CN116372581A - Automatic welding polishing system - Google Patents
Automatic welding polishing system Download PDFInfo
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- CN116372581A CN116372581A CN202310273065.2A CN202310273065A CN116372581A CN 116372581 A CN116372581 A CN 116372581A CN 202310273065 A CN202310273065 A CN 202310273065A CN 116372581 A CN116372581 A CN 116372581A
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- 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
- B23P23/00—Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention relates to an automatic welding polishing system, which comprises a turntable, a welding robot and a polishing robot; the turntable is used for placing a workpiece and is driven to rotate by the first rotating motor; the welding robot comprises a first mechanical arm, wherein a welding gun is connected to the first mechanical arm and is used for welding a welding seam of a workpiece; the polishing robot comprises a second mechanical arm, a polishing device is connected to the second mechanical arm, a polishing head is connected to the polishing device in a floatable manner, and the polishing head is used for polishing the workpiece; wherein, welding robot and grinding robot all are located the outside of revolving stage. The invention can automatically weld and polish, greatly improves the whole welding and polishing efficiency of workpieces, effectively reduces labor intensity, shortens processing time and saves a large amount of labor force.
Description
Technical Field
The invention relates to the technical field of welding polishing, in particular to an automatic welding polishing system.
Background
Welding, also known as fusion welding, is a manufacturing process that combines metals or other thermoplastic materials in a heated, high temperature or high pressure manner. Welding is a process in which two or more kinds of the same or different materials are integrally connected by bonding and diffusion between atoms or molecules. In the welding process, the workpiece and the welding flux are melted to form a melting area, and the molten pool is cooled and solidified to form a connection between materials. The energy sources of modern welding are various, including gas flame, electric arc, laser, electron beam, friction, ultrasonic wave and the like, and the welding can generate toxic gas, high temperature, high voltage current, strong light and other substances harmful to human bodies, so that the welding robot is gradually replaced by manpower in industrial production to improve the operation safety and is widely applied. Welding seam and nearby can remain foreign matters such as welding slag, welding flux, oxide skin after the welding work, and these foreign matters can influence the life and the work piece surface roughness of work piece, in order to satisfy work piece surface accuracy and roughness requirement, generally need after the welding is accomplished, the manual work again shifts the work piece to the station of polishing and carries out polishing and handle, and adopts the angle mill to polish generally during polishing, and polishing effect and polishing efficiency are lower.
Therefore, welding and polishing integration cannot be realized in the prior art, the whole welding and polishing procedures are required to consume larger labor force and longer time, the machining efficiency is lower, and the production requirement cannot be met.
Disclosure of Invention
Therefore, the invention aims to overcome the defects that the welding and polishing procedures of workpieces in the prior art consume larger labor force and longer time, and the processing efficiency is lower.
In order to solve the technical problems, the invention provides an automatic welding and polishing system, which comprises,
the rotary table is used for placing a workpiece and is driven to rotate by a first rotary motor;
the welding robot comprises a first mechanical arm, wherein a welding gun is connected to the first mechanical arm and is used for welding a welding seam of the workpiece;
the polishing robot comprises a second mechanical arm, a polishing device is connected to the second mechanical arm, a polishing head is connected to the polishing device in a floatable manner, and the polishing head is used for polishing the workpiece;
wherein, welding robot and grinding robot all are located the outside of revolving stage.
In one embodiment of the present invention, the polishing device includes a housing, the polishing head is located outside the housing, a sliding coupling is disposed inside the housing, one end of the sliding coupling is connected to the second rotating motor, a sliding groove is formed at the other end of the sliding coupling, a quick-change shaft is slidably connected in the sliding groove, the quick-change shaft is connected to the polishing head, the quick-change shaft is further connected to a moving seat through a bearing, and the moving seat is linearly moved by a linear driving device.
In one embodiment of the present invention, the sliding coupling includes a body portion, one end of the body portion is formed with a shaft hole, the shaft hole is connected with an output shaft of the second rotating electric machine through a key, the other end is connected with a first rolling bearing and a second rolling bearing, the sliding groove is formed between the first rolling bearing and the second rolling bearing, a flat end is arranged on the quick-change shaft, and the flat end is slidably inserted in the sliding groove.
In one embodiment of the present invention, the body portion is detachably connected with a press block portion, and the shaft hole is formed between the press block portion and the body portion.
In one embodiment of the invention, the movable seat and the linear driving device are connected through a tension pressure sensor.
In one embodiment of the present invention, the automated welding grinding system further comprises a dust collection device connected to the housing by a dust collection nozzle, the dust collection nozzle being located outside the housing.
In one embodiment of the invention, the polishing head is connected with a main shaft, a limiting groove is formed in the outer wall of the main shaft, a limiting projection is arranged on the quick-change shaft, and the limiting projection is inserted into the limiting groove.
In one embodiment of the invention, the quick-change shaft is provided with a first accommodating hole, a plurality of clamping grooves are formed in the inner wall of the first accommodating hole, a second accommodating hole is formed in the main shaft, a limiting through hole is formed in the wall of the second accommodating hole, a first steel ball and a plurality of second steel balls are placed in the second accommodating hole, all the second steel balls are located above the first steel ball, the first steel balls are in one-to-one correspondence with the limiting through holes, the first steel balls can slide along the axes of the corresponding limiting through holes, the diameter of the first steel balls is larger than that of the second steel balls, and a spring is arranged between the first steel balls and the second accommodating hole.
In one embodiment of the present invention, the polishing tool library further comprises a frame, wherein the upper part of the frame is connected with a box body, and the box body is hinged with the box cover.
In one embodiment of the invention, the box body is connected with a cylinder, the cylinder comprises a cylinder body and a piston rod which can extend and retract along the cylinder body, and the piston rod is connected with the box cover.
Compared with the prior art, the technical scheme of the invention has the following advantages:
the automatic welding and polishing system realizes the integration of welding and polishing, can automatically weld and polish, greatly improves the whole welding and polishing efficiency of workpieces, effectively reduces the labor intensity, shortens the processing time and saves a large amount of labor force.
Drawings
In order that the invention may be more readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof that are illustrated in the appended drawings.
FIG. 1 is a schematic structural view of an automated welding grinding system of the present invention;
FIG. 2 is a schematic view of the turret of FIG. 1;
FIG. 3 is a cross-sectional view of the turntable of FIG. 2;
FIG. 4 is a schematic view of the welding robot of FIG. 1;
FIG. 5 is a schematic view of the construction of the grinding robot of FIG. 1;
FIG. 6 is a schematic view of the polishing apparatus of FIG. 5;
FIG. 7 is a schematic view of the polishing apparatus of FIG. 6 with the dust collection nozzle removed;
FIG. 8 is a schematic view of the internal structure of the polishing apparatus of FIG. 7;
FIG. 9 is an enlarged partial schematic view at S in FIG. 8;
FIG. 10 is a top view of the structure of FIG. 8;
FIG. 11 is a cross-sectional view at A-A in FIG. 10;
FIG. 12 is an enlarged view of a portion of FIG. 11 at M;
FIG. 13 is an enlarged view of a portion of FIG. 11 at N;
FIG. 14 is a three-dimensional schematic view of a sanding head;
FIG. 15 is an assembled schematic view of a quick change shaft and linear drive;
FIG. 16 is an assembled schematic view of a quick change shaft and a second rotary electric machine;
FIG. 17 is a schematic view of a slip coupling;
FIG. 18 is a schematic view of the construction of the sanding tool library (open state);
FIG. 19 is a schematic view of a sanding tool holder (closed position)
Description of the specification reference numerals:
1. a fence; 2. an access opening; 3. a safety grating; 4. a turntable; 5. a first rotating electric machine;
6. a welding robot; 61. a first mechanical arm; 62. a welding gun; 63. a first laser vision sensor;
7. a polishing robot; 71. a second mechanical arm; 72. a polishing device; 721. polishing head; 7211. a main shaft; 7212. a limit groove; 7213. a second accommodation hole; 7214. limiting through holes; 7215. a first steel ball; 7216. a second steel ball; 7217. a spring; 722. a housing; 723. a sliding coupling; 7231. a body portion; 7232. a shaft hole; 7233. a slip groove; 7234. a first rolling bearing; 7235. a second rolling bearing; 7236. a briquette section; 724. a second rotating electric machine; 725. a quick-change shaft; 7251. a flat end; 7252. a limit bump; 7253. a first accommodation hole; 7254. a clamping groove; 726. a movable seat; 7261. a slip plate; 7262. a bearing seat; 7263. angular contact ball bearings; 727. a gland; 728. a lock nut; 729. a linear driving device; 730. a pull pressure sensor; 731. a second laser vision sensor;
8. a dust collecting device; 81. a dust collecting suction nozzle;
9. a polishing tool library; 91. a frame; 92. a case; 93. a case cover; 94. a cylinder; 941. a cylinder; 942. a piston rod;
10. a power distribution cabinet; 11. an industrial control cabinet; 12. a workpiece.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and specific examples, which are not intended to be limiting, so that those skilled in the art will better understand the invention and practice it.
Referring to fig. 1, the present embodiment discloses an automatic welding and polishing system including a turntable 4, a welding robot 6, and a polishing robot 7;
the turntable 4 is used for placing a workpiece 12, and as shown in fig. 2-3, the turntable 4 is driven to rotate by a first rotating motor 5;
as shown in fig. 4, the welding robot 6 includes a first mechanical arm 61, and a welding gun 62 is connected to the first mechanical arm 61, where the welding gun 62 is used for welding a weld joint of the workpiece 12;
as shown in fig. 5, the polishing robot 7 includes a second mechanical arm 71, a polishing device 72 is connected to the second mechanical arm 71, a polishing head 721 is floatably connected to the polishing device 72, and the polishing head 721 is used for polishing the workpiece 12; during polishing, the workpiece 12 can be polished by only driving the polishing head 721 to rotate; in addition, the floating arrangement of the polishing head 721 can enable the polishing head 721 to float to a certain extent according to the convex-concave condition of the surface of the workpiece 12, so that the acting force between the polishing head 721 and the workpiece 12 is kept constant, and the polishing quality is better ensured;
wherein the welding robot 6 and the grinding robot 7 are both located outside the turntable 4.
The welding robot 6 and the polishing robot 7 are arranged, so that the welding and polishing procedures can be automatically realized, and the welding and polishing efficiency is improved; in addition, through the arrangement of the turntable 4, the rotation of the workpiece 12 can be realized, the workpiece 12 can automatically rotate to a welding and polishing station without transferring, so that the welding robot 6 and the polishing robot 7 can automatically weld or polish different positions of a welding seam, the overall processing efficiency of the workpiece 12 is greatly improved, the labor force consumed in the overall welding and polishing procedures is greatly reduced, and the processing time is shortened.
In one embodiment, as shown in fig. 6-8, the polishing device 72 includes a housing 722, the polishing head 721 is located outside the housing 722, a sliding coupling 723 is disposed inside the housing 722, as shown in fig. 10-11, one end of the sliding coupling 723 is connected to a second rotating motor 724, the other end is formed with a sliding groove 7233, a quick-change shaft 725 is slidably connected in the sliding groove 7233, the quick-change shaft 725 is connected to the polishing head 721, the quick-change shaft 725 is further connected to the moving seat 726 through a bearing, so that relative rotation can occur between the quick-change shaft 725 and the moving seat 726, the moving seat 726 is linearly moved by a linear driving device 729, and the moving seat 726 and the quick-change shaft 725 are driven to move together by the linear driving device 729, so as to drive the polishing head 721 to linearly float.
Wherein the bearings between quick change shaft 725 and traveling block 726 are rolling bearings.
The second rotating motor 724 drives the sliding coupling 723 to rotate together with the quick-change shaft 725, and the quick-change shaft 725 drives the polishing head 721 to rotate together so that the polishing head 721 achieves polishing action; in addition, the quick-change shaft 725 can slide linearly in the sliding groove 7233, so that the polishing head 721 can be driven to perform linear floating adjustment, and the device is suitable for different surface conditions of the workpiece 12.
When the polishing head 721 receives a pressure greater than the set value during polishing, the linear driving device 729 acts to drive the movable seat 726, the quick-change shaft 725 and the polishing head 721 to retract together until the polishing head 721 is retracted a certain distance, and the pressure received by the polishing head 721 is equal to the set value, at this time, the linear driving device 729 stops acting. When the pressure applied to the polishing head 721 is smaller than the set value, the linear driving device 729 acts to drive the movable seat 726, the quick-change shaft 725 and the polishing head 721 to move forwards together until the pressure applied to the polishing head 721 is equal to the set value after the polishing head 721 moves forwards for a certain distance; through the process, constant force polishing can be kept all the time in the polishing process, so that polishing effect is guaranteed, polishing omission is avoided, and conditions of excessive polishing, workpiece damage and the like are avoided.
The force between the grinding head 721 and the workpiece 12 may have a large influence on the grinding quality, and an excessive force may affect the grinding quality of the workpiece 12, and may even damage the grinding head 721 and the driving mechanism; too little force will not ensure adequate contact between the sanding head 721 and the workpiece 12, resulting in poor sanding quality or incomplete sanding with a missing sanding. Therefore, in order to ensure the polishing quality of the workpiece 12, it is important to control the polishing head 721 and the driving mechanism to be operated safely, so that the force between the polishing head 721 and the workpiece 12 is kept constant, and the force between the polishing head 721 and the workpiece 12 can be effectively ensured by the floating design structure of the polishing head 721.
The linear driving device 729 may be a linear motor or an EHA actuator.
The EHA (Electro-hydraulic actuator) is a standard power unit formed by integrating a motor, a pump, an oil tank, a hydraulic cylinder and a control valve group into a device, the hydraulic cylinder comprises a cylinder 941 and a piston rod 942 which can extend and retract along the cylinder 941, and the EHA actuator drives a moving seat 726 connected with an actuator to move by controlling the extension and retraction of the piston rod 942.
The linear driving device 729 can better realize the accurate control of the displacement of the movable base 726 by adopting an EHA actuator, thereby realizing the accurate floating of the polishing head 721.
Because the place environment abominable polishes, dust, splash, iron fillings are difficult to avoid, in case these impurity entering equipment can influence life-span, the precision of original paper such as bearing, guide rail, frictional force etc. also can cause frictional resistance's increase, the inaccurate scheduling result of power accuse, through setting up the casing 722 with sliding coupling 723, second rotating electrical machines 724 and linear drive 729 etc. with inside casing 722, can effectively alleviate above-mentioned adverse effect.
Further, the movable seat 726 includes a sliding plate 7261, a bearing seat 7262 is connected to the sliding plate 7261, the bearing seat 7262 is connected to a quick-change shaft 725 through a rolling bearing, a gland 727 and a lock nut 728 are further connected to the quick-change shaft 725, the gland 727 abuts against the bearing outer ring, and the lock nut 728 abuts against the bearing inner ring.
The rolling bearing between bearing housing 7262 and quick-change shaft 725 may employ angular ball bearings 7263, which may enable quick-change shaft 725 to withstand axial and radial forces during high-speed rotation.
It will be appreciated that quick-change shaft 725 may be provided with a threaded section to which lock nut 728 is threaded to firmly compress quick-change shaft 725 against the rolling bearing so that quick-change shaft 725 is capable of withstanding axial pulling forces.
Specifically, when installed, a pair of angular contact ball bearings 7263 are mounted face-to-face with the load center line within the bearing center line to facilitate removal of the bearing. As shown in fig. 11-12, one end of the outer ring of the angular contact ball bearing 7263 is tightly propped against the inner hole of the bearing seat 7262, one end is tightly pressed by the pressing cover 727, and an outer ring spacer is arranged between the two angular contact ball bearings 7263. One end of the inner ring of the angular contact ball bearing 7263 is propped against the step of the quick-change shaft 725, the other end is pressed by a locking nut 728, and an inner ring spacer is arranged between the two angular contact ball bearings 7263.
In one embodiment, as shown in fig. 16 to 17, the sliding coupling 723 includes a body portion 7231, one end of the body portion 7231 is formed with a shaft hole 7232, the shaft hole 7232 is connected with an output shaft of the second rotating electric machine 724 by a key, the other end is connected with a first rolling bearing 7234 and a second rolling bearing 7235, a sliding groove 7233 is formed between the first rolling bearing 7234 and the second rolling bearing 7235, a flat end 7251 is provided on the quick-change shaft 725, and the flat end 7251 is slidably inserted in the sliding groove 7233 to ensure torque transmission between the body portion 7231 and the quick-change shaft 725 by a flat design of the flat end 7251, so that the body portion 7231 can rotate together with the quick-change shaft 725.
In operation, the second rotary motor 724 rotates the sliding coupling 723 to rotate the quick-change shaft 725, and the sanding head 721 mounted on the quick-change shaft 725 rotates with the quick-change shaft 725 to perform normal sanding operation. When the polishing head 721 floats, the quick-change shaft 725 and the movable seat 726 integrally float linearly, the quick-change shaft 725 slides in the sliding groove 7233 and generates rolling friction with the first rolling bearing 7234 and the second rolling bearing 7235, so that the sliding friction force is greatly reduced, the detection accuracy of the sensor on the reaction force during polishing can be improved, and the polishing quality is better and more stable; the tail end of the quick-change shaft 725 is designed to be flat and is inserted between the two rolling bearings, so that the requirement on installation coaxiality between the quick-change shaft 725 and the second rotating motor 724 can be effectively reduced.
Specifically, the first rolling bearing 7234 and the second rolling bearing 7235 may be needle bearings, deep groove ball bearings, angular contact ball bearings 7263, or the like.
In one embodiment, the body portion 7231 is detachably coupled with a press block portion 7236, and a shaft hole 7232 is formed between the press block portion 7236 and the body portion 7231.
Semi-circular holes are formed in the pressing block portion 7236 and the body portion 7231, and a shaft hole 7232 is formed between the semi-circular holes in the pressing block portion 7236 and the body portion 7231.
The press block portion 7236 and the body portion 7231 may be connected by bolts.
In one embodiment, as shown in fig. 15, the movable seat 726 and the linear driving device 729 are connected through a pull pressure sensor 730, so that the pressure applied to the polishing head 721 is detected in real time through the pull pressure sensor 730, so that the control can be performed in time according to the detected pressure.
In one embodiment, the automatic welding polishing system further comprises a dust collecting device 8, the dust collecting device 8 is provided with a dust collecting pipe, the end part of the dust collecting pipe is provided with a dust collecting suction nozzle 81, as shown in fig. 6, the dust collecting suction nozzle 81 is connected with the shell 722, and the dust collecting suction nozzle 81 is positioned outside the shell 722 so as to timely suck dust generated by polishing, and reduce pollution of dust diffusion to the surrounding environment. Further, the dust collection nozzle 81 is disposed close to the sanding head 721.
A large amount of dust, smog, metal filings and the like can be generated in the polishing work, and the dust collecting device 8 generates suction force to absorb most of dust filings in the polishing work, so that pollution and damage to human bodies and the environment are avoided.
In one embodiment, as shown in fig. 9, as shown in fig. 13-14, a main shaft 7211 is connected to the polishing head 721, a limiting groove 7212 is provided on the outer wall of the main shaft 7211, a limiting bump 7252 is provided on the quick-change shaft 725, and the limiting bump 7252 is inserted into the limiting groove 7212 to ensure torque transmission, so that the quick-change shaft 725 can drive the polishing head 721 to rotate together.
In one embodiment, the quick-change shaft 725 has a first accommodating hole 7253, a plurality of clamping grooves 7254 are formed in the inner wall of the first accommodating hole 7253, a second accommodating hole 7213 is formed in the main shaft 7211, a limiting through hole 7214 is formed in the wall of the second accommodating hole 7213, the limiting through hole 7214 corresponds to the clamping grooves 7254 one by one, a first steel ball 7215 and a plurality of second steel balls 7216 are arranged in the second accommodating hole 7213, all the second steel balls 7216 are located above the first steel ball 7215, the first steel balls 7215 correspond to the limiting through holes 7214 one by one, the first steel balls 7215 can slide along the axes of the corresponding limiting through holes 7214, the diameter of the first steel balls 7215 is larger than that of the second steel balls 7216, and a spring 7217 is arranged between the first steel balls 7215 and the second accommodating holes 7213. The first steel ball 7215 is pushed to move upwards by the elastic force of the spring 7217, so that the second steel ball 7216 rolls outwards from the corresponding limiting through hole 7214 until the part of the second steel ball 7216 exposed out of the limiting through hole 7214 is clamped in the corresponding clamping groove 7254, and the quick-change shaft 725 and the main shaft 7211 are fixed.
The quick change of the sanding head 721 can be realized by the above structure; for example, when one first steel ball 7215 and three second steel balls 7216 are provided, during quick-change, the main shaft 7211 of the polishing head 721 is gradually inserted into the first accommodating hole 7253 of the quick-change shaft 725, at the beginning stage, under the action of the hole wall of the first accommodating hole 7253, the second steel balls 7216 are always located in the second accommodating hole 7213, the spring 7217 is in a compressed state, as the insertion depth increases, the limit through hole 7214 gradually reaches the corresponding clamping groove 7254, at this time, the hole wall action is reduced, the spring 7217 releases tension, so that the first steel ball 7215 is pushed to move upwards, so that the three second steel balls 7216 roll outwards from the corresponding limit through hole 7214 and are directly clamped in the corresponding clamping groove 7254, so that the quick-change shaft 725 and the main shaft 7211 are locked, and quick-change is realized.
In one embodiment, as shown in fig. 18-19, the automatic welding polishing system further includes a polishing tool library 9, the polishing tool library 9 includes a frame 91, a box 92 is connected to an upper portion of the frame 91, and the box 92 and a box cover 93 are hinged, so that the box cover 93 can be turned open or closed, and thus the box 92 is in an open or closed state.
The inside of the box 92 is used for placing a plurality of polishing heads 721, and different polishing tools can be installed on the polishing heads 721 according to the use scene. A sensor may be provided in the case 92 to detect the presence or absence of the sanding head 721, and to determine whether the sanding head 721 has been used or not according to a record of the robot taking out and putting in, and to prompt replacement of the sanding tool.
In order to avoid dust in the environment from influencing the replacement of the polishing head 721 and the use effect of the polishing tool, the polishing head 721 is placed inside the box 92 to isolate dust, the box 92 is provided with the box cover 93, and the box cover 93 is in a closed state when polishing work is performed, so that the dust-proof effect can be better achieved.
In one embodiment, a cylinder 94 is connected to the case 92, the cylinder 94 includes a cylinder 941 and a piston rod 942 that is retractable along the cylinder 941, the cylinder 941 is connected to the inside of the case 92, and the piston rod 942 is connected to the case cover 93. To automatically open or close the cover 93 by the extension and retraction of the piston rod 942.
When the polishing head 721 needs to be replaced, the tail end of the manipulator moves to the polishing tool library 9 with the polishing device 72, the piston rod 942 extends to jack the box cover 93, the clamping jaw clamps the polishing head 721 in the box 92, the quick-change shaft 725 of the polishing device 72 and the polishing head 721 are aligned, then the polishing head 721 can be quickly replaced, and a new polishing head 721 is locked on the quick-change shaft 725.
In one embodiment, the automatic welding polishing system further comprises a fence 1 to enclose a processing area, the turntable 4, the welding robot 6 and the polishing robot 7 are all located inside the fence 1, the fence 1 is provided with an access opening 2, and the access opening 2 is provided with a safety grating 3 to avoid danger caused by personnel entering in the processing process.
The power distribution cabinet 10 and the industrial control cabinet 11 may be disposed outside the enclosure 1.
In one embodiment, a first laser vision sensor 63 is provided on the welding gun 62 of the welding robot 6; the welding gun 62 is also connected to a welding machine to provide welding wire and electrical power to the welding gun 62.
The first laser vision sensor 63 is used for searching a welding line on the workpiece so as to facilitate welding operation;
the second mechanical arm 71 of the polishing robot 7 is also connected with a second laser vision sensor 731, and the second laser vision sensor 731 is used for searching a welding seam on the welded workpiece so as to facilitate polishing operation.
The automatic welding polishing system works: the work piece 12 to be welded is placed on the turntable 4, and the turntable 4 is rotated in a counterclockwise direction. The welding robot 6 determines the position of the weld under the direction of the first laser vision sensor 63, and performs automatic welding. The polishing robot 7 is behind the welding robot 6, the welding speed is low, when the welding line is rotated to the position of the polishing robot 7, the temperature of the workpiece 12 is cooled, and the polishing head automatically searches for the welding line and polishes the welding line under the guidance of the second laser vision sensor 731. The single-pass welding and the multi-layer multi-pass welding are different in polishing modes, and the welding seams are directly polished after the single-pass welding and are directly polished to the set effect; the multi-layer multi-pass welding requires removing welding skin after each pass of welding to prepare for the next pass of welding, so that the polishing head 721 of the polishing robot 7 is required to automatically install a steel wire brush to clean the welding skin, and the required polishing head 721 is replaced to polish when the welding is finished.
The system is used for welding and polishing simultaneously, so that the working efficiency is improved, and the field use area is reduced. The automatic welding polishing system not only can be used for cylindrical workpieces, but also can be used for square pipe fittings, special-shaped parts, flange parts, flat plates and the like. The welding seam is not limited to the annular welding seam, and the welding seam is applicable to straight welding seams, square welding seams and the like under certain conditions, and has good flexibility and wide applicability.
The automatic welding and polishing system realizes the integration of welding and polishing, greatly improves the overall welding and polishing efficiency of workpieces, effectively reduces labor intensity and shortens processing time.
It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations and modifications of the present invention will be apparent to those of ordinary skill in the art in light of the foregoing description. It is not necessary here nor is it exhaustive of all embodiments. And obvious variations or modifications thereof are contemplated as falling within the scope of the present invention.
Claims (10)
1. An automatic welding and polishing system, which is characterized in that: comprising the steps of (a) a step of,
the rotary table is used for placing a workpiece and is driven to rotate by a first rotary motor;
the welding robot comprises a first mechanical arm, wherein a welding gun is connected to the first mechanical arm and is used for welding a welding seam of the workpiece;
the polishing robot comprises a second mechanical arm, a polishing device is connected to the second mechanical arm, a polishing head is connected to the polishing device in a floatable manner, and the polishing head is used for polishing the workpiece;
wherein, welding robot and grinding robot all are located the outside of revolving stage.
2. The automated welding grinding system of claim 1, wherein: the polishing device comprises a shell, the polishing head is located outside the shell, a sliding coupler is arranged inside the shell, one end of the sliding coupler is connected with a second rotating motor, a sliding groove is formed in the other end of the sliding coupler, a quick-change shaft is slidably connected in the sliding groove, the quick-change shaft is connected with the polishing head, the quick-change shaft is further connected with a movable seat through a bearing, and the movable seat is linearly moved by a linear driving device.
3. The automated welding grinding system of claim 2, wherein: the sliding coupler comprises a body part, wherein one end of the body part is provided with a shaft hole, the shaft hole is connected with an output shaft of the second rotating motor through a key, the other end of the shaft hole is connected with a first rolling bearing and a second rolling bearing, a sliding groove is formed between the first rolling bearing and the second rolling bearing, a flat end is arranged on the quick-change shaft, and the flat end is slidably inserted in the sliding groove.
4. The automated welding grinding system of claim 3, wherein: the body part is detachably connected with a pressing block part, and the shaft hole is formed between the pressing block part and the body part.
5. The automated welding grinding system of claim 2, wherein: the movable seat is connected with the linear driving device through a tension pressure sensor.
6. The automated welding grinding system of claim 2, wherein: the dust collecting device is connected with the shell through a dust collecting suction nozzle, and the dust collecting suction nozzle is positioned outside the shell.
7. The automated welding grinding system of claim 2, wherein: the polishing device is characterized in that the polishing head is connected with a main shaft, a limiting groove is formed in the outer wall of the main shaft, a limiting lug is arranged on the quick-change shaft, and the limiting lug is inserted into the limiting groove.
8. The automated welding grinding system of claim 7, wherein: the quick-change shaft is provided with a first accommodating hole, a plurality of clamping grooves are formed in the inner wall of the first accommodating hole, a second accommodating hole is formed in the main shaft, a limiting through hole is formed in the hole wall of the second accommodating hole, a first steel ball and a plurality of second steel balls are placed in the second accommodating hole, all the second steel balls are located above the first steel balls, the first steel balls correspond to the limiting through holes one by one, the first steel balls can slide along the axis of the corresponding limiting through holes, the diameter of the first steel balls is larger than that of the second steel balls, and a spring is arranged between the first steel balls and the second accommodating hole.
9. The automated welding grinding system of claim 1, wherein: the polishing tool box comprises a box body, and is characterized by further comprising a polishing tool box body, wherein the polishing tool box comprises a frame, the upper part of the frame is connected with the box body, and the box body is hinged with the box cover.
10. The automated welding grinding system of claim 9, wherein: the box body is connected with a cylinder, the cylinder comprises a cylinder body and a piston rod which can stretch along the cylinder body, and the piston rod is connected with the box cover.
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| CN202310273065.2A CN116372581A (en) | 2023-03-17 | 2023-03-17 | Automatic welding polishing system |
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| CN202310273065.2A CN116372581A (en) | 2023-03-17 | 2023-03-17 | Automatic welding polishing system |
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