An automated grinding method for a casting combination

Abstract

The present invention relates to an automated grinding method for a casting combination, comprising the following steps: (1) loading the casting; (2) forming a casting combination body with two castings and the spacer bracket therebetween; (3) placing the casting combination body on a grinding jig for side grinding; (4) turning the casting combination body by 90° to stand upright for re-grinding by the grinding mechanism; (5) the transfer jig respectively clamps the two castings to exchange the positions of the two castings, and the grinding mechanism performs re-grinding to ensure that the upper and lower surfaces of the casting are completely ground; (6) completing the grinding and outputting the ground casting. The present invention can meet the simultaneous grinding of multiple workpieces under different working conditions, has a wide variety of grinding types and high compatibility of grinding postures, improves the automated production capacity, and can replace multiple sets of grinding equipment under similar processes, saving costs.

Description

Technical Field

[0001] The present invention belongs to the technical field of automation, and particularly relates to an automatic grinding method for casting combinations. Background Art

[0002] In the automation process, as a fixture platform for casting grinding, it is widely used. Conventional grinding uses manual or single-workpiece grinding by equipment, and only one workpiece can be ground each time. The production efficiency is not high, the output within the working cycle is limited, and the demand for output growth cannot be met.

[0003] Currently, most methods increase the parallel grinding equipment to increase the output. However, this is equivalent to increasing the equipment for the entire process. While the output doubles, the equipment investment cost will also increase exponentially, and the goal of cost reduction and efficiency improvement cannot be achieved.

[0004] In summary, there is an urgent need to provide an automatic grinding method for casting combinations that can meet the simultaneous grinding of multiple workpieces under different working conditions and save costs. Summary of the Invention

[0005] The purpose of the present invention is to provide an automatic grinding method for casting combinations that can meet the simultaneous grinding of multiple workpieces under different working conditions and save costs.

[0006] The above purpose is achieved through the following technical solutions: An automatic grinding method for casting combinations includes the following steps:

[0007] (1) Casting loading: Load the casting onto the transfer support mechanism;

[0008] (2) Clamp the casting and place it on the combined bracket, clamp the spacer bracket and place it on the casting in step (2), and then grab another casting and place it on the spacer bracket. The two castings and the spacer bracket between them form a casting combination;

[0009] (3) The transfer robot uses the transfer fixture to clamp the casting combination in step (2) and place it on the grinding jig. The grinding mechanism grinds the side surfaces of the castings in the casting combination;

[0010] (4) The transfer robot uses the transfer fixture to pick up the ground casting combination in step (3), perform a 90° attitude flip and place it upright. The clamping and pressing parts on the grinding jig pre-press the casting combination, and the grinding mechanism performs re-grinding;

[0011] (5) The transfer robot uses the transfer fixture to clamp the two castings in the casting combination respectively. The clamping and pressing parts on the grinding jig are loosened. The transfer fixture clamps the two castings respectively to exchange the positions of the two castings. The clamping parts on the grinding jig pre-press the casting combination, and the grinding mechanism performs re-grinding to ensure that the upper and lower surfaces of the castings are completely ground;

[0012] (6) Complete grinding and output the ground casting.

[0013] Among them, the grinding tool includes a bearing bottom plate, a rotary pressing device, a first support plate and a second support plate arranged on the bearing bottom plate. The rotary pressing device is arranged between the first support plate and the second support plate. Support ear seats, spacer positioning columns and spacer support columns are provided on both the first support plate and the second support plate. The support ear seats are provided with profiling curved surfaces, and the spacer support columns are provided with concave curved surfaces. In step (3), the transfer fixture clamps the casting assembly from the combined bracket and places it flat on the grinding tool. The support ear seats contact a plurality of support surfaces arranged on the bottom surface of the casting assembly workpiece to ensure stable placement of the workpiece. In step (4), after the casting assembly is placed upright, the spacer positioning columns and the spacer support columns contact the spacer brackets of the casting assembly and are limited by a gap for initial positioning. The casting assembly workpiece contacts and cooperates with the profiling curved surface of the support ear seat and falls into the concave curved surface of the spacer support column. The rotary pressing device includes the clamping and pressing member for pre-pressing the casting assembly.

[0014] During specific implementation and application, the transfer support mechanism is installed on the ground. The workpiece is slidably transported from the left side to the right side for picking up. The transfer robot is fixed on the ground. The transfer fixture is fixedly connected to the six-axis quick change of the robot. The spacer brackets and the combined brackets are installed on the ground and can be used for the robot fixture to place and stack the workpieces. The grinding tool is fixed on the rotary slide of the grinding machine and can be used for the workpiece and the spacer to be placed flat, placed upright or changed in position, supporting multi-faceted grinding.

[0015] The castings of the present invention are combined and stacked and then polished. Through this combination method, two independent cylinder head castings form an integral body with a small clearance fit. After being tightened, it is easy to be polished as a whole without shaking in the subsequent process. The clamping and pressing parts on the grinding tool ensure that the casting assembly will not fall due to inertia when rotating with the grinding mechanism after being placed vertically; generally, the workpieces to be polished are placed horizontally and provided with a supporting surface. When placed horizontally, the supporting surface at the bottom of the casting assembly workpiece is placed on the supporting ear seat to ensure the stable placement of the workpiece. When placed vertically, the spacer positioning column and the spacer support column contact and limit the clearance with the spacer support of the casting assembly, playing a primary positioning role. Then, the left and right workpieces of the casting assembly are in contact and fit with the supporting ear seat through a profiling curved surface. Under the action of gravity, the left and right workpieces always fall into the concave curved surface of the spacer support column, and it has a centering effect on the intermediate burr of the relative workpieces, ensuring that each time the workpiece is placed vertically, the left and right distances of the workpiece relative to the grinding tool remain in a unique state, and there will be no cumulative error caused by the repeated actions of the transfer robot during long-term transportation, and thus there will be no situation of excessive or incomplete grinding of the workpiece during grinding; the clamping part of the rotary pressing device is used for the casting assembly when it rotates on the grinding tool to prevent the workpiece from falling sideways due to excessive inertia during rotation. Without affecting grinding, a rotary pressing device that can both expand and contract and rotate and press is ingeniously designed. In this way, through devices such as profiling curved surfaces and clamping and pressing parts, the double-workpiece combined grinding of each process step can be completed.

[0016] A further technical solution is that the transfer fixture is a double-clamp assembly fixture. The double-clamp assembly fixture includes a frame assembly, a single fixed arm, a single floating arm, a multi-fixed arm, and a multi-floating arm. The single fixed arm and the single floating arm are arranged on one side of the frame assembly, and the multi-fixed arm and the multi-floating arm are arranged on the other side of the frame assembly. In step (2), a single casting is clamped by the single fixed arm and the single floating arm. In step (3), the casting assembly is clamped by the multi-fixed arm and the multi-floating arm. In step (5), the multi-fixed arm and the multi-floating arm are used to straddle the spacer support and clamp the casting on the side of the casting assembly far from the transfer robot and take it out. After the transfer fixture rotates 180°, the single fixed arm and the single floating arm are used to clamp the casting on the side of the casting assembly close to the transfer robot and take it out. Then, the casting clamped by the single fixed arm and the single floating arm is placed on the side of the spacer support far from the transfer robot. After the transfer fixture rotates 180°, the casting clamped by the multi-fixed arm and the multi-floating arm is placed on the side of the spacer support close to the transfer robot, completing the position swapping.

[0017] The single fixed arm, the single floating arm, the multi-fixed arm, and the multi-floating arm of the present invention are arranged in the opposite direction with respect to the clamped workpieces. The single fixed arm and the single floating arm can clamp the workpiece on the side close to the robot, and the multi-fixed arm and the multi-floating arm have enough space to straddle the spacer to clamp the workpiece far from the robot without interfering with the vertically placed spacer.

[0018] A further technical solution is that the frame assembly includes a fixed frame and a main hydraulic drive component, the main hydraulic drive component is fixed on the fixed frame, the single fixed arm and the multiple fixed arms are fixedly arranged at predetermined positions of the fixed frame, the single floating arm and the multiple floating arms are respectively arranged opposite to the single fixed arm and the multiple fixed arms, the single floating arm includes a first floating clamping arm, a floating clamping assembly and an elastic floating assembly, the multiple floating arms include a second floating clamping arm, multiple groups of floating clamping assemblies and an elastic floating assembly, the floating clamping assembly is movably connected to the first floating clamping arm or the second floating clamping arm through the elastic floating assembly, thereby ensuring that the floating clamping assembly is close to the workpiece when clamping the workpiece, the multiple groups of floating clamping assemblies on the multiple floating arms are arranged up and down on the second floating clamping arm, the single fixed arm includes a first fixed clamping arm and a first fixed clamping assembly, the first fixed clamp The holding assembly is fixed on the first fixed clamping arm, and the multi-fixed arm includes a second fixed clamping arm, a secondary clamping hydraulic drive and multiple groups of second fixed clamping assemblies. The secondary clamping hydraulic drive is fixed on the second fixed clamping arm, and the multiple groups of second fixed clamping assemblies are arranged up and down, at least the lowermost second fixed clamping assembly is transmission connected to the secondary clamping hydraulic drive, and the remaining second fixed clamping assemblies are fixedly arranged on the second fixed clamping arm, the secondary clamping hydraulic drive and the main hydraulic drive adopt a shared oil circuit with front and rear oil ports reversely connected, the first floating clamping arm and the second floating clamping arm are slidably connected to the fixed frame, and the main hydraulic drive is transmission connected to the single floating arm and the multiple floating arms and is used to drive the single floating arm and the multiple floating arms to slide along the fixed frame, thereby changing the distance between the single floating arm and the single fixed arm, and the multiple floating arms and the multiple fixed arms.

[0019] With such arrangement, the hydraulic system controls the main hydraulic drive to drive the single floating arm and the multiple floating arms to move close to the single fixed arm and the multiple fixed arms to clamp the workpieces. The workpieces are placed on the combination table in sequence and separated and stacked by spacers in the middle. The application of floating clamping components and elastic floating components on the single floating arm and the multiple floating arms has a certain floating swing angle to ensure that the floating clamping components are close to the workpiece when clamping the workpiece, and adapt to the non-unique adaptive clamping of various cylinder head surface inclination postures. When the multiple floating arms clamp the combined workpiece, the secondary clamping hydraulic drive component and the main hydraulic drive component are in the front and rear oil The reverse connection of the port shares the oil circuit. Although the second fixed clamping component on the multi-fixed arm has a short stroke and will extend into position to contact the workpiece first, when the main hydraulic drive continues to clamp, the pressure of the main hydraulic drive is greater than the force of the secondary clamping hydraulic drive, which will force the secondary clamping hydraulic drive to retract when clamping the workpiece until it reaches another stacked workpiece fixture. This can ensure compatibility with the size differences of cast workpieces, ensure real-time clamping of different batches and different workpieces, and ensure stability without losing parts. It has a wide range of applications and is highly adaptable to local differences. It can be compatible with multiple castings and can clamp two workpieces at the same time, saving costs.

[0020] When clamping two stacked workpieces simultaneously, due to the difficulty in maintaining consistent length dimensions of rough casting workpieces, to adapt to and accommodate this deviation during clamping, the fixture of the present invention has one clamping plate group fixed and the other clamping plate group telescopic and floating. It can ensure stable clamping without shaking within a length dimension deviation of ±5 mm for the same type of workpiece and workpieces of the same batch. The process deviation of the sand core mold is less than 5 mm (affected by the overall double-clamping floating arm at the other end). Therefore, large length differences within different batches can also be compatible, and the compatibility with multiple specifications is high.

[0021] A further technical solution is that the transfer support mechanism, transfer robot, transfer fixture, spacer bracket, combined bracket, and grinding tool all have connecting and fixing seats.

[0022] A further technical solution is that all transfer support mechanisms, transfer robots, transfer fixtures, spacer brackets, combined brackets, and grinding tools are provided with photoelectric detection components. The photoelectric detection components are communicatively connected to the control system and send detection signals to the control system. The control system is electrically connected to the rotary clamping device, and the rotary clamping device forms signal control interaction docking with the rotary slide and grinding clamping device of the grinding mechanism. In this way, after the grinding mechanism rotates in place and the grinding clamping device squeezes tightly, the rotary clamping device of the grinding tool loosens and rotates down. When the workpiece slides for grinding, the gap between the grinding head and the slide can accommodate the rotary clamping device that has rotated and fallen to the side, so that the rotary clamping device of the grinding tool will not be ground off during grinding, while meeting the requirements of process production.

[0023] A further technical solution is that a first guide rail and a second guide rail are provided at a predetermined position of the fixed frame. A first slider and a second slider are provided on the first guide rail and the second guide rail respectively. The first slider and the second slider can slide along the first guide rail and the second guide rail respectively. The single floating arm and the multi-floating arm are respectively fixed on the first slider and the second slider. In specific applications, the first guide rail and the second guide rail are arranged on the opposite guide rail mounting surfaces on the upper and lower sides of the fixed frame, and the main hydraulic driving component and the cylinder rear seat are arranged in the inner cavity surface of the fixed frame in the reverse direction and are fixedly connected through locking bolts.

[0024] A further technical solution is that the elastic floating assembly includes a spring floating member and a connecting seat. The connecting seat is rotatably connected to the first floating clamping arm or the second floating clamping arm through a pin shaft. One end of the spring floating member is fixed on the first floating clamping arm or the second floating clamping arm, and the other end is connected to the connecting seat or the floating clamping assembly. The floating clamping assembly is connected to the connecting seat. With such a setting, the floating clamping assembly is rotatably connected to the first floating clamping arm or the second floating clamping arm through the connecting seat, and the spring floating member plays a certain buffering and limiting role, ensuring that the floating clamping assembly has a certain floating swing angle to adapt to the adaptable clamping of various non-unique inclined postures of the cylinder head surface.

[0025] A further technical solution is that the floating clamping assembly includes a floating pressure plate and a clamping member. The floating pressure plate is fixed on the connecting seat, and the clamping member is fixed on the floating pressure plate. By adjusting the installation position of the clamping member on the floating pressure plate, it is possible to simultaneously clamp various types of cylinder heads.

[0026] A further technical solution is that the spring floating member includes a spring and a guide post. One end of the spring is connected to the first floating clamp arm or the second floating clamp arm, and the other end is connected to the floating pressure plate. The guide post is arranged inside the spring. One end of the guide post is fixed to the floating pressure plate, and the other end passes through the first floating clamp arm or the second floating clamp arm.

[0027] A further technical solution is that both the first fixed clamping assembly and the second fixed clamping assembly include clamping plates and clamping members arranged on the clamping plates.

[0028] A further technical solution is that the clamping member at least includes a top pin and an anti-falling screw.

[0029] A further technical solution is that an oil cylinder front seat and an oil cylinder rear seat are provided on the fixing frame. The oil cylinder rear seat is fixed on the fixing frame through a locking bolt. The main hydraulic driving member is arranged on the oil cylinder rear seat. The oil cylinder front seat is connected to the first slider and the second slider.

[0030] Multiple fixed arms and multiple floating arm clamping points can be compatible with a variety of workpieces and stably clamp multiple stacked combined workpieces at the same time. Through the secondary clamping hydraulic driving member of the multiple fixed arms, it allows for product differentiation in the existing engine casting process in the foundry industry and the consistency difference in workpiece production, greatly reducing the requirements for the sand casting process. Therefore, the present invention can be suitable for clamping, stacking combination, and transporting workpieces with a fixed grinding process, such as the square, vertical placement, or position adjustment of workpieces during grinding, and can also achieve separate clamping of different workpieces, etc.; the main hydraulic driving member and the secondary clamping hydraulic driving member share the same control method, enabling two different workpieces to ensure accurate and stable clamping under a simple structural control; the double-clamping fixture can clamp multiple workpieces at one time, increasing the flexibility at the same working node, saving time and cost while greatly improving efficiency; two hydraulic driving members with different sizes and strokes, using the same hydraulic pressure, can ensure that the secondary clamping hydraulic driving member always maintains a tightened state according to the difference in the outer dimensions of the workpiece without affecting the clamping of another stacked workpiece.

[0031] Compared with the prior art, the present invention can meet the simultaneous grinding of multiple workpieces under different working conditions, has a wide range of grinding types and high compatibility of grinding postures, improves the automated production capacity, and can replace multiple sets of grinding equipment under similar processes, saving costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The accompanying drawings, which form a part of the present invention, are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention.

[0033] Figure 1 It is a schematic flow chart of an automated grinding method for a casting combination according to an embodiment of the present invention;

[0034] Figure 2 It is a schematic plan layout diagram of an automated grinding process for a casting combination according to an embodiment of the present invention;

[0035] Figure 3 It is a schematic structural diagram of a grinding tool according to an embodiment of the present invention;

[0036] Figure 4 It is a schematic structural diagram of a double-clamp assembly fixture according to an embodiment of the present invention;

[0037] Figure 5 It is a schematic structural diagram of a frame assembly according to an embodiment of the present invention;

[0038] Figure 6 It is a schematic structural diagram of a single fixed arm according to an embodiment of the present invention;

[0039] Figure 7 It is a schematic structural diagram of a single floating arm according to an embodiment of the present invention;

[0040] Figure 8 It is a schematic structural diagram of a double fixed arm according to an embodiment of the present invention;

[0041] Figure 9 It is a schematic structural diagram of a double floating arm according to an embodiment of the present invention.

[0042] In the figure:

[0043] 10 castings, 20 transfer support mechanisms, 30 transfer robots, 40 transfer fixtures

[0044] 50 spacer brackets, 60 combined brackets, 70 grinding tools, 80 grinding mechanisms

[0045] 1 frame assembly, 2 single fixed arm, 3 single floating arm, 4 multi-fixed arms

[0046] 5 multi-floating arms, 7 first fixed clamping arms, 8 clamping plates, 9 top pins

[0047] 10 anti-falling screws, 12 secondary clamping hydraulic driving parts, 13 first floating clamping arms, 14 floating pressure plates

[0048] 15 Connecting seat 16 Elastic floating component 17 Pin shaft 18 Second fixed clamping arm 19 Second floating clamping arm 101 Fixing bracket 102 First slider 103 First guide rail

[0049] 104 Main hydraulic drive 105 Front seat of oil cylinder 106 Rear seat of oil cylinder 107 Locking bolt

[0050] 108 Second slider 109 Second guide rail 701 Bearing bottom plate 702 First support plate

[0051] 703 Bolt 704 Support ear seat 705 Spacer positioning column 706 Spacer support column

[0052] 707 Rotary pressing device 708 Second support plate Specific embodiments

[0053] The present invention will be described in detail below with reference to the accompanying drawings. The description in this part is only exemplary and explanatory, and should not have any restrictive effect on the protection scope of the present invention. In addition, those skilled in the art can make corresponding combinations of the features in the embodiments and different embodiments in this document according to the description of this document.

[0054] Embodiments of the present invention are as follows. Refer to Figures 1 - 3 , an automated grinding method for a casting combination, comprising the following steps:

[0055] (1) Loading of casting 10: Loading the casting onto the transfer support mechanism 20;

[0056] (2) Clamping the casting 10 and placing it on the combined bracket 60, clamping the spacer bracket 50 and placing it on the casting 10 in step (2), and then grasping another casting 10 and placing it on the spacer bracket 50. The two castings 10 and the spacer bracket 50 therebetween form a casting combination;

[0057] (3) The transfer robot 30 uses the transfer fixture 40 to clamp the casting combination in step (2) and place it on the grinding jig 70, and the grinding mechanism 80 grinds the side of the casting 10 in the casting combination;

[0058] (4) The transfer robot 30 uses the transfer fixture 40 to pick up the ground casting combination in step (3), perform a 90° attitude flip and place it upright. The clamping and pressing member on the grinding jig 70 pre-presses the casting combination, and the grinding mechanism 80 performs grinding again;

[0059] (5) The transfer robot 30 uses the transfer fixture 40 to respectively clamp the two castings 10 in the casting assembly, the clamping and pressing parts on the grinding jig 70 are loosened, the transfer fixture 40 respectively clamps the two castings 10 and exchanges the positions of the two castings 10, the clamping parts on the grinding jig 70 pre-compress the casting assembly, and the grinding mechanism 80 performs re-grinding to ensure that the upper and lower surfaces of the castings 10 are completely ground;

[0060] (6) After polishing is completed, the polished casting 10 is output;

[0061] Among them, Figure 3 The grinding jig 70 includes a bearing base plate 701, a rotary pressing device 707, and a first support plate 702 and a second support plate 708 arranged on the bearing base plate 701. The first support plate 702 and the second support plate 708 are fixed to the bearing base plate 701 by bolts 703. The rotary pressing device 707 is arranged between the first support plate 702 and the second support plate 708. The first support plate 702 and the second support plate 708 are both provided with support ear seats 704, spacer positioning columns 705 and spacer support columns 706. The support ear seats 704 are provided with a contoured curved surface, and the spacer support columns 706 are provided with a concave platform curved surface. The step (3 ), the transfer fixture 40 clamps the casting assembly from the combination bracket 60 and places it flat on the grinding jig 70, and the support ear seat 704 contacts several support surfaces set on the bottom surface of the casting assembly workpiece to ensure that the workpiece is placed stably; in the step (4), after the casting assembly is placed upright, the spacer positioning column 705 and the spacer support column 706 contact the spacer bracket 50 of the casting assembly and limit the gap to perform initial positioning, and the casting assembly workpiece contacts and cooperates with the contoured curved surface of the support ear seat 704 and falls into the concave curved surface of the spacer support column 705; the rotary pressing device 707 includes the clamping and pressing member for pre-pressing the casting assembly.

[0062] During specific implementation, the transfer support mechanism 20 is installed on the ground, and the workpiece is slid and transported from the left side to the pick-up position on the right side. The transfer robot 30 is fixed on the ground, and the transfer fixture 40 is fixedly connected to the robot's six-axis quick changer. The spacer bracket 50 and the combination bracket 60 are installed on the ground, which can be used by the robot fixture to place and combine and stack the workpieces. The grinding jig 70 is fixed on the rotating slide of the grinder, which can allow the workpiece and the spacer to be placed flat, upright or exchanged, and supports multi-sided grinding.

[0063] The present invention performs grinding on the castings 10 after combining and stacking them. Through this combination method, two independent cylinder head castings 10 form an integral body with a small clearance fit. After being tightly squeezed, it is easy to perform subsequent overall grinding without shaking. The clamping and pressing parts on the grinding jig 70 ensure that the combined casting body will not topple due to inertia when rotating with the grinding mechanism 80 after being placed vertically; generally, the workpiece to be ground is placed horizontally and has a support surface. When placed horizontally, the support surface at the bottom of the combined casting body workpiece is placed on the support ear seat 704 to ensure the stable placement of the workpiece. When placed vertically, the spacer positioning column 705 and the spacer support column 706 are in contact with and limit the clearance of the spacer bracket 50 of the combined casting body, playing a role of preliminary positioning. Then, the left and right workpieces of the combined casting body and the support ear seat 704 are in contact and fit with a profiling curved surface. Under the action of gravity, the left and right workpieces always fall into the concave curved surface of the spacer support column 705, and have an alignment effect on the intermediate burr of the relative workpieces, ensuring that every time the workpiece is placed vertically, the left and right distances of the workpiece relative to the grinding jig 70 remain in a unique state, and there will be no cumulative error caused by the repeated actions of the transfer robot 30 during long-term transportation, and thus there will be no situation where too much or incomplete grinding occurs during workpiece grinding; the clamping part of the rotary pressing device 707 is used for the combined casting body when rotating on the grinding jig 70 to prevent the workpiece from tipping over due to excessive inertia during rotation. Without affecting grinding, a rotary pressing device 707 that can both stretch and rotate and press is ingeniously designed. In this way, through devices such as profiling curved surfaces and clamping and pressing parts, double-workpiece combined grinding of each process step can be completed.

[0064] Based on the above embodiments, in another embodiment of the present invention, as Figures 4 - 9 , the transfer fixture 40 is a double-clamp assembly fixture. The double-clamp assembly fixture includes a frame assembly 1, a single fixed arm 2, a single floating arm 3, a multi-fixed arm 4, and a multi-floating arm 5. The single fixed arm 2 and the single floating arm 3 are arranged on one side of the frame assembly 1, and the multi-fixed arm 4 and the multi-floating arm 5 are arranged on the other side of the frame assembly 1. In step (2), a single casting 10 is clamped by the single fixed arm 2 and the single floating arm 3. In step (3), the combined casting body is clamped by the multi-fixed arm 4 and the multi-floating arm 5. In step (5), the multi-fixed arm 4 and the multi-floating arm 5 are used to clamp and take out the casting 10 on the side of the combined casting body far from the transfer robot 30 across the spacer bracket 50. After the transfer fixture 40 rotates 180°, the casting 10 on the side of the combined casting body close to the transfer robot 30 is clamped and taken out by the single fixed arm 2 and the single floating arm 3. Then, the casting 10 clamped by the single fixed arm 2 and the single floating arm 3 is placed on the side of the spacer bracket 50 far from the transfer robot 30. After the transfer fixture 40 rotates 180°, the casting 10 clamped by the multi-fixed arm 4 and the multi-floating arm 5 is placed on the side of the spacer bracket 50 close to the transfer robot 30, completing the position swapping.

[0065] The single fixed arm 2, single floating arm 3 and the multiple fixed arms 4 and multiple floating arms 5 of the present invention are arranged in reverse order to clamp the workpieces. The single fixed arm 2 and single floating arm can clamp the workpiece on the robot side, and the multiple fixed arms 4 and multiple floating arms 5 have enough space to cross the spacers to clamp the workpieces away from the robot without interfering with the spacers.

[0066] Based on the above embodiment, in another embodiment of the present invention, Figures 4 - 9 , the frame assembly 1 includes a fixed frame 101 and a main hydraulic drive component 104, the main hydraulic drive component 104 is fixed on the fixed frame 101, the single fixed arm 2 and the multiple fixed arms 4 are fixedly arranged at predetermined positions on the fixed frame 101, the single floating arm 3 and the multiple floating arms 5 are respectively arranged opposite to the single fixed arm 2 and the multiple fixed arms 4, the single floating arm 3 includes a first floating clamping arm 13, a floating clamping assembly and an elastic floating assembly 16, the multiple floating arm 5 includes a second floating clamping arm 19, multiple groups of floating clamping assemblies and an elastic floating assembly 16, the floating clamping assembly is movably connected to the first floating clamping arm 13 or the second floating clamping arm 19 through the elastic floating assembly 16, thereby ensuring that the floating clamping assembly is close to the workpiece when clamping the workpiece, the multiple groups of floating clamping assemblies on the multiple floating arm 5 are arranged up and down on the second floating clamping arm 19, the single fixed arm 2 includes a first fixed clamping arm 7 and a first fixed clamping assembly, the first fixed clamping assembly Fixed on the first fixed clamping arm 7, the multi-fixed arm 4 includes a second fixed clamping arm 18, a secondary clamping hydraulic drive 12 and multiple groups of second fixed clamping assemblies, the secondary clamping hydraulic drive 12 is fixed on the second fixed clamping arm 18, the multiple groups of second fixed clamping assemblies are arranged up and down, at least the lowermost second fixed clamping assembly is transmission connected to the secondary clamping hydraulic drive 12, and the remaining second fixed clamping assemblies are fixedly arranged on the second fixed clamping arm 18, the secondary clamping hydraulic drive 12 and the main hydraulic drive 104 adopt a shared oil circuit with reverse connection of front and rear oil ports, the first floating clamping arm 13 and the second floating clamping arm 19 are slidingly connected to the fixed frame 101, the main hydraulic drive 104 is transmission connected to the single floating arm 3 and the multiple floating arms 5 and is used to drive the single floating arm 3 and the multiple floating arms 5 to slide along the fixed frame 101, thereby changing the distance between the single floating arm 3 and the single fixed arm 2, and the multiple floating arm 5 and the multiple fixed arm 4.

[0067] With such a setting, the hydraulic system controls the main hydraulic drive 104 to drive the single floating arm 3 and the multi-floating arm 5 to move closer to the single fixed arm 2 and the multi-fixed arm 4 respectively to clamp the workpiece. The workpieces are sequentially placed on the combination table and stacked and combined with spacers in between; the application of the floating clamping components and the elastic floating components 16 on the single floating arm 3 and the multi-floating arm 5 has a certain floating swing angle, ensuring that the floating clamping components closely adhere to the workpiece when clamping the workpiece, and adapting to the clamping of various non-unique inclined postures of the cylinder head surface; when the multi-floating arm 5 clamps the combined workpiece, since the oil ports of the secondary clamping hydraulic drive 12 and the main hydraulic drive 104 are reversely connected and share the oil circuit, although the second fixed clamping component on the multi-fixed arm 4 has a short stroke and will extend to contact the workpiece first, when the main hydraulic drive 104 continues to clamp, the pressure of the main hydraulic drive 104 is greater than that of the secondary clamping hydraulic drive 12, which will force the secondary clamping hydraulic drive 12 to retract until it reaches another stacked workpiece fixture when clamping the workpiece. This can ensure compatibility with the dimensional differences of the cast workpieces, guarantee the real-time clamping of workpieces in different batches and of different types, firmly hold the workpieces without dropping, have a wide application range and high adaptability to local differences, and can be compatible with the simultaneous clamping of two workpieces of multiple castings 10, thus saving costs.

[0068] When clamping two stacked workpieces simultaneously, since it is difficult to maintain the consistency of the workpiece length dimensions of the rough castings 10, to adapt to and be compatible with this deviation during clamping, the fixture of the present invention adopts a fixed setting for 8 groups of one clamping plate and a telescopic floating setting for 8 groups of the other clamping plate. It can ensure stable clamping without shaking within a deviation of ±5 mm in the workpiece length dimensions of the same type of workpiece and workpieces in the same batch. The core casting process deviation is less than 5 mm (affected by the overall double-clamping floating arm at the other end). Therefore, it can also be compatible with large length differences within different batches and has a high compatibility with multiple specifications.

[0069] On the basis of the above embodiments, in another embodiment of the present invention, the transfer support mechanism 20, the transfer robot 30, the transfer fixture 40, the spacer bracket 50, the combination bracket 60, and the grinding jig 70 all have connecting and fixing seats 15.

[0070] Based on the above embodiments, in another embodiment of the present invention, all transfer support mechanisms 20, transfer robots 30, transfer jigs 40, spacer brackets 50, combined brackets 60, and grinding jigs 70 are provided with photoelectric detection components. The photoelectric detection components are communicatively connected to the control system and send detection signals to the control system. The control system is electrically connected to the rotary clamping device 707, and the rotary clamping device 707 forms a signal control interaction docking with the rotary slide table and the grinding clamping device of the grinding mechanism. In this way, after the grinding mechanism rotates in place and the grinding clamping device clamps tightly, the rotary clamping device 707 of the grinding jig 70 loosens and rotates downwards. When the workpiece slides for grinding, the gap between the grinding head and the slide table can accommodate the rotary clamping device 707 that rotates and falls to the side. In this way, the rotary clamping device 707 of the grinding jig 70 will not be ground off during grinding, and at the same time, the requirements of process production are met.

[0071] Based on the above embodiments, in another embodiment of the present invention, as Figure 5 , a first guide rail 103 and a second guide rail 109 are provided at a predetermined position of the fixed frame 101. A first slider 102 and a second slider 108 are provided on the first guide rail 103 and the second guide rail 109. The first slider 102 and the second slider 108 can slide along the first guide rail 103 and the second guide rail 109 respectively. The single floating arm 3 and the multi-floating arm 5 are respectively fixed on the first slider 102 and the second slider 108. In specific applications, the first guide rail 103 and the second guide rail 109 are arranged on the opposite guide rail mounting surfaces on the upper and lower sides of the fixed frame 101, and the main hydraulic driving member 104 and the cylinder rear seat 106 are arranged in the inner cavity surface of the fixed frame 101 in the reverse direction and are fixedly connected through a locking bolt 107.

[0072] Based on the above embodiments, in another embodiment of the present invention, as Figure 7 and Figure 9 , the elastic floating assembly 16 includes a spring floating member and a connecting seat 15. The connecting seat 15 is rotatably connected to the first floating clamping arm 13 or the second floating clamping arm 19 through a pin shaft 17. One end of the spring floating member is fixed on the first floating clamping arm 13 or the second floating clamping arm 19, and the other end is connected to the connecting seat 15 or the floating clamping assembly. The floating clamping assembly is connected to the connecting seat 15. With such a setting, the floating clamping assembly is rotatably connected to the first floating clamping arm 13 or the second floating clamping arm 19 through the connecting seat 15, and the spring floating member plays a certain buffering and limiting role, ensuring that the floating clamping assembly has a certain floating swing angle to adapt to the clamping of various non-unique inclined postures of the cylinder head surface.

[0073] Based on the above embodiments, in another embodiment of the present invention, as Figure 7 and Figure 9, the floating clamping assembly includes a floating pressure plate 14 and a clamping member. The floating pressure plate 14 is fixed on the connecting seat 15, and the clamping member is fixed on the floating pressure plate 14. By adjusting the installation position of the clamping member on the floating pressure plate 14, it is possible to simultaneously clamp various types of cylinder heads.

[0074] Based on the above embodiments, in another embodiment of the present invention, as Figure 7 , the spring floating member includes a spring and a guide post. One end of the spring is connected to the first floating clamping arm 13 or the second floating clamping arm 19, and the other end is connected to the floating pressure plate 14. The guide post is arranged inside the spring. One end of the guide post is fixed to the floating pressure plate 14, and the other end passes through the first floating clamping arm 13 or the second floating clamping arm 19.

[0075] Based on the above embodiments, in another embodiment of the present invention, as Figure 6 and Figure 8 , both the first fixed clamping assembly and the second fixed clamping assembly include a clamping plate 8 and a clamping member arranged on the clamping plate 8.

[0076] Based on the above embodiments, in another embodiment of the present invention, as Figures 7 - 9 , the clamping member at least includes a top pin 9 and an anti-falling screw 10.

[0077] Based on the above embodiments, in another embodiment of the present invention, as Figure 4 , an oil cylinder front seat 105 and an oil cylinder rear seat 106 are provided on the fixed frame 101. The oil cylinder rear seat 106 is fixed on the fixed frame 101 through a locking bolt 107. The main hydraulic driving member 104 is arranged on the oil cylinder rear seat 106. The oil cylinder front seat 105 is connected to the first slider 102 and the second slider 108.

[0078] The clamping points of the multiple fixed arms 4 and multiple floating arms 5 can be compatible with a variety of workpieces and stably clamp multiple stacked combined workpieces at the same time. Through the secondary clamping hydraulic drive 12 of the multiple fixed arms 4, it allows for product differentiation in the existing engine casting process in the foundry industry and consistency differences in workpiece production, greatly reducing the requirements for the sand casting process. Therefore, the present invention is suitable for clamping, stacking and transporting workpieces with fixed grinding processes, that is, for the square, vertical placement or position adjustment of workpieces during grinding, etc., and can also achieve separate clamping of different workpieces, etc.; the main hydraulic drive 104 and the secondary clamping hydraulic drive 12 share the same control method, enabling two different workpieces to ensure accurate and stable clamping under simple structural control; the double-clamping fixture can clamp multiple workpieces at one time, increasing the flexibility at the same working node, saving time and cost while greatly improving efficiency; the two hydraulic drives with different sizes and strokes, using the same hydraulic pressure, can ensure that the secondary clamping hydraulic drive 12 always maintains a clamped state according to the differences in the outer dimensions of the workpieces without affecting the clamping of another stacked workpiece.

[0079] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. An automated grinding method for a casting combination, characterized in that, It includes the following steps: (1) Loading the casting: Loading the casting onto the transfer support mechanism; (2) Clamping the casting and placing it on the combined bracket, clamping the spacer bracket and placing it on the casting in step (2), and then grasping another casting and placing it on the spacer bracket. The two castings and the spacer bracket between them form a casting combination; (3) The transfer robot uses the transfer fixture to clamp the casting combination in step (2) and place it on the grinding jig, and the grinding mechanism grinds the sides of the castings in the casting combination; (4) The transfer robot uses the transfer fixture to pick up the ground casting combination in step (3), performs a 90° attitude flip and stands it upright, the clamping and pressing parts on the grinding jig pre-press the casting combination, and the grinding mechanism performs grinding again; (5) The transfer robot uses the transfer fixture to clamp the two castings in the casting combination respectively, the clamping and pressing parts on the grinding jig are loosened, the transfer fixture clamps the two castings respectively to exchange the positions of the two castings, the clamping parts on the grinding jig pre-press the casting combination, and the grinding mechanism performs grinding again to ensure that the upper and lower surfaces of the casting are ground completely; (6) Completing the grinding and outputting the ground casting; Among them, the grinding tool includes a bearing bottom plate, a rotary pressing device, a first support plate and a second support plate arranged on the bearing bottom plate. The rotary pressing device is arranged between the first support plate and the second support plate. Support ear seats, spacer positioning columns and spacer support columns are provided on both the first support plate and the second support plate. The support ear seats are provided with profiling curved surfaces, and the spacer support columns are provided with concave curved surfaces. In the step (3), the transfer fixture clamps the casting assembly from the combined bracket and places it flat on the grinding tool. The support ear seats contact a plurality of support surfaces arranged on the bottom surface of the casting assembly workpiece to ensure stable placement of the workpiece. In the step (4), after the casting assembly is placed upright, the spacer positioning columns and the spacer support columns contact the spacer brackets of the casting assembly and are limited by a gap for preliminary positioning. The casting assembly workpiece contacts and cooperates with the profiling curved surface of the support ear seat and falls into the concave curved surface of the spacer support column. The rotary pressing device includes the clamping and pressing member for pre-pressing the casting assembly. The transfer fixture is a double-clamp assembly fixture. The double-clamp assembly fixture includes a frame assembly, a single fixed arm, a single floating arm, a multi-fixed arm and a multi-floating arm. The single fixed arm and the single floating arm are arranged on one side of the frame assembly, and the multi-fixed arm and the multi-floating arm are arranged on the other side of the frame assembly. In the step (2), a single casting is clamped by the single fixed arm and the single floating arm. In the step (3), the casting assembly is clamped by the multi-fixed arm and the multi-floating arm. In the step (5), the casting on the side of the casting assembly away from the transfer robot is clamped by the multi-fixed arm and the multi-floating arm across the spacer bracket and taken out. After the transfer fixture rotates 180°, the casting on the side of the casting assembly close to the transfer robot is clamped by the single fixed arm and the single floating arm and taken out. Then, the casting clamped by the single fixed arm and the single floating arm is placed on the side of the spacer bracket away from the transfer robot. After the transfer fixture rotates 180°, the casting clamped by the multi-fixed arm and the multi-floating arm is placed on the side of the spacer bracket close to the transfer robot to complete the position swapping.

2. The automated grinding method for a casting combination according to claim 1, characterized in that, The frame assembly includes a fixed frame and a main hydraulic drive component, the main hydraulic drive component is fixed on the fixed frame, the single fixed arm and the multiple fixed arms are fixedly arranged at predetermined positions of the fixed frame, the single floating arm and the multiple floating arms are respectively arranged opposite to the single fixed arm and the multiple fixed arms, the single floating arm includes a first floating clamping arm, a floating clamping assembly and an elastic floating assembly, the multiple floating arms include a second floating clamping arm, multiple groups of floating clamping assemblies and an elastic floating assembly, the floating clamping assembly is movably connected to the first floating clamping arm or the second floating clamping arm through the elastic floating assembly, thereby ensuring that the floating clamping assembly is close to the workpiece when clamping the workpiece, the multiple groups of floating clamping assemblies on the multiple floating arms are arranged up and down on the second floating clamping arm, the single fixed arm includes a first fixed clamping arm and a first fixed clamping assembly, the first fixed clamping assembly is fixed On the first fixed clamping arm, the multi-fixed arm includes a second fixed clamping arm, a secondary clamping hydraulic drive and multiple groups of second fixed clamping components, the secondary clamping hydraulic drive is fixed on the second fixed clamping arm, the multiple groups of second fixed clamping components are arranged up and down, at least the lowermost second fixed clamping component is transmission connected to the secondary clamping hydraulic drive, and the remaining second fixed clamping components are fixedly arranged on the second fixed clamping arm, the secondary clamping hydraulic drive and the main hydraulic drive adopt a shared oil circuit with reverse connection of front and rear oil ports, the first floating clamping arm and the second floating clamping arm are slidably connected to the fixed frame, the main hydraulic drive is transmission connected to the single floating arm and the multiple floating arms and is used to drive the single floating arm and the multiple floating arms to slide along the fixed frame, thereby changing the distance between the single floating arm and the single fixed arm, and the multiple floating arms and the multiple fixed arms.

3. The automated grinding method for a casting combination according to claim 1, characterized in that The transfer support mechanism, transfer robot, transfer fixture, spacer bracket, combined bracket and grinding jig all have a connecting and fixing connection seat.

4. The automated grinding method for the casting combination according to claim 2, wherein All transfer support mechanisms, transfer robots, transfer fixtures, spacer brackets, combined brackets and grinding jigs are equipped with photoelectric detection components, which are communicated with the control system and send detection signals to the control system. The control system is electrically connected to the rotary clamping device, and the rotary clamping device forms a signal-controlled interactive docking with the rotary slide and grinding clamping device of the grinding mechanism.

5. The automated grinding method for the casting combination according to claim 4, characterized in that, A first guide rail and a second guide rail are provided at predetermined positions of the fixing frame, and a first slider and a second slider are provided on the first guide rail and the second guide rail. The first slider and the second slider can slide along the first guide rail and the second guide rail respectively, and the single floating arm and the multiple floating arms are fixed on the first slider and the second slider respectively.

6. The automated grinding method for the casting combination according to claim 5, characterized in that The elastic floating assembly includes a spring floating member and a connecting seat, and the connecting seat is rotatably connected to the first floating clamping arm or the second floating clamping arm through a pin shaft. One end of the spring floating member is fixed on the first floating clamping arm or the second floating clamping arm, and the other end is connected to the connecting seat or the floating clamping assembly, and the floating clamping assembly is connected to the connecting seat.

7. The automated grinding method for the casting combination according to claim 6, wherein The floating clamping assembly includes a floating pressure plate and a clamping member. The floating pressure plate is fixed on the connecting seat, and the clamping member is fixed on the floating pressure plate.

8. The automated grinding method for the casting combination according to claim 7, characterized in that, The spring floating member includes a spring and a guide post. One end of the spring is connected to the first floating clamping arm or the second floating clamping arm, and the other end is connected to the floating pressure plate. The guide post is arranged inside the spring. One end of the guide post is fixed to the floating pressure plate, and the other end passes through the first floating clamping arm or the second floating clamping arm.

9. The automated grinding method for a casting combination according to claim 7, characterized in that, Both the first fixed clamping assembly and the second fixed clamping assembly include a clamping plate and a clamping member arranged on the clamping plate.

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