CN108608296B - Die casting polishing equipment - Google Patents
Die casting polishing equipment Download PDFInfo
- Publication number
- CN108608296B CN108608296B CN201810617089.4A CN201810617089A CN108608296B CN 108608296 B CN108608296 B CN 108608296B CN 201810617089 A CN201810617089 A CN 201810617089A CN 108608296 B CN108608296 B CN 108608296B
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- Prior art keywords
- polishing
- sliding table
- industrial robot
- die casting
- laser pen
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- 238000005498 polishing Methods 0.000 title claims abstract description 89
- 238000004512 die casting Methods 0.000 title claims abstract description 48
- 125000006850 spacer group Chemical group 0.000 claims description 25
- 238000005266 casting Methods 0.000 claims description 17
- 230000005540 biological transmission Effects 0.000 claims description 6
- 230000033001 locomotion Effects 0.000 claims description 6
- 230000000007 visual effect Effects 0.000 claims description 5
- 230000009471 action Effects 0.000 claims description 4
- 239000012636 effector Substances 0.000 claims description 4
- 230000000694 effects Effects 0.000 claims description 3
- 230000000670 limiting effect Effects 0.000 claims description 2
- 230000007246 mechanism Effects 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 239000003550 marker Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000002844 melting Methods 0.000 description 1
- 230000008018 melting Effects 0.000 description 1
- 229910052760 oxygen Inorganic materials 0.000 description 1
- 239000001301 oxygen Substances 0.000 description 1
- 238000007517 polishing process Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 239000000779 smoke Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B27/00—Other grinding machines or devices
- B24B27/033—Other grinding machines or devices for grinding a surface for cleaning purposes, e.g. for descaling or for grinding off flaws in the surface
- B24B27/04—Grinding machines or devices in which the grinding tool is supported on a swinging arm
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
- B22D31/00—Cutting-off surplus material, e.g. gates; Cleaning and working on castings
- B22D31/002—Cleaning, working on castings
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/02—Frames; Beds; Carriages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/04—Headstocks; Working-spindles; Features relating thereto
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/04—Headstocks; Working-spindles; Features relating thereto
- B24B41/042—Balancing mechanisms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B47/00—Drives or gearings; Equipment therefor
- B24B47/02—Drives or gearings; Equipment therefor for performing a reciprocating movement of carriages or work- tables
- B24B47/04—Drives or gearings; Equipment therefor for performing a reciprocating movement of carriages or work- tables by mechanical gearing only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/12—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving optical means
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention discloses die casting polishing equipment which comprises an industrial robot, a polishing assembly, a robot truss, a movable sliding table, a first driving device and a second driving device, wherein the polishing assembly is arranged on the industrial robot and used for polishing die castings, the first driving device is arranged on the robot truss and used for controlling the sliding table to move along a first direction, the second driving device is arranged on the sliding table and used for controlling the industrial robot to move along a second direction, and the industrial robot is connected with the second driving device, and the first direction and the second direction are both horizontal directions. The die casting polishing equipment disclosed by the invention has the advantages of wide working space range and good adaptability, can improve the polishing efficiency of die castings, can improve the working environment and lighten the labor intensity.
Description
Technical Field
The invention belongs to the technical field of casting, and particularly relates to die casting polishing equipment.
Background
At present, the automobile stamping die is large in demand, and because the weight of die castings is different from tens of kilograms to tens of tons, the cleaning of the die castings mainly depends on manual grinding by using a grinder, so that the labor intensity is high, and the working environment is bad. The sand-sticking on the surface of the die casting, particularly the iron ladle sand is difficult to clean manually, an oxygen melting rod is required to be used for burning out, a large amount of smoke dust exists in a workshop, and the operation is carried out in the working environment for a long time, so that the influence on a human body is great.
Disclosure of Invention
The invention provides die casting polishing equipment, and aims to improve die casting polishing efficiency.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows: the utility model provides a mould foundry goods equipment of polishing, including industrial robot, set up on industrial robot and be used for carrying out the polishing subassembly of polishing to the mould foundry goods, the robot truss, the slip table of portable setting, set up on the robot truss and be used for controlling the slip table and follow first direction and remove first drive arrangement and set up on the slip table and be used for controlling industrial robot and follow second direction and remove second drive arrangement, industrial robot is connected with second drive arrangement, first direction and second direction are the horizontal direction.
The industrial robot is a six-degree-of-freedom robot.
The first driving device comprises a first screw rod rotatably arranged on the robot truss, a first motor arranged on the robot truss and a first nut seat sleeved on the first screw rod and connected with the sliding table, and the first nut seat and the first screw rod form screw transmission.
The first driving devices are arranged in two, the first lead screws of the two first driving devices are parallel, and the first nut seats of the two first driving devices are respectively connected with the sliding table at one end of the sliding table.
The second driving device comprises a second screw rod which is rotatably arranged on the sliding table, a second motor which is arranged on the sliding table and a second nut seat which is sleeved on the second screw rod and connected with the industrial robot, and the second nut seat and the second screw rod form screw transmission.
The first direction is perpendicular to the second direction.
The die casting polishing equipment disclosed by the invention has the advantages of wide working space range and good adaptability, can improve the polishing efficiency of die castings, can improve the working environment and lighten the labor intensity.
Drawings
The present specification includes the following drawings, the contents of which are respectively:
FIG. 1 is a front view of a die casting polishing apparatus of the present invention;
FIG. 2 is a top view of the die casting polishing apparatus of the present invention;
FIG. 3 is a cross-sectional view of the sanding assembly;
Marked in the figure as: 1. a die casting; 2. an industrial robot; 3. a polishing assembly; 301. an electric spindle; 302. a spacer bush; 303. a knuckle bearing; 304. a fixing plate; 305. a compensation cylinder; 306. a flange; 307. polishing a cutter; 308. an outer housing; 4. a sliding table; 5. robot truss; 6. a first motor; 7. and a second motor.
Detailed Description
The following detailed description of the embodiments of the invention, given by way of example only, is presented in the accompanying drawings to aid in a more complete, accurate and thorough understanding of the concepts and aspects of the invention, and to aid in its practice, by those skilled in the art.
As shown in fig. 1 and 2, the present invention provides a polishing apparatus for die castings, comprising an industrial robot 2, a polishing assembly 3 disposed on the industrial robot 2 and used for polishing die castings, a robot truss 5, a movable sliding table 4 disposed on the robot truss 5, a first driving device disposed on the robot truss 5 and used for controlling the sliding table 4 to move along a first direction, and a second driving device disposed on the sliding table 4 and used for controlling the industrial robot 2 to move along a second direction, wherein the industrial robot 2 is connected with the second driving device, and the first direction and the second direction are both horizontal directions.
Specifically, as shown in fig. 1 and 2, the robot truss 5 is of a frame structure, the robot truss 5 is used for providing a supporting function for the sliding table 4, the industrial robot 2 is located below the sliding table 4 and above the die casting, the die casting to be polished is placed below the industrial robot 2 in a horizontal state, the industrial robot 2 drives the polishing assembly 3 to move and is matched with the first driving device and the second driving device, and the polishing assembly 3 can move to each position on the die casting to be polished.
Preferably, the industrial robot 2 is a six-degree-of-freedom robot, the structure of which is well known to those skilled in the art and will not be described in detail herein. The polishing assembly 3 is arranged on the end effector of the industrial robot 2, and a six-degree-of-freedom robot is adopted, so that the polishing assembly is wide in operation range, good in flexibility and high in polishing efficiency.
As shown in fig. 1 and 2, the industrial robot 2 is mounted on the sliding table 4 in a hanging manner, the industrial robot 2 is hung on the sliding table 4, the industrial robot 2 is in sliding connection with the sliding table 4, and the sliding table 4 plays a guiding role on the industrial robot 2. The first driving device comprises a first screw rod which is rotatably arranged on the robot truss 5, a first motor 6 which is arranged on the robot truss 5, and a first nut seat which is sleeved on the first screw rod and connected with the sliding table 4, wherein the first motor 6 is fixedly connected with the first screw rod, the first nut seat is in threaded connection with the first screw rod, the first nut seat and the first screw rod form screw transmission, the axis of the first screw rod is parallel to the first direction, and the first direction and the second direction are perpendicular. When the first motor 6 runs, the first screw rod rotates, and then the sliding table 4 is driven to do linear motion along the first direction, and the sliding table 4 drives the industrial robot 2 and the polishing assembly 3 thereon to synchronously move. Adopt screw nut mechanism, can accurate control polishing assembly 3's position, polishing assembly 3 helps improving efficiency of polishing and quality of polishing.
As shown in fig. 1 and 2, preferably, two first driving devices are provided, the two first driving devices are located on the same straight line parallel to the second direction, the industrial robot 2 is located between the two first driving devices, first screw rods of the two first driving devices are parallel, and first nut seats of the two first driving devices are fixedly connected with the sliding table 4 at one end of the sliding table 4 respectively. By providing two first driving means, stable operation of the slide table 4 can be ensured.
As shown in fig. 1 and 2, the second driving device comprises a second screw rod rotatably arranged on the sliding table 4, a second motor 7 arranged on the sliding table 4, and a second nut seat sleeved on the second screw rod and connected with the industrial robot 2, wherein the second motor 7 is fixedly connected with the second screw rod, the second nut seat is in threaded connection with the second screw rod, the second nut seat and the second screw rod form screw transmission, and the axis of the second screw rod is parallel to the second direction. The sliding table 4 plays a guiding role on the industrial robot 2, when the second motor 7 runs, the second screw rod rotates, and then the industrial robot 2 is driven to do linear motion on the sliding table 4 along the second direction, and the industrial robot 2 drives the polishing assembly 3 on the sliding table to synchronously move. Also, the second driving device adopts a screw nut mechanism, so that the position of the polishing assembly 3 can be accurately controlled, and the polishing assembly 3 is beneficial to improving the polishing efficiency and the polishing quality.
As the preference, for guaranteeing the basic position of mould foundry goods hoist and mount material loading, be equipped with first laser pen on slip table 4, be equipped with the second laser pen on robot truss 5, first laser pen is mobilizable setting on slip table 4 and the direction of movement of first laser pen is parallel with the second direction, the second laser pen is mobilizable setting on robot truss 5 and the direction of movement of second laser pen is vertical direction, first laser pen is located the mould foundry goods directly over, the second laser pen is located the oblique top of mould foundry goods, the second laser pen is located the side below of first laser pen, first laser pen and second laser pen produce the foundry goods place the region (this foundry goods place the region and be used for placing the region of mould foundry goods that needs to polish, be located slip table 4 and the below of industrial robot 2), thereby the laser pen that first laser pen formed in foundry goods place the region is perpendicular with the laser pen that the region formed at the foundry goods, a cross line marker is used for forming in foundry goods place the region, this cross line marker is the mould foundry goods is placed as the mould position location marking efficiency, the mould foundry goods can be realized as the location marking of mould foundry goods, the location marking accuracy, the position of position assurance mould foundry goods, the position assurance. The first laser pen and the second laser pen are arranged to be adjustable in position, so that the position of a cross line mark line formed in a casting placement area can be adjusted to be suitable for positioning of mould castings of different sizes, and therefore quick and accurate positioning of the mould castings of different sizes can be met, and the adaptability is good.
Preferably, the industrial robot 2 is provided with a vision system for identifying the polishing position on the die casting, and the vision system is arranged on an end effector of the industrial robot 2, so that the flexibility is good and the identification range is wide. The vision system mainly comprises a light source, an industrial camera and an industrial lens arranged on the industrial camera. The industrial camera is positioned above the light source, the light emitted by the light source is emitted to the mould casting below, and the light source is used for polishing and illuminating the surface of the mould casting, so that clear pictures can be obtained. The industrial lens and the industrial camera are image acquisition devices, and the surface of the die casting focuses an imaged image on a target surface of the industrial camera through the industrial lens, so that image acquisition is completed. When the die casting is polished, a visual system is required to identify the polishing position and the polishing area on the die casting, wherein the polishing position and the polishing area are required to be polished, the polishing position, the size and the shape of burrs on the die casting are determined, after the visual system completes information acquisition, a processing track is fitted, and finally polishing is carried out on each polishing position of the die casting by a polishing assembly 3.
As shown in fig. 3, the polishing assembly 3 includes an outer housing 308, an electric spindle 301, a polishing tool 307 disposed on the electric spindle 301 for polishing a mold casting, a spacer 302 sleeved on the electric spindle 301, a joint bearing 303, a fixing plate 304 fixedly connected with the outer housing 308, and a compensation cylinder 305 disposed inside the outer housing 308. The outer housing 308 is connected to the industrial robot 2, the electric spindle 301 is rotatable relative to the outer housing 308, the electric spindle 301 is configured to drive the grinding tool 307 to rotate about its axis, so that the surface of the mold casting can be ground, and the structures of the electric spindle 301 and the grinding tool 307 are as known to those skilled in the art and will not be described herein. The fixed plate 304 is of a circular ring structure, the fixed plate 304 is fixedly connected with one end of the outer shell 308, the other end of the outer shell 308 is fixedly connected with an end effector of the industrial robot 2 through a bolt, the joint bearing 303 is arranged in a central hole of the fixed plate 304, the fixed plate 304 plays a limiting role on the joint bearing 303 in the axial direction, the joint bearing 303 is sleeved on the spacer bush 302, the spacer bush 302 is of a circular ring structure, the spacer bush 302 and the electric spindle 301 are coaxially arranged, and the spacer bush 302 and the electric spindle 301 are relatively fixed in the radial direction. The outer casing 308 is of a hollow structure, a plurality of compensating cylinders 305 are arranged, all compensating cylinders 305 are positioned in the inner cavity of the outer casing 308, one part of the electric spindle 301 is inserted into the inner cavity of the outer casing 308, the other part of the electric spindle 301 is positioned outside the outer casing 308, and the grinding tool 307 is also positioned outside the outer casing 308. The compensation cylinders 305 are fixedly arranged in the inner cavity of the outer shell 308, all the compensation cylinders 305 are distributed around the electric spindle 301, all the compensation cylinders 305 are uniformly distributed along the circumferential direction by taking the axis of the electric spindle 301 as the central line, the compensation cylinders 305 are used for carrying out floating control on the inclination angle of the electric spindle 301, and further, the floating control on the inclination angle of the grinding tool 307 is finally realized, so that the electric spindle is suitable for grinding at different positions on a die casting, damage to tools and workpieces can be effectively avoided, and the adaptability is improved. The axis of compensation cylinder 305 is parallel with the axis of electricity main shaft 301, and the piston rod of all compensation cylinders 305 is contacted with the terminal surface of the flange 306 that the spacer 302 tip set up, and this flange 306 is annular structure and flange 306 and spacer 302 are coaxial setting, and the outside diameter of flange 306 is greater than the outside diameter of spacer 302, and flange 306 and one end fixed connection of spacer 302, the piston rod of compensation cylinder 305 can follow the axial and remove, and compensation cylinder 305 passes through flange 306 and exerts effort to spacer 302. The end of the piston rod of the compensating cylinder 305 is in a spherical structure, the piston rod is in point contact with the end surface of the flange 306, the friction force is small, and the piston rod is in contact with the flange 306. The piston rod of the compensating cylinder 305 holds the spacer 302 firmly against the mold casting before it is polished. When the die casting is polished, the polishing tool 307 contacts the die casting and is subjected to a certain external force. At this time, the motorized spindle 301 rotates by a certain angle through the joint bearing 303 under the action of external force, and drives the spacer 302 to compress the compensating cylinder 305 at a certain angle. When the external force applied to the polishing tool 307 is greater than the air pressure of the compensation cylinder 305, the piston rod of the compensation cylinder 305 is compressed, and the polishing tool 307 is inclined at a certain angle to adapt to the external force at the moment, so that the damage of the polishing tool 307 caused by excessive external force can be effectively avoided. After the polishing process is finished, the external force of the polishing tool 307 disappears, the piston rod of the compensation cylinder 305 automatically recovers under the action of air pressure, the polishing tool 307 is restored to the original position, a floating compensation effect can be generated in a radial range of 360 degrees, polishing and polishing of irregular burrs and faces such as edges, corners and cross holes difficult to process can enable the floating mechanism and the tool to be capable of being processed along with the burrs faces of workpieces, flexible deburring polishing is performed by simulating hands, adaptability is good, and polishing effect is improved.
The invention is described above by way of example with reference to the accompanying drawings. It will be clear that the invention is not limited to the embodiments described above. As long as various insubstantial improvements are made using the method concepts and technical solutions of the present invention; or the invention is not improved, and the conception and the technical scheme are directly applied to other occasions and are all within the protection scope of the invention.
Claims (2)
1. Mould foundry goods equipment of polishing, its characterized in that: the device comprises an industrial robot, a polishing assembly, a robot truss, a movable sliding table, a first driving device and a second driving device, wherein the polishing assembly is arranged on the industrial robot and used for polishing a die casting, the first driving device is arranged on the robot truss and used for controlling the sliding table to move along a first direction, the second driving device is arranged on the sliding table and used for controlling the industrial robot to move along a second direction, the industrial robot is connected with the second driving device, the first direction and the second direction are both horizontal directions, and the first direction and the second direction are vertical;
the industrial robot is mounted on the sliding table in a hanging manner, the industrial robot is hung on the sliding table and is in sliding connection with the sliding table, and the sliding table plays a role in guiding the industrial robot;
The two first driving devices are arranged on the same straight line parallel to the second direction, the industrial robot is positioned between the two first driving devices, first screw rods of the two first driving devices are parallel, and first nut seats of the two first driving devices are fixedly connected with the sliding table at two ends of the sliding table respectively;
The first driving device comprises a first screw rod which is rotatably arranged on the robot truss, a first motor which is arranged on the robot truss and a first nut seat which is sleeved on the first screw rod and connected with the sliding table, wherein the first motor is fixedly connected with the first screw rod, the first nut seat is in threaded connection with the first screw rod, the first nut seat and the first screw rod form screw transmission, and the axis of the first screw rod is parallel to the first direction; when the first motor runs, the first screw rod rotates, so that the sliding table is driven to do linear motion along a first direction, and the sliding table drives the industrial robot and a polishing assembly on the industrial robot to synchronously move;
the second driving device comprises a second screw rod which is rotatably arranged on the sliding table, a second motor which is arranged on the sliding table and a second nut seat which is sleeved on the second screw rod and is connected with the industrial robot, the second motor is fixedly connected with the second screw rod, the second nut seat is in threaded connection with the second screw rod, the second nut seat and the second screw rod form screw transmission, and the axis of the second screw rod is parallel to the second direction; the sliding table plays a role in guiding the industrial robot, and when the second motor runs, the second screw rod rotates to drive the industrial robot to do linear motion on the sliding table along the second direction, and the industrial robot drives the polishing assembly on the industrial robot to synchronously move;
In order to ensure the basic position of the die casting lifting loading, a first laser pen is arranged on a sliding table, a second laser pen is arranged on a robot truss, the first laser pen is movably arranged on the sliding table, the moving direction of the first laser pen is parallel to the second direction, the second laser pen is movably arranged on the robot truss, the moving direction of the second laser pen is vertical, the first laser pen is positioned right above the die casting, the second laser pen is positioned obliquely above the die casting, the second laser pen is positioned below the first laser pen, the first laser pen and the second laser pen generate laser beams which are shot to a casting placement area, and the laser beams formed by the first laser pen in the casting placement area are perpendicular to the laser beams formed by the second laser pen in the casting placement area, so that a cross mark line is formed in the casting placement area through the cooperation of the first laser pen and the second laser pen, and the cross mark line provides a striking position mark for the manual placement of the die casting;
Setting the first laser pen and the second laser pen to be adjustable in position, so that the positions of the cross mark lines formed in the casting placement area can be adjusted to be suitable for positioning of mould castings with different sizes;
The industrial robot is provided with a vision system for identifying the polishing position on the die casting, and the vision system mainly comprises a light source, an industrial camera and an industrial lens arranged on the industrial camera; the industrial camera is positioned above the light source, the light emitted by the light source is emitted to the mould casting below, and the light source is used for polishing and illuminating the surface of the mould casting; the industrial lens and the industrial camera are devices for collecting images, and the surface of the die casting focuses the formed images on the target surface of the industrial camera through the industrial lens, so that the image collection is completed; when the die casting is polished, a visual system firstly identifies the polishing position and the polishing area on the die casting, wherein the polishing position and the polishing area need to be polished, the visual system determines the position, the size and the shape of burrs on the die casting, after the visual system finishes information acquisition, a processing track is fitted, and finally polishing is carried out on each polishing position of the die casting by a polishing assembly;
The polishing assembly comprises an outer shell, an electric spindle, a polishing cutter, a spacer bush, a joint bearing, a fixing plate and a compensation cylinder, wherein the polishing cutter is arranged on the electric spindle and used for polishing a die casting;
The outer shell is connected with the industrial robot, the electric spindle is rotatable relative to the outer shell and is used for driving the polishing tool to rotate around the axis of the electric spindle, and then the surface of the die casting is polished;
The fixing plate is of a circular ring structure, the fixing plate is fixedly connected with one end of the outer shell, the other end of the outer shell is fixedly connected with an end effector of the industrial robot through a bolt, the joint bearing is arranged in a central hole of the fixing plate, the fixing plate has a limiting effect on the joint bearing in the axial direction, the joint bearing is sleeved on the spacer, the spacer is of a circular ring structure, the spacer and the electric spindle are coaxially arranged, and the spacer and the electric spindle are relatively fixed in the radial direction;
The outer shell is of a hollow structure, the compensation cylinders are arranged in a plurality of ways, all the compensation cylinders are positioned in the inner cavity of the outer shell, one part of the electric spindle is inserted into the inner cavity of the outer shell, the other part of the electric spindle is positioned outside the outer shell, and the grinding cutter is also positioned outside the outer shell; the compensation cylinders are fixedly arranged in the inner cavity of the outer shell, all the compensation cylinders are distributed around the electric spindle, and all the compensation cylinders are uniformly distributed along the circumferential direction by taking the axis of the electric spindle as the central line;
The compensating cylinders are used for floating control of the inclination angle of the electric spindle, the axes of the compensating cylinders are parallel to the axis of the electric spindle, the piston rods of all the compensating cylinders are in contact with the end faces of flanges arranged at the ends of the spacers, the flanges are of annular structures and are coaxially arranged with the spacers, the outer diameter of each flange is larger than that of each spacer, the flanges are fixedly connected with one end of each spacer, the piston rods of the compensating cylinders can move along the axial direction, and acting force is applied to the spacers by the corresponding compensating cylinders through the flanges;
The end part of the piston rod of the compensation cylinder is of a spherical structure, the piston rod is in point contact with the end surface of the flange, and the piston rod is in contact with the flange;
Before polishing the die casting, the piston rod of the compensation cylinder props the spacer bush; when the die casting is polished, the polishing cutter contacts the die casting and is subjected to certain external force; at the moment, the electric spindle rotates for a certain angle through the joint bearing under the action of external force, and meanwhile, the spacer bush is driven to compress the compensation cylinder for a certain angle; when the external force applied to the polishing cutter is larger than the air pressure of the compensation cylinder, the piston rod of the compensation cylinder is compressed, and the polishing cutter is inclined at a certain angle to adapt to the external force at the moment; after polishing, the external force of the polishing tool disappears, the piston rod of the compensation cylinder automatically recovers under the action of air pressure, and then the polishing tool is reset to the original position, so that a floating compensation effect can be generated within the radial range of 360 degrees.
2. The die casting polishing apparatus according to claim 1, wherein: the industrial robot is a six-degree-of-freedom robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810617089.4A CN108608296B (en) | 2018-06-15 | 2018-06-15 | Die casting polishing equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810617089.4A CN108608296B (en) | 2018-06-15 | 2018-06-15 | Die casting polishing equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108608296A CN108608296A (en) | 2018-10-02 |
| CN108608296B true CN108608296B (en) | 2024-04-26 |
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|---|---|---|---|
| CN201810617089.4A Active CN108608296B (en) | 2018-06-15 | 2018-06-15 | Die casting polishing equipment |
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| CN109500823B (en) * | 2018-10-24 | 2021-02-19 | 武汉理工大学 | Robot-based bowl-shaped titanium alloy casting oxide layer removing process |
| CN210360318U (en) * | 2018-11-05 | 2020-04-21 | 宫晓东 | Pneumatic control floating head |
| CN109623608A (en) * | 2018-12-06 | 2019-04-16 | 陕西迈拓克能源科技有限公司 | A kind of lorry water tank detecting instrument that can remove scale automatically |
| EP3921091A1 (en) * | 2019-02-05 | 2021-12-15 | 3M Innovative Properties Company | Paint repair process by scenario |
| CN113211231A (en) * | 2021-05-13 | 2021-08-06 | 苏州迪宏人工智能科技有限公司 | Grinding production method and system capable of automatically identifying cast iron blank and control system thereof |
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| DE102014003485A1 (en) * | 2014-03-14 | 2015-10-01 | PWG Präzisions-Werkzeugbau Geißler GmbH | Multi-axis honing machine |
| CN103831695A (en) * | 2014-03-28 | 2014-06-04 | 中国科学院自动化研究所 | Large free-form surface robot polishing system |
| CN105598777A (en) * | 2016-03-08 | 2016-05-25 | 济南大学 | Workpiece clamping structure for grinding tool, and tracking type casting edging machine and method |
| CN205600454U (en) * | 2016-03-30 | 2016-09-28 | 上海思河机电科技有限公司 | Radial floating installation of polisher |
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| CN107378780A (en) * | 2017-07-19 | 2017-11-24 | 江苏大学 | A kind of robot casting grinding adaptive approach of view-based access control model system |
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| CN208304718U (en) * | 2018-06-15 | 2019-01-01 | 芜湖泓鹄材料技术有限公司 | Mould cast grinding apparatus |
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| CN108608296A (en) | 2018-10-02 |
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