CN103978192A - Working station for finishing iron casting and iron casting finishing method - Google Patents
Working station for finishing iron casting and iron casting finishing method Download PDFInfo
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- CN103978192A CN103978192A CN201410182994.3A CN201410182994A CN103978192A CN 103978192 A CN103978192 A CN 103978192A CN 201410182994 A CN201410182994 A CN 201410182994A CN 103978192 A CN103978192 A CN 103978192A
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Abstract
The invention discloses a working station for finishing an iron casting. The working station comprises a base, a conveying mechanism for conveying the iron casting and a finishing mechanism for machining the iron casting, wherein the conveying mechanism and/or the finishing mechanism are/is mounted on the base; the working station further comprises a working table for fixedly positioning the iron casting, a transferring mechanism for transferring the iron casting to be machined from the conveying mechanism to the working table, and a control mechanism for controlling the conveying mechanism to run and/or the finishing mechanism to run; the finishing mechanism comprises machining components for finishing the iron casting to be machined and robots for adjusting the machining orientations of the machining components; the machining components are mounted at the movable ends of the robots. A mechanical finishing machining device is arranged in a transferring, fixedly positioning and finishing machining structural mode and is used for automatic and assembly line production work of iron casting finishing, so that complete suspended production of the casting is realized, and the production efficiency and the workpiece cleaning quality are greatly improved.
Description
Technical field
The present invention relates to ironcasting finished machined technical field, especially, relate to a kind of work station of finishing ironcasting.In addition, the invention still further relates to a kind of finely finishing method that comprises the ironcasting of above-mentioned work station.
Background technology
Foundry goods needs just can proceed to machined workshop section through cleaning after casting.Casting cleaning refers to, starts to carry out to foundry goods the general name of fine finishining a series of casting cleaning operations before after casting pouring moulding from knockout.Comprise casting falling sand, remove dead head, heat treatment, vibration decoring, secondary fine are thrown, rust cleaning application, Workpiece inspection, ball blast, milling drum grinding, artificial finishing, secondary fine throwing, check and a foundry goods application etc.
At artificial finishing department, due to the most surface imperfections of one side foundry goods and internal feature more; Foundry goods model, specification are more on the other hand.Realize foundry goods Hand scarf difficulty too large, traditional cleaning pattern is to adopt high-power through type milling drum to process the fash of foundry goods regular surfaces formation, water and emit root, oxide skin etc. to turn by artificial finishing again.Many and the wide coverage of feature quantity that artificial finishing need to be removed, cleaning work amount is large.The diversity of cleaning feature requires workpiece in scale removal process to need continuous flange.Therefore most enterprises can only rely on and manually take stall with goods spread out on the ground for sale formula to produce, and production capacity is low and cause foundry goods to put confusion, easily omit.For many years because casting cleaning is not taken seriously, cleaning means are mainly manual polishings, especially in iron casting production enterprise, place cleaning is in full flourish, work-yard everywhere, be airborne dust point everywhere, casting cleaning crowd is mostly rural migrant worker, dry several years of cleaning workman must the situation of tuberculosis common.The young man who grows up now along with workman's aging on the other hand is unwilling to be engaged in this type of work, and enterprises using the labor cost increases and the difficult problem of advertising for workers greatly.It is more and more urgent to realizing the demand of foundry goods automation cleaning that above reason promotes enterprise.
Also there are at present some casting finish systems, but be only directed to the plasticity such as aluminum casting good, be easy to the less workpiece of processing and fash and burr; Its plasticity of ironcasting is poor, hardness is high, phosphorus content is high, casting scab is serious, ironcasting clearing up and processing will produce larger shock loading, to cutter, require comparatively strict, for guaranteeing working (machining) efficiency, need to use high-power main shaft, and powerful system of processing cannot adopt the mode of mechanical float to go compensation due to the error of casting and clamping causes, cause cleaning clean or be worked into foundry goods body and damage foundry goods, serious will cause damage or the serious accident of system of processing to occur, and polishing effect is difficult to reach user's requirement.
Summary of the invention
The object of the invention is to provide a kind of work station and ironcasting finely finishing method of finishing ironcasting, large to solve existing artificial finishing difficulty, easily omits cleaning point, large to human injury; Existing mechanical finishing system is difficult to clear up ironcasting, easily causes the technical problem that cleaning is clean, foundry goods damage even causes serious accident.Needs for casting industry upgrading transition, develop robot ironcasting automatic finishing system, introduce multinomial automatic control technology, comprise Industrial Robot Technology, Intelligent Measurement technology, flexible online compensation technology, sensor technology, servo control technique, be mainly used in automation, the streamline production operation of the finishing of casting industry ironcasting, realize foundry goods and do not land production completely.Solve the production bottleneck of current ironcasting cleaning, greatly enhance productivity and workpiece cleaning quality.
For achieving the above object, the technical solution used in the present invention is as follows:
A kind of work station of finishing ironcasting, comprise pedestal, in order to carry the conveying mechanism of ironcasting and in order to the finishing mechanism of processing cast iron part, conveying mechanism and/or finishing mechanism are arranged on pedestal, work station also comprises the workbench in order to stationary positioned ironcasting, in order to the controlling organization of the ironcasting to be processed on conveying mechanism being transferred to the transfer device on workbench and being turned round and/or control finishing mechanical operation in order to control conveying mechanism, finishing mechanism comprises treating that processing cast iron part carries out the processing assembly of finished machined and for adjusting the robot in the processing orientation of processing assembly, processing assembly is arranged on the movable end of robot.
Further, controlling organization comprises in order to the robot controller of control running and in order to control the central controller of workbench running.
Further, workbench is provided with the positioning tool in order to stationary positioned ironcasting to be processed, and the clamp mechanism in order to stationary positioned ironcasting to be processed is housed on positioning tool.
Further, workbench is Double-station bench, and positioning tool comprises near the first positioning tool of conveying mechanism layout and the second positioning tool of close finishing arrangement of mechanism; The first positioning tool and the second positioning tool are located at respectively on the station at Double-station bench two ends, and the middle part of workbench is arranged on pedestal by tumbler, and the first positioning tool and the second positioning tool carry out the displacement of position by rotation tumbler; The rotation of central controller controls workbench and clamping or the relieving of controlling clamp mechanism.
Further, be also provided with positioner between positioning tool and workbench, positioning tool is located on positioner.
Further, robot comprises the rotating seat that is fixed on pedestal and can along continuous straight runs rotation, is connected to mechanical arm on rotating seat and for mechanical arm rotation and/or rotating mechanical joint; Mechanical arm comprises at least one cursor, and cursor 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 and is fixed in the cutter on handle of a knife.
Further, on mechanical arm the movement locus of mechanical joint in same plane.The rotation of mechanical arm and/or rotary track are in same plane.
Further, robot is provided with two groups, and the axis of two groups of Robot workbench is arranged symmetrically with; Between Liang Zu robot, be provided with to change the tool magazine of the cutter of processing assembly.
Further, tool magazine comprises laying cutter rotatable index dial, is connected with to control the Hydraulic Station of tool changing on the cutter-exchange mechanism of index dial; Index dial lower end is connected with the Geneva mechanism with index dial interlock, and the minute of angle of Geneva mechanism is identical with the minute of angle of index dial; Geneva mechanism lower end is connected with the drive unit rotating for intermittent transposition running driver slot wheel mechanism; Drive unit connects central controller, by central controller controls drive unit, turns round; The dust cover that tool magazine peripheral hardware has to hold tool magazine and plays dustproof effect, offers the dust-proof door that adopts air cylinder driven to open or close on dust cover.
Further, conveying mechanism comprises taking out the feeding transfer passage of ironcasting to be processed and in order to place the blowing transfer passage of the ironcasting after processing.
Further, in finishing mechanism, be also provided with for ironcasting finished machined process to be processed and carry out cooling cooling-water machine; Finishing mechanism peripheral hardware has in order to intercept the barrier of processing airborne dust and flying chip.
Further, on ironcasting to be processed and/or workbench and/or processing assembly, distance measuring sensor is installed, distance measuring sensor connects central controller and/or robot controller.
According to a further aspect in the invention, a kind of finely finishing method of ironcasting is also provided, it comprises the finishing work station of above-mentioned ironcasting, comprise the following steps: a, by transfer device, from conveying mechanism, obtained ironcasting and the ironcasting obtaining be positioned on the first positioning tool of Double-station bench, central controller controls clamp mechanism is fixed ironcasting; The rotation of b, central controller controls Double-station bench, exchanges the position of the first positioning tool and the second positioning tool, and on the second positioning tool repeating step a; C, robot controller and central controller carry out finished machined according to predefined paths control, processing assembly and Double-station bench to ironcasting; After d, completion of processing, original position is got back to by robot, central controller controls Double-station bench rotation simultaneously, by the position displacement of the first positioning tool and the second positioning tool, is transferred to the ironcasting processing on the first positioning tool on conveying mechanism by transfer device; E, repeating step b, c, d, realize the process streams circulation of ironcasting conveying and finished machined.
Further, before step c implements, add error detection step, by predefined paths, ironcasting is carried out being detected by the site error of casting or clamping causes, site error the transmission of by distance measuring sensor, responding to ironcasting are given to central controller; Central controller is determined new machining path according to position error data, and new machining path is transferred to robot controller; Robot controller and central controller carry out finished machined according to new machining path control and processing assembly to ironcasting.
Further, in step c, by robot, capture processing assembly, according to prior predetermined machining path, ironcasting is carried out to finished machined, central controller controls clamp mechanism and/or positioner are realized the attitude conversion of ironcasting on Double-station bench, to coordinate the mobile space track of robot, make whole finishing mechanism cover all finishing features of ironcasting.
Further, in process, for the concrete finishing feature of ironcasting, need to choose corresponding cutter, by central controller controls tool magazine, corresponding cutter is switched to tool change position, by robot, processing assembly is delivered to tool change position and coordinate tool changing Hydraulic Station to complete tool changing and move.
Further, in tool magazine, be provided with a plurality of cutters in order to tool changing, each cutter below all correspondence is provided with corresponding position sensor, and cutter and original position sensing chip are fixed on the index dial of tool magazine and synchronous rotation, and position sensor is fixed in the bottom frame of tool magazine; Position sensor is from original position sensing chip acquisition position signalling and to central controller output signal, and central controller is by the cutter model of the output signal judgement tool change position of position sensor.
The present invention has following beneficial effect:
1, the work station of this finishing ironcasting, adopt transfer, stationary positioned, finished machined tactic pattern that complete mechanization finishing processing device is set, be mainly used in automation, the streamline production operation of the finishing of casting industry ironcasting, 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 ironcasting cleaning, greatly enhance productivity and workpiece cleaning quality; By conveying mechanism, carry ironcasting, complete the function of input and output; By transfer device, from conveying mechanism, capture ironcasting to be processed and send into workbench and wait for follow-up finished machined, and from workbench, the ironcasting after completion of processing being sent back to conveying mechanism by transfer device; By workbench, treat processing cast iron part and be fixed location, so that the finished machined of automation guarantees accurate finished machined, guarantee the cleaning quality of ironcasting; By being equipped with the robot of processing assembly, treat the surface of processing cast iron part and carry out finished machined, adopt predetermined machining path to realize automatic finishing to ironcasting, can effectively avoid the phenomenon of omission, machining accuracy can be guaranteed.
2, the method for the on-line automatic finishing of a kind of ironcasting robot is provided, realized continuous, the intensive production of ironcasting finishing, further can realize after moulding by casting from knockout, cut that the operation ironcastings such as dead head, ball blast, cleaning, application do not land, full-automatic streamline production operation.Whole process using mechanization auto-controll operation, has solved workman's dust under artificial finishing environment, noise injury is serious and labour intensity is large puzzlement.Dirty, random, the poor production looks of artificial finishing have been changed.Improve foundry enterprise casting finish production capacity, significantly reduced enterprises using the labor cost.
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.
Accompanying drawing explanation
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 structural representation of work station of the finishing ironcasting of the preferred embodiment of the present invention;
Fig. 2 is that the robot of the preferred embodiment of the present invention treats the structural representation that processing cast iron part carries out finished machined;
Fig. 3 is the structural representation of the tool magazine of the preferred embodiment of the present invention;
Fig. 4 is one of structural representation of selecting of the cutter of the preferred embodiment of the present invention;
Fig. 5 is two of the structural representation selected of the cutter of the preferred embodiment of the present invention.
Marginal data:
1, pedestal; 2, conveying mechanism; 201, feeding transfer passage; 202, blowing transfer passage; 3, finishing mechanism; 4, workbench; 5, transfer device; 6, robot; 601, rotating seat; 602, mechanical arm; 603, mechanical joint; 7, controlling organization; 701, robot controller; 702, central controller; 8, processing assembly; 801, electric main shaft; 802, handle of a knife; 803, cutter; 9, positioning tool; 901, the first positioning tool; 902, the second positioning tool; 10, clamp mechanism; 11, tool magazine; 1101, index dial; 1102, Geneva mechanism; 1103, drive unit; 12, dust cover; 13, cylinder; 14, dust-proof door; 15, cooling-water machine; 16, distance measuring sensor; 17, original position sensing chip; 18, barrier; 19, position sensor.
The specific 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 structural representation of work station of the finishing ironcasting of the preferred embodiment of the present invention; Fig. 2 is that the robot of the preferred embodiment of the present invention treats the structural representation that processing cast iron part carries out finished machined; Fig. 3 is the structural representation of the tool magazine of the preferred embodiment of the present invention; Fig. 4 is one of structural representation of selecting of the cutter of the preferred embodiment of the present invention; Fig. 5 is two of the structural representation selected of the cutter of the preferred embodiment of the present invention.
As shown in Figure 1, the work station of the finishing ironcasting of the present embodiment, comprise pedestal 1, in order to carry the conveying mechanism 2 of ironcasting and in order to the finishing mechanism 3 of processing cast iron part, conveying mechanism 2 and/or finishing mechanism 3 are arranged on pedestal 1, work station also comprises the workbench 4 in order to stationary positioned ironcasting, in order to the controlling organization 7 of the ironcasting a to be processed on conveying mechanism 2 being transferred to the transfer device 5 on workbench 4 and turning round in order to control conveying mechanism 2 runnings and/or control finishing mechanism 3, finishing mechanism 3 comprises treating that processing cast iron part a carries out the processing assembly 8 of finished machined and for adjusting the robot 6 in the processing orientation of processing assembly 8, processing assembly 8 is arranged on the movable end of robot 6.The work station of this finishing ironcasting adopts transfer, stationary positioned, finished machined tactic pattern that complete mechanization finishing processing device is set, be mainly used in automation, the streamline production operation of the finishing of casting industry ironcasting, 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 ironcasting cleaning, greatly enhance productivity and workpiece cleaning quality; By conveying mechanism 2, carry ironcasting, complete the function of input and output; By transfer device 5, from conveying mechanism 2, capture ironcasting a to be processed and send into workbench 4 and wait for follow-up finished machined, and from workbench 4, the ironcasting after completion of processing being sent back to conveying mechanism 2 by transfer device 5; By workbench 4, treat processing cast iron part a and be fixed location, so that the finished machined of automation guarantees accurate finished machined, guarantee the cleaning quality of ironcasting; By being equipped with the robot 6 of processing assembly 8, treat the surface of processing cast iron part a and carry out finished machined, adopt predetermined machining path to realize automatic finishing to ironcasting, can effectively avoid the phenomenon of omission, machining accuracy can be guaranteed.Preferably, transfer device 5 can adopt mechanical arm, arm, switching conveyer belt or manually shift.Preferably, pedestal 1 can be ground, workbench etc.
As shown in Figure 1, in the present embodiment, controlling organization 7 comprises in order to the robot controller 701 of control 6 runnings and in order to control the central controller 702 of workbench 4 runnings.By robot controller 701Dui robot 6, control separately, to avoid various external factor, to robot, 6 actions cause obstruction, guarantee that robot 6 completes the quality of finished machined on ironcasting a to be processed; By 702 pairs of whole systems of central controller, carry out same management and control, thereby realize the automatic operating of whole device.
As shown in Figure 1, in the present embodiment, workbench 4 is provided with the positioning tool 9 in order to stationary positioned ironcasting a to be processed.Clamp mechanism 10 in order to stationary positioned ironcasting a to be processed is housed on positioning tool 9.Arrange special-purpose to place the positioning tool 9 of ironcasting a to be processed, so that transfer device 5 can be positioned over fixing place by ironcasting a to be processed accurately, to guarantee the quality of follow-up finished machined.By clamp mechanism 10, treating processing cast iron part a grips, conveniently treating processing cast iron part a fixes and release control, conveniently treat the adjustment of processing cast iron part a placing attitude, thereby realize, treat processing cast iron part a and carry out omnibearing cleaning, reduce the generation at cleaning dead angle.
As depicted in figs. 1 and 2, in the present embodiment, workbench 4 is Double-station bench.Adopt Double-station bench, respectively the ironcasting to be processed on two stations is carried out to finished machined and transfer operation in can be at one time, and the conversion that can carry out station is to realize uninterrupted finished machined operation, improves the efficiency of processing.Positioning tool 9 comprises the first positioning tool 901 of arranging near conveying mechanism 2 and the second positioning tool 902 of arranging near finishing mechanism 3.The first positioning tool 901 and the second positioning tool 902 are located at respectively on the station at Double-station bench two ends.The positioning tool of arranging near conveying mechanism 2 in order to etc. the ironcasting processed finished products after ironcasting a to be processed to be transferred or processing; The positioning tool of arranging near organisation of working finishing mechanism 3 in order to etc. to be processed.Setting, in order to shift positioning tool and the positioning tool in order to process of ironcasting a to be processed, to facilitate the operation of processing and shifting simultaneously, thereby realizes uninterrupted pipelining, improves the efficiency of processing finished machined.The middle part of workbench 4 is arranged on pedestal 1 by tumbler b.The first positioning tool 901 and the second positioning tool 902 carry out the displacement of position by rotation tumbler b, by the exchange also exchange of implementation structure function simultaneously of position.By being set, realizes tumbler 6 rotation of workbench 4, thus the convenient position conversion of controlling between positioning tool, thus the efficiency of quickening finished machined pipelining.Central controller 702 is controlled the rotation of workbench 4 and clamping or the relieving of controlling clamp mechanism 10.Treating processing cast iron part a realizes automation and fixes and discharge.
As depicted in figs. 1 and 2, in the present embodiment, between positioning tool 9 and workbench 4, be also provided with positioner d, positioning tool 9 is located on positioner d.Positioner d freely converts the attitude of the ironcasting a to be processed on workbench 4 tops by the mode of turning round and/or overturning, thereby facilitate robot 6 to treat processing cast iron part a, carry out omnibearing finished machined, avoids the omission of cleaning.
As depicted in figs. 1 and 2, in the present embodiment, robot 6 comprises the rotating seat 601 that is fixed on pedestal 1 and can along continuous straight runs rotation, be connected to mechanical arm 602 on rotating seat 601 and for mechanical arm 602 rotation and/or rotating mechanical joints 603.By rotating seat 601, realize horizontally rotating of robot 6, mechanical arm 602 is realized and is stretched, rotatablely moves by mechanical joint 603, and realization is treated the target of different azimuth, different distance on processing cast iron part surface and carried out automation finishing.Mechanical arm 602 comprises at least one cursor, and cursor two ends are equipped with mechanical joint 603.By many cursors are set, can realize farther distance and more multi-faceted target finishing, applicability is stronger.The movable end of mechanical arm 602 connects processing assembly 8.Processing assembly 8 by movable end is realized multi-faceted accurate processing with the flexibility of mechanical arm 602.
As depicted in figs. 1 and 2, in the present embodiment, processing assembly 8 comprises electric main shaft 801 on the mechanical joint 603 that is connected to mechanical arm 602 movable ends, is connected to the handle of a knife 802 of electric main shaft 801 outputs and is fixed in the cutter 803 on handle of a knife 802.Preferably, processing assembly 8 is arranged on six shaft flanges of robot 6, and robot 6 treats the processing cast iron part a finished machined of fixing a point according to arranged path.It is upper that ironcasting a to be processed is positioned over positioner d, and positioner d can drive ironcasting a to be processed to realize 360 ° of rotations to switch the attitude of ironcasting a to be processed and to coordinate the space motion track of robot 6 to complete the finished machined of ironcasting a to be processed.
In the present embodiment, on mechanical arm 602, the movement locus of mechanical joint 603 is in same plane.The rotation of mechanical arm 602 and/or rotary track are in same plane.Mechanical arm 602 is realized the movement in same plane by mechanical joint 603, realize a move operation on face, by rotating seat 601, realize whole horizontally rotating, thereby the movement of implementation space can complete and treat the omnibearing finished machined of processing cast iron part a simultaneously.
As depicted in figs. 1 and 2, in the present embodiment, robot 6 is provided with two groups.Can from both direction, treat processing cast iron part a respectively and carry out finished machined, thereby reduce, process dead angle, clear up more thoroughly, guarantee the quality of finished machined.Robot 6 also can arrange many groups simultaneously, and Duo Zu robot 6 is looped around surrounding's layout of workbench 4, thereby realizes from the multi-faceted accurate processing of carrying out.Liang Zu robot 6 is arranged symmetrically with along the axis of workbench 4.Can guarantee the accuracy of robot 6 synchronous processings, convenient detection and enforcement machining path, reduces the difficulty of automatically controlling.Between Liang Zu robot 6, be provided with to change the tool magazine 11 of the cutter 803 of processing assembly 8.When Duo Zu robot 6 is set, tool magazine 11 is arranged on the shared position of intersecting point of Duo Zu robot 6, guarantees that robot 6 can carry out respectively tool changing, does not form each other obstruction.Can realize tool changing at any time according to the position of finished machined, thereby guarantee the quality of finishing.Preferably, tool magazine 11 is arranged in finishing mechanism 3.Preferably, with the finishing mechanism 3 of tool magazine 11 in safe house.
As shown in figures 1 and 3, in the present embodiment, tool magazine 11 comprises laying cutter 803 rotatable index dial 1101.On the cutter-exchange mechanism of index dial 1101, be connected with to control the Hydraulic Station c of tool changing.Index dial 1101 lower ends are connected with the Geneva mechanism 1102 with index dial 1101 interlocks.The minute of angle of Geneva mechanism 1102 is identical with the minute of angle of index dial 1101.Form synchronous link gear, facilitate the control of tool change position.Geneva mechanism 1102 lower ends are connected with the drive unit 1103 rotating for intermittent transposition running driver slot wheel mechanism 1102.Drive unit 1103 adopts intermittent transposition, and driver slot wheel mechanism 1102 drives the rotation conversion of the fixed angle of index dial 1101, guarantees that different cutter 803 is all the time along fixing locus of points redirect, convenient to taking at any time cutter 803 or using cutter 803 instead.Drive unit 1103 connects central controller 702.By being set, interconnective link gear realizes integrally-built interlock.By central controller 702 accessory drive 1103 runnings.The dust cover 12 that tool magazine 11 peripheral hardwares have to hold tool magazine 11 and play dustproof effect.Tool magazine 11 is located in dust cover 12.On dust cover 12, offer and adopt cylinder 13 to drive the dust-proof door 14 of opening or closing.
As shown in Figure 1, in the present embodiment, conveying mechanism 2 comprises taking out the feeding transfer passage 201 of ironcasting a to be processed and in order to place the blowing transfer passage 202 of the ironcasting after processing.Adopt channel structure, avoid ironcasting a to be processed and the finished product processing chaotic, thereby guarantee orderly the carrying out of whole process, reduce fault rate and missing rate.Preferably, conveying mechanism 2 adopts rollgangs, the damage that can effectively avoid ironcasting and phase mutual friction between passage to cause.Preferably, feeding transfer passage 201 adopts charging roller; Blowing transfer passage 202 adopts blanking roller-way.
As shown in Figure 1, in the present embodiment, in finishing mechanism 3, be also provided with for ironcasting a finished machined process to be processed and carry out cooling cooling-water machine 15.By cooling-water machine 15, treat processing cast iron part a surface and continue to supply water, with reduce ironcasting a to be processed in finished machined process due to fricative high heat, reduce the negative consequence that the high torrid zone is come.Finishing mechanism 3 peripheral hardwares have in order to intercept the barrier 18 of processing airborne dust and flying chip.Whole finishing mechanism 3, in barrier 18, avoids adding the metal fragment that the airborne dust that produces man-hour and processing takes up and propagates to the external world, thereby reduce pollution and the injury to human body that processing brings to environment.Preferably, barrier 18 is combined to form the safe house of sealing.The safe house of sealing not only can be avoided adding the metal fragment that the airborne dust that produces man-hour and processing takes up and propagate to the external world, can also completely cut off noise pollution simultaneously, thereby reduces the harm that processing brings to environment and human body.
In the present embodiment, on ironcasting a to be processed and/or workbench 4 and/or processing assembly 8, distance measuring sensor 16 is installed, distance measuring sensor 16 connects central controller 702 and/or robot controller 701.Utilize distance measuring sensor 16 measure current ironcasting to the distance of standard flat and send data to central controller 702, by central controller 702, calculate current processing plane, and then compare with the corresponding processing plane of exemplar the deviation that draws both.Central controller 702 sends deviate to robot controller 701, and robot controller 701 is transferred corresponding exemplar machining path and corrected and form current machining path according to deviate.Realize the check and correction of machining path.Thereby realize the accurate processing for the treatment of processing cast iron part a.Provide ironcasting by casting the error online measuring that causes with clamping and the method for machining path auto-compensation, can fully guarantee the reliability of clearing up and processing system, prevent that the damage of system of processing or serious accident from occurring.The quality of ironcasting finishing and the uniformity of finishing effect have been guaranteed.
Fig. 3, Fig. 4 and Fig. 5 as shown in Figure 1, Figure 2,, the finely finishing method of the ironcasting of the present embodiment, it comprises the finishing work station of above-mentioned ironcasting, comprise the following steps: a, by transfer device 5, from conveying mechanism 2, obtained ironcasting and the ironcasting obtaining be positioned on the first positioning tool 901 of Double-station bench, central controller 702 is controlled 10 pairs of ironcastings of clamp mechanism and is fixed; B, central controller 702 controls Double-station benchs rotation, the position of the first positioning tool 901 and the second positioning tool 902 is exchanged, and on the second positioning tool 902 repeating step a; C, robot controller 701 and central controller 702 carry out finished machined according to predefined paths control 6, processing assembly 8 and Double-station bench to ironcasting; After d, completion of processing, original position is got back to by robot 6, central controller 702 is controlled Double-station bench rotation by the position displacement of the first positioning tool 901 and the second positioning tool 902 simultaneously, by transfer device 5, the ironcasting processing on the first positioning tool 901 is transferred on conveying mechanism 2; E, repeating step b, c, d, realize the process streams circulation of ironcasting conveying and finished machined.Adopt transfer, stationary positioned, finished machined tactic pattern that complete mechanization finishing processing device is set, be mainly used in automation, the streamline production operation of the finishing of casting industry ironcasting, 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 ironcasting cleaning, greatly enhance productivity and workpiece cleaning quality; By conveying mechanism 2, carry ironcasting, complete the function of input and output; By transfer device 5, from conveying mechanism 2, capture ironcasting to be processed and send into workbench and wait for follow-up finished machined, and from Double-station bench, the ironcasting after completion of processing being sent back to conveying mechanism 2 by transfer device 5; By workbench, treat processing cast iron part and be fixed location, so that the finished machined of automation guarantees accurate finished machined, guarantee the cleaning quality of ironcasting; By being set, realizes tumbler b the rotation of Double-station bench, thus the convenient position conversion of controlling between positioning tool, thus the efficiency of quickening finished machined pipelining.Central controller 702 is controlled the rotation of Double-station benchs and clamping or the relieving of controlling clamp mechanism 10, treats processing cast iron part a and realizes automation and fix and discharge.By being equipped with the robot 6 of processing assembly 8, treat the surface of processing cast iron part and carry out finished machined, adopt predetermined machining path to realize automatic finishing to ironcasting, can effectively avoid the phenomenon of omission, machining accuracy can be guaranteed.
Fig. 3, Fig. 4 and Fig. 5 as shown in Figure 1, Figure 2,, in the present embodiment, before implementing, step c adds error detection step, by predefined paths, ironcasting is carried out being detected by the site error of casting or clamping causes, by the site error of distance measuring sensor 16 induction ironcastings, also transmit and be given to central controller 702; Central controller 702 is determined new machining path according to position error data, and new machining path is transferred to robot controller 701; Robot controller 701 and central controller 702 carry out finished machined according to new machining path control 6 and 8 pairs of ironcastings of processing assembly.Utilize distance measuring sensor 16 measure current ironcasting to the distance of standard flat and send data to central controller 702, by central controller 702, calculate current processing plane, and then compare with the corresponding processing plane of exemplar the deviation that draws both.Central controller 702 sends deviate to robot controller 701, and robot controller 701 is transferred corresponding exemplar machining path and corrected and form current machining path according to deviate.Realize the check and correction of machining path.Thereby realize the accurate processing for the treatment of processing cast iron part a.Provide ironcasting by casting the error online measuring that causes with clamping and the method for machining path auto-compensation, can fully guarantee the reliability of clearing up and processing system, prevent that the damage of system of processing or serious accident from occurring.The quality of ironcasting finishing and the uniformity of finishing effect have been guaranteed.
Fig. 3, Fig. 4 and Fig. 5 as shown in Figure 1, Figure 2,, in the present embodiment, in step c, by robot 6, capture processing assembly 8, according to prior predetermined machining path, ironcasting is carried out to finished machined, clamp mechanism 10 controlled by central controller 702 and/or positioner d realizes the attitude conversion of ironcasting on Double-station bench, to coordinate the mobile space track of robot 6, make whole finishing mechanism 3 cover all finishing features of ironcastings.
Fig. 3, Fig. 4 and Fig. 5 as shown in Figure 1, Figure 2,, in the present embodiment, in process, for the concrete finishing feature of ironcasting, need to choose corresponding cutter 803, by central controller 702, control tool magazine 11, corresponding cutter 803 is switched to tool change position, by robot 6, processing assembly 8 is delivered to tool change position and coordinate tool changing Hydraulic Station c to complete tool changing and move.Realize the type of the multiple cutter 803 that automatically switches, thereby guarantee the quality of finished machined.
As shown in Figure 1, Figure 2, Fig. 3, Fig. 4 and Fig. 5, in the present embodiment, in tool magazine 11, be provided with a plurality of cutters 803 in order to tool changing.Each cutter 803 equal correspondence in below is provided with corresponding position sensor 19.Position sensor 19 is fixed in the bottom frame of tool magazine 1.Cutter 803 and original position sensing chip 17 are fixed on 11 index dial 1101 and synchronous rotation.Position sensor 19 is from original position sensing chip 17 acquisition position signallings and to central controller 702 output signals, and central controller 702 is by the cutter model of the output signal judgement tool change position of position sensor 19.Realize the type of the multiple cutter 803 that automatically switches, thereby guarantee the quality of finished machined.
During enforcement, as shown in Figure 1, ironcasting robot automatic finishing work station comprises Liang Tai robot 6 and two cover processing assemblies 8, two cover error detecting apparatus (distance measuring sensor 16), tool magazine 11, Double-station bench (workbench 4), safe house (barrier 18).Double-station bench is divided into material loading, two stations of processing and realizes the automatic switchover of two stations, on two stations, clamp mechanism 10 and positioning tool is all set.Processing assembly 8 and distance measuring sensor 16 are arranged on the 6th shaft flange of robot 6 and form two cover systems of processing, form ironcasting finished machined system and are arranged in safe house (barrier 18) with tool magazine 11, processing stations.Feeding station is arranged at outside safe house (barrier 18) and as manual operation region.Ironcasting finished machined system is controlled by robot controller 701 and central controller 702 is unified, and ironcasting robot automatic finishing work station is provided for the cooling cooling-water machine of system of processing 15, for the Hydraulic Station of system of processing tool changing.Work station is arranged at ironcasting rollgang (conveying mechanism 2) side, by feeding manipulator or artificial (transfer device 5), in charging roller feeding, after machining, again foundry goods is transported to blanking roller-way and forms that ironcasting is carried, the logistics of finished machined circulation.
Workflow:
The first step, feeding manipulator or operating personnel are in the charging roller feeding of rollgang (conveying mechanism 2), are positioned on the positioning tool of feeding station of Double-station bench (workbench 4).
Second step, central controller 702 is controlled clamp mechanism 10, and ironcasting is fixed on positioning tool.
The 3rd step, central controller 702 is controlled Double-station bench rotation, and feeding station is switched to processing stations.
The 4th step, robot 6 by predefined paths to ironcasting because casting and the error that causes of clamping detect.Concrete mode Shi You robot 6 grabbing error detection systems (distance measuring sensor 16) scan ironcasting, and scan-data is transferred to central controller 702.
The 5th step, central controller 702 processing scan data, form new workpiece coordinate.And new workpiece coordinate is transferred to robot controller 701.
The 6th step, robot controller 701 is proofreaied and correct finished machined path according to new workpiece coordinate, and central controller 702 starts processing assembly 8 simultaneously.
The 7th step, processing assembly 8 coordinates robot 6 work, and ironcasting is carried out to finished machined.Concrete mode Shi You robot 6 captures processing assembly 8 and according to the prior predetermined machining path of robot 6, ironcasting is processed, and Double-station bench is realized the conversion of ironcasting attitude and coordinated the space motion track of robot 6 to make processing assembly 8 cover all finishing features.In process, for concrete finishing feature, need to choose corresponding cutter, concrete mode is by central controller 702, to control tool magazines 11 corresponding cutter 803 is switched to tool change position Hou You robot 6 processing assembly 8 to be delivered to tool change position and coordinate tool changing Hydraulic Station to complete tool changing and move.
The 8th step, machines rear robot 6 and gets back to original position, and central controller 702 is controlled Double-station bench rotation the ironcasting processing is transported to blanking station simultaneously, new foundry goods is delivered to processing stations simultaneously.
The 9th step, central controller 702 is controlled clamp mechanism 10 work and is unclamped foundry goods.
The tenth step, feeding manipulator or operating personnel are transported to blanking roller-way by the foundry goods processing and again choose on the positioning tool that foundry goods is transported to feeding station Double-station bench from charging roller.Realize the logistics circulation of ironcasting conveying, finished machined.
Cutter is selected way:
As shown in Figure 3, according to processing, need to choose needed cutter 803, all cutters 803 are arranged on index dial 1101, index dial 1101 is divided equally according to the quantity of cutter 803.Preferably, select four 803, cutter is divided into quarter by index dial 1101.Index dial 1101 is arranged in dust cover 12, plays the effect that dust and iron are cut protection, and at tool change position, dust-proof door 14 is set and by cylinder 13, is driven the effect that realizes opening and closing.Index dial 1101 lower end link slot wheel mechanisms 1102, Geneva index angle and index dial 1101 are unified.Preferably, select four 803 Geneva index angles of cutter, to be 90 °.Geneva mechanism 1102 lower end connecting drive device 1103 driver slot wheel mechanisms 1102 are realized the function of gap transposition, and every output one circle of drive unit 1103 can be realized the transposition effect (four is example cutter) that index dial 1101 carries out 90 °.Original position sensing chip 17 is arranged on the power transmission shaft of index dial 1101, and original position sensing chip 17 rotates with index dial 1101 power transmission shafts.Position sensor 19 is arranged in the bottom frame of tool magazine 11, and position sensor 19 is arranged at every cutter 803 belows, by the cutter model of position position sensor 19 output signal judgement tool change positions.
By being illustrated in figure 4 cutter and position sensor defines, and this state is set to index dial 1101 reset conditions, now original position sensing chip 17 is positioned at corresponding position sensor 19 places, position sensor 19 output original position sensing chip 17 signals in place, definition current location sensor 19 arrives and cutter 803 present positions that sense are tool change position.As shown in Figure 5, drive unit 1103 drives index dial 1101 rotations to another location, make current location sensor 19 output original position sensing chip 17 signals in place (shown in Fig. 4) current location sensor 19 arrive and cutter 803 present positions that sense are tool change position, the like with index dial 1101 rotation, the position sensor 19 output original position sensing chip 17 signals in place cutter 803 position tool change positions that current location sensor 19 arrives and senses.Direction of rotation by definition drive unit 1103 in application and the output number of turns by central controller 702 monitoring the drive units 1103 again output signal of binding site sensor 19 can form the closed-loop control that cutter 803 is selected.
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 modification of doing, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (17)
1. a work station for finishing ironcasting, comprises pedestal (1), in order to carry the conveying mechanism (2) of ironcasting and in order to the finishing mechanism (3) of processing cast iron part,
It is upper that described conveying mechanism (2) and/or described finishing mechanism (3) are arranged on described pedestal (1),
It is characterized in that,
Work station also comprises in order to the workbench of stationary positioned ironcasting (4), in order to the ironcasting to be processed on described conveying mechanism (2) transferred to the transfer device (5) on described workbench (4) and turned round and/or control the controlling organization (7) that described finishing mechanism (3) turns round in order to control described conveying mechanism (2)
Described finishing mechanism (3) comprises treating processing assembly (8) that processing cast iron part carries out finished machined and for adjusting the robot (6) in the processing orientation of described processing assembly (8),
Described processing assembly (8) is arranged on the movable end of described robot (6).
2. the work station of finishing ironcasting according to claim 1, it is characterized in that, described controlling organization (7) comprises controlling the robot controller (701) of described robot (6) running and the central controller (702) turning round in order to control described workbench (4).
3. the work station of finishing ironcasting according to claim 2, is characterized in that,
Described workbench (4) is provided with the positioning tool (9) in order to stationary positioned ironcasting to be processed,
Clamp mechanism (10) in order to stationary positioned ironcasting to be processed is housed on described positioning tool (9).
4. the work station of finishing ironcasting according to claim 3, is characterized in that,
Described workbench (4) is Double-station bench,
Described positioning tool (9) comprises the first positioning tool (901) of arranging near described conveying mechanism (2) and the second positioning tool (902) of arranging near described finishing mechanism (3);
Described the first positioning tool (901) and described the second positioning tool (902) are located at respectively on the station at described Double-station bench two ends,
It is upper that the middle part of described workbench (4) is arranged on described pedestal (1) by tumbler,
Described the first positioning tool (901) carries out the displacement of position with described the second positioning tool (902) by rotating described tumbler;
Clamping or relieving that described central controller (702) is controlled the rotation of described workbench (4) and controlled described clamp mechanism (10).
5. the work station of finishing ironcasting according to claim 4, is characterized in that,
Between described positioning tool (9) and described workbench (4), be also provided with positioner,
Described positioning tool (9) is located on described positioner.
6. the work station of finishing ironcasting according to claim 2, is characterized in that,
Described robot (6) comprises and is fixed on upper and the rotating seat (601) that can along continuous straight runs rotation of described pedestal (1), is connected to mechanical arm (602) on described rotating seat (601) and for described mechanical arm (602) rotation and/or rotating mechanical joint (603);
Described mechanical arm (602) comprises at least one cursor,
Described cursor two ends are equipped with described mechanical joint (603),
The movable end of described mechanical arm (602) connects described processing assembly (8).
7. the work station of finishing ironcasting according to claim 6, it is characterized in that, described processing assembly (8) comprises electric main shaft (801) on the described mechanical joint (603) that is connected to described mechanical arm (602) movable end, is connected to the handle of a knife (802) of described electric main shaft (801) output and is fixed in the cutter (803) on described handle of a knife (802).
8. according to the work station of the finishing ironcasting described in any one in claim 2 to 7, it is characterized in that,
Described robot (6) is provided with two groups,
Robot described in two groups (6) is arranged symmetrically with along the axis of described workbench (4);
Between robot described in two groups (6), be provided with to change the tool magazine (11) of the cutter (803) of described processing assembly (8).
9. the work station of finishing ironcasting according to claim 8, is characterized in that,
Described tool magazine (11) comprises laying described cutter (803) rotatable index dial (1101),
On the cutter-exchange mechanism of described index dial (1101), be connected with to control the Hydraulic Station of tool changing;
Described index dial (1101) lower end is connected with the Geneva mechanism (1102) with described index dial (1101) interlock,
The minute of angle of described Geneva mechanism (1102) is identical with the minute of angle of described index dial (1101);
Described Geneva mechanism (1102) lower end is connected with the drive unit (1103) that drives described Geneva mechanism (1102) to rotate for intermittent transposition running;
Described drive unit (1103) connects described central controller (702), by described central controller (702), controls described drive unit (1103) running;
The dust cover (12) that described tool magazine (11) peripheral hardware has to hold described tool magazine (11) and plays dustproof effect,
On described dust cover (12), offer and adopt cylinder (13) to drive the dust-proof door (14) of opening or closing.
10. according to the work station of the finishing ironcasting described in any one in claim 1 to 7, it is characterized in that, described conveying mechanism (2) comprises taking out the feeding transfer passage (201) of ironcasting to be processed and in order to place the blowing transfer passage (202) of the ironcasting after processing.
11. according to the work station of the finishing ironcasting described in any one in claim 1 to 7, it is characterized in that,
In described finishing mechanism (3), be also provided with for ironcasting finished machined process to be processed and carry out cooling cooling-water machine (15):
Described finishing mechanism (3) peripheral hardware has in order to intercept the barrier (18) of processing airborne dust and flying chip.
12. according to the work station of the finishing ironcasting described in any one in claim 2 to 7, it is characterized in that,
On described ironcasting to be processed and/or described workbench (4) and/or described processing assembly (8), distance measuring sensor (16) is installed,
Described distance measuring sensor (16) connects described central controller (702) and/or described robot controller (701).
The finely finishing method of 13. 1 kinds of ironcastings, is characterized in that, comprises the work station of the finishing ironcasting described in any one in claim 1 to 13, comprises the following steps:
A, by transfer device (5), from conveying mechanism (2), obtained ironcasting and the described ironcasting obtaining is positioned over to first positioning tool (901) of Double-station bench upper, central controller (702) is controlled clamp mechanism (10) described ironcasting is fixed;
B, described central controller (702) are controlled described Double-station bench rotation, described the first positioning tool (901) and the position of the second positioning tool (902) are exchanged, and at the upper repeating step a of described the second positioning tool (902);
C, robot controller (701) and described central controller (702) carry out finished machined according to predefined paths control (6), processing assembly (8) and described Double-station bench to described ironcasting;
After d, completion of processing, original position is got back to by described robot (6), described central controller (702) is controlled described Double-station bench rotation position displacement with described the second positioning tool (902) by described the first positioning tool (901) simultaneously, by described transfer device (5), the described ironcasting processing on described the first positioning tool (901) is transferred on described conveying mechanism (2);
E, repeating step b, c, d, realize the process streams circulation of ironcasting conveying and finished machined.
The finely finishing method of 14. ironcastings according to claim 13, is characterized in that,
Before described step c implements, add error detection step, by predefined paths, described ironcasting carried out being detected by the site error of casting or clamping causes,
Site error the transmission of by distance measuring sensor (16), responding to described ironcasting are given to described central controller (702);
Described central controller (702) is determined new machining path according to position error data, and new machining path is transferred to described robot controller (701);
Described robot controller (701) and described central controller (702) control described robot (6) according to new machining path and described processing assembly (8) carries out finished machined to described ironcasting.
The finely finishing method of 15. ironcastings according to claim 13, is characterized in that,
In described step c, by described robot (6), capture described processing assembly (8), according to prior predetermined machining path, described ironcasting carried out to finished machined,
Described clamp mechanism (10) controlled by described central controller (702) and/or positioner is realized the attitude conversion of described ironcasting on described Double-station bench, to coordinate the mobile space track of described robot (6), make whole finishing mechanism (3) cover all finishing features of described ironcasting.
The finely finishing method of 16. ironcastings according to claim 15, is characterized in that,
In process, for the concrete finishing feature of described ironcasting, need to choose corresponding cutter (803),
By described central controller (702), control tool magazine (11),
The described cutter (803) of correspondence is switched to tool change position,
By described robot (6), described processing assembly (8) is delivered to tool change position and coordinate tool changing Hydraulic Station to complete tool changing action.
The finely finishing method of 17. ironcastings according to claim 16, is characterized in that,
In described tool magazine (11), be provided with a plurality of described cutter (803) in order to tool changing,
Cutter described in each (803) below all correspondence is provided with corresponding position sensor (19),
Described cutter (803) and original position sensing chip (17) are fixed on upper also synchronous rotation of index dial (1101) of described tool magazine (11),
Described position sensor (19) is fixed in the bottom frame of described tool magazine (11);
Described position sensor (19) obtains position signalling and to described central controller (702) output signal from described original position sensing chip (17),
Described central controller (702) is by the cutter model of the output signal judgement tool change position of described position sensor (19).
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