CN103970071A - Method for detecting and correcting machining path in casting surface cleaning process - Google Patents
Method for detecting and correcting machining path in casting surface cleaning process Download PDFInfo
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- CN103970071A CN103970071A CN201410181319.9A CN201410181319A CN103970071A CN 103970071 A CN103970071 A CN 103970071A CN 201410181319 A CN201410181319 A CN 201410181319A CN 103970071 A CN103970071 A CN 103970071A
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Abstract
The invention discloses a method for detecting and correcting a machining path in the casting surface cleaning process. The method includes the steps of selecting a standard sample casting; measuring the distance between the standard sample casting and a specified standard plane through a non-contact type sensor to accordingly obtain a machining plane of the standard sample casting; selecting a corresponding tool in the machining plane according to the shape of the standard sample casting, pre-setting the cleaning machining path of the standard sample casting, and generating a machining program; in the process that cleaning machining is carried out on a to-be-cleaned casting, measuring the distance between the machined surface of the to-be-machined casting and the standard plane, and obtaining a machining plane of the to-be-machined casting; obtaining deviation data between the machining plane of the to-be-machined casting and the machining plane of the standard sample casting; calling the cleaning machining program to correct the machining path according to the deviation data, obtaining a new machining path, and generating a new machining program; carrying out cleaning machining on the machined surface of the to-be-machined casting according to the new machining program. Errors caused by casting and clamping the casting are eliminated, and the cleaning quality is guaranteed.
Description
Technical field
The present invention relates to casting cleaning technical field, especially, relate to detection and the correcting method of machining path in a kind of cast(ing) surface scale removal process.
Background technology
Can be divided into aluminum casting cleaning and casting cleaning in casting cleaning field.Aluminum casting cleaning is mainly to utilize floating apparatus to compensate machining path to casting and clamping error; Casting cleaning, mainly still utilizes grinding special plane to coordinate labor cleaning to ensure cleaning effect.
Aluminum casting is because its plasticity is good, it is less to be easy to processing and to cast the fash and the burr that form.Adopt low moment of torsion, low power instrument can complete cleaning work, current most cleaning tools are all between 200W to 500W.Miniwatt instrument, in the situation that clearing up and processing speed reaches certain, also can not damage it even if touch foundry goods body on the one hand; Realize on the other hand cleaning tool and in certain stroke range, keep flexible unsteady comparatively easy uniformly.
Foundry goods is because its plasticity is poor, hardness is high, carbon content is high, casting scab is serious, and clearing up and processing will produce larger impact load, comparatively strict to cutter requirement, for ensureing that working (machining) efficiency need to be used high-power main shaft General Requirements more than 30K W.Powerful system of processing cannot adopt the mode of mechanical float to go compensation, easily causes cleaning clean or be worked into foundry goods body and damage foundry goods, and the serious damage that will cause system of processing or serious accident occur.Most Cast Iron Production enterprises also all can only adopt grinding special plane to coordinate labor cleaning to complete cleaning work at present, distribute comparatively rule and spatial accessibility of foundry goods cleared up preferably feature and transferred to grinding special plane to remove residue character completely by labor cleaning, the especially cleaning feature of foundry goods irregular surface and die cavity inside.Cleaning work amount is large, labour intensity is large, production capacity is low and labor cleaning's foundry goods is easily omitted, and the casting environment of dressing shop is difficult to ensure, easily causes environmental pollution and cause the injury to operating personnel.
Summary of the invention
The object of the invention is to provide detection and the correcting method of machining path in a kind of cast(ing) surface scale removal process, cannot meet the cleaning needs of foundry goods and aluminum casting to solve error-detecting in existing casting cleaning process and correcting method simultaneously; Reduce error by design high-precision part, cost is too large; The error-detecting of existing foundry goods and correct main dependence and manually complete, difficult quality guarantee, easily omits the technical matters larger to the pollution of human body and environment.
For achieving the above object, the technical solution used in the present invention is as follows:
The detection of machining path and a correcting method in cast(ing) surface scale removal process, comprising: a, choose the master body of foundry goods, fixed standard exemplar; B, utilize non-contacting sensor measurement standard exemplar to the distance of specified standard plane, thereby obtain the processing plane of master body; D, in processing plane, establishing criteria exemplar shape is chosen corresponding cutter, sets in advance the clearing up and processing path of master body, generates job sequence; E, foundry goods for clearance is carried out in clearing up and processing process, utilize non-contacting sensor to measure the finished surface of foundry goods to be processed to the distance of standard flat, obtain the processing plane of foundry goods to be processed; F, contrast draws the deviation data of the processing plane of foundry goods to be processed and the processing plane of master body by analysis; G, call clearing up and processing program, and according to deviation data, machining path is corrected, obtain new machining path, generate new job sequence; H, the job sequence that foundation is new are carried out the finished surface of foundry goods to be processed are carried out to clearing up and processing.
Further, in standard flat, choose at least three points, not conllinear of every three points at least three of choosing point; Utilize point in the contactless distance measuring sensor measurement standard plane vertical range to exemplar; Obtain the first vertical range data of measuring, and according to the coordinate of selected point, draw the exemplar processing plane with respect to standard flat; In standard flat, utilize the point of choosing in contactless distance measuring sensor measurement standard plane to arrive the vertical range of foundry goods to be processed; Obtain the second vertical range data of measuring, and according to the coordinate of selected point, draw the processing plane with respect to the foundry goods to be processed of index plane; Obtain the processing plane of foundry goods to be processed and the exemplar processing plane deviation in contactless distance measuring sensor direction; Calling processor, and according to deviation, the machining path setting in advance is corrected the actual machining path that again obtains foundry goods to be processed, obtain new job sequence; Complete clearing up and processing according to the new machining path after correcting.
Further, cast(ing) surface cleaning adopts casting cleaning machining workstation, casting cleaning machining workstation comprises that the movable end of robot is provided with the processing assembly in order to clearing up and processing in order to the worktable of stationary positioned foundry goods, for the robot of clearing up and processing foundry goods, in order to the robot controller of control running and in order to control the central controller of casting cleaning machining workstation running.
Further, foundry goods to be processed, worktable, distance measuring sensor in order to the range data of the finished surface of contactless sensing measurement foundry goods to be processed is installed at least one in processing assembly, distance measuring sensor connects respectively central controller and robot controller, and range data is transferred to central controller and robot controller, central controller establishing criteria plane and range data are compared and are drawn the deviation data of foundry goods, correct the machining path setting in advance according to deviation data, obtain new clearing up and processing path, robot controller carries out clearing up and processing according to new clearing up and processing path control to foundry goods to be processed.
Further, the finished surface of foundry goods to be processed is set as orthogonal directions X, Y-direction and three directions of Z direction, and the processing assembly on robot controller control is carried out clearing up and processing path along directions X and covered completely and have a surplus; Carrying out clearing up and processing path along Y-direction covers completely and has a surplus; In clearing up and processing process, only the finished surface of foundry goods to be processed is corrected along the clearing up and processing path of Z direction.
Further, robot periphery is provided with to change the tool magazine of cutter, and tool magazine comprises laying cutter rotatable index plate, is connected with to control the tool changing Hydraulic Station of tool changing on the cutter-exchange mechanism of index plate; Index plate lower end is connected with the Geneva mechanism with index plate interlock, and the minute of angle of Geneva mechanism is identical with the minute of angle of index plate; Geneva mechanism lower end is connected with the drive unit rotating for intermittent transposition running driver slot wheel mechanism; Drive unit connects central controller, turns round by central controller controls drive unit; Tool magazine is located in dust cover, offers the dust-proof door that adopts air cylinder driven to open or close on dust cover; In tool magazine, be provided with the multiple cutters in order to tool changing, each cutter below all correspondence is provided with position transducer, cutter and original position sensing chip be fixed on the index plate of tool magazine and with index plate run-in synchronism, position transducer is fixed in the frame of index plate bottom, position transducer obtains position signalling and to central controller output signal from original position sensing chip, and central controller judges the cutter model of tool change position by the output signal of position transducer; Robot controller control is delivered to tool change position by processing assembly and is coordinated tool changing Hydraulic Station to complete tool changing action.
Further, worktable is provided with the positioning tool in order to stationary positioned foundry goods to be processed, and clamp system and/or positioner in order to stationary positioned foundry goods to be processed are housed on positioning tool.
Further, worktable is Double-station bench, and positioning tool comprises the first positioning tool outside casting cleaning machining workstation and extend into the second positioning tool in casting cleaning machining workstation; The first positioning tool and the second positioning tool are located at respectively on the station at Double-station bench two ends, and can carry out the displacement of setting position between the first positioning tool and the second positioning tool.
Further, Double-station bench horizontally rotates by the tumbler of being located at Double-station bench middle part, and the first positioning tool and the second positioning tool carry out the displacement of mutual position by rotation tumbler; On the first positioning tool and/or the second positioning tool, be also provided with to convert the positioner of foundry goods attitude; The rotation of central controller controls Double-station bench, the clamping of controlling clamp system or relieving and control positioner conversion attitude; Capture processing assembly by robot, according to new machining path, foundry goods is carried out to clearing up and processing, central controller controls clamp system and/or positioner are realized the attitude conversion of foundry goods on Double-station bench, to coordinate the mobile space track of robot, make processing assembly can cover all cleaning features of foundry goods to be processed.
Further, robot comprise can along continuous straight runs rotation rotary seat, be connected to mechanical arm on rotary seat and for mechanical arm rotation and/or rotating mechanical joint; Mechanical arm comprises at least one swivel arm, and swivel arm two ends are equipped with mechanical joint, and the movable end of mechanical arm connects processing assembly.
Further, processing assembly comprises electric main shaft on the mechanical joint that is connected to mechanical arm movable end, is connected to the handle of a knife of electric main shaft output terminal and is fixed in the cutter on handle of a knife.
The present invention has following beneficial effect:
The detection of machining path and correcting method in this cast(ing) surface scale removal process, in scale removal process, casting and clamping error are carried out to the online clearing up and processing path of detecting and automatically correct, the impact that the error producing in elimination cast casting and clamping process causes casting cleaning, cleaning quality and the reliability of guarantee foundry goods Automatic clearance; Adopt the method for contactless online detection, in to spray testing process, existence interference is large, measuring error is large, the flimsy technical matters of sensor to solve existing touch sensor detection; Utilize master body to measure standard flat, adopt non-contact detecting and the comparison method of processing plane, generate new machining path according to error information machining path is corrected automatically, the impact on processing while existing moderate finite deformation and clamping precision not high in order to solve workpiece; Can effectively solve the foundry goods deviation that the produces impact on Automatic clearance crudy in casting and clamping process, especially the foundry goods shape error of casting generation; Can fully ensure the consistance of cleaning effect; Can fully ensure the reliability of clearing up and processing system, prevent that the damage of system of processing or serious accident from occurring; Can be widely used in various mechanical roughing occasions, applied widely.
Except object described above, feature and advantage, the present invention also has other object, feature and advantage.Below with reference to figure, the present invention is further detailed explanation.
Brief description of the drawings
The accompanying drawing that forms the application's a part is used to provide a further understanding of the present invention, and schematic description and description of the present invention is used for explaining the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 is the detection of machining path and the structured flowchart of correcting method in the cast(ing) surface scale removal process of the preferred embodiment of the present invention;
Fig. 2 is the structural representation that the casting surface cleaning equipment of the preferred embodiment of the present invention detected and corrected machining path;
Fig. 3 is the structural representation of the casting surface cleaning equipment of the preferred embodiment of the present invention;
Fig. 4 is the cast(ing) surface cleaning detection of the preferred embodiment of the present invention and the structural representation of correcting device;
Fig. 5 is that the cast(ing) surface cleaning of the preferred embodiment of the present invention detects and correcting device detects and correct one of structural representation of machining path;
Fig. 6 is two of cast(ing) surface cleaning detection and the correcting device detection of the preferred embodiment of the present invention and the structural representation of correcting machining path;
Fig. 7 is the structural representation of the tool magazine of the preferred embodiment of the present invention.
Marginal data:
1, casting cleaning machining workstation; 101, worktable; 1011, Double-station bench; 102, robot; 1021, rotary seat; 1022, mechanical arm; 1023, mechanical joint; 103, robot controller; 104, central controller; 2, processing assembly; 201, electric main shaft; 202, handle of a knife; 203, cutter; 3, positioning tool; 301, the first positioning tool; 302, the second positioning tool; 4, clamp system; 5, tumbler; 6, tool magazine; 601, index plate; 602, Geneva mechanism; 603, drive unit; 7, tool changing Hydraulic Station; 8, dust cover; 9, cylinder; 10, dust-proof door; 11, position transducer; 12, original position sensing chip; 13, distance measuring sensor.
Embodiment
Below in conjunction with accompanying drawing, embodiments of the invention are elaborated, but the present invention can by the multitude of different ways that limits and cover implement.
Fig. 1 is the detection of machining path and the structured flowchart of correcting method in the cast(ing) surface scale removal process of the preferred embodiment of the present invention; Fig. 2 is the structural representation that the casting surface cleaning equipment of the preferred embodiment of the present invention detected and corrected machining path; Fig. 3 is the structural representation of the casting surface cleaning equipment of the preferred embodiment of the present invention; Fig. 4 is the cast(ing) surface cleaning detection of the preferred embodiment of the present invention and the structural representation of correcting device; Fig. 5 is that the cast(ing) surface cleaning of the preferred embodiment of the present invention detects and correcting device detects and correct one of structural representation of machining path; Fig. 6 is two of cast(ing) surface cleaning detection and the correcting device detection of the preferred embodiment of the present invention and the structural representation of correcting machining path; Fig. 7 is the structural representation of the tool magazine of the preferred embodiment of the present invention.
As shown in Figure 1, detection and the correcting method of machining path in the cast(ing) surface scale removal process of the present embodiment, comprising: a, choose the master body of foundry goods, fixed standard exemplar; Established standards plane; B, utilize non-contacting sensor measurement standard exemplar to the distance of specified standard plane, thereby obtain the processing plane of master body; D, in processing plane, establishing criteria exemplar shape is chosen corresponding cutter 203, sets in advance the clearing up and processing path of (teaching) master body, generates job sequence; E, foundry goods for clearance is carried out in clearing up and processing process, utilize non-contacting sensor to measure the finished surface of foundry goods to be processed to the distance of standard flat, obtain the processing plane of foundry goods to be processed; F, contrast draws the deviation data of the processing plane of foundry goods to be processed and the processing plane of master body by analysis; G, call clearing up and processing program, and according to deviation data, machining path is corrected, obtain new machining path, generate new job sequence; H, the job sequence that foundation is new are carried out the finished surface of foundry goods to be processed are carried out to clearing up and processing.The detection of machining path and correcting method in this cast(ing) surface scale removal process, in scale removal process, casting and clamping error are carried out to the online clearing up and processing path of detecting and automatically correct, the impact that the error producing in elimination cast casting and clamping process causes casting cleaning, cleaning quality and the reliability of guarantee foundry goods Automatic clearance; Adopt the method for contactless online detection, in to spray testing process, existence interference is large, measuring error is large, the flimsy technical matters of sensor to solve existing touch sensor detection; Utilize master body to measure standard flat, adopt non-contact detecting and the comparison method of processing plane, generate new machining path according to error information machining path is corrected automatically, the impact on processing while existing moderate finite deformation and clamping precision not high in order to solve workpiece; Can effectively solve the foundry goods deviation that the produces impact on Automatic clearance crudy in casting and clamping process, especially the foundry goods shape error of casting generation; Can fully ensure the consistance of cleaning effect; Can fully ensure the reliability of clearing up and processing system, prevent that the damage of system of processing or serious accident from occurring; Can be widely used in various mechanical roughing occasions, applied widely.
In the present embodiment, in standard flat, choose at least three points.Not conllinear of every three points at least three points choosing.Utilize point in the contactless distance measuring sensor measurement standard plane vertical range to exemplar.Obtain the first vertical range data of measuring, and according to the coordinate of selected point, draw the exemplar processing plane with respect to standard flat.In standard flat, utilize the point of choosing in contactless distance measuring sensor measurement standard plane to arrive the vertical range of foundry goods to be processed.Obtain the second vertical range data of measuring, and according to the coordinate of selected point, draw the processing plane with respect to the foundry goods to be processed of index plane.Obtain the processing plane of foundry goods to be processed and the exemplar processing plane deviation in contactless distance measuring sensor direction.Calling processor, and according to deviation, the machining path setting in advance is corrected the actual machining path that again obtains foundry goods to be processed, obtain new job sequence.Complete clearing up and processing according to the new machining path after correcting.Preferably, in standard flat, choose three points, 3 conllinear not.
As shown in Figures 2 and 3, in the present embodiment, cast(ing) surface cleaning adopts casting cleaning machining workstation 1.Casting cleaning machining workstation 1 comprises that the movable end of robot 102 is provided with the processing assembly 2 in order to clearing up and processing in order to the worktable 101 of stationary positioned foundry goods, for the robot 102 of clearing up and processing foundry goods, the robot controller 103 turning round in order to control 102 and the central controller 104 that turns round in order to control casting cleaning machining workstation 1.Casting cleaning machining workstation 1 adopts stationary positioned, clearing up and processing tactic pattern that complete mechanical chipping processing unit (plant) is set, be mainly used in robotization, the streamline production operation of casting industry casting cleaning, whole process all shifts by mechanization and carries out on job platform, realize foundry goods and do not land production completely, solve the production bottleneck of current casting cleaning, greatly enhance productivity and workpiece cleaning quality; By worktable 101, foundry goods a to be processed is fixed to location, so that the clearing up and processing of robotization ensures accurate clearing up and processing, ensures the cleaning quality of foundry goods; By the robot 102 that is equipped with processing assembly 2, clearing up and processing is carried out in the surface of foundry goods a to be processed, adopt predetermined machining path to realize Automatic clearance to foundry goods, can effectively avoid the phenomenon of omission, machining precision can be guaranteed.Preferably, in casting cleaning machining workstation 1, be also provided with for foundry goods a clearing up and processing process to be processed and carry out cooling cooling-water machine b.By cooling-water machine b, foundry goods a to be processed surface is continued to supply water, with reduce foundry goods a to be processed in clearing up and processing process due to fricative high heat, reduce the negative consequence that the high torrid zone is come.Preferably, casting cleaning machining workstation 1 peripheral hardware has the barrier in order to intercept processing airborne dust and flying chip.Whole casting cleaning machining workstation 1, in barrier, is avoided adding the metal fragment that the airborne dust that produces man-hour and processing takes up and is propagated to the external world, thereby reduces pollution that processing brings to environment and the injury to human body.Preferably, casting cleaning machining workstation 1 also includes the barrier in order to intercept processing airborne dust and flying chip.Preferably, robot 102 and processing assembly 2, in barrier, are avoided adding the metal fragment that the airborne dust that produces man-hour and processing takes up and are propagated to the external world, thereby reduce pollution that processing brings to environment and the injury to human body.Preferably, barrier is combined to form the safe house of sealing.
As shown in Figure 3 and Figure 4, in the present embodiment, foundry goods to be processed, worktable 101, distance measuring sensor 13 in order to the range data of the finished surface of contactless sensing measurement foundry goods to be processed is installed at least one in processing assembly 2, distance measuring sensor 13 connects respectively central controller 104 and robot controller 103, and range data is transferred to central controller 104 and robot controller 103, central controller 104 establishing criteria planes and range data are compared and are drawn the deviation data of foundry goods, correct the machining path that sets in advance (teaching) according to deviation data, obtain new clearing up and processing path, robot controller 103 carries out clearing up and processing according to new clearing up and processing path control 102 to foundry goods to be processed.Utilize distance measuring sensor 13 to measure current foundry goods and send central controller 104 to the distance of standard flat and by data, calculate current processing plane by central controller 104, and then compare with the corresponding processing plane of exemplar the deviation that draws both.Central controller 104 sends deviate to robot controller 103, and robot controller 103 is transferred corresponding exemplar machining path and corrected and form current machining path according to deviate.Thereby realize the check and correction of machining path.Thereby realize the accurate processing to foundry goods a to be processed.Provide foundry goods by casting the error online measuring that causes with clamping and the method for machining path auto-compensation, can fully ensure the reliability of clearing up and processing system, prevent that the damage of system of processing or serious accident from occurring.The quality of casting cleaning and the consistance of cleaning effect are ensured.
As shown in Fig. 3, Fig. 4, Fig. 5 and Fig. 6, in the present embodiment, the finished surface of foundry goods to be processed is set as orthogonal directions X, Y-direction and three directions of Z direction, and the processing assembly 2 on robot controller 103 controls 102 is carried out clearing up and processing path along directions X and covered completely and have a surplus; Carrying out clearing up and processing path along Y-direction covers completely and has a surplus; In clearing up and processing process, only the finished surface of foundry goods to be processed is corrected along the clearing up and processing path of Z direction.Thereby simplify step and the difficulty of correcting.
As shown in Figure 3 and Figure 7, in the present embodiment, robot 102 peripheries are provided with to change the tool magazine 6 of cutter 203.Tool magazine 6 comprises laying cutter 203 rotatable index plate 601.On the cutter-exchange mechanism of index plate 601, be connected with to control the tool changing Hydraulic Station 7 of tool changing.Index plate 601 lower ends are connected with the Geneva mechanism 602 linking with index plate 601.The minute of angle of Geneva mechanism 602 is identical with the minute of angle of index plate 601.Form synchronous link gear, facilitate the control of tool change position.Geneva mechanism 602 lower ends are connected with the drive unit 603 rotating for intermittent transposition running driver slot wheel mechanism 602.Drive unit 603 adopts intermittent transposition, and driver slot wheel mechanism 602 drives the rotation conversion of the fixed angle of index plate 601, ensures that different cutter 203 is all the time along fixing locus of points redirect, convenient to taking at any time cutter 203 or using cutter 203 instead.Drive unit 603 connects central controller 104.By being set, interconnective link gear realizes integrally-built interlock.Turn round by central controller 104 accessory drives 603.Tool magazine 6 is located in dust cover 8, offers and adopt cylinder 9 to drive the dust-proof door 10 of opening or closing on dust cover 8.In tool magazine 6, be provided with the multiple cutters 203 in order to tool changing, each cutter 203 equal correspondences in below are provided with position transducer 11.Cutter 203 and original position sensing chip 12 be fixed on the index plate 601 of tool magazine 6 and with index plate 601 run-in synchronisms.Position transducer 11 is fixed in the frame of index plate 601 bottoms.Position transducer 11 obtains position signalling and to central controller 104 output signals from original position sensing chip 12, and central controller 104 judges the cutter model of tool change position by the output signal of position transducer 11; Robot controller 103 controls 102 are delivered to tool change position by processing assembly 2 and are coordinated tool changing Hydraulic Station 7 to complete tool changing action.Realize the type of the multiple cutter 203 that automatically switches, thereby ensure the quality of clearing up and processing.Preferably, casting cleaning machining workstation 1 also includes the barrier in order to intercept processing airborne dust and flying chip.Preferably, robot 102, processing assembly 2, the first positioning tool 301 and tool magazine 6 are in barrier, avoid adding the metal fragment that the airborne dust that produces man-hour and processing takes up and propagate to the external world, thereby reduce pollution that processing brings to environment and the injury to human body.Preferably, barrier is combined to form the safe house of sealing.
As shown in Figure 3, in the present embodiment, worktable 101 is provided with the positioning tool 3 in order to stationary positioned foundry goods to be processed.Clamp system 4 and/or positioner in order to stationary positioned foundry goods to be processed are housed on positioning tool 3.Setting is exclusively used in the positioning tool 3 of placing foundry goods a to be processed, to can accurately foundry goods a to be processed be positioned over to fixing place, to ensure the quality of follow-up error-detecting, error correction and clearing up and processing.By clamp system 4, foundry goods a to be processed is gripped, conveniently foundry goods a to be processed is fixed and release control, the convenient adjustment to foundry goods a placing attitude to be processed, carries out omnibearing cleaning thereby realize to foundry goods a to be processed, reduces the generation at cleaning dead angle.
As shown in Figure 3, in the present embodiment, worktable 101 is Double-station bench 1011.Adopt Double-station bench 1011, respectively the foundry goods a to be processed on two stations is carried out to clearing up and processing and jump operation in can be at one time, and the conversion that can carry out station is to realize uninterrupted clearing up and processing operation, improves the efficiency of processing.Positioning tool 3 comprises the first positioning tool 301 outside casting cleaning machining workstation 1 and extend into the second positioning tool 302 in casting cleaning machining workstation 1.The first positioning tool 301 and the second positioning tool 302 are located at respectively on the station at Double-station bench 1011 two ends.And can carry out the displacement of setting position between the first positioning tool 301 and the second positioning tool 302.Arrange in order to shift the positioning tool of foundry goods a to be processed and the positioning tool in order to processing, to facilitate the operation of processing and shifting simultaneously, thereby realize uninterrupted pipelining, improve the efficiency of processing clearing up and processing.Preferably, casting cleaning machining workstation 1 also includes the barrier in order to intercept processing airborne dust and flying chip.Preferably, robot 102, processing assembly 2 and the first positioning tool 301, in barrier, are avoided adding the metal fragment that the airborne dust that produces man-hour and processing takes up and are propagated to the external world, thereby reduce pollution that processing brings to environment and the injury to human body.Preferably, barrier is combined to form the safe house of sealing.
As shown in Figure 3, in the present embodiment, Double-station bench 1011 horizontally rotates by the tumbler 5 of being located at Double-station bench 1011 middle parts, and the first positioning tool 301 and the second positioning tool 302 carry out the displacement of mutual position by rotation tumbler 5.Control the position of the asking conversion of positioning tool, thereby accelerate the efficiency of clearing up and processing pipelining.On the first positioning tool 301 and/or the second positioning tool 302, be also provided with to convert the positioner of foundry goods attitude.Positioner freely converts the attitude of the foundry goods a to be processed on worktable 101 tops by the mode of turning round and/or overturn, thereby facilitates robot 102 to carry out omnibearing clearing up and processing to foundry goods a to be processed, avoids the omission of cleaning.Central controller 104 is controlled the rotation of Double-station bench 1011, the clamping of controlling clamp system 4 or relieving and is controlled positioner conversion attitude.Capture processing assembly 2 by robot 102, according to new machining path, foundry goods is carried out to clearing up and processing, clamp system 4 controlled by central controller 104 and/or positioner is realized the attitude conversion of foundry goods on Double-station bench 1011, to coordinate the mobile space track of robot 102, make processing assembly 2 can cover all cleaning features of foundry goods to be processed.Central controller 104 is controlled the rotation of worktable 101, controls the position conversion between positioning tool by central controller 104, thereby accelerates the efficiency of clearing up and processing pipelining.Central controller 104 is controlled clamping or the relieving of clamp system 4.Foundry goods a to be processed is realized to robotization to be fixed and discharges.
As shown in Figure 3, in the present embodiment, robot 102 comprise can along continuous straight runs rotation rotary seat 1021, be connected to the mechanical arm 1022 on rotary seat 1021 and rotate and/or rotating mechanical joint 1023 for mechanical arm 1022; Mechanical arm 1022 comprises at least one swivel arm, and swivel arm two ends are equipped with mechanical joint 1023, and the movable end of mechanical arm 1022 connects processing assembly 2.Realize horizontally rotating of robot 102 by rotary seat 1021, mechanical arm 1022 is realized and is stretched, rotatablely moves by mechanical joint 1023, carry out the movement in space thereby capture processing assembly 2, realize the target of different azimuth, different distance on foundry goods a to be processed surface is carried out to robotization cleaning.Mechanical arm 1022 comprises at least one swivel arm, and swivel arm two ends are equipped with mechanical joint 1023.By many swivel arms are set, can realize farther distance and more multi-faceted target cleaning, applicability is stronger.The movable end of mechanical arm 1022 connects processing assembly 2.Processing assembly 2 by movable end is realized multi-faceted accurate processing with the dirigibility of mechanical arm 1022.
As shown in Figure 3, in the present embodiment, processing assembly 2 comprises electric main shaft 201 on the mechanical joint 1023 that is connected to mechanical arm 1022 movable ends, is connected to the handle of a knife 202 of electric main shaft 201 output terminals and is fixed in the cutter 203 on handle of a knife 202.Preferably, processing assembly 2 is arranged on six shaft flanges of robot 102, robot 102 according to arranged path to the foundry goods a to be processed clearing up and processing of fixing a point.Foundry goods a to be processed is positioned on positioner, and positioner can drive foundry goods a to be processed to realize 360.Rotation is to switch the attitude of foundry goods a to be processed and to coordinate the space motion track of robot 102 to complete the clearing up and processing of foundry goods a to be processed.
When enforcement, as shown in Figure 4, the detection of machining path and correcting method in cast(ing) surface scale removal process, adopt robot 102, processing assembly 2, distance measuring sensor 13, foundry goods, central controller 104, robot controller 103.Utilize distance measuring sensor 13 to measure current foundry goods and send central controller 104 to the distance of standard flat and by data, calculate current processing plane by central controller 104, and then compare with the corresponding processing plane of exemplar the deviation that draws both.Central controller 104 sends deviate to robot controller 103, and robot controller 103 is transferred corresponding exemplar machining path and corrected and form current machining path according to deviate.
As shown in Figure 1, in cast(ing) surface scale removal process, the detection of machining path and correcting method comprise foundry goods, contactless distance measuring sensor, central controller 104, robot controller 103, robot 102.Robot controller 103 connects respectively central controller 104 and robot 102, in order to correct clearing up and processing path.Concrete mode is: with reference to Fig. 5 and Fig. 6.
1, set in advance the clearing up and processing program of (teaching) exemplar;
2, in production, utilize contactless distance measuring sensor to measure the distance of foundry goods to specified standard plane, central controller 104 receives data and analyzes and generates new Mechanical processing of casting plane, and central controller 104 contrasts with exemplar processing plane the deviation that draws relative exemplar processing plane to Mechanical processing of casting plane.
3, robot controller 103 calls corresponding job sequence, and the deviation of calculating according to central controller 104 is corrected and obtained new job sequence machining path.
4, the new job sequence that robot 102 generates according to robot controller 103 carries out clearing up and processing to foundry goods.
Casting cleaning processing is corrected and is required:
As shown in Figure 5 and Figure 6, adopt cutter 203 to carry out clearing up and processing to cleaning feature c such as the fash forming in foundry goods a casting process to be processed, undesirable root, oxide skins.In processing, cutter 203 completes clearing up and processing along directions X, and regulation cutter 203 is in Y-direction covering and possess certain surplus; Directions X topworks clearing up and processing path covers completely and possesses certain surplus.As long as ensure foundry goods in the deviation control of X, Y-direction in pre-made allowance, in clearing up and processing process, only need the error that foundry goods Z direction is produced to correct.
The method that casting cleaning processing is corrected:
Mechanical processing of casting plane to be processed and exemplar processing plane ask the deviation that physical presence is certain, the predefined paths of clearing up and processing need to be corrected as to the new machining path for actual foundry goods.Concrete methods of realizing is:
1, in standard flat, choose a, b, tri-points of c and utilize distance L a, L b, the L c of contactless distance measuring sensor measurement standard plane to exemplar.
2, data handling system receive measurement data L a, L b, L c and according to 3 of a, b, c the coordinate in standard flat (X a, Y are a), (X b, Y are b), (X c, Y c) calculate the exemplar processing plane with respect to standard flat.
3, select suitable cutter to set in advance the predefined paths of (teaching) casting cleaning topworks.
4, in standard flat, utilize distance L a1, L b1, the L c1 of contactless distance measuring sensor measurement standard plane to foundry goods a to be processed.
5, data handling system receives measurement data L a
1, L b
1, L c
1and according to 3 coordinate (X a in standard flat of a, b, c
1, Y a
1), (X b
1, Y b
1), (X c
1, Y c
1) calculate the processing plane with respect to the foundry goods a to be processed of standard flat.And calculate the processing plane of foundry goods a to be processed and the exemplar processing plane deviation in sensor measurement direction.
6, control system of actuating mechanism calls predefined paths program, and predefined paths is corrected to the actual machining path that again obtains foundry goods a to be processed according to deviation.
7, topworks completes clearing up and processing according to the machining path after correcting.
Can effectively solve the foundry goods deviation that the produces impact on Automatic clearance crudy in casting and clamping process, especially the foundry goods shape error of casting generation.Can fully ensure the consistance of cleaning effect.Can fully ensure the reliability of clearing up and processing system, prevent that the damage of system of processing or serious accident from occurring.The present invention can be widely used in various mechanical roughing occasions.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any amendment of doing, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (10)
1. detection and the correcting method of machining path in cast(ing) surface scale removal process, is characterized in that, comprising:
A, choose the master body of foundry goods, fixed standard exemplar;
B, utilize non-contacting sensor measurement standard exemplar to the distance of specified standard plane, thereby obtain the processing plane of master body;
D, in processing plane, establishing criteria exemplar shape is chosen corresponding cutter (203), sets in advance the clearing up and processing path of master body, generates job sequence;
E, foundry goods for clearance is carried out in clearing up and processing process, utilize non-contacting sensor to measure the finished surface of foundry goods to be processed to the distance of standard flat, obtain the processing plane of foundry goods to be processed;
F, contrast draws the deviation data of the processing plane of foundry goods to be processed and the processing plane of master body by analysis;
G, call clearing up and processing program, and according to deviation data, machining path is corrected, obtain new machining path, generate new job sequence;
H, the job sequence that foundation is new are carried out the finished surface of foundry goods to be processed are carried out to clearing up and processing.
2. detection and the correcting method of machining path in cast(ing) surface scale removal process according to claim 1, is characterized in that,
In standard flat, choose at least three points, not conllinear of every three points at least three of choosing point;
Utilize point in the contactless distance measuring sensor measurement standard plane vertical range to exemplar;
Obtain the first vertical range data of measuring, and according to the coordinate of selected point, draw the exemplar processing plane with respect to standard flat;
In standard flat, utilize the point of choosing in contactless distance measuring sensor measurement standard plane to arrive the vertical range of foundry goods to be processed;
Obtain the second vertical range data of measuring, and according to the coordinate of selected point, draw the processing plane with respect to the foundry goods to be processed of index plane;
Obtain the processing plane of foundry goods to be processed and the exemplar processing plane deviation in contactless distance measuring sensor direction;
Calling processor, and according to deviation, the machining path setting in advance is corrected the actual machining path that again obtains foundry goods to be processed, obtain new job sequence;
Complete clearing up and processing according to the new machining path after correcting.
3. detection and the correcting method of machining path in cast(ing) surface scale removal process according to claim 1, is characterized in that,
Cast(ing) surface cleaning adopts casting cleaning machining workstation (1),
Described casting cleaning machining workstation (1) comprises in order to the worktable (101) of stationary positioned foundry goods, for the robot (102) of clearing up and processing foundry goods, in order to control the robot controller (103) of described robot (102) running and in order to control the central controller (104) of described casting cleaning machining workstation (1) running
The movable end of described robot (102) is provided with the processing assembly (2) in order to clearing up and processing.
4. detection and the correcting method of machining path in cast(ing) surface scale removal process according to claim 3, is characterized in that,
Distance measuring sensor (13) in order to the range data of the finished surface of contactless sensing measurement foundry goods to be processed is installed at least one in described foundry goods to be processed, described worktable (101), described processing assembly (2)
Described distance measuring sensor (13) connects respectively described central controller (104) and described robot controller (103), and described range data is transferred to described central controller (104) and described robot controller (103).
5. detection and the correcting method of machining path in cast(ing) surface scale removal process according to claim 4, is characterized in that,
Described central controller (104) establishing criteria plane and range data are compared and are drawn the deviation data of foundry goods, correct the machining path setting in advance according to deviation data, obtain new clearing up and processing path,
Described robot controller (103) is controlled described robot (102) according to new clearing up and processing path foundry goods to be processed is carried out to clearing up and processing.
6. detection and the correcting method of machining path in cast(ing) surface scale removal process according to claim 5, is characterized in that,
The finished surface of described foundry goods to be processed is set as orthogonal directions X, Y-direction and three directions of Z direction,
Described robot controller (103) is controlled described processing assembly (2) in described robot (102) and is carried out clearing up and processing path along directions X and cover completely and have a surplus; Carrying out clearing up and processing path along Y-direction covers completely and has a surplus;
In clearing up and processing process, only the finished surface of described foundry goods to be processed is corrected along the clearing up and processing path of Z direction.
7. detection and the correcting method of machining path in cast(ing) surface scale removal process according to claim 3, is characterized in that,
Described robot (102) periphery is provided with to change the tool magazine (6) of described cutter (203),
Described tool magazine (6) comprises laying described cutter (203) rotatable index plate (601),
On the cutter-exchange mechanism of described index plate (601), be connected with to control the tool changing Hydraulic Station (7) of tool changing;
Described index plate (601) lower end is connected with the Geneva mechanism (602) with described index plate (601) interlock,
The minute of angle of described Geneva mechanism (602) is identical with the minute of angle of described index plate (601);
Described Geneva mechanism (602) lower end is connected with the drive unit (603) that drives described Geneva mechanism (602) to rotate for intermittent transposition running;
Described drive unit (603) connects described central controller (104), controls described drive unit (603) running by described central controller (104);
Described tool magazine (6) is located in dust cover (8), offers and adopt cylinder (9) to drive the dust-proof door (10) of opening or closing on described dust cover (8);
In described tool magazine (6), be provided with the multiple described cutter (203) in order to tool changing, each described cutter (203) below all correspondence is provided with position transducer (11),
Described cutter (203) and original position sensing chip (12) be fixed on the described index plate (601) of described tool magazine (6) upper and with described index plate (601) run-in synchronism,
Described position transducer (11) is fixed in the frame of described index plate (601) bottom,
Described position transducer (11) obtains position signalling to described central controller (104) output signal from described original position sensing chip (12),
Described central controller (104) judges the cutter model of tool change position by the output signal of described position transducer (11);
Described robot controller (103) is controlled described robot (102) and described processing assembly (2) is delivered to tool change position and coordinate described tool changing Hydraulic Station (7) to complete tool changing action.
8. according to detection and the correcting method of machining path in the cast(ing) surface scale removal process described in any one in claim 3 to 7, it is characterized in that,
Described worktable (101) is provided with the positioning tool (3) in order to stationary positioned foundry goods to be processed,
Clamp system (4) and/or positioner in order to stationary positioned foundry goods to be processed are housed on described positioning tool (3);
Described worktable (101) is Double-station bench (1011),
Described positioning tool (3) comprises the first positioning tool (301) of arranging away from described processing assembly (2) and the second positioning tool (302) of arranging near described processing assembly (2);
Described the first positioning tool (301) and described the second positioning tool (302) are located at respectively on the station at Double-station bench (1011) two ends, and can carry out the displacement of position between described the first positioning tool (301) and described the second positioning tool (302).
9. detection and the correcting method of machining path in cast(ing) surface scale removal process according to claim 8, is characterized in that,
Described Double-station bench (1011) horizontally rotates by the tumbler (5) of being located at Double-station bench (1011) middle part,
Described the first positioning tool (301) carries out the displacement of mutual position with described the second positioning tool (302) by the described tumbler of rotation (5).
10. detection and the correcting method of machining path in cast(ing) surface scale removal process according to claim 8, is characterized in that,
Capture described processing assembly (2) by described robot (102), according to new machining path, foundry goods carried out to clearing up and processing,
Described clamp system (4) controlled by described central controller (104) and/or positioner is realized the attitude conversion of foundry goods on described Double-station bench (1011), to coordinate the mobile space track of described robot (102), make described processing assembly (2) can cover all cleaning features of foundry goods to be processed.
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