CN111660161A - Cabin longitudinal joint automatic polishing device and longitudinal joint polishing method - Google Patents

Cabin longitudinal joint automatic polishing device and longitudinal joint polishing method Download PDF

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Publication number
CN111660161A
CN111660161A CN202010652633.6A CN202010652633A CN111660161A CN 111660161 A CN111660161 A CN 111660161A CN 202010652633 A CN202010652633 A CN 202010652633A CN 111660161 A CN111660161 A CN 111660161A
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CN
China
Prior art keywords
longitudinal
seam
plate
clamping
starting
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CN202010652633.6A
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Chinese (zh)
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CN111660161B (en
Inventor
李云
马珂幸
黄肖飞
戴振东
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Nanjing Lihang Bionic Industry Research Institute Co ltd
Nanjing Bio Inspired Intelligent Technology Co ltd
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Nanjing Lihang Bionic Industry Research Institute Co ltd
Nanjing Bio Inspired Intelligent Technology Co ltd
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Application filed by Nanjing Lihang Bionic Industry Research Institute Co ltd, Nanjing Bio Inspired Intelligent Technology Co ltd filed Critical Nanjing Lihang Bionic Industry Research Institute Co ltd
Priority to CN202010652633.6A priority Critical patent/CN111660161B/en
Priority to PCT/CN2020/108767 priority patent/WO2022007107A1/en
Publication of CN111660161A publication Critical patent/CN111660161A/en
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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P15/00—Making specific metal objects by operations not covered by a single other subclass or a group in this subclass
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B41/00—Component parts such as frames, beds, carriages, headstocks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B41/00—Component parts such as frames, beds, carriages, headstocks
    • B24B41/02—Frames; Beds; Carriages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B47/00—Drives or gearings; Equipment therefor
    • B24B47/20—Drives or gearings; Equipment therefor relating to feed movement
    • 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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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
  • Grinding And Polishing Of Tertiary Curved Surfaces And Surfaces With Complex Shapes (AREA)

Abstract

The invention discloses an automatic polishing device for longitudinal seams of a cabin, which comprises a base plate, a circumferential motion device, a longitudinal walking device, a longitudinal clamping device, a feeding device, a radial clamping device and a polishing device, wherein the base plate is connected with two adjacent I-beams on the cabin through the longitudinal clamping device and the radial clamping device, the circumferential motion device, the longitudinal walking device, the longitudinal clamping device, the feeding device and the radial motion device are all arranged on the base plate, the polishing device is arranged on the feeding device, the feeding device provides feeding amount for the polishing device, and the polishing device mills the longitudinal seams. The invention also discloses an automatic polishing method for the longitudinal joint of the cabin body. The advantages are that: compared with manual polishing, the automatic polishing machine has the advantages of good polishing effect, high efficiency and capability of continuous work.

Description

Cabin longitudinal joint automatic polishing device and longitudinal joint polishing method
Technical Field
The invention relates to an automatic polishing device and method, in particular to an automatic polishing device and a longitudinal joint polishing method for longitudinal joints of capsule bodies of a space capsule.
Background
The capsule has a diameter of four to five meters and a length of more than ten meters. The existing space capsule is formed by welding a thin plate, an I-shaped beam 9 for improving the strength is arranged on the thin plate, and an annular welding seam, referred to as an annular seam 12 for short, is formed between the I-shaped beam and the thin plate; and longitudinal welds, referred to as longitudinal welds 13, are formed between the sheets. As shown in fig. 3.
At present, the known polishing device cannot be applied to longitudinal joints on the capsule body of the space capsule, manual polishing is adopted, the efficiency is low, time and labor are wasted, and the quality of the polished longitudinal joints is poor.
Disclosure of Invention
The invention aims to provide an automatic cabin body longitudinal joint polishing device suitable for polishing longitudinal joints on a capsule body of a space capsule, aiming at the problems in the background art.
The technical scheme adopted by the invention is as follows: an automatic polishing device for longitudinal seams of a cabin body, which is integrally positioned in an inner cavity of the cabin body and comprises a bottom plate, a circumferential motion device, a longitudinal walking device, a longitudinal clamping device, a feeding device, a radial clamping device and a polishing device,
the base plate is connected with two adjacent I-beams on the cabin body through a longitudinal clamping device and a radial clamping device, the annular motion device, the longitudinal walking device, the longitudinal clamping device, the feeding device and the radial motion device are all arranged on the base plate, the polishing device is arranged on the feeding device, the feeding device provides feeding amount for the polishing device, and the polishing device mills longitudinal seams;
defining that two ends of a bottom plate, which are positioned at two I-beams, are a left end and a right end respectively, arranging an annular motion device at the left end of the bottom plate, driving the bottom plate to travel annularly along the two I-beams on a cabin body by the annular motion device, limiting the cabin body longitudinal seam automatic polishing device to two adjacent I-beams of the cabin body integrally under the mutual cooperation of a longitudinal clamping device and a radial clamping device, installing a feeding device on the bottom plate for driving the polishing device to feed, and driving the annular motion of the polishing device by the annular motion device; the grinding device is arranged on the feeding device, and the longitudinal walking device is connected with the feeding device and used for measuring the longitudinal displacement of the grinding device.
The technical scheme for further optimizing the device comprises the following steps:
the circular motion device comprises a power wheel, a speed reducer and a second servo motor, the speed reducer is arranged at the left end of the bottom plate, the second servo motor is connected with the speed reducer, a motor shaft of the second servo motor is connected with an input shaft of the speed reducer, the power wheel is arranged on an output shaft of the speed reducer, the power wheel is attached to a wing plate surface of an upper flange of the I-shaped beam, the power wheel is made of nylon materials, the second servo motor drives the power wheel to rotate, and the power wheel rotates to drive the cabin longitudinal joint automatic polishing device to integrally move along the upper flange of the I-shaped beam on the cabin. According to the circular motion device, the power wheel is made of nylon materials, so that the contact area of the power wheel and the flange plate surface of the upper flange of the I-beam is increased, and the flange plate surface of the upper flange of the I-beam is prevented from being scratched. And the circumferential movement device is used for starting the servo motor in a power-on mode, the power wheel rotates, and the automatic cabin longitudinal seam polishing device is driven to integrally walk along the upper flange of the I-beam on the cabin body through friction between the power wheel and the flange plate surface of the upper flange of the I-beam.
The longitudinal clamping device comprises two fixed longitudinal clamping wheels and a movable longitudinal clamping wheel component, and the two fixed longitudinal clamping wheels and the movable longitudinal clamping wheel component are arranged at the edges of the left end and the right end of the bottom plate in a triangular mode and are used for integrally clamping the cabin longitudinal seam automatic polishing device on the upper flanges of the two I-shaped beams; the two fixed longitudinal clamping wheels are arranged at the left end of the bottom plate, and the movable longitudinal clamping wheel component is arranged at the right end of the bottom plate; the movable longitudinal clamping wheel component comprises a guide rail, a movable plate, a rack, a first longitudinal clamping wheel, a first gear and a first servo motor, wherein the guide rail and the rack are fixed on the bottom plate in parallel, two ends of the guide rail are flush with the left end and the right end of the bottom plate, and the guide rail is parallel to the longitudinal seam; the moving plate is arranged on the sliding block of the guide rail, is vertical to the guide rail, and two ends of the moving plate extend out of the bottom plate; the first servo motor is connected with the moving plate, the first gear is arranged on a motor shaft of the first servo motor, the first gear is meshed with the rack, the first longitudinal clamping wheel is rotatably arranged on the first clamping wheel shaft, the upper end of the first clamping wheel shaft is fixed on the moving plate, the first longitudinal clamping wheel is suspended below the moving plate, and the outer surface of the first longitudinal clamping wheel can be tightly attached to one side face of a web plate of the I-beam; two fixed longitudinal clamping wheels are installed at the edge of the left end of the bottom plate through a second clamping wheel shaft, the two fixed longitudinal clamping wheels are rotatably arranged on the second clamping wheel shaft respectively, the two fixed longitudinal clamping wheels are suspended below the bottom plate, and the outer surfaces of the two fixed longitudinal clamping wheels can be attached to the side face of the other side of the web plate of the I-beam tightly.
The radial clamping device comprises four radial clamping mechanisms which are arranged at the edges of the left side and the right side of the bottom plate in a rectangular shape, wherein two radial clamping mechanisms are arranged at the end parts of the two ends of the moving plate at the right end of the bottom plate through fixing plates, and the other two radial clamping mechanisms are fixed at the left end of the bottom plate through fixing plates; the four radial clamping mechanisms comprise clamping cylinders, adapters and radial clamping wheels, the cylinder bodies of the clamping cylinders are connected to the fixing plate, the adapters are arranged at the end parts of piston rods of the clamping cylinders, and the radial clamping wheels are rotatably arranged on the adapters through third clamping wheel shafts; the four radial clamping wheels are suspended below the bottom plate, and the outer surfaces of the four radial clamping wheels can be attached to the back surfaces of the wing plates of the upper flanges of the I-shaped beams.
According to the technical scheme, the inner longitudinal clamping device and the radial clamping device are matched with each other, and the automatic polishing device for the longitudinal joint of the cabin body is integrally connected with the I-shaped beam. The clamping force of the radial clamping device is provided by the air cylinder, the clamping force is adjustable, the clamping wheels of the longitudinal clamping device and the radial clamping device are made of nylon materials, vibration of the equipment in the polishing process can be effectively reduced, and polishing precision is improved.
The feeding device comprises a sliding plate, a base plate, a third servo motor, a synchronous belt transmission pair, a ball screw nut pair, a lifting plate, a supporting seat and two vertical guide rails, wherein the sliding plate is connected with a sliding block which is arranged on the guide rails in a matched mode; a driving belt wheel and a driven belt wheel in the synchronous belt transmission pair are respectively connected with a motor shaft of a third servo motor and the upper end of a ball screw, a lifting plate is connected with a screw nut in the ball screw nut pair, two vertical guide rails are arranged on one side face of the base plate at intervals, and a sliding block which is arranged by matching the two vertical guide rails is connected on the lifting plate. The feeding device has adjustable stroke, can adjust the polishing feeding amount according to the actual polishing condition, and improves the polishing efficiency.
The longitudinal traveling device comprises a power unit and a longitudinal traveling displacement measuring device, the power unit comprises a fourth servo motor and a second gear, the fourth servo motor is arranged on the sliding plate, the second gear is arranged on a motor shaft of the fourth servo motor, and the second gear is meshed with the rack; the longitudinal walking displacement measuring device is a grating ruler, the grating ruler is defined as a first grating ruler, a scale grating of the first grating ruler is arranged on the bottom plate, the scale grating of the first grating ruler is parallel to the longitudinal seam, and a grating reading head of the first grating ruler is fixed on the sliding plate through a connecting rod.
Grinding device includes six dimension force transducer, buffer and pneumatic polisher, and six dimension force transducer sets up the back at the lifter plate, and the buffer dress just is located six dimension force transducer's below on six dimension force transducer, and a locating plate is installed to the below of buffer, and pneumatic polisher installs on the locating plate, just is located the straight top of longitudinal joint. The polishing device is provided with the six-dimensional force sensor, so that the force and the moment generated in each direction during polishing can be measured in real time, and the polishing device plays an important role in researching the polishing working condition in the later period; the buffer can effectively play a role in shock absorption, is favorable for the stability of force during polishing, and improves the quality of the polishing surface.
The cabin longitudinal joint automatic polishing device also comprises a displacement measuring device for measuring the walking distance of the polishing device on the I-beam, a camera for recording the polishing process and a laser seam finder for positioning the welding seam and detecting the quality of the polished welding seam, wherein the displacement measuring device is arranged at the left end part of the bottom plate, the displacement measuring device comprises a roller, a transmission shaft, a bearing seat and an encoder, the bearing seat is fixed on the bottom plate, the transmission shaft is rotatably connected with the bearing seat through a bearing, the output shaft of the encoder is connected with one end of the transmission shaft, the roller is arranged at the other end of the transmission shaft, and the roller is tightly attached to the wing plate surface of; the camera is arranged at the tail end of the connecting rod and is suspended below the bottom plate; the laser seam searching machine is suspended right above the longitudinal seam to be polished through the L-shaped support, the L-shaped support is arranged on the base plate, and the laser seam searching machine is close to the pneumatic polishing machine. The laser seam finder scans the contour of the welding seam, can detect the grinding quality in real time so as to modify in time and improve the grinding efficiency; the camera can real-timely record the polishing process and the polishing effect, and is favorable for monitoring the polishing process in real time and improving the polishing process in the later period.
The invention discloses a longitudinal joint polishing method of an automatic cabin longitudinal joint polishing device, which comprises the following steps:
step 1: installing the automatic cabin longitudinal joint polishing device on two I-beams of a cabin to be polished with longitudinal joints, wherein the I-beams are arranged in a vertical direction; the pneumatic sander is not installed;
step 2: adjusting the feeding position of a feeding device in the step 1 to be at the highest point;
and step 3: the milling cutter on the pneumatic grinding machine is replaced by a rough milling cutter;
and 4, step 4: mounting the pneumatic grinding machine in the step 3 on a positioning plate, so that the rough milling cutter is opposite to the longitudinal seam; presetting the position as a starting point;
and 5: starting a camera and a laser seam searching machine;
step 6: starting the longitudinal walking device, and driving the second gear to walk on the rack by forward rotation of the fourth servo motor to drive the sliding plate and all parts mounted on the sliding plate to slide on the guide rail until the laser seam searching machine scans the whole longitudinal seam;
and 7: after the step 6 is finished, the fourth servo motor rotates reversely to drive the sliding plate and all parts mounted on the sliding plate to return to the starting point;
and 8: starting the pneumatic grinding machine, and rotating the rough milling cutter; starting a feeding device, wherein the feeding device provides feeding amount for the rough milling cutter towards the longitudinal seam, and the rough milling cutter starts to perform feeding milling; starting the longitudinal walking device, and driving the pneumatic grinding machine to mill the whole longitudinal seam in the step 6 by forward rotation of the fourth servo motor;
and step 9: after step 8, stopping the pneumatic grinding machine, stopping feeding by the feeding device, adjusting the feeding position to the highest point of the feeding position, and reversely rotating the fourth servo motor to drive the sliding plate and all parts mounted on the sliding plate to return to the starting point;
step 10: the fourth servo motor rotates in the positive direction, the laser seam finder is used for scanning the whole milled longitudinal seam, the welding seam allowance of the milled surface is detected, and the welding seam allowance is ensured to be within the range of 0.5-1 mm;
step 11: if the welding seam allowance is within the range of 0.5-1mm, coarse milling of the longitudinal seam is completed, otherwise, the steps 8-10 are repeated;
step 12: the fourth servo motor rotates reversely to drive the sliding plate and all parts mounted on the sliding plate to return to the starting point, and the camera and the laser seam finder are stopped;
step 13: starting a speed reducer and a second servo motor in the annular motion device to rotate in the forward direction, driving a power wheel to rotate to drive the cabin longitudinal seam automatic polishing device to integrally travel to the next longitudinal seam along the upper flange of the I-beam on the cabin, and presetting the position as a new starting point;
step 14: repeating the step 5 to the step 13 until the rough milling of all longitudinal joints between two adjacent I-beams in the cabin body is completed;
step 15: the automatic cabin longitudinal seam polishing device is integrally stopped, the pneumatic polisher is detached from the positioning plate, the rough milling cutter arranged on the pneumatic polisher is detached and the finish milling cutter is arranged, and then the pneumatic polisher is arranged on the positioning plate again;
step 16: starting the laser seam finder, starting the longitudinal walking device, returning to the starting point after the laser seam finder scans a longitudinal seam, and stopping the longitudinal walking device; starting the circular motion device, driving the whole device to travel to the next longitudinal seam, stopping the circular motion device, starting the longitudinal travel device again, returning to the starting point after the laser seam finder scans the whole longitudinal seam, and stopping the longitudinal travel device; starting the circular motion device again to drive the whole device to travel to the next longitudinal joint, stopping the circular motion device, and repeatedly executing the circular motion device until the laser seam finder finishes scanning all longitudinal joints between two adjacent I-beams in the cabin body;
determining the highest point and the lowest point of all longitudinal seams by the laser seam finder, calculating the difference value between the highest point and the lowest point, and taking the difference value as the feeding amount of the first milling of the finish milling cutter;
and step 17: starting the pneumatic grinding machine, and rotating the finish milling cutter; starting a feeding device, wherein the feeding device provides feeding amount for the finish milling cutter towards the longitudinal seam, and the finish milling cutter starts to feed and mill; starting the longitudinal walking device, returning to the starting point after the finish milling cutter mills a longitudinal seam, and stopping the longitudinal walking device; starting the circular motion device, driving the whole device to travel to the next longitudinal seam, stopping the circular motion device, starting the longitudinal walking device again, returning to the starting point after the finish milling cutter mills, and stopping the longitudinal walking device; starting the circular motion device again, driving the whole device to travel to the next longitudinal joint, stopping the circular motion device, and performing repeatedly until finishing the first fine milling of all longitudinal joints between two adjacent I-beams in the cabin body;
step 18: repeating the step 16, scanning all longitudinal joints between every two adjacent I-beams in the cabin again by the laser seam searching machine, and detecting the extra height of the welding seam, wherein the extra height is used as the feeding amount of the finish milling cutter for the second milling;
step 19: repeating the step 17, and carrying out secondary fine milling on all longitudinal joints between every two adjacent I-beams in the cabin;
step 20: repeating the step 16, scanning all longitudinal joints between two adjacent I-beams in the cabin again by the laser seam searching machine, and meeting the requirement if the allowance of the welding joints is less than 0.2 mm; otherwise, repeating the steps 18 and 19 until the milling requirement is met.
Step 21: starting the circular motion device, driving the whole device to travel to the next longitudinal seam, stopping the circular motion device, starting the longitudinal travel device again, returning to the starting point after the laser seam finder scans the whole longitudinal seam, and stopping the longitudinal travel device; and starting the circular motion device again to drive the whole device to travel to the next longitudinal joint, stopping the circular motion device, and repeatedly executing until the laser seam finder finishes scanning all longitudinal joints between two adjacent I-beams in the cabin.
The method of the invention adopts the further technical scheme that:
the step 1 specifically comprises the following steps:
step 101: adjusting a longitudinal clamping device and a radial clamping device in the device to enable the longitudinal clamping device and the radial clamping device to be in a maximum opening state, and ensuring that the longitudinal clamping device and the radial clamping device can be placed on adjacent I-beams of the cabin body;
step 102: starting a first servo motor, pushing a moving plate to drive a first longitudinal clamping wheel to enable the outer surface of the first longitudinal clamping wheel to be attached to one side face of a web plate of the I-beam, and enabling the outer surfaces of two fixed longitudinal clamping wheels to be attached to the other side face of the web plate of the I-beam; stopping the first servo motor;
step 103: when the first servo motor works, the moving plate simultaneously drives the two radial clamping wheels to approach to the side face of one side of the web plate of the I-beam; and synchronously starting the four clamping cylinders to push the four radial clamping wheels to enable the outer surfaces of the four radial clamping wheels to simultaneously cling to the back surfaces of the wing plates of the upper flanges of the I-beams.
Compared with the prior art, the invention has the beneficial effects that:
according to the device disclosed by the invention, all longitudinal joints can be automatically polished only by integrally mounting the device on the I-beam of the cabin body, manual operation is not required, and the efficiency and the quality are improved.
The device provided by the invention is used for replacing manual polishing, and compared with manual polishing, the device provided by the invention has the advantages of good polishing effect, high efficiency and capability of continuously working.
According to the method, the profile of the welding seam can be scanned through the laser seam finder before polishing, the highest point and the lowest point of the welding seam are determined, the optimal feeding distance is further determined, the polishing efficiency is improved, and the polishing quality can be guaranteed; the cabin body is protected by adopting a rough milling cutter to process and then adopting a finish milling cutter to mill, so that the rough milling cutter can be effectively prevented from over-milling; and after the finish milling is finished, scanning the profile of the welding seam through a laser seam searching machine, and ensuring that the polishing residual height meets the polishing requirement.
Drawings
Fig. 1 is a schematic structural diagram of an automatic grinding device for longitudinal seams of a cabin.
Fig. 2 is a schematic structural view of the base plate.
Fig. 3 is a schematic structural diagram of the capsule body of the space capsule.
Fig. 4 is a schematic structural view of the hoop moving device.
FIG. 5 is a first enlarged view of the left end of the automatic grinding device for longitudinal joint of cabin (reflecting the installation position relationship of the longitudinal clamping device and the radial clamping device).
FIG. 6 is an enlarged view of the right end of the automatic grinding device for longitudinal seams of the cabin.
Figure 7 is a schematic view of the assembly of the fixed longitudinal pinch wheel with the second pinch wheel axle.
Fig. 8 is a schematic view of the structure of the radial clamping mechanism.
Fig. 9 is a second enlarged view of the left end of the automatic grinding device for the longitudinal joint of the cabin (reflecting the installation position relationship of the feeding device).
Fig. 10 is a schematic view showing an assembled relationship of the feeding device and the polishing device.
Fig. 11 is a schematic structural view of the displacement measuring device.
FIG. 12 is a third enlarged view of the left end of the automatic grinding device for longitudinal joint of cabin (reflecting the installation position relationship of the laser seam finder and the camera).
FIG. 13 is a schematic view of the automatic polishing device for the longitudinal joint of the cabin body mounted on an I-beam.
Detailed Description
The technical solution of the present invention is described in detail below, but the scope of the present invention is not limited to the embodiments.
In order to make the disclosure of the present invention more comprehensible, the following description is further made in conjunction with the accompanying drawings 1 to 13 and the detailed description.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, the automatic polishing device for the longitudinal seam of the cabin is integrally positioned in an inner cavity of the cabin and comprises a bottom plate 1, an annular motion device 2, a longitudinal walking device 3, a longitudinal clamping device 4, a feeding device 6, a radial clamping device 7, a polishing device 8, a displacement measuring device 5 for measuring the walking distance of the polishing device 8 on an i-beam, a camera 10 for recording the polishing process and a laser seam finder 11 for positioning the welding seam and detecting the quality of the polished welding seam.
As shown in fig. 1, a base plate 1 is connected with two adjacent i-beams 9 on a cabin body through a longitudinal clamping device 4 and a radial clamping device 7, an annular movement device 2, a longitudinal walking device 3, the longitudinal clamping device 4, a feeding device 6 and the radial movement device 7 are all installed on the base plate 1, a grinding device 8 is installed on the feeding device 6, the feeding device 6 provides feeding amount for the grinding device 8, and the grinding device 8 mills longitudinal seams.
As shown in fig. 1, it is defined that two ends of a base plate 1 at two i-beams 9 are respectively a left end and a right end, a circular motion device 2 is arranged at the left end of the base plate 1, the circular motion device 2 drives the base plate 1 to move circularly along the two i-beams 9 on a cabin body, a longitudinal clamping device 4 and a radial clamping device 7 are mutually matched to limit the cabin body longitudinal seam automatic polishing device to two adjacent i-beams 9 of the cabin body integrally, a feeding device 6 is arranged on the base plate 1 and used for driving a polishing device 8 to feed, and the circular motion of the polishing device 8 is driven by the circular motion device 2; the grinding device 8 is arranged on the feeding device 6, and the longitudinal walking device 3 is connected with the feeding device 6 and used for measuring the longitudinal displacement of the grinding device 8.
As shown in fig. 2, the base plate 1 of the present embodiment is made of a steel plate, and the base plate 1 is arranged according to the structural installation requirement.
As shown in fig. 1 and 4, the circular motion device 2 drives the base plate 1 to walk along the i-beam 9 on the cabin 1, in this embodiment, the circular motion device 2 includes a power wheel 201, a speed reducer 202 and a second servo motor 203, the speed reducer 202 is installed at the left end of the base plate 1, the second servo motor 203 is connected with the speed reducer 202, a motor shaft of the second servo motor 203 is connected with an input shaft of the speed reducer 202, the power wheel 201 is arranged on an output shaft of the speed reducer 202, the power wheel 201 is attached to a wing plate surface of an upper flange of the i-beam 9, the power wheel 201 is made of a nylon material, the second servo motor 203 drives the power wheel 201 to rotate, and the power wheel 201 rotates to drive the cabin longitudinal joint automatic polishing device to integrally walk along the upper flange of the i-beam 9.
The annular movement device 2 is installed on the bottom plate 1 through the speed reducer 202, the power wheel 201 is made of nylon materials, the contact area of the power wheel with the flange plate face of the upper flange of the I-beam is increased, and meanwhile the flange plate face of the upper flange of the I-beam is prevented from being scratched. The second servo motor 203 is electrified and started, the power wheel 201 rotates, and the automatic cabin longitudinal seam polishing device is driven to integrally walk along the upper flange of the I-beam on the cabin through friction between the power wheel and the flange plate surface of the upper flange of the I-beam.
As shown in figure 1, the longitudinal clamping device 4 and the radial clamping device 7 are mutually matched to limit the automatic polishing device for the longitudinal seam of the cabin body to two adjacent I-shaped beams 9 on the cabin body integrally.
As shown in fig. 5 and 6, the longitudinal clamping device 4 comprises two fixed longitudinal clamping wheels 41 and a movable longitudinal clamping wheel component 42, the two fixed longitudinal clamping wheels 41 and the movable longitudinal clamping wheel component 42 are arranged at the edges of the left and right ends of the base plate 1 in a triangular shape, and are used for clamping the automatic cabin longitudinal seam grinding device on the upper flanges of the two i-beams 9; two fixed longitudinal clamping wheels 41 are arranged at the left end of the base plate 1 and a movable longitudinal clamping wheel member 42 is arranged at the right end of the base plate 1.
As shown in fig. 6, the movable longitudinal clamping wheel component 42 comprises a guide rail 422, a moving plate 421, a rack 423, a first longitudinal clamping wheel 424, a first gear 425 and a first servo motor 426, wherein the guide rail 422 and the rack 423 are fixed on the bottom plate 1 in parallel, two ends of the guide rail 422 are flush with the left end and the right end of the bottom plate 1, and the guide rail 422 is parallel to the longitudinal seam; the moving plate 421 is arranged on the slider of the guide rail 422, the moving plate 421 is perpendicular to the guide rail 422, and two ends of the moving plate 421 extend out of the bottom plate 1; the first servo motor 426 is connected with the moving plate 421, the first gear 425 is arranged on a motor shaft of the first servo motor 426, the first gear 425 is meshed with the rack 423, the first longitudinal clamping wheel 424 is rotatably arranged on a first clamping wheel shaft, the upper end of the first clamping wheel shaft is fixed on the moving plate 421, the first longitudinal clamping wheel 424 is suspended below the moving plate 421, and the outer surface of the first longitudinal clamping wheel 424 can be attached to one side face of the web of the i-beam 9.
As shown in fig. 5 and 7, two fixed longitudinal clamping wheels 41 are mounted at the edge of the left end of the base plate 1 through a second clamping wheel shaft, the two fixed longitudinal clamping wheels 41 are respectively rotatably arranged on the second clamping wheel shaft, the two fixed longitudinal clamping wheels 41 are suspended below the base plate 1, and the outer surfaces of the two fixed longitudinal clamping wheels 41 can be attached to the other side surface of the web plate of the i-beam 9.
In the working process of the longitudinal clamping device 4 in this embodiment, when the longitudinal clamping of the device needs to be performed, the two fixed longitudinal clamping wheels 41 and the first longitudinal clamping wheel 424 are arranged at the edges of the left end and the right end of the base plate 1 in a triangular shape, the first servo motor 426 is started to drive the moving plate 421 to move, so as to drive the first longitudinal clamping wheel 424 to approach the i-beam 9 until the outer surface of the first longitudinal clamping wheel 424 can be attached to one side of the web of the i-beam 9, and the outer surfaces of the two fixed longitudinal clamping wheels 41 can be attached to the other side of the web of the i-beam 9.
As shown in fig. 5 and 6, the radial clamping device 7 includes four radial clamping mechanisms arranged in a rectangular shape at the edges of the left and right sides of the bottom plate 1, two of the radial clamping mechanisms are disposed at the ends of the two ends of the moving plate 421 at the right end of the bottom plate 1 through the fixing plate 74, and the other two radial clamping mechanisms are fixed at the left end of the bottom plate 1 through the fixing plate 74.
As shown in fig. 8, each of the four radial clamping mechanisms includes a clamping cylinder 71, an adapter 72, and a radial clamping wheel 73, wherein a cylinder body of the clamping cylinder 71 is connected to a fixing plate 74, the adapter 72 is disposed at an end of a piston rod 75 of the clamping cylinder 71, and the radial clamping wheel 73 is rotatably disposed on the adapter 72 via a third clamping wheel shaft. Four radial clamping wheels 73 are suspended below the base plate 1 and the outer surfaces of the four radial clamping wheels 73 can abut against the back of the wing plate of the upper flange of the i-beam 9.
In the working process of the radial clamping device 7 in this embodiment, when the radial clamping of the device needs to be implemented, the four clamping cylinders 71 simultaneously act to drive the four radial clamping wheels 73 to approach to the back of the wing plate at the upper flange of the i-beam 9; two of the radial clamping wheels 73 are also close to the i-beam 9 under the action of the driving moving plate 421; until finally the outer surfaces of the four clamping cylinders 71 can abut against the wing backs of the upper flanges of the i-beams 9.
As shown in fig. 1 and 9, the feeding device 6 includes a sliding plate 69, a base plate 65, a third servo motor 61, a synchronous belt transmission pair 62, a ball screw nut pair 63, a lifting plate 64, a support seat 66 and two vertical guide rails 67, the sliding plate 69 is connected with a sliding block arranged on a guide rail 422 in a matching manner, the base plate 65 is vertically arranged on the sliding plate 69, the third servo motor 61 and the support seat 66 are respectively arranged on two side surfaces of the base plate 65, a ball screw upper end bearing in the ball screw nut pair 63 is connected with the support seat 66, and the ball screw is vertically arranged; a driving pulley and a driven pulley in the synchronous belt transmission pair 62 are respectively connected with a motor shaft of the third servo motor 61 and the upper end of the ball screw, a lifting plate 64 is connected with a screw nut in the ball screw nut pair 63, two vertical guide rails 67 are arranged on one side surface of the base plate 65 at intervals, and the lifting plate 64 is connected with sliding blocks which are arranged on the two vertical guide rails 67 in a matched mode.
In the feeding device 6 of the present embodiment, the third servo motor 61 provides power, the power is transmitted to the ball screw nut pair 63 through the synchronous belt transmission pair 62, the ball screw in the ball screw nut pair 63 rotates, and the nut is driven to move up and down along the ball screw, so as to drive the lifting plate 64 to ascend or descend. The lifting plate 64 is connected to the grinding device 8 in this embodiment, so that the feeding of the grinding device 8 is realized.
As shown in fig. 9, the feeding device 6 further includes a grating scale 68 that measures the feeding amount. The grating scale 68 is defined as a second grating scale, the scale grating 682 of the second grating scale is vertically installed on the substrate 65, and the grating reading head 681 of the second grating scale is installed at the side of the lifting plate 64, so as to measure the descending stroke of the lifting plate 64 and monitor the feeding amount.
In the feeding device 6, the third servo motor 61 provides power, the power is transmitted to the ball screw nut pair 63 through the synchronous belt transmission pair 62, the ball screw in the ball screw nut pair 63 rotates, and the nut is driven to move up and down along the ball screw, so that the lifting plate 64 is driven to ascend or descend. The lifting plate 64 is connected to the grinding device 8 in this embodiment, so that the feeding of the grinding device 8 is realized.
As shown in fig. 9, the longitudinal traveling device 3 includes a power unit and a longitudinal traveling displacement measuring device, the power unit includes a fourth servo motor 31 and a second gear 32, the fourth servo motor 31 is disposed on the sliding plate 69, the second gear 32 is disposed on a motor shaft of the fourth servo motor 31, and the second gear 32 engages with the rack 423.
As shown in fig. 9, the longitudinal travel displacement measuring device is a grating scale, which is defined as a first grating scale, the scale grating 33 of the first grating scale is disposed on the bottom plate 1, the scale grating 33 of the first grating scale is parallel to the longitudinal slit, and the grating reading head 34 of the first grating scale is fixed on the sliding plate 69 through the connecting rod 35.
The power unit in the longitudinal running gear 3 of this embodiment provides power for the sliding plate 69, so that the sliding plate 69 integrally slides on the guide rail 422, and the polishing device is driven to slide on the guide rail 422, thereby completing the milling of one longitudinal joint 13. The first grating ruler monitors the displacement of the polishing device.
As shown in fig. 1, the grinding device 8 is driven by the circular motion device 2, and the feeding of the grinding device 8 is provided by the feeding device 6; the grinding device 8 is arranged on the feeding device 6.
As shown in fig. 10, the grinding device 8 includes a six-dimensional force sensor 81, a buffer 82, and a pneumatic grinder 83, the six-dimensional force sensor 81 is provided on the back surface of the lifting plate 64, the buffer 82 is mounted on the six-dimensional force sensor 81 and located below the six-dimensional force sensor 81, a positioning plate 85 is mounted below the buffer 82, and the pneumatic grinder 83 is mounted on the positioning plate 85 and located directly above the longitudinal seam.
In this embodiment, the six-dimensional force sensor 81 is a purchased part and is obtained by direct purchase. The six-dimensional force sensor 81 in this embodiment is preferably a six-dimensional force sensor sold by kunwei (beijing) technologies ltd or changzhou kunwei sensor technologies ltd. The six-dimensional force sensor has a six-dimensional force detection function and provides a full set of feedback control algorithms. Simultaneously, the measuring range is as follows: Fx/Fy/Fz are 400N/400N/800N, respectively, and moment Mx/My/Mz are 40Nm/40Nm/40Nm, respectively.
In this embodiment, the buffer 82 is used to provide a buffering force for the pneumatic sander 83, and the buffer used in this embodiment is also a purchased part and is purchased directly. The buffer in the embodiment preferably adopts an Austrian FERROBOTICS active tactile flange, and has the maximum force of 800N, the stroke of 48mm, the maximum overturning moment of 350Nm and the maximum torsion moment of 350 Nm.
In this embodiment, the pneumatic sander 83 is a purchased part, which is purchased directly. In the present embodiment, a bead grinding machine PY1027 sold by shanghai jinwein hardware machinery ltd is preferably used, and the bead grinding machine is suitable for milling flat surfaces of special-shaped butt-joint channels. The main application is as follows: the method is suitable for removing the extra height of the welding bead of the metal butt welding seam (the pipe butt arc welding seam and the plate butt welding seam). This welding bead polisher, the welding bead surplus height mills flat (polish) smooth meaning, 1, gets rid of the welding bead surplus height, is favorable to detecting welding seam surface defect, if not carrying out nondestructive test to the welding seam, can observe the welding effect after milling flat surplus height. 2. And the weld bead residual height is removed, and the residual height is processed to be flush with the base metal, so that the stress release of a heat affected zone is facilitated, and the weld strength is ensured.
The welding bead polisher has the characteristics that:
the machine is suitable for processing the residual height (less than 3 mm) of small carbon steel weldments and standard welding beads (welding seams).
The residual height of non-ferrous metal welding bead (welding seam) of stainless steel, aluminium and copper is not limited.
1. The weld head height rejection can be adjusted within 0-5mm (see below for illustration).
2. The cutter can remove the welding bead residual height at high speed, and the speed is stable and smooth.
3. Dust is generated in the working site, and no pollution is caused.
4. The metal powder is easy to recycle.
5. No spark and meets the requirement of safe production.
The use requirements are as follows:
1. the air delivery pipe with the inner diameter of more than 5mm is connected to ensure the pressure flow required by power;
2. the residual height of the welding bead is higher than 3mm, and the operation is recommended to be carried out in multiple times so as to guarantee the cutting speed and protect the service life of the cutter;
3. the cutter must be slowly pushed forward (push-down type pushing) in high-speed operation, and the slow pushing can ensure the smoothness of the cutting surface. A cutting surface pushed too fast may generate a wave;
4. in order to avoid damaging the welding base material, a plurality of wires can be left when the cutter clearance is adjusted, and then a proper polishing machine is selected for fine polishing.
5. Recommending a machine type for fine polishing by matching with the machine: EZ-7060 or EZ-7060E.
The cutter is made of the following suitable materials:
carbon steel, stainless steel, aluminum alloy, aluminum, copper and plastic
The cutter is suitable for application:
1. milling the weld bead height and the welding spot height of the precise welding part;
2. clear flash and burr of the casting part;
the welding bead grinding machine is provided with a special cutter and a welding bead surplus height milling cutter. The method specifically comprises the following steps: selection of cutter (red character is common type):
y2710 (coarse tooth) special type: is suitable for the treatment of welding beads, welding spots and bulges of nonferrous metals such as copper and aluminum alloy;
y2720 (medium-coarse) special type: is suitable for the treatment of welding beads, welding spots and bulges of nonferrous metals such as copper and aluminum alloy;
y2725 (medium tooth) general type: the method is suitable for the treatment of stainless steel and carbon steel welding beads and welding spots;
y2730 (medium fine): the method is suitable for thick fine polishing of welding spots and welding beads and rough edge treatment of plastic parts;
y2740 (serration) fine type: the method is suitable for thick fine polishing of welding spots and welding beads and rough edge processing of plastic parts.
As shown in fig. 10, a limit switch 86 is installed at the end of the lifting plate 64, the limit switch 86 measures the distance between the air sander 83 and the flange back of the i-beam lower flange, and the limit switch 86 prevents the air sander 83 from being damaged due to an excessive feed.
As shown in fig. 1 and 11, the displacement measuring device 5 is disposed at the left end of the bottom plate 1, the displacement measuring device 5 includes a roller 51, a transmission shaft 52, a bearing seat 53 and an encoder 54, the bearing seat 53 is fixed at the rear end of the bottom plate 1, the transmission shaft 52 is rotatably connected to the bearing seat 53 through a bearing, an output shaft of the encoder 54 is connected to one end of the transmission shaft 52, the roller 51 is disposed at the other end of the transmission shaft 52, and the roller 51 is tightly attached to the wing plate surface of the upper flange of the i-beam. When the circular motion device 2 slips due to the arrangement of the displacement measuring device 5, the circular motion device 2 slips due to the displacement measuring device 5.
The working principle of the displacement measuring device 5 in the present embodiment is as follows: the displacement measuring device 5 moves together with the bottom plate 1 under the action of the annular movement device 2, the roller 51 rubs against the surface of a wing plate at the upper flange of the I-beam, the roller 51 rotates and is transmitted to the encoder 54 through the transmission shaft 52, and the encoder 54 measures the walking distance of the polishing device 8 on the I-beam.
As shown in fig. 12, the camera 10 is mounted on the distal end of the connecting rod 35 and suspended below the base plate 1. In this embodiment, the camera 10 is a purchased part and is directly purchased and obtained. In the embodiment, Haikangwei MV-CA060-10GC is preferentially adopted, and the camera provides a real-time video detection function and a light source illumination function.
As shown in fig. 12, the laser seam finder 11 is suspended right above the longitudinal seam to be ground by an L-shaped bracket 1101, the L-shaped bracket 1101 is arranged on the substrate 65, and the laser seam finder 11 is close to the pneumatic grinding machine 83.
In the embodiment, the laser seam finder 11 is a purchased part and is directly purchased. In the embodiment, a laser seam-searching machine sold by Sai-West information technology Limited is preferentially adopted, and the laser seam-searching machine can realize automatic identification of welding seams, including geometric information such as welding seam width, welding seam height and the like; the working distance of the laser seam finder covers 100-150mm, and the measurement precision is better than 0.05 mm.
The device is used for replacing manual polishing, and compared with manual polishing, the device has the advantages of good polishing effect, high efficiency and capability of continuous work.
The longitudinal joint polishing method of the automatic cabin longitudinal joint polishing device comprises the following steps:
step 1: the automatic polishing device for the longitudinal joint of the cabin body is arranged on two I-shaped beams 9 of the cabin body of which the longitudinal joint is to be polished, wherein the I-shaped beams are arranged on the cabin body; the pneumatic sander 83 is not installed; the step 1 specifically comprises the following steps: step 101: adjusting a longitudinal clamping device 4 and a radial clamping device 7 in the device to be in a maximum opening state, and ensuring that the longitudinal clamping device and the radial clamping device 7 can be placed on adjacent I-beams of the cabin body; step 102: starting the first servo motor 426, pushing the moving plate 421 to drive the first longitudinal clamping wheel 424 to make the outer surface of the first longitudinal clamping wheel cling to one side of the web of the i-beam 9, and making the outer surfaces of the two fixed longitudinal clamping wheels 41 cling to the other side of the web of the i-beam 9; the first servo motor 426 is stopped; step 103: when the first servo motor 426 works, the moving plate 421 drives the two radial clamping wheels 73 to approach to the side face of one side of the web of the i-beam 9; the four clamping cylinders 71 are synchronously actuated to push the four radial clamping wheels 73 so that the outer surfaces thereof simultaneously abut against the back surfaces of the flanges of the upper flanges of the i-beams 9. As shown in fig. 13.
Step 2: and (3) adjusting the feeding position of the feeding device 6 in the device in the step (1) to be at the highest point, so as to prevent the cutter from directly touching the cabin body and damaging the cabin body.
And step 3: the milling cutter on the pneumatic grinding machine 83 is replaced by a rough milling cutter;
and 4, step 4: mounting the pneumatic grinding machine 83 in the step 3 on a positioning plate 85, so that the rough milling cutter is opposite to the longitudinal seam; presetting the position as a starting point;
and 5: starting a camera 10 and a laser seam searching machine 11;
step 6: starting the longitudinal walking device 3, the fourth servo motor 31 rotates forward to drive the second gear 32 to walk on the rack 423, and drives the sliding plate 69 and all the parts mounted on the sliding plate to slide on the guide rail 422 until the laser seam finder 11 scans the whole longitudinal seam;
and 7: after step 6, the fourth servo motor 31 rotates reversely to drive the sliding plate 69 and all the components mounted thereon to return to the starting point;
and 8: starting the pneumatic grinding machine 83, and rotating the rough milling cutter; starting the feeding device 6, wherein the feeding device 6 provides a feeding amount for the rough milling cutter towards the longitudinal seam, and the rough milling cutter starts to perform feeding milling; starting the longitudinal walking device 3, and driving the pneumatic grinding machine 83 to mill the whole longitudinal seam in the step 6 by the forward rotation of the fourth servo motor 31;
and step 9: after step 8, the pneumatic grinding machine 83 stops, the feeding device 6 stops feeding and adjusts to the highest point of the feeding position, and the fourth servo motor 31 rotates reversely to drive the sliding plate 69 and all the parts mounted on the sliding plate to return to the starting point;
step 10: the fourth servo motor 31 rotates forwards, the laser seam finder 11 is used for scanning the whole milled longitudinal seam, the welding seam allowance of the milled surface is detected, and the welding seam allowance is ensured to be within the range of 0.5-1 mm;
step 11: if the welding seam allowance is within the range of 0.5-1mm, coarse milling of the longitudinal seam is completed, otherwise, the steps 8-10 are repeated;
step 12: the fourth servo motor 31 rotates reversely to drive the sliding plate 69 and all the parts mounted thereon to return to the starting point, and the camera 10 and the laser seam finder 11 are stopped;
step 13: starting a speed reducer 202 and a second servo motor 203 in the annular motion device 2 to rotate in the forward direction, driving a power wheel 201 to rotate to drive the cabin longitudinal seam automatic polishing device to integrally walk to the next longitudinal seam along the upper flange of the I-beam 9 on the cabin, and presetting the position as a new starting point;
step 14: repeating the step 5 to the step 13 until the rough milling of all longitudinal joints between two adjacent I-beams 9 in the cabin body is completed;
step 15: the automatic cabin longitudinal seam grinding device is integrally stopped, the pneumatic grinding machine 83 is detached from the positioning plate 85, the rough milling cutter mounted on the pneumatic grinding machine 83 is detached and the finish milling cutter is mounted, and then the pneumatic grinding machine 83 is mounted on the positioning plate 85 again;
step 16: starting the laser seam finder 11, starting the longitudinal walking device 3, returning the laser seam finder 11 to the starting point after scanning a longitudinal seam, and stopping the longitudinal walking device 3; starting the circular motion device 2, driving the whole device to travel to the next longitudinal seam, stopping the circular motion device 2, starting the longitudinal walking device 3 again, returning to the starting point after the laser seam finder 11 scans the whole longitudinal seam, and stopping the longitudinal walking device 3; starting the circular motion device 2 again, driving the whole device to travel to the next longitudinal joint, stopping the circular motion device 2, and repeatedly executing until the laser seam finder 11 finishes scanning all longitudinal joints between two adjacent I-beams 9 in the cabin body;
the laser seam finder 11 determines the highest point and the lowest point of all longitudinal seams, calculates the difference value between the highest point and the lowest point, and the difference value is used as the feeding amount of the first milling of the finish milling cutter;
and step 17: starting the pneumatic grinding machine 83, and rotating the finish milling cutter; starting the feeding device 6, wherein the feeding device 6 provides feeding amount for the finish milling cutter towards the longitudinal seam, and the finish milling cutter starts to feed and mill; starting the longitudinal walking device 3, returning to the starting point after the finish milling cutter mills a longitudinal seam, and stopping the longitudinal walking device 3; starting the circular motion device 2, driving the whole device to travel to the next longitudinal seam, stopping the circular motion device 2, starting the longitudinal walking device 3 again, returning to the starting point after the finish milling cutter mills, and stopping the longitudinal walking device 3; starting the circular motion device 2 again, driving the whole device to travel to the next longitudinal joint, stopping the circular motion device 2, and repeatedly executing until finishing the first fine milling of all longitudinal joints between two adjacent I-beams 9 in the cabin body;
step 18: repeating the step 16, scanning all longitudinal joints between every two adjacent I-beams 9 in the cabin again by the laser seam searching machine 11, and detecting the surplus height of the welding seam, wherein the surplus height is used as the feeding amount of the secondary milling of the finish milling cutter;
step 19: repeating the step 17, and carrying out secondary fine milling on all longitudinal joints between every two adjacent I-beams 9 in the cabin;
step 20: repeating the step 16, scanning all longitudinal joints between every two adjacent I-beams 9 in the cabin again by the laser seam searching machine 11, and meeting the requirement if the welding seam allowance is less than 0.2 mm; otherwise, repeating the steps 18 and 19 until the milling requirement is met.
Step 21: starting the circular motion device, driving the whole device to travel to the next longitudinal seam, stopping the circular motion device, starting the longitudinal travel device again, returning to the starting point after the laser seam finder scans the whole longitudinal seam, and stopping the longitudinal travel device; and starting the circular motion device again to drive the whole device to travel to the next longitudinal joint, stopping the circular motion device, and repeatedly executing until the laser seam finder finishes scanning all longitudinal joints between two adjacent I-beams in the cabin.
The method can scan the contour of the welding seam through the laser seam finder before polishing, determine the highest point and the lowest point of the welding seam, further determine the optimal feeding distance, improve the polishing efficiency and ensure the polishing quality; the cabin body is protected by adopting a rough milling cutter to process and then adopting a finish milling cutter to mill, so that the rough milling cutter can be effectively prevented from over-milling; and after the finish milling is finished, scanning the profile of the welding seam through a laser seam searching machine, and ensuring that the polishing residual height meets the polishing requirement.
The parts not involved in the present invention are the same as or can be implemented using the prior art.
As noted above, while the present invention has been shown and described with reference to certain preferred embodiments, it is not to be construed as limited thereto. Various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (10)

1. An automatic polishing device for longitudinal seams of a cabin body is characterized in that the automatic polishing device for longitudinal seams of the cabin body is integrally positioned in an inner cavity of the cabin body and comprises a bottom plate (1), a circumferential motion device (2), a longitudinal walking device (3), a longitudinal clamping device (4), a feeding device (6), a radial clamping device (7) and a polishing device (8),
the base plate (1) is connected with two adjacent I-beams (9) on the cabin body through a longitudinal clamping device (4) and a radial clamping device (7), the annular movement device (2), the longitudinal walking device (3), the longitudinal clamping device (4), the feeding device (6) and the radial movement device (7) are all arranged on the base plate (1), the polishing device (8) is arranged on the feeding device (6), the feeding device (6) provides feeding amount for the polishing device (8), and the polishing device (8) mills longitudinal seams;
defining that two ends of a bottom plate (1) positioned at two I-shaped beams (9) are respectively a left end and a right end, wherein an annular motion device (2) is arranged at the left end of the bottom plate (1), the annular motion device (2) drives the bottom plate (1) to travel annularly along the two I-shaped beams (9) on a cabin body, a longitudinal clamping device (4) and a radial clamping device (7) are mutually matched to limit the cabin body longitudinal seam automatic polishing device to two adjacent I-shaped beams (9) of the cabin body integrally, a feeding device (6) is arranged on the bottom plate (1) and used for driving feeding of a polishing device (8), and the annular motion of the polishing device (8) is driven by the annular motion device (2); the grinding device (8) is arranged on the feeding device (6), and the longitudinal walking device (3) is connected with the feeding device (6) and used for measuring the longitudinal displacement of the grinding device (8).
2. The automatic polishing device for the longitudinal seams of the cabin body according to claim 1, characterized in that the circumferential motion device (2) comprises a power wheel (201), a speed reducer (202) and a second servo motor (203), the speed reducer (202) is installed at the left end of the bottom plate (1), the second servo motor (203) is connected with the speed reducer (202), a motor shaft of the second servo motor (203) is connected with an input shaft of the speed reducer (202), the power wheel (201) is arranged on an output shaft of the speed reducer (202), the power wheel (201) is attached to a wing plate surface of an upper flange of the I-beam (9), the power wheel (201) is made of nylon, the power wheel (201) is driven to rotate by the second servo motor (203), and the power wheel (201) rotates to drive the automatic polishing device for the longitudinal seams of the cabin body to integrally travel along the upper flange of the I-beam (9) on the cabin body.
3. The automatic grinding device for the longitudinal seam of the cabin body according to claim 1, characterized in that the longitudinal clamping device (4) comprises two fixed longitudinal clamping wheels (41) and one movable longitudinal clamping wheel component (42), the two fixed longitudinal clamping wheels (41) and the movable longitudinal clamping wheel component (42) are arranged at the edges of the left end and the right end of the base plate (1) in a triangular shape and are used for clamping the automatic grinding device for the longitudinal seam of the cabin body on the upper flanges of the two I-beams (9) integrally; two fixed longitudinal clamping wheels (41) are arranged at the left end of the bottom plate (1), and a movable longitudinal clamping wheel component (42) is arranged at the right end of the bottom plate (1);
the movable longitudinal clamping wheel component (42) comprises a guide rail (422), a moving plate (421), a rack (423), a first longitudinal clamping wheel (424), a first gear (425) and a first servo motor (426), wherein the guide rail (422) and the rack (423) are fixed on the bottom plate (1) in parallel, two ends of the guide rail (422) are flush with the left end and the right end of the bottom plate (1), and the guide rail (422) is parallel to the longitudinal seam; the moving plate (421) is arranged on the sliding block of the guide rail (422), the moving plate (421) is vertical to the guide rail (422), and two ends of the moving plate (421) extend out of the bottom plate (1); the first servo motor (426) is connected with the moving plate (421), the first gear (425) is arranged on a motor shaft of the first servo motor (426), the first gear (425) is meshed with the rack (423), the first longitudinal clamping wheel (424) is rotatably arranged on the first clamping wheel shaft, the upper end of the first clamping wheel shaft is fixed on the moving plate (421), the first longitudinal clamping wheel (424) is suspended below the moving plate (421), and the outer surface of the first longitudinal clamping wheel (424) can be attached to one side face of a web plate of the I-beam (9);
the two fixed longitudinal clamping wheels (41) are arranged at the edge of the left end of the base plate (1) through a second clamping wheel shaft, the two fixed longitudinal clamping wheels (41) are respectively rotatably arranged on the second clamping wheel shaft, the two fixed longitudinal clamping wheels (41) are suspended below the base plate (1), and the outer surface of the two fixed longitudinal clamping wheels can be attached to the side surface of the other side of the web plate of the I-shaped beam (9).
4. The automatic polishing device for the longitudinal joint of the cabin body according to claim 3, characterized in that the radial clamping device (7) comprises four radial clamping mechanisms which are arranged at the edges of the left side and the right side of the bottom plate (1) in a rectangular shape, wherein two radial clamping mechanisms are arranged at the end parts of the two ends of the moving plate (421) at the right end of the bottom plate (1) through fixing plates (74), and the other two radial clamping mechanisms are fixed at the left end of the bottom plate (1) through fixing plates (74);
the four radial clamping mechanisms comprise clamping cylinders (71), adapters (72) and radial clamping wheels (73), cylinder bodies of the clamping cylinders (71) are connected onto the fixing plate (74), the adapters (72) are arranged at the end parts of piston rods (75) of the clamping cylinders (71), and the radial clamping wheels (73) are rotatably arranged on the adapters (72) through third clamping wheel shafts;
the four radial clamping wheels (73) are suspended below the base plate (1), and the outer surfaces of the four radial clamping wheels (73) can be attached to the back surfaces of wing plates of the upper flange of the I-beam (9).
5. The automatic polishing device for the longitudinal seam of the cabin body according to claim 3 or 4, characterized in that the feeding device (6) comprises a sliding plate (69), a base plate (65), a third servo motor (61), a synchronous belt transmission pair (62), a ball screw nut pair (63), a lifting plate (64), a supporting seat (66) and two vertical guide rails (67),
the sliding plate (69) is connected with a sliding block which is arranged on the guide rail (422) in a matching way, the base plate (65) is vertically arranged on the sliding plate (69), the third servo motor (61) and the supporting seat (66) are respectively arranged on two side surfaces of the base plate (65), the upper end bearing of the ball screw in the ball screw nut pair (63) is connected with the supporting seat (66), and the ball screw is vertically arranged; a driving pulley and a driven pulley in a synchronous belt transmission pair (62) are respectively connected with a motor shaft of a third servo motor (61) and the upper end of a ball screw, a lifting plate (64) is connected with a screw nut in a ball screw nut pair (63), two vertical guide rails (67) are arranged on one side surface of a base plate (65) at intervals, and a sliding block which is arranged by matching the two vertical guide rails (67) is connected on the lifting plate (64).
6. The automatic grinding device for the longitudinal seam of the cabin body according to claim 5, characterized in that the longitudinal walking device (3) comprises a power unit and a longitudinal walking displacement measuring device, the power unit comprises a fourth servo motor (31) and a second gear (32), the fourth servo motor (31) is arranged on the sliding plate (69), the second gear (32) is arranged on a motor shaft of the fourth servo motor (31), and the second gear (32) is meshed with the rack (423);
the longitudinal walking displacement measuring device is a grating ruler, the grating ruler is defined as a first grating ruler, a scale grating (33) of the first grating ruler is arranged on the bottom plate (1), the scale grating (33) of the first grating ruler is parallel to the longitudinal joint, and a grating reading head (34) of the first grating ruler is fixed on the sliding plate (69) through a connecting rod (35).
7. The automatic grinding device for the longitudinal seam of the cabin body according to claim 5 or 6, characterized in that the grinding device (8) comprises a six-dimensional force sensor (81), a buffer (82) and a pneumatic grinding machine (83), wherein the six-dimensional force sensor (81) is arranged on the back surface of the lifting plate (64), the buffer (82) is arranged on the six-dimensional force sensor (81) and is positioned below the six-dimensional force sensor (81), a positioning plate (85) is arranged below the buffer (82), and the pneumatic grinding machine (83) is arranged on the positioning plate (85) and is positioned right above the longitudinal seam.
8. The automatic cabin longitudinal joint grinding device according to claim 7, characterized in that the automatic cabin longitudinal joint grinding device further comprises a displacement measuring device (5) for measuring the walking distance of the grinding device (8) on the I-beam, a camera (10) for recording the grinding process and a laser seam finder (11) for positioning the welding seam and detecting the quality of the welding seam after grinding, wherein the displacement measuring device (5) is arranged at the left end part of the bottom plate (1),
the displacement measuring device (5) comprises a roller (51), a transmission shaft (52), a bearing seat (53) and an encoder (54), the bearing seat (53) is fixed on the bottom plate (1), the transmission shaft (52) is rotatably connected with the bearing seat (53) through a bearing, the output shaft of the encoder (54) is connected with one end of the transmission shaft (52), the roller (51) is arranged at the other end of the transmission shaft (52), and the roller (51) is tightly attached to the wing plate surface of the upper flange of the I-beam;
the camera (10) is arranged at the tail end of the connecting rod (35) and is suspended below the bottom plate (1);
the laser seam searching machine (11) is suspended right above a longitudinal seam to be polished through an L-shaped support (1101), the L-shaped support (1101) is arranged on the substrate (65), and the laser seam searching machine (11) is close to the pneumatic polisher (83).
9. A longitudinal joint grinding method based on the automatic cabin longitudinal joint grinding device of claims 1-8 is characterized by comprising the following steps:
step 1: the automatic polishing device for the longitudinal joint of the cabin body is arranged on two I-shaped beams (9) of the cabin body of which the longitudinal joint is to be polished, wherein the I-shaped beams are arranged on the cabin body; the pneumatic sander (83) is not installed;
step 2: adjusting the feeding position of a feeding device (6) in the device in the step 1 to be at the highest point;
and step 3: the milling cutter on the pneumatic grinding machine (83) is replaced by a rough milling cutter;
and 4, step 4: mounting the pneumatic grinding machine (83) in the step (3) on a positioning plate (85) so that the rough milling cutter is opposite to the longitudinal seam; presetting the position as a starting point;
and 5: starting a camera (10) and a laser seam searching machine (11);
step 6: starting the longitudinal walking device (3), driving a second gear (32) to walk on the rack (423) by forward rotation of a fourth servo motor (31), and driving the sliding plate (69) and all parts mounted on the sliding plate to slide on the guide rail (422) until the laser seam finder (11) scans the whole longitudinal seam;
and 7: after the step 6 is finished, the fourth servo motor (31) rotates reversely to drive the sliding plate (69) and all parts mounted on the sliding plate to return to the starting point;
and 8: starting a pneumatic grinding machine (83), and rotating the rough milling cutter; starting a feeding device (6), wherein the feeding device (6) provides a feeding amount for the rough milling cutter towards the longitudinal seam, and the rough milling cutter starts to perform feed milling; starting the longitudinal walking device (3), and driving the pneumatic grinding machine (83) to mill the whole longitudinal seam in the step 6 by forward rotation of the fourth servo motor (31);
and step 9: after the step 8, stopping the pneumatic grinding machine (83), stopping feeding by the feeding device (6) and adjusting to the highest point of a feeding position, and reversely rotating the fourth servo motor (31) to drive the sliding plate (69) and all parts mounted on the sliding plate to return to the starting point;
step 10: the fourth servo motor (31) rotates forwards, the laser seam finder (11) is used for scanning the whole milled longitudinal seam, the welding seam allowance of the milled surface is detected, and the welding seam allowance is ensured to be within the range of 0.5-1 mm;
step 11: if the welding seam allowance is within the range of 0.5-1mm, coarse milling of the longitudinal seam is completed, otherwise, the steps 8-10 are repeated;
step 12: the fourth servo motor (31) rotates reversely to drive the sliding plate (69) and all parts mounted on the sliding plate to return to the starting point, and the camera (10) and the laser seam searching machine (11) are stopped;
step 13: starting a speed reducer (202) and a second servo motor (203) in the annular motion device (2) to rotate in the forward direction, driving a power wheel (201) to rotate to drive the cabin longitudinal seam automatic polishing device to integrally walk to the next longitudinal seam along the upper flange of an I-shaped beam (9) on the cabin, and presetting the position as a new starting point;
step 14: repeating the step 5 to the step 13 until the rough milling of all longitudinal joints between two adjacent I-beams (9) in the cabin body is completed;
step 15: the automatic cabin longitudinal seam polishing device is integrally stopped, the pneumatic polisher (83) is detached from the positioning plate (85), the rough milling cutter arranged on the pneumatic polisher (83) is detached and the finish milling cutter is arranged, and then the pneumatic polisher (83) is re-arranged on the positioning plate (85);
step 16: starting the laser seam searching machine (11), starting the longitudinal walking device (3), returning to the starting point after the laser seam searching machine (11) scans a longitudinal seam, and stopping the longitudinal walking device (3); starting the circular motion device (2), driving the whole device to travel to the next longitudinal seam, stopping the circular motion device (2), starting the longitudinal walking device (3) again, returning to the starting point after the laser seam finder (11) scans the whole longitudinal seam, and stopping the longitudinal walking device (3); starting the circular motion device (2) again, driving the whole device to travel to the next longitudinal joint, stopping the circular motion device (2), and repeatedly executing until the laser seam finder (11) finishes scanning all longitudinal joints between two adjacent I-beams (9) in the cabin body;
the laser seam searching machine (11) determines the highest point and the lowest point of all longitudinal seams, calculates the difference value between the highest point and the lowest point, and the difference value is used as the feeding amount of the first milling of the finish milling cutter;
and step 17: starting a pneumatic grinding machine (83), and rotating the finish milling cutter; starting a feeding device (6), wherein the feeding device (6) provides a feeding amount for the finish milling cutter towards the longitudinal seam, and the finish milling cutter starts to feed and mill; starting the longitudinal walking device (3), returning to the starting point after the finish milling cutter mills a longitudinal seam, and stopping the longitudinal walking device (3); starting the circular motion device (2), driving the whole device to travel to the next longitudinal seam, stopping the circular motion device (2), starting the longitudinal walking device (3) again, returning to the starting point after the finish milling cutter mills, and stopping the longitudinal walking device (3); the circular motion device (2) is started again, the whole device is driven to travel to the next longitudinal joint, the circular motion device (2) is stopped, and the circular motion device is repeatedly executed until the first fine milling of all longitudinal joints between two adjacent I-beams (9) in the cabin body is completed;
step 18: repeating the step 16, scanning all longitudinal joints between every two adjacent I-beams (9) in the cabin again by the laser seam searching machine (11), and detecting the surplus height of the welding seam, wherein the surplus height is used as the feeding amount of the secondary milling of the finish milling cutter;
step 19: repeating the step 17, and carrying out secondary fine milling on all longitudinal joints between every two adjacent I-shaped beams (9) in the cabin;
step 20: repeating the step 16, scanning all longitudinal joints between every two adjacent I-beams (9) in the cabin again by the laser seam searching machine (11), and meeting the requirement if the allowance of the welding joints is less than 0.2 mm; otherwise, repeating the step 18 and the step 19 until the milling requirement is met;
step 21: starting the circular motion device, driving the whole device to travel to the next longitudinal seam, stopping the circular motion device, starting the longitudinal travel device again, returning to the starting point after the laser seam finder scans the whole longitudinal seam, and stopping the longitudinal travel device; and starting the circular motion device again to drive the whole device to travel to the next longitudinal joint, stopping the circular motion device, and repeatedly executing until the laser seam finder finishes scanning all longitudinal joints between two adjacent I-beams in the cabin.
10. The longitudinal joint grinding method according to claim 9, wherein the step 1 is specifically:
step 101: adjusting a longitudinal clamping device (4) and a radial clamping device (7) in the device to be in a maximum opening state, and ensuring that the longitudinal clamping device and the radial clamping device (7) can be placed on adjacent I-beams of the cabin body;
step 102: starting a first servo motor (426), pushing a moving plate (421) to drive a first longitudinal clamping wheel (424) to enable the outer surface of the first longitudinal clamping wheel to be attached to one side face of a web plate of the I-shaped beam (9), and enabling the outer surfaces of two fixed longitudinal clamping wheels (41) to be attached to the other side face of the web plate of the I-shaped beam (9); the first servomotor (426) is stopped;
step 103: when the first servo motor (426) works, the moving plate (421) drives the two radial clamping wheels (73) to approach to the side face of one side of the web plate of the I-shaped beam (9) at the same time; and synchronously starting the four clamping cylinders (71) to push the four radial clamping wheels (73) to enable the outer surfaces of the four radial clamping wheels to simultaneously cling to the back surfaces of the wing plates of the upper flanges of the I-shaped beams (9).
CN202010652633.6A 2020-07-08 2020-07-08 Automatic cabin longitudinal joint polishing device and longitudinal joint polishing method Active CN111660161B (en)

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PCT/CN2020/108767 WO2022007107A1 (en) 2020-07-08 2020-08-13 Automatic longitudinal weld seam grinding device for capsule body and longitudinal weld seam grinding method

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