CN111451876A - Automatic casting mechanical arm grinding machine - Google Patents

Automatic casting mechanical arm grinding machine Download PDF

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Publication number
CN111451876A
CN111451876A CN202010442370.6A CN202010442370A CN111451876A CN 111451876 A CN111451876 A CN 111451876A CN 202010442370 A CN202010442370 A CN 202010442370A CN 111451876 A CN111451876 A CN 111451876A
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CN
China
Prior art keywords
shaft sleeve
speed reducer
frame
lead screw
rotating
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202010442370.6A
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Chinese (zh)
Other versions
CN111451876B (en
Inventor
缪小吉
谢宝智
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Changzhou Vocational Institute of Light Industry
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Changzhou Vocational Institute of Light Industry
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Application filed by Changzhou Vocational Institute of Light Industry filed Critical Changzhou Vocational Institute of Light Industry
Priority to CN202010442370.6A priority Critical patent/CN111451876B/en
Publication of CN111451876A publication Critical patent/CN111451876A/en
Application granted granted Critical
Publication of CN111451876B publication Critical patent/CN111451876B/en
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Classifications

    • 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
    • B24B19/00—Single-purpose machines or devices for particular grinding operations not covered by any other main group
    • 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
    • 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
    • B24B27/0069—Other grinding machines or devices with means for feeding the work-pieces to the grinding tool, e.g. turntables, transfer means
    • 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
    • B24B27/0076—Other grinding machines or devices grinding machines comprising two or more grinding tools
    • 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
    • B24B27/06—Grinders for cutting-off
    • 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
    • B24B41/06—Work supports, e.g. adjustable steadies
    • B24B41/067—Work supports, e.g. adjustable steadies radially supporting workpieces
    • 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
    • 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
    • B24B47/10—Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces
    • B24B47/12—Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces by mechanical gearing or electric power
    • 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
    • B24B47/20—Drives or gearings; Equipment therefor relating to feed movement
    • 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
    • B24B47/22—Equipment for exact control of the position of the grinding tool or work at the start of the grinding operation
    • 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
    • B24B49/16—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 taking regard of the load
    • 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
    • B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
    • 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
    • B24B9/00—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor
    • B24B9/02—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground
    • B24B9/04—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground of metal, e.g. skate blades

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
  • Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)

Abstract

The invention relates to an automatic casting mechanical arm polisher.A Y-axis linear reciprocating mechanism is arranged on a chassis, a main frame is fixedly arranged on the Y-axis linear reciprocating mechanism, a Z-axis linear reciprocating mechanism is arranged on the main frame, a lifting frame is fixedly arranged on the Z-axis linear reciprocating mechanism, an X-axis linear reciprocating mechanism is arranged on the lifting frame, and a moving frame is fixedly arranged on the X-axis linear reciprocating mechanism; the chuck rotating device comprises a chuck, an axial rotating mechanism and a radial rotating mechanism; the casting polishing device comprises a rack, wherein a grinding wheel motor and a grinding head motor are fixedly mounted on the rack, a grinding wheel is coaxially and fixedly mounted at the output end of the grinding wheel motor, and a grinding head is coaxially and fixedly mounted at the output end of the grinding head motor. The invention can realize three-way movement and two-axis rotation of the casting, automatically grab the workpiece and polish in multiple directions, programmers only need to simply program, replace polishing robots, reduce cost and solve the problem that manual polishing needs to be repeatedly and manually clamped and polished in different directions.

Description

Automatic casting mechanical arm grinding machine
Technical Field
The invention relates to the technical field of polishing machinery, in particular to an automatic polishing machine for a casting mechanical arm.
Background
The casting is a metal molding object obtained by various casting methods, namely, the smelted liquid metal is poured into a casting mold prepared in advance by pouring, injecting, sucking or other casting methods, and after cooling, the casting is subjected to subsequent processing means such as grinding and the like, so that the object with certain shape, size and performance is obtained. The traditional polishing mode of the casting is manual installation polishing, the traditional manual polishing needs repeated installation of the casting, the error is large, manpower is wasted, the consumed time is long, the efficiency is low, and the environment is polluted; and the casting is fixed by using a traditional three-jaw chuck, so that the active grabbing function is not available, and the grabbing stability is poor. In order to solve the problems, some large modern intelligent casting workshops can use the automatic robot polisher for polishing, the price of the automatic robot polisher is high, and the equipment cost and the later maintenance cost of a processing unit are high.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: in order to overcome the problems that the traditional manual polishing mode of the existing casting is low in efficiency and large in error, the price of a newly-developed automatic robot polisher is high, and the equipment cost and the robot maintenance cost of a processing unit are high, the automatic polisher for the casting mechanical arm is provided.
The technical scheme adopted by the invention for solving the technical problems is as follows: an automatic casting mechanical arm sander, comprising:
the three-axis driving device comprises a bottom frame, a main frame, a lifting frame and a moving frame, wherein a Y-axis linear reciprocating mechanism is arranged on the bottom frame and drives the main frame to slide on the bottom frame;
a chuck rotating device: the chuck rotating device comprises a chuck, an axial rotating mechanism and a radial rotating mechanism; the chuck comprises a rotary shaft sleeve and a controller, the rotary shaft sleeve is rotatably mounted on the movable frame, the rotary shaft sleeve is arranged in parallel with the moving direction of the X-axis linear reciprocating mechanism, and the rotary shaft sleeve can rotate along the central axis of the rotary shaft sleeve under the drive of the axial rotating mechanism; the rotary shaft sleeve is driven by the radial rotary mechanism to rotate along the radial direction of the rotary shaft sleeve, a guide block is coaxially and fixedly mounted at one end of the rotary shaft sleeve, a guide hole is formed in the guide block and is coaxially communicated with an inner cavity of the rotary shaft sleeve, a guide channel communicated with the guide hole is formed in the guide block, a plurality of guide channels are uniformly distributed along the circumference of the central axis of the guide hole, a sliding block is arranged in each guide channel in a sliding and clamping manner, an elastic element is fixedly mounted in the guide channel in the moving direction of the sliding block, a pressure detection assembly is arranged between the elastic element and the sliding block and is in signal connection with a controller, a clamping jaw is fixedly mounted on the sliding block and is exposed out of the guide channel, a pushing assembly in signal connection with the controller is fixedly mounted in the rotary shaft sleeve, and a top block is fixedly mounted on the pushing assembly, the ejection block and the rotary shaft sleeve are coaxially arranged, when the ejection block gradually enters the guide hole, the plurality of sliding blocks gradually keep away at a constant speed, the elastic element is compressed, and the pressure detection assembly performs pressure detection;
casting polishing device: the casting polishing device comprises a rack, a grinding wheel motor and a grinding head motor are fixedly mounted on the rack, a grinding wheel is coaxially and fixedly mounted at the output end of the grinding wheel motor, a grinding head is coaxially and fixedly mounted at the output end of the grinding head motor, and the grinding wheel and the grinding head are both arranged opposite to a chuck.
When the automatic polisher for the casting mechanical arm is used, a chuck can automatically grab a casting, when the chuck grabs a large casting with a mounting hole, a plurality of clamping jaws stretch into the casting mounting hole, a pushing assembly pushes a jacking block to move towards a sliding block, the jacking block gradually enters a guide hole, the sliding blocks are gradually kept away at a constant speed, an elastic element is compressed, a pressure detection assembly carries out pressure detection, the pressure value is gradually increased, when the clamping jaws are in contact with the casting, the pressure value of the pressure detection assembly is not changed any more, the pressure detection assembly sends a signal to a controller, the controller controls the pushing assembly to stop working after receiving the signal, and the grabbing of the chuck is finished; when a small casting is grabbed, the small casting is placed in the clamping jaws, the pushing assembly resets, the ejector block gradually moves out of the guide hole, the sliding block is always attached to the ejector block under the action of the elastic element, the clamping jaws are gradually gathered, the pressure value detected by the pressure detection assembly is gradually reduced, after the clamping jaws are contacted with the casting, the pressure value detected by the pressure detection assembly does not change any more, the pressure detection assembly sends a signal to the controller, the controller controls the pushing assembly to stop working after receiving the signal, and the grabbing of the chuck is completed; after the chuck snatchs the completion, Z axle straight reciprocating mechanism drive chuck drives the foundry goods and rises, and radial rotary mechanism rotates to required angle, drives chuck upwards or swing downwards to drive foundry goods change angle, realize polishing of different positions of foundry goods, start grinding wheel motor and bistrique motor simultaneously, grinding wheel motor drives the emery wheel and rotates, and the bistrique motor drives the bistrique and rotates, and emery wheel and bistrique are polished the foundry goods, when polishing, can be as required: the X-axis linear reciprocating mechanism drives the casting to move along the X axis; the Y-axis linear reciprocating mechanism drives the casting to move along the Y axis; the Z-axis linear reciprocating mechanism drives the casting to ascend or descend along the Z axis; the axial rotating mechanism drives the three-jaw chuck to rotate in 360 degrees; the automatic casting grabbing and polishing device can realize three-way movement and two-axis rotation of a casting, automatically grab the casting, polish in multiple directions, enable programmers to simply program, replace polishing robots, reduce cost, solve the problem that manual polishing needs repeated manual clamping and polishing in different directions, reduce manpower, solve the problem that manual polishing is poor in working environment, polish in a sealed environment, protect environment, remove burrs, dead heads and allowance of the casting, finish rough machining of the casting, reduce polishing time and improve polishing efficiency.
Further, Y axle straight reciprocating mechanism is including walking servo motor, walking speed reducer and Y to the lead screw, Y rotates to the lead screw and installs on the chassis, walking servo motor fixed mounting is on the chassis, and is connected with the transmission of walking speed reducer, Y is to the coaxial fixed connection of output of lead screw and walking speed reducer, Y is to lead screw and body frame threaded connection, the body frame slides and sets up on the chassis. The walking servo motor rotates, the walking speed reducer decelerates to drive the Y-direction screw rod to rotate, and the Y-direction screw rod is in threaded connection with the main frame, so that the main frame is driven to slide on the underframe.
Further, Z axle straight reciprocating mechanism includes lift servo motor, lift speed reducer and Z to the lead screw, Z rotates to the lead screw and installs on the body frame, lift servo motor fixed mounting is on the body frame, and is connected with the transmission of lift speed reducer, Z is to the coaxial fixed connection of output of lead screw and lift speed reducer, Z is to lead screw and crane threaded connection, the crane slides and sets up on the body frame. The lifting servo motor rotates, drives the Z-direction screw rod to rotate after being decelerated by the lifting speed reducer, and the Z-direction screw rod is in threaded connection with the lifting frame, so that the lifting frame is driven to slide on the main frame to lift.
Further, X axle straight reciprocating motion is including removing servo motor, removal speed reducer and X to the lead screw, X rotates to the lead screw and installs on the crane, remove servo motor fixed mounting on the crane, and be connected with removal speed reducer transmission, X is to the coaxial fixed connection of output of lead screw and removal speed reducer, X is to lead screw and removal frame threaded connection, it slides and sets up on the crane to remove the frame. The movable servo motor rotates, the speed is reduced through the movable speed reducer, the X-direction screw rod is driven to rotate, the X-direction screw rod is in threaded connection with the movable frame, and therefore the movable frame is driven to slide on the lifting frame.
In order to realize that the rotation axis cover can follow its self the central axis and rotate under axial rotary mechanism's drive, axial rotary mechanism includes axial rotation motor, axial harmonic speed reducer machine and rotation axis, the rotation axis rotates and installs on removing the frame, the rotation axis is to lead screw parallel arrangement with X, axial rotation motor fixed mounting just is connected with axial harmonic speed reducer machine transmission on removing the frame, axial harmonic speed reducer machine's output and the coaxial fixed connection of rotation axis, coaxial fixed mounting has the ring flange on the rotation axis, fixed mounting has the backup pad on the ring flange, rotatory axle sleeve rotates and installs in the backup pad, rotatory axle sleeve and the coaxial setting of rotation axis. The axial direction rotating motor rotates, drives the rotation axis rotation after reducing speed through the axial direction harmonic speed reducer machine, and the rotation axis drives the ring flange and rotates, and the ring flange passes through the backup pad and drives rotatory axle sleeve rotation, and rotatory axle sleeve and rotation axis coaxial setting to realize that rotatory axle sleeve rotates along its self the central axis, finally drive the 360 rotations of foundry goods along its self central axis.
In order to realize that the rotation axis cover can follow its self radial direction rotation under radial rotary mechanism's drive, radial rotary mechanism includes swivel bearing, swivel bearing rotates through the pivot and installs in the backup pad, the pivot sets up along the radial direction of rotatory axle sleeve, and with Y to lead screw parallel arrangement, fixed mounting has radial rotating electrical machines and radial harmonic speed reducer machine in the backup pad, radial rotating electrical machines and radial harmonic speed reducer machine transmission are connected, the output and the coaxial fixed connection of pivot of radial harmonic speed reducer machine, the coaxial fixed mounting of rotatory axle sleeve is at swivel bearing's inner circle. Radial rotating electrical machines rotate, and the drive pivot is rotated after reducing speed through radial harmonic speed reducer machine, and the pivot drives swivel bearing and rotates along the central axis of pivot, and swivel bearing drives swivel sleeve and rotates along swivel sleeve's radial direction, and swivel sleeve drives the foundry goods on the chuck and upwards or swings downwards to drive the foundry goods change angle, realize polishing of foundry goods different positions.
When the axial rotating motor has problems and can not work normally, in order to ensure the independent rotation of the rotating shaft sleeve, the invention also comprises a shaft sleeve rotating motor and a shaft sleeve harmonic speed reducer, wherein the shaft sleeve rotating motor and the shaft sleeve harmonic speed reducer are both fixedly arranged on the supporting plate and are in transmission connection, and the output end of the shaft sleeve harmonic speed reducer is coaxially and fixedly connected with the rotating shaft sleeve. The shaft sleeve rotating motor rotates, and the rotating shaft sleeve is driven to rotate after the speed is reduced by the shaft sleeve harmonic speed reducer, so that the casting is driven to rotate.
When getting into the guiding hole gradually in order to realize the kicking block, it is a plurality of the slider constant speed is kept away from gradually, the one end that the slider stretched into the guiding hole is provided with the wedge, be provided with the wedge on the kicking block, it is a plurality of the central axis circumference equipartition of wedge along the kicking block, it is a plurality of the wedge with a plurality of the wedge one-to-one cooperation setting of wedge of slider.
Preferably, the pushing assembly is an oil cylinder, the oil cylinder is coaxially and fixedly installed in the rotating shaft sleeve, and the jacking block is coaxially and fixedly installed at the extending end of the oil cylinder.
In order to protect the guide block and the sliding block, a chuck sleeve is coaxially and fixedly installed outside the guide block, the chuck sleeve covers the guide block and the sliding block, a through hole for the sliding block to move is formed in the chuck sleeve, and the clamping jaw penetrates through the through hole and then is exposed out of the chuck sleeve.
The automatic casting mechanical arm polisher has the beneficial effects that when the polisher is used, a chuck can automatically grab a casting, after the chuck grabs, a Z-axis linear reciprocating mechanism drives the chuck to drive the casting to ascend, a radial rotating mechanism rotates to a required angle and drives the chuck to swing upwards or downwards, so that the casting is driven to change the angle, polishing of different positions of the casting is realized, a grinding wheel motor and a grinding head motor are started simultaneously, the grinding wheel motor drives a grinding wheel to rotate, the grinding head motor drives a grinding head to rotate, the casting is polished by the grinding wheel and the grinding head, and when the casting is polished, the polishing can be carried out according to requirements: the X-axis linear reciprocating mechanism drives the casting to move along the X axis; the Y-axis linear reciprocating mechanism drives the casting to move along the Y axis; the Z-axis linear reciprocating mechanism drives the casting to ascend or descend along the Z axis; the axial rotating mechanism drives the three-jaw chuck to rotate in 360 degrees; the automatic casting machine can simultaneously realize three-dimensional movement and two-axis rotation of a casting, automatically grab the casting, polish in multiple directions, and enable programmers to simply program, replace polishing robots, reduce cost, solve the problem that manual polishing needs repeated manual clamping and polishing in different directions, and reduce manpower.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a three-dimensional schematic of the present invention;
FIG. 2 is a three-dimensional schematic of another perspective of the present invention;
FIG. 3 is a front view of the present invention;
FIG. 4 is a left side view of the present invention;
FIG. 5 is a top view of the present invention;
FIG. 6 is a three-dimensional schematic view of a chuck rotating apparatus according to the present invention;
FIG. 7 is a three-dimensional schematic view of a chuck in accordance with the present invention;
FIG. 8 is a three-dimensional schematic view of another aspect of the chuck of the present invention;
FIG. 9 is a front view of the chuck of the present invention;
FIG. 10 is a cross-sectional view taken at A-A of FIG. 9 in accordance with the present invention;
FIG. 11 is a three-dimensional schematic view of the chuck of the present invention without the chuck sleeve installed;
fig. 12 is a schematic three-dimensional assembly of the top block and wedge block of the present invention.
In the figure: 1. the device comprises a base frame, 2 parts of a main frame, 3 parts of a lifting frame, 4 parts of a moving frame, 5 parts of a chuck, 5 parts to 1 part of a rotating shaft sleeve, 5 parts to 2 parts of a guide block, 5 parts to 3 parts of a sliding block, 5 parts to 4 parts of an elastic element, 5 parts to 5 parts of a pressure detection assembly, 5 parts to 6 parts of a clamping jaw, 5 parts to 7 parts of a pushing assembly, 5 parts to 8 parts of a jacking block, 5 parts to 9 parts of a wedge-shaped surface, 5 parts to 10 parts of a wedge-shaped block, 5 parts to 11 parts of a chuck sleeve, 6 parts of a frame, 7 parts of a grinding wheel motor, 8 parts of a grinding head motor, 9 parts of a grinding wheel, 10 parts of a grinding head, 11 parts of a walking servo motor, 12 parts to a Y-direction screw rod, 13 parts of a lifting servo motor, 14 parts to a Z-direction screw rod, 15 parts of a moving servo motor, 16 parts to an, 23. the rotating shaft 24, the radial rotating motor 25, the radial harmonic reducer 26, the shaft sleeve rotating motor 27 and the shaft sleeve harmonic reducer 27.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.
As shown in fig. 1 and 2, the automatic casting mechanical arm polisher comprises a three-axis driving device, a chuck rotating device and a casting polishing device, wherein the three-axis driving device comprises an underframe 1, a Y-axis linear reciprocating mechanism is arranged on the underframe 1, a main frame 2 is fixedly arranged on the Y-axis linear reciprocating mechanism, a Z-axis linear reciprocating mechanism is arranged on the main frame 2, a lifting frame 3 is fixedly arranged on the Z-axis linear reciprocating mechanism, as shown in fig. 3, an X-axis linear reciprocating mechanism is arranged on the lifting frame 3, and a moving frame 4 is fixedly arranged on the X-axis linear reciprocating mechanism;
the chuck rotating device comprises a chuck 5, an axial rotating mechanism and a radial rotating mechanism; as shown in fig. 6, the chuck 5 comprises a rotary shaft sleeve 5-1 and a controller, the rotary shaft sleeve 5-1 is rotatably mounted on the moving frame 4, the rotary shaft sleeve 5-1 is arranged in parallel with the moving direction of the X-axis linear reciprocating mechanism, and the rotary shaft sleeve 5-1 can rotate along the central axis of the rotary shaft sleeve 5-1 under the driving of the axial rotating mechanism; the rotating shaft sleeve 5-1 can rotate along the radial direction of the rotating shaft sleeve 5-1 under the drive of the radial rotating mechanism, one end of the rotating shaft sleeve 5-1 is coaxially and fixedly provided with a guide block 5-2, as shown in figures 7 and 8, the guide block 5-2 is provided with a guide hole which is coaxially communicated with the inner cavity of the rotating shaft sleeve 5-1, the guide block 5-2 is provided with a guide channel communicated with the guide hole, 3 guide channels are uniformly distributed along the circumference of the central axis of the guide hole, as shown in figures 9 and 11, 3 guide channels are internally provided with a sliding block 5-3 in a sliding and clamping way, an elastic element 5-4 is fixedly arranged in the guide channel in the moving direction of the sliding block 5-3, as shown in figure 10, the elastic element 5-4 is a spring, one end of the spring is fixedly connected with the guide block 5-2, and the other end is fixedly, a pressure detection assembly 5-5 is arranged between the elastic element 5-4 and the sliding block 5-3, the pressure detection assembly 5-5 is a pressure sensor, a guide blind hole is arranged on the sliding block 5-3, the pressure sensor is arranged in the guide blind hole, a spring is coaxially arranged in the guide blind hole, the pressure sensor is in signal connection with a controller, a clamping jaw 5-6 is fixedly arranged on the sliding block 5-3, the clamping jaw 5-6 is exposed out of a guide channel, a pushing assembly 5-7 in signal connection with the controller is fixedly arranged in the rotating shaft sleeve 5-1, a top block 5-8 is fixedly arranged on the pushing assembly 5-7, the top block 5-8 is coaxially arranged with the rotating shaft sleeve 5-1, when the top block 5-8 gradually enters the guide hole, a plurality of sliding blocks 5-3 are gradually kept away at a constant speed, the elastic element 5-4 is compressed, and the pressure detection component 5-5 carries out pressure detection;
the casting polishing device comprises a rack 6, a grinding wheel motor 7 and a grinding head motor 8 are fixedly mounted on the rack 6, a grinding wheel 9 is coaxially and fixedly mounted at the output end of the grinding wheel motor 7, a grinding head 10 is coaxially and fixedly mounted at the output end of the grinding head motor 8, and the grinding wheel 9 and the grinding head 10 are both arranged opposite to the chuck 5.
The Y-axis linear reciprocating mechanism comprises a walking servo motor 11, a walking speed reducer and a Y-direction screw rod 12, the Y-direction screw rod 12 is rotatably installed on the underframe 1, as shown in fig. 5, the walking servo motor 11 is fixedly installed on the underframe 1 and is in transmission connection with the walking speed reducer, the Y-direction screw rod 12 is coaxially and fixedly connected with the output end of the walking speed reducer, the Y-direction screw rod 12 is in threaded connection with the main frame 2, and the main frame 2 is arranged on the underframe 1 in a sliding mode. The walking servo motor 11 rotates, drives the Y-direction screw rod 12 to rotate after the speed is reduced by the walking speed reducer, and the Y-direction screw rod is in threaded connection with the main frame 2, so that the main frame 2 is driven to slide on the underframe 1.
The Z-axis linear reciprocating mechanism comprises a lifting servo motor 13, a lifting speed reducer and a Z-direction screw rod 14, as shown in figure 3, the Z-direction screw rod 14 is rotatably installed on the main frame 2, the lifting servo motor 13 is fixedly installed on the main frame 2 and is in transmission connection with the lifting speed reducer, the Z-direction screw rod 14 is coaxially and fixedly connected with the output end of the lifting speed reducer, the Z-direction screw rod 14 is in threaded connection with the lifting frame 3, and the lifting frame 3 is arranged on the main frame 2 in a sliding mode. The lifting servo motor 13 rotates, the Z-direction screw rod 14 is driven to rotate after the speed is reduced by the lifting speed reducer, and the Z-direction screw rod 14 is in threaded connection with the lifting frame 3, so that the lifting frame 3 is driven to slide on the main frame 2 to lift.
The X-axis linear reciprocating mechanism comprises a moving servo motor 15, a moving speed reducer and an X-direction screw rod 16, as shown in figure 4, the X-direction screw rod 16 is rotatably installed on a lifting frame 3, the moving servo motor 15 is fixedly installed on the lifting frame 3 and is in transmission connection with the moving speed reducer, the X-direction screw rod 16 is coaxially and fixedly connected with the output end of the moving speed reducer, the X-direction screw rod 16 is in threaded connection with a moving frame 4, and the moving frame 4 is arranged on the lifting frame 3 in a sliding mode. The moving servo motor 15 rotates, the speed is reduced through the moving speed reducer, the X-direction screw rod 16 is driven to rotate, the X-direction screw rod 16 is in threaded connection with the moving frame 4, and therefore the moving frame 4 is driven to slide on the lifting frame 3.
The axial rotating mechanism comprises an axial rotating motor 17, an axial harmonic speed reducer 18 and a rotating shaft 19, the rotating shaft 19 is rotatably installed on the moving frame 4, the rotating shaft 19 is parallel to the X-direction screw rod 16, the axial rotating motor 17 is fixedly installed on the moving frame 4 and is in transmission connection with the axial harmonic speed reducer 18, the output end of the axial harmonic speed reducer 18 is coaxially and fixedly connected with the rotating shaft 19, a flange plate 20 is coaxially and fixedly installed on the rotating shaft 19, a support plate 21 is fixedly installed on the flange plate 20, a rotating shaft sleeve 5-1 is rotatably installed on the support plate 21, and the rotating shaft sleeve 5-1 and the rotating shaft 19 are coaxially arranged. The axial rotating motor 17 rotates, the rotating shaft 19 is driven to rotate after the speed is reduced through the axial harmonic reducer 18, the rotating shaft 19 drives the flange plate 20 to rotate, the flange plate 20 drives the rotating shaft sleeve 5-1 to rotate through the supporting plate 21, and the rotating shaft sleeve 5-1 and the rotating shaft 19 are coaxially arranged, so that the rotating shaft sleeve 5-1 rotates along the central axis of the rotating shaft sleeve 5-1, and finally, the casting is driven to rotate 360 degrees along the central axis of the rotating shaft sleeve.
The radial rotating mechanism comprises a rotating bearing 22, the rotating bearing 22 is rotatably mounted on a supporting plate 21 through a rotating shaft 23, the rotating shaft 23 is arranged along the radial direction of a rotating shaft sleeve 5-1 and is parallel to the Y-direction screw rod 12, a radial rotating motor 24 and a radial harmonic reducer 25 are fixedly mounted on the supporting plate 21, the radial rotating motor 24 is in transmission connection with the radial harmonic reducer 25, the output end of the radial harmonic reducer 25 is coaxially and fixedly connected with the rotating shaft 23, and the rotating shaft sleeve 5-1 is coaxially and fixedly mounted on the inner ring of the rotating bearing 22. The radial rotating motor 24 rotates, the rotating shaft 23 is driven to rotate after speed reduction is carried out through the radial harmonic reducer 25, the rotating shaft 23 drives the rotating bearing 22 to rotate along the central axis of the rotating shaft 23, the rotating bearing 22 drives the rotating shaft sleeve 5-1 to rotate along the radial direction of the rotating shaft sleeve 5-1, and the rotating shaft sleeve 5-1 drives a casting on the chuck 5 to swing upwards or downwards, so that the casting is driven to change the angle, and polishing of different positions of the casting is achieved.
The invention also comprises a shaft sleeve rotating motor 26 and a shaft sleeve harmonic speed reducer 27, wherein the shaft sleeve rotating motor 26 and the shaft sleeve harmonic speed reducer 27 are both fixedly arranged on the supporting plate 21 and are in transmission connection, and the output end of the shaft sleeve harmonic speed reducer 27 is coaxially and fixedly connected with the rotating shaft sleeve 5-1. The shaft sleeve rotating motor 26 rotates, and drives the rotating shaft sleeve 5-1 to rotate after being decelerated by a shaft sleeve harmonic speed reducer 27, so that the casting is driven to rotate.
One end of the sliding block 5-3 extending into the guide hole is provided with a wedge-shaped surface 5-9, the top block 5-8 is provided with a wedge-shaped block 5-10, the wedge-shaped blocks 5-10 are uniformly distributed along the circumference of the central axis of the top block 5-8, and as shown in figure 12, 3 wedge-shaped blocks 5-10 are correspondingly matched with the wedge-shaped surfaces 5-9 of the sliding blocks 5-3 one by one.
The pushing assembly 5-7 is an oil cylinder, the oil cylinder is coaxially and fixedly arranged in the rotating shaft sleeve 5-1, and the top block 5-8 is coaxially and fixedly arranged at the extending end of the oil cylinder.
A chuck sleeve 5-11 is coaxially and fixedly arranged outside the guide block 5-2, the chuck sleeve 5-11 covers the guide block 5-2 and the slide block 5-3, a through hole for the slide block 5-3 to move is formed in the chuck sleeve 5-11, and the clamping jaw 5-6 penetrates through the through hole to be exposed out of the chuck sleeve 5-11.
The automatic polisher for the casting mechanical arm can automatically grab a casting when in use, when the chuck 5 grabs a larger casting with a mounting hole, a plurality of clamping jaws 5-6 extend into the casting mounting hole, the pushing assembly 5-7 pushes the top block 5-8 to move towards the sliding block 5-3, the top block 5-8 drives the wedge block 5-10 to gradually enter the guide hole, the wedge block 5-10 is matched with the wedge surface 5-9, the sliding blocks 5-3 are gradually separated at a constant speed, the elastic element 5-4 is compressed, the pressure detection assembly 5-5 carries out pressure detection, the pressure value is gradually increased, when the clamping jaws 5-6 are contacted with the casting, the pressure value of the pressure detection assembly 5-5 is not changed any more, the pressure detection assembly 5-5 sends a signal to a controller, and after the controller receives the signal, controlling the pushing assembly 5-7 to stop working, and finishing grabbing by the chuck 5; when a small casting is grabbed, the small casting is placed in the clamping jaws 5-6, the pushing assemblies 5-7 reset, the top blocks 5-8 drive the wedge blocks 5-10 to gradually move out of the guide holes, the wedge faces 5-9 of the sliding blocks 5-3 are always attached to the wedge blocks 5-10 under the action of the elastic elements 5-4, the clamping jaws 5-6 gradually gather together, the pressure value detected by the pressure detection assemblies 5-5 is gradually reduced, after the clamping jaws 5-6 are contacted with the casting, the pressure value detected by the pressure detection assemblies 5-5 does not change, the pressure detection assemblies 5-5 send signals to the controller, and after the controller receives the signals, the pushing assemblies 5-7 are controlled to stop working, and the grabbing of the clamping head 5 is completed; after 5 snatchs the completion of chuck, 5 drive chucks of Z axle straight reciprocating mechanism drive rise of foundry goods, radial rotary mechanism rotates to required angle, drive chuck 5 upwards or swing down, thereby drive the foundry goods and change the angle, realize polishing of different positions of foundry goods, start grinding wheel motor 7 and bistrique motor 8 simultaneously, grinding wheel motor 7 drives emery wheel 9 and rotates, bistrique motor 8 drives bistrique 10 and rotates, emery wheel 9 and bistrique 10 polish the foundry goods, during polishing, can be as required: the X-axis linear reciprocating mechanism drives the casting to move along the X axis; the Y-axis linear reciprocating mechanism drives the casting to move along the Y axis; the Z-axis linear reciprocating mechanism drives the casting to ascend or descend along the Z axis; the axial rotating mechanism drives the three-jaw chuck to rotate in 360 degrees; the automatic casting grabbing and polishing device can realize three-dimensional movement and two-axis rotation of a casting, automatically grab the casting, polish in multiple directions, enable programmers to simply program, replace traditional manual polishing, improve efficiency, replace emerging polishing robots, reduce cost, solve the problem that manual polishing needs repeated manual clamping and polishing in different directions, achieve automatic grabbing, reduce manpower, improve polishing efficiency, solve the problem that a manual polishing working environment is severe, polish in a sealed environment, is environment-friendly and green, solve the problem that the emerging polishing robots are high in equipment cost and maintenance cost, achieve deburring, riser and allowance removal of the casting, and finish rough machining of the casting.
In light of the foregoing description of the preferred embodiment of the present invention, many modifications and variations will be apparent to those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.

Claims (10)

1. The utility model provides a foundry goods arm automatic sander which characterized in that: the method comprises the following steps:
the three-axis driving device comprises an underframe (1), a main frame (2), a lifting frame (3) and a moving frame (4), wherein a Y-axis linear reciprocating mechanism is arranged on the underframe (1), the Y-axis linear reciprocating mechanism drives the main frame (2) to slide on the underframe (1), a Z-axis linear reciprocating mechanism is arranged on the main frame (2), the Z-axis linear reciprocating mechanism drives the lifting frame (3) to slide on the main frame (2), an X-axis linear reciprocating mechanism is arranged on the lifting frame (3), and the X-axis linear reciprocating mechanism drives the moving frame (4) to slide on the lifting frame (3);
a chuck rotating device: the chuck rotating device comprises a chuck (5), an axial rotating mechanism and a radial rotating mechanism; the chuck (5) comprises a rotary shaft sleeve (5-1) and a controller, the rotary shaft sleeve (5-1) is rotatably mounted on the moving frame (4), the rotary shaft sleeve (5-1) is arranged in parallel with the moving direction of the X-axis linear reciprocating mechanism, and the rotary shaft sleeve (5-1) can rotate along the central axis of the rotary shaft sleeve under the driving of the axial rotating mechanism; the rotary shaft sleeve (5-1) can rotate along the radial direction of the rotary shaft sleeve under the drive of a radial rotating mechanism, a guide block (5-2) is coaxially and fixedly installed at one end of the rotary shaft sleeve (5-1), a guide hole is formed in the guide block (5-2) and is coaxially communicated with the inner cavity of the rotary shaft sleeve (5-1), a guide channel communicated with the guide hole is formed in the guide block (5-2), a plurality of guide channels are uniformly distributed along the circumference of the central axis of the guide hole, a sliding block (5-3) is clamped in the guide channels in a sliding manner, an elastic element (5-4) is fixedly installed in the guide channel in the moving direction of the sliding block (5-3), and a pressure detection assembly (5-5) is arranged between the elastic element (5-4) and the sliding block (5-3), the pressure detection assembly (5-5) is in signal connection with a controller, the clamping jaws (5-6) are fixedly mounted on the sliding blocks (5-3), the clamping jaws (5-6) are exposed out of a guide channel, the pushing assembly (5-7) in signal connection with the controller is fixedly mounted in the rotating shaft sleeve (5-1), the pushing assembly (5-7) is fixedly mounted with a top block (5-8), the top block (5-8) and the rotating shaft sleeve (5-1) are coaxially arranged, when the top block (5-8) gradually enters a guide hole, the sliding blocks (5-3) gradually keep away at a constant speed, the elastic elements (5-4) are compressed, and the pressure detection assembly (5-5) performs pressure detection;
casting polishing device: the casting polishing device comprises a rack (6), a grinding wheel motor (7) and a grinding head motor (8) are fixedly mounted on the rack (6), a grinding wheel (9) is coaxially and fixedly mounted at the output end of the grinding wheel motor (7), a grinding head (10) is coaxially and fixedly mounted at the output end of the grinding head motor (8), and the grinding wheel (9) and the grinding head (10) are both arranged opposite to a chuck (5).
2. The automated casting machine of claim 1, wherein: y axle straight reciprocating motion is including walking servo motor (11), walking speed reducer and Y to lead screw (12), Y rotates to lead screw (12) and installs on chassis (1), walking servo motor (11) fixed mounting is on chassis (1), and is connected with walking speed reducer transmission, Y is to the coaxial fixed connection of output of lead screw (12) and walking speed reducer, Y is to lead screw (12) and body frame (2) threaded connection, body frame (2) slide to set up on chassis (1).
3. The automated casting machine of claim 1, wherein: z axle straight reciprocating mechanism includes lift servo motor (13), lifting speed reducer and Z to lead screw (14), Z rotates to lead screw (14) and installs on body frame (2), lift servo motor (13) fixed mounting is on body frame (2), and is connected with the lifting speed reducer transmission, Z is to the coaxial fixed connection of output of lead screw (14) and lifting speed reducer, Z is to lead screw (14) and crane (3) threaded connection, crane (3) slide and set up on body frame (2).
4. The automated casting machine of claim 2, wherein: x axle straight reciprocating motion is including removing servo motor (15), removal speed reducer and X to lead screw (16), X rotates to lead screw (16) and installs on crane (3), remove servo motor (15) fixed mounting on crane (3), and be connected with removal speed reducer transmission, X is to the coaxial fixed connection of output of lead screw (16) and removal speed reducer, X is to lead screw (16) and remove frame (4) threaded connection, it slides and sets up on crane (3) to remove frame (4).
5. The automated casting machine of claim 4, wherein: axial direction rotary mechanism includes axial direction rotating electrical machines (17), axial harmonic speed reducer machine (18) and rotation axis (19), rotation axis (19) rotate and install on removing frame (4), rotation axis (19) and X are to lead screw (16) parallel arrangement, axial direction rotating electrical machines (17) fixed mounting is on removing frame (4), and is connected with axial harmonic speed reducer machine (18) transmission, the output and the coaxial fixed connection of rotation axis (19) of axial direction harmonic speed reducer machine (18), coaxial fixed mounting has ring flange (20) on rotation axis (19), fixed mounting has backup pad (21) on ring flange (20), rotatory axle sleeve (5-1) rotate and install on backup pad (21), rotatory axle sleeve (5-1) and rotation axis (19) coaxial setting.
6. The automated casting machine of claim 5, wherein: radial rotary mechanism includes swivel bearing (22), swivel bearing (22) rotate through pivot (23) and install on backup pad (21), the radial direction setting of rotatory axle sleeve (5-1) is followed in pivot (23), and with Y to lead screw (12) parallel arrangement, fixed mounting has radial rotating electrical machines (24) and radial harmonic speed reducer ware (25) on backup pad (21), radial rotating electrical machines (24) and radial harmonic speed reducer ware (25) transmission are connected, the output and the coaxial fixed connection of pivot (23) of radial harmonic speed reducer ware (25), the inner circle at swivel bearing (22) is installed to the coaxial fixed mounting of rotatory axle sleeve (5-1).
7. The automated casting machine of claim 5, wherein: the device is characterized by further comprising a shaft sleeve rotating motor (26) and a shaft sleeve harmonic speed reducer (27), wherein the shaft sleeve rotating motor (26) and the shaft sleeve harmonic speed reducer (27) are fixedly mounted on the supporting plate (21) and are in transmission connection, and the output end of the shaft sleeve harmonic speed reducer (27) is coaxially and fixedly connected with the rotating shaft sleeve (5-1).
8. The automated casting machine of claim 1, wherein: one end, extending into the guide hole, of the sliding block (5-3) is provided with a wedge surface (5-9), wedge blocks (5-10) are arranged on the ejector blocks (5-8), the wedge blocks (5-10) are evenly distributed along the circumference of the central axis of the ejector blocks (5-8), and the wedge blocks (5-10) and the wedge surfaces (5-9) of the sliding block (5-3) are arranged in a one-to-one corresponding matching mode.
9. The automated casting machine of claim 1, wherein: the pushing assembly (5-7) is an oil cylinder, the oil cylinder is coaxially and fixedly installed in the rotating shaft sleeve (5-1), and the jacking block (5-8) is coaxially and fixedly installed at the extending end of the oil cylinder.
10. The automated casting machine of claim 1, wherein: the clamp head cover is characterized in that a clamp head cover (5-11) is coaxially and fixedly installed outside the guide block (5-2), the clamp head cover (5-11) covers the guide block (5-2) and the sliding block (5-3), a through hole for the sliding block (5-3) to move is formed in the clamp head cover (5-11), and the clamping jaw (5-6) penetrates through the through hole and then is exposed out of the clamp head cover (5-11).
CN202010442370.6A 2020-05-22 2020-05-22 Automatic grinding machine for casting mechanical arm Active CN111451876B (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112404407A (en) * 2020-12-02 2021-02-26 安徽信息工程学院 Foundry goods sand removal integrative equipment of polishing
CN115338761A (en) * 2021-05-13 2022-11-15 揭阳市盛和不锈钢制品有限公司 Bracket mechanism for production of kitchen utensils

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Publication number Priority date Publication date Assignee Title
FR1168614A (en) * 1957-02-18 1958-12-11 Renault Drive device for workpieces on an automatic machine
EP0180731A1 (en) * 1984-10-27 1986-05-14 Günter Horst Röhm Power-operated chuck
CN102765035A (en) * 2012-07-31 2012-11-07 广州市敏嘉制造技术有限公司 Four-spindle vertical numerical control grinding center
CN206732171U (en) * 2017-03-10 2017-12-12 潘玲 A kind of auto-induction type electric chuck
CN109249292A (en) * 2018-09-14 2019-01-22 浙江机电职业技术学院 A kind of casting intelligence polishing system
CN210427912U (en) * 2019-07-18 2020-04-28 常州市常光光学仪器有限公司 Self-centering rotary chuck of optical center instrument
CN212095668U (en) * 2020-05-22 2020-12-08 常州工业职业技术学院 Automatic casting mechanical arm grinding machine

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR1168614A (en) * 1957-02-18 1958-12-11 Renault Drive device for workpieces on an automatic machine
EP0180731A1 (en) * 1984-10-27 1986-05-14 Günter Horst Röhm Power-operated chuck
CN102765035A (en) * 2012-07-31 2012-11-07 广州市敏嘉制造技术有限公司 Four-spindle vertical numerical control grinding center
CN206732171U (en) * 2017-03-10 2017-12-12 潘玲 A kind of auto-induction type electric chuck
CN109249292A (en) * 2018-09-14 2019-01-22 浙江机电职业技术学院 A kind of casting intelligence polishing system
CN210427912U (en) * 2019-07-18 2020-04-28 常州市常光光学仪器有限公司 Self-centering rotary chuck of optical center instrument
CN212095668U (en) * 2020-05-22 2020-12-08 常州工业职业技术学院 Automatic casting mechanical arm grinding machine

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112404407A (en) * 2020-12-02 2021-02-26 安徽信息工程学院 Foundry goods sand removal integrative equipment of polishing
CN115338761A (en) * 2021-05-13 2022-11-15 揭阳市盛和不锈钢制品有限公司 Bracket mechanism for production of kitchen utensils

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