CN117300821A - Polishing device, application and polishing method of rail vehicle beam body - Google Patents

Abstract

The invention discloses a polishing device, application and a polishing method of a rail vehicle beam body, which solve the problems of low efficiency and large error in automatic polishing in manual polishing in the prior art, and have the beneficial effects of improving the working efficiency, reducing the manual labor intensity and ensuring the polishing quality, and the concrete scheme is as follows: a polishing device comprises a support frame, wherein the support frame is a door-shaped support frame, the support frame supports a multidirectional movement unit, the multidirectional movement unit is connected with a telescopic working arm, a clutch is arranged between the working arm and a multidirectional movement mechanism, one side of the clutch is connected with the working arm through a rotating mechanism or a rotating bearing, the working arm is connected with a belt sander, and a force sensor is arranged between the working arm and the belt sander; the workbench is positioned below the horizontal section of the support frame, and the two workbench are respectively provided with a clamping part for clamping the end part of the workpiece to be polished; the controller, the force sensor, the working arm, the clutch, the rotating mechanism and the multidirectional movement mechanism are respectively and independently connected with the controller.

Description

A grinding device, application and grinding method for rail vehicle beam body

Technical field

The invention relates to the field of rail transit, and in particular, to a grinding device, application and grinding method of rail vehicle beams.

Background technique

The statements in this section merely provide background technical information related to the present invention and do not necessarily constitute prior art.

In the field of rail transit, there are many beams such as beams and measuring beams. The beams are long in length and have a slightly complicated structure. They need to be welded. After the beams are welded, welds will be produced and the welds need to be polished. For example, rail vehicle beams. The beams are For the H-type tube plate structure, the positions that need to be polished include the flat welds of each seat and the beam steel pipe and the dovetail fillet welds. The flat welds require polishing to be tangent, and the dovetail corners are polished into rounded corners. In the existing technology, the butt welds are mainly polished by Grinding is done manually, using 180 or 125 grinders. The inventor found that the grinder used in the manual grinding process is heavy and labor-intensive (180 grinder is about 10Kg). It is difficult to use a grinder to grind the fillet manually. Every time Assembling the beam requires two people to work in three shifts (a total of 24 hours). The long working time leads to low working efficiency;

In the existing technology, an automatic grinding system is also used to grind the beam body. Due to the accumulation of tolerances such as the deformation error of the welding workpiece, the fixture of the automatic grinding system, and the wear of the tools, the automatic grinding system has a better effect when completing the flat weld. It is also effective in grinding the side beam welds. The sewing error is large, leaving a large workload for subsequent manual work.

Of course, other parts of the workpiece to be polished also have the above problems.

Contents of the invention

In view of the shortcomings of the existing technology, the first purpose of the present invention is to provide a grinding device that can realize automatic and manual collaborative operations, effectively improve grinding efficiency, and reduce pure manual labor intensity.

The second object of the present invention is to provide an application of a grinding device, which can be applied to grinding the center beam of a rail vehicle, and can realize automatic or manual collaborative grinding.

The third object of the present invention is to provide a method for grinding rail vehicle beams, which effectively ensures work quality while improving work efficiency through rough grinding, manual collaborative grinding and fine grinding of rail vehicle beams.

In order to achieve the above objects, the present invention is achieved through the following technical solutions:

A grinding device including:

The support frame is a portal-type support frame. The support frame supports a multi-directional movement unit. The multi-directional movement unit is connected to a telescopic working arm. A clutch is set between the working arm and the multi-directional movement mechanism. One side of the clutch passes through a rotating mechanism or The rotating bearing is connected to the working arm, the working arm is connected to the belt sanding machine, and a force sensor is set between the working arm and the belt sanding machine;

The workbench is located under the horizontal section of the support frame. The two workbench are set opposite each other. The two workbench are respectively provided with clamping parts to clamp the end of the workpiece to be polished;

The controller, force sensor, working arm, clutch, rotating mechanism, and multi-directional motion mechanism are individually connected to the controller. During the automatic grinding process of the belt sanding machine, the controller controls the working arm to the belt sanding machine based on the force value information transmitted by the force sensor. force.

As mentioned above in the grinding device, the support frame can drive the belt sander to move in multiple directions through the multi-directional motion mechanism to meet the grinding needs of longer and wider workpieces to be polished. The workbench can be used to grind the workpieces to be polished through the setting of clamping components. Stable clamping, a force sensor is set between the retractable working arm and the belt sander. The force sensor, working arm and controller are connected. The controller can control the force of the working arm on the belt sander based on the force value information transmitted by the force sensor. , to ensure the force during the automatic grinding process to realize automatic grinding and ensure the grinding quality. The setting of the clutch can realize the disconnection of the working arm and the multi-directional motion mechanism, which facilitates manual grinding. The whole can realize automatic grinding or manual hand-held belt sanding machine. Polishing, thereby effectively ensuring work efficiency and work quality.

As a grinding device as described above, the workbench can rotatably support the first rotating shaft, the first rotating shaft is connected to the clamping component through the clamp body, the first rotating shaft is connected to the controller, and the first rotating shaft is connected to the controller. The device controls the rotation of the first rotating shaft to drive the workpiece to be polished held by the clamping component to rotate;

The clamping component includes a pressing component and a supporting component. The pressing component and the supporting component are arranged oppositely. The supporting component includes a supporting part. The supporting part is provided with several positioning blocks toward one side of the pressing component to accommodate the ends and/or sides of the workpiece to be polished. The positioning block can be positioned at the end or side of the workpiece to be polished to position the workpiece to be polished, the support part supports the workpiece to be polished, and the pressing component presses the workpiece to be polished from the other side of the support part to ensure that the workpiece to be polished is Stability of grinding workpiece.

A grinding device as described above, the pressing assembly includes a moving part, the moving part is slidably installed on the clamp body, the moving part is connected with the pressing part to compress the workpiece to be polished, the moving part is relative to the clamping body Can be moved to achieve compression of workpieces to be polished at different heights;

The clamp body is provided with a first chute, and one side of the moving member is inserted into the first chute and can move along the first chute toward the support component;

The pressing part includes a first plate and a second plate. The first plate is vertically connected to the second plate. The first plate is connected to the moving part. The second plate is in contact with the workpiece to be polished. The width of the second plate is greater than that of the first plate. width, the second plate effectively compresses the end of the workpiece to be polished.

A grinding device as described above, the support part is provided with a second chute, and the positioning block is slidably installed on the surface of the support part through the second chute;

There are at least two positioning blocks, and the moving directions of two adjacent positioning blocks are different, so that the workpiece to be polished can be positioned from multiple directions, and the movable positioning blocks can position the workpiece to be polished with different lengths.

A grinding device as described above, the belt sander includes a driving wheel and a guide wheel, the sanding belt is arranged around the driving wheel and the guide wheel to perform cyclic reciprocating motion, the driving wheel is rotatably fixed to the first bracket, and the first bracket Detachably connected to the working arm, the guide wheel is rotatably mounted on the second rotating shaft. The second rotating shaft is connected to the first bracket through the second bracket. The driving wheel is rotatable driven by the power source of the driving wheel. The guide wheel is relative to the second rotating shaft. The two rotating shafts rotate, thereby driving the abrasive belt to achieve cyclic reciprocating motion.

A grinding device as described above, a limit wheel is provided on at least one side of the guide wheel, the diameter of the limit wheel is smaller than the diameter of the guide wheel, the limit wheel is located in the southwest direction of the guide wheel, and the limit wheel is away from the guide wheel One side of the wheel center axis exceeds the setting of the guide wheel, and the setting of the limit wheel plays a role in preventing overcutting during the automatic grinding process.

A grinding device as described above, the limiting wheels are located on both sides of the guide wheel, the limiting wheels are rotatably installed on the third rotating shaft, and the third rotating shaft is installed on the second rotating shaft through a third bracket, The limit wheels are located on both sides of the guide wheel to fully avoid the problem of overcutting during automatic grinding;

The third bracket can be detachably installed on the first rotating shaft to adjust the distance between the limiting wheel and the second rotating shaft, so that the distance between the limiting wheel and the second rotating shaft can be adjusted according to the height of the weld to be polished.

A grinding device as described above, the first bracket is fixedly connected to the protective cover, the protective cover includes a first shell and a second shell, the first shell covers the top side, outside and bottom side of the driving wheel and the second bracket described in part, the second housing is connected to the first housing, the second housing is located above the guide wheel, and the protective cover mainly covers the top side, sides and part of the bottom side of the belt sanding machine , the part exposed at the guide wheel is the grinding part, which effectively improves the safety of grinding; the second housing is bent and arranged;

The clutch is an electromagnetic clutch, and a grinding handle is fixed on the outside of the first housing. The grinding handle is equipped with a rotating mechanism button and an electromagnetic clutch button connected to the controller to facilitate the control of the rotating mechanism and the electromagnetic clutch during the manual grinding process. , to realize the working arm driving the belt sander to rotate.

As described above, in order to polish the workpiece to be polished, the support frame includes a vertical frame and a transverse frame. The vertical frame includes two vertical frames. The workbench is located between the two vertical frames. In between, the transverse bracket supports the multi-directional motion mechanism.

A grinding device as described above, the transverse bracket is two transverse rails, and two adjacent transverse rails are spaced apart from each other. The multi-directional motion mechanism includes an I-shaped bracket, and the two side rods of the I-shaped bracket First wheels that can move along the transverse track are respectively provided. The first wheel is connected to the X-direction power source to drive the I-shaped bracket to move along the transverse track. The X-direction power source drives the I-shaped bracket along the transverse track through the first wheel. The track realizes movement in the X direction;

The middle pole of the I-shaped bracket is equipped with a longitudinal track. The longitudinal rail supports the second wheel. The second wheel is fixed to the work frame. The second wheel is connected to the Y-direction power source to drive the second wheel to move along the length of the middle pole. The work The frame is connected to the working arm through a rotational power source, and the Y-direction power source drives the working frame to move along the middle pole of the I-shaped bracket through the second wheel, driving the belt sanding machine to move in the Y direction.

As a grinding device as described above, first limit switches are respectively provided at both ends of the transverse bracket to limit the movement of the first wheel, and the first limit switch is connected to the controller;

Second limit switches are respectively provided at both ends of the middle pole of the I-shaped bracket to limit the movement of the second wheel, and the second limit switches are connected to the controller.

In a second aspect, the present invention provides an application of a grinding device, which is applied to the grinding of rail vehicle beams to realize the grinding of rail vehicle beams, side beams and other beams, and can realize automatic or manual collaborative grinding.

In a third aspect, the present invention provides a method for polishing rail vehicle beams, using the above-mentioned polishing device, including the following:

Transport the rail vehicle beam body to the bottom of the support frame, and the clamping component at the workbench clamps the end of the rail vehicle beam body;

The controller identifies the information of the rail vehicle beam body and calls the corresponding grinding program information;

The controller controls the movement of the multi-directional motion mechanism to perform automatic rough grinding of the rail vehicle beam. The controller controls the force of the working arm on the belt sander based on the force value information transmitted by the force sensor, so that the force value information of the force sensor is first Within the setting range;

A manual hand-held belt sander is used to manually grind the rail vehicle beam body to remove the high points of the weld and achieve tangent grinding;

The controller performs fine grinding on the rail vehicle beam body, and controls the force of the working arm on the belt sander based on the force value information transmitted by the force sensor, so that the force value information of the force sensor is within the second setting range;

After the grinding is completed, the rail vehicle beam body is cut out.

The above-mentioned beneficial effects of the present invention are as follows:

1) The setting of the grinding device of the present invention. The support frame can drive the belt sander to move in multiple directions through a multi-directional motion mechanism to meet the grinding needs of longer and wider workpieces to be polished. There is a gap between the telescopic working arm and the belt machine. A force sensor is set up, and the force sensor and working arm are connected to the controller. The controller can control the force of the working arm on the belt sander based on the force value information transmitted by the force sensor to ensure that the force can be used to achieve automatic grinding during the automatic grinding process, improving Grinding efficiency; the setting of the clutch can realize the disconnection of the working arm and the multi-directional motion mechanism, which facilitates manual grinding; the whole can realize automatic grinding or manual grinding with a hand-held belt sander, control the grinding error, and the automatic grinding and manual grinding cooperate with each other to effectively Reduce the intensity of manual work and fully ensure work quality.

2) The clamping component in the present invention includes a pressing component and a supporting component, which are arranged opposite each other. The supporting component is used to support the end of the workpiece to be polished, and the pressing component compresses the workpiece to be polished from the other side to ensure that the workpiece is to be polished. The workpiece remains stable during the grinding process.

3) In the present invention, the movable part is movable, the movable part is movable relative to the clamp body to compress workpieces of different heights to be polished, and the positioning block is movable to position workpieces to be polished of different lengths, which broadens the application scope of the device.

4) The structure of the belt sanding machine in the present invention is reasonably arranged. The limit wheel is located in the southwest direction of the guide wheel. The side of the limit wheel away from the central axis of the guide wheel is set beyond the guide wheel. The setting of the limit wheel plays a role in the automatic grinding process. Prevent over-cutting.

5) The present invention provides a method for grinding the rail vehicle beam body by clamping, automatic rough grinding, manual manual grinding, and fine grinding of the rail vehicle beam body, and through the setting of force sensors during the automatic rough grinding and fine grinding processes. , to ensure the force of the working arm on the belt sander and to ensure the grinding quality.

Description of drawings

The description and drawings that constitute a part of the present invention are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention.

Figure 1 is a front view of a grinding device in a working state according to one or more embodiments of the present invention.

Figure 2 is a side view of a grinding device in working state according to one or more embodiments of the present invention.

Figure 3 is a schematic diagram of a workpiece to be polished being clamped by a clamping component in a polishing device according to one or more embodiments of the present invention.

Figure 4 is a side view of a rail transit beam clamped by a clamping component in a grinding device according to one or more embodiments of the present invention.

Figure 5 is a schematic diagram of a belt sander in a grinding device according to one or more embodiments of the present invention.

Figure 6 is a schematic diagram 2 of a belt sander in a grinding device according to one or more embodiments of the present invention.

Figure 7 is a schematic diagram of the production process of a grinding device according to one or more embodiments of the present invention.

In the figure: The spacing or size between each part is exaggerated to show the position of each part, and the schematic diagram is for illustration only.

Among them: 1. First rotating shaft, 2. Rail vehicle beam body, 3. Work table, 4. Horizontal bracket, 5. Working frame, 6. Working arm, 7. Servo electric cylinder, 8. Vertical bracket, 9. Sand Belt machine, 10. Electromagnetic clutch, 11. AGV trolley, 12. I-shaped bracket, 13. RFID code reader;

1-1. Clamp body, 1-2. Positioning block, 1-3. First plate, 1-4. Second plate, 1-5. Third plate, 1-6. Fourth plate, 1-7. support plate;

9-1. Driving wheel power source, 9-2. Limit wheel, 9-3. Guide wheel, 9-4. Abrasive belt, 9-5. Grinding handle, 9-6: First housing, 9-7 .First bracket, 9-8.Second housing.

Detailed ways

It should be noted that the following detailed description is illustrative and is intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings commonly understood by one of ordinary skill in the art to which this invention belongs.

It should be noted that the terms used herein are for the purpose of describing specific embodiments only, and are not intended to limit the exemplary embodiments according to the present invention. As used herein, the singular forms are intended to include the plural forms as well, unless the invention clearly dictates otherwise. Furthermore, it will be understood that when the terms "comprises" and/or "includes" are used in this specification, they Indicate the existence of features, steps, operations, devices, components and/or combinations thereof;

As introduced in the background art, manual grinding in the prior art has the problems of low efficiency and large errors in automatic grinding. In order to solve the above technical problems, the present invention proposes a grinding device, application and grinding of rail vehicle beams. method.

Embodiment 1

In a typical implementation of the present invention, as shown with reference to Figures 1 and 2, a grinding device includes:

The support frame is a portal support frame. The support frame supports a multi-directional movement unit. The multi-directional movement unit is connected to the telescopic working arm 6. A clutch is set between the working arm 6 and the multi-directional movement mechanism. One side of the clutch rotates The mechanism or rotating bearing is connected to the working arm 6, the working arm is connected to the belt sanding machine 9, and a force sensor is provided between the working arm and the belt sanding machine;

Workbench 3, the workbench 3 is located below the horizontal section of the support frame, the two workbench are set opposite each other, and the two workbench are respectively provided with clamping parts to clamp the end of the workpiece to be polished;

The controller, force sensor, working arm 6, and multi-directional motion mechanism are individually connected to the controller. During the automatic grinding process of the belt sanding machine, the controller controls the force of the working arm on the belt sanding machine based on the force value information transmitted by the force sensor.

It can be understood that the workbench 3 can rotatably support the first rotating shaft 1. The first rotating shaft 1 is connected to the clamping component through the clamp body 1-1. The workbench 3 on one side supports the first rotating shaft power source. The first rotating shaft power source The source is connected to a first rotating shaft to drive the rotation of the first rotating shaft. The workbench on the other side movable supports another first rotating shaft through bearings. The central axes of the first rotating shaft 1 on both sides are in the same plane. The first rotating shaft The power source is connected to the controller, and the controller controls the rotation of the first rotating shaft 1 to drive the workpiece to be polished held by the clamping component to rotate, and automatically adjusts the angle of the workpiece to be polished so that the weld seam of the workpiece to be polished is in a flat position;

Referring to Figure 3, the clamping component includes a pressing component and a supporting component. The pressing component and the supporting component are arranged oppositely. The supporting component includes a supporting part. The supporting part is specifically a supporting plate 1-7. The supporting part faces one side of the pressing component. A number of positioning blocks 1-2 are provided on the side to position the end and/or side of the workpiece to be polished. The positioning blocks 1-2 can be located at the end or side of the workpiece to be polished to position the workpiece to be polished. The support part is the workpiece to be polished. To support, the pressing component presses the workpiece to be polished from the other side of the support part to ensure the stability of the workpiece to be polished.

The pressing assembly includes a moving part. The moving part can be slidably mounted on the clamp body 1-1. The clamping body can be a vertical plate arranged vertically. The moving part is connected with the pressing part to compress the workpiece to be polished. The moving part is relative to The clamp body is movable to compress the workpieces to be polished at different heights;

Specifically, the clamp body 1-1 is provided with a first chute. One side of the moving member is inserted into the first chute and can move along the first chute toward the support assembly. The first chute may be a T-shaped chute, and the moving member The shape of one end is adapted to the shape of the first chute to be snapped into the first chute;

The pressing part includes a first plate 1-3 and a second plate 1-4. The first plate 1-3 is vertically connected to the second plate 1-4. The first plate 1-3 is connected to the moving part. The second plate 1-4 is connected vertically. 4 is in contact with the workpiece to be polished, the width of the second plate 1-4 is greater than the width of the first plate 1-3, and the second plate 1-4 effectively compresses the end of the workpiece to be polished; in some examples, refer to Figure 4 As shown, the moving part includes a plurality of third plates 1-5, two adjacent third plates 1-5 are arranged at a distance, and the third plate 1-5 is vertically connected to the fourth plate 1-6.

It can be understood that the support part is provided with a second chute, and the positioning block 1-2 can be slidably installed on the surface of the support part through the second chute. The second chute can also be a T-shaped chute, with one side of the positioning block 1-2 The shape matches the shape of the second chute;

In addition, at least two positioning blocks 1-2 are provided, specifically three blocks. The intervals between two adjacent positioning blocks 1-2 are set at an angle. The moving directions of the two adjacent positioning blocks are different. The positioning blocks 1-2 It can be a rectangular block. The longitudinal section of the positioning block located at the end of the workpiece to be polished is a right-angled trapezoid. The height of the positioning blocks 1-2 on one side facing the workpiece to be polished is smaller than the height of the other side. The positioning blocks located on both sides of the workpiece to be polished are in contact with each other. The side in contact with the workpiece to be polished is a bevel. The positioning block positions the workpiece to be polished from multiple directions. The movable positioning block realizes the positioning of workpieces to be polished of different lengths.

It can be understood that when the workpiece to be polished is a rail vehicle cross beam, the rail vehicle cross beam has two long beams, and two positioning parts are provided on the surface of the support part, and each positioning part includes at least two positioning blocks.

Referring to Figures 5 and 6, the belt sander 9 includes a driving wheel and a guide wheel 9-3. The diameter of the guide wheel 9-3 is smaller than the diameter of the driving wheel. The abrasive belt 9-4 bypasses the driving wheel and the guide wheel 9-3. 3 is set to perform cyclic reciprocating motion. The driving wheel is rotatably fixed to the first bracket 9-7. The first bracket 9-7 is detachably connected to the working arm 6. The first bracket 9-7 is specifically an L-shaped bracket. The first bracket The horizontal section 9-7 is provided with openings to form a quick-change interface. The bottom end of the working arm 6 is also provided with openings. The fastening bolts pass through the two openings set up and down to realize the quick connection between the first bracket and the working arm and lock it with nuts. Tightly, the guide wheel 9-3 is rotatably installed on the second rotating shaft, and the second rotating shaft is connected to the first bracket 9-7 through the second bracket. The second bracket can be a flat plate, and the second bracket realizes the rotatable setting of the second rotating shaft. One side of the first bracket is fixed with a driving wheel power source, and the other side is provided with a driving wheel. The driving wheel power source is specifically a rotating motor. The driving wheel power source is connected to the controller. The driving wheel can rotate driven by the driving wheel power source. The guide wheel rotates relative to the second rotating shaft, thereby driving the abrasive belt to achieve cyclic reciprocating motion.

Among them, a limiting wheel 9-2 is provided on at least one side of the guide wheel 9-3. The diameter of the limiting wheel 9-2 is smaller than the diameter of the guide wheel. The diameter of the limiting wheel 9-2 is 1 of the diameter of the guide wheel 9-3. /12-1/7, the limit wheel 9-2 is located in the southwest direction of the guide wheel 9-3. The side of the limit wheel 9-2 away from the central axis of the guide wheel 9-3 exceeds the setting of the guide wheel. The setting of the limit wheel It plays a role in preventing overcutting during the automatic grinding process.

In this embodiment, the limit wheels 9-2 are located on both sides of the guide wheel. The distance between the limit wheels and the sanding belt is set, which can be 0.5mm. The limit wheels are rotatably installed on the third rotating shaft. The third rotating shaft The third bracket is installed on the second rotating shaft. The third rotating shaft is set vertically with the third bracket. The limit wheels are located on both sides of the guide wheel to fully avoid the problem of overcutting during the automatic grinding process;

It should be explained that the third bracket can be detachably installed on the first rotating shaft to adjust the distance between the limiting wheel and the second rotating shaft, so that the limiting wheel can be adjusted according to the height of the weld to be polished during the man-machine collaborative grinding stage. distance from the second axis of rotation.

Considering the need for protection during the grinding process, the first bracket 9-7 is fixedly connected to the protective cover. The protective cover includes a first housing 9-6 and a second housing 9-8. The first housing 9-6 covers the active The top side, outside, bottom side and part of the second bracket of the wheel, the first housing 9-6 includes a straight section, an arc section and a flat plate, one straight section is arranged obliquely above the upper sand belt, and the other straight section is located above the upper sand belt. Below the lower sand belt, the arc segment connects the two straight segments, the flat plate connects the straight segment and the arc segment, the second shell 9-8 is connected to the first shell, and the second shell is located above the guide wheel to protect it. The cover mainly covers the top side, sides and part of the bottom side of the belt sander, and the part exposed at the guide wheel is the grinding part, effectively ensuring the safety of grinding;

The second housing 9-8 is bent and arranged. The second housing 9-8 is plate-shaped. One side of the second housing is located in the northwest direction of the guide wheel, and the other side of the second housing is located above part of the sand belt. ;

It can be understood that, in order to facilitate manual operation, a grinding handle 9-5 is fixed on the outside of the first housing to facilitate manual hand-held grinding machine.

It should be explained that the abrasive belt 9-4 is the grinding medium, and an abrasive belt with a width of 75mm and a mesh number of 36 can be used. During the fine grinding process, the mesh number of the abrasive belt is smaller.

In order to polish the workpiece to be polished, as shown in Figures 1 and 2, the support frame includes a vertical bracket 8 and a horizontal bracket 4. The vertical bracket 8 includes two vertical brackets, and the top sides of the vertical brackets are connected by horizontal bars. , the workbench 3 is located between two vertical frames, the workbench 3 is set lower than the vertical frame 8, and the transverse frame 4 supports the multi-directional motion mechanism.

The transverse bracket 4 is two transverse rails, and the distance between two adjacent transverse rails is set. The transverse rails can be I-beams. The multi-directional motion mechanism includes an I-shaped bracket. The two side rods of the I-shaped bracket can be set along the The first wheel moves along the transverse track. Multiple first wheels can be provided. At least one of the first wheels on each side is connected to the X-direction power source to drive the I-shaped bracket to move along the transverse track. The X-direction The power source drives the I-shaped bracket 12 to move along the transverse track in the X direction through the first wheel;

The middle pole of the I-shaped bracket 12 is provided with a longitudinal track, and the longitudinal rail supports the second wheel. The second wheel is fixed on the work frame 5. Horizontal sections are respectively provided on both sides of the middle pole. The second wheel moves along the transverse section. The work frame is U-shaped work frame, part of the second wheel is connected to the Y-direction power source to drive the second wheel to move along the length direction of the middle pole. The Y-direction power source is fixed to the work frame 5, and the work frame 5 is connected to the working arm through a rotating mechanism. The Y-direction power source drives the work frame 5 to move along the middle pole of the I-shaped bracket through the second wheel, driving the belt sanding machine to move in the Y-direction.

Among them, the I-shaped bracket 12 and the first wheel form an X-direction moving trolley, and the second wheel and the work frame form a Y-direction moving trolley.

In some examples, the working arm 6 includes a telescopic arm. The top end of the telescopic arm is connected to a rotating mechanism. The rotating mechanism is connected to the controller. The rotating mechanism is specifically a rotating motor. The rotating motor is connected to the work frame 5 through a clutch. The clutch is specifically an electromagnetic clutch 10. The bottom end of the telescopic arm is connected to the servo electric cylinder 7. The servo electric cylinder 7 is located on the side of the telescopic arm. The existing servo electric cylinder 7 controls the extension or retraction of the telescopic arm to control the height of the working arm 6, and the force sensor is fixed. At the bottom of the telescopic arm, the rotating mechanism, electromagnetic clutch, and servo electric cylinder are connected to the control switch respectively.

Of course, in other examples, the top end of the telescopic arm is connected to the electromagnetic clutch 10, and a rotating bearing is provided on the bottom side of the electromagnetic clutch 10 to connect with the telescopic arm. In this way, during the manual polishing process, the electromagnetic clutch 10 is opened and the telescopic arm can be manually driven to rotate.

In addition, first limit switches are respectively provided at both ends of the transverse bracket 4 to limit the movement of the first wheel, and the first limit switches are connected to the controller;

Second limit switches are respectively provided at both ends of the middle pole of the I-shaped bracket 12 to limit the movement of the second wheel, and the second limit switches are connected to the controller.

It is easy to understand that the first limit switch and the second limit switch are existing photoelectric switches respectively, and the controller is a PLC controller or an industrial computer or other types of controller. The controller is installed in the control cabinet. The control cabinet Located on one side of the support frame.

What needs to be explained is that the X-direction power source and the Y-direction power source are respectively the X-direction motor and the Y-direction motor connected to the controller. Specifically, they are both rotating motors. The X-direction motor and the Y-direction motor drive the first wheel and the third wheel respectively. The movement of the two wheels; and the X-direction motor is connected to the first inching button, and the Y-direction motor is connected to the second inching button. The first inching button, the second inching button, and the control switch are all set in the control cabinet for easy operation. , the control cabinet has an operation panel, the operation panel is equipped with a potentiometer, and the control cabinet is equipped with a master control switch of the grinding device.

The controller is connected to an RFID code reader 13, which is fixed on the top of one side of the fixed platform 3. The RFID code reader is used to identify the type of workpiece to be polished and send information to the controller.

It is easy to understand that, in order to facilitate manual operation, the grinding handle 9-5 is equipped with the following buttons, which are: grinding device start and stop buttons, grinding device emergency stop button, electromagnetic clutch button, rotating mechanism button, first wheel, third wheel The two wheels have forward and reverse rotation knobs. All buttons or knobs are connected to the controller, and each power source is controlled through the controller.

Start and stop buttons of the grinding device: Press the start button and the grinding device will run at a constant speed set by the potentiometer on the control cabinet operating panel; when the stop button is pressed, the grinding device will stop running.

Emergency stop button of the grinding device: When an emergency occurs, press the emergency stop button and the grinding device will stop immediately. When the emergency situation is relieved, the emergency stop button can be rotated to reset, and the main control switch of the control cabinet needs to be powered off and restarted.

Electromagnetic clutch button: Press this button and the rotating mechanism button, and the working arm can drive the belt sander to rotate. Press the button again, the electromagnetic clutch is closed, and the working arm does not rotate.

Rotation mechanism button: used to control the rotation of the working arm relative to the electromagnetic clutch.

The forward and reverse knobs of the first wheel and the second wheel: used to control the forward or reverse movement of the X-direction mobile car and the Y-direction mobile car.

In the grinding device provided by this embodiment, the support frame can drive the belt sander to move in multiple directions through a multi-directional motion mechanism to meet the grinding needs of longer and wider workpieces to be polished. The workbench can be used to handle the workpieces to be polished through the setting of clamping components. For stable clamping, a force sensor is set between the retractable working arm and the belt sander. The force sensor and working arm are connected to the controller. The controller can control the action of the working arm on the belt sander based on the force value information transmitted by the force sensor. force to ensure the force during the automatic grinding process to achieve automatic grinding and ensure the grinding quality, and the whole can realize automatic grinding or manual hand-held belt sanding machine for grinding, using automatic grinding for efficient grinding, manual assistance has a certain degree of precision, and can Realizing the organic combination of equipment and people, it solves the problems of difficulty in controlling the precision of pure equipment operations, high intensity of manual work, and low efficiency. Manual control of grinding errors effectively ensures work efficiency and work quality.

Embodiment 2

This embodiment provides the application of the grinding device in Embodiment 1, which is applied to the grinding of rail vehicle beams to realize the grinding of rail vehicle beams, side beams and other beams, and can realize automatic or manual collaborative grinding.

Embodiment 3

This embodiment provides a method for grinding rail vehicle beams. Referring to Figure 6, a grinding device described in Embodiment 1 is used, which includes the following content:

The rail vehicle beam body 2 is transported to the bottom of the support frame by an AGV trolley (automatic guided vehicle), and the clamping component at the workbench clamps the end of the rail vehicle beam body;

The rail vehicle girder is equipped with an RFID (Radio Frequency Identification) chip, and the controller identifies the chip information of the rail vehicle girder and calls the corresponding tire rotation and polishing program information;

After the material is identified, the controller controls the first rotating shaft to rotate and set the angle to rotate the tire, so that the welding seam of the rail vehicle beam body is in a flat position;

The controller controls the movement of the multi-directional motion mechanism to perform automatic rough grinding of the rail vehicle beam. The controller controls the force of the working arm on the belt sander based on the force value information transmitted by the force sensor, so that the force value information of the force sensor is first Within the setting range; the grinding speed is adjusted by controlling the rotation speed of the driving wheel power source to achieve efficient rough grinding removal. This process is polished 2-3 times, and the final residual height is controlled to 0.4-0.6mm to prevent over-cutting and pass the limit. wheel to control the margin;

Due to workpiece deformation, clamping and other errors, the ideal grinding quality cannot be achieved after automatic rough grinding. Human-machine collaboration is required to control to eliminate the errors of automatic grinding in the first stage. Manual hand-held belt sanding machine is used to manually grind the rail vehicle beam body. For grinding, through the setting of multiple buttons 9-5 on the grinding handle, the grinding angle can be flexibly adjusted manually. The operator manually adjusts the grinder for leveling according to the rough grinding situation, removes the high points of the weld, and achieves tangent grinding;

After man-machine collaborative grinding and leveling, the first bracket is disassembled to replace the belt sander. The controller performs fine grinding on the rail vehicle beam body. The controller controls the force of the working arm on the belt sander based on the force value information transmitted by the force sensor. Make the force value information of the force sensor within the second setting range, and the second setting range can be a fixed value;

After the grinding is completed, the rail vehicle beam body is cut out.

The above descriptions are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

Claims (13)

1.A grinding apparatus, comprising:

the support frame is a door-type support frame, the support frame supports a multidirectional movement unit, the multidirectional movement unit is connected with a telescopic working arm, a clutch is arranged between the working arm and the multidirectional movement mechanism, one side of the clutch is connected with the working arm through a rotating mechanism or a rotating bearing, the working arm is connected with a belt sander, and a force sensor is arranged between the working arm and the belt sander;

the workbench is positioned below the horizontal section of the support frame, the two workbench are oppositely arranged, and the two workbench are respectively provided with a clamping part for clamping the end part of the workpiece to be polished;

the controller, the force sensor, the working arm, the clutch, the rotating mechanism and the multidirectional movement mechanism are respectively and independently connected with the controller, and the controller controls the acting force of the working arm on the belt sander according to the force value information transmitted by the force sensor in the automatic sanding process of the belt sander.

2. A polishing apparatus according to claim 1, wherein the table rotatably supports the first shaft, the first shaft being connected to the holding member via a clamp body, the first shaft being connected to the controller;

the clamping part comprises a pressing component and a supporting component, the pressing component and the supporting component are oppositely arranged, the supporting component comprises a supporting part, and a plurality of positioning blocks are arranged on one side of the supporting part, facing the pressing component, so as to position the end part and/or the side part of the workpiece to be polished.

3. A polishing apparatus according to claim 2, wherein the pressing assembly comprises a moving member slidably mounted to the jig body, the moving member being connected to the pressing portion to press the workpiece to be polished;

the fixture body is provided with a first chute, and one side of the moving part is clamped into the first chute and can move towards the supporting component along the first chute;

the compressing part comprises a first plate and a second plate, the first plate is vertically connected with the second plate, the first plate is connected with the moving piece, and the second plate is contacted with the workpiece to be polished.

4. A polishing apparatus according to claim 2, wherein the support portion is provided with a second slide groove, and the positioning block is slidably mounted on the surface of the support portion through the second slide groove;

the positioning blocks are provided with at least two positioning blocks, and the moving directions of the two adjacent positioning blocks are different.

5. A sanding apparatus as defined in claim 1, wherein the belt sander includes a drive wheel and a guide wheel, the belt being arranged to reciprocate circularly around the drive wheel and the guide wheel, the drive wheel being rotatably secured to a first bracket, the first bracket being detachably connected to the working arm, the guide wheel being rotatably mounted to a second spindle, the second spindle being connected to the first bracket by means of the second bracket.

6. The polishing apparatus according to claim 5, wherein at least one side of the guide wheel is provided with a limiting wheel, the diameter of the limiting wheel is smaller than that of the guide wheel, the limiting wheel is located in the southwest direction of the guide wheel, and one side of the limiting wheel away from the central axis of the guide wheel is beyond the guide wheel.

7. The polishing apparatus as set forth in claim 6 wherein the limiting wheels are located on both sides of the guide wheel, the limiting wheels being rotatably mounted on a third shaft, the third shaft being mounted on the second shaft by a third bracket;

the third support is detachably arranged on the first rotating shaft to adjust the distance between the limiting wheel and the second rotating shaft.

8. The polishing apparatus of claim 5, wherein the first bracket is fixedly connected to a protective cover, the protective cover comprises a first housing and a second housing, the first housing covers the top side, the outer side, the bottom side and a portion of the second bracket of the drive wheel, the second housing is connected to the first housing, and the second housing is located above the guide wheel; the second shell is bent and arranged;

the clutch is an electromagnetic clutch, a polishing handle is fixed on the outer side of the first shell, and a rotating mechanism button and an electromagnetic clutch button which are connected with the controller are arranged on the polishing handle.

9. A polishing device according to claim 1 wherein the support frame comprises a vertical support and a transverse support, the vertical support comprising two vertical supports, the table being located between the two vertical supports, the transverse support supporting the multidirectional movement mechanism.

10. The polishing device according to claim 9, wherein the transverse support is two transverse rails, the interval distance between two adjacent transverse rails is set, the multidirectional motion mechanism comprises an I-shaped support, two side rods of the I-shaped support are respectively provided with a first wheel capable of moving along the transverse rails, and the first wheels are connected with an X-direction power source to drive the I-shaped support to move along the transverse rails;

the middle rod of the I-shaped bracket is provided with a longitudinal rail, the longitudinal rail supports a second wheel, the second wheel is fixed on a working frame, the second wheel is connected with a Y-direction power source to drive the second wheel to move along the length direction of the middle rod, and the working frame is connected with the working arm through a rotary power source.

11. The polishing apparatus as set forth in claim 10 wherein first limit switches are provided at both ends of the lateral bracket for limiting movement of the first wheel, the first limit switches being connected to the controller;

and two ends of the middle rod of the I-shaped bracket are respectively provided with a second limit switch for limiting the movement of the second wheel, and the second limit switches are connected with the controller.

12. Use of a sanding device according to any of claims 1-11 for sanding rail vehicle beams.

13. A method of grinding a rail vehicle beam, characterized in that a grinding device according to any one of claims 1-11 is used, comprising the following:

transporting the rail vehicle beam body to the lower part of the supporting frame, and clamping the end part of the rail vehicle beam body by a clamping part at the working table;

the controller identifies the information of the rail vehicle beam body and invokes corresponding polishing program information;

the controller controls the multidirectional movement mechanism to move, automatically rough grinding is carried out on the rail vehicle beam body, and the controller controls acting force of the working arm on the belt sander according to force value information transmitted by the force sensor, so that the force value information of the force sensor is in a first setting range;

manually polishing the rail vehicle beam body by a manual hand-held belt sander, removing high points of welding seams, and realizing polishing tangency;

the controller carries out fine grinding on the rail vehicle beam body, and the controller controls acting force of the working arm on the belt sander according to force value information transmitted by the force sensor, so that the force value information of the force sensor is in a second setting range;

and after finishing polishing, blanking the rail vehicle beam body.