WO2022007107A1

WO2022007107A1 - Automatic longitudinal weld seam grinding device for capsule body and longitudinal weld seam grinding method

Info

Publication number: WO2022007107A1
Application number: PCT/CN2020/108767
Authority: WO
Inventors: 李云; 马珂幸; 黄肖飞; 戴振东
Original assignee: 南京神源生智能科技有限公司; 南京溧航仿生产业研究院有限公司
Priority date: 2020-07-08
Filing date: 2020-08-13
Publication date: 2022-01-13
Also published as: CN111660161A

Abstract

Disclosed is an automatic longitudinal weld seam grinding device for a capsule body, comprising: a base plate, a circular movement device, a longitudinal traveling device, a longitudinal clamping device, an advancing device, a radial clamping device and a grinding device. The base plate is connected to two adjacent I-shaped beams on a capsule body by means of the longitudinal clamping device and the radial clamping device. The circular movement device, the longitudinal traveling device, the longitudinal clamping device, the advancing device and a radial movement device are mounted on the base plate. The grinding device is installed at the advancing device. The advancing device provides advancing energy to the grinding device. The grinding device performs milling on a vertical seam. Also disclosed is an automatic longitudinal weld seam grinding method for a capsule body. The invention can replace manual grinding. Compared with manual grinding, the invention has better grinding performance and efficiency, and can continuously perform operations.

Description

A kind of cabin longitudinal seam automatic grinding device and longitudinal seam grinding method

technical field

The invention relates to an automatic grinding device and method, in particular to an automatic grinding device and a longitudinal seam grinding method of a cabin body of a space capsule.

Background technique

The capsule has a diameter of four or five meters and a length of more than ten meters. Existing space capsules are welded by thin plates, and I-beams 9 with improved strength are arranged on the thin plates, and annular welds are formed between the I-beams and the thin plates, referred to as the annular seam 12; and longitudinal welds are formed between the thin plates, It is referred to as the longitudinal seam 13 for short. As shown in Figure 3. At present, none of the known grinding devices can be applied to the longitudinal seams on the capsule body, and manual grinding is used, which is inefficient, time-consuming and labor-intensive, and the quality of the longitudinal seams after grinding is poor.

technical problem

The purpose of the present invention is to, in view of the problems in the background technology, to propose an automatic longitudinal seam polishing device suitable for polishing longitudinal seams on a space capsule.

technical solutions

The technical scheme adopted in the present invention is: an automatic polishing device for longitudinal seams of a cabin, the automatic polishing device for longitudinal seams of the cabin is integrally located in the cavity of the cabin, and the automatic polishing device for longitudinal seams of the cabin includes a bottom plate, a circumferential motion device, and a longitudinal walking device. , longitudinal clamping device, feeding device, radial clamping device and grinding device.

The bottom plate is connected with the two adjacent I-beams on the cabin through longitudinal clamping devices and radial clamping devices, and the annular movement device, longitudinal walking device, longitudinal clamping device, feeding device and radial movement device are all installed in the cabin. On the base plate, the grinding device is installed on the feeding device, the feeding device provides the grinding device with a feed amount, and the grinding device mills the longitudinal seam.

The two ends of the bottom plate located at the two I-beams are defined as the left end and the right end, respectively, and the circular motion device is arranged on the left end of the bottom plate. The cooperation of the tightening device and the radial clamping device restricts the automatic grinding device of the longitudinal seam of the cabin as a whole to the two adjacent I-beams of the cabin. The feeding device is installed on the bottom plate to drive the feeding of the grinding device. The grinding device The circular motion of the grinding device is driven by the circular motion device; the grinding device is arranged on the feeding device, and the longitudinal traveling device is connected with the feeding device to measure the longitudinal displacement of the grinding device.

A further optimized technical solution of the device of the present invention.

The annular motion device includes a power wheel, a reducer and a second servo motor. The reducer is installed on the left end of the base plate. The second servo motor is connected to the reducer. The motor shaft of the second servo motor is connected to the input shaft of the reducer. The power wheel is set On the output shaft of the reducer, the power wheel is attached to the upper flange of the I-beam. The power wheel is made of nylon. The second servo motor drives the power wheel to rotate, and the power wheel rotates to drive the longitudinal seam of the cabin. The automatic grinding device runs along the upper flange of the I-beam on the cabin as a whole. In the annular motion device of the present invention, the power wheel is made of nylon material, which increases the contact area with the wing plate surface of the upper flange of the I-beam, and simultaneously prevents scratches on the wing plate surface of the upper flange of the I-beam. . Circumferential motion device, the servo motor is energized to start, the power wheel rotates, and through the friction with the upper flange of the I-beam, the automatic grinding device of the longitudinal seam of the cabin is driven along the upper I-beam of the cabin as a whole. the upper flange of the walk.

The longitudinal clamping device includes two fixed longitudinal clamping wheels and a movable longitudinal clamping wheel part, and the two fixed longitudinal clamping wheels and a movable longitudinal clamping wheel part are arranged in a triangle at the edges of the left and right ends of the bottom plate for use. The cabin longitudinal seam automatic grinding device is integrally clamped on the upper flanges of the two I-beams; two fixed longitudinal clamping wheels are arranged on the left end of the bottom plate, and a movable longitudinal clamping wheel part is arranged on the right end of the bottom plate; The longitudinal clamping wheel component includes a guide rail, a moving plate, a rack, a first longitudinal clamping wheel, a first gear and a first servo motor. The left and right ends of the guide rail are flush, and the guide rail is parallel to the longitudinal seam; the moving plate is arranged on the slider of the guide rail, the moving plate is perpendicular to the guide rail, and the two ends of the moving plate protrude out of the bottom plate; the first servo motor is connected with the moving plate, and the first The gear is arranged on the motor shaft of the first servo motor, the first gear meshes with the rack, the first longitudinal clamping wheel is rotatably arranged on the first clamping wheel shaft, the upper end of the first clamping wheel shaft is fixed on the moving plate, and the first longitudinal clamping wheel The clamping wheel is suspended below the moving plate and the outer surface of the first longitudinal clamping wheel can be in close contact with one side of the web of the I-beam; two fixed longitudinal clamping wheels are installed on the edge of the left end of the bottom plate through the second clamping wheel shaft At the position, two fixed longitudinal clamping wheels are respectively rotatably arranged on the second clamping wheel axle, and both fixed longitudinal clamping wheels are suspended below the bottom plate and the outer surface can abut against the other side of the web of the I-beam.

The radial clamping device includes four radial clamping mechanisms arranged in a rectangular shape at the edges of the left and right sides of the bottom plate. Two radial clamping mechanisms are arranged at both ends of the moving plate at the right end of the bottom plate through the fixed plate. The two radial clamping mechanisms are fixed at the left end of the bottom plate through the fixing plate; the four radial clamping mechanisms include clamping cylinders, adapters and radial clamping wheels, and the cylinder bodies of the clamping cylinders are connected to the fixing plate, The adapter is arranged at the end of the piston rod of the clamping cylinder, and the radial clamping wheel is rotated and arranged on the adapter through the third clamping axle; the four radial clamping wheels are all suspended below the bottom plate and the four radial clamping wheels are The outer surface of the wheel may abut against the back of the flap of the upper flange of the I-beam.

In the technical solution of the present invention, the longitudinal clamping device and the radial clamping device cooperate with each other, and the automatic polishing device for the longitudinal seam of the cabin is integrally connected to the I-beam. The clamping force of the radial clamping device is provided by a cylinder, and the clamping force is adjustable. The clamping wheels of the longitudinal clamping device and the radial clamping device are made of nylon, which can effectively reduce the vibration of the equipment during the grinding process. Improve grinding accuracy.

The feeding device includes a sliding plate, a base plate, a third servo motor, a synchronous belt drive pair, a ball screw nut pair, a lifting plate, a support seat and two vertical guide rails. Set directly on the sliding plate, the third servo motor and the support base are respectively set on both sides of the base plate, the upper end bearing of the ball screw in the ball screw nut pair is connected to the support base, and the ball screw is set vertically; the synchronous belt drive pair The inner driving pulley and the driven pulley are respectively connected to the motor shaft of the third servo motor and the upper end of the ball screw, the lifting plate is connected to the screw nut in the ball screw nut pair, and the two vertical guide rails are arranged at intervals on one side of the base plate. On the side, a sliding block which is matched with two vertical guide rails is connected on the lifting plate. The stroke of the feeding device of the invention is adjustable, the grinding feed amount can be adjusted according to the actual grinding situation, and the grinding efficiency is improved.

The longitudinal travel device includes a power unit and a longitudinal travel displacement measuring device. The power unit includes a fourth servo motor and a second gear. The fourth servo motor is arranged on the sliding plate, and the second gear is arranged on the motor shaft of the fourth servo motor. The two gears mesh with the rack; the longitudinal travel displacement measuring device is a grating ruler, which is defined as the first grating ruler. The grating reading head of a grating scale is fixed to the sliding plate by means of connecting rods.

The grinding device includes a six-dimensional force sensor, a buffer and a pneumatic grinder. The six-dimensional force sensor is arranged on the back of the lifting plate, the buffer is mounted on the six-dimensional force sensor and is located below the six-dimensional force sensor, and a piece is installed below the buffer. Positioning plate, the pneumatic sander is installed on the positioning plate, and is located just above the longitudinal seam. The grinding device of the invention is equipped with a six-dimensional force sensor, which can measure the forces and moments generated in various directions during grinding in real time, and plays an important role in the later research on grinding conditions; the buffer can effectively reduce The effect of vibration is conducive to the stability of the grinding force and improves the quality of the grinding surface.

The cabin longitudinal seam automatic grinding device also includes a displacement measuring device for measuring the walking distance of the grinding device on the I-beam, a camera for recording the grinding process, and a laser seam finder for welding seam positioning and welding seam quality inspection after grinding. , the displacement measuring device is arranged on the left end of the bottom plate, the displacement measuring device includes a roller, a transmission shaft, a bearing seat and an encoder, the bearing seat is fixed on the bottom plate, the transmission shaft is connected to the bearing seat through the bearing rotation, and the encoder output shaft is connected to the transmission shaft At one end, the roller is arranged on the other end of the transmission shaft, and the roller is close to the wing plate surface of the upper flange of the I-beam; the camera is installed at the end of the connecting rod and suspended below the bottom plate; the laser seam machine is suspended by the L-shaped bracket. Just above the longitudinal seam to be polished, the L-shaped bracket is set on the base plate, and the laser seam finding machine is close to the pneumatic polishing machine. The laser seam finding machine of the invention scans the contour of the welding seam, and can detect the grinding quality in real time, so as to modify it in time and improve the grinding efficiency; the camera can record the grinding process and the grinding effect in real time, which is conducive to monitoring the grinding process in real time. And the improvement of the post-grinding process.

The invention discloses a circumferential seam grinding method of a cabin longitudinal seam automatic grinding device, comprising the following steps.

Step 1: Install the automatic polishing device for the longitudinal seam of the cabin on the two I-beams of the cabin to be polished with the longitudinal seam, and the pneumatic polishing machine is not installed. Step 2: Adjust the feeding position of the feeding device in the device of Step 1, at the highest point. Step 3: Change the milling cutter on the air grinder to a rough milling cutter. Step 4: Install the pneumatic grinder of step 3 on the positioning plate, so that the rough milling cutter is facing the longitudinal seam; this position is preset as the starting point. Step 5: Turn on the camera and turn on the laser sewing machine. Step 6: Start the longitudinal travel device, the fourth servo motor rotates forward to drive the second gear to travel on the rack, and drives the sliding plate and all the components installed on it to slide on the guide rail until the laser sewing machine scans the entire longitudinal seam . Step 7: After step 6, the fourth servo motor rotates in the opposite direction, driving the sliding plate and all the components mounted on it to return to the starting point. Step 8: Turn on the pneumatic grinder, the rough milling cutter rotates; turn on the feed device, the feeding device provides the feed amount to the rough milling cutter towards the longitudinal seam, and the rough milling cutter starts feeding and milling; start the longitudinal travel device, the fourth servo motor Forward rotation drives the pneumatic grinder to mill the entire longitudinal seam in step 6. Step 9: After step 8, the pneumatic grinder stops, the feeding device stops feeding and adjusts to the highest point of the feeding position, the fourth servo motor rotates in the reverse direction, and drives the sliding plate and all the components installed on it to return to the starting position. starting point. Step 10: The fourth servo motor rotates in the forward direction, and the entire longitudinal seam after milling is scanned by the laser seam finder to detect the welding seam allowance on the milling surface to ensure that the welding seam allowance is within the range of 0.5-1mm. Step 11: If the weld allowance is within the range of 0.5-1mm, complete the rough milling of this longitudinal seam, otherwise repeat steps 8-10. Step 12: The fourth servo motor rotates in the reverse direction, driving the sliding plate and all the components mounted on it to return to the starting point, and stops the camera and the laser sewing machine. Step 13: Start the speed reducer and the second servo motor in the annular motion device to rotate forward, and drive the power wheel to rotate to drive the cabin longitudinal seam automatic grinding device to walk along the upper flange of the I-beam on the cabin to the next longitudinal direction. seam, and preset this position as the new starting point. Step 14: Repeat steps 5-13 until the rough milling of all longitudinal seams between two adjacent I-beams in the cabin is completed. Step 15: The cabin longitudinal seam automatic grinding device is shut down as a whole, the pneumatic grinder is removed from the positioning plate, the rough milling cutter installed on the pneumatic grinder is removed and the fine milling cutter is installed, and then the pneumatic grinder is re-installed on the positioning plate. Step 16: Turn on the laser sewing machine, start the longitudinal traveling device, the laser sewing machine scans a longitudinal seam and returns to the starting point, and stops the longitudinal traveling device; start the circular motion device, drive the whole device to walk to the next longitudinal seam, Stop the circular motion device, start the longitudinal traveling device again, the laser seam searching machine scans the entire longitudinal seam and returns to the starting point, and stops the longitudinal traveling device; start the circumferential motion device again, and drive the whole device to walk to the next longitudinal seam, Stop the circular motion device, and repeat until the laser sewing machine completes the scanning of all longitudinal seams between two adjacent I-beams in the cabin. The laser sewing machine determines the highest and lowest points of all longitudinal seams, and calculates the difference between the highest and lowest points, which is used as the first milling feed of the finishing cutter. Step 17: Start the pneumatic grinder, the finishing cutter rotates; turn on the feeding device, the feeding device provides the feed amount to the finishing cutter toward the longitudinal seam, and the finishing cutter starts feeding and milling; start the longitudinal traveling device, and the finishing cutter mills After one longitudinal seam, return to the starting point, stop the longitudinal traveling device; start the circumferential motion device, drive the whole device to walk to the next longitudinal seam, stop the circumferential motion device, start the longitudinal traveling device again, and return to At the starting point, stop the longitudinal traveling device; start the hoop motion device again, drive the whole device to walk to the next longitudinal seam, stop the hoop motion device, and repeat until all longitudinal motions between two adjacent I-beams in the cabin are completed. The first fine milling of the seam. Step 18: Repeat step 16, the laser seam finder scans all longitudinal seams between two adjacent I-beams in the cabin again, and detects the excess height of the welding seam, and the excess height is used as the feed for the second milling of the finishing cutter quantity. Step 19: Repeat Step 17 to perform the second fine milling on all longitudinal seams between two adjacent I-beams in the cabin. Step 20: Repeat step 16, the laser seam searching machine scans all longitudinal seams between two adjacent I-beams in the cabin again, if the weld margin is less than 0.2mm, it can meet the requirements; otherwise, repeat steps 18 and 20. Step 19, until the milling requirements are met. Step 21: Start the hoop motion device, drive the whole device to walk to the next longitudinal seam, stop the hoop motion device, start the longitudinal traveling device again, and the laser sewing machine scans the entire longitudinal seam and returns to the starting point, and stops the longitudinal traveling device; start the hoop motion device again, drive the whole device to walk to the next longitudinal seam, stop the hoop motion device, and repeat the execution until the laser sewing machine completes all longitudinal seams between two adjacent I-beams in the cabin. scanning.

Further technical solutions of the method of the present invention.

Step 1 is as follows: Step 101: Adjust the longitudinal clamping device and the radial clamping device in the device to make it in the maximum open state to ensure that the longitudinal clamping device and the radial clamping device can be placed adjacent to the cabin. on the I-beam. Step 102: Start the first servo motor, push the moving plate to drive the first longitudinal clamping wheel to make its outer surface abut against one side of the web of the I-beam, and at the same time the outer surfaces of the two fixed longitudinal clamping wheels are in close contact with the tool. The other side of the web of the word beam; the first servo motor stops. Step 103: When the first servo motor is working, the moving plate drives the two radial clamping wheels to approach the side of the web of the I-beam simultaneously; the four clamping cylinders are activated simultaneously to push the four radial clamping wheels So that the outer surface of the I-beam is against the back of the upper flange of the I-beam at the same time.

beneficial effect

The device of the present invention only needs to install the device on the I-beam of the cabin as a whole, and the entire annular seam can be automatically polished without manual operation, thereby improving the efficiency and quality. It is used to replace manual grinding, and compared with manual grinding, the present invention has good grinding effect, high efficiency, and can perform continuous work. Before grinding, the contour of the weld can be scanned by a laser seam finder to determine the highest point and the lowest point of the weld, and then determine the optimal feed distance, which can improve the grinding efficiency and ensure the quality of grinding; rough milling cutters are used to carry out Machining, and then use the fine milling cutter for milling, which can effectively prevent the over-milling of the rough milling cutter, thereby protecting the cabin; after the fine milling is completed, scan the outline of the weld seam with a laser seam finder to ensure that the grinding height meets the grinding requirements.

Description of drawings

Figure 1 is a schematic structural diagram of an automatic grinding device for longitudinal seams of a cabin. Figure 2 is a schematic diagram of the structure of the bottom plate. FIG. 3 is a schematic diagram of the structure of the capsule body. FIG. 4 is a schematic structural diagram of a circular motion device. Fig. 5 is the first enlarged view of the left end of the cabin longitudinal seam automatic polishing device (reflecting the installation position relationship of the longitudinal clamping device and the radial clamping device). Fig. 6 is an enlarged view of the right end of the automatic grinding device for the longitudinal seam of the cabin. FIG. 7 is a schematic view of the assembly of the fixed longitudinal clamping wheel and the second clamping wheel axle. FIG. 8 is a schematic structural diagram of a radial clamping mechanism. Figure 9 is a second enlarged view of the left end of the cabin longitudinal seam automatic polishing device (reaction of the installation position relationship of the feeding device). Figure 10 is a schematic diagram of the assembly relationship between the feeding device and the grinding device. FIG. 11 is a schematic diagram of the structure of the displacement measuring device. Figure 12 is the third enlarged view of the left end of the automatic longitudinal seam grinding device of the cabin (reflecting the installation position relationship between the laser seam finder and the camera). Figure 13 is a schematic view of the cabin longitudinal seam automatic polishing device installed on the I-beam.

Embodiments of the present invention

As shown in Figure 1, an automatic grinding device for longitudinal seams of the cabin body, the automatic grinding device for longitudinal seams of the cabin body is integrally located in the cavity of the cabin, and the automatic grinding device for longitudinal seams of the cabin body includes a bottom plate 1, a circumferential movement device 2, and a longitudinal walking device. 3. Longitudinal clamping device 4, feeding device 6, radial clamping device 7, grinding device 8, displacement measuring device 5 for measuring the walking distance of the grinding device 8 on the I-beam, camera 10 for recording the grinding process And a laser seam finding machine 11 for welding seam positioning and welding seam quality inspection after grinding.

As shown in Figure 1, the bottom plate 1 is connected to the two adjacent I-beams 9 on the cabin through the longitudinal clamping device 4 and the radial clamping device 7, the circular motion device 2, the longitudinal walking device 3, the longitudinal clamping device 4. Both the feeding device 6 and the radial motion device 7 are installed on the bottom plate 1, and the grinding device 8 is installed on the feeding device 6. The feeding device 6 provides the grinding device 8 with a feed amount, and the grinding device 8 carries out the longitudinal seam. milling.

As shown in FIG. 1 , the two ends of the bottom plate 1 located at the two I-beams 9 are defined as the left end and the right end, respectively, and the circular motion device 2 is arranged on the left end of the bottom plate 1 , and the circular motion device 2 drives the bottom plate 1 along the cabin body. The two I-beams 9 run in a circumferential direction, and the longitudinal clamping device 4 and the radial clamping device 7 cooperate with each other to restrict the automatic grinding device of the longitudinal seam of the cabin as a whole to the adjacent two I-beams 9 of the cabin, The feeding device 6 is installed on the bottom plate 1 to drive the feeding of the grinding device 8, and the circumferential movement of the grinding device 8 is driven by the circumferential moving device 2; The device 6 is connected for measuring the longitudinal displacement of the grinding device 8 .

As shown in FIG. 2 , the bottom plate 1 of this embodiment is made of steel plate, and the bottom plate 1 is set according to the needs of structural installation.

As shown in Figures 1 and 4, the circular motion device 2 drives the bottom plate 1 to walk along the I-beam 9 on the cabin 1. In this embodiment, the circular motion device 2 includes a power wheel 201, a reducer 202 and a second servo motor 203, the reducer 202 is installed on the left end of the base plate 1, the second servo motor 203 is connected to the reducer 202, the motor shaft of the second servo motor 203 is connected to the input shaft of the reducer 202, and the power wheel 201 is arranged on the output shaft of the reducer 202 On the upper side, the power wheel 201 is attached to the wing plate surface of the upper flange of the I-beam 9. The power wheel 201 is made of nylon material. The second servo motor 203 drives the power wheel 201 to rotate, and the power wheel 201 rotates to drive the longitudinal seam of the cabin. The automatic grinding device runs along the upper flange of the upper I-beam 9 of the cabin as a whole.

The annular motion device 2 is installed on the base plate 1 through the reducer 202, and the power wheel 201 is made of nylon material, which increases the contact area with the wing plate surface of the upper flange of the I-beam and prevents scratches on the I-beam. Flap deck of the upper flange. The second servo motor 203 is energized and started, the power wheel 201 rotates, and through the friction with the upper flange of the I-beam, the automatic polishing device for the longitudinal seam of the cabin is driven as a whole along the I-beam on the cabin. Walk on the upper flange.

As shown in FIG. 1 , the longitudinal clamping device 4 and the radial clamping device 7 cooperate with each other to constrain the cabin longitudinal seam automatic polishing device as a whole to two adjacent I-beams 9 on the cabin.

As shown in Figures 5 and 6, the longitudinal clamping device 4 includes two fixed longitudinal clamping wheels 41 and one movable longitudinal clamping wheel part 42, and the two fixed longitudinal clamping wheels 41 and one movable longitudinal clamping wheel part 42 are in the form of two fixed longitudinal clamping wheels 41 and one movable longitudinal clamping wheel part 42. The triangles are arranged at the edges of the left and right ends of the bottom plate 1 to clamp the cabin longitudinal seam automatic polishing device as a whole on the upper flanges of the two I-beams 9; two fixed longitudinal clamping wheels 41 are arranged on the bottom plate 1 At the left end, a movable longitudinal clamping wheel member 42 is arranged at the right end of the base plate 1 .

As shown in FIG. 6 , the movable longitudinal clamping wheel member 42 includes a guide rail 422 , a moving plate 421 , a rack 423 , a first longitudinal clamping wheel 424 , a first gear 425 and a first servo motor 426 , the guide rail 422 It is fixed on the base plate 1 in parallel with the rack 423, the two ends of the guide rail 422 are flush with the left and right ends of the base plate 1, the guide rail 422 is parallel to the longitudinal seam; 422 is vertical and both ends of the moving plate 421 protrude out of the base plate 1; the first servo motor 426 is connected to the moving plate 421, the first gear 425 is arranged on the motor shaft of the first servo motor 426, and the first gear 425 meshes with the rack 423 , the first longitudinal clamping wheel 424 is rotatably arranged on the first clamping wheel shaft, the upper end of the first clamping wheel shaft is fixed on the moving plate 421, the first longitudinal clamping wheel 424 is suspended below the moving plate 421 and the first longitudinal clamping wheel The outer surface of 424 can be in close contact with one side of the web of the I-beam 9 .

As shown in Figures 5 and 7, two fixed longitudinal clamping wheels 41 are installed at the edge of the left end of the bottom plate 1 through the second clamping wheel shaft, and the two fixed longitudinal clamping wheels 41 are respectively rotatably arranged on the second clamping wheel shaft. Each of the fixed longitudinal clamping wheels 41 is suspended below the bottom plate 1 and the outer surface can abut against the other side of the web of the I-beam 9 .

The working process of the longitudinal clamping device 4 in this embodiment is that when the longitudinal clamping of the device needs to be implemented, the two fixed longitudinal clamping wheels 41 and the first longitudinal clamping wheel 424 are arranged in a triangle at the left and right ends of the bottom plate 1 . At the edge, the first servo motor 426 is activated, which drives the moving plate 421 to move, and drives the first longitudinal clamping wheel 424 to approach the I-beam 9 until the outer surface of the first longitudinal clamping wheel 424 can be in close contact with the I-beam 9. On one side of the web of the I-beam, the outer surfaces of the two fixed longitudinal clamping wheels 41 can abut against the other side of the web of the I-beam 9.

As shown in FIGS. 5 and 6 , the radial clamping device 7 includes four radial clamping mechanisms arranged in a rectangular shape at the edges of the left and right sides of the bottom plate 1 , wherein two radial clamping mechanisms are arranged at the edge of the bottom plate 1 through the fixing plate 74 . The two ends of the moving plate 421 at the right end of the base plate 1 are fixed at the left end of the base plate 1 by the fixing plate 74 .

As shown in FIG. 8 , the four radial clamping mechanisms include a clamping cylinder 71 , an adapter 72 and a radial clamping wheel 73 . The cylinder body of the clamping cylinder 71 is connected to the fixing plate 74 , and the adapter 72 is arranged on the The end of the piston rod 75 of the clamping cylinder 71 is clamped, and the radial clamping wheel 73 is rotatably arranged on the adapter 72 through the third clamping wheel shaft. The four radial clamping wheels 73 are all suspended below the bottom plate 1 and the outer surfaces of the four radial clamping wheels 73 can abut against the back of the wing plate of the upper flange of the I-beam 9 .

The working process of the radial clamping device 7 in this embodiment is that when the radial clamping of the device needs to be performed, the four clamping cylinders 71 act simultaneously to drive the four radial clamping wheels 73 to the direction of the I-beam 9 . The back of the wing plate of the upper flange is close; the two radial clamping wheels 73 are also under the action of the driving moving plate 421, approaching the I-beam 9; until finally the outer surfaces of the four clamping cylinders 71 can be in close contact with the I-beam The back of the wing plate of the upper flange of the beam 9.

As shown in Figures 1 and 9, the feeding device 6 includes a sliding plate 69, a base plate 65, a third servo motor 61, a timing belt transmission pair 62, a ball screw nut pair 63, a lifting plate 64, a support base 66 and two vertical The straight guide rail 67, the sliding plate 69 is connected to the sliding block arranged on the guide rail 422, the base plate 65 is vertically arranged on the sliding plate 69, the third servo motor 61 and the support seat 66 are respectively arranged on the two sides of the base plate 65, the ball screw The upper end bearing of the ball screw in the nut pair 63 is connected to the support base 66, and the ball screw is arranged vertically; the driving pulley and the driven pulley in the synchronous belt transmission pair 62 are respectively connected to the motor shaft of the third servo motor 61 and the ball screw. At the upper end, the lifting plate 64 is connected to the screw nut in the ball screw nut pair 63, the two vertical guide rails 67 are arranged on one side of the base plate 65 at intervals, and the lifting plate 64 is connected to the two vertical guide rails 67. slider.

In the feeding device 6 of this embodiment, the third servo motor 61 provides power, and the power is transmitted to the ball screw nut pair 63 through the synchronous belt transmission pair 62, and the ball screw in the ball screw nut pair 63 rotates, driving the nut along the The ball screw moves up and down, thereby driving the lift plate 64 to rise or fall. In this embodiment, the lifting plate 64 is connected to the grinding device 8 so as to realize the feeding of the grinding device 8 .

As shown in FIG. 9 , the feeding device 6 further includes a grating ruler 68 for measuring the feeding amount. Define this grating ruler 68 as the second grating ruler, the scale grating 682 of the second grating ruler is vertically installed on the base plate 65, the grating reading head 681 of the second grating ruler is installed on the side of the lifting plate 64, and the measurement of the Descend the stroke and monitor the feed.

Feeding device 6, the third servo motor 61 provides power, the power is transmitted to the ball screw nut pair 63 through the synchronous belt transmission pair 62, the ball screw in the ball screw nut pair 63 rotates, and drives the nut to move up and down along the ball screw move, thereby driving the lift plate 64 to rise or fall. The lifting plate 64 is connected to the grinding device 8 so as to realize the feeding of the grinding device 8 .

As shown in FIG. 9 , the longitudinal traveling device 3 includes a power unit and a longitudinal traveling displacement measuring device. The power unit includes a fourth servo motor 31 and a second gear 32 . The fourth servo motor 31 is provided on the sliding plate 69 , and the second gear 32 Provided on the motor shaft of the fourth servo motor 31 , the second gear 32 meshes with the rack 423 .

As shown in FIG. 9 , the longitudinal travel displacement measuring device is a grating ruler, which is defined as the first grating ruler. The scale grating 33 of the first grating ruler is arranged on the base plate 1 , and the scale grating 33 of the first grating ruler is parallel to the longitudinal direction. The grating reading head 34 of the first grating scale is fixed to the sliding plate 69 through the connecting rod 35 .

The power unit in the longitudinal traveling device 3 in this embodiment provides power to the sliding plate 69 so that the sliding plate 69 slides on the guide rail 422 as a whole, thereby driving the grinding device to slide on the guide rail 422 to complete the milling of a longitudinal slot 13 . The first grating scale monitors the displacement of the grinding device.

As shown in FIG. 1 , the walking of the grinding device 8 is driven by the circular motion device 2 , and the feeding of the grinding device 8 is provided by the feeding device 6 ; the grinding device 8 is arranged on the feeding device 6 .

As shown in FIG. 10 , the grinding device 8 includes a six-dimensional force sensor 81 , a buffer 82 and a pneumatic grinder 83 , the six-dimensional force sensor 81 is arranged on the back of the lifting plate 64 , and the buffer 82 is mounted on the six-dimensional force sensor 81 and A positioning plate 85 is installed below the six-dimensional force sensor 81 and below the buffer 82 , and the pneumatic sander 83 is installed on the positioning plate 85 and is located just above the longitudinal seam.

In this embodiment, the six-dimensional force sensor 81 is an outsourced part, which is obtained by direct purchase. The six-dimensional force sensor 81 in this embodiment is preferably a six-dimensional force sensor sold by Kunwei (Beijing) Technology Co., Ltd. or Changzhou Kunwei Sensor Technology Co., Ltd. The six-dimensional force sensor has six-dimensional force detection function and provides a full set of feedback control algorithms. At the same time, the ranges are: Fx/Fy/Fz are 400N/400N/800N respectively, and torque Mx/My/Mz are 40Nm/40Nm/40Nm respectively.

In this embodiment, the function of the buffer 82 is to provide a buffer force to the pneumatic sander 83, and the buffer used in this embodiment is also an outsourced part, which can be purchased directly. The buffer in this embodiment preferably adopts the Austrian FERROBOTICS active tactile flange. The maximum force of the buffer is 800N, the stroke is 48mm, the maximum overturning moment is 350Nm, and the maximum torsion moment is 350Nm.

The pneumatic grinder 83 is an outsourced part and can be purchased directly. In this embodiment, the welding bead grinding machine PY1027 sold by Shanghai Jinwei Hardware Machinery Co., Ltd. is preferentially used, and the welding bead grinding machine is suitable for milling and leveling processing of special-shaped plane butt bead.

As shown in FIG. 10, a limit switch 86 is installed at the end of the lift plate 64. The limit switch 86 measures the distance between the pneumatic sander 83 and the back of the wing plate of the lower flange of the I-beam. The limit switch 86 is used to Prevent the feed rate from being too large and cause damage to the pneumatic grinder 83 .

As shown in FIGS. 1 and 11 , the displacement measuring device 5 is arranged at the left end of the base plate 1 . The displacement measuring device 5 includes a roller 51 , a transmission shaft 52 , a bearing seat 53 and an encoder 54 , and the bearing seat 53 is fixed at the rear of the base plate 1 . At the end, the transmission shaft 52 is connected to the bearing seat 53 through the bearing rotation, the output shaft of the encoder 54 is connected to one end of the transmission shaft 52, the roller 51 is arranged on the other end of the transmission shaft 52, and the roller 51 is close to the upper flange of the I-beam. noodle. The setting of the displacement measuring device 5, when the annular moving device 2 slips, the displacement measuring device 5 detects that the annular moving device 2 slips.

The working principle of the displacement measuring device 5 in this embodiment is as follows: the displacement measuring device 5 moves with the bottom plate 1 under the action of the hoop motion device 2, the roller 51 rubs against the surface of the wing plate of the upper flange of the I-beam, and the roller 51 The rotation is transmitted to the encoder 54 through the transmission shaft 52, and the encoder 54 measures the travel distance of the grinding device 8 on the I-beam.

As shown in FIG. 12 , the camera 10 is installed at the end of the connecting rod 35 and is suspended below the base plate 1 . In this embodiment, the camera 10 is an outsourced part, which can be directly purchased. In this embodiment, Hikvision MV-CA060-10GC is preferentially used, and the camera provides real-time video detection function and light source lighting function.

As shown in FIG. 12 , the laser sewing machine 11 is suspended right above the longitudinal seam to be polished by the L-shaped bracket 1101 , the L-shaped bracket 1101 is arranged on the base plate 65 , and the laser sewing machine 11 is close to the pneumatic polishing machine 83 .

In this embodiment, the laser sewing machine 11 is an outsourced part, which is obtained by purchase. In this embodiment, the laser seam finding machine sold by Sairong Information Technology Co., Ltd. is preferentially used. The laser seam finding machine can realize the automatic identification of the welding seam, including geometric information such as the welding seam width and the welding seam height; the laser seam finding machine The working distance covers 100-150mm, and the measurement accuracy is better than 0.05mm.

A circumferential seam grinding method of an automatic longitudinal seam grinding device of a cabin body, comprising the following steps.

Step 1: Install the cabin longitudinal seam automatic polishing device on the two I-beams 9 of the cabin to be polished longitudinal seams, wherein the pneumatic polishing machine 83 is not installed; Step 1 is specifically: Step 101: Adjust the The longitudinal clamping device 4 and the radial clamping device 7 are placed in the maximum open state, so that the longitudinal clamping device and the radial clamping device 7 can be placed on the adjacent I-beams of the cabin; Step 102: Start The first servo motor 426 pushes the moving plate 421 to drive the first longitudinal clamping wheel 424 to make its outer surface abut against one side of the web of the I-beam 9, while the outer surfaces of the two fixed longitudinal clamping wheels 41 are in close contact with each other. The other side of the web of the I-beam 9; the first servo motor 426 stops; Step 103: When the first servo motor 426 is working, the moving plate 421 drives the two radial clamping wheels 73 to the I-beam 9 at the same time. One side of the web is close to each other; the four clamping cylinders 71 are activated synchronously to push the four radial clamping wheels 73 to make their outer surfaces abut against the back of the upper flange of the I-beam 9 at the same time. As shown in Figure 13. Step 2: Adjust the feeding position of the feeding device 6 in the device in Step 1 to be at the highest point to prevent the tool from directly touching the cabin and damaging the cabin. Step 3: The milling cutter on the pneumatic grinder 83 is replaced with a rough milling cutter. Step 4: Install the pneumatic grinder 83 of Step 3 on the positioning plate 85 so that the rough milling cutter is directly facing the longitudinal seam; this position is preset as the starting point. Step 5: Turn on the camera 10 and turn on the laser sewing machine 11. Step 6: Start the longitudinal traveling device 3, the fourth servo motor 31 rotates forward to drive the second gear 32 to travel on the rack 423, and drives the sliding plate 69 and all the components mounted on it to slide on the guide rail 422 until the laser seam seeks The machine 11 scans the entire longitudinal seam. Step 7: After the step 6 is completed, the fourth servo motor 31 rotates in the reverse direction, and drives the sliding plate 69 and all the components mounted thereon to return to the starting point. Step 8: Turn on the pneumatic grinder 83, the rough milling cutter rotates; turn on the feeding device 6, the feeding device 6 provides the feed amount for the rough milling cutter towards the longitudinal seam, and the rough milling cutter starts feeding and milling; start the longitudinal traveling device 3, The forward rotation of the fourth servo motor 31 drives the pneumatic grinder 83 to mill the entire longitudinal seam in step 6 . Step 9: After step 8, the pneumatic grinder 83 stops, the feeding device 6 stops feeding and adjusts to the highest point of the feeding position, and the fourth servo motor 31 rotates in the reverse direction, driving the sliding plate 69 and all the zeroes mounted on it. The part returns to the starting point. Step 10: The fourth servo motor 31 rotates in the forward direction, and the entire longitudinal seam after milling is scanned by the laser seam finder 11 to detect the weld margin of the milling surface to ensure that the weld margin is within the range of 0.5-1mm. Step 11: If the weld allowance is within the range of 0.5-1mm, complete the rough milling of this longitudinal seam, otherwise repeat steps 8-10. Step 12: The fourth servo motor 31 rotates in the reverse direction, driving the sliding plate 69 and all the components mounted thereon to return to the starting point, and stops the camera 10 and the laser sewing machine 11. Step 13: Start the speed reducer 202 and the second servo motor 203 in the annular motion device 2 to rotate forward, and the driving power wheel 201 rotates to drive the cabin longitudinal seam automatic polishing device as a whole along the upper flange of the cabin upper I-beam 9 Walk to the next longitudinal seam and preset this position as the new starting point. Step 14: Repeat steps 5 to 13 until the rough milling of all longitudinal seams between two adjacent I-beams 9 in the cabin is completed. Step 15: The cabin longitudinal seam automatic grinding device is shut down as a whole, the pneumatic grinder 83 is removed from the positioning plate 85, the rough milling cutter installed on the pneumatic grinder 83 is removed, and the fine milling cutter is installed, and then the pneumatic grinder 83 is removed from the positioning plate 85. The sander 83 is remounted on the positioning plate 85 . Step 16: Turn on the laser sewing machine 11, start the longitudinal traveling device 3, the laser sewing machine 11 scans a longitudinal seam and returns to the starting point, and stops the longitudinal traveling device 3; start the circular motion device 2, and drive the whole device to travel to the bottom At a longitudinal seam, stop the circular motion device 2, start the longitudinal traveling device 3 again, and the laser seam finder 11 scans the entire longitudinal seam and returns to the starting point, and stops the longitudinal traveling device 3; starts the circumferential motion device 2 again, drives the The whole device travels to the next longitudinal seam, stops the hoop motion device 2, and repeats the execution until the laser sewing machine 11 completes the scanning of all the longitudinal seams between two adjacent I-beams 9 in the cabin. The laser sewing machine 11 determines the highest point and the lowest point of all longitudinal seams, and calculates the difference between the highest point and the lowest point, and this difference is used as the first milling feed of the finishing cutter. Step 17: Start the pneumatic grinder 83, the fine milling cutter rotates; turn on the feeding device 6, the feeding device 6 provides the feed amount to the fine milling cutter towards the longitudinal seam, and the fine milling cutter starts feeding and milling; start the longitudinal traveling device 3, After milling a longitudinal seam, the fine milling cutter returns to the starting point, and stops the longitudinal travel device 3; starts the circumferential motion device 2, drives the whole device to travel to the next longitudinal seam, stops the circumferential motion device 2, and starts the longitudinal travel device 3 again. , the fine milling cutter returns to the starting point after milling, and stops the longitudinal travel device 3; starts the circumferential motion device 2 again, drives the whole device to walk to the next longitudinal seam, stops the circumferential motion device 2, and executes repeatedly until the completion of the cabin. The first fine milling of all longitudinal seams between two adjacent I-beams 9. Step 18: Repeat step 16, the laser seam finder 11 scans again all the longitudinal seams between the two adjacent I-beams 9 in the cabin, and detects the excess height of the welding seam, and the excess height is used as the second milling by the finishing cutter. Feed rate. Step 19: Repeat Step 17 to perform the second fine milling on all longitudinal seams between two adjacent I-beams 9 in the cabin. Step 20: Repeat step 16, the laser seam finder 11 scans all the longitudinal seams between the two adjacent I-beams 9 in the cabin again, if the weld margin is less than 0.2mm, it can meet the requirements; otherwise, repeat the steps 18 and 19 until the milling requirements are met. Step 21: Start the hoop motion device, drive the whole device to walk to the next longitudinal seam, stop the hoop motion device, start the longitudinal traveling device again, and the laser sewing machine scans the entire longitudinal seam and returns to the starting point, and stops the longitudinal traveling device; start the hoop motion device again, drive the whole device to walk to the next longitudinal seam, stop the hoop motion device, and repeat the execution until the laser sewing machine completes all longitudinal seams between two adjacent I-beams in the cabin. scanning.

The present invention is used to replace manual grinding, and compared with manual grinding, the present invention has good grinding effect, high efficiency, and can perform continuous work.

Claims

An automatic polishing device for longitudinal seams of a cabin is characterized in that the automatic polishing device for longitudinal seams of the cabin is integrally located in the cavity of the cabin, and the automatic polishing device for longitudinal seams of the cabin includes a bottom plate, a circumferential movement device, a longitudinal walking device, a longitudinal clamping device device, feeding device, radial clamping device and grinding device, the bottom plate is connected with two adjacent I-beams on the cabin through longitudinal clamping device and radial clamping device, circular motion device, longitudinal walking device, longitudinal The clamping device, the feeding device and the radial movement device are all installed on the base plate, and the grinding device is installed on the feeding device, the feeding device provides the grinding device with the feed amount, and the grinding device mills the longitudinal seam; The two ends of the I-beam are the left end and the right end, respectively. The circular motion device is arranged on the left end of the bottom plate. The circular motion device drives the bottom plate to walk in the circular direction along the two I-beams on the cabin. The mutual cooperation of the clamping device restricts the automatic grinding device of the longitudinal seam of the cabin to the two adjacent I-beams of the cabin as a whole. The feeding device is installed on the bottom plate to drive the feeding of the grinding device, and the circular movement of the grinding device Driven by the annular movement device; the grinding device is arranged on the feeding device, and the longitudinal traveling device is connected with the feeding device to measure the longitudinal displacement of the grinding device.
The cabin longitudinal seam automatic grinding device according to claim 1, wherein the circular motion device comprises a power wheel, a reducer and a second servo motor, the reducer is installed on the left end of the bottom plate, and the second servo motor and the reducer Connection, the motor shaft of the second servo motor is connected to the input shaft of the reducer, the power wheel is arranged on the output shaft of the reducer, the power wheel fits the wing plate surface of the upper flange of the I-beam, and the power wheel is made of nylon material , the second servo motor drives the power wheel to rotate, and the power wheel rotates to drive the cabin longitudinal seam automatic polishing device to walk along the upper flange of the I-beam on the cabin body as a whole.
The cabin longitudinal seam automatic grinding device according to claim 1, wherein the longitudinal clamping device comprises two fixed longitudinal clamping wheels and one movable longitudinal clamping wheel part, two fixed longitudinal clamping wheels and one movable longitudinal clamping wheel The longitudinal clamping wheel parts are arranged in a triangle at the edges of the left and right ends of the bottom plate, and are used to clamp the cabin longitudinal seam automatic polishing device as a whole on the upper flanges of the two I-beams; two fixed longitudinal clamping wheels are provided. At the left end of the base plate, a movable longitudinal clamping wheel part is arranged at the right end of the base plate; the movable longitudinal clamping wheel part includes a guide rail, a moving plate, a rack, a first longitudinal clamping wheel, a first gear and a first Servo motor, the guide rail and the rack are fixed on the base plate in parallel, the two ends of the guide rail are flush with the left and right ends of the base plate, and the guide rail is parallel to the longitudinal seam; the moving plate is set on the slider of the guide rail, and the moving plate is perpendicular to the guide rail and the moving plate Both ends protrude out of the bottom plate; the first servo motor is connected with the moving plate, the first gear is arranged on the motor shaft of the first servo motor, the first gear meshes with the rack, and the first longitudinal clamping wheel is rotated and arranged on the first clamp On the clamping wheel shaft, the upper end of the first clamping wheel shaft is fixed on the moving plate, the first longitudinal clamping wheel is suspended below the moving plate, and the outer surface of the first longitudinal clamping wheel can be in close contact with one side of the web of the I-beam; Two fixed longitudinal clamping wheels are installed at the edge of the left end of the base plate through the second clamping wheel shaft, the two fixed longitudinal clamping wheels are respectively rotatably arranged on the second clamping wheel shaft, and the two fixed longitudinal clamping wheels are suspended below the base plate And the outer surface can be in close contact with the other side of the web of the I-beam.
The automatic grinding device for cabin longitudinal seams according to claim 3, wherein the radial clamping device comprises four radial clamping mechanisms arranged in a rectangular shape at the edges of the left and right sides of the bottom plate, wherein two radial clamping mechanisms The tightening mechanism is arranged at both ends of the moving plate at the right end of the base plate through the fixed plate, and the other two radial clamping mechanisms are fixed at the left end of the base plate through the fixed plate; the four radial clamping mechanisms include clamping cylinders, adapters and the radial clamping wheel, the cylinder body of the clamping cylinder is connected to the fixed plate, the adapter is arranged on the end of the piston rod of the clamping cylinder, and the radial clamping wheel is rotated and arranged on the adapter through the third clamping wheel shaft; four Each of the radial clamping wheels is suspended below the bottom plate and the outer surfaces of the four radial clamping wheels can abut against the back of the wing plate of the upper flange of the I-beam.
The cabin longitudinal seam automatic grinding device according to claim 3 or 4, wherein the feeding device comprises a sliding plate, a base plate, a third servo motor, a synchronous belt transmission pair, a ball screw nut pair, a lifting plate, a support seat and two vertical guide rails, the sliding plate is connected to the slider set on the guide rail, the base plate is vertically arranged on the sliding plate, the third servo motor and the support base are respectively arranged on both sides of the base plate, and the ball screw nut pair is inside The upper end bearing of the ball screw is connected to the support seat, and the ball screw is arranged vertically; the driving pulley and the driven pulley in the synchronous belt transmission pair are respectively connected to the motor shaft of the third servo motor and the upper end of the ball screw, and the lifting plate is connected to the ball. For the lead screw nut in the lead screw nut pair, two vertical guide rails are arranged on one side of the base plate at intervals, and the sliders matched with the two vertical guide rails are connected on the lifting plate.
The cabin longitudinal seam automatic grinding device according to claim 5, wherein the longitudinal travel device includes a power unit and a longitudinal travel displacement measuring device, the power unit includes a fourth servo motor and a second gear, and the fourth servo motor is arranged on the On the sliding plate, the second gear is arranged on the motor shaft of the fourth servo motor, and the second gear meshes with the rack; the longitudinal travel displacement measuring device is a grating ruler, which is defined as the first grating ruler, the scale of the first grating ruler The grating is arranged on the bottom plate, the grating of the first grating ruler is parallel to the longitudinal slit, and the grating reading head of the first grating ruler is fixed to the sliding plate through the connecting rod.
The cabin longitudinal seam automatic grinding device according to claim 5 or 6, wherein the grinding device comprises a six-dimensional force sensor, a buffer and a pneumatic grinder, the six-dimensional force sensor is arranged on the back of the lifting plate, and the buffer is installed On the six-dimensional force sensor and below the six-dimensional force sensor, a positioning plate is installed below the buffer, and the pneumatic sander is installed on the positioning plate and is located just above the longitudinal seam.
The cabin longitudinal seam automatic polishing device according to claim 7, wherein the cabin longitudinal seam automatic polishing device further comprises a displacement measuring device for measuring the traveling distance of the polishing device on the I-beam, a displacement measuring device for recording the polishing process A camera and a laser seam finder for welding seam positioning and welding seam quality inspection after grinding. The displacement measuring device is set at the left end of the bottom plate. The displacement measuring device includes a roller, a transmission shaft, a bearing seat and an encoder. The bearing seat is fixed on the bottom plate, the transmission shaft is connected to the bearing seat through the bearing rotation, the encoder output shaft is connected to one end of the transmission shaft, and the roller is arranged on the other end of the transmission shaft. Close to the wing plate surface of the upper flange of the I-beam; the camera is installed at the end of the connecting rod and suspended below the bottom plate; the laser seam finder is suspended directly above the longitudinal seam to be polished through the L-shaped bracket, and the L-shaped bracket Set on the substrate, the laser seam seeker is close to the pneumatic grinder.
A circumferential seam grinding method based on the cabin longitudinal seam automatic polishing device according to claims 1-8, characterized in that the steps: Step 1: install the cabin longitudinal seam automatic polishing device on the cabin to be polished longitudinal seam On the two I-beams of the device, among them; the pneumatic grinder is not installed; step 2: adjust the feed position of the feeding device in the device in step 1, and it is at the highest point; step 3: replace the milling cutter on the pneumatic grinder with rough milling Step 4: Install the pneumatic grinder in Step 3 on the positioning plate, so that the rough milling cutter is facing the longitudinal seam; preset this position as the starting point; Step 5: Turn on the camera and turn on the laser sewing machine; Step 6: Start the longitudinal travel device, the fourth servo motor rotates forward to drive the second gear to travel on the rack, and drives the sliding plate and all the components installed on it to slide on the guide rail until the laser sewing machine scans the entire longitudinal seam; step 7 : After the end of step 6, the fourth servo motor rotates in the reverse direction to drive the sliding plate and all the components installed on it to return to the starting point; step 8: turn on the pneumatic grinder, and the rough milling cutter rotates; turn on the feeding device, feed The device provides feed to the rough milling cutter toward the longitudinal seam, and the rough milling cutter starts to feed and mill; start the longitudinal traveling device, and the fourth servo motor rotates in the forward direction to drive the pneumatic grinder to mill the entire longitudinal seam in step 6; step 9: After step 8, the pneumatic grinder stops, the feeding device stops feeding and adjusts to the highest point of the feeding position, the fourth servo motor rotates in the reverse direction, and drives the sliding plate and all the components installed on it to return to the starting point ; Step 10: The fourth servo motor rotates in the forward direction, scan the entire longitudinal seam after milling with a laser seam finder, and detect the weld margin on the milling surface to ensure that the weld margin is within the range of 0.5-1mm; Step 11: If If the welding seam allowance is within the range of 0.5-1mm, the rough milling of this longitudinal seam is completed, otherwise, repeat steps 8-10; step 12: The fourth servo motor rotates in the reverse direction, driving the sliding plate and all the The parts return to the starting point, stop the camera and the laser sewing machine; Step 13: Start the reducer and the second servo motor in the circular motion device to rotate forward, and drive the power wheel to rotate to drive the cabin longitudinal seam automatic grinding device as a whole along the cabin. The upper flange of the I-beam on the body travels to the next longitudinal seam, and this position is preset as the new starting point; Step 14: Repeat steps 5 to 13 until all parts between two adjacent I-beams in the cabin are completed. Rough milling of the longitudinal seam; Step 15: The automatic grinding device for the longitudinal seam of the cabin is shut down as a whole, the pneumatic grinding machine is removed from the positioning plate, the rough milling cutter installed on the pneumatic grinding machine is removed and the fine milling cutter is installed, then Reinstall the pneumatic grinder on the positioning plate; Step 16: turn on the laser sewing machine, start the longitudinal traveling device, the laser sewing machine scans a longitudinal seam and returns to the starting point, and stops the longitudinal traveling device; start the circular motion device, Drive the whole device to walk to the next longitudinal seam, stop the circular motion device, start the longitudinal travel device again, the laser sewing machine scans the entire longitudinal seam and return to the starting point, and stop the longitudinal travel device; start the circumferential motion device again, Drive the entire device to walk to the next longitudinal seam, stop the circular motion device, and repeat Go on until the laser sewing machine completes the scanning of all longitudinal seams between two adjacent I-beams in the cabin; the laser sewing machine determines the highest point and the lowest point of all longitudinal seams, and calculates the distance between the highest point and the lowest point. The difference is used as the feed amount for the first milling of the finishing cutter; Step 17: Start the pneumatic grinder, and the finishing cutter rotates; turn on the feed device, and the feed device provides feed to the finishing cutter toward the longitudinal seam. After feeding the amount, the fine milling cutter starts feeding and milling; start the longitudinal travel device, the fine milling cutter returns to the starting point after milling a longitudinal seam, and stops the longitudinal travel device; starts the circular motion device, and drives the whole device to travel to the next longitudinal seam , stop the circular motion device, start the longitudinal travel device again, return to the starting point after the fine milling cutter is milled, and stop the longitudinal travel device; start the circular motion device again, drive the whole device to the next longitudinal seam, stop the circular motion The device is executed repeatedly until the first fine milling of all longitudinal seams between two adjacent I-beams in the cabin is completed; Step 18: Repeat Step 16, the laser seam finding machine will Scan all the longitudinal seams in between, check the remaining height of the welding seam, and use the remaining height as the feed for the second milling of the finishing milling cutter; Step 19: Repeat Step 17, for all the gaps between the two adjacent I-beams in the cabin. Perform the second fine milling of the longitudinal seam; step 20: repeat step 16, the laser seam search machine scans again all the longitudinal seams between the two adjacent I-beams in the cabin, if the weld margin is less than 0.2mm meet the requirements; otherwise, repeat steps 18 and 19 until the milling requirements are met. Step 21: Start the hoop motion device, drive the whole device to walk to the next longitudinal seam, stop the hoop motion device, start the longitudinal traveling device again, and the laser sewing machine scans the entire longitudinal seam and returns to the starting point, and stops the longitudinal traveling device; start the hoop motion device again, drive the whole device to walk to the next longitudinal seam, stop the hoop motion device, and repeat the execution until the laser sewing machine completes all longitudinal seams between two adjacent I-beams in the cabin. scanning.
The circumferential seam grinding method according to claim 9, wherein step 1 is specifically: Step 101: Adjust the longitudinal clamping device and the radial clamping device in the device to be in a maximum open state to ensure the longitudinal clamping device. The clamping device and the radial clamping device can be placed on the adjacent I-beam of the cabin; Step 102: Start the first servo motor, push the moving plate to drive the first longitudinal clamping wheel to make the outer surface of the I-beam close to the I-beam. One side of the web, while the outer surfaces of the two fixed longitudinal clamping wheels are in contact with the other side of the web of the I-beam; the first servo motor stops; Step 103: When the first servo motor is working, move the plate Simultaneously drive the two radial clamping wheels to approach the side of the web of the I-beam; simultaneously activate the four clamping cylinders to push the four radial clamping wheels to make their outer surfaces close to the top of the I-beam at the same time The back of the flap of the flange.