WO2022037194A1

WO2022037194A1 - Large casting grinding device

Info

Publication number: WO2022037194A1
Application number: PCT/CN2021/098915
Authority: WO
Inventors: 汪涛
Original assignee: 汪涛
Priority date: 2020-08-19
Filing date: 2021-06-08
Publication date: 2022-02-24
Also published as: CN112059818A

Abstract

A large casting grinding device, comprising a grinding device body (9), the grinding device body (9) comprising a heavy casting conveying RGV system (1), a robot system (2), a flexible grinding system (3), a tool library (4), a water cooling machine (5), a main control cabinet (6), a hydraulic system (7) and a protection system (8). The heavy casting conveying RGV system (1) is placed on a side surface of the robot system (2); the flexible grinding system (3) is installed on the robot system (2), and the robot system (2) and a grinding worktable of the heavy casting conveying RGV system (1) are surrounded by the protection system (8); and the tool library (4), the main control cabinet (6), the water cooling machine (5) and the hydraulic system (7) are installed around the protection system (8).

Description

A large casting grinding equipment

technical field

The invention relates to the technical field of casting grinding, in particular to a large casting grinding equipment.

Background technique

In the grinding process of large castings with robots and other multi-axis equipment, due to the large size of the castings, the grinding tool of the robot cannot completely cover all the required grinding areas of the casting during the grinding process; large castings often have multiple The molds are spliced and cast, so the shape error is relatively large, which increases the difficulty and uncertainty of trajectory grinding. Therefore, there are few successful cases of using automatic grinding equipment for grinding large castings.

In addition, the harsh environment of casting grinding has a great negative impact on the stability and service life of the conveying equipment of the grinding unit.

SUMMARY OF THE INVENTION

The purpose of the present invention is to propose a large-scale casting grinding equipment in order to solve the problem that the harsh environment of casting grinding has a large negative impact on the stability and service life of the conveying equipment of the grinding unit.

In order to achieve the above object, the present invention adopts the following technical solutions:

A large casting grinding equipment includes a grinding equipment body, the grinding equipment body includes a heavy casting conveying RGV system, a robot system, a flexible grinding system, a tool magazine, a chiller, a main control cabinet, a hydraulic system and a protection system. The casting conveying RGV system is placed on the side of the robot system, the flexible grinding system is installed on the robot system, the robot system and the grinding table of the heavy casting conveying RGV system are surrounded by a protective system, the tool magazine, the main control Cabinets, chillers and hydraulic systems are installed around the protective system.

Preferably, the heavy casting conveying RGV system has one or more grinding stations.

Preferably, the walking trolley in the heavy casting conveying RGV system has a lifting and rotating mechanism, so that the walking trolley has lifting and rotating functions, and the robot system can completely cover the grinding range of the workpiece by rotating the tooling plate.

Preferably, the flexible grinding system is provided with a positioning component, through which the position of the feature point of the heavy casting can be identified, and the robot can be guided to grind the position where the casting needs to be ground, and its precision and strength can meet the precision and strength required for grinding want.

Preferably, all electrical systems in the heavy-duty casting conveying RGV system are installed on the walking trolley, and during the casting grinding stage, the walking trolley stays outside the area of the protective system, so that adverse environmental factors such as dust and sparks during the grinding process are eliminated. Minimal impact on stability and longevity of heavy-duty casting conveying RGV systems.

Preferably, the trolley in the heavy-duty casting conveying RGV system is provided with a cleaning component, through which the metal burrs and debris on the ground can be pushed to the collection position when the trolley is running, so as to ensure that the trolley will not have any Obstruction and reduce the workload of manual ground clearance.

In the present invention, when the large-scale casting grinding unit of the present invention is used, the heavy-duty casting conveying RGV system has one or more grinding stations. The walking trolley in the heavy-duty casting conveying RGV system has the functions of lifting and rotating. The tooling plate can be moved linearly by the walking trolley, and the workpiece can be rotated to 90 degrees or 180 degrees. Using the flexibility of the robot, it can completely cover all the grinding range of the workpiece. The positioning components in the flexible grinding system can identify the positions of the feature points of heavy castings, and guide the robot to grind the positions of the castings that need to be ground. Its precision and strength can meet the precision and strength requirements for grinding. All electrical systems in the heavy-duty casting conveying RGV system are installed on the walking trolley, and during the casting grinding stage, the walking trolley stays outside the area of the protective system, so that adverse environmental factors such as dust, sparks and other adverse environmental factors during the grinding process will affect the heavy casting conveying RGV system. The impact on equipment stability and longevity is minimized. The sweeping components configured by the walking trolley in the heavy-duty casting conveying RGV system can push the metal burrs and debris on the ground to the collection position when the trolley is traveling, ensuring that the trolley does not move during the traveling process. Any obstructions and reduce the workload of manual ground clearance.

Description of drawings

FIG. 1 is a schematic front view structure diagram of a large-scale casting grinding equipment proposed by the present invention.

In the picture: 1. Heavy casting conveying RGV system, 2. Robot system, 3. Flexible grinding system, 4. Tool magazine, 5. Chiller, 6. Main control cabinet, 7. Hydraulic system, 8. Protection system, 9. Grinding equipment body.

detailed description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments.

1 , a large-scale casting grinding equipment includes a grinding equipment body 9, and the grinding equipment body 9 includes a heavy-duty casting conveying RGV system 1, a robot system 2, a flexible grinding system 3, a tool magazine 4, a chiller 5, and a main control cabinet 6 , hydraulic system 7 and protection system 8, heavy casting conveying RGV system 1 is placed on the side of robot system 2, flexible grinding system 3 is installed on robot system 2, robot system 2 and heavy casting conveying RGV system 1 around the grinding table Surrounded by a protection system 8 , the tool magazine 4 , the main control cabinet 6 , the chiller 5 and the hydraulic system 7 are installed around the protection system 8 .

In the present invention, the heavy-duty casting conveying RGV system has one or more grinding stations, and the traveling trolley in the heavy castings conveying RGV system 1 has a lifting and rotating mechanism, so that the traveling trolley has the functions of lifting and rotating, and can rotate the tooling plate. Let the robot system completely cover the grinding range of the workpiece. There is a positioning component in the flexible grinding system 3. Through the positioning component, the position of the feature points of the heavy casting can be identified, and the robot can be guided to grind the position where the casting needs to be ground. Its precision and strength can meet the grinding requirements. For the required precision and strength, all electrical systems in the heavy-duty casting conveying RGV system 1 are installed on the walking trolley, and during the casting grinding stage, the walking trolley stays outside the protection system area, so that dust and sparks during the grinding process are eliminated. The impact of other adverse environmental factors on the stability and life of the heavy casting conveying RGV system is minimized. The walking trolley in the heavy casting conveying RGV system 1 is equipped with a cleaning component. The cleaning component can remove metal burrs and debris on the ground when the trolley travels. The swarf is pushed to the collection position to ensure that the trolley will not have any obstructions during the walking process, and reduce the workload of manual ground cleaning.

In the present invention, the worker lifts the workpiece and places it on the tooling plate, and then calls the corresponding grinding program in the system according to the model of the workpiece. The walking trolley of the heavy-duty conveying RGV system 1 is lifted up, holds up the tooling plate, and then carries the tooling plate. After walking to the first set grinding station, stop, the walking trolley descends, place the tooling plate on the grinding table, and exit the area of the protection system 8. The robot system 2 carries the flexible grinding system 3 to carry out the feature points of the workpiece. Positioning and importing the corresponding coordinates into the system, the robot system 2 adjusts the grinding track according to the obtained coordinate data of the feature points, and uses its own flexibility to grind the workpiece at this station. If all the grinding work of the workpiece cannot be completed in one station, The walking trolley of the heavy-duty conveying RGV system 1 enters the protection system 8, and according to the set program, the tooling plate is transported to the next most suitable grinding station to continue the grinding work, or the tooling plate is rotated 90 degrees or 180 degrees, and then the tooling plate is moved. The plate is sent to the set grinding position, the walking trolley is lowered, and the tooling plate is placed on the grinding table for grinding. If this is repeated, until all the grinding work of the workpiece is completed, when the robot grinds the casting, the walking trolley of the RGV system 1 is transported heavily. Always stay outside the protective area, and every time you enter the protective area, the metal burrs and debris on the ground will be pushed to the collection position, ensuring that the trolley will not have any obstructions during the walking process, and reducing the workload of manual ground cleaning.

The above description is only a preferred embodiment of the present invention, but the protection scope of the present invention is not limited to this. The equivalent replacement or change of the inventive concept thereof shall be included within the protection scope of the present invention.

Claims

A large casting grinding equipment, comprising a grinding equipment body (9), characterized in that, the grinding equipment body (9) comprises a heavy casting conveying RGV system (1), a robot system (2), a flexible grinding system (3), Tool magazine (4), chiller (5), main control cabinet (6), hydraulic system (7) and protection system (8), the heavy casting conveying RGV system (1) is placed on the side of the robot system (2) , the flexible grinding system (3) is installed on the robot system (2), the robot system (2) and the grinding table of the heavy casting conveying RGV system (1) are surrounded by a protective system (8), the The tool magazine (4), the main control cabinet (6), the chiller (5) and the hydraulic system (7) are installed around the protection system (8).
A large casting grinding equipment according to claim 1, characterized in that, the heavy casting conveying RGV system (1) has one or more grinding stations.
The large-scale casting grinding equipment according to claim 1, characterized in that the traveling trolley in the heavy-duty casting conveying RGV system (1) is provided with a lifting and rotating mechanism.
The large-scale casting grinding equipment according to claim 1, characterized in that, a positioning assembly is provided in the flexible grinding system (3).
The large-scale casting grinding equipment according to claim 1, characterized in that, all electrical systems in the heavy-duty casting conveying RGV system (1) are arranged on a traveling trolley.
The large-scale casting grinding equipment according to claim 1, characterized in that, the traveling trolley in the heavy-duty casting conveying RGV system (1) is provided with a cleaning component.