Equipment for removing burrs at junction of machining surface and blank surface of metal casting

Abstract

The invention relates to the technical field of metal casting machining, in particular to metal casting machining surface and blank surface junction burr removing equipment which comprises a truss robot, a gripper placing table, a tool magazine, a positioner, a safety fence, a discharging bin, a quick change system, a newly-added truss protection and control cabinet. According to the metal casting burr removing equipment, through the high-precision positioning and grabbing capacity of the truss robot and the visual recognition technology of the 3D visual machine, high-precision scanning and positioning of workpieces are achieved. In this way, it is guaranteed that the workpiece is accurately placed on the positioner, and the truss robot can accurately remove burrs of all parts of the workpiece according to the generated polishing path. And meanwhile, the automation degree of the equipment is extremely high, and the truss robot can automatically replace the cutter as required, so that the production efficiency is greatly improved. Through the combination of high precision and automation, the equipment has remarkable advantages in the field of metal casting machining.

Description

Technical Field

[0001] The invention relates to the technical field of metal casting processing, in particular to a device for removing burrs at the interface between a metal casting processing surface and a blank surface. Background Art

[0002] In the field of machining, burr removal at the junction of the machining surface and the blank surface of the casting has always been a technical problem, which exists not only in China, but also abroad. Especially in the automated manufacturing process of automobile differential housings, workpieces after automatic line processing often have burr and flash problems. The generation of these burrs and flash is mainly due to plastic deformation during the cutting process, or residues from processing processes such as casting and die forging. In order to improve production efficiency, the cutting time is often compressed, which leads to incomplete cutting of the differential housing, especially at the window position, between the hole and the casting surface, where irregular burrs and flash often remain.

[0003] At present, manual deburring is the main method for dealing with burrs and flash on differential housings. However, this method is not only inefficient, but also cannot meet the needs of modern automated production lines. Although attempts have been made to complete deburring work through robot teaching, the differential housing will undergo local deformation during the production process, and the existing 3D camera recognition technology cannot effectively identify these deformations, resulting in the deviation data given to the robot being incompatible with the local deformation of the product itself. Therefore, the robot often has the problem of burrs and flash remaining during the deburring process.

[0004] In addition, grinding sharp edges in internal machining is also a challenge, as these areas are often difficult to reach and require high grinding accuracy. At the same time, the insensitive response of floating tools can easily lead to secondary burrs and overcutting. Summary of the invention

[0005] (I) Purpose of the invention

[0006] In view of this, the purpose of the present invention is to provide a burr removal device at the interface between the machined surface and the blank surface of a metal casting, which solves the problems raised in the above background.

[0007] (II) Technical solution

[0008] A burr removal device at the junction of a metal casting processing surface and a blank surface, comprising a truss robot, a gripper platform, a tool magazine, a positioner, a safety fence, a material unloading bin, a quick-change system, a newly added truss protection and a control cabinet, wherein the control cabinet must be grounded separately, and the grounding resistance is less than 1Ω, the quick-change system comprises a first quick-change plate and a second quick-change plate, the outer surface of the truss robot is provided with a pipeline package and a 3D vision machine, the outer surface of the top of the gripper platform is fixedly installed with two sets of bracket plates, and the tops of the two sets of bracket plates are installed with an electric spindle and a material unloading gripper, The tool magazine includes a fixed seat, a support column is fixedly installed on the top outer surface of the fixed seat, and a top plate is fixedly installed on the top of the support column, a slide rail is fixedly installed on the top outer surface of the top plate, and a tool placement table is movably installed on the inner wall of the slide rail, the tool placement table can be equipped with a tool position, and a first cylinder is connected to one side of the tool placement table, the first cylinder is fixedly installed on the top outer surface of the top plate, a limit plate is fixedly installed on the outer surface of one side of the support column, and a two-axis rotation station and a phase change station are arranged inside the positioner.

[0009] Preferably, the truss robot realizes quick replacement of the electric spindle and the unloading gripper through the first quick-change plate and the second quick-change plate.

[0010] Preferably, the 3D vision machine is mobile and installed on a gripper bracket. It locates the workpiece on the pallet through vision and guides the truss robot to grasp it, thereby meeting the workpiece positioning accuracy requirements.

[0011] Preferably, positioning pins are provided on the outer surfaces of the two-axis rotation station and the phase changing station.

[0012] Preferably, a plurality of groups of air blowing pipelines are arranged on the outer surface of the positioner, and an iron chip receiving tray is movably installed at the bottom end of the positioner, and a handle is connected to one end of the iron chip receiving tray.

[0013] Preferably, a robot base is fixedly installed at the bottom end of the truss robot, and a plurality of groups of reinforcement plates are fixedly installed inside the robot base.

[0014] Preferably, the safety fence adopts an integral design, consisting of a steel pipe frame structure and a metal grid, and a safety door is provided on one side of the safety fence.

[0015] Preferably, an electric spindle connecting plate and a hand gripper connecting plate are fixed to the outer surface of one side of the electric spindle and the unloading hand gripper, and a first quick-change plate is fixedly installed on one side of the electric spindle connecting plate and the hand gripper connecting plate, respectively. The bottom end of the electric spindle is connected to a tool handle, and one end of the tool handle is connected to a tool.

[0016] Preferably, one end of the two groups of support plates and limit plates are both provided with a dustproof mechanism, the dustproof mechanism includes a second cylinder, and one end of the second cylinder is connected to the first clamping plate, one end of the first clamping plate is movably connected to a movable frame, and one end of the movable frame is movably installed with a protective cover, the bottom end of the movable frame is connected to the second clamping plate, one end of the second clamping plate is connected to a positioning plate, and the positioning plate is fixedly connected to the support plate and the limit plate, respectively.

[0017] Preferably, the truss robot is provided with a collapse platform within its operating range, and the collapse platform has a water receiving tray to prevent the cutting fluid from falling to the ground.

[0018] It can be seen from the above technical solutions that the present application has the following beneficial effects:

[0019] 1. The metal casting deburring equipment realizes high-precision scanning and positioning of the workpiece through the high-precision positioning and grasping capabilities of the truss robot and the visual recognition technology of the 3D vision machine. This not only ensures the accurate placement of the workpiece on the positioner, but also enables the truss robot to accurately remove burrs from various parts of the workpiece according to the generated grinding path. At the same time, the equipment has a very high degree of automation, and the truss robot can automatically change the tool as needed, thereby greatly improving production efficiency. This combination of high precision and automation gives the equipment a significant advantage in the field of metal casting processing.

[0020] 2. The invention has very good safety protection measures throughout the entire operation process. The design of the safety fence and safety door effectively prevents people from mistakenly entering the work area and ensures the safety of the operation process. The truss robot will only operate automatically when the safety door is fully closed. This design further enhances the safety of the equipment. In addition, the dustproof mechanism will always remain in working condition. When the truss robot is performing burr removal operations, the dustproof mechanism will promptly cover the quick-change plate and tool placement table of the gripper or electric spindle with a protective cover to prevent chips or particles from falling onto their outer surfaces. These comprehensive safety protection measures ensure that the equipment not only ensures production efficiency, but also ensures the safety of operators.

[0021] 3. The cleaning and maintenance of the equipment are fully considered during the design and manufacturing process of the equipment of the present invention. The multiple groups of air blowing pipelines on the positioner can be used to clean the positioning surface and iron chips of the workstation by air blowing, ensuring the cleanliness and positioning accuracy of the workstation. The iron chips will be collected in the iron chip receiving tray and cleaned manually regularly. This design not only facilitates the maintenance of the equipment, but also extends the service life of the equipment. At the same time, each component of the equipment adopts high-quality materials and manufacturing processes to ensure the stability and reliability of the equipment. This emphasis on equipment cleaning and maintenance enables the equipment to maintain a good performance state during long-term use, bringing greater economic benefits to users. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a deburring process flow chart of the present invention;

[0023] Figure 2 It is a schematic diagram of the overall device of the present invention;

[0024] Figure 3 This is a schematic diagram of the gripper placement platform structure of the present invention;

[0025] Figure 4 This is a schematic diagram of the first structure of the tool magazine of the present invention;

[0026] Figure 5 This is a schematic diagram of the second structure of the tool magazine of the present invention;

[0027] Figure 6 This is a schematic diagram of the structure of the truss robot of the present invention;

[0028] Figure 7 It is a schematic diagram of the structure of the positioner of the present invention;

[0029] Figure 8 This is a schematic diagram of the structure of the 3D vision machine of the present invention;

[0030] Fig. 9 This is a schematic diagram of the structure of the electric spindle of the present invention;

[0031] Fig.10 This is a schematic diagram of the structure of the blanking gripper of the present invention;

[0032] Fig.11 It is a schematic diagram of the structure of the quick-change disk of the present invention;

[0033] Fig.12 For the present invention Figure 5 Enlarged schematic diagram at point A in the middle.

[0034] In the figure: 1. Truss robot; 2. Gripper platform; 3. Tool magazine; 4. Positioner; 5. Safety fence; 6. Safety door; 7. Unloading bin; 8. Protective cover; 9. First quick-change plate; 911. Second quick-change plate; 912. 3D vision machine; 913. Collapse platform; 111. Robot base; 112. Reinforcement plate; 211. Electric spindle; 212. Unloading gripper; 213. Bracket plate; 214. Electric spindle connection plate; 215. Tool handle; 216. Tool; 217. Gripper connecting plate; 311, fixed seat; 312, top plate; 313, slide rail; 314, tool placement table; 315, first cylinder; 316, support column; 317, limit plate; 411, two-axis rotation station; 412, phase-changing station; 413, positioning pin; 414, air blowing pipeline; 415, iron chip receiving tray; 416, handle; 811, movable frame; 812, second cylinder; 813, first clamping plate; 814, positioning plate; 815, second clamping plate. DETAILED DESCRIPTION

[0035] The following description is merely exemplary in nature and is not intended to limit the present disclosure, application, and use. It should be understood that in all of these figures, the same or similar reference numerals indicate the same or similar parts and features. The various drawings only schematically represent the concepts and principles of the embodiments of the present disclosure, and do not necessarily show the specific dimensions and proportions of the various embodiments of the present disclosure. Specific parts in specific drawings may be exaggerated to illustrate the relevant details or structures of the embodiments of the present disclosure.

[0036] See also Figure 1-12 , an embodiment provided by the present invention:

[0037] A burr removal device at the junction of a metal casting processing surface and a blank surface, comprising a truss robot 1, a gripper platform 2, a tool magazine 3, a positioner 4, a safety fence 5, a material unloading bin 7, a quick-change system, a newly added truss protection and a control cabinet, the control cabinet must be grounded separately, and the grounding resistance is less than 1Ω, the quick-change system comprises a first quick-change disk 9 and a second quick-change disk 911, the outer surface of the truss robot 1 is provided with a pipeline package and a 3D vision machine 912, the pipeline package is selected according to the requirements to meet the robot's rotation angle, cable, and air pipe diameter, which greatly prolongs the bending life of the cable, the outer surface of the top of the gripper platform 2 is fixedly installed with two sets of bracket plates 213, and the tops of the two sets of bracket plates 213 are installed with electric spindles 211 and unloading grippers 212, the tool magazine 3 comprises a fixed seat 311, A support column 316 is fixedly installed on the top outer surface of the fixed seat 311, and a top plate 312 is fixedly installed on the top of the support column 316, a slide rail 313 is fixedly installed on the top outer surface of the top plate 312, and a tool placement table 314 is movably installed on the inner wall of the slide rail 313, the tool placement table 314 can be equipped with 6 tool positions, and one side of the tool placement table 314 is connected to a first cylinder 315, the first cylinder 315 is fixedly installed on the top outer surface of the top plate 312, and the tool placement table 314 is pushed by the first cylinder 315, and can be moved out of the fence when the tool is replaced, without affecting the normal operation of the automatic line, a limit plate 317 is fixedly installed on the outer surface of one side of the support column 316, and the interior of the positioner 4 is provided with a two-axis rotation station 411 and a phase changing station 412.

[0038] Furthermore, the truss robot 1 realizes the rapid replacement of the electric spindle 211 and the unloading gripper 212 through the first quick-change plate 9 and the second quick-change plate 911, thereby completing the burr removal of various parts of the workpiece. In the meantime, the tool is automatically replaced from the tool magazine according to the characteristics of the burrs on different parts of the workpiece; after the deburring is completed, the truss robot 1 automatically replaces the unloading gripper 212, grabs the workpiece from the positioner and places it in the unloading bin, the gripper is used to clamp the workpiece to load and unload the machine tool fixture, and the unloading gripper 212 adopts a two-hand gripper structure, one gripper is responsible for grabbing the blank, and the other gripper is responsible for grabbing the finished workpiece, and the gripper has a mechanical self-locking function to ensure that the fixture will not fall when the power is cut off and the air is cut off.

[0039] Furthermore, the 3D vision machine 912 is mobile and installed on a gripper bracket. It visually locates the workpiece on the pallet and guides the truss robot 1 to grasp it, thereby meeting the workpiece positioning accuracy requirements. When the truss robot 1 is loading, the 3D vision machine 912 scans and locates the workpiece → the truss robot 1 grabs the positioning point workpiece in turn.

[0040] Furthermore, positioning pins 413 are provided on the outer surfaces of the two-axis rotation station 411 and the phase-changing station 412 to ensure the angular position accuracy of the workpiece.

[0041] Furthermore, the outer surface of the positioner 4 is provided with a plurality of groups of air blowing pipes 414, which can be used to clean the work station positioning surface and iron filings by air blowing, and an iron filing receiving tray 415 is movably installed at the bottom end of the positioner 4, and a handle 416 is connected to one end of the iron filing receiving tray 415. The iron filings are collected in the iron filing receiving tray 415 and are cleaned manually regularly, and the handle 416 facilitates operation.

[0042] Furthermore, a robot base 111 is fixedly installed at the bottom end of the truss robot 1 , and a plurality of reinforcement plates 112 are fixedly installed inside the robot base 111 . The plurality of reinforcement plates 112 increase the overall stability, and the robot base 111 is used to fix the truss robot 1 .

[0043] Furthermore, the safety fence 5 adopts an integral design, consisting of a steel pipe frame structure and a metal grid, and a safety door 6 is provided on one side of the safety fence 5 to protect the safety interlock door. Only when the safety door is in a completely closed state, the truss robot 1 is allowed to operate automatically. In order to prevent other people from entering the working area, the safety door 6 plays a safety role. The detection switch stops the mechanical equipment when people are maintaining the equipment, and there are alarms and warning lights.

[0044] Furthermore, an electric spindle connecting plate 214 and a hand gripper connecting plate 217 are fixed to the outer surfaces of one side of the electric spindle 211 and the unloading gripper 212, and a first quick-change disk 9 is fixedly installed on one side of the electric spindle connecting plate 214 and the hand gripper connecting plate 217, respectively. The bottom end of the electric spindle 211 is connected to a tool handle 215, and one end of the tool handle 215 is connected to a tool 216, and the electric spindle 211 can be quickly replaced through the first quick-change disk 9; the electric spindle can automatically replace the ISO20 tool handle to realize automatic and quick replacement of tools of different types. The unloading gripper 212 is a single-hand gripper structure, and there is signal feedback for clamping and releasing. It is equipped with air pressure protection to prevent loosening and falling function and self-locking function, and the clamping force is safe and reliable.

[0045] Furthermore, one end of the two groups of support plates 213 and the limit plate 317 are both provided with a dustproof mechanism, which includes a second cylinder 812, and one end of the second cylinder 812 is connected to the first clamping plate 813, one end of the first clamping plate 813 is movably connected to the movable frame 811, and one end of the movable frame 811 is movably installed with a protective cover 8, the bottom end of the movable frame 811 is connected to the second clamping plate 815, one end of the second clamping plate 815 is connected to the positioning plate 814, and the positioning plate 814 is fixedly connected to the support plate 213 and the limit plate 317 respectively. Under the push of the cylinder, the protective cover 8 covers the quick-change disk of the gripper or the electric spindle and the tool placement table 314 to prevent chips or particles from falling onto their outer surfaces.

[0046] Furthermore, the operating range of the truss robot 1 is provided with a collapse platform 913, and the collapse platform 913 has a water receiving tray to prevent the cutting fluid from falling to the ground.

[0047] Working principle: First, the truss robot 1 places the processed workpiece accurately on the fixture of the positioner 4, ensuring that the large end of the workpiece faces upward. This step relies on the high-precision positioning and grasping capabilities of the truss robot 1. Next, the truss robot 1 grabs the 3D vision machine 912 and performs a comprehensive scan of the workpiece according to the preset path. The 3D vision machine 912 generates a three-dimensional model of the workpiece through high-precision visual recognition technology, and compares it with the preset grinding path to accurately determine the location and range of burrs that need to be removed. After completing the scan, the truss robot 1 grabs the electric spindle 211 and the appropriate tool it is equipped with according to the generated grinding path, and removes burrs from various parts of the large end of the workpiece. During the operation, the truss robot 1 will automatically change the tool as needed to ensure that burrs in different parts can be thoroughly removed. At the same time, the positioner 4 will adjust the position of the workpiece as needed so that the truss robot 1 can smoothly operate on all parts that need to be polished. After completing the removal of burrs on the large end, the positioner 4 will perform a reversing operation on the workpiece so that the small end of the workpiece faces upward. Then, the truss robot 1 removes burrs on the outside of the small end and inside the window again according to the preset path and tool. Similarly, during the operation, the truss robot 1 will automatically change the tool as needed to ensure that the burrs on all parts can be thoroughly removed. After completing all burr removal operations, the truss robot 1 will automatically change to the unloading gripper 212, grab the workpiece from the fixture of the positioner 4, and accurately place it in the unloading bin 7. The unloading gripper 212 adopts a double-handed gripper structure, one gripper is responsible for grabbing the blank, and the other gripper is responsible for grabbing the finished workpiece, ensuring the stability and accuracy of the grabbing process. During the entire operation, the dustproof mechanism will always remain in working condition. When the truss robot 1 is performing burr removal operations, the dust-proof mechanism will promptly cover the quick-change plate of the gripper or electric spindle and the tool placement table 314 with the protective cover 8 to prevent chips or particles from falling onto their outer surfaces. At the same time, the multiple sets of air-blowing pipelines 414 on the positioner 4 will also perform air-blowing cleaning on the workstation positioning surface and iron filings to ensure the cleanliness and positioning accuracy of the workstation. The iron filings will be collected in the iron filing tray 415 and manually cleaned regularly. During the entire operation process, the safety fence 5 and the safety door 6 always play an important protective role. Only when the safety door 6 is in a completely closed state is the truss robot 1 allowed to operate automatically. At the same time, the steel pipe frame structure and metal grid design of the safety fence 5 can also effectively prevent personnel from mistakenly entering the work area, ensuring the safety of the operation process.

[0048] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and range of equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A burr removal device at the interface between the machined surface and the blank surface of a metal casting, characterized in that: The invention comprises a truss robot (1), a gripper platform (2), a tool magazine (3), a positioner (4), a safety fence (5), a material unloading bin (7), a quick-change system, a newly added truss protection and a control cabinet. The control cabinet must be grounded separately, and the grounding resistance is less than 1Ω. The quick-change system comprises a first quick-change disk (9) and a second quick-change disk (911). The outer surface of the truss robot (1) is provided with a pipeline package and a 3D vision machine (912). Two groups of bracket plates (213) are fixedly installed on the outer surface of the top of the gripper platform (2), and the tops of the two groups of bracket plates (213) are provided with an electric spindle (211) and a material unloading gripper (212). The tool magazine (3) comprises a fixed seat (311), and the top of the fixed seat (311) is provided with a 3D vision machine (912). A support column (316) is fixedly mounted on the outer surface of the end, and a top plate (312) is fixedly mounted on the top of the support column (316), a slide rail (313) is fixedly mounted on the outer surface of the top of the top plate (312), and a tool placement platform (314) is movably mounted on the inner wall of the slide rail (313), the tool placement platform (314) can be equipped with 6 tool positions, and a first cylinder (315) is connected to one side of the tool placement platform (314), the first cylinder (315) is fixedly mounted on the outer surface of the top of the top plate (312), a limiting plate (317) is fixedly mounted on the outer surface of one side of the support column (316), and a two-axis rotation station (411) and a phase-changing station (412) are arranged inside the positioner (4).

2. The burr removal device at the interface between the machined surface and the blank surface of a metal casting according to claim 1, characterized in that: The truss robot (1) realizes the rapid replacement of the electric spindle (211) and the unloading gripper (212) through the first quick-change disk (9) and the second quick-change disk (911).

3. The burr removal device at the interface between the machined surface and the blank surface of a metal casting according to claim 1, characterized in that: The 3D vision machine (912) is mobile and installed on a gripper bracket. It locates the workpiece on the pallet through vision and guides the truss robot (1) to grasp the workpiece, thereby meeting the workpiece positioning accuracy requirements.

4. The burr removal device at the interface between the machined surface and the blank surface of a metal casting according to claim 1, characterized in that: Positioning pins (413) are provided on the outer surfaces of the two-axis rotation station (411) and the phase-changing station (412).

5. The burr removal device at the interface between the machined surface and the blank surface of a metal casting according to claim 1, characterized in that: The outer surface of the positioner (4) is provided with a plurality of groups of air blowing pipelines (414), and an iron chip receiving tray (415) is movably installed at the bottom end of the positioner (4), and one end of the iron chip receiving tray (415) is connected to a handle (416).

6. The burr removal device at the interface between the machined surface and the blank surface of a metal casting according to claim 1, characterized in that: A robot base (111) is fixedly mounted on the bottom end of the truss robot (1), and a plurality of sets of reinforcement plates (112) are fixedly mounted inside the robot base (111).

7. The burr removal device at the interface between the machined surface and the blank surface of a metal casting according to claim 1, characterized in that: The safety fence (5) adopts an integral design and is composed of a steel pipe frame structure and a metal grid, and a safety door (6) is arranged on one side of the safety fence (5).

8. The burr removal device at the interface between the machined surface and the blank surface of a metal casting according to claim 1, characterized in that: An electric spindle connection plate (214) and a hand gripper connection plate (217) are fixed to the outer surfaces of one side of the electric spindle (211) and the unloading hand gripper (212), and a first quick-change plate (9) is fixedly installed on one side of the electric spindle connection plate (214) and the hand gripper connection plate (217), respectively. The bottom end of the electric spindle (211) is connected to a tool handle (215), and one end of the tool handle (215) is connected to a tool (216).

9. The burr removal device at the interface between the machined surface and the blank surface of a metal casting according to claim 1, characterized in that: One end of the two groups of support plates (213) and limit plates (317) is provided with a dustproof mechanism, the dustproof mechanism comprises a second cylinder (812), one end of the second cylinder (812) is connected to a first clamping plate (813), one end of the first clamping plate (813) is movably connected to a movable frame (811), and one end of the movable frame (811) is movably mounted with a protective cover (8), the bottom end of the movable frame (811) is connected to a second clamping plate (815), one end of the second clamping plate (815) is connected to a positioning plate (814), and the positioning plate (814) is fixedly connected to the support plate (213) and the limit plate (317), respectively.

10. The burr removal device at the interface between the machined surface and the blank surface of a metal casting according to claim 1, characterized in that: The truss robot (1) is provided with a collapse platform (913) within its operating range, and the collapse platform (913) has a water receiving tray to prevent cutting fluid from falling onto the ground.

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