Multi-axis linkage air hammer deslagging system and device thereof

Abstract

The invention relates to the technical field of workpiece slag removal, and discloses a multi-axis linkage air hammer slag removal system and a device thereof.The multi-axis linkage air hammer slag removal system comprises a multi-axis linkage mechanism arranged on a workbench, a slag removal mechanism is arranged on the multi-axis linkage mechanism and used for removing slag ladles on workpieces, and a positioning mechanism is further arranged on the multi-axis linkage mechanism and used for positioning the slag ladles on the workpieces; and the positioning mechanism is used for positioning the deslagging mechanism so as to control the multi-axis linkage mechanism to drive the deslagging mechanism to move to a preset position. The position of the deslagging mechanism can be adjusted before deslagging so as to ensure that the deslagging mechanism conducts deslagging work at the preset position, in this way, the accuracy of the relative position of the deslagging mechanism and the workpiece can be improved, the situation that the workpiece is damaged due to deviation of the hammering force of the deslagging mechanism on the workpiece is prevented, and the production quality and the production efficiency are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of slag removal, and more specifically, to a multi-axis linkage air hammer slag removal system and a device thereof. Background Art

[0002] A die-casting is a pressure-casting part that uses a die-casting machine to die-cast liquid metal. After molding and demolding, the general die-casting will have slag bags, so the slag bags need to be removed. In the prior art, the slag bags on the die-casting are usually removed by hammering with an air hammer, but the position of the air hammer is usually fixed. If there is a deviation in the position of the die-casting on the workbench, the air hammer will damage the die-casting, affecting the production quality and production efficiency. Therefore, it is necessary to propose a multi-axis linkage air hammer slag removal system and device to at least partially solve the problems existing in the prior art. Summary of the invention

[0003] A series of simplified concepts are introduced in the Summary of the Invention, which will be further described in detail in the Detailed Description of the Invention. The Summary of the Invention does not mean to attempt to define the key features and essential technical features of the claimed technical solution, nor does it mean to attempt to determine the scope of protection of the claimed technical solution.

[0004] In order to at least partially solve the above-mentioned problems, the present invention provides a multi-axis linkage pneumatic hammer slag removal device, comprising: a multi-axis linkage mechanism arranged on a workbench, a slag removal mechanism is provided on the multi-axis linkage mechanism, the slag removal mechanism is used to remove slag bags on the workpiece, and a positioning mechanism is also provided on the multi-axis linkage mechanism, the positioning mechanism is used to position the slag removal mechanism, so as to control the multi-axis linkage mechanism to drive the slag removal mechanism to move to a preset position.

[0005] Preferably, the multi-axis linkage mechanism includes: a first moving component for driving the slag removal mechanism to move forward and backward, a second moving component for driving the slag removal mechanism to move left and right, and a third moving component for driving the slag removal mechanism to move up and down, and the slag removal mechanism is arranged on the third moving component.

[0006] Preferably, the slag removal mechanism comprises: a driving part and a moving part arranged on the slag removal body, the hammering end of the moving part is at a preset distance from the workpiece, and the driving part is used to provide a preset pressure to the moving part so that the moving part moves to perform a slag removal operation on the workpiece;

[0007] The preset distance and the preset pressure satisfy the condition that the force exerted by the hammering end of the moving part on the workpiece satisfies the set hammering force.

[0008] Preferably, an air chamber is provided in the slag removal body, a piston is provided in the air chamber, and the air chamber is divided into a first air chamber and a second air chamber by the piston;

[0009] When the moving part moves from the initial position to the workpiece, the driving part introduces gas of a first set pressure into the first air cavity, so that the piston provides a preset pressure to the moving part, and the second air cavity is exhausted to the outside, and the moving part removes slag from the workpiece;

[0010] When the moving part returns to the initial position, the driving part introduces gas of a second set pressure into the second air chamber to move the piston to the side away from the moving part for reset, and at the same time, the first air chamber is exhausted to the outside, and the moving part returns to the initial position;

[0011] The first set pressure is greater than the second set pressure.

[0012] Preferably, the slag removal body is provided with a first air hole communicating with the first air cavity, and a second air hole communicating with the second air cavity;

[0013] The driving part comprises: a gas storage body, which is connected to the first air hole through a first tube body and connected to the second air hole through a second tube body; a first valve body is provided on the first tube body, a second valve body and a pressure regulating valve are provided on the second tube body in sequence, and the second valve body is arranged close to the second air hole;

[0014] Wherein, the first valve body and the second valve body both have the functions of forward ventilation and reverse exhaust.

[0015] Preferably, the moving part includes: a rod body, one end of which is arranged in the second air cavity, and the other end extending to the outside of the slag removal body is provided with a hammer head; a baffle ring is provided on the rod body located in the second air cavity, and a baffle block is provided in the second air cavity, and the baffle block is provided on the side of the baffle ring away from the piston, and a spring is provided between the baffle ring and the bottom surface of the second air cavity.

[0016] Preferably, the stopper is in elastic contact with the stop ring;

[0017] The slag removal body is provided with a through hole for the rod body to slide, and elastic limiting rings are provided at the upper and lower ends of the inner side of the through hole. The inner side of the elastic limiting ring contacts the rod body, and the inner diameter of the elastic limiting ring is smaller than the inner diameter of the through hole.

[0018] Preferably, an elastic ring is protruding from the side of the stop block that contacts the stop ring.

[0019] Preferably, a buffer ring is provided on the outer side of the retaining ring, and the buffer ring is used to contact the stopper and the side wall of the second air cavity;

[0020] The buffer ring comprises: a plurality of first buffer layers, two adjacent first buffer layers are connected by a second buffer layer, the inner diameter of the second buffer layer is larger than the inner diameter of the first buffer layer, the outer diameter of the second buffer layer is smaller than the outer diameter of the first buffer layer, and an outer ring deformation zone and an inner ring deformation zone are formed between the two adjacent first buffer layers and the second buffer layer;

[0021] The outer side of the retaining ring is formed with a first annular plate and a second annular plate spaced apart from each other in an upper and lower direction. The first annular plate contacts the top surface of the first buffer layer at the top end, and the second annular plate is arranged in the inner ring deformation zone at the bottom end.

[0022] A multi-axis linkage pneumatic hammer slag removal system, applied to the multi-axis linkage pneumatic hammer slag removal device of the present invention, comprises:

[0023] A control module is used to control the movement of the multi-axis linkage mechanism according to the position information of the slag removal mechanism positioned by the positioning mechanism, so that the slag removal mechanism moves to a preset position; wherein the preset position includes: a preset distance between the hammer end of the moving part of the slag removal mechanism and the workpiece;

[0024] An acquisition and judgment module is used to obtain the inflation information of the driving part of the slag removal mechanism, and to judge whether the driving part can provide a preset pressure for the moving part so that the force exerted by the hammering end of the moving part on the workpiece satisfies the set hammering force;

[0025] The detection and judgment module is used to detect in real time the force exerted by the hammering end of the moving part on the workpiece, and judge whether the detected force meets the set hammering force. If so, the slag removal mechanism continues to work at a preset distance and preset pressure. If not, the preset distance or preset pressure of the slag removal mechanism is adjusted so that the force exerted by the hammering end of the moving part on the workpiece meets the set hammering force.

[0026] Compared with the prior art, the present invention has at least the following beneficial effects:

[0027] The multi-axis linkage pneumatic hammer slag removal system and device described in the present invention can adjust the position of the slag removal mechanism before slag removal to ensure that the slag removal mechanism performs slag removal work at a preset position. In this way, the accuracy of the relative position between the slag removal mechanism and the workpiece can be improved, and the hammer force of the slag removal mechanism on the workpiece can be prevented from deviating and causing damage to the workpiece, thereby improving production quality and production efficiency.

[0028] The multi-axis linkage pneumatic hammer slag removal system and device thereof described in the present invention, and other advantages, objectives and features of the present invention will be partially reflected through the following description, and will also be partially understood by technicians in this field through research and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0030] Figure 1 It is a schematic diagram of the overall structure of the multi-axis linkage air hammer slag removal device of the present invention;

[0031] Figure 2 It is a structural schematic diagram of the slag removal mechanism in the multi-axis linkage air hammer slag removal device of the present invention;

[0032] Figure 3 It is a structural schematic diagram of the driving part of the slag removal mechanism in the multi-axis linkage air hammer slag removal device of the present invention when a preset pressure is applied to the moving part;

[0033] Figure 4 It is a structural schematic diagram of the moving part of the multi-axis linkage air hammer slag removal device of the present invention when it returns to the initial position;

[0034] Figure 5 It is a structural schematic diagram of a slag removal mechanism using a buffer ring in the multi-axis linkage air hammer slag removal device of the present invention;

[0035] Figure 6 It is a schematic diagram of the connection structure between the rod body and the buffer ring in the multi-axis linkage air hammer slag removal device of the present invention;

[0036] Figure 7 It is a schematic cross-sectional structure diagram of the connection between the retaining ring and the buffer ring in the multi-axis linkage air hammer slag removal device of the present invention;

[0037] Figure 8 It is a schematic diagram of the connection structure between the buffer ring and the first annular plate and the second annular plate in the multi-axis linkage air hammer slag removal device of the present invention;

[0038] Fig. 9 It is a schematic diagram of the cross-sectional structure of the buffer ring in the multi-axis linkage air hammer slag removal device described in the present invention. DETAILED DESCRIPTION

[0039] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments so that those skilled in the art can implement the invention with reference to the description.

[0040] It should be understood that the terms such as “having”, “including” and “comprising” used herein do not exclude the existence or addition of one or more other elements or combinations thereof.

[0041] like Figure 1As shown, the present invention provides a multi-axis linkage air hammer slag removal device, comprising: a multi-axis linkage mechanism 2 arranged on a workbench 1, a slag removal mechanism 3 is provided on the multi-axis linkage mechanism 2, the slag removal mechanism 3 is used to remove slag bags on a workpiece 4, and a positioning mechanism is also provided on the multi-axis linkage mechanism 2, the positioning mechanism is used to position the slag removal mechanism 3, so as to control the multi-axis linkage mechanism 2 to drive the slag removal mechanism 3 to move to a preset position.

[0042] The multi-axis linkage air hammer slag removal device described in the present invention can be applied to an automated production line. After the workpiece 4 is clamped on the workbench 1, the positioning mechanism positions the slag removal mechanism 3, that is, the relative position information of the workpiece 4 and the slag removal mechanism 3 (the coordinates of the workpiece 4 and the coordinates of the slag removal mechanism 3) is obtained, and then the multi-axis linkage mechanism 2 is used to move the slag removal mechanism 3 to a preset position, that is, the preset position is the working position of the slag removal mechanism 3. After adjusting the position of the slag removal mechanism 3, the slag removal operation can be performed on the workpiece 4.

[0043] Through the above design, the position of the slag removal mechanism 3 can be adjusted before slag removal to ensure that the slag removal mechanism 3 performs the slag removal work at the preset position. In this way, the accuracy of the relative position of the slag removal mechanism 3 and the workpiece 4 can be improved, and the hammer force of the slag removal mechanism 3 on the workpiece 4 can be prevented from deviating and causing damage to the workpiece 4, thereby improving production quality and production efficiency.

[0044] like Figure 1 As shown, further, the multi-axis linkage mechanism 2 includes: a first moving component 210 for driving the slag removal mechanism 3 to move forward and backward, a second moving component 220 for driving the slag removal mechanism 3 to move left and right, and a third moving component 230 for driving the slag removal mechanism 3 to move up and down, and the slag removal mechanism 3 is arranged on the third moving component 230.

[0045] When positioning and adjusting the slag removal mechanism 3, the slag removal mechanism 3 is first adjusted in the horizontal direction by the first moving component 210 and the second moving component 220, and then the slag removal mechanism 3 is adjusted in the vertical direction by the third moving component 230 to ensure the accuracy of the position during the slag removal operation.

[0046] In one embodiment, the slag removal mechanism 3 includes: a driving part and a moving part arranged on the slag removal body, the hammering end of the moving part is at a preset distance from the workpiece 4, and the driving part is used to provide a preset pressure to the moving part so that the moving part moves to perform a slag removal operation on the workpiece 4;

[0047] The preset distance and the preset pressure satisfy the condition that the force exerted by the hammering end of the moving part on the workpiece 4 satisfies the set hammering force.

[0048] The driving part provides a preset pressure to the moving part by means of inflation. After the moving part is subjected to the preset pressure, it can generate action to generate a force on the workpiece 4 to achieve the purpose of slag removal. After contacting the workpiece 4, the moving part returns to the initial position; wherein, the preset distance is a pre-set distance. Before performing the slag removal operation, the slag removal mechanism 3 is adjusted in the vertical direction by the third moving component 230 of the multi-axis linkage mechanism 2, so that the hammer end of the moving part is at a preset distance from the workpiece 4, and then, the preset pressure is provided to the moving part through the rapid inflation operation of the driving part. In this way, under the preset distance and preset pressure, the force generated by the hammer end of the moving part on the workpiece 4 can meet the set hammer force, that is, the force required for the workpiece 4 to remove the slag bag, so as to ensure that the workpiece 4 can effectively and quickly remove the slag bag under the action of the set hammer force, thereby improving production efficiency.

[0049] The preset distance and the preset pressure can be determined by numerical simulation of the slag removal process of the workpiece 4 to obtain the optimal preset distance and preset pressure.

[0050] like Figure 2 As shown, in one embodiment, an air chamber 310 is provided in the slag removal body, a piston 320 is provided in the air chamber 310, and the air chamber 310 is divided into a first air chamber 311 and a second air chamber 312 by the piston 320;

[0051] When the moving part moves from the initial position to the workpiece 4, the driving part introduces gas of a first set pressure into the first air chamber 311, so that the piston 320 provides a preset pressure to the moving part, and the second air chamber 312 is exhausted to the outside, and the moving part performs slag removal on the workpiece 4;

[0052] When the moving part returns to the initial position, the driving part introduces gas of the second set pressure into the second air chamber 312 to move the piston 320 to the side away from the moving part for reset, and at the same time, the first air chamber 311 is exhausted to the outside, and the moving part returns to the initial position;

[0053] The first set pressure is greater than the second set pressure.

[0054] The first set pressure is assumed to be 0.5Mpa, and the second set pressure is 0.1Mpa-0.2Mpa. The second set pressure satisfies the following conditions: the minimum pressure that can reset the piston 320; the second set pressure should be reduced as much as possible, so as to reduce the resistance to the movement of the piston 320 when performing rapid inflation for slag removal;

[0055] like Figure 3As shown, when the moving part moves from the initial position to the workpiece 4, the gas in the first air chamber 311 reaches the first set pressure, thereby driving the piston 320 to move, so that the piston 320 overcomes the gas pressure in the second air chamber 312, i.e., the second set pressure, and the friction force, and forms a hammering effect of the preset pressure on the moving part, thereby driving the moving part to remove slag from the workpiece 4; during this process, the gas in the second air chamber 312 will be discharged, reducing the movement resistance of the piston 320;

[0056] like Figure 4 As shown, when the moving part returns to the initial position, the piston 320 also needs to be reset, and the gas of the second set pressure is introduced into the second air chamber 312 through the driving part to move the piston 320 to reset. When the piston 320 is reset, the gas in the first air chamber 311 will be discharged so that the piston 320 will not be subject to reset resistance.

[0057] like Figure 2-Figure 4 As shown, in one embodiment, the slag removal body is provided with a first air hole 313 communicating with the first air cavity 311 and a second air hole 314 communicating with the second air cavity 312;

[0058] The driving part includes: a gas storage body 330, which is connected to the first air hole 313 through a first tube body 340, and is connected to the second air hole 314 through a second tube body 350; a first valve body 360 is provided on the first tube body 340, and a second valve body 370 and a pressure regulating valve 380 are provided on the second tube body 350 in sequence, and the second valve body 370 is arranged near the second air hole 314;

[0059] Wherein, the first valve body 360 and the second valve body 370 both have the functions of forward ventilation and reverse exhaust.

[0060] The gas storage body 330 is used to provide gas to the first tube body 340 and the second tube body 350;

[0061] like Figure 3 As shown, when the moving part moves from the initial position to the workpiece 4, the first valve body 360 is opened and the second valve body 370 is closed, then the first valve body 360 performs forward ventilation and the second valve body 370 performs reverse exhaust, and gas is quickly introduced into the first air cavity 311 through the gas storage body 330, and then the first valve body 360 is closed, the gas storage body 330 stops ventilating the first air cavity 311, and the piston 320 moves to form a preset pressure on the moving part, so that the gas in the second air cavity 312 is discharged from the exhaust end of the second valve body 370;

[0062] like Figure 4As shown, when the moving part returns to the initial position, the second valve body 370 is opened and the first valve body 360 is closed, then the second valve body 370 performs forward ventilation and the first valve body 360 performs reverse exhaust, and gas is introduced into the second air cavity 312 through the gas storage body 330, and at the same time, the pressure of the gas introduced into the second air cavity 312 is adjusted by the pressure regulating valve 380. When the gas pressure reaches the second set pressure, the piston 320 is reset and the second valve body 370 is closed. During the resetting process of the piston 320, the piston 320 squeezes the gas in the first air cavity 311, so that the gas in the first air cavity 311 flows in reverse, and the first valve body 360 performs reverse exhaust, that is, the gas is discharged to the outside from the exhaust end of the first valve body 360.

[0063] like Figure 2 As shown, in one embodiment, the moving part includes: a rod body 390, one end of which is arranged in the second air cavity 312, and the other end extending to the outside of the slag removal body is provided with a hammer head 391; a baffle ring 392 is provided on the rod body 390 located in the second air cavity 312, and a baffle block 315 is provided in the second air cavity 312, and the baffle block 315 is provided on the side of the baffle ring 392 away from the piston 320, and a spring 393 is provided between the baffle ring 392 and the bottom surface of the second air cavity 312.

[0064] The retaining ring 392 and the inner wall of the second air cavity 312 are in a non-sealed state.

[0065] At least two vent holes are also provided on the retaining ring 392 to further ensure that the second air cavities 312 located on the upper and lower sides of the retaining ring 392 remain connected and have the same air pressure.

[0066] After the first air chamber 311 is quickly inflated, the piston 320 moves to hammer the rod body 390. The rod body 390 overcomes the movement resistance and drives the hammer head 391 to move. The spring 393 is compressed to hammer the slag bag on the workpiece 4. The retaining ring 392 and the stopper 315 are used to limit the displacement of the rod body 390. After the piston 320 is reset, the rod body 390 is driven to return to the initial position under the elastic recovery action of the spring 393.

[0067] like Figure 2 and Figure 5 As shown, in one embodiment, the stopper 315 is in elastic contact with the stop ring 392;

[0068] The slag removal body is provided with a through hole for the rod body 390 to slide, and elastic limiting rings 12 are provided at the upper and lower ends of the inner side of the through hole. The inner side of the elastic limiting ring 12 contacts with the rod body 390, and the inner diameter of the elastic limiting ring 12 is smaller than the inner diameter of the through hole.

[0069] The stopper 315 and the stopper ring 392 are set to be in elastic contact, and the elastic limiting ring 12 can make the side wall of the rod body 390 and the slag removal body in elastic contact, both of which are to prevent the rod body 390 from causing a large vibration to the slag removal body when the rod body 390 moves to produce a hammering effect, thereby reducing the vibration transmitted to the slag removal body, and then reducing the vibration transmitted to the multi-axis linkage mechanism 2, preventing the multi-axis linkage mechanism 2 from being deformed or the connection being loosened under the long-term vibration effect; in addition, it can also reduce the wear between the rod body 390 and the slag removal body, and at the same time improve the stability of the rod body 390 when moving, ensuring accurate hammering of the workpiece 4 for slag removal;

[0070] In addition, a sealing ring is provided at at least one end of the elastic limiting ring 12, so that the rod body 390 and the through hole are in sealed sliding connection, thereby preventing air leakage in the second air cavity 3122, which would cause the piston 320 to be unable to reset.

[0071] like Figure 2 As shown, in one embodiment, an elastic ring 316 is protruded from the side of the stop block 315 that contacts the stop ring 392 .

[0072] The elastic ring 316 can make elastic contact between the stopper 315 and the stop ring 392 , thereby reducing the vibration transmitted from the rod body 390 to the stopper 315 , thereby reducing the vibration transmitted to the multi-axis linkage mechanism 2 .

[0073] like Figure 5 and Figure 6 As shown, in one embodiment, a buffer ring 5 is provided on the outer side of the retaining ring 392, and the buffer ring 5 is used to contact the stopper 315 and the side wall of the second air cavity 312;

[0074] like Figure 7 and Figure 8 As shown, the buffer ring 5 includes: a plurality of first buffer layers 6, two adjacent first buffer layers 6 are connected by a second buffer layer 7, the inner diameter of the second buffer layer 7 is larger than the inner diameter of the first buffer layer 6, the outer diameter of the second buffer layer 7 is smaller than the outer diameter of the first buffer layer 6, and an outer ring deformation zone 8 and an inner ring deformation zone 9 are formed between the two adjacent first buffer layers 6 and the second buffer layer 7;

[0075] The outer side of the retaining ring 392 is formed with a first annular plate 394 and a second annular plate 395 spaced apart in an upper and lower manner. The first annular plate 394 contacts the top surface of the first buffer layer 6 at the top, and the second annular plate 395 is arranged in the inner ring deformation zone 9 at the bottom.

[0076] When the rod body 390 and the hammer head 391 exert an action force on the workpiece 4, the workpiece 4 also exerts a reaction force on the rod body 390 and the hammer head 391, causing the rod body 390 and the hammer head 391 to vibrate. The vibration of the rod body 390 is transmitted to the multi-axis linkage mechanism 2. The multi-axis linkage mechanism 2 may be deformed or the connection may become loose under the action of long-term vibration. In this way, the positioning adjustment of the slag removal mechanism 3 may deviate, affecting the slag removal effect. Therefore, the vibration of the main component that generates vibration, i.e., the rod body 390, is buffered.

[0077] The portion of the rod body 390 in the through hole is elastically supported by the elastic limiting ring 12, which can reduce part of the vibration transmission, and the upper end of the rod body 390 is not sealed and connected to the second air cavity 312, that is, there is a gap between the two. When the rod body 390 vibrates, it will impact the side wall of the second air cavity 312, thereby transmitting the vibration, and the side surface of the retaining ring 392 on the rod body 390 will contact the side wall of the second air cavity 312, and the bottom surface will contact the top of the stopper 315. Therefore, the buffer ring 5 set can effectively reduce the impact of the rod body 390 on the side wall of the second air cavity 312 and the stopper 315, thereby achieving the purpose of buffering; multiple first buffer layers 6 and second buffer layers 7 can The purpose of buffering is achieved in the axial and radial directions. The formed outer ring deformation zone 8 and inner ring deformation zone 9 can make the first buffer layer 6 have a larger deformation space. In this way, even if the rod body 390 is vibrated by the force and its axis is at an angle with the vertical center line, the vibration can be buffered and the axis of the rod body 390 can be quickly restored to coincide with the vertical center line; ensuring that the rod body 390 can maintain a vertical state during the slag removal operation, and at the same time effectively reducing the transmission of vibration through the buffer ring 5; when the retaining ring 392 moves close to the stop block 315, the first buffer layer 6 at the bottom can contact the top of the stop block 315, thereby reducing the vibration transmission to the slag removal body.

[0078] In addition, the buffer ring 5 is limited by the first annular plate 394 and the second annular plate 395, and can be connected to the first annular plate 394 and the second annular plate 395 by bolts or bonding, which is convenient for installation and disassembly; the buffer ring 5 has a simple structure and can effectively buffer the vibration of the rod body 390 in multiple directions, forming a protective effect on the multi-axis linkage mechanism 2, and further improving the accuracy of the multi-axis linkage mechanism 2 in positioning and adjusting the slag removal mechanism 3.

[0079] like Fig. 9As shown, in one embodiment, the first buffer layer 6 includes: an inner ring plate 610 and an outer ring plate 620, two double-layer wave plates 630 symmetrically arranged up and down are arranged between the inner ring plate 610 and the outer ring plate 620, and the double-layer wave plates 630 are provided with at least two protruding portions 630a protruding outwardly and at least one recessed portion 630b recessed inwardly, and a cross support plate 640 is arranged in the first internal deformation zone 10 formed between the two double-layer wave plates 630, and the inner and outer ends of the cross support plate 640 are respectively connected to the inner ring plate 610 and the outer ring plate 620, and the upper and lower ends of the cross support plate 640 are respectively connected to the two double-layer wave plates 630;

[0080] The double-layer corrugated plate 630 includes two plate units 631, a gap is formed between the two plate units 631, and the two plate units 631 are connected at the protruding portion 630a by a first supporting plate 632, and are connected at the concave portion 630b by a second supporting plate 633;

[0081] The second buffer layer 7 includes: an I-shaped connector 710 disposed in a lying position, the top and bottom ends of the I-shaped connector 710 are respectively connected to the bottom surface of the first buffer layer 6 located above and the top surface of the first buffer layer 6 located below, and the I-shaped connector 710 and the two recessed portions 630b located above and below form a second internal deformation zone 11.

[0082] The inner ring plate 610, the outer ring plate 620, the first support plate 632, the second support plate 633 and the vertical plate in the cross support plate 640 in the first buffer layer 6 form the skeleton of the first buffer layer 6, that is, the above-mentioned components are made of hard materials, and the remaining components in the first buffer layer 6 can be made of elastic materials; the vertical plate of the I-shaped connector 710 in the second buffer layer 7 can be made of hard materials, and the horizontal plate of the I-shaped connector 710 can be made of elastic materials; all the first internal deformation zones 10 and the second internal deformation zones 11 formed in the buffer ring 5 are separate and unconnected cavities, or all the first internal deformation zones 10 and the second internal deformation zones 11 are connected cavities.

[0083] When the rod body 390 is subjected to radial vibration or vibration that forms an angle with the vertical direction, the inner ring plate 610 will be squeezed first. Due to the existence of the outer ring deformation zone 8 and the inner ring deformation zone 9, the double-layer wave plate 630 can have a large deformation space, forming a lateral squeezing on the first internal deformation zone 10 and the second internal deformation zone 11. Under the horizontal elastic recovery force of the double-layer wave plate 630, a reaction force can be formed on the side of the rod body 390, thereby playing a role in reducing vibration; when the rod body 390 is subjected to vertical vibration, the protrusion 630a on the first buffer layer 6 will be squeezed, so that the first internal deformation zone 10 and the second internal deformation zone 11 are vertically squeezed. Under the vertical elastic recovery force of the double-layer wave plate 630, the vibration transmitted from the rod body 390 to the slag removal body is reduced.

[0084] Through the above design, the vibration of the rod body 390 in multiple directions can be effectively buffered, which greatly reduces the vibration effect transmitted to the slag removal body, thereby improving the working stability of the multi-axis linkage mechanism 2 and ensuring the accuracy of positioning and adjustment of the slag removal mechanism 3.

[0085] A multi-axis linkage pneumatic hammer slag removal system, applied to the multi-axis linkage pneumatic hammer slag removal device of the present invention, comprises:

[0086] The control module is used to control the movement of the multi-axis linkage mechanism 2 according to the position information of the slag removal mechanism 3 positioned by the positioning mechanism, so that the slag removal mechanism 3 moves to a preset position; wherein the preset position includes: the hammer end of the moving part of the slag removal mechanism 3 is at a preset distance from the workpiece 4;

[0087] An acquisition judgment module is used to obtain the inflation information of the driving part of the slag removal mechanism 3, and judge whether the driving part can provide a preset pressure for the moving part so that the force exerted by the hammer end of the moving part on the workpiece 4 meets the set hammer force;

[0088] The inflation information includes: the pressure of the first air cavity 313 after rapid inflation; that is, if the pressure after inflation reaches the first set pressure, the force exerted by the hammer end of the moving part on the workpiece 4 satisfies the set hammer force;

[0089] The detection and judgment module is used to detect in real time the force generated by the hammering end of the moving part on the workpiece 4, and judge whether the detected force meets the set hammering force. If so, the slag removal mechanism 3 continues to work at a preset distance and preset pressure. If not, the preset distance or preset pressure of the slag removal mechanism 3 is adjusted so that the force generated by the hammering end of the moving part on the workpiece 4 meets the set hammering force.

[0090] A pressure sensor can be set at the hammering end or on the side of the block 315 that is subjected to force (the side that receives the force of the block 315). When the slag removal operation is performed on the workpiece 4 (mainly for the first hammering), the force applied to the workpiece 4 is detected by the pressure sensor to determine whether the preset distance and preset pressure of the slag removal mechanism 3 can make the force applied to the workpiece 4 by the hammering end of the moving part meet the set hammering force, thereby improving the accuracy of the force applied to the workpiece 4 by the slag removal mechanism 3 and thus improving the slag removal effect.

[0091] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0092] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0093] Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and implementation modes. They can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the present invention, the present invention is not limited to the specific details and the illustrations shown and described herein.

Claims

1. A multi-axis linkage pneumatic hammer slag removal device, characterized in that: include: A multi-axis linkage mechanism (2) is arranged on a workbench (1), wherein a slag removal mechanism (3) is provided on the multi-axis linkage mechanism (2), wherein the slag removal mechanism (3) is used to remove slag bags on a workpiece (4), and wherein a positioning mechanism is also provided on the multi-axis linkage mechanism (2), wherein the positioning mechanism is used to position the slag removal mechanism (3) so as to control the multi-axis linkage mechanism (2) to drive the slag removal mechanism (3) to move to a preset position.

2. The multi-axis linkage pneumatic hammer slag removal device according to claim 1 is characterized in that: The multi-axis linkage mechanism (2) comprises: a first moving component (210) for driving the slag removal mechanism (3) to move forward and backward, a second moving component (220) for driving the slag removal mechanism (3) to move left and right, and a third moving component (230) for driving the slag removal mechanism (3) to move up and down, and the slag removal mechanism (3) is arranged on the third moving component (230).

3. The multi-axis linkage pneumatic hammer slag removal device according to claim 1 is characterized in that: The slag removal mechanism (3) comprises: a driving part and a moving part arranged on the slag removal body, the hammering end of the moving part is at a preset distance from the workpiece (4), and the driving part is used to provide a preset pressure to the moving part so that the moving part moves to perform a slag removal operation on the workpiece (4); The conditions satisfied by the preset distance and the preset pressure are: the force exerted by the hammering end of the moving part on the workpiece (4) satisfies the set hammering force.

4. The multi-axis linkage pneumatic hammer slag removal device according to claim 3 is characterized in that: An air chamber (310) is provided in the slag removal body, a piston (320) is provided in the air chamber (310), and the air chamber (310) is divided into a first air chamber (311) and a second air chamber (312) by the piston (320); When the moving part moves from the initial position toward the workpiece (4), gas of a first set pressure is introduced into the first air chamber (311) through the driving part, so that the piston (320) provides a preset pressure to the moving part, and at the same time, the second air chamber (312) is exhausted to the outside, and the moving part performs a slag removal operation on the workpiece (4); When the moving part returns to the initial position, the driving part introduces gas of a second set pressure into the second air chamber (312) so that the piston (320) moves to a side away from the moving part to reset, and at the same time, the first air chamber (311) is exhausted to the outside, and the moving part returns to the initial position; The first set pressure is greater than the second set pressure.

5. The multi-axis linkage pneumatic hammer slag removal device according to claim 4 is characterized in that: The slag removal body is provided with a first air hole (313) communicating with the first air cavity (311), and a second air hole (314) communicating with the second air cavity (312); The driving unit comprises: a gas storage body (330), which is connected to the first air hole (313) through a first tube (340), and is connected to the second air hole (314) through a second tube (350); a first valve body (360) is provided on the first tube (340), and a second valve body (370) and a pressure regulating valve (380) are provided on the second tube (350) in sequence, and the second valve body (370) is arranged close to the second air hole (314); Wherein, the first valve body (360) and the second valve body (370) both have the functions of forward ventilation and reverse exhaust.

6. The multi-axis linkage pneumatic hammer slag removal device according to claim 5, characterized in that: The moving part comprises: a rod body (390), one end of which is arranged in the second air cavity (312), and the other end of which extends to the outside of the slag removal body and is provided with a hammer head (391); a baffle ring (392) is provided on the rod body (390) located in the second air cavity (312), and a baffle block (315) is provided in the second air cavity (312), and the baffle block (315) is provided on the side of the baffle ring (392) away from the piston (320), and a spring (393) is provided between the baffle ring (392) and the bottom surface of the second air cavity (312).

7. The multi-axis linkage pneumatic hammer slag removal device according to claim 6, characterized in that: The stopper (315) is in elastic contact with the stop ring (392); The slag removal body is provided with a through hole for the rod body (390) to slide, and elastic limiting rings (12) are provided at the upper and lower ends of the inner side of the through hole. The inner side of the elastic limiting ring (12) is in contact with the rod body (390), and the inner diameter of the elastic limiting ring (12) is smaller than the inner diameter of the through hole.

8. The multi-axis linkage pneumatic hammer slag removal device according to claim 7, characterized in that: An elastic ring (316) is protruding from the side of the stopper (315) that contacts the stop ring (392).

9. The multi-axis linkage pneumatic hammer slag removal device according to claim 7, characterized in that: A buffer ring (5) is provided on the outer side of the retaining ring (392), and the buffer ring (5) is used to contact the stopper (315) and the side wall of the second air cavity (312); The buffer ring (5) comprises: a plurality of first buffer layers (6), two adjacent first buffer layers (6) are connected via a second buffer layer (7), the inner diameter of the second buffer layer (7) is greater than the inner diameter of the first buffer layer (6), the outer diameter of the second buffer layer (7) is smaller than the outer diameter of the first buffer layer (6), and an outer ring deformation zone (8) and an inner ring deformation zone (9) are formed between the two adjacent first buffer layers (6) and the second buffer layer (7); The outer side of the retaining ring (392) is formed with a first annular plate (394) and a second annular plate (395) which are spaced apart from each other in an upper and lower direction. The first annular plate (394) contacts the top surface of the first buffer layer (6) located at the top end, and the second annular plate (395) is arranged in the inner ring deformation zone (9) located at the bottom end.

10. A multi-axis linkage pneumatic hammer slag removal system, applied to the multi-axis linkage pneumatic hammer slag removal device according to any one of claims 1 to 9, characterized in that: include: The control module is used for controlling the movement of the multi-axis linkage mechanism (2) according to the position information of the slag removal mechanism (3) positioned by the positioning mechanism, so that the slag removal mechanism (3) moves to a preset position; wherein the preset position includes: a preset distance between the hammer end of the moving part of the slag removal mechanism (3) and the workpiece (4); An acquisition judgment module is used to obtain the inflation information of the driving part of the slag removal mechanism (3), and to judge whether the driving part can provide a preset pressure for the moving part so that the force exerted by the hammering end of the moving part on the workpiece (4) satisfies the set hammering force; The detection and judgment module is used to detect in real time the force exerted by the hammer end of the moving part on the workpiece (4), and to judge whether the detected force satisfies the set hammer force. If so, the slag removal mechanism (3) continues to work at a preset distance and a preset pressure. If not, the preset distance or preset pressure of the slag removal mechanism (3) is adjusted so that the force exerted by the hammer end of the moving part on the workpiece (4) satisfies the set hammer force.

Images