CN103970071B - The detection of machining path and correcting method in cast(ing) surface scale removal process - Google Patents

The detection of machining path and correcting method in cast(ing) surface scale removal process Download PDF

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Publication number
CN103970071B
CN103970071B CN201410181319.9A CN201410181319A CN103970071B CN 103970071 B CN103970071 B CN 103970071B CN 201410181319 A CN201410181319 A CN 201410181319A CN 103970071 B CN103970071 B CN 103970071B
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casting
processing
processed
clearing
path
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CN103970071A (en
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郑勇全
曹令亚
林彰东
蔡清汀
华文孝
王勇军
杨墨
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Changsha Chaint Robotics Co Ltd
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Changsha Chaint Robotics Co Ltd
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Abstract

Detection and correcting method the invention discloses machining path in a kind of cast(ing) surface scale removal process, including:Choose the master body of casting;Using the distance of contactless distance measuring sensor measurement standard exemplar to the standard flat of regulation, so as to obtain the processing plane of master body;Establishing criteria exemplar shape chooses corresponding cutter in processing plane, pre-sets the clearing up and processing path of master body, generates procedure;Casting to be processed is carried out during clearing up and processing, measure the finished surface of casting to be processed to the distance of standard flat, obtain the processing plane of casting to be processed;Draw the deviation data of the processing plane of casting to be processed and the processing plane of master body;Calling processor obtains new clearing up and processing path simultaneously according to deviation data to clearing up and processing path correction, generates new procedure;Performed according to new procedure carries out clearing up and processing to the finished surface of casting to be processed.Error produced by elimination cast casting and clamping, it is ensured that cleaning quality.

Description

The detection of machining path and correcting method in cast(ing) surface scale removal process
Technical field
The present invention relates to casting cleaning technical field, especially, it is related to machining path in a kind of cast(ing) surface scale removal process Detection and correcting method.
Background technology
Can be divided into aluminum casting cleaning and casting cleaning in casting cleaning field.Aluminum casting cleaning is to casting and clamping error master If being compensated to machining path using floating apparatus;Casting cleaning, main still utilization is ground special plane cooperation manual cleaning Ensure cleaning effect.
Aluminum casting is because its plasticity is good, easy to process and the fash and burr of casting formation are less.Using low torque, small work( The instrument of rate can complete cleaning work, and majority cleaning tool is all between 200W to 500W at present.One side small-power instrument In the case where clearing up and processing speed reaches necessarily, even if touch casting body will not also be damaged to it;On the other hand Realize that cleaning tool keeps uniform flexible floating to be relatively easy in certain stroke range.
Because its plasticity is poor, hardness is high, phosphorus content is high, casting scab is serious, clearing up and processing will produce larger punching to casting Load is hit, it is more strict to cutter requirement, to ensure that processing efficiency needs to use high-power main shaft typically to require in more than 30KW. Powerful system of processing cannot go compensation by the way of mechanical float, easily cause and clear up unclean or be worked into casting sheet Body and damage casting, the serious damage that will cause system of processing or serious accident occur.Current most of casting Iron manufacturing enterprise also all can only coordinate manual cleaning to complete cleaning work using grinding special plane, to casting distribution more rule and sky Between accessibility preferably clear up feature transfer to grinding special plane removal residue character completely by manual cleaning, especially casting is irregular Cleaning feature inside surface and die cavity.Cleaning work amount is big, labour intensity is big, production capacity is low and manual cleaning casting is easily omitted, The casting environment of dressing shop is difficult to ensure that, easily causes environmental pollution and the injury for causing to operating personnel.
The content of the invention
Present invention aim at the detection and correcting method that provide machining path in a kind of cast(ing) surface scale removal process, to solve Error-detecting and correcting method during certainly existing casting cleaning cannot simultaneously meet the cleaning needs of casting and aluminum casting;It is logical Cross design high-precision part and reduce error, cost is too big;The error-detecting and correction of existing casting are relied primarily on and are accomplished manually, matter Amount is difficult to ensure that, easy to omit, the larger technical problem of the pollution to human body and environment.
To achieve the above object, the technical solution adopted by the present invention is as follows:
The detection of machining path and correcting method in a kind of cast(ing) surface scale removal process, including:A, the standard for choosing casting Exemplar, fixed standard exemplar;B, the distance using contactless distance measuring sensor measurement standard exemplar to the standard flat of regulation, So as to obtain the processing plane of master body;D, the corresponding cutter of establishing criteria exemplar shape selection in processing plane, in advance The clearing up and processing path of master body is set, procedure is generated;E, carry out clearing up and processing to casting to be processed during, utilize Contactless distance measuring sensor measures the finished surface of casting to be processed to the distance of standard flat, obtains adding for casting to be processed Work plane;F, by analysis contrast draw the deviation data of the processing plane of casting to be processed and the processing plane of master body; G, calling processor, and clearing up and processing path is corrected according to deviation data, new clearing up and processing path is obtained, generate New procedure;H, performed according to new procedure clearing up and processing is carried out to the finished surface of casting to be processed.
Further, choose in standard flat at 1 points, every three points are not conllinear in 1 points of selection; Using the vertical range of the point in contactless distance measuring sensor measurement standard plane to master body;Obtain measurement first is hung down Straight range data, and according to the coordinate of selected point, to draw and process plane relative to the master body of standard flat;In standard flat The interior vertical range using the point chosen in contactless distance measuring sensor measurement standard plane to casting to be processed;Measured The second vertical range data, and according to the coordinate of selected point, show that the processing of the casting to be processed relative to standard flat is put down Face;The processing plane and master body for obtaining casting to be processed process deviation of the plane in contactless distance measuring sensor direction; Calling processor, and the clearing up and processing path for pre-setting correct according to deviation retrieve the new of casting to be processed Clearing up and processing path, obtain new procedure;Clearing up and processing is completed according to the new clearing up and processing path after correction.
Further, cast(ing) surface cleaning uses casting cleaning machining workstation, and casting cleaning machining workstation is including using With the workbench of stationary positioned casting, the robot for clearing up casting to be processed, it is used to the robot for controlling robot to operate Controller and being used to controls the movable end of the central controller that casting cleaning machining workstation is operated, robot to be provided with to clear Manage the processing assembly of processing.
Further, it is provided with to contactless biography at least one of casting to be processed, workbench, processing assembly The contactless distance measuring sensor of the range data of the finished surface of sensed quantity casting to be processed, contactless distance measuring sensor point Not Lian Jie central controller and robot controller, and by distance data transmission to central controller and robot controller, in Centre controller establishing criteria plane is compared to the distance of casting to be processed with standard flat to the distance of master body and is drawn The deviation data of casting, the clearing up and processing path for pre-setting is corrected according to deviation data, obtains new clearing up and processing path, machine Device people controller carries out clearing up and processing according to new clearing up and processing path clustering robot to casting to be processed.
Further, the finished surface of casting to be processed is set as orthogonal X-direction, three sides of Y-direction and Z-direction To the processing assembly in robot controller control robot performs clearing up and processing path and is completely covered and with remaining in X direction Amount;Clearing up and processing path is performed along Y-direction to be completely covered and with surplus;Only casting to be processed is added during clearing up and processing Corrected along the clearing up and processing path of Z-direction on work surface.
Further, robot periphery is provided with to change the tool magazine of cutter, and tool magazine includes being used to lay cutter and can revolve The index dial for turning, is connected with to control the tool changing Hydraulic Station of tool changing on the cutter-exchange mechanism of index dial;Index dial lower end be connected with The Geneva mechanism of index dial linkage, the minute of angle of Geneva mechanism is identical with the minute of angle of index dial;Geneva mechanism lower end is connected with For the drive device rotated with the drive manner driving sheave mechanism of intermittent transposition;Drive device connects central controller, leads to Cross the operating of central controller controls drive device;Tool magazine is offered on dust cover and opened using air cylinder driven in dust cover Or the dust-proof door closed;The multiple cutters to tool changing are provided with tool magazine, each cutter lower section is correspondingly arranged on position sensing Device, cutter and sensing chip in situ be fixed on the index dial of tool magazine and with index dial run-in synchronism, position sensor is fixed on point In the frame of scale bottom, position sensor obtains position signalling and to central controller output signal from sensing chip in situ, in Centre controller judges the cutter model of tool change position by the output signal of position sensor;Robot controller controls robot Processing assembly is delivered to tool change position and coordinates tool changing Hydraulic Station to complete tool changing and is acted.
Further, workbench is provided with to the positioning tool of stationary positioned casting to be processed, is equipped with positioning tool To the clamp system and/or positioner of stationary positioned casting to be processed.
Further, workbench is Double-station bench, and positioning tool is included outside casting cleaning machining workstation First positioning tool and the second positioning tool extending into casting cleaning machining workstation;First positioning tool and second is determined Position frock is respectively arranged on the station at Double-station bench two ends, and can be between the first positioning tool and the second positioning tool It is configured the displacement of position.
Further, Double-station bench is horizontally rotated by the tumbler in the middle part of Double-station bench, the One positioning tool and the second positioning tool carry out the displacement of mutual position by rotary motion part;First positioning tool and/or It is additionally provided with to convert the positioner of casting attitude on second positioning tool;The rotation of central controller controls Double-station bench Turn, control clamping or relieving and the control positioner conversion attitude of clamp system;By robot crawl processing assembly according to new Clearing up and processing path clearing up and processing is carried out to casting, central controller controls clamp system and/or positioner realize that casting exists Attitude conversion on Double-station bench, to coordinate the mobile space track of robot so that processing assembly can be covered and treated Process all cleaning features of casting.
Further, robot include the rotating seat that can be rotated in the horizontal direction, the mechanical arm that is connected on rotating seat with And the mechanical joint for being rotated for mechanical arm and/or being turned round;Mechanical arm includes at least one cursor, and cursor two ends are equipped with Mechanical joint, the movable end connection processing assembly of mechanical arm.
Further, processing assembly includes the electro spindle being connected on the mechanical joint of mechanical arm movable end, is connected to electricity The handle of a knife of main shaft output end and the cutter being fixed on handle of a knife.
The invention has the advantages that:
The detection of machining path and correcting method in this cast(ing) surface scale removal process, to casting and clamping in scale removal process Error carries out on-line checking and corrects clearing up and processing path automatically, produced error pair in elimination cast casting and clamping process The influence that casting cleaning is caused, it is ensured that cleaning quality and reliability that casting is cleared up automatically;Using contactless on-line checking Method, solves existing touch sensor detection and has that interference is big, measurement error is big, sensing in spray detection process The flimsy technical problem of device;Draw standard flat using master body measurement, using processing plane non-contact detecting and Comparison method, generates new clearing up and processing path and clearing up and processing path is corrected automatically according to error information, is used to solve Influence when workpiece has moderate finite deformation and a clamping precision not high to processing;Casting can effectively be solved in casting and clamping process Influence of the deviation of middle generation to automatic clearing up and processing quality, especially casts the cast shape error of generation;Can fully protect Demonstrate,prove the uniformity of cleaning effect;The reliability of clearing up and processing system can be fully ensured that, the damage of system of processing or great is prevented Security incident occurs;Various mechanical roughing occasions are can be widely applied to, it is applied widely.
In addition to objects, features and advantages described above, the present invention also has other objects, features and advantages. Below with reference to figure, the present invention is further detailed explanation.
Brief description of the drawings
The accompanying drawing for constituting the part of the application is used for providing a further understanding of the present invention, schematic reality of the invention Apply example and its illustrate, for explaining the present invention, not constitute inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 be the preferred embodiment of the present invention cast(ing) surface scale removal process in machining path detection and the knot of correcting method Structure block diagram;
Fig. 2 is the casting surface cleaning equipment detection of the preferred embodiment of the present invention and the structural representation of correction machining path Figure;
Fig. 3 is the structural representation of the casting surface cleaning equipment of the preferred embodiment of the present invention;
Fig. 4 is cast(ing) surface cleaning detection and the structural representation of correcting device of the preferred embodiment of the present invention;
Fig. 5 is the cast(ing) surface cleaning detection and correcting device detection of the preferred embodiment of the present invention and corrects machining path One of structural representation;
Fig. 6 is the cast(ing) surface cleaning detection and correcting device detection of the preferred embodiment of the present invention and corrects machining path The two of structural representation;
Fig. 7 is the structural representation of the tool magazine of the preferred embodiment of the present invention.
Marginal data:
1st, casting cleaning machining workstation;101st, workbench;1011st, Double-station bench;102nd, robot;1021st, revolve Swivel base;1022nd, mechanical arm;1023rd, mechanical joint;103rd, robot controller;104th, central controller;2nd, processing assembly; 201st, electro spindle;202nd, handle of a knife;203rd, cutter;3rd, positioning tool;301st, the first positioning tool;302nd, the second positioning tool;4、 Clamp system;5th, tumbler;6th, tool magazine;601st, index dial;602nd, Geneva mechanism;603rd, drive device;7th, tool changing Hydraulic Station;8、 Dust cover;9th, cylinder;10th, dust-proof door;11st, position sensor;12nd, sensing chip in situ;13rd, contactless distance measuring sensor.
Specific embodiment
Embodiments of the invention are described in detail below in conjunction with accompanying drawing, but the present invention can be by limiting and covering Multitude of different ways implement.
Fig. 1 be the preferred embodiment of the present invention cast(ing) surface scale removal process in machining path detection and the knot of correcting method Structure block diagram;Fig. 2 is casting surface cleaning equipment detection and the structural representation of correction machining path of the preferred embodiment of the present invention; Fig. 3 is the structural representation of the casting surface cleaning equipment of the preferred embodiment of the present invention;Fig. 4 is the casting of the preferred embodiment of the present invention Part removing surface detection and the structural representation of correcting device;Fig. 5 is the cast(ing) surface cleaning detection of the preferred embodiment of the present invention One of and structural representation of correcting device detection and correction machining path;Fig. 6 is the cast(ing) surface of the preferred embodiment of the present invention The two of the structural representation of cleaning detection and correcting device detection and correction machining path;Fig. 7 is the preferred embodiment of the present invention The structural representation of tool magazine.
As shown in figure 1, the detection of machining path and correcting method in the cast(ing) surface scale removal process of the present embodiment, including: A, the master body for choosing casting, fixed standard exemplar;Established standardses plane;B, using contactless distance measuring sensor measure mark Quasi- exemplar to regulation standard flat distance, so as to obtain the processing plane of master body;D, the foundation mark in processing plane Quasi- exemplar shape chooses corresponding cutter 203, pre-sets the clearing up and processing path of (teaching) master body, generation processing journey Sequence;E, carry out clearing up and processing to casting to be processed during, using contactless distance measuring sensor measure casting to be processed plus Work surface obtains the processing plane of casting to be processed to the distance of standard flat;F, by analysis contrast draw casting to be processed Processing plane and master body processing plane deviation data;G, calling processor, and according to deviation data to cleaning Machining path is corrected, and obtains new clearing up and processing path, generates new procedure;H, performed according to new procedure Finished surface to casting to be processed carries out clearing up and processing.The detection of machining path and correction side in this cast(ing) surface scale removal process Method, on-line checking is carried out to casting and clamping error in scale removal process and clearing up and processing path is corrected automatically, is eliminated casting and is cast Make the influence caused to casting cleaning with error produced in clamping process, it is ensured that casting automatically cleaning cleaning quality and can By property;Using the method for contactless on-line checking, existing touch sensor detection is solved to spray detection process Middle presence interference is big, measurement error is big, the flimsy technical problem of sensor;Standard flat is drawn using master body measurement, Using the non-contact detecting and comparison method of processing plane, generate new clearing up and processing path according to error information and cleaning is added Work path is corrected automatically, is used to solve the influence to processing when workpiece has moderate finite deformation and a clamping precision not high;Can be with Influence of the deviation that effectively solution casting is produced in casting and clamping process to automatic clearing up and processing quality, especially casting is produced Raw cast shape error;The uniformity of cleaning effect can be fully ensured that;The reliability of clearing up and processing system can be fully ensured that, The damage or serious accident for preventing system of processing occur;Various mechanical roughing occasions are can be widely applied to, is applicable Scope is wide.
In the present embodiment, choose in standard flat at 1 points.Every three points are not common in 1 points for choosing Line.Using the vertical range of the point in contactless distance measuring sensor measurement standard plane to master body.Obtain the of measurement One vertical range data, and according to the coordinate of selected point, to draw and process plane relative to the master body of standard flat.In standard Using the vertical range of the point chosen in contactless distance measuring sensor measurement standard plane to casting to be processed in plane.Obtain Second vertical range data of measurement, and according to the coordinate of selected point, draw adding for the casting to be processed relative to standard flat Work plane.The processing plane and master body for obtaining casting to be processed process plane in the inclined of contactless distance measuring sensor direction Difference.Calling processor, and correction is carried out to the clearing up and processing path for pre-setting according to deviation retrieve casting to be processed New clearing up and processing path, obtain new procedure.Clearing up and processing is completed according to the new clearing up and processing path after correction. Preferably, three points are chosen in standard flat, not conllinear at 3 points.
As shown in Figures 2 and 3, in the present embodiment, cast(ing) surface cleaning is using casting cleaning machining workstation 1.Casting is clear Reason machining workstation 1 includes the workbench 101 to stationary positioned casting, the robot 102 for clearing up casting to be processed, uses To control the robot controller 103 of the operating of robot 102 and be used to the center for controlling casting cleaning machining workstation 1 to operate Controller 104, the movable end of robot 102 is provided with the processing assembly 2 to clearing up and processing.Casting cleaning machining workstation 1 is adopted Complete mechanical chipping processing unit (plant) is set with stationary positioned, clearing up and processing tactic pattern, is mainly used in casting industry casting The automation of cleaning, production line balance operation, whole process are shifted by mechanization and carried out on job platform, Realize that casting does not land production completely, solve the production bottleneck of current casting cleaning, greatly improve production efficiency and workpiece cleaning Quality;Positioning is fixed to casting a to be processed by workbench 101, in order to the clearing up and processing of automation, it is ensured that accurate Clearing up and processing, it is ensured that the cleaning quality of casting;By surface of the robot 102 to casting a to be processed for being equipped with processing assembly 2 Clearing up and processing is carried out, automatic cleaning is realized to casting using predetermined clearing up and processing path, the phenomenon of omission can be prevented effectively from, plus Work precision can be guaranteed.Preferably, it is additionally provided with for casting a clearing up and processing to be processed in casting cleaning machining workstation 1 During the cooling-water machine b that is cooled down.Lasting water supply is carried out to casting a surfaces to be processed by cooling-water machine b, it is to be processed to reduce Casting a, due to the hyperpyrexia that friction is produced, reduces the negative consequence that hyperpyrexia is brought during clearing up and processing.Preferably, casting is clear Reason machining workstation 1 is externally provided with to intercept the barrier of processing airborne dust and flying chip.Whole casting cleaning machining workstation 1 be in every In gear, it is to avoid the metal fragment that the airborne dust and processing produced during processing take up outwardly is propagated, so as to reduce processing to environment The pollution for bringing and the injury to human body.Preferably, casting cleaning machining workstation 1 also includes to intercept processing airborne dust With the barrier of flying chip.Preferably, robot 102 and processing assembly 2 are in barrier, it is to avoid the airborne dust that is produced during processing and added The metal fragment that work takes up outwardly is propagated, so as to reduce pollution and the injury to human body that processing brings to environment.It is preferred that Ground, barrier combines the safe house to form closing.
As shown in Figure 3 and Figure 4, in the present embodiment, at least one of casting to be processed, workbench 101, processing assembly 2 On be provided with the finished surface that casting to be processed is measured to non-contact sensor range data contactless range finding sensing Device 13, contactless distance measuring sensor 13 connects central controller 104 and robot controller 103 respectively, and by range data Be transferred to central controller 104 and robot controller 103, the establishing criteria plane of central controller 104 to master body away from From with standard flat to casting to be processed with a distance from compare and draw the deviation data of casting, correct advance according to deviation data The clearing up and processing path of (teaching) is set, new clearing up and processing path is obtained, robot controller 103 is according to new clearing up and processing Path clustering robot 102 carries out clearing up and processing to casting to be processed.Current casting is measured using contactless distance measuring sensor 13 Part to standard flat distance and transfer data to central controller 104, it is flat to calculate current processing by central controller 104 Face, and then be compared with the processing plane corresponding to master body and draw both deviations.Central controller 104 is by deviation Send robot controller 103 to, robot controller 103 transfers corresponding master body clearing up and processing path and according to deviation Value carries out correcting to form current clearing up and processing path.So as to realize the check and correction in clearing up and processing path.So as to realize to be processed The accurate processing of casting a.Error online measuring and clearing up and processing path of the casting as caused by casting and clamping is provided to mend automatically The method repaid, can fully ensure that the reliability of clearing up and processing system, and the damage or serious accident for preventing system of processing are sent out It is raw.Ensure that the quality of casting cleaning and the uniformity of cleaning effect.
As shown in Fig. 3, Fig. 4, Fig. 5 and Fig. 6, in the present embodiment, the finished surface of casting to be processed is set as being mutually perpendicular to X-direction, three directions of Y-direction and Z-direction, robot controller 103 control robot 102 on processing assembly 2 in X direction Clearing up and processing path is performed to be completely covered and with surplus;Clearing up and processing path is performed along Y-direction to be completely covered and with surplus; Finished surface during clearing up and processing only to casting to be processed is corrected along the clearing up and processing path of Z-direction.So as to simplify The step of correction and difficulty.
As shown in Figure 3 and Figure 7, in the present embodiment, the periphery of robot 102 is provided with to change the tool magazine 6 of cutter 203.Knife Storehouse 6 includes being used to lay cutter 203 and rotatable index dial 601.It is connected with to control to change on the cutter-exchange mechanism of index dial 601 The tool changing Hydraulic Station 7 of knife.The lower end of index dial 601 is connected with the Geneva mechanism 602 linked with index dial 601.Geneva mechanism 602 Minute of angle is identical with the minute of angle of index dial 601.Synchronous link gear is formed, facilitates the control of tool change position.Geneva mechanism 602 lower ends are connected with the drive device 603 for being rotated with the drive manner driving sheave mechanism 602 of intermittent transposition.Drive dress Put 603 and use intermittent transposition, driving sheave mechanism 602 drives the rotation conversion of the fixed angle of index dial 601, it is ensured that different Cutter 203 is redirected along the fixed locus of points all the time, convenient to taking cutter 203 at any time or using cutter 203 instead.Drive device 603 connection central controllers 104.Integrally-built linkage is realized by setting the link gear being connected with each other.Controlled by center The control of device processed 104 drive device 603 is operated.Tool magazine 6 is offered to be driven using cylinder 9 on dust cover 8 and opened in dust cover 8 The dust-proof door 10 for opening or closing.The multiple cutters 203 to tool changing are provided with tool magazine 6, each lower section of cutter 203 is correspondingly arranged Position sensor 11.Cutter 203 and sensing chip 12 in situ are fixed on the index dial 601 of tool magazine 6 and synchronous with index dial 601 Operating.Position sensor 11 is fixed in the frame of the bottom of index dial 601.Position sensor 11 obtains position from sensing chip in situ 12 Confidence number and to the output signal of central controller 104, central controller 104 judges to change by the output signal of position sensor 11 The cutter model of cutter position;Are delivered into tool change position by processing assembly 2 for the control robot 102 of robot controller 103 and cooperation is changed Knife Hydraulic Station 7 completes tool changing action.The type of the various cutters 203 of automatic switchover is realized, so as to ensure the quality of clearing up and processing.It is excellent Selection of land, casting cleaning machining workstation 1 also includes to intercept the barrier of processing airborne dust and flying chip.Preferably, robot 102nd, processing assembly 2, the first positioning tool 301 and tool magazine 6 are in barrier, it is to avoid the airborne dust and processing band produced during processing The metal fragment for rising outwardly is propagated, so as to reduce pollution and the injury to human body that processing brings to environment.Preferably, every Gear combination forms the safe house of closing.
As shown in figure 3, in the present embodiment, workbench 101 is provided with to the positioning tool of stationary positioned casting to be processed 3.Equipped with the clamp system 4 and/or positioner to stationary positioned casting to be processed on positioning tool 3.Setting is exclusively used in placing The positioning tool 3 of casting a to be processed, so as to casting a to be processed is accurately positioned over fixed place, it is follow-up to ensure The quality of error-detecting, error correction and clearing up and processing.Casting a to be processed is gripped by clamp system 4, side Just casting a to be processed is fixed and release control, the convenient adjustment to casting a placing attitudes to be processed, so as to realize to be added Work casting a carries out comprehensive cleaning, reduces the generation at cleaning dead angle.
As shown in figure 3, in the present embodiment, workbench 101 is Double-station bench 1011.Using Double-station bench 1011, clearing up and processing and transfer operation can be carried out to the casting a to be processed on two stations respectively within the same time, and The conversion of station can be carried out to realize uninterrupted clearing up and processing operation, the efficiency of processing is improved.Positioning tool 3 is included in casting The first positioning tool 301 outside part clearing up and processing work station 1 and the second positioning extending into casting cleaning machining workstation 1 Frock 302.First positioning tool 301 and the second positioning tool 302 are respectively arranged on the station at the two ends of Double-station bench 1011. And the displacement of position can be configured between the first positioning tool 301 and the second positioning tool 302.Setting is used to shift to be treated The positioning tool of processing casting a and it is used to the positioning tool processed, the operation for being processed and shifting simultaneously to facilitate, so that reality Now uninterrupted pipelining, improves the efficiency of processing clearing up and processing.Preferably, casting cleaning machining workstation 1 is also included It is used to intercept the barrier of processing airborne dust and flying chip.Preferably, robot 102, the positioning tool 301 of processing assembly 2 and first are in In barrier, it is to avoid the metal fragment that the airborne dust and processing produced during processing take up outwardly is propagated, so as to reduce processing to ring Pollution and the injury to human body that border is brought.Preferably, barrier combines the safe house to form closing.
As shown in figure 3, in the present embodiment, Double-station bench 1011 is by turning located at the middle part of Double-station bench 1011 Moving part 5 is horizontally rotated, and the first positioning tool 301 and the second positioning tool 302 carry out mutual meta by rotary motion part 5 The displacement put.Position conversion between control positioning tool, so as to accelerate the efficiency of clearing up and processing pipelining.First positioning It is additionally provided with to convert the positioner of casting attitude on the positioning tool 302 of frock 301 and/or second.Positioner by revolution and/ Or the mode of upset freely converts the attitude of the casting a to be processed on the top of workbench 101, so as to facilitate robot 102 to be added Work casting a carries out comprehensive clearing up and processing, it is to avoid the omission of cleaning.Central controller 104 controls Double-station bench 1011 Rotation, control clamp system 4 clamping or relieving and control positioner conversion attitude.Processing group is captured by robot 102 Part 2 carries out clearing up and processing, the control clamp system 4 of central controller 104 and/or displacement to casting according to new clearing up and processing path Machine realizes attitude conversion of the casting on Double-station bench 1011, to coordinate the mobile space track of robot 102 so that plus Work component 2 can cover all cleaning features of casting to be processed.Central controller 104 controls the rotation of workbench 101, leads to The position conversion crossed between the control positioning tool of central controller 104, so as to accelerate the efficiency of clearing up and processing pipelining.In Centre controller 104 controls the clamping or relieving of clamp system 4.Realize that automation is fixed and discharges to casting a to be processed.
As shown in figure 3, in the present embodiment, robot 102 includes the rotating seat 1021 that can be rotated in the horizontal direction, is connected to Mechanical arm 1022 on rotating seat 1021 and the mechanical joint 1023 for rotating and/or turning round for mechanical arm 1022;Mechanical arm 1022 include at least one cursor, and cursor two ends are equipped with mechanical joint 1023, and the movable end connection of mechanical arm 1022 adds Work component 2.The horizontal rotation of robot 102 is realized by rotating seat 1021, mechanical arm 1022 is realized by mechanical joint 1023 Stretch, rotary motion so that capturing processing assembly 2 carries out the movement in space, realize to not Tongfang on casting a surfaces to be processed Position, the target of different distance carry out automation cleaning.Mechanical arm 1022 includes at least one cursor, and cursor two ends are equipped with Mechanical joint 1023.By setting many cursors, farther distance and more multi-faceted target cleaning can be realized, applicability is more By force.The movable end connection processing assembly 2 of mechanical arm 1022.By the flexibility of the processing assembly 2 and mechanical arm 1022 of movable end Realize multi-faceted accurate processing.
As shown in figure 3, in the present embodiment, processing assembly 2 includes being connected to the mechanical joint of the movable end of mechanical arm 1022 Electro spindle 201 on 1023, the cutter 203 for being connected to the handle of a knife 202 of the output end of electro spindle 201 and being fixed on handle of a knife 202. Preferably, processing assembly 2 is arranged on six shaft flanges of robot 102, and robot 102 is according to the path arranged to be processed Casting a carries out fixed point clearing up and processing.Casting a to be processed is positioned on positioner, and positioner can drive casting a to be processed to realize 360 ° rotate to switch the attitude of casting a to be processed and coordinate the space motion track of robot 102 to complete casting a's to be processed Clearing up and processing.
During implementation, as shown in figure 4, the detection of machining path and correcting method in cast(ing) surface scale removal process, using machine People 102, processing assembly 2, contactless distance measuring sensor 13, casting to be processed, central controller 104, robot controller 103.Current casting is measured to the distance of standard flat using contactless distance measuring sensor 13 and transfers data to central control Device processed 104, calculates current processing plane, and then carry out with the processing plane corresponding to master body by central controller 104 Compare and draw both deviations.Central controller 104 sends deviation to robot controller 103, robot controller 103 Transfer corresponding master body clearing up and processing path and correct forming current clearing up and processing path according to deviation.
As shown in figure 1, the detection of machining path and correcting method include casting, contactless in cast(ing) surface scale removal process Distance measuring sensor, central controller 104, robot controller 103, robot 102.During robot controller 103 is connected respectively Centre controller 104 and robot 102, are used to correct clearing up and processing path.Specifically mode is:Reference picture 5 and Fig. 6.
1st, the procedure of (teaching) master body is pre-set;
2nd, casting to the distance of the standard flat of regulation, center control are measured using contactless distance measuring sensor in producing Device processed 104 receives data and is analyzed the new Mechanical processing of casting plane of generation, and central controller 104 is to Mechanical processing of casting plane and mark Quasi- exemplar processing plane carries out contrasting the deviation for showing that relative standard's exemplar processes plane.
3rd, robot controller 103 calls corresponding procedure, and the deviation that foundation central controller 104 is calculated to clear Reason machining path correct and obtains new procedure.
4th, robot 102 carries out clearing up and processing according to the new procedure that robot controller 103 is generated to casting.
Casting cleaning processing is corrected and required:
As shown in Figure 5 and Figure 6, fash, undesirable root, the oxidation using cutter 203 to being formed in casting a casting process to be processed The cleaning such as skin feature c carries out clearing up and processing.Cutter 203 completes clearing up and processing in X direction in processing, it is stipulated that cutter 203 is in the Y direction Cover and possess certain surplus;X-direction executing agency clearing up and processing path is completely covered and possesses certain surplus.As long as ensureing casting Part is controlled in reserved margin in the deviation of X, Y-direction, then only needed to the mistake produced by casting Z-direction during clearing up and processing Difference is corrected.
The method that casting cleaning processing is corrected:
The certain deviation of physical presence is, it is necessary to will cleaning between Mechanical processing of casting plane to be processed and master body processing plane The predefined paths of processing are corrected as the new clearing up and processing path for actual casting.Concrete methods of realizing is:
1st, tri- points of a, b, c are chosen in standard flat using contactless distance measuring sensor measurement standard plane to standard Exemplar apart from La, Lb, Lc.
2nd, data handling system receives measurement data La, Lb, Lc and basis and 3 points of coordinates in standard flat of a, b, c (Xa, Ya), (Xb, Yb), (Xc, Yc) are calculated and are processed plane relative to the master body of standard flat.
3rd, suitable cutter is selected to pre-set the predefined paths of (teaching) casting cleaning executing agency.
4th, using the distance of contactless distance measuring sensor measurement standard plane to casting a to be processed in standard flat La1、Lb1、Lc1。
5th, data handling system receives measurement data La1、Lb1、Lc1And according to 3 points of seats in standard flat of a, b, c Mark (Xa1、Ya1)、(Xb1、Yb1)、(Xc1、Yc1) calculate the processing plane of casting a to be processed relative to standard flat.And count The processing plane and master body for calculating casting a to be processed process deviation of the plane in sensor measurement direction.
6th, control system of actuating mechanism calls predefined paths program, and predefined paths is corrected again according to deviation To the new clearing up and processing path of casting a to be processed.
7th, executing agency completes clearing up and processing according to the clearing up and processing path after correction.
The influence of deviation that casting produces in casting and clamping process to automatic clearing up and processing quality can be effectively solved, Especially cast the cast shape error of generation.The uniformity of cleaning effect can be fully ensured that.Clearing up and processing can be fully ensured that The reliability of system, the damage or serious accident for preventing system of processing occurs.The present invention can be widely applied to various Mechanical roughing occasion.
The preferred embodiments of the present invention are the foregoing is only, is not intended to limit the invention, for the skill of this area For art personnel, the present invention can have various modifications and variations.It is all within the spirit and principles in the present invention, made any repair Change, equivalent, improvement etc., should be included within the scope of the present invention.

Claims (10)

1. the detection of machining path and correcting method in a kind of cast(ing) surface scale removal process, it is characterised in that including:
A, the master body for choosing casting to be processed, fixed standard exemplar;
B, the distance using contactless distance measuring sensor measurement standard exemplar to the standard flat of regulation, so as to obtain standard sample The processing plane of part;
D, the corresponding cutter (203) of establishing criteria exemplar shape selection in processing plane, pre-set the cleaning of master body Machining path, generates procedure;
E, carry out clearing up and processing to casting to be processed during, using contactless distance measuring sensor measure casting to be processed plus Work surface obtains the processing plane of casting to be processed to the distance of standard flat;
F, by analysis contrast draw the deviation data of the processing plane of casting to be processed and the processing plane of master body;
G, calling processor, and clearing up and processing path is corrected according to deviation data, new clearing up and processing path is obtained, The new procedure of generation;
Standard flat is drawn using master body measurement, using the non-contact detecting and comparison method of processing plane, according to partially Difference data generates new clearing up and processing path and clearing up and processing path is corrected automatically, be used to solve casting to be processed exist compared with Influence when large deformation and clamping precision not high to processing, it is inclined with solve that casting to be processed produces in casting and clamping process The cast shape error to be processed that influence and casting of the difference to automatic clearing up and processing quality are produced;
H, performed according to new procedure clearing up and processing is carried out to the finished surface of casting to be processed.
2. the detection of machining path and correcting method in cast(ing) surface scale removal process according to claim 1, its feature exist In,
Choose in standard flat at 1 points, every three points are not conllinear in 1 points of selection;
Using the vertical range of the point in contactless distance measuring sensor measurement standard plane to master body;
The first vertical range data of measurement are obtained, and according to the coordinate of selected point, draws the standard sample relative to standard flat Part processes plane;
The hanging down using the point chosen in contactless distance measuring sensor measurement standard plane to casting to be processed in standard flat Straight distance;
The second vertical range data of measurement are obtained, and according to the coordinate of selected point, is drawn to be processed relative to standard flat The processing plane of casting;
The processing plane and master body for obtaining casting to be processed process deviation of the plane in contactless distance measuring sensor direction;
Calling processor, and correction is carried out to the clearing up and processing path for pre-setting according to deviation retrieve casting to be processed New clearing up and processing path, obtain new procedure;
Clearing up and processing is completed according to the new clearing up and processing path after correction.
3. the detection of machining path and correcting method in cast(ing) surface scale removal process according to claim 1, its feature exist In,
Cast(ing) surface cleaning uses casting cleaning machining workstation (1),
The casting cleaning machining workstation (1) is including the workbench (101) to stationary positioned casting to be processed, for clearing up The robot (102) of casting to be processed, the robot controller (103) and use that are used to control the robot (102) operating With the central controller (104) for controlling the casting cleaning machining workstation (1) to operate,
The movable end of the robot (102) is provided with the processing assembly (2) to clearing up and processing.
4. the detection of machining path and correcting method in cast(ing) surface scale removal process according to claim 3, its feature exist In,
It is provided with to non-at least one of the casting to be processed, the workbench (101), described processing assembly (2) Contact-sensing measures the contactless distance measuring sensor (13) of the range data of the finished surface of casting to be processed,
The contactless distance measuring sensor (13) connects the central controller (104) and the robot controller respectively (103) central controller (104) and the robot controller (103), and by the distance data transmission are given.
5. the detection of machining path and correcting method in cast(ing) surface scale removal process according to claim 4, its feature exist In,
Central controller (104) the establishing criteria plane to distance and the standard flat of master body to casting to be processed away from The deviation data of casting to be processed is drawn from comparing, the clearing up and processing path for pre-setting is corrected according to deviation data, obtained To new clearing up and processing path,
The robot controller (103) is according to robot (102) described in new clearing up and processing path clustering to casting to be processed Carry out clearing up and processing.
6. the detection of machining path and correcting method in cast(ing) surface scale removal process according to claim 5, its feature exist In,
The finished surface of the casting to be processed is set as orthogonal X-direction, three directions of Y-direction and Z-direction,
The robot controller (103) controls the processing assembly (2) on the robot (102) to perform in X direction clearly Reason machining path is completely covered and with surplus;Clearing up and processing path is performed along Y-direction to be completely covered and with surplus;
Finished surface during clearing up and processing only to the casting to be processed is corrected along the clearing up and processing path of Z-direction.
7. the detection of machining path and correcting method in cast(ing) surface scale removal process according to claim 3, its feature exist In,
Robot (102) periphery is provided with to change the tool magazine (6) of the cutter (203),
The tool magazine (6) lays the cutter (203) and rotatable index dial (601) including being used to,
It is connected with to control the tool changing Hydraulic Station (7) of tool changing on the cutter-exchange mechanism of the index dial (601);
Index dial (601) lower end is connected with the Geneva mechanism (602) linked with the index dial (601),
The minute of angle of the Geneva mechanism (602) is identical with the minute of angle of the index dial (601);
Geneva mechanism (602) lower end is connected with for driving the Geneva mechanism (602) with the drive manner of intermittent transposition The drive device (603) of rotation;
The drive device (603) connects the central controller (104), is controlled by the central controller (104) described Drive device (603) is operated;
The tool magazine (6) is offered on the dust cover (8) and is turned on and off using cylinder (9) driving in dust cover (8) Dust-proof door (10);
The multiple described cutter (203) to tool changing is provided with the tool magazine (6), each described cutter (203) lower section corresponds to Position sensor (11) is set,
The cutter (203) and sensing chip in situ (12) be fixed on the index dial (601) of the tool magazine (6) and with it is described Index dial (601) run-in synchronism,
The position sensor (11) is fixed in the frame of the index dial (601) bottom,
The position sensor (11) obtains position signalling and to the central controller (104) from the sensing chip (12) in situ Output signal,
The central controller (104) judges the knife type of tool change position by the output signal of the position sensor (11) Number;
The robot controller (103) controls the robot (102) that the processing assembly (2) is delivered to tool change position and matched somebody with somebody Close the tool changing Hydraulic Station (7) and complete tool changing action.
8. the detection of machining path and correction side in the cast(ing) surface scale removal process according to any one of claim 3 to 7 Method, it is characterised in that
The workbench (101) is provided with the positioning tool (3) to stationary positioned casting to be processed,
Equipped with the clamp system (4) and/or positioner to stationary positioned casting to be processed on the positioning tool (3);
The workbench (101) is Double-station bench (1011),
The positioning tool (3) is including the first positioning tool (301) for being arranged away from the processing assembly (2) and near described Second positioning tool (302) of processing assembly (2) arrangement;
First positioning tool (301) and second positioning tool (302) are respectively arranged on Double-station bench (1011) two Position can be carried out on the station at end, and between first positioning tool (301) and second positioning tool (302) Displacement.
9. the detection of machining path and correcting method in cast(ing) surface scale removal process according to claim 8, its feature exist In,
The Double-station bench (1011) carries out level rotation by the tumbler (5) in the middle part of Double-station bench (1011) Turn,
First positioning tool (301) is carried out mutually with second positioning tool (302) by rotating the tumbler (5) Between position displacement.
10. the detection of machining path and correcting method in cast(ing) surface scale removal process according to claim 8, its feature exist In,
Capture the processing assembly (2) by the robot (102) is carried out according to new clearing up and processing path to casting to be processed Clearing up and processing,
The central controller (104) controls the clamp system (4) and/or positioner to realize casting to be processed in the duplex Attitude conversion on position workbench (1011), to coordinate the mobile space track of the robot (102) so that the processing group Part (2) can cover all cleaning features of casting to be processed.
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