CN117300514B - Steel rail welding seam rough polishing station robot and polishing process thereof - Google Patents
Steel rail welding seam rough polishing station robot and polishing process thereof Download PDFInfo
- Publication number
- CN117300514B CN117300514B CN202311325272.4A CN202311325272A CN117300514B CN 117300514 B CN117300514 B CN 117300514B CN 202311325272 A CN202311325272 A CN 202311325272A CN 117300514 B CN117300514 B CN 117300514B
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- clamping
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 89
- 239000010959 steel Substances 0.000 title claims abstract description 89
- 238000005498 polishing Methods 0.000 title claims abstract description 80
- 238000003466 welding Methods 0.000 title claims abstract description 57
- 238000007517 polishing process Methods 0.000 title description 7
- 230000007246 mechanism Effects 0.000 claims description 18
- 238000000227 grinding Methods 0.000 claims description 15
- 238000003825 pressing Methods 0.000 claims description 10
- 238000000034 method Methods 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 3
- 230000002093 peripheral effect Effects 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 abstract description 2
- 230000001276 controlling effect Effects 0.000 description 7
- 239000000428 dust Substances 0.000 description 7
- 239000000463 material Substances 0.000 description 4
- 230000004308 accommodation Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000010030 laminating Methods 0.000 description 2
- 238000005453 pelletization Methods 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 230000007704 transition Effects 0.000 description 2
- 241001669679 Eleotris Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000740 bleeding effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 238000003801 milling Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/08—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for flash removal
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B27/00—Other grinding machines or devices
- B24B27/033—Other grinding machines or devices for grinding a surface for cleaning purposes, e.g. for descaling or for grinding off flaws in the surface
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/04—Headstocks; Working-spindles; Features relating thereto
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/06—Work supports, e.g. adjustable steadies
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The application relates to the field of workpiece polishing technology, specifically discloses a steel rail welding seam rough polishing station robot, it includes basic platform, be provided with on the basic platform: the two groups of multi-joint manipulators are arranged along a first direction, each group of multi-joint manipulators comprises at least one multi-joint manipulator, and the tail ends of the multi-joint manipulators are provided with polishing heads; the clamping device is positioned between the two groups of multi-joint manipulators and used for clamping the steel rail, so that the steel rail extends between the two groups of multi-joint manipulators along a second direction, and the second direction intersects with the first direction; and the control system is used for adjusting the rotation gesture of the multi-joint manipulator and controlling the polishing pressure of the polishing head. The steel rail welding line polishing device has the effects of improving the steel rail welding line polishing quality and polishing efficiency.
Description
Technical Field
The application relates to the field of workpiece polishing technology, in particular to a steel rail welding seam rough polishing station robot and a polishing process thereof.
Background
Rails are the main component parts of various types of rails. Its function is to guide the advance of the wheel, bear the huge pressure of the wheel and transmit the pressure to the sleeper. The length of the steel rail can be customized by welding according to the requirement so as to adapt to the requirements of different rail conveying equipment.
At present, when the welding operation of the steel rail is carried out, the steel rail welding seam is often required to be polished. The rail and the welding seam form have the particularity, namely the whole outline of the rail is a complex special-shaped curved surface, and meanwhile, the problems of different errors of the appearance and the dimension of the rail, wrong edges during welding, low processing compatibility and the like exist. In order to meet the quality requirement of smooth transition between a welding seam area and a base material, a polishing scheme combining numerical control milling machine and manual hand-held grinder polishing is generally adopted in the prior welding seam rough polishing operation. Although the manual auxiliary polishing mode can effectively improve the polishing quality of the steel rail welding seams, the polishing period of the steel rail welding seams can be greatly prolonged by the additionally arranged manual polishing procedure, and the polishing efficiency of the steel rail welding seams is lower.
Disclosure of Invention
In order to improve the problem that rail welding seam polishing efficiency is lower, the application provides a rail welding seam rough polishing station robot.
The application provides a rail welding seam rough polishing station robot adopts following technical scheme:
the utility model provides a rail welding seam rough polishing station robot, includes basic platform, be provided with on the basic platform: the two groups of multi-joint manipulators are arranged along a first direction, each group of multi-joint manipulators comprises at least one multi-joint manipulator, and the tail ends of the multi-joint manipulators are provided with polishing heads; the clamping device is positioned between the two groups of multi-joint manipulators and used for clamping the steel rail, so that the steel rail extends between the two groups of multi-joint manipulators along a second direction, and the second direction intersects with the first direction; and the control system is used for adjusting the rotation gesture of the multi-joint manipulator and controlling the polishing pressure of the polishing head.
Through adopting above-mentioned technical scheme, the clamping device who sets up is located the rail centre gripping earlier on basic platform, then carries out the gesture regulation of articulated manipulator through control system for the cutter on the electric main shaft carries out the high-efficient meticulous operation of welding seam along the welding seam profile track of rail, and the operation of polishing of welding seam is carried out in step in the both sides of rail under the joint operation of multiunit polishing head, when both improving rail welding seam polishing quality and polishing efficiency, still makes the welding seam polishing quality of batched rail higher and comparatively unified.
Optionally, the polishing head comprises a flexible force control flange arranged at the tail end of the multi-joint manipulator, an electric spindle arranged at one end of the force control flange far away from the multi-joint manipulator, and a cutter detachably connected to the output end of the electric spindle; the flexible force control flange is electrically connected with the control system.
Through adopting above-mentioned technical scheme, when control system control polishing head carries out the operation of polishing of rail, control system can be through control flexible force control flange and multi-joint manipulator, and realizes invariable flexible polishing pressure control, realizes polishing pressure's regulation to make the quality of polishing of rail welding seam improve by a wide margin.
Optionally, the clamping device includes: the supporting table is arranged on the basic platform; the guide roller is rotatably arranged on the supporting table, and the circumferential surface of the guide roller is used for supporting the steel rail; and the clamping mechanism is arranged on the supporting table and used for clamping and releasing the steel rail.
By adopting the technical scheme, after the steel rail is conveyed by an external conveying device and is conveyed into the foundation platform, the steel rail is supported by the guide roller so as to make the steel rail move smoothly on the foundation platform; when the steel rail moves to a proper position, the steel rail is clamped and positioned through the clamping mechanism, so that the polishing head polishes the welding seam of the steel rail.
Optionally, the clamping mechanism includes: the clamping arms are arranged on the supporting table at intervals along the first direction; the driving piece is arranged on the supporting table and used for driving the two clamping arms to move so that the two clamping arms clamp and loosen the steel rail.
Through adopting above-mentioned technical scheme, after the welding seam on the rail removes to polishing station department, the driving piece that sets up drives two centre gripping arms and removes for two centre gripping arms are with rail centre gripping in current position department, can conveniently polish the bistrique and stabilize the rail.
Optionally, the clamping mechanism includes: the mounting seats are movably arranged on the supporting table at intervals along the first direction; the positioning seat is arranged on the mounting seat, one end face of the positioning seat is elastically connected with the mounting seat, the opposite end face faces the other mounting seat, and the opposite end face is used for pressing the side face of the steel rail; one end of the positioning arm is fixedly provided with a rotating shaft for rotationally connecting the positioning arm and the positioning seat, and the opposite end extends out of the positioning seat and is used for being attached to the upper surface of the outer contour of the steel rail; the adjusting assembly is arranged on the supporting table and used for driving the two mounting seats to be close to each other and to be far away from each other; and the locking assembly is used for locking or releasing the rotation of the positioning arm.
By adopting the technical scheme, when the steel rail is conveyed by the external conveying device and moves on the basic platform, the positioning arm is erected on the upper surface of the outer contour of the steel rail, and the positioning seat is attached to the side wall of the steel rail, so that the circumferential side of the steel rail is limited in the clamping device; when the steel rail moves to the designated position, the two mounting seats are driven to be close to each other through the adjusting mechanism, so that the mounting seats and the adjacent positioning seats are close to each other and tightly abutted, and then the locking assembly locks the positioning arm, so that the positioning arm is stably attached to the steel rail, and the steel rail is difficult to move up and down; and because the locating arm is difficult to move, the locating seat is difficult to move, so that the side wall of the steel rail is stably limited by the locating seat, the steel rail is difficult to transversely shake, and stable locking of the steel rail is realized.
Optionally, the locking assembly includes: the upper pressing head is arranged on the mounting seat and used for pressing the upper end face of the positioning arm; and the side support plate is arranged on the mounting seat and used for supporting an end face of the positioning arm close to the positioning seat.
Through adopting above-mentioned technical scheme, the last locating arm up end that presses that sets up, and the side support board that sets up supports the locating arm and be close to the terminal surface of locating seat, and the terminal surface laminating is in the surface of rail under the locating arm simultaneously for the locating arm receives the restriction of multi-angle and is difficult to take place to remove, thereby realizes the stable locking of locating arm.
Optionally, the semicircular groove has been seted up to the side of mount pad adjacent positioning seat, the side backup pad is for rotating the semicircle board that sets up in the semicircular groove, the arc surface and the semicircular groove inner wall slip laminating of side backup pad, a horizontal terminal surface of side backup pad is used for supporting the terminal surface that the positioning arm is close to the positioning seat.
Through adopting above-mentioned technical scheme, when two mount pads are driven and are close to each other, the mount pad gathers together with the positioning seat on it each other, then the locating arm on the positioning seat is close to the side support board gradually, until the terminal surface of locating arm contradicts the side support board, and because the one end that the locating arm was kept away from to the side support board is laminated with half slot inner wall all the time for the side support board is carrying out stability to the terminal surface of locating arm and is spacing.
Optionally, a positioning ring is fixed on the periphery of the rotating shaft, a plurality of positioning grooves are formed in the peripheral surface of the positioning ring, an electromagnet is arranged on the surface of the side supporting plate, and a plurality of positioning strips are arranged on the surface of the mounting seat in a lifting and sliding manner; the electromagnet can be controlled by the control system to carry out magnetic force adjustment, and the electromagnet can magnetically attract the positioning strip and enable one end of the positioning strip to be inserted into the positioning groove.
Through adopting above-mentioned technical scheme, after the side support board contradicts the locating arm, can inhale the location strip through the electro-magnet magnetism to make the one end of location strip insert in the constant head tank, thereby make the holding ring be difficult to take place to rotate, further strengthen the locking stability of locating arm.
Optionally, a plurality of driving wheels are arranged at the bottom of the basic platform, and a driving piece for driving the driving wheels to rotate is arranged on the basic platform.
Through adopting above-mentioned technical scheme, the driving piece that sets up can drive the drive wheel rotation to make basic platform can carry out position adjustment in the factory.
The steel rail welding seam rough polishing process provided in the second aspect of the application adopts the following technical scheme:
a rail weld rough grinding process based on any one of the rail weld rough grinding station robots of the first aspect, comprising: clamping and positioning the steel rail fed into the foundation platform through the guide clamping assembly; determining the position of a weld on the rail; the control system is used for controlling the multi-joint manipulator to adjust the gesture so that the polishing head at the tail end of the multi-joint manipulator moves to the welding seam of the steel rail; and controlling the polishing head to polish the welding seam of the steel rail through the control system.
In summary, the present application includes at least one of the following beneficial technical effects:
1. the clamping device is arranged to clamp and position the steel rail on the basic platform, and then the gesture of the multi-joint manipulator is regulated through the control system, so that the cutter on the electric spindle can carry out high-efficiency fine polishing of the welding seam along the outline track of the welding seam of the steel rail, and the polishing operation of the welding seam is synchronously carried out on the two sides of the steel rail under the common operation of a plurality of groups of polishing heads, thereby improving the polishing quality of the welding seam of the steel rail and simultaneously leading the polishing quality of the welding seam of batch steel rails to be higher and more uniform;
2. when the control system controls the polishing head to polish the steel rail, the control system can control constant flexible polishing pressure by controlling the flexible force control flange and the multi-joint manipulator, and the polishing pressure is regulated, so that the polishing quality of the steel rail welding seam is greatly improved;
3. the two installation seats are driven to be close to each other through the adjusting mechanism, the installation seats and the adjacent positioning seats are close to each other and tightly abutted, and then the positioning arm is locked by the locking assembly, so that the positioning arm is stably attached to the steel rail, and the steel rail is difficult to move up and down; and because the locating arm is difficult to move, the locating seat is difficult to move, so that the side wall of the steel rail is stably limited by the locating seat, the steel rail is difficult to transversely shake, and stable locking of the steel rail is realized.
Drawings
Fig. 1 is a schematic diagram of the overall structure of a rail weld rough grinding station robot according to an embodiment of the application;
FIG. 2 is a schematic view of the structure of the clamping mechanism and the support table;
FIG. 3 is a schematic view of another embodiment of a clamping mechanism;
FIG. 4 is a schematic view of the structure of the mount, positioning arm, adjustment assembly, and locking assembly;
FIG. 5 is a schematic view of the structure of the adjustment assembly and the locking assembly;
fig. 6 is a schematic view of the structure of the mounting base and the side support plate.
Reference numerals: 1. a base platform; 11. a driving wheel; 2. a multi-joint manipulator; 21. a base; 22. an articulated arm; 23. a driving motor; 3. a control system; 4. polishing head; 41. a flexible force control flange; 42. an electric spindle; 43. a cutter; 5. a support table; 6. a guide roller; 7. a clamping mechanism; 71. a clamping arm; 72. a driving member; 73. a mounting base; 731. a horizontal section; 732. a vertical section; 733. a semicircular groove; 734. a positioning strip; 74. a positioning seat; 75. a positioning arm; 76. an adjustment assembly; 761. a bottom plate; 762. a double-ended threaded rod; 763. a servo motor; 764. a slide; 77. a locking assembly; 771. an upper pressing head; 772. a side support plate; 773. an adjusting rod; 774. an electromagnet; 775. a touch switch; 78. a spring; 79. a positioning ring; 791. a positioning groove; 8. a polishing device; a. a first direction; b. a second direction.
Detailed Description
The present application is described in further detail below in conjunction with figures 1-6.
The embodiment of the application discloses a steel rail welding seam rough polishing station robot. Referring to fig. 1, the rail weld rough grinding station robot comprises a base platform 1, wherein two groups of multi-joint manipulators 2, a clamping device and a control system 3 are arranged on the base platform 1. Two groups of multi-joint manipulators 2 are arranged along a first direction a, each group comprises at least one multi-joint manipulator 2, and the tail end of the multi-joint manipulator 2 is provided with a polishing head 4. The clamping device is positioned between the two groups of multi-joint manipulators 2 and is used for clamping the steel rail, so that the steel rail extends between the two groups of multi-joint manipulators 2 along a second direction b, and the second direction b is intersected with the first direction a. And the control system 3 is used for adjusting the rotation posture of the multi-joint manipulator 2, controlling the operation of the polishing head 4 and controlling the clamping device to clamp the steel rail.
Specifically, referring to fig. 1, in the present embodiment, the multi-joint manipulator 2 includes a base 21 and a plurality of joint arms 22, the plurality of joint arms 22 are sequentially arranged and rotationally connected between the ends, and a driving motor 23 for driving the joint arms 22 to rotate is disposed at a rotational connection position between two adjacent joint arms 22. The bottom of the base 21 is fixed on the foundation platform 1 through bolts, and the joint arm 22 at the head end is rotatably connected with the base 21, and the joint arm 22 at the tail end is connected with the flexible force control flange 41.
Further, the polishing head 4 comprises a flexible force control flange 41 arranged at the tail end of the multi-joint manipulator 2, an electric spindle 42 arranged at one end of the flexible force control flange 41 far away from the multi-joint manipulator 2, and a cutter 43 detachably connected to the output end of the electric spindle 42. The flexible force control flange 41 is electrically connected with the control system 3, and the flexible force control flange 41 comprises a flexible connector and a high-precision digital force/displacement sensor, wherein the flexible connector is connected with the multi-joint manipulator 2 and the electric spindle 42.
During processing, the control system 3 is used for controlling the multi-joint manipulator 2 and the polishing head 4, and the force and displacement sensors are used for detecting the welding seam of the base materials at two ends of the split region so as to enable the polished base materials to smoothly transition with the base materials. In the polishing process, the multi-joint manipulator 2 is controlled to simulate the manual polishing gesture, so that the seamless connection of the narrow Z-shaped polishing path is realized. Meanwhile, the polishing pressure is controlled in a completely constant and flexible way, and the pressure can be accurately adjusted at any time according to the actual situation. In addition, a sensor for detecting the steel rail welding seam, flatness after polishing and polishing depth is additionally arranged on the robot, so that the automatic positioning of the steel rail welding seam, the storage of detection data and uploading of the detection data are automatically found by the whole machine of the equipment.
Further, referring to fig. 1 and 2, in order to achieve stable clamping of the rail, in this embodiment, the clamping device includes a support table 5, a guide roller 6, and a clamping mechanism 7; the support tables 5 are provided at intervals in the second direction b in plural, and in this embodiment, the number of support tables 5 is set to two, and in other embodiments, the number of support tables 5 may be three, four, or the like. And two guide rollers 6 are correspondingly arranged, the two guide rollers 6 are rotatably arranged on the upper end surfaces of the corresponding supporting tables 5 one by one, the rotation axes of the guide rollers 6 are flush with the first direction a, and the circumferential surfaces of the guide rollers 6 are used for supporting steel rails. And two clamping mechanisms 7 are arranged on each supporting table 5, the two clamping mechanisms 7 are arranged on two sides of the guide roller 6 along the second direction b, and the clamping mechanisms 7 are used for clamping and loosening the steel rail.
Specifically, referring to fig. 2, in the present embodiment, the clamping mechanism 7 includes two clamping arms 71 and two driving members 72, the two clamping arms 71 are disposed on the supporting table 5 at intervals along the first direction a, and clamping grooves adapted to the convex edges of the outer contours of the guide rails are formed on opposite sides of the two clamping arms 71. The two driving members 72 are disposed on the supporting table 5 and correspond to the two clamping arms 71 one by one, and the driving members 72 are used for driving the clamping arms 71 to move so as to clamp and release the steel rail by the two clamping arms 71.
In this embodiment, the driving member 72 is selected as a servo motor 763, an output shaft of the servo motor 763 is connected to the lower end of the holding arm 71 through a bearing, and a rotation axis of the output end of the servo motor 763 is aligned with the second direction b. In another embodiment, the driving member 72 is selected as a hydraulic cylinder, a piston rod of which is fixedly connected to the lower end of the clamping arm 71, and the hydraulic cylinder drives the clamping arm 71 to reciprocate along the first direction a.
Referring to fig. 3 and 4, in another embodiment, the clamping mechanism 7 includes two mounting brackets 73, two positioning brackets 74, two positioning arms 75, an adjustment assembly 76, and a locking assembly 77. The adjustment assembly 76 includes a base plate 761 fixed to the support table 5, a double-headed screw rod 762 rotatably mounted to the base plate 761, and a servo motor 763 fixed to the base plate 761 for driving the double-headed screw rod 762 to rotate. The threads at both ends of the double-headed screw rod 762 in the length direction are rotated in opposite directions, and both the length direction and the rotation axis of the double-headed screw rod 762 are consistent with the first direction a. The two ends of the double-headed threaded rod 762 in the length direction are sleeved with sliding seats 764 in a threaded manner, the sliding seats 764 are square, and the lower end surfaces of the sliding seats 764 are in sliding fit with the surface of the bottom plate 761.
The two mounting seats 73 are movably arranged on the supporting table 5 at intervals along the first direction a, and the mounting seats 73 are L-shaped and comprise a horizontal section 731 and a vertical section 732 which are integrally formed, and the two mounting seats 73 are fixed on the two sliding seats 764 one by one. The two positioning seats 74 are in one-to-one correspondence with the two mounting seats 73, the positioning seats 74 are slidably mounted on the horizontal section 731 of the mounting seats 73 through T-shaped sliding blocks, one end surface of each positioning seat 74 is elastically connected with the mounting seat 73 through a spring 78, and the opposite end surfaces of the positioning seats 74 are used for being attached to the side surfaces of the steel rail. The two positioning arms 75 are in one-to-one correspondence with the two mounting seats 73, one end of the positioning arm 75 in the length direction is fixed with a rotating shaft, the rotating shaft is rotationally connected with the positioning seat 74, the rotating axis is consistent with the first direction a, and the other end of the positioning arm 75 in the length direction extends out of the positioning seat 74 and is used for being attached to the upper surface of the outer contour of the steel rail.
Further, referring to fig. 4 and 5, the locking assembly 77 includes an upper pressing head 771 and a side support plate 772, one end of the upper pressing head 771 is fixed with an adjusting rod 773, the outer circumference of the adjusting rod 773 is provided with threads, and the adjusting rod 773 is threaded through the vertical section 732 of the mounting seat 73 along the first direction a, so that the mounting position of the upper pressing head 771 can be adjusted through the adjusting rod 773, and the upper pressing head 771 can conveniently press the upper end surface of the positioning arm 75.
Referring to fig. 5 and 6, a semicircular groove 733 is formed on a side surface of the mounting seat 73 adjacent to the vertical section 732 of the positioning seat 74, the side support plate 772 is a semicircular plate rotatably disposed in the semicircular groove 733, an arc surface of the side support plate 772 is slidably attached to an inner wall of the semicircular groove 733, a horizontal end surface of the side support plate 772 is used for supporting the positioning arm 75 to approach an end surface of the positioning seat 74, and a torsion spring (not shown in the drawings) is disposed at a connection position between the side support plate 772 and the inner wall of the semicircular groove 733, and is used for driving the side support plate 772 to tend to keep a horizontal state when no external force is applied, so that the positioning arm 75 presses an outer side surface of the side support plate 772.
Further, positioning rings 79 are fixed on the circumferential sides of the two ends of the length direction of the rotating shaft, a plurality of positioning grooves 791 are formed in the outer circumferential surface of the positioning rings 79, and the positioning grooves 791 are uniformly distributed at intervals along the circumferential direction of the positioning rings 79. The electromagnet 774 is embedded in the lower surface of the side support plate 772, a plurality of touch switches 775 are embedded in the side support plate 772 at intervals towards one end surface of the positioning arm 75, the flexible touch ball head of the touch switch 775 protrudes out of the outer surface of the side support plate 772 by 1-5mm, and the touch switch 775 and the electromagnet 774 are electrically connected with the control system 3. In addition, a plurality of accommodation grooves are formed in the surface of the mounting seat 73 along the first direction a, and positioning strips 734 are arranged in the accommodation grooves in a lifting and sliding manner.
When the opposite surfaces of the positioning arm 75 and the side support plate 772 are completely attached, the plurality of touch switches 775 are pressed and touched by the positioning arm 75, then the controller controls the electromagnet 774 to operate and magnetically attract the positioning strip 734, and then the upper end of the positioning strip 734 moves upwards, so that the upper end of the positioning strip 734 is inserted into the positioning groove 791, and the reinforced locking of the positioning arm 75 is realized.
In order to further improve the polishing efficiency of the rail, referring to fig. 1, in this embodiment, a polishing device 8 for directly polishing the weld at the bottom of the rail is added to the base platform 1. The polishing device 8 comprises a polishing head 4 which is adjusted on a basic platform in an oil pressure lifting manner. When the polishing heads 4 at the ends of the multiple multi-joint manipulators 2 polish the welding seams of the side walls of the steel rail, the polishing device synchronously polishes the welding seams of the bottom of the steel rail under the control of the control system 3.
Further, in order to adsorb the dust that produces after grinding, be provided with dust pelletizing system on the basic platform 1, dust pelletizing system includes the dust extractor, and the air extraction end of dust extractor is connected with the pipeline of bleeding to the dust extractor filters the showy dust in the air.
Further, a plurality of driving wheels 11 are arranged at the bottom of the base platform 1, the base platform 1 is provided with a driving piece 72, and the driving piece 72 drives the driving wheels 11 to rotate through a gear transmission structure. Correspondingly, a supporting foundation for stably bearing the basic platform 1 and a sliding rail matched with the driving wheel 11 are required to be arranged in the factory. The entire base platform 1 is in a long strip shape, the first direction a is flush with the width direction of the base platform 1, and the second direction b is flush with the length direction of the base platform 1.
The implementation principle of the rail welding seam rough polishing station robot provided by the embodiment of the application is as follows: the clamping device is arranged to clamp and position the steel rail on the basic platform 1, and then the gesture of the multi-joint manipulator 2 is adjusted through the control system 3, so that the cutter 43 on the electric spindle 42 can polish the welding seam efficiently and finely along the outline track of the welding seam of the steel rail, the grinding heads 4 of the multiple groups work together and synchronously polish the welding seam on the two sides of the steel rail, the grinding quality of the welding seam of the steel rail is improved, the grinding efficiency is improved, and meanwhile, the grinding quality of the welding seam of batch steel rails is higher and unified.
The embodiment of the application also discloses a steel rail welding seam rough polishing process based on any one of the steel rail welding seam rough polishing station robots. The steel rail welding seam rough polishing process comprises the following steps:
clamping and positioning the steel rail fed into the foundation platform 1 through a clamping device;
determining the position of a weld on the rail;
the control system 3 controls the multi-joint manipulator 2 to adjust the gesture so that the polishing head 4 at the tail end of the multi-joint manipulator 2 moves to the welding seam of the steel rail;
the control system 3 controls the polishing head 4 to polish the welding line of the steel rail.
Unless defined otherwise, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this application belongs. The terms "first," "second," "third," and the like in the description and in the claims, are not used for any order, quantity, or importance, but are used for distinguishing between different elements. The terms "a" or "an" and the like do not denote a limitation of quantity, but rather denote the presence of at least one. The word "comprising" or "comprises", and the like, is intended to mean that elements or items that are present in front of "comprising" or "comprising" are included in the word "comprising" or "comprising", and equivalents thereof, without excluding other elements or items. "upper", "lower", "left", "right", etc. are used merely to denote relative positional relationships, which may also change accordingly when the absolute position of the object to be described changes.
The foregoing are all preferred embodiments of the present application, and are not intended to limit the scope of the present application in any way, therefore: all equivalent changes in structure, shape and principle of this application should be covered in the protection scope of this application.
Claims (6)
1. A steel rail welding seam rough polishing station robot which is characterized in that: the device comprises a basic platform (1), wherein the basic platform (1) is provided with:
two groups of multi-joint manipulators (2), wherein the two groups of multi-joint manipulators (2) are arranged along a first direction (a), each group comprises at least one multi-joint manipulator (2), and a polishing head (4) is arranged at the tail end of each multi-joint manipulator (2);
the clamping device is positioned between the two groups of multi-joint manipulators (2) and used for clamping the steel rail, so that the steel rail extends between the two groups of multi-joint manipulators (2) along a second direction (b), and the second direction (b) is intersected with the first direction (a);
the control system (3) is used for adjusting the rotation gesture of the multi-joint manipulator (2), controlling the operation of the polishing head (4) and controlling the clamping device to clamp the steel rail;
the clamping device comprises:
a support table (5) arranged on the base platform (1);
the guide roller (6) is rotatably arranged on the supporting table (5), and the circumferential surface of the guide roller (6) is used for supporting the steel rail;
the clamping mechanism (7) is arranged on the supporting table (5) and is used for clamping and releasing the steel rail;
the clamping mechanism (7) comprises:
the mounting seats (73) are movably arranged on the supporting table (5) at intervals along the first direction (a);
the positioning seat (74) is arranged on the mounting seat (73), one end surface of the positioning seat is elastically connected with the mounting seat (73), the opposite end surface faces the other mounting seat (73), and the opposite end surface is used for being attached to the side surface of the steel rail;
one end of the positioning arm (75) is fixedly provided with a rotating shaft for rotationally connecting the positioning arm (75) with the positioning seat (74), and the opposite end extends out of the positioning seat (74) and is used for being attached to the upper surface of the outer contour of the steel rail;
the adjusting assembly (76) is arranged on the supporting table (5) and is used for driving the two mounting seats (73) to be close to each other and to be far away from each other;
-a locking assembly (77) for locking or releasing the rotation of the positioning arm (75);
the locking assembly (77) comprises:
an upper pressing head (771) arranged on the mounting base (73) and used for pressing the upper end surface of the positioning arm (75) when the two mounting bases (73) are close to each other;
a side support plate (772) arranged on the mounting seats (73) and used for supporting one end face of the positioning arm (75) close to the positioning seat (74) when the two mounting seats (73) are close to each other;
a positioning ring (79) is fixed on the periphery of the rotating shaft, a plurality of positioning grooves (791) are formed in the outer peripheral surface of the positioning ring (79), an electromagnet (774) is arranged on the surface of the side supporting plate (772), and a plurality of positioning strips (734) are arranged on the surface of the mounting seat (73) in a lifting and sliding manner;
when the opposite surfaces of the positioning arm (75) and the side support plate (772) are completely attached, the electromagnet (774) is controlled by the control system (3) to perform magnetic force adjustment, so that the electromagnet (774) magnetically attracts the positioning strip (734), and one end of the positioning strip (734) is inserted into the positioning groove (791).
2. The rail weld rough grinding station robot of claim 1, wherein: the polishing head (4) comprises a flexible force control flange (41) arranged at the tail end of the multi-joint manipulator (2), an electric spindle (42) arranged at one end, far away from the multi-joint manipulator (2), of the flexible force control flange (41), and a cutter (43) detachably connected to the output end of the electric spindle (42); the flexible force control flange (41) is electrically connected with the control system (3).
3. The rail weld rough grinding station robot of claim 1, wherein: the clamping mechanism (7) comprises:
two clamping arms (71) are arranged on the supporting table (5) at intervals along the first direction (a);
and the driving piece (72) is arranged on the supporting table (5) and is used for driving the two clamping arms (71) to move so as to clamp and release the steel rail by the two clamping arms (71).
4. The rail weld rough grinding station robot of claim 1, wherein: the installation seat (73) is adjacent to the side face of the positioning seat (74) and is provided with a semicircular groove (733), the side support plate (772) is a semicircular plate rotationally arranged in the semicircular groove (733), the arc face of the side support plate (772) is in sliding fit with the inner wall of the semicircular groove (733), and one horizontal end face of the side support plate (772) is used for supporting one end face of the positioning arm (75) close to the positioning seat (74).
5. The rail weld rough grinding station robot of claim 1, wherein: the bottom of the base platform (1) is provided with a plurality of driving wheels (11), and the base platform (1) is provided with a driving piece (72) for driving the driving wheels (11) to rotate.
6. A rail weld rough grinding process based on a rail weld rough grinding station robot according to any one of claims 1 to 5, characterized in that: the process comprises the following steps:
clamping and positioning the steel rail fed into the foundation platform (1) through a clamping device;
determining the position of a weld on the rail;
the control system (3) is used for controlling the multi-joint manipulator (2) to adjust the posture so that a polishing head (4) at the tail end of the multi-joint manipulator (2) moves to the welding seam of the steel rail;
and the polishing head (4) is controlled by the control system (3) to polish the welding line of the steel rail.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311325272.4A CN117300514B (en) | 2023-10-12 | 2023-10-12 | Steel rail welding seam rough polishing station robot and polishing process thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311325272.4A CN117300514B (en) | 2023-10-12 | 2023-10-12 | Steel rail welding seam rough polishing station robot and polishing process thereof |
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| CN117300514A CN117300514A (en) | 2023-12-29 |
| CN117300514B true CN117300514B (en) | 2024-04-12 |
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| CN117300514A (en) | 2023-12-29 |
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