CN108326682B - Automatic AGV polishing equipment and method thereof - Google Patents
Automatic AGV polishing equipment and method thereof Download PDFInfo
- Publication number
- CN108326682B CN108326682B CN201810292380.9A CN201810292380A CN108326682B CN 108326682 B CN108326682 B CN 108326682B CN 201810292380 A CN201810292380 A CN 201810292380A CN 108326682 B CN108326682 B CN 108326682B
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- CN
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- Prior art keywords
- agv
- polishing
- manipulator
- automatic
- dust
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- 238000005498 polishing Methods 0.000 title claims abstract description 54
- 238000000034 method Methods 0.000 title claims abstract description 6
- 239000000428 dust Substances 0.000 claims abstract description 22
- 230000006698 induction Effects 0.000 claims description 4
- -1 and is 180 Substances 0.000 claims 1
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
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
- 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
Abstract
The invention belongs to the field of automatic polishing equipment, in particular to automatic polishing equipment for an AGV and a method thereof, wherein the automatic polishing equipment for the AGV comprises a polishing manipulator, and is characterized in that the polishing manipulator is arranged on the AGV, the polishing manipulator adjusts the vertical lifting height on the AGV through a distance adjusting device, the top of the distance adjusting device is fixed with a laser sensing device through a supporting rod, and the rear part of the distance adjusting device is provided with an electric control cabinet; the automatic polishing machine has the beneficial effects that the polishing mechanical arm and the AGV are combined together, and the automatic polishing machine has the functions of leveling, dust removal and automatic paying-off, so that the automatic polishing machine is initiated in the industry, the working efficiency is improved, and the labor intensity is reduced.
Description
Technical Field
The invention belongs to the field of automatic polishing equipment, and particularly relates to automatic AGV polishing equipment and a method thereof.
Background
Traditional wind-powered electricity generation blade equipment of polishing is manual or uses independent manipulator to polish, polishes very inconvenient like this, and to large-scale spare part, efficiency of polishing is very low, and traditional AGV device can not automatic leveling, dust removal and unwrapping wire in addition, and is very inconvenient.
Disclosure of Invention
In order to solve the problems, the invention provides automatic AGV polishing equipment and a method thereof.
This kind of automatic equipment of polishing of AGV, including polishing the manipulator, its characterized in that, polish the manipulator and install on the AGV, polish the manipulator and adjust the vertical lift height on the AGV through the roll adjustment device, the roll adjustment device top is fixed with laser induction system through the bracing piece, and the roll adjustment device rear portion has the electrical control cabinet.
The polishing manipulator is An Chuan MH180-120.
The distance adjusting device is a screw rod distance adjusting device and comprises a first motor, a vertical frame, a screw rod and a gearbox, wherein the polishing manipulator is located on a movable platform, the movable platform is embedded in an AGV, the vertical frame is fixed on the AGV, the movable platform is in threaded connection with the screw rod in the vertical frame, and one end of the screw rod is connected with the first motor through the gearbox.
The distance adjusting device can also be a pneumatic distance adjusting device or a hydraulic distance adjusting device.
The leveling structure is installed to AGV bottom, and leveling structure is the combination of horizontal flexible pneumatic cylinder and perpendicular flexible pneumatic cylinder, and horizontal flexible pneumatic cylinder end fixing has perpendicular flexible pneumatic cylinder, and perpendicular flexible pneumatic cylinder side-mounting has the range finding inductor, and the AGV is equipped with hydraulic system inside, and hydraulic system includes hydro-cylinder, hydraulic pump and valves, hydraulic system and each pneumatic cylinder intercommunication.
And a paying-off system is arranged at the rear part of the AGV and drives a paying-off roller to pay off and take up for the second motor.
The electric control cabinet is provided with a dust removing device beside the electric control cabinet and is arranged on the AGV, and the dust removing device consists of a dust removing box and a vacuum pump.
Bumpers are arranged on the front side and the three vertical sides of the AGV, and an anti-collision laser scanner is arranged at the rear end of the AGV on the paying-off system.
All motors, vacuum pumps, hydraulic systems, laser sensing devices and distance measuring sensors are connected with an electrical control cabinet; when the laser reflector is used, firstly, arranging laser reflectors around the site; secondly, conveying the blade to a polishing area and supporting and fixing the blade; thirdly, switching on a field power supply, and debugging and pre-programming polishing position points in a manual mode; fourthly, starting an automatic polishing mode; fifthly, feeding back position information into an electrical control cabinet by the AGV through a laser sensing device, commanding the AGV to travel to a specified working point by the electrical control cabinet, adjusting the position by the AGV if the position does not accord with the specified working point, and opening a leveling structure by the AGV to level if the position accords with the specified working point; the polishing manipulator starts working; and the polishing manipulator feeds back polishing information to the electrical control cabinet, and in the sixth step, whether the AGV needs to travel to the next working point is judged, if so, the AGV returns to the fifth step, and if not, the electrical control cabinet controls the AGV to retract the leveling structure and return to the initial position.
The automatic polishing machine has the beneficial effects that the polishing mechanical arm and the AGV are combined together, and the automatic polishing machine has the functions of leveling, dust removal and automatic paying-off, so that the automatic polishing machine is initiated in the industry, the working efficiency is improved, and the labor intensity is reduced.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a front view of the present invention;
FIG. 3A workflow diagram
FIG. 4A is a partial enlarged view
FIG. 5A is a partial enlarged view B
In fig. 1 to 5, 1, a polishing manipulator, 1.1, a movable platform, 2, an AGV, 3, a distance adjusting device, 3.1, a first motor, 3.2, a vertical frame, 3.3, a screw rod, 3.4, a gearbox, 4, a laser sensing device, 4.1, a supporting rod, 5, an electrical control cabinet, 6, a leveling structure, 6.1, a horizontal telescopic hydraulic cylinder, 6.2, a vertical telescopic hydraulic cylinder, 6.3, a distance measuring sensor, 7, a dust removing device, 7.1, a dust removing box, 7.2, a vacuum pump, 8, a paying-off system, 8.1, a second motor, 8.2, a paying-off roller, 9, a hydraulic system, 10, a bumper, 11 and an anti-collision laser scanner.
Detailed Description
In fig. 1 to 5, this kind of automatic equipment of polishing of AGV, including polishing manipulator 1, its characterized in that, polishing manipulator 1 installs on AGV2, and its characterized in that polishes manipulator 1 and adjusts the vertical lift height on AGV2 through adjusting device 3, and adjusting device 3 top is fixed with laser induction system 4 through bracing piece 4.1, and adjusting device 3 rear portion has electrical control cabinet 5.
The polishing manipulator is An Chuan MH180-120.
The distance adjusting device 3 is a screw rod distance adjusting device and comprises a first motor 3.1, a vertical frame 3.2, a screw rod 3.3 and a gearbox 3.4, wherein the polishing manipulator 1 is located on a movable platform 1.1, the movable platform 1.1 is embedded in an AGV2, the vertical frame 3.2 is fixed on the AGV2, the movable platform 1.1 is in threaded connection with the screw rod 3.3 in the vertical frame 3.2, and one end of the screw rod 3.3 is connected with the first motor 3.1 through the gearbox 3.4.
The distance adjusting device 3 can also be a pneumatic distance adjusting device or a hydraulic distance adjusting device.
Further, the gearbox adopts a gear shifting structure (not shown in the figure).
The leveling structure 6 is installed to AGV2 bottom, leveling structure 6 is the combination of horizontal flexible pneumatic cylinder 6.1, perpendicular flexible pneumatic cylinder 6.2 and range finding inductor 6.3, and horizontal flexible pneumatic cylinder 6.1 end fixing has perpendicular flexible pneumatic cylinder 6.2, and perpendicular flexible pneumatic cylinder 6.2 side-mounting has range finding inductor 6.3, is equipped with hydraulic system 9 in the AGV, and hydraulic system 9 includes hydro-cylinder (not shown in the figure), hydraulic pump (not shown in the figure) and valves (not shown in the figure), and hydraulic system 9 communicates with each pneumatic cylinder.
The paying-off system 8 is arranged at the rear part of the AGV2, and the paying-off system 8 drives the paying-off roller 8.2 to pay off and take up the wire for the second motor 8.1.
Three vertical sides in front of and on both sides of the AGV2 are provided with bumpers 10, and the rear end of the AGV is provided with an anti-collision laser scanner 11 on the pay-off system 8.
The electric control cabinet 5 is provided with a dust removing device 7 which is arranged on the AGV2, and the dust removing device 7 consists of a dust removing box 7.1 and a vacuum pump 7.2.
Further, the dust removing box 7.1 adopts a cloth bag dust removing structure (not shown in the figure).
All the motors, the vacuum pump 11.2, the hydraulic system 9, the laser sensing device 4 and the ranging sensor 6.3 are electrically connected with the electrical control cabinet 5; when the laser reflector is used, firstly, arranging laser reflectors around the site; secondly, conveying the blade to a polishing area and supporting and fixing the blade; thirdly, switching on a field power supply, and debugging and pre-programming polishing position points in a manual mode; fourthly, starting an automatic polishing mode; fifthly, the AGV2 feeds back ranging information to the electrical control cabinet 5 through the laser sensing device 4, the electrical control cabinet 5 enables the AGV2 to travel to a specified working point, if the position does not accord with the specified working point, the AGV2 returns to the fifth step, and the AGV2 adjusts the position; if the position accords with the designated working point, entering a sixth step, and opening a leveling structure 6 by the AGV2 for leveling; the polishing manipulator 1 starts working; the polishing manipulator 1 feeds polishing information back to the electrical control cabinet 5; and step six, judging whether the AGV2 needs to travel to the next working point, returning to the step five if the AGV2 needs to travel to the next working point, and controlling the AGV2 to retract the leveling structure 6 to return to the initial position if the AGV2 does not need to travel to the next working point.
Claims (3)
1. The utility model provides an automatic equipment of polishing of AGV, including polishing the manipulator, a serial communication port, it installs on the AGV to polish the manipulator, it adjusts the vertical lift height on the AGV through the roll adjustment device, the roll adjustment device top is fixed with laser induction system through the bracing piece, the roll adjustment device rear portion has electrical control cabinet, laser induction system includes laser emitter and laser receiver, roll adjustment device is lead screw roll adjustment device, including first motor, the grudging post, lead screw and gearbox, it is located movable platform to polish the manipulator, movable platform inlays in the AGV, the grudging post is fixed on the AGV, screw threaded connection in movable platform and the grudging post, lead screw one end is connected with first motor through the gearbox, leveling structure is installed to the AGV bottom, leveling structure is the combination of horizontal telescopic hydraulic cylinder and vertical telescopic hydraulic cylinder, horizontal telescopic hydraulic cylinder end fixing has vertical telescopic hydraulic cylinder, vertical telescopic hydraulic cylinder side face installs the inductor, the inside is equipped with hydraulic system, hydraulic system includes the hydro-cylinder and laser receiver, hydraulic system communicates with each pneumatic cylinder, the AGV rear portion has ranging system, pay-off system drives roller and pay-off control wire take-off, the wire is equipped with the dust removing device at the AGV side face, three sides of the dust removing device is installed at the AGV, the dust removing device is equipped with the dust in the AGV, the dust end is equipped with the dust, the dust system is equipped with the dust, and is 180, dust.
2. The automated AGV polishing apparatus according to claim 1 wherein the distance adjusting device is a pneumatic distance adjusting device or a hydraulic distance adjusting device.
3. An automatic AGV polishing method using the automatic AGV polishing device according to claim 1, wherein, in the first step, a laser reflection plate is arranged around the site; secondly, conveying the blade to a polishing area and supporting and fixing the blade; thirdly, switching on a field power supply, and debugging and pre-programming polishing position points in a manual mode; fourthly, starting an automatic polishing mode; fifthly, the AGV feeds the ranging information back to an electrical control cabinet through a laser sensing device, and the electrical control cabinet enables the AGV to travel to a designated working point; if the position does not accord with the designated working point, returning to the fifth step, and adjusting the position by the AGV; if the position accords with the designated working point, entering a sixth step, opening a leveling structure by the AGV for leveling, wherein the leveling is performed through the cooperative work of a horizontal telescopic hydraulic cylinder, a vertical telescopic hydraulic cylinder and a ranging sensor; the polishing manipulator starts working; the polishing manipulator feeds polishing information back to the electrical control cabinet; step six, judging whether the AGV needs to travel to the next working point, returning to the step five if the AGV needs to travel to the next working point, and controlling the AGV to retract the leveling structure to return to the initial position if the AGV does not need to travel to the next working point; in the steps, the AGV pays out and takes up the wires through the paying-off system, and particularly, the paying-off roller is driven to pay out and take up the wires through the second motor.
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 CN108326682A (en) | 2018-07-27 |
| CN108326682B true CN108326682B (en) | 2024-01-09 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201810292380.9A Active CN108326682B (en) | 2018-04-03 | 2018-04-03 | Automatic AGV polishing equipment and method thereof |
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| Country | Link |
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| CN (1) | CN108326682B (en) |
Families Citing this family (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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