CN111673569A - Cabin body circular seam automatic polishing device and circular seam polishing method - Google Patents

Cabin body circular seam automatic polishing device and circular seam polishing method Download PDF

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Publication number
CN111673569A
CN111673569A CN202010650567.9A CN202010650567A CN111673569A CN 111673569 A CN111673569 A CN 111673569A CN 202010650567 A CN202010650567 A CN 202010650567A CN 111673569 A CN111673569 A CN 111673569A
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CN
China
Prior art keywords
seam
clamping
plate
cabin body
cabin
Prior art date
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Pending
Application number
CN202010650567.9A
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Chinese (zh)
Inventor
李云
马珂幸
黄肖飞
戴振东
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nanjing Lihang Bionic Industry Research Institute Co ltd
Nanjing Bio Inspired Intelligent Technology Co ltd
Original Assignee
Nanjing Lihang Bionic Industry Research Institute Co ltd
Nanjing Bio Inspired Intelligent Technology Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
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 CN202010650567.9A priority Critical patent/CN111673569A/en
Priority to PCT/CN2020/108754 priority patent/WO2022007106A1/en
Publication of CN111673569A publication Critical patent/CN111673569A/en
Pending legal-status Critical Current

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24BMACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B9/00Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor
    • B24B9/02Machines 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
    • B24B9/04Machines 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
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23CMILLING
    • B23C3/00Milling particular work; Special milling operations; Machines therefor
    • B23C3/02Milling surfaces of revolution
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23CMILLING
    • B23C3/00Milling particular work; Special milling operations; Machines therefor
    • B23C3/12Trimming or finishing edges, e.g. deburring welded corners
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24BMACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B27/00Other grinding machines or devices
    • B24B27/0076Other grinding machines or devices grinding machines comprising two or more grinding tools
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24BMACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B41/00Component parts such as frames, beds, carriages, headstocks
    • B24B41/02Frames; Beds; Carriages
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24BMACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B47/00Drives or gearings; Equipment therefor
    • B24B47/20Drives or gearings; Equipment therefor relating to feed movement
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24BMACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B49/00Measuring 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
    • B24B49/12Measuring 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)
  • Grinding And Polishing Of Tertiary Curved Surfaces And Surfaces With Complex Shapes (AREA)

Abstract

The invention discloses an automatic polishing device for a cabin circumferential seam, which comprises a base plate, a circumferential motion device, a supporting device, a longitudinal clamping device, a feeding device, a radial clamping device and a polishing device, wherein the base plate integrally limits the automatic polishing device for the cabin circumferential seam to an I-shaped beam on a cabin through the longitudinal clamping device and the radial clamping device, the circumferential motion device, the longitudinal clamping device, the feeding device, the radial motion device and the supporting 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 circumferential seam. The invention also discloses an automatic polishing method for the cabin body circular seam. The advantages are that: the automatic polishing machine is used for replacing manual polishing, and compared with manual polishing, the automatic polishing machine has the advantages of good polishing effect, high efficiency and capability of continuously working.

Description

Cabin body circular seam automatic polishing device and circular seam polishing method
Technical Field
The invention relates to a polishing device and a polishing method, in particular to an automatic polishing device and a polishing method for a capsule body circular seam 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. 4.
At present, the known polishing device cannot be applied to the circular seam 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 circular seam is poor.
Disclosure of Invention
The invention aims to provide an automatic cabin body circular seam polishing device suitable for polishing a circular seam on a capsule body of a space capsule, aiming at the problems in the background technology.
The technical scheme adopted by the invention is as follows: an automatic polishing device for a cabin circumferential seam comprises an automatic polishing device for the cabin circumferential seam, which is integrally positioned in an inner cavity of a cabin body, and comprises a bottom plate, a circumferential motion device, a supporting device, a longitudinal clamping device, a feeding device, a radial clamping device and a polishing device,
the automatic polishing device for the circumferential seams of the cabin body is integrally limited to the I-shaped beam on the cabin body by the base plate through the longitudinal clamping device and the radial clamping device, the circumferential movement device, the longitudinal clamping device, the feeding device, the radial movement device and the supporting device are all arranged on the base plate, the polishing device is arranged on the feeding device, the feeding device drives the grinding device to realize feeding, and the polishing device mills the circumferential seams;
the annular motion device and the supporting device are respectively arranged at the front end and the rear end of the bottom plate, the annular motion device drives the bottom plate to walk along the I-shaped beam on the cabin body, the longitudinal clamping device and the radial clamping device are mutually matched to limit the cabin body annular seam automatic polishing device to the I-shaped beam on the cabin body integrally, the feeding device is installed on the bottom plate and used for realizing the feeding of the polishing device, and the polishing device is arranged on the feeding device.
The technical scheme for further optimizing the device comprises the following steps:
the circumferential motion device comprises a power wheel, a speed reducer and a servo motor, the speed reducer is arranged at the front end of the bottom plate, the servo motor is connected with the speed reducer, a motor shaft of the 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 servo motor drives the power wheel to rotate, and the power wheel rotates to drive the cabin body circumferential seam automatic polishing device to integrally walk 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 powered on and started by the servo motor, the power wheel rotates, and the automatic cabin circumferential seam polishing device is driven to integrally walk along the upper flange of the I-beam on the cabin body through the friction force between the power wheel and the flange plate surface of the upper flange of the I-beam.
The supporting device comprises a connecting plate, a connecting shaft and supporting wheels, wherein a through groove is formed in the surface of the connecting plate, the supporting wheels are arranged in the through groove, the supporting wheels are rotatably arranged on the connecting shaft, and two ends of the connecting shaft are supported on the connecting plate; the connecting plate is arranged at the rear end of the bottom plate, and the supporting wheels are supported on the surface of the wing plate at the upper flange of the I-beam in a rolling manner. The supporting device and the annular movement device jointly act to support the cabin body annular seam automatic polishing device, and the supporting wheels in the supporting device are made of nylon materials, so that the contact area of the supporting wheels 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.
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 are arranged on the edges of two sides of the bottom plate in a triangular mode and used for clamping the cabin body circumferential seam automatic polishing device on the upper flange of the I-shaped beam integrally; the movable longitudinal clamping wheel component comprises two guide rails, a moving plate, a first clamping cylinder and a first longitudinal clamping wheel, the two guide rails are parallel and spaced and are perpendicular to the bottom plate and extend outwards to be arranged at the edge of one side of the bottom plate, the moving plate is arranged on the two guide rails, the first longitudinal clamping wheel is rotatably arranged on a 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, the outer surface of the first longitudinal clamping wheel can be attached to one side face of a web plate of the I-beam, the first clamping cylinder is arranged on the upper plate face of the bottom plate, and a piston rod of the first clamping cylinder is connected with the moving plate; two fixed longitudinal clamping wheels are installed at the edge of the other side of the base plate through a second clamping wheel shaft, the two fixed longitudinal clamping wheels are respectively rotatably arranged on the second clamping wheel shaft, the two fixed longitudinal clamping wheels are suspended below the base 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. The longitudinal clamping device adopts two longitudinal clamping wheels and one movable longitudinal clamping wheel to respectively clamp two sides of a web plate of the I-beam, and the two longitudinal clamping wheels and the movable longitudinal clamping wheel are both made of nylon materials.
The radial clamping device comprises four radial clamping mechanisms which are arranged at the edges of two sides of the bottom plate in a rectangular shape, wherein two radial clamping mechanisms are arranged at two end parts of the moving plate through fixing plates, and the other two radial clamping mechanisms are fixed on the bottom plate through the fixing plates; the four radial clamping mechanisms comprise second clamping cylinders, adapters and radial clamping wheels, the cylinder bodies of the second clamping cylinders are connected to the fixing plate, the adapters are arranged at the end parts of piston rods of the second 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. Four radial clamping wheels in the radial clamping device are divided into two groups to clamp the back of the wing plate of the upper flange of the I-beam.
In the technical scheme of the invention, the longitudinal clamping device and the radial clamping device are matched with each other, and the cabin body circular seam automatic polishing device is integrally connected with the I-shaped beam. In the technical scheme of the invention, the clamping force of the longitudinal clamping device and the radial clamping device is provided by the air cylinder, the clamping force is adjustable, and the clamping wheel is made of nylon material, so that the vibration of the equipment in the polishing process can be effectively reduced, and the polishing precision is improved.
The feeding device comprises a base plate, a 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 base plate is vertically arranged on the bottom plate, the servo motor and the supporting seat are respectively arranged on two side surfaces of the base plate, a bearing at the upper end of a ball screw in the ball screw nut pair is connected with the supporting seat, and the ball screw is vertically arranged; a driving belt wheel and a driven belt wheel in a synchronous belt transmission pair are respectively connected with a motor shaft of a servo motor and the upper end of a ball screw, a lifting plate is connected with a screw nut in a ball screw nut pair, two vertical guide rails are arranged on one side surface of a base plate at intervals, and a sliding block which is arranged by matching the two vertical guide rails is connected on the lifting plate. According to the technical scheme, the stroke of the feeding device is adjustable, the polishing feeding amount can be adjusted according to the actual polishing condition, and the polishing efficiency is improved.
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 circumferential weld directly over. The grinding device is provided with a six-dimensional force sensor, so that the force and the moment generated in each direction during grinding can be measured in real time, and the device plays an important role in the research of the grinding working condition in the later period; the buffer is installed to grinding device, can effectually play absorbing effect, and the stability of power when being favorable to polishing improves the quality on the surface of polishing.
The cabin body circular seam 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 and the camera are positioned at the rear end of the bottom plate, and are respectively positioned at two sides of the bottom plate; the laser seam finder is positioned on one side of the front end of the bottom plate and below the bottom plate; the displacement measuring device comprises a roller, a transmission shaft, a bearing seat and an encoder, wherein the bearing seat is fixed at the rear end of the bottom plate, the transmission shaft is rotatably connected with the bearing seat through a bearing, an 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 upper flange of the I-beam; the camera and the polishing device are positioned on the same side of the bottom plate, and the camera is suspended at the edge of one side of the bottom plate through an extension arm which extends outwards and is vertical to the bottom plate; the laser seam finder and the polishing device are positioned on the same side of the bottom plate, the laser seam finder is suspended right above the circular seam to be polished through an L-shaped support, and the L-shaped support is arranged on the substrate. 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 is equipped to record the polishing process and the polishing effect in real time, so that the polishing process can be monitored in real time, and the polishing process in the later period can be improved.
The invention discloses a circular seam polishing method of an automatic cabin circular seam polishing device, which comprises the following steps:
step 1: installing the cabin body circular seam automatic polishing device on an I-shaped beam of a cabin body to be polished with circular seams, wherein the cabin body circular seam automatic polishing device is arranged on the I-shaped beam; 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, and enabling the rough milling cutter to be opposite to the circular seam; the preset position is a starting point;
and 5: starting a camera and a laser seam searching machine;
step 6: starting a speed reducer and a servo motor in the annular motion device to rotate in the forward direction, and driving a power wheel to rotate to drive the cabin body annular seam automatic polishing device to integrally walk for a certain distance along the upper flange of an I-shaped beam on the cabin body; scanning the circular seam within the distance by the laser seam searching machine and determining the position of the circular seam;
and 7: after the step 6 is finished, starting a speed reducer and a servo motor in the circular motion device to rotate reversely, and driving the cabin body circular seam automatic polishing device to return to the starting point by the rotation of the power wheel;
and 8: starting a speed reducer and a servo motor in the circular motion device to rotate in the forward direction, and driving the cabin body circular seam automatic polishing device to move from a starting point to a terminal point of the distance scanned by the laser seam finder by the rotation of the power wheel; simultaneously starting a pneumatic grinding machine, and rotating a rough milling cutter; starting a feeding device, wherein the feeding device provides feeding amount for the rough milling cutter towards the circular seam, and the rough milling cutter starts to feed and mill;
and step 9: after the step 8 is finished, starting a speed reducer and a servo motor in the circular motion device to rotate reversely, and driving the cabin body circular seam automatic polishing device to return to the starting point by the rotation of the power wheel;
step 10: after the step 9 is finished, starting a speed reducer and a servo motor in the circular motion device to rotate in the forward direction, driving a power wheel to rotate to drive the cabin body circular seam automatic polishing device to scan the end point of the distance from the starting point to the laser seam finder to travel, scanning and detecting the welding seam allowance of the milling surface in the distance by the laser seam finder, and ensuring that the welding seam allowance is within the range of 0.5-1 mm;
step 11: the cabin body circular seam automatic grinding device is positioned at the end point of the distance, and meanwhile, the position is taken as the starting point, and the steps 6 to 10 are repeated until the whole circular seam is roughly milled;
step 12: the pneumatic grinding machine is detached from the positioning plate, and the rough milling cutter arranged on the pneumatic grinding machine is detached and the finish milling cutter is arranged; then the pneumatic grinding machine is mounted on the positioning plate again;
step 13: starting a speed reducer and a servo motor in the circular motion device to rotate in the forward direction, driving a power wheel to rotate to drive the cabin body circular seam automatic polishing device to integrally walk along the upper flange of an I-shaped beam on the cabin body for one circle, scanning the whole circular seam by a laser seam finder, determining the difference value between the highest point and the lowest point of the circular seam by the laser seam finder, and taking the difference value as the feeding amount of the first milling of the finish milling cutter;
step 14: starting a speed reducer and a servo motor in the circular motion device to rotate in the forward direction, enabling a power wheel to rotate to drive the cabin body circular seam automatic polishing device to walk for a circle along the upper flange of an I-shaped beam on the cabin body, starting a pneumatic polishing machine and enabling a finish milling cutter to rotate; starting a feeding device, wherein the feeding device provides feeding amount for the finish milling cutter towards the circular seam, and the finish milling cutter starts to feed for finish milling for the first time;
step 15: after the finish milling cutter finishes one circle of first finish milling, the speed reducer and the servo motor in the circular motion device are started again to rotate in the forward direction, the power wheel is driven to rotate to drive the cabin body circular seam automatic polishing device to integrally move for one circle along the upper flange of the I-shaped beam on the cabin body, the laser seam finder scans the whole circular seam, the excess height of the welding seam is detected by the laser seam finder, and the excess height is used as the feeding amount of the finish milling cutter for the second milling;
step 16: starting a speed reducer and a servo motor in the circular motion device to rotate in the forward direction, enabling a power wheel to rotate to drive the cabin body circular seam automatic polishing device to walk for a circle along the upper flange of an I-shaped beam on the cabin body, starting a pneumatic polishing machine and enabling a finish milling cutter to rotate; starting the feeding device, wherein the feeding device provides feeding amount for the finish milling cutter towards the circular seam, and the finish milling cutter starts to feed for finish milling for the second time;
and step 17: after the finish milling cutter finishes one circle of finish milling for the second time, the speed reducer and the servo motor in the circular motion device are started again to rotate in the forward direction, the power wheel is driven to rotate to drive the cabin body circular seam automatic polishing device to integrally move for one circle along the upper flange of the I-shaped beam on the cabin body, the laser seam finder scans the whole circular seam, the surplus height of the welding seam is detected by the laser seam finder, and the requirement can be met if the surplus is less than 0.2 mm; otherwise, repeat step 15 and step 16.
The step 1 specifically comprises the following steps: step 101: adjusting a longitudinal clamping device and a radial clamping mechanism in the device to enable the longitudinal clamping device and the radial clamping mechanism to be in a maximum opening state, and ensuring that the longitudinal clamping device and the radial clamping mechanism can be placed on an I-beam of the cabin body;
step 102: starting a first clamping cylinder, pushing 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; the first clamping cylinder is stopped;
step 103: and synchronously starting the four second 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-shaped beams.
Compared with the prior art, the invention has the beneficial effects that:
according to the device disclosed by the invention, the whole circular seam 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.
According to the method, the rough milling cutter is adopted for processing, and then the finish milling cutter is adopted for milling, so that the rough milling cutter can be effectively prevented from over-milling, and the cabin body is protected; the sectional polishing of the circular seam can greatly improve the polishing efficiency and ensure the polishing quality; 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 view of a first structure of an automatic polishing device for a cabin circumferential seam.
Fig. 2 is a second structural schematic diagram of the automatic polishing device for the circumferential seams of the cabin body.
Fig. 3 is a schematic structural view of the base plate.
Fig. 4 is a schematic structural diagram of the capsule body of the space capsule.
Fig. 5 is a schematic structural view of the hoop moving device.
Fig. 6 is a schematic structural view of the support device.
Fig. 7 is a schematic view of a first structure of the automatic cabin circumferential seam grinding device installed on an i-beam (reflecting the position relationship between a longitudinal clamping device and a radial clamping device).
Fig. 8 is a second structural schematic diagram of the cabin circumferential seam automatic grinding device installed on the i-beam (reflecting the position relationship of the longitudinal clamping device and the radial clamping device).
Figure 9 is a schematic view of the assembly of the fixed longitudinal pinch wheel with the second pinch wheel axle.
Fig. 10 is a schematic view of the structure of the radial clamping mechanism.
Fig. 11 is a schematic diagram of a third structure of the cabin circumferential seam automatic grinding device installed on an i-beam (reflecting the position relationship of the feeding device).
Fig. 12 is a schematic view showing the assembled relationship of the feeding device and the polishing device.
Fig. 13 is a schematic structural view of the displacement measuring device.
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 and 2, the cabin circumferential seam automatic polishing device comprises a cabin inner cavity, wherein the cabin circumferential seam automatic polishing device is integrally positioned in the cabin inner cavity, and comprises a bottom plate 1, a circumferential movement device 2, a supporting 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 traveling 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 a welding seam and detecting the quality of the polished welding seam.
As shown in fig. 1 and 2, the base plate 1 integrally limits the cabin circumferential seam automatic polishing device to an i-beam 9 on the cabin through a longitudinal clamping device 4 and a radial clamping device 7, the circumferential motion device 2, the longitudinal clamping device 4, a feeding device 6, the radial motion device 7 and a supporting device 3 are all installed on the base plate 1, the polishing device 8 is installed on the feeding device 6, the feeding device 6 provides feeding amount for the polishing device 8, and the polishing device 8 mills the circumferential seam; the circumferential motion device 2 and the supporting device 3 are respectively arranged at the front end and the rear end of the bottom plate 1, the circumferential motion device 2 drives the bottom plate 1 to walk along an I-shaped beam 9 on the cabin body, the longitudinal clamping device 4 and the radial clamping device 7 are mutually matched to limit the cabin body circumferential seam automatic polishing device to the I-shaped beam 9 on the cabin body integrally, the feeding device 6 is arranged on the bottom plate 1 and used for driving the feeding of the polishing device 8, and the circumferential motion of the polishing device 8 is driven by the circumferential motion device 2; the grinding device 8 is arranged on the feeding device 6.
As shown in fig. 3, 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. 3, 4 and 5, the circular motion device 2 drives the base plate 1 to travel 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 first servo motor 203, the speed reducer 202 is installed at the front end of the base plate 1, the first servo motor 203 is connected with the speed reducer 202, a motor shaft of the first servo motor 203 is connected with an input shaft of the speed reducer 202, the power wheel 201 is disposed 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 first servo motor 203 drives the power wheel 201 to rotate, and the power wheel 201 rotates to drive the cabin circumferential seam automatic polishing device to travel along the upper flange of the i-beam 9 on the.
The circular motion device 2 is installed on the base plate 1 through the speed reducer 202, and the circular motion device 2 is located at the front end of the whole polishing device. The power wheel 201 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. The first servo motor 203 is electrified and started, the power wheel 201 rotates, and the cabin body circular seam automatic 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.
As shown in fig. 6, the supporting device 3 includes a connecting plate 301, a connecting shaft 302 and a supporting wheel 304, a through groove is formed on a plate surface of the connecting plate 301, the supporting wheel 304 is installed in the through groove, two ends of the supporting wheel 304 are rotatably arranged on the connecting shaft 302 through a bearing, and two ends of the connecting shaft 302 are supported on the connecting plate 301; the connecting plate 301 is mounted at the rear end of the base plate 1, and the support wheels 304 are supported on the wing plate surface of the upper flange of the i-beam 9 in a rolling manner.
As shown in fig. 1 and 2, the annular motion device 2 and the support device 3 are respectively arranged at the front end and the rear end of the base plate 1, and the annular motion device 2 and the support device 3 simultaneously rotatably support the base plate 1 on the wing plate surface of the upper flange of the i-beam 9. The power of the circular motion device 2 is input, the power wheel 201 rotates, the supporting wheel 304 also rotates, and the cabin body circular seam automatic polishing device integrally walks along the upper flange of the I-shaped beam on the cabin body.
As shown in fig. 1 and 2, the longitudinal clamping device 4 and the radial clamping device 7 cooperate with each other to integrally limit the automatic polishing device for the circumferential seam of the cabin body to an I-shaped beam 9 on the cabin body.
As shown in fig. 7 and 8, the longitudinal clamping device 4 comprises two fixed longitudinal clamping wheels 41 and a movable longitudinal clamping wheel component 42, and the two fixed longitudinal clamping wheels and the movable longitudinal clamping wheel are arranged at two side edges of the base plate 1 in a triangular shape and are used for clamping the cabin circumferential seam automatic grinding device on the upper flange of the i-beam 9 integrally.
As shown in fig. 8, the movable longitudinal clamping wheel component 42 includes two guide rails 422, a moving plate 421, a first clamping cylinder 423 and a first longitudinal clamping wheel 424, the two guide rails 422 are parallel and spaced and are perpendicular to the bottom plate 1 and extend outward to be disposed at one side edge of the bottom plate 1, the moving plate 421 is disposed on the two guide rails 422, the back surface of the moving plate 421 is fixed with the sliding blocks disposed on the two guide rails 422, and meanwhile, two ends of the moving plate 421 are indirectly supported on the bottom plate 1. 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, the outer surface of the first longitudinal clamping wheel 424 can be attached to one side face of a web of the I-beam 9, the first clamping cylinder 423 is arranged on the upper plate face of the bottom plate 1, the end part of a piston rod of the first clamping cylinder 423 is connected with the moving plate 421 through a transition block 425, and the transition block 425 is arranged on the moving plate 421.
As shown in fig. 7 and 9, two fixed longitudinal clamping wheels 41 are mounted at the edge of the other side 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 side surface of the other side of the web plate of the i-beam 9. As shown in fig. 9, the top of the second pinch wheel axle of both fixed longitudinal pinch wheels 41 is fixed to the base plate 1.
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 two sides of the bottom plate 1 in a triangular shape, the first clamping cylinder 423 acts 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 4 can be attached to the other side of the web of the i-beam 9.
As shown in fig. 7 and 8, the radial clamping device 7 includes four radial clamping mechanisms arranged in a rectangular shape at both side edges of the bottom plate 1, two of the radial clamping mechanisms are disposed at both end portions of the moving plate 421 through the pad block connecting plates 76, and the remaining two radial clamping mechanisms are fixed to the bottom plate 1 through the pad block connecting plates 76. Wherein the cushion block connecting plates 76 located at both ends of the moving plate 421 are supported on the bottom plate 1, and the cushion block connecting plates 76 are in sliding friction with the bottom plate 1.
As shown in fig. 10, each of the four radial clamping mechanisms includes a second clamping cylinder 71, an adapter 72, and a radial clamping wheel 73, a connecting flange plate 74 on a cylinder body of the second clamping cylinder 71 is connected to a pad connecting plate 76, the adapter 72 is disposed at an end of a piston rod 75 of the second clamping cylinder 71, and the radial clamping wheel 73 is rotatably disposed on the adapter 72 through 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 radial clamping of the device needs to be performed, the four second clamping cylinders 71 simultaneously act to drive the four radial clamping wheels 73 to approach to the back surface of the wing plate at the upper flange of the i-beam 9, and meanwhile, the two radial clamping wheels 73 approach to the i-beam 9 under the action of the first clamping cylinders 423; until finally the outer surfaces of the four second clamping cylinders 71 can abut against the wing plate back of the upper flange of the i-beam 9.
As shown in fig. 1 and 11, a feeding device 6 is installed at the base plate 1 to drive feeding of the grinding device 8. The feeding device 6 comprises a base plate 65, a second 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 base plate 65 is vertically arranged on the bottom plate 1, the second 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 the synchronous belt transmission pair 62 are respectively connected with a motor shaft of the second 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 face of the base plate 65 at intervals, and two sliding blocks are arranged on the lifting plate 64 in a matching mode with the two vertical guide rails 67.
In the feeding device 6 of the present embodiment, the second 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. 11, the feeding device 6 further includes a grating scale 68 that measures the feeding amount. The scale grating of the grating scale 68 is vertically installed on the substrate 65, and the grating reading head 681 of the grating scale 68 is installed at the side of the lifting plate 64, and measures the descending stroke of the lifting plate 64 and monitors the feeding amount.
As shown in fig. 1 and 2, 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. 12, 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 disposed 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 circular 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. 12, 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, the cabin circumferential seam automatic polishing device further comprises a displacement measuring device 5 for measuring the traveling distance of the polishing device 8 on the 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, wherein the displacement measuring device 5 and the camera 10 are both positioned at the rear end of the base plate 1, and the displacement measuring device 5 and the camera 10 are respectively positioned at two sides of the base plate 1; the laser seam finder 11 is positioned on one side of the front end of the bottom plate 1 and below the bottom plate 1.
As shown in fig. 13, 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 base plate 1, the transmission shaft 52 is rotatably connected with the bearing seat 53 through a bearing, the encoder 54 is output to the shaft 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 flange 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. 1, the camera 10 is located on the same side of the base plate 1 as the grinding device 8, and the camera 10 is suspended from one side edge of the base plate 1 by an extension arm 101 extending outward perpendicular to 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. 1, the laser seam finder 11 and the grinding device 8 are located on the same side of the base plate 1, the laser seam finder 11 is suspended right above the circular seam to be ground through an L-shaped bracket 1101, and the L-shaped bracket 1101 is arranged on the substrate 65.
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 automatic polishing machine is used for replacing manual polishing, and compared with manual polishing, the automatic polishing machine has the advantages of good polishing effect, high efficiency and capability of continuously working.
A circular seam polishing method of an automatic cabin circular seam polishing device comprises the following steps:
step 1: installing the cabin body circular seam automatic polishing device on an I-shaped beam 9 of a cabin body to be polished with circular seams, wherein the cabin body circular seam automatic polishing device is arranged on the I-shaped beam 9; the pneumatic sander 83 is not installed; the step 1 specifically comprises the following steps: step 101: adjusting a longitudinal clamping device and a radial clamping mechanism in the device to enable the longitudinal clamping device and the radial clamping mechanism to be in a maximum opening state, and ensuring that the longitudinal clamping device and the radial clamping mechanism can be placed on an I-beam of the cabin body; step 102: the first clamping cylinder 423 is started to push the first longitudinal clamping wheel 424 to enable the outer surface of the first longitudinal clamping wheel to be attached to one side face of the web of the I-beam 9, and meanwhile, the outer surfaces of the two fixed longitudinal clamping wheels 41 are attached to the other side face of the web of the I-beam 9; the first clamping cylinder 423 is stopped; step 103: the four second clamping cylinders 71 are actuated simultaneously to push the four radial clamping wheels 73 so that their outer surfaces simultaneously abut against the wing backs of the upper flanges of the i-beams 9.
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 circular seam; the preset position is a starting point;
and 5: starting a camera 10 and a laser seam searching machine 11;
step 6: starting a speed reducer 202 and a first servo motor 203 in the annular motion device 2 to rotate in the forward direction, and driving a power wheel 201 to rotate to drive the cabin body annular seam automatic polishing device to integrally walk for a certain distance along the upper flange of an I-shaped beam 9 on the cabin body; the laser seam finder 11 scans the circular seam within the distance and determines the position of the circular seam;
and 7: after the step 6 is finished, starting a speed reducer 202 and a first servo motor 203 in the circular motion device 2 to rotate in opposite directions, and driving a power wheel 201 to rotate to drive the cabin body circular seam automatic polishing device to return to the starting point;
and 8: starting a speed reducer 202 and a first servo motor 203 in the circular motion device 2 to rotate in the forward direction, and driving a power wheel 201 to rotate to drive the cabin body circular seam automatic polishing device to scan the end point of the distance from the starting point to the laser seam finder 11 to walk; simultaneously, the pneumatic grinding machine 83 is started, and the rough milling cutter rotates; starting the feeding device 6, wherein the feeding device 6 provides feeding amount for the rough milling cutter towards the circular seam, and the rough milling cutter starts to feed and mill;
and step 9: after the step 8 is finished, starting a speed reducer 202 and a first servo motor 203 in the circular motion device 2 to rotate in opposite directions, and driving a power wheel 201 to rotate to drive the cabin body circular seam automatic polishing device to return to the starting point;
step 10: after the step 9 is finished, starting the speed reducer 202 and the first servo motor 203 in the circular motion device 2 to rotate in the forward direction, driving the power wheel 201 to rotate to drive the cabin body circular seam automatic polishing device to scan the end point of the distance from the starting point to the laser seam finder 11 to walk, scanning and detecting the welding seam allowance of the milling surface in the distance by the laser seam finder 11, and ensuring that the welding seam allowance is within the range of 0.5-1 mm;
step 11: the cabin body circular seam automatic grinding device is positioned at the end point of the distance, and meanwhile, the position is taken as the starting point, and the steps 6 to 10 are repeated until the whole circular seam is roughly milled;
step 12: the pneumatic sander 83 is detached from the positioning plate 85, the rough milling cutter mounted on the pneumatic sander 83 is detached and the finish milling cutter is mounted; the pneumatic sander 83 is then reinstalled on the alignment plate 85;
step 13: starting a speed reducer 202 and a first servo motor 203 in the circular motion device 2 to rotate in the forward direction, driving a power wheel 201 to rotate to drive the cabin body circular seam automatic polishing device to integrally walk along the upper flange of an I-beam 9 on the cabin body for one circle, scanning the whole circular seam by a laser seam finder 11, determining the difference value between the highest point and the lowest point of the circular seam by the laser seam finder 11, and taking the difference value as the feeding amount of the first milling of the finish milling cutter;
step 14: starting a speed reducer 202 and a first 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 body annular seam automatic polishing device to walk for a circle along the upper flange of an I-shaped beam 9 on the cabin body, starting a pneumatic polishing machine 83, and rotating a finish milling cutter; starting the feeding device 6, wherein the feeding device 6 provides feeding amount for the finish milling cutter towards the circular seam, and the finish milling cutter starts to feed for the first time;
step 15: after the finish milling cutter finishes one circle of finish milling for the first time, the speed reducer 202 and the first servo motor 203 in the circular motion device 2 are started again to rotate in the forward direction, the power wheel 201 is driven to rotate to drive the cabin body circular seam automatic polishing device to integrally walk along the upper flange of the I-shaped beam 9 on the cabin body for one circle, the laser seam finder 11 scans the whole circular seam, the residual height of the welding seam is detected by the laser seam finder 11, and the residual height is used as the feeding amount of the finish milling cutter for the second time of milling;
step 16: starting a speed reducer 202 and a first 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 body annular seam automatic polishing device to walk for a circle along the upper flange of an I-shaped beam 9 on the cabin body, starting a pneumatic polishing machine 83, and rotating a finish milling cutter; starting the feeding device 6, wherein the feeding device 6 provides feeding amount for the finish milling cutter towards the circular seam, and the finish milling cutter starts to feed for finish milling for the second time;
and step 17: after finishing the second finish milling of the finish milling cutter for one circle, the speed reducer 202 and the first servo motor 203 in the circular motion device 2 are started again to rotate in the forward direction, the power wheel 201 is driven to rotate to drive the automatic cabin circumferential seam polishing device to integrally move for one circle along the upper flange of the I-shaped beam 9 on the cabin, the laser seam finder 11 scans the whole circumferential seam, the remaining height of the welding seam is detected by the laser seam finder 11, and the requirement can be met if the remaining height is less than 0.2 mm; otherwise, repeat step 15 and step 16.
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 cabin circumferential weld polishing device is characterized in that the automatic cabin circumferential weld polishing device is integrally positioned in an inner cavity of a cabin and comprises a bottom plate (1), a circumferential motion device (2), a supporting device (3), a longitudinal clamping device (4), a feeding device (6), a radial clamping device (7) and a polishing device (8),
the automatic polishing device for the circumferential seams of the cabin body is integrally limited to an I-beam (9) on the cabin body by the aid of the bottom plate (1) through the longitudinal clamping device (4) and the radial clamping device (7), the circumferential motion device (2), the longitudinal clamping device (4), the feeding device (6), the radial motion device (7) and the supporting device (3) are all installed on the bottom plate (1), the polishing device (8) is installed on the feeding device (6), the feeding device (6) drives the polishing device (8) to achieve feeding, and the polishing device (8) mills the circumferential seams;
the annular motion device (2) and the supporting device (3) are respectively arranged at the front end and the rear end of the base plate (1), the annular motion device (2) drives the base plate (1) to walk along an I-shaped beam (9) on the cabin body, the longitudinal clamping device (4) and the radial clamping device (7) are mutually matched to limit the cabin body annular seam automatic polishing device to the cabin body integrally on the I-shaped beam (9), the feeding device (6) is installed on the base plate (1) and used for realizing feeding of the polishing device (8), and the polishing device (8) is arranged on the feeding device (6).
2. The automatic cabin circumferential seam grinding device according to claim 1, characterized in that the circumferential motion device (2) comprises a power wheel (201), a speed reducer (202) and a first servo motor (203), the speed reducer (202) is installed at the front end of the base plate (1), the first servo motor (203) is connected with the speed reducer (202), a motor shaft of the first 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 by the first servo motor (203) to rotate, and the power wheel (201) rotates to drive the automatic cabin circumferential seam grinding device to integrally travel along the upper flange of the I-beam (9) on the cabin.
3. The automatic polishing device for the circumferential seams of cabin bodies according to claim 1, characterized in that the supporting device (3) comprises a connecting plate (301), a connecting shaft (302) and supporting wheels (304), wherein a through groove is formed on the surface of the connecting plate (301), the supporting wheels (304) are arranged in the through groove, the supporting wheels (304) are rotatably arranged on the connecting shaft (302), and two ends of the connecting shaft (302) are supported on the connecting plate (301); the connecting plate (301) is arranged at the rear end of the bottom plate (1), and the supporting wheels (304) are supported on the surface of a wing plate at the upper flange of the I-beam (9) in a rolling manner.
4. The automatic polishing device for the circumferential seams of cabin bodies 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 and the movable longitudinal clamping wheel are arranged in a triangular shape at two side edges of the base plate (1) and are used for clamping the automatic polishing device for the circumferential seams of cabin bodies on the upper flange of the I-beam (9) integrally;
the movable longitudinal clamping wheel component comprises two guide rails (422), a moving plate (421), a first clamping cylinder (423) and a first longitudinal clamping wheel (424), the two guide rails (422) are parallel to each other, are arranged at the edge of one side of the bottom plate (1) in an outward extending mode and are perpendicular to the bottom plate (1) at intervals, the moving plate (421) is arranged on the two guide rails (422), 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), 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 first clamping cylinder (423) is arranged on the upper plate face of the bottom plate (1), and a piston rod of the first clamping cylinder (423) is connected with the moving plate (421);
the fixed longitudinal clamping wheels (41) are respectively and rotatably arranged on the second clamping wheel shafts, the two fixed longitudinal clamping wheels (41) are suspended below the bottom plate (1), and the outer surfaces of the fixed longitudinal clamping wheels can be attached to the lateral surface of the other side of the web plate of the I-beam (9).
5. The automatic polishing device for the circumferential seams of the cabin body according to claim 4, wherein the radial clamping devices (7) comprise four radial clamping mechanisms which are arranged on the edges of two sides of the bottom plate (1) in a rectangular shape, two radial clamping mechanisms are arranged at two ends of the moving plate (421) through the fixing plates (74), and the other two radial clamping mechanisms are fixed on the bottom plate (1) through the fixing plates (74);
the four radial clamping mechanisms comprise a second clamping cylinder (71), an adapter (72) and a radial clamping wheel (73), a cylinder body of the second clamping cylinder (71) is connected onto a fixing plate (74), the adapter (72) is arranged at the end of a piston rod (75) of the second clamping cylinder (71), and the radial clamping wheel (73) is rotatably arranged on the adapter (72) through a third clamping wheel shaft;
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).
6. The automatic polishing device for the circumferential seams of cabin bodies according to claim 1, characterized in that the feeding device (6) comprises a base plate (65), a second 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 base plate (65) is vertically arranged on the bottom plate (1), the second 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 second 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 face of a base plate (65) at intervals, and a sliding block which is arranged on the two vertical guide rails (67) in a matched mode is connected on the lifting plate (64).
7. The automatic polishing device for the circumferential seams of the cabin body according to claim 6, wherein the polishing device (8) comprises a six-dimensional force sensor (81), a buffer (82) and a pneumatic polishing machine (83), 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 polishing machine (83) is arranged on the positioning plate (85) and is positioned right above the circumferential seams.
8. The automatic cabin circumferential weld grinding device according to claim 7, characterized in that the automatic cabin circumferential weld grinding device further comprises a displacement measuring device (5) for measuring the traveling 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 weld seam and detecting the quality of the ground weld seam, wherein the displacement measuring device (5) and the camera (10) are both positioned at the rear end of the base plate (1), and the displacement measuring device (5) and the camera (10) are respectively positioned at two sides of the base plate (1); the laser seam searching machine (11) is positioned on one side of the front end of the bottom plate (1) and below 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 at the rear end of 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) and the grinding device (8) are positioned on the same side of the bottom plate (1), and the camera (10) is suspended at the edge of one side of the bottom plate (1) through an extension arm (101) which is perpendicular to the bottom plate (1) and extends outwards;
the laser seam searching machine (11) and the grinding device (8) are located on the same side of the bottom plate (1), the laser seam searching machine (11) is suspended right above a circular seam to be ground through an L-shaped support (1101), and the L-shaped support (1101) is arranged on the substrate (65).
9. A circumferential seam polishing method based on the automatic polishing device for the circumferential seam of the cabin body of claims 1-8 is characterized by comprising the following steps:
step 1: the automatic polishing device for the cabin circumferential seams is arranged on an I-shaped beam (9) of the cabin to be polished with the circumferential seams, wherein the I-shaped beam is a beam 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 circular seam; the preset position is a starting point;
and 5: starting a camera (10) and a laser seam searching machine (11);
step 6: a speed reducer (202) and a first servo motor (203) in the annular motion device (2) are started to rotate in the forward direction, and a power wheel (201) is driven to rotate to drive the cabin body annular seam automatic polishing device to integrally walk for a certain distance along the upper flange of an I-shaped beam (9) on the cabin body; the laser seam searching machine (11) scans the circular seam within the distance and determines the position of the circular seam;
and 7: after the step 6 is finished, starting a speed reducer (202) and a first servo motor (203) in the circular motion device (2) to rotate in opposite directions, and driving a power wheel (201) to rotate to drive the cabin body circular seam automatic polishing device to return to the starting point;
and 8: starting a speed reducer (202) and a first servo motor (203) in the circular motion device (2) to rotate in the forward direction, and driving a power wheel (201) to rotate to drive the cabin body circular seam automatic polishing device to scan the distance from a starting point to a terminal point of the laser seam finder (11) to walk; simultaneously 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 circular seam, and the rough milling cutter starts to feed and mill;
and step 9: after the step 8 is finished, starting a speed reducer (202) and a first servo motor (203) in the circular motion device (2) to rotate in opposite directions, and driving a power wheel (201) to rotate to drive the cabin body circular seam automatic polishing device to return to the starting point;
step 10: after the step 9 is finished, starting a speed reducer (202) and a first servo motor (203) in the circular motion device (2) to rotate in the forward direction, driving a power wheel (201) to rotate to drive the cabin body circular seam automatic polishing device to scan the end point of the distance from the starting point to a laser seam finder (11) to travel, and scanning and detecting the welding seam allowance of the milling surface in the distance by the laser seam finder (11) to ensure that the welding seam allowance is within the range of 0.5-1 mm;
step 11: the cabin body circular seam automatic grinding device is positioned at the end point of the distance, and meanwhile, the position is taken as the starting point, and the steps 6 to 10 are repeated until the whole circular seam is roughly milled;
step 12: the pneumatic grinding machine (83) is detached from the positioning plate (85), and the rough milling cutter arranged on the pneumatic grinding machine (83) is detached and the finish milling cutter is arranged; then the pneumatic sander (83) is reinstalled on the positioning plate (85);
step 13: starting a speed reducer (202) and a first servo motor (203) in the circular motion device (2) to rotate in the positive direction, driving a power wheel (201) to rotate to drive the cabin body circular seam automatic polishing device to integrally walk along the upper flange of an I-shaped beam (9) on the cabin body for one circle, scanning the whole circular seam by a laser seam finder (11), determining the difference value between the highest point and the lowest point of the circular seam by the laser seam finder (11), and taking the difference value as the feeding amount of the first milling of the finish milling cutter;
step 14: starting a speed reducer (202) and a first servo motor (203) in the circular motion device (2) to rotate in the forward direction, enabling a power wheel (201) to rotate to drive the cabin body circular seam automatic polishing device to walk for a circle along the upper flange of an I-shaped beam (9) on the cabin body, starting a pneumatic polishing machine (83) at the same time, and enabling a finish milling cutter to rotate; starting a feeding device (6), wherein the feeding device (6) provides feeding amount for the finish milling cutter towards the circular seam, and the finish milling cutter starts to feed for the first time;
step 15: after the finish milling cutter finishes one circle of finish milling for the first time, a speed reducer (202) and a first servo motor (203) in the circular motion device (2) are started again to rotate in the forward direction, a power wheel (201) is driven to rotate to drive the cabin body circular seam automatic polishing device to integrally walk along the upper flange of an I-shaped beam (9) on the cabin body for one circle, a laser seam finder (11) scans the whole circular seam, the extra height of a welding seam is detected through the laser seam finder (11), and the extra height is used as the feeding amount of the finish milling cutter for the second time;
step 16: starting a speed reducer (202) and a first servo motor (203) in the circular motion device (2) to rotate in the forward direction, enabling a power wheel (201) to rotate to drive the cabin body circular seam automatic polishing device to walk for a circle along the upper flange of an I-shaped beam (9) on the cabin body, starting a pneumatic polishing machine (83) at the same time, and enabling a finish milling cutter to rotate; starting a feeding device (6), wherein the feeding device (6) provides feeding amount for the finish milling cutter towards the circular seam, and the finish milling cutter starts to feed for finish milling for the second time;
and step 17: after the finish milling cutter finishes one circle of finish milling for the second time, a speed reducer (202) and a first servo motor (203) in the circular motion device (2) are started again to rotate in the forward direction, a power wheel (201) is driven to rotate to drive the cabin body circular seam automatic polishing device to integrally walk along the upper flange of an I-shaped beam (9) on the cabin body for one circle, a laser seam finder (11) scans the whole circular seam, the remaining height of the welding seam is detected through the laser seam finder (11), and the requirement can be met if the remaining height is less than 0.2 mm; otherwise, repeat step 15 and step 16.
10. The circular seam grinding method according to claim 9, wherein the step 1 is specifically:
step 101: adjusting a longitudinal clamping device and a radial clamping mechanism in the device to enable the longitudinal clamping device and the radial clamping mechanism to be in a maximum opening state, and ensuring that the longitudinal clamping device and the radial clamping mechanism can be placed on an I-beam of the cabin body;
step 102: starting a first clamping cylinder (423) to push 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 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 of the I-shaped beam (9); the first clamping cylinder (423) is stopped;
step 103: and synchronously starting the four second 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 flange of the I-shaped beam (9).
CN202010650567.9A 2020-07-08 2020-07-08 Cabin body circular seam automatic polishing device and circular seam polishing method Pending CN111673569A (en)

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CN202010650567.9A CN111673569A (en) 2020-07-08 2020-07-08 Cabin body circular seam automatic polishing device and circular seam polishing method
PCT/CN2020/108754 WO2022007106A1 (en) 2020-07-08 2020-08-13 Automatic grinding device for circumferential seam of capsule body

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