CN217192811U - Robot floating force control welding seam milling device - Google Patents
Robot floating force control welding seam milling device Download PDFInfo
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- CN217192811U CN217192811U CN202123433678.3U CN202123433678U CN217192811U CN 217192811 U CN217192811 U CN 217192811U CN 202123433678 U CN202123433678 U CN 202123433678U CN 217192811 U CN217192811 U CN 217192811U
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- welding seam
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Abstract
The utility model relates to the technical field of welding seam processing, in particular to a robot floating force control welding seam milling device, which is provided with a floating force control mechanism and a welding seam milling mechanism, wherein the floating force control mechanism is connected with the welding seam milling mechanism through a floating connecting plate; the utility model provides a structural design is compact, and the welding seam mills efficiently and the precision is high, prevents that machinery from cutting the robot of damage work piece and floats power accuse welding seam milling equipment excessively.
Description
Technical Field
The utility model relates to a welding seam processing technology field, in particular to robot unsteady power accuse welding seam milling equipment.
Background
In the machine manufacturing industry, the local surfaces of many machine structures need to be finished to meet certain flatness and roughness requirements, wherein the treatment of the weld seam is a very important process.
At present, the weld joint is processed mainly by grinding the weld joint flatly through a sand belt or a grinding wheel and the like, and the used equipment comprises a handheld sand belt grinding tool, a shutter wheel type grinding tool or a grinding wheel type grinding tool, but no matter the equipment is handheld or integrated on mechanical equipment or a robot, the equipment is mainly used for grinding, and some defects are inevitable: the hand-held tool has low grinding efficiency and low grinding precision, so that the consistency of the surface quality of the ground welding seam is unstable; an abrasive belt or grinding wheel grinding tool integrated on mechanical equipment or a robot cannot adjust a welding seam milling device accurately according to different postures of the mechanical equipment or the robot in real time in the grinding process, so that the problem of unstable quality consistency of the surface of a welding seam after grinding also exists, and the workpiece is easily damaged due to the phenomenon of mechanical over-cutting in the grinding process.
SUMMERY OF THE UTILITY MODEL
The utility model aims at overcoming the defect and not enough that prior art exists, providing a structural design is compact, and the welding seam mills efficient and precision height, prevents that machinery from cutting the robot unsteady power accuse welding seam milling equipment who harms the work piece excessively.
Realize the utility model discloses the technical scheme of purpose is: the utility model provides a robot floating force accuse welding seam milling equipment which characterized in that: the welding line milling device is provided with a floating force control mechanism and a welding line milling mechanism, wherein the floating force control mechanism is connected with the welding line milling mechanism through a floating connecting plate.
Furthermore, the floating force control mechanism comprises a mounting base, a driving cylinder, a linear guide rail and an attitude sensor are arranged in the mounting base, the floating connecting plate is connected with the linear guide rail in a sliding mode, and the floating connecting plate is driven by the driving cylinder to slide along the linear guide rail.
Furthermore, the air inlet end and the air outlet end of the driving cylinder are connected with a pneumatic reversing valve, and the air inlet of the pneumatic reversing valve is connected with a pressure proportional valve.
Further, the welding seam milling mechanism comprises an installation frame, a driving motor is arranged on the installation frame, and the driving motor is in transmission connection with the welding seam milling head assembly through a transmission assembly.
Furthermore, the welding seam milling head assembly comprises a rotating shaft and a milling cutter disc arranged at one end of the rotating shaft, blades are detachably arranged on the milling cutter disc, and an over-cutting preventing assembly is arranged on the milling cutter disc.
Further, the transmission assembly comprises a large synchronous belt wheel and a small synchronous belt wheel, the large synchronous belt wheel and the small synchronous belt wheel are connected through a synchronous belt, the large synchronous belt wheel is connected with the output end of the driving motor, and the small synchronous belt wheel is connected with the other end of the rotating shaft.
Further, the anti-over-cutting assembly comprises a limiting wheel and blocking pieces, wherein the limiting wheel is coaxially arranged on two sides of the milling cutter disc respectively, and the blocking pieces are coaxially arranged on the side faces, close to the blades, of the limiting wheel respectively.
After the technical scheme is adopted, the utility model discloses following positive effect has:
(1) the utility model can adjust the welding seam milling mechanism according to the change of the welding seam surplus height through the arrangement of the floating force control mechanism, thereby ensuring the consistency of the welding seam milling surface quality;
(2) the utility model discloses a posture sensor, pneumatic switching-over valve are connected and the setting of pressure proportional valve for system PLC can accurately adjust welding seam milling mechanism through floating force control mechanism in real time, thereby has improved the precision that the welding seam milled, has further guaranteed the uniformity that the welding seam milled surface quality;
(3) the utility model prevents the occurrence of mechanical over-cutting in the welding seam milling process by arranging the over-cutting prevention component, thereby avoiding the damage of the workpiece;
(4) the utility model discloses a flange is connected with the robot to realize the automation that the welding seam milled, improved work efficiency.
Drawings
In order that the manner in which the present invention is made more readily and clearly understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings, wherein:
fig. 1 is a schematic structural view of the present invention;
fig. 2 is a cross-sectional view of the floating force control mechanism of the present invention;
FIG. 3 is a schematic diagram of the floating force control mechanism of the present invention;
fig. 4 is a sectional view of the welding seam milling mechanism of the present invention;
FIG. 5 is a schematic view of the weld milling head assembly of the present invention;
fig. 6 is a schematic diagram of milling a weld of a workpiece according to the present invention.
In the figure: the device comprises a floating force control mechanism 100, a floating connecting plate 101, a mounting base 102, a driving cylinder 103, a linear guide rail 104, an attitude sensor 105, a connecting block 106, a floating joint 107, a weld milling mechanism 200, a mounting frame 201, a driving motor 202, a transmission assembly 203, a large synchronous pulley 2031, a small synchronous pulley 2032, a synchronous belt 2033, a second sliding key 2034, a connecting plate 204, a cover plate 205, a cavity 206, a weld milling head assembly 300, a rotating shaft 301, a milling cutter disc 302, a blade 303, an over-cutting prevention assembly 304, a limiting wheel 3041, a baffle 3042, a first bearing 3043, a collar 3044, a first sliding key 305, a second bearing 306, a connecting flange 400, a robot 500 and a workpiece 600.
Detailed Description
As shown in fig. 1 to 6, a robot floating force control welding seam milling device is provided with a floating force control mechanism 100 and a welding seam milling mechanism 200, wherein the floating force control mechanism 100 is connected with a robot 500 through a connecting flange 400, so that automation of welding seam milling is realized, and the working efficiency of welding seam milling is improved, the floating force control mechanism 100 is connected with the welding seam milling mechanism 200 through a floating connecting plate 101, and the welding seam milling mechanism 200 can be adjusted according to the change of welding seam surplus height through the arrangement of the floating force control mechanism 100, so that the consistency of the welding seam milling surface quality is ensured. The floating force control mechanism 100 comprises a mounting base 102, a driving cylinder 103, a linear guide rail 104 and a posture sensor 105 are arranged in the mounting base 102, an air inlet end and an air outlet end of the driving cylinder 103 are connected with a pneumatic reversing valve, an air inlet of the pneumatic reversing valve is connected with a pressure proportional valve, the pressure proportional valve is connected with an air source, a floating connecting plate 101 is connected with the linear guide rail 104 in a sliding mode through a sliding block, a connecting block 106 is installed in the middle of the side face, close to the mounting base 102, of the floating connecting plate 101, the end, far away from the floating connecting plate 101, of the connecting block 106 extends into the mounting base 102 and is connected with the output end of the driving cylinder 103 through a floating joint 107, the posture sensor 105 and the pressure proportional valve are connected with a system PLC in a control mode, the system PLC calculates the quality of the welding seam milling mechanism 200 in real time according to the posture sensor 105 and then adjusts power compensation parameters of the floating force control mechanism 100 in real time through the pneumatic reversing valve and the pressure proportional valve, and then realize the adjustment to the welding seam milling mechanism 200 under the different gestures of robot 500 to control the cutting force, thereby improving the precision of welding seam milling and further ensuring the consistency of the quality of the surface of welding seam milling. The welding seam milling mechanism 200 comprises a mounting frame 201, a driving motor 202 is mounted at the top end of the mounting frame 201 through a connecting plate 204, the driving motor 202 is in transmission connection with a welding seam milling head assembly 300 through a transmission assembly 203, the transmission assembly 203 is arranged in a cavity 206 enclosed by the mounting frame 201 and a cover plate 205, the transmission assembly 203 comprises a large synchronous pulley 2031 and a small synchronous pulley 2032, the large synchronous pulley 2031 and the small synchronous pulley 2032 are connected through a synchronous belt 2033, the large synchronous pulley 2031 is connected with the output end of the driving motor 202, the welding seam milling head assembly 300 comprises a rotating shaft 301 and a milling cutter disc 302 mounted at one end of the rotating shaft 301, the rotating shaft 301 is connected with the milling cutter disc 302 through a first sliding key 305, the other end of the rotating shaft 301 is rotatably connected with the bottom end of the mounting frame 201 through a second bearing 306, the other end of the rotating shaft 301 extends into the cavity 206 and is connected with the small synchronous pulley 2032 through a second sliding key 2034, the milling cutter disc 302 is detachably provided with a blade 303, the milling cutter disc 302 is detachably connected with the blade 303 so as to facilitate maintenance or replacement of the blade 303, the milling cutter disc 302 is provided with an over-cutting prevention assembly 304, the over-cutting prevention assembly 304 comprises a limiting wheel 3041 and a baffle 3042, the limiting wheel 3041 is coaxially arranged on two sides of the milling cutter disc 302 respectively, the limiting wheel 3041 is sleeved on a collar 3044 through a first bearing 3043, the collar 3044 is sleeved on the rotating shaft 301, the collar 3044 has a limiting effect on the first bearing 3043, the baffle 3042 is coaxially arranged on the side surface of the limiting wheel 3041 close to the blade 303 respectively, and the over-cutting prevention assembly 304 is arranged to prevent mechanical over-cutting in a welding seam milling process and avoid workpiece damage;
when a welding seam is milled, firstly, the power compensation parameters of the floating force control mechanism 100 are set according to the quality of the welding seam milling mechanism 200, then the robot 500 drives the welding seam milling mechanism 200 to the position of a workpiece 600 to be machined, the floating force control mechanism 100 sets proper floating parameters, then the robot 500 runs a set off-line program, the welding seam of the workpiece 600 to be machined is milled according to a program path, and simultaneously, the system PLC calculates the quality of the welding seam milling mechanism 200 in real time according to the attitude sensor 105 and adjusts the power compensation parameters of the floating force control mechanism 100 in real time through the pressure proportional valve and the pneumatic reversing valve, so that the adjustment of the welding seam milling mechanism 200 under different attitudes of the robot 500 is realized, and the welding seam milling precision is improved.
The above-mentioned embodiments, further detailed description of the objects, technical solutions and advantages of the present invention, it should be understood that the above description is only the embodiments of the present invention, and is not intended to limit the present invention, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (7)
1. The utility model provides a robot floating force accuse welding seam milling equipment which characterized in that: the welding seam milling device is provided with a floating force control mechanism (100) and a welding seam milling mechanism (200), wherein the floating force control mechanism (100) is connected with the welding seam milling mechanism (200) through a floating connecting plate (101).
2. The robotic floating force controlled weld milling device according to claim 1, wherein: the floating force control mechanism (100) comprises a mounting base (102), a driving cylinder (103), a linear guide rail (104) and an attitude sensor (105) are arranged in the mounting base (102), the floating connecting plate (101) is connected with the linear guide rail (104) in a sliding mode, and the floating connecting plate (101) is driven by the driving cylinder (103) to slide along the linear guide rail (104).
3. The robotic floating force controlled weld milling device according to claim 2, wherein: the air inlet end and the air outlet end of the driving air cylinder (103) are connected with a pneumatic reversing valve, and the air inlet of the pneumatic reversing valve is connected with a pressure proportional valve.
4. The robotic floating force controlled weld milling device according to claim 1, wherein: the welding seam milling mechanism (200) comprises a mounting frame (201), a driving motor (202) is arranged on the mounting frame (201), and the driving motor (202) is in transmission connection with the welding seam milling head assembly (300) through a transmission assembly (203).
5. The robotic floating force controlled weld milling apparatus according to claim 4, wherein: the welding seam milling head assembly (300) comprises a rotating shaft (301) and a milling cutter disc (302) installed at one end of the rotating shaft (301), blades (303) are detachably installed on the milling cutter disc (302), and an over-cutting prevention assembly (304) is arranged on the milling cutter disc (302).
6. The robot floating force controlled weld milling device according to claim 5, characterized in that: the transmission assembly (203) comprises a large synchronous pulley (2031) and a small synchronous pulley (2032), the large synchronous pulley (2031) and the small synchronous pulley (2032) are connected through a synchronous belt (2033), the large synchronous pulley (2031) is connected with the output end of the driving motor (202), and the small synchronous pulley (2032) is connected with the other end of the rotating shaft (301).
7. The robotic floating force controlled weld milling device according to claim 5, wherein: the over-cutting prevention assembly (304) comprises a limiting wheel (3041) and baffle plates (3042), the limiting wheel (3041) is coaxially arranged on two sides of the milling cutter head (302), and the baffle plates (3042) are coaxially arranged on the side surfaces, close to the blades (303), of the limiting wheel (3041).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123433678.3U CN217192811U (en) | 2021-12-31 | 2021-12-31 | Robot floating force control welding seam milling device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123433678.3U CN217192811U (en) | 2021-12-31 | 2021-12-31 | Robot floating force control welding seam milling device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217192811U true CN217192811U (en) | 2022-08-16 |
Family
ID=82787258
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202123433678.3U Active CN217192811U (en) | 2021-12-31 | 2021-12-31 | Robot floating force control welding seam milling device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217192811U (en) |
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2021
- 2021-12-31 CN CN202123433678.3U patent/CN217192811U/en active Active
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: A Robot Floating Force Controlled Weld Milling Device Effective date of registration: 20230829 Granted publication date: 20220816 Pledgee: Bank of China Limited by Share Ltd. Wuxi Huishan branch Pledgor: WUXI LIMAN ROBOT TECHNOLOGY CO.,LTD. Registration number: Y2023980054361 |