CN107617943A - A kind of balance weight iron robot sanding apparatus and its control system - Google Patents
A kind of balance weight iron robot sanding apparatus and its control system Download PDFInfo
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- CN107617943A CN107617943A CN201710888332.1A CN201710888332A CN107617943A CN 107617943 A CN107617943 A CN 107617943A CN 201710888332 A CN201710888332 A CN 201710888332A CN 107617943 A CN107617943 A CN 107617943A
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- robot
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- grinding chamber
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Abstract
The invention discloses a kind of balance weight iron robot sanding apparatus and its control system, it is related to balance weight iron grinding technology field, balance weight iron robot sanding apparatus includes grinding chamber and master control platform, the master control platform is arranged on outside grinding chamber, slide unit is installed in the grinding chamber, the both ends of the slide unit are all stretched out outside grinding chamber, two side positions in the middle part of the slide unit are fitted with robot mounting seat, robot I and robot II are separately installed with described two robot mounting seats, it is provided with the grinding chamber between two protection, robot I switch boards and robot II switch boards are separately installed with described two protection, be also equipped with the grinding chamber respectively with robot I, robot I knife rests corresponding to robot II and robot II knife rests.The balance weight iron robot sanding apparatus automaticity of the present invention is high, and hand labor intensity greatly reduces, and production efficiency is high, polishing quality is good.
Description
Technical field
The present invention relates to balance weight iron grinding technology field, more particularly to a kind of balance weight iron robot sanding apparatus and its control
System.
Background technology
It is known that foundry engieering equipment fast development is the founder in decades since eighties of last century the seventies
The melting of skill, the research and development with the processes such as sand, coremaking, moulding and ball blast equipment, technology upgrading development and change are larger, but casting
Cleaning polishing means are almost unchanged, and mainly casting pours the result disturbance degree for emitting prune job mode to producing castings
Not high, casting cleaning still can either be completed with machinery equipment by manual polishing, as long as conscientiously, manual polishing and machine are beaten
The result of mill is without what difference.Therefore, no enterprise is ready to give dressing shop used device, and casting cleaning is mainly manually entered
OK.
In recent years, along with the implementing of " casting access system " of casting industry, strict《Environmental law》It is and new《Work
Method》Execution, recruitment cost and cleaning process recruitment difficulty etc., particularly " proposition of made in China 2025 ", promote casting clear
Reason is paid attention to from getting the brush-off to gradual.However, existing casting grinding cleaning equipment automaticity is low, casting grinding quality
Difference, enterprise need to put into larger research and development energy, the emphasis transformation side using the lifting of casting post-processing technology equipment as enterprise
To.How a kind of automaticity high, grinding efficiency height, matter measured Chong Tie robot sanding apparatus and its control system are designed
It is the technical problems to be solved by the invention.
The content of the invention
In view of the deficiencies of the prior art, the present invention provides a kind of automaticity is high, grinding efficiency is high, the measured heavy iron of matter
Robot sanding apparatus and its control system.
The present invention realizes solve above-mentioned technical problem by following technological means：
A kind of balance weight iron robot polishes control system, including PLC, industrial switch, 3D vision systems, robot I switch boards,
Robot I, robot II switch boards, robot II, servo-driver, slide unit motor, main shaft I frequency converters, main shaft II become
Frequency device, robot I electro spindles and robot II electro spindles；
The PLC is the core of field control, and live all devices are scheduled and concentrated with security monitoring；
The 3D vision systems are made up of high resolution 3 d camera to industrial computer and related 3D rendering processing software, 3D shootings
Head all sends the data scanned to industrial computer by the form of industrial switch ethernet communication, and figure is housed on industrial computer
As handling software, the stereoscopic features point of workpiece is extracted and handled, and the data of gained and mark set in advance will be handled
Quasi- data are contrasted, and are obtained the offset of workpiece form and position and the altitude information of burr, are finally led to these data
Cross industrial switch and send PLC in the form of Ethernet；
The robot I switch boards all connect with robot II switch boards with PLC signals, the robot I switch boards, robot
II switch boards are connected by robot industrial siding with robot I, robot II respectively, the number that PLC transmits according to 3D vision systems
Workpiece is processed according to the path of amendment according to guided robot；
The servo-driver connects with PLC and slide unit motor signal, and slide unit motor receives PLC control；
The main shaft I frequency converters, main shaft II frequency converters all connect with PLC signals, robot I electro spindles and robot II electro spindles
Connected respectively with main shaft I frequency converters, main shaft II frequency converter signals, PLC is by controlling main shaft I frequency converters, main shaft II frequency converters pair
Robot I electro spindles and robot II electro spindles realize Stress control and speed Control.
A kind of balance weight iron robot sanding apparatus, including grinding chamber and master control platform, the master control platform are arranged on polishing
Outdoor, slide unit is installed in the grinding chamber, the both ends of the slide unit are all stretched out outside grinding chamber, the both sides position in the middle part of the slide unit
Put and be fitted with robot mounting seat, robot I and robot II are separately installed with described two robot mounting seats, it is described
It is provided with grinding chamber between two protection, robot I switch boards and robot II controls is separately installed with described two protection
Cabinet processed, be also equipped with the grinding chamber respectively with robot I, robot II corresponding to robot I knife rests and robot II knives
Frame.
Preferably, described a kind of balance weight iron robot sanding apparatus, described slide unit are double slide unit, slide unit length
For 10 meters, station spacing is 4 meters.
Preferably, described a kind of balance weight iron robot sanding apparatus, dust arrester is installed in described grinding chamber, institute
The dust arrester stated is industry dust remover.
The advantage of the invention is that：The whole process of the balance weight iron robot sanding apparatus polishing of the present invention only needs manually
Loading and unloading, automaticity is high, and hand labor intensity greatly reduces, and production efficiency is high, polishing quality is good, helps to promote
Enter the development of casting robot grinding technology.
Further, dust arrester is installed in grinding chamber, ensures the cleaning of robot and casting, contributes to corrective maintenance.
Brief description of the drawings
Fig. 1 is the structured flowchart of control system of the present invention.
Fig. 2 is the structural representation of sanding apparatus of the present invention.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
Part of the embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art
The every other embodiment obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
A kind of balance weight iron robot polishing control system, including PLC, industrial switch, 3D vision systems, robot I control
Cabinet processed, robot I, robot II switch boards, robot II, servo-driver, slide unit motor, main shaft I frequency converters, main shaft
II frequency converters, robot I electro spindles and robot II electro spindles；
The PLC is the core of field control, and live all devices are scheduled and concentrated with security monitoring；
The 3D vision systems are made up of high resolution 3 d camera to industrial computer and related 3D rendering processing software, 3D shootings
Head all sends the data scanned to industrial computer by the form of industrial switch ethernet communication, and figure is housed on industrial computer
As handling software, the stereoscopic features point of workpiece is extracted and handled, and the data of gained and mark set in advance will be handled
Quasi- data are contrasted, and are obtained the offset of workpiece form and position and the altitude information of burr, are finally led to these data
Cross industrial switch and send PLC in the form of Ethernet；
The robot I switch boards all connect with robot II switch boards with PLC signals, the robot I switch boards, robot
II switch boards are connected by robot industrial siding with robot I, robot II respectively, the number that PLC transmits according to 3D vision systems
Workpiece is processed according to the path of amendment according to guided robot；
The servo-driver connects with PLC and slide unit motor signal, and slide unit motor receives PLC control；
The main shaft I frequency converters, main shaft II frequency converters all connect with PLC signals, robot I electro spindles and robot II electro spindles
Connected respectively with main shaft I frequency converters, main shaft II frequency converter signals, PLC is by controlling main shaft I frequency converters, main shaft II frequency converters pair
Robot I electro spindles and robot II electro spindles realize Stress control and speed Control.
A kind of balance weight iron robot sanding apparatus, including grinding chamber 1 and master control platform 2, the master control platform 2, which is arranged on, to be beaten
Grind outside room 1, slide unit 3 is installed in the grinding chamber 1, the both ends of the slide unit 3 are all stretched out outside grinding chamber 1, the middle part of slide unit 3
Two side positions be fitted with robot mounting seat 4, be separately installed with robot I5 and machine in described two robot mounting seats 4
Device people II6, be provided with the grinding chamber 17 between two protection, 7 between described two protection in be separately installed with robot I controls
Cabinet 8 and robot II switch boards 9, be also equipped with the grinding chamber 1 respectively with robot I5, robot II6 corresponding to machine
People I knife rests 10 and robot II knife rests 11.
Preferably, described slide unit 3 is double slide unit, and the length of slide unit 3 is 10 meters, and station spacing is 4 meters.
Preferably, dust arrester 12 is installed, described dust arrester 12 is industry dust remover in described grinding chamber 1.
The work process of system is：If slide unit both ends are side a and b, slide unit A end loading and unloading are manually gone, after the completion of feeding,
Control slide unit transports robot and polished station；Robot starts working, and robot scans workpiece with vision system, scans through
Into rear calculation process and result is fed back into robot, guides its workpieces processing；Manually beaten simultaneously in the loading and unloading of B ends, robot
After the completion of mill, slide unit is moved to A ends；The work that both sides repeat, the workpiece that robot polishes on B ends, manually in A ends feeding, it is
System forms circulation non-stop run.The whole process of the balance weight iron robot sanding apparatus polishing of the present invention is only needed above and below artificial
Material, automaticity is high, and hand labor intensity greatly reduces, and production efficiency is high, polishing quality is good, helps lend some impetus to casting
The development of part robot grinding technology；Further, dust arrester is installed in grinding chamber, ensures the cleaning of robot and casting,
Contribute to corrective maintenance.
It should be noted that herein, if being used merely in the presence of first and second or the like relational terms by one
Individual entity or operation make a distinction with another entity or operation, and not necessarily require or imply these entities or operate it
Between any this actual relation or order be present.Moreover, term " comprising ", "comprising" or its any other variant are intended to
Cover including for nonexcludability, so that process, method, article or equipment including a series of elements not only include those
Key element, but also the other element including being not expressly set out, or also include for this process, method, article or set
Standby intrinsic key element.In the absence of more restrictions, the key element limited by sentence "including a ...", it is not excluded that
Other identical element in the process including the key element, method, article or equipment also be present.
The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although with reference to the foregoing embodiments
The present invention is described in detail, it will be understood by those within the art that：It still can be to foregoing each implementation
Technical scheme described in example is modified, or carries out equivalent substitution to which part technical characteristic；And these modification or
Replace, the essence of appropriate technical solution is departed from the spirit and scope of various embodiments of the present invention technical scheme.
Claims (4)
- The control system 1. a kind of balance weight iron robot polishes, it is characterised in that：Including PLC, industrial switch, 3D vision systems, Robot I switch boards, robot I, robot II switch boards, robot II, servo-driver, slide unit motor, main shaft I become Frequency device, main shaft II frequency converters, robot I electro spindles and robot II electro spindles；The PLC is the core of field control, and live all devices are scheduled and concentrated with security monitoring；The 3D vision systems are made up of high resolution 3 d camera to industrial computer and related 3D rendering processing software, 3D shootings Head all sends the data scanned to industrial computer by the form of industrial switch ethernet communication, and figure is housed on industrial computer As handling software, the stereoscopic features point of workpiece is extracted and handled, and the data of gained and mark set in advance will be handled Quasi- data are contrasted, and are obtained the offset of workpiece form and position and the altitude information of burr, are finally led to these data Cross industrial switch and send PLC in the form of Ethernet；The robot I switch boards all connect with robot II switch boards with PLC signals, the robot I switch boards, robot II switch boards are connected by robot industrial siding with robot I, robot II respectively, the number that PLC transmits according to 3D vision systems Workpiece is processed according to the path of amendment according to guided robot；The servo-driver connects with PLC and slide unit motor signal, and slide unit motor receives PLC control；The main shaft I frequency converters, main shaft II frequency converters all connect with PLC signals, robot I electro spindles and robot II electro spindles Connected respectively with main shaft I frequency converters, main shaft II frequency converter signals, PLC is by controlling main shaft I frequency converters, main shaft II frequency converters pair Robot I electro spindles and robot II electro spindles realize Stress control and speed Control.
- A kind of 2. balance weight iron robot sanding apparatus, it is characterised in that：Including grinding chamber and master control platform, the master control platform is set Put outside grinding chamber, slide unit is installed in the grinding chamber, the both ends of the slide unit are all stretched out outside grinding chamber, in the middle part of the slide unit Two side positions be fitted with robot mounting seat, be separately installed with robot I and machine in described two robot mounting seats People II, it is provided with the grinding chamber between two protection, robot I switch boards and machine is separately installed with described two protection Device people's II switch boards, be also equipped with the grinding chamber respectively with robot I, robot II corresponding to robot I knife rests and machine Device people's II knife rests.
- A kind of 3. balance weight iron robot sanding apparatus according to claim 2, it is characterised in that：Described slide unit is duplex Position slide unit, slide unit length are 10 meters, and station spacing is 4 meters.
- A kind of 4. balance weight iron robot sanding apparatus according to claim 2, it is characterised in that：Pacify in described grinding chamber Equipped with dust arrester, described dust arrester is industry dust remover.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710888332.1A CN107617943A (en) | 2017-09-27 | 2017-09-27 | A kind of balance weight iron robot sanding apparatus and its control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710888332.1A CN107617943A (en) | 2017-09-27 | 2017-09-27 | A kind of balance weight iron robot sanding apparatus and its control system |
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| Publication Number | Publication Date |
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| CN107617943A true CN107617943A (en) | 2018-01-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710888332.1A Pending CN107617943A (en) | 2017-09-27 | 2017-09-27 | A kind of balance weight iron robot sanding apparatus and its control system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110977769A (en) * | 2019-11-22 | 2020-04-10 | 佛山缔乐视觉科技有限公司 | Method and system for remote monitoring equipment |
| CN111421416A (en) * | 2020-05-18 | 2020-07-17 | 芜湖新兴铸管有限责任公司 | Socket polishing system of ball-milling casting tube |
| CN112223292A (en) * | 2020-10-21 | 2021-01-15 | 湖南科技大学 | Online grinding system of structural member welding seam intelligent grinding and polishing robot |
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| WO2009131945A2 (en) * | 2008-04-25 | 2009-10-29 | Applied Materials, Inc. | High throughput chemical mechanical polishing system |
| CN102120307A (en) * | 2010-12-23 | 2011-07-13 | 中国科学院自动化研究所 | System and method for grinding industrial robot on basis of visual information |
| CN201979359U (en) * | 2010-12-14 | 2011-09-21 | 珠海和氏自动化设备有限公司 | Deburring machine |
| CN103639867A (en) * | 2013-12-06 | 2014-03-19 | 苏州逸美德自动化科技有限公司 | Robot polisher |
| CN105215809A (en) * | 2015-10-13 | 2016-01-06 | 沈阳博林特智能高科机器人有限公司 | With the Intellisense grinding machine robot system of explosion prevention function |
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2017
- 2017-09-27 CN CN201710888332.1A patent/CN107617943A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2009131945A2 (en) * | 2008-04-25 | 2009-10-29 | Applied Materials, Inc. | High throughput chemical mechanical polishing system |
| CN201979359U (en) * | 2010-12-14 | 2011-09-21 | 珠海和氏自动化设备有限公司 | Deburring machine |
| CN102120307A (en) * | 2010-12-23 | 2011-07-13 | 中国科学院自动化研究所 | System and method for grinding industrial robot on basis of visual information |
| CN103639867A (en) * | 2013-12-06 | 2014-03-19 | 苏州逸美德自动化科技有限公司 | Robot polisher |
| CN105215809A (en) * | 2015-10-13 | 2016-01-06 | 沈阳博林特智能高科机器人有限公司 | With the Intellisense grinding machine robot system of explosion prevention function |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110977769A (en) * | 2019-11-22 | 2020-04-10 | 佛山缔乐视觉科技有限公司 | Method and system for remote monitoring equipment |
| CN111421416A (en) * | 2020-05-18 | 2020-07-17 | 芜湖新兴铸管有限责任公司 | Socket polishing system of ball-milling casting tube |
| CN112223292A (en) * | 2020-10-21 | 2021-01-15 | 湖南科技大学 | Online grinding system of structural member welding seam intelligent grinding and polishing robot |
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