CN110216563A - A kind of grinding device and milling robot - Google Patents
A kind of grinding device and milling robot Download PDFInfo
- Publication number
- CN110216563A CN110216563A CN201910610021.8A CN201910610021A CN110216563A CN 110216563 A CN110216563 A CN 110216563A CN 201910610021 A CN201910610021 A CN 201910610021A CN 110216563 A CN110216563 A CN 110216563A
- Authority
- CN
- China
- Prior art keywords
- bistrique
- grinding device
- polishing
- sheet body
- grinding
- 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.)
- Pending
Links
- 238000000227 grinding Methods 0.000 title claims abstract description 46
- 238000003801 milling Methods 0.000 title claims abstract description 20
- 238000005498 polishing Methods 0.000 claims abstract description 61
- 238000013016 damping Methods 0.000 claims description 13
- 238000009434 installation Methods 0.000 claims description 5
- 230000007246 mechanism Effects 0.000 claims description 3
- 238000001179 sorption measurement Methods 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 10
- 238000003466 welding Methods 0.000 description 6
- 238000010521 absorption reaction Methods 0.000 description 5
- 230000035939 shock Effects 0.000 description 5
- 239000011324 bead Substances 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000002893 slag Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000009545 invasion Effects 0.000 description 1
- 230000033001 locomotion Effects 0.000 description 1
- 230000002093 peripheral effect Effects 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
- B24B27/00—Other grinding machines or devices
- B24B27/0076—Other grinding machines or devices grinding machines comprising two or more grinding tools
-
- 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
- B24B27/00—Other grinding machines or devices
- B24B27/0092—Grinding attachments for lathes or the like
-
- 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
- B24B47/00—Drives or gearings; Equipment therefor
- B24B47/10—Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces
- B24B47/12—Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces by mechanical gearing or electric power
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Machines For Laying And Maintaining Railways (AREA)
Abstract
The invention discloses a kind of grinding device and milling robots, the grinding device includes: polishing work head, the polishing work head includes: the first bistrique, the second bistrique, driving device and mounting bracket, and first bistrique and the second bistrique, which are rotatably arranged in the mounting bracket and are driven by driving device, to be rotated.The present invention solves weld seam processing low efficiency in the prior art, the bad technical problem of weld seam treatment effect.
Description
Technical field
The present invention relates to grinding apparatus technical field more particularly to a kind of weld grinding devices and milling robot.
Background technique
When the installation of band large-scale metal alien invasion, junction many times needs to realize mutual company by welding
It connects, needs to reprocess commissure after the welding is completed to remove extra welding slag etc., it is general in the prior art to use
Metallic brush or high-speed rotating grinding disc are polished, since the hardness of commissure is bigger, weldering in the prior art
Stitching processing mode, not only working efficiency is low, but also due to being handled using manual mode, weld seam processing is uneven, thus shadow
Ring the quality of connection.
Summary of the invention
The present invention provides a kind of grinding device and milling robot, solves weld seam processing low efficiency in the prior art, weldering
Stitch the bad technical problem for the treatment of effect.
In order to solve the above-mentioned technical problem, one aspect of the present invention provides a kind of grinding device, and the grinding device includes:
Polishing work head, the polishing work head include: the first bistrique, the second bistrique, driving device and mounting bracket, first mill
Head and the second bistrique, which are rotatably arranged in the mounting bracket and are driven by driving device, to be rotated.
As a preferred embodiment of the above technical solution, the grinding device further include: damping device, the polishing work head and institute
State damping device connection.
As a preferred embodiment of the above technical solution, the polishing work head further includes runing rest, the mounting bracket and rotation
Turn holder pivots connection, the damping device is connect with the runing rest.
As a preferred embodiment of the above technical solution, first bistrique and the second bistrique are arranged in parallel.
As a preferred embodiment of the above technical solution, first bistrique and the second bistrique are roller structure.
As a preferred embodiment of the above technical solution, first bistrique includes: first shaft portion and the first polishing sheet body, and described the
One grinding disc body is arranged in the shape of a spiral on the first shaft portion.
As a preferred embodiment of the above technical solution, second bistrique includes: the second shaft portion and the second polishing sheet body, and described the
Two polishing sheet bodies are arranged in the shape of a spiral on the second shaft portion.
As a preferred embodiment of the above technical solution, the hand of spiral of the first polishing sheet body and the second polishing sheet body is opposite.
Another aspect of the present invention provides a kind of milling robot, the milling robot include: robot body and with
And grinding device provided by the invention, vertical rails along the vertical direction, the polishing dress are provided on the robot body
Set be movably arranged in the vertical rails and can the vertical rails as described in driving mechanism drives edge it is mobile.
As a preferred embodiment of the above technical solution, the bottom of the robot body is provided with magnetic absorption component.
Said one or multiple technical solutions in the application at least have following one or more technical effects:
The present invention provides a kind of grinding device, which includes: polishing work head, and the polishing work head includes:
First bistrique, the second bistrique, driving device and mounting bracket, first bistrique and the second bistrique are rotatably arranged on the installation
Driven on bracket and by driving device and rotated, first bistrique and the second bistrique at work its rotation direction on the contrary,
The present invention polishes to weld seam by way of the first bistrique and the second bistrique rotary-grinding, and which solve weld in the prior art
It is low to stitch treatment effeciency, the bad technical problem of weld seam treatment effect.
The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention,
And it can be implemented in accordance with the contents of the specification, and in order to allow above and other objects of the present invention, feature and advantage can
It is clearer and more comprehensible, the followings are specific embodiments of the present invention.
Detailed description of the invention
Fig. 1 is a kind of schematic perspective view of grinding device provided in an embodiment of the present invention；
Fig. 2 is a kind of schematic perspective view of milling robot provided in an embodiment of the present invention；
Fig. 3 is a kind of schematic perspective view of another angle of milling robot provided in an embodiment of the present invention；
Fig. 4 is a kind of bottom view of milling robot provided in an embodiment of the present invention；
Fig. 5 is a kind of working state schematic representation of milling robot provided in an embodiment of the present invention；
Fig. 6 is the schematic perspective view of another milling robot provided in an embodiment of the present invention；
Fig. 7 is the schematic perspective view of another milling robot provided in an embodiment of the present invention.
Description of symbols: 10, work head of polishing；20, damping device；30, connecting bracket；40, mounting plate；50, vertical
Sliding rail；60, robot body；100, first shaft portion；200, the first polishing sheet body；300, the second shaft portion；400, the second grinding disc
Body；101, mounting bracket；102, the first bistrique；103, runing rest；104, rotation drive device；105, the second bistrique；201,
Elastomeric element；202, shock bracket；203, guide rod；601, traveling wheel；602, mobile drive deivce；603, deflecting roller；70, machine
Body；701, crawler belt；702, magnetic absorption component.
Specific embodiment
To keep the purpose of the present invention, feature, advantage more obvious and understandable, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
It is only a part of the embodiment of the present invention, and not all embodiments.Based on the embodiments of the present invention, those skilled in the art are not having
Every other embodiment obtained under the premise of creative work is made, shall fall within the protection scope of the present invention.
Referring to Figures 1 and 2, the embodiment of the present invention provides a kind of grinding device, which includes:
Polishing work head 10, which includes: the first bistrique 102, the second bistrique 105, driving device and peace
Bracket 101 is filled, the first bistrique 102 and the second bistrique 105, which are rotatably arranged in mounting bracket 101 and are driven by driving device, to be revolved
Turn, its rotation direction can be on the contrary, in detail, for driving the at work for the first bistrique 102 and the second bistrique 105
The driving device of one bistrique 102 and the second bistrique 105 is mounted in mounting bracket 101, can be using motor as power part
Then part makes the first bistrique 102 and 105 direction of rotation of the second bistrique by gear on the contrary, in addition, the first bistrique 102 and
Its rotation direction can also be identical at work for two bistriques 105, and the first bistrique 102 and the second bistrique 105 can pass through skin
The realizations such as band rotate synchronously.
In the present embodiment, the first bistrique 102 and the second bistrique 105 are roller structure, as shown in figure 3,102 He of the first bistrique
The specific structure of second bistrique 105 is that the first bistrique 102 includes: first shaft portion 100 and the first polishing sheet body 200, the first polishing
Sheet body 200 is arranged in the shape of a spiral on first shaft portion 100, and the second bistrique 105 includes: the second shaft portion 300 and the second polishing sheet body
400, the second polishing sheet body 400 is arranged in the shape of a spiral on the second shaft portion 300, and first shaft portion 100 and the second shaft portion 300 pass through
Bearing etc. is rotatably installed in mounting bracket 101, and the first polishing sheet body 200 and the second polishing sheet body 400 twine in the shape of a spiral respectively
It is wound on first shaft portion 100 and the second shaft portion 300, the inside of the first polishing sheet body 200 and the second polishing sheet body 400 is respectively with the
One axle portion 100 is connected with the surface of the second shaft portion 300, since the first polishing sheet body 200 and second polish sheet body 400 helically
Shape, the discharge that polishing can also be facilitated to consider to be worth doing, in addition cooperates 105 rotary-grinding of the first bistrique 102 and the second bistrique, is polishing
It is not only more efficient when weld seam, but also make the weld seam of polishing more uniform, the effect of polishing is more preferable.
In addition, the first bistrique 102 and the second bistrique 105 in the present embodiment are arranged in parallel, specifically, its first shaft portion
100 and the second shaft portion 300 be parallel to each other, and the first bistrique 102 is located at the front of the second bistrique 105, the length of the first bistrique 102
More flexible side is rotated its role is to which the overall weight of polishing work head 10 can be mitigated greater than the length of the second bistrique 105
Just, in addition, it can also facilitate the discharge of welding slag during weld grinding, for safety, in the first bistrique 102 and the second mill
First 105 outside is provided with shield, which is sheet metal component, can be directly anchored in mounting bracket 101.
Moreover, the hand of spiral of the first polishing sheet body 200 and the second polishing sheet body 400 in the present embodiment is on the contrary, i.e. such as
Fruit first polishes sheet body 200 in left-handed, and hand of spiral of that the second polishing sheet body 400 is dextrorotation, if the first polishing sheet body 200
The hand of spiral be dextrorotation, then second polishing sheet body 400 the hand of spiral be it is left-handed, first polishing sheet body 200 and second polishing
The hand of spiral of sheet body 400 promotes grinding effect on the contrary, its work when can be further improved efficiency.
In the present embodiment, grinding device further include: damping device 20, polishing work head 10 are connect with damping device 20, in detail
Carefully, the structure of the damping device 20 in the present embodiment is comprising: shock bracket 202, elastomeric element 201 and guide rod 203, sheet
Elastomeric element 201 in embodiment is spring, and quantity is identical as the quantity of guide rod 203, specific to the guide rod in the present embodiment
203 quantity is four, and sliding sleeve is provided in shock bracket 202, and sliding sleeve and guide rod 203 cooperate, and guide rod 203 can be in sliding sleeve
Sliding, in addition, elastomeric element 201 is set on guide rod 203, and 201 upper end of elastomeric element is contacted with shock bracket 202, is
Anti- anti-skid sheath skids off the upper end of guide rod 203, in the upper end of guide rod 203 is additionally provided with limiting component, which is installation
Nut in 203 upper end of guide rod.
In order to enable polishing work head 10 can be rotated integrally for adjusting the angle, therefore, polishing work head 10 further includes rotation
Turn bracket 103, mounting bracket 101 and runing rest 103 are rotatablely connected, and damping device 20 is connect with runing rest 103, specifically
It says, 203 lower end of guide rod in the present embodiment is fixedly connected with runing rest 103, the lower end of elastomeric element 201 and runing rest
103 upper surface contact, when work, guide rod 203 can slide in sliding sleeve, and one end elasticity of elastomeric element 201 is made
Firmly on runing rest 103, other end elastic acting force in mounting bracket 101, damping device 20 can polishing when
Time plays the role of buffering, and weld seam has certain thickness, when starting to work, work head 10 of polishing and bead contact,
Polishing work head 10 is lifted, and work head 10 of polishing in the process of work makes the first bistrique under the action of elastomeric element 201
102 and second bistrique 105 always with bead contact.
As shown in figure 5, it is mainly in polishing welding seams when mounting bracket 101 and 103 relative rotation of runing rest
When, some weld grindings are inconvenient, it is therefore desirable to which adjustment angle is polished.
Mutual rotation connection, rotation branch can be realized between mounting bracket 101 and runing rest 103 by Axle Parts
Rotation drive device 104 is additionally provided on frame 103, which, can for driving polishing work head 10 to rotate
To be realized using servo motor and bevel gear.
When specific works, by the first bistrique 102 and the second bistrique 105 and bead contact, starts driving device, pass through
Driving device drives the first bistrique 102 and the rotation of the second bistrique 105, passes through the first polishing sheet body 200 and the second polishing sheet body 400
It polishes weld seam, working efficiency not only can be improved, but also its grinding effect is also more preferable compared to the prior art.
Referring to Fig. 2 to Fig. 5, the embodiment of the present invention provides a kind of milling robot, which includes robot sheet
Body 60 and grinding device provided in an embodiment of the present invention are provided with along the vertical direction vertical referring to Fig. 1 on robot body 60
Sliding rail 50, grinding device are movably arranged in vertical rails and can be mobile by driving mechanism drives edge vertical rails 50, specifically
Ground says that grinding device is mounted on the front end of robot body 60, and further, the front end of robot body 60 is provided with installation
Plate 40, on mounting plate 40 along the vertical direction on be provided with vertical rails 50, sliding is provided with connecting bracket 30 in vertical rails 50,
Shock bracket 202 is fixedly connected with connecting bracket 30, and the settings of vertical rails 50 is mainly for allowing grinding device in machine
It is vertically movable on device human body 60, in addition, mounting plate 40 is additionally provided with vertical drive for driving grinding device along perpendicular
It is moved in the vertical direction to sliding rail 50, which can be using electric pushrod etc..
In addition, the two sides of the robot body 60 in the present embodiment are provided with traveling wheel 601, traveling wheel 601 drives mobile
It is rotated under the drive of dynamic device 602, at work, robot body 60 can be mobile in working surface, mobile to drive
Dynamic device 602 can use motor, and the rear portion of robot body 60 also set up that there are two deflecting roller 603, deflecting roller 603 and machines
Human body 60 is universal connection, and two deflecting rollers 603 are symmetrical set, and the size of deflecting roller 603 is less than traveling wheel 601
Size, the effect of deflecting roller 603 essentially consist in control robot body 60 and are turned to when walking.
The plastic part of tooth form is provided on the periphery of the traveling wheel 601 of the present embodiment, which is coated on traveling wheel
On 601 outer peripheral surface, the outer surface of plastic part has tooth form, and main function is, traveling wheel 601 can when walking
With anti-skidding, in addition, having certain damping effect and anti-wear effect.
The present embodiment milling robot at work, mobile drive deivce 602 drive traveling wheel 601 in pipeline or
The working surface that other needs are polished is mobile, and when being moved to corresponding position, vertical drive drives grinding device
Downward actuation, so that the first bistrique 102 and the second bistrique 105 and bead contact, start the first bistrique 102 and the second bistrique 105
Work polishes to weld seam, in addition, it can also pass through 105 butt welding of the first bistrique 102 and the second bistrique in moving process
Seam completes polishing.
Referring to figure 6 and figure 7, another milling robot provided in an embodiment of the present invention, the another kind milling robot packet
Fuselage 70 and grinding device provided in an embodiment of the present invention are included, which is provided with crawler belt 701 on fuselage 70, separately
Outside, fuselage 70 is additionally provided with the sliding rail of vertical sliding rail and transverse direction, grinding device can it is vertically movable on fuselage 70 and
Transverse shifting, grinding device have higher freedom degree, and polishing when is more convenient to use, in addition, in the present embodiment
The bottom of fuselage 70 is provided with magnetic absorption component 702, which can be using electromagnet or using forever
Magnet, the main function of magnetic absorption component 702 is for fuselage 70 to be adsorbed on working face, especially on vertical working face
When work, when milling robot needs to climb wall operation, magnetic absorption component 702 is adsorbed on vertical wall surface
On, it is then made it possible to by the power unit driving movement of crawler belt 701 and realizes that climbing wall works on vertical plane, in order to play protection
It acts on, is provided with shield on fuselage 70, all power units are respectively positioned in shield.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.Moreover, particular features, structures, materials, or characteristics described
It may be combined in any suitable manner in any one or more of the embodiments or examples.In addition, without conflicting with each other, this
The technical staff in field can be by the spy of different embodiments or examples described in this specification and different embodiments or examples
Sign is combined.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic." first " is defined as a result, the feature of " second " can be expressed or hidden
It include at least one this feature containing ground.In the description of the present invention, the meaning of " plurality " is two or more, unless otherwise
Clear specific restriction.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (10)
1. a kind of grinding device, which is characterized in that the grinding device includes: polishing work head, and the polishing work head includes:
First bistrique, the second bistrique, driving device and mounting bracket, first bistrique and the second bistrique are rotatably arranged on the installation
It is driven on bracket and by driving device and is rotated.
2. grinding device according to claim 1, which is characterized in that the grinding device further include: damping device, it is described
Polishing work head is connect with the damping device.
3. grinding device according to claim 2, which is characterized in that the polishing work head further includes runing rest, institute
It states mounting bracket and runing rest is rotatablely connected, the damping device is connect with the runing rest.
4. grinding device according to claim 1, which is characterized in that first bistrique and the second bistrique are arranged in parallel.
5. grinding device according to any one of claim 1 to 3, which is characterized in that first bistrique and the second mill
Head is roller structure.
6. grinding device according to any one of claim 1 to 4, which is characterized in that first bistrique includes: first
Axle portion and the first polishing sheet body, the first polishing sheet body are arranged in the shape of a spiral on the first shaft portion.
7. grinding device according to claim 6, which is characterized in that second bistrique includes: the second shaft portion and second
Polishing sheet body, the second polishing sheet body are arranged in the shape of a spiral on the second shaft portion.
8. grinding device according to claim 7, which is characterized in that the first polishing sheet body and the second polishing sheet body
The hand of spiral is opposite.
9. a kind of milling robot, which is characterized in that the milling robot includes: in robot body and claim 1 to 8
Described in any item grinding devices are provided with vertical rails along the vertical direction, the grinding device on the robot body
Be movably arranged in the vertical rails and can the vertical rails as described in driving mechanism drives edge it is mobile.
10. grinding device according to claim 9, which is characterized in that the bottom setting of the robot body is magnetic
Adsorption element.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910610021.8A CN110216563A (en) | 2019-07-04 | 2019-07-04 | A kind of grinding device and milling robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910610021.8A CN110216563A (en) | 2019-07-04 | 2019-07-04 | A kind of grinding device and milling robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110216563A true CN110216563A (en) | 2019-09-10 |
Family
ID=67812205
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910610021.8A Pending CN110216563A (en) | 2019-07-04 | 2019-07-04 | A kind of grinding device and milling robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110216563A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115609444A (en) * | 2022-11-17 | 2023-01-17 | 瑞龙(连云港)环保设备科技有限公司 | Ship body rust removing device for ship manufacturing |
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Effective date of registration: 20200515 Address after: Room 601-48, floor 6, building 1, yard 1, Shangdi East Road, Haidian District, Beijing 100000 Applicant after: BEIJING SHIHE TECHNOLOGY Co.,Ltd. Applicant after: Zhejiang Institute of Special Equipment Science Address before: 100083 Beijing Haidian District Zhongguancun East Road No. 1 Courtyard No. 8 Building CG05-253 Applicant before: BEIJING SHIHE TECHNOLOGY Co.,Ltd. |