CN113787438A

CN113787438A - Shape-following grinding and polishing robot for weld joints in variable-diameter shell

Info

Publication number: CN113787438A
Application number: CN202111071407.XA
Authority: CN
Inventors: 李特; 刘海波; 刘丽莉; 兰天; 白承栋; 王永青; 郭东明
Original assignee: Dalian University of Technology
Current assignee: Dalian University of Technology
Priority date: 2021-09-14
Filing date: 2021-09-14
Publication date: 2021-12-14
Anticipated expiration: 2041-09-14
Also published as: CN113787438B

Abstract

The invention provides a shape-following grinding and polishing machining robot for a weld joint in a reducing shell, belongs to the field of machining of special mobile machining robots, and comprises a robot shell, a double-row circumferential servo motion mechanism, a pneumatic reducing mechanism and a machining mechanism. The robot shell is a structural member of the robot. The double-row circumferential servo motion mechanisms are divided into three groups, are circumferentially distributed at intervals of 120 degrees and can walk and adjust postures in the straight/conical shell; the pneumatic reducing mechanisms are distributed circumferentially at intervals of 120 degrees and can adapt to the change of the inner diameter of the shell, so that the robot can flexibly move in the shell and the processing state can be kept in a high-rigidity manner; the machining mechanism has three degrees of freedom, and shape following grinding and polishing machining of a welding seam area in the reducing shell is achieved. The invention can enter a reducing shell with limited operation space, can adapt to reducing and straight/conical shells, and finishes the shape-following grinding and polishing processing of a welding seam area in the shell.

Description

Shape-following grinding and polishing robot for weld joints in variable-diameter shell

Technical Field

The invention belongs to the field of special robot machining, and relates to a grinding and polishing machining robot for a welding line in a variable-diameter shell along with shape.

Background

The shell and the pipeline are typical structural members widely adopted in the fields of aerospace, energy power and the like. The longer shell generally adopts a multi-section assembly welding process, and weld slag is formed on the inner side and the outer side of a welding ring belt. Weld slag affects the surface quality and service performance of parts and needs to be removed. However, the high quality removal of welds inside the housing has been one of the housing manufacturing challenges, limited by the operating space. Aiming at the difficult problem of high-quality grinding and polishing of the welding line in the shell (especially a small-caliber and longer shell), a mobile automatic processing robot is very necessary to be designed.

Yankeeji et al disclose a submersible pipe weld grinding robot based on modular design in the Chinese patent application No. 201610975350.9, which is designed based on modular concept and can be adapted to pipes with diameters ranging from 340mm to 420mm to grind pipe welds. The Jishijun et al in the Chinese invention patent with application number 201610817328.1 discloses a grinding and polishing robot adapted to the inner walls of spiral pipes with different pipe diameters, which combines a spiral driving wheel and a grinding component together to grind and polish the inner walls of the pipes. However, the robot cannot adapt to tapered pipelines and cannot polish the pipelines along with the shape according to the actual geometric characteristics of the pipelines.

Disclosure of Invention

The invention designs a special mobile processing robot which can adapt to the shape-following grinding and polishing processing of the welding line in the reducing, straight or conical shell aiming at the difficult problem of the high-precision grinding and polishing processing of the welding line in the reducing shell. A double-row circumferential servo motion mechanism is designed, so that walking and posture adjustment in the straight/conical shell can be realized; the pneumatic reducing mechanism is designed, so that flexible movement in the shell and high rigidity maintenance of a processing state can be realized; a high-precision three-axis servo machining mechanism with weld seam measurement and double electric spindles is designed, and shape-following grinding and polishing machining of irregular areas of weld seams can be achieved.

In order to achieve the purpose, the invention adopts the technical scheme that:

a robot for grinding and polishing a welding line in a reducing shell along with shape comprises a robot shell 1, three groups of double-row circumferential servo motion mechanisms 2, a pneumatic reducing mechanism 3 and a processing mechanism 4. The robot housing 1 is used as a structural member of the robot and is used for mounting a motor, a cylinder and the like. The double-row circumferential servo motion mechanism 2 realizes the walking of the robot in the straight/conical shell. The pneumatic reducing mechanism 3 enables the robot to adapt to the change of the inner diameter of the shell, and the robot can flexibly move in the shell and can keep high rigidity in a processing state. And the machining mechanism 4 is used for finishing shape following grinding and polishing machining of the welding line in the reducing shell. The robot can enter the straight/conical shell to adapt to the change of the inner diameter of the shell, and shape-following grinding and polishing processing is carried out on a welding line in the shell.

The robot shell 1 is of a hexagonal prism thin-wall structure and mainly comprises a shell 1.1, and a rear vehicle plate 1.2, a middle vehicle plate 1.3, a middle vehicle plate 1.4 and a protection plate 1.5 which are positioned on the shell 1.1. The rear sweep 1.2 is arranged behind the shell 1 and has a circular plate-shaped structure; the middle vehicle plate 1.3 is positioned between the rear vehicle plate 1.2 and the middle vehicle plate 1.4, is of a hexagonal plate-shaped structure and is used for mounting an axial moving motor (4.1); the middle turning plate (1.4) is positioned in front of the middle turning plate (1.3), is of a hexagonal plate-shaped structure and is used for mounting a screw rod mounting seat (4.4); the guard plate 1.5 is mounted on the circumferential outer side of the housing.

The double-row circumferential servo motion mechanisms 2 are divided into three groups, the two groups are distributed along the circumferential direction of the robot shell 1 at intervals of 120 degrees, each group of double-row circumferential servo motion mechanisms 2 is divided into a front part and a rear part, and each group of double-row circumferential servo motion mechanisms 2 comprises two sweep plates, four axles, wheels 2.3, a servo motor 2.4, a speed reducer 2.5, a connecting shaft 2.7 and a bevel gear 2.8. The sweep consists of a rear sweep 2.1a and a front sweep 2.1b, which are used as structural members for installing a servo motor and an axle, wherein the rear sweep 2.1a is positioned behind the servo movement mechanism 2, and the front sweep 2.1b is positioned in front of the servo movement mechanism 2; the axle consists of an axle 2.2a, an axle 2.2b, an axle 2.2c and an axle 2.2d, wherein the axle 2.2a and the axle 2.2b are arranged on the rear plate 2.1a, and the axle 2.2c and the axle 2.2d are arranged on the front plate 2.1 b; the number of the wheels 2.3 is eight, the wheels are divided into four groups, two wheels in each group are arranged on four axles through deep groove ball bearings, a distributed driving structure with double-row wheels is adopted, so that the friction force between the robot and the shell can be increased, the walking stability of the robot can be ensured, and meanwhile, the shell is of a thin-wall structure, so that the double-row wheel distributed driving structure is also favorable for reducing the geometric deformation of the shell under the action of the robot; an output shaft of the servo motor 2.4 is connected with a speed reducer 2.5; the speed reducer 2.5 is fixed on the mounting plate 2.6 through a screw, and an output shaft of the speed reducer is connected with the connecting shaft 2.7 through a key; the mounting plate 2.6 is positioned on the front vehicle plate 2.1 b; the connecting shaft 2.7 is connected with an axle 2.2c through a bevel gear 2.8 to be used as a driving wheel set.

The pneumatic reducing mechanism 3 has three groups, the pneumatic reducing mechanisms are uniformly distributed along the circumference of the robot shell 1 at intervals of 120 degrees, each group of pneumatic reducing mechanisms 3 is divided into a front part and a rear part, and the front part and the rear part are respectively connected with the front part and the rear part of the double-row circumferential servo motion mechanism 2, and each group of pneumatic reducing mechanisms 3 comprises two cylinders, two cylinder connectors, two cylinder mounting plates, two connecting pins and two guide rods. The cylinder is composed of a cylinder 3.1a and a cylinder 3.1b and is used as an execution component for reducing the diameter of the robot, the pressure of high-pressure gas can be controlled, so that the robot can be ensured to flexibly walk in the shell and has stable jacking force with the inner wall of the shell, and meanwhile, the robot can keep a high-rigidity state during grinding and polishing; the cylinder connecting head consists of a cylinder connecting head 3.2a and a cylinder connecting head 3.2b, and the tail part of the cylinder connecting head is provided with an internal thread hole which is respectively connected with the piston rods of the cylinder 3.1a and the cylinder 3.1b through threads; the cylinder mounting plate consists of a cylinder mounting plate 3.3a and a cylinder mounting plate 3.3b, and the cylinder is fixed on the cylinder mounting plate through screws; the cylinder connector 3.2a is connected with the rear vehicle plate 2.1a through a connecting pin 3.4 a; the cylinder connector 3.2b is connected with the rear vehicle plate 2.1b through a connecting pin 3.4 b; the guide rod 3.5 consists of a guide rod 3.5a and a guide rod 3.5b, which are respectively fixed on the rear vehicle plate 2.1a and the front vehicle plate 2.1b through screws, can limit the rotation and can only move along a radial straight line.

The processing mechanism 4 has three degrees of freedom of axial movement, rotation and radial movement, and comprises an axial servo motor 4.1, an axial connecting shaft 4.2, a lead screw 4.3, a lead screw mounting seat 4.4, a nut seat 4.5, a transmission shaft 4.6, a rotation motor mounting seat 4.7, a rotation servo motor 4.8, a rotation shaft 4.9, an angular contact ball bearing 4.10, an angular contact ball bearing 4.11, a telescopic shaft 4.12, a spacer bush 4.13, a linear bearing 4.14, a guide rod 4.15, a thrust ball bearing outer ring 4.16, a bottom plate 4.17, a radial movement motor fixing seat 4.18, a radial movement servo motor 4.19, a speed reducer 4.20, a lead screw 4.21, a synchronous tooth-shaped belt 4.23, a nut seat 4.24, a chevron-shaped guide rail 4.25a, a flat guide rail 4.25b, a sliding block 4.26, a sliding plate 4.27, a baffle plate 4.28, an electric main shaft mounting rack 4.29, an electric main shaft 4.30a, an electric main shaft 4.30b, a grinding wheel 4.31a, a grinding wheel 4.31b, a line 4.31b, a laser sensor mounting rack 33.34, a laser sensor mounting rack 4.34, and a laser sensor, Industrial camera 4.35. The axial servo motor 4.1 is installed on the middle vehicle plate 1.3 through a screw, the axial connecting shaft 4.2 is connected with a flange of the servo motor 4.1 through a screw and is connected with the lead screw 4.3 through a key, and then the lead screw 4.3 is driven to rotate; the lead screw mounting seat 4.4 is fixed on the middle vehicle plate 1.4 through a screw and is connected with a lead screw 4.3 through an angular contact ball bearing; the nut seat 4.5 is arranged on the screw rod 4.3 and is connected with the transmission shaft 4.6 through a screw, the screw rod 4.3 rotates to drive the nut seat 4.5 and the three groups of guide rods 4.15 to move along the three groups of linear bearings 4.14, and the axial movement of the whole processing mechanism in the reducing shell is realized; the rotary motor mounting seat 4.7 is mounted on the hexagonal thin plate at the rear end of the transmission shaft 4.6 through a screw; the rotary servo motor 4.8 is arranged on the rotary motor mounting seat 4.7 through a screw; the rotating shaft 4.9 is connected with a flange of a rotating servo motor 4.8 through a screw, and the rotating servo motor 4.8 drives the rotating shaft 4.9 to rotate, so that the whole machining mechanism rotates in the reducing shell; the inner rings of the angular contact ball bearings 4.10 and 4.11 are fixed on the revolving shaft 4.9, and the outer rings are fixed in the inner hole of the telescopic shaft 4.12; the telescopic shaft 4.12 is mainly used for fixedly mounting the outer rings of the angular contact ball bearing 4.10 and the angular contact ball bearing 4.11; six linear bearings 4.14 are divided into three groups and are circumferentially and uniformly distributed at intervals of 120 degrees, an outer ring is arranged on an inner hole of a spacer 4.13, and the spacer 4.13 is used for mounting the linear bearings 4.14; the guide rods 4.15 are three in number, are uniformly distributed at intervals of 120 degrees in the circumferential direction, and are inserted into the linear bearings 4.14; the outer ring 4.16 shaft ring of the thrust ball bearing is matched with the telescopic shaft 4.12, and the seat ring is arranged on the bottom plate 4.17 and used for bearing the axial force when the machining mechanism moves axially; the bottom plate 4.17 is connected with the rotating shaft 4.9 through screws and is of a rectangular plate-shaped structure; the radial movement motor fixing seat 4.18 is installed on the bottom plate 4.17 through a screw, and an output shaft of the radial movement servo motor 4.19 is connected with the speed reducer 4.20; the flange of the speed reducer 4.20 is arranged on the radial moving motor fixing seat 4.18 through a screw; two ends of the lead screw 4.21 are mounted on two lead screw mounting seats 4.22a and 4.22b through deep groove ball bearings, the two lead screw mounting seats 4.22a and 4.22 are fixed on the bottom plate 4.17 through screws and are connected with an output shaft of a speed reducer 4.20 through a synchronous toothed belt 4.23, and thus, the radial movement servo motor 4.19 can drive the lead screw 4.21 to rotate; an output shaft of the speed reducer 4.20 is connected with a screw rod 4.21 through a synchronous toothed belt 4.23; the nut seat 4.24 is arranged on the screw rod 4.21 and is connected with the sliding plate 4.27; the guide rail comprises two parts, namely a mountain-shaped guide rail 4.25a and a flat guide rail 4.25b, which are fixed on the bottom plate 4.17 through screws; the sliding block comprises 4.26a and 4.26b which are respectively matched with the mountain-shaped guide rail 4.25a and the flat guide rail 4.25b, fixed on the sliding plate 4.27 through screws and used for radial movement of the processing mechanism 4; the baffle comprises a baffle 4.28a and a baffle 4.28b, the baffle is mounted on the sliding block 4.26 through screws and used for preventing the sliding plate 4.27 from overturning when moving linearly along the radial direction of the guide rail 4.25, the sliding plate is fixed on the sliding block 4.26, so that the radial movement servo motor 4.19 can drive the screw rod 4.21 to rotate, further the sliding plate 4.27 can move along the guide rail 4.25 in the radial direction in the shell, the combination of the chevron-shaped guide rail 4.25a and the flat guide rail 4.25b can ensure that the sliding plate 4.27 can only move along the direction of the guide rail 4.25, and the baffle 4.28 can prevent the sliding plate 4.27 from overturning when moving; the electric spindle mounting rack 4.29 is fixed on the sliding plate 4.27 through screws; the electric spindle comprises an electric spindle 4.30a and an electric spindle 4.30b which are respectively arranged on the electric spindle mounting rack 4.29, the electric spindle 4.30a is used for rough grinding of the welding seam, and the electric spindle 4.30b is used for polishing of the welding seam; the grinding wheel comprises a grinding wheel 4.31a and a grinding wheel 4.31b, and is respectively installed on the electric spindle 4.30a and the electric spindle 4.30b through screws to finish grinding and polishing of an inner welding seam area; the linear laser sensor 4.33 is mounted on a linear laser sensor mounting rack 4.32 through bolts, non-contact measurement is carried out on the inner welding seam, and the linear laser sensor mounting rack 4.32 is mounted on an electric spindle mounting rack 4.29 through screws; the industrial camera 4.35 is mounted on the industrial camera mounting frame 4.34 through screws, real-time monitoring of the machining process is achieved, and the industrial camera mounting frame 4.34 is mounted on the electric spindle mounting frame 4.29 through screws.

The processing mechanism 4 can realize three degrees of freedom of axial movement, rotation and radial movement, and specifically comprises the following steps: the axial movement servo motor 4.1 drives the screw rod 4.3 to rotate, so that the three groups of guide rods 4.15 fixed on the telescopic shaft 4.12 move along the linear bearing 4.14 to realize the axial movement of the processing mechanism 4; the rotary servo motor 4.8 drives the rotary shaft 4.9 to rotate, so that the rotary motion of the processing mechanism 4 is realized; the radial movement servo motor 4.19 drives the screw rod 4.21 to rotate, and the sliding plate 4.27 moves along the chevron-shaped guide rail 4.25a and the flat guide rail 4.25b, so as to realize the radial movement of the processing mechanism 4.

The invention has the beneficial effects that:

(1) the shape-following grinding and polishing robot for the inner welding line, provided by the invention, can adapt to a variable-diameter, straight or conical shell, flexibly walks in the shell, and has strong adaptability and flexibility;

(2) the shape following grinding and polishing robot for the inner welding line has three degrees of freedom of axial movement, rotation and radial movement, and can finish shape following grinding and polishing of an irregular welding line area in a reducing shell in an environment limited by manual operation.

Drawings

FIG. 1 is an overall external view of a robot;

fig. 2 is a schematic diagram of the internal structure of the robot housing 1;

FIG. 3 is a schematic structural diagram of a double-row circumferential servo motion mechanism;

FIG. 4 is a schematic structural diagram of a pneumatic reducing mechanism;

FIG. 5 is a cross-sectional view of the robot;

FIG. 6 is a schematic view of an axial movement mechanism of the robotic work mechanism;

FIG. 7 is a schematic view of a rotation mechanism of the robotic work mechanism;

FIG. 8 is a schematic view of a radial movement mechanism of the robotic work mechanism;

FIG. 9 is a schematic view of a motor screw mounting of a radial movement mechanism of the robotic work machine;

fig. 10 is a schematic structural diagram of the present invention.

In the figure: 1.1 shell, 1.2 rear sweep, 1.3 middle sweep, 1.4 middle sweep, 1.5 fender, 2.1a rear sweep, 2.1b front sweep, 2.2a axle, 2.2b axle, 2.2c axle, 2.2d axle, 2.3 wheel, 2.4 servo motor, 2.5 reducer, 2.6 mounting plate, 2.7 connecting shaft, 2.8 bevel gear, 3.1a cylinder, 3.1b cylinder, 3.2a cylinder connector, 3.2b cylinder connector, 3.3a cylinder mounting plate, 3.3b cylinder mounting plate, 3.4a connecting pin, 3.4b connecting pin, 3.5a guide bar, 3.5b guide bar, 4.1 axial movement servo motor, 4.2 axial connecting shaft, 4.3 lead screw, 4.4 lead screw mounting seat, 4.5 nut seat, 4.6 drive shaft, 4.7 a motor mounting seat, 4.8, 4.1 axial movement servo motor, 4.2 axial movement servo motor, 4.3 lead screw, 4.4.4.4 lead screw mounting seat, 4.4.4.5 nut seat, 4.6 drive shaft, 4.7 motor, 4.8 ball bearing, 4.9, 4.1, 4.6 bearing, 4.6, 4, 4.6, 4.9, 4.6, 4, 4.9, 4.6, 6, 4.6, 6, 4.6, 4.9, 4.6, 6, 4.9, 4.6, 4.9, 4.6, 4, 4.6, 4, 4.6, 4, etc, angular contact, bearing, angular contact, 4.18 radial movement motor fixing base, 4.19 radial movement servo motor, 4.20 speed reducer, 4.21 lead screw, 4.22a lead screw mounting base, 4.22b lead screw mounting base, 4.23 synchronous cog belt, 4.24 screw base, 4.25a chevron-shaped guide rail, 4.25b flat guide rail, 4.26a slider, 4.26b slider, 4.27 slide plate, 4.28a baffle, 4.28b baffle, 4.29 electric spindle mounting base, 4.30a electric spindle, 4.30b electric spindle, 4.31a grinding wheel, 4.31b grinding wheel, 4.32 line laser sensor mounting base, 4.33 line laser sensor, 4.34 industrial camera mounting base, 4.35 industrial camera.

Detailed Description

The embodiments of the present invention will be described in detail with reference to the accompanying drawings and technical solutions.

A grinding and polishing robot for shape-following welding seams in a reducing shell mainly comprises a robot shell 1, a double-row circumferential servo motion mechanism 2, a pneumatic reducing mechanism 3 and a machining mechanism 4. The robot shell 1 is used as a structural member of the robot and used for installing a motor, a cylinder and the like. The double-row circumferential servo motion mechanism 2 can be adaptive to the straight/conical shell, so that the robot can walk in the straight/conical shell; the pneumatic reducing mechanism 3 can adapt to a reducing shell, and flexible movement in the shell and high rigidity maintenance of a processing state are realized; the machining mechanism 4 is used for finishing shape following grinding and polishing machining of the welding line in the reducing shell.

The robot shell 1 is of a hexagonal prism thin-wall structure and comprises a shell 1.1, a rear vehicle plate 1.2, a middle vehicle plate 1.3, a middle vehicle plate 1.4 and a protection plate 1.5. As shown in fig. 1, the rear sweep 1.2 is installed behind the housing 1, is of a circular plate-shaped structure, is provided with 12 threaded holes at intervals of 30 ° on the circumference, is fixed on the housing 1,1 by screws, and is provided with three through holes at intervals of 120 ° around the center for passing cables of a robot motor and a sensor; as shown in fig. 2, the middle frame plate 1.3 is located between the rear frame plate 1.2 and the middle frame plate 1.4, three groups of threaded holes are formed in three short edges, and 6 threaded holes are formed in each group, are fixed to the housing 1.1 through screws, and are used for mounting an axial movement motor 4.1; well sweep 1.4 is located well sweep 1.3 the place ahead, is hexagon platelike structure, has three screw holes of group on three short edges, and every group is two totally 6, fixes on casing 1.1 through the screw for install lead screw mount pad 4.4. The protection plate 1.5 is a rectangular thin plate structure, and is provided with three protection plates which are arranged on the shell 1.1 and used for protecting the robot.

The double-row circumferential servo motion mechanisms 2 are divided into three groups, and are distributed along the circumferential direction of the robot shell 1 at intervals of 120 degrees. Each group of double-row circumferential servo motion mechanisms 2 comprises a sweep 2.1, an axle 2.2, wheels 2.3, a servo motor 2.4, a speed reducer 2.5, a mounting plate 2.6, a connecting shaft 2.7 and a bevel gear 2.8. As shown in fig. 3, each group of double-row circumferential servo motion mechanisms 2 is divided into a front part and a rear part, and the sweep 2.1 is composed of a rear sweep 2.1a and a front sweep 2.1b, is of a rectangular plate structure and is used as a structural member for installing a servo motor and an axle; the axle 2.2 comprises an axle 2.2a, an axle 2.2b, an axle 2.2c and an axle 2.2d, wherein the axle 2.2a and the axle 2.2b are mounted on the rear deck 2.1a and the axle 2.2c and the axle 2.2d are mounted on the front deck 2.1 b; the number of the wheels 2.3 is eight, two wheels in each group are fixed at two ends of four axles, a distributed driving structure with double rows of wheels is adopted, so that the friction force between the robot and the shell is increased, the walking stability of the robot is ensured, and meanwhile, the shell is of a thin-wall structure, so that the double-row wheel distributed driving structure is also favorable for reducing the geometric deformation of the shell under the action of the robot; the servo motor 2.4 provides forward power for the robot to walk, and an output shaft of the servo motor is connected with the speed reducer 2.5; the mounting plate 2.6 is of a rectangular plate structure, 4 threaded holes are formed around the center, the speed reducer 2.5 is fixed on the mounting plates 2 and 6 through screws, and a through hole is formed in the middle of the speed reducer and used for allowing the connecting shaft 2.7 to pass through; an output shaft of the speed reducer 2.5 is in key connection with the connecting shaft 2.7, the connecting shaft 2.7 is connected with the axle 2.2c through a bevel gear 2.8, the axle 2.2c and wheels arranged at two ends of the axle are used as driving wheel sets, and the axle 2.2a, the axle 2.2b, the axle 2.2d and the wheels arranged at two ends of the axle are used as driven wheel sets.

The three groups of pneumatic reducing mechanisms 3 are distributed along the circumferential direction of the robot shell 1 at intervals of 120 degrees and are respectively connected with the three groups of double-row circumferential servo motion mechanisms. As shown in the attached figure 4, each group of pneumatic reducing mechanisms 3 comprises a cylinder 3.1, a cylinder connector 3.2, a cylinder mounting plate 3.3, a connecting pin 3.4 and a guide rod 3.5. Each group of pneumatic reducing mechanisms is divided into a front part and a rear part, the air cylinder 3.1 consists of an air cylinder 3.1a and an air cylinder 3.1b and is used as an execution part of the pneumatic reducing mechanisms, and the pressure of high-pressure air can be controlled, so that the robot can be ensured to flexibly walk in the shell and has stable jacking force with the inner wall of the shell, and meanwhile, the robot can keep a high-rigidity state during grinding and polishing; the air cylinder connecting head consists of an air cylinder connecting head 3.2a and an air cylinder connecting head 3.2b, an internal thread hole is formed in the bottom, a pin hole is punched in the upper portion, the internal thread hole of the air cylinder connecting head 3.2a is in threaded connection with a piston rod of the air cylinder 3.1a, and the internal thread hole of the air cylinder connecting head 3.2b is in threaded connection with a piston rod of the air cylinder 3.1 b; the cylinder mounting plate 3.3 consists of a cylinder mounting plate 3.3a and a cylinder mounting plate 3.3b and is of a cuboid plate-shaped structure, a through hole is formed in the center of the cylinder mounting plate and is used for a piston rod of the cylinder 3.1 to pass through, two circles of eight threaded holes are formed in the four corners of the cylinder mounting plate, the cylinder mounting plate 3.1 is fixed on the cylinder mounting plate 3.3 through the four threaded holes in the inner circle, and the cylinder mounting plate 3.3 is fixed on the robot shell 1.1 through the four threaded holes in the outer circle; the cylinder connector 3.2a is connected with the rear vehicle plate 2.1a through a connecting pin 3.4a, and the cylinder connector 3.2b is connected with the front vehicle plate 2.1b through a connecting pin 3.4b, so that the three groups of servo motion mechanisms can be self-adaptive to the straight/conical shell, and the robot can walk in the straight/conical shell; the guide rod 3.5 consists of a guide rod 3.5a and a guide rod 3.5b, and is respectively connected with the rear vehicle plate 2.1a and the front vehicle plate 2.1b through screws, so that the rotation of the rear vehicle plate 2.1a and the front vehicle plate 2.1b can be limited, and the rear vehicle plate and the front vehicle plate can linearly move along the radial direction.

The processing mechanism 4 has three degrees of freedom of axial movement, rotation and radial movement, and comprises an axial movement servo motor 4.1, an axial connecting shaft 4.2, a screw rod 4.3, a screw rod mounting seat 4.4, a nut seat 4.5, a transmission shaft 4.6, a rotation motor mounting seat 4.7, a rotation servo motor 4.8, a rotation shaft 4.9, an angular contact ball bearing 4.10, an angular contact ball bearing 4.11, a telescopic shaft 4.12, a spacer bush 4.13, a linear bearing 4.14, a guide rod 4.15, a thrust ball bearing 4.16 and a bottom plate 4.17, the radial movement type grinding and polishing machine comprises a radial movement motor fixing seat 4.18, a radial movement servo motor 4.19, a speed reducer 4.20, a lead screw 4.21, a lead screw mounting seat 4.22, a synchronous toothed belt 4.23, a screw seat 4.24, a guide rail 4.25, a sliding block 4.26, a sliding plate 4.27, a baffle 4.28, an electric spindle mounting rack 4.29, an electric spindle 4.30, a grinding wheel 4.31, a line laser sensor mounting rack 4.32, a line laser sensor 4.33, an industrial camera mounting rack 4.34 and an industrial camera 4.35, and realizes shape following grinding and polishing of a welding seam area in a reducing shell. As shown in fig. 5 and 6, the flange of the axial movement servo motor 4.1 is connected with the mounting hole of the middle vehicle plate 1.3 through a screw; a flange at the rear end of the axial connecting shaft 4.2 is connected with a flange of a servo motor 4.1 through a screw, and a central hole at the front end is connected with a lead screw 4.3 through a key, so that the servo motor 4.1 is axially moved to drive the lead screw 4.3 to rotate; the screw rod mounting seat 4.4 is fixed on the middle vehicle plate 1.4 through a bolt and used for mounting a screw rod 4.3, and the screw rod 4.3 is mounted on the screw rod mounting seat 4.4 through an angular contact ball bearing; the nut seat 4.5 is arranged on the screw rod 4.3; as shown in fig. 5 and fig. 6, the front end of the transmission shaft 4.6 is provided with four threaded holes at intervals of 90 degrees, the transmission shaft is connected with the nut seat 4.5 through screws, the hexagon plate at the rear end is provided with four threaded holes around the center for installing the rotary motor installation seat 4.7, and the transmission shaft is provided with three through holes at intervals of 120 degrees for installing the guide rod 4.15. As shown in fig. 7, a flange at the rear end of a rotary motor mounting seat 4.7 is mounted on a hexagon plate of a transmission shaft 4.6 through bolts; the rotary servo motor 4.8 is arranged on the rotary motor mounting seat 4.7 through a bolt; the rotary shaft 4.9 is connected with a flange of the rotary servo motor 4.8 through a screw; the inner rings of the angular contact ball bearings 4.10 and 4.11 are fixed on the revolving shaft 4.9, and the outer ring is fixed in the inner hole of the telescopic shaft 4.12; three rectangular grooves are formed in the side face of the telescopic shaft 4.12 at intervals of 120 degrees and used for mounting the air cylinder 3.1; six rectangular holes are drilled on the side surface of the spacer 4.13 at intervals of 60 degrees, three holes are used for the air cylinder 3.1 to pass through, and the other three holes are used for reducing the weight of the spacer 4.13; the linear bearings 4.14 are divided into three groups, each group is divided into two groups, the two groups are circumferentially and uniformly distributed at intervals of 120 degrees, and the outer ring is arranged on the inner hole of the spacer sleeve 4.13; the guide rods 4.15 are three in number, are uniformly distributed at intervals of 120 degrees in the circumferential direction, are inserted into the linear bearings 4.14, and are fixed on the telescopic shafts 4.12 through screws; the thrust ball bearing 4.16 shaft ring is matched with the telescopic shaft 4.12, and the seat ring is arranged on the bottom plate 4.17 and used for bearing the axial force when the machining mechanism moves axially. The axial movement servo motor 4.1 drives the screw rod 4.3 to rotate, so that the three groups of guide rods 4.15 fixed on the telescopic shaft 4.12 move along the linear bearing 4.14, and the axial movement of the processing mechanism is realized. The rotary servo motor 4.8 drives the rotary shaft 4.9 to rotate, and rotary motion of the processing mechanism is realized.

As shown in fig. 8 and 9, the bottom plate 4.17 is a rectangular plate having four threaded holes spaced 90 ° around the center and screwed to the rotation shaft 4.9. The radial moving motor fixing seat 4.18 is of an L-shaped plate structure, the bottom plate is provided with two threaded holes and is mounted on the bottom plate 4.17 through screws, and the side plates are provided with four threaded holes at intervals of 90 degrees around the center and are used for being connected with a speed reducer 4.20; an output shaft of the radial movement servo motor 4.19 is connected with a speed reducer 4.20; a flange of the speed reducer 4.20 is arranged on a radial moving motor fixing seat 4.18 through a screw; two ends of the lead screw 4.21 are arranged on the lead screw mounting seat 4.22a and the lead screw mounting seat 4.22b through angular contact ball bearings; threaded holes are formed in the two ends of the lead screw mounting seat 4.22a and the lead screw mounting seat 4.22b and are fixed on the bottom plate 4.17 through screws; an output shaft of the speed reducer 4.20 is connected with a screw rod 4.21 through a synchronous toothed belt 4.23, so that the radial movement servo motor 4.19 drives the screw rod 4.21 to rotate through the synchronous toothed belt 4.23; the guide rail 4.25 comprises a mountain-shaped guide rail 4.25a and a flat guide rail 4.25b, and is fixed on the bottom plate 4.17 through screws; the sliding block 4.26 comprises a sliding block 4.26a and a sliding block 4.26b which are respectively matched with the mountain-shaped guide rail 4.25a and the flat guide rail 4.25b and fixed on the sliding plate 4.27 through screws, and the combination of the mountain-shaped guide rail and the flat guide rail ensures that the sliding plate can only move along the direction of the guide rails; the baffle 4.28 comprises a baffle 4.28a and a baffle 4.28b which are respectively arranged on the sliding block 4.26a and the sliding block 4.26b through screws, so that the sliding plate 4.27 can be prevented from overturning when moving linearly along the radial direction of the guide rail 4.25; the electric spindle mounting rack 4.29 is fixed on the sliding plate 4.27 through screws and used for fixing the electric spindle 4.30; the electric spindle 4.30 comprises an electric spindle 4.30a and an electric spindle 4.30b which are respectively and fixedly arranged in through holes at two sides of the electric spindle mounting rack 4.29; the grinding wheel 4.31 comprises a grinding wheel 4.31a and a grinding wheel 4.31b which are respectively arranged on the electric spindle 4.30a and the electric spindle 4.30b through screws, wherein the grinding wheel 4.31a is used for finishing grinding the inner weld joint, and the grinding wheel 4.31b is used for finishing polishing the inner weld joint; the line laser sensor mounting rack 4.32 is an L-shaped plate, the bottom plate is provided with two threaded holes and is mounted on the electric spindle mounting rack 4.29 through screws, and the side plate is provided with four threaded holes at intervals of 90 degrees around the center and is used for mounting the line laser sensor 4.33; the linear laser sensor 4.33 is arranged on the linear laser mounting rack 4.31 through a screw to realize the measurement of the welding seam in the shell; the industrial camera mounting rack 4.34 is mounted on the electric spindle mounting rack 4.29 through screws; the industrial camera 4.35 is installed on the industrial camera mounting frame 4.34 through screws, and real-time monitoring of the machining process is achieved.

The above-mentioned embodiments only express the embodiments of the present invention, but not should be understood as the limitation of the scope of the invention patent, it should be noted that, for those skilled in the art, many variations and modifications can be made without departing from the concept of the present invention, and these all fall into the protection scope of the present invention.

Claims

1. A shape-following grinding and polishing robot for a welding line in a reducing shell is characterized by comprising a robot shell (1), double rows of circumferential servo motion mechanisms (2), a pneumatic reducing mechanism (3) and a processing mechanism (4); the robot shell (1) is a structural member of the robot; the double-row circumferential servo motion mechanism (2) is used for finishing the walking and posture adjustment of the robot in the straight/conical shell; the pneumatic reducing mechanism (3) is used for completing flexible movement of the robot in the shell and high-rigidity maintenance of a processing state; the machining mechanism (4) is used for finishing shape following grinding and polishing machining of a welding seam area in the reducing shell;

the robot shell (1) comprises a shell (1.1), a rear vehicle plate (1.2), a middle vehicle plate (1.3), a middle vehicle plate (1.4) and a protection plate (1.5); the rear sweep (1.2) is mounted behind the housing (1); the middle vehicle plate (1.3) is positioned between the rear vehicle plate (1.2) and the middle vehicle plate (1.4) and is used for mounting an axial moving motor (4.1); the middle turning plate (1.4) is positioned in front of the middle turning plate (1.3) and is used for mounting a screw rod mounting seat (4.4); the protection plate 1.5 is arranged on the circumferential outer side of the shell;

the double-row circumferential servo motion mechanisms (2) are divided into three groups, the three groups are distributed along the circumferential direction of the robot shell (1) at intervals of 120 degrees, and each group of walking mechanisms (2) comprises a sweep, an axle, wheels (2.3), a servo motor (2.4), a speed reducer (2.5), a mounting plate (2.6), a connecting shaft (2.7) and a bevel gear (2.8); the vehicle plates comprise a rear vehicle plate (2.1a) and a front vehicle plate (2.1b) which are used as structural members for installing a servo motor and an axle; the axles comprise axles (2.2a), axles (2.2b), axles (2.2c) and axles (2.2d) and are divided into two groups, and each group of two axles are arranged on a rear plate (2.1a) and a front plate (2.1 b); the number of the wheels (2.3) is eight, the wheels are divided into four groups, two wheels in each group are arranged on four axles through deep groove ball bearings, and the double-row wheel distribution driving structure is favorable for reducing the geometric deformation of the shell under the action of the robot; the servo motor (2.4) is fixed on the mounting plate (2.6), and an output shaft is connected with the speed reducer (2.5); an output shaft of the speed reducer (2.5) is connected with the connecting shaft (2.7); the connecting shaft (2.7) is connected with an axle (2.2c) through a bevel gear (2.8) to be used as a driving wheel set;

the pneumatic reducing mechanisms (3) are divided into three groups, are distributed along the circumferential direction of the robot shell (1) at intervals of 120 degrees and are respectively connected with the double-row circumferential servo motion mechanisms (2), and each group of pneumatic reducing mechanisms (3) comprises an air cylinder, an air cylinder connector, an air cylinder mounting plate, a connecting pin and a guide rod; the cylinder (3.1) comprises a cylinder (3.1a) and a cylinder (3.1b) which are used as an executing part for reducing the diameter of the robot, the pressure of high-pressure gas can be controlled, the robot can be ensured to flexibly walk in the shell, stable jacking force is provided between the robot and the inner wall of the shell, and the robot can keep a high-rigidity state during grinding and polishing; the air cylinder connector (3.2) comprises an air cylinder connector (3.2a) and an air cylinder connector (3.2b), the lower part of the air cylinder connector is provided with an internal threaded hole which is respectively connected with the piston rods of the air cylinder (3.1a) and the air cylinder (3.1b), the upper part of the air cylinder connector is provided with a pin hole, and the air cylinder connector 3.2a is connected with the rear vehicle plate 2.1a through a connecting pin 3.4 a; the cylinder connector 3.2b is connected with the rear vehicle plate 2.1b through a connecting pin 3.4b, so that the robot is adaptive to a straight/conical shell; the cylinder mounting plate comprises a cylinder mounting plate (3.3a) and a cylinder mounting plate (3.3b), and the cylinder is fixed on the cylinder mounting plate; the guide rods (3.5) comprise guide rods (3.5a) and guide rods (3.5b), are fixed on the rear vehicle plate (2.1a) and the front vehicle plate (2.1b), can limit the rotation of the rear vehicle plate and can only move linearly along the radial direction;

the machining mechanism 4 has three degrees of freedom of axial movement, rotation and radial movement and comprises an axial movement servo motor (4.1), an axial connecting shaft (4.2), a lead screw (4.3), a lead screw mounting seat (4.4), a nut seat (4.5), a transmission shaft (4.6), a rotation motor mounting seat (4.7), a rotation servo motor (4.8), a rotating shaft (4.9), an angular contact ball bearing (4.10), an angular contact ball bearing (4.11), a telescopic shaft (4.12), a spacer bush (4.13), a linear bearing (4.14), a guide rod (4.15), a thrust ball bearing (4.16), a bottom plate (4.17), a radial movement motor fixing seat (4.18), a radial movement servo motor (4.19), a speed reducer (4.20), a lead screw (4.21), a lead screw mounting seat (4.22), a synchronous belt (4.23), a tooth-shaped nut seat (4.24), a guide rail, a sliding block, a baffle plate, an electric main shaft, a grinding wheel, a linear laser sensor (4.32) and a linear laser sensor (4.32), A line laser sensor (4.33), an industrial camera mounting bracket (4.34) and an industrial camera (4.35); the axial movement servo motor (4.1) is arranged on the middle turning plate (1.3) and is connected with the lead screw (4.3) through an axial connecting shaft (4.2), so that the lead screw (4.3) is driven to rotate; the lead screw mounting seat (4.4) is fixed on the middle vehicle plate (1.4) through a screw and is connected with the lead screw (4.3) through an angular contact ball bearing; the nut seat (4.5) is arranged on the lead screw (4.3) and is connected with the transmission shaft (4.6), the lead screw (4.3) rotates to drive the nut seat (4.5) and the three groups of guide rods (4.15) to move along the three groups of linear bearings (4.14), and the axial movement of the whole processing mechanism in the reducing shell is realized; the rotary motor mounting seat (4.7) is arranged on the transmission shaft (4.6), and the rotary servo motor (4.8) is arranged on the rotary motor mounting seat (4.7) and is connected with a flange at the front end of the rotary shaft (4.9); a rotary servo motor (4.8) drives a rotary shaft (4.9) to rotate, so that the whole machining mechanism rotates in the reducing shell;

the inner rings of the angular contact ball bearings (4.10) and the angular contact ball bearings (4.11) are fixed on the rotating shaft (4.9), the outer rings of the angular contact ball bearings and the angular contact ball bearings are fixed in the inner holes of the telescopic shafts (4.12), and the telescopic shafts (4.12) are mainly used for mounting the angular contact ball bearings (4.10) and the angular contact ball bearings (4.11); six linear bearings (4.14) are divided into three groups which are circumferentially and uniformly distributed at intervals of 120 degrees, an outer ring is arranged on an inner hole of a spacer bush (4.13), and the spacer bush (4.13) is used for mounting the linear bearings (4.14); the guide rods (4.15) are three in number, are uniformly distributed at intervals of 120 degrees in the circumferential direction, and are inserted into the linear bearings (4.14);

the thrust ball bearing (4.16) is matched with the telescopic shaft (4.12), and the seat ring is arranged on the bottom plate (4.17) and used for bearing the axial force generated when the machining mechanism moves axially; the bottom plate (4.17) is fixed on the rotating shaft (4.9); the radial movement servo motor (4.19) is connected with the speed reducer (4.20) and is arranged on the bottom plate (4.17) through a radial movement motor fixing seat (4.18); the lead screw (4.21) is arranged on the bottom plate (4.17) through a lead screw mounting seat and is connected with an output shaft of the speed reducer (4.20) through a synchronous toothed belt (4.23), and the radial movement servo motor (4.19) can drive the lead screw (4.21) to rotate;

the guide rails comprise a mountain-shaped guide rail (4.25a) and a flat guide rail (4.25b), and are arranged on the bottom plate (4.17); the sliding block comprises a sliding block (4.26a) and a sliding block (4.26b), the sliding block is respectively matched with the chevron-shaped guide rail (4.25a) and the flat guide rail (4.25b), and the sliding block is fixed on the sliding plate (4.27) and used for radial movement of the machining mechanism (4); the baffle comprises a baffle (4.28a) and a baffle (4.28b) which are respectively fixed on the sliding block (4.26a) and the sliding block (4.26b), and a radial movement servo motor (4.19) can drive the lead screw (4.21) to rotate, so that the sliding plate (4.27) can move radially in the shell along the guide rail (4.25); the combination of the chevron-shaped guide rail (4.25a) and the flat guide rail (4.25b) enables the sliding plate (4.27) to move only along the direction of the guide rail (4.25), and the baffle plate (4.28) is used for preventing the sliding plate (4.27) from overturning when moving; the electric spindle mounting frame (4.29) is fixed on the sliding plate (4.27), the electric spindle comprises an electric spindle (4.30a) and an electric spindle (4.30b) and is fixedly mounted on the electric spindle mounting frame, the grinding wheel comprises a grinding wheel (4.31a) and a grinding wheel (4.31b) which are respectively mounted on the electric spindle (4.30a) and the electric spindle (4.30b), and the inner welding seam region is ground and polished; the line laser sensor (4.33) is arranged on the line laser sensor mounting rack (4.32) and carries out non-contact measurement on the inner welding line; the industrial camera (4.35) is mounted on an industrial camera mounting frame (4.34) in a universal mode, and real-time monitoring of the machining process is achieved.