CN210499580U - Robot cutting system for removing fleshing and riser root of steel casting - Google Patents
Robot cutting system for removing fleshing and riser root of steel casting Download PDFInfo
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- CN210499580U CN210499580U CN201921427612.3U CN201921427612U CN210499580U CN 210499580 U CN210499580 U CN 210499580U CN 201921427612 U CN201921427612 U CN 201921427612U CN 210499580 U CN210499580 U CN 210499580U
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Abstract
The utility model discloses a robot cutting process steel casting increases system of getting rid of meat and rising head root, including arm (3), arm (3) are through pivot (6) and robot main part swing joint, arm (3) side-mounting has camera device (5) and range unit (4), cutter (2) of polishing are installed to the bottom of arm (3), cutter (2) of polishing are located work piece (1) top of polishing. The utility model discloses a camera device and range unit mutually support, when the cutter of polishing polishes according to the corresponding orbit of polishing under camera device's guide, range unit is polishing the work piece of polishing and is finding range, and then judges whether the work piece information of polishing that range unit recorded is unanimous with the work piece information of polishing that camera device gathered, has improved the precision that the mechanization was polished, reduces processing robot's fault rate.
Description
Technical Field
The utility model belongs to the technical field of foundry goods equipment, concretely relates to robot cutting processing steel casting increases system of getting rid of meat and rising head root.
Background
In the modern society, China is on the way of high-speed development, the mechanization degree is higher and higher, the proportion occupied in production is higher and higher, the casting industry is taken as one of the basic production industries of China, the casting industry has an important role in the economy of China, the casting industry has an important role in the national development and has direct influence on the production and operation of enterprises. In the process of casting production, the casting produced by the previous procedure can reach the production standard only after surface processing, the casting processing adopts a mode of finishing processing through each production flow and each machine tool, and the mechanical processing line is more and more extensive; in particular, in the manufacturing industries of aerospace, automobiles and the like, parts are complex casting parts. For example, parts such as an automobile hub, an engine cylinder body, a cylinder cover, a crankshaft, calipers, a bracket and a steering knuckle, such as a casing of an airplane and the like, casting heads, flash and fleshing of the parts need to be automatically polished aiming at all parts rather than a single part, and the requirement on the size of a starting point, namely a casting part, is very high. Therefore, the grinding track has an important influence on automatic grinding, the accuracy of the track determines the surface quality of a machined workpiece, but in the prior art, the mechanical grinding track is deviated, and a machining robot has a working fault.
Therefore, there is a need to provide a robotic machining steel casting fleshing and riser root removal system to further reduce the incidence of the above-mentioned defects.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a robot cutting processing steel casting increases system of getting rid of meat and rising head root for still there is the mechanized orbit of polishing to appear the deviation among the solution prior art, and processing robot breaks down's problem.
In order to achieve the above object, the utility model adopts the following technical scheme:
the robot cutting steel casting fleshing and riser root removing system comprises a mechanical arm, wherein the mechanical arm is movably connected with a robot main body through a rotating shaft, a camera device and a distance measuring device are arranged on the side surface of the mechanical arm, a polishing cutter is arranged at the bottom end of the mechanical arm, and the polishing cutter is positioned above a polishing workpiece;
the mechanical arm is further provided with an industrial control device, the industrial control device comprises a microprocessor, a data memory, a communication device, a polishing driver, a rotating shaft driver and a power supply, the microprocessor is respectively connected with the camera device, the distance measuring device, the data memory, the polishing driver, the rotating shaft driver and the communication device, and the camera device is used for acquiring image information of a polished workpiece in real time and sending the image information to the microprocessor; the distance measuring device is used for collecting distance information between the polishing workpiece and the mechanical arm in real time and sending the distance information to the microprocessor; the data memory is used for storing standard grinding track information suitable for various grinding workpieces and standard distance information between the corresponding grinding workpieces and the mechanical arm; the communication device is used for data interaction between the microprocessor and the control center; the grinding driver is used for driving the grinding cutter under the instruction of the microprocessor; the rotating shaft driver is used for driving the rotating shaft under the instruction of the microprocessor; the power supply is used for supplying power to the industrial control device, the camera device and the distance measuring device; the microprocessor is used for reading the image information collected by the camera device, matching standard polishing track information corresponding to the image information from the data memory, respectively sending corresponding polishing instructions and rotation instructions to the polishing driver and the rotating shaft driver, reading the distance information collected by the distance measuring device, matching the type of the polishing workpiece corresponding to the distance information from the data memory, and further judging whether the polishing workpiece corresponding to the distance information is consistent with the polishing workpiece collected by the camera device in real time.
Through the above scheme, camera device and range unit's mutually support, when the cutter of polishing polishes according to the orbit of polishing correspondingly under camera device's guide, range unit is carrying out the work piece of polishing and is finding range, and then judge whether the work piece information of polishing that range unit recorded is unanimous with the work piece information of polishing that camera device gathered, the orbit of polishing in real time of avoiding the robot is inconsistent with the standard orbit of polishing that corresponds the work piece, the precision of mechanical polishing has been improved, the fault rate of processing robot is reduced.
Furthermore, the industrial control device further comprises an abnormity alarm device, the abnormity alarm device is connected with the microprocessor, and the abnormity alarm device is used for giving an alarm when the microprocessor judges that the grinding workpiece corresponding to the distance information acquired by the distance measuring device is inconsistent with the grinding workpiece acquired by the camera device in real time.
Through the scheme, when the polishing workpiece information measured by the distance measuring device is judged to be inconsistent with the polishing workpiece information acquired by the camera device, the abnormity warning device can timely remind workers on site, the workers can quickly react, the polishing fault time is reduced, and meanwhile, the industrial loss caused by faults is also reduced.
Furthermore, the abnormity alarm device comprises a loudspeaker sound alarm circuit and an LED flash lamp alarm circuit.
Through above-mentioned scheme, the dual function of audible alarm and flash light warning further ensures that the staff can perceive abnormal alarm information smoothly, effectively avoids the warning invalidation that the unicity of abnormal alarm leads to, reduces the duration of abnormal situation.
Furthermore, the grinding tool and the mechanical arm are detachably connected.
Through above-mentioned scheme, the cutter of polishing is with the work piece adaptation of polishing, consequently, when the work piece different kinds of polishing, need replace the cutter of polishing, then can dismantle to be connected with and do benefit to the switching of cutter of polishing, is favorable to the general hua nature of this system.
Further, the camera device is a CCD industrial camera or a CMOS industrial camera.
By the scheme, the precision of the CCD industrial camera or the CMOS industrial camera is very high, the acquired image information is clearer and more reliable, and the polishing precision of the robot is increased.
Further, the distance measuring device is a laser distance measuring sensor.
Through the scheme, the distance measuring precision of the laser distance measuring sensor is very high, and the accuracy is very critical as the feedback information of the grinding workpiece, so that the grinding precision of the robot is ensured.
Further, the rotating shaft is a cardan shaft.
Through the scheme, the polishing tool can smoothly run according to the polishing track.
Further, the communication device comprises a wired transmission device and/or a wireless transmission device, and the wireless transmission device comprises one or more of WIFI, Bluetooth, 3G, 4G and 5G.
Through the scheme, the type of the communication device can be selected according to the processing field environment, and smooth communication is facilitated.
The utility model has the beneficial technical effects that: the utility model discloses a camera device and range unit mutually support, when the cutter of polishing is polished according to corresponding polishing orbit under camera device's guide, the work piece of polishing that range unit is polishing is measured the distance, and then judges whether the work piece information of polishing that range unit recorded is unanimous with the work piece information of polishing that camera device gathered, has improved the precision of mechanized polishing, reduces the fault rate of processing robot; and when judging that whether the polishing workpiece information measured by the distance measuring device is inconsistent with the polishing workpiece information collected by the camera device, the abnormity warning device can timely remind workers on site, the workers can quickly react, the polishing fault time is reduced, and meanwhile, the industrial loss caused by the fault is also reduced.
Drawings
Fig. 1 is a schematic circuit diagram according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of an embodiment of the present invention.
Wherein, the rotating shaft 6
Grinding workpiece 1
And (5) grinding the cutter 2.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to fig. 1-2 of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Example (b):
as shown in fig. 1 and 2, the system for machining the steel casting and removing the root of the riser by the robot comprises a mechanical arm 3, wherein the mechanical arm 3 is movably connected with a robot main body through a rotating shaft 6, a camera device 5 and a distance measuring device 4 are installed on the side surface of the mechanical arm 3, a grinding tool 2 is installed at the bottom end of the mechanical arm 3, and the grinding tool 2 is located above a grinding workpiece 1;
the mechanical arm 3 is further provided with an industrial control device, the industrial control device comprises a microprocessor, a data memory, a communication device, a polishing driver, a rotating shaft driver and a power supply, the microprocessor is respectively connected with the camera device 5, the distance measuring device 4, the data memory, the polishing driver, the rotating shaft driver and the communication device, and the camera device 5 is used for acquiring image information of the polishing workpiece 1 in real time and sending the image information to the microprocessor; the distance measuring device 4 is used for collecting distance information between the grinding workpiece 1 and the mechanical arm 3 in real time and sending the distance information to the microprocessor; the data memory is used for storing standard grinding track information suitable for various grinding workpieces 1 and standard distance information between the corresponding grinding workpieces 1 and the mechanical arm 3; the communication device is used for data interaction between the microprocessor and the control center; the grinding driver is used for driving the grinding cutter 2 under the instruction of the microprocessor; the rotating shaft driver is used for driving the rotating shaft 6 under the instruction of the microprocessor; the power supply is used for supplying power to the industrial control device, the camera device 5 and the distance measuring device 4; the microprocessor is used for reading the image information acquired by the camera device 5, matching standard polishing track information corresponding to the image information from the data storage, respectively sending corresponding polishing instructions and rotation instructions to the polishing driver and the rotating shaft driver, reading the distance information acquired by the distance measuring device 4, matching the type of the polishing workpiece 1 corresponding to the distance information from the data storage, and further judging whether the polishing workpiece 1 corresponding to the distance information is consistent with the polishing workpiece 1 acquired by the camera device 5 in real time.
Through the above scheme, camera device and range unit's mutually support, when the cutter of polishing polishes according to the orbit of polishing correspondingly under camera device's guide, range unit is carrying out the work piece of polishing and is finding range, and then judge whether the work piece information of polishing that range unit recorded is unanimous with the work piece information of polishing that camera device gathered, the orbit of polishing in real time of avoiding the robot is inconsistent with the standard orbit of polishing that corresponds the work piece, the precision of mechanical polishing has been improved, the fault rate of processing robot is reduced.
Furthermore, the industrial control device further comprises an abnormity alarm device, the abnormity alarm device is connected with the microprocessor, and the abnormity alarm device is used for giving an alarm when the microprocessor judges that the grinding workpiece corresponding to the distance information acquired by the distance measuring device is inconsistent with the grinding workpiece acquired by the camera device in real time.
Through the scheme, when the polishing workpiece information measured by the distance measuring device is judged to be inconsistent with the polishing workpiece information acquired by the camera device, the abnormity warning device can timely remind workers on site, the workers can quickly react, the polishing fault time is reduced, and meanwhile, the industrial loss caused by faults is also reduced.
Furthermore, the abnormity alarm device comprises a loudspeaker sound alarm circuit and an LED flash lamp alarm circuit.
Through above-mentioned scheme, the dual function of audible alarm and flash light warning further ensures that the staff can perceive abnormal alarm information smoothly, effectively avoids the warning invalidation that the unicity of abnormal alarm leads to, reduces the duration of abnormal situation.
Furthermore, the grinding tool and the mechanical arm are detachably connected.
Through above-mentioned scheme, the cutter of polishing is with the work piece adaptation of polishing, consequently, when the work piece different kinds of polishing, need replace the cutter of polishing, then can dismantle to be connected with and do benefit to the switching of cutter of polishing, is favorable to the general hua nature of this system.
Further, the camera device is a CCD industrial camera or a CMOS industrial camera.
By the scheme, the precision of the CCD industrial camera or the CMOS industrial camera is very high, the acquired image information is clearer and more reliable, and the polishing precision of the robot is increased.
Further, the distance measuring device is a laser distance measuring sensor.
Through the scheme, the distance measuring precision of the laser distance measuring sensor is very high, and the accuracy is very critical as the feedback information of the grinding workpiece, so that the grinding precision of the robot is ensured.
Further, the rotating shaft is a cardan shaft.
Through the scheme, the polishing tool can smoothly run according to the polishing track.
Further, the communication device comprises a wired transmission device and/or a wireless transmission device, and the wireless transmission device comprises one or more of WIFI, Bluetooth, 3G, 4G and 5G.
Through the scheme, the type of the communication device can be selected according to the processing field environment, and smooth communication is facilitated.
On the basis of the embodiment, cutting allowances for fleshing and riser roots are usually left on the surface of the large steel casting after heat treatment, and the fleshing and riser cutting allowances need to be removed when the casting is finished. Generally, the cast iron is removed by carbon arc gouging and grinding to meet the size requirement of the cast. The operation process is that firstly, the line is drawn manually and the line is repaired and planed in place. Arc gouging is a process in which a high-temperature electric arc generated between a carbon electrode and a metal is used to locally heat the metal to a molten state, and a high-speed stream of compressed air is used to blow off the molten metal.
The existing method can generate larger noise, dust and arc light in operation, and pollute the environment, and no better method is available for reducing the noise and the dust, so that occupational deafness and pneumoconiosis can be generated if an operator is not protected properly in the operation process; the operation is carried out manually according to experience, so that the false cutting is easy to generate; a carbon-increasing layer is formed on the surface of the casting, and the carbon-increasing layer is not completely removed in later polishing, so that quality problems such as later cracks are easily caused.
On the basis of the embodiment, a robot cutting device for the surface of the steel casting is adopted, and a special constant-pressure milling head is utilized to automatically remove the meat increase and riser cutting allowance according to a programmed program. Confirming the meat increasing and riser cutting allowance removing part. And (4) clearly removing the cutting allowance of the feeder head and the casting shape of the corresponding part, and carrying out menu type automatic programming by adopting an off-line programming means and the like. Automatically finding the position according to the identification system of the meat increasing and the riser root. The special constant-pressure milling head automatically removes the meat increase and the root of the riser according to a preset program. And finishing the meat augmentation and the riser root removal.
Preferably, (1) determining the parts and shapes of the fleshing and riser roots which need to be cleaned, automatically programming a machining track by using an off-line programming system through a computer, automatically programming a program compiled by automatically planning and machining tracks, automatically guiding the program into a six-axis industrial robot control system, automatically locating according to a defective part identification system, automatically cleaning the parts and shapes of the fleshing and riser roots which need to be cleaned according to a preset program for the defective part by using a special constant-pressure milling head, and automatically machining and removing the parts by using the special constant-pressure milling head; (2) determining the part to be removed, automatically programming the machining track by using an off-line programming system through a computer, automatically programming and automatically leading the programmed machining track into a six-axis industrial robot control system, automatically searching the position according to the part removing identification system, and automatically removing the meat increasing and riser cutting allowance by using the special constant-pressure milling head according to a preset program to reach the required size.
By the scheme, noise and dust can be effectively avoided, the dust is changed into recyclable steel scraps, and the cleaning environment is improved; but also can keep the original structure and components of the casting on the surface of the clear segment; the device can also be accurately positioned and accurately removed, and effectively avoids excessive removal to cause later repair welding.
In the description of the present invention, it should be understood that the terms "counterclockwise", "clockwise", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description of the present invention, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.
Claims (8)
1. The system for removing the repousse and the riser root of the steel casting by cutting machining of the robot is characterized by comprising a mechanical arm (3), wherein the mechanical arm (3) is movably connected with a robot main body through a rotating shaft (6), a camera device (5) and a distance measuring device (4) are installed on the side surface of the mechanical arm (3), a polishing cutter (2) is installed at the bottom end of the mechanical arm (3), and the polishing cutter (2) is located above a polishing workpiece (1);
the mechanical arm (3) is further provided with an industrial control device, the industrial control device comprises a microprocessor, a data memory, a communication device, a polishing driver, a rotating shaft driver and a power supply, the microprocessor is respectively connected with the camera device (5), the distance measuring device (4), the data memory, the polishing driver, the rotating shaft driver and the communication device, and the camera device (5) is used for acquiring image information of the polished workpiece (1) in real time and sending the image information to the microprocessor; the distance measuring device (4) is used for collecting distance information between the grinding workpiece (1) and the mechanical arm (3) in real time and sending the distance information to the microprocessor; the data memory is used for storing standard grinding track information suitable for various grinding workpieces (1) and standard distance information between the corresponding grinding workpieces (1) and the mechanical arm (3); the communication device is used for data interaction between the microprocessor and the control center; the grinding driver is used for driving the grinding cutter (2) under the instruction of the microprocessor; the rotating shaft driver is used for driving the rotating shaft (6) under the instruction of the microprocessor; the power supply is used for supplying power to the industrial control device, the camera device (5) and the distance measuring device (4); the microprocessor is used for reading the image information collected by the camera device (5), sending corresponding polishing instructions and rotation instructions to the polishing driver and the rotating shaft driver respectively, and reading the distance information collected by the distance measuring device (4).
2. The system for the robotic machining of the fleshing of the steel casting and the removal of the root of the riser according to claim 1, wherein the industrial control device further comprises an abnormality alarm device, the abnormality alarm device is connected with the microprocessor, and the abnormality alarm device is used for alarming when the microprocessor judges that the grinding workpiece (1) corresponding to the distance information collected by the distance measuring device (4) is inconsistent with the grinding workpiece (1) collected by the camera device (5) in real time.
3. The robotic plunge cut cast fleshing and riser root removal system of claim 2, wherein the anomaly warning device comprises a speaker audible warning circuit or an LED flashing light warning circuit.
4. The robotic machining steel casting fleshing and riser root removal system of claim 1, wherein said grinding tool (2) is removably connected to said robotic arm (3).
5. The robotic machining steel casting fleshing and riser root removal system of claim 1, wherein the camera device (5) is a CCD industrial camera or a CMOS industrial camera.
6. The robotic machining steel casting fleshing and riser root removal system of claim 1, wherein the distance measuring device (4) is a laser distance measuring sensor.
7. The robotic machining steel casting fleshing and riser root removal system of claim 1, wherein the rotating shaft (6) is a cardan shaft.
8. The robotic plunge cutting cast fleshing and riser root removal system of claim 1, wherein said communication device comprises a wired transmission device and/or a wireless transmission device comprising one or more of WIFI, bluetooth, 3G, 4G, 5G.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201921427612.3U CN210499580U (en) | 2019-08-29 | 2019-08-29 | Robot cutting system for removing fleshing and riser root of steel casting |
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| CN201921427612.3U CN210499580U (en) | 2019-08-29 | 2019-08-29 | Robot cutting system for removing fleshing and riser root of steel casting |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110421436A (en) * | 2019-08-29 | 2019-11-08 | 四川智能创新铸造有限公司 | The removal system of robot machining steel-casting increasing meat and riser root |
| CN116619245A (en) * | 2023-06-25 | 2023-08-22 | 国网青海省电力公司海北供电公司 | Polishing control method and system based on climbing-free polishing device |
-
2019
- 2019-08-29 CN CN201921427612.3U patent/CN210499580U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110421436A (en) * | 2019-08-29 | 2019-11-08 | 四川智能创新铸造有限公司 | The removal system of robot machining steel-casting increasing meat and riser root |
| CN116619245A (en) * | 2023-06-25 | 2023-08-22 | 国网青海省电力公司海北供电公司 | Polishing control method and system based on climbing-free polishing device |
| CN116619245B (en) * | 2023-06-25 | 2024-01-26 | 国网青海省电力公司海北供电公司 | Polishing control method and system based on climbing-free polishing device |
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