CN104190912A - Iron casting online automatic finishing device and iron casting online automatic finishing method - Google Patents

Abstract

The invention discloses an iron casting online automatic finishing device and an iron casting online automatic finishing method. The iron casting online automatic finishing device comprises a supplied material conveying line, a safety chamber used for finishing of iron castings, a discharge conveying line used for conveying and storing the iron castings machined through finishing, and a centralized controller used for online automatic finishing control. A first lifting table used for assembling iron casting materials on an empty tray to form a load-bearing tray is arranged between the supplied material conveying line and the safety chamber. A temporary storage table used for temporarily storing the load-bearing tray conveyed to the safety chamber and temporarily storing the empty tray supplied to the first lifting table is arranged between the first lifting table and the safety chamber. A second lifting table used for separating the iron castings where finishing is completed from the load-bearing tray and sending the iron castings to the discharge conveying line is arranged between the safety chamber and the discharge conveying line. It is ensured that finishing of the iron castings is conducted in order, and online automatic finishing of the iron castings is achieved by conducting transferring through the lifting tables.

Description

The on-line automatic calibration devices of ironcasting and the on-line automatic finely finishing method of ironcasting

Technical field

The present invention relates to ironcasting finishing equipment field, especially, relate to the on-line automatic calibration devices of a kind of ironcasting.In addition, the invention still further relates to a kind of on-line automatic finely finishing method of ironcasting that comprises the on-line automatic calibration devices of above-mentioned ironcasting.

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 have at present some casting finish systems, but production distribution is messy, workpiece need to can complete production through multiple tracks man-handling of materials, and production efficiency is low; And the ironcasting environment of plant is severe, very large to human injury, be not suitable for manually participating in directly.

Summary of the invention

The object of the invention is to provide the on-line automatic calibration devices of a kind of ironcasting and the on-line automatic finely finishing method of ironcasting, messy to solve existing casting finish system production distribution, and workpiece need to can complete production through multiple tracks man-handling of materials, and production efficiency is low; And the ironcasting environment of plant is severe, the technical problem very large to human injury.

For achieving the above object, the technical solution used in the present invention is as follows:

The on-line automatic calibration devices of a kind of ironcasting, comprise the supplied materials pipeline for delivery of ironcasting material, safe house for ironcasting finished machined, for the ironcasting product after finished machined being carried to the blanking pipeline storing and the Centralized Controller of controlling for on-line automatic finishing, between supplied materials pipeline and safe house, be provided with for ironcasting material being assembled to the first lifting platform that forms load-carrying pallet on vacant pallet, between the first lifting platform and safe house, be provided with for keeping in the load-carrying pallet of carrying to safe house and the temporary platform that the vacant pallet providing to the first lifting platform is provided, between safe house and blanking pipeline, be provided with for the complete ironcasting product of finishing is departed from and send into the second lifting platform of blanking pipeline from load-carrying pallet.

Further, in the first lifting platform, comprise and be located at upper strata and for loading and unloading the work-handling position of ironcasting material and being located at lower floor and for loading the tray loading position of vacant pallet, work-handling position connects respectively ironcasting material input port and load-carrying pallet delivery outlet, and tray loading position connects vacant pallet input port; In the second lifting platform, comprise and be located at upper strata and load and unload position and be located at lower floor and unload position for unloading the pallet of vacant pallet for loading and unloading the product of ironcasting product, product handling position connects respectively product input port and output of products mouth, and pallet unloading position connects vacant pallet delivery outlet; In temporary platform, comprise and be located at upper strata and for the workpiece position to be transmitted of temporary load-carrying pallet and be located at lower floor and for the pallet position to be transmitted of temporary vacant pallet, workpiece position to be transmitted connects respectively load-carrying pallet input port and load-carrying pallet delivery outlet, and pallet position to be transmitted connects respectively vacant pallet input port and vacant pallet delivery outlet; Supplied materials pipeline connects the ironcasting material input port of the first lifting platform; The load-carrying pallet input port of temporary platform connects the load-carrying pallet delivery outlet of the first lifting platform, and the load-carrying pallet delivery outlet of temporary platform is connected in safe house; The vacant pallet delivery outlet of temporary platform connects the vacant pallet input port of the first lifting platform, and the vacant pallet input port of temporary platform is communicated with the vacant pallet delivery outlet of the second lifting platform by pipeline.

Further, in the first lifting platform, be mounted with for ironcasting material being contained in to the first manipulator that forms load-carrying pallet on vacant pallet; In the second lifting platform, be mounted with for the ironcasting product obtaining after finished machined separation from load-carrying pallet being formed to the second manipulator of ironcasting product and vacant pallet.

Further, safe house comprise processing pipeline for delivery of load-carrying pallet, for delivery of the pallet pipeline of vacant pallet, for the tray positioning mechanism of ironcasting material on stationary positioned load-carrying pallet and load-carrying pallet and for ironcasting material being carried out to the industrial robot of finished machined; Tray positioning mechanism is arranged on processing pipeline, and industrial robot is provided with two covers, and two cover industrial robots are separately positioned on the both sides of processing pipeline and are arranged symmetrically with along tray positioning mechanism; The first end of processing pipeline connects the load-carrying pallet delivery outlet of temporary platform, and the second end of processing pipeline connects the load-carrying pallet input port of the second lifting platform; The first end of pallet pipeline connects the vacant pallet input port of temporary platform, and the second end of pallet pipeline connects the vacant pallet delivery outlet of the second lifting platform; The ironcasting output of products mouth of the second lifting platform connects blanking pipeline.

Further, tray positioning mechanism comprise for the positioning table from bottom support and fixed load pallet, be arranged on vacant pallet for the bottom opening tensioning at ironcasting material fixedly ironcasting material strainer, be arranged on vacant pallet for ironcasting material being carried out to the horizontal support mechanism of horizontal support and being arranged on vacant pallet for from bottom support ironcasting material and cushion ironcasting material at the buffer gear of the lateral action power of process.

Further, the horizontal movable base that strainer comprises the holder being fixed on vacant pallet and can carry out near or move flat away from the water of holder adjusting; On holder, be provided with the first swivel base, in horizontal movable base, be provided with the second swivel base, on the first swivel base, be provided with at least two first cylindrical steel sleeve of rolling and contacting for the hole wall with ironcasting material bottom opening, the first cylindrical steel sleeve is connected on the first swivel base by the first rotating shaft, and the first rotating shaft is circumferentially intervally arranged along the first swivel base; On the second swivel base, be provided with at least two second cylindrical steel sleeve of rolling and contacting for the hole wall with ironcasting material bottom opening, the second cylindrical steel sleeve is connected on the second swivel base by the second rotating shaft, and the second rotating shaft is circumferentially intervally arranged along the second swivel base; The first swivel base stretches to respectively in the different perforate in ironcasting material bottom with the second swivel base with same perforate or the first swivel base that the second swivel base stretches to respectively ironcasting material bottom; Or strainer adopts for bidirectional hydraulic support member or the two-way pneumatic support member on hole wall from ironcasting material bottom opening Bidirectional supporting; Or strainer adopts the air bag that supports hole wall for tensioning in ironcasting material bottom opening, on the position that air bag contacts at the hole wall with ironcasting material bottom opening, is fitted with rigid layer; Horizontal movable base comprises that the spindle seat, at least one of two positioned opposite be located at two axles between spindle seat and be set in the linear bearing in axle, axle is arranged with on the position between linear bearing and spindle seat orders about linear bearing to the mobile centralizing spring in axle middle part, on linear bearing, be connected with and order about linear bearing along the axially movable driving mechanism of axle, driving mechanism is for driving cylinder, driving at least one in hydraulic cylinder, activation lever, drive link; Or horizontal movable base comprises guide rail and the slide block between two guide rails of two parallel and positioned opposite, on slide block, be connected with and order about the driving mechanism that slide block slides along slide rail, driving mechanism is for driving cylinder, driving at least one in hydraulic cylinder, activation lever, drive link.

Further, horizontal support mechanism comprises the first fixed support, the second fixed support and the adjustable supports that can vertically regulate; The first fixed support is fixed on holder, and the second fixed support is fixed in horizontal movable base, and adjustable supports is arranged on vacant pallet; Buffer gear adopts is located at the both sides, installation position of ironcasting material and for from bottom support ironcasting material and cushion ironcasting material at the ball supporting seat of the lateral action power of process, ball supporting seat comprise the base that is fixed on vacant pallet, be sheathed on the bolster on base and be sheathed on base and bolster outside buffer spring, the top of bolster is the support portion of upper surface band arc supporting surface, the lower end contact of buffer spring is on base, and the upper end contact of buffer spring is in the bottom of support portion; Or buffer gear adopts buffer spring with top braces portion, with the buffering spring sheet of top braces portion, with at least one in the buffer air bag of top braces portion; On vacant pallet, offer for mating with the alignment pin of positioning table the set pin sleeve being connected; On positioning table, be mounted with the lifting mechanism for lifting load-carrying pallet.

Further, the first lifting platform adopts drive unit drive horizontal guide rail lifting and rest in respectively work-handling position and tray loading position; The second lifting platform comprises frame and for the horizontal conveyor track section of horizontal feed ironcasting product, is equipped with for driving the slide unit that horizontal conveyor track section vertically moves up and down and the balancing weight vertically moving for drawing slide unit in frame; Horizontal conveyor track section is loaded on slide unit, and slide unit is by for guiding the guide that slide unit vertically moves up and down to be arranged on frame; The haulage gear that utilizes weight difference mutually to draw is housed between slide unit and balancing weight, the first end of haulage gear connects slide unit, the second end of haulage gear connects balancing weight, the weight of balancing weight is greater than the gross weight of slide unit and vacant horizontal conveyor track section, and the weight of balancing weight is less than the gross weight of slide unit, horizontal conveyor track section and vacant pallet; The first brake for relative position between fixing horizontal conveying section and frame is housed in slide unit and/or frame, and/or the second brake for relative position between fixing horizontal conveying section and frame is housed in haulage gear and/or frame; The top of frame is provided with for limiting slide unit upper limit of movement and cushioning the upper limit assembly of slide unit elliptical gear power; The bottom of frame is provided with for limiting slide unit motion lower limit and cushioning the lower limit assembly of slide unit elliptical gear power; The pallet handling position of lower limit component limitations horizontal conveyor track section in the vacant pallet of loading or unloading; Upper limit assembly limit levels conveying section is in the product handling position of loading or unloading ironcasting product on vacant pallet.

Further, haulage gear adopts the combined mechanism of steel wire rope and fixed pulley, and the central shaft of fixed pulley is arranged in frame, and steel wire rope is walked around fixed pulley, and the first end of steel wire rope is fixed on slide unit, and the second end of steel wire rope is fixed on balancing weight, or haulage gear adopts the combined mechanism of rack and pinion, tooth bar is housed respectively on slide unit and balancing weight, tooth bar on slide unit and the engaging tooth positioned opposite of the tooth bar on balancing weight, the central shaft of gear is arranged in frame, gear respectively with slide unit on tooth bar and the tooth bar on balancing weight engagement, guide adopts the first combined mechanism of slide block and slide rail, two group of first combined mechanism is arranged in parallel, slide unit is arranged between two group of first combined mechanism being arranged in parallel, and slides to realize horizontal conveyor track section moving up and down vertically between slide unit and frame by slide block on slide rail, or guide adopts the second combining structure of draw runner and chute, two group of second combined mechanism positioned opposite, slide unit is arranged between two group of second combined mechanism of positioned opposite, slides to realize horizontal conveyor track section moving up and down vertically between slide unit and frame by draw runner in chute, or guide adopts the 3rd combining structure of rack and pinion, two group of the 3rd combined mechanism positioned opposite, slide unit is arranged between two group of the 3rd combined mechanism of positioned opposite, between slide unit and frame by gear the engagement rolling on tooth bar to realize horizontal conveyor track section moving up and down vertically, or guide adopts the 4th combining structure of roller and slot rolling, two group of the 4th combined mechanism positioned opposite, slide unit is arranged between two group of the 4th combined mechanism of positioned opposite, rolls to realize horizontal conveyor track section moving up and down vertically between slide unit and frame by roller in slot rolling, or guide adopts the 5th combining structure of ball and slot rolling, two group of the 5th combined mechanism positioned opposite, slide unit is arranged between two group of the 5th combined mechanism of positioned opposite, rolls to realize horizontal conveyor track section moving up and down vertically between slide unit and frame by ball in slot rolling, the braking output of the first brake is by contacting the braking so that horizontal conveyor track section is vertically moved up and down with guide, the braking output of the first brake is by departing to remove with guide the braking that horizontal conveyor track section is vertically moved up and down, on the first brake, be connected with the first encoder, the first brake is connected with PLC controller respectively with the first encoder, horizontal conveyor track section is vertically moved and is driven the first brake and the first encoder synchronous rotary by guide, by the first encoder, horizontal conveyor track section movement position value and translational speed value vertically fed back to PLC controller, PLC controller is compared actual value and the preset value of the movement position value of acquisition and translational speed value, according to actual putting with the difference of preset value, control and adjust the power that outputs to the first brake, the first brake make slide unit gradually near and rest in precalculated position, second brake is arranged on the turning cylinder of haulage gear, on the turning cylinder of haulage gear, be also connected with the second encoder simultaneously, second brake is connected with PLC controller respectively with the second encoder, horizontal conveyor track section is vertically moved and is driven second brake and the second encoder synchronous rotary by haulage gear, by the second encoder, horizontal conveyor track section movement position value and translational speed value vertically fed back to PLC controller, PLC controller is compared actual value and the preset value of the movement position value of acquisition and translational speed value, according to actual putting with the difference of preset value, control and adjust the power that outputs to second brake, second brake make slide unit gradually near and rest in precalculated position.

Further, Centralized Controller comprise robot controller for controlling industrial robot, for controlling delivery controller that ironcasting material, ironcasting product, vacant pallet and load-carrying pallet carry, for controlling the water-cooling controller of finished machined process water cooling plant and for the Hydraulic Station of hydraulic power source is provided.

According to a further aspect in the invention, also provide a kind of ironcasting on-line automatic finely finishing method, comprise the steps: that the first manipulator obtains ironcasting material from supplied materials pipeline, and be positioned over the vacant pallet being input to the first lifting platform from the vacant pallet delivery outlet of temporary platform and form load-carrying pallet; Load-carrying pallet sends into by the load-carrying pallet delivery outlet of the first lifting platform the finished machined that temporary platform is waited for the ironcasting material of leading portion; The ironcasting materiel machining of leading portion is complete, and the load-carrying pallet of waiting on temporary platform is sent into the processing pipeline of safe house by the load-carrying pallet delivery outlet of temporary platform, by processing pipeline, load-carrying pallet is sent into tray positioning mechanism and is fixed location; Two cover industrial robots carry out finished machined from the both sides of the good load-carrying pallet of stationary positioned to ironcasting material respectively; After finished machined, industrial robot homing, tray positioning mechanism is removed the stationary positioned to load-carrying pallet, and load-carrying pallet is sent in the horizontal conveyor track section of the second lifting platform by processing pipeline, and the new load-carrying pallet of simultaneously waiting in temporary platform is carried to tray positioning mechanism; Enter the load-carrying pallet of the second lifting platform, by the second manipulator, the ironcasting product after finished machined is separated from load-carrying pallet, ironcasting product is sent into blanking pipeline, horizontal conveyor track section drops to pallet unloading position and by vacant pallet delivery outlet, vacant pallet is sent into pallet pipeline, pallet pipeline is sent vacant pallet into temporary platform and is waited for the ironcasting material that loading is new, and horizontal conveyor track section rises to the load-carrying pallet that completion of processing is waited in work-handling position; Repeat above-mentioned steps and realize the on-line automatic finishing of ironcasting.

Further, the error detecting apparatus on industrial robot checks ironcasting material table surface error according to the good finished machined path of teaching, and robot controller forms new machining path by round-off error correction; Industrial robot captures processing assembly, according to new machining path, ironcasting material is carried out to finished machined; In process, for accurate feature concrete on ironcasting material, in tool magazine, by Hydraulic Station, coordinate and choose corresponding cutter and carry out finished machined; The postindustrial robot of completion of processing gets back to original position and waits for finished machined next time.

The present invention has following beneficial effect:

The on-line automatic calibration devices of ironcasting of the present invention, is sent to safe house by supplied materials pipeline by ironcasting material, by safe house, ironcasting material is carried out to finished machined, by blanking pipeline, the ironcasting product after finished machined is carried and is stored; Between supplied materials pipeline and safe house, be provided with the first lifting platform, for ironcasting material and vacant trays are formed to load-carrying pallet, to facilitate follow-up finished machined, prevent that ironcasting material bottom in process from directly being impacted and along bad, thereby improve the quality of ironcasting product; Temporary platform is set between the first lifting platform and safe house, so that load-carrying pallet is sent into safe house, postpones, prevent that load-carrying pallet from sending into again new ironcasting material in the situation that leading portion ironcasting material does not also have finishing complete; In safe house, finishing is complete is transported to the second lifting platform, and by the second lifting platform, ironcasting product is separated from load-carrying pallet, ironcasting product is carried and collected by blanking pipeline, and vacant pallet is sent to and is kept in platform and carry out next round operation by pipeline; Thereby guarantee carrying out in order of ironcasting material finished machined, form a complete ironcasting finishing process chain, thereby reduce the messy problem of production distribution, reduce the error rate of whole calibration devices, improve the operating environment quality in finishing, improve the efficiency of finished machined; Whole calibration devices is transported by lifting platform, has completely departed from manually and has participated in directly, controls, thereby realize the on-line automatic finishing of ironcasting by Centralized Controller.

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 one of the structural representation of the on-line automatic calibration devices of ironcasting of the preferred embodiment of the present invention;

Fig. 2 be the preferred embodiment of the present invention the on-line automatic calibration devices of ironcasting structural representation two;

Fig. 3 is the structural representation of the tray positioning mechanism of the preferred embodiment of the present invention;

Fig. 4 is the structural representation of the vacant pallet of the preferred embodiment of the present invention;

Fig. 5 is the structural representation of the positioning table of the preferred embodiment of the present invention;

Fig. 6 is one of the structural representation of the second lifting platform of the preferred embodiment of the present invention;

Fig. 7 be the preferred embodiment of the present invention the second lifting platform structural representation two;

Fig. 8 be the preferred embodiment of the present invention the second lifting platform structural representation three.

Marginal data:

1, supplied materials pipeline; 2, safe house; 201, processing pipeline; 202, pallet pipeline; 203, tray positioning mechanism; 2031, positioning table; 2032, strainer; 2033, horizontal support mechanism; 2034, buffer gear; 204, industrial robot; 205, barrier; 3, blanking pipeline; 4, Centralized Controller; 5, the first lifting platform; 6, temporary platform; 7, the second lifting platform; 701, frame; 702, horizontal conveyor track section; 8, ironcasting material; 9, vacant pallet; 10, load-carrying pallet; 11, ironcasting product; 12, the first manipulator; 13, the second manipulator; 14, holder; 15, horizontal movable base; 1501, spindle seat; 1502, axle; 1503, linear bearing; 16, the first swivel base; 17, the second swivel base; 18, the first cylindrical steel sleeve; 19, the first rotating shaft; 20, the second cylindrical steel sleeve; 21, the second rotating shaft; 22, centralizing spring; 23, driving mechanism; 24, the first fixed support; 25, the second fixed support; 26, adjustable supports; 27, ball supporting seat; 2701, base; 2702, bolster; 2703, buffer spring; 28, alignment pin; 29, set pin sleeve; 30, lifting mechanism; 31, slide unit; 32, balancing weight; 33, guide; 34, haulage gear; 3401, steel wire rope; 3402, fixed pulley; 35, the first brake; 36, second brake; 37, upper limit assembly; 38, lower limit assembly; 39, the first encoder; 40, robot controller; 41, delivery controller; 42, water-cooling controller; 43, Hydraulic Station; 44, error detecting apparatus; 45, tool magazine.

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 one of the structural representation of the on-line automatic calibration devices of ironcasting of the preferred embodiment of the present invention; Fig. 2 be the preferred embodiment of the present invention the on-line automatic calibration devices of ironcasting structural representation two; Fig. 3 is the structural representation of the tray positioning mechanism of the preferred embodiment of the present invention; Fig. 4 is the structural representation of the vacant pallet of the preferred embodiment of the present invention; Fig. 5 is the structural representation of the positioning table of the preferred embodiment of the present invention; Fig. 6 is one of the structural representation of the second lifting platform of the preferred embodiment of the present invention; Fig. 7 be the preferred embodiment of the present invention the second lifting platform structural representation two; Fig. 8 be the preferred embodiment of the present invention the second lifting platform structural representation three.

As shown in Figure 1, the on-line automatic calibration devices of ironcasting of the present embodiment, comprise the supplied materials pipeline 1 for delivery of ironcasting material 8, safe house 2 for ironcasting finished machined, for the ironcasting product after finished machined 11 being carried to the blanking pipeline 3 storing and the Centralized Controller 4 of controlling for on-line automatic finishing, between supplied materials pipeline 1 and safe house 2, be provided with the first lifting platform 5 that forms load-carrying pallet 10 on vacant pallet 9 for ironcasting material 8 is assembled to, between the first lifting platform 5 and safe house 2, be provided with for keeping in the load-carrying pallet 10 of carrying to safe house 2 and the temporary platform 6 that the vacant pallet 9 providing to the first lifting platform 5 is provided, between safe house 2 and blanking pipeline 3, be provided with for the complete ironcasting product 11 of finishing is departed from and send into the second lifting platform 7 of blanking pipeline 3 from load-carrying pallet 10.The on-line automatic calibration devices of ironcasting of the present invention, is sent to safe house 2 by supplied materials pipeline 1 by ironcasting material 8, by 2 pairs of ironcasting materials of safe house 8, carries out finished machined, by blanking pipeline 3, the ironcasting product 11 after finished machined is carried and is stored; Between supplied materials pipeline 1 and safe house 2, be provided with the first lifting platform 5, for ironcasting material 8 and vacant pallet 9 combinations are formed to load-carrying pallet 10, to facilitate follow-up finished machined, prevent ironcasting material 8 bottom in process from directly being impacted and along bad, thereby improve the quality of ironcasting product 11; Temporary platform 6 is set between the first lifting platform 5 and safe house 2, so that load-carrying pallet 10 is sent into safe house 2, postpones, prevent that load-carrying pallet 10 from sending into again new ironcasting material 8 in the situation that leading portion ironcasting material 8 does not also have finishing complete; The interior finishing of safe house 2 complete be transported to the second lifting platform 7, by the second lifting platform 7, ironcasting product 11 is separated from load-carrying pallet 10, ironcasting product 11 is carried and is collected by blanking pipeline 3, and vacant pallet 9 is sent to temporary platform 6 by pipeline and carries out next round operation; Thereby guarantee carrying out in order of ironcasting material 8 finished machined, form a complete ironcasting finishing process chain, thereby reduce the messy problem of production distribution, reduce the error rate of whole calibration devices, improve the operating environment quality in finishing, improve the efficiency of finished machined; Whole calibration devices is transported by lifting platform, has completely departed from manually and has participated in directly, controls, thereby realize the on-line automatic finishing of ironcasting by Centralized Controller 4.

As depicted in figs. 1 and 2, in the present embodiment, in the first lifting platform 5, comprise and be located at upper strata and for loading and unloading the work-handling position of ironcasting material 8 and being located at lower floor and for loading the tray loading position of vacant pallet 9.Work-handling position connects respectively ironcasting material input port and load-carrying pallet delivery outlet.Tray loading position connects vacant pallet input port.In the second lifting platform 7, comprise and be located at upper strata and load and unload position and be located at lower floor and unload position for unloading the pallet of vacant pallet 9 for loading and unloading the product of ironcasting product 11.Product handling position connects respectively product input port and output of products mouth.Pallet unloading position connects vacant pallet delivery outlet.In temporary platform 6, comprise and be located at upper strata and for the workpiece position to be transmitted of temporary load-carrying pallet 10 and be located at lower floor and for the pallet position to be transmitted of temporary vacant pallet 9.Workpiece position to be transmitted connects respectively load-carrying pallet input port and load-carrying pallet delivery outlet.Pallet position to be transmitted connects respectively vacant pallet input port and vacant pallet delivery outlet.All form the input and output system of levels, facilitate the mutual linking between parts, thereby realize automatic, continuous pipeline.Supplied materials pipeline 1 connects the ironcasting material input port of the first lifting platform 5.The load-carrying pallet input port of temporary platform 6 connects the load-carrying pallet delivery outlet of the first lifting platform 5.The load-carrying pallet delivery outlet of temporary platform 6 is connected in safe house 2.The vacant pallet delivery outlet of temporary platform 6 connects the vacant pallet input port of the first lifting platform 5.The vacant pallet input port of temporary platform 6 is communicated with the vacant pallet delivery outlet of the second lifting platform 7 by pipeline.

With shown in Fig. 8, in the present embodiment, in the first lifting platform 5, be mounted with the first manipulator 12 that forms load-carrying pallet 10 on vacant pallet 9 for ironcasting material 8 is contained in as shown in Figure 1, Figure 2.In the second lifting platform 7, be mounted with for the ironcasting product 11 obtaining after finished machined separation from load-carrying pallet 10 being formed to the second manipulator 13 of ironcasting product 11 and vacant pallet 9.

As depicted in figs. 1 and 2, in the present embodiment, safe house 2 comprises processing pipeline 201 for delivery of load-carrying pallet 10, for delivery of the pallet pipeline 202 of vacant pallet 9, for the tray positioning mechanism 203 of ironcasting material 8 on stationary positioned load-carrying pallet 10 and load-carrying pallet 10 and for ironcasting material 8 being carried out to the industrial robot 204 of finished machined.Preferably, industrial robot 204 comprise processing assembly for finished machined, for detection of with adjust the error-detecting assembly of finishing route and for the mechanical arm assembly of controlled working assembly motion direction.Preferably, safe house 2 also comprise enclosing in safe house 2 peripheries the barrier 205 for the airborne dust of isolating finishing and producing.Tray positioning mechanism 203 is arranged on processing pipeline 201.Industrial robot 204 is provided with two covers, and two cover industrial robots 204 are separately positioned on the both sides of processing pipeline 201 and are arranged symmetrically with along tray positioning mechanism 203.Thereby realize the finished machined that two cover industrial robots 204 carry out relative operation in ironcasting material 8 both sides, in finished machined process, the impulsive force of ironcasting material 8 is cancelled out each other by the industrial robot 204 of both sides, thereby reduce the structural deterioration beyond ironcasting material 8 finished machined, thereby the quality of raising ironcasting product 11.The first end of processing pipeline 201 connects the load-carrying pallet delivery outlet of temporary platform 6.The second end of processing pipeline 201 connects the load-carrying pallet input port of the second lifting platform 7.The first end of pallet pipeline 202 connects the vacant pallet input port of temporary platform 6.The second end of pallet pipeline 202 connects the vacant pallet delivery outlet of the second lifting platform 7.The ironcasting output of products mouth of the second lifting platform 7 connects blanking pipeline 3.

As Fig. 1, Fig. 2, Fig. 3, shown in Fig. 4 and Fig. 5, in the present embodiment, tray positioning mechanism 203 comprises for the positioning table 2031 from bottom support and fixed load pallet 10, be arranged on vacant pallet 9 for the fixing strainer 2032 of ironcasting material 8 of the bottom opening tensioning at ironcasting material 8, be arranged on vacant pallet 9 for ironcasting material 8 being carried out to the horizontal support mechanism 2033 of horizontal support and being arranged on vacant pallet 9 for from bottom support ironcasting material 8 and cushion ironcasting material 8 at the buffer gear 2034 of the lateral action power of process.Tray positioning mechanism 203 carries out structure location by 2031 pairs of load-carrying pallets of positioning table 10.The bottom that load-carrying pallet 10 is guaranteed ironcasting material 8 by horizontal support mechanism 2033 is in level.By buffer gear 2034, from ironcasting material 8 side direction, grip and from bottom support ironcasting material 8.When ironcasting material 8 carries out finished machined, the lateral action power of buffering ironcasting material 8, to stablize the fixed position of ironcasting material 8, improves the precision of finishing simultaneously.By the perforate of 2032 pairs of ironcasting material 8 bottoms of strainer, carrying out tensioning fixes, in tensioning process, rely on the hole wall circular arc self adaptation of ironcasting material 8 bottom opening to regulate hole wall and strainer 2032 contact positions, thereby self adaptation is adjusted ironcasting material 8 positions with respect to vacant pallet 9.By horizontal support mechanism 2033, buffer gear 2034 and strainer 2032 threes' combination, simultaneously in bottom, perforate and side direction ironcasting material 8 is accurately located, make ironcasting material 8 unified fixed position on vacant pallet 9 all the time, thereby guarantee the quality of finishing procedure, improve the precision of product.Ironcasting material 8 bottom opening fall into strainer 2032 can carry out self adaptation adjustment and fix, and whole stationary positioned process is simple and convenient.

As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4 and Fig. 5, in the present embodiment, the horizontal movable base 15 that strainer 2032 comprises the holder 14 being fixed on vacant pallet 9 and can carry out near or move flat away from the water of holder 14 adjusting.On holder 14, be provided with the first transposase 11 6.The first transposase 11 6 is rotating mechanism, when the first transposase 11 6 contacts with the hole wall contact-making surface of ironcasting material 8 bottom opening, due to the tensile force effect of strainer 2032, forces the first transposase 11 6 to roll to the minimum point of hole wall contact-making surface; The simultaneously auxiliary buffer gear 2034 that is useful on buffering ironcasting material 8 side forces carries out side direction compressing, thereby the ironcasting material 8 of same shape is limited on position unified on vacant pallet 9.In horizontal movable base 15, be provided with the second transposase 11 7.The second transposase 11 7 is rotating mechanism, when the second transposase 11 7 contacts with the hole wall contact-making surface of ironcasting material 8 bottom opening, due to the tensile force effect of strainer 2032, forces the second transposase 11 7 to roll to the minimum point of hole wall contact-making surface; The simultaneously auxiliary buffer gear 2034 that is useful on buffering ironcasting material 8 side forces carries out side direction compressing, thereby the ironcasting material 8 of same shape is limited on position unified on vacant pallet 9.On the first transposase 11 6, be provided with at least two first cylindrical steel sleeve 18 of rolling and contacting for the hole wall with ironcasting material 8 bottom opening.Preferably, two the first cylindrical steel sleeve 18 are set on the first transposase 11 6, the first transposase 11 6 is with respect to the fine-tuning rotation of holder 14 or relative with holder 14 fixing, and two the first cylindrical steel sleeve 18 are all arranged towards the hole wall contact-making surface of ironcasting material 8 bottom opening.Preferably, at least three the first cylindrical steel sleeve 18, the first transposase 11s 6 are set on the first transposase 11 6 and with respect to holder 14, can rotate freely, at least three the first cylindrical steel sleeve 18 are circumferentially equidistantly arranged along the ring of the first transposase 11 6.The first transposase 11 6 contacts with the hole wall of the bottom opening of ironcasting material 8 by the first cylindrical steel sleeve 18, in the tensioning process of strainer 2032, by the first transposase 11 6 significantly rotate force the hole wall of the sidewall of the first cylindrical steel sleeve 18 and the bottom opening of ironcasting material 8 to be tentatively close to, expansion along with tensile force, the first cylindrical steel sleeve 18 is rolled on the hole wall of the bottom opening of ironcasting material 8, further to regulate the effect of being close to of the first cylindrical steel sleeve 18 and hole wall, thereby improve the fixed effect of pallet to ironcasting material 8.The first cylindrical steel sleeve 18 is connected on the first transposase 11 6 by the first rotating shaft 19.Form the rotating mechanism that the first cylindrical steel sleeve 18 is rotated around the first rotating shaft 19.The first rotating shaft 19 being circumferentially intervally arranged along the first transposase 11 6 of the first cylindrical steel sleeve 18.Thereby it is arbitrarily angled to guarantee that the first transposase 11 6 rotates to, and has at least two the first cylindrical steel sleeve 18 to contact with the hole wall of the bottom opening of pending workpiece 6.On the second transposase 11 7, be provided with the second cylindrical steel sleeve 20 that at least two hole walls for the bottom opening with ironcasting material 8 roll and contact.Preferably, two the second cylindrical steel sleeve 20 are set on the second transposase 11 7, the second transposase 11 7 is with respect to the fine-tuning rotation of horizontal movable base 15 or relative with horizontal movable base 15 fixing, and two the second cylindrical steel sleeve 20 are all arranged towards the hole wall contact-making surface of ironcasting material 8 bottom opening.Preferably, at least three the second cylindrical steel sleeve 20, the second transposase 11s 7 are set on the second transposase 11 7 and with respect to horizontal movable base 15, can rotate freely, at least three the second cylindrical steel sleeve 20 are circumferentially equidistantly arranged along the ring of the second transposase 11 7.The second transposase 11 7 contacts with the hole wall of the bottom opening of ironcasting material 8 by the second cylindrical steel sleeve 20, in the tensioning process of strainer 2032, by the second transposase 11 7 significantly rotate force the hole wall of the sidewall of the second cylindrical steel sleeve 20 and the bottom opening of ironcasting material 8 to be tentatively close to, expansion along with tensile force, the second cylindrical steel sleeve 20 is rolled on the hole wall of the bottom opening of ironcasting material 8, further to regulate the effect of being close to of the second cylindrical steel sleeve 20 and hole wall, thereby improve the fixed effect of 10 pairs of ironcasting materials 8 of load-carrying pallet.The second cylindrical steel sleeve 20 is connected on the second transposase 11 7 by the second rotating shaft 21.Form the rotating mechanism that the second cylindrical steel sleeve 20 is rotated around the second rotating shaft 21.The second rotating shaft 21 being circumferentially intervally arranged along the second transposase 11 7 of the second cylindrical steel sleeve 20.Thereby it is arbitrarily angled to guarantee that the second transposase 11 7 rotates to, and has at least two the second cylindrical steel sleeve 20 to contact with the hole wall of the bottom opening of ironcasting material 8.The same perforate that the first transposase 11 6 and the second transposase 11 7 stretch to respectively ironcasting material 8 bottoms.Be applicable to the Workpiece structure that bottom opening is larger.The first transposase 11 6 stretches to respectively in the different perforate in ironcasting material 8 bottoms with the second transposase 11 7.Be applicable to the Workpiece structure of more than one of bottom opening quantity.Strainer 2032 adopts for bidirectional hydraulic support member or the two-way pneumatic support member on hole wall from ironcasting material 8 bottom opening Bidirectional supportings.By the mode of Bidirectional supporting, be stretched in the bottom opening of ironcasting material 8, thereby realize fastening, simple in structure in ironcasting material 8 bottom opening, tensioning speed is fast, good fixing effect.Strainer 2032 adopts for the air bag that tensioning is supported in 8 perforates of ironcasting material, and air bag is fitted with rigid layer with the position that the inwall of the bottom opening of ironcasting material 8 contacts.Mode by inflation makes air bag be stretched in the bottom opening of ironcasting material 8, makes the hole wall of perforate stressed evenly, has certain external force cushioning effect simultaneously, thereby is convenient to follow-up finished machined.Horizontal movable base 15 comprises that the spindle seat 1501, at least one of two positioned opposite be located at two axles 1502 between spindle seat 1501 and be set in the linear bearing 1503 in axle 1502, and axle 1502 is arranged with on the position between linear bearing 1503 and spindle seat 1501 orders about the centralizing spring 22 that linear bearing 1503 moves to axle 1502 middle parts.On linear bearing 1503, be connected with and order about linear bearing 1503 along the axially movable driving mechanism 23 of axle 1502.Driving mechanism 23 is for driving cylinder, driving at least one in hydraulic cylinder, activation lever, drive link.Horizontal movable base 15 comprises guide rail and the slide block between two guide rails of two parallel and positioned opposite, is connected with and orders about the driving mechanism 23 that slide block slides along slide rail on slide block.Driving mechanism 23 is for driving cylinder, driving at least one in hydraulic cylinder, activation lever, drive link.

As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4 and Fig. 5, in the present embodiment, horizontal support mechanism 2033 comprises the first fixed support 24, the second fixed support 25 and the adjustable supports 26 that can vertically regulate.2 supports are carried out in the bottom of the first fixed support 24 of arranging by isoplanar and 25 pairs of ironcasting materials 8 of the second fixed support, by the bottom of 26 pairs of ironcasting materials 8 of adjustable supports, carry out levelling adjusting, thereby guarantee that the bottom of ironcasting material 8 keeps level.The first fixed support 24 is fixed on holder 14.The second fixed support 25 is fixed in horizontal movable base 15.Adjustable supports 26 is arranged on vacant pallet 9.Preferably, the first fixed support 24, the second fixed support 25, adjustable supports 26 threes' setting position also can be in the exchange of vacant pallet 9 surfaces, holder 14 and horizontal movable base 15 enterprising line positions.Buffer gear 2034 adopts is located at the both sides, installation position of ironcasting material 8 and for from bottom support ironcasting material 8 and cushion ironcasting material 8 at the ball supporting seat 27 of the lateral action power of process.Ball supporting seat 27 comprise the base 2701 that is fixed on vacant pallet 9, be sheathed on the bolster 2702 on base 2701 and be sheathed on base 2701 and bolster 2702 outside buffer spring 2703.The top of bolster 2702 is the support portion of upper surface band arc supporting surface.The lower end contact of buffer spring 2703 is on base 2701.The upper end contact of buffer spring 2703 is in the bottom of support portion.Buffer gear 2034 adopts buffer spring 2703 with top braces portion, with the buffering spring sheet of top braces portion, with at least one in the buffer air bag of top braces portion.On vacant pallet 9, offer for the alignment pin 28 with positioning table 2031 and mate the set pin sleeve 29 being connected.Guarantee the accurate location between vacant pallet 9 and positioning table 2031, the impact of the deviation that reduces vacant pallet 9 installation sites on ironcasting material 8 installation sites.On positioning table 2031, be mounted with the lifting mechanism 30 for lifting load-carrying pallet 10.After ironcasting material 8 is disposed, is convenient to positioning table 2031 vacant pallet 9 is held up and be transported to subsequent processing from alignment pin 28.

As shown in Figure 1, Figure 2, shown in Fig. 6, Fig. 7 and Fig. 8, in the present embodiment, the first lifting platform 5 adopts drive units drive horizontal guide rail liftings and rest in respectively work-handling position and tray loading position.The second lifting platform 7 comprises frame 701 and for the horizontal conveyor track section 702 of horizontal feed ironcasting product 11.In frame 701, be equipped with for driving the slide unit 31 that horizontal conveyor track section 702 vertically moves up and down and the balancing weight 32 vertically moving for drawing slide unit 31.Horizontal conveyor track section 702 is loaded on slide unit 31.Slide unit 31 is by for guiding the guide 33 that slide unit 31 vertically moves up and down to be arranged on frame 701.The haulage gear 34 that utilizes weight difference mutually to draw is housed between slide unit 31 and balancing weight 32.The first end of haulage gear 34 connects slide unit 31, and the second end of haulage gear 34 connects balancing weight 32.The weight of balancing weight 32 is greater than the gross weight of slide unit 31 and vacant horizontal conveyor track section 702, and the weight of balancing weight 32 is less than the gross weight of slide unit 31, horizontal conveyor track section 702 and vacant pallet 9.The first brake 35 for relative position between fixing horizontal conveying section 702 and frame 701 is housed in slide unit 31 and/or frame 701.Second brake 36 for relative position between fixing horizontal conveying section 702 and frame 701 is housed in haulage gear 34 and/or frame 701.The connection as the conveying mechanism at two ends by horizontal conveyor track section 702 of the second lifting platform 7; Horizontal conveyor track section 702 is arranged on slide unit 31, by the guide 33 between slide unit 31 and frame 701, realize slide unit 31 moving up and down vertically, thereby drive horizontal conveyor track section 702 to move up and down, realize the transmission of workpiece in differing heights.By haulage gear 34, realize the mutual traction between balancing weight 32 and horizontal conveyor track section 702, while thering is vacant pallet 9 in horizontal conveyor track section 702, gross weight is greater than the weight of balancing weight 32, thereby makes horizontal conveyor track section 702 utilize self gravitation and overcome the gravity traction of balancing weight 32 and move downward; When the vacant pallet 9 of horizontal conveyor track section 702 unloading, gross weight is less than the weight of balancing weight 32, and horizontal conveyor track section 702 is because the gravity traction effect of balancing weight 32 moves upward.Moving up and down of horizontal conveyor track section 702 completely produced mutually and drawn and realize by weight difference, without by the external drive energy, reaches the effect of environmental protection and energy saving.By extra power, control braking and the brake off of the first brake 35 and/or second brake 36.By the first brake 35 and/or 36 pairs of horizontal conveyor track sections 702 of second brake, with respect to the motion of frame 701, brake, thereby the hovering position of level of control conveying section 702, thereby keep horizontal conveyor track section 702 to be connected to subsequent processing, complete the fast transfer of workpiece.The top of frame 701 is provided with for limiting slide unit 31 upper limit of movement and cushioning the upper limit assembly 37 of slide unit 31 elliptical gear power.Preferably, upper limit assembly 37 is provided with two or three or four, and a plurality of upper limit assemblies 37 are arranged in same level.The bottom of frame 701 is provided with for limiting slide unit 31 motion lower limits and cushioning the lower limit assembly 38 of slide unit 31 elliptical gear power.Preferably, lower limit assembly 38 is provided with two or three or four, and a plurality of lower limit assemblies 38 are arranged in same level.The pallet handling position of lower limit assembly 38 limit levels conveying sections 702 in the vacant pallet 9 of loading or unloading.Upper limit assembly 37 limit levels conveying sections 702 are in the product handling position of loading or unloading ironcasting product 11 on vacant pallet 9.

As shown in Figure 1, Figure 2, shown in Fig. 6, Fig. 7 and Fig. 8, in the present embodiment, haulage gear 34 adopts the combined mechanism of steel wire ropes 3401 and fixed pulley 3402.The central shaft of fixed pulley 3402 is arranged in frame 701, and steel wire rope 3401 is walked around fixed pulley 3402, and the first end of steel wire rope 3401 is fixed on slide unit 31, and the second end of steel wire rope 3401 is fixed on balancing weight 32.Haulage gear 34 adopts the combined mechanism of rack and pinion.On slide unit 31 and balancing weight 32, tooth bar is housed respectively, the engaging tooth positioned opposite of the tooth bar on the tooth bar on slide unit 31 and balancing weight 32, the central shaft of gear is arranged in frame 701, gear respectively with slide unit 31 on tooth bar and the tooth bar on balancing weight 32 engagement.Guide 33 adopts the first combined mechanism of slide block and slide rail.Two group of first combined mechanism is arranged in parallel, and slide unit 31 is arranged between two group of first combined mechanism being arranged in parallel.Between slide unit 31 and frame 701, by slide block, on slide rail, slide to realize horizontal conveyor track section 702 moving up and down vertically.Guide 33 adopts the second combining structure of draw runner and chute.Two group of second combined mechanism positioned opposite, slide unit 31 is arranged between two group of second combined mechanism of positioned opposite.Between slide unit 31 and frame 701, by draw runner, in chute, slide to realize horizontal conveyor track section 702 moving up and down vertically.Guide 33 adopts the 3rd combining structure of rack and pinion.Two group of the 3rd combined mechanism positioned opposite, slide unit 31 is arranged between two group of the 3rd combined mechanism of positioned opposite.Between slide unit 31 and frame 701 by gear the engagement rolling on tooth bar to realize horizontal conveyor track section 702 moving up and down vertically.Guide 33 adopts the 4th combining structure of roller and slot rolling.Two group of the 4th combined mechanism positioned opposite, slide unit 31 is arranged between two group of the 4th combined mechanism of positioned opposite.Between slide unit 31 and frame 701, by roller, in slot rolling, roll to realize horizontal conveyor track section 702 moving up and down vertically.Guide 33 adopts the 5th combining structure of ball and slot rolling.Two group of the 5th combined mechanism positioned opposite, slide unit 31 is arranged between two group of the 5th combined mechanism of positioned opposite.Between slide unit 31 and frame 701, by ball, in slot rolling, roll to realize horizontal conveyor track section 702 moving up and down vertically.Preferably, guide 33 adopts the first combined mechanism of slide block and slide rail; Guide 33 adopts the second combining structure of draw runner and chute; Guide 33 adopts the 3rd combining structure of rack and pinion; Guide 33 adopts the 4th combining structure of roller and slot rolling; Guide 33 adopts the 5th combining structure of ball and slot rolling, and these five kinds of dissimilar guides 33 can combine mutually.At least one in the first combined mechanism and second and third, four, five combining structures combines mutually.At least one in the second combined mechanism and third and fourth, five combining structures combines mutually.At least one in the 3rd combined mechanism and fourth, fifth combining structure combines mutually.The 4th combined mechanism and the 5th combining structure combine mutually.The braking output of the first brake 35 is by contacting the braking so that horizontal conveyor track section 702 is vertically moved up and down with guide 33.The braking output of the first brake 35 is by departing to remove with guide 33 braking that horizontal conveyor track section 702 is vertically moved up and down.On the first brake 35, being connected with the first encoder 39, the first brakes 35 is connected with PLC controller respectively with the first encoder 39.Horizontal conveyor track section 702 is vertically moved and is passed through guide 33 and drives the first brake 35 and the first encoder 39 synchronous rotaries, by the first encoder 39, horizontal conveyor track section 702 movement position value and translational speed value vertically fed back to PLC controller, PLC controller is compared actual value and the preset value of the movement position value of acquisition and translational speed value, according to actual putting with the difference of preset value, control and adjust the power that outputs to the first brake 35, the first brake 35 make slide unit 31 gradually near and rest in precalculated position.Second brake 36 is arranged on the turning cylinder of haulage gear 34.On the turning cylinder of haulage gear 34, be also connected with the second encoder simultaneously.Second brake 36 is connected with PLC controller respectively with the second encoder.Horizontal conveyor track section 702 is vertically moved and is passed through haulage gear 34 and drives second brake 36 and the second encoder synchronous rotary, by the second encoder, horizontal conveyor track section 702 movement position value and translational speed value vertically fed back to PLC controller, PLC controller is compared actual value and the preset value of the movement position value of acquisition and translational speed value, according to actual putting with the difference of preset value, control and adjust the power that outputs to second brake 36, second brake 36 make slide unit 31 gradually near and rest in precalculated position.Wherein utilize encoder feedback information to PLC controller, PLC controller utilizes signal fusing to carry out dynamic Control to belong to very ripe prior art.

As shown in Figure 1, in the present embodiment, Centralized Controller 4 comprises robot controller 40 for controlling industrial robot 204, for controlling delivery controller 41 that ironcasting material 8, ironcasting product 11, vacant pallet 9 and load-carrying pallet 10 carry, for controlling the water-cooling controller 42 of finished machined process water cooling plant and for the Hydraulic Station 43 of hydraulic power source is provided.

The on-line automatic finely finishing method of ironcasting of the present embodiment, comprise the steps: that the first manipulator 12 obtains ironcasting material 8 from supplied materials pipeline 1, and be positioned over the vacant pallet 9 being input to the first lifting platform 5 from the vacant pallet delivery outlet of temporary platform 6 and form load-carrying pallet 10; Load-carrying pallet 10 sends into by the load-carrying pallet delivery outlet of the first lifting platform 5 finished machined that temporary platform 6 is waited for the ironcasting material 8 of leading portion; Ironcasting material 8 completion of processing of leading portion, the load-carrying pallet 10 of waiting on temporary platform 6 is sent into the processing pipeline 201 of safe house 2 by the load-carrying pallet delivery outlet of temporary platform 6, by processing pipeline 201, load-carrying pallet 10 is sent into tray positioning mechanism 203 and be fixed location; Two cover industrial robots 204 carry out finished machined from the both sides of the good load-carrying pallet 10 of stationary positioned to ironcasting material 8 respectively; After finished machined, industrial robot 204 homings, the stationary positioned that tray positioning mechanism 203 is removed load-carrying pallet 10, load-carrying pallet 10 is sent in the horizontal conveyor track section 702 of the second lifting platform 7 by processing pipeline 201, and the new load-carrying pallet 10 of simultaneously waiting in temporary platform 6 is carried to tray positioning mechanism 203; Enter the load-carrying pallet 10 of the second lifting platform 7, by the second manipulator 13, the ironcasting product 11 after finished machined is separated from load-carrying pallet 10, ironcasting product 11 is sent into blanking pipeline 3, horizontal conveyor track section 702 drops to pallet unloading position and by vacant pallet delivery outlet, vacant pallet 9 is sent into pallet pipeline 202, pallet pipeline 202 is sent vacant pallet 9 into temporary platform 6 and is waited for the ironcasting material 8 that loading is new, and horizontal conveyor track section 702 rises to the load-carrying pallet 10 that completion of processing is waited in work-handling position; Repeat above-mentioned steps and realize the on-line automatic finishing of ironcasting.Preferably, the on-line automatic finely finishing method of ironcasting adopts the on-line automatic calibration devices of above-mentioned ironcasting.

In the present embodiment, the error detecting apparatus 44 on industrial robot 204 checks ironcasting material 8 surface errors according to the good finished machined path of teaching, and robot controller 40 forms new machining path by round-off error correction.Industrial robot 204 captures processing assembly, according to new machining path, ironcasting material 8 is carried out to finished machined.In process, for accurate feature concrete on ironcasting material 8, in tool magazine 45, by Hydraulic Station 43 cooperations, choose corresponding cutter and carry out finished machined.The postindustrial robot 204 of completion of processing gets back to original position and waits for finished machined next time.

During enforcement, by industrial robot 204, substitute labor cleaning, the online location technology of pallet, automatic loading and unloading system and the pallet circulatory system have solved labor cleaning's difficulty, efficiency is low, and place confusion and stand-alone workstation pattern cannot realize the problem of foundry goods material flows automation.

As shown in Figure 1, ironcasting Hand scarf device comprises two cover industrial robot 204, two cover processing assemblies, two cover error detecting apparatus 44, two cover tool magazines 45, positioning table 2031, two cover conveying rollers (processing pipeline 201 and pallet pipeline 202), safe house.Positioning table 2031 can accurately be located and fastening load-carrying pallet 10.Processing assembly and error detecting apparatus 44 are arranged at and on robot the 6th shaft flange, form two cover processing assemblies and tool magazine 45, processing stations and form ironcasting finished machined assembly and be arranged in barrier 205.Ironcasting finished machined assembly is by robot controller 40 and the unified control of delivery controller 41, and ironcasting finished machined work station is provided for the cooling cooling-water machine of processing assembly for the Hydraulic Station 43 of processing assembly tool changing.By feeding manipulator (the first manipulator 12), in supplied materials roller-way (supplied materials pipeline 1) feeding, put to the vacant pallet 9 of 1# advance decline line (the first lifting platform 5), by the rollgang of temporary platform 6, deliver to positioning table 2031 and process.After machining, workpiece is by rollgang, 2# advance decline line (the second lifting platform 7) and blanking mechanical hand (the second manipulator 13) are delivered to blanking pipeline 3 and are entered follow-up logistics, pallet is by rollgang (processing pipeline 201), 2# advance decline line (the second lifting platform 7) and lower floor's roller-way (pallet pipeline 202) enter 1# advance decline line (the first lifting platform 5) and form circulation, thereby realize the automation of foundry goods, intensive and serialization is produced.

Material loading flow process:

The first step, feeding manipulator (the first manipulator 12), from supplied materials pipeline 1 feeding, is positioned on 1# advance decline line (the first lifting platform 5) hollow tray 9.

Second step, 1# advance decline line (the first lifting platform 5) and temporary platform 6, deliver to temporary platform by band load-carrying pallet 10 and wait for the processing of leading portion workpiece.

The 3rd step, the load-carrying pallet 10 of temporary platform 6 is entered positioning table 2031 and is located load-carrying pallet 10 by 1# rollgang (processing pipeline 201).

Robot clean-up process:

The 4th step, industrial robot 204 by the good path of teaching to ironcasting material 8 because the error that casting and clamping cause detects.Concrete mode is to be scanned by 44 pairs of ironcasting materials 8 of industrial robot 204 grabbing error checkout gear, and scan-data is transferred to robot controller 40.

The 5th step, robot controller 40 processing scan data, form new workpiece coordinate.

The 6th step, robot controller 40 is proofreaied and correct finished machined path according to new workpiece coordinate, starts processing assembly.

The 7th step, processing assembly coordinates industrial robot 204 work to carry out finished machined to ironcasting material 8.Concrete mode is by industrial robot 204, to capture processing assembly according to the good machining path of the prior teaching of robot, ironcasting material 8 to be processed.In process, for concrete finishing feature, need to choose corresponding cutter, concrete mode is by robot controller 40, to control tool magazines 45 corresponding cutter is switched to by industrial robot 204, processing assembly to be delivered to tool change position and coordinated tool changing Hydraulic Station 43 to complete tool changing after tool change position to move.

The 8th step, machine rear robot and get back to original position, delivery controller 41 is controlled positioning table disengagement load-carrying pallet 10 and by 2# rollgang (processing pipeline 201), the ironcasting product processing and load-carrying pallet 10 is transported to 2# lifting platform (the second lifting platform 7) simultaneously, new foundry goods is delivered to positioning table 2031 simultaneously.

Pallet and workpiece separation process:

The 9th step, delivery controller 41 is controlled blanking mechanical hand (the second manipulator 13) clamping work pieces (ironcasting product 11) workpiece (ironcasting product 11) is sent to blanking pipeline 3.

The tenth step, delivery controller 41 is controlled 2# lifting platforms (the second lifting platform 7) and is declined, and after lifting platform roller-way is concordant with lower floor roller-way, lifting platform roller-way moves vacant pallet 9 is sent into lower floor's roller-way (pallet pipeline 202).

The 11 step, delivery controller 41 is controlled lower floor's roller-way vacant pallet 9 is sent into 1# lifting platform (the first lifting platform 5) roller-way,

The 12 step, it is concordant with temporary platform 6 roller-ways that delivery controller 41 is controlled 1# lifting platform (the first lifting platform 5) rising, waits for feeding manipulator (the first manipulator 12) material loading.

By ironcasting material 8 material loadings, processing, vacant pallet 9 is separated with ironcasting material 8, and ironcasting product 11 rolls off the production line and vacant pallet 9 reclaims the logistics circulation that realizes ironcasting conveying, finished machined.

Cylinder body (ironcasting material 8) laying method:

As shown in Figure 1, the 1# piston hole of cylinder body (ironcasting material 8) is aimed to the tensioning swivel base (the first transposase 11 6) at holder 14 places, the 6# piston hole of cylinder body (ironcasting material 8) is aimed to the tensioning swivel base (the second transposase 11 7) at linear bearing 1503 places.Cylinder body (ironcasting material 8) supports and adopts supported at three point, comprises two fixed supports (the first fixed support 24 and the second fixed support 25) and an adjustable supports 26.

Ball supporting seat 27 is subject to the weight of cylinder body (ironcasting material 8) 80%, while clamping cylinder body, reduce the friction between cylinder body (ironcasting material 8) and ball supporting seat 27, the support force of ball supporting seat 27 regulates by spring, and the head of ball supporting seat 27 can rotate in any direction to allow cylinder body (ironcasting material 8) and ball supporting seat 27 fit tightly and clamp flexibly.

Cylinder body (ironcasting material 8) tensioning:

Positioning table 2031 orders about the linear bearing 1503 mobile tensioning outward of strainer 2032 by mobile tensioning block, the first cylindrical steel sleeve 18 and the second cylindrical steel sleeve 20 are contacted respectively and tensioning with cylinder piston hole.

Pallet location:

Pallet declines with rollgang 6, two alignment pins 28 on positioning frame (positioning table 2031) progressively enter the set pin sleeve 29 of pallet, the location that completes pallet when set pin sleeve 29 end faces contact with the supporting surface of positioning frame (positioning table 2031).

Concrete operating procedure is as follows:

The first step, pallet enters rollgang 6, and after pallet being detected and putting in place, roller-way stops operating.

Second step, hoist cylinder piston rod (lifting mechanism 30) is retracted, and rollgang 6 declines, and pallet falls into positioning frame (positioning table 2031), and rollgang is separated with pallet.

The 3rd step, after pallet is taken a seat, strainer 2032 tensioning workpiece, wait to be processed.

The 4th step, machines rear strainer 2032 and unclamps, and hoist cylinder piston rod (lifting mechanism 30) stretches out and puts in place.

The 5th step, rollgang is delivered to follow-up roller-way by pallet, waits for next supplied materials.

Strainer 2032 is separated with pallet, and pallet, without power source, has been simplified the structure of pallet, and all pallets only need a set of strainer 2032 to save cost simultaneously.

Rollgang (horizontal conveyor track section 702) is arranged on slide unit 31.Slide unit 31 has two positions, upper hovering position and lower hovering position.

Lifting platform in discharging section, the deadweight of balancing weight 32 moves upward by haulage gear 34 traction slide units 31:

The first step, slide unit 31 on hovering position wait for cast iron part (ironcasting material 8)

Load-carrying pallet 10 enter rollgang (horizontal conveyor track section 702), the locked slide unit 31 of upper limit assembly 37 now.

Second step, load-carrying pallet 10 enters rollgang (horizontal conveyor track section 702), and after putting in place, the blanking mechanical hand being loaded in frame 701 is caught away cast iron part (ironcasting material 8).

The 3rd step, cast iron part (ironcasting material 8) is from 10 separation of load-carrying pallet, upper limit assembly 37 releases, the first brake 35 and/or second brake 36 are thrown off, under Action of Gravity Field, slide unit 31 declines (the slide unit 31+ rollgang+gross weight of vacant pallet 9 is greater than the weight of balancing weight 32).

The 4th step, according to the first encoder 39 and/or the second encoder feedback, go out the positional value of slide unit 31 and velocity amplitude (when slide unit 31 declines, by rack-driving, drive encoder to rotate, by encoder feedback slide unit position and slide unit speed) and preset displacement velocity ratio is, according to actual, automatically adjust the brake force of the first brake 35 and/or second brake 36 with default difference PLC controller, make slide unit 31 drop to fast, steadily, exactly lower hovering position.

The 5th step, the first brake 35 and/or second brake 36 are locked, and rollgang (horizontal conveyor track section 702) is sent vacant pallet 9 into lower floor's rollgang.

The 6th step, after vacant pallet 9 separation, braking is unclamped, under the Action of Gravity Field of balancing weight 32, slide unit 31 risings (weight of balancing weight 32 is greater than the weight of sending roller-way+slide unit 31)

The 7th step, according to the first encoder 39 and/or the second encoder feedback, go out the positional value of slide unit 31 and velocity amplitude (when slide unit 31 declines, by rack-driving, drive encoder to rotate, by encoder feedback slide unit position and slide unit speed) and preset displacement velocity ratio is, according to actual, automatically adjust the brake force of the first brake 35 and/or second brake 36 with default difference PLC controller, make slide unit 31 rise to fast, steadily, exactly hovering position.

This lifting platform, realizes lifting platform without powered attendant-controlled wheelchairs lifting according to the weight difference in whole lifting process as the power source of lifting platform, simultaneously in conjunction with velocity location sensing and dynamic brake, makes lifting platform arrive fast, steadily, exactly assigned address.More traditional lifting platform has following advantage:

1, without external power supply, only need very little braking power, meet country efficient, green, environmental protection.

2, unpowered transmission device, safeguards littlely, and cost is low, easy to use.

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 (12)

1. the on-line automatic calibration devices of ironcasting, is characterized in that,

Comprise supplied materials pipeline (1) for delivery of ironcasting material (8), for the safe house (2) of ironcasting finished machined, for the ironcasting product (11) after finished machined being carried to the blanking pipeline (3) storing and the Centralized Controller (4) of controlling for on-line automatic finishing

Between described supplied materials pipeline (1) and described safe house (2), be provided with for described ironcasting material (8) being assembled to upper the first lifting platform (5) that forms load-carrying pallet (10) of vacant pallet (9),

Between described the first lifting platform (5) and described safe house (2), be provided with for keeping in the described load-carrying pallet (10) of carrying to described safe house (2) and the temporary platform (6) that the described vacant pallet (9) providing to described the first lifting platform (5) is provided;

Between described safe house (2) and described blanking pipeline (3), be provided with for the complete described ironcasting product (11) of finishing is departed from and send into second lifting platform (7) of described blanking pipeline (3) from described load-carrying pallet (10).

2. the on-line automatic calibration devices of ironcasting according to claim 1, is characterized in that,

In described the first lifting platform (5), comprise and be located at upper strata and for loading and unloading the work-handling position of described ironcasting material (8) and being located at lower floor and for loading the tray loading position of described vacant pallet (9), work-handling position connects respectively ironcasting material input port and load-carrying pallet delivery outlet, and tray loading position connects vacant pallet input port;

In described the second lifting platform (7), comprise and be located at upper strata and load and unload position and be located at lower floor and unload position for unloading the pallet of described vacant pallet (9) for loading and unloading the product of described ironcasting product (11), product handling position connects respectively product input port and output of products mouth, and pallet unloading position connects vacant pallet delivery outlet;

In described temporary platform (6), comprise and be located at upper strata and for the workpiece position to be transmitted of temporary described load-carrying pallet (10) and be located at lower floor and for the pallet position to be transmitted of temporary described vacant pallet (9), workpiece position to be transmitted connects respectively load-carrying pallet input port and load-carrying pallet delivery outlet, and pallet position to be transmitted connects respectively vacant pallet input port and vacant pallet delivery outlet:

Described supplied materials pipeline (1) connects the ironcasting material input port of described the first lifting platform (5);

The load-carrying pallet input port of described temporary platform (6) connects the load-carrying pallet delivery outlet of described the first lifting platform (5),

The load-carrying pallet delivery outlet of described temporary platform (6) is connected in described safe house (2);

The vacant pallet delivery outlet of described temporary platform (6) connects the vacant pallet input port of described the first lifting platform (5),

The vacant pallet input port of described temporary platform (6) is communicated with the vacant pallet delivery outlet of described the second lifting platform (7) by pipeline.

3. the on-line automatic calibration devices of ironcasting according to claim 1, is characterized in that,

In described the first lifting platform (5), be mounted with for described ironcasting material (8) being contained in to upper the first manipulator (12) that forms described load-carrying pallet (10) of described vacant pallet (9);

In described the second lifting platform (7), be mounted with for the described ironcasting product (11) obtaining after finished machined separation from described load-carrying pallet (10) being formed to second manipulator (13) of described ironcasting product (11) and described vacant pallet (9).

4. the on-line automatic calibration devices of ironcasting according to claim 2, is characterized in that,

Described safe house (2) comprises processing pipeline (201) for delivery of described load-carrying pallet (10), for delivery of the pallet pipeline (202) of described vacant pallet (9), for the tray positioning mechanism (203) of load-carrying pallet (10) described in stationary positioned and the above ironcasting material (8) of described load-carrying pallet (10) and for described ironcasting material (8) being carried out to the industrial robot (204) of finished machined;

It is upper that described tray positioning mechanism (203) is arranged on described processing pipeline (201),

Described industrial robot (204) is provided with two covers, and the two described industrial robots of cover (204) are separately positioned on the both sides of described processing pipeline (201) and are arranged symmetrically with along described tray positioning mechanism (203);

The first end of described processing pipeline (201) connects the load-carrying pallet delivery outlet of described temporary platform (6), and the second end of described processing pipeline (201) connects the load-carrying pallet input port of described the second lifting platform (7);

The first end of described pallet pipeline (202) connects the vacant pallet input port of described temporary platform (6), and the second end of described pallet pipeline (202) connects the vacant pallet delivery outlet of described the second lifting platform (7);

The ironcasting output of products mouth of described the second lifting platform (7) connects blanking pipeline (3).

5. the on-line automatic calibration devices of ironcasting according to claim 4, it is characterized in that, described tray positioning mechanism (203) comprises for the positioning table (2031) from bottom support and fixing described load-carrying pallet (10), be arranged on the upper strainer (2032) for the fixing described ironcasting material (8) of the bottom opening tensioning at described ironcasting material (8) of described vacant pallet (9), be arranged at described vacant pallet (9) upper upper for from ironcasting material (8) described in the support of bottom and cushion described ironcasting material (8) at the buffer gear (2034) of the lateral action power of process for described ironcasting material (8) being carried out to the horizontal support mechanism (2033) of horizontal support and being arranged at described vacant pallet (9).

6. the on-line automatic calibration devices of ironcasting according to claim 5, is characterized in that,

The horizontal movable base (15) that described strainer (2032) comprises the holder (14) being fixed on described vacant pallet (9) and can carry out near or move flat away from the water of described holder (14) adjusting;

On described holder (14), be provided with the first swivel base (16), in described horizontal movable base (15), be provided with the second swivel base (17),

On described the first swivel base (16), be provided with at least two first cylindrical steel sleeve (18) of rolling and contacting for the hole wall with described ironcasting material (8) bottom opening, it is upper that described the first cylindrical steel sleeve (18) is connected to described the first swivel base (16) by the first rotating shaft (19), described the first rotating shaft (19) being circumferentially intervally arranged along described the first swivel base (16);

On described the second swivel base (17), be provided with at least two second cylindrical steel sleeve (20) of rolling and contacting for the hole wall with described ironcasting material (8) bottom opening, it is upper that described the second cylindrical steel sleeve (20) is connected to described the second swivel base (17) by the second rotating shaft (21), described the second rotating shaft (21) being circumferentially intervally arranged along described the second swivel base (17);

Described the first swivel base (16) stretches to respectively in the different perforate in described ironcasting material (8) bottom with described the second swivel base (17) with same perforate or described the first swivel base (16) that described the second swivel base (17) stretches to respectively described ironcasting material (8) bottom; Or

Described strainer (2032) adopts for bidirectional hydraulic support member or the two-way pneumatic support member on hole wall from described ironcasting material (8) bottom opening Bidirectional supporting; Or

Described strainer (2032) adopts the air bag that supports hole wall for tensioning in described ironcasting material (8) bottom opening, on the position that described air bag contacts at the hole wall with described ironcasting material (8) bottom opening, is fitted with rigid layer;

Described horizontal movable base (15) comprises that the spindle seat (1501), at least one of two positioned opposite be located at the axle (1502) between two described spindle seats (1501) and be set in the linear bearing (1503) in described axle (1502)

Described axle (1502) is arranged with on the position between described linear bearing (1503) and described spindle seat (1501) orders about described linear bearing (1503) to the mobile centralizing spring (22) in described axle (1502) middle part

On described linear bearing (1503), be connected with and order about described linear bearing (1503) along the axially movable driving mechanism (23) of described axle (1502), described driving mechanism (23) is for driving cylinder, driving at least one in hydraulic cylinder, activation lever, drive link; Or

Described horizontal movable base (15) comprises guide rail and the slide block between two described guide rails of two parallel and positioned opposite,

On described slide block, be connected with and order about the driving mechanism (23) that described slide block slides along described slide rail, described driving mechanism (23) is for driving cylinder, driving at least one in hydraulic cylinder, activation lever, drive link.

7. the on-line automatic calibration devices of ironcasting according to claim 6, is characterized in that,

Described horizontal support mechanism (2033) comprises the first fixed support (24), the second fixed support (25) and the adjustable supports (26) that can vertically regulate;

Described the first fixed support (24) is fixed on described holder (14), it is upper that described the second fixed support (25) is fixed in described horizontal movable base (15), and described adjustable supports (26) is arranged on described vacant pallet (9);

Described buffer gear (2034) adopts is located at the both sides, installation position of described ironcasting material (8) and for from ironcasting material (8) described in the support of bottom and cushion described ironcasting material (8) at the ball supporting seat (27) of the lateral action power of process

The buffer spring (2703) that described ball supporting seat (27) comprises the base (2701) that is fixed on described vacant pallet (9), is sheathed on the bolster (2702) on described base (2701) and is sheathed on described base (2701) and described bolster (2702) is outer

The top of described bolster (2702) is the support portion of upper surface band arc supporting surface,

The lower end contact of described buffer spring (2703) is upper at described base (2701), and the upper end contact of described buffer spring (2703) is in the bottom of support portion; Or

Described buffer gear (2034) adopts buffer spring (2703) with top braces portion, with the buffering spring sheet of top braces portion, with at least one in the buffer air bag of top braces portion;

On described vacant pallet (9), offer for the alignment pin with described positioning table (2031) (28) and mate the set pin sleeve (29) being connected;

On described positioning table (2031), be mounted with the lifting mechanism (30) for load-carrying pallet (10) described in lifting.

8. according to the on-line automatic calibration devices of the ironcasting described in any one in claim 1 to 7, it is characterized in that,

Described the first lifting platform (5) adopts drive unit drive horizontal guide rail lifting and rest in respectively work-handling position and tray loading position;

Described the second lifting platform (7) comprises frame (701) and for the horizontal conveyor track section (702) of ironcasting product (11) described in horizontal feed,

In described frame (701), be equipped with for driving the slide unit (31) that described horizontal conveyor track section (702) vertically moves up and down and the balancing weight (32) vertically moving for drawing described slide unit (31);

It is upper that described horizontal conveyor track section (702) is loaded in described slide unit (31), and described slide unit (31) is by for guiding the guide (33) that described slide unit (31) vertically moves up and down to be arranged on described frame (701);

The haulage gear (34) that utilizes weight difference mutually to draw is housed between described slide unit (31) and described balancing weight (32), the first end of described haulage gear (34) connects described slide unit (31), the second end of described haulage gear (34) connects described balancing weight (32)

The weight of described balancing weight (32) is greater than the gross weight of described slide unit (31) and vacant described horizontal conveyor track section (702), and the weight of described balancing weight (32) is less than the gross weight of described slide unit (31), described horizontal conveyor track section (702) and described vacant pallet (9);

The first brake (35) for relative position between fixing described horizontal conveyor track section (702) and described frame (701) is housed in described slide unit (31) and/or described frame (701), and/or

Second brake (36) for relative position between fixing described horizontal conveyor track section (702) and described frame (701) is housed in described haulage gear (34) and/or described frame (701);

The top of described frame (701) is provided with for limiting described slide unit (31) upper limit of movement and cushioning the upper limit assembly (37) of described slide unit (31) elliptical gear power;

The bottom of described frame (701) is provided with for limiting described slide unit (31) motion lower limit and cushioning the lower limit assembly (38) of described slide unit (31) elliptical gear power;

Described lower limit assembly (38) limits the pallet handling position of described horizontal conveyor track section (702) in vacant pallet (9) described in loading or unloading;

Described upper limit assembly (37) limits described horizontal conveyor track section (702) and is in the product of ironcasting product (11) handling described in loading or unloading on described vacant pallet (9).

9. the on-line automatic calibration devices of ironcasting according to claim 8, is characterized in that,

Described haulage gear (34) adopts the combined mechanism of steel wire rope (3401) and fixed pulley (3402),

It is upper that the central shaft of described fixed pulley (3402) is arranged on described frame (701), and described steel wire rope (3401) is walked around described fixed pulley (3402),

It is upper that the first end of described steel wire rope (3401) is fixed in slide unit (31), and the second end of described steel wire rope (3401) is fixed on balancing weight (32); Or

Described haulage gear (34) adopts the combined mechanism of rack and pinion,

On described slide unit (31) and described balancing weight (32), tooth bar is housed respectively,

The engaging tooth positioned opposite of the tooth bar on the tooth bar on described slide unit (31) and described balancing weight (32),

It is upper that the central shaft of described gear is arranged on described frame (701),

Described gear respectively with described slide unit (31) on tooth bar and the tooth bar on described balancing weight (32) engagement;

Described guide (33) adopts the first combined mechanism of slide block and slide rail, and described in two groups, the first combined mechanism is arranged in parallel, described slide unit (31) be arranged on two groups that are arranged in parallel described between the first combined mechanism,

Between described slide unit (31) and described frame (701), by described slide block, on described slide rail, slide to realize described horizontal conveyor track section (702) moving up and down vertically; Or

Described guide (33) adopts the second combining structure of draw runner and chute, the second combined mechanism positioned opposite described in two groups, and described slide unit (31) is arranged on described in two groups of positioned opposite between the second combined mechanism,

Between described slide unit (31) and described frame (701), by described draw runner, in described chute, slide to realize described horizontal conveyor track section (702) moving up and down vertically; Or

Described guide (33) adopts the 3rd combining structure of rack and pinion, the 3rd combined mechanism positioned opposite described in two groups, and described slide unit (31) is arranged on described in two groups of positioned opposite between the 3rd combined mechanism,

Between described slide unit (31) and described frame (701) by described gear the engagement rolling on described tooth bar to realize described horizontal conveyor track section (702) moving up and down vertically; Or

Described guide (33) adopts the 4th combining structure of roller and slot rolling, the 4th combined mechanism positioned opposite described in two groups, and described slide unit (31) is arranged on described in two groups of positioned opposite between the 4th combined mechanism,

Between described slide unit (31) and described frame (701), by described roller, in described slot rolling, roll to realize described horizontal conveyor track section (702) moving up and down vertically; Or

Described guide (33) adopts the 5th combining structure of ball and slot rolling, the 5th combined mechanism positioned opposite described in two groups, and described slide unit (31) is arranged on described in two groups of positioned opposite between the 5th combined mechanism,

Between described slide unit (31) and described frame (701), by described ball, in described slot rolling, roll to realize described horizontal conveyor track section (702) moving up and down vertically;

The braking output of described the first brake (35) is by contacting the braking so that described horizontal conveyor track section (702) is vertically moved up and down with described guide (33);

The braking output of described the first brake (35) is by departing from described guide (33) braking described horizontal conveyor track section (702) vertically being moved up and down to remove;

On described the first brake (35), be connected with the first encoder (39), described the first brake (35) is connected with PLC controller respectively with described the first encoder (39),

Described horizontal conveyor track section (702) is vertically moved and is passed through described guide (33) and drives described the first brake (35) and described the first encoder (39) synchronous rotary, by described the first encoder (39), described horizontal conveyor track section (702) movement position value and translational speed value vertically fed back to described PLC controller

Described PLC controller is compared actual value and the preset value of the movement position value of acquisition and translational speed value, according to actual putting with the difference of preset value, controls and adjust the power that outputs to described the first brake (35),

Described the first brake (35) make described slide unit (31) gradually near and rest in precalculated position;

Described second brake (36) is arranged on the turning cylinder of described haulage gear (34), on the turning cylinder of described haulage gear (34), be also connected with the second encoder simultaneously, described second brake (36) is connected with described PLC controller respectively with described the second encoder

Described horizontal conveyor track section (702) is vertically moved and is passed through described haulage gear (34) and drives described second brake (36) and described the second encoder synchronous rotary, by described the second encoder, described horizontal conveyor track section (702) movement position value and translational speed value vertically fed back to PLC controller

Described PLC controller is compared actual value and the preset value of the movement position value of acquisition and translational speed value, according to actual putting with the difference of preset value, controls and adjust the power that outputs to described second brake (36),

Described second brake (36) make described slide unit (31) gradually near and rest in precalculated position.

10. according to the on-line automatic calibration devices of the ironcasting described in any one in claim 4 to 7, it is characterized in that, described Centralized Controller (4) comprises robot controller (40) for controlling described industrial robot (204), for controlling delivery controller (41) that described ironcasting material (8), described ironcasting product (11), described vacant pallet (9) and described load-carrying pallet (10) carry, for controlling the water-cooling controller (42) of the water cooling plant of finished machined process and for the Hydraulic Station (43) of hydraulic power source is provided.

11. 1 kinds of on-line automatic finely finishing methods of ironcasting, is characterized in that, comprise the steps:

The first manipulator (12) is obtained ironcasting material (8) from supplied materials pipeline (1), and is positioned over from the vacant pallet delivery outlet of temporary platform (6) and is input to vacant pallet (9) the formation load-carrying pallet (10) the first lifting platform (5);

Described load-carrying pallet (10) sends into by the load-carrying pallet delivery outlet of described the first lifting platform (5) finished machined that described temporary platform (6) is waited for the described ironcasting material (8) of leading portion;

Described ironcasting material (8) completion of processing of leading portion, the upper described load-carrying pallet (10) of waiting for of described temporary platform (6) is sent into the processing pipeline (201) of safe house (2) by the load-carrying pallet delivery outlet of described temporary platform (6), by described processing pipeline (201), described load-carrying pallet (10) is sent into tray positioning mechanism (203) and be fixed location;

Two cover industrial robots (204) carry out finished machined from the both sides of the good described load-carrying pallet (10) of stationary positioned to described ironcasting material (8) respectively;

After finished machined, described industrial robot (204) homing, described tray positioning mechanism (203) is removed the stationary positioned to described load-carrying pallet (10), the horizontal conveyor track section (702) that described load-carrying pallet (10) is sent to the second lifting platform (7) by described processing pipeline (201) is upper, and the new described load-carrying pallet (10) of simultaneously waiting in described temporary platform (6) is carried to described tray positioning mechanism (203);

Enter the described load-carrying pallet (10) of described the second lifting platform (7), by the second manipulator (13), the ironcasting product (11) after finished machined is separated from described load-carrying pallet (10), described ironcasting product (11) is sent into blanking pipeline (3), described horizontal conveyor track section (702) drops to pallet unloading position and by vacant pallet delivery outlet, vacant pallet (9) is sent into pallet pipeline (202), described pallet pipeline (202) is sent described vacant pallet (9) into the described ironcasting material (8) that described temporary platform (6) waits for that loading is new, described horizontal conveyor track section (702) rises to the described load-carrying pallet (10) that completion of processing is waited in work-handling position,

Repeat above-mentioned steps and realize the on-line automatic finishing of ironcasting.

The on-line automatic finely finishing method of 12. ironcasting according to claim 11, is characterized in that,

Error detecting apparatus (44) on described industrial robot (204) checks described ironcasting material (8) surface error according to the good finished machined path of teaching,

Described robot controller (40) forms new machining path by round-off error correction;

Described industrial robot (204) captures processing assembly, according to new machining path, described ironcasting material (8) is carried out to finished machined;

In process, for the upper concrete accurate feature of described ironcasting material (8), in tool magazine (45), by Hydraulic Station (43) cooperation, choose corresponding cutter and carry out finished machined;

After completion of processing, described industrial robot (204) is got back to original position and is waited for finished machined next time.