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Variable-diameter shell inner welding seam shape-follow-up grinding and polishing machining robot

A technology of robots and processing mechanisms, which is applied to machine tools, metal processing equipment, grinding/polishing equipment, etc. suitable for grinding the edge of workpieces, and can solve problems such as inability to follow the shape of the pipeline for grinding and polishing, and inability to adapt to the tapered pipeline. Achieving adaptability and flexibility

Active Publication Date: 2021-12-14
DALIAN UNIV OF TECH
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  • Abstract
  • Description
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  • Application Information

AI Technical Summary

Problems solved by technology

However, the above-mentioned robot cannot adapt itself to a pipe with a taper, and at the same time, it cannot perform conformal grinding and polishing of the pipe according to the actual geometric characteristics of the pipe.

Method used

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  • Variable-diameter shell inner welding seam shape-follow-up grinding and polishing machining robot
  • Variable-diameter shell inner welding seam shape-follow-up grinding and polishing machining robot
  • Variable-diameter shell inner welding seam shape-follow-up grinding and polishing machining robot

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Embodiment Construction

[0026] The embodiments of the present invention will be described in detail in conjunction with the drawings and technical solutions.

[0027] A robot for conformal grinding and polishing of weld seams in a variable-diameter shell mainly includes a robot shell 1 , a double-row circumferential servo movement mechanism 2 , a pneumatic variable-diameter mechanism 3 , and a processing mechanism 4 . The robot shell 1 is used as a structural part of the robot for installation of motors, cylinders and the like. The double-row circumferential servo motion mechanism 2 can adapt itself to the straight / conical shell to realize the walking of the robot in the straight / conical shell; the pneumatic variable diameter mechanism 3 can adapt to the variable-diameter shell to realize the flexibility in the shell. The movement and processing state are maintained with high rigidity; the processing mechanism 4 is used to complete the conformal grinding and polishing processing of the welding seam i...

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Abstract

The invention provides a variable-diameter shell inner welding seam shape-follow-up grinding and polishing machining robot, and belongs to the field of special mobile machining robot machining. The variable-diameter shell inner welding seam shape-follow-up grinding and polishing machining robot comprises a robot shell, double-row circumferential servo movement mechanisms, pneumatic variable-diameter mechanisms and a machining mechanism. The robot shell is a structural part of the robot. The three double-row circumferential servo movement mechanisms are circumferentially distributed at 120-degree intervals, and can walk and adjust postures in the straight / conical shell; the three pneumatic variable-diameter mechanisms are circumferentially distributed 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 high rigidity of the machining state is kept; and the machining mechanism has three degrees of freedom, and shape-follow-up grinding and polishing machining of a variable-diameter shell inner welding seam area is achieved. The robot can enter the variable-diameter shell with a limited operation space, can adapt to the variable-diameter straight / conical shell, and completes shape-follow-up grinding and polishing machining of the shell inner welding seam area.

Description

technical field [0001] The invention belongs to the field of special robot processing, and relates to a welding seam conformal grinding and polishing processing robot in a variable-diameter shell. Background technique [0002] Shells and pipes are typical structural parts widely used in aerospace, energy and power fields. Longer shells generally adopt a multi-stage assembly welding process, and weld slag will be formed on both inside and outside of the welding ring. Weld slag affects the surface quality and performance of parts and needs to be removed. However, due to the limited operating space, high-quality removal of weld seams inside shells has always been one of the difficult problems in shell manufacturing. To solve the problem of high-quality grinding and polishing of internal welds in shells (especially small-caliber, long shells), it is extremely necessary to design a mobile automatic processing robot. [0003] Yang Keji and others disclosed a modular design-base...

Claims

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Application Information

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IPC IPC(8): B24B27/033B24B9/00B25J11/00B25J5/02
CPCB24B27/033B24B27/0092B24B9/00B25J11/0065B25J5/02
Inventor 李特刘海波刘丽莉兰天白承栋王永青郭东明
Owner DALIAN UNIV OF TECH
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