CN105598777A - Workpiece clamping structure for grinding tool, and tracking type casting edging machine and method - Google Patents

Workpiece clamping structure for grinding tool, and tracking type casting edging machine and method Download PDF

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Publication number
CN105598777A
CN105598777A CN201610128258.9A CN201610128258A CN105598777A CN 105598777 A CN105598777 A CN 105598777A CN 201610128258 A CN201610128258 A CN 201610128258A CN 105598777 A CN105598777 A CN 105598777A
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CN
China
Prior art keywords
axis
edging
foundry goods
bistrique
motor
Prior art date
Application number
CN201610128258.9A
Other languages
Chinese (zh)
Inventor
李长春
吴长忠
陈乃建
Original Assignee
济南大学
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Publication date
Application filed by 济南大学 filed Critical 济南大学
Priority to CN201610128258.9A priority Critical patent/CN105598777A/en
Publication of CN105598777A publication Critical patent/CN105598777A/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B22CASTING; POWDER METALLURGY
    • B22DCASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
    • B22D31/00Cutting-off surplus material, e.g. gates; Cleaning and working on castings
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24BMACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B17/00Special adaptations of machines or devices for grinding controlled by patterns, drawings, magnetic tapes or the like; Accessories therefor
    • B24B17/04Special adaptations of machines or devices for grinding controlled by patterns, drawings, magnetic tapes or the like; Accessories therefor involving optical auxiliary means, e.g. optical projection form grinding machines
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24BMACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B41/00Component parts such as frames, beds, carriages, headstocks
    • B24B41/06Work supports, e.g. adjustable steadies
    • B24B41/067Work supports, e.g. adjustable steadies radially supporting workpieces
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24BMACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B45/00Means for securing grinding wheels on rotary arbors
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24BMACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B47/00Drives or gearings; Equipment therefor
    • B24B47/20Drives or gearings; Equipment therefor relating to feed movement
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24BMACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B9/00Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor
    • B24B9/02Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground
    • B24B9/04Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground of metal, e.g. skate blades

Abstract

The invention discloses a workpiece clamping structure for a grinding tool, and a tracking type casting edging machine and method. The workpiece clamping structure comprises a workbench, the workbench is provided with a plurality of positioning devices, at least one positioning device comprises a cylinder and a clamping block, and the clamping blocks clamp or leave a workpiece to be machined, under the action of cylinder piston rods. The tracking type casting edging machine comprises a bed, a moving mechanism, a grinding head assembly, the above-mentioned workpiece clamping structure, an industrial camera, a visual recognition system and a control system. The edging machine can quickly grind flash and burrs on a casting according to the requirements of a production drawing and the shape and size of the casting, without programming and equipment adjusting during casting replacement, the production efficiency is high, and machining error is small.

Description

A kind of piece-holder structure for grinding tool, tracking formula foundry goods edge polisher and method
Technical field
The present invention relates to a kind of piece-holder structure and foundry goods edge polisher, is a kind of piece-holder for grinding tool specificallyStructure and tracking formula foundry goods edge polisher. The invention still further relates to a kind of tracking formula edging method of tracking formula foundry goods edge polisher.
Background technology
After casting, cast(ing) surface can produce the problem such as overlap, burr, most enterprises or traditional hand-held foundry goods existsPolishing mode on normal sands turbine (larger foundry goods adopts hand-held small-sized grinder buffing) is main, and this working method causes workPeople's labour intensity is large, production efficiency is low, operating environment is severe, end product quality is inferior uneven, have at present the special grinding equipment of employing,Digit Control Machine Tool and robot automatically grinding mode, complex-shaped, in batches little due to foundry goods, dimensions is many, and molten error is large,The above-mentioned automatically grinding device programming time is long, complicated operation, and production efficiency is low, is not suitable with small lot batch manufacture, complex-shaped foundry goodsRequirement, need the grinding apparatus of a kind of quick adaptation foundry goods shape, size.
Summary of the invention
The object of the invention is to overcome the defect existing in prior art, provide a kind of tracking formula foundry goods edge polisher, energyAccording to the shape and size of foundry goods, and the requirement of producing drawing, overlap, the burr of polishing fast on foundry goods, do not need to changeWhen foundry goods, programme, adjustment equipment, production efficiency is high, mismachining tolerance is little.
The technical solution adopted for the present invention to solve the technical problems is:
First the present invention provides a kind of piece-holder structure for grinding tool, comprises workbench, and described workbench is provided withSeveral positioners for workpiece to be processed is positioned, described at least one, positioner comprises cylinder and clampingPiece, the piston rod of described cylinder connects clamp, and clamp clamps or leave work to be processed under the effect of cylinder piston rodPart.
Piece-holder structure of the present invention is arranged on workbench positioner by workpiece to be processed bag by severalIn being trapped among, thereby structure is not limited to the workpiece (or foundry goods) of a certain concrete shape, size, all can be by several positioners altogetherClamp with coordinating. In addition, because at least one positioner is by the clamping of the extension and contraction control clamp of piston rod or leave and treatWorkpiece, thus in the time of edging, when the device contact surface that is positioned need to be by edging, cylinder drives clamp to retreat and leaves workpieceSurface, other positioner is clamping work pieces jointly. Therefore, piece-holder structure of the present invention had both been conducive to clamp difformityOr the workpiece to be processed of size, be applicable to again at tracking formula foundry goods edge polisher by the motion of system control bistrique and stretching of cylinderContracting.
Preferably, described positioner at least has 3, comprises respectively:
One X is to cylinder, and described X is connected with X to clamp to the piston rod of cylinder;
One Y-direction cylinder, the piston rod of described Y-direction cylinder is connected with Y-direction folder vertical block; And
A positioning block, described locating piece is fixedly arranged on workbench, and has with described X to clamp and Y-direction clamp differenceCorresponding gulde edge.
Hence one can see that, and X makes workpiece clamped in two vertical directions to, Y-direction clamp, thereby arrive it when edgingIn when the contact-making surface of clamp and workpiece, this clamp retreats and leaves surface of the work, only with another clamp clamping work pieces.Thereby two clamps can be alternately to Workpiece clamping, the clamped state of holding workpiece. Here " X to, Y-direction " represent two verticalOr substantially vertical direction, be not limited to the represented X-axis of accompanying drawing, the indicated direction of Y-axis.
Preferably, described workbench is provided with several parallel T-shaped grooves, and described several positioners are installed inOn this T-shaped groove. For the workpiece (foundry goods) of difformity, size, by positioner being arranged on to the T-shaped groove of diverse locationPlace, carries out edging work thereby can be more suitable for to the workpiece of more difformities, size.
The workpiece that need to clamp due to piece-holder structure of the present invention is miscellaneous, therefore how to make clamping area betterFit closely with the surface of workpiece to be processed in ground, the further scheme of the application is: described clamp has for clamping to be waited to addThe clamping area of work workpiece, described clamping area entirety is plane, and the middle part of clamping area has V-arrangement concave surface. Hence one can see that, before clampEnd face adopts V-type concave surface and the plane mode that combines, and the clamping of V-type concave surface is circular, plane clamping rectangle, and V-type concave surface rises in additionTo the effect of two point locations, for irregular surface, also can play good clamping action. Thereby, this structure clamping convenience,Practical.
On this basis, the invention allows for a kind of tracking formula foundry goods edge polisher, comprise lathe bed, travel mechanism, bistriqueAssembly, above-mentioned piece-holder structure, industrial camera, the visual recognition line control system of unifying, described in described lathe bed upper surface formsWorkbench, described travel mechanism is arranged on described lathe bed, and described piece-holder structure is arranged on described workbench, instituteState grinding head assembly and be arranged in described travel mechanism, described grinding head assembly is all corresponding with foundry goods to be processed with industrial camera, instituteStating control system is connected with described travel mechanism, grinding head assembly, piece-holder structure, industrial camera and visual identifying system.
The travel mechanism of tracking formula foundry goods edge polisher of the present invention can realize at workbench under the effect of control systemOn do three-dimensional motion, thereby can drive grinding head assembly motion, make the grinding skin of bistrique contact foundry goods, bistrique high speed rotatingOverlap on grinding foundry goods, burr. The size that needs grinding skin on industrial camera and visual identifying system thereof identification foundry goods withThe difference of figure paper size, control system comprises the amount of exercise that foundry goods two dimension or graphics is converted to three coordinates of bistrique, visionRecognition system identification foundry goods edging size, and with the comparison of figure paper size, determine whether to need cutter relieving and relieving amount, control mobileThe amount of spin of mechanism, edging high-speed electric expreess locomotive.
Therefore, industrial camera of the present invention: can take the edge of the workpiece on workbench;
Visual identifying system: the image that industrial camera is taken carries out image processing, Boundary Recognition;
Control system: (1) foundry goods edging three-dimensional electronic figure deposits control system in, and control system converts electronic chart to G code, reallyDetermine the bistrique walking path of edge polisher; (2), according to the data boundary of visual identifying system identification, determine the surface size of workpiece;And the difference in size of calculating and workpiece part drawing upper surface, if all surface sizes poor be less than certain size (as be less than 5 ~7mm), bistrique is according to the edging border walking of foundry goods part; If have the casting on edging surface oversize, exceed wheel grindingAmount, bistrique is cutter relieving radially, by maximum stock removal edging.
Preferably, described travel mechanism comprises: y-axis shift actuation mechanism, X-axis travel mechanism and Z axis travel mechanism,
Described y-axis shift actuation mechanism is two, is set in parallel on described lathe bed, and each y-axis shift actuation mechanism includes Y-axis leading screw, YSpindle motor, Y-axis guide rail and Y-axis slide block, described Y-axis guide rail and Y-axis leading screw are all arranged on described lathe bed, described y-axis motor withDescribed Y-axis leading screw is connected, and described Y-axis guide rail slides through Y-axis slide block, and in Y-axis slide block, is provided with nut and Y-axis leading screw formation silkThick stick pair;
Described X-axis travel mechanism comprises X-axis bearing, X-axis leading screw, X-axis motor, X-axis guide pillar and X-axis slide block, described X-axis bearingTwo ends are connected with the Y-axis slide block of described two y-axis shift actuation mechanism by a column respectively; Described X-axis leading screw and X-axis guide pillar are all establishedPut on described X-axis bearing, described X-axis motor is connected with described X-axis leading screw, and described X-axis guide rail slides through X-axis slide block, and XIn axle slide block, be provided with nut and X-axis leading screw and form lead screw pair;
Described Z axis travel mechanism comprises Z axis bearing, Z axis leading screw, Z axis motor, Z axis guide pillar and Z axis slide block, described Z axis bearing withThe X-axis slide block of SuoXZhou travel mechanism is connected; Described Z axis leading screw and Z axis guide pillar are all arranged on described Z axis bearing, described Z axisMotor is connected with described Z axis leading screw, and described Z axis guide rail slides through Z axis slide block, and in Z axis slide block, is provided with nut and X-axis leading screwForm lead screw pair.
Preferably, described grinding head assembly comprises the bistrique magic chuck being connected on grinding head assembly, described bistrique quick change folderTool bottom is used for being equipped with bistrique, and edging motor drives described bistrique to rotate.
Preferably, described bistrique magic chuck comprises:
Motor adapter sleeve, described motor adapter sleeve is connected with the outrigger shaft of edging motor;
Fixture overcoat, described fixture overcoat is connected with described motor adapter sleeve, and fixture overcoat lower end has and bistrique relative engagementCentral slot, the axle center of the axle center of described central slot and edging motor outrigger shaft is on same line; The both sides of fixture overcoatOffer the radial slot that stretches to described central slot, be provided with spring and keeper in radial slot, keeper is under the effect of springStretch in described central slot.
The tracking formula edging method of the tracking formula foundry goods edge polisher described in the present invention provides in addition, comprises the following steps:
(1) deposit foundry goods edging three-dimensional electronic figure in control system, control system converts edging electronic chart to G code, therebyDetermine the bistrique walking path of edge polisher;
(2) industrial camera is taken foundry goods picture, and carries out image processing, Boundary Recognition, determines the surface size of foundry goods edging, andThe difference in size of calculating and foundry goods part drawing upper surface, if the poor certain size that is less than of all surface sizes, bistrique is according to foundry goodsThe edging border walking of part; If there is the casting on edging surface oversize, exceed wheel grinding amount, bistrique is cutter relieving radially,By the edging cylindrical of maximum stock removal edging foundry goods.
Preferably, image processing, the Boundary Recognition method of step (2) medium casting edging are as follows:
Adopt CCD parallel binocular camera to needing the foundry goods of edging to carry out IMAQ → carry out gradation of image linear transformation, changeKind uneven illumination, suppresses noise, prominent features point → employing opening operation and closed operation, corrodes and expansion algorithm removal foundry goodsContour edge flaw point → employing Canny edge detection operator and the image segmentation that iteration threshold method combines, enter effectivelyRow noise suppressed and rim detection, extract marginal information → employing hough conversion of foundry goods edging image and carry out feature identification,To the position coordinates of foundry goods edging → pass to control system.
The beneficial effect of tracking formula foundry goods edge polisher of the present invention is, by the two dimension of foundry goods or three-dimensional electronic figure, (X-Y scheme is straightConnect and grind foundry goods height dimension, graphics can once grind highly less workpiece size, also can be divided into and grind several times heightDegree size) the edging electronic chart that becomes foundry goods (removes dimensioning on figure, tolerance, roughness, technical requirement etc., do not needThe lines of edging), control system will convert edging electronic chart to G code automatically, walked according to foundry goods border by G code,Overlap, the burr of bistrique automatically grinding cast(ing) surface, when a certain casting of foundry goods oversize and while exceeding the stock removal of bistrique,Visual identifying system on edge polisher will calculate plussage, controls bistrique and retreats certain size, the stock removal allowingInterior edging, ensures can, because of the excessive damage bistrique of stock removal, machine normally not worked.
Additional aspect of the present invention and advantage in the following description part provide, and part will become from the following descriptionObtain obviously, or recognize by practice of the present invention.
Brief description of the drawings
Above-mentioned and/or additional aspect of the present invention and advantage from conjunction with below accompanying drawing to becoming the description of embodimentObviously and easily understand, wherein:
Fig. 1 is the main TV structure figure of edge polisher of the present invention;
Fig. 2 is the plan structure figure of edge polisher of the present invention;
Fig. 3 is the tomograph of edge polisher of the present invention;
Fig. 4 is the graphics of certain end cap foundry goods;
Fig. 5 is the structure chart of bistrique magic chuck of the present invention and bistrique;
Fig. 6 is the main TV structure figure of fixture overcoat of the present invention;
Fig. 7 is the plan structure figure of fixture overcoat of the present invention;
Fig. 8 is the main TV structure figure of bistrique of the present invention;
Fig. 9 is the plan structure figure of bistrique of the present invention;
Figure 10 is the run trace on edging rectangle limit;
Figure 11 is the run trace of edging arc-shaped edges.
Description of reference numerals:
In Fig. 1 ~ 4,1X spindle motor; 2X axle decelerator; 3X axle shaft coupling; 4X axial filament thick stick; 5Z axle right side guide pillar; 6Z spindle motor; 7ZAxle decelerator; 8Z axle shaft coupling; 9Z axial filament thick stick; 10Z axle left side guide pillar; 11X shaft stool; 12X spindle guide post; 13 columns; 14 edgingsHigh-speed electric expreess locomotive; 15 edging high-speed electric expreess locomotive holders; 16 industrial cameras; 17 bistrique magic chucks; 18 bistriques; 19X is to cylinder; 20Body; 21X is to clamp; 22 foundry goods; 22-1 edging groove; 22-2 edging cylindrical; 23Y is to clamp; 24Y is to cylinder; 25Y axle electricityMachine; 26Y axle decelerator; 27Y axle shaft coupling; 28Y axial filament thick stick; 29Y axle left side the first guide rail; 30Y axle left side the second guide rail; 31XTo Y-direction locating piece; 32Y axle right side the first guide rail; 33Y axle right side the second guide rail; 34Y axle slide block; 35Z axle slide block; 36X axle is slidingPiece; 37Z shaft stool.
In Fig. 5 ~ 9,14 edging high-speed electric expreess locomotives; 15 edging high-speed electric expreess locomotive holders; 18 bistriques; 18-1 circular arc elongated slot; 18-2 cuboids; 18-3 cylinder table; 18-4 grinding skin; 38 motor adapter sleeves; 39 shaft end pressure plate; 40 fixture overcoats; A left side, 40-1 centerMedial rotation screw thread; 40-2 side connecting thread; 40-3 sphere-contact arc; The overhanging hole of 40-4 sphere; 40-5 central slot; Outside 40-6 hexagonalCover; 41 locking balls; 42 slotted screws; 43 springs.
Detailed description of the invention
Below with reference to the embodiment of the present invention, the invention will be further described.
As Figure 1-3, a kind of tracking formula of the present invention foundry goods edge polisher comprises X-axis motor 1, X-axis decelerator 2, X-axis shaft couplingDevice 3, X-axis leading screw 4, Z axis right side guide pillar 5, Z axis motor 6, Z axis decelerator 7, Z axis shaft coupling 8, Z axis leading screw 9, Z axis left side guide pillar10, X-axis bearing 11, X-axis guide pillar 12, column 13, edging high-speed electric expreess locomotive 14, edging high-speed electric expreess locomotive holder 15, industrial camera 16,Bistrique magic chuck 17, bistrique 18, X are to cylinder 19, lathe bed 20, X to clamp 21, foundry goods 22, edging groove 22-1, edging cylindrical22-2, Y-direction clamp 23, Y-direction cylinder 24, y-axis motor 25, Y-axis decelerator 26, Y-axis shaft coupling 27, Y-axis leading screw 28, a Y-axis left sideSide the first guide rail 29, Y-axis left side the second guide rail 30, X lead to Y-direction locating piece 31, Y-axis right side the first guide rail 32, Y-axis right side secondRail 33, Y-axis slide block 34, Z axis slide block 35, X-axis slide block 36, Z axis bearing 37.
Wherein, y-axis motor 25 and Y-axis decelerator 26 are fixed on lathe bed 20, and Y-axis decelerator 26 is by Y-axis shaft coupling 27Drive Y-axis leading screw 28 to rotate, the nut in Y-axis slide block 34 and Y-axis leading screw 28 form lead screw pair. Y-axis slide block 34 is in Y-axis left side theUnder the guiding of one guide rail 29, Y-axis left side the second guide rail 30, Y-axis right side the first guide rail 32, Y-axis right side the second guide rail 33, be with movable bedTwo of both sides column 13 on body 20 moves forward and backward. X-axis bearing 11 is fixed on two columns 13, on the right side of X-axis bearing 11Be fixed with X-axis motor 1 and X-axis decelerator 2, X-axis decelerator 2 drives X-axis leading screw 4 to rotate by X-axis shaft coupling 3, X-axis slide block 36Interior nut and X-axis leading screw 4 form lead screw pair. X-axis slide block 36, under the guiding of X-axis guide pillar 12, drives the Z axis being attached thereto to prop upSeat 37 moves left and right. Z axis bearing 37 upper ends are fixed with Z axis motor 6 and Z axis decelerator 6, are driven vertically and are put by Z axis shaft coupling 8The Z axis leading screw 9 of putting rotates, and the nut in Z axis slide block 35 and Z axis leading screw 9 form lead screw pair. Z axis slide block 35 is at Z axis right side guide pillar5 and the guiding of Z axis left side guide pillar 10 under, drive edging motor holder 15 to move up and down. Edging motor 14 is fixed on edging electricityMachine holder 15 tops, edging motor 14 projecting shafts downwards and bistrique magic chuck 17, the bottom of bistrique magic chuck 17 be housedBistrique 18 is housed, and edging motor 14 is with rotary bistrique magic chuck 17 and bistrique 18 high speed rotating, the lip-deep mill of grinding foundry goods 22Limit groove 22-1 and edging cylindrical 22-2.
The present embodiment also comprises a piece-holder structure, and piece-holder structure comprises the workbench of lathe bed 20 upper surfaces,And be arranged on several positioners on workbench. Positioner comprises two parts, and the one, X is to Y-direction locating piece 31, two,Cylinder+clamp. Concrete, X is mutually vertical and form two perpendicular to the plane on lathe bed surface by two to Y-direction locating piece 31Corresponding described X is to clamp and Y-direction clamp for individual plane difference. X is provided with X to cylinder 19 to the left end of Y-direction locating piece 31, X toThe piston rod of cylinder 19 is connected with X to clamp 21 and stretches out to the right, and X is to clamp right lateral surface and foundry goods 22 Surface Contacts, XDrive X to move to clamp 21 to the piston rod of cylinder 19, foundry goods 22 left and right directions are clamped; On lathe bed 20, locationBefore device and foundry goods 22, be provided with Y-direction clamp 23, Y-direction clamp 23 be contained in piston rod that Y-direction cylinder 24 stretches out before,Y-direction cylinder 24 is positioned at the front end of Y-direction clamp 23, and the piston rod of Y-direction cylinder 24 drives Y-direction clamp 23 to move, by foundry goods 22Fore-and-aft direction clamps.
On lathe bed 20, be processed with T-shaped groove, described positioner is fixedly mounted on T-shaped groove by T-shaped bolt. Thereby no matter workHow are the shape of part or foundry goods, size, all can realize clamping by adjusting the installation site of several positioners on T-shaped grooveEffect. Therefore, the scope of application of this structure is wider, and edging is not exerted an influence.
Advantageously, be different workpiece or the foundry goods 22 of better clamping, X all has for folder to clamp and Y-direction clampThe clamping area of tight workpiece to be processed, clamping area entirety is plane, and the middle part of clamping area has V-arrangement concave surface. Like this, clamp front endFace adopts V-type concave surface and the plane mode that combines, and the clamping of V-type concave surface is circular, plane clamping rectangle, and V-type concave surface plays in additionThe effect of two point locations, for irregular surface, also can play good clamping action. Thereby it is convenient, real that this structure clampsWith.
As shown in Fig. 5-9, bistrique magic chuck of the present invention comprises: outside motor adapter sleeve 38, shaft end pressure plate 39 and fixtureCover 40.
Particularly, motor adapter sleeve 38 is connected on the outrigger shaft of edging high-speed electric expreess locomotive 14 by flat key, connects by motorThe lower stomidium of female connector 38 is loaded onto shaft end pressure plate 39, and shaft end pressure plate 39 is pressed on motor adapter sleeve 38 with bolt to bolt endBe threaded onto in the screwed hole at edging high-speed electric expreess locomotive 14 centers, the Excircle machining of motor adapter sleeve 38 has left hand thread, with folderThe center levogyrate inner thread 40-1 on tool overcoat 40 tops connects, and while adopting left hand thread to be bistrique processing overlap, burr, bearsMoment of face makes screw thread more stubborn tighter, can not get loose. The left-hand thread of motor adapter sleeve 38 is connected with fixture overcoat 40 left-hand threads twistsAfter tight, the sphere of arranged on left and right sides locking ball 41 is respectively charged in left and right radial slot inner, is then respectively charged into spring 43,Spring 43 is compressed to locking ball 41 with slotted screw 42, slotted screw 42 connects by side connecting thread 40-2 with fixture overcoat 40Connect. Make the part hemisphere face of locking ball 41 be close to sphere-contact arc 40-3 above, the ball of the core of locking ball 41Face puts in central slot 40-5 by the overhanging hole 40-4 of sphere, packs the cuboid 18-2 of bistrique 18 into central slot 40-5,And move up by both sides locking ball 41, until the end face of cylinder table 18-3 contacts with the lower surface of fixture overcoat 40, grindThe periphery of 18 times parts has grinding skin 18-4. In the time that bistrique 18 moves up, both sides locking ball 41 is outer moving radiallyCompress Spring 43, until the spherical outside surface of locking ball 41 falls into the circular arc elongated slot 18-1 of bistrique 18, locks bistrique 18, mill18 do not rotate with fixture overcoat 40, also do not produce and move up and down, and produce axial force upwards when grinding, withstand on outside fixtureOn cover 40, when bistrique 18 unloads, only need overcome locking ball 41 and compress the frictional force producing, just can unload by hand. Fixture overcoat 40Cross section be regular hexagon, be hexagonal overcoat 40-6.
The using method of tracking formula foundry goods edge polisher of the present invention, comprises the following steps:
(1) deposit foundry goods 22 edging three-dimensional electronic figure in control system, control system converts edging electronic chart to G code, fromAnd the bistrique walking path of definite edge polisher;
(2) industrial camera 16 is taken foundry goods 22 pictures, and carries out image processing, Boundary Recognition, determines the surface of foundry goods 22 edgingsSize, and the difference in size of calculating and foundry goods 22 part drawing upper surfaces, if the poor certain size that is less than of all surface sizes is (as littleIn 5 ~ 7mm), bistrique 18 is according to the edging border walking of foundry goods 22 parts; If have the casting on edging surface oversize, exceedWheel grinding amount, radially cutter relieving of bistrique 18, by the edging cylindrical 22-2 of maximum stock removal edging foundry goods 22.
Wherein, image processing, the Boundary Recognition method of step (2) medium casting edging are as follows:
Adopt CCD parallel binocular camera to needing the foundry goods of edging to carry out IMAQ → carry out gradation of image linear transformation, changeKind uneven illumination, suppresses noise, prominent features point (converting photosignal to gray level image) → employing opening operation and closed operation,Corrode and expansion algorithm removal foundry goods contour edge flaw point → employing Canny edge detection operator and iteration threshold method phaseIn conjunction with image segmentation, effectively carry out noise suppressed and rim detection, extract the marginal information of foundry goods edging image → adoptCarry out feature identification with hough conversion, obtain the position coordinates of foundry goods edging → pass to control system, control X-axis, Y-axis, Z axisMotor movement, from foundry goods edge initial position (X is to Y-direction locating piece-positioning datum), along foundry goods edging border movement,Grinding casting fin, burr.
As shown in Figure 10-11, in the time that casting fin, burr amount are little, as figure size a, bistrique is with radius revolution, in bistriqueThe heart along with drawing of rough casting paper size be radially the foundry goods edging track walking of r, when foundry goods edging size (b+c) exceedes maximum grindingWhen amount, the outside mobile c size edging of bistrique, prevents the excessive damage bistrique of bite, bistrique magic chuck and edging high-speed electric expreess locomotive14。
Concrete enforcement
Tracking formula foundry goods edge polisher of the present invention grinding when certain end cap foundry goods, deposits foundry goods edging three-dimensional electronic figure in as shown in Figure 4Edge polisher control system, control system converts electronic chart to G code, and bistrique 18 walking paths of edge polisher are just determined, foundry goodsThe track of edging groove 22-1 on 22 and edging cylindrical 22-2 converts control information amount to, controls the fortune of X-axis, Y-axis, Z axis motorMoving.
Foundry goods 22 is put on lathe bed 20, starts X to cylinder 19 and Y-direction cylinder 24, X drives to the piston rod on cylinder 19X is to clamp 21 along X to moving right, and the piston rod on Y-direction cylinder 24 drives Y-direction clamp 23 to move backward along Y-direction, will castPart 22 is clamped in X on Y-direction locating piece 31. If the outer surface of foundry goods 22 is circular, X is to clamp 21 and Y-direction clamp 23On V-block clamp foundry goods 22 surfaces, if the outer surface of foundry goods 22 is rectangles, X is on clamp 21 and Y-direction clamp 23Outerplanar clamp foundry goods 22 surfaces. In the time that edging arrives the edging cylindrical 22-2 contact surface of Y-direction clamp 23 and foundry goods 22, YDriving Y-direction clamp 23 to retreat to cylinder 24 leaves foundry goods 22 surfaces, only clamps foundry goods 22 with X to clamp 21; When edging is to XDuring to the edging cylindrical 22-2 contact surface of clamp 21 and foundry goods 22, X drives X to retreat and leave casting to clamp 21 to cylinder 19Part 22 surfaces, only clamp foundry goods 22 with Y-direction clamp 23.
After foundry goods 22 clamps, industrial camera 16 is taken foundry goods 22 pictures, and carries out image processing, Boundary Recognition, determines castingThe surface size of part 22 edgings, and the difference in size of calculating and foundry goods 22 part drawing upper surfaces, if all surface sizes are poor littleIn certain size (as being less than 5 ~ 7mm), bistrique 18 is according to the edging border walking of foundry goods 22 parts; If there is the casting on edging surfaceMake oversizely, exceed wheel grinding amount, radially cutter relieving of bistrique 18, by the edging cylindrical 22-of maximum stock removal edging foundry goods 222。
Start X-axis motor 1 and y-axis motor 25, drive Z axis bearing 37 to move left and right by X-axis leading screw 4, Y-axis leading screw 28 is withMoving column 13, X-axis bearing 11, Z axis bearing 37 move forward and backward, and bistrique 18 planar movements arrive foundry goods 22 and start edging plane positionPut, start Z axis motor 6 and edging motor 14, Z axis motor 6 drives Z axis leading screw 9 to rotate, and Z axis slide block 35 moves down, edging electricityMachine 14 drives edging magic chuck 17, bistrique 18 high speed rotating, and the edging cylindrical 22-2 that arrives foundry goods 22 starts edging, Z axis electricityMachine 6 stops operating, and 18 of bistriques are in planar movement high speed rotation, and bistrique 18 is gone to outside edging cylindrical 22-2 position grinding edgingCircle 22-2, goes to edging groove 22-1 position grinding edging groove 22-1, arrives before Y-direction clamp 23, and Y-direction cylinder 24 drives Y-direction folderTight piece 23 retreats, and edging continues, and arrives X before clamp 21, and X drives X to retreat to clamp 21 to cylinder 19, and edging continues,While arriving X to Y-direction locating piece, bistrique 18 is elevated to the height of not encountering cast(ing) surface under Z axis motor 6 and 9 drives of Z axis leading screwDegree, X-axis motor 1 and y-axis motor 25 drive the lower edging groove 22-1 position that arrives, and then decline same height grinding edging groove 22-1, there is several edging grooves 22-1 to do several repetitive operation campaign grindings, when covering after all tracks of edging, X-axis motor 1, YSpindle motor 25, Z axis motor 6 stop operating, and grinding completes, and X drives X to return to clamp 21 to cylinder 19, and Y-direction cylinder 24 drivesY-direction clamp 23 returns, and foundry goods 22 unclamps, and unloads the foundry goods 22 on milled limit, and grinding completes.
The tracking formula foundry goods edge polisher of the embodiment of the present invention has the following advantages:
1. tracking, the X-Y scheme of foundry goods or graphics are become to the edging electronic chart of foundry goods, and (two dimension can directly grind overlap, hairThorn, three-dimensional can divide grind several times height dimension), edge polisher control system directly edging electronic chart is converted to G code control X toMotor, Y-direction motor, Z-direction motor drive respectively lead screw pair separately to move, and directly control edging track by electronic chart, do not needProgramming, time saving and energy saving, improve production efficiency;
2. visual identifying system, can identify the casting scale error that foundry goods needs grinding skin, when molten error size exceedsWhen the maximum stock removal of bistrique, control radially cutter relieving of bistrique, by maximum stock removal edging, make the unlikely bite of bistrique excessive brokenBad, vision is floated and is processed, and when molten error size does not exceed the maximum stock removal of bistrique, walks according to pattern line;
3. fixture fast and flexible, adopts two orthogonal cylinders to promote respectively X and moves to clamp and Y-direction clamp, twoIndividual direction is clamped in foundry goods on locating surface, also can use any one cylinder clamping behind location, owing to there is no Z-direction power, noNeed Z-direction to clamp. Clamp front end face adopts V-block and the plane mode that combines, and V-block clamping is circular, and plane clamping is rectangularShape, it is convenient, practical to clamp. X is mutually vertical and form perpendicular to the plane on lathe bed surface by two to Y-direction locating piece, by T-shaped spiral shellBolt is fixed on lathe bed workbench, easy to adjust;
4. edging motor adopts high-speed electric expreess locomotive, and rated speed 6000r/min, does not need conversion speed, and edging size and power are notGreatly, take up room little, low price; Adopt magnetic suspension motor rotating speed 12000 ~ 18000r/min, price, and edging does not also needRotating speed that will be so high;
5. bistrique magic chuck is changed bistrique conveniently, and after bistrique, handle inserts in bistrique magic chuck, just as bit change-over, pastAbove load onto once pushing up, unload once drop-down, bistrique is Cylindrical Grinding Processes, and bistrique can be cylindrical, can be also conical,Remove right-angle side burr.
Although illustrated and described embodiments of the invention, those having ordinary skill in the art will appreciate that: notDepart from the situation of principle of the present invention and aim and can carry out multiple variation, amendment, replacement and modification to these case study on implementation,Scope of the present invention is limited by claim and equivalent thereof.

Claims (10)

1. for a piece-holder structure for grinding tool, comprise workbench, described workbench is provided with several for rightThe positioner that workpiece to be processed positions, is characterized in that, described at least one, positioner comprises cylinder and clamp,The piston rod of described cylinder connects clamp, and clamp clamps or leave workpiece to be processed under the effect of cylinder piston rod.
2. the piece-holder structure for grinding tool according to claim 1, is characterized in that, at least tool of described positionerThere are 3, comprise respectively:
One X is to cylinder, and described X is connected with X to clamp to the piston rod of cylinder;
One Y-direction cylinder, the piston rod of described Y-direction cylinder is connected with Y-direction folder vertical block; And
A positioning block, described locating piece is fixedly arranged on workbench, and has with described X to clamp and Y-direction clamp differenceCorresponding gulde edge.
3. the piece-holder structure for grinding tool according to claim 1 and 2, is characterized in that, on described workbenchBe provided with several parallel T-shaped grooves, described several positioners are installed on this T-shaped groove.
4. the piece-holder structure for grinding tool according to claim 1 and 2, is characterized in that, described clamp hasFor clamping the clamping area of workpiece to be processed, described clamping area entirety is plane, and the middle part of clamping area has V-arrangement concave surface.
5. a tracking formula foundry goods edge polisher, is characterized in that, comprises lathe bed, travel mechanism, grinding head assembly, claim 1-4Piece-holder structure described in any one, industrial camera, the visual recognition line control system of unifying, described lathe bed upper surface forms instituteState workbench, described travel mechanism is arranged on described lathe bed, and described piece-holder structure is arranged on described workbench,Described grinding head assembly is arranged in described travel mechanism, and described grinding head assembly is all corresponding with foundry goods to be processed with industrial camera,Described control system is connected with described travel mechanism, grinding head assembly, piece-holder structure, industrial camera and visual identifying systemConnect.
6. tracking formula foundry goods edge polisher according to claim 5, is characterized in that, described travel mechanism comprises: y-axis shift is movingMechanism, X-axis travel mechanism and Z axis travel mechanism,
Described y-axis shift actuation mechanism is two, is set in parallel on described lathe bed, and each y-axis shift actuation mechanism includes Y-axis leading screw, YSpindle motor, Y-axis guide rail and Y-axis slide block, described Y-axis guide rail and Y-axis leading screw are all arranged on described lathe bed, described y-axis motor withDescribed Y-axis leading screw is connected, and described Y-axis guide rail slides through Y-axis slide block, and in Y-axis slide block, is provided with nut and Y-axis leading screw formation silkThick stick pair;
Described X-axis travel mechanism comprises X-axis bearing, X-axis leading screw, X-axis motor, X-axis guide pillar and X-axis slide block, described X-axis bearingTwo ends are connected with the Y-axis slide block of described two y-axis shift actuation mechanism by a column respectively; Described X-axis leading screw and X-axis guide pillar are all establishedPut on described X-axis bearing, described X-axis motor is connected with described X-axis leading screw, and described X-axis guide rail slides through X-axis slide block, and XIn axle slide block, be provided with nut and X-axis leading screw and form lead screw pair;
Described Z axis travel mechanism comprises Z axis bearing, Z axis leading screw, Z axis motor, Z axis guide pillar and Z axis slide block, described Z axis bearing withThe X-axis slide block of SuoXZhou travel mechanism is connected; Described Z axis (leading) leading screw and Z axis guide pillar are all arranged on described Z axis bearing, described inZ axis motor is connected with described Z axis leading screw, and described Z axis guide rail slides through Z axis slide block, and is provided with nut and X-axis in Z axis slide blockLeading screw forms lead screw pair.
7. tracking formula foundry goods edge polisher according to claim 5, is characterized in that, described grinding head assembly comprises and is connected to millBistrique magic chuck on assembly, described bistrique magic chuck bottom is used for being equipped with bistrique, and edging motor drives described bistriqueRotate.
8. tracking formula foundry goods edge polisher according to claim 7, is characterized in that, described bistrique magic chuck comprises:
Motor adapter sleeve, described motor adapter sleeve is connected with the outrigger shaft of edging motor;
Fixture overcoat, described fixture overcoat is connected with described motor adapter sleeve, and fixture overcoat lower end has and bistrique relative engagementCentral slot, the axle center of the axle center of described central slot and edging motor outrigger shaft is on same line; The both sides of fixture overcoatOffer the radial slot that stretches to described central slot, be provided with spring and keeper in radial slot, keeper is under the effect of springStretch in described central slot.
9. the tracking formula edging method of the tracking formula foundry goods edge polisher described in claim 5-8 any one, comprises the following steps:
(1) deposit foundry goods edging three-dimensional electronic figure in control system, control system converts edging electronic chart to G code, therebyDetermine the bistrique walking path of edge polisher;
(2) industrial camera is taken foundry goods picture, and carries out image processing, Boundary Recognition, determines the surface size of foundry goods edging, andThe difference in size of calculating and foundry goods part drawing upper surface, if the poor certain size that is less than of all surface sizes, bistrique is according to foundry goodsThe edging border walking of part; If there is the casting on edging surface oversize, exceed wheel grinding amount, bistrique is cutter relieving radially,By the edging cylindrical of maximum stock removal edging foundry goods.
10. tracking formula edging method according to claim 9, is characterized in that, the image place of step (2) medium casting edgingReason, Boundary Recognition method is as follows:
Adopt CCD parallel binocular camera to needing the foundry goods of edging to carry out IMAQ → carry out gradation of image linear transformation, changeKind uneven illumination, suppresses noise, prominent features point → employing opening operation and closed operation, corrodes and expansion algorithm removal foundry goodsContour edge flaw point → employing Canny edge detection operator and the image segmentation that iteration threshold method combines, enter effectivelyRow noise suppressed and rim detection, extract marginal information → employing hough conversion of foundry goods edging image and carry out feature identification,To the position coordinates of foundry goods edging → pass to control system.
CN201610128258.9A 2016-03-08 2016-03-08 Workpiece clamping structure for grinding tool, and tracking type casting edging machine and method CN105598777A (en)

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CN106217165A (en) * 2016-08-29 2016-12-14 安徽宇腾真空电气有限责任公司 A kind of workpiece polishing mechanism for regulator cubicle surface
CN106239304A (en) * 2016-06-23 2016-12-21 蒋学光 Limit-type engine cylinder-body grinding attachment
CN106863122A (en) * 2017-02-22 2017-06-20 浙江理工大学 The control method of glass three-point fix device
CN106914805A (en) * 2017-02-28 2017-07-04 赵润红 A kind of 3D printing product sanding apparatus
CN106975996A (en) * 2017-02-28 2017-07-25 梧州市东麟宝石机械有限公司 A kind of fixture mobile device being used in gem processing
CN107160283A (en) * 2017-07-24 2017-09-15 佛山市正略信息科技有限公司 Efficient polissoir is used in a kind of hardware sheet material production
CN107322398A (en) * 2017-08-10 2017-11-07 安徽六方重联机械股份有限公司 A kind of nut edging processing unit (plant)
CN107891343A (en) * 2017-10-27 2018-04-10 合肥多智科技开发有限公司 Waste and old fragment of brick water removal mud recycles equipment in building trade
CN107932279A (en) * 2017-11-26 2018-04-20 苏州维创度信息科技有限公司 A kind of automobile gimbal sanding apparatus
CN107932280A (en) * 2017-11-26 2018-04-20 苏州维创度信息科技有限公司 A kind of automobile gimbal polishing process
WO2018210181A1 (en) * 2017-05-15 2018-11-22 金翰阳科技(大连)股份有限公司 Intelligent grinding device for casting parts
CN109732440A (en) * 2019-01-10 2019-05-10 冀星宇 Miniature cutting grinding machine tool
CN110842677A (en) * 2019-12-03 2020-02-28 李兰平 Automatic equipment of polishing of plank positive and negative
CN111250679A (en) * 2018-11-30 2020-06-09 重庆力劲机械有限公司 Slag ladle removing mechanism and intelligent automatic slag ladle removing device
CN111571371A (en) * 2020-04-29 2020-08-25 常山正丽机电有限公司 Centrifugal pump casing casting equipment
CN111644700A (en) * 2020-05-22 2020-09-11 胡金凤 Be used for welded auxiliary device in batches of lithium cell electrode
CN111687699A (en) * 2020-05-18 2020-09-22 芜湖思科生产力促进中心有限公司 Multi-surface integrated polishing equipment with central hole for rotary part

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* Cited by examiner, † Cited by third party
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CN106239304A (en) * 2016-06-23 2016-12-21 蒋学光 Limit-type engine cylinder-body grinding attachment
CN106217165A (en) * 2016-08-29 2016-12-14 安徽宇腾真空电气有限责任公司 A kind of workpiece polishing mechanism for regulator cubicle surface
CN106863122B (en) * 2017-02-22 2019-03-15 浙江理工大学 The control method of glass three-point fix device
CN106863122A (en) * 2017-02-22 2017-06-20 浙江理工大学 The control method of glass three-point fix device
CN106975996A (en) * 2017-02-28 2017-07-25 梧州市东麟宝石机械有限公司 A kind of fixture mobile device being used in gem processing
CN106914805A (en) * 2017-02-28 2017-07-04 赵润红 A kind of 3D printing product sanding apparatus
WO2018210181A1 (en) * 2017-05-15 2018-11-22 金翰阳科技(大连)股份有限公司 Intelligent grinding device for casting parts
CN107160283A (en) * 2017-07-24 2017-09-15 佛山市正略信息科技有限公司 Efficient polissoir is used in a kind of hardware sheet material production
CN107322398A (en) * 2017-08-10 2017-11-07 安徽六方重联机械股份有限公司 A kind of nut edging processing unit (plant)
CN107891343A (en) * 2017-10-27 2018-04-10 合肥多智科技开发有限公司 Waste and old fragment of brick water removal mud recycles equipment in building trade
CN107932279A (en) * 2017-11-26 2018-04-20 苏州维创度信息科技有限公司 A kind of automobile gimbal sanding apparatus
CN107932280A (en) * 2017-11-26 2018-04-20 苏州维创度信息科技有限公司 A kind of automobile gimbal polishing process
CN111250679A (en) * 2018-11-30 2020-06-09 重庆力劲机械有限公司 Slag ladle removing mechanism and intelligent automatic slag ladle removing device
CN109732440A (en) * 2019-01-10 2019-05-10 冀星宇 Miniature cutting grinding machine tool
CN110842677A (en) * 2019-12-03 2020-02-28 李兰平 Automatic equipment of polishing of plank positive and negative
CN111571371A (en) * 2020-04-29 2020-08-25 常山正丽机电有限公司 Centrifugal pump casing casting equipment
CN111687699A (en) * 2020-05-18 2020-09-22 芜湖思科生产力促进中心有限公司 Multi-surface integrated polishing equipment with central hole for rotary part
CN111644700A (en) * 2020-05-22 2020-09-11 胡金凤 Be used for welded auxiliary device in batches of lithium cell electrode

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Application publication date: 20160525