CN110919500B - Track polishing production line - Google Patents
Track polishing production line Download PDFInfo
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- CN110919500B CN110919500B CN201911325773.6A CN201911325773A CN110919500B CN 110919500 B CN110919500 B CN 110919500B CN 201911325773 A CN201911325773 A CN 201911325773A CN 110919500 B CN110919500 B CN 110919500B
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- polishing
- track
- welding seam
- flexible
- flexible polishing
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- 238000005498 polishing Methods 0.000 title claims abstract description 184
- 238000004519 manufacturing process Methods 0.000 title description 11
- 230000007246 mechanism Effects 0.000 claims abstract description 116
- 238000003466 welding Methods 0.000 claims abstract description 83
- 238000001514 detection method Methods 0.000 claims abstract description 69
- 239000000872 buffer Substances 0.000 claims description 46
- 210000000078 claw Anatomy 0.000 claims description 21
- 230000006698 induction Effects 0.000 claims description 12
- 230000008859 change Effects 0.000 claims description 11
- 238000000034 method Methods 0.000 claims description 9
- 238000000926 separation method Methods 0.000 claims description 9
- 230000000712 assembly Effects 0.000 claims description 6
- 238000000429 assembly Methods 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 5
- 230000033228 biological regulation Effects 0.000 claims 2
- 230000006378 damage Effects 0.000 description 4
- 239000000428 dust Substances 0.000 description 3
- 238000002955 isolation Methods 0.000 description 3
- 238000007517 polishing process Methods 0.000 description 3
- 230000001360 synchronised effect Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000003754 machining Methods 0.000 description 2
- 230000002035 prolonged effect Effects 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 239000002893 slag Substances 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
- 231100000241 scar Toxicity 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
- B24B21/002—Machines or devices using grinding or polishing belts; Accessories therefor for grinding edges or bevels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
- B24B21/18—Accessories
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/02—Frames; Beds; Carriages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/06—Work supports, e.g. adjustable steadies
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
- B24B55/06—Dust extraction equipment on grinding or polishing machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
- B24B55/12—Devices for exhausting mist of oil or coolant; Devices for collecting or recovering materials resulting from grinding or polishing, e.g. of precious metals, precious stones, diamonds or the like
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention relates to a track polishing processing line which comprises a flexible polishing robot and a track detection clamp, wherein a welding seam detection mechanism and a track clamping mechanism are arranged on the track detection clamp, the flexible polishing robot comprises an industrial robot and a flexible polishing device, the flexible polishing device comprises a connector, a driving motor, a movable support, an abrasive belt wheel assembly and a driving wheel which are arranged on the abrasive belt wheel assembly and the driving wheel, the output end of the driving motor penetrates through the movable support, the driving wheel is arranged at the rear end of the driving motor and drives the abrasive belt wheel assembly at the two ends of the driving wheel to operate through the driving wheel, the connector is provided with a flexible polishing space, the movable support is fixed in the flexible polishing space through the driving motor and swings left and right in the flexible polishing space by taking the driving motor as a pivot, and the track detection clamp stops a track with a welding seam in a polishing area of the flexible polishing robot through the track clamping mechanism after the welding seam detection mechanism detects the welding seam.
Description
Technical Field
The invention relates to the field of intelligent machining, in particular to a track polishing machining assembly line.
Background
Rails are also known as rails, tracks, and are mainly used for rail traffic, which refers to a type of transportation means or transportation system where an operating vehicle needs to travel on a specific track. The most typical rail traffic is a railway system consisting of conventional trains and standard railroads. Along with the diversified development of train and railway technologies, rail traffic is of more and more types, is not only widely applied to long-distance land transportation, but also widely applied to medium-short-distance urban public transportation, and the rail is mainly made of steel, so that the safety of running operation vehicles above is ensured, the produced hundred-meter rail is welded into a long rail of 500 meters in the processing process and then transported to a line for laying, and welding seams or welding slag are left at interfaces when the rails are welded, and the welding seams and the welding slag indicated by the protruding rails need to be polished and removed to be qualified for leaving factories to use on the line.
The existing track processing adopts pipelining production, after the track is welded, the pipelining conveys the track to a polishing procedure for polishing, and then the track is conveyed to a fine grinding procedure for processing until finally leaving a factory, but the existing polishing procedure has the following defects:
1. The prior polishing procedure of the rail mainly adopts CNC to polish the welding line, but after the height of the welding line on the rail can only be set when the CNC polishes, the welding line of the rail is polished under the same specification, the heights of the welding lines formed during the welding of the rail are different, the CNC polishes the welding line on the rail due to the fact that the welding lines with different heights face each other, the welding line which is too high can not be polished thoroughly, and the welding line which is too low can damage the rail body when the CNC polishes.
2. The existing track welding seam detection is needed when the track is polished, the welding seam is polished through a polisher after the welding seam is detected, and the mode is time-consuming and labor-consuming, so that the polishing efficiency of the track welding seam is greatly affected.
Disclosure of Invention
The technical problem to be solved by the present invention is to address the above-mentioned shortcomings of the prior art,
The utility model provides a track processing line of polishing, this processing line of polishing send the track welding seam to the region of polishing through the welding seam detects the inductor is accurate, and the region of polishing adopts industrial robot flexibility to polish again, does not harm the track, can quick replacement abrasive band simultaneously with collect the processing of polishing flying dust, realize intelligent high-speed processing, promote production efficiency and production environment.
In order to achieve the above purpose, the present invention provides the following technical solutions: track processing line of polishing, characterized in that: the assembly line comprises a flexible polishing robot for polishing a track weld joint and a track detection clamp arranged at two ends of the flexible polishing robot and used for conveying the track, wherein a weld joint detection mechanism and a track clamping mechanism are arranged on the track detection clamp, the flexible polishing robot comprises an industrial robot and a flexible polishing device detachably connected with the industrial robot, the flexible polishing device comprises a connector connected with the tail end of the industrial robot, a driving motor fixed on the connector, a movable support movably connected with the driving motor, a belt wheel assembly arranged at two ends of the movable support and a transmission wheel arranged between the belt wheel assembly and the driving motor, the output end of the driving motor passes through the movable support and is provided with a driving wheel, the belt wheel assembly is driven by the driving wheel to operate, one end of the connector corresponding to the movable support is provided with a flexible polishing space for swinging of the movable support, the movable support is fixed in the flexible polishing space through the driving motor, and the track detection clamp can stop the track with the weld joint in a polishing area of the flexible polishing robot through the track clamping mechanism after the detection of the weld joint.
By adopting the technical scheme, the rail detection clamps are arranged at two ends of the flexible polishing robot, the rail can be transported on the rail detection clamps, a driving source for transportation is arranged on a main assembly line, when a welding line in the rail passes through the detection range of the welding line detection mechanism, the rail clamping mechanism clamps the rail to stop transportation, the welding line stays in the polishing area of the flexible polishing robot, then the flexible polishing robot manually polishes the rail, the flexible polishing device is connected at the tail end of the industrial robot, the driving wheel is linked through the driving motor so as to drive the abrasive belt wheel assemblies at the two ends to polish the rail, the flexible polishing space is arranged on the connecting head, the driving motor is used for swinging left and right in the flexible polishing space, during the use process, the abrasive belt wheel assembly at one end of the movable support is used for polishing the rail, the other end is not contacted with the rail, the wheel assemblies at one end of the movable support are gradually propped against the welding line when the abrasive belt wheel assembly is used for polishing the rail, after the abrasive belt on the abrasive belt assembly is flattened, the contact surface of the abrasive belt on the abrasive belt assembly is enlarged from the end of the single line of the welding line, the abrasive belt on the abrasive belt assembly is contacted with the polishing wheel assembly, and then the abrasive belt assembly is contacted with the movable pulley assembly is driven to the plane when the other end of the movable support is contacted with the abrasive belt, and the movable support is contacted with the movable pulley assembly, and when the plane is contacted with the movable pulley assembly is moved down, and the plane is contacted with the movable pulley assembly, and when the movable support is contacted with the movable pulley assembly is contacted with the abrasive belt and the movable support, and the abrasive belt assembly is contacted with the movable plane, make the abrasive belt wheel subassembly of the other end shift up, the movable support all uses driving motor as the fulcrum realization horizontal hunting when removing to polish to the track is flexible, avoids damaging the track, sets up two sets of abrasive belt wheel subassemblies about on the movable support simultaneously, makes abrasive belt wheel subassembly convenient to polish alone the track two sides, does not need to rotate the machine arm by a wide margin, promotes polishing efficiency, can guarantee again that both ends abrasive belt wearing and tearing keep unanimous, conveniently unify change, realizes pipelined production and processing through track detection anchor clamps and flexible polishing robot, promotes polishing efficiency, avoids damaging the track.
Foretell track processing line of polishing can further set up to: the abrasive belt wheel assembly comprises an abrasive belt arm fixedly connected with the movable support, a main wheel arranged on the abrasive belt arm and linked with the driving wheel, a fixed wheel connected with the main wheel, a tensioning mechanism arranged between the main wheel and the fixed wheel, and an abrasive belt sleeved on the main wheel and the fixed wheel, and the abrasive belt wheel assembly adjusts the tightness of the abrasive belt through the tensioning mechanism.
By adopting the technical scheme, the abrasive belt arm is connected with the movable support, and the main wheel is linked with the driving wheel, so that the main wheel can drive the abrasive belt on the main wheel and the fixed wheel to polish the track, and meanwhile, the tensioning mechanism is arranged between the main wheel and the fixed wheel and used for adjusting the tightness of the abrasive belt, so that the abrasive belt can be conveniently replaced and entangled, and the tightness of the abrasive belt can be adjusted through the tensioning mechanism.
Foretell track processing line of polishing can further set up to: the tensioning mechanism comprises a telescopic tensioning motor arranged on the abrasive belt arm, a tensioning wheel is arranged at the output end of the tensioning motor, and the tensioning wheel is wound on the abrasive belt.
By adopting the technical scheme, the tension motor is arranged on the abrasive belt arm, the tension wheel is arranged at the output end of the tension motor, so that when the abrasive belt is required to be replaced or entangled, the tension wheel is retracted through the tension motor, the tension wheel is enabled to reduce the fastening force to the abrasive belt, the abrasive belt can be replaced and entangled easily after being loosened, and when the abrasive belt is required to be controlled to polish, the abrasive belt can be abutted against the tension wheel through the tension motor, so that the abrasive belt is fixed in the abrasive belt wheel assembly to polish the track.
Foretell track processing line of polishing can further set up to: the abrasive belt wheel assembly is provided with a limiting mechanism at one end corresponding to the fixed wheel, the limiting mechanism is arranged on the back surface of the fixed wheel and comprises an adjusting rod fixed on the abrasive belt arm and a limiting block capable of sliding on the abrasive belt arm, the limiting block slides on the abrasive belt arm along the adjusting rod, and the limiting block is provided with an adjusting bolt matched with the adjusting rod to limit the limiting block to move.
By adopting the technical scheme, the limiting mechanism for preventing the abrasive belt from excessively polishing the rail is arranged on the back of the fixed wheel, the limiting mechanism is abutted against the polishing surface of the rail through the limiting block, the length of the abrasive belt arm extending out of the limiting block is adjusted through the adjusting rod, the limiting block is fixed through the adjusting bolt so that the limiting block does not move in the polishing process, after the limiting block is adjusted, the limiting block is abutted against the rail when the side surface of the rail is polished, and the abrasive belt wheel only polishes the welding seam of the optical projection rail and cannot damage the rail body.
Foretell track processing line of polishing can further set up to: the hydraulic buffer mechanism comprises a buffer guide wheel which is in butt connection with the movable support and a hydraulic buffer arranged at two ends of the buffer guide wheel, wherein one end of the connector, which corresponds to the movable support, is provided with a buffer rod which is in butt connection with the movable support, the buffer rod stretches in the hydraulic buffer, the bottom of the hydraulic buffer is provided with a hydraulic lifting seat, and the hydraulic buffer adjusts the stretching length of the buffer rod through the hydraulic lifting seat.
By adopting the technical scheme, in order to ensure that the movable support can reset normally after swinging in the flexible polishing process every time, the oil pressure buffer mechanism is arranged at the bottom of the connector corresponding to the movable support, the buffer guide wheel assists the movable support to swing left and right, the oil pressure buffer arranged at the two ends of the buffer guide wheel is abutted against the movable support, when one end of the movable support is tilted, the oil pressure buffer at the other end is compressed, the buffer rod props against the movable support and then enters the oil pressure buffer, after polishing is stopped, oil in the oil pressure buffer returns, and meanwhile, the oil level in the oil pressure buffer can rise or move downwards through adjusting the oil pressure lifting seat, so that the purpose of controlling the telescopic length of the buffer rod is achieved, and the swinging range of the flexible polishing space is more conveniently adjusted.
Foretell track processing line of polishing can further set up to: the track detection clamp comprises a base and a track conveying mechanism, wherein the weld detection mechanism, the track clamping mechanism and the track conveying mechanism are arranged on the base, the track clamping mechanism comprises a clamping seat arranged on the base, a clamping part arranged in the clamping seat and used for fixing a track, and a driving source arranged on the base and used for driving the clamping part to open and close, the weld detection mechanism comprises a weld detection sensor arranged on the driving source and used for controlling the driving source to open and close, the clamping part comprises two clamping claws arranged on the clamping seat relatively and an opening and closing mechanism used for driving the clamping claws at two ends to be close to or separated from each other, and the weld detection sensor drives the opening and closing mechanism to enable the clamping claws to fix or loosen the track through the driving source.
By adopting the technical scheme, the track enters the polishing process from the welding process, the track is conveyed by the track conveying device in an auxiliary manner, the welding seam of the track plane is detected by the welding seam detection sensor, and the principle is that the track height is preset, after the welding seam detection sensor (such as a photoelectric sensor) is adjusted, the welding seam is conveyed by the track conveying device, when the detection range of the welding seam detection sensor is passed through, the welding seam weld scar is higher than the normal track height preset by the sensor, so that the driving source is controlled to drive the opening and closing mechanism to clamp the track by the clamping claws at the two ends of the track, the welding seam is enabled to accurately stay in the processing area of the polishing robot, the track welding seam is detected and polished more intelligently, and the polishing processing efficiency is improved.
Foretell track processing line of polishing can further set up to: the opening and closing mechanism comprises two rotating shafts which are oppositely arranged on the clamping seat and gears which are meshed with each other in the rotating shafts, the rotating shafts are correspondingly connected with the clamping claws, a swinging arm which is linked with a driving source is arranged on one rotating shaft, the driving source drives the rotating shafts to rotate through the driving swinging arm, and the rotating shafts drive the clamping claws at two ends to approach or separate through the gears.
By adopting the technical scheme, the rotating shafts which are arranged below the clamping claws and freely rotate in the clamping seat are linked through the gears, when the driving source pushes one of the rotating shafts to swing, the swing arm drives the rotating shaft to rotate, and the rotating shaft drives the other end to rotate through the gears, so that the clamping claws are close to or separated from each other, the track action of clamping and loosening is completed, the device is simple in structure and stable in transmission, and the clamping claws can synchronously clamp or separate.
Foretell track processing line of polishing can further set up to: the welding seam detection sensor comprises a driving source, a welding seam detection sensor and a driving source, wherein a telescopic rod which can stretch out and draw back in the driving source is arranged in the driving source, one end of the swing arm, which corresponds to the driving source, is provided with a driven arm which is connected with the telescopic rod, the driving source drives a rotating shaft to rotate through the driven arm, an adjusting base is arranged between the welding seam detection sensor and the driving source, and the welding seam detection sensor is fixed on the driving source through the adjusting base.
By adopting the technical scheme, the telescopic rod is arranged in the driving source, and is connected with the driven arm through threads, so that the driving source can drive the rotating shaft to rotate through the telescopic rod, when the welding line is detected, the telescopic rod stretches out to push the rotating shaft to rotate, after the welding line is polished, the welding line detection sensor detects and passes through the telescopic rod, the driving source contracts the telescopic rod to drive the clamping jaw to open, the rail is continuously conveyed, and the driving source can be accurately driven to stably clamp or loosen the rail, so that the polishing efficiency of the welding line of the rail is ensured.
Foretell track processing line of polishing can further set up to: the assembly line still includes the workshop of polishing, flying chip collection processing mechanism, grinding device change mechanism, polishing induction system and master control board, flying chip collection processing mechanism including set up at the flying chip collector of the regional bottom of polishing of flexible polishing robot, set up the flying chip treater in the workshop of polishing and carry the flying chip to the flying chip suction pipe in the flying chip treater from the flying chip collector, polishing induction system is including setting up the photoelectric sensor that is used for detecting the track welding seam in the regional of polishing in flying chip collector top, flexible polishing robot, track detection anchor clamps, flying chip collection processing mechanism, grinding device change mechanism, polishing induction system all with master control board is connected to receive its control, master control board and flying chip treater set up in the workshop of polishing outside.
By adopting the technical scheme, automatic polishing is realized in a sealed polishing workshop by placing a polishing processing assembly line, a worker replaces a flexible polishing device at the position of a polishing device replacement mechanism, the flying chips after polishing the track welding line are collected by the flying chip collection treatment mechanism and conveyed to an external flying chip processor for the same recovery treatment, the service life of a unit is prolonged, the workshop environment is promoted, a photoelectric sensor is arranged on the flying chip collector, a polishing induction mechanism detects the position of the track welding line, an auxiliary track detection mechanism detects the welding line, and a master console outside the polishing workshop controls a flexible polishing robot, a track detection clamp, the flying chip collection treatment mechanism, the polishing device replacement mechanism and the polishing induction mechanism to work, so that the track polishing assembly line is automatic and intelligent to protect the safety of the worker, and the factory environment is promoted.
Foretell track processing line of polishing can further set up to: the polishing device replacement mechanism comprises a device replacement tabletop and a separation plate arranged on the device replacement tabletop, device replacement supports used for placing the flexible polishing device are arranged at two ends of the separation plate, one ends of the separation plate, which are used for placing the flexible polishing device, of the device replacement supports at two ends are arranged in a polishing workshop, the other ends of the separation plate are arranged outside the polishing workshop, and device replacement motors which are used for exchanging the device replacement supports at two ends are arranged at the bottom of the device replacement tabletop.
By adopting the technical scheme, the polishing device replacement mechanism is separated from the polishing workshop through the isolation plate, workers do not enter a robot work area when replacing the abrasive belt on the flexible polishing device, production safety of the workers is guaranteed, the device replacement motor is arranged at the bottom to drive the device replacement tabletop to rotate 180 degrees, the device replacement supports at the two ends are exchanged, after the flexible polishing device is unloaded at one end of the robot, the tabletop is replaced by the rotating device, the flexible polishing device with the abrasive belt is continuously polished, and production efficiency is improved.
The invention has the beneficial effects that:
1. The rail detection fixture is provided with a rail conveying mechanism for assisting in rail conveying, a welding line detection sensor is used for detecting a welding line of a rail plane, and a driving source is used for driving a rotating shaft to rotate, so that clamping claws at two ends are driven to approach or separate, rail clamping and loosening are completed, the welding line is enabled to accurately stay in a polishing processing area, the rail welding line is detected and polished more intelligently, and polishing processing efficiency is improved.
2. The flexible grinding device of industrial robot centre gripping polishes the track, promotes the efficiency of polishing, through setting up abrasive belt wheel subassembly at movable support both ends to make movable support can swing about, realize flexible polishing, avoid the track damage, the both ends abrasive belt wheel subassembly carries out the function differentiation simultaneously, and convenient is polished to track two sides alone, does not need to rotate the arm by a wide margin, promotes the efficiency of polishing, can guarantee again that both ends abrasive belt wearing and tearing keep unanimous, and convenient unified is changed.
3. The production line is used for realizing automatic polishing in a sealed polishing workshop by placing the polishing processing production line in the sealed polishing workshop, workers replace the flexible polishing device at the position of a polishing device replacement mechanism, flying chips after polishing the track weld joint are collected by the flying chip collection processing mechanism and are conveyed to an external flying chip processor for the same recovery processing, the service life of a unit is prolonged, the workshop environment is improved, a photoelectric sensor is arranged on the flying chip collector, a polishing induction mechanism detects the position of the track weld joint, an auxiliary track detection mechanism detects the weld joint, and a master control console outside the polishing workshop controls the flexible polishing robot, the track detection clamp, the flying chip collection processing mechanism, the polishing device replacement mechanism and the polishing induction mechanism to work, so that the track polishing production line is automatic and intelligent to protect the safety of workers, and the factory environment is improved.
The invention is described in further detail below with reference to the drawings and examples.
Drawings
Fig. 1 is a schematic perspective view of an embodiment of the present invention.
Fig. 2 is a top view of an embodiment of the present invention.
Fig. 3 is a schematic perspective view of a grinding shop according to an embodiment of the present invention.
Fig. 4 is a schematic perspective view of a flexible polishing robot according to an embodiment of the present invention.
Fig. 5 is an exploded view of fig. 4.
Fig. 6 is a schematic perspective view of a flexible grinding device according to an embodiment of the invention.
Fig. 7 is a schematic perspective view of a driving motor and a connector according to an embodiment of the invention.
Fig. 8 is a cross-sectional view of fig. 7.
Fig. 9 is a schematic perspective view of a rail detecting jig according to an embodiment of the present invention.
Fig. 10 is an exploded view of fig. 9.
Fig. 11 is a schematic perspective view of a rail clamping mechanism according to an embodiment of the present invention with a clamping seat removed.
Fig. 12 is a cross-sectional view of fig. 11.
Fig. 13 is a partial schematic view of an opening and closing mechanism according to an embodiment of the invention.
Fig. 14 is a schematic perspective view of a polishing device replacement mechanism according to an embodiment of the present invention.
Detailed Description
As shown in fig. 1-14, a track polishing processing line comprises a flexible polishing robot 1 for polishing a track weld joint, a track detection clamp 2 arranged at two ends of the flexible polishing robot 1 and used for conveying a track, a polishing workshop 3, a flying dust collecting and processing mechanism, a polishing device replacement mechanism 4, a polishing induction mechanism 5 and a master control table 6, wherein the track detection clamp 2 is provided with a weld joint detection mechanism 21 and a track clamping mechanism 22, the flexible polishing robot 1 comprises an industrial robot 11 and a flexible polishing device 12 detachably connected with the industrial robot 11, and the flexible polishing device 12 comprises a connector 121 connected with the tail end of the industrial robot 11, a flying dust collecting and processing mechanism, The driving motor 122 fixed on the connector 121, the movable bracket 123 movably connected with the driving motor 122, the abrasive belt wheel assembly 124 arranged at two ends of the movable bracket 123 for polishing the rail and the driving wheel 125 arranged between the abrasive belt wheel assembly 124 and the driving motor 122, the driving wheel 1221 is arranged at the output end of the driving motor 122 after penetrating through the movable bracket 123 and drives the driving wheel 125 to drive the abrasive belt wheel assembly 124 at two ends to operate through the driving wheel 1221, the connector 121 is provided with a flexible polishing space 1211 corresponding to one end of the movable bracket 123 for swinging the movable bracket 123, The movable bracket 123 is fixed in the flexible grinding space 1211 through the driving motor 122, and swings left and right in the flexible grinding space 1211 by taking the driving motor 122 as a fulcrum, the track detection clamp 2 detects a welding seam through the welding seam detection mechanism 21, then the track with the welding seam is stopped in the grinding area a of the flexible grinding robot 1 through the track clamping mechanism 22, the abrasive belt wheel assembly 124 comprises an abrasive belt arm 1241 fixedly connected with the movable bracket 123, a main wheel 1242 arranged on the abrasive belt arm 1241 and linked with the driving wheel 125, a fixed wheel 1243 connected with the main wheel 1242, a tensioning mechanism 1244 arranged between the main wheel 1242 and the fixed wheel 1243, and abrasive belts sleeved on the main wheel 1242 and the fixed wheel 1243 (not assembled in the figure), The belt pulley assembly 124 adjusts the tightness of the belt through a tensioning mechanism 1244, the tensioning mechanism 1244 comprises a telescopic tensioning motor 1245 arranged on the belt arm 1241, the output end of the tensioning motor 1245 is provided with a tensioning wheel 1246, the tensioning wheel 1246 is wound on the belt, one end of the belt pulley assembly 124 corresponding to the fixed wheel 1243 is provided with a limiting mechanism 1247, the limiting mechanism 1247 is arranged on the back of the fixed wheel 1243, the limiting mechanism 1247 comprises an adjusting rod 1248 fixed on the belt arm 1241 and a limiting block 1249 capable of sliding on the belt arm 1241, the limiting block 1249 slides on the belt arm 1241 along the adjusting rod 1248, the limiting block 1249 is provided with an adjusting bolt 12491 which is matched with the adjusting rod 1249 to limit the movement of the limiting block 1249, one end of the connector 121 corresponding to the movable support 123 is provided with an oil pressure buffer mechanism 126 for resetting the movable support 123 after swinging, the oil pressure buffer mechanism 126 comprises a buffer guide wheel 1261 which is propped against the movable support 123 and oil pressure buffers 1262 which are arranged at two ends of the buffer guide wheel 1261, one end of the oil pressure buffer 1262 corresponding to the movable support 123 is provided with a buffer rod 1263 which is propped against the movable support 123, the buffer rod 1263 stretches and contracts in the oil pressure buffer 1262, The bottom of the hydraulic buffer 1262 is provided with a hydraulic lifting seat 1264, the hydraulic buffer 1262 adjusts the telescopic length of the buffer rod 1263 through the hydraulic lifting seat 1264, the track detection clamp 2 also comprises a base 23 and a track conveying mechanism 24, the weld detection mechanism 21, the track clamping mechanism 22 and the track conveying mechanism 24 are all arranged on the base 23, the track clamping mechanism 22 comprises a clamping seat 221 arranged on the base 23, a clamping component 222 arranged in the clamping seat 221 and used for fixing a track and a driving source 223 arranged on the base 23 and used for driving the clamping component 222 to open and close, the weld detection mechanism 21 comprises a weld detection sensor 211 which is arranged on the driving source 223 and used for controlling the opening and closing of the driving source 223, The clamping part 222 comprises two clamping claws 224 which are oppositely arranged on the clamping seat 221 and an opening and closing mechanism for driving the clamping claws 224 at the two ends to approach or separate, the welding seam detection sensor 211 drives the opening and closing mechanism to enable the clamping claws 224 to fix or loosen a track through a driving source 223, the opening and closing mechanism comprises two rotating shafts 225 which are oppositely arranged on the clamping seat 221 and gears 226 which are meshed with each other and arranged on the rotating shafts 225, the rotating shafts 225 are correspondingly connected with the clamping claws 224, a swing arm 227 which is linked with the driving source 223 is arranged on one rotating shaft 225, the driving source 223 drives the rotating shafts 225 to rotate through the driving swing arm 227, The rotating shaft 225 drives the clamping claws 224 at two ends to approach or separate through the gears 226, a telescopic rod 2231 which can stretch out and draw back in the driving source 223 is arranged in the driving source 223, one end of the swinging arm 227 corresponding to the driving source 223 is provided with a driven arm 2271 which is connected with the telescopic rod 2231, the driving source 223 drives the rotating shaft 225 to rotate through the driven arm 2271, an adjusting base 212 is arranged between the welding seam detection sensor 211 and the driving source 223, the welding seam detection sensor 211 is fixed on the driving source 223 through the adjusting base 212, and the flying chip collecting and processing mechanism comprises a flying chip collector 7, a flying chip collecting device 7 and a flying chip collecting device, A flying chip processor 8 arranged outside the grinding shop 3 and a flying chip suction pipe 9 for conveying flying chips from the flying chip collector 7 into the flying chip processor 8, wherein the grinding sensing mechanism 5 comprises a photoelectric sensor 51 arranged above the flying chip collector 7 for detecting whether a track welding line is in a grinding area a, the flexible grinding robot 1, the track detection clamp 2, the flying chip collection processing mechanism, the grinding device replacing mechanism 4 and the grinding sensing mechanism 5 are connected with and controlled by a master control table 6, the master control table 6 and the flying chip processor 8 are arranged outside the grinding shop 3, the grinding device replacing mechanism 4 comprises a device replacing table 41 and a separation plate 42 arranged on the device replacing table 41, The device change support 43 for placing the flexible grinding device 12 is arranged at two ends of the isolation plate 42, one end of the device change support 43 at two ends of the isolation plate 42 is arranged in the grinding workshop 3, the other end of the device change support is arranged outside the grinding workshop 3, and the device change motor 411 for exchanging the device change supports 43 at two ends is arranged at the bottom of the device change tabletop 41.
When the track polishing processing line works, the track detection clamp 2 is arranged at two ends of the flexible polishing robot 1, the track is conveyed by the track conveying mechanism 24, the welding seam detection sensor 211 detects the track in conveying, when the welding seam higher than the preset track height is detected, the welding seam detection sensor 211 starts the driving source 223, the telescopic rod 2231 in the driving source 223 stretches out to push the swing arm 227 to swing, the swing arm 227 drives the rotating shaft 225 to rotate, the rotating shaft 225 is linked with the clamping claws 224 at two ends through the gears 226 to close, the track is fixed, the welding seam of the track is fixed in the polishing area a of the flexible polishing robot 1, The photoelectric sensor 51 in the polishing induction mechanism 5 detects whether the welding line stays in the polishing area a, if the welding line is detected by the welding line detection sensor 211 and alerts the worker when the welding line does not pass, the detection is carried out by driving the flexible polishing robot 1 to work, the industrial robot 11 drives the movable support 123 to send the abrasive belt wheel assembly 124 to the welding line, the driving motor 122 drives the driving wheel 1221 to rotate, the driving wheel 1221 drives the driving wheel 125 through a synchronous belt (the synchronous belt is not assembled in the drawing), the driving wheel 125 drives the main wheel 1242 through the synchronous belt, the main wheel 1242 drives the fixed wheel 1243 to rotate together with the abrasive belt (the abrasive belt is not assembled in the drawing) to polish the track welding line, When the plane weld on the track is polished, the belt wheel assembly 124 of the belt wheel 1246 facing one end of the hydraulic buffer mechanism 126 is used for polishing the plane weld on the track, the belt wheel assembly 124 of the belt wheel is slowly moved downwards by the industrial robot 11 to polish the plane weld on the track, the belt wheel assembly 124 of the other end is not contacted with the track, after the weld is polished, the contact surface of the belt and the weld is changed into a whole track from the single-line weld, the polishing contact surface of the belt is enlarged, the reaction force generated by the contact with the track when the industrial robot 11 is pressed is increased, the belt wheel assembly 124 is driven to separate the movable support 123 from the track, the movable support 123 of the belt wheel assembly is moved upwards in the flexible polishing space 1211, The lower pressure oil presses the buffer 1262 to realize flexible polishing, when polishing the lower plane weld of the track, the abrasive belt wheel assembly 124 at the other end is used for polishing, when polishing the side wall of the track, the length of the limiting block 1249 is adjusted to ensure that the abrasive belt only contacts the track weld at the inner side of the limiting block 1249 during polishing, the track is not damaged, meanwhile, when polishing some raised or sunken areas of the weld of the side wall of the track, the tension motor 1245 is adjusted to drive the tension wheel 1246 to stretch and retract, so that the shape of the contact surface of the track weld is changed in the abrasive belt, the abrasive belt is fully contacted with the track weld, the polishing efficiency is improved, the flying chips polished by the flexible polishing robot 1 are recycled by the flying chip collector 7 at the lower part and then sent into the flying chip processor 8 at the outside of the polishing workshop 3 for the same recycling treatment, After the flexible polishing robot 1 passes the determination of the welding seam of the track by the welding seam detection sensor 211, meanwhile, the photoelectric sensor 51 in the polishing sensing mechanism 5 does not find the welding seam, the telescopic rod 2231 in the driving source 223 is recovered to drive the swing arm 227 to swing back, the swing arm 227 drives the rotating shaft 225 to rotate, the rotating shaft 225 is linked with the clamping claws 224 at two ends through the gears 226 to separate, the track is loosened, the track conveying mechanism 24 continues to convey the track, when the abrasive belt on the flexible polishing robot 1 is worn and needs to be replaced, the master control console 6 controls the robot to rotate to the polishing device replacing mechanism 4 to disconnect the connector 121, after the flexible polishing device 12 is placed on the device replacement bracket 43 in the polishing workshop 1, the device replacement motor 411 drives the device replacement tabletop 41 to rotate 180 degrees in horizontal plane, so that the flexible polishing device 12 with the abrasive belt is exchanged with the worn flexible polishing device 12, and the industrial robot 11 is used for fixing the new flexible polishing device 12 and then continuing polishing operation.
Claims (3)
1. Track processing line of polishing, its characterized in that: the assembly line comprises a flexible polishing robot for polishing a track weld joint and track detection clamps arranged at two ends of the flexible polishing robot and used for conveying the track, wherein the track detection clamps are provided with a weld joint detection mechanism and a track clamping mechanism, the flexible polishing robot comprises an industrial robot and a flexible polishing device detachably connected with the industrial robot, the flexible polishing device comprises a connector connected with the end of the industrial robot, a driving motor fixed on the connector, a movable bracket movably connected with the driving motor, abrasive belt wheel assemblies arranged at two ends of the movable bracket and used for polishing the track, and a driving wheel arranged between the abrasive belt wheel assemblies and the driving motor, The output end of the driving motor passes through the movable support and then is provided with a driving wheel, the driving wheel drives the abrasive belt wheel assemblies at the two ends of the driving wheel to operate, one end of the connector corresponding to the movable support is provided with a flexible polishing space for swinging the movable support, the movable support is fixed in the flexible polishing space through the driving motor and swings left and right in the flexible polishing space by taking the driving motor as a pivot, the track detection clamp detects a welding seam through the welding seam detection mechanism and then stops a track with the welding seam in a polishing area of the flexible polishing robot through the track clamping mechanism, and the abrasive belt wheel assemblies comprise an abrasive belt arm fixedly connected with the movable support, The belt pulley assembly is used for adjusting the tightness of the belt pulley through the tensioning mechanism, one end of the belt pulley assembly corresponding to the fixed pulley is provided with a limiting mechanism, the limiting mechanism is arranged on the back surface of the fixed pulley and comprises an adjusting rod fixed on the belt arm and a limiting block capable of sliding on the belt arm, the limiting block slides on the belt arm along the adjusting rod, the limiting block is provided with an adjusting bolt matched with the adjusting rod to limit the movement of the limiting block, one end of the connecting head corresponding to the movable bracket is provided with an oil pressure buffer mechanism for resetting the movable bracket after swinging, the oil pressure buffer mechanism comprises a buffer guide wheel which is in propping connection with the movable support and an oil pressure buffer which is arranged at two ends of the buffer guide wheel, one end of the oil pressure buffer, which corresponds to the movable support, is provided with a buffer rod which is in propping connection with the movable support, the buffer rod stretches out and draws back in the oil pressure buffer, the bottom of the oil pressure buffer is provided with an oil pressure lifting seat, the oil pressure buffer adjusts the stretching length of the buffer rod through the oil pressure lifting seat, the track detection clamp further comprises a base and a track conveying mechanism, the weld joint detection mechanism, the track clamping mechanism and the track conveying mechanism are all arranged on the base, and the track clamping mechanism comprises a clamping seat, a lifting seat and a lifting seat which are arranged on the base, the welding seam detection mechanism comprises a welding seam detection sensor which is arranged on the driving source and controls the opening and closing of the driving source, the clamping component comprises two clamping claws which are arranged on the clamping seat oppositely and an opening and closing mechanism which drives the clamping claws at the two ends to approach or separate, the welding seam detection sensor drives the opening and closing mechanism to drive the clamping claws to fix or loosen the track through the driving source, the opening and closing mechanism comprises two rotating shafts which are arranged on the clamping seat oppositely and gears which are arranged on the rotating shafts in a meshing manner, the rotating shafts are correspondingly connected with the clamping claws, And be equipped with the swing arm with the actuating source linkage in one of them pivot, the actuating source passes through drive swing arm drive pivot rotation, the gripper jaw at pivot drive both ends is close to or separates through the gear, be equipped with the telescopic link that can stretch out and draw back in the actuating source, the one end that the swing arm corresponds the actuating source is equipped with the driven arm that is connected with the telescopic link, the actuating source passes through driven arm drive pivot rotation, be equipped with the regulation base between welding seam detection inductor and the actuating source, the welding seam detection inductor passes through the regulation base to be fixed on the actuating source.
2. A track grinding process line as defined in claim 1, wherein: the assembly line still includes the workshop of polishing, flying chip collection processing mechanism, grinding device change mechanism, polishing induction system and master control board, flying chip collection processing mechanism including set up at the flying chip collector of the regional bottom of polishing of flexible polishing robot, set up the flying chip treater in the workshop of polishing and carry the flying chip to the flying chip suction pipe in the flying chip treater from the flying chip collector, polishing induction system is including setting up the photoelectric sensor that is used for detecting the track welding seam in the regional of polishing in flying chip collector top, flexible polishing robot, track detection anchor clamps, flying chip collection processing mechanism, grinding device change mechanism, polishing induction system all with master control board is connected to receive its control, master control board and flying chip treater set up in the workshop of polishing outside.
3. A track grinding process line as defined in claim 2, wherein: the polishing device replacement mechanism comprises a device replacement tabletop and a separation plate arranged on the device replacement tabletop, device replacement supports used for placing the flexible polishing device are arranged at two ends of the separation plate, one ends of the separation plate, which are used for placing the flexible polishing device, of the device replacement supports at two ends are arranged in a polishing workshop, the other ends of the separation plate are arranged outside the polishing workshop, and device replacement motors which are used for exchanging the device replacement supports at two ends are arranged at the bottom of the device replacement tabletop.
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| CN201911325773.6A CN110919500B (en) | 2019-12-20 | 2019-12-20 | Track polishing production line |
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| CN201911325773.6A CN110919500B (en) | 2019-12-20 | 2019-12-20 | Track polishing production line |
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| CN113146427A (en) * | 2020-05-29 | 2021-07-23 | 浙江大学 | Steel rail surface defect detection method |
| CN113118907B (en) * | 2020-05-29 | 2023-03-21 | 山东哈德斯特轨道交通科技有限公司 | Rail workstation of polishing |
| CN113182966B (en) * | 2020-05-29 | 2023-02-21 | 浙江大学 | Steel rail coarse grinding workstation for long rail production line |
| EP4016058B1 (en) * | 2020-12-16 | 2023-11-15 | Zhejiang University | Automatic machine of vision on detection device for workpiece with complex curved surface |
| CN114310536B (en) * | 2021-12-14 | 2023-03-24 | 佛山市科莱机器人有限公司 | Polishing method and polishing device for joint of spliced bathtub |
| CN115193869A (en) * | 2022-06-17 | 2022-10-18 | 北京金属回收有限公司 | Scrapped vehicle internal structure disassembling device and vehicle scrapping system |
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| CN211490915U (en) * | 2019-12-20 | 2020-09-15 | 温州金石机器人科技有限公司 | Track polishing processing assembly line |
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| DE3243602A1 (en) * | 1982-11-25 | 1984-05-30 | Elektro-Thermit Gmbh, 4300 Essen | MOVABLE RAIL GRINDING MACHINE ON ONE OR BOTH RAIL (S) OF A TRACK |
| JP5650357B2 (en) * | 2012-05-25 | 2015-01-07 | シロキ工業株式会社 | Method and apparatus for smoothing welding member |
| CN206795493U (en) * | 2017-05-11 | 2017-12-26 | 温州金石机器人科技有限公司 | A kind of automobile track polishing streamline |
| CN107081663B (en) * | 2017-05-18 | 2023-02-03 | 湖北工业大学 | Flexible automatic grinding abrasive band machine |
| CN207736039U (en) * | 2018-01-18 | 2018-08-17 | 广东省海洋工程装备技术研究所 | A kind of weld joint tracking polishing system |
| CN108481120A (en) * | 2018-04-23 | 2018-09-04 | 宁波汇智恒动自动化科技有限公司 | A kind of flexibility grinding device and flexible polishing system |
| CN209503840U (en) * | 2019-01-11 | 2019-10-18 | 福建省昊鸿工贸实业有限公司 | Resinder is used in a kind of polishing of metal welding seam |
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