CN110977702B - Track welding seam polishing robot capable of flexibly polishing - Google Patents
Track welding seam polishing robot capable of flexibly polishing Download PDFInfo
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- CN110977702B CN110977702B CN201911325743.5A CN201911325743A CN110977702B CN 110977702 B CN110977702 B CN 110977702B CN 201911325743 A CN201911325743 A CN 201911325743A CN 110977702 B CN110977702 B CN 110977702B
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- polishing
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- 238000005498 polishing Methods 0.000 title claims abstract description 94
- 238000003466 welding Methods 0.000 title claims abstract description 43
- 238000007667 floating Methods 0.000 claims abstract description 53
- 230000007246 mechanism Effects 0.000 claims abstract description 26
- 230000001360 synchronised effect Effects 0.000 claims description 20
- 239000004576 sand Substances 0.000 claims description 4
- 238000004804 winding Methods 0.000 claims 1
- 230000000712 assembly Effects 0.000 description 9
- 238000000429 assembly Methods 0.000 description 9
- 238000005096 rolling process Methods 0.000 description 6
- 239000000428 dust Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000007517 polishing process Methods 0.000 description 2
- 239000002893 slag Substances 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 230000007704 transition Effects 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
- B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
- B24B21/002—Machines or devices using grinding or polishing belts; Accessories therefor for grinding edges or bevels
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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
- B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
- B24B21/18—Accessories
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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
- B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
- B24B21/18—Accessories
- B24B21/20—Accessories for controlling or adjusting the tracking or the tension of the grinding belt
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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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention relates to a flexible polishing track welding seam polishing robot which comprises an industrial robot and a flexible polishing device, wherein the flexible polishing device comprises a connector, a driving motor, a movable support and an abrasive belt wheel assembly, the output end of the driving motor passes through the movable support and is provided with a driving wheel and drives the abrasive belt wheel assembly to operate, the abrasive belt wheel assembly comprises an abrasive belt arm, a floating arm, a main wheel, a fixed wheel, a tensioning mechanism and an abrasive belt, one end of the abrasive belt arm, corresponding to the floating arm, is provided with a rotating column, a swinging block is arranged between the abrasive belt arm and the floating arm, the floating arm rotates along the rotating column through the swinging block, the other end, corresponding to one end of the rotating column, of the floating arm is provided with a tension spring, one end of the tension spring is connected with the floating arm, the other end of the tension spring is connected with the abrasive belt arm, the floating arm swings back through the tension spring, the flexible polishing device clamps the track through the industrial robot to polish, the polishing efficiency is improved, transitional polishing is avoided, and the movable support can swing left and right, and flexible polishing is realized.
Description
Technical Field
The invention relates to the field of intelligent machining, in particular to a flexible polishing track welding seam polishing robot.
Background
Rails are also known as rails, tracks, and are mainly used for rail traffic, which refers to a type of transportation means or transportation system where an operating vehicle needs to travel on a specific track. The most typical rail traffic is a railway system consisting of conventional trains and standard railroads. Along with the diversified development of train and railway technologies, rail traffic is of more and more types, is not only widely applied to long-distance land transportation, but also widely applied to medium-short-distance urban public transportation, and the rail is mainly made of steel, so that the safety of running operation vehicles above is ensured, the produced hundred-meter rail is welded into a long rail of 500 meters in the processing process and then transported to a line for laying, and welding seams or welding slag are left at interfaces when the rails are welded, and the welding seams and the welding slag indicated by the protruding rails need to be polished and removed to be qualified for leaving factories to use on the line.
The prior polishing procedure of the rail mainly adopts CNC to polish the welding line, but after the height of the welding line on the rail can only be set when the CNC polishes, the welding line of the rail is polished under the same specification, the heights of the welding lines formed during the welding of the rail are different, the CNC polishes the welding line on the rail due to the fact that the welding lines with different heights face each other, the welding line which is too high can not be polished thoroughly, and the welding line which is too low can damage the rail body when the CNC polishes.
Disclosure of Invention
The technical problem to be solved by the present invention is to address the above-mentioned shortcomings of the prior art,
The rail weld joint polishing robot has the advantages that the rail weld joint is flexibly polished by the clamping abrasive wheel belt, polishing efficiency is improved, and rails are not damaged.
In order to achieve the above purpose, the present invention provides the following technical solutions: the utility model provides a track welding seam polishing robot of flexible polishing which characterized in that: including industrial robot and with industrial robot detachable connection's flexible grinding device, flexible grinding device includes with industrial robot end-to-end connection's connector, fixed driving motor on the connector, with driving motor swing joint's movable support and set up the abrasive band wheel subassembly that is used for polishing orbital in movable support both ends, driving motor's output passes and sets up the drive wheel behind the movable support to drive abrasive band wheel subassembly operation through the drive wheel, abrasive band wheel subassembly includes with movable support fixed connection abrasive band arm, with abrasive band arm swing joint's floating arm, set up on the abrasive band arm with the drive wheel interlock main wheel, set up on the floating arm with main wheel interlock's fixed wheel, set up the abrasive band of stretching mechanism and cover on main wheel and fixed wheel between the main wheel, the abrasive band arm is equipped with the spliced pole corresponding to the one end of floating arm, be equipped with the swinging block between abrasive band arm and the floating arm, swinging block one end is connected with the floating arm, the other end cover is established on the spliced pole, the floating arm rotates along the spliced pole through the swinging block, the other end that the floating arm corresponds one end of swinging arm and is equipped with the extension spring, the other end is connected with the abrasive band through the extension spring.
By adopting the technical scheme, through abrasive belt arm and movable support connection, through main wheel and drive wheel linkage, make the main wheel drive the abrasive belt on main wheel and the fixed wheel and polish the processing to the track, set up the tight mechanism that rises between main wheel and the fixed wheel simultaneously, be used for adjusting the elasticity of abrasive belt, thereby the convenience is changed to the abrasive belt, entangle the limit, simultaneously can adjust the elasticity of abrasive belt through the tight mechanism that rises, and then when polishing the track lateral wall, the sunken region that corresponds the lateral wall makes the abrasive belt loose, go deep into polishing, improve polishing efficiency, simultaneously through setting up the slewing post on the abrasive belt arm, make the floating arm pass through swing block and abrasive belt arm swing joint, simultaneously be connected abrasive belt arm and floating arm through the extension spring at the other end, make floating arm float polishing at abrasive belt arm front end, during the use, the abrasive belt pulley assembly of movable support one end is polished to the track, the other end does not contact the track, abrasive belt and track contact polishing of extension spring one end correspond to abrasive belt polishing face, after the abrasive belt on the sand pulley assembly of robot control, abrasive belt and weld's contact face make abrasive belt become the track of whole face from the single line, then, make polishing face of abrasive belt and polishing face become the extension face, after having increased the industrial contact with the extension arm, the rolling force of the abrasive belt has been avoided the rolling motion of the rolling arm, and the rolling motion is realized, after the rolling motion is realized, and the rolling motion is realized.
The track welding seam polishing robot for flexible polishing can be further provided with: the connector corresponds the flexible space of polishing of movable support wobbling has been seted up to the one end of movable support, the movable support passes through driving motor to be fixed in the flexible space of polishing to use driving motor as the fulcrum left and right swing in the flexible space of polishing.
By adopting the technical scheme, the tail end of the industrial robot is connected with the flexible polishing device, the driving motor is linked with the driving wheel to drive the abrasive belt wheel assemblies at the two ends to polish the track, the flexible polishing space is arranged on the connecting head, the movable support is enabled to swing left and right in the flexible polishing space through the driving motor, when the abrasive belt wheel assemblies polish the track, the abrasive belt wheel assemblies at one end of the robot control slowly support against the welding line of the track to gradually polish the welding line, after the abrasive belt on the abrasive belt wheel assemblies controlled by the robot polish the welding line, the contact surface of the abrasive belt and the welding line is changed into a whole track from the welding line of a single line, the polishing contact surface of the abrasive belt is enlarged, the reaction force generated by contact with the track when the industrial robot applies pressure is increased, the abrasive belt wheel assemblies are enabled to drive the movable support to separate from the track, when the abrasive belt wheel assembly at one end polishes the upper plane of the track, if the abrasive belt wheel assembly contacts with the plane of the track, the movable support is driven to move upwards, so that the abrasive belt wheel assembly at the other end moves downwards, when the abrasive belt wheel assembly at one end polishes the lower plane of the track, if the abrasive belt wheel assembly at the other end contacts with the plane of the track, the movable support moves downwards, the movable support swings left and right by taking the driving motor as a fulcrum when moving, so that the track is flexibly polished, the track is prevented from being damaged, and meanwhile, the left and right groups of abrasive belt wheel assemblies are arranged on the movable support, so that the abrasive belt wheel assembly is convenient to polish the two sides of the track independently, a machine arm does not need to be greatly rotated, the polishing efficiency is improved, the abrasive belt at two ends can be ensured to be worn and kept consistent, and the replacement is convenient and unified.
The track welding seam polishing robot for flexible polishing can be further provided with: by adopting the technical scheme, the tensioning mechanism comprises a telescopic tensioning motor arranged on the abrasive belt arm, the output end of the tensioning motor is provided with a tensioning wheel, and the tensioning wheel is wound on the abrasive belt.
By adopting the technical scheme, the tension motor is arranged on the abrasive belt arm, the tension wheel is arranged at the output end of the tension motor, so that when the abrasive belt is required to be replaced or entangled, the tension wheel is retracted through the tension motor, the tension wheel is enabled to reduce the fastening force to the abrasive belt, the abrasive belt can be replaced and entangled easily after being loosened, and when the abrasive belt is required to be controlled to polish, the abrasive belt can be abutted against the tension wheel through the tension motor, so that the abrasive belt is fixed in the abrasive belt wheel assembly to polish the track.
The track welding seam polishing robot for flexible polishing can be further provided with: the one end that the floating arm corresponds the fixed wheel is equipped with stop gear, stop gear sets up the back at the fixed wheel, stop gear is including fixing the regulation pole on the floating arm and can be at the stopper that the floating arm slided, the stopper slides on the floating arm along adjusting the pole, the extending direction of stopper is equipped with the limit wheel, the stopper is equipped with the adjusting bolt who cooperates restriction stopper removal with the regulation pole.
By adopting the technical scheme, the limiting mechanism for preventing the abrasive belt from excessively polishing the rail is arranged on the back of the fixed wheel, the limiting mechanism is abutted against the polishing surface of the rail through the limiting block, the length of the abrasive belt arm extending out of the limiting block is adjusted through the adjusting rod, the limiting block is fixed through the adjusting bolt so that the limiting block does not move in the polishing process, after the limiting block is adjusted, the limiting block is abutted against the rail when the side surface of the rail is polished, and the abrasive belt wheel only polishes the welding seam of the optical projection rail and cannot damage the rail body.
The track welding seam polishing robot for flexible polishing can be further provided with: the connector corresponds the return mechanism that the movable support after the swing was reset to the one end of movable support, return mechanism includes the swing seat with the movable support looks butt, sets up the fixing base below swing seat and sets up and be equipped with buffer spring between swing seat and fixing base, there is the clearance between swing seat and the fixing base, the swing seat swings on the fixing base through buffer spring, the one end that the swing seat corresponds the movable support is equipped with buffer guide pulley, buffer guide pulley both ends are equipped with the guide pin bushing, be equipped with the swing backing plate between buffer guide pulley and the movable support, there is the clearance between swing backing plate and the guide pin bushing, the arcuate slot has been seted up at swing backing plate middle part, buffer guide pulley sets up in the arcuate slot to make the swing backing plate use buffer guide pulley to swing about the fulcrum.
By adopting the technical scheme, in order to ensure that the movable support can be reset normally after swinging in the flexible polishing process every time, the reset mechanism is arranged at the bottom of the connector corresponding to the movable support, the movable support swings left and right to drive the swinging backing plate to swing so as to enable the swinging backing plate to prop against the guide sleeve, when one end of the movable support is tilted, the guide sleeve at the other end of the movable support drives one end of the swinging seat to be pressed down so as to enable the swinging seat to press the spring to deform, after polishing is stopped, the movable support can be driven to reset under the condition that the external acting force is lost by the swinging backing plate and the setting of the arched groove (triangle), the two ends of the movable support are kept balanced, and the size of a gap between the swinging seat and the fixed seat is changed according to the supporting force of different springs, so that the swinging range of the movable support is adjusted, and the flexible polishing space is controlled.
The track welding seam polishing robot for flexible polishing can be further provided with: the synchronous belt edge correction mechanism comprises an adjusting seat fixedly arranged on a movable support and an edge correction wheel arranged on the adjusting seat, wherein the edge correction wheel is wound on the synchronous belt, and the synchronous belt edge correction mechanism can be used for correcting edges of the synchronous belt through the expansion of the adjusting seat.
By adopting the technical scheme, the driving wheel and the driving wheel are driven by the synchronous belt, the edge correction wheel is arranged on the synchronous belt and moves back and forth through the adjusting seat on the fixed seat movable support, so that after the synchronous belt is deviated, the edge correction wheel is stretched by the adjusting seat, the synchronous belt is tightly deviated, and the deviation is prevented.
The track welding seam polishing robot for flexible polishing can be further provided with: one end of the fixed seat, which corresponds to the buffer guide wheel, is provided with a containing cavity for containing the buffer spring, one end of the buffer spring is arranged in the containing cavity, the other end is abutted with the swing seat, and an adjusting buffer rod for controlling the space size of the accommodating cavity is arranged at the bottom of the fixed seat.
By adopting the technical scheme, the accommodating cavity is formed in the fixing base, the buffer spring is arranged in the accommodating cavity and is abutted against the swing seat, and the position of the buffer spring in the accommodating cavity is lifted or moved down by adjusting the buffer rod, so that the gap between the swing seat and the fixing base is controlled, the purpose of controlling the swing range of the movable support is achieved, and the flexible polishing space is controlled more conveniently.
The track welding seam polishing robot for flexible polishing can be further provided with: the movable support is provided with a triangular support frame, one end of the triangular support frame is fixed on the movable support, and the other end of the triangular support frame is fixedly connected with the abrasive belt arm.
By adopting the technical scheme, through setting up the triangular support frame, make movable support can be through the fixed abrasive band arm of triangular support frame, make abrasive band wheel subassembly more stable when polishing.
The track welding seam polishing robot for flexible polishing can be further provided with: one end of the movable support, which corresponds to the driving wheel, is provided with a dustproof outer cover.
The track welding seam polishing robot for flexible polishing can be further provided with: the movable support corresponds the sand pulley assembly both ends and is equipped with dustproof dustcoat.
By adopting the technical scheme, the dust-proof outer cover is covered on the synchronous belt of the movable support, so that the synchronous belt on the movable support is prevented from being influenced by polishing flying scraps when rotating, and the service life of the polishing robot is prolonged.
The invention has the beneficial effects that: the flexible grinding device of industrial robot centre gripping polishes the track, promote the efficiency of polishing, through set up the abrasive belt wheel subassembly at movable support both ends, and set up the floating arm at abrasive belt arm front end, make the floating arm realize floating through rotation post and extension spring, thereby avoid the transition to polish, make movable support swing about can, realize flexible polishing, avoid the track damage, the both ends abrasive belt wheel subassembly carries out the function differentiation simultaneously, convenient polishes to track two sides alone, do not need to rotate the machine arm by a wide margin, promote the efficiency of polishing, can guarantee again that both ends abrasive belt wearing and tearing remain unanimous, convenient unified change.
The invention is described in further detail below with reference to the drawings and examples.
Drawings
Fig. 1 is a schematic perspective view of an embodiment of the present invention.
Fig. 2 is an exploded view of fig. 1.
Fig. 3 is a schematic structural view of a flexible polishing device according to an embodiment of the present invention.
Fig. 4 is a schematic structural view of a flexible polishing device according to an embodiment of the present invention 2.
Fig. 5 is a schematic perspective view of a driving motor and a connector according to an embodiment of the invention.
Fig. 6 is a cross-sectional view of a driving motor and a connector according to an embodiment of the present invention.
Fig. 7 is a cross-sectional view of an abrasive belt wheel assembly according to an embodiment of the present invention.
Fig. 8 is an enlarged view at a of fig. 3.
Fig. 9 is an enlarged view at B of fig. 4.
Detailed Description
As shown in figures 1-9, the track weld joint polishing robot for flexible polishing comprises an industrial robot 1 and a flexible polishing device detachably connected with the industrial robot 1, wherein the flexible polishing device comprises a connector 2 connected with the tail end of the industrial robot 1, a driving motor 3 fixed on the connector 2, a movable support 4 movably connected with the driving motor 3 and abrasive belt wheel assemblies 5 arranged at two ends of the movable support 4 and used for polishing a track, the output end of the driving motor 3 passes through the movable support 4 and is provided with driving wheels 31, the abrasive belt wheel assemblies 5 are driven to operate by the driving wheels 31, and the abrasive belt wheel assemblies 5 comprise abrasive belt arms 51 fixedly connected with the movable support 4, A floating arm 52 movably connected with the belt arm 51, a main wheel 53 arranged on the belt arm 51 and linked with the driving wheel 31, a fixed wheel 54 arranged on the floating arm 52 and linked with the main wheel 53, a tensioning mechanism 6 arranged between the main wheel 53 and the fixed wheel 54, and a belt (not assembled in the figure) sleeved on the main wheel 53 and the fixed wheel 54, wherein one end of the belt arm 51 corresponding to the floating arm 52 is provided with a rotating column 511, a swinging block 55 is arranged between the belt arm 51 and the floating arm 52, one end of the swinging block 55 is connected with the floating arm 52, the other end is sleeved on the rotating column 511, the floating arm 52 rotates along the rotating column 511 through the swinging block 55, the other end of the floating arm 52 corresponding to one end of the rotating column 511 is provided with a tension spring 56, one end of the tension spring 56 is connected with the floating arm 52, the other end is connected with the abrasive belt arm 51, the floating arm 52 swings back through the tension spring 56, one end of the connector 2 corresponding to the movable support 4 is provided with a flexible polishing space 41 for the movable support 4 to swing, the movable support 4 is fixed in the flexible polishing space 41 through a driving motor 3 and swings left and right in the flexible polishing space 41 by taking the driving motor 3 as a fulcrum, the tensioning mechanism 6 comprises a telescopic tensioning motor 61 arranged on the abrasive belt arm 51, the output end of the tensioning motor 61 is provided with a tensioning wheel 62, the tension wheel 62 is wound on the abrasive belt, one end of the floating arm 52 corresponding to the fixed wheel 54 is provided with a limiting mechanism, the limiting mechanism is arranged on the back of the fixed wheel 54, the limiting mechanism comprises an adjusting rod 521 fixed on the floating arm 52 and a limiting block 522 capable of sliding on the floating arm 52, the limiting block 522 slides on the floating arm 52 along the adjusting rod 521, the extending direction of the limiting block 522 is provided with a limiting wheel 523, the limiting block 523 is provided with an adjusting bolt 524 matched with the adjusting rod 521 to limit the limiting block 522 to move, one end of the connector 2 corresponding to the movable bracket 4 is provided with a resetting mechanism for resetting the movable bracket 4 after swinging, the reset mechanism comprises a swing seat 42 which is abutted against the movable support 4, a fixed seat 43 which is arranged below the swing seat 42, a buffer spring 44 which is arranged between the swing seat 42 and the fixed seat 43, a gap is reserved between the swing seat 42 and the fixed seat 43, the swing seat 42 swings on the fixed seat 43 through the buffer spring 44, one end of the swing seat 42 corresponding to the movable support 4 is provided with a buffer guide wheel 421, two ends of the buffer guide wheel 421 are provided with guide sleeves 422, a swing base plate 423 is arranged between the buffer guide wheel 421 and the movable support 4, a gap is reserved between the swing base plate 423 and the guide sleeves 422, the middle part of the swing base plate 423 is provided with an arch-shaped groove 4231, the buffer guide wheel 421 is arranged in the arch-shaped groove 4231, the swinging base plate 423 swings left and right by taking the buffer guide wheel 421 as a fulcrum, one end of the fixed seat 43 corresponding to the buffer guide wheel 421 is provided with a containing cavity 431 for containing the buffer spring 44, one end of the buffer spring 44 is arranged in the containing cavity 431, the other end is abutted with the swinging seat 42, the bottom of the fixed seat 43 is provided with an adjusting buffer rod 4311 for controlling the space size of the containing cavity 431, a driving wheel 71 is arranged between the driving wheel 31 and the main wheel 53, the driving wheel 71 and the driving wheel 31 as well as the abrasive belt wheel assembly 5 are all driven by a synchronous belt (not assembled in the figure), the synchronous belt edge correcting mechanism is arranged between the driving wheel 71 and the driving wheel 31 and comprises an adjusting seat 72 fixedly arranged on the movable support 4 and an edge correcting wheel 73 arranged on the adjusting seat 72, the edge correcting wheel 73 is wound on the synchronous belt and can be used for correcting the synchronous belt through the extension and retraction of the adjusting seat 72, a triangular support frame 8 is arranged on the movable support 4, one end of the triangular support frame 8 is fixed on the movable support 4, the other end of the triangular support frame is fixedly connected with the abrasive belt arm 51, a dust cover 9 is arranged at one end of the movable support 4 corresponding to the driving wheel 31, and the dust cover 9 is arranged at two ends of the movable support 4 corresponding to the abrasive belt wheel assembly 5.
When the flexible polishing robot is used on a track polishing processing assembly line, a welded track enters a polishing chamber to polish, a welding seam on the track is accurately conveyed to the lower part of an industrial robot 1 by a welding seam detection device, the industrial robot 1 drives a movable support 4 to convey an abrasive belt wheel assembly 5 to the welding seam, a driving motor 3 drives a driving wheel 31 to rotate, the driving wheel 31 synchronously drives a driving wheel 71, the driving wheel 71 drives a main wheel 53 to rotate through a synchronous belt, the main wheel 53 drives a fixed wheel 54 to rotate together with an abrasive belt to polish the welding seam of the track, when the plane welding seam on the track is polished, the abrasive belt at the end slowly moves downwards towards the abrasive belt wheel assembly 5 at one end of a reset mechanism through the industrial robot 1 to polish the plane welding seam on the track, the abrasive belt wheel assembly 5 at the other end does not contact the track, the contact surface of the abrasive belt and the welding line is changed into a whole track from the welding line of the single line, the polishing contact surface of the abrasive belt is enlarged, the reaction force generated by contact with the track when the industrial robot 1 applies pressure is increased, the floating arm 52 is driven to move backwards along the rotating column 511, the tension spring 56 is stretched, transitional polishing is avoided, the abrasive belt realizes flexible polishing, meanwhile, the polished floating arm 52 returns by arranging the tension spring 56, the next polishing is continued, if the industrial robot 1 throws out and does not stop after the floating arm 52 swings, the abrasive belt wheel assembly 5 drives the movable support 4 to separate from the track, the movable support 4 at the end moves upwards in the flexible polishing space 41, the swinging backing plate 423 is pressed down, flexible polishing is realized, when the plane welding line under the track is polished by the sand pulley assembly 5 at the other end, when the side wall of the track is polished, the polishing is ensured by adjusting the length of the limiting block 522, the abrasive belt only contacts the track weld seam on the inner side of the limiting wheel 553, the track is not damaged, meanwhile, when some track side wall weld seam protruding or recessed areas are polished, the tensioning motor 61 is adjusted to drive the tensioning wheel 62 to stretch, the shape of the contact surface of the track weld seam is changed in the abrasive belt, the abrasive belt is fully contacted with the track weld seam, and the polishing efficiency is improved.
Claims (7)
1. The utility model provides a track welding seam polishing robot of flexible polishing which characterized in that: including industrial robot and with industrial robot detachable connection's flexible grinding device, flexible grinding device includes with industrial robot end-to-end connection's connector, fixed driving motor on the connector, with driving motor swing joint's movable support and set up the abrasive band wheel components that is used for polishing orbital in movable support both ends, driving motor's output passes and sets up the drive wheel behind the movable support to drive abrasive band wheel components through the drive wheel and function, abrasive band wheel components includes with movable support fixed connection abrasive band arm, with abrasive band arm swing joint's floating arm, set up on the abrasive band arm with the drive wheel interlock main wheel, set up on the floating arm with the fixed wheel of main wheel interlock, set up the tight mechanism that rises between main wheel and fixed wheel and the abrasive band of cover on main wheel and fixed wheel, the abrasive band arm corresponds the one end of floating arm and is equipped with the spliced pole, be equipped with the swinging block between abrasive band arm and the floating arm, swinging block and floating arm one end is connected, and another end cover is established on the spliced pole, the floating arm is rotated along the spliced pole through the swinging block, the other end that the floating arm corresponds one end of extension spring, the other end that the floating arm is equipped with the extension spring, the floating arm corresponds one end of extension spring, the movable support and the drive arm swing joint are equipped with the flexible mechanism that the space that the one end that resets and the movable support and the flexible seat that the movable support to reset, the flexible seat that resets and the movable seat that follows in the movable seat that resets and the flexible seat that the movable seat to realize in the space that the flexible grinding device is connected, the device comprises a fixed seat arranged below a swinging seat and a buffer spring arranged between the swinging seat and the fixed seat, wherein a gap is reserved between the swinging seat and the fixed seat, the swinging seat swings on the fixed seat through the buffer spring, one end of the swinging seat corresponding to a movable support is provided with a buffer guide wheel, two ends of the buffer guide wheel are provided with guide sleeves, a swinging base plate is arranged between the buffer guide wheel and the movable support, a gap is reserved between the swinging base plate and the guide sleeves, an arch-shaped groove is formed in the middle of the swinging base plate, the buffer guide wheel is arranged in the arch-shaped groove, the swinging base plate swings left and right by taking the buffer guide wheel as a supporting point, a driving wheel is arranged between the driving wheel and a main wheel, the driving wheel and a driving wheel assembly are all driven through a synchronous belt, a synchronous belt edge correcting mechanism is arranged between the driving wheel and the driving wheel, the synchronous belt edge correcting mechanism comprises an adjusting seat fixedly arranged on the movable support and an edge correcting wheel arranged on the adjusting seat, and the edge correcting wheel is arranged on the adjusting seat in a winding manner on the synchronous belt, and the synchronous belt can be stretched and corrected by the adjusting seat.
2. A flexible polished orbital weld polishing robot as recited in claim 1, wherein: the tensioning mechanism comprises a telescopic tensioning motor arranged on the abrasive belt arm, a tensioning wheel is arranged at the output end of the tensioning motor, and the tensioning wheel is wound on the abrasive belt.
3. A flexibly polished orbital weld polishing robot as recited in claim 2, wherein: the one end that the floating arm corresponds the fixed wheel is equipped with stop gear, stop gear sets up the back at the fixed wheel, stop gear is including fixing the regulation pole on the floating arm and can be at the stopper that the floating arm slided, the stopper slides on the floating arm along adjusting the pole, the extending direction of stopper is equipped with the limit wheel, the stopper is equipped with the adjusting bolt who cooperates restriction stopper removal with the regulation pole.
4. A flexibly sanded orbital weld sanding robot as defined in claim 3, wherein: one end of the fixed seat, which corresponds to the buffer guide wheel, is provided with a containing cavity for containing the buffer spring, one end of the buffer spring is arranged in the containing cavity, the other end is abutted with the swing seat, and an adjusting buffer rod for controlling the space size of the accommodating cavity is arranged at the bottom of the fixed seat.
5. A flexibly polished orbital weld polishing robot as claimed in any one of claims 1 to 4, wherein: the movable support is provided with a triangular support frame, one end of the triangular support frame is fixed on the movable support, and the other end of the triangular support frame is fixedly connected with the abrasive belt arm.
6. A flexibly polished orbital weld polishing robot as claimed in any one of claims 1 to 4, wherein: one end of the movable support, which corresponds to the driving wheel, is provided with a dustproof outer cover.
7. A flexibly polished orbital weld polishing robot as claimed in any one of claims 1 to 4, wherein: the movable support corresponds the sand pulley assembly both ends and is equipped with dustproof dustcoat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911325743.5A CN110977702B (en) | 2019-12-20 | 2019-12-20 | Track welding seam polishing robot capable of flexibly polishing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911325743.5A CN110977702B (en) | 2019-12-20 | 2019-12-20 | Track welding seam polishing robot capable of flexibly polishing |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110977702A CN110977702A (en) | 2020-04-10 |
| CN110977702B true CN110977702B (en) | 2024-05-31 |
Family
ID=70073459
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN111421431B (en) * | 2020-05-06 | 2024-06-28 | 浙江珂斯顿机器人科技有限公司 | Golf club head polishing production line |
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| CN113182966B (en) * | 2020-05-29 | 2023-02-21 | 浙江大学 | Steel rail coarse grinding workstation for long rail production line |
| CN113146427A (en) * | 2020-05-29 | 2021-07-23 | 浙江大学 | Steel rail surface defect detection method |
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| CN112355827A (en) * | 2020-11-27 | 2021-02-12 | 温州金石机器人科技有限公司 | Abrasive belt grinding machine for vehicle casting head cutting and grinding assembly line |
| US12194586B2 (en) | 2022-01-07 | 2025-01-14 | Dc Precision Ceramics, Llc | Sanding systems, methods, and devices |
| CN115302376B (en) * | 2022-01-28 | 2023-05-23 | 郑州铁路职业技术学院 | Intelligent polishing and cleaning manipulator for subway rail |
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