CN110744560B - Steel casting surface robot cutting device meeting NDT flaw detection requirement - Google Patents
Steel casting surface robot cutting device meeting NDT flaw detection requirement Download PDFInfo
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- CN110744560B CN110744560B CN201911008410.XA CN201911008410A CN110744560B CN 110744560 B CN110744560 B CN 110744560B CN 201911008410 A CN201911008410 A CN 201911008410A CN 110744560 B CN110744560 B CN 110744560B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0054—Cooling means
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Abstract
The invention discloses a steel casting surface robot cutting device meeting NDT flaw detection requirements, which comprises a robot arm and a constant force cutting device, wherein the constant force cutting device is arranged on the robot arm and comprises a constant force pressure regulating device, an inclination angle sensor, a pressure sensor and a milling device, the constant force pressure regulating device is provided with an air cylinder, and the air cylinder is connected with an air pressure regulating device. The milling device adjusts the corresponding milling angle according to the shape of the steel casting, the inclination angle sensor detects the inclination angle of the milling device deviating from the vertical direction, the pressure sensor detects the positive pressure generated by the milling device on the steel casting, and then the pressure of the cylinder is regulated, so that the positive pressure of the milling device is regulated, the positive pressure is always vertical to the machining surface and always consistent with the machining surface, accurate milling according to the shape of the steel casting is realized, damage to the shape of the steel casting is avoided, cost is saved, noise and dust are effectively avoided, the dust is changed into recyclable steel scraps, and the working environment is improved.
Description
Technical Field
The invention relates to the field of large-scale steel casting cutting, in particular to a steel casting surface robot cutting device meeting the NDT flaw detection requirement.
Background
Cast steel is an important metal structural material, and has excellent mechanical property, physicochemical property and good weldability. The development of the casting process and the advent of many new steel grades suitable for casting have led to a wide variety of industrial applications for cast steel. In order to meet the requirements of nondestructive testing of large steel castings, a carbon arc gouging machine is generally adopted to remove a surface expansion box, flash, a glazed layer and the like, then a carburetion layer formed by the carbon arc gouging machine is removed in a polishing mode, the requirements of required surface roughness and dimensional accuracy are met, and finally the requirements of casting surface quality are met in a shot blasting mode.
However, the above method can generate larger noise, dust and arc light in operation, pollute the environment, and have no better method for reducing the noise and the dust, and operators can generate occupational deafness and pneumoconiosis if the operators are improperly protected in the operation process. Secondly, the requirement on operators is higher, and the cast is lack of meat or damaged due to improper operation. The carbon arc gouging machine forms a carburetion layer on the surface of the casting, and is not completely removed in later polishing, so that the quality of the casting is affected. The shot blasting treatment is required to be put into large-scale shot blasting equipment, a dust removal system with higher requirements is also required to be configured, the cost is high, more manpower is required to be put into, and the labor cost is increased.
Therefore, the conventional method for processing large-scale steel castings with roughness and dimensional accuracy is not suitable for industrial mass production, and it is necessary to design a new cutting device to solve the above problems.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides the steel casting surface robot cutting device which meets the NDT flaw detection requirement, so that noise and dust are effectively avoided, the dust is changed into recyclable steel scraps, the working environment is improved, and the accuracy of the surface nondestructive detection requirement is effectively improved. Meanwhile, the full-automatic detection cutting greatly reduces the labor investment, continuously works, improves the working efficiency and reduces the labor cost.
The aim of the invention is realized by the following technical scheme: the robot cutting device for the surface of the steel casting, which meets the NDT flaw detection requirement, comprises a robot arm and a constant force cutting device, wherein the constant force cutting device is arranged on the robot arm;
The robot arm comprises a fixed base, a rotary sleeve, a motor, a large arm hydraulic cylinder, a large arm, a small arm hydraulic cylinder, a connecting plate, a large arm fixing seat and a fixed end seat, wherein the rotary sleeve is rotatably arranged on the fixed base, the motor is arranged in the rotary sleeve, an output shaft of the motor is fixedly connected with the fixed base, the connecting plate is fixed on the upper end face of the rotary sleeve, the large arm fixing seat is fixed on the connecting plate through a bolt, one end of the large arm is connected with the large arm fixing seat through a pin shaft, the other end of the large arm is connected with the small arm through a pin shaft, one end of the large arm hydraulic cylinder is fixed on the large arm fixing seat, the other end of the large arm hydraulic cylinder is connected with the large arm through a pin shaft, both ends of the small arm hydraulic cylinder are respectively connected with the large arm and the small arm through pin shafts, one end of the small arm, which is far away from the large arm, is fixed with the fixed end seat, and the constant force cutting device is fixed on the fixed end seat;
the constant force cutting device comprises a constant force pressure regulating device, an inclination angle sensor, a pressure sensor and a milling device, wherein one side of the constant force pressure regulating device is fixed with the milling device, the inclination angle sensor is arranged on the constant force pressure regulating device and is used for measuring the inclination angle of the milling device deviating from the vertical direction, the pressure sensor is arranged on the constant force pressure regulating device and is used for detecting positive pressure generated by the milling device on a steel casting;
The constant force pressure regulating device comprises a bottom plate, a top plate and a cylinder, wherein the top plate is slidably arranged on the bottom plate, one side, away from the bottom plate, of the top plate is fixedly provided with the milling device, the cylinder is arranged between the top plate and the bottom plate and is fixed on the bottom plate, the cylinder comprises a piston rod and a cylinder body, one end of the piston rod is arranged in the cylinder body, the other end of the piston rod extends out of the cylinder body and is fixed with the top plate, and the cylinder is connected with an air pressure regulating device which is used for regulating the output pressure of the cylinder.
Further, the air pressure adjusting device comprises an air pipe a, an air pipe b and an air pressure pump, the piston rod divides the cylinder body into an air inlet cavity and an air outlet cavity, two ends of the air pipe a are respectively communicated with the air inlet cavity and the air pressure pump, two ends of the air pipe b are respectively communicated with the air outlet cavity and the air pressure pump, and speed regulating valves are respectively arranged on the air pipe a and the air pipe b.
Further, one end of the small arm, which is provided with the fixed end seat, is provided with a three-dimensional laser scanner, and the three-dimensional laser scanner is used for obtaining a three-dimensional digital model of the cast steel surface.
Further, the three-dimensional laser scanner comprises a computer and a controller, wherein the controller is electrically connected with the computer, and the three-dimensional laser scanner, the large arm hydraulic cylinder and the small arm hydraulic cylinder are electrically connected with the controller.
Further, the milling device comprises a cooling sleeve, a main shaft sleeve and an electric main shaft, wherein the main shaft sleeve is fixedly arranged in the cooling sleeve in a penetrating mode, the electric main shaft is rotatably arranged in the main shaft sleeve in a penetrating mode, a milling cutter is arranged on the electric main shaft, the cooling sleeve is arranged in the round hole in a penetrating mode, a fixing disc is fixedly sleeved on the main shaft sleeve, and the fixing disc is fixed on the fixing plate through a bolt.
Further, a plurality of annular grooves are formed in the outer wall of the main shaft sleeve, a plurality of annular grooves are arranged at equal intervals, a water inlet and a water outlet are formed in the cooling sleeve, the water inlet is located above the water outlet, the water inlet is communicated with the annular grooves, a sealing ring is arranged between the cooling sleeve and the main shaft sleeve, and the sealing ring is located below the water outlet.
Further, the mounting groove is formed in the bottom plate, the air cylinder is fixed in the mounting groove, two guide rails are symmetrically fixed on the bottom plate along the extending direction of the piston rod, a plurality of sliding blocks are symmetrically fixed on the top plate, sliding grooves are formed in the sliding blocks, and the sliding grooves are matched with the guide rails.
Further, a connecting plate is fixed at one end of the piston rod, which is positioned outside the cylinder body, and the connecting plate is fixedly connected with the top plate through bolts.
In order to achieve another object of the present invention, the present invention further provides a method for detecting a steel casting surface robot cutting device, which meets the NDT flaw detection requirement, the method comprising the steps of:
Step one: the movement of the small arm and the large arm is controlled through the computer, so that the distance between the three-dimensional laser scanner and the steel casting is adjusted, the surface of a steel casting blank is rapidly scanned by the three-dimensional laser scanner, and the scanning result is fed back into the computer to obtain a three-dimensional digital-analog of a steel casting processing track;
Step two: the method comprises the steps that a root computer automatically programs a processing track of a robot arm by adopting an offline programming system according to a three-dimensional digital model;
step three: the method comprises the steps of (1) introducing a program of a machining track into a robot arm, so that a constant force milling system on the robot arm performs cutting motion along the surface of a steel casting;
Step four: the inclination angle sensor measures the inclination angle of the milling device deviating from the vertical direction, the inclination angle sensor feeds back the measured result to the computer, the pressure sensor detects positive pressure generated by the milling device on the steel casting and feeds back detection information into the computer, and the computer adjusts the speed regulating valve on the air pressure regulating device according to the fed-back inclination angle information, so that the air cylinder drives the milling device to generate positive pressure vertical to the milling surface all the time to cut the steel casting, and the size of the positive pressure is kept unchanged.
The beneficial effects of the invention are as follows:
the utility model provides a satisfy steel casting surface robot cutting device of NDT flaw detection requirement, includes robot arm and constant force cutting device, and constant force cutting device sets up on robot arm, and robot arm drives constant force cutting device and cuts along the surface of steel casting, effectively avoids noise and dust, becomes recoverable steel bits with the dust, improves operational environment.
The constant force cutting device comprises a constant force pressure regulating device, an inclination angle sensor, a pressure sensor and a milling device, wherein the inclination angle sensor and the pressure sensor are arranged on the constant force pressure regulating device, the milling device is fixed on the constant force pressure regulating device, the constant force pressure regulating device is provided with an air cylinder, and the air cylinder is connected with an air pressure regulating device. The milling device adjusts the corresponding milling angle according to the shape of the steel casting, the inclination angle sensor detects the inclination angle of the milling device deviating from the vertical direction, the pressure sensor detects the positive pressure generated by the milling device on the steel casting, and then the pressure of the cylinder is regulated, so that the positive pressure of the milling device is regulated, the positive pressure is always vertical to the machining surface and always consistent with the machining surface, accurate milling according to the shape of the steel casting is realized, damage to the shape of the steel casting is avoided, and the cost is saved.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a steel casting surface robot cutting device meeting NDT flaw detection requirements;
FIG. 2 is a schematic diagram of a robot arm in a steel casting surface robot cutting device meeting NDT flaw detection requirements;
FIG. 3 is a schematic diagram showing the overall structure of a constant force cutting device in a steel casting surface robot cutting device meeting NDT flaw detection requirements;
FIG. 4 is a front view of a constant force cutting device in a steel casting surface robot cutting device meeting NDT flaw detection requirements according to the present invention;
FIG. 5 is a top view of a constant force cutting device in a robotic cutting device for a steel casting surface that meets the NDT flaw detection requirements of the present invention;
FIG. 6 is a left side view of a constant force cutting device of a steel casting surface robot cutting device meeting NDT flaw detection requirements according to the present invention;
FIG. 7 is a schematic diagram of a pneumatic pressure adjusting device in a steel casting surface robot cutting device meeting NDT flaw detection requirements;
In the figure, a 1-constant force pressure regulating device, a 2-inclination sensor, a 3-milling device, a 4-fixed plate, a 5-cooling sleeve, a 6-main shaft sleeve, an 8-fixed disk, a 9-guide rail, a 10-sliding block, an 11-base plate, a 12-top plate, a 13-cylinder, a 15-speed regulating valve, a 16-piston rod, a 17-cylinder body, an 18-air pipe a, a 19-air pipe b, a 20-pneumatic pump, a 21-water inlet, a 22-water outlet, a 23-connecting plate, a 24-large arm hydraulic cylinder, a 25-large arm, a 26-small arm hydraulic cylinder, a 27-small arm, a 28-connecting plate, a 29-large arm fixing seat, a 30-fixing seat, a 31-rotating sleeve and a 33-fixing seat.
Detailed Description
The technical solution of the present invention will be described in further detail with reference to the accompanying drawings, but the scope of the present invention is not limited to the following description.
Because the surface roughness of the steel casting blank is high, the surface of the steel casting blank needs to be cut and polished to meet the use requirement. In the prior art, a carbon arc gouging plane is adopted to remove a swelling box, flash, a glazed layer and the like on the surface, then a carburetion layer formed by the carbon arc gouging plane is removed in a polishing mode, the required surface roughness and dimensional accuracy requirements are met, and finally the casting surface quality requirements are met in a shot blasting mode.
However, the mode can generate larger noise, dust and arc light in operation, so that the environment is polluted, a carbon arc gouging machine forms a carburetted layer on the surface of the casting, and the carburetted layer is not completely removed in later polishing, so that the quality of the casting is affected. The shot blasting treatment is required to be put into large-scale shot blasting equipment, a dust removal system with higher requirements is also required to be configured, the cost is high, more manpower is required to be put into, and the labor cost is increased. For this purpose, the present application provides the following means for solving the above problems, and the specific design is as follows:
as shown in fig. 1 to 7, a steel casting surface robot cutting device meeting NDT flaw detection requirements comprises a robot arm and a constant force cutting device, wherein the constant force cutting device is arranged on the robot arm;
As shown in fig. 3 to 7, the constant force cutting device comprises a constant force pressure regulating device 1, an inclination angle sensor 2, a pressure sensor and a milling device 3, wherein the milling device 3 is fixed on one side of the constant force pressure regulating device 1, the inclination angle sensor 2 is arranged on the constant force pressure regulating device 1, the inclination angle sensor 2 is used for measuring the inclination angle of the milling device 3 deviating from the vertical direction, the pressure sensor is arranged on the constant force pressure regulating device 1, and the pressure sensor is used for detecting the positive pressure generated by the milling device 3 on a steel casting;
The constant force pressure regulating device 1 comprises a bottom plate 11, a top plate 12 and an air cylinder 13, wherein the top plate 12 is slidably arranged on the bottom plate 11, a milling device 3 is fixed on one side, far away from the bottom plate 11, of the top plate 12, the air cylinder 13 is arranged between the top plate 12 and the bottom plate 11 and is fixed on the bottom plate 12, the air cylinder 13 comprises a piston rod 16 and a cylinder body 17, one end of the piston rod 16 is arranged in the cylinder body 17, the other end of the piston rod extends out of the cylinder body 17 and is fixed with the top plate 12, and the air cylinder 13 is connected with an air pressure regulating device which is used for regulating the output pressure of the air cylinder 13;
The air pressure regulating device comprises an air pipe a18, an air pipe b19 and an air pump 20, a piston rod 16 divides a cylinder body 17 into an air inlet cavity and an air outlet cavity, two ends of the air pipe a18 are respectively communicated with the air inlet cavity and the air pump 20, two ends of the air pipe b19 are respectively communicated with the air outlet cavity and the air pump 20, and speed regulating valves 15 are arranged on the air pipe a18 and the air pipe b 19;
The bottom plate 11 is provided with a mounting groove, the air cylinder 13 is fixed in the mounting groove, two guide rails 9 are symmetrically fixed on the bottom plate 11 along the extending and contracting direction of the piston rod 16, a plurality of sliding blocks 10 are symmetrically fixed on the top plate 12, sliding grooves are formed in the sliding blocks 10 and are matched with the guide rails 9, a connecting plate 23 is fixed at one end of the piston rod 16, which is positioned outside the cylinder body 17, and the connecting plate 23 is fixedly connected with the top plate 12 through bolts.
Because the surface roughness of the steel casting blank is high, the surface of the steel casting blank needs to be cut and polished to meet the use requirement, and the roughness of the steel casting is processed in a cutting mode, so that noise and dust are effectively avoided, the dust is changed into recyclable steel scraps, and the working environment is improved. However, the following technical problems exist in the cutting mode, because the shapes of the steel castings are various, the steel castings must be cut along the shapes of the surfaces of the steel castings during cutting, otherwise, the steel castings are damaged, the cost is increased, meanwhile, the cutting depth is required to be ensured to be consistent all the time, and otherwise, the surface roughness and the machining precision of the machined steel castings cannot meet the requirements. The application adopts a constant force cutting device to solve the problems, and the specific solving mode is as follows: the industrial robot drives the constant force pressure regulating device 1 to feed along the defect track, the inclination sensor 2 detects the inclination angle of the milling device 3 deviating from the vertical direction, and the cylinder 13 is regulated to stretch and retract, so that the milling device 3 is driven to stretch and retract, the milling cutter on the milling device 3 always fits the surface of the steel casting, meanwhile, the positive pressure is always vertical to the defect surface in the milling process of the milling cutter, meanwhile, the pressure sensor detects the positive pressure of the milling cutter on the milling device 3 and the surface of the steel casting, the positive pressure is unchanged through regulating the pressure of the cylinder 13, and therefore the same depth of milling of the steel castings with different shapes is realized, and the roughness and the dimensional accuracy of the surface of the steel casting are ensured.
The working process of the constant force cutting device is as follows: the flow rate of the speed regulating valve 15 on the air pipe a18 and the air pipe b19 is regulated to ensure that the air pressure entering the air inlet cavity is different from the air pressure entering the air outlet cavity, when the air pressure of the air pipe a18 is larger than the air pressure of the air pipe b19, the piston rod 16 is extended, when the air pressure of the air pipe a18 is smaller than the air pressure of the air pipe b19, the piston rod 16 is contracted, so that the expansion and contraction of the piston rod 16 are realized, the piston rod 16 expands and contracts to drive the top plate 12 to slide on the bottom plate 11, and the milling device 3 on the top plate 12 is moved.
In order to improve the working efficiency, reduce the manual investment and realize the industrial automation, the application designs the robot arm which is adapted to the constant force cutting device, so that the robot arm can be matched with the constant force cutting device to finish the processing of the steel casting, and the specific design of the robot is as follows:
As shown in fig. 2, the robot arm includes a fixed base 30, a rotating sleeve 31, a motor, a big arm hydraulic cylinder 24, a big arm 25, a small arm hydraulic cylinder 26, a small arm 27, a connecting plate 28, a big arm fixing seat 29 and a fixed end seat 33, the rotating sleeve 31 is rotatably arranged on the fixed base 30, the motor is arranged in the rotating sleeve 22, an output shaft of the motor is fixedly connected with the fixed base 21, the connecting plate 28 is fixed on the upper end surface of the rotating sleeve 22, the big arm fixing seat 29 is fixed on the connecting plate 28 through bolts, one end of the big arm 25 is connected with the big arm fixing seat 29 through a pin shaft, the other end is connected with the small arm 27 through a pin shaft, one end of the big arm hydraulic cylinder 24 is fixed on the big arm fixing seat 29, the other end is connected with the big arm 25 through a pin shaft, two ends of the small arm hydraulic cylinder 26 are respectively connected with the big arm 25 and the small arm 27 through a pin shaft, one end of the small arm 27 far away from the big arm 25 is fixed with the fixed end seat 33, and a constant force cutting device is fixed on the fixed end seat 33;
The specific implementation process of the robot arm is as follows: the motor on the rotary sleeve 31 is started to enable the rotary sleeve 31 to rotate, deflection of the robot arm is achieved, the small arm hydraulic cylinder 26 is independently enabled to work, the small arm 27 rotates around a pin shaft connected with the large arm 25, the large arm hydraulic cylinder 24 is independently enabled to work, the large arm 25 rotates around a pin shaft connected with the large arm fixing seat 29, the small arm hydraulic cylinder 26 and the large arm hydraulic cylinder 24 work simultaneously, and the large arm 25 and the small arm 27 rotate simultaneously, so that cutting of the surface of a steel casting is achieved.
According to the above, the milling device 3 comprises a cooling sleeve 5, a spindle sleeve 6 and an electric spindle, the spindle sleeve 6 is fixedly arranged in the cooling sleeve 5 in a penetrating manner, the electric spindle is rotatably arranged in the spindle sleeve 6 in a penetrating manner, a milling cutter is arranged on the electric spindle, the cooling sleeve 5 is arranged in a circular hole in a penetrating manner, a fixing disc 8 is fixedly sleeved on the spindle sleeve 6, and the fixing disc 8 is fixed on the fixing plate 4 through a bolt;
A plurality of annular grooves are formed in the outer wall of the spindle sleeve 6, the annular grooves are arranged at equal intervals, a water inlet 21 and a water outlet 22 are formed in the cooling sleeve 5, the water inlet 21 is located above the water outlet 22, the water inlet 21 is communicated with the annular grooves, a sealing ring is arranged between the cooling sleeve 5 and the spindle sleeve 6, and the sealing ring is located below the water outlet 22.
Because the electric spindle integrates the motor into the spindle unit, and the rotating speed is very high, a large amount of heat can be generated during operation, so that the temperature rise of the electric spindle is caused, the thermal state characteristic and the dynamic characteristic of the electric spindle are deteriorated, and the normal operation of the electric spindle is affected. Therefore, measures must be taken to control the temperature of the motorized spindle so that it is constant within a certain value. The cooling mode of the application is as follows: cooling liquid is injected from the water inlet 21, and the cooling liquid fills each annular groove, so that the electric spindle is cooled. It should be noted that the cooling mode is not exclusive, and the spindle sleeve 6 may be replaced by a water-cooled cooler, so as to further improve the cooling efficiency.
In order to further reduce the labor investment and enable the industry to be more automatic, the application also designs the following structure to realize full-automatic detection processing, and the specific design is as follows:
As described above, the end of the forearm 27 provided with the fixed end seat 33 is provided with a three-dimensional laser scanner, which is used for obtaining the three-dimensional digital-analog of the cast steel surface, and the device further comprises a computer and a controller, wherein the controller is electrically connected with the computer 4, and the three-dimensional laser scanner, the big arm hydraulic cylinder 24 and the forearm hydraulic cylinder 26 are electrically connected with the controller.
The invention provides a steel casting surface robot cutting device meeting the NDT flaw detection requirement, which comprises the following steps:
Step one: the movement of the small arm 27 and the large arm 25 is controlled by a computer, so that the distance between the three-dimensional laser scanner and the steel casting is adjusted, the surface of a steel casting blank is rapidly scanned by the three-dimensional laser scanner, and the scanning result is fed back into the computer to obtain a three-dimensional digital-analog of a steel casting processing track;
Step two: the method comprises the steps that a root computer automatically programs a processing track of a robot arm by adopting an offline programming system according to a three-dimensional digital model;
step three: the method comprises the steps of (1) introducing a program of a machining track into a robot arm, so that a constant force milling system on the robot arm performs cutting motion along the surface of a steel casting;
Step four: the inclination angle sensor 2 measures the inclination angle of the milling device 3 deviating from the vertical direction, the inclination angle sensor 2 feeds back the measured result to a computer, the pressure sensor detects positive pressure generated by the milling device 3 on the steel casting and feeds back detection information into the computer, and the computer adjusts the speed regulating valve 15 on the air pressure regulating device according to the fed-back inclination angle information, so that the air cylinder 13 drives the milling device 3 to generate positive pressure which is always vertical to the milling surface to cut the steel casting, and the positive pressure is kept unchanged.
The foregoing is merely a preferred embodiment of the invention, and it is to be understood that the invention is not limited to the form disclosed herein but is not to be construed as excluding other embodiments, but is capable of numerous other combinations, modifications and environments and is capable of modifications within the scope of the inventive concept, either as taught or as a matter of routine skill or knowledge in the relevant art. And that modifications and variations which do not depart from the spirit and scope of the invention are intended to be within the scope of the appended claims.
Claims (6)
1. The robot cutting device for the surface of the steel casting, which meets the NDT flaw detection requirement, is characterized by comprising a robot arm and a constant force cutting device, wherein the constant force cutting device is arranged on the robot arm;
The robot arm comprises a fixed base (30), a rotary sleeve (31), a motor, a large arm hydraulic cylinder (24), a large arm (25), a small arm hydraulic cylinder (26), a small arm (27), a connecting plate (28), a large arm fixing seat (29) and a fixed end seat (33), wherein the rotary sleeve (31) is rotatably arranged on the fixed base (30), the motor is arranged in the rotary sleeve (31), an output shaft of the motor is fixedly connected with the fixed base (30), the connecting plate (28) is fixed on the upper end face of the rotary sleeve (31), the large arm fixing seat (29) is fixed on the connecting plate (28) through bolts, one end of the large arm (25) is connected with the large arm fixing seat (29) through a pin shaft, the other end of the large arm hydraulic cylinder (24) is fixed on the large arm fixing seat (29) through a pin shaft, the other end of the large arm hydraulic cylinder is connected with the large arm (25) through a pin shaft, and two ends of the small arm hydraulic cylinder (26) are respectively connected with the fixed end (33) of the large arm fixing seat (25) and the small arm fixing seat (33) far away from the fixed end;
The constant force cutting device comprises a constant force pressure regulating device (1), an inclination angle sensor (2), a pressure sensor and a milling device (3), wherein the milling device (3) is fixed on one side of the constant force pressure regulating device (1), the inclination angle sensor (2) is arranged on the constant force pressure regulating device (1), the inclination angle sensor (2) is used for measuring the inclination angle of the milling device (3) deviating from the vertical direction, the pressure sensor is arranged on the constant force pressure regulating device (1), and the pressure sensor is used for detecting the positive pressure generated by the milling device (3) on a steel casting;
The constant force pressure regulating device (1) comprises a bottom plate (11), a top plate (12) and a cylinder (13), wherein the top plate (12) is slidably arranged on the bottom plate (11), one side, far away from the bottom plate (11), of the top plate (12) is fixedly provided with the milling device (3), the cylinder (13) is arranged between the top plate (12) and the bottom plate (11) and is fixedly arranged on the bottom plate (11), the cylinder (13) comprises a piston rod (16) and a cylinder body (17), one end of the piston rod (16) is arranged in the cylinder body (17), the other end of the piston rod extends out of the cylinder body (17) and is fixedly connected with the top plate (12), and the cylinder (13) is connected with a pneumatic pressure regulating device which is used for regulating the output pressure of the cylinder (13).
One end of the small arm (27) provided with the fixed end seat (33) is provided with a three-dimensional laser scanner, and the three-dimensional laser scanner is used for obtaining a three-dimensional digital-analog of the cast steel surface;
The three-dimensional laser scanner comprises a three-dimensional laser scanner body, a large-arm hydraulic cylinder (24) and a small-arm hydraulic cylinder (26), and is characterized by further comprising a computer and a controller, wherein the controller is electrically connected with the computer;
the novel hydraulic cylinder is characterized in that a mounting groove is formed in the bottom plate (11), the air cylinder (13) is fixed in the mounting groove, two guide rails (9) are symmetrically fixed on the bottom plate (11) along the telescopic direction of the piston rod (16), a plurality of sliding blocks (10) are symmetrically fixed on the top plate (12), sliding grooves are formed in the sliding blocks (10), and the sliding grooves are matched with the guide rails (9).
2. The steel casting surface robot cutting device meeting the NDT flaw detection requirement according to claim 1, wherein the air pressure adjusting device comprises an air pipe a (18), an air pipe b (19) and an air pressure pump (20), the piston rod (16) divides the cylinder body (17) into an air inlet cavity and an air outlet cavity, two ends of the air pipe a (18) are respectively communicated with the air inlet cavity and the air pressure pump (20), two ends of the air pipe b (19) are respectively communicated with the air outlet cavity and the air pressure pump (20), and speed regulating valves (15) are respectively arranged on the air pipe a (18) and the air pipe b (19).
3. The steel casting surface robot cutting device meeting the NDT flaw detection requirement according to claim 1, wherein the milling device (3) comprises a cooling sleeve (5), a main shaft sleeve (6) and an electric main shaft, the main shaft sleeve (6) is fixedly arranged in the cooling sleeve (5) in a penetrating mode, the electric main shaft is rotatably arranged in the main shaft sleeve (6) in a penetrating mode, a milling cutter is arranged on the electric main shaft, a fixing disc (8) is fixedly sleeved on the main shaft sleeve (6), the fixing disc (8) is fixed on the fixing plate (4) through bolts, and the cooling sleeve (5) is arranged in a round hole of the fixing plate (4) in a penetrating mode.
4. A steel casting surface robot cutting device meeting NDT flaw detection requirements according to claim 3, characterized in that a plurality of annular grooves are formed in the outer wall of the main shaft sleeve (6), a plurality of annular grooves are formed in an equidistant mode, a water inlet (21) and a water outlet (22) are formed in the cooling sleeve (5), the water inlet (21) is located above the water outlet (22), the water inlet (21) is communicated with the annular grooves, and a sealing ring is arranged between the cooling sleeve (5) and the main shaft sleeve (6) and is located below the water outlet (22).
5. The steel casting surface robot cutting device meeting the NDT flaw detection requirement according to claim 1, wherein a connecting plate (28) is fixed at one end of the piston rod (16) positioned outside the cylinder body (17), and the connecting plate (28) is fixedly connected with the top plate (12) through bolts.
6. The method for detecting a steel casting surface robot cutting device satisfying NDT flaw detection requirements according to any one of claims 1 to 5, comprising the steps of:
Step one: the movement of the small arm (27) and the large arm (25) is controlled through the computer, so that the distance between the three-dimensional laser scanner and the steel casting is adjusted, the surface of a steel casting blank is rapidly scanned by the three-dimensional laser scanner, and a scanning result is fed back into the computer to obtain a three-dimensional digital model of a steel casting machining track;
Step two: the method comprises the steps that a root computer automatically programs a processing track of a robot arm by adopting an offline programming system according to a three-dimensional digital model;
step three: the method comprises the steps of (1) introducing a program of a machining track into a robot arm, so that a constant force milling system on the robot arm performs cutting motion along the surface of a steel casting;
Step four: the inclination angle sensor (2) measures the inclination angle of the milling device (3) deviating from the vertical direction, the inclination angle sensor (2) feeds back the measured result to the computer, the pressure sensor detects the positive pressure generated by the milling device (3) on the steel casting, the detection information is fed back into the computer, the computer adjusts the speed regulating valve (15) on the air pressure regulating device according to the fed-back inclination angle information, so that the air cylinder (13) drives the milling device (3) to generate the positive pressure which is always vertical to the milling surface to cut the steel casting, and the positive pressure is kept unchanged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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