control cabinet by grinding machine hand；6th step, judges whether AGV needs to drive to
Next operating point needs then to return to the 5th step, then electrical control cabinet then need not control AGV and packs up leveling structure and be back to
Initial position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810292380.9A CN108326682B (en) | 2018-04-03 | 2018-04-03 | Automatic AGV polishing equipment and method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810292380.9A CN108326682B (en) | 2018-04-03 | 2018-04-03 | Automatic AGV polishing equipment and method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108326682A true CN108326682A (en) | 2018-07-27 |
| CN108326682B CN108326682B (en) | 2024-01-09 |
Family
ID=62932772
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810292380.9A Active CN108326682B (en) | 2018-04-03 | 2018-04-03 | Automatic AGV polishing equipment and method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108326682B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111531413A (en) * | 2020-05-11 | 2020-08-14 | 无锡中车时代智能装备有限公司 | Wind power blade multi-robot collaborative polishing system and method |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN108326682B (en) | 2024-01-09 |
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