CN212240604U - Constant force control device based on welding seam is polished - Google Patents
Constant force control device based on welding seam is polished Download PDFInfo
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- CN212240604U CN212240604U CN202021777621.8U CN202021777621U CN212240604U CN 212240604 U CN212240604 U CN 212240604U CN 202021777621 U CN202021777621 U CN 202021777621U CN 212240604 U CN212240604 U CN 212240604U
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Abstract
The utility model provides a constant force control device based on welding seam polishing, which comprises a mounting rack, a grinding mechanism and a polishing control mechanism; the grinding control mechanism and the grinding mechanism are arranged on the mounting frame and are connected with each other; the polishing control mechanism comprises a pneumatic device, a pressure measuring device, an angle measuring device, a displacement measuring device and a control device; the pneumatic device, the pressure measuring device, the angle measuring device and the displacement measuring device are respectively connected with the control device; wherein, the pneumatic device is connected with the grinding mechanism; the utility model discloses can adapt to polishing under each angle condition of polishing of axial, ensure that the power of welding seam grinding device output under the arbitrary angle in space is in a constant force scope to can monitor and the cut protection, the power control precision is high, and the reliability is high as a result to the grinding volume.
Description
Technical Field
The utility model relates to the field of machinary, especially, relate to automatic technical field that polishes, especially a constant force control device based on welding seam is polished.
Background
At present, most of domestic train body and framework polishing and finishing and the like are processed by hand-held pneumatic and electric tools, so that the processing efficiency is low, the consistency of products is difficult to guarantee, the labor intensity of production personnel is high, and the working environment is severe; with the continuous deepening of the application of robot, some producers begin to use the robot to install electric or pneumatic tools for automatic grinding, and compared with handheld grinding, the robot grinding can effectively improve production efficiency and reduce cost, but in high-precision grinding, grinding pressure applied to a workpiece is an important factor influencing surface machining quality and material removal rate, so that the guarantee of the constancy of grinding pressure is the key for guaranteeing grinding quality and efficiency.
Because the robot polishing belongs to the application of hard-to-hard property, considering other factors such as mechanical arm rigidity, size deviation and positioning deviation of workpieces, the conventional robot polishing is difficult to meet the polishing quantity requirement of each workpiece, so that the polishing quality is reduced if the polishing quantity is light, and equipment and the workpieces are damaged if the polishing quantity is heavy; the traditional grinding constant force control implementation scheme is as follows: the method comprises the following steps that a substrate mounting device is mounted on a pressure measuring device, a pneumatic device is mounted in the substrate mounting device, an executing device is mounted on the substrate mounting device and connected with the pneumatic device, and a polishing head device is mounted on the executing device; the pneumatic device is used for setting pressure, constant-force floating polishing of the polishing head is realized through the execution device, the measurement device is used for measuring polishing force data in real time, data acquisition is realized, and then the setting of the pressure of the pneumatic device is controlled; this solution has the following drawbacks:
(1) mainly aims at horizontal grinding; the gravity component can not be calculated under the polishing of the angle change, the polishing of the inclination angle can not be performed, and the compatibility is not high.
(2) When the weld bead height is large, the grinding amount cannot be monitored and the over-cut protection cannot be performed for the uneven allowance caused by the small-range deformation of the workpiece.
SUMMERY OF THE UTILITY MODEL
In view of the above prior art's shortcoming, the utility model aims at providing a constant force controlling means based on welding seam is polished can adapt to polishing under the axial each angle condition of polishing, ensures that the power of welding seam grinding device output under the arbitrary angle in space is in a constant force scope to can monitor and the excessive shear protection to the grinding volume.
In order to achieve the above objects and other related objects, the utility model provides a constant force control device based on welding seam is polished, include: the device comprises a mounting frame, a grinding mechanism and a polishing control mechanism; the grinding control mechanism and the grinding mechanism are arranged on the mounting frame and are connected, so that the grinding mechanism can grind the weld joint under the action of the grinding control mechanism; the polishing control mechanism comprises a pneumatic device, a pressure measuring device, an angle measuring device, a displacement measuring device and a control device; the pneumatic device, the pressure measuring device, the angle measuring device and the displacement measuring device are respectively connected with the control device; the pneumatic device is connected with the grinding mechanism and used for adjusting the contact force of the grinding mechanism on the welding line under the control of the control device; the pressure measuring device is used for measuring the axial pressure of the grinding mechanism; the angle measuring device is used for measuring the axial and radial polishing angles of the grinding mechanism, calculating the gravity component and controlling balance; the displacement measuring device is used for measuring the displacement change of the grinding mechanism in the grinding process so as to realize grinding amount monitoring and over-cut protection.
Further, the pneumatic device includes: a cylinder and an electric proportional valve; the cylinder and the electric proportional valve are respectively connected with the control device; the cylinder is also connected with the grinding mechanism; and in the grinding process, the inlet and outlet pressure of the air cylinder is controlled by the electric proportional valve.
Furthermore, the grinding mechanism is installed on the mounting frame through a linear guide rail, and the grinding mechanism is under the action of the pneumatic device and moves in a telescopic mode along the linear guide rail.
Further, the pressure measuring device comprises a pressure sensor; the pressure sensor is installed between a piston rod of the air cylinder and a connecting point of the linear guide rail, and the pressure sensor is connected with the control device.
Further, the angle measuring device comprises a dual-axis angle sensor; the double-shaft angle sensor is connected with the control device.
Further, the displacement measuring device comprises a displacement sensor; the displacement sensor adopts a laser displacement sensor, and is connected with the control device.
Further, the grinding mechanism includes: a grinding tool, a tool shank and a spindle; the grinding tool is connected with one end of the tool handle and is used for grinding the welding line; the spindle is arranged on the mounting frame and is connected with the other end of the tool shank and the polishing control mechanism respectively.
Further, the mounting bracket includes: the first mounting plate and the second mounting plate are arranged along the axial direction of the grinding mechanism, and the third mounting plate is arranged along the radial direction of the grinding mechanism; the first mounting panel is parallel and corresponds the setting and is in the top of second mounting panel, just the one end of first mounting panel corresponds the one end of second mounting panel, respectively with the third mounting panel is in the ascending both ends in the radial direction of grinding mechanism are connected.
As above, based on the constant force control device that the welding seam polished, following beneficial effect has:
compared with the prior art, the utility model discloses can adapt to polishing under the each angle condition of polishing of axial, ensure that the power of welding seam grinding device output under the arbitrary angle in space is in a constant force scope to can monitor and cut the protection excessively the grinding volume, the power control precision is high, and the reliability is high as a result.
Drawings
Fig. 1 shows a schematic structural diagram of a constant force control device based on weld grinding according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a grinding mechanism according to an embodiment of the present invention.
Fig. 3 is a logic control diagram of the constant force control device based on weld grinding according to an embodiment of the present invention.
Description of the reference symbols
1 a pressure sensor;
2, a cylinder;
3 a biaxial angle sensor;
4, linear guide rails;
5 a displacement sensor;
6, grinding the mechanism;
6-1, polishing a tool;
6-2 cutter handles;
6-3 main shaft;
7 a first mounting plate;
8 a second mounting plate;
9 third mounting plate.
Detailed Description
The following description is provided for illustrative embodiments of the present invention, and other advantages and effects of the present invention will be readily apparent to those skilled in the art from the disclosure herein. The present invention can also be implemented or applied through other different specific embodiments, and various details in the present specification can be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the drawings only show the components related to the present invention rather than being drawn according to the number, shape and size of the components in actual implementation, and the form, amount and ratio of the components in actual implementation may be changed at will, and the layout of the components may be more complicated.
The utility model discloses a constant force control device based on welding seam is polished can adapt to polishing under the each angle condition of polishing of axial, ensures that the power of welding seam grinding device output under the arbitrary angle in space is in a constant force scope to can monitor and the cut-off protection, the power accuse precision is high, and the reliability is high as a result.
As shown in fig. 1 and 2, in an embodiment, the constant force control device based on welding seam polishing of the present invention includes an installation frame, a grinding mechanism 6 and a polishing control mechanism.
In one embodiment, the mounting frame includes a first mounting plate 7, a second mounting plate 8 disposed along an axial direction of the grinding mechanism 6, and a third mounting plate 9 disposed along a radial direction of the grinding mechanism 6.
Specifically, first mounting panel 7 is parallel and corresponds the setting and is in the top of second mounting panel 8, just the one end of first mounting panel 7 corresponds the one end of second mounting panel 8, respectively with third mounting panel 9 is in the ascending both ends in the radial direction of grinding mechanism 6 are connected.
The grinding control mechanism and the grinding mechanism 6 are arranged on the mounting frame, and the grinding control mechanism is connected with the grinding mechanism 6, so that the grinding mechanism 6 can realize the grinding of the weld joint under the action of the grinding control mechanism.
It should be noted that the mounting bracket is a frame structure with an open end formed by the first mounting plate 7, the second mounting plate 8 and the second mounting plate 9, the grinding mechanism 6 and the polishing control mechanism are both arranged on the mounting bracket and correspondingly arranged at the opening, and the grinding mechanism 6 can move relative to the mounting bracket in the opening under the action of the polishing control mechanism to polish the welding seam by the grinding mechanism 6.
In one embodiment, the grinding mechanism 6 is mounted on the mounting frame through a linear guide 4, and the grinding mechanism 6 performs a telescopic motion along the linear guide 4 under the action of a pneumatic device.
Specifically, the linear guide 4 is disposed on the upper surface of the second mounting plate 8, and the grinding mechanism 6 is disposed on the linear guide 4, so that the grinding mechanism 6 performs a telescopic motion along the linear guide 4 under the action of the pneumatic device (i.e., the aforementioned grinding mechanism 6 can move in the opening relative to the mounting frame).
In one embodiment, the grinding mechanism 6 includes a grinding tool 6-1, a tool shank 6-2, and a spindle 6-3.
Specifically, the grinding tool 6-1 is connected with one end of the tool handle 6-2 and is used for grinding the welding line; the spindle 6-3 is arranged on the mounting frame, and the spindle 6-3 is connected with the other end of the tool shank 6-2 and the polishing control mechanism respectively.
The polishing control mechanism comprises a pneumatic device, a pressure measuring device, an angle measuring device, a displacement measuring device and a control device; the pneumatic device, the pressure measuring device, the angle measuring device and the displacement measuring device are respectively connected with the control device.
Specifically, the pressure measuring device, the angle measuring device and the displacement measuring device send pressure signals, angle signals and displacement signals which are measured in real time to the control device, and the control device controls the pneumatic device according to the received pressure signals, angle signals and displacement signals, so that the pneumatic device drives the grinding mechanism 6 to polish the welding seam.
Preferably, the control device is a PLC controller.
The pneumatic device is connected with the grinding mechanism 6 and used for adjusting the contact force of the grinding mechanism 6 on the welding line under the control of the control device.
In one embodiment, the pneumatic device comprises a cylinder 2 and an electric proportional valve; the cylinder 2 and the electric proportional valve are respectively connected with the control device; the cylinder 2 is also connected with the grinding mechanism 6; in the grinding process, the inlet and outlet pressure of the air cylinder 2 is controlled by the electric proportional valve.
Preferably, the cylinder 6 is a low resistance cylinder.
The pressure measuring device is used for measuring the axial pressure of the grinding mechanism.
In one embodiment, the pressure measuring device comprises a pressure sensor 1; the pressure sensor 1 is installed between the connection points of the piston rod of the cylinder 2 and the linear guide rail 4, and the pressure sensor 1 is connected with the control device.
The angle measuring device is used for measuring the axial and radial grinding angles of the grinding mechanism 6, calculating the gravity component and controlling balance.
It should be noted that the axial and radial grinding angles of the grinding mechanism 6 are measured in real time by the angle measuring device and used for calculation and balance control of gravity components, so that the constant force control device based on welding seam grinding can be used for grinding an inclined angle, and the compatibility of the constant force control device is improved.
In one embodiment, the angle measuring device comprises a two-axis angle sensor 3; the double-shaft angle sensor 3 is connected with the control device.
The displacement measuring device is used for measuring the displacement change of the grinding mechanism 6 in the grinding process so as to realize the grinding amount monitoring and the over-cut protection.
It should be noted that, the displacement change of the grinding mechanism 6 in the grinding process is measured in real time by the displacement measuring device, so that the constant force control device based on welding seam grinding can monitor the grinding amount and protect the overcut when the welding bead height is large and the allowance generated by the small-range deformation of the workpiece to be ground is uneven.
In an embodiment, the displacement measuring device includes a displacement sensor 5, and the displacement sensor 5 is connected to the control device.
It should be noted that the displacement sensor 5 and the electric proportional valve work in coordination, and the distance of extension of the grinding mechanism 6 is controlled by an electric system.
Preferably, the displacement sensor 5 is a laser displacement sensor.
The working principle of the constant force control device based on welding line polishing is as follows:
first, the weight (Kg) of the grinding mechanism 6 is set to W0And the constant grinding pressure applied to the workpiece to be ground is W.
And setting the included angle a between the axis of the cylinder 2 and the horizontal plane at different positions of the grinding motion trail of the grinding mechanism 6.
During polishing, a real-time included angle a between the axis of the cylinder 2 and the horizontal plane is obtained through the double-shaft angle sensor 3, and the real-time output pressure W of the cylinder 2 is calculatedc＝W+WcodW, where dW is the gravitational force W0Real-time component force in the axial direction of the cylinder 2, dW = W0*Sin(a/180*π)；
WcoIs force given real time compensation, Wco = X (P)0+ P), wherein P0The real-time tool compensation is carried out, the displacement given value P is a displacement protection given value, and X is a displacement compensation coefficient.
The working principle of the constant force control device based on weld grinding is further explained as follows:
as shown in FIG. 3, the constant pressure W is converted into a first electrical signal, and the gravity W is converted into a second electrical signal0The real-time component dW in the axial direction of the cylinder 2 is converted into a second electric signal to give a given compensation WcoConverting into a third electric signal; superposing the first electric signal, the second electric signal and the second electric signal to form an input signal; the PLC controls the output of the electric proportional valve according to the pressure feedback obtained from the pressure sensor 1 and the displacement feedback obtained from the displacement sensor 5, the electric proportional valve adjusts the air supply pressure of the air cylinder 2 according to the obtained input signal, and the air cylinder 2 pushes the grinding mechanism 6 to apply grinding pressure on the workpiece to be ground, so that the grinding pressure on the workpiece to be ground in the grinding process is W all the time.
It should be noted that the constant force control device based on weld grinding calculates the real-time component force W of the gravity of the grinding mechanism 6 in the axial direction of the cylinder 2 during grinding0And the real-time output pressure of the air cylinder 2 is adjusted by controlling the air supply pressure of the air cylinder 2, so that component force of the grinding mechanism 6 along the axis of the air cylinder 2 is counteracted in the grinding process of different angles, and the grinding pressure on the workpiece to be ground is constant.
The constant force control device based on the welding seam polishing also calculates to obtain the real-time relative displacement change of the grinding mechanism 6 in the axial direction of the cylinder 2 in the polishing process, compensates the displacement coefficient and offsets the reduction of the grinding quality caused by the abrasion of the polishing cutter 6-1; when the displacement monitoring range is exceeded, the high-precision electric proportional valve is immediately controlled to respond, and the polishing pressure is reduced to avoid damaging a workpiece to be polished; through the strategies of constant force control and displacement control, the polishing uniformity is ensured, and the polishing quality is improved.
To sum up, the constant force control device based on welding seam polishing of the utility model can adapt to polishing under the condition of each polishing angle in the axial direction, ensure that the force output by the welding seam polishing device under any angle in space is in a constant force range, monitor and over-cut protection the grinding amount, and has high force control precision and high reliability of the result; therefore, the utility model effectively overcomes various defects in the prior art and has high industrial utilization value.
The above embodiments are merely illustrative of the principles and effects of the present invention, and are not to be construed as limiting the invention. Modifications and variations can be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which may be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (8)
1. The utility model provides a constant force controlling means based on welding seam is polished which characterized in that includes: the device comprises a mounting frame, a grinding mechanism and a polishing control mechanism;
the grinding control mechanism and the grinding mechanism are both arranged on the mounting frame, and the grinding control mechanism is connected with the grinding mechanism;
the polishing control mechanism comprises a pneumatic device, a pressure measuring device, an angle measuring device, a displacement measuring device and a control device; the pneumatic device, the pressure measuring device, the angle measuring device and the displacement measuring device are respectively connected with the control device; wherein the content of the first and second substances,
the pneumatic device is connected with the grinding mechanism.
2. The constant force control device based on weld grinding of claim 1, wherein the pneumatic device comprises: a cylinder and an electric proportional valve; the cylinder and the electric proportional valve are respectively connected with the control device; the cylinder is also connected with the grinding mechanism.
3. The constant-force control device based on weld grinding according to claim 2, wherein the grinding mechanism is mounted on the mounting frame through a linear guide rail, and the grinding mechanism performs telescopic motion along the linear guide rail under the action of the pneumatic device.
4. The weld grinding-based constant force control device according to claim 3, wherein the pressure measurement device comprises a pressure sensor; the pressure sensor is installed between a piston rod of the air cylinder and a connecting point of the linear guide rail, and the pressure sensor is connected with the control device.
5. The constant force control device based on weld grinding of claim 1, wherein the angle measurement device comprises a biaxial angle sensor; the double-shaft angle sensor is connected with the control device.
6. The weld grinding-based constant force control device according to claim 1, wherein the displacement measuring device comprises a displacement sensor; the displacement sensor adopts a laser displacement sensor, and is connected with the control device.
7. The weld grinding-based constant force control device of claim 1, wherein the grinding mechanism comprises: a grinding tool, a tool shank and a spindle;
the grinding tool is connected with one end of the tool handle,
the spindle is arranged on the mounting frame and is connected with the other end of the tool shank and the polishing control mechanism respectively.
8. The weld grinding-based constant force control device of claim 1, wherein the mounting bracket comprises: the first mounting plate and the second mounting plate are arranged along the axial direction of the grinding mechanism, and the third mounting plate is arranged along the radial direction of the grinding mechanism;
the first mounting panel is parallel and corresponds the setting and is in the top of second mounting panel, just the one end of first mounting panel corresponds the one end of second mounting panel, respectively with the third mounting panel is in the ascending both ends in the radial direction of grinding mechanism are connected.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202021777621.8U CN212240604U (en) | 2020-08-24 | 2020-08-24 | Constant force control device based on welding seam is polished |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116460718A (en) * | 2023-05-17 | 2023-07-21 | 常州泰翔自动化设备科技有限公司 | Manual control floating constant force end actuating mechanism of grinding and polishing machine and using method thereof |
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2020
- 2020-08-24 CN CN202021777621.8U patent/CN212240604U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116460718A (en) * | 2023-05-17 | 2023-07-21 | 常州泰翔自动化设备科技有限公司 | Manual control floating constant force end actuating mechanism of grinding and polishing machine and using method thereof |
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