Integrated treatment device for large mold machining and treatment method of integrated treatment device

Abstract

The invention relates to the technical field of large mold machining treatment, in particular to an integrated treatment device for large mold machining and a treatment method thereof.The integrated treatment device comprises an operation platform, a mechanical arm, a comprehensive table and a dust collection platform, the comprehensive table is provided with a grinding station, a spraying station and a shooting station, and the dust collection platform is provided with a dust collection station. The free end of the mechanical arm is selectively connected with a camera on the shooting station, a polishing head on the polishing station, a dust collection head on the dust collection station and a spraying head on the spraying station through a switching mechanism. And the mechanical arm can sequentially drive the camera, the grinding head, the dust collection head and the spraying head to conduct shooting before grinding, grinding head selection in the grinding process, dust collection after grinding and spraying work after dust collection on the large mold. And through integrated design and automatic control, the operation efficiency of the device is greatly improved. Due to the use of the mechanical arm, manual intervention is reduced, the operation time is shortened, and meanwhile the continuity and stability of operation are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of large-scale mold processing, and in particular to an integrated processing device and a processing method thereof for large-scale mold processing. Background Art

[0002] In the field of modern manufacturing, the outer contours of large prefabricated components are becoming increasingly complex and diverse. The molds used in the manufacture and maintenance of large prefabricated component products all need to be polished, vacuumed, and sprayed with release agents. Traditionally, these processes usually involve fixing the mold in one position and then manually using the corresponding tools for polishing, vacuuming, and spraying.

[0003] However, currently, manual operations are generally performed using hand-held grinders, vacuum cleaners, and spray guns. Because the surface of large prefabricated component molds is complex and irregular due to traditional manual operations, and because manual operations may be non-standard, incomplete or insufficient manual grinding and polishing may occur. In addition, due to the complex and irregular surface of the mold and the non-standard manual operations, it is difficult to cover the surface completely during manual vacuuming, resulting in low vacuuming efficiency, incomplete vacuuming, and fluid and uneven spraying of the release agent, which greatly reduces production efficiency. In other words, this traditional method of handling large prefabricated component molds is not only inefficient and costly, but also poses a serious threat to the health of workers during grinding, vacuuming, and spraying, and is prone to affecting product quality due to improper operation. Summary of the invention

[0004] In view of the above-mentioned shortcomings and deficiencies of the prior art, the present invention provides an integrated processing device and a processing method for large-scale mold processing, which solves the comprehensive problems of low dust collection efficiency, incomplete dust collection, fluid and uneven spraying of release agent caused by complex and irregular surface processing of large prefabricated component molds, which greatly reduces the technical problem of production efficiency.

[0005] In order to achieve the above object, the main technical solutions adopted by the present invention include: On the one hand, an embodiment of the present invention provides an integrated processing device for large-scale mold processing, including an operating platform, an integrated platform and a dust collection platform; The operating platform is provided with a mechanical arm; The integrated platform is provided with a grinding station, a spraying station and a photographing station, and the dust collection platform is provided with a dust collection station; The free end of the robotic arm can be selectively connected to the camera on the shooting station, the grinding head on the grinding station, the dust collection head on the dust collection station and the spray head on the spraying station through a conversion mechanism, so that the robotic arm can sequentially drive the camera, the grinding head, the dust collection head and the spraying head to respectively shoot, grind, dust and spray large molds.

[0006] Optionally, the conversion mechanism includes a main conversion head arranged on the free end of the robot arm, a sub-conversion head 1 arranged on the camera, a sub-conversion head 2 arranged on the grinding head, a sub-conversion head 3 arranged on the vacuum head, and a sub-conversion head 4 arranged on the spray head; When the robot arm takes a picture of the large mold, the main conversion head is connected with the sub-conversion head so that the robot arm can drive the camera to move to the shooting position to take pictures and obtain image results as mold information, and transmit the mold information to the external control terminal for mold confirmation; When the robot arm is grinding the large mold, the main conversion head is connected with the sub-conversion head so that the robot arm can drive the grinding head to move to the grinding position of the large mold for grinding; When the robot arm vacuums the large mold, the main conversion head and the sub-conversion head are connected in three phases so that the robot arm can drive the vacuum head to move to the vacuum position of the large mold for vacuuming; When the robot arm is spraying the large mold, the main conversion head is connected with the sub-conversion head in a coordinated manner, so that the robot arm can drive the spray head to move to the spraying position of the large mold for spraying.

[0007] Optionally, the main conversion head comprises a connection plate detachably connected to the free end of the mechanical arm, a cylindrical plug-in block arranged on an end face of the connection plate away from the mechanical arm, a plurality of slide grooves are arranged at intervals along the circumference of the side wall of the cylindrical plug-in block, a clip is slidably installed in each of the slide grooves, and the clip can move outward or inward along the radial direction of the cylindrical plug-in block relative to the slide groove so that the clip is respectively connected with the sub-conversion head 1, the sub-conversion head 2, the sub-conversion head 3 or the sub-conversion head 4; A plurality of signal connectors are arranged at intervals on the circumferential side wall of the connection disk.

[0008] Optionally, the sub-converter head 1 includes an annular mounting plate 1 detachably connected to the camera head and two camera connection heads arranged on the circumferential side wall of the annular mounting plate 1; The second sub-conversion head comprises a second annular mounting plate detachably connected to the grinding head and two grinding connectors arranged on the circumferential side wall of the second annular mounting plate, and the two camera connectors and the two grinding connectors can be plugged into two of the signal connectors; The sub-conversion head 3 includes an annular mounting plate 3 detachably connected to the dust collector head and two dust collector connectors arranged on the circumferential side wall of the annular mounting plate 3, and the two dust collector connectors are respectively plugged into two of the signal connectors; The sub-conversion head 4 includes an annular mounting plate 4 detachably connected to the spray head and a spray connector disposed on the circumferential side wall of the annular mounting plate 4, and one of the spray connectors is plugged into one of the signal connectors; The inner rings of the annular mounting disk 1, the annular mounting disk 2, the annular mounting disk 3 and the annular mounting disk 4 are provided with slots corresponding to the clamping members at intervals in the circumferential direction; When the robotic arm needs to be connected to the camera, the grinding head, the vacuum head and the spray head, the cylindrical plug-in block can be respectively plugged into the corresponding annular mounting disk one, the annular mounting disk two, the annular mounting disk three or the annular mounting disk four, so that the clamping part is clamped into the clamping groove.

[0009] Optionally, a tool magazine placement area is further provided on the integrated platform, and the tool magazine placement area is located on a side of the spraying station away from the grinding station; A tool rack is arranged on the tool magazine placement area, and the tool rack can accommodate a plurality of grinding tool heads.

[0010] Optionally, the grinding head comprises an electric spindle and a pneumatic clamp arranged at the axial output end of the electric spindle, and the electric spindle is detachably connected to one of the grinding cutter heads through the pneumatic clamp; The electric spindle is connected to the annular mounting plate 2 via a buffer unit; When the grinding head is acted upon by resistance, the grinding head transmits the force to the electric spindle, so that the buffer unit moves along its longitudinal direction to decompose the force for buffering.

[0011] Optionally, the buffer unit includes a mounting plate connected to the annular mounting disk 2, a guide rail located on a side of the mounting plate away from the annular mounting disk 2, a slider slidably mounted on the guide rail, and a connecting plate fixedly connected to the slider, and the electric spindle is mounted on a side wall of the connecting plate away from the mounting plate; The buffer unit also includes a buffer spring arranged between the mounting plate and the connecting plate, one end of the buffer spring is installed on the mounting plate through a fixed support, and the other end of the buffer spring is installed on the connecting plate through a movable support. The guide rail is arranged along the longitudinal direction of the mounting plate, and the connecting plate can perform linear reciprocating motion along the guide rail.

[0012] Optionally, the buffer unit further includes a limiting block arranged at the bottom of the connecting plate.

[0013] Optionally, the robotic arm has a controller inside, and the controller of the robotic arm is communicatively connected to an external control terminal.

[0014] On the other hand, an integrated processing method for large mold processing is provided, based on the integrated processing device for large mold processing, and the method comprises the following steps: S1. According to the arrival signal of the large mold, if the large mold is in place, the robot arm is connected to the camera on the shooting station through the conversion mechanism, and drives the camera to move above the large mold to take pictures to obtain image results as mold information, and transmits the mold information to the external control terminal to confirm the mold type; S2, the robot arm puts the camera back to the shooting station on the integrated table, and according to the confirmation of the mold type in S1, the robot arm loads the corresponding mold type, the corresponding grinding head, and the corresponding grinding path, and drives the grinding head to grind the corresponding grinding path through the conversion mechanism; S3, the robot arm puts the grinding head back to the grinding station on the integrated table, connects the vacuum head to the robot arm through the conversion mechanism, turns on the vacuum head, and enters the mold through a preset path to perform vacuuming; S4, the robotic arm puts the vacuum head back to the vacuum station on the vacuum platform, connects the spray head to the robotic arm through the conversion mechanism, turns on the spray head, and performs spraying along a preset path.

[0015] The beneficial effects of the present invention are as follows: an integrated processing device and a processing method for large-scale mold processing of the present invention are provided, by setting an operating platform, a comprehensive platform and a dust suction platform, and a mechanical arm is provided on the operating platform, a grinding station, a spraying station and a shooting station are provided on the comprehensive platform, and a dust suction station is provided on the dust suction platform. When processing a large-scale mold, the mechanical arm on the operating platform can be selectively connected to the camera on the shooting station, the grinding head on the grinding station, the dust suction head on the dust suction station and the spray head on the spraying station through a conversion mechanism, so as to shoot, grind, dust and spray the large-scale mold, that is, the processing of the large-scale mold can be integrated on a station base. A single mechanical arm system can complete multiple operations, improve work efficiency and reduce equipment investment costs. The rotatable characteristics of the mounting base enhance the flexibility and adaptability of the device, so that it can be suitable for surface treatment of molds of different shapes and sizes. Compared with the existing manual processing, the device greatly improves the operating efficiency through integrated design and automated control. The use of robotic arms reduces manual intervention, shortens operation time, and improves the continuity and stability of operations. The use of automated devices reduces dependence on professional operators, which helps save labor costs in the long run. In addition, the integrated design reduces the need for multiple independent devices, further reducing equipment investment and maintenance costs. While improving production efficiency, the device also pays attention to environmental protection and worker safety. The vacuum head and the enclosed spray head reduce pollution to the environment, while automated operation reduces the risk of injury that workers may suffer from operating the machine. The design of the integrated processing device of the present invention takes into account the convenience of maintenance, and each component is easy to access and replace, making daily maintenance and fault repair more convenient and quick. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a three-dimensional structural schematic diagram of an integrated processing device for large mold processing of the present invention; Figure 2 for Figure 1 Schematic diagram of the local three-dimensional structure; Figure 3 It is a schematic diagram of the connection structure of the grinding head and the conversion mechanism of the integrated processing device for large mold processing of the present invention; Figure 4 for Figure 3 A schematic diagram of the three-dimensional structure of a buffer unit; Figure 5 yes Figure 3 A schematic diagram of the three-dimensional structure of the conversion mechanism (the grinding head is not shown); Figure 6 yes Figure 2 An enlarged structural diagram of the middle tool magazine placement area; Figure 7It is a schematic diagram of the connection structure of the dust collector head and the conversion mechanism of the integrated processing device for large mold processing of the present invention; Figure 8 yes Figure 7 A schematic diagram of the three-dimensional structure of the conversion mechanism (the dust collector head is not shown); Fig. 9 It is a schematic diagram of the connection structure of the camera and the conversion mechanism of the integrated processing device for large mold processing of the present invention; Fig.10 yes Fig. 9 A schematic diagram of a three-dimensional structure of a conversion mechanism (the camera is not shown); Fig.11 It is a schematic diagram of the connection structure of the spray head and the conversion mechanism of the integrated processing device for large mold processing of the present invention; Fig.12 yes Fig.11 A three-dimensional structural diagram of the conversion mechanism (the spray head is not shown).

[0017] Description of Reference Numerals 1. Operating platform; 2. Robotic arm; 3. Integrated table; 4. Grinding station; 41. Grinding head; 411. Electric spindle; 412. Pneumatic clamp; 413. Buffer unit; 4131. Mounting plate; 4132. Guide rail; 4133. Connecting plate; 4134. Buffer spring; 4135. Fixed support; 4136. Movable support; 4137. Limit block; 42. Tool magazine placement area; 421. Tool holder; 422. Grinding tool head; 423. Tool fixing frame; 424. Position sensor; 5. Vacuuming station; 51. Vacuuming head; 52. Vacuum cleaner pipe clamping; 53. Air blowing head; 54: Vacuuming connecting plate; 6. Spraying station; 61. Spraying head; 62. Connecting flange 1; 63. Paint interface; 7. Shooting station; 71. Camera; 72. Bracket; 73. Connecting flange 2; 74. Distance sensor; 8. Conversion mechanism; 81. Main conversion head; 811. Connecting disk; 812. Cylindrical plug-in block; 813. Signal connector; 814. Slide; 815. Connector; 82A. Sub-conversion head 1; 82A1. Annular mounting disk 1; 82A2. Camera connector; 82B. Sub-conversion head 2; 82B1. Annular mounting disk 2; 82B2. Grinding connector; 82C. Sub-conversion head 3; 82C1. Annular mounting disk 3; 82C2. Dust suction connector; 82D. Sub-conversion head 4; 82D1. Annular mounting disk 4; 82D2. Spraying connector; 9. Large mold; 10. Dust suction platform. DETAILED DESCRIPTION

[0018] In order to better explain the present invention and facilitate understanding, the present invention is described in detail below in conjunction with the accompanying drawings through specific implementation methods. Figure 1The positions of the integrated processing device relative to the large mold 9 are defined as "left" and "right", respectively. The position of the robot arm 2 relative to the operating platform 1 is defined as "up".

[0019] See also Figures 1 to 12 As shown, an integrated processing system for large mold processing proposed in an embodiment of the present invention is shown in FIG. Figure 1 As shown, it includes an operating position and a large mold 9 to be processed located on the operating position. That is, the operating position is the position where the large mold 9 is located. It also includes multiple integrated processing devices for large mold processing arranged on the left and right sides of the operating position. In this embodiment, six integrated processing devices for large mold processing are included, and three on each side. The positions between the operating platform 1, the comprehensive table 3 and the dust collection platform 10 in the three integrated processing devices can be arranged appropriately according to the needs. Enclosures are provided on the outer covers of the three integrated processing devices to protect the integrated processing devices.

[0020] See also Figure 1 and Figure 2 As shown, Figure 2 The figure is a detailed enlarged view of an integrated processing device for large-scale mold processing, which includes an operating platform 1, a comprehensive platform 3 and a dust suction platform 10. A robot arm 2 is arranged on the operating platform 1. The comprehensive platform 3 is provided with a grinding station 4, a spraying station 6 and a shooting station 7, and the dust suction platform 10 is provided with a dust suction station 5. The free end of the robot arm 2 is selectively connected to the camera 71 on the shooting station 7, the grinding head 41 on the grinding station 4, the dust suction head 51 on the dust suction station 5 and the spraying head 61 on the spraying station 6 through a conversion mechanism 8, so that the robot arm 2 can sequentially drive the camera 71, the grinding head 41, the dust suction head 51 and the spraying head 61 to respectively shoot the large mold 9 before grinding, select the grinding head blade 422 during grinding, and drive the grinding head 41 as a whole to grind after selecting the appropriate grinding blade 422, and perform dust suction after grinding and spraying after dust suction.

[0021] An integrated processing device and processing method for large mold processing, by setting an operating platform 1, a comprehensive platform 3 and a dust suction platform 10, and a mechanical arm 2 is set on the operating platform 1, a grinding station 4, a spraying station 6 and a shooting station 7 are set on the comprehensive platform 3, and a dust suction station 5 is set on the dust suction platform 10. When processing a large mold 9, the mechanical arm 2 on the operating platform 1 can be selectively connected with a camera 71 on the shooting station 7, a grinding head 41 on the grinding station 4, a dust suction head 51 on the dust suction station 5 and a spray head 61 on the spraying station 6 through a conversion mechanism 8, so as to shoot, grind, dust and spray the large mold 9, that is, the processing of the large mold 9 can be integrated on a station base. A single mechanical arm 2 system can complete multiple operations, improve work efficiency and reduce equipment investment costs. The rotatable characteristics of the mounting base enhance the flexibility and adaptability of the device, so that it can be suitable for surface processing of molds of different shapes and sizes. Compared with the existing manual processing, the device greatly improves the operating efficiency through integrated design and automated control. The use of the robot arm 2 reduces manual intervention, shortens the operation time, and improves the continuity and stability of the operation. The use of automated devices reduces the dependence on professional operators, which helps to save labor costs in the long run. In addition, the integrated design reduces the need for multiple independent devices, further reducing equipment investment and maintenance costs. While improving production efficiency, the device also pays attention to environmental protection and worker safety. The vacuum head and the closed spray head reduce pollution to the environment, while the automated operation reduces the risk of injury that workers may suffer from operating the machine. The design of the integrated processing device of the present invention takes into account the convenience of maintenance, and each component is easy to access and replace, making daily maintenance and fault repair more convenient and quick.

[0022] In this embodiment, when the robot arm 2 is grinding the large mold 9, the main conversion head 81 is matched with the sub-conversion head 2 82B so that the robot arm 2 can drive the grinding head 41 to move to the grinding position of the large mold 9 for grinding. When the robot arm 2 is vacuuming the large mold 9, the main conversion head 81 is matched with the sub-conversion head 3 82C so that the robot arm 2 can drive the dust suction head 51 to move to the dust suction position of the large mold 9 for dust suction. When the robot arm 2 is spraying the large mold 9, the main conversion head 81 is matched with the sub-conversion head 4 82D so that the robot arm 2 can drive the spray head 61 to move to the spraying position of the large mold 9 for spraying. The present invention can determine the grinding path and the grinding head 41 automatically perform the grinding operation according to the type of the large mold 9. This not only improves the operating efficiency, but also ensures the consistency of the grinding quality and reduces the human operation error. In addition, automatic grinding also reduces the labor intensity of workers and avoids the health risks that may be caused by manual operation. After the polishing is completed, the robot arm 2 is connected to the dust head 51 through the conversion mechanism 8, which can effectively absorb the dust and debris on the polished mold surface, clean the surface in advance for the subsequent spraying process, and improve the spraying environment, which is not only beneficial to the health of workers, but also meets the environmental protection requirements of modern industrial production. After the dust collection is completed, the conversion mechanism 8 connects the robot arm 2 to the spray head 61. The spray head 61 can accurately control the spraying range and coating thickness to achieve high-quality surface spraying release agent. The coating process is optimized, the utilization rate of the coating is improved, and the emission of harmful substances in the environment is reduced.

[0023] Furthermore, the conversion mechanism 8 includes a main conversion head 81 disposed on the free end of the robot arm 2, a sub-conversion head 1 82A disposed on the camera 71, a sub-conversion head 2 82B disposed on the grinding head 41, a sub-conversion head 3 82C disposed on the vacuum head 51, and a sub-conversion head 4 82D disposed on the spray head 61. When the robot arm 2 takes a picture of the large mold 9, the main conversion head 81 is connected with the sub-conversion head 1 82A so that the robot arm 2 can drive the camera 71 to move to the shooting position to obtain the image result as the mold information, and transmit the mold information to the external control terminal for mold confirmation. Specifically, see Figure 5 and Figure 8As shown, the robot arm 2 automatically and quickly replaces the camera 71 through the main conversion head 81 and the sub-conversion head 82A of the conversion mechanism 8, and the camera 71 is connected to the sub-conversion head 82A through the bracket 72 and the connecting flange 2 73. It should be noted that the quick replacement is specifically: the card connector (steel ball) of the main conversion head 81 is directly pushed outward along the radial direction of the cylindrical plug-in block 812 by the air pump to be connected with the card slot on the sub-conversion head 82A to achieve automatic quick replacement. Then the robot arm 2 is controlled to automatically walk to the top of the large mold 9, and the distance sensor 74 installed on the camera 71 accurately measures the relative distance between the camera and the mold, and then the robot is controlled to automatically walk down to the best distance of the camera field of view to take pictures, and the image result is returned to trigger the background image algorithm to confirm the mold type.

[0024] Further, the main conversion head 81 includes a connection disk 811 detachably connected to the free end of the robot arm 2, and a cylindrical plug-in block 812 arranged on an end surface of the connection disk 811 away from the robot arm 2. The cylindrical plug-in block 812 is a cylindrical structural member extending toward the outside of the connection disk 811. The side wall of the cylindrical plug-in block 812 is provided with a plurality of slide grooves 814 at intervals along its circumference. A clip 815 is slidably installed in each slide groove 814. The clip 815 can move outward or inward along the radial direction of the cylindrical plug-in block 812 relative to the slide groove 814 so that the clip 815 is respectively clipped with the sub-conversion head 1 82A, the sub-conversion head 2 82B, the sub-conversion head 3 82C or the sub-conversion head 4 82D. A plurality of signal connectors 813 are arranged at intervals on the circumferential side wall of the connection disk 811. It should be noted that there are four signal connectors 813, namely a water signal connector, a gas signal connector and two circuit signal connectors. Different signal connector connections are made according to the polishing process of different processes, and the signal connector 813 is connected to the two camera connectors 82A2, the polishing connector 82B2, the dust suction connector 82C2 and the spray connector 82D2 through a male and female quick-plug method. (See for details Figure 5 , Figure 8 and Fig.11 as shown).

[0025] Further, the sub-converter head 1 82A includes an annular mounting plate 1 82A1 detachably connected to the camera 71 and two camera connectors 82A2 arranged on the circumferential side wall of the annular mounting plate 1 82A1, and the two camera connectors 82A2 are respectively plugged with the two signal connectors 813 in the signal connector 813. The sub-converter head 2 82B includes an annular mounting plate 2 82B1 detachably connected to the grinding head 41 and two grinding connectors 82B2 arranged on the circumferential side wall of the annular mounting plate 2 82B1, and the two grinding connectors 82B2 are respectively plugged with the two signal connectors 813 in the signal connector 813. The sub-converter head 3 82C includes an annular mounting plate 3 82C1 detachably connected to the dust collector head 51 and two dust collector connectors 82C2 arranged on the circumferential side wall of the annular mounting plate 3 82C1, and the two dust collector connectors 82C2 are respectively plugged with the two signal connectors 813 in the signal connector 813. The sub-conversion head 82D includes an annular mounting disk 82D1 detachably connected to the spray head 61 and a spray connector 82D2 arranged on the circumferential side wall of the annular mounting disk 82D1, and a spray connector 82D2 is plugged into one of the signal connectors 813. The inner rings of the annular mounting disk 1 82A1, the annular mounting disk 2 82B1, the annular mounting disk 3 82C1 and the annular mounting disk 4 82D1 are circumferentially spaced apart with card slots corresponding to the card connectors 815. When the robot arm 2 needs to be connected to the camera 71, the grinding head 41, the vacuum head 51 and the spray head 61, the cylindrical plug-in block 812 can be respectively plugged into the corresponding annular mounting disk 1 82A1, the annular mounting disk 2 82B1, the annular mounting disk 3 82C1 or the annular mounting disk 4 82D1, so that the card connector 815 is plugged into the card slot.

[0026] Furthermore, a tool magazine placement area 42 is also provided on the integrated platform 3, and the tool magazine placement area 42 is located on the side of the spraying station 6 away from the grinding station 4. A tool rack 421 is provided on the tool magazine placement area 42, and the tool rack 421 can accommodate multiple grinding heads 422. The grinding head 41 includes an electric spindle 411 and a pneumatic clamp 412 arranged at the axial output end of the electric spindle 411, and the electric spindle 411 is detachably connected to one of the grinding heads 422 through the pneumatic clamp 412. That is, the corresponding grinding head 422 is confirmed according to the needs, and then the electric spindle 411 is driven by the robot arm 2 to move to the top of the tool magazine placement area 42, and the top linkage rod of the grinding head 422 is clamped by the pneumatic clamp 412, and the pneumatic clamp 412 can clamp the grinding head 422. After clamping, the mechanical arm 2 drives the entire grinding head 41 (with a grinding blade 422 ) to perform grinding work according to the grinding path.

[0027] Specifically, see Figure 6As shown, the tool holder 421 is a "door" type structural member, and there are two tool holders 421, and the two tool holders 421 are arranged in parallel and connected by a connecting seat. Four tool fixing racks 423 are arranged at intervals on the crossbeam of each tool holder, and each grinding cutter head 422 is respectively arranged on its corresponding tool fixing rack 423. And the tool fixing rack 423 has an elastic tool fixing chuck, and the tool fixing chuck can clamp and fix or loosen the grinding cutter head 422 to cooperate with the electric spindle 411 on the grinding head 41 for grinding work. In addition, a position sensor 424 is arranged at the position of the tool fixing rack 423 on the tool holder 421, and the setting of the position sensor 424 can detect whether the grinding cutter head 422 is in place and send it to the controller.

[0028] Further, see Figure 3 and Figure 4 As shown, the electric spindle 411 is connected to the annular mounting plate 2 82B1 through the buffer unit 413. When the grinding head 422 is subjected to resistance, the grinding head 422 will transfer the force to the electric spindle 411, so that the buffer unit 413 moves along its longitudinal direction to decompose the force for buffering. It should be noted that the longitudinal direction is Figure 4 The length direction of the middle guide rail 4132 (from top to bottom). When the grinding head 422 encounters resistance, the grinding head 422 will transmit the force to the electric spindle 411, so that the buffer unit 413 moves along its longitudinal direction to decompose the force for buffering. Further, the buffer unit 413 includes a mounting plate 4131 connected to the annular mounting disk 82B1, a guide rail 4132 located on the side of the mounting plate 4131 away from the annular mounting disk 82B1, a slider slidably mounted on the guide rail 4132, and a connecting plate 4133 fixedly connected to the slider, and the electric spindle 411 is installed on a side wall of the connecting plate 4133 away from the mounting plate 4131. The buffer unit 413 further includes a buffer spring 4134 disposed between the mounting plate 4131 and the connecting plate 4133. One end of the buffer spring 4134 is mounted on the mounting plate 4131 via a fixed support 4135, and the other end of the buffer spring 4134 is mounted on the connecting plate 4133 via a movable support 4136. The guide rail 4132 is arranged along the longitudinal direction of the mounting plate 4131, and the connecting plate 4133 can perform linear reciprocating motion along the guide rail 4132. Figure 4 The buffer unit 413 can flexibly adapt to various grinding paths. The connecting plate 4133 connected to the grinding head 41 moves up and down to pull the buffer spring 4134 to perform a pulling and retracting movement. The slider and the linear guide 4132 can effectively make the movement smooth and unstuck.

[0029] Furthermore, the buffer unit 413 also includes a stopper 4137 disposed at the bottom of the connecting plate 4133. The stopper 4137 is disposed to ensure that the cutter head will not fall off during the telescopic movement, so that the cutter head can always fit the mold surface. After completion, the grinding cutter head is automatically put back, and the grinding head 41 is automatically put back.

[0030] Furthermore, the robot arm 2 has a controller inside, and the controller of the robot arm 2 is communicatively connected with an external control terminal.

[0031] An integrated processing method for large mold processing, based on an integrated processing device for large mold processing, the method comprises the following steps: S1. According to the arrival signal of the large mold 9, if the large mold 9 is in place, the robot arm 2 is connected to the camera 71 on the shooting station 7 through the conversion mechanism 8, and drives the camera 71 to move above the large mold 9 to take pictures to obtain image results as mold information, and transmits the mold information to the external control terminal to trigger the background image algorithm to confirm the mold type. It should be noted that the background image algorithm is an AI algorithm tool set and an operation path planning algorithm.

[0032] S2, the robot arm 2 puts the camera 71 back to the shooting station 7 on the integrated platform 3. According to the confirmation of the mold type in S1, the robot arm 2 loads the corresponding mold type, the corresponding grinding head 41, and the corresponding grinding path. The electric spindle 411 of the grinding head 41 is driven by the conversion mechanism 8 to select a suitable grinding head 422 to form a complete grinding head 41. The grinding head 41 is connected to the robot arm 2 and grinds the corresponding grinding path under the drive of the robot arm 2. The main conversion head 81 is matched with the sub-conversion head 2 82B so that the robot arm 2 can drive the grinding head 41 to move to the grinding position of the large mold 9 for grinding. It should also be noted that, according to the different positions of the large mold 9, it then retreats to the tool magazine to automatically retrieve the tool head replacement program, completes the replacement of the grinding head 422, and performs the second stage of grinding. By analogy, according to different mold types, there may be a third stage and a fourth stage of grinding.

[0033] S3, the robot arm 2 puts the grinding head 41 back to the grinding station 4 on the integrated table 3, connects the dust head 51 to the robot arm 2 through the conversion mechanism 8, turns on the dust head 51, and enters the mold through the preset path to vacuum. The dust suction component is clamped by the main conversion head 81 to the sub-conversion head 3 82C. After the dust head 51 is turned on by remote control, it enters the large mold 9, and different dust suction paths are called according to different molds. The residue is blown up through the side blowing head 53, and then the one-time overall dust suction is completed through the dust head 51. The vacuum cleaner pipeline clamp 52 is detachably installed on the dust suction connecting plate 54, which is used to clamp the dust head 51, so that the dust head 51 can follow the robot arm 2 for a long distance to complete the dust suction operation. It should be noted that when the grinding head 41 is put back on the integrated table 3, the grinding head 422 is first placed at the corresponding position of the tool holder 421 of the tool magazine placement area 42, and then the position sensor 424 is used to determine whether the grinding head 422 is in place. If it is in place, the next step is carried out.

[0034] S4, the robot arm 2 puts the dust head 51 back to the dust suction station 5 of the dust suction platform 10, connects the spray head 61 to the robot arm 2 through the conversion mechanism 8, turns on the spray head 61, and sprays the preset path. Finally, enter the spray mode, the robot arm 2 automatically changes to the spray head 61 through the main conversion head 81 and the sub-conversion head four 82D, and the spray head 61 is connected to the sub-conversion head four 82D through the connecting flange one 62. The robot arm 2 can call the path for different mold types to perform comprehensive one-time spraying. The automatic spray head 61 has a paint interface 63 connected to an external paint pump to provide paint. The automatic spray head 61 can be connected to three potential solenoid valves to control the switch, atomization (atomization is the size of the spraying particles), and width (width is the width of the spraying) respectively, so that the automatic spraying effect is better. Finally, put the spray assembly back, the robot arm returns to zero point, and the operation is completed.

[0035] In the description of the present invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0036] 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 connection; it can be a mechanical connection or an electrical connection; 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. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0037] In the description of this specification, the description of the terms "one embodiment", "some embodiments", "embodiment", "example", "specific example" or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0038] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may alter, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. An integrated processing device for large mold processing, characterized in that: It comprises an operating platform (1), a comprehensive platform (3) and a dust collection platform (10); The operating platform (1) is provided with a mechanical arm (2); The integrated platform (3) is provided with a grinding station (4), a spraying station (6) and a photographing station (7), and the dust collection platform (10) is provided with a dust collection station (5); The free end of the robot arm (2) is selectively connected to the camera (71) on the shooting station (7), the grinding head (41) on the grinding station (4), the dust suction head (51) on the dust suction station (5), and the spray head (61) on the spray station (6) through a conversion mechanism (8), so that the robot arm (2) can sequentially drive the camera (71), the grinding head (41), the dust suction head (51), and the spray head (61) to respectively perform shooting, grinding, dust suction, and spraying operations on the large mold (9).

2. The integrated processing device for large mold processing according to claim 1, characterized in that: The conversion mechanism (8) comprises a main conversion head (81) arranged on the free end of the robot arm (2), a sub-conversion head 1 (82A) arranged on the camera (71), a sub-conversion head 2 (82B) arranged on the grinding head (41), a sub-conversion head 3 (82C) arranged on the dust collecting head (51), and a sub-conversion head 4 (82D) arranged on the spraying head (61); When the robot arm (2) takes a picture of the large mold (9), the main conversion head (81) is connected in coordination with the sub-conversion head 1 (82A), so that the robot arm (2) can drive the camera (71) to move to a shooting position to take pictures and obtain image results as mold information, and transmit the mold information to an external control terminal for mold confirmation; When the robot arm (2) is grinding the large mold (9), the main conversion head (81) is connected in a coordinated manner with the second sub-conversion head (82B) so that the robot arm (2) can drive the grinding head (41) to move to the grinding position of the large mold (9) for grinding; When the robot arm (2) vacuums the large mold (9), the main conversion head (81) is connected in a coordinated manner with the sub-conversion head three (82C), so that the robot arm (2) can drive the vacuum head (51) to move to the vacuuming position of the large mold (9) for vacuuming; When the robotic arm (2) is spraying the large mold (9), the main conversion head (81) is connected in coordination with the sub-conversion head four (82D) so that the robotic arm (2) can drive the spray head (61) to move to the spraying position of the large mold (9) for spraying.

3. The integrated processing device for large mold processing as claimed in claim 2, characterized in that: The main conversion head (81) comprises a connection plate (811) detachably connected to the free end of the mechanical arm (2), and a cylindrical plug-in block (812) arranged on an end surface of the connection plate (811) away from the mechanical arm (2); a plurality of slide grooves (814) are arranged on the side wall of the cylindrical plug-in block (812) at intervals along its circumference; a clamping member (815) is slidably installed in each of the slide grooves (814); the clamping member (815) can move outward or inward relative to the slide groove (814) along the radial direction of the cylindrical plug-in block (812) so that the clamping member (815) is clamped with the sub-conversion head one (82A), the sub-conversion head two (82B), the sub-conversion head three (82C) or the sub-conversion head four (82D) respectively; A plurality of signal connectors (813) are arranged at intervals on the circumferential side wall of the connection disk (811).

4. The integrated processing device for large mold processing as claimed in claim 3, characterized in that: The sub-conversion head 1 (82A) comprises an annular mounting plate 1 (82A1) detachably connected to the camera head (71) and two camera connection heads (82A2) arranged on the circumferential side wall of the annular mounting plate 1 (82A1); The second sub-conversion head (82B) comprises a second annular mounting plate (82B1) detachably connected to the grinding head (41) and two grinding connectors (82B2) arranged on the circumferential side wall of the second annular mounting plate (82B1), and the two camera connectors (82A2) and the two grinding connectors (82B2) are both capable of being plugged into two of the signal connectors (813); The sub-conversion head three (82C) comprises an annular mounting plate three (82C1) detachably connected to the dust collector head (51) and two dust collector connectors (82C2) arranged on the circumferential side wall of the annular mounting plate three (82C1), the two dust collector connectors (82C2) being respectively plugged into two of the signal connectors (813); The sub-conversion head (82D) comprises an annular mounting plate (82D1) detachably connected to the spray head (61) and a spray connection head (82D2) arranged on the circumferential side wall of the annular mounting plate (82D1), and one of the spray connection heads (82D2) is plugged into one of the signal connectors (813); The inner rings of the annular mounting disk 1 (82A1), the annular mounting disk 2 (82B1), the annular mounting disk 3 (82C1) and the annular mounting disk 4 (82D1) are provided with slots corresponding to the clamping members (815) at intervals in the circumferential direction; When the robot arm (2) needs to be connected to the camera (71), the grinding head (41), the vacuum head (51) and the spray head (61), the cylindrical plug-in block (812) can be respectively plugged into the corresponding annular mounting plate one (82A1), the annular mounting plate two (82B1), the annular mounting plate three (82C1) or the annular mounting plate four (82D1) so that the clamping piece (815) is clamped into the clamping slot.

5. The integrated processing device for large mold processing as claimed in claim 4, characterized in that: The integrated platform (3) is also provided with a tool magazine placement area (42), and the tool magazine placement area (42) is located on a side of the spraying station (6) away from the grinding station (4); A tool rack (421) is provided on the tool magazine placement area (42), and the tool rack (421) can accommodate a plurality of grinding tool heads (422).

6. The integrated processing device for large mold processing as claimed in claim 5, characterized in that: The grinding head (41) comprises an electric spindle (411) and a pneumatic clamp (412) arranged at an axial output end of the electric spindle (411); the electric spindle (411) is detachably connected to one of the grinding tool heads (422) via the pneumatic clamp (412); The electric spindle (411) is connected to the second annular mounting plate (82B1) via a buffer unit (413); When the grinding head (422) is acted upon by resistance, the grinding head (422) transmits the force to the electric spindle (411), so that the buffer unit (413) moves along its longitudinal direction to decompose the force for buffering.

7. The integrated processing device for large mold processing according to claim 6, characterized in that: The buffer unit (413) comprises a mounting plate (4131) connected to the annular mounting disk 2 (82B1), a guide rail (4132) located on a side of the mounting plate (4131) away from the annular mounting disk 2 (82B1), a slider slidably mounted on the guide rail (4132), and a connecting plate (4133) fixedly connected to the slider, and the electric spindle (411) is mounted on a side wall of the connecting plate (4133) away from the mounting plate (4131); The buffer unit (413) further comprises a buffer spring (4134) arranged between the mounting plate (4131) and the connecting plate (4133), one end of the buffer spring (4134) being mounted on the mounting plate (4131) via a fixed support (4135), and the other end of the buffer spring (4134) being mounted on the connecting plate (4133) via a movable support (4136), the guide rail (4132) being arranged along the longitudinal direction of the mounting plate (4131), and the connecting plate (4133) being capable of performing linear reciprocating motion along the guide rail (4132).

8. The integrated processing device for large mold processing according to claim 7, characterized in that: The buffer unit (413) further comprises a limit block (4137) arranged at the bottom of the connecting plate (4133).

9. The integrated processing device for large mold processing as claimed in claim 2, characterized in that: The mechanical arm (2) has a controller inside, and the controller of the mechanical arm (2) is communicatively connected to an external control terminal.

10. An integrated processing method for large mold processing, based on the integrated processing device for large mold processing according to any one of claims 1 to 9, characterized in that: The method comprises the following steps: S1. Judging based on the arrival signal of the large mold (9), if the large mold (9) is in place, the robot arm (2) is connected to the camera (71) on the shooting station (7) through the conversion mechanism (8), and drives the camera (71) to move above the large mold (9) to take a picture to obtain an image result as mold information, and transmits the mold information to an external control terminal to confirm the mold type; S2, the robotic arm (2) places the camera (71) back on the shooting station (7) on the integrated platform (3); based on the confirmation of the mold type in S1, the robotic arm (2) loads the corresponding mold type, the corresponding grinding head (422), and the corresponding grinding path, and drives the grinding head (41) to grind the corresponding grinding path through the conversion mechanism (8); S3, the robot arm (2) places the grinding head (41) back onto the grinding station (4) on the integrated table (3), connects the dust collection head (51) to the robot arm (2) via the conversion mechanism (8), turns on the dust collection head (51), and enters the mold along a preset path to perform dust collection; S4, the robotic arm (2) places the vacuum head (51) back onto the vacuum station (5) on the vacuum platform (10), connects the spray head (61) to the robotic arm (2) via the conversion mechanism (8), turns on the spray head (61), and performs spraying along a preset path.

Images