An integrated processing method for large mold processing

Abstract

The present invention relates to the technical field of large mold processing, and specifically relates to an integrated processing method for large mold processing, including an operation platform, a robotic arm, a comprehensive table and a dust suction platform. The comprehensive table has a grinding station, a spraying station and a shooting station, and the dust suction platform has a dust suction station. The free end of the robotic arm is 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 spraying head on the spraying station through a conversion mechanism, so that the robotic arm can successively drive the camera, the grinding head, the dust suction head and the spraying head to respectively perform pre-grinding shooting, grinding head selection during grinding, dust suction after grinding and spraying after dust suction on the large mold. Through the integrated design and automated control, the device greatly improves the operation efficiency. The use of the robotic arm reduces manual intervention, shortens the operation time, and at the same time improves the continuity and stability of the operation.

Description

Technical Field

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

[0002] In the modern manufacturing field, the outer contour shapes of large prefabricated components are becoming increasingly complex and diverse. Molds for the manufacturing and repair of large prefabricated component products need to be processed by surface grinding, dust suction, and spraying mold release agent. In the past, in these processes, generally, the mold was fixed in one position, and then workers manually used the corresponding tools for grinding, dust suction, and spraying in sequence.

[0003] However, currently, generally, manual grinders, vacuum cleaners, and spray guns are used for manual operations. Since the surface of the large prefabricated component mold is complex and irregular in traditional manual operations, and there may be non-standard and non-normative situations in manual operations, there are phenomena such as incomplete or insufficient manual grinding and polishing. Moreover, due to the complex and irregular surface of the mold and non-standard manual operations, it is difficult to completely cover during manual dust suction, resulting in low dust suction efficiency, incomplete dust suction, and problems such as fluidity and unevenness in spraying mold release agent, greatly reducing the production efficiency. That is to say, this traditional processing method for large prefabricated component molds not only has low efficiency and high cost, but also poses a serious threat to the health of workers during grinding, dust suction, and spraying, and is prone to affecting product quality due to improper operations. 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 method for large mold processing, which solves the comprehensive problems such as low dust suction efficiency, incomplete dust suction, fluidity, and unevenness in spraying mold release agent during the processing of the complex and irregular surface of the large prefabricated component mold, and greatly reduces the technical problems of production efficiency.

[0005] To achieve the above object, the main technical solutions adopted by the present invention include:

[0006] On the one hand, an embodiment of the present invention provides an integrated processing device for large mold processing, including an operation platform, a comprehensive platform, and a dust suction platform;

[0007] A robotic arm is arranged on the operation platform;

[0008] The comprehensive platform has a grinding station, a spraying station, and a photographing station, and the dust suction platform has a dust suction station;

[0009] The free end of the robotic arm is selectively connected to the camera at the shooting station, the grinding head at the grinding station, the dust suction head at the dust suction station, and the spraying head at the spraying station through a conversion mechanism, so that the robotic arm can successively drive the camera, the grinding head, the dust suction head, and the spraying head to perform shooting, grinding, dust suction, and spraying operations on the large mold respectively.

[0010] Optionally, the conversion mechanism includes a main conversion head arranged at the free end of the robotic arm, a first sub-conversion head arranged on the camera, a second sub-conversion head arranged on the grinding head, a third sub-conversion head arranged on the dust suction head, and a fourth sub-conversion head arranged on the spraying head;

[0011] When the robotic arm shoots the large mold, the main conversion head is cooperatively connected with the first sub-conversion head, so that the robotic arm can drive the camera to move to the shooting position to shoot and obtain an image result as mold information, and transmit the mold information to an external control terminal for mold confirmation;

[0012] When the robotic arm grinds the large mold, the main conversion head is cooperatively connected with the second sub-conversion head, so that the robotic arm can drive the grinding head to move to the grinding position of the large mold for grinding;

[0013] When the robotic arm sucks dust from the large mold, the main conversion head is cooperatively connected with the third sub-conversion head, so that the robotic arm can drive the dust suction head to move to the dust suction position of the large mold for dust suction;

[0014] When the robotic arm sprays the large mold, the main conversion head is cooperatively connected with the fourth sub-conversion head, so that the robotic arm can drive the spraying head to move to the spraying position of the large mold for spraying.

[0015] Optionally, the main conversion head includes a connection disk detachably connected to the free end of the robotic arm, and a cylindrical insertion block arranged on the end face of the connection disk away from the robotic arm. A plurality of sliding grooves are arranged at intervals along the circumferential direction of the side wall of the cylindrical insertion block, and a clamping member is slidably installed in each sliding groove. The clamping member can move outward or inward relative to the sliding groove along the radial direction of the cylindrical insertion block so that the clamping member is respectively clamped with the first sub-conversion head, the second sub-conversion head, the third sub-conversion head, or the fourth sub-conversion head;

[0016] A plurality of signal connectors are arranged at intervals on the circumferential side wall of the connection disk.

[0017] Optionally, the first sub-conversion head includes a circular mounting disk one detachably connected to the camera and two camera connection heads arranged on the circumferential side wall of the circular mounting disk one;

[0018] The second sub-conversion head includes a circular mounting disk two detachably connected to the grinding head and two grinding connection heads arranged on the circumferential side wall of the circular mounting disk two. Both of the two camera connection heads and the two grinding connection heads can be plugged into two of the signal connectors;

[0019] The third sub-conversion head includes a circular mounting disk three detachably connected to the dust suction head and two dust suction connection heads arranged on the circumferential side wall of the circular mounting disk three. The two dust suction connection heads are respectively plugged into two of the signal connectors;

[0020] The fourth sub-conversion head includes a circular mounting disk four detachably connected to the spraying head and one spraying connection head arranged on the circumferential side wall of the circular mounting disk four. The one spraying connection head is plugged into one of the signal connectors;

[0021] Circular grooves corresponding to the clamping members one by one are circumferentially spaced on the inner rings of the circular mounting disk one, the circular mounting disk two, the circular mounting disk three and the circular mounting disk four;

[0022] When the robotic arm needs to be connected to the camera, the grinding head, the dust suction head and the spraying head, the cylindrical plugging block can be respectively plugged into the corresponding circular mounting disk one, circular mounting disk two, circular mounting disk three or circular mounting disk four, so that the clamping member is clamped with the circular groove;

[0023] Optionally, a tool magazine placement area is further provided on the integrated table, and the tool magazine placement area is located on one side of the spraying station away from the grinding station;

[0024] A tool rack is arranged on the tool magazine placement area, and the tool rack can accommodate a plurality of grinding cutters;

[0025] Optionally, the grinding head includes an electric main shaft and a pneumatic chuck arranged at the axial output end of the electric main shaft. The electric main shaft is detachably connected to one of the grinding cutters through the pneumatic chuck;

[0026] The electric main shaft is connected to the circular mounting disk two through a buffer unit;

[0027] When the grinding cutter is subjected to a resistance force, the grinding cutter will transmit the acting force to the electric main shaft, so that the buffer unit moves along its longitudinal direction to decompose the acting force for buffering.

[0028] Optionally, the buffer unit includes a mounting plate connected to the second annular mounting disk, a guide rail located on a side of the mounting plate away from the second annular mounting disk, 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;

[0029] The buffer unit further includes a buffer spring disposed between the mounting plate and the connecting plate. One end of the buffer spring is mounted on the mounting plate through a fixed support column, and the other end of the buffer spring is mounted on the connecting plate through a movable support column. 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.

[0030] Optionally, the buffer unit further includes a limit block disposed at the bottom of the connecting plate.

[0031] Optionally, the robotic arm has a controller inside, and the controller of the robotic arm is communicatively connected to an external control terminal.

[0032] On the other hand, an integrated processing method for large mold processing, based on the integrated processing device for large mold processing, the method includes the following steps:

[0033] S1. Judge according to the in-place signal of the large mold. If the large mold is in place, the robotic arm is connected to the camera on the photographing station through the conversion mechanism, and drives the camera to move above the large mold to take a photo to obtain an image result as mold information, and transmits the mold information to an external control terminal to confirm the mold type;

[0034] S2. The robotic arm places the camera back on the photographing station on the integrated table. According to the confirmation of the mold type in S1, the robotic arm loads the corresponding mold type, corresponding grinding cutter head, and corresponding grinding path, and drives the grinding head to perform grinding along the corresponding grinding path through the conversion mechanism;

[0035] S3. The robotic arm places the grinding head back on the grinding station on the integrated table, connects the dust suction head to the robotic arm through the conversion mechanism, turns on the dust suction head, and enters the mold along a preset path to perform dust suction;

[0036] S4. The robotic arm places the dust suction head back on the dust suction station on the dust suction platform, connects the spraying head to the robotic arm through the conversion mechanism, turns on the spraying head, and performs spraying along a preset path.

[0037] The beneficial effects of the present invention are as follows: An integrated processing method for large mold processing according to the present invention, by setting an operation platform, a comprehensive platform and a dust suction platform, and setting a robotic arm on the operation platform, a grinding station, a spraying station and a photographing station on the comprehensive platform, and a dust suction station on the dust suction platform. When processing a large mold, the robotic arm on the operation platform can be selectively connected to the camera on the photographing station, the grinding head on the grinding station, the dust suction head on the dust suction station and the spraying head on the spraying station through a conversion mechanism, so as to photograph, grind, suck dust and spray the large mold, that is, the processing of the large mold can be integrated on a station base. It can enable a single robotic arm system to complete multiple operations, improve work efficiency and reduce equipment investment costs. The rotatable characteristic of the installation base enhances the flexibility and adaptability of the device, enabling it to be applicable to the surface treatment of molds with different shapes and sizes. Compared with the existing manual processing, through the integrated design and automated control, the device greatly improves the operation efficiency. The use of the robotic arm reduces manual intervention, shortens the operation time, and improves the continuity and stability of the operation at the same time. The use of the automated device reduces the dependence on professional operators, and 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 dust suction head and the enclosed spraying head reduce environmental pollution, 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 fast. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 is a schematic three-dimensional structure diagram of the integrated processing device for large mold processing according to the present invention;

[0039] Figure 2 is Figure 1 a partial three-dimensional structure diagram of;

[0040] Figure 3 is a schematic connection structure diagram of the grinding head and the conversion mechanism of the integrated processing device for large mold processing according to the present invention;

[0041] Figure 4 is Figure 3 a schematic three-dimensional structure diagram of the buffer unit of;

[0042] Figure 5 is Figure 3 a schematic three-dimensional structure diagram of the conversion mechanism of (the grinding head is not shown);

[0043] Figure 6 isFigure 2 Schematic enlarged structure diagram of the middle tool magazine placement area;

[0044] Figure 7 Schematic connection structure diagram of the dust suction head and the conversion mechanism of the integrated processing device for large mold processing according to the present invention;

[0045] Figure 8 is Figure 7 Schematic three - dimensional structure diagram of the conversion mechanism (the dust suction head is not shown);

[0046] Figure 9 Schematic connection structure diagram of the camera and the conversion mechanism of the integrated processing device for large mold processing according to the present invention;

[0047] Figure 10 is Figure 9 Schematic three - dimensional structure diagram of the conversion mechanism (the camera is not shown);

[0048] Figure 11 Schematic connection structure diagram of the spraying head and the conversion mechanism of the integrated processing device for large mold processing according to the present invention;

[0049] Figure 12 is Figure 11 Schematic three - dimensional structure diagram of the conversion mechanism (the spraying head is not shown).

[0050] Description of reference numerals

[0051] 1. Operating platform; 2. Robotic arm; 3. Integrated table; 4. Grinding station; 41. Grinding head; 411. Electric main shaft; 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 bracket; 424. Position sensor; 5. Dust suction station; 51. Dust suction head; 52. Dust collector pipeline clamping; 53. Blowing head; 54: Dust suction connecting plate; 6. Spraying station; 61. Spraying head; 62. Connecting flange I; 63. Coating interface; 7. Photographing station; 71. Camera; 72. Bracket; 73. Connecting flange II; 74. Distance measuring sensor; 8. Conversion mechanism; 81. Main conversion head; 811. Connecting disk; 812. Cylindrical plug-in block; 813. Signal connector; 814. Slide groove; 815. Clamping part; 82A. Sub-conversion head I; 82A1. Ring-shaped mounting disk I; 82A2. Camera connecting head; 82B. Sub-conversion head II; 82B1. Ring-shaped mounting disk II; 82B2. Grinding connecting head; 82C. Sub-conversion head III; 82C1. Ring-shaped mounting disk III; 82C2. Dust suction connecting head; 82D. Sub-conversion head IV; 82D1. Ring-shaped mounting disk IV; 82D2. Spraying connecting head; 9. Large mold; 10. Dust suction platform. Detailed implementation manners

[0052] For better explaining the present invention for easy understanding, the present invention will be described in detail below in conjunction with the accompanying drawings through specific implementation manners. Figure 1 The positions of the integrated processing device relative to the large mold 9 are respectively defined as "left" and "right". The position of the robotic arm 2 relative to the operating platform 1 is defined as "up".

[0053] See 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 Figure 1 As shown, it includes an operating position and a large mold 9 to be processed located at the operating position. That is, the operating position is the position where the large mold 9 is located. It also includes a plurality of integrated processing devices for large mold processing arranged on the left and right sides of the operating position. In this embodiment, it includes six integrated processing devices for large mold processing, with three on each of the left and right sides. The positions among the operating platform 1, the integrated table 3, and the dust suction platform 10 in the three integrated processing devices can be appropriately arranged according to requirements. A fence is provided outside the three integrated processing devices for protecting the integrated processing devices.

[0054] See Figure 1 And Figure 2 As shown, among them Figure 2It is an enlarged detailed view of an integrated processing device for large mold processing. The integrated processing device for large mold processing includes an operation platform 1, a comprehensive platform 3, and a dust suction platform 10. A robotic arm 2 is arranged on the operation platform 1. The comprehensive platform 3 has a grinding station 4, a spraying station 6, and a photographing station 7, and the dust suction platform 10 has a dust suction station 5. The free end of the robotic arm 2 is selectively connected through a conversion mechanism 8 to a camera 71 on the photographing station 7, a grinding head 41 on the grinding station 4, a dust suction head 51 on the dust suction station 5, and a spraying head 61 on the spraying station 6, so that the robotic arm 2 can successively drive the camera 71, the grinding head 41, the dust suction head 51, and the spraying head 61 to respectively perform photographing before grinding, selection of the cutting tool head 422 of the grinding head during grinding, overall grinding of the grinding head 41 driven by the robotic arm 2 after selecting a suitable grinding tool head 422, dust suction after grinding, and spraying after dust suction on the large mold 9.

[0055] An integrated processing method for large mold processing, by setting an operation platform 1, a comprehensive platform 3, and a dust suction platform 10, and arranging a robotic arm 2 on the operation platform 1, a grinding station 4, a spraying station 6, and a photographing station 7 on the comprehensive platform 3, and a dust suction station 5 on the dust suction platform 10. When processing the large mold 9, the robotic arm 2 on the operation platform 1 can be selectively connected through a conversion mechanism 8 to the camera 71 on the photographing 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, so as to perform photographing, grinding, dust suction, and spraying on the large mold 9, that is, the processing of the large mold 9 can be integrated on a single station base. It can enable a single robotic arm 2 system to complete multiple operations, improve work efficiency and reduce equipment investment costs. The rotatable characteristic of the installation base enhances the flexibility and adaptability of the device, enabling it to be applicable to the surface treatment of molds with different shapes and sizes. Compared with the existing manual processing, through the integrated design and automated control, this device greatly improves the operation efficiency. The use of the robotic arm 2 reduces manual intervention, shortens the operation time, and at the same time improves the continuity and stability of the operation. The use of the automated device reduces the dependence on professional operators and 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, this device also pays attention to environmental protection and worker safety. The dust suction head and the enclosed spraying head reduce environmental pollution, and 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 fast.

[0056] In this embodiment, when the robotic arm 2 grinds the large mold 9, the main conversion head 81 is cooperatively connected with the second sub-conversion head 82B, so that the robotic arm 2 can drive the grinding head 41 to move to the grinding position of the large mold 9 for grinding. When the robotic arm 2 sucks dust from the large mold 9, the main conversion head 81 is cooperatively connected with the third sub-conversion head 82C, so that the robotic 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 robotic arm 2 sprays the large mold 9, the main conversion head 81 is cooperatively connected with the fourth sub-conversion head 82D, so that the robotic arm 2 can drive the spraying head 61 to move to the spraying position of the large mold 9 for spraying. The present invention can determine the grinding path according to the type of the large mold 9 and automatically perform grinding operations with the grinding head 41. This not only improves the operation efficiency, but also ensures the consistency of the grinding quality and reduces the manual operation error. In addition, automatic grinding also reduces the labor intensity of workers and avoids the health risks that may be brought by manual operation. After grinding, the robotic arm 2 and the dust suction head 51 are connected through the conversion mechanism 8, which can effectively absorb the dust and debris on the surface of the ground mold, clean the surface in advance for the subsequent spraying process, and improve the spraying environment. This is not only beneficial to the health of workers, but also meets the environmental protection requirements of modern industrial production. After dust suction, the conversion mechanism 8 connects the robotic arm 2 and the spraying head 61. The spraying head 61 can accurately control the spraying range and the coating thickness to achieve high-quality surface spraying of the release agent. The painting process is optimized, the utilization rate of the paint is improved, and the emission of harmful substances into the environment is reduced.

[0057] Further, the conversion mechanism 8 includes a main conversion head 81 arranged at the free end of the robotic arm 2, a first sub-conversion head 82A arranged on the camera 71, a second sub-conversion head 82B arranged on the grinding head 41, a third sub-conversion head 82C arranged on the dust suction head 51, and a fourth sub-conversion head 82D arranged on the spraying head 61. When the robotic arm 2 takes a picture of the large mold 9, the main conversion head 81 is cooperatively connected with the first sub-conversion head 82A, so that the robotic arm 2 can drive the camera 71 to move to the shooting position for shooting to obtain an image result as mold information, and transmit the mold information to an external control terminal for mold confirmation. Specifically, refer to Figure 5 and Figure 8As shown in the figure, the robotic arm 2 automatically and quickly replaces the camera 71 through the main conversion head 81 and the first sub-conversion head 82A of the conversion mechanism 8, and the camera 71 is connected to the first sub-conversion head 82A through the bracket 72 and the second connecting flange 73. It should be noted that the quick replacement is specifically as follows: The clamping part (steel ball) of the main conversion head 81 is directly ejected outward along the radial direction of the cylindrical insertion block 812 by an air pump to be clamped with the card slot on the first sub-conversion head 82A to achieve automatic and quick replacement. Then, control the robotic arm 2 to automatically move to directly above the large mold 9, accurately measure the relative distance between the camera and the mold through the ranging sensor 74 installed on the camera 71, and then control the robot to automatically move downward to the best distance within the camera's field of view to take a photo, and return the image result to trigger the background image algorithm to confirm the mold type.

[0058] Furthermore, the main conversion head 81 includes a connection disk 811 detachably connected to the free end of the robotic arm 2, and a cylindrical insertion block 812 provided on the end face of the connection disk 811 away from the robotic arm 2. The cylindrical insertion block 812 is a cylindrical structural member extending outward toward the outside of the connection disk 811. A plurality of sliding grooves 814 are arranged at intervals along the circumferential direction of the side wall of the cylindrical insertion block 812. A clamping part 815 is slidably installed in each sliding groove 814. The clamping part 815 can move outward or inward relative to the sliding groove 814 along the radial direction of the cylindrical insertion block 812 so that the clamping part 815 is respectively clamped with the first sub-conversion head 82A, the second sub-conversion head 82B, the third sub-conversion head 82C, or the fourth sub-conversion head 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 specifically four signal connectors 813, namely a waterway signal connector, a pneumatic signal connector, and two circuit signal connectors. Different signal connectors are connected according to the grinding of different processes, and the signal connectors 813 and the two camera connection heads 82A2, the grinding connection head 82B2, the dust suction connection head 82C2, and the spraying connection head 82D2 are connected by a quick insertion method of male and female connectors. (See specifically Figure 5 , Figure 8 and Figure 11 as shown).

[0059] Further, the first sub-conversion head 82A includes an annular mounting plate 82A1 detachably connected to the camera 71 and two camera connectors 82A2 provided on the circumferential side wall of the annular mounting plate 82A1. The two camera connectors 82A2 are respectively inserted into two of the signal connectors 813 in the signal connector 813. The second sub-conversion head 82B includes an annular mounting plate 82B1 detachably connected to the grinding head 41 and two grinding connectors 82B2 provided on the circumferential side wall of the annular mounting plate 82B1. The two grinding connectors 82B2 are respectively inserted into two of the signal connectors 813 in the signal connector 813. The third sub-conversion head 82C includes an annular mounting plate 82C1 detachably connected to the dust suction head 51 and two dust suction connectors 82C2 provided on the circumferential side wall of the annular mounting plate 82C1. The two dust suction connectors 82C2 are respectively inserted into two of the signal connectors 813 in the signal connector 813. The fourth sub-conversion head 82D includes an annular mounting plate 82D1 detachably connected to the spraying head 61 and one spraying connector 82D2 provided on the circumferential side wall of the annular mounting plate 82D1. One spraying connector 82D2 is inserted into one of the signal connectors 813 in the signal connector 813. The inner circumferences of the annular mounting plate 82A1, the annular mounting plate 82B1, the annular mounting plate 82C1, and the annular mounting plate 82D1 are circumferentially and spaced apart with card slots corresponding one by one to the clamping members 815. When the robotic arm 2 needs to be connected to the camera 71, the grinding head 41, the dust suction head 51, and the spraying head 61, the cylindrical insertion block 812 can be respectively inserted into the corresponding annular mounting plate 82A1, annular mounting plate 82B1, annular mounting plate 82C1, or annular mounting plate 82D1, so that the clamping member 815 is engaged with the card slot.

[0060] Further, a tool magazine placement area 42 is also provided on the integrated table 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 holder 421 is provided on the tool magazine placement area 42, and the tool holder 421 can accommodate a plurality of grinding tool heads 422. The grinding head 41 includes an electric main shaft 411 and a pneumatic chuck 412 provided at the axial output end of the electric main shaft 411. The electric main shaft 411 is detachably connected to one of the grinding tool heads 422 through the pneumatic chuck 412. That is, after confirming the corresponding grinding tool head 422 according to the requirements, the robotic arm 2 drives the electric main shaft 411 to move to the top of the tool magazine placement area 42, and the pneumatic chuck 412 clamps the top link of the grinding tool head 422, and the pneumatic chuck 412 can clamp the grinding tool head 422. After clamping, the robotic arm 2 drives the overall grinding head 41 (with the grinding tool head 422) to perform grinding work according to the grinding path.

[0061] Specifically, refer to Figure 6As shown, the tool holder 421 is a "door"-shaped structural member, and there are two tool holders 421. The two tool holders 421 are arranged in parallel and connected by a connecting seat. Four tool fixing brackets 423 are arranged at intervals on the cross beam of each tool holder, and each grinding cutter head 422 is respectively arranged on the corresponding tool fixing bracket 423. And the tool fixing bracket 423 is provided with 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 main shaft 411 on the grinding head 41 for grinding work. In addition, position sensors 424 are arranged at the positions of the corresponding tool fixing brackets 423 on the tool holder 421. The setting of the position sensors 424 can detect whether the grinding cutter head 422 is in place and send it to the controller.

[0062] Further, referring to Figure 3 and Figure 4 As shown, the electric main shaft 411 is connected to the annular mounting plate two 82B1 through a buffer unit 413. When the grinding cutter head 422 is subjected to resistance, the grinding cutter head 422 will transmit the acting force to the electric main shaft 411, so that the buffer unit 413 moves along its longitudinal direction to decompose the acting force for buffering. It should be noted that the longitudinal direction is Figure 4 the length direction (from top to bottom) of the guide rail 4132 in Figure 4 . When the grinding cutter head 422 is subjected to resistance, the acting force transmitted by the grinding cutter head 422 to the electric main shaft 411 will cause the buffer unit 413 to move along its longitudinal direction to decompose the acting force for buffering. Further, the buffer unit 413 includes a mounting plate 4131 connected to the annular mounting plate two 82B1, a guide rail 4132 located on the side of the mounting plate 4131 away from the annular mounting plate two 82B1, a slider slidably mounted on the guide rail 4132, and a connecting plate 4133 fixedly connected to the slider. And the electric main shaft 411 is mounted on the side wall of the connecting plate 4133 away from the mounting plate 4131. The buffer unit 413 also includes a buffer spring 4134 arranged between the mounting plate 4131 and the connecting plate 4133. One end of the buffer spring 4134 is mounted on the mounting plate 4131 through a fixed support column 4135, and the other end of the buffer spring 4134 is mounted on the connecting plate 4133 through a movable support column 4136. The guide rail 4132 is arranged along the longitudinal direction of the mounting plate 4131, and the connecting plate 4133 can make a linear reciprocating motion along the guide rail 4132. During the grinding process, through

[0063] Further, the buffer unit 413 further includes a limiting block 4137 disposed at the bottom of the connecting plate 4133. The setting of the limiting block 4137 ensures that it will not fall off during the telescopic movement; enables the cutter head to always fit the surface of the mold. After completion, the grinding cutter head is automatically placed back, and the grinding head 41 is automatically placed back.

[0064] Further, the robotic arm 2 has a controller inside, and the controller of the robotic arm 2 is communicatively connected to an external control terminal.

[0065] An integrated processing method for large mold processing, based on an integrated processing device for large mold processing, the method includes the following steps:

[0066] S1. Judge according to the in-place signal of the large mold 9. If the large mold 9 is in place, the robotic 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 photo to obtain an image result 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 toolset and a job path planning algorithm.

[0067] S2. The robotic arm 2 places the camera 71 back on the shooting station 7 on the integrated table 3. According to the confirmation of the mold type in S1, the robotic arm 2 loads the corresponding mold type, corresponding grinding head 41, and corresponding grinding path. The electric spindle 411 of the grinding head 41 is driven by the conversion mechanism 8 to select a suitable grinding cutter head 422 to form a complete grinding head 41. The grinding head 41 is connected to the robotic arm 2 and performs grinding along the corresponding grinding path under the drive of the robotic arm 2. The main conversion head 81 is cooperatively connected with the sub-conversion head two 82B so that the robotic 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 then, according to different positions of the large mold 9, it retreats to the tool magazine again to automatically retrieve and replace the cutter head program, complete the replacement of the grinding cutter head 422, and perform the second stage of grinding work. By analogy, according to different mold types, there may be a third stage and a fourth stage of grinding.

[0068] S3. The robotic arm 2 places the grinding head 41 back onto the grinding station 4 on the integrated table 3. The dust suction head 51 is connected to the robotic arm 2 through the conversion mechanism 8. The dust suction head 51 is turned on, and it enters the mold along a preset path for dust suction. The main conversion head 81 clamps the sub-conversion head three 82C for the dust suction assembly. After the remote control turns on the dust suction head 51, it enters the large mold 9. Different dust suction paths are called according to different molds. The side blowing head 53 blows up the residues, and then the dust suction head 51 completes the one-time overall dust suction. The vacuum cleaner pipeline clamp 52 is detachably installed on the dust suction connection plate 54 for clamping the dust suction head 51, so that the dust suction head 51 can follow the robotic arm 2 over a long distance to complete the dust suction operation. It should be noted that when placing the grinding head 41 back onto the integrated table 3, the grinding cutter head 422 is first placed at the corresponding position of the tool holder 421 in the tool magazine placement area 42, and then the position sensor 424 determines whether the grinding cutter head 422 is in place. If it is in place, the next step of work is carried out.

[0069] S4. The robotic arm 2 places the dust suction head 51 back onto the dust suction station 5 of the dust suction platform 10. The spraying head 61 is connected to the robotic arm 2 through the conversion mechanism 8. The spraying head 61 is turned on, and spraying is carried out along a preset path. Finally, it enters the spraying mode. The robotic arm 2 is automatically changed to the spraying head 61 through the cooperation connection of the main conversion head 81 and the sub-conversion head four 82D. The spraying head 61 is connected to the sub-conversion head four 82D through the connecting flange one 62. The robotic arm 2 calls the path according to different mold types for a comprehensive one-time spraying. The automatic spraying head 61 has a paint interface 63 connected to an external paint pump to provide paint. The automatic spraying head 61 can be connected to three potential solenoid valves to respectively control the switch, atomization (atomization is the size of the spraying particles), and width (width is the width of the spraying), so that the automatic spraying effect is better. Finally, the spraying component is placed back, and the robotic arm returns to the zero point to complete the operation.

[0070] In the description of the present invention, it should be understood that the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, the meaning of "a plurality" is two or more unless otherwise specifically defined.

[0071] In the present invention, unless otherwise clearly specified or limited, the terms "install", "connect", "couple", "fix", etc. shall be construed in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral body; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium; it may be the communication inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0072] In the description of this specification, the descriptions of the terms "one embodiment", "some embodiments", "embodiment", "example", "specific example" or "some examples", etc. mean that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic descriptions 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 a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0073] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. An integrated processing method for large mold processing, characterized in that: The method adopts an integrated processing device, and the integrated processing device includes an operation platform (1), a comprehensive platform (3) and a dust suction platform (10); A robotic arm (2) is arranged on the operation platform (1); A grinding station (4), a spraying station (6) and a photographing station (7) are arranged on the comprehensive platform (3), and a dust suction station (5) is arranged on the dust suction platform (10); The free end of the robotic arm (2) is selectively connected to a camera (71) on the photographing station (7), a grinding head (41) on the grinding station (4), a dust suction head (51) on the dust suction station (5) and a spraying head (61) on the spraying station (6) through a conversion mechanism (8), so that the robotic arm (2) can drive the camera (71), the grinding head (41), the dust suction head (51) and the spraying head (61) in sequence to perform photographing, grinding, dust suction and spraying operations on a large mold (9) respectively; The conversion mechanism (8) includes a main conversion head (81) arranged at the free end of the robotic arm (2), a first sub-conversion head (82A) arranged on the camera (71), a second sub-conversion head (82B) arranged on the grinding head (41), a third sub-conversion head (82C) arranged on the dust suction head (51) and a fourth sub-conversion head (82D) arranged on the spraying head (61); The main conversion head (81) includes a connection disk (811) detachably connected to the free end of the robotic arm (2); A plurality of signal connectors (813) are arranged at intervals on the circumferential side wall of the connection disk (811); Specifically, there are four signal connectors (813), namely a waterway signal connector, a pneumatic signal connector and two circuit signal connectors, and different signal connectors are connected according to different processes; The method includes the following steps: S1. Judge according to the in-place signal of the large mold (9). If the large mold (9) is in place, the robotic arm (2) is connected to the camera (71) on the photographing station (7) through the conversion mechanism (8), and drives the camera (71) to move above the large mold (9) to take a photo 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 photographing station (7) on the comprehensive platform (3). According to the confirmation of the mold type in S1, the robotic arm (2) loads the corresponding mold type, the corresponding grinding head (41) and the corresponding grinding path, and drives the grinding head (41) through the conversion mechanism (8) to perform grinding along the corresponding grinding path; S3. The robotic arm (2) places the grinding head (41) back on the grinding station (4) on the comprehensive platform (3), connects the dust suction head (51) to the robotic arm (2) through the conversion mechanism (8), turns on the dust suction head (51), and enters the mold along a preset path to perform dust suction; S4. The robotic arm (2) places the dust suction head (51) back onto the dust suction station (5) on the dust suction platform (10), connects the spraying head (61) to the robotic arm (2) through the conversion mechanism (8), turns on the spraying head (61), and performs spraying along a preset path.

2. The integrated processing method for large mold processing according to claim 1, wherein: The conversion mechanism (8) further includes a first sub-conversion head (82A) disposed on the camera (71), a second sub-conversion head (82B) disposed on the grinding head (41), a third sub-conversion head (82C) disposed on the dust suction head (51), and a fourth sub-conversion head (82D) disposed on the spraying head (61); When the robotic arm (2) takes a picture of the large mold (9), the main conversion head (81) is cooperatively connected with the first sub-conversion head (82A), so that the robotic arm (2) can drive the camera (71) to move to the shooting position to take a picture to obtain an image result as mold information, and transmit the mold information to an external control terminal for mold confirmation; When the robotic arm (2) grinds the large mold (9), the main conversion head (81) is cooperatively connected with the second sub-conversion head (82B), so that the robotic arm (2) can drive the grinding head (41) to move to the grinding position of the large mold (9) for grinding; When the robotic arm (2) sucks dust from the large mold (9), the main conversion head (81) is cooperatively connected with the third sub-conversion head (82C), so that the robotic 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 robotic arm (2) sprays the large mold (9), the main conversion head (81) is cooperatively connected with the fourth sub-conversion head (82D), so that the robotic arm (2) can drive the spraying head (61) to move to the spraying position of the large mold (9) for spraying.

3. The integrated processing method for large mold machining according to claim 2, characterized in that: The main conversion head (81) further includes a cylindrical insertion block (812) disposed on the end face of the connection disk (811) away from the robotic arm (2). A plurality of sliding grooves (814) are spaced along the circumferential direction of the side wall of the cylindrical insertion block (812). A clamping member (815) is slidably installed in each sliding groove (814). The clamping member (815) can move outward or inward along the radial direction of the cylindrical insertion block (812) relative to the sliding groove (814) so that the clamping member (815) can be respectively clamped with the first sub-conversion head (82A), the second sub-conversion head (82B), the third sub-conversion head (82C), or the fourth sub-conversion head (82D).

4. The integrated processing method for large mold machining according to claim 3, characterized in that: The first sub-conversion head (82A) includes an annular mounting disk one (82A1) detachably connected to the camera (71) and two camera connection heads (82A2) disposed on the circumferential side wall of the annular mounting disk one (82A1); The sub-conversion head two (82B) includes an annular mounting disc two (82B1) detachably connected to the grinding head (41) and two grinding connection heads (82B2) provided on the circumferential side wall of the annular mounting disc two (82B1). Both of the two camera connection heads (82A2) and the two grinding connection heads (82B2) can be plugged into two of the signal connectors (813) in the signal connector (813); The sub-conversion head three (82C) includes an annular mounting disc three (82C1) detachably connected to the dust suction head (51) and two dust suction connection heads (82C2) provided on the circumferential side wall of the annular mounting disc three (82C1). The two dust suction connection heads (82C2) are respectively plugged into two of the signal connectors (813) in the signal connector (813); The sub-conversion head four (82D) includes an annular mounting disc four (82D1) detachably connected to the spraying head (61) and a spraying connection head (82D2) provided on the circumferential side wall of the annular mounting disc four (82D1). One spraying connection head (82D2) is plugged into one of the signal connectors (813) in the signal connector (813); The inner circumferences of the annular mounting disc one (82A1), the annular mounting disc two (82B1), the annular mounting disc three (82C1), and the annular mounting disc four (82D1) are circumferentially spaced apart with card slots corresponding one by one to the clamping members (815); When the robotic arm (2) needs to be connected to the camera (71), the grinding head (41), the dust suction head (51), and the spraying head (61), the cylindrical plugging block (812) can be respectively plugged into the corresponding annular mounting disc one (82A1), annular mounting disc two (82B1), annular mounting disc three (82C1), or annular mounting disc four (82D1) so that the clamping member (815) is clamped with the card slot; 5. The integrated processing method for large mold processing according to claim 4, characterized in that: A tool magazine placement area (42) is further provided on the integrated table (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 a plurality of grinding tool heads (422); 6. The integrated processing method for large mold processing according to claim 5, characterized in that: The grinding head (41) includes an electric main shaft (411) and a pneumatic chuck (412) provided at the axial output end of the electric main shaft (411). The electric main shaft (411) is detachably connected to one of the grinding tool heads (422) through the pneumatic chuck (412); The electric main shaft (411) is connected to the annular mounting disc two (82B1) through a buffer unit (413); When the grinding tool head (422) is subjected to resistance, the grinding tool head (422) will transmit the acting force to the electric main shaft (411), so that the buffer unit (413) moves along its longitudinal direction to decompose the acting force for buffering.

7. The integrated processing method for large mold machining according to claim 6, characterized in that: The buffer unit (413) includes a mounting plate (4131) connected to the second annular mounting disk (82B1), a guide rail (4132) located on the side of the mounting plate (4131) away from the second annular mounting disk (82B1), a slider slidably mounted on the guide rail (4132), and a connecting plate (4133) fixedly connected to the slider. 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 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) through a fixed support pillar (4135), and the other end of the buffer spring (4134) is mounted on the connecting plate (4133) through a movable support pillar (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).

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

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

Images