CN111300452B - Welding seam measuring-polishing robot in conical shell - Google Patents
Welding seam measuring-polishing robot in conical shell Download PDFInfo
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- CN111300452B CN111300452B CN202010222957.6A CN202010222957A CN111300452B CN 111300452 B CN111300452 B CN 111300452B CN 202010222957 A CN202010222957 A CN 202010222957A CN 111300452 B CN111300452 B CN 111300452B
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- 238000005498 polishing Methods 0.000 title claims abstract description 107
- 238000003466 welding Methods 0.000 title claims abstract description 27
- 230000007246 mechanism Effects 0.000 claims abstract description 101
- 230000006978 adaptation Effects 0.000 claims abstract description 13
- 238000005259 measurement Methods 0.000 claims abstract description 13
- 230000008859 change Effects 0.000 claims abstract description 8
- 230000009467 reduction Effects 0.000 claims description 6
- 230000003044 adaptive effect Effects 0.000 claims description 4
- 238000003754 machining Methods 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000009193 crawling Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000002893 slag Substances 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
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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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
A measuring-polishing robot for welding seams in a conical shell belongs to the field of special robot machining and comprises three groups of travelling mechanisms, a folding top bracing mechanism, a measuring-polishing mechanism and an inertial navigation sensor. The walking mechanisms are divided into three groups which are circumferentially distributed at intervals of 120 degrees and are used for providing forward power; the folding top support mechanism can realize diameter changing through the active adaptation mechanism, can adapt to the taper characteristic of the shell body through the passive adaptation mechanism, and meanwhile adjusts the active adaptation mechanism based on information fed back by the force sensor to ensure that stable supporting force is kept between the robot and the shell body. The measuring-polishing device has three degrees of freedom, integrates a linear laser sensor and a polishing head, and can perform non-contact measurement and high-precision polishing on the welding line in the conical shell. The invention can enter the conical shell with small inner diameter size, can self-adapt to the change of the inner diameter of the shell and the taper characteristic thereof, and carries out non-contact measurement and high-precision grinding on the inner welding seam with certain width which can not be ground by workers.
Description
Technical Field
The invention belongs to the field of special robot machining, and relates to a measuring-polishing robot for a welding line in a conical shell.
Background
The conical shell is a typical structural member in important fields of aerospace, nuclear industry and the like. Because of large manufacturing size, the composite material is often formed by welding and assembling. In the welding process, materials are inevitably left at the joint, and the surface precision and the performance of the part are influenced. Therefore, the weld needs to be ground. However, some models of products have small inner diameter of the shell, so that the operation space is limited and the operation cannot be finished manually. The conventional industrial polishing robot is large in size and cannot enter; the equipment such as a numerical control boring machine is difficult to adapt to the polishing of the welding line in the deep part of the shell due to the overhanging deformation. There are a number of difficulties with automated grinding equipment design. In addition, because the actual size of the shell part is deformed, the welding seam characteristics are not clear, and the difficulty of high-precision automatic grinding is increased. Therefore, there is a great need to develop an automatic grinding apparatus that accommodates the weld inside the conical shell.
Guowei et al, in the patent of the invention of China with the application number of 201910826411.9, disclose a large-sized storage tank wall-climbing polishing robot, which can perform polishing work by attaching and crawling on a vertical wall surface, and has the advantages of good polishing effect, reliable operation and high working efficiency. One of the chinese inventions disclosed in patent application No. 201910599135.7, patent No. 26104, et al, discloses a slag grinding robot that can press a grinding head against a weld during grinding. But none of the above described grinding robots is capable of high precision grinding with self-adaptation to pipe diameter changes and taper characteristics of the housing.
In summary, the inner diameter can be changed and the taper characteristic of the shell can be adapted at the same time, and a robot for polishing the tapered shell with high precision is still to be researched.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a robot which has the functions of automatic measurement and polishing and is used for polishing welding seams in a conical shell. The folding top support mechanism with the active force control function is adopted, and an active adaptation mechanism and a passive adaptation mechanism are designed, so that stable supporting force is kept between the robot and the shell, and the folding top support mechanism can adapt to the characteristics of a conical shell with a certain inner diameter range; the friction force between the robot and the shell is improved by adopting a distributed driving structure with double rows of wheels, so that stable grinding supporting force is provided; the inertial navigation sensor and the line laser sensor are used for feeding back information to realize the adjustment of the polishing pose of the robot; the adopted 3-freedom-degree measuring-polishing mechanism enables the robot to finish high-precision polishing of the circumferential weld with a certain width based on feedback information of the linear laser sensor.
In order to achieve the purpose, the invention adopts the technical scheme that:
a measuring-polishing robot for welding seams in a conical shell comprises three groups of travelling mechanisms I, a folding jacking mechanism II, a measuring-polishing mechanism III, a measuring-polishing robot shell 1 and an inertial navigation sensor 2. The traveling mechanism I is used for completing the advancing of the measuring-polishing robot; the folding top bracing mechanism II is used for realizing the diameter change of the measuring-polishing robot, and is matched with the walking mechanism I to realize the passive adaptation to the taper characteristic of the shell; and the measuring-polishing mechanism III is used for completing non-contact measurement and high-precision polishing of the welding seam of the conical shell. The measuring-polishing robot can enter a conical shell with a small inner diameter size, can be self-adaptive to the change of the inner diameter of the shell and the taper characteristic of the shell, and can perform non-contact measurement and high-precision polishing on an inner welding line which cannot be polished by a worker and has a certain width. Mainly comprises a walking mechanism, a folding top bracing mechanism and a measuring-polishing mechanism.
The measuring-polishing robot shell 1 is of a hexagonal prism thin-wall structure, three rectangular holes are circumferentially distributed at intervals of 120 degrees and used for passing through the bent rod 18 of the folding top bracing mechanism II. The measuring-grinding robot shell 1 mainly comprises a front vehicle plate 28, a middle vehicle plate 20 and a rear vehicle plate 19. The rear vehicle board 19 is arranged at the rear of the shell 1 and is used for installing the inertial navigation sensor 2, the force sensor 11 and the motor supporting board A21; the middle vehicle plate 20 is positioned between the front vehicle plate 28 and the rear vehicle plate 19 and is used for mounting a lead screw A13, a lead screw B24 and a motor supporting plate B27; the front board 28 is mounted on the front of the housing 1 and is used for mounting the linear guide a26, and a square hole is formed in the middle to enable the moving block 25 to move along the linear guide a 26.
The inertial navigation sensor 2 is arranged on a rear vehicle plate 19 of the shell 1 of the measuring-polishing robot and is used for feeding back the space pose information of the measuring-polishing robot.
The three groups of travelling mechanisms I are distributed along the circumferential direction of the shell 1 at intervals of 120 degrees and are connected with the bent rods 18 of the folding top bracing mechanism II through bolts. Each group of travelling mechanism I comprises four travelling wheels 3, a car shell 4, a lifting ring 5, an axle 6, a servo motor A7, a supporting plate 8, a bevel gear 9 and a gear reduction mechanism 10. The vehicle shell 4 is of a box structure, and the two axles 6 are respectively arranged on the left side and the right side of the vehicle shell 4; two ends of one axle 6 are provided with a traveling wheel 3 as a driven wheel group; a supporting plate 8 is arranged on the other side of the vehicle shell 4, the two ends of the side vehicle axle 6 are provided with the traveling wheels 3 as driving wheel sets, and a gear structure matched with a gear speed reducing mechanism 10 is arranged in the vehicle axle 6; the gear speed reducing mechanism 10 is connected with a servo motor A7 through a bevel gear 9; the servo motor A7 is mounted on the support plate 8 of the vehicle shell. The four traveling wheels 3 are divided into a driving wheel set and a driven wheel set, and the friction force between the robot and the shell is increased by the double rows of wheels. Two lifting rings 5 are installed above the top surface of the car shell 4, the bolt hole size of each lifting ring 5 is matched with the bolt hole size of the bent rod 18 of the folding jacking mechanism II, and the lifting rings 5 are connected with the bent rods 18 through bolts.
The folding top bracing mechanism II comprises a force sensor 11, a servo motor B12, a screw A13, a fixed connecting piece 14, a screw nut 15, a straight rod A16, a straight rod B17 and a bent rod 18. The force sensor 11 is installed on a rear vehicle plate 19 of the shell 1 of the measuring-polishing robot and used for feeding back the magnitude of the supporting force, particularly the magnitude of the supporting force between the measuring-polishing robot and the conical shell. One end of the fixed connecting piece 14 is connected with the force sensor 11, and the shaft at the other end is connected with the hole on the motor supporting plate A21 through a linear bearing. The servo motor B12 is arranged on a motor support plate A21 connected with the rear vehicle plate 19 and is connected with one end of a screw rod A13 through a coupler, the other end of the screw rod A13 is arranged on the middle vehicle plate 20, and the servo motor B12 drives the screw rod A13 to rotate, so that the axial movement of the screw rod nut 15 is realized. The lead screw nut 15 is connected with the three straight rods B17 through deep groove ball bearings, the fixed connecting piece 14 is connected with the three straight rods A16 through the deep groove ball bearings to form an active adaptation mechanism, and the lead screw nut 15 is installed on a lead screw A13. The bent rod 18 is connected with the lifting ring 5 of the travelling mechanism I through a bolt to form a passive adaptive mechanism. The straight rod A16 and the straight rod B17 are connected with the bent rod 18 through deep groove ball bearings respectively, and the three rods are in rotary connection.
The measuring-polishing mechanism III comprises a servo motor C22, a gear mechanism 23, a lead screw B24, a moving block 25, a linear guide rail A26, a direct drive motor 29, a rotating shaft 30, a servo motor D31, a lead screw C32, a linear guide rail B33 and a measuring-polishing device, wherein the measuring-polishing device comprises a linear laser sensor 34 and a polishing head 35. The servo motor C22 is installed on a motor support plate B27 connected with the middle vehicle plate 20, the screw rod B24 is driven to rotate through the gear mechanism 23, the moving block 25 is sleeved on the screw rod B24, one end of the screw rod B24 is fixed on the middle vehicle plate 20, the rotating of the screw rod B24 drives the moving block 25 to move along the linear guide rail A26, and therefore the axial movement of the measuring-polishing device formed by the linear laser sensor 34 and the polishing head 35 in the conical shell is achieved. The linear guide a26 is mounted on the front board 28 of the housing 1 for linear movement of the moving block 25. The direct drive motor 29 is installed in the moving block 25 and located on the axis of the moving block, and is used for driving the rotating shaft 30 to rotate. The servo motor D31 is installed inside the rotating shaft 30 and is connected with the lead screw C32 through a coupler. The linear guide rail B33 is installed in the rotating shaft 30, and the rotation of the lead screw C32 drives the measuring-polishing device to move along the linear guide rail B33, so that the measuring-polishing device can move in the radial direction in the conical shell. The line laser sensor 34 and the polishing head 35 are integrated together and are arranged on a lead screw C32, wherein the line laser sensor 34 is used for carrying out non-contact measurement on the welding seam, and the polishing head 35 is used for carrying out high-precision polishing on the welding seam.
The invention has the beneficial effects that:
(1) the measuring-polishing robot can enter a conical shell with a small inner diameter, finish high-precision polishing on a welding line in a limited environment where manual operation cannot be carried out, and has strong applicability and good flexibility;
(2) the folding top bracing mechanism with the force control function can adjust the active adaptation mechanism and the passive adaptation mechanism based on the information fed back by the force sensor, so as to adapt to the inner diameter change and the taper characteristic of the conical shell;
(3) the measuring-polishing mechanism has three degrees of freedom, and can polish welding seams of shells of different types; the measuring and polishing devices are integrated together, and a measuring coordinate system and a polishing coordinate system are unified; grinding tracks and process parameters are generated based on measured weld joint characteristic data, and grinding machining errors caused by deformation of the inner contour of the conical shell and unevenness and uncertainty of weld joint geometric characteristics are avoided.
Drawings
FIG. 1 is an overall external schematic view of a measuring-grinding robot;
FIG. 2 is a schematic view of the internal structure of the measuring-polishing robot;
FIG. 3 is an overall view of the exterior of the traveling mechanism;
FIG. 4 is a schematic view of the internal structure of the traveling mechanism;
FIG. 5 is a schematic view of a folding jacking mechanism;
FIG. 6 is a schematic view of an axial movement mechanism of the measuring-grinding mechanism;
FIG. 7 is a schematic view of the linear guide mounting of the axial movement mechanism of the measuring-grinding mechanism;
FIG. 8 is a schematic view of a rotation mechanism of the measuring-grinding mechanism;
fig. 9 is a schematic view of a radial movement mechanism of the measuring-grinding mechanism.
In the figure: i, a travelling mechanism; II, folding a top bracing mechanism; III, a measuring-polishing mechanism; 1 measuring-polishing a robot housing; 2 an inertial navigation sensor; 3, a traveling wheel; 4, a vehicle shell; 5, hanging rings; 6 axles; 7, a servo motor A; 8, supporting plates; 9 a bevel gear; 10 a gear reduction mechanism; 11 a force sensor; 12 a servo motor B; 13 a lead screw A; 14 fixing the connecting piece; 15 lead screw nut; 16 straight rods A; 17 a straight rod B; 18 bending the rod; 19 a rear deck; 20 middle lathing plates; 21, a motor support plate A; 22 a servo motor C; 23 a gear mechanism; 24 a lead screw B; 25 moving the block; 26 a linear guide rail A; 27 motor support plate B; 28 front vehicle board; 29 a direct drive motor; 30 rotating shafts; 31 a servo motor D; 32 a lead screw C; 33 linear guide rails B; a 34-line laser sensor; 35 grinding head.
Detailed Description
The embodiments of the present invention will be described in detail with reference to the accompanying drawings and technical solutions.
A measuring-polishing robot for welding lines in a conical shell mainly comprises a travelling mechanism I, a folding shoring mechanism II, a measuring-polishing mechanism III, a measuring-polishing robot shell 1 and an inertial navigation sensor 2, and is shown in figures 1 and 2. The traveling mechanism I mainly completes the forward movement of the measuring-polishing robot, and comprises three groups which are distributed at intervals of 120 degrees in the circumferential direction; the folding top bracing mechanism II mainly realizes the diameter change of the measuring-polishing robot, and is matched with the traveling mechanism I to realize the passive adaptation to the taper characteristic of the shell; and the measuring-polishing mechanism III is mainly used for completing non-contact measurement and high-precision polishing of the welding seam of the conical shell.
The measuring-polishing robot shell 1 is of a hexagonal prism thin-wall structure, three rectangular holes are circumferentially distributed at intervals of 120 degrees and used for passing through the bent rod 18 of the folding top bracing mechanism II. The measuring-grinding robot shell 1 mainly comprises a front vehicle plate 28, a middle vehicle plate 20 and a rear vehicle plate 19. The rear vehicle board 19 is arranged at the rear of the shell 1 and is used for installing the inertial navigation sensor 2, the force sensor 11 and the motor supporting board A21; the middle vehicle plate 20 is positioned between the front vehicle plate 28 and the rear vehicle plate 19 and is used for mounting a lead screw A13, a lead screw B24 and a motor supporting plate B27; the front board 28 is mounted on the front of the housing 1 and is used for mounting the linear guide a26, and a square hole is formed in the middle to enable the moving block 25 to move along the linear guide a 26.
The inertial navigation sensor 2 is mounted on the rear vehicle plate 19 of the measuring-grinding robot housing 1.
The three groups of travelling mechanisms I are distributed along the circumferential direction of the shell 1 at intervals of 120 degrees. Each group of travelling mechanism I comprises four travelling wheels 3, a vehicle shell 4, a hanging ring 5, a vehicle axle 6, a servo motor A7, a supporting plate 8, a bevel gear 9 and a gear reduction mechanism 10. The vehicle shell 4 is of a box structure, and the two axles 6 are respectively arranged on the left side and the right side of the vehicle shell 4. As shown in fig. 4, a servo motor a7 in the travelling mechanism i is mounted on a support plate 8 of a vehicle shell, provides power for the whole travelling mechanism, and is connected with an axle 6 provided with a driving wheel set through a bevel gear 9 and a gear reduction mechanism 10; the total four of advancing wheel 3 installs at the both ends of two axletrees 6, and the axletree installation drive wheelset of one side, and the driven wheelset of opposite side axletree installation adopts the distributed drive structure of double round, can promote frictional force between robot and casing to provide stable holding power of polishing. As shown in figure 3, the lifting ring 5 on the top surface of the vehicle shell 4 is connected with the bent rod 18 of the folding top bracing mechanism II through a bolt to form a passive adaptive mechanism which can adapt to the taper characteristic of the conical shell.
The folding top bracing mechanism II comprises a force sensor 11, a servo motor B12, a screw A13, a fixed connecting piece 14, a screw nut 15, a straight rod A16, a straight rod B17 and a bent rod 18, and mainly realizes the diameter change of the measuring-grinding robot and adapts to the taper characteristic of the shell as shown in figure 5. One end of the fixed connecting piece 14 is connected with the force sensor 11, and the shaft at the other end is connected with the hole on the motor supporting plate A21 through a linear bearing. The servo motor B12 is installed on a motor support plate A21 connected with the rear vehicle plate 19 and is connected with a screw A13 through a coupler to drive the screw A13 to rotate, so that the axial movement of the screw nut 15 is realized. The straight rod B17 is connected with the screw nut 15 through a deep groove ball bearing, the straight rod A16 is connected with the fixed connecting piece 14 through the deep groove ball bearing to form an active adaptation mechanism, and the screw nut 15 moves linearly on the screw A13, so that an included angle between the straight rod B17 and the straight rod A16 is changed, and the diameter change of the measuring-polishing robot is further realized. The bent rod 18 is connected with the lifting ring 5 on the travelling mechanism I through a bolt to form a passive adaptive mechanism to adapt to the taper characteristic of the shell. The force sensor 11 is installed between the rear vehicle plate 19 of the housing 1 and the fixed connecting piece 14, and is used for feeding back the magnitude of the supporting force, controlling the servo motor B12 based on the information fed back by the force sensor 11, and adjusting the included angle between the straight rod A16 and the straight rod B17, so that the stable supporting force between the robot and the housing is kept.
The measuring-polishing mechanism III comprises a servo motor C22, a gear mechanism 23, a lead screw B24, a moving block 25, a linear guide rail A26, a direct drive motor 29, a rotating shaft 30, a servo motor D31, a lead screw C32, a linear guide rail B33, a linear laser sensor 34 and a polishing head 35, and is shown in figures 6-9.
As shown in fig. 6 and 7, the servo motor C22 is mounted on a motor support plate B27 connected to the middle plate 20, and is connected to the lead screw B24 through a gear mechanism 23 to drive the lead screw B24 to rotate; the moving block 25 is sleeved on the lead screw B24, and the rotation of the lead screw B24 drives the moving block 25 to move along the linear guide rail A26, so that the axial movement of the measuring-polishing device consisting of the linear laser sensor 34 and the polishing head 35 in the conical shell is realized.
As shown in fig. 8, the direct drive motor 29 is installed on the axis inside the moving block 25, and drives the rotating shaft 30 to rotate, so as to realize the rotation of the measuring-polishing device composed of the line laser sensor 34 and the polishing head 35 in the conical housing.
As shown in fig. 9, the servo motor D31 is connected to the lead screw C32 through a coupling to drive the lead screw C32 to rotate, and the line laser sensor 34 and the polishing head 35 are integrated together to form a measuring-polishing device, which is sleeved on the lead screw C32. The rotation of the lead screw C32 drives the measuring-grinding device to move along the linear guide rail B33, so that the measuring-grinding device can move in the radial direction in the conical shell. The line laser sensor 34 realizes non-contact measurement of the weld joint, and the polishing head 35 finishes high-precision polishing of the weld joint. The line laser sensor 34 and the polishing head 35 are integrated, unifying the measurement coordinate system and the polishing coordinate system. And before polishing, the spatial pose of the measuring-polishing robot is adjusted based on the information fed back by the inertial navigation sensor 2, so that the measuring-polishing mechanism is positioned on the axial lead of the conical shell. The line laser sensor 34 collects the welding line point cloud data, carries out denoising and simplification processing, and adopts the contour reconstruction technology to realize the measurement of the contour characteristics and the space position of the inner welding line; based on the profile characteristics of the inner weld obtained by the measurement of the line laser sensor 34, a polishing track and processing parameters are generated, and the polishing head 35 finishes high-precision polishing of the weld. The integrated measuring-polishing technology can effectively avoid polishing errors caused by deformation of the inner contour of the conical shell, unevenness and uncertainty of geometric characteristics of welding seams.
The above-mentioned embodiments only represent the embodiments of the present invention, but they should not be understood as the limitation of the scope of the present invention, and it should be noted that those skilled in the art can make several variations and modifications without departing from the spirit of the present invention, and these all fall into the protection scope of the present invention.
Claims (1)
1. The robot for measuring and polishing the welding seams in the conical shell is characterized by comprising three groups of travelling mechanisms I, a folding jacking mechanism II, a measuring-polishing mechanism III, a measuring-polishing robot shell (1) and an inertial navigation sensor (2); the traveling mechanism I is used for completing the advancing of the measuring-polishing robot; the folding top bracing mechanism II is used for realizing the diameter change of the measuring-polishing robot, and is matched with the walking mechanism I to realize the passive adaptation to the taper characteristic of the shell; the measuring-polishing mechanism III is used for completing non-contact measurement and high-precision polishing of the welding seam of the conical shell;
the measuring-polishing robot shell (1) is of a hexagonal prism thin-wall structure, three rectangular holes are circumferentially distributed at intervals of 120 degrees and used for passing through a bent rod (18) of a folding top bracing mechanism II; the measuring-polishing robot shell (1) mainly comprises a front vehicle plate (28), a middle vehicle plate (20) and a rear vehicle plate (19); the rear car plate (19) is arranged behind the shell (1) of the measuring-polishing robot and is used for mounting an inertial navigation sensor (2), a force sensor (11) and a motor support plate A (21); the middle vehicle plate (20) is positioned between the front vehicle plate (28) and the rear vehicle plate (19) and is used for mounting a screw A (13), a screw B (24) and a motor support plate B (27); the front vehicle plate (28) is arranged in front of the shell (1) of the measuring-polishing robot and is used for mounting a linear guide rail A (26), and a square hole is formed in the middle of the front vehicle plate and can enable the moving block (25) to move along the linear guide rail A (26);
the inertial navigation sensor (2) is used for feeding back the space pose information of the measuring-polishing robot;
the three groups of travelling mechanisms I are distributed along the circumferential direction of the measuring-polishing robot shell (1) at intervals of 120 degrees, and each group of travelling mechanism I comprises four travelling wheels (3), a car shell (4), a lifting ring (5), a car axle (6), a servo motor A (7), a supporting plate (8), a bevel gear (9) and a gear reduction mechanism (10); the vehicle shell (4) is of a box body structure, and the two axles (6) are respectively arranged on the left side and the right side of the vehicle shell (4); two ends of one axle (6) are provided with a traveling wheel (3) as a driven wheel set; a supporting plate (8) is arranged on the other side of the vehicle shell (4), the two ends of the side vehicle axle (6) are provided with the traveling wheels (3) as driving wheel sets, and a gear structure matched with a gear speed reducing mechanism (10) is arranged in the vehicle axle (6); the gear reduction mechanism (10) is connected with the servo motor A (7) through a bevel gear (9); the servo motor A (7) is arranged on a support plate (8) of the vehicle shell; two lifting rings (5) are arranged above the top surface of the car shell (4), and the lifting rings (5) are connected with a bent rod (18) through bolts to form a passive adaptive mechanism;
the folding top bracing mechanism II comprises a force sensor (11), a servo motor B (12), a screw rod A (13), a fixed connecting piece (14), a screw rod nut (15), a straight rod A (16), a straight rod B (17) and a bent rod (18); the force sensor (11) is used for feeding back the magnitude of the supporting force; one end of the fixed connecting piece (14) is connected with the force sensor (11), and the other end of the fixed connecting piece is matched and connected with a hole on the motor supporting plate A (21); the servo motor B (12) is arranged on the motor support plate A (21) and is connected with one end of the screw rod A (13) through a coupler, the other end of the screw rod A (13) is arranged on the middle vehicle plate (20), and the servo motor B (12) drives the screw rod A (13) to rotate so as to realize the axial movement of the screw rod nut (15); the screw nut (15) is connected with the three straight rods B (17), and the fixed connecting piece (14) is connected with the three straight rods A (16) to form an active adaptation mechanism; the screw nut (15) is arranged on the screw A (13); the straight rod A (16) and the straight rod B (17) are respectively connected with the bent rod (18) and form rotary connection;
the measuring-polishing mechanism III comprises a servo motor C (22), a gear mechanism (23), a lead screw B (24), a moving block (25), a linear guide rail A (26), a direct drive motor (29), a rotating shaft (30), a servo motor D (31), a lead screw C (32), a linear guide rail B (33) and a measuring-polishing device, wherein the measuring-polishing device comprises a linear laser sensor (34) and a polishing head (35); the servo motor C (22) is arranged on the motor support plate B (27), the lead screw B (24) is driven to rotate through the gear mechanism (23), the moving block (25) is sleeved on the lead screw B (24), the moving block (25) is driven to move along the linear guide rail A (26) by the rotation of the lead screw B (24), and the axial movement of the measuring-polishing device in the conical shell is further realized; the linear guide rail A (26) is arranged on a front vehicle plate (28) of the measuring-polishing robot shell (1) and is used for linearly moving the moving block (25); the direct drive motor (29) is arranged in the moving block (25), is positioned on the axis of the moving block and is used for driving the rotating shaft (30) to rotate; the servo motor D (31) is arranged in the rotating shaft (30) and is connected with the lead screw C (32); the linear guide rail B (33) is arranged in the rotating shaft (30), and the rotation of the lead screw C (32) drives the measuring-polishing device to move along the linear guide rail B (33), so that the measuring-polishing device can move in the radial direction in the conical shell; the line laser sensor (34) and the polishing head (35) are integrally installed on the lead screw C (32), wherein the line laser sensor (34) is used for carrying out non-contact measurement on a welding line, and the polishing head (35) is used for carrying out high-precision polishing on the welding line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010222957.6A CN111300452B (en) | 2020-03-26 | 2020-03-26 | Welding seam measuring-polishing robot in conical shell |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010222957.6A CN111300452B (en) | 2020-03-26 | 2020-03-26 | Welding seam measuring-polishing robot in conical shell |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111300452A CN111300452A (en) | 2020-06-19 |
| CN111300452B true CN111300452B (en) | 2022-08-05 |
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| CN202010222957.6A Active CN111300452B (en) | 2020-03-26 | 2020-03-26 | Welding seam measuring-polishing robot in conical shell |
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