CN104190912B - The on-line automatic calibration devices of ironcasting and the on-line automatic finely finishing method of ironcasting - Google Patents

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

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Publication number
CN104190912B
CN104190912B CN201410424115.3A CN201410424115A CN104190912B CN 104190912 B CN104190912 B CN 104190912B CN 201410424115 A CN201410424115 A CN 201410424115A CN 104190912 B CN104190912 B CN 104190912B
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pallet
ironcasting
load
carrying
slide unit
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CN104190912A (en
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郑勇全
林彰东
杨墨
张武坤
曹令亚
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Changsha Chaint Robotics Co Ltd
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Changsha Chaint Robotics Co Ltd
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Abstract

The invention discloses the on-line automatic calibration devices of a kind of ironcasting and the on-line automatic finely finishing method of ironcasting.The on-line automatic calibration devices of ironcasting, comprise supplied materials pipeline, for the safe house of ironcasting finished machined, for the ironcasting product after finished machined is carried the blanking pipeline stored and the Centralized Controller being used for on-line automatic finishing control, being provided with between supplied materials pipeline and safe house for ironcasting material being assembled to the first lifting platform vacant pallet being formed load-carrying pallet, being provided with for keeping in the load-carrying pallet carried to safe house and the temporary platform of keeping in the vacant pallet provided to the first lifting platform between the first lifting platform and safe house; Be provided with between safe house and blanking pipeline for ironcasting product complete for finishing being departed from from load-carrying pallet and sending into the second lifting platform of blanking pipeline.Ensure carrying out in order of ironcasting material finished machined, transported by lifting platform, realize the on-line automatic finishing of ironcasting.

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 comprising 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, carries out the general name of a series of casting cleaning operations before fine finishining to foundry goods after casting pouring is shaping 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 are thrown, inspection and foundry goods application etc.
At artificial finishing department, due to the most surface imperfection of one side foundry goods and internal feature is more; Another aspect foundry goods model, specification are more.Realize foundry goods Hand scarf difficulty too large, traditional cleaning pattern be adopt high-power through type milling drum processing foundry goods regular surfaces to be formed fash, water and emit root, oxide skin etc. to turn again by artificial finishing.Artificial finishing needs the feature quantity of removing many and wide coverage, and cleaning work amount is large.In the diversity requirements scale removal process of cleaning feature, workpiece needs continuous flange.Therefore most enterprise 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 mainly manual polishing, 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, cleaning workman do several years must the situation of tuberculosis common.The young man grown 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 difficult problem of advertising for workers greatly.It is more and more urgent to the demand realizing foundry goods automation cleaning that above reason promotes enterprise.
Also there are some casting finish systems at present, but production distribution is messy, workpiece needs 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, and messy to solve existing casting finish system production distribution, workpiece needs 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 carrying ironcasting material, for the safe house of ironcasting finished machined, for the ironcasting product after finished machined is carried the blanking pipeline stored and the Centralized Controller being used for on-line automatic finishing control, be provided with for ironcasting material being assembled to the first lifting platform vacant pallet being formed load-carrying pallet between supplied materials pipeline and safe house, be provided with for keeping in the load-carrying pallet carried to safe house and the temporary platform of keeping in the vacant pallet provided to the first lifting platform between first lifting platform and safe house, be provided with between safe house and blanking pipeline for ironcasting product complete for finishing being departed from from load-carrying pallet and sending into the second lifting platform of blanking pipeline.
Further, comprise in first lifting platform and be located at upper strata and for the work-handling position of loading and unloading ironcasting material and be located at lower floor and tray loading position for loading vacant pallet, work-handling position connects ironcasting material input and load-carrying pallet delivery outlet respectively, and tray loading position connects vacant pallet input port; Comprise in second lifting platform be located at upper strata and for load and unload ironcasting product product handling position and be located at lower floor and for unload vacant pallet pallet unloading position, product handling position connects product input port and output of products mouth respectively, and pallet unloading position connects vacant pallet delivery outlet; Comprise in temporary platform be located at upper strata and for temporary load-carrying pallet workpiece position to be transmitted and be located at lower floor and for the pallet position to be transmitted of temporary vacant pallet, workpiece position to be transmitted connects load-carrying pallet input port and load-carrying pallet delivery outlet respectively, and pallet position to be transmitted connects vacant pallet input port and vacant pallet delivery outlet respectively; Supplied materials pipeline connects the ironcasting material input 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, be mounted with in the first lifting platform for ironcasting material being contained in the first manipulator vacant pallet being formed load-carrying pallet; The ironcasting product be mounted with in second lifting platform for obtaining after finished machined is separated from load-carrying pallet the second manipulator forming ironcasting product and vacant pallet.
Further, safe house comprise for carrying the processing pipeline of load-carrying pallet, the tray positioning mechanism of ironcasting material and the industrial robot for carrying out finished machined to ironcasting material for carrying the pallet pipeline of vacant pallet, on stationary positioned load-carrying pallet and load-carrying pallet; 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 from the positioning table of bottom support and fixed load pallet, to be arranged on vacant pallet tensioning in the bottom opening at ironcasting material fix ironcasting material strainer, be arranged on vacant pallet for carrying out the horizontal support mechanism of horizontal support to ironcasting material and being arranged on vacant pallet for cushioning the buffer gear of the lateral force of ironcasting material in process from bottom support ironcasting material.
Further, strainer comprises the holder that is fixed on vacant pallet and can carry out near or move flat away from the water of holder the horizontal movable base of adjustment; Holder is provided with the first swivel base, horizontal movable base is provided with the second swivel base, first swivel base is provided with at least two for carrying out the first cylindrical steel sleeve of Structure deformation with the hole wall of ironcasting material bottom opening, first cylindrical steel sleeve is connected on the first swivel base by the first rotating shaft, and the first rotating shaft is intervally arranged along the circumference of the first swivel base; Second swivel base is provided with at least two for carrying out the second cylindrical steel sleeve of Structure deformation with the hole wall of ironcasting material bottom opening, second cylindrical steel sleeve is connected on the second swivel base by the second rotating shaft, and the second rotating shaft is intervally arranged along the circumference of the second swivel base; First swivel base and the second swivel base stretch to same perforate bottom ironcasting material or the first swivel base and the second swivel base respectively and stretch in perforates different bottom ironcasting material respectively; Or strainer adopts for the bidirectional hydraulic support member of Bidirectional supporting from ironcasting material bottom opening on hole wall or two-way pneumatic support member; Or strainer adopts the air bag being used for supporting hole wall from tensioning in ironcasting material bottom opening, and air bag is fitted with rigid layer on the position contacted with the hole wall of ironcasting material bottom opening; Horizontal movable base comprises two spindle seats positioned opposite, at least one linear bearing be located at the axle between two spindle seats and be set in axle, axle is in the position between linear bearing and spindle seat is arranged with orders about the centralizing spring of linear bearing to movement in the middle part of axle, linear bearing is connected with and orders about the driving mechanism that move axially of linear bearing along axle, driving mechanism is drive at least one in cylinder, driving hydraulic cylinder, activation lever, drive link; Or the slide block that horizontal movable base comprises two guide rails parallel and positioned opposite and is between two guide rails, slide block is connected with the driving mechanism ordering about slide block and slide along slide rail, driving mechanism is drive at least one in cylinder, driving hydraulic cylinder, activation lever, drive link.
Further, the horizontal support mechanism adjustable supports that comprises the first fixed support, the second fixed support and can vertically regulate; 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 the both sides, installation position of being located at ironcasting material and for cushioning the ball supporting seat of the lateral force of ironcasting material in process from bottom support ironcasting material, the buffer spring that ball supporting seat comprises the base be fixed on vacant pallet, is sheathed on the bolster on base and is sheathed on outside base and bolster, the top of bolster is the support portion in upper surface band curved support face, 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 at least one in the buffer air bag in the buffer spring being with top braces portion, the buffering spring sheet being with top braces portion, band top braces portion; Vacant pallet offer for carrying out mating the set pin sleeve be connected with the alignment pin of positioning table; Positioning table is 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 work-handling position and tray loading position respectively; Second lifting platform comprises frame and the horizontal conveyor track section for horizontal feed ironcasting product, frame is equipped with slide unit for driving horizontal conveyor track section vertically to move up and down and for drawing the balancing weight that slide unit vertically moves; Horizontal conveyor track section is loaded on slide unit, and slide unit is by being arranged on frame for the guide guiding slide unit vertically to move up and down; The haulage gear utilizing weight difference mutually to draw is housed between slide unit and balancing weight, the first end of haulage gear connects slide unit, 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; Slide unit and/or frame are equipped with the first brake for relative position between fixing horizontal conveying section and frame, and/or haulage gear and/or frame are equipped with the second brake for relative position between fixing horizontal conveying section and 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; Lower limit assembly limit levels conveying section is in the pallet handling position of 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 fixed pulley walked around by steel wire rope, 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, slide unit and balancing weight are equipped with tooth bar respectively, the engaging tooth of the tooth bar on slide unit and the tooth bar on balancing weight is positioned opposite, the central shaft of gear is arranged in frame, and gear engages with the tooth bar on slide unit and the tooth bar on balancing weight respectively, 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, 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 is positioned opposite, slide unit is arranged between two group of second combined mechanism 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 is positioned opposite, slide unit is arranged between two group of the 3rd combined mechanism positioned opposite, between slide unit and frame by the engagement rolling of gear 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 is positioned opposite, slide unit is arranged between two group of the 4th combined mechanism 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 is positioned opposite, slide unit is arranged between two group of the 5th combined mechanism 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 with the braking vertically moved up and down to horizontal conveyor track section with guide, the braking output of the first brake is by departing to remove the braking vertically moved up and down to horizontal conveyor track section with guide, first brake is connected with the first encoder, first brake is connected with PLC respectively with the first encoder, horizontal conveyor track section is vertically moved and is driven the first brake and the first decoders-Synchronous to rotate by guide, by the first encoder, horizontal conveyor track section movement position value vertically and translational speed value are fed back to PLC, the movement position value of acquisition and the actual value of translational speed value and preset value are compared by PLC, to control with the difference of preset value according to actual putting and to adjust the power outputting to the first brake, first brake makes slide unit close gradually and rests in precalculated position, second brake is arranged on the turning cylinder of haulage gear, the turning cylinder of haulage gear is also connected with the second encoder simultaneously, second brake is connected with PLC respectively with the second encoder, horizontal conveyor track section is vertically moved and is driven second brake and the second decoders-Synchronous to rotate by haulage gear, by the second encoder, horizontal conveyor track section movement position value vertically and translational speed value are fed back to PLC, the movement position value of acquisition and the actual value of translational speed value and preset value are compared by PLC, to control with the difference of preset value according to actual putting and to adjust the power outputting to second brake, second brake makes slide unit close gradually and rests in precalculated position.
Further, Centralized Controller comprise robot controller for controlling industrial robot, for control the conveying of ironcasting material, ironcasting product, vacant pallet and load-carrying pallet delivery controller, for control water cooling plant in finished machined process water-cooling controller and for providing the Hydraulic Station of hydraulic power source.
According to a further aspect in the invention, additionally provide the on-line automatic finely finishing method of a kind of ironcasting, comprise the steps: that the first manipulator obtains ironcasting material from supplied materials pipeline, and be positioned over the vacant pallet be 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 waits for the ironcasting material of leading portion; The ironcasting materiel machining of leading portion is complete, and the load-carrying pallet that temporary platform is waited for sends 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 removes 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 simultaneously waited 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 sends 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, vacant pallet is sent into temporary platform and is waited for that the ironcasting material that loading is new, horizontal conveyor track section rise to the load-carrying pallet that completion of processing is waited in work-handling position by pallet pipeline; 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 finished machined path that teaching is good, and robot controller forms new machining path by round-off error correction; Industrial robot captures processing assembly and carries out finished machined according to new machining path to ironcasting material; In tool magazine, choose corresponding cutter by Hydraulic Station cooperation for accurate feature concrete on ironcasting material in process 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, carries out finished machined by safe house to ironcasting material, by blanking pipeline, the ironcasting product after finished machined is carried and is stored; The first lifting platform is provided with between supplied materials pipeline and safe house, for ironcasting material and vacant trays are formed load-carrying pallet, to facilitate follow-up finished machined, prevent ironcasting material bottom in process from directly being impacted and along bad, thus improve the quality of ironcasting product; Between first lifting platform and safe house, temporary platform is set, postpones to send into safe house to load-carrying pallet, prevent load-carrying pallet from sending into again new ironcasting material when leading portion ironcasting material does not also have finishing complete; What in safe house, finishing was complete is transported to the second lifting platform, is separated by ironcasting product by the second lifting platform from load-carrying pallet, and ironcasting product is collected by the conveying of blanking pipeline, and vacant pallet is sent to temporary platform by pipeline and carries out next round operation; Thus ensure carrying out in order of ironcasting material finished machined, form a complete ironcasting finishing process chain, thus 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 departed from manually participate in directly completely, controlled by Centralized Controller, thus realizes the on-line automatic finishing of ironcasting.
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 forming a application's part is used to provide a further understanding of the present invention, and schematic description and description of the present invention, for explaining the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 is one of structural representation of the on-line automatic calibration devices of ironcasting of the preferred embodiment of the present invention;
Fig. 2 is the structural representation two of the on-line automatic calibration devices of ironcasting of the preferred embodiment of the present invention;
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 structural representation of the second lifting platform of the preferred embodiment of the present invention;
Fig. 7 is the structural representation two of the second lifting platform of the preferred embodiment of the present invention;
Fig. 8 is the structural representation three of the second lifting platform of the preferred embodiment of the present invention.
Marginal data:
1, supplied materials pipeline; 2, safe house; 201, pipeline is processed; 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.
Detailed description of the invention
Below in conjunction with accompanying drawing, embodiments of the invention are described in detail, but the present invention can by the multitude of different ways that limits and cover implement.
Fig. 1 is one of structural representation of the on-line automatic calibration devices of ironcasting of the preferred embodiment of the present invention; Fig. 2 is the structural representation two of the on-line automatic calibration devices of ironcasting of the preferred embodiment of the present invention; 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 structural representation of the second lifting platform of the preferred embodiment of the present invention; Fig. 7 is the structural representation two of the second lifting platform of the preferred embodiment of the present invention; Fig. 8 is the structural representation three of the second lifting platform of the preferred embodiment of the present invention.
As shown in Figure 1, the on-line automatic calibration devices of ironcasting of the present embodiment, comprise the supplied materials pipeline 1 for carrying ironcasting material 8, for the safe house 2 of ironcasting finished machined, for the ironcasting product 11 after finished machined being carried the blanking pipeline 3 of storage and being used for the Centralized Controller 4 of on-line automatic finishing control, be provided with for ironcasting material 8 being assembled to the first lifting platform 5 vacant pallet 9 being formed load-carrying pallet 10 between supplied materials pipeline 1 and safe house 2, be provided with for keeping in the load-carrying pallet 10 carried to safe house 2 and the temporary platform 6 of keeping in the vacant pallet 9 provided to the first lifting platform 5 between first lifting platform 5 and safe house 2, be provided with between safe house 2 and blanking pipeline 3 for ironcasting product 11 complete for finishing being departed from from load-carrying pallet 10 and sending into the second lifting platform 7 of blanking pipeline 3.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, carries out finished machined, by blanking pipeline 3, the ironcasting product 11 after finished machined is carried and stored by safe house 2 pairs of ironcasting materials 8; The first lifting platform 5 is provided with between supplied materials pipeline 1 and safe house 2, load-carrying pallet 10 is formed for being combined with vacant pallet 9 by ironcasting material 8, to facilitate follow-up finished machined, prevent ironcasting material 8 bottom in process from directly being impacted and along bad, thus improve the quality of ironcasting product 11; Between first lifting platform 5 and safe house 2, temporary platform 6 is set, postpones to send into safe house 2 to load-carrying pallet 10, prevent load-carrying pallet 10 from sending into again new ironcasting material 8 when leading portion ironcasting material 8 does not also have finishing complete; What in safe house 2, finishing was complete is 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 by blanking pipeline 3 and is collected, and vacant pallet 9 is sent to temporary platform 6 by pipeline and carries out next round operation; Thus ensure carrying out in order of ironcasting material 8 finished machined, form a complete ironcasting finishing process chain, thus 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 departed from manually participate in directly completely, is controlled by Centralized Controller 4, thus realizes the on-line automatic finishing of ironcasting.
As depicted in figs. 1 and 2, in the present embodiment, comprise in the first lifting platform 5 and be located at upper strata and for the work-handling position of loading and unloading ironcasting material 8 and be located at lower floor and tray loading position for loading vacant pallet 9.Work-handling position connects ironcasting material input and load-carrying pallet delivery outlet respectively.Tray loading position connects vacant pallet input port.Comprise in second lifting platform 7 be located at upper strata and for load and unload ironcasting product 11 product handling position and be located at lower floor and for unload vacant pallet 9 pallet unloading position.Product handling position connects product input port and output of products mouth respectively.Pallet unloading position connects vacant pallet delivery outlet.Comprise in temporary platform 6 be located at upper strata and for temporary load-carrying pallet 10 workpiece position to be transmitted 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 load-carrying pallet input port and load-carrying pallet delivery outlet respectively.Pallet position to be transmitted connects vacant pallet input port and vacant pallet delivery outlet respectively.All form the input and output system of levels, facilitate the mutual linking between parts, thus realize automatic, continuous print pipeline.Supplied materials pipeline 1 connects the ironcasting material input 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.
As shown in Figure 1, Figure 2 with shown in Fig. 8, in the present embodiment, be mounted with in the first lifting platform 5 for ironcasting material 8 being contained in the first manipulator 12 vacant pallet 9 being formed load-carrying pallet 10.The ironcasting product 11 be mounted with in second lifting platform 7 for obtaining after finished machined is separated from load-carrying pallet 10 the second manipulator 13 forming ironcasting product 11 and vacant pallet 9.
As depicted in figs. 1 and 2, in the present embodiment, safe house 2 comprises for carrying the processing pipeline 201 of load-carrying pallet 10, for carrying 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 the industrial robot 204 for carrying out finished machined to ironcasting material 8.Preferably, industrial robot 204 comprises for the processing assembly of finished machined, for the error-detecting assembly of measuring and adjustation finishing route and the robot assemblies for controlled working assembly motion direction.Preferably, safe house 2 also comprises enclosing in safe house 2 periphery for isolating the barrier 205 of the airborne dust produced in finishing.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.Thus realize two cover industrial robots 204 carry out relative activity finished machined in ironcasting material 8 both sides, in finished machined process, the industrial robot 204 of the impulsive force of ironcasting material 8 by both sides is cancelled out each other, thus reduce the structural deterioration beyond ironcasting material 8 finished machined, thus improve the quality of ironcasting product 11.The first end of processing pipeline 201 connects the load-carrying pallet delivery outlet of temporary platform 6.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.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 the strainer 2032 vacant pallet 9 being fixed ironcasting material 8 for tensioning in the bottom opening of ironcasting material 8, be arranged on vacant pallet 9 for carrying out the horizontal support mechanism 2033 of horizontal support to ironcasting material 8 and being arranged on vacant pallet 9 for cushioning the buffer gear 2034 of the lateral force of ironcasting material 8 in process from bottom support ironcasting material 8.Tray positioning mechanism 203 carries out structure location by positioning table 2031 pairs of load-carrying pallets 10.By horizontal support mechanism 2033, load-carrying pallet 10 guarantees that the bottom of ironcasting material 8 is in level.Carry out gripping and from bottom support ironcasting material 8 from ironcasting material 8 side direction by buffer gear 2034.Simultaneously when ironcasting material 8 carries out finished machined, the lateral force of buffering ironcasting material 8, with the fixed position of stable ironcasting material 8, improves the precision of finishing.Carry out tensioning by the perforate bottom strainer 2032 pairs of ironcasting materials 8 to fix, rely on hole wall circular arc Automatic adjusument hole wall and strainer 2032 contact position of ironcasting material 8 bottom opening in tensioning process, thus self-adaptative adjustment ironcasting material 8 is relative to the position of vacant pallet 9.By the combination of horizontal support mechanism 2033, buffer gear 2034 and strainer 2032 three, simultaneously in bottom, perforate and side direction ironcasting material 8 is accurately located, ironcasting material 8 is made to be in fixed position unified on vacant pallet 9 all the time, thus guarantee the quality of finishing procedure, improve the precision of product.Ironcasting material 8 bottom opening falls into strainer 2032 and can carry out self-adaptative 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, strainer 2032 comprises the holder 14 that is fixed on vacant pallet 9 and can carry out near or move flat away from the water of holder 14 horizontal movable base 15 of adjustment.Holder 14 is provided with the first transposase 11 6.First transposase 11 6 is rotating mechanism, when the first transposase 11 6 contacts with the hole wall contact 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 surface; Simultaneously auxiliary have the buffer gear 2034 for cushioning ironcasting material 8 side force to carry out side direction compressing, thus be limited on position unified on vacant pallet 9 by the ironcasting material 8 of same shape.Horizontal movable base 15 is provided with the second transposase 11 7.Second transposase 11 7 is rotating mechanism, when the second transposase 11 7 contacts with the hole wall contact 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 surface; Simultaneously auxiliary have the buffer gear 2034 for cushioning ironcasting material 8 side force to carry out side direction compressing, thus be limited on position unified on vacant pallet 9 by the ironcasting material 8 of same shape.First transposase 11 6 is provided with at least two for carrying out the first cylindrical steel sleeve 18 of Structure deformation with the hole wall of ironcasting material 8 bottom opening.Preferably, first transposase 11 6 is arranged two the first cylindrical steel sleeve 18, first transposase 11 6 is relative 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 surface of ironcasting material 8 bottom opening.Preferably, the first transposase 11 6 is arranged at least three the first cylindrical steel sleeve 18, first transposase 11s 6 and can rotate freely relative to holder 14, at least three the first cylindrical steel sleeve 18 are equidistantly arranged along the ring circumference of the first transposase 11 6.First transposase 11 6 is contacted 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, along with the expansion of tensile force, first cylindrical steel sleeve 18 is rolled on the hole wall of the bottom opening of ironcasting material 8, be close to effect with what regulate the first cylindrical steel sleeve 18 and hole wall further, thus improve pallet to the fixed effect of ironcasting material 8.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.First rotating shaft 19 of the first cylindrical steel sleeve 18 is intervally arranged along the circumference of the first transposase 11 6.Thus ensure that the first transposase 11 6 rotates to arbitrarily angled, have at least two the first cylindrical steel sleeve 18 to contact with the hole wall of the bottom opening of pending workpiece 6.Second transposase 11 7 is provided with the second cylindrical steel sleeve 20 that at least two hole walls for the bottom opening with ironcasting material 8 carry out Structure deformation.Preferably, second transposase 11 7 is arranged two the second cylindrical steel sleeve 20, second transposase 11 7 is relative 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 surface of ironcasting material 8 bottom opening.Preferably, the second transposase 11 7 is arranged at least three the second cylindrical steel sleeve 20, second transposase 11s 7 and can rotate freely relative to horizontal movable base 15, at least three the second cylindrical steel sleeve 20 are equidistantly arranged along the ring circumference of the second transposase 11 7.Second transposase 11 7 is contacted 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, along with the expansion of tensile force, second cylindrical steel sleeve 20 is rolled on the hole wall of the bottom opening of ironcasting material 8, effect is close to what regulate the second cylindrical steel sleeve 20 and hole wall further, thus improve the fixed effect of load-carrying pallet 10 pairs of ironcasting materials 8.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.Second rotating shaft 21 of the second cylindrical steel sleeve 20 is intervally arranged along the circumference of the second transposase 11 7.Thus ensure that the second transposase 11 7 rotates to arbitrarily angled, have at least two the second cylindrical steel sleeve 20 to contact with the hole wall of the bottom opening of ironcasting material 8.First transposase 11 6 and the second transposase 11 7 stretch to the same perforate bottom ironcasting material 8 respectively.Be applicable to the Workpiece structure that bottom opening is larger.First transposase 11 6 and the second transposase 11 7 stretch in perforates different bottom ironcasting material 8 respectively.Be applicable to the Workpiece structure of more than one of bottom opening quantity.Strainer 2032 adopts for the bidirectional hydraulic support member of Bidirectional supporting from ironcasting material 8 bottom opening on hole wall or two-way pneumatic support member.Be stretched in the bottom opening of ironcasting material 8 by the mode of Bidirectional supporting, thus realize fastening in ironcasting material 8 bottom opening, structure is simple, and tensioning speed is fast, good fixing effect.Strainer 2032 adopts the air bag being used for supporting from tensioning in ironcasting material 8 perforate, and the position of the contact internal walls of the bottom opening of air bag and ironcasting material 8 is fitted with rigid layer.Make air bag be stretched in the bottom opening of ironcasting material 8 by the mode of inflation, make the hole wall uniform force of perforate, there is certain external force cushioning effect simultaneously, thus be convenient to follow-up finished machined.Horizontal movable base 15 comprises two spindle seats 1501 positioned opposite, at least one linear bearing 1503 be located at the axle 1502 between two spindle seats 1501 and be set in axle 1502, and axle 1502 is in the position between linear bearing 1503 and spindle seat 1501 is arranged with orders about the centralizing spring 22 of linear bearing 1503 to movement in the middle part of axle 1502.Linear bearing 1503 is connected with and orders about the driving mechanism 23 that move axially of linear bearing 1503 along axle 1502.Driving mechanism 23 is for driving at least one in cylinder, driving hydraulic cylinder, activation lever, drive link.The slide block that horizontal movable base 15 comprises two guide rails parallel and positioned opposite and is between two guide rails, slide block is connected with the driving mechanism 23 ordering about slide block and slide along slide rail.Driving mechanism 23 is for driving at least one in cylinder, driving 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, the adjustable supports 26 that horizontal support mechanism 2033 comprises the first fixed support 24, second fixed support 25 and can vertically regulate.The first fixed support 24 arranged by isoplanar and the bottom of the second fixed support 25 pairs of ironcasting materials 8 are carried out at 2 and are supported, and carry out levelling adjustment by the bottom of adjustable supports 26 pairs of ironcasting materials 8, thus ensure that the bottom of ironcasting material 8 keeps level.First fixed support 24 is fixed on holder 14.Second fixed support 25 is fixed in horizontal movable base 15.Adjustable supports 26 is arranged on vacant pallet 9.Preferably, the setting position of the first fixed support 24, second fixed support 25, adjustable supports 26 three also can on vacant pallet 9 surface, the exchange of holder 14 and the enterprising line position of horizontal movable base 15.Buffer gear 2034 adopts the both sides, installation position of being located at ironcasting material 8 and for cushioning the ball supporting seat 27 of the lateral force of ironcasting material 8 in process from bottom support ironcasting material 8.The buffer spring 2703 that ball supporting seat 27 comprises the base 2701 be fixed on vacant pallet 9, is sheathed on the bolster 2702 on base 2701 and is sheathed on outside base 2701 and bolster 2702.The top of bolster 2702 is the support portion in upper surface band curved support face.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 at least one in the buffer air bag in the buffer spring 2703 being with top braces portion, the buffering spring sheet being with top braces portion, band top braces portion.Vacant pallet 9 offers for carrying out mating the set pin sleeve 29 be connected with the alignment pin 28 of positioning table 2031.Ensure the accurate location between vacant pallet 9 and positioning table 2031, reduce the deviation of vacant pallet 9 installation site to the impact of ironcasting material 8 installation site.Positioning table 2031 is mounted with the lifting mechanism 30 for lifting load-carrying pallet 10.After ironcasting material 8 is disposed, is convenient to positioning table 2031 and vacant pallet 9 is held up from alignment pin 28 and is transported to subsequent processing.
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 unit drive horizontal guide rail lifting and rest in work-handling position and tray loading position respectively.Second lifting platform 7 comprises frame 701 and the horizontal conveyor track section 702 for horizontal feed ironcasting product 11.Slide unit 31 for driving horizontal conveyor track section 702 vertically to move up and down frame 701 is equipped with and for drawing the balancing weight 32 that slide unit 31 vertically moves.Horizontal conveyor track section 702 is loaded on slide unit 31.Slide unit 31 is by being arranged on frame 701 for the guide 33 guiding slide unit 31 vertically to move up and down.The haulage gear 34 utilizing 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 slide unit 31 and/or frame 701 is equipped with.The second brake 36 for relative position between fixing horizontal conveying section 702 and frame 701 haulage gear 34 and/or frame 701 is equipped with.Second lifting platform 7 is by the connection of horizontal conveyor track section 702 as the conveying mechanism at two ends; Horizontal conveyor track section 702 is arranged on slide unit 31, slide unit 31 moving up and down vertically is realized by the guide 33 between slide unit 31 and frame 701, thus drive horizontal conveyor track section 702 to move up and down, realize the transmission that workpiece is in differing heights.The mutual traction between balancing weight 32 and horizontal conveyor track section 702 is realized by haulage gear 34, when horizontal conveyor track section 702 has vacant pallet 9, gross weight is greater than the weight of balancing weight 32, thus makes horizontal conveyor track section 702 utilize self gravitation and overcome the gravity traction of balancing weight 32 and move downward; When horizontal conveyor track section 702 unloads vacant pallet 9, gross weight is less than the weight of balancing weight 32, and horizontal conveyor track section 702 moves upward due to the gravity traction effect of balancing weight 32.Moving up and down of horizontal conveyor track section 702 is realized by the mutual traction of weight difference generation completely, without the need to by the external drive energy, reaches the effect of environmental protection and energy saving.Braking and the brake off of the first brake 35 and/or second brake 36 is controlled by extra power.Braked relative to the motion of frame 701 by the first brake 35 and/or second brake 36 pairs of horizontal conveyor track sections 702, thus the hovering position of level of control conveying section 702, thus 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 multiple upper limit assembly 37 is arranged in same level.The bottom of frame 701 is provided with for limiting slide unit 31 motion lower limit 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 multiple lower limit assembly 38 is arranged in same level.Lower limit assembly 38 limit levels conveying section 702 is in the pallet handling position of the vacant pallet 9 of loading or unloading.Upper limit assembly 37 limit levels conveying section 702 is 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 rope 3401 and fixed pulley 3402.The central shaft of fixed pulley 3402 is arranged in frame 701, and fixed pulley 3402 walked around by steel wire rope 3401, 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.Slide unit 31 and balancing weight 32 are equipped with tooth bar respectively, and the engaging tooth of the tooth bar on the tooth bar on slide unit 31 and balancing weight 32 is positioned opposite, and the central shaft of gear is arranged in frame 701, and gear engages with the tooth bar on the tooth bar on slide unit 31 and balancing weight 32 respectively.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.On slide rail, slide to realize horizontal conveyor track section 702 moving up and down vertically by slide block between slide unit 31 and frame 701.Guide 33 adopts the second combining structure of draw runner and chute.Two group of second combined mechanism is positioned opposite, and slide unit 31 is arranged between two group of second combined mechanism positioned opposite.In chute, slide to realize horizontal conveyor track section 702 moving up and down vertically by draw runner between slide unit 31 and frame 701.Guide 33 adopts the 3rd combining structure of rack and pinion.Two group of the 3rd combined mechanism is positioned opposite, and slide unit 31 is arranged between two group of the 3rd combined mechanism positioned opposite.Between slide unit 31 and frame 701 by the engagement rolling of gear 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 is positioned opposite, and slide unit 31 is arranged between two group of the 4th combined mechanism positioned opposite.In slot rolling, roll to realize horizontal conveyor track section 702 moving up and down vertically by roller between slide unit 31 and frame 701.Guide 33 adopts the 5th combining structure of ball and slot rolling.Two group of the 5th combined mechanism is positioned opposite, and slide unit 31 is arranged between two group of the 5th combined mechanism positioned opposite.In slot rolling, roll to realize horizontal conveyor track section 702 moving up and down vertically by ball between slide unit 31 and frame 701.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 dissimilar guides 33 can combine mutually.Namely the first combined mechanism and second and third, four, at least one in five combining structures combines mutually.Second combined mechanism and third and fourth, at least one in five combining structures combines mutually.At least one in 3rd combined mechanism and fourth, fifth combining structure combines mutually.4th combined mechanism and the 5th combining structure combine mutually.The braking output of the first brake 35 is by contacting with guide 33 with the braking vertically moved up and down to horizontal conveyor track section 702.The braking output of the first brake 35 is by departing to remove the braking vertically moved up and down to horizontal conveyor track section 702 with guide 33.First brake 35 is connected with the first encoder 39, first brake 35 to be connected with PLC respectively with the first encoder 39.Horizontal conveyor track section 702 is vertically moved and is driven the first brake 35 and the first encoder 39 synchronous rotary by guide 33, by the first encoder 39, horizontal conveyor track section 702 movement position value vertically and translational speed value are fed back to PLC, the movement position value of acquisition and the actual value of translational speed value and preset value are compared by PLC, to control with the difference of preset value according to actual putting and to adjust the power outputting 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.The turning cylinder of haulage gear 34 is also connected with the second encoder simultaneously.Second brake 36 is connected with PLC respectively with the second encoder.Horizontal conveyor track section 702 is vertically moved and is driven second brake 36 and the second decoders-Synchronous to rotate by haulage gear 34, by the second encoder, horizontal conveyor track section 702 movement position value vertically and translational speed value are fed back to PLC, the movement position value of acquisition and the actual value of translational speed value and preset value are compared by PLC, to control with the difference of preset value according to actual putting and to adjust the power outputting 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, the prior art that PLC utilizes signal fusing to carry out dynamic Control to belong to very ripe.
As shown in Figure 1, in the present embodiment, Centralized Controller 4 comprise robot controller 40 for controlling industrial robot 204, for control the conveying of ironcasting material 8, ironcasting product 11, vacant pallet 9 and load-carrying pallet 10 delivery controller 41, for control water cooling plant in finished machined process water-cooling controller 42 and for providing the Hydraulic Station 43 of hydraulic power source.
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 be 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 waits for the ironcasting material 8 of leading portion; Ironcasting material 8 completion of processing of leading portion, the load-carrying pallet 10 that temporary platform 6 is waited for sends 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 is 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 homing, tray positioning mechanism 203 removes the stationary positioned to 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 simultaneously waited 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 sends 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, vacant pallet 9 is sent into temporary platform 6 and is waited for that the ironcasting material 8 that loading is new, horizontal conveyor track section 702 rise to the load-carrying pallet 10 that completion of processing is waited in work-handling position by pallet pipeline 202; 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 error according to the finished machined path that teaching is good, and robot controller 40 forms new machining path by round-off error correction.Industrial robot 204 captures processing assembly and carries out finished machined according to new machining path to ironcasting material 8.In tool magazine 45, choose corresponding cutter by Hydraulic Station 43 cooperation for accurate feature concrete on ironcasting material 8 in process 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, substitute labor cleaning by industrial robot 204, pallet tuning on-line technology, automatic loading and unloading system and the pallet circulatory system solve 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 robots 204, two cover processing assemblies, two cover error detecting apparatus 44, two overlap tool magazine 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 robot the 6th shaft flange form two cover processing assemblies and tool magazine 45, processing stations 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 arranges the Hydraulic Station 43 that the cooling-water machine being used for processing assembly cooling is used for processing assembly tool changing.By feeding manipulator (the first manipulator 12) in supplied materials roller-way (supplied materials pipeline 1) feeding, put on the vacant pallet 9 of 1# advance decline line (the first lifting platform 5), deliver to positioning table 2031 by the rollgang of temporary platform 6 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, thus realize the automation of foundry goods, intensive and continuous prodution.
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 and wait for leading portion work pieces process by band load-carrying pallet 10.
3rd step, the load-carrying pallet 10 of temporary platform 6 is entered positioning table 2031 by 1# rollgang (processing pipeline 201) and is located load-carrying pallet 10.
Robot clean-up process:
4th step, industrial robot 204 detects the error that ironcasting material 8 causes due to casting and clamping by the path that teaching is good.Concrete mode is scanned by industrial robot 204 grabbing error checkout gear 44 pairs of ironcasting materials 8, and scan-data is transferred to robot controller 40.
5th step, robot controller 40 processing scan data, forms new workpiece coordinate.
6th step, robot controller 40 corrects finished machined path according to new workpiece coordinate, starts processing assembly.
7th step, processing assembly coordinates industrial robot 204 to work to carry out finished machined to ironcasting material 8.Concrete mode is that the machining path capturing processing assembly good according to the prior teaching of robot by industrial robot 204 is processed ironcasting material 8.Need to choose corresponding cutter for concrete finishing feature in process, concrete mode is controlled by industrial robot 204 processing assembly delivered to tool change position after the cutter of correspondence is switched to tool change position by tool magazine 45 and coordinate tool changing Hydraulic Station 43 to complete tool changing action by robot controller 40.
8th step, machine rear robot and get back to original position, delivery controller 41 controls positioning table disengagement load-carrying pallet 10 and by 2# rollgang (processing pipeline 201), the ironcasting product processed 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:
9th step, delivery controller 41 controls blanking mechanical hand (the second manipulator 13) clamping work pieces (ironcasting product 11) and workpiece (ironcasting product 11) is sent to blanking pipeline 3.
Tenth step, delivery controller 41 control 2# lifting platform (the second lifting platform 7) declines, and after lifting platform roller-way is concordant with lower floor roller-way, lifting platform roller-way moves and vacant pallet 9 is sent into lower floor's roller-way (pallet pipeline 202).
11 step, delivery controller 41 controls lower floor's roller-way and vacant pallet 9 is sent into 1# lifting platform (the first lifting platform 5) roller-way,
12 step, delivery controller 41 control 1# lifting platform (the first lifting platform 5) rises concordant with temporary platform 6 roller-way, waits for feeding manipulator (the first manipulator 12) material loading.
By ironcasting material 8 material loading, 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 realizing 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 at the tensioning swivel base (the first transposase 11 6) at holder 14 place, the 6# piston hole of cylinder body (ironcasting material 8) is aimed at the tensioning swivel base (the second transposase 11 7) at linear bearing 1503 place.Cylinder body (ironcasting material 8) supports and adopts supported at three point, comprises two fixed supports (first fixed support 24 and the second fixed support 25) and an adjustable supports 26.
Ball supporting seat 27 is by the weight of cylinder body (ironcasting material 8) 80%, the friction between cylinder body (ironcasting material 8) and ball supporting seat 27 is reduced during clamping cylinder body, the support force of ball supporting seat 27 is regulated by spring, and the head of ball supporting seat 27 can rotate to allow cylinder body (ironcasting material 8) and ball supporting seat 27 fit tightly and to clamp flexibly in any direction.
Cylinder body (ironcasting material 8) tensioning:
The linear bearing 1503 that positioning table 2031 orders about strainer 2032 by mobile tensioning block moves tensioning outward, the first cylindrical steel sleeve 18 and the second cylindrical steel sleeve 20 is contacted respectively and tensioning with cylinder piston hole.
Pallet is located:
Pallet declines with rollgang 6, two alignment pins 28 on positioning frame (positioning table 2031) progressively enter the set pin sleeve 29 of pallet, complete the location of pallet when set pin sleeve 29 end face contacts with the supporting surface of positioning frame (positioning table 2031).
Carrying out practically step is as follows:
The first step, pallet enters rollgang 6, when detecting that roller-way stops operating after pallet puts in place.
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.
3rd step, after pallet is taken a seat, strainer 2032 tensioning workpiece, waits to be processed.
4th step, machines rear strainer 2032 and unclamps, and hoist cylinder piston rod (lifting mechanism 30) stretches out and puts in place.
5th step, pallet is delivered to follow-up roller-way by rollgang, waits for next supplied materials.
Strainer 2032 is separated with pallet, and pallet, without the need to power source, simplifies 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.
Be in the lifting platform of discharging section, the deadweight of balancing weight 32 is drawn slide unit 31 by haulage gear 34 and is moved upward:
The first step, slide unit 31 hovers position wait with cast iron part (ironcasting material 8) on being in
Load-carrying pallet 10 enter rollgang (horizontal conveyor track section 702), the now locked slide unit 31 of upper limit assembly 37.
Second step, load-carrying pallet 10 enters rollgang (horizontal conveyor track section 702), and after putting in place, the blanking mechanical hand be loaded in frame 701 catches away cast iron part (ironcasting material 8).
3rd step, after cast iron part (ironcasting material 8) is separated from load-carrying pallet 10, upper limit assembly 37 unlocks, first brake 35 and/or second brake 36 are thrown off, under gravity, slide unit 31 declines (gross weight of slide unit 31+ rollgang+vacant pallet 9 is greater than the weight of balancing weight 32).
4th step, the positional value of slide unit 31 and velocity amplitude is gone out (when slide unit 31 declines according to the first encoder 39 and/or the second encoder feedback, encoder is driven to rotate by rack-driving, by encoder feedback slide unit position and slide unit speed) and preset displacement velocity ratio is comparatively, automatically adjust the brake force of the first brake 35 and/or second brake 36 according to actual and default difference PLC, make slide unit 31 drop to lower hovering position fast, steadily, exactly.
5th step, the first brake 35 and/or second brake 36 locked, vacant pallet 9 is sent into lower floor's rollgang by rollgang (horizontal conveyor track section 702).
6th step, after vacant pallet 9 is separated, braking is unclamped, and under the Action of Gravity Field of balancing weight 32, slide unit 31 rises (weight of balancing weight 32 is greater than the weight sending roller-way+slide unit 31)
7th step, the positional value of slide unit 31 and velocity amplitude is gone out (when slide unit 31 declines according to the first encoder 39 and/or the second encoder feedback, encoder is driven to rotate by rack-driving, by encoder feedback slide unit position and slide unit speed) and preset displacement velocity ratio is comparatively, automatically adjust the brake force of the first brake 35 and/or second brake 36 according to actual and default difference PLC, make slide unit 31 rise to hovering position fast, steadily, exactly.
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 assigned address fast, steadily, exactly.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, safeguard little, 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 amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.

Claims (11)

1. the on-line automatic calibration devices of ironcasting, is characterized in that,
Comprise for carrying the supplied materials pipeline (1) of ironcasting material (8), for the safe house (2) of ironcasting finished machined, for the blanking pipeline (3) that ironcasting product (11) conveying after finished machined is stored and the Centralized Controller (4) controlled for on-line automatic finishing
Be provided with between described supplied materials pipeline (1) and described safe house (2) for described ironcasting material (8) being assembled to upper the first lifting platform (5) forming load-carrying pallet (10) of vacant pallet (9)
Be provided with for keeping in the described load-carrying pallet (10) of carrying to described safe house (2) and the temporary platform (6) of keeping in the described vacant pallet (9) provided to described first lifting platform (5) between described first lifting platform (5) and described safe house (2);
Be provided with for described ironcasting product (11) complete for finishing being departed from from described load-carrying pallet (10) and sending into second lifting platform (7) of described blanking pipeline (3) between described safe house (2) and described blanking pipeline (3);
Comprise in described first lifting platform (5) and be located at upper strata and for the work-handling position of loading and unloading described ironcasting material (8) and be located at lower floor and tray loading position for loading described vacant pallet (9), work-handling position connects ironcasting material input and load-carrying pallet delivery outlet respectively, and tray loading position connects vacant pallet input port;
Comprise in described second lifting platform (7) be located at upper strata and for load and unload described ironcasting product (11) product handling position and be located at lower floor and for unload described vacant pallet (9) pallet unloading position, product handling position connects product input port and output of products mouth respectively, and pallet unloading position connects vacant pallet delivery outlet;
Comprise in described temporary platform (6) be located at upper strata and for temporary described load-carrying pallet (10) workpiece position to be transmitted 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 load-carrying pallet input port and load-carrying pallet delivery outlet respectively, and pallet position to be transmitted connects vacant pallet input port and vacant pallet delivery outlet respectively;
Described supplied materials pipeline (1) connects the ironcasting material input of described first lifting platform (5);
The load-carrying pallet input port of described temporary platform (6) connects the load-carrying pallet delivery outlet of described 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 first lifting platform (5),
The vacant pallet input port of described temporary platform (6) is communicated with by the vacant pallet delivery outlet of pipeline with described second lifting platform (7);
It is peripheral for isolating the barrier (205) of the airborne dust produced in finishing at described safe house (2) that described safe house (2) also comprises enclosing.
2. the on-line automatic calibration devices of ironcasting according to claim 1, is characterized in that,
Be mounted with for described ironcasting material (8) being contained in upper the first manipulator (12) forming described load-carrying pallet (10) of described vacant pallet (9) in described first lifting platform (5);
The described ironcasting product (11) be mounted with in described second lifting platform (7) for obtaining after finished machined forms second manipulator (13) of described ironcasting product (11) and described vacant pallet (9) from the separation of described load-carrying pallet (10).
3. the on-line automatic calibration devices of ironcasting according to claim 1, is characterized in that,
Described safe house (2) comprises for carrying the processing pipeline (201) of described load-carrying pallet (10), for carrying the pallet pipeline (202) of described vacant pallet (9), for load-carrying pallet (10) described in stationary positioned and described load-carrying pallet (10) the above tray positioning mechanism (203) of described ironcasting material (8) and the industrial robot (204) for carrying out finished machined to described ironcasting material (8);
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 robot of covers (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 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 second lifting platform (7);
The ironcasting output of products mouth of described second lifting platform (7) connects blanking pipeline (3).
4. the on-line automatic calibration devices of ironcasting according to claim 3, 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 described vacant pallet (9) and fix the strainer (2032) of described ironcasting material (8) for tensioning in the bottom opening of described ironcasting material (8), be arranged on described vacant pallet (9) for carrying out the horizontal support mechanism (2033) of horizontal support to described ironcasting material (8) and being arranged on described vacant pallet (9) for cushioning the buffer gear (2034) of the lateral force of described ironcasting material (8) in process from ironcasting material (8) described in the support of bottom.
5. the on-line automatic calibration devices of ironcasting according to claim 4, is characterized in that,
Described strainer (2032) comprises the holder (14) that is fixed on described vacant pallet (9) and can carry out near or move flat away from the water of described holder (14) horizontal movable base (15) of adjustment;
Described holder (14) is provided with the first swivel base (16), described horizontal movable base (15) is provided with the second swivel base (17),
Described first swivel base (16) is provided with at least two for carrying out first cylindrical steel sleeve (18) of Structure deformation with the hole wall of described ironcasting material (8) bottom opening, described first cylindrical steel sleeve (18) is connected on described first swivel base (16) by the first rotating shaft (19), and described first rotating shaft (19) is intervally arranged along the circumference of described first swivel base (16);
Described second swivel base (17) is provided with at least two for carrying out second cylindrical steel sleeve (20) of Structure deformation with the hole wall of described ironcasting material (8) bottom opening, described second cylindrical steel sleeve (20) is connected on described second swivel base (17) by the second rotating shaft (21), and described second rotating shaft (21) is intervally arranged along the circumference of described second swivel base (17);
Described first swivel base (16) and described second swivel base (17) stretch to the same perforate of described ironcasting material (8) bottom respectively or described first swivel base (16) and described second swivel base (17) are stretched in perforates different bottom described ironcasting material (8) respectively; Or
Described strainer (2032) adopts for the bidirectional hydraulic support member of Bidirectional supporting from described ironcasting material (8) bottom opening on hole wall or two-way pneumatic support member; Or
Described strainer (2032) adopts the air bag being used for supporting hole wall from tensioning in described ironcasting material (8) bottom opening, and described air bag is fitted with rigid layer on the position contacted with the hole wall of described ironcasting material (8) bottom opening;
Described horizontal movable base (15) comprises two spindle seats (1501) positioned opposite, at least one linear bearing (1503) be located at the axle (1502) between two described spindle seats (1501) and be set in described axle (1502)
Described axle (1502) is in the position between described linear bearing (1503) and described spindle seat (1501) is arranged with orders about the centralizing spring (22) of described linear bearing (1503) to described axle (1502) middle part movement
Described linear bearing (1503) is connected with and orders about the driving mechanism (23) that move axially of described linear bearing (1503) along described axle (1502), described driving mechanism (23) is for driving at least one in cylinder, driving hydraulic cylinder, activation lever, drive link; Or
The slide block that described horizontal movable base (15) comprises two guide rails parallel and positioned opposite and is between two described guide rails,
Described slide block is connected with the driving mechanism (23) ordering about described slide block and slide along slide rail, described driving mechanism (23) is for driving at least one in cylinder, driving hydraulic cylinder, activation lever, drive link.
6. the on-line automatic calibration devices of ironcasting according to claim 5, is characterized in that,
The adjustable supports (26) that described horizontal support mechanism (2033) comprises the first fixed support (24), the second fixed support (25) and can vertically regulate;
Described first fixed support (24) is fixed on described holder (14), described 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 the both sides, installation position of being located at described ironcasting material (8) and for cushioning the ball supporting seat (27) of the lateral force of described ironcasting material (8) in process from ironcasting material (8) described in the support of bottom
Described ball supporting seat (27) comprises the base (2701) be 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) buffer spring outward (2703)
The top of described bolster (2702) is the support portion in upper surface band curved support face,
The lower end contact of described buffer spring (2703) is on 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 at least one in the buffer air bag in the buffer spring (2703) being with top braces portion, the buffering spring sheet being with top braces portion, band top braces portion;
Described vacant pallet (9) offer for carrying out mating the set pin sleeve (29) be connected with the alignment pin (28) of described positioning table (2031);
Described positioning table (2031) is mounted with the lifting mechanism (30) for load-carrying pallet (10) described in lifting.
7. the on-line automatic calibration devices of ironcasting according to any one of claim 1 to 6, is characterized in that,
Described first lifting platform (5) adopts drive unit drive horizontal guide rail lifting and rest in work-handling position and tray loading position respectively;
Described second lifting platform (7) comprises frame (701) and the horizontal conveyor track section (702) for ironcasting product (11) described in horizontal feed,
Slide unit (31) for driving described horizontal conveyor track section (702) vertically to move up and down described frame (701) is equipped with and for drawing the balancing weight (32) that described slide unit (31) vertically moves;
Described horizontal conveyor track section (702) is loaded on described slide unit (31), and described slide unit (31) is by being arranged on described frame (701) for the guide (33) guiding described slide unit (31) vertically to move up and down;
The haulage gear (34) utilizing 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), 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 fixing relative position between described horizontal conveyor track section (702) and described frame (701) described slide unit (31) and/or described frame (701) is equipped with, and/or
The second brake (36) for fixing relative position between described horizontal conveyor track section (702) and described frame (701) described haulage gear (34) and/or described frame (701) is equipped with;
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 that described horizontal conveyor track section (702) is in vacant pallet (9) described in loading or unloading;
Described upper limit assembly (37) limits the product handling position that described horizontal conveyor track section (702) is in ironcasting product (11) described in the upper loading or unloading of described vacant pallet (9).
8. the on-line automatic calibration devices of ironcasting according to claim 7, is characterized in that,
Described haulage gear (34) adopts the combined mechanism of steel wire rope (3401) and fixed pulley (3402),
The central shaft of described fixed pulley (3402) is arranged in described frame (701), and described fixed pulley (3402) walked around by described steel wire rope (3401),
The first end of described steel wire rope (3401) is fixed on 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,
Described slide unit (31) and described balancing weight (32) are equipped with tooth bar respectively,
The engaging tooth of the tooth bar on the tooth bar on described slide unit (31) and described balancing weight (32) is positioned opposite,
The central shaft of described gear is arranged in described frame (701),
Described gear engages with the tooth bar on the tooth bar on described slide unit (31) and described balancing weight (32) respectively;
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, and described slide unit (31) is arranged on described in two groups that are arranged in parallel between the first combined mechanism,
On described slide rail, slide to realize described horizontal conveyor track section (702) moving up and down vertically by described slide block between described slide unit (31) and described frame (701); Or
Described guide (33) adopts the second combining structure of draw runner and chute, and described in two groups, the second combined mechanism is positioned opposite, and described slide unit (31) is arranged on described in positioned opposite two groups between the second combined mechanism,
In described chute, slide to realize described horizontal conveyor track section (702) moving up and down vertically by described draw runner between described slide unit (31) and described frame (701); Or
Described guide (33) adopts the 3rd combining structure of rack and pinion, and described in two groups, the 3rd combined mechanism is positioned opposite, and described slide unit (31) is arranged on described in positioned opposite two groups between the 3rd combined mechanism,
Between described slide unit (31) and described frame (701) by the engagement rolling of described gear 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, and described in two groups, the 4th combined mechanism is positioned opposite, and described slide unit (31) is arranged on described in positioned opposite two groups between the 4th combined mechanism,
In described slot rolling, roll to realize described horizontal conveyor track section (702) moving up and down vertically by described roller between described slide unit (31) and described frame (701); Or
Described guide (33) adopts the 5th combining structure of ball and slot rolling, and described in two groups, the 5th combined mechanism is positioned opposite, and described slide unit (31) is arranged on described in positioned opposite two groups between the 5th combined mechanism,
In described slot rolling, roll to realize described horizontal conveyor track section (702) moving up and down vertically by described ball between described slide unit (31) and described frame (701);
The braking output of described first brake (35) is by contacting with the braking vertically moved up and down to described horizontal conveyor track section (702) with described guide (33);
The braking output of described first brake (35) is by departing to remove the braking vertically moved up and down to described horizontal conveyor track section (702) with described guide (33);
Described first brake (35) is connected with the first encoder (39), and described first brake (35) is connected with PLC respectively with described first encoder (39),
Described horizontal conveyor track section (702) is vertically moved and is driven described first brake (35) and described first encoder (39) synchronous rotary by described guide (33), by described first encoder (39), described horizontal conveyor track section (702) movement position value vertically and translational speed value are fed back to described PLC
The movement position value of acquisition and the actual value of translational speed value and preset value are compared by described PLC, to control according to actual putting and to adjust the power outputting to described first brake (35) with the difference of preset value,
Described first brake (35) makes described slide unit (31) close gradually and rests in precalculated position;
Described second brake (36) is arranged on the turning cylinder of described haulage gear (34), the turning cylinder of described haulage gear (34) is also connected with the second encoder simultaneously, described second brake (36) is connected with described PLC respectively with described second encoder
Described horizontal conveyor track section (702) is vertically moved and is driven described second brake (36) and described second decoders-Synchronous to rotate by described haulage gear (34), by described second encoder, described horizontal conveyor track section (702) movement position value vertically and translational speed value are fed back to PLC
The movement position value of acquisition and the actual value of translational speed value and preset value are compared by described PLC, to control according to actual putting and to adjust the power outputting to described second brake (36) with the difference of preset value,
Described second brake (36) makes described slide unit (31) close gradually and rests in precalculated position.
9. the on-line automatic calibration devices of the ironcasting according to any one of claim 3 to 6, it is characterized in that, described Centralized Controller (4) comprises the robot controller (40) for controlling described industrial robot (204), for controlling described ironcasting material (8), described ironcasting product (11), the delivery controller (41) that described vacant pallet (9) and described load-carrying pallet (10) are carried, for control the water cooling plant in finished machined process water-cooling controller (42) and for providing the Hydraulic Station (43) of hydraulic power source.
10. the on-line automatic finely finishing method of ironcasting, is characterized in that, comprise the steps:
First manipulator (12) obtains ironcasting material (8) from supplied materials pipeline (1), and is positioned over and is input to vacant pallet (9) the first lifting platform (5) from the vacant pallet delivery outlet of temporary platform (6) and forms load-carrying pallet (10);
Described load-carrying pallet (10) sends into by the load-carrying pallet delivery outlet of described first lifting platform (5) finished machined that described temporary platform (6) waits 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) sends 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 covers industrial robot (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) removes the stationary positioned to described load-carrying pallet (10), described load-carrying pallet (10) is sent in the horizontal conveyor track section (702) of the second lifting platform (7) by described processing pipeline (201), 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 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) sends 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 vacant pallet (9) is sent into the wait of described temporary platform (6) and is loaded new described ironcasting material (8) by described pallet pipeline (202), 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 11. ironcasting according to claim 10, is characterized in that,
Error detecting apparatus (44) on described industrial robot (204) checks described ironcasting material (8) surface error according to the finished machined path that teaching is good,
Described robot controller (40) forms new machining path by round-off error correction;
Described industrial robot (204) captures processing assembly and carries out finished machined according to new machining path to described ironcasting material (8);
In tool magazine (45), choose corresponding cutter by Hydraulic Station (43) cooperation for the upper concrete accurate feature of described ironcasting material (8) in process 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.
CN201410424115.3A 2014-08-26 2014-08-26 The on-line automatic calibration devices of ironcasting and the on-line automatic finely finishing method of ironcasting Active CN104190912B (en)

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