A casting cleaning device

Abstract

The application provides a cast part cleaning device, which comprises a machining equipment, a protection structure, a workpiece clamping device and a safety auxiliary equipment; the machining equipment realizes 1mm residual cutting of a pouring riser; and after measurement and comparison by a 3D visual recognition camera, the machining equipment processes the residual below 1mm; the protection structure realizes protection of the internal structure and avoids environmental pollution caused by internal grinding dust; the workpiece clamping device realizes stable clamping of the cast part; and the safety auxiliary equipment avoids damage of the mechanical arm caused by grinding dust and does not affect normal machining.

Description

Technical Field

[0001] This invention relates to the field of casting grinding, and more particularly to a casting cleaning device. Background Technology

[0002] Castings are shaped metal objects obtained through various casting methods. This involves pouring, injecting, suction, or other casting methods into a pre-prepared mold, allowing it to cool, and then processing it through grinding and other methods to obtain an object with a specific shape, size, and performance. Many automotive parts, such as engine blocks, cylinder heads, pistons, flywheel housings, and some outer casings, as well as gearbox housings and chassis, need to be made into castings before being assembled into finished automotive products. During the casting process, due to process requirements, the casting body, in addition to the designed shape and specifications of the workpiece itself, also contains some "extra" structural parts, commonly known as risers and gatings. Riser and gatings are "extra" parts that inevitably arise in the casting process, and they are the first parts to be removed after the metal casting process is completed. Besides risers and gatings, castings may also have burrs and other structures that require treatment.

[0003] Existing grinding and cleaning processes for castings mainly involve cutting off the gating gates and risers with a cutting machine and then using grinding equipment to remove burrs. However, this process presents challenges due to the difficulty of grinding specific areas of cast steel parts, resulting in low machining accuracy, poor product quality, and an inability to meet machining precision requirements. Furthermore, the grinding and cleaning process generates a large amount of dust and shavings, which significantly impacts both the external environment and internal equipment. Summary of the Invention

[0004] The present invention provides a solution to the above-mentioned problems.

[0005] This invention discloses a casting cleaning device, including processing equipment, a protective structure, a workpiece clamping device, and safety auxiliary equipment;

[0006] The processing equipment includes: a six-axis robot, a positioner, a cutting end effector, a central control computer, a three-dimensional force control sensor, and a 3D vision recognition camera;

[0007] The six-axis robot includes a robotic arm and a rotatable spindle connected to one end of the robotic arm. The spindle can be connected to a cutting end effector to cut the workpiece. The positioner is located on one side of the six-axis robot.

[0008] The workpiece clamping device is fixed on the upper side of the positioner. After the workpiece clamping device clamps the workpiece to be processed, the positioner drives the workpiece clamping device to rotate around the X-axis and Y-axis.

[0009] The cutting end effector includes a cutting device and a plasma air planer; the plasma air planer, cutting device, central control unit, and 3D vision recognition camera are located on the same side or different sides of the six-axis robot.

[0010] The 3D vision recognition camera is used to scan the workpiece, measure the distance and generate a three-dimensional point cloud map, and compare it with the three-dimensional digital model. The cutting end effector is then switched to process the impurities in the casting residue of the workpiece.

[0011] The central control unit is used to control the movement of the six-axis robot and the positioner; the cutting device is used to cut the workpiece, achieving a 1mm residual cutting residue; the plasma air planer is used to process the workpiece residue below 1mm after measurement and comparison by a 3D vision recognition camera, forming a plane on the workpiece; the three-dimensional force control sensor is installed between the spindle and the cutting end effector to respond to the processing force in real time, and controls the spindle feed speed by controlling the magnitude of the force, thus protecting the equipment;

[0012] The protective structure includes: a protective room and a protective door, wherein the protective room is provided with a work area, a processing area and a tool area;

[0013] The work area is equipped with the six-axis robot, and the processing area is located in front of the work area. The processing area is equipped with the positioner, and the work area and the processing area are connected.

[0014] Tool areas are located on both sides of the work area, and the tool areas are equipped with grinding tools and measuring tools;

[0015] The protective door includes a loading door, a safety door, and a roller shutter door. The roller shutter door is provided between the work area and the tool area. The safety door is provided in the tool area, and the tool area is connected to the outside through the safety door. The processing area is provided with the loading door, and the workpiece to be processed enters the processing area through the loading door.

[0016] During processing, the roller shutter door and the loading door are in the closed state, so that the processing area and the work area form an enclosed space;

[0017] The safety auxiliary equipment includes: a protective device, a temperature control device, and a host computer; the protective device includes: an outer protective component that wraps around the robotic arm and forms a sealed space, multiple spiral-shaped guide airbags, multiple support airbags, and a fan outside the outer protective component;

[0018] The guide airbags and support airbags are both located within the enclosed space. Multiple guide airbags correspond to the joints of the robotic arm and are connected to the outer protective assembly. Multiple support airbags are distributed on the outer periphery of the robotic arm beam and are connected to the outer protective assembly. The fan inflates the outer protective assembly, guide airbags, and support airbags. The temperature control component includes a temperature control box and a liquid guide pipe connected to the temperature control box. The guide airbags have spiral guide grooves facing the robotic arm. The liquid guide pipes are coiled along the spiral guide grooves at each joint of the robotic arm and are arranged along the inner wall of the outer protective assembly at the robotic arm beam. Both the fan and the temperature control box are electrically connected to the host computer.

[0019] Furthermore, the workpiece clamping device includes a hook body limiting mechanism, a hook tail positioning mechanism, a support structure, several clamping mechanisms, and a base plate;

[0020] The clamping mechanism, the hook body limiting mechanism, the hook tail positioning mechanism, and the support structure are all mounted on the base plate, with the hook tail positioning mechanism and the support structure located at both ends of the hook body limiting mechanism; a plurality of the clamping mechanisms are evenly distributed on the base plate.

[0021] The coupler tail positioning mechanism includes several positioning blocks. The coupler head is supported by a support structure, and the coupler tail is supported by the positioning blocks. When the coupler is placed on the clamp, the upper part of the positioning block extends from bottom to top into the mounting hole of the coupler tail to position and limit the coupler tail.

[0022] The hook body limiting mechanism includes a pair of limiting blocks that are spaced apart from each other. When the coupler is placed on the clamp, the coupler body is positioned between the relatively spaced limiting blocks, and the limiting blocks can limit the horizontal direction of the hook body.

[0023] The clamping mechanism includes a bracket, a connecting rod, a driving device, and a pressure head; one end of the connecting rod is provided with a pressure head, and the other end is connected to the driving device. The middle part of the connecting rod is hinged to the bracket fixed on the base plate. The driving device drives one end of the connecting rod to lift up, and the end with the pressure head to lower down to clamp the car coupler.

[0024] Furthermore, the positioner includes a support, a horizontally arranged operating bridge with both ends hinged to the support via a positioner plate, and a vertically arranged rotating shaft on the operating bridge. The rotating shaft can be driven by a first driving device to rotate along the Y-axis, and the operating bridge can be driven by a second driving device to rotate around the X-axis. The base plate of the workpiece clamping device is fixed on the upper side of the rotating shaft.

[0025] Furthermore, the plasma air planer is equipped with a dustproof structure; the dustproof structure includes a dust cover, a support frame, a drive motor, and a connecting shaft; the connecting shaft is rotatably mounted on the support frame in a horizontal direction, and the dust cover is fixed to the connecting shaft by a connector. When the plasma air planer is not working, the drive motor drives the dust cover to rotate around the axis of the connecting shaft through the drive connecting shaft and the connector, and drives it to the upper side of the plasma air planer torch.

[0026] Furthermore, the protective room has a loading port, and the loading door is located at the loading port;

[0027] The loading gate includes a first slide rail, a second slide rail, a third slide rail, a door body, and a driving component. The first and second slide rails are arranged parallel to each other on the top of the protective room, with the second slide rail located above the loading port and the third slide rail located below the loading port. The door body includes a first door body and a second door body that are perpendicular to each other. The first door body is connected to the first and second slide rails via a slider, and the second door body is connected to the third slide rail via a slider.

[0028] The driving component is located on the side of the first slide rail away from the feeding port, and includes a motor, a driving connector and a belt. The motor drives the belt to rotate. The driving connector includes a clamping part and a fixing part. The fixing part is fixedly connected to the first door body, and the clamping part clamps the belt.

[0029] Furthermore, the work area is provided with a platform, and the robotic arm is mounted on the platform. The platform includes a frame and a top plate. The top plate is fixed to the frame to form the bearing surface of the platform, and the robotic arm is mounted on the bearing surface. A frame connecting plate is fixed under the frame, and the frame connecting plate is provided with anchor bolt holes. The frame is a square rigid structure, and several frames are fixedly connected by bolts. The frame is provided with cable holes.

[0030] Furthermore, the external protective assembly includes multiple protective airbags and multiple elastic and wear-resistant protective connectors; the multiple protective airbags respectively wrap around the outside of the robotic arm beam, the multiple protective connectors respectively wrap around each joint of the robotic arm, and the multiple protective airbags and the multiple protective connectors are connected to form a sealed space.

[0031] Furthermore, the liquid guide tube includes an inlet and an outlet, and the temperature control box connects the inlet and outlet to form a circuit; the inlet is equipped with a first temperature sensor and a first pressure sensor, and the outlet is equipped with a second temperature sensor and a second pressure sensor, and the first temperature sensor, the first pressure sensor, the second temperature sensor, and the second pressure sensor are all electrically connected to the host computer.

[0032] Furthermore, the hook tail positioning mechanism also includes a support body, a fixing block, and an elastic element; the support body is fixed on the base plate, and the fixing block is disposed on the support body; the elastic element is disposed on the side of the positioning block near the hook body limiting mechanism.

[0033] The upper part of the positioning block is a frustum half, and several positioning blocks are arranged along the circumferential direction of the fixing block. The oblique side of the frustum half faces outward. When the coupler is placed on the clamp, the oblique side of the frustum half abuts against the inner wall of the mounting hole at the tail of the coupler.

[0034] The clamping mechanism further includes a connecting plate, a limiting structure, and a clamping connector; the connecting plate is disposed on the bracket, the clamping connector is disposed on the connecting plate, the middle part of the connecting rod is hinged to the clamping connector, and the limiting structure is disposed on the end of the clamping connector on the connecting plate where the pressure head is located;

[0035] The driving device is a hydraulic cylinder, with the top of the hydraulic cylinder rod connected to one end of the connecting rod. The hydraulic cylinder drives the hydraulic cylinder rod to rise and fall, which in turn drives the end of the connecting rod with the pressure head to rise and fall.

[0036] This invention discloses a casting cleaning device that uses 3D vision to compare 3D cloud points with a three-dimensional digital model to intelligently identify impurities. It combines a cutting device with a plasma gouging machine, using plasma gouging to replace grinding to process the workpiece. This not only solves the difficulty of grinding cast steel parts and ensures the cutting accuracy and quality of casting risers, but also reduces the cost of grinding casting risers, thus ensuring economic benefits.

[0037] The external enclosure, safety doors, and loading doors isolate the equipment from the external environment. This prevents waste generated during the cleaning process from polluting the external environment and injuring workers, while also protecting the internal equipment. Roller shutters separate the work area from the tool area by installing them between different work zones inside the equipment. When the robot is processing the hook castings, the roller shutters on both sides are closed to prevent dust and impurities from splashing onto the tools and causing damage. This ensures the safe and reliable operation of the intelligent casting cleaning equipment, guarantees the safety of workers, eliminates safety hazards, and improves cleaning efficiency.

[0038] Safety auxiliary equipment isolates splashed debris and raised dust, protecting the robotic arm. Liquid guide tubes are also installed at each joint and arm beam of the robotic arm to achieve temperature control of the entire enclosed space, solving the problem of existing temperature control devices not providing ideal temperature regulation for remote areas. Guide airbags guide the liquid guide tubes to spirally coil at each joint of the robotic arm, while support airbags prevent the liquid guide tubes from contacting the joints. The spirally coiled liquid guide tubes can extend, contract, and twist with the rotation of the robotic arm, preventing damage from the arm's movements. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0040] Figure 1 This is a schematic diagram of a casting cleaning device disclosed in an embodiment of the present invention;

[0041] Figure 2 This is a schematic diagram of the internal structure of a casting cleaning device disclosed in an embodiment of the present invention;

[0042] Figure 3 This is a top view of a casting cleaning device disclosed in an embodiment of the present invention after the top cover has been removed;

[0043] Figure 4 This is a schematic diagram of the positioner structure disclosed in an embodiment of the present invention;

[0044] Figure 5 This is a front view of the positioner disclosed in an embodiment of the present invention;

[0045] Figure 6 This is a schematic diagram of the plasma air planer and dustproof structure disclosed in the embodiments of the present invention;

[0046] Figure 7 This is a schematic diagram of the quick-change disc structure disclosed in an embodiment of the present invention;

[0047] Figure 8 This is a schematic diagram of the three-dimensional force control sensor structure disclosed in an embodiment of the present invention;

[0048] Figure 9 This is a schematic diagram of the dust removal device disclosed in an embodiment of the present invention;

[0049] Figure 10 This is a schematic diagram of the workpiece clamping device structure disclosed in an embodiment of the present invention;

[0050] Figure 11 This is a bottom-view three-dimensional structural diagram of the workpiece clamping device disclosed in an embodiment of the present invention;

[0051] Figure 12 This is a top view of the workpiece clamping device disclosed in an embodiment of the present invention;

[0052] Figure 13 This is a bottom view schematic diagram of the workpiece clamping device disclosed in an embodiment of the present invention;

[0053] Figure 14 This is a three-dimensional structural diagram of the workpiece clamping device disclosed in an embodiment of the present invention;

[0054] Figure 15 This is a schematic diagram of the hook-tail positioning mechanism disclosed in an embodiment of the present invention;

[0055] Figure 16 This is a schematic diagram of the drive device structure disclosed in an embodiment of the present invention;

[0056] Figure 17 This is a side view of the drive device disclosed in an embodiment of the present invention;

[0057] Figure 18 This is a schematic diagram of the hook body limiting mechanism structure disclosed in an embodiment of the present invention;

[0058] Figure 19 This is a schematic diagram of the support structure disclosed in an embodiment of the present invention;

[0059] Figure 20 This is a schematic diagram of the safety auxiliary equipment structure disclosed in an embodiment of the present invention;

[0060] Figure 21 This is a schematic diagram of the internal structure of the safety auxiliary equipment disclosed in an embodiment of the present invention;

[0061] Figure 22 This is a schematic diagram showing the arrangement of the support airbag within the protective airbag in the safety auxiliary equipment disclosed in this embodiment of the invention.

[0062] Figure 23 This is a schematic diagram of the liquid guide tube of the safety auxiliary equipment disclosed in this embodiment of the invention being bent back in an arc at the wrist joint of the robotic arm;

[0063] Figure 24 This is a top view schematic diagram of the protective structure disclosed in an embodiment of the present invention;

[0064] Figure 25 This is a schematic diagram of the platform structure disclosed in an embodiment of the present invention;

[0065] Figure 26 This is a cross-sectional side view of the protective structure disclosed in an embodiment of the present invention;

[0066] Figure 27 This is a partial enlarged view of the driving component disclosed in an embodiment of the present invention.

[0067] In the picture:

[0068] 1. Machining equipment; 11. Six-axis robot; 111. Robotic arm; 112. Spindle; 12. Positioner; 121. Support; 122. Positioning plate; 123. Operating bridge; 124. Rotary shaft; 125. First drive unit; 126. Second drive unit; 127. Pin slot; 128. Positioning pin; 14. Central control computer; 15. Three-dimensional force control sensor; 16. 3D vision recognition camera; 17. Cutting device; 18. Plasma air planer; 181. Support frame; 182. Dust cover; 183. Connecting shaft; 184. Connector; 185. Drive motor; 19. Quick change plate; 113. Dust removal device;

[0069] 2. Protective structure; 21. Protective room; 22. Protective door; 221. Loading door; 2211. First slide rail; 2212. Second slide rail; 2213. Third slide rail; 2214. Door body; 22141. First door body; 22142. Second door body; 2215. Drive components; 22151. Motor; 22152. Drive connector; 22153. Belt; 22154. Belt guard; 22155. Position switch; 222. Safety door; 223. Roller shutter door; 23. Work area; 24. Processing 25. Tool Area; 27. Positioner; 29. ​​Hydraulic Area; 210. Dust Collection Area; 211. Hydraulic Station; 213. Dust Collection Port; 214. Electrical Control Area; 215. Electrical Control Cabinet; 216. Feeding Port; 217. Clamping Part; 218. Fixing Part; 219. Cleaning Device; 2191. Cleaning Motor; 2192. Cleaning Belt; 2193. Cleaning Rod; 2194. Brush; 220. Platform; 2201. Frame; 2203. Frame Connecting Plate; 2204. Anchor Bolt Holes; 2205. Cable Holes;

[0070] 3. Safety auxiliary equipment; 31. Protective devices; 311. External protective components; 3111. Protective airbag; 3112. Protective connector; 3113. Third temperature sensor; 3114. Third pressure sensor; 312. Guide airbag; 313. Support airbag; 314. Fan; 3141. First air supply duct; 3142. Second air supply duct; 3143. Third air supply duct; 32. Temperature control device; 321. Temperature control box; 322. Liquid guide tube; 3221. Liquid inlet; 3222. Liquid outlet; 3223. First temperature sensor; 3224. First pressure sensor; 3225. Second temperature sensor; 3226. Second pressure sensor; 33. Host computer;

[0071] 4. Workpiece clamping device; 41. Clamping mechanism; 411. Bracket; 412. Connecting rod; 413. Drive device; 4131. Hydraulic cylinder rod; 414. Press head; 415. Connecting plate; 416. Limiting structure; 417. Clamping connector; 42. Hook body limiting mechanism; 421. Limiting block; 4211. Guide slope; 422. Base; 43. Hook tail positioning mechanism; 431. Positioning block; 432. Support component; 433. Support body; 434. Fixing block; 44. Support structure; 441. Support column; 442. Elastic body; 45. Base plate; 46. Coupler; 47. Connecting flange; 48. Protective sheet metal. Detailed Implementation

[0072] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0073] like Figure 1-27 The image shows a casting cleaning device provided in this embodiment, including processing equipment 1, protective structure 2, safety auxiliary equipment 3, and workpiece clamping device 4;

[0074] Among them, the processing equipment 1 includes a six-axis robot 11, a positioner 12, a cutting end effector, a central control machine 14, a three-dimensional force control sensor 15, and a 3D vision recognition camera 16.

[0075] The six-axis robot 11 includes a robotic arm 111 and a rotatable spindle 112 connected to one end of the robotic arm. The spindle can be connected to a cutting end effector to cut the workpiece. The positioner 12 is located on one side of the six-axis robot 11.

[0076] The workpiece clamping device 4 is fixed on the upper side of the positioner 12. After the workpiece clamping device 4 clamps the workpiece to be processed, the positioner 12 drives the workpiece clamping device 4 to rotate around the X-axis and Y-axis.

[0077] The cutting end effector includes a cutting device 17 and a plasma air planer 18;

[0078] The plasma air planer 18, cutting device 17, central control unit 14, and 3D vision recognition camera 16 are located on the same side or different sides of the six-axis robot 11.

[0079] The 3D vision recognition camera 16 is used to scan the workpiece, perform grating distance measurement and generate a three-dimensional point cloud map, and compare it with the three-dimensional digital model to highlight the excess casting material. Based on the trajectory algorithm, the optimal cutting end effector is selected to process the workpiece and remove the casting material.

[0080] The central control unit 14 is used to control the motion of the six-axis robot 11 and the positioner 12;

[0081] The cutting device is used to cut the workpiece, achieving a 1mm residual cutting residue. The plasma air planer is used to process the workpiece residue smaller than 1mm after measurement and comparison by a 3D vision recognition camera. The plasma air planer performs air planing vibration processing on the cut riser residue. By changing the vibration frequency, it quickly cleans the burrs and flash smaller than 1mm on the surface. The rapid vibration and slow forward movement of the high-power air planer, combined with the low-frequency oscillation and forward movement of the six-axis robot, can produce a smooth air planed surface on the workpiece. The plasma air planer can replace grinding, which can greatly save on cutting and grinding consumables and reduce economic costs.

[0082] The three-dimensional force control sensor 15 is installed between the spindle and the cutting end effector to respond to the machining force in real time. By controlling the magnitude of the force, it controls the spindle feed speed and protects the equipment. The three-dimensional force control sensor 15 observes and protects the equipment's status by monitoring changes in force. If there is a significant change, an alarm will be triggered, and the equipment will be stopped to ensure the stability of tool processing and protect the robot. In this embodiment, the robot is equipped with an intelligent expert system that can achieve self-learning and self-adaptation of the theoretical cutting path. The scanning and ranging of the workpiece to generate a three-dimensional point cloud map, which is then compared with the three-dimensional digital model, the central control system, and the intelligent expert system are all existing technologies, and their specific principles will not be elaborated here.

[0083] This invention discloses an intelligent equipment for cutting casting risers and gatings based on industrial robots. It uses 3D vision to compare 3D cloud points with a three-dimensional digital model to intelligently identify impurities. It combines a cutting device with a plasma gouging machine, using plasma gouging to replace grinding to process the workpiece. This not only solves the difficulty of grinding cast steel parts and ensures the cutting accuracy and quality of casting risers and gatings, but also reduces the cost of grinding casting risers and gatings, thus ensuring economic benefits.

[0084] In a specific embodiment, such as Figure 4 , Figure 5As shown, the positioner 12 includes a support 121, a horizontally arranged operating bridge 123 with both ends hinged to the support via positioning discs 122, and a vertically arranged rotating shaft 124 on the operating bridge. The rotating shaft 124 can be driven by a first driving device 125 to rotate along the Y-axis, and the operating bridge 123 can be driven by a second driving device 126 to rotate around the X-axis. The workpiece clamping device is fixed on the upper side of the rotating shaft 124 to realize the rotation of the workpiece clamping device around the X-axis (lateral) and Y-axis (longitudinal) directions, realizing its 90° front-to-back and 360° left-to-right rotation, that is, 90° pitch motion in the vertical direction and 360° free rotation in the horizontal plane, realizing multi-angle displacement of the workpiece, and cooperating with the manipulator and spindle of the six-axis robot to cut and process the workpiece at any position, ensuring the processing accuracy and quality of the workpiece.

[0085] In a specific embodiment, such as Figure 6 As shown, the plasma air planer 18 is equipped with a dustproof structure. The dustproof structure includes a dust cover 182, a support frame 181, a drive motor 185, and a connecting shaft 183. The connecting shaft 183 is rotatably mounted on the support frame 181 in a horizontal direction. The dust cover is fixed to the connecting shaft 183 by a connector 184. When the plasma air planer 18 is not working, the drive motor 185 drives the dust cover 182 to rotate around the axis of the connecting shaft 183 through the drive shaft 183 and the connector 184, and drives it to the upper side of the planing torch of the plasma air planer 18, thus preventing dust from falling and affecting the operation of the plasma air planer 18. Before the plasma air planer 18 starts working, the drive motor drives the dust cover 182 to rotate and move away from the upper side of the planing torch of the plasma air planer 18, and then the plasma air planer 18 starts working.

[0086] In a specific embodiment, such as Figure 7 As shown, it also includes a quick-change disc 19; one side of the cutting end effector is connected to the quick-change disc and is fixedly connected to the tool side of the quick-change disc;

[0087] The three-dimensional force control sensor connected to the spindle of the six-axis robot has a quick-change disc at the end furthest from the spindle, and it is fixedly connected to the robot side of the quick-change disc. The spindle is connected to the cutting end effector through the quick-change disc connected to it and the quick-change disc connected to the cutting end effector. The quick-change disc 19 has two sides, namely the robot side and the tool side. The quick-change disc 19 can realize a power-off self-locking function to ensure safety.

[0088] The quick-change disc 19 is fixed to one side of the 3D vision recognition camera 16 and is fixedly connected to the tool side of the quick-change disc 19. The robotic arm 111 drives the spindle 112 to move to the workstation where the 3D vision recognition camera 16 is located. The spindle 112 is connected to the 3D vision recognition camera 16 through the quick-change disc 19 connected to the spindle 112 and the quick-change disc 19 connected to the 3D vision recognition camera 16. After the 3D vision recognition camera 16 scans, it automatically forms the robot's motion trajectory. The six-axis robot automatically installs and replaces the cutting device. At this time, the cutting device 17 is the cutting end effector. The motor of the cutting device 17 drives the electric cutting spindle to drive the carbide saw blade to cut the workpiece gate and riser. The limit sensor set on the base of the cutting device 17 is used to detect whether the saw blade is in the designated working position to ensure that the cutting work can be carried out. The limit sensor is existing technology, and its specific working principle will not be described here. After the riser and gate are cut, a 1mm riser and gate residue will remain. At this point, the six-axis robot spindle moves to the plasma air planer station and replaces the plasma air planer as the cutting end effector to remove the residue. The plasma air planer uses an 18-flame laser to make a 45° bevel cut. The six-axis robot arm drives the spindle to swing forward with minimal oscillation, repeatedly moving according to the riser and gate to form a smooth surface on the workpiece. Due to the hardness of the cast steel, a specially made carbide cutting saw blade is used. This blade has high hardness and durability, allowing for continuous operation at high temperatures without deformation, ensuring the durability of the equipment and thus improving economic efficiency.

[0089] In a specific embodiment, such as Figure 4 , Figure 5 As shown, the displacement disk 122 is provided with a pin groove 127, and the support 121 is provided with a positioning pin 128. When the displacement disk 122 rotates to the target position under the drive of the second drive device 126, the positioning pin 128 is inserted into the pin groove 127 to fix the displacement disk 122, that is, to fix the workpiece clamping device and the workpiece. Then the six-axis robot 11 starts to work and drives the cutting end effector to cut the workpiece.

[0090] In a specific embodiment, such as Figure 2 As shown, it also includes a water-cooled box 116, which is located below the central control unit. When the temperature of the plasma air planer is too high, the six-axis robot drives it to the workstation where the water-cooled box is located. The water-cooled box cools down the plasma air planer. After cooling down, the plasma air planer is driven by the six-axis robot to the workpiece location to process the 1mm riser and gate residue on the workpiece, forming a smooth surface on the workpiece to ensure the workpiece processing accuracy.

[0091] In this embodiment, a protective structure 2 is also included, such as Figure 24-27As shown, the protective structure 2 includes: a protective room 21 and a protective door 22. The protective room 21 is provided with a work area 23, a processing area 24 and a tool area 25.

[0092] The work area is equipped with a six-axis robot 11, and the processing area 24 is located in front of the work area 23. The processing area 24 is equipped with a positioner and a workpiece clamping device. The work area 23 and the processing area 24 are connected.

[0093] The work area 23 is provided with tool areas 25 on both sides, and the tool areas 25 are provided with polishing tools and 3D vision recognition cameras 16.

[0094] The protective door 22 includes a loading door 221, a safety door 222, and a roller shutter door 223. The roller shutter door 223 is provided between the work area 23 and the tool area 25. The tool area 25 is provided with the safety door 222 and is connected to the outside through the safety door 222. The processing area 24 is provided with the loading door 221, and the workpiece to be processed enters the processing area 24 through the loading door.

[0095] During processing, the roller shutter door 223 and the loading door 221 are in a closed state, so that the processing area 24 and the work area 23 form an enclosed space.

[0096] In this embodiment, by setting up a protective room, safety door, and loading door outside the processing equipment, the device is isolated from the external environment. This prevents waste generated during the cleaning process from polluting the external environment and injuring external workers, while also protecting the internal working equipment. By setting up roller shutters between different working areas inside the device, the work area and tool area are separated. When the robot is processing the hook casting, the roller shutters on both sides are closed to prevent smoke and impurities from splashing onto the tools and causing damage. This ensures the safe and reliable operation of the intelligent casting cleaning equipment, guarantees the safety of workers, eliminates safety hazards, and improves cleaning efficiency.

[0097] In a specific embodiment, the safety doors are equipped with safety door locks, which have an opening and closing feedback function. This feedback can transmit the opening and closing status of the doors to the control system for interlocking control of the equipment. When an operator opens the left or right safety doors, the opening signal is fed back to the control system, which then prevents the equipment in the areas of the left and right safety doors from starting. The rear safety door is connected to the robot's working area. When the rear safety door opens, the opening signal is directly connected to the safety circuit of the robot control cabinet, causing the robot to stop working immediately.

[0098] In a specific embodiment, the control system is equipped with emergency stop buttons. Pressing these buttons stops the entire intelligent casting cleaning equipment workstation. There are four emergency stop buttons in total: one on the main control panel, and one on each of the safety door control boxes on the left, right, and rear sides. The safety door control boxes are installed on the outside of each safety door and are used for both emergency stop and manual control. The four emergency stop buttons are connected in series; pressing any one of them will stop the entire intelligent casting cleaning equipment workstation, allowing operators to promptly stop the workstation from any location where problems are detected during operation, thus preventing damage to the workpiece and equipment.

[0099] In a specific embodiment, a hydraulic zone 29 is provided on one side of the processing area 24, and a dust collection zone 210 is provided on the other side of the processing area 24. The hydraulic zone is equipped with a hydraulic station 11, which provides power to the hydraulic fixture. A dust collection port 213 is provided between the dust collection zone 210 and the processing area 24. The dust collection zone is equipped with a dust removal device 13, which collects processing debris through the dust collection port 213. The hydraulic station provides power to the equipment, and the dust collection device ensures the cleanliness of the working area.

[0100] In a specific embodiment, an electrical control area 214 is provided on the rear side of the work area 23. The electrical control area 214 is equipped with an electrical control cabinet 215. The electrical control cabinet 215 is electrically connected to the six-axis robot 11. The electrical control cabinet controls the robotic arm to grasp tools such as vision cameras, telescopic files, and high-intensity grinders, ensuring that the robot can smoothly clean the castings.

[0101] In a specific embodiment, the protective room 21 has a feeding port 216, and the feeding door 221 is located at the feeding port;

[0102] The loading gate 221 includes a first slide rail 2211, a second slide rail 2212, a third slide rail 2213, a gate body 2214, and a driving component 2215. The first slide rail 2211 and the second slide rail 2212 are arranged parallel to each other on the top of the protective room 21, and the second slide rail 2212 is located above the loading port 216, while the third slide rail 2213 is located below the loading port 216. The gate body 2214 includes a first gate body 22141 and a second gate body 22142 that are perpendicular to each other. The first gate body 22141 is connected to the first slide rail 2211 and the second slide rail 2212 by a slider, and the second gate body 22142 is connected to the third slide rail 2213 by a slider.

[0103] The driving component 2215 is located on the side of the first slide rail 2211 away from the loading port 216, and includes a motor 22151, a driving connector 22152, and a belt 22153. The motor 22151 drives the belt 22153 to rotate. The driving connector 22152 includes a clamping part 217 and a fixing part 218. The fixing part 218 is fixedly connected to the first door body 22141. The clamping part 217 clamps the belt 22153. The three slide rails share the weight of the door body. The three slide rails are in different planes, which makes the door body structure more rigid and less prone to deformation, thus realizing the smooth opening and closing of the loading door.

[0104] In a specific embodiment, a position switch 22155 is provided on the side of the first slide rail 2211 away from the feed port 216. The position switch 22155 faces the slider provided on the first slide rail 211. When the slider slides to the position switch, it is at the farthest sliding position. Position switches are provided at both ends of the slide rail to realize the sliding limit of the feed gate.

[0105] In a specific embodiment, a belt cover 22154 is provided on the side of the first slide rail away from the feed port. The belt cover 22154 is fixed to the top of the protective room 21. The cover body of the belt cover 22154 is located above the belt 22153. The belt cover protects the belt, prevents belt damage, and extends its service life.

[0106] In a specific embodiment, the top of the protective room is provided with a cleaning device 219. The cleaning device 219 includes a cleaning motor 2191, a cleaning belt 2192, a cleaning rod 2193, and bristles 2194 provided on the cleaning rod 2193. The end of the cleaning rod 2193 is fixedly connected to the cleaning belt 2192. The cleaning motor 2191 can drive the cleaning belt 2192. The cleaning rod and bristles move along the top of the protective room under the drive of the motor to clean the dust deposited on the top, avoiding excessive dust accumulation and contamination of the equipment inside the protective room.

[0107] In a specific embodiment, the work area is provided with a platform 220, and the six-axis robot is mounted on the platform 220. The platform 220 includes a frame 2201 and a top plate. The top plate is fixed to the frame to form the bearing surface of the platform. The six-axis robot is mounted on the bearing surface. A frame connecting plate 2203 is fixed under the frame 2201. The frame connecting plate 2203 is provided with anchor bolt holes 2204. The frame 2201 is a square rigid structure. Several frames 2201 are fixedly connected by bolts. The frame is provided with cable holes 2205. The frame is designed to provide installation space for cables. The frame connecting plate strengthens the connection between the frame and the ground foundation. The cables are located inside the platform to prevent them from being exposed and damaged by processing waste.

[0108] Safety auxiliary equipment, used for the protection of robotic arms, combined with... Figures 20-23 As shown, it includes: a protective device 31, a temperature control device 32, and a host computer 33; the protective device 31 includes: an outer protective component 311 that wraps around the robotic arm and forms a sealed space, multiple spiral-shaped guide airbags 312, multiple support airbags 313, and a fan 314 outside the outer protective component 11; the guide airbags 312 and the support airbags 313 are both located in the sealed space, the multiple guide airbags 312 correspond to each joint of the robotic arm and are connected to the outer protective component 311, and the multiple support airbags 313 are evenly distributed on the arm beam of the robotic arm. The outer peripheral surface is connected to the outer protective component 311; the fan 314 inflates the outer protective component 311, the guide airbag 312, and the support airbag 313; the temperature control component 32 includes a temperature control box 321 and a liquid guide pipe 322 connected to the temperature control box 321; the guide airbag 312 has a spiral guide groove facing the side of the robotic arm, and the liquid guide pipe 322 is coiled along the spiral guide groove at each joint of the robotic arm and is arranged along the inner wall of the outer protective component 311 at the arm beam of the robotic arm; the fan 314 and the temperature control box 321 are both electrically connected to the host computer 33.

[0109] The sealed space formed by the outer protective component 311 isolates the robotic arm from external debris and dust, protecting it from contamination and damage, and ensuring its working accuracy and service life. The liquid guide tube 322 is installed throughout the sealed space. The temperature control box 321 controls the heat exchange between the liquid in the guide tube 322 and the air in the sealed space, achieving temperature regulation of the entire sealed space. This solves the problem of existing temperature control devices 32 having poor temperature regulation at the far end of the sealed space due to weak heat convection. The liquid guide tube 322 is coiled along spiral guide grooves at each joint of the robotic arm, forming a spring-like structure with the guide airbag 312. This allows for extension, contraction, and twisting during robotic arm movements, meeting the ±180° rotation threshold at the joints. This prevents damage to the liquid guide tube 322 due to robotic arm movements, ensuring the normal operation of the robotic arm and auxiliary equipment.

[0110] The outer protective assembly 311 includes multiple protective airbags 3111 and multiple elastic and wear-resistant protective connectors 3112, the protective connectors 3112 being made of polyurethane (PU) material. The multiple protective airbags 3111 are respectively wrapped around the outer sides of the robotic arm beam and base, and the multiple protective connectors 3112 are respectively wrapped around each joint of the robotic arm. The multiple protective airbags 3111 and multiple protective connectors 3112 are connected to form a sealed space, thus protecting the robotic arm. The polyurethane (PU) material has good wear resistance and elasticity, providing excellent protection and facilitating the movement of the robotic arm joints.

[0111] The support airbag 313 is joined and fixed to the inner wall of the protective airbag 3111 by hot air welding. After inflation, the support airbag 313 abuts against the outer circumference of the robotic arm beam. By controlling the inflation of the support airbag 313, the protective airbag 3111 can be supported, and by controlling the inflation amount, the tightness of the protective airbag 3111 in wrapping the robotic arm beam can be adjusted.

[0112] The guide airbag 312 has a semi-circular spiral cross-section, with the straight line of the semi-circle facing the robotic arm. This allows the liquid guide tube 322 to leak outwards towards the side of the robotic arm, facilitating heat exchange between the liquid guide tube 322 and the air and improving temperature regulation. Both ends of the guide airbag 312 are connected and communicate with the ends of the adjacent protective airbag 3111, forming a single unit. The protective airbag 3111 also supports the guide airbag 312.

[0113] The liquid guide tube 322 is made of a highly flexible material with good thermal conductivity, which facilitates expansion, contraction, and twisting, and also promotes heat exchange. The liquid guide tube 322 is filled with fluorinated liquid as a coolant. The liquid guide tube 322 enters from the protective airbag 3111 at the base of the robotic arm, coils along the spiral guide groove of the guide airbag 312 at the shoulder joint of the robotic arm, and then extends upward along the inner wall of the protective airbag 3111 between the upper arm support airbags 313 of the robotic arm; then coils along the spiral guide groove of the guide airbag 12 at the elbow joint of the robotic arm, and then extends upward along the inner wall of the protective airbag 3111 between the lower arm support airbags 313 of the robotic arm; then coils along the spiral guide groove of the guide airbag 312 at the wrist joint of the robotic arm, and then bends back in an arc between the robotic arm and the protective connector 3112 to the spiral guide groove of the guide airbag 312 at the wrist joint of the robotic arm; the liquid guide tube 322 is then laid parallel to the original route in the opposite direction and returns to the base of the robotic arm to exit. The liquid guide tube 322 includes an inlet 3221 and an outlet 3222. The inlet 3221 is the insertion end of the liquid guide tube 322, and the outlet 3222 is the exit end of the liquid guide tube 322. The inlet 3221 and the outlet 3222 are connected to the temperature control box 321 to form a circuit. The temperature control box 321 controls the circulation of the fluorinated liquid in the liquid guide tube 322 to regulate the temperature.

[0114] The inlet 3221 is equipped with a first temperature sensor 3223 and a first pressure sensor 3224, and the outlet 3222 is equipped with a second temperature sensor 3225 and a second pressure sensor 3226. All three sensors are electrically connected to a host computer 33. The first temperature sensor 3223 and the first pressure sensor 3224 upload the monitored temperature and pressure of the fluorinated liquid to the host computer 33, as do the second temperature sensor 3225 and the second pressure sensor 3226. The host computer 33 then judges and adjusts the temperature of the temperature control device 32.

[0115] A first air supply pipe 3141 connects the blower 314 to the enclosed space to inflate the enclosed space. A second air supply pipe 3142 connects the blower 314 to the guide airbag 312 to inflate the guide airbag 312. A third air supply pipe 3143 connects the blower 314 to the support airbag 313 to inflate the support airbag 313.

[0116] The outer protective component 311 is equipped with a third temperature sensor 3113 and a third pressure sensor 3114, both of which are wirelessly connected to the host computer 33. These sensors are used to detect the temperature and pressure of the sealed space and upload the data to the host computer 33. The host computer 33 then determines whether the temperature is damaged and controls the temperature control device 32 to adjust the temperature of the sealed space. It also determines whether any damage exists based on the pressure change curve.

[0117] The guide airbag 312 is equipped with a fourth pressure sensor, which is wirelessly connected to the host computer 33. The support airbag 313 is equipped with a fifth pressure sensor, which is also wirelessly connected to the host computer 33. These sensors monitor the pressure within the corresponding airbags and upload the data to the host computer 33. The host computer 33 then determines the status of the airbag, controls the blower 314 to inflate the airbag, and checks for leaks.

[0118] The working principle of the safety auxiliary equipment in this application:

[0119] After the safety auxiliary equipment is powered on, the host computer 33 controls the fan 314 to inflate the sealed space, guide airbag 312 and support airbag 313 to the specified pressure.

[0120] The third temperature sensor 3113 detects the temperature of the sealed space and feeds it back to the host computer 33. When the host computer 33 determines that the temperature is higher than the set temperature range, it controls the temperature control box 321 to start the cooling function. The temperature control box 321 controls the fluorinated liquid in the liquid guide tube 322 to absorb heat and reduce the temperature in the sealed space. The first temperature sensor 3223 and the second temperature sensor 3225 monitor the temperature of the fluorinated liquid at the inlet 3221 and the outlet 3222. The first pressure sensor 3224 and the second pressure sensor 3226 monitor the pressure of the fluorinated liquid at the inlet 3221 and the outlet 3222. The third temperature sensor 3113 detects the temperature of the sealed space. All the sensors feed back to the host computer 33. The host computer 33 controls the temperature control box 321 to continuously adjust the temperature to keep the temperature of the sealed space within the set temperature range.

[0121] When the host computer 33 determines that the temperature is lower than the set temperature range, the host computer 33 controls the temperature control box 321 to start the heating function, so as to raise the temperature of the sealed space and maintain it within the set temperature range.

[0122] After the robotic arm is started, the third pressure sensor 3114, the fourth pressure sensor 3121, and the fifth pressure sensor 3131 collect pressure data in real time and upload it to the host computer 33. The host computer 33 judges the equipment operation status based on the preset pressure standard and pressure change curve, and inflates the equipment or alarms for abnormal conditions as appropriate.

[0123] In a specific embodiment, the positioner 2 is provided with a waste bin at the bottom. The electric cutting spindle of the cutting device 7 drives the carbide saw blade to cut off the riser and the fallen riser waste will fall into the waste bin.

[0124] like Figure 10-19 The workpiece clamping device 4 shown in this embodiment includes a hook body limiting mechanism 42, a hook tail positioning mechanism 43, a support structure 44, several clamping mechanisms 41, and a base plate 45.

[0125] The clamping mechanism 41, the hook body limiting mechanism 42, the hook tail positioning mechanism 43, and the support structure 44 are all mounted on the base plate 45. The hook tail positioning mechanism 43 and the support structure 44 are respectively mounted at both ends of the hook body limiting mechanism 42. A plurality of the clamping mechanisms 41 are evenly distributed on the base plate.

[0126] like Figure 15 As shown, the hook tail positioning mechanism 43 includes several positioning blocks 431. The head of the car coupler is supported by the support structure 44, and the tail of the car coupler is supported by the positioning blocks 431. When the car coupler 46 is placed on the clamp, the upper part of the positioning block 431 extends from bottom to top into the mounting hole of the tail of the car coupler to position and limit the tail of the car coupler.

[0127] like Figure 18As shown, the hook body limiting mechanism 42 includes a pair of limiting blocks 421 arranged at relative intervals. When the hook 46 is placed on the clamp, the hook body of the hook is arranged between the relatively arranged limiting blocks. The limiting blocks can limit the horizontal direction of the hook body.

[0128] like Figure 16 , Figure 17 As shown, the clamping mechanism 41 includes a bracket 411, a connecting rod 412, a driving device, and a pressure head 414. One end of the connecting rod 412 is equipped with the pressure head 414, and the other end is connected to the driving device. In this embodiment, the driving device is a hydraulic cylinder 413. The middle part of the connecting rod 412 is hinged to the bracket 411 fixed on the base plate. The driving device drives one end of the connecting rod to lift, and the end with the pressure head lowers to clamp the coupler 46. In this embodiment, three clamping mechanisms 41 are provided. The three clamping mechanisms are respectively located at one end near the tail of the coupler and on both sides of the head of the coupler, forming a three-point clamping of the coupler to ensure the stability of the coupler when clamped. During coupler processing, the clamping mechanisms 41 can be controlled individually, providing strong operability. Figure 14 The diagram shows the coupler mounted on the clamp and clamped.

[0129] The workpiece clamping device disclosed in this invention supports the coupler through a hook tail positioning mechanism and a support mechanism. The hook tail positioning mechanism limits and positions the tail of the coupler, and the limiting block of the hook body limiting mechanism limits the horizontal direction of the coupler body. The driving device of the clamping mechanism drives the connecting rod to press down the pressure head to clamp the coupler, preventing vertical displacement of the coupler. This clamp can fully limit the coupler, effectively preventing displacement and shaking of the coupler during processing, improving the stability of the coupler, ensuring the accuracy of the grinding position, thereby ensuring processing accuracy, improving the product qualification rate, and ensuring product quality.

[0130] In a specific embodiment, the hook tail positioning mechanism 43 further includes a support body 433, a fixing block 434, and an elastic element 432; the support body 433 is fixed on the base plate 45, and the fixing block 434 is disposed on the support body 433; the elastic element 432 is disposed on the side of the positioning block 431 near the hook body limiting mechanism 42.

[0131] The upper part of the positioning block 431 is a frustum half. Several positioning blocks 431 are arranged along the circumferential direction of the fixing block 434, and the oblique side of the frustum half faces outward. When the coupler is placed on the clamp, the oblique side of the frustum half abuts against the inner wall of the mounting hole at the tail of the coupler 46. The frustum half allows coupler tail mounting holes of different sizes to be installed on it. The fixing block 434 improves the connection stability of the positioning blocks, and the positioning block 431 can realize the positioning and limiting of the coupler tail, ensuring the stability of the coupler position. In this embodiment, the fixing block 434 is a cube structure, and four positioning blocks 431 are provided, respectively located on the four sides of the cube. The positioning blocks 431 and the fixing block 434 are fixedly connected by bolts. Different positioning blocks 431 can be replaced to adapt to different types of couplers. The elastic element 432 is a hard rubber tip, and two are provided, which are spaced apart along the direction perpendicular to the coupler body. When the clamping mechanism clamps the coupler, the elastic element provides a buffer for the coupler to prevent the coupler from directly contacting the support body 433 and damaging the coupler workpiece.

[0132] In a specific embodiment, such as Figure 16 , Figure 17 As shown, the clamping mechanism 41 further includes a connecting plate 415, a limiting structure 416, and a clamping connector 417; the connecting plate 415 is disposed on the bracket 411, the clamping connector 417 is disposed on the connecting plate 415, the middle part of the connecting rod is hinged to the connecting member, and the limiting structure 416 is disposed on the connecting plate 415 at one end of the clamping connector 417 with a pressure head 414; when the hydraulic cylinder drives the end of the connecting rod with the pressure head to descend, the connecting rod can move to its maximum extent until its bottom abuts against the top of the limiting structure, and the limiting mechanism limits the connecting rod; at the same time, the limiting structure can also limit the horizontal movement path of the connecting rod when it moves, and the limiting structure can ensure the limitation of the connecting rod in both the horizontal and vertical directions;

[0133] In this embodiment, the driving device 413 is a hydraulic cylinder. The top of the hydraulic cylinder rod 4131 is connected to one end of the connecting rod 412. The hydraulic cylinder drives the hydraulic cylinder rod 4131 to rise and fall, which in turn drives the end of the connecting rod 412 equipped with the pressure head 414 to rise and fall. The hydraulic cylinder drives the pressure head to rise through the hydraulic cylinder rod. There is a coupler installation space between the pressure head and the base plate to ensure that the coupler is placed smoothly on the clamp. The hydraulic cylinder drives the pressure head 14 to fall through the hydraulic cylinder rod to clamp the coupler and prevent vertical movement during coupler grinding.

[0134] In a specific embodiment, the hook body limiting mechanism 42 further includes a pair of bases 422 arranged at relative intervals. When the hook 46 is placed on the clamp, the pair of bases 422 are respectively arranged on both sides of the hook body of the hook 46. The bases 422 are arranged on the base plate 45, and the limiting block 421 is arranged on the bases 422. The bases 422 can ensure the stability of the connection of the limiting block 421. The height of the limiting block 421 can be adjusted by setting bases 422 of different heights, thereby improving the applicability of the hook body limiting mechanism 42.

[0135] In a specific embodiment, the top of the limiting block 421 is provided with a guide slope 4211; the guide slopes of both limiting blocks 421 are set towards the coupler body. When the coupler is installed, the side wall of the coupler first contacts the guide slope 4211, and then the external force drives the coupler body to descend between the two limiting blocks 421. The side walls on both sides of the coupler body abut against the side walls of the two limiting blocks respectively, thereby limiting the coupler body. The guide slope 4211 plays a guiding role, making it easy for the coupler to be installed between the two limiting blocks 421.

[0136] In a specific embodiment, the support structure 44 includes a pair of elastic support columns respectively disposed on both sides of the bottom of the coupler head, such as... Figure 19 As shown, the elastic support column includes a support column 441 vertically mounted on the base plate 45 and an elastic body 442 mounted on the top of the support column. When the coupler workpiece is placed on the fixture, the bottom of the head of the coupler 46 abuts against the top of the elastic body 442. During coupler processing, dust easily accumulates on the top of the support structure 44. When the clamping mechanism presses the coupler down, the elastic body deforms and its height decreases as the force increases, which can eliminate the positional deviation (height increase) of the next coupler workpiece placed on it due to the dust accumulated on the top of the support structure, thereby ensuring the positional accuracy of the coupler workpiece processing surface. The support column can limit the distance the coupler workpiece descends when it descends, preventing the problem of low positional accuracy of the processing surface due to excessive descent of the workpiece. In this embodiment, the elastic body is a rigid spring.

[0137] In a specific embodiment, such as Figure 11 , Figure 13 As shown, the base plate 5 also includes a connecting flange 47 on its lower side, which allows the fixture to be connected to a cradle positioner or robot spindle via the connecting flange 47.

[0138] In a specific embodiment, such as Figure 10 , Figure 12 As shown, a protective sheet metal 48 is provided on the top of the connecting flange 47 on the base plate 45, which serves as a protective measure to prevent debris falling during the processing of the coupler from damaging the base plate 45 and the connecting flange 47.

[0139] In a specific embodiment, the hydraulic cylinder is equipped with a pressure sensor, a liquid level sensor, and a temperature sensor. The pressure sensor monitors the pressure within the hydraulic cylinder, the temperature sensor monitors the liquid temperature within the cylinder and triggers an alarm when the temperature exceeds 60°C, and the liquid level sensor monitors the liquid level and triggers an alarm when the liquid level is low. An air-cooled motor is also included in the hydraulic system to cool the device when the temperature is too high. The pressure sensor, liquid level sensor, temperature sensor, and air-cooled motor are existing technologies, and their specific working principles will not be elaborated here.

[0140] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A casting cleaning device, characterized in that, The machining equipment, the protective structure, the workpiece clamping device and the safety auxiliary equipment are included. The machining equipment includes a six-axis robot, a positioner, a cutting end effector, a central control machine, a three-dimensional force control sensor and a 3D visual recognition camera. The six-axis robot includes a mechanical arm and a rotatable main shaft connected to one end of the mechanical arm, and the main shaft can be connected with the cutting end effector to cut the workpiece. The workpiece clamping device is fixed on the upper side of the positioner. After the workpiece clamping device clamps the workpiece to be processed, the positioner drives the workpiece clamping device to rotate around the X and Y axes. The cutting end effector includes a cutting device and a plasma gas planer. The plasma gas planer, the cutting device, the central control machine and the 3D visual recognition camera are arranged on the same side or different sides of the six-axis robot. The 3D visual recognition camera is used for scanning and ranging the workpiece to generate a three-dimensional point cloud image, and the three-dimensional point cloud image is compared with a three-dimensional numerical model to switch the cutting end effector to process the impurities of the workpiece casting excess material. The central control machine is used for controlling the movement of the six-axis robot and the positioner. The cutting device is used for cutting the workpiece to achieve 1mm residual cutting of the workpiece. The plasma gas planer is used for processing the residual below 1mm of the workpiece to form a plane on the workpiece after comparison by the 3D visual recognition camera. The three-dimensional force control sensor is installed between the main shaft and the cutting end effector to respond to the processing force in real time, control the feed rate of the main shaft by controlling the force, and protect the equipment. The protective structure includes a protective house and a protective door. The work area is provided with the six-axis robot, and the front side of the work area is provided with the processing area. The processing area is provided with the positioner, and the work area and the processing area are communicated. The work area is provided with the polishing tool and the measuring tool. The protective door includes a feeding door, a safety door and a roller shutter door. During processing, the roller shutter door and the feeding door are in a closed state, so that the processing area and the work area form a closed space. The safety auxiliary equipment includes a protective device, a temperature control device and an upper computer. The protective device includes an outer protective assembly wrapping the mechanical arm to form a closed space, a plurality of spiral guide air bags, a plurality of supporting air bags and a fan outside the outer protective assembly. The guide air bags and the support air bags are located in the closed space, the guide air bags correspond to the joints of the mechanical arm respectively and are connected to the outer protection assembly, and the support air bags are distributed on the outer circumferential surface of the arm beam of the mechanical arm and are connected to the outer protection assembly; the fan inflates the outer protection assembly, the guide air bags and the support air bags; the temperature control device comprises a temperature control box and a liquid guide pipe in communication with the temperature control box; the guide air bags are provided with spiral guide grooves on the side facing the mechanical arm, the liquid guide pipe is coiled along the spiral guide grooves at the joints of the mechanical arm and is arranged along the inner wall of the outer protection assembly at the arm beam of the mechanical arm; the fan and the temperature control box are electrically connected to the upper computer; The outer protection assembly comprises a plurality of protection air bags and a plurality of elastic and wear-resistant protection connecting pieces; the protection air bags are wrapped on the outer side of the arm beam of the mechanical arm respectively, the protection connecting pieces are wrapped at the joints of the mechanical arm respectively, and the protection air bags and the protection connecting pieces are connected to form a closed space. The liquid guide pipe comprises an inlet and an outlet, the temperature control box connects the inlet and the outlet to form a loop; the inlet is provided with a first temperature sensor and a first pressure sensor, the outlet is provided with a second temperature sensor and a second pressure sensor, and the first temperature sensor, the first pressure sensor, the second temperature sensor and the second pressure sensor are electrically connected to the upper computer.

2. A casting cleaning apparatus as claimed in claim 1, wherein The workpiece clamping device comprises a hook body limiting mechanism, a hook tail positioning mechanism, a support structure, a plurality of pressing mechanisms and a bottom plate. The pressing mechanisms, the hook body limiting mechanism, the hook tail positioning mechanism and the support structure are arranged on the bottom plate, and the hook tail positioning mechanism and the support structure are arranged at the two ends of the hook body limiting mechanism; the plurality of pressing mechanisms are evenly arranged on the bottom plate. The hook tail positioning mechanism comprises a plurality of positioning blocks, the head of the car coupler is supported by the support structure, and the tail of the car coupler is supported by the positioning blocks; when the car coupler is placed on the clamp, the upper part of the positioning blocks extends into the mounting hole of the tail of the car coupler from bottom to top, so as to position and limit the tail of the car coupler. The hook body limiting mechanism comprises a pair of limiting blocks arranged in opposite directions, and when the car coupler is placed on the clamp, the hook body of the car coupler is arranged between the limiting blocks arranged in opposite directions, and the limiting blocks can limit the horizontal direction of the hook body. The pressing mechanism comprises a bracket, a connecting rod, a driving device and a pressing head; one end of the connecting rod is provided with the pressing head, the other end is connected with the driving device, the middle part of the connecting rod is hinged with the bracket fixed on the bottom plate, the driving device drives one end of the connecting rod to lift up, and the end provided with the pressing head descends to press the car coupler.

3. A casting cleaning apparatus as claimed in claim 1, wherein The displacement machine comprises a support, an operating bridge horizontally arranged at two ends and hinged with the support through a displacement disc, and a rotating shaft vertically arranged on the operating bridge; the rotating shaft can be driven to rotate along the Y-axis direction by a first driving device, and the operating bridge can be driven to rotate around the X-axis by a second driving device; the bottom plate of the workpiece clamping device is fixed on the upper side of the rotating shaft.

4. A casting cleaning apparatus as defined in claim 1, wherein The dustproof structure is provided on the plasma air gouging machine; the dustproof structure comprises a dustproof cover, a support frame, a driving motor and a connecting shaft; the connecting shaft is rotatably installed on the support frame in a horizontal direction, the dustproof cover is fixed on the connecting shaft through a connecting piece, and when the plasma air gouging machine is not working, the driving motor drives the dustproof cover to rotate around the axis of the connecting shaft and drives the dustproof cover to the upper side of the gouging torch of the plasma air gouging machine through the driving connecting shaft and the connecting piece.

5. A casting cleaning apparatus as defined in claim 1, wherein The protective house has a feeding port, and the feeding door is arranged at the feeding port; The feeding door comprises first and second sliding rails, a door body and a driving component, the first and second sliding rails are arranged in parallel on the top of the protective house, the second sliding rail is arranged above the feeding port, and the third sliding rail is arranged below the feeding port; the door body comprises first and second door bodies which are perpendicular to each other, the first door body is connected to the first and second sliding rails through sliding blocks, and the second door body is connected to the third sliding rail through a sliding block; The driving component is arranged on the side of the first sliding rail away from the feeding port and comprises a motor, a driving connecting piece and a belt, the motor drives the belt to rotate, the driving connecting piece comprises a clamping portion and a fixed portion, the fixed portion is fixedly connected to the first door body, and the clamping portion clamps the belt.

6. A casting cleaning apparatus as defined in claim 1, wherein The work area is provided with a platform, the mechanical arm is arranged on the platform, the platform comprises a framework and a top plate, the top plate is fixed to the framework to form a bearing surface of the platform, and the mechanical arm is arranged on the bearing surface; a framework connecting plate is fixed below the framework, a foundation bolt hole is arranged on the framework connecting plate, the framework is a square rigid structure, a plurality of framework are fixedly connected through bolts, and a cable hole is arranged on the framework.

7. A casting cleaning apparatus as defined in claim 2 wherein, The hook tail positioning mechanism further comprises a support body, a fixed block and an elastic member; the support body is fixed on the bottom plate, and the fixed block is arranged on the support body; the elastic member is arranged on one side of the positioning block close to the hook body limiting mechanism; The upper part of the positioning block is a circular truncated cone half, a plurality of positioning blocks are arranged along the circumferential direction of the fixed block, and the inclined side surface of the circular truncated cone half faces outward; when the car coupler is placed on the clamp, the inclined side surface of the circular truncated cone half abuts against the inner wall of the mounting hole of the tail part of the car coupler.

8. A casting cleaning apparatus as defined in claim 2 wherein, The pressing mechanism further comprises a connecting plate, a limiting structure and a pressing connecting piece; the connecting plate is arranged on the support, the pressing connecting piece is arranged on the connecting plate, the middle part of the connecting rod is hinged to the pressing connecting piece, and the limiting structure is arranged on the connecting plate; one end of the pressing connecting piece is provided with a pressing head; The driving device is a hydraulic cylinder, one end of the connecting rod is connected to the top of the hydraulic cylinder rod, and the hydraulic cylinder drives the hydraulic cylinder rod to lift and drive the end of the connecting rod provided with the pressing head to lift.

Images