CN113001311A - Aluminum casting robot polishing workstation - Google Patents
Aluminum casting robot polishing workstation Download PDFInfo
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- CN113001311A CN113001311A CN202110395206.9A CN202110395206A CN113001311A CN 113001311 A CN113001311 A CN 113001311A CN 202110395206 A CN202110395206 A CN 202110395206A CN 113001311 A CN113001311 A CN 113001311A
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- wire drawing
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- tensioning
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- 238000005498 polishing Methods 0.000 title claims abstract description 75
- 229910052782 aluminium Inorganic materials 0.000 title claims abstract description 38
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 title claims abstract description 38
- 238000005266 casting Methods 0.000 title claims abstract description 28
- 238000005491 wire drawing Methods 0.000 claims abstract description 108
- 230000007246 mechanism Effects 0.000 claims description 96
- 239000000463 material Substances 0.000 claims description 17
- 239000002699 waste material Substances 0.000 claims description 17
- 238000001514 detection method Methods 0.000 claims description 16
- 230000001105 regulatory effect Effects 0.000 claims description 13
- 238000003466 welding Methods 0.000 claims description 11
- 238000011084 recovery Methods 0.000 claims description 10
- 229910052751 metal Inorganic materials 0.000 claims description 9
- 239000002184 metal Substances 0.000 claims description 9
- 238000004512 die casting Methods 0.000 claims description 7
- 239000000428 dust Substances 0.000 claims description 7
- 238000004891 communication Methods 0.000 claims description 6
- 230000001276 controlling effect Effects 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 6
- 230000006835 compression Effects 0.000 claims description 4
- 238000007906 compression Methods 0.000 claims description 4
- 230000003993 interaction Effects 0.000 claims description 4
- 238000012544 monitoring process Methods 0.000 claims description 3
- 230000007306 turnover Effects 0.000 claims description 3
- 230000005693 optoelectronics Effects 0.000 claims 1
- 239000004576 sand Substances 0.000 claims 1
- 238000012545 processing Methods 0.000 abstract description 9
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- AZDRQVAHHNSJOQ-UHFFFAOYSA-N alumane Chemical group [AlH3] AZDRQVAHHNSJOQ-UHFFFAOYSA-N 0.000 description 10
- 230000033001 locomotion Effects 0.000 description 6
- 238000010009 beating Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 229910000831 Steel Inorganic materials 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 239000010959 steel Substances 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000001681 protective effect Effects 0.000 description 2
- 101100233320 Saccharomyces cerevisiae (strain ATCC 204508 / S288c) IRC5 gene Proteins 0.000 description 1
- 125000004122 cyclic group Chemical group 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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- 238000003860 storage Methods 0.000 description 1
- 210000003437 trachea Anatomy 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- 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
-
- 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
- B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
- B24B21/006—Machines or devices using grinding or polishing belts; Accessories therefor for special purposes, e.g. for television tubes, car bumpers
-
- 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
- B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
- B24B21/008—Machines comprising two or more tools or having several working posts
-
- 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
- B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
- B24B21/18—Accessories
-
- 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
- B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
- B24B21/18—Accessories
- B24B21/20—Accessories for controlling or adjusting the tracking or the tension of the grinding belt
-
- 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
- B24B27/0023—Other grinding machines or devices grinding machines with a plurality of working posts
-
- 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
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/005—Feeding or manipulating devices specially adapted to grinding machines
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/12—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving optical means
-
- 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
- B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
- B24B55/06—Dust extraction equipment on grinding or polishing machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention provides a cast aluminum piece robot grinding workstation which comprises a double-station sliding table, a deburring machine, a polishing and wire drawing integrated machine and an industrial robot, wherein the double-station sliding table is arranged in a workstation main body and is used for conveying cast aluminum pieces to the industrial robot in turn; the industrial robot is used for transferring the cast aluminum piece to a specified working position of the deburring machine and the polishing and wire drawing integrated machine; the deburring machine is matched with the industrial robot to work and is used for deburring and turning over the cast aluminum piece conveyed to the position by the industrial robot; and the polishing and wire drawing integrated machine is matched with the industrial robot to work and is used for polishing and wire drawing the aluminum casting which is turned over and deburred by the industrial robot. The automatic deburring machine completes the polishing, wire drawing and deburring of workpieces through the coordination and the coordination of the robot and auxiliary machines such as the double-station sliding table, the polishing and wire drawing integrated machine, the deburring machine and the like, has high automation degree, low labor intensity and high production efficiency, and can realize the flexible processing of aluminum castings with different specifications.
Description
Technical Field
The invention relates to the technical field of automatic grinding and polishing processing, in particular to a polishing workstation of an aluminum casting robot.
Background
At present, most of products in industries such as die castings depend on manual work for polishing, the labor intensity of workers is high, the pollution is serious, the generated dust has great harm to the workers, the automation degree is low, the production speed is low, the production requirement can not be met, in addition, the product consistency is poor due to different proficiency of the workers, the reject ratio is high, along with the reduction of the number of the workers, the labor cost is improved, and an enterprise urgently needs to adopt automatic equipment to replace manual operation.
Disclosure of Invention
In order to solve the problems, the invention aims to provide a robot grinding workstation for the cast aluminum parts, which finishes the polishing, wire drawing and deburring processing of workpieces by the coordination and coordination of a robot and auxiliary machines such as a double-station sliding table, a polishing and wire drawing integrated machine, a deburring machine and the like, and has the advantages of high automation degree, low labor intensity and the like.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a robot grinding workstation for cast aluminum parts comprises a double-station sliding table, a deburring machine, a polishing and wire drawing all-in-one machine and an industrial robot, wherein the double-station sliding table, the deburring machine, the polishing and wire drawing all-in-one machine and the industrial robot are arranged in a workstation main body, the double-station sliding table is used for conveying the cast aluminum parts to the industrial robot in turn, the industrial robot is used for transferring the cast aluminum parts to a specified working position of the deburring machine and the polishing and wire drawing all-in-one machine, and the deburring machine and the industrial robot work in a matched mode and are used; and the polishing and wire drawing integrated machine is matched with the industrial robot to work and is used for polishing and wire drawing the aluminum casting which is turned over and deburred by the industrial robot.
Furthermore, the manipulator of the industrial robot adopts a six-degree-of-freedom manipulator, the manipulator is provided with a clamp, the clamp comprises a robot flange, a clamping cylinder, a finger and a clamping plate which are sequentially connected, the industrial robot is provided with a control system, the control system is used for driving and controlling the industrial robot to reach a specified working position, and the control system is provided with a master control PLC, a human-computer interaction interface HMI, a safety interlocking module, a safety protection module, a data acquisition module, a high-speed communication module and an abrasive belt monitoring module.
Further, the workstation main part includes panel beating room, workstation base, the panel beating room is installed and is used for providing closed workspace on the workstation base, be equipped with a plurality of equipment fixing panels on the workstation base and be used for making things convenient for duplex position slip table, burr-grinding machine, polishing wire drawing all-in-one and industrial robot's fixed mounting.
Further, the duplex position slip table includes frame, charging tray, slip table mechanism, guide rail, slider, hydraulic buffer, rodless cylinder, proximity switch and flexible dust cover, be equipped with the duplex position in the frame, all be equipped with guide rail, slider, rodless cylinder, proximity switch, hydraulic buffer, charging tray and slip table mechanism on every station, the top of slip table mechanism is equipped with the charging tray, slider and guide rail cooperation sliding connection are passed through to the bottom of slip table mechanism, rodless cylinder, hydraulic buffer install be used for driving slip table mechanism back-and-forth movement on the station, be equipped with proximity switch on the station and be used for detecting the position of slip table mechanism, every all set flexible dust cover on the station.
The sliding table mechanism comprises a stop block, a photoelectric detection plate, a sliding table plate, equal-height bolts and floating devices, the sliding table plate and the material tray are installed in a limiting mode through the four equal-height bolts, the four floating devices are arranged between the sliding table plate and the material tray, each floating device comprises a floating positioning pin, a floating positioning pin support, a compression spring and a straight bolt which are sequentially installed from bottom to top, the number of the photoelectric detection plates is four, and the four photoelectric detection plates are respectively arranged at four corners of the sliding table plate and used for being matched with the proximity switches to achieve distance position detection; two the dog is used for preventing both emergence dislocation with the charging tray cooperation.
Further, the deburring machine comprises a welding support, an electric spindle unit, a rotary clamping unit and a waste recovery disc, the waste recovery disc is installed on the welding support, the electric spindle unit and the rotary clamping unit are installed at two ends of the upper portion of the welding support and located above the waste recovery disc, the electric spindle unit is connected with a grinding tool through a spring chuck and used for removing flashes and burrs of the aluminum casting, and the rotary clamping unit is used for clamping the aluminum casting to turn over.
Furthermore, the rotary clamping unit comprises a rotary cylinder mounting seat, a rotary cylinder connecting plate and a clamping cylinder, wherein the rotary cylinder is fixedly mounted on the rotary cylinder mounting seat, the rotary cylinder is connected with the clamping cylinder through the rotary cylinder connecting plate, and a clamping part for clamping the aluminum casting is arranged at the front end of the clamping cylinder.
Further, the polishing and wire drawing integrated machine comprises an integrated machine body, an abrasive belt power mechanism, a polishing execution unit, a wire drawing wheel power mechanism and a wire drawing execution unit, wherein the abrasive belt power mechanism and the wire drawing wheel power mechanism are installed on the side face of the integrated machine body in a staggered mode, the polishing execution unit and the wire drawing execution unit are installed on the front face and the back face of the integrated machine body respectively, and the abrasive belt power mechanism and the wire drawing wheel power mechanism drive the polishing execution unit and the wire drawing execution unit to polish and draw wires respectively.
Furthermore, the polishing execution unit comprises an abrasive belt tensioning mechanism, a contact wheel and an abrasive belt, wherein the abrasive belt is driven by an abrasive belt power mechanism and is matched with the abrasive belt tensioning mechanism and the contact wheel to execute die casting polishing;
the abrasive belt tensioning mechanism comprises a tensioning cylinder mounting plate, a cylinder with a guide rod, a cylinder connecting plate, a drum type wheel mounting first side plate, a drum type wheel mounting second side plate, a mandrel and a drum type wheel, the cylinder with the guide rod is fixedly mounted on the integrated machine main body through the tensioning cylinder mounting plate, the drum type wheel mounting first side plate, the drum type wheel mounting second side plate and the cylinder connecting plate are fixedly connected to form a space for accommodating the drum type wheel, a deep groove ball bearing is arranged at the center of the drum type wheel, the deep groove ball bearing is rotatably connected between the drum type wheel mounting first side plate and the drum type wheel mounting second side plate through the mandrel, and the telescopic end of the cylinder with the guide rod is connected with the cylinder connecting plate and used for driving the drum type wheel to move back and forth so as to adjust;
one end of the mandrel is hinged to the first side plate for mounting the drum-shaped wheel through a pin shaft, the other end of the mandrel is limited in a limiting hole of the first side plate for mounting the drum-shaped wheel, and a certain gap is reserved in the limiting hole for small-amplitude swinging of the mandrel;
the abrasive belt deviation correcting device further comprises an adjusting block, wherein the adjusting block is located at the rear end of the limiting hole and is provided with an adjusting nut, and the adjusting nut is used for controlling the swinging space of the other end of the mandrel in the limiting hole so as to correct the abrasive belt;
still include horizontal regulating plate, the contact wheel is two, and every contact wheel all is in through horizontal regulating plate fixed mounting in the all-in-one main part, evenly be equipped with one row of pivot mounting hole on the horizontal regulating plate, the contact wheel rotates to be connected and installs in the pivot mounting hole.
Further, the wire drawing execution unit comprises a V-belt and a wire drawing wheel mechanism, the wire drawing wheel mechanism comprises an installation base, a tensioning adjusting plate, a tensioning adjusting block, a tensioning stop block, a detection photoelectric module, a V-shaped belt wheel, a wire drawing wheel, a rotating shaft and a wire drawing wheel clamping disc, the bottom of the installation base is fixed on the integrated machine main body, a telescopic rail in limit fit with the tensioning adjusting plate is arranged at the top of the installation base, the tensioning stop block is arranged at one end of the tensioning adjusting plate, the tensioning adjusting block matched with the tensioning stop block is arranged at the tail end of the top of the installation base, the tensioning stop block and the tensioning adjusting plate are driven by the tensioning adjusting block through an adjusting bolt to move back and forth in the telescopic rail, a positioning pin matched with the adjusting bolt is arranged on the tensioning stop block, the other end of the tensioning adjusting plate is rotatably connected, a wire drawing wheel is fixed at the other end of the rotating shaft, the outer end of the wire drawing wheel is limited and fixed through a wire drawing wheel clamping disc, a space for a V-shaped belt to pass through is formed in the middle of the mounting base, the V-shaped belt passes through the mounting base to be matched with a wire drawing wheel power mechanism and the V-shaped belt wheel for use, and the detection photoelectric module is fixedly mounted on the mounting base and used for detecting whether the V-shaped belt is broken or not;
the abrasive belt power mechanism comprises an explosion-proof motor, a motor extension shaft and a driving wheel, the explosion-proof motor drives the driving wheel to rotate through the motor extension shaft, the driving wheel is used for driving the abrasive belt to run at a high speed, and balancing weights are arranged on the abrasive belt power mechanism and the wire drawing wheel power mechanism and used for adjusting the balance degree of the integrated machine;
the all-in-one machine body comprises a base and a support framework, the support framework is arranged on the base, and the abrasive belt power mechanism and the wire drawing wheel power mechanism are arranged on the same side surface of the support framework in a staggered mode;
the waste collector is arranged at the other end of the integrated machine body, which is far away from the abrasive belt power mechanism and the wire drawing wheel power mechanism, and is used for collecting waste generated by polishing and wire drawing.
Has the advantages that: the automatic deburring machine completes the polishing, wire drawing and deburring of workpieces through the coordination and the coordination of the robot and auxiliary machines such as the double-station sliding table, the polishing and wire drawing integrated machine, the deburring machine and the like, has high automation degree, low labor intensity and high production efficiency, and can realize the flexible processing of aluminum castings with different specifications.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a first schematic perspective view of a polishing workstation of a robot for casting aluminum parts according to an embodiment of the present invention;
fig. 2 is a schematic perspective view of a second aluminum casting polishing workstation according to an embodiment of the present invention;
fig. 3 is a schematic view of a double-station sliding table of a polishing workstation of an aluminum casting robot according to an embodiment of the present invention;
FIG. 4 is a schematic perspective view of a double-station sliding table of a polishing workstation of an aluminum casting robot according to an embodiment of the invention;
fig. 5 is a schematic structural view of a sliding table mechanism of a double-station sliding table according to an embodiment of the present invention;
FIG. 6 is a schematic perspective structural view of a deburring machine of a grinding workstation of a robot for aluminum castings according to an embodiment of the present invention;
fig. 7 is a schematic perspective view of a rotary clamping unit of the deburring machine according to the embodiment of the present invention;
fig. 8 is a schematic front structural view of a polishing and wire drawing integrated machine of a grinding workstation of an aluminum casting robot according to an embodiment of the invention (removing a sheet metal protective cover);
fig. 9 is a schematic back structure view of the polishing and wire drawing integrated machine of the aluminum casting robot grinding workstation according to the embodiment of the invention (removing the sheet metal protective cover);
fig. 10 is a schematic perspective view of a belt tensioning mechanism of the integrated polishing and wire drawing machine according to an embodiment of the invention;
FIG. 11 is a schematic perspective view of a wire drawing wheel mechanism of the integrated polishing and wire drawing machine according to the embodiment of the invention;
fig. 12 is a schematic structural diagram of a belt power mechanism of the integrated polishing and wire drawing machine according to the embodiment of the invention;
fig. 13 is a schematic structural diagram of an industrial robot according to an embodiment of the present invention;
fig. 14 is a control flow chart of the workstation system according to the embodiment of the present invention.
Description of reference numerals:
1-a double-station sliding table,
10-a rack, 11-a material tray, 12-a sliding table mechanism, 120-a sliding table plate, 121-a floating positioning pin, 122-a floating positioning pin support, 123-a compression spring, 124-a-line bolt, 125-a stop dog, 126-a photoelectric detection plate, 13-a guide rail, 14-a sliding block, 15-a hydraulic buffer, 16-a rodless cylinder, 17-a proximity switch and 18-a telescopic dustproof cover;
2-a deburring machine is used for deburring,
20-welding support, 21-electric spindle unit, 22-rotary clamping unit, 220-rotary cylinder mounting seat, 221-rotary cylinder, 222-rotary cylinder connecting plate, 223-clamping cylinder, 23-waste recovery disc;
3-a polishing and wire drawing integrated machine,
30-an integrated machine body, 300-a base, 301-a supporting framework, 31-an abrasive belt power mechanism, 310-an explosion-proof motor, 311-a motor extension shaft, 312-a driving wheel, 32-a polishing execution unit, 320-an abrasive belt tensioning mechanism, 3200-a tensioning cylinder mounting plate, 3201-a guide rod cylinder, 3202-a cylinder connecting plate, 3203-a drum wheel mounting first side plate, 3204-a drum wheel mounting second side plate, 3205-a mandrel, 3206-a drum wheel, 3207-a pin shaft, 3208-a regulating block, 321-a contact wheel, 322-a transverse regulating plate, 323-a wire drawing wheel power mechanism, 33-a wire drawing wheel power mechanism, 34-a wire drawing execution unit, 340-a V belt, 341-an abrasive belt wheel mechanism, 3410-a mounting base and 3411-a tensioning regulating plate, 3412-tensioning adjusting block, 3413-tensioning block, 3414-detecting photoelectric module, 3415-V belt wheel, 3416-wire drawing wheel, 3417-wire drawing wheel clamping disc, 35-waste collector;
4-an industrial robot, wherein the robot is provided with a robot,
40-manipulator, 41-robot flange, 42-clamping cylinder, 43-finger and 44-clamping plate;
5-a sheet metal room;
6-workstation base.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
Example 1
Referring to FIGS. 1-14: a robot grinding workstation for cast aluminum parts comprises a double-station sliding table 1, a deburring machine 2, a polishing and wire drawing all-in-one machine 3 and an industrial robot 4 which are arranged in a workstation main body, wherein two groups of cast aluminum parts are arranged on the double-station sliding table 1 and are used for being conveyed to the industrial robot 4 in turn, the industrial robot 4 is used for transferring the cast aluminum parts to the specified working positions of the deburring machine 2 and the polishing and wire drawing all-in-one machine 3, and the deburring machine 2 and the industrial robot 4 work in a matched mode and are used for conveying the industrial robot 4 to the cast aluminum parts in place to be deburred and then turned; and the polishing and wire drawing integrated machine 3 and the industrial robot 4 work in a matched mode and are used for polishing and wire drawing the turned and deburred cast aluminum part conveyed by the industrial robot 4 in place.
According to the embodiment, the industrial robot can be controlled by the PLC to be matched with the double-station sliding table, the deburring machine and the polishing and wire drawing all-in-one machine, processes of feeding, deburring, polishing, wire drawing and the like of die castings are automatically realized, the production efficiency is greatly improved, the labor cost is reduced, and automatic grinding of the die castings is realized.
It should be noted that the industrial robot of this embodiment can return the cast aluminum after polishing and wire drawing to the assigned position that the duplex position slip table set gradually according to setting for the procedure requirement, and until a station of duplex position slip table is all processed, the station of duplex position slip table is alternated, continues the work operation, realizes incessant polishing processing operation.
Specifically, see fig. 13: the manipulator 40 of the industrial robot 4 adopts a six-degree-of-freedom manipulator, the manipulator 40 is provided with a clamp, the clamp comprises a robot flange 41, a clamping cylinder 42, a finger 43 and a clamping plate 44 which are sequentially connected, the industrial robot 4 is provided with a control system, the control system is used for driving and controlling the industrial robot 4 to reach a specified working position, and the control system is provided with a master control PLC, a human-computer interaction interface HMI, a safety interlocking module, a safety protection module, a data acquisition module, a high-speed communication module and an abrasive belt monitoring module.
It should be noted that, the manipulator of this embodiment can adopt an ABB IRB4600 six-axis manipulator, and is equipped with an IRC5 control system, when opening the emergency exit of panel beating room, the safety protection module starts, and equipment stops, can enter the work area to overhaul, when changing the product, can switch different programs in the HMI, realizes flexible processing.
In addition, the system is a high-automation integrated workstation system, and the labor cost is low. Referring to fig. 14: the workstation system adopts a high-instantaneity Profinet bus for communication connection, so that the instantaneity of communication is ensured, and the whole system is mainly divided into three layers.
1. A human-computer interaction interface and a master control PLC; 2. various types of controllers; 3. execution unit and acquisition unit
1. The PLC and the HMI are positioned at the top layer of the system and are responsible for data processing and program algorithms of the whole workstation. The HMI is mainly connected with the master control PLC through the Ethernet for data transmission, and receives data uploaded by all the acquisition units for storage and processing.
The master control PLC is the center of all units on site, is mainly used for motion control and data acquisition and transmission, for example, controls a deburring machine and a polishing and wire drawing integrated machine in a Profinet communication mode, reads and transmits data of a robot controller, sets polishing processing technological parameters, acquires data of various sensors on site,
2. the layer is mainly a controller and the like, for example: the system comprises a robot controller, a motion controller, a safety module, a data acquisition card and an Internet of things remote module;
3. the execution unit mainly comprises: the robot comprises a robot, an electric spindle, various motors, various valves, a physical button or an LED lamp and the like; the acquisition unit comprises various safety sensors, a limit switch, a laser sensor, a counting module and the like and is mainly responsible for field data acquisition.
Specifically, the workstation main part includes panel beating room 5, workstation base 6, panel beating room 5 is installed and is used for providing closed workspace on workstation base 6, be equipped with a plurality of equipment fixing panels on workstation base 6 and be used for making things convenient for duplex position slip table 1, burr-grinding machine 2, polishing wire drawing all-in-one 3 and industrial robot 4's fixed mounting.
It should be noted that the sheet metal house of the embodiment is of a closed structure, glass windows are reserved around the sheet metal house, an entrance and an exit of a safety door are reserved at one end of the sheet metal house, a lifting door is reserved at a loading station, when materials enter a workstation, the lifting door is opened, and the lifting door is closed after the materials are in place, so that dust leakage can be effectively reduced, closed polishing is realized, meanwhile, a lighting system is arranged in the sheet metal house, and the safety door can be interlocked with internal equipment; the workstation base is assembled through welding process by steel sheet and section bar and forms, and its inner structure leaves cable, trachea trough, can realize the concealed and walk the line, increases the pleasing to the eye degree of equipment, and the equipment fixing board is left to the upper surface simultaneously, makes things convenient for equipment fixing.
In a specific example, see fig. 4: duplex position slip table 1 includes frame 10, charging tray 11, slip table mechanism 12, guide rail 13, slider 14, hydraulic buffer 15, no pole cylinder 16, proximity switch 17 and flexible dust cover 18, be equipped with the duplex position on the frame 10, all be equipped with guide rail 13, slider 14, no pole cylinder 16, proximity switch 17, hydraulic buffer 15, charging tray 11 and slip table mechanism 12 on every station, the top of slip table mechanism 12 is equipped with charging tray 11, slider 14 and guide rail 13 cooperation sliding connection are passed through to the bottom of slip table mechanism 12, no pole cylinder 16, hydraulic buffer 15 install and are used for driving slip table mechanism 12 back-and-forth movement on the station, be equipped with proximity switch 17 on the station and be used for detecting the position of slip table mechanism 12, every all set flexible dust cover 18 on the station.
This embodiment arrives the assigned position when slip table mechanism to this triggers proximity switch, carries out the linkage through industrial robot and realizes incessant last unloading, convenient and fast.
Preferably, see fig. 5: the sliding table mechanism 12 comprises a stop block 125, photoelectric detection plates 126, a sliding table plate 120, equal-height bolts (not shown) and floating devices, the sliding table plate 120 and the material tray 11 are installed in a limiting mode through the four equal-height bolts, the four floating devices are arranged between the sliding table plate 120 and the material tray 11 and comprise floating positioning pins 121, floating positioning pin supports 122, compression springs 123 and straight bolts 124 which are sequentially installed from bottom to top, the number of the photoelectric detection plates 126 is four, and the four photoelectric detection plates are respectively arranged at four corners of the sliding table plate 120 and used for being matched with the proximity switches 17 to achieve distance position detection; the two stop blocks 125 are used for cooperating with the tray 11 to prevent the two from being misplaced.
It should be noted that, the four equal-height bolts of this embodiment are provided with installation gaps around, and the sliding plate and the tray can slightly sway from side to side and float up and down, so as to realize flexible grabbing of the robot.
The number of the material trays is two, when the material tray feeding device works, the two material trays are recycled, when the first material tray is used for feeding, the robot can grab the workpiece of the second material tray, when the second material tray is used for feeding, the robot can grab the workpiece of the first material tray, and continuous operation without stopping can be realized through the cyclic reciprocating motion, so that the working efficiency is greatly improved; in addition, the floating device on the sliding table mechanism increases the flexibility of the system, can compensate the positioning error when the robot grabs, realizes flexible grabbing, and avoids the damage of the robot gripper and the workpiece.
In a specific example, see fig. 6: the deburring machine 2 comprises a welding support 20, an electric spindle unit 21, a rotary clamping unit 22 and a waste recovery disc 23, the waste recovery disc 23 is installed on the welding support 20, the electric spindle unit 21 and the rotary clamping unit 22 are installed at two ends of the upper portion of the welding support 20 and located above the waste recovery disc 23, the electric spindle unit 21 is connected with a grinding tool through a spring chuck and used for removing burrs and flashes on an aluminum casting, and the rotary clamping unit 22 is used for clamping the aluminum casting to turn over.
It should be noted that the grinding tool of this embodiment may be a wire brush or a grinding head or other grinding tool.
In a specific implementation, see fig. 7: the rotary clamping unit 22 comprises a rotary cylinder mounting seat 220, a rotary cylinder 221, a rotary cylinder connecting plate 222 and a clamping cylinder 223, the rotary cylinder 221 is fixedly mounted on the rotary cylinder mounting seat 220, the rotary cylinder 221 is connected with the clamping cylinder 223 through the rotary cylinder connecting plate 222, and a clamping portion 224 is arranged at the front end of the clamping cylinder 223 and used for clamping the aluminum casting.
The tail end of the electric spindle is connected with grinding tools such as a steel brush and the like through a collet chuck, the robot clamps the outer surface of a workpiece, deburring operation on the inner side of the workpiece is achieved through tools such as the steel brush or a grinding head rotating at a high speed, 180-degree rotation is achieved through a rotating and clamping unit after burrs are removed, and the robot clamps the inner surface of the workpiece, so that polishing operation of the outer surface of the next procedure is performed.
In a specific example, see fig. 8-9: the polishing and wire drawing integrated machine 3 comprises an integrated machine body 30, an abrasive belt power mechanism 31, a polishing execution unit 32, a wire drawing wheel power mechanism 33 and a wire drawing execution unit 34, wherein the abrasive belt power mechanism 31 and the wire drawing wheel power mechanism 34 are installed on the side face of the integrated machine body 30 in a staggered mode, the polishing execution unit 32 and the wire drawing execution unit 33 are installed on the front face and the back face of the integrated machine body 30 respectively, and the abrasive belt power mechanism 31 and the wire drawing wheel power mechanism 33 drive the polishing execution unit 32 and the wire drawing execution unit 34 to polish and draw wires respectively.
The all-in-one machine of this embodiment structural design is rationally distributed, both can polish the die casting through polishing execution unit, wire drawing execution unit, can the wire drawing again, convenient and practical.
In a specific implementation, the polishing execution unit 32 includes a belt tensioning mechanism 320, a contact wheel 321 and a belt 322, and the belt 322 is driven by the belt power mechanism 31 and is used for executing die casting polishing in cooperation with the belt tensioning mechanism 320 and the contact wheel 321;
referring to fig. 10: the abrasive belt tensioning mechanism 320 comprises a tensioning cylinder mounting plate 3200, a cylinder with a guide rod 3201, a cylinder connecting plate 3202, a drum wheel mounting first side plate 3203, a drum wheel mounting second side plate 3204, a mandrel 3205 and a drum wheel 3206, wherein the cylinder with the guide rod 3201 is fixedly mounted on the integrated machine main body 30 through the tensioning cylinder mounting plate 3200, the drum wheel mounting first side plate 3203, the drum wheel mounting second side plate 3204 and the cylinder connecting plate 3202 are fixedly connected to form a space for accommodating the drum wheel 3206, a deep groove ball bearing is arranged in the center of the drum wheel 3206 and rotatably connected between the drum wheel mounting first side plate 3203 and the drum wheel mounting second side plate 3204 through the mandrel 3205, and a telescopic end of the cylinder with the guide rod 3201 is connected with the cylinder connecting plate 3202 to drive the drum wheel 3206 to move back and forth so as to adjust the tension of the abrasive belt 322;
the tensity of abrasive band is adjusted through taking the guide arm cylinder to this embodiment, when taking the guide arm cylinder to stretch out, can carry out the tensioning to the abrasive band, and easy operation easily realizes.
One end of the mandrel 3205 is hinged to the drum-shaped wheel mounting second side plate 3204 through a pin 3207, the other end of the mandrel 3205 is limited in a limiting hole of the drum-shaped wheel mounting first side plate 3203, and a certain gap is reserved in the limiting hole of the mandrel 3205 in front and back for small-amplitude swinging;
the mandrel of the embodiment can keep proper small swing in the limiting hole, so that certain floating is kept when the abrasive belt is polished, and the abrasive belt is prevented from being excessively tightened and cracked during polishing.
The abrasive belt 322 deviation correcting device further comprises an adjusting block 3208, the adjusting block 3208 is located at the rear end of the limiting hole, an adjusting nut is arranged on the adjusting block 3208, and the adjusting nut is used for controlling the swinging space of the other end of the mandrel 3205 in the limiting hole so as to correct the deviation of the abrasive belt 322;
the abrasive belt deviation rectifying device realizes the abrasive belt deviation rectifying and floating distance in different degrees through the adjusting nut, keeps a certain floating amount on the premise of keeping the precision, and prevents the abrasive belt from being damaged.
Still include horizontal regulating plate 323, contact wheel 321 is two, and every contact wheel 321 all through horizontal regulating plate 323 fixed mounting in on the all-in-one body 30, evenly be equipped with one row of pivot mounting hole on the horizontal regulating plate 323, contact wheel 321 rotates to connect to install in the pivot mounting hole.
The contact wheel of the embodiment adjusts the position of the contact wheel by selecting different rotating shaft mounting holes, so that the rotation direction and the position relation of the abrasive belt on the contact wheel are adjusted to a certain extent.
In a specific implementation, see fig. 11: the wire drawing execution unit 34 includes a V-belt 340 and a wire drawing wheel mechanism 341, the wire drawing wheel mechanism 341 includes a mounting base 3410, a tensioning adjustment plate 3411, a tensioning adjustment block 3412, a tensioning stop 3413, a detecting photoelectric module 3414, a V-belt wheel 3415, a wire drawing wheel 3416, a rotating shaft (not shown), and a wire drawing wheel clamping disc 3417, the bottom of the mounting base 3410 is fixed on the integrated machine body 30, the top of the mounting base 3410 is provided with a telescopic rail in limit fit with the tensioning adjustment plate 3411, one end of the tensioning adjustment plate 3411 is provided with a tensioning stop 3, the top end of the mounting base 3410 is provided with a tensioning adjustment block 3412 matched with the tensioning stop 3413, the tensioning adjustment block 3412 drives the tensioning stop 3413 and the tensioning adjustment plate 3411 to move back and forth in the telescopic rail through an adjustment bolt, the tensioning adjustment block 3413 is provided with a positioning pin matched with the adjustment bolt, the other end of the tensioning adjusting plate 3411 is rotatably connected with the rotating shaft through a bearing, a V-shaped belt wheel 3415 is fixed to one end of the rotating shaft, a wire drawing wheel 3416 is fixed to the other end of the rotating shaft, the outer end of the wire drawing wheel 3416 is limited and fixed through a wire drawing wheel clamping disc 3417, a space for the V-shaped belt 340 to pass through is formed in the middle of the mounting base 3410, the V-shaped belt 340 passes through the mounting base 3410 to be matched with the wire drawing wheel power mechanism 33 and the V-shaped belt wheel 3415 for use, and the detecting photoelectric module 3414 is fixedly mounted on the mounting base 3410 and used for detecting whether the V-;
the tensioning adjusting block of this embodiment orders about tensioning dog and tensioning regulating plate through adjusting bolt and thereby adjusts the elasticity in the flexible track back-and-forth movement, and in addition, this embodiment can detect whether the V area is disconnected through detecting photoelectric module, has increased wire drawing actuating mechanism's security.
Referring to fig. 12: the abrasive belt power mechanism 31 comprises an explosion-proof motor 310, a motor extension shaft 311 and a driving wheel 312, the explosion-proof motor 310 drives the driving wheel 312 to rotate through the motor extension shaft 311, the driving wheel 312 is used for driving the abrasive belt 322 to rotate at a high speed, and balancing weights are arranged on the abrasive belt power mechanism 31 and the wire drawing wheel power mechanism 33 and used for adjusting the balance degree of the integrated machine;
the integrated machine body 30 comprises a base 300 and a support framework 301, the support framework 301 is mounted on the base 300, and the abrasive belt power mechanism 31 and the wire drawing wheel power mechanism 33 are mounted on the same side surface of the support framework 301 in a staggered manner;
the abrasive belt power mechanism and the wire drawing wheel power mechanism are reasonable in design and layout, and the structure of the all-in-one machine is more compact.
The automatic wire drawing machine further comprises a waste collector 35, wherein the waste collector 35 is arranged at the other end, away from the abrasive belt power mechanism 31 and the wire drawing wheel power mechanism 33, of the integrated machine body 30 and used for collecting waste generated by polishing and wire drawing.
The waste collector of the embodiment can simultaneously collect and recycle waste generated in the polishing and wire drawing processes.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. A robot grinding workstation for aluminum castings is characterized by comprising a double-station sliding table, a deburring machine, a polishing and wire drawing all-in-one machine and an industrial robot, wherein the double-station sliding table, the deburring machine, the polishing and wire drawing all-in-one machine and the industrial robot are arranged in a workstation main body; and the polishing and wire drawing integrated machine is matched with the industrial robot to work and is used for polishing and wire drawing the aluminum casting which is turned over and deburred by the industrial robot.
2. The robot grinding workstation for aluminum castings according to claim 1, characterized in that a manipulator of the industrial robot adopts a six-degree-of-freedom manipulator, the manipulator is provided with a clamp, the clamp comprises a robot flange, a clamping cylinder, fingers and a clamping plate which are connected in sequence, the industrial robot is provided with a control system, the control system is used for driving and controlling the industrial robot to reach a specified working position, and the control system is provided with a master control PLC, a human-computer interaction interface HMI, a safety interlocking module, a safety protection module, a data acquisition module, a high-speed communication module and a sand belt monitoring module.
3. The cast aluminum robot grinding workstation of claim 1, characterized in that the workstation main body includes a sheet metal room and a workstation base, the sheet metal room is installed on the workstation base and is used for providing a closed working space, a plurality of equipment mounting plates are arranged on the workstation base and are used for facilitating the fixed installation of a double-station sliding table, a deburring machine, a polishing and wire drawing all-in-one machine and an industrial robot.
4. The cast aluminum robot polishing workstation of claim 1, characterized in that the double-station sliding table comprises a frame, a material tray, a sliding table mechanism, a guide rail, a sliding block, a hydraulic buffer, a rodless cylinder, a proximity switch and a telescopic dust cover, wherein the frame is provided with double stations, each station is provided with the guide rail, the sliding block, the rodless cylinder, the proximity switch, the hydraulic buffer, the material tray and the sliding table mechanism, the top of the sliding table mechanism is provided with the material tray, the bottom of the sliding table mechanism is in sliding connection with the guide rail through the sliding block in a matching manner, the rodless cylinder and the hydraulic buffer are installed on the stations and used for driving the sliding table mechanism to move back and forth, the stations are provided with the positions of the proximity switch for detecting the sliding table mechanism, and each station.
5. The robot grinding workstation for the aluminum castings according to claim 4, wherein the sliding table mechanism comprises a stop block, a photoelectric detection plate, a sliding table plate, equal-height bolts and floating devices, the sliding table plate and the charging tray are installed in a limiting mode through the four equal-height bolts, the four floating devices are arranged between the sliding table plate and the charging tray and comprise floating positioning pins, floating positioning pin supports, compression springs and straight bolts which are sequentially installed from bottom to top, the number of the photoelectric detection plates is four, and the four photoelectric detection plates are respectively arranged at four corners of the sliding table plate and used for being matched with proximity switches to achieve distance position detection; two the dog is used for preventing both emergence dislocation with the charging tray cooperation.
6. The cast aluminum robot grinding workstation as claimed in claim 1, wherein the deburring machine comprises a welding support, an electric spindle unit, a rotary clamping unit and a scrap recovery disc, the scrap recovery disc is mounted on the welding support, the electric spindle unit and the rotary clamping unit are mounted at two ends of the upper portion of the welding support and located above the scrap recovery disc, the electric spindle unit is connected with a grinding tool through a spring chuck and used for removing burrs and fins on the cast aluminum, and the rotary clamping unit is used for clamping the cast aluminum to turn over.
7. The robot grinding workstation for aluminum castings according to claim 6, wherein the rotary clamping unit comprises a rotary cylinder mounting seat, a rotary cylinder connecting plate and a clamping cylinder, the rotary cylinder mounting seat is fixedly provided with the rotary cylinder, the rotary cylinder is connected with the clamping cylinder through the rotary cylinder connecting plate, and the front end of the clamping cylinder is provided with a clamping portion for clamping the aluminum castings.
8. The robot grinding workstation for the aluminum castings according to claim 1, wherein the polishing and wire drawing integrated machine comprises an integrated machine body, an abrasive belt power mechanism, a polishing execution unit, a wire drawing wheel power mechanism and a wire drawing execution unit, the abrasive belt power mechanism and the wire drawing wheel power mechanism are installed on the side face of the integrated machine body in a staggered mode, the polishing execution unit and the wire drawing execution unit are installed on the front face and the back face of the integrated machine body respectively, and the abrasive belt power mechanism and the wire drawing wheel power mechanism drive the polishing execution unit and the wire drawing execution unit to polish and draw wires respectively.
9. The cast aluminum robot grinding workstation of claim 8, wherein the polishing execution unit comprises a belt tensioning mechanism, a contact wheel and a belt, the belt is driven by a belt power mechanism and is matched with the belt tensioning mechanism and the contact wheel for executing die casting polishing;
the abrasive belt tensioning mechanism comprises a tensioning cylinder mounting plate, a cylinder with a guide rod, a cylinder connecting plate, a drum type wheel mounting first side plate, a drum type wheel mounting second side plate, a mandrel and a drum type wheel, the cylinder with the guide rod is fixedly mounted on the integrated machine main body through the tensioning cylinder mounting plate, the drum type wheel mounting first side plate, the drum type wheel mounting second side plate and the cylinder connecting plate are fixedly connected to form a space for accommodating the drum type wheel, a deep groove ball bearing is arranged at the center of the drum type wheel, the deep groove ball bearing is rotatably connected between the drum type wheel mounting first side plate and the drum type wheel mounting second side plate through the mandrel, and the telescopic end of the cylinder with the guide rod is connected with the cylinder connecting plate and used for driving the drum type wheel to move back and forth so as to adjust;
one end of the mandrel is hinged to the first side plate for mounting the drum-shaped wheel through a pin shaft, the other end of the mandrel is limited in a limiting hole of the first side plate for mounting the drum-shaped wheel, and a certain gap is reserved in the limiting hole for small-amplitude swinging of the mandrel;
the abrasive belt deviation correcting device further comprises an adjusting block, wherein the adjusting block is located at the rear end of the limiting hole and is provided with an adjusting nut, and the adjusting nut is used for controlling the swinging space of the other end of the mandrel in the limiting hole so as to correct the abrasive belt;
still include horizontal regulating plate, the contact wheel is two, and every contact wheel all is in through horizontal regulating plate fixed mounting in the all-in-one main part, evenly be equipped with one row of pivot mounting hole on the horizontal regulating plate, the contact wheel rotates to be connected and installs in the pivot mounting hole.
10. The robot grinding workstation for aluminum castings according to claim 8, wherein the wire drawing execution unit comprises a V-belt and a wire drawing wheel mechanism, the wire drawing wheel mechanism comprises a mounting base, a tensioning adjusting plate, a tensioning adjusting block, a tensioning stop block, an optoelectronic module, a V-shaped belt wheel, a wire drawing wheel, a rotating shaft and a wire drawing wheel clamping disc, the bottom of the mounting base is fixed on the integrated machine main body, the top of the mounting base is provided with a telescopic rail in limit fit with the tensioning adjusting plate, one end of the tensioning adjusting plate is provided with a tensioning stop block, the tail end of the top of the mounting base is provided with the tensioning adjusting block in fit with the tensioning stop block, the tensioning adjusting block drives the tensioning stop block and the tensioning adjusting plate to move back and forth in the telescopic rail through an adjusting bolt, the tensioning stop block is provided with a positioning pin in fit, the other end of the tensioning adjusting plate is rotatably connected with the rotating shaft through a bearing, a V-shaped belt wheel is fixed at one end of the rotating shaft, a wire drawing wheel is fixed at the other end of the rotating shaft, the outer end of the wire drawing wheel is limited and fixed through a wire drawing wheel clamping disc, a space for a V-shaped belt to pass through is arranged in the middle of the mounting base, the V-shaped belt passes through the mounting base to be matched with a wire drawing wheel power mechanism and the V-shaped belt wheel for use, and the detection photoelectric module is fixedly mounted on the mounting base and used for detecting whether the V-;
the abrasive belt power mechanism comprises an explosion-proof motor, a motor extension shaft and a driving wheel, the explosion-proof motor drives the driving wheel to rotate through the motor extension shaft, the driving wheel is used for driving the abrasive belt to run at a high speed, and balancing weights are arranged on the abrasive belt power mechanism and the wire drawing wheel power mechanism and used for adjusting the balance degree of the integrated machine;
the all-in-one machine body comprises a base and a support framework, the support framework is arranged on the base, and the abrasive belt power mechanism and the wire drawing wheel power mechanism are arranged on the same side surface of the support framework in a staggered mode;
the waste collector is arranged at the other end of the integrated machine body, which is far away from the abrasive belt power mechanism and the wire drawing wheel power mechanism, and is used for collecting waste generated by polishing and wire drawing.
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