Intelligent annular grinding robot system and method for large castings

Abstract

The invention relates to the technical field of casting grinding, in particular to an intelligent annular grinding robot system and method for large castings. The rotary table mechanism is arranged on the rack and used for placing a casting and driving the casting to rotate along a vertical axis, and a first avoiding opening is formed in the middle of the rotary table mechanism; the inner side grinding mechanism is arranged on the rack in a lifting mode, can stretch out to the position above the rotary table mechanism through the first receding opening and is used for annularly grinding the inner surface of the casting; the outer side polishing mechanism is arranged on the rack, is adjacent to the rotary table mechanism and is used for annularly polishing the outer surface of the casting; and the scanning modules are arranged on the inner side grinding mechanism and the outer side grinding mechanism correspondingly and used for scanning the inner side surface and the outer side surface of the casting correspondingly to obtain scanning data, the inner side grinding mechanism and the outer side grinding mechanism conduct grinding based on the scanning data, and the grinding efficiency and safety of the large casting can be improved.

Description

Technical Field

[0001] The invention relates to the technical field of casting grinding, and in particular to a large-scale casting intelligent annular grinding robot system and method. Background Art

[0002] Casting grinding is an important step in the casting process. It is mainly used to remove burrs, oxide scales, sand marks and uneven defects on the surface of castings, so that the surface of castings can reach the required smoothness and appearance quality. This process is usually carried out after the castings are sanded and before subsequent processing. It can not only improve the appearance, but also improve the precision of the castings, ensuring that the quality and performance of the castings meet the requirements.

[0003] At present, there is a large-scale wind power casting structure in the prior art, which is a long cylindrical or ring-shaped structure with openings at both ends, such as a main shaft, a hub, a bearing seat, etc. The general casting weight is tens of tons to hundreds of tons, and the casting outline size is 2.5-6m in diameter and 2.5-6m in height. It is a core component and is used in the transmission chain of large wind turbines. This type of casting is hollow and has an inner surface and an outer surface.

[0004] However, when grinding such workpieces, a common practice is to use a manual handheld grinder to trim the surface of the casting to remove defects such as sand holes, air holes, slag inclusions, and surface unevenness; in the specific trimming process, the workpiece needs to be flipped and adjusted many times to adjust the grinding angle, and even personnel need to enter the inside of the casting for grinding. There are problems such as low grinding efficiency, unsafe grinding process and impact on personnel health. Therefore, there is a need to improve the existing technology.

[0005] The above information is presented as background information only to assist with understanding the present disclosure and no determination or admission is made as to whether any of the above may be used as prior art with respect to the present disclosure. Summary of the invention

[0006] The present invention provides a large-scale casting intelligent annular grinding robot system and method, so as to solve the problems of low grinding efficiency and insufficient safety of large-scale castings in the prior art.

[0007] To achieve the above objectives, in a first aspect, the present invention provides a large casting intelligent annular grinding robot system adopting the following scheme:

[0008] Large casting intelligent circular grinding robot system, including:

[0009] frame;

[0010] A turntable mechanism, arranged on the frame, for placing the casting upright and for driving the casting to rotate along a vertical axis, wherein the middle of the turntable mechanism has a first avoidance opening;

[0011] An inner grinding mechanism, which can be raised and lowered on the frame and can extend above the turntable mechanism through the first avoidance opening, and is used for performing annular grinding on the inner surface of the casting;

[0012] An outer grinding mechanism, arranged on the frame and adjacent to the turntable mechanism, for performing annular grinding on the outer surface of the casting;

[0013] and scanning modules, which are respectively arranged on the inner grinding mechanism and the outer grinding mechanism, and are used to scan the inner and outer surfaces of the casting respectively to obtain scanning data, and the inner grinding mechanism and the outer grinding mechanism perform grinding based on the scanning data.

[0014] Preferably, the inner side grinding mechanism comprises:

[0015] A lifting assembly is arranged on the frame;

[0016] A mounting seat, arranged on the lifting assembly, and the lifting assembly is used to drive the mounting seat to move reciprocatingly;

[0017] A telescopic assembly, disposed on the mounting seat;

[0018] And an inner grinder is arranged on the telescopic assembly, and the telescopic assembly is used to drive the inner grinder to extend to the inner wall of the casting or to drive the inner grinder to fold on the mounting seat.

[0019] Preferably, the lifting assembly comprises:

[0020] A lifting guide rail, fixedly arranged on the frame and arranged vertically;

[0021] A lifting slider is fixedly arranged on the mounting seat, and the lifting slider is slidably arranged on the lifting guide rail;

[0022] And a lifting hydraulic cylinder is fixedly arranged on the frame, and the output shaft of the lifting hydraulic cylinder is fixedly connected to the mounting seat.

[0023] Preferably, the telescopic assembly comprises:

[0024] A telescopic arm, one end of which is rotatably arranged on the mounting seat, and the inner grinder is fixedly arranged on the other end of the telescopic arm;

[0025] And a telescopic cylinder body is rotatably arranged on the mounting seat, and a telescopic rod of the telescopic cylinder body is slidably connected with the telescopic arm along the length direction of the telescopic arm.

[0026] Preferably, the telescopic components and the internal grinders connected to each other are in two groups, and the two groups of the telescopic components and the internal grinders are respectively arranged on opposite sides of the mounting seat.

[0027] Preferably, the turntable mechanism comprises:

[0028] A platform is rotatably arranged on the frame, and the first avoidance opening is arranged in the middle of the platform:

[0029] A gear ring, fixedly disposed on the table;

[0030] A reduction motor is arranged on the frame, and an output shaft of the reduction motor is provided with a gear, and the gear is meshed with the gear ring.

[0031] Preferably, the turntable mechanism further comprises a correction component, and the correction component comprises:

[0032] A first linear module, disposed on the table, for outputting x-axis displacement;

[0033] A second linear module, disposed on the slide of the first linear module, for outputting y-axis displacement;

[0034] And a support platform is slidably set on the table plate and connected to the output end of the second linear module. The support platform is penetrated by a second avoidance opening arranged opposite to the first avoidance opening. The inner grinding mechanism extends to the top of the turntable mechanism through the first avoidance opening and the second avoidance opening in sequence.

[0035] Preferably, the number of the outer grinding mechanisms is at least two groups, wherein the grinding area of ​​one group of the outer grinding mechanisms is higher than the grinding area of ​​another group of the outer grinding mechanisms, and several of the outer grinding mechanisms cover the overall grinding height of the casting, and the outer grinding mechanisms include:

[0036] A base, arranged on the frame;

[0037] A robot, disposed on the base;

[0038] and an external grinder, which is arranged on the swing arm of the robot.

[0039] Preferably, it also includes a guide rail mechanism, and the guide rail mechanism includes:

[0040] An annular guide rail, on which the outer grinding mechanism is slidably arranged;

[0041] And an annular driving assembly is arranged on the outer grinding mechanism and connected to the annular guide rail, and the annular driving assembly is used to drive the outer grinding mechanism to move on the annular guide rail.

[0042] In a second aspect, the present invention provides a large casting intelligent annular grinding method using the following scheme:

[0043] The large casting intelligent circular grinding method adopts the large casting intelligent circular grinding robot system, and includes the following steps:

[0044] S1: Hoist the casting onto the turntable mechanism and debug the equipment to ensure that the casting can rotate smoothly;

[0045] S2: Scanning and archiving. The turntable mechanism drives the casting to rotate, and the surface data of the casting is obtained through the scanning module;

[0046] S3, rotational grinding, the turntable mechanism drives the casting to rotate, and the inner grinding mechanism and the outer grinding mechanism grind the inner surface and the outer surface of the casting based on the surface data;

[0047] S4: repeating steps S2 and S3 until the surface data of the casting approaches a standard value;

[0048] S5: When the surface data of the casting meets the standard value, stop the action of each mechanism;

[0049] S6: The casting is hoisted and unloaded, and the grinding work is completed.

[0050] Compared with the prior art, the present invention has the following beneficial effects:

[0051] The large-scale intelligent annular grinding robot system and method provided by the present invention, when it is necessary to grind the casting, first place the casting on the turntable mechanism, then drive the inner grinding mechanism to pass through the first avoidance opening, and then extend to the inside of the casting, at this time, by starting the turntable mechanism, the turntable mechanism drives the casting to rotate horizontally, and during the rotation of the casting, its orientation angle can be changed; during the rotation of the casting, the inner surface of the casting can be grinded by the inner grinding mechanism, and the outer surface of the casting can be grinded at the same time by the outer grinding mechanism, so as to achieve the synchronous grinding effect of the inside and outside, and replace manual grinding with mechanical grinding, so that the grinding process is more efficient, and the operation is safer and more reliable.

[0052] In addition, the outer grinding mechanism is set up as at least two groups, one low-position robot and one high-position robot. The two groups of robots grind up and down at the same time, and the grinding efficiency is further optimized and improved.

[0053] The present invention has other features and advantages, which will be apparent from or will be described in detail in the accompanying drawings and the following detailed description incorporated herein, which together serve to explain the specific principles of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0055] Figure 1 It is a structural schematic diagram of a large casting intelligent annular grinding robot system provided in Embodiment 1 of the present invention;

[0056] Figure 2 It is a structural schematic diagram of a turntable mechanism and an inner side grinding mechanism provided in the first embodiment of the present invention;

[0057] Figure 3 is a schematic structural diagram of the inner side grinding mechanism provided in the first embodiment of the present invention when it is in a folded state;

[0058] Figure 4 is a schematic diagram of the assembly relationship between the correction component and the table provided in the first embodiment of the present invention;

[0059] Figure 5 is a schematic structural diagram of the inner side grinding mechanism provided in the first embodiment of the present invention when it is in an open state;

[0060] Figure 6 It is a structural schematic diagram of the outer side grinding mechanism provided in the first embodiment of the present invention.

[0061] Figure 7 It is a structural schematic diagram of the outer grinding mechanism and the guide rail mechanism provided in the first embodiment of the present invention;

[0062] Figure 8 It is a structural schematic diagram of the guide rail mechanism provided in the first embodiment of the present invention.

[0063] Reference numerals:

[0064] 1. Frame; 2. Turntable mechanism; 21. Table; 22. Ring gear; 23. Speed ​​reduction motor; 24. Gear; 25. Correction assembly; 251. First linear module; 252. Second linear module; 253. Support platform; 3. Inner grinding mechanism; 31. Lifting assembly; 311. Lifting guide rail; 312. Lifting slider; 313. Lifting hydraulic cylinder; 32. Mounting seat; 33. Telescopic assembly; 331. Telescopic arm; 332. Telescopic cylinder; 333. Slider; 334. Slide; 34. Inner grinder; 4. Outer grinding mechanism; 41. Base; 42. Robot; 43. Outer grinder; 5. Guide rail mechanism; 51. Annular guide rail; 52. Annular drive assembly; 521. Drive motor; 522. Drive gear; 1001. First avoidance; 1002. Second avoidance. DETAILED DESCRIPTION

[0065] In order to make the purpose, features and advantages of the present invention more obvious and easy to understand, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described below are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0066] In the description of the present invention, it is to be understood that when a component is considered to be "connected" to another component, it may be directly connected to the other component or there may be a centrally disposed component. When a component is considered to be "disposed on" another component, it may be directly disposed on the other component or there may be a centrally disposed component.

[0067] In addition, terms such as "long", "short", "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings and are only used to facilitate the description of the present invention. They do not indicate or imply that the device or component referred to must have this specific direction or operate with a specific direction structure, and should not be understood as a limitation of the present invention.

[0068] The following is combined with Figure 1-8 The technical solution of the present invention is further illustrated by specific implementation methods.

[0069] Embodiment 1:

[0070] Please refer to Figure 1 and Figure 2 An embodiment of the present invention provides a large casting intelligent annular grinding robot system, including a frame 1, a turntable mechanism 2, an inner grinding mechanism 3, an outer grinding mechanism 4 and a scanning module, wherein the frame 1 is used to provide an installation position for each mechanism, and the specific setting method of the frame 1 is not limited herein.

[0071] On this basis, the turntable mechanism 2 is arranged on the frame 1, and the top of the turntable mechanism 2 is a plane, and the plane part can be used for the casting to be placed vertically, and the turntable mechanism 2 is also used to drive the casting to rotate horizontally. Specifically, in order to quickly grind the casting, the method of grinding the inside and outside at the same time is mainly adopted in this embodiment. At this time, when the casting is placed, the casting is usually placed vertically so that the opening at one end of the casting can be placed downward. For the convenience of description, a vertical axis is made here. On this basis, the turntable mechanism 2 is used to drive the casting to rotate along this vertical axis.

[0072] The inner grinding mechanism 3 can be raised and lowered on the frame 1, and the inner grinding mechanism 3 is located below the turntable mechanism 2. A first avoidance opening 1001 is provided in the middle of the turntable mechanism 2. The first avoidance opening 1001 is arranged opposite to the inner grinding mechanism 3. The inner grinding mechanism 3 can extend to the top of the turntable mechanism 2 through the first avoidance opening 1001, and is used for performing annular grinding on the inner surface of the casting.

[0073] At the same time, the outer grinding mechanism 4 is arranged on the frame 1. The outer grinding mechanism 4 can be directly installed on the frame 1 or indirectly arranged on the frame 1. The specific arrangement of the outer grinding mechanism 4 is not explained here. The outer grinding mechanism 4 is arranged adjacent to the turntable mechanism 2 and is used to perform annular grinding on the outer surface of the casting. At this time, under the action of the inner grinding mechanism 3 and the outer grinding mechanism 4, the inner and outer surfaces of the casting can be polished at the same time.

[0074] In addition, scanning modules (not shown in the figure) are respectively arranged on the inner grinding mechanism 3 and the outer grinding mechanism 4. The scanning modules located on different mechanisms are used to scan the inner and outer surfaces of the casting respectively to obtain scanning data, which includes the inner surface data of the casting and the outer surface data of the casting. The inner grinding mechanism 3 and the outer grinding mechanism 4 perform grinding based on the above scanning data.

[0075] In the above embodiment, the turntable mechanism 2 can drive the casting to rotate horizontally along the vertical axis to achieve automatic adjustment of the grinding angle. During this process, the outer grinding mechanism 4 and the inner grinding mechanism 3 can grind the inner and outer surfaces of the casting.

[0076] Reference Figure 3 The turntable mechanism 2 includes a table 21, a gear ring 22 and a reduction motor 23. The table 21 is horizontally arranged and rotatably arranged on the top of the frame 1. Specifically, a bearing can be arranged at the bottom of the table 21 and installed on the table 21, so that the table 21 can rotate on the frame 1; the first avoidance opening 1001 runs through the middle of the table 21, and the vertical axis passes through the first avoidance opening 1001 and the center point of the table 21.

[0077] At the same time, the ring gear 22 is fixedly set at the bottom of the table 21, the reduction motor 23 is fixedly set on the frame 1 and is located below the table 21, and the output shaft of the reduction motor 23 is equipped with a gear 24, which is arranged adjacent to the ring gear 22 and meshes with the ring gear 22.

[0078] Based on the above structural setting, in one embodiment, the casting can be directly hoisted onto the table 21, and by starting the reduction motor 23, the reduction motor 23 drives the gear 24 to rotate, and the gear 24 then drives the ring gear 22 to drive the table 21 to rotate, thereby driving the casting to rotate with the vertical axis as the rotation axis.

[0079] Furthermore, in actual applications, when hoisting the casting on the turntable mechanism 2, there may be a problem of casting offset, which may cause excessive deviation between the center line of the casting and the vertical axis, resulting in an overload problem when the casting rotates, which may affect subsequent grinding actions.

[0080] To overcome the above technical obstacles, refer to Figure 4 The turntable mechanism 2 also includes a correction component 25. In this embodiment, the correction component 25 includes a first linear module 251, a second linear module 252 and a support 253. The support 253 is slidably arranged on the table 21. Specifically, the support 253 is arranged horizontally, and a plurality of load-bearing wheels are fixedly arranged at the bottom of the support 253. On this basis, the support 253 is placed on the top of the table 21. The support 253 can be slidably arranged on the table 21 through the load-bearing wheels, and the load-bearing wheels can also provide a large load-bearing effect for the support 253. At this time, the casting can be placed on the support 253, and the casting can be supported by the support 253.

[0081] Furthermore, the first linear module 251 and the second linear module 252 can adopt a motor linear module structure, which has a slide that can move back and forth. By driving the slide to move back and forth, a stable linear reciprocating movement action is output. The specific structure of the motor linear module is existing technology and will not be described in detail here.

[0082] In the specific setting, the first linear module 251 is fixedly installed on the top of the table 21, and the displacement direction of the slide of the first linear module 251 is defined as the x-axis direction. At the same time, the second linear module 252 is fixedly installed on the slide of the first linear module 251, and the output end of the second linear module 252 is connected to the support 253. It can be understood that the support 253 is fixedly set on the slide of the second linear module 252. At this time, the slide displacement output direction of the second linear module 252 is configured to be perpendicular to the x-axis direction. For the convenience of distinction, the slide displacement direction of the first linear module 251 is defined as the y-axis displacement direction.

[0083] At this time, with the cooperation of the first linear module 251 and the second linear module 252, a planar displacement structure is formed. By starting the first linear module 251 and the second linear module 252 respectively, the displacement in the x-axis direction and the displacement in the y-axis direction can be superimposed, and then the relative position between the support 253 and the table plate 21 can be fine-tuned, so that the deviation between the center axis of the casting and the vertical axis can be effectively reduced.

[0084] On this basis, a second avoidance opening 1002 is penetrated through the base 253 and is arranged opposite to the first avoidance opening 1001. The inner grinding mechanism 3 extends to the top of the turntable mechanism 2 through the first avoidance opening 1001 and the second avoidance opening 1002 in turn. At this time, under the action of the first avoidance opening 1001 and the second avoidance opening 1002, the inner grinding mechanism 3 can extend to the inside of the casting for grinding.

[0085] Preferably, the opening size of the second avoidance opening 1002 may be larger than the opening size of the first avoidance opening 1001 , so that after the support platform 253 is adjusted, the second avoidance opening 1002 can cover the first avoidance opening 1001 to avoid structural interference with the inner grinding mechanism 3 .

[0086] Reference Figure 3 and Figure 5 In order to grind the inner surface of the casting, the inner grinding mechanism 3 includes a lifting assembly 31, a mounting seat 32, a telescopic assembly 33 and an inner grinder 34. A mounting recessed portion is provided in the middle of the frame 1, and the lifting assembly 31 is provided on the frame 1 and is located in the mounting recessed portion.

[0087] On this basis, the mounting seat 32 is arranged on the lifting assembly 31, and the lifting assembly 31 is used to drive the mounting seat 32 to reciprocate and lift so that the mounting seat 32 can extend into the interior of the casting; at the same time, the telescopic assembly 33 is arranged on the mounting seat 32, and in the present embodiment is located on one side of the mounting seat 32, and the telescopic assembly 33 can approach or move away from the inner wall of the casting by telescoping; further, the inner grinder 34 is arranged on the telescopic assembly 33, and the telescopic assembly 33 is used to drive the inner grinder 34 to extend to the inner wall of the casting or to drive the inner grinder 34 to fold on the mounting seat 32.

[0088] At this time, when the telescopic assembly 33 drives the internal grinder 34 to extend to the inner wall of the casting, the internal grinder 34 can grind the inner surface of the casting. In the present embodiment, the internal grinder 34 adopts an alloy grinding wheel grinder, which can quickly grind the surface of the casting. The specific structure of the internal grinder 34 is not limited here. In addition, when the grinding action is completed, the telescopic assembly 33 drives the internal grinder 34 to fold to the mounting seat 32. At this time, the internal grinder 34 can be stored in the mounting seat 32 to prevent the telescopic assembly 33 from causing structural interference with the table plate 21 or the support platform 253 when the mounting seat 32 is raised or lowered. The structure is flexible and reliable.

[0089] Continue to refer to Figure 5 In this embodiment, in order to realize the lifting function of the mounting seat 32, the lifting assembly 31 includes a lifting rail 311, a lifting slider 312 and a lifting hydraulic cylinder 313. The lifting rail 311 is vertically arranged and fixedly arranged on the frame 1. Specifically, the number of the lifting rails 311 can be multiple, and the multiple lifting rails 311 are evenly arranged around the mounting recess. The specific number of the lifting rails 311 is not limited. In this embodiment, there are two lifting rails 311, and they are respectively arranged at two opposite inner walls of the mounting recess.

[0090] At the same time, the lifting slider 312 is fixedly arranged on the outside of the mounting seat 32, the number of the lifting sliders 312 is adapted to the number of the lifting guide rails 311, and several lifting sliders 312 are respectively slidably arranged on several lifting guide rails 311. At this time, under the action of the lifting slider 312 and the lifting guide rail 311, the mounting seat 32 is slidably guided, and the mounting seat 32 can be lifted and moved along the vertical axis.

[0091] In addition, the lifting hydraulic cylinder 313 is fixedly arranged on the frame 1. In this embodiment, the lifting hydraulic cylinder 313 is located in the mounting recess and directly below the mounting seat 32. The telescopic rod of the lifting hydraulic cylinder 313 is vertically arranged upward, and the output shaft of the lifting hydraulic cylinder 313 is fixedly connected to the mounting seat 32.

[0092] By adopting the above technical solution, on the one hand, the lifting hydraulic cylinder 313 can provide a large lifting thrust and has good displacement accuracy, and can adapt to actual use conditions; on the other hand, under the guidance of the lifting guide rail 311 and the lifting slider 312, the lifting seat can drive the telescopic assembly 33 to lift and lower stably.

[0093] Furthermore, in this embodiment, the telescopic assembly 33 includes a telescopic arm 331 and a telescopic cylinder 332. The telescopic arm 331 can extend outward and retract by swinging. Specifically, one end of the telescopic arm 331 is rotatably connected to the top of the mounting seat 32, and the other end of the telescopic arm 331 forms a free end, and can move closer to or farther from the inner surface of the casting by rotating. The inner grinder 34 is fixedly mounted on the other end of the telescopic arm 331, and the telescopic arm 331 can drive the inner grinder 34 to move closer to or farther from the inner surface of the casting by swinging.

[0094] The telescopic cylinder body 332 adopts a cylinder element. The base 41 of the telescopic cylinder body 332 is rotatably set on the mounting seat 32 in a hinged manner, and the telescopic rod of the telescopic cylinder body 332 is slidably connected to the inner side of the telescopic arm 331; specifically, the inner side of the telescopic arm 331 is provided with a slide groove 334 extending along the length direction, and a slider 333 is hingedly provided at the end of the telescopic rod of the telescopic cylinder body 332. By sliding the slider 333 into the slide groove 334, the telescopic cylinder body 332 can be slidably connected to the telescopic arm 331 along the length direction of the telescopic arm 331.

[0095] Based on the above arrangement, by driving the telescopic cylinder 332 to perform telescopic movement, with the cooperation of the slider 333 and the slide groove 334, the telescopic arm 331 can be pushed to swing, the movement is efficient and fast, and the structural support force is strong, so that when the internal grinder 34 is grinding, the telescopic arm 331 is not easy to loosen, and the grinding accuracy is guaranteed.

[0096] Furthermore, there are two groups of telescopic components 33 and inner grinders 34 connected to each other, and the two groups of telescopic components 33 and inner grinders 34 are respectively arranged on opposite sides of the mounting seat 32. At this time, when only one group of telescopic components 33 and inner grinders 34 connected to each other is arranged, the casting needs to be rotated 360 degrees to fully grind the inner surface in all directions, and when the telescopic components 33 and inner grinders 34 connected to each other are arranged in two groups arranged in opposite directions, the casting only needs to be rotated 180 degrees to enable the inner surface to be fully grinded, and the grinding efficiency is significantly improved.

[0097] Reference Figure 6 In order to grind the outer surface of the casting, in this embodiment, the outer grinding mechanism 4 includes a base 41, a robot 42 and an outer grinder 43. The outer grinder 43 has a similar structure to the inner grinder 34, and its specific model and structure are not described in detail here.

[0098] When the above components are arranged, in one embodiment, the base 41 is fixedly mounted on the frame 1 , and the base 41 is arranged at a position adjacent to the turntable mechanism 2 .

[0099] In this embodiment, the base 41 is a block structure, which is used to support the robot 42. Furthermore, the robot 42 is fixedly installed on the top of the base 41. The robot 42 can adopt a six-axis robot 42 so that it has good freedom of movement and can perform more complex grinding actions. The specific model and structure of the robot 42 are not limited here.

[0100] On this basis, the external grinder 43 is fixedly mounted on the swing arm of the robot 42 , and driven by the robot 42 , the external surface of the casting can be automatically grinded through preset programming.

[0101] Further, the outer grinding mechanism 4 is set to at least two groups, such as three groups, four groups or five groups, etc. In this embodiment, the number of the outer grinding mechanism 4 is consistent with that of the inner grinding mechanism 3, so as to keep the grinding progress of the two consistent, and the cooperation between the inner and outer sides is more synchronized and accurate. Therefore, the outer grinding mechanism 4 in this embodiment is set to two groups. By setting multiple groups of outer grinding mechanisms 4, the grinding efficiency of the outer surface of the casting can be effectively improved, and the grinding effect is more efficient.

[0102] In addition, when setting up multiple groups of outer grinding mechanisms 4, since the up and down grinding angles and ranges of the robots 42 are limited, for some castings with a larger height, the outer grinding mechanisms 4 at a single horizontal height may have grinding dead angles, affecting the grinding effect. Based on this, in order to overcome the above-mentioned technical obstacles, the grinding area of ​​one group of outer grinding mechanisms 4 is higher than the grinding area of ​​another group of outer grinding mechanisms 4, and several outer grinding mechanisms 4 cover the overall grinding height of the casting. Specifically: in this embodiment, the height of the base 41 of one group of outer grinding mechanisms 4 is greater than the height of the base 41 of another group of outer grinding mechanisms 4, so that a low-position robot 42 and another high-position robot 42 can be obtained. The two robots 42 can grind up and down at the same time, so that the activity range of different robots 42 can cover the overall setting height of the casting, and the problem of grinding dead angles is solved.

[0103] Further, refer to Figure 7 and Figure 8In order to improve the overall grinding efficiency of the outer grinding mechanism 4, in this embodiment, the robot system further includes a guide rail mechanism 5, which includes an annular guide rail 51 and an annular drive assembly 52, and the outer grinding mechanism 4 is slidably arranged on the annular guide rail 51. Among them, the annular guide rail 51 is fixedly arranged on the ground, and the central axis of the annular guide rail 51 coincides with the vertical axis; and an annular slider (not shown in the figure) is fixedly arranged at the bottom of the base 41, and the annular slider is slidably arranged on the annular guide rail 51. At this time, under the action of the annular slider and the annular guide rail 51, the outer grinding mechanism 4 can be driven to realize annular movement relative to the casting, and then the casting can be further annularly ground, the outer grinding mechanism 4 is more flexible, and the grinding efficiency is optimized and improved.

[0104] Specifically, the annular drive assembly 52 is arranged on the outer grinding mechanism 4 and connected to the annular guide rail 51, and the annular drive assembly 52 is used to drive the outer grinding mechanism 4 to move in an annular manner on the annular guide rail 51. In this embodiment, the annular drive assembly 52 includes a driving motor 521 and a driving gear 522, wherein the driving motor 521 is fixedly arranged on the base 41, and the driving gear 522 is fixedly arranged on the output shaft of the driving motor 521. At the same time, meshing teeth are provided on the annular guide rail 51, and the driving gear 522 is meshed with the meshing teeth. At this time, by starting the driving motor 521, the driving gear 522 can be driven to rotate, thereby pushing the base 41 to move on the annular guide rail 51, thereby realizing the reciprocating displacement adjustment function of the outer grinding mechanism 4, and the action is quick and convenient, and has good adjustment accuracy.

[0105] Based on the above scheme, since the grinding area of ​​the outer side of the casting is larger, if the same grinding speed as the inner side is adopted, the grinding efficiency or effect of the inner and outer sides will be inconsistent. Here, by driving the outer grinding mechanism 4 to move in a circular manner on the annular guide rail 51, the grinding speed of the outer side surface can be increased, or the number of grinding circles of the outer side surface can be increased per unit time. The grinding of the outer side surface has a faster grinding speed, and its grinding effect is also improved.

[0106] Furthermore, the scanning module mainly serves to scan the outer and inner surfaces of the casting. In this embodiment, the scanning module can use a CCD scanning camera and use a mechanical vision system to calculate and transform the image obtained by the CCD scanning camera so that it can obtain scanning data.

[0107] In addition, the scanning module is installed on the mounting base 32 and the swing arm of the robot 42, so that the inner surface and the outer surface of the casting can be scanned and archived respectively when the casting rotates, so as to obtain scanning data.

[0108] After the scanning data is obtained, the automatic polishing action can be performed. Specifically, the scanning module is electrically connected to a computer, and the scanning data obtained by the scanning module can be sent to the receiving end of the computer, and the processing software of the computer can analyze and process the part of the scanning data.

[0109] During the processing, the scanning data can be compared with the three-dimensional mesh data of the ideal casting to obtain the grinding allowance data and the grinding path data. Based on the grinding allowance data and the grinding path data, the programming signal is calculated to complete the above analysis process.

[0110] At the same time, the output end of the computer is electrically connected to a PLC controller, and the programming signal is sent from the output end of the computer to the receiving end of the PLC controller. The PLC controller generates a control signal based on the programming signal. The PLC controller is electrically connected to the turntable mechanism 2, the inner grinding mechanism 3 and the outer grinding mechanism 4 respectively, and controls each mechanism to perform lifting, rotation and grinding actions by sending the control signal to the corresponding mechanism, thereby realizing the automatic grinding function.

[0111] At this point, the large-scale intelligent circular polishing robot system provided in this embodiment can realize automatic identification of the castings to be polished through a visual scanning scheme, formulate a corresponding polishing scheme based on the specific conditions of the castings to be polished, and realize the automatic polishing function of the inner and outer surfaces of the castings by controlling the turntable mechanism 2, the inner polishing mechanism 3 and the outer polishing mechanism 4 to cooperate with each other. The overall polishing efficiency is significantly improved, and the operational safety during the polishing process is also significantly improved, which has broad application prospects in the industry.

[0112] It is understandable that in actual applications, the inner surface of the casting usually has some complex structural designs, such as step structures. This part of the structure may interfere with or cause misjudgment of the grinding action. Therefore, based on such situations, the obstacle avoidance area can be further configured when setting the grinding path data, thereby avoiding grinding of such parts and realizing the obstacle avoidance function.

[0113] Embodiment 2:

[0114] This embodiment discloses a large-scale casting intelligent circular grinding method, which adopts the large-scale casting intelligent circular grinding robot system shown in the first embodiment. On the basis of the first embodiment, the features not explained in this embodiment adopt the explanation in the first embodiment and will not be repeated here.

[0115] Specifically, the large casting intelligent annular grinding method shown in this embodiment includes the following steps:

[0116] S1: hoisting the casting onto the turntable mechanism 2. Usually, a gantry crane can be used to hoist the casting and arrange it and place it on the turntable mechanism 2.

[0117] After the lifting is completed, the equipment is debugged. Specifically, the opening of the casting needs to be aligned with the first avoidance opening 1001 and the second avoidance opening 1002, and an attempt is made to drive the casting to rotate to check whether there is eccentric rotation or tipping when the casting rotates. If there is eccentric rotation, the correction component 25 can be started to reduce the eccentricity of the casting to ensure that the casting can rotate smoothly.

[0118] S2: Scanning and archiving. The turntable mechanism 2 drives the casting to rotate and obtains the surface data of the casting through the scanning module.

[0119] S2-1: Further, based on S2, the scanning module can be set on the inner grinding mechanism 3 and the outer grinding mechanism 4 at the same time during the rotational scanning, so as to scan the inner surface and the outer surface of the casting at the same time, and generate three-dimensional mesh data. The number of complete scans is at least two times, preferably three times. Through multiple scans, more accurate three-dimensional mesh data can be obtained.

[0120] It can be understood that after obtaining the three-dimensional grid data, the data is then analyzed and compared. Specifically, the comparison and analysis module compares and analyzes the three-dimensional grid data of the casting to be processed with the three-dimensional grid data of the finished part. In the comparison process, the computer equipment and computer software can be used for comparison calculation, and the non-overlapping graphic contour is obtained by Boolean subtraction. Based on the contour, the root path is selected to obtain the final grinding allowance data and grinding path data, which are then sent to the PLC controller. The PLC controller responds to the above data and generates a control signal, and the control signal is sent to the turntable mechanism 2, the inner grinding mechanism 3 and the outer grinding mechanism 4, respectively, and the turntable mechanism 2. S3, rotational grinding, the inner grinding mechanism 3 and the outer grinding mechanism 4 respond to the control signal, the turntable mechanism 2 drives the casting to rotate, and the inner grinding mechanism 3 and the outer grinding mechanism 4 grind the inner surface and the outer surface of the casting based on the surface data.

[0121] It can be understood that after receiving the control signal, the turntable mechanism 2, the inner grinding mechanism 3 and the outer grinding mechanism 4 here, the turntable mechanism 2 outputs a rotation action, the inner grinding mechanism 3 performs lifting and lowering grinding on the inner surface of the casting, and the outer grinding machine performs circular grinding on the outer surface of the casting. With the joint cooperation of the above three actions, the casting is polished.

[0122] S3-1: Further, on the basis of S3, the guide rail mechanism 5 can be started at the same time to drive the outer grinding mechanism 4 to perform annular grinding along the circumferential direction of the casting, thereby improving the grinding speed and grinding efficiency of the outer side of the casting.

[0123] S4: Repeat steps S2 and S3 until the surface data of the casting approaches a standard value.

[0124] It should be noted that while the grinding action in step S3 is being performed, the scanning module can be configured to: synchronously scan the inner and outer surfaces of the casting to continuously update the grinding values, thereby facilitating calibration of the specific grinding conditions to achieve the purpose of precise grinding.

[0125] S5: When the surface data of the casting meets the standard value, the action of each mechanism is stopped. During this process, a threshold value can be set in the computer. When the grinding value reaches the threshold value, the computer generates a pause signal and sends it to the PLC controller. The PLC controller sends a stop signal based on the pause signal and sends the stop signal to each mechanism. The inner grinding mechanism 3 and the outer grinding mechanism 4 respond to the stop signal, stop operating respectively and move away from the casting to prevent structural interference and facilitate the subsequent removal of the casting.

[0126] S6: The casting is hoisted and unloaded, and the grinding work is completed.

[0127] So far, the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. Large casting intelligent circular grinding robot system, characterized by: include: Rack (1); A turntable mechanism (2) is arranged on the frame (1) and is used for placing the casting upright and for driving the casting to rotate along a vertical axis. The middle part of the turntable mechanism (2) has a first avoidance opening (1001); An inner grinding mechanism (3) is movably arranged on the frame (1) and can extend above the turntable mechanism (2) through the first avoidance opening (1001) to perform annular grinding on the inner surface of the casting; An outer grinding mechanism (4) is arranged on the frame (1) and adjacent to the turntable mechanism (2), and is used for performing annular grinding on the outer surface of the casting; and scanning modules, which are respectively arranged on the inner grinding mechanism (3) and the outer grinding mechanism (4) and are used to scan the inner and outer surfaces of the casting respectively to obtain scanning data, and the inner grinding mechanism (3) and the outer grinding mechanism (4) perform grinding based on the scanning data.

2. The large casting intelligent annular grinding robot system according to claim 1 is characterized in that: The inner side grinding mechanism (3) comprises: A lifting assembly (31) is arranged on the frame (1); A mounting seat (32) is arranged on the lifting assembly (31), and the lifting assembly (31) is used to drive the mounting seat (32) to perform reciprocating lifting and lowering movements; A telescopic assembly (33) is arranged on the mounting seat (32); and an internal grinder (34) arranged on the telescopic assembly (33), wherein the telescopic assembly (33) is used to drive the internal grinder (34) to extend to the inner wall of the casting or to drive the internal grinder (34) to fold onto the mounting seat (32).

3. The large casting intelligent annular grinding robot system according to claim 2 is characterized in that: The lifting assembly (31) comprises: A lifting guide rail (311) fixedly mounted on the frame (1) and arranged vertically; A lifting slider (312) is fixedly arranged on the mounting seat (32), and the lifting slider (312) is slidably arranged on the lifting guide rail (311); And a lifting hydraulic cylinder (313) is fixedly arranged on the frame (1), and the output shaft of the lifting hydraulic cylinder (313) is fixedly connected to the mounting seat (32).

4. The large casting intelligent annular grinding robot system according to claim 2 is characterized in that: The telescopic assembly (33) comprises: A telescopic arm (331), one end of which is rotatably disposed on the mounting seat (32), and the inner grinder (34) is fixedly disposed on the other end of the telescopic arm (331); and a telescopic cylinder body (332) rotatably disposed on the mounting seat (32); a telescopic rod of the telescopic cylinder body (332) is slidably connected to the telescopic arm (331) along the length direction of the telescopic arm (331).

5. The large casting intelligent annular grinding robot system according to claim 2 is characterized in that: The telescopic components (33) and the internal grinders (34) are connected to each other in two groups, and the two groups of telescopic components (33) and the internal grinders (34) are respectively arranged on opposite sides of the mounting seat (32).

6. The large casting intelligent annular grinding robot system according to claim 1 is characterized in that: The turntable mechanism (2) comprises: A platform (21) is rotatably mounted on the frame (1), wherein the first avoidance opening (1001) is disposed in the middle of the platform (21): A gear ring (22) fixedly disposed on the table (21); A reduction motor (23) is arranged on the frame (1); an output shaft of the reduction motor (23) is provided with a gear (24); and the gear (24) is meshed with the ring gear (22).

7. The large casting intelligent annular grinding robot system according to claim 6 is characterized in that: The turntable mechanism (2) further comprises a correction component (25), wherein the correction component (25) comprises: A first linear module (251) is arranged on the platform (21) and is used to output x-axis displacement; A second linear module (252) is arranged on the slide table of the first linear module (251) and is used to output y-axis displacement; and a support platform (253) which is slidably arranged on the table plate (21) and connected to the output end of the second linear module (252); a second avoidance opening (1002) which is arranged opposite to the first avoidance opening (1001) is penetrated on the support platform (253); and the inner side grinding mechanism (3) extends to the top of the turntable mechanism (2) through the first avoidance opening (1001) and the second avoidance opening (1002) in sequence.

8. The large casting intelligent annular grinding robot system according to claim 1 is characterized in that: The outer grinding mechanisms (4) are arranged in at least two groups, wherein the grinding area of ​​one group of the outer grinding mechanisms (4) is higher than the grinding area of ​​another group of the outer grinding mechanisms (4), and a plurality of the outer grinding mechanisms (4) cover the entire grinding height of the casting, and the outer grinding mechanisms (4) include: A base (41) is arranged on the frame (1); A robot (42) is disposed on the base (41); and an external grinder (43) arranged on the swing arm of the robot (42).

9. The large casting intelligent annular grinding robot system according to claim 8 is characterized in that: It also includes a guide rail mechanism (5), wherein the guide rail mechanism (5) includes: an annular guide rail (51), the outer side grinding mechanism (4) being slidably arranged on the annular guide rail (51); and an annular driving assembly (52), which is arranged on the outer grinding mechanism (4) and connected to the annular guide rail (51), and the annular driving assembly (52) is used to drive the outer grinding mechanism (4) to move on the annular guide rail (51).

10. Intelligent annular grinding method for large castings, characterized in that: The large casting intelligent annular grinding robot system as claimed in any one of claims 1 to 9 comprises the following steps: S1: hoist the casting onto the turntable mechanism (2) and debug the equipment to ensure that the casting can rotate smoothly; S2: Scanning and archiving, the turntable mechanism (2) drives the casting to rotate, and the surface data of the casting is obtained through the scanning module; S3: Rotational grinding, the turntable mechanism (2) drives the casting to rotate, and the inner grinding mechanism (3) and the outer grinding mechanism (4) grind the inner surface and the outer surface of the casting based on the surface data; S4: repeating steps S2 and S3 until the surface data of the casting approaches a standard value; S5: When the surface data of the casting meets the standard value, stop the action of each mechanism; S6: The casting is hoisted and unloaded, and the grinding work is completed.

Images