CN110842688A - Automatic polishing system for welding seams on car roof - Google Patents
Automatic polishing system for welding seams on car roof Download PDFInfo
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- CN110842688A CN110842688A CN201911323240.4A CN201911323240A CN110842688A CN 110842688 A CN110842688 A CN 110842688A CN 201911323240 A CN201911323240 A CN 201911323240A CN 110842688 A CN110842688 A CN 110842688A
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- Prior art keywords
- polishing
- module
- industrial robot
- dust removal
- piece
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Classifications
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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
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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
- B24B27/00—Other grinding machines or devices
- B24B27/033—Other grinding machines or devices for grinding a surface for cleaning purposes, e.g. for descaling or for grinding off flaws in the surface
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B9/00—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor
- B24B9/02—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground
- B24B9/04—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground of metal, e.g. skate blades
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B19/00—Single-purpose machines or devices for particular grinding operations not covered by any other main group
- B24B19/26—Single-purpose machines or devices for particular grinding operations not covered by any other main group for grinding workpieces with arcuate surfaces, e.g. parts of car bodies, bumpers or magnetic recording heads
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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
- B24B27/00—Other grinding machines or devices
- B24B27/0038—Other grinding machines or devices with the grinding tool mounted at the end of a set of bars
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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
- 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
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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
- 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
- B24B49/10—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 electrical means
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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
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
- B24B55/04—Protective covers for the grinding wheel
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
- B24B55/06—Dust extraction equipment on grinding or polishing machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
- B25J15/0491—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof comprising end-effector racks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0208—Compliance devices
- B25J17/0225—Compliance devices with axial compliance, i.e. parallel to the longitudinal wrist axis
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45058—Grinding, polishing robot
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45096—Polishing manipulator
Abstract
The invention discloses an automatic grinding system for a roof weld joint, which comprises an industrial robot, a grinding unit and a grinding piece consumption monitoring unit, wherein the grinding unit is arranged on the industrial robot, and the grinding piece consumption monitoring unit is electrically connected with the industrial robot; the industrial robot drives the polishing unit to polish the welding line, and after the welding line is polished, the polishing sheet monitoring unit detects the polishing consumption of the polishing sheet on the polishing unit, and compares the polishing consumption with the initial data of the polishing sheet. The floating module with optimized design can output constant and stable pressure and torque, and better ensures the polishing quality; the grinding piece detection device can measure the consumption of the grinding wheel on line and can realize automatic replacement of the grinding piece; the dust removal device can collect and remove polishing dust, the cleanness and attractiveness of a welding line are guaranteed, and the dust can be prevented from overflowing into the air to affect a human body.
Description
Technical Field
The invention relates to a car roof polishing device, in particular to an automatic car roof welding line polishing system.
Background
After the laser welding is carried out on the roof of the white car body, a small amount of splashing can be generated in the welding process, so that the phenomena of uneven welding seams, slightly uneven welding seams after welding and the like are caused, the processing of the next procedure is influenced, the welding seams are not attractive in forming, and the polishing treatment of the welding seams after welding is a necessary procedure. At present, in the existing polishing equipment and polishing system, the polishing force, the polishing speed and other process parameters are difficult to control, so that the polishing quality is difficult to ensure; secondly, in the polishing process, the real-time compensation of the polishing position cannot be realized, and the debugging requirements of the robot and the clamping and positioning requirements of the tool fixture are higher. In addition, the dust excluding hood in the existing polishing system can not realize the self-adaptive adjustment of the Z axis according to the loss of the polishing sheet, thereby not only influencing the use frequency of the polishing sheet, increasing the cost and reducing the production efficiency, but also being difficult to control the dust dispersion and causing damage to human bodies.
Disclosure of Invention
The purpose of the invention is as follows: in order to solve the problems in the prior art, the invention aims to provide an automatic roof weld grinding system which can detect the grinding sheet state in real time and can automatically replace the grinding sheet.
The technical scheme is as follows: an automatic grinding system for a roof weld joint comprises an industrial robot, a grinding unit and a grinding piece consumption monitoring unit, wherein the grinding unit is installed on the industrial robot, and the grinding piece consumption monitoring unit is electrically connected with the industrial robot; the industrial robot drives the polishing unit to polish the welding line, and after the welding line is polished, the polishing sheet monitoring unit detects the polishing consumption of the polishing sheet on the polishing unit, and compares the polishing consumption with the initial data of the polishing sheet.
Further, the polishing sheet consumption monitoring unit comprises a photoelectric sensor, and the photoelectric sensor is electrically connected with the industrial robot; every completion of the unit of polishing, industrial robot will polish the piece and be close to photoelectric sensor, detect the position of polishing the piece, and photoelectric sensor will detect data transmission to industrial robot, and industrial robot carries out the comparison with its initial position with the polishing piece, and when polishing the poor threshold value that exceedes the demarcation in piece position, industrial robot changes the polishing piece automatically.
Further, the polishing unit comprises a polishing module, a constant force floating module and a dust removal module;
the polishing module comprises a servo motor, a conversion mechanism, an automatic chuck and a polishing piece, wherein the conversion mechanism is connected with the servo motor and the automatic chuck, the automatic chuck automatically clamps the polishing piece, and the servo motor controls the polishing piece to rotate. The constant force floating module comprises an equipment shell, wherein a pressure sensor, a cylinder I, a cylinder II and a linear sliding rail which is vertically arranged are arranged in the equipment shell; the linear sliding rail is provided with a sliding block, the sliding block is provided with a connecting plate, the air cylinder I is connected with the connecting plate, and the connecting plate is fixedly connected with the polishing module through a connecting part; the connecting plate is pushed by the cylinder I and slides up and down along the linear guide rail to drive the polishing module to move up and down and generate relative motion with the constant force floating module; the air cylinder II is connected with the polishing module, air supply of the air cylinder II is controlled by a proportional valve, and output air pressure is controlled to be a constant value through closed-loop regulation inside the proportional valve; pressure sensor installs in cylinder II one side for detect the pressure of polishing. The dust removal module comprises a dust removal fan housing and dust removal equipment, the housing of the dust removal fan housing is arranged above the whole polishing disc, dust removal air suction ports are formed in two sides of the housing and connected with the dust removal equipment, brushes are respectively installed at the bottoms of two sides of the housing, and dust formed after polishing of the polishing disc is discharged through the dust removal air suction ports.
Furthermore, the dust removal module comprises an air channel switching module, the air channel switching module is provided with an air channel corresponding to the dust removal air suction inlet, the dust removal air suction inlet is connected with the air channel of the air channel switching module through a pipeline, and the other end of the air channel switching module is connected with the dust removal equipment.
Furthermore, the dust removal module also comprises a housing adjusting module for adjusting the vertical position of the dust removal fan housing. Specifically, the method comprises the following steps: the housing adjusting module comprises a fixed part, a sliding part and a housing connecting part, the fixed part is arranged on the polishing unit, the fixed part is provided with a guide rail, the sliding part is movably connected with the fixed part and can move up and down along the guide rail, the dust removal fan cover is arranged on the fixed part through the housing connecting part, the sliding part is provided with a motor module, and the motor module is electrically connected with the industrial robot; the industrial robot adjusts the upper position and the lower position of the dust removal fan cover through the driving motor module. Preferably, a proximity switch is installed on the outer side of the motor module and used for detecting the stroke of the motor.
Further, servo motor and industrial robot electricity are connected, and the piece of polishing consumes the monitoring unit and detects the piece data of polishing after, with detected value feedback to industrial robot, industrial robot adjusts servo motor's the rotational speed in real time, maintains the invariant of the linear velocity of polishing.
Furthermore, the constant force floating module is provided with a position sensor, the position sensor is electrically connected with the industrial robot, and the position sensor is used for monitoring whether the upper displacement and the lower displacement of the polishing unit are within a safe stroke range.
Furthermore, a scale is arranged on the side of the equipment shell, and a pointer corresponding to the scale is arranged on one side of the connecting plate.
Compared with the prior art, the invention has the following remarkable advantages: the constant force floating device with the optimized design can realize displacement compensation in the polishing process, can output constant and stable pressure and torque, better ensures polishing quality, can relieve the influence caused by welding seam track fluctuation and polishing piece consumption, and can relieve the aggravation of grinding wheel loss caused by overlarge polishing force; the additionally arranged polishing piece detection device can measure the consumption of the grinding wheel on line and can realize automatic replacement of the polishing piece; the perfect follow-up dust collector can gather and clear away the dust of the process of polishing to avoid scattering in the air or remaining on the weld joint, both guaranteed the clean and tidy pleasing to the eye of weld joint, avoided the dust to inhale the influence to the human body again.
Drawings
FIG. 1 is a schematic diagram of an automatic roof weld polishing system according to the present invention;
FIG. 2 is a schematic view of the construction of the grinding apparatus;
FIG. 3 is a schematic structural diagram of a constant force floating module;
fig. 4 is a schematic structural view of a sanding module.
Detailed Description
The technical solution of the present invention is further described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1, an automatic grinding system for a roof weld comprises an industrial robot 1, a grinding unit 2 and a grinding sheet consumption monitoring unit 3, wherein the grinding unit 2 comprises an inverted L-shaped static arm 201, the upper end of the static arm 201 is connected with the industrial robot 1 through a robot flange 101, and the grinding sheet consumption monitoring unit 3 is arranged on the ground on one side of the industrial robot 1 and is electrically connected with the industrial robot 1; the industrial robot 1 drives the polishing unit 2 to polish the welding line, and after the welding line is polished, the polishing sheet monitoring unit 3 detects the polishing consumption of the polishing sheet on the polishing unit 2, compares the polishing consumption with the initial data of the polishing sheet, and when the polishing sheet consumption exceeds a calibrated threshold value, the polishing sheet is automatically replaced by the industrial robot 1.
The polishing sheet consumption monitoring unit 3 comprises a main body support 301, a photoelectric sensor 302 is arranged at the top end of the main body support 301, preferably a fork-shaped photoelectric sensor is adopted, and the photoelectric sensor 302 is electrically connected with an industrial robot; every time the grinding robot finishes one procedure, the grinding wheel is close to the middle notch of the fork-shaped photoelectric sensor to carry out grinding consumption detection, the detected position is compared with the initial position, and when the position difference exceeds a calibrated threshold value, the grinding sheet is automatically replaced by the industrial robot.
The module 6 that floats of constant force is installed to quiet arm 201 inboard, and the module 6 that floats of constant force mainly has two functions: 1. gravity compensation and gravity balancing of the polishing module are realized; 2. a constant sanding pressure is applied.
As shown in fig. 2 and 3, the constant force floating module 6 includes an equipment housing 608, the equipment housing 608 is fixed on the stationary arm 201, one surface of the equipment housing is an opening, a linear slide rail 601, a pressure sensor 602, an air cylinder I603, and an air cylinder II604 are provided in the equipment housing, the air cylinder I603 is used for balancing gravity of the polishing unit, and the air cylinder II604 is used for providing a constant polishing pressure. Specifically, two linear slide rail 601 symmetries are vertically laid, be equipped with the slider on linear slide rail 601, connecting plate 605 is fixed on linear slide rail 601's slider, on the one hand, locate casing open-ended one side as the apron, on the other hand, connecting plate 605's lower extreme, through adapting unit 606 and polishing module 4 fixed connection, cylinder I603 and connecting plate 605 are connected, connecting plate 605 slides along linear guide 601 under cylinder I603's promotion, thereby drive polishing module 4 and reciprocate, can produce relative motion with equipment housing 608, the accurate control of polishing module 4 at Z direction straight line orbit has been realized. Install cylinder II604 on the cylinder connecting seat and be connected with polishing module 4, cylinder II604 is controlled the air feed by the proportional valve, and through the inside closed loop regulation of proportional valve, will export atmospheric pressure control for invariable value, pressure sensor 602 locates cylinder II604 one side for detect the pressure of polishing.
Further, the constant force floating module 6 is further provided with a position sensor 607 for detecting that the vertical displacement of the polishing module is within the safe travel range. The position sensor at least comprises an upper limit position sensor and a lower limit position sensor, the upper limit position sensor is used for detecting the upper limit position of the grinding module, and the lower limit position sensor is used for detecting the lower limit position of the grinding module. When the polishing module exceeds the upper and lower displacement limits, namely the upper limit position sensor and the lower limit position sensor detect signals, an alarm signal can be started, and the equipment stops working. In addition, a safety position sensor can be arranged between the upper limit position sensor and the lower limit position sensor and used for indicating that the grinding module is positioned in a normal travel range. In particular, the sensor may be of the contact type or the non-contact type. Contact type: the travel switch is arranged in the equipment shell, and a limit position stop block or an opposite mounting position is arranged on a relative movement fixing point of the travel switch. When the mechanical contact of the travel switch hits the stop, the control circuit is cut off (or changed), and the operation is stopped. Non-contact type: common reed switches, photoelectric type, inductive type, etc. can be used.
Furthermore, a scale is engraved on the side of the device housing 608, a pointer corresponding to the scale is arranged on one side of the connection plate 605, the range of the scale is plus or minus 10mm, and the scale is used for visually representing the up-and-down stroke of the polishing module.
The grinding module 4 comprises a servo motor 401, a conversion mechanism 402, an automatic chuck 403 and a grinding sheet 404, wherein the conversion mechanism 402 is connected with the servo motor 401 and the automatic chuck 403, the automatic chuck 403 automatically clamps the grinding sheet 404, and the servo motor 401 controls the grinding sheet 404 to rotate. Servo motor 401 and industrial robot electricity are connected, and the piece of polishing consumes the monitoring unit and detects the piece data of polishing after, with the detected value feedback to industrial robot, industrial robot adjusts servo motor's the rotational speed in real time, maintains the invariant of the linear velocity of polishing.
The dust removing module 5 comprises a dust removing fan housing 501, an air channel switching module 502 and dust removing equipment, a housing of the dust removing fan housing 501 is arranged above the whole polishing disc 404, dust removing air suction ports 504 are arranged on two sides of the housing, brushes 505 are respectively arranged at the bottoms of two sides of the housing, the air channel switching module 502 is provided with two air channels, the dust removing air suction ports 504 are connected with the corresponding air channels of the air channel switching module 502 through pipelines (as the connection relation indicated by the curve in fig. 2), and the air channel switching module 502 is connected with the dust removing equipment through a connecting piece 503. Dust formed after polishing of the polishing sheet is discharged through the dust removal air suction opening 504. In addition, after the grinding wheel is worn, in order to ensure that the system works normally, the height of the dust removal fan housing needs to be adjusted adaptively, so that the dust removal module 5 preferably further comprises a housing adjustment module for automatically adjusting the upper and lower positions of the dust removal fan housing, specifically, the housing adjustment module comprises a fixed part 506, a sliding part 507 and a housing connecting part 508, the fixed part is mounted on the stationary arm 201, the fixed part is provided with a guide rail, the sliding part is movably connected with the fixed part and can move up and down along the guide rail, the dust removal fan housing is mounted on the fixed part through the housing connecting part, the sliding part is provided with a motor module, and the motor module is electrically connected; the industrial robot adjusts the upper position and the lower position of the dust removal fan cover through the driving motor module. Preferably, a proximity switch is installed outside the motor for detecting the stroke of the motor.
In order to further facilitate the automatic replacement of the polishing sheets by the robot, the system is also provided with a polishing sheet placing frame 7, and a plurality of polishing sheets can be installed.
The working principle is as follows:
before the floating module enters the grinding state, the position of a grinding sheet which is not ground is calibrated, certain air pressure is introduced into the air cylinder II, and the pointer on the connecting plate is aligned to the zero scale position of the side face of the shell of the floating module, namely the calibration state is obtained; in this state, the robot guides the polishing head to move to the position of the fork-shaped photoelectric sensor, when the polishing sheet does not contact the photoelectric sensor, the signal output by the sensor is always 0, when the grinding wheel contacts the sensor, the output signal is 1, the six-axis coordinate position of the robot is recorded, namely (x, y, z, A, B and C), the industrial robot drives the polishing head to realize the automatic welding seam polishing procedure of the car body in white and the car roof, repeating the operation to obtain (x ', y', z ', A', B ', C') of the current state, wherein the value recorded each time only has a difference value of z value, and the difference value is obtained through a formula in the robot program, the vertical difference value delta z is obtained every time and is equal to z-z', the difference value is respectively transmitted to a motor for controlling the dust removal fan cover and a motor for controlling the polishing piece, and the motor for controlling the dust removal fan cover enables the dust removal fan cover to move upwards by displacement with the same difference value according to the difference value; the motor for controlling the polishing sheet changes the rotating speed thereof through the displacement difference, thereby controlling the linear speed thereof to be constant and controlling the polishing state.
In summary, the grinding wheel consumption detection station detects the position of the grinding wheel (grinding wheel), and the control center of the industrial robot feeds back the position difference (the difference between the value detected at the time of grinding and the value when the grinding wheel is not used) between the grinding wheel and the grinding wheel which is not used for the first time, so as to reflect the use condition of the grinding wheel after grinding each time, and when the detected value difference is larger than the calibrated value, the grinding wheel is replaced. The grinding wheel dust collector has constant torque and constant pressure in the grinding process, can efficiently remove dust, and can automatically adjust the rotating speed of the servo motor and the position height of the dust removing fan cover according to the consumption of the grinding wheel after being used so as to increase the using frequency of the grinding wheel. Under the joint work of all units, the bidirectional automatic polishing of the welding seam of the car roof and the automatic replacement of the polishing sheet can be realized.
Claims (10)
1. The utility model provides an automatic system of polishing of roof welding seam which characterized in that: the polishing device comprises an industrial robot, a polishing unit and a polishing sheet consumption monitoring unit, wherein the polishing unit is arranged on the industrial robot, and the polishing sheet consumption monitoring unit is electrically connected with the industrial robot; the industrial robot drives the polishing unit to polish the welding line, and after the welding line is polished, the polishing sheet monitoring unit detects the polishing consumption of the polishing sheet on the polishing unit, and compares the polishing consumption with the initial data of the polishing sheet.
2. The automatic grinding system for the roof weld according to claim 1, characterized in that: the polishing sheet consumption monitoring unit comprises a photoelectric sensor which is electrically connected with the industrial robot; every completion of the unit of polishing, industrial robot will polish the piece and be close to photoelectric sensor, detect the position of polishing the piece, and photoelectric sensor will detect data transmission to industrial robot, and industrial robot carries out the comparison with its initial position with the polishing piece, and when polishing the poor threshold value that exceedes the demarcation in piece position, industrial robot changes the polishing piece automatically.
3. The automatic grinding system for the roof weld according to claim 1 or 2, characterized in that: the polishing unit comprises a polishing module, a constant force floating module and a dust removal module;
the polishing module comprises a servo motor, a conversion mechanism, an automatic chuck and a polishing piece, the conversion mechanism is connected with the servo motor and the automatic chuck, the automatic chuck automatically tightens the polishing piece, and the servo motor controls the polishing piece to rotate;
the constant force floating module comprises an equipment shell, wherein a pressure sensor, a cylinder I, a cylinder II and a linear sliding rail which is vertically arranged are arranged in the equipment shell; the linear sliding rail is provided with a sliding block, the sliding block is provided with a connecting plate, the air cylinder I is connected with the connecting plate, and the connecting plate is fixedly connected with the polishing module through a connecting part; the connecting plate is pushed by the cylinder I and slides up and down along the linear guide rail to drive the polishing module to move up and down; the air cylinder II is connected with the polishing module, air supply of the air cylinder II is controlled by a proportional valve, and output air pressure is controlled to be a constant value through closed-loop regulation inside the proportional valve; the pressure sensor is arranged on one side of the air cylinder II and used for detecting the polishing pressure;
the dust removal module comprises a dust removal fan housing and dust removal equipment, the housing of the dust removal fan housing is arranged above the whole polishing disc, dust removal air suction ports are formed in two sides of the housing and connected with the dust removal equipment, brushes are respectively installed at the bottoms of two sides of the housing, and dust formed after polishing of the polishing disc is discharged through the dust removal air suction ports.
4. The automatic grinding system for roof welds of claim 3, wherein: the dust removal module comprises an air channel switching module, the air channel switching module is provided with an air channel corresponding to the dust removal air suction inlet, the dust removal air suction inlet is connected with the air channel of the air channel switching module through a pipeline, and the other end of the air channel switching module is connected with the dust removal equipment.
5. The automatic grinding system for roof welds of claim 3, wherein: the dust removal module also comprises a housing adjusting module used for adjusting the vertical position of the dust removal fan housing.
6. The automatic grinding system for roof welds of claim 5, wherein: the housing adjusting module comprises a fixed part, a sliding part and a housing connecting part, the fixed part is arranged on the polishing unit, the fixed part is provided with a guide rail, the sliding part is movably connected with the fixed part and can move up and down along the guide rail, the dust removal fan cover is arranged on the fixed part through the housing connecting part, the sliding part is provided with a motor module, and the motor module is electrically connected with the industrial robot; the industrial robot adjusts the upper position and the lower position of the dust removal fan cover through the driving motor module.
7. The automatic grinding system for roof welds of claim 6, wherein: and a proximity switch is installed on the outer side of the motor module and used for detecting the stroke of the motor.
8. The automatic grinding system for roof welds of claim 3, wherein: servo motor and industrial robot electricity are connected, and the piece of polishing consumes the monitoring unit and detects the piece data back of polishing, with detected value feedback to industrial robot, industrial robot adjusts servo motor's the rotational speed in real time, maintains the invariant of the linear velocity of polishing.
9. The automatic grinding system for the roof weld according to claim 1, characterized in that: and the constant force floating module is provided with a position sensor for detecting the displacement of the connecting plate relative to the equipment shell, and the position sensor is electrically connected with the industrial robot.
10. The automatic grinding system for the roof weld according to claim 1, characterized in that: the side of the equipment shell is provided with a scale, and one side of the connecting plate is provided with a pointer corresponding to the connecting plate.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911323240.4A CN110842688A (en) | 2019-12-20 | 2019-12-20 | Automatic polishing system for welding seams on car roof |
| KR1020207035084A KR102478681B1 (en) | 2019-12-20 | 2020-03-03 | Automotive roof welding seam automatic polishing system |
| LU102257A LU102257B1 (en) | 2019-12-20 | 2020-03-03 | System for automatically grinding vehicle-roof weld |
| PCT/CN2020/077556 WO2021120398A1 (en) | 2019-12-20 | 2020-03-03 | Automatic grinding system for car roof weld seam |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911323240.4A CN110842688A (en) | 2019-12-20 | 2019-12-20 | Automatic polishing system for welding seams on car roof |
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| CN110842688A true CN110842688A (en) | 2020-02-28 |
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| CN201911323240.4A Pending CN110842688A (en) | 2019-12-20 | 2019-12-20 | Automatic polishing system for welding seams on car roof |
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| Country | Link |
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| KR (1) | KR102478681B1 (en) |
| CN (1) | CN110842688A (en) |
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| WO (1) | WO2021120398A1 (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2021120398A1 (en) * | 2019-12-20 | 2021-06-24 | 同高先进制造科技（太仓）有限公司 | Automatic grinding system for car roof weld seam |
| CN113714820A (en) * | 2021-09-09 | 2021-11-30 | 孚坤智能科技(上海)有限公司 | Force-controlled floating milling and polishing integrated device and operation method thereof |
| CN113894699A (en) * | 2021-11-03 | 2022-01-07 | 上海赛卡精密机械有限公司 | Polishing device and polishing method |
| CN114939829A (en) * | 2022-06-02 | 2022-08-26 | 天津大学 | Floating constant-force grinding and polishing device |
| CN115284113A (en) * | 2022-07-25 | 2022-11-04 | 上海发那科机器人有限公司 | Combined production line of intelligent carbon fiber crucible polishing system and use method thereof |
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| CN114178959A (en) * | 2021-12-21 | 2022-03-15 | 哈尔滨工业大学芜湖机器人产业技术研究院 | Automatic system of polishing of duplex position wheel hub |
| CN115042036A (en) * | 2022-06-07 | 2022-09-13 | 安徽华深新能源科技有限公司 | Aluminum frame polishing equipment |
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| US20170066104A9 (en) * | 2009-12-08 | 2017-03-09 | Allison Transmission Inc. | Method for Detecting And/Or Preventing Grind Burn |
| KR102406256B1 (en) * | 2015-09-10 | 2022-06-08 | 주식회사 케이씨텍 | Chemical mechanical polishing apparatus and method of noticing displacement alram of conditioning disk |
| CN206230334U (en) * | 2016-09-27 | 2017-06-09 | 常州好迪机械有限公司 | Numerical control cutting machine |
| CN106625129B (en) * | 2017-01-20 | 2019-05-28 | 广东省智能制造研究所 | Constant force polishing system and method |
| KR101944958B1 (en) * | 2017-06-07 | 2019-02-07 | 주식회사 제이로보텍 | Grinder apparatus |
| DE102018106086A1 (en) * | 2018-03-15 | 2019-09-19 | Ferrobotics Compliant Robot Technology Gmbh | SPEED CONTROL IN ROBOT-BASED GRINDING |
| CN108544349A (en) * | 2018-04-23 | 2018-09-18 | 宁波汇智恒动自动化科技有限公司 | A kind of flexible polishing self compensating system |
| CN109318120B (en) * | 2018-10-10 | 2021-12-24 | 湖南省精一自动化有限公司 | Constant-force polishing head mechanism |
| CN209425252U (en) * | 2019-01-15 | 2019-09-24 | 杜瑞博机器人（武汉）有限公司 | A kind of robot constant force grinding device |
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| CN110842688A (en) * | 2019-12-20 | 2020-02-28 | 同高先进制造科技（太仓）有限公司 | Automatic polishing system for welding seams on car roof |
| KR20210100902A (en) * | 2020-02-07 | 2021-08-18 | 현대자동차주식회사 | System and method for welding tip management of servo gun |
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- 2019-12-20 CN CN201911323240.4A patent/CN110842688A/en active Pending
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2020
- 2020-03-03 WO PCT/CN2020/077556 patent/WO2021120398A1/en active Application Filing
- 2020-03-03 LU LU102257A patent/LU102257B1/en active IP Right Grant
- 2020-03-03 KR KR1020207035084A patent/KR102478681B1/en active IP Right Grant
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021120398A1 (en) * | 2019-12-20 | 2021-06-24 | 同高先进制造科技（太仓）有限公司 | Automatic grinding system for car roof weld seam |
| CN113714820A (en) * | 2021-09-09 | 2021-11-30 | 孚坤智能科技(上海)有限公司 | Force-controlled floating milling and polishing integrated device and operation method thereof |
| CN113894699A (en) * | 2021-11-03 | 2022-01-07 | 上海赛卡精密机械有限公司 | Polishing device and polishing method |
| CN114939829A (en) * | 2022-06-02 | 2022-08-26 | 天津大学 | Floating constant-force grinding and polishing device |
| CN114939829B (en) * | 2022-06-02 | 2024-01-02 | 天津大学 | Floating constant force polishing device |
| CN115284113A (en) * | 2022-07-25 | 2022-11-04 | 上海发那科机器人有限公司 | Combined production line of intelligent carbon fiber crucible polishing system and use method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| LU102257A1 (en) | 2021-06-28 |
| WO2021120398A1 (en) | 2021-06-24 |
| LU102257B1 (en) | 2021-10-25 |
| KR102478681B1 (en) | 2022-12-16 |
| KR20210080281A (en) | 2021-06-30 |
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