Intelligent ring polishing robot system and method for large castings

Abstract

The application relates to the technical field of casting polishing, in particular to a large casting intelligent annular polishing robot system and method, which are characterized in that the system comprises a rack, a rotating table mechanism arranged on the rack and used for placing a casting and driving the casting to rotate along a vertical axis, a middle part of the rotating table mechanism being provided with a first avoiding opening, an inner polishing mechanism arranged on the rack in a lifting mode and capable of extending to above the rotating table mechanism through the first avoiding opening and used for annular polishing of an inner surface of the casting, an outer polishing mechanism arranged on the rack and adjacent to the rotating table mechanism and used for annular polishing of an outer surface of the casting, and a scanning module arranged on the inner polishing mechanism and the outer polishing mechanism respectively and used for scanning the inner and outer surfaces of the casting to obtain scanning data, and the inner polishing mechanism and the outer polishing mechanism polish based on the scanning data. The application can improve the polishing efficiency and safety of the large casting.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of casting polishing, in particular to a large casting intelligent annular polishing robot system and method. BACKGROUND

[0002] Casting polishing is an important step in the casting process, mainly used to remove burrs, scale, sand marks and unevenness on the surface of the casting, so that the surface of the casting reaches the required smoothness and appearance quality; this process is usually carried out after the casting is knocked out and before subsequent processing, which not only improves the appearance, but also improves the precision of the casting, ensuring that the quality and performance of the casting meet the requirements.

[0003] At present, there is a large wind power casting structure in the prior art, which is in a long cylindrical or annular structure and has two openings at both ends, such as a main shaft, a hub, a bearing seat, etc. Generally, the weight of the casting is several dozen to several hundred tons, the profile size of the casting is 2.5-6m in diameter and 2.5-6m in height, it is a core component and is applied to the transmission chain of a large wind turbine generator set. This type of casting is hollow and has an inner surface and an outer surface.

[0004] However, when polishing this type of workpiece, the common method is to manually hold a polishing machine to trim the surface of the casting to remove sand holes, pores, slag inclusions, and uneven surface defects. In the specific trimming process, the workpiece needs to be turned over and adjusted several times to adjust the polishing angle, and even personnel need to enter the inside of the casting for polishing. There are problems of low polishing efficiency, unsafe polishing process and impact on personnel health. Therefore, the prior art needs to be improved.

[0005] The above information is given as background information only to assist with understanding the present disclosure, and does not determine or acknowledge whether any of the above content can be used as prior art against the present disclosure. SUMMARY

[0006] The present application provides a large casting intelligent annular polishing robot system and method to solve the problems of low polishing efficiency and safety in the prior art.

[0007] To achieve the above purpose, in a first aspect, the present application provides a large casting intelligent annular polishing robot system using the following scheme:

[0008] The large casting intelligent annular polishing robot system comprises:

[0009] a rack;

[0010] a turntable mechanism arranged on the rack for vertically placing the casting and driving the casting to rotate along a vertical axis, the middle part of the turntable mechanism having a first avoiding opening;

[0011] The inner side polishing mechanism is arranged on the frame in a lifting manner and can extend above the rotary table mechanism through the first avoiding opening to polish the inner surface of the casting in a ring shape;

[0012] The outer side polishing mechanism is arranged on the frame and adjacent to the rotary table mechanism to polish the outer surface of the casting in a ring shape;

[0013] The scanning module is arranged on the inner side polishing mechanism and the outer side polishing mechanism respectively to scan the inner and outer surfaces of the casting respectively to obtain scanning data, and the inner side polishing mechanism and the outer side polishing mechanism polish based on the scanning data.

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

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

[0016] The mounting seat is arranged on the lifting assembly, and the lifting assembly drives the mounting seat to reciprocatingly move up and down;

[0017] The telescopic assembly is arranged on the mounting seat;

[0018] The inner polishing device is arranged on the telescopic assembly, and the telescopic assembly drives the inner polishing device to extend to the inner wall of the casting or drives the inner polishing device to fold on the mounting seat.

[0019] Preferably, the lifting assembly comprises:

[0020] The lifting guide rail is fixedly arranged on the frame in a vertical manner;

[0021] The lifting sliding block is fixedly arranged on the mounting seat and is arranged on the lifting guide rail in a sliding manner;

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

[0023] Preferably, the telescopic assembly comprises:

[0024] One end of the telescopic arm is rotatably arranged on the mounting seat, and the inner polishing device is fixedly arranged on the other end of the telescopic arm;

[0025] The telescopic cylinder body is rotatably arranged on the mounting seat, and the 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 assembly and the inner polishing device are connected with each other in two groups, and the two groups of the telescopic assembly and the inner polishing device are arranged on the opposite sides of the mounting seat respectively.

[0027] Preferably, the rotating table mechanism comprises:

[0028] a table plate rotatably arranged on the frame, the first avoiding opening being arranged in the middle of the table plate;

[0029] a gear ring fixedly arranged on the table plate;

[0030] a reduction motor arranged on the frame, the output shaft of the reduction motor being provided with a gear, the gear being engaged with the gear ring.

[0031] Preferably, the rotating table mechanism further comprises a correction assembly, the correction assembly comprising:

[0032] a first linear module arranged on the table plate and used for outputting x-axis displacement;

[0033] a second linear module arranged on the sliding table of the first linear module and used for outputting y-axis displacement;

[0034] a bearing platform slidably arranged on the table plate and connected with the output end of the second linear module, the bearing platform being provided with a second avoiding opening penetratingly arranged opposite to the first avoiding opening, the inner side polishing mechanism extending to the upper side of the rotating table mechanism through the first avoiding opening and the second avoiding opening in sequence.

[0035] Preferably, the number of the outer side polishing mechanisms is at least two, the polishing area of one of the outer side polishing mechanisms being higher than that of the other, the polishing area of the outer side polishing mechanisms covering the overall polishing height of the casting, the outer side polishing mechanism comprising:

[0036] a base arranged on the frame;

[0037] a robot arranged on the base;

[0038] and an outer polisher arranged on the swing arm of the robot.

[0039] Preferably, the method further comprises a guide rail mechanism, the guide rail mechanism comprising:

[0040] a ring-shaped guide rail, the outer side polishing mechanism being slidably arranged on the ring-shaped guide rail;

[0041] and a ring-shaped driving assembly arranged on the outer side polishing mechanism and connected with the ring-shaped guide rail, the ring-shaped driving assembly being used for driving the outer side polishing mechanism to displace on the ring-shaped guide rail.

[0042] In the second aspect, the present application provides a large casting intelligent ring-shaped polishing method, which adopts the following scheme:

[0043] The large casting intelligent annular polishing method adopts a large casting intelligent annular polishing robot system, and comprises the following steps:

[0044] S1: hoist the casting to the rotary table mechanism, debug the equipment to ensure that the casting can rotate smoothly;

[0045] S2: scanning and archiving, the rotary table mechanism drives the casting to rotate, and the surface data of the casting is obtained through the scanning module;

[0046] S3, rotating polishing, the rotary table mechanism drives the casting to rotate, and the inner side polishing mechanism and the outer side polishing mechanism polish the inner surface and the outer surface of the casting based on the surface data;

[0047] S4: repeat 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: hoist the casting to discharge, and the polishing work is completed.

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

[0051] The large casting intelligent annular polishing robot system and method provided by the present application, when the casting needs to be polished, first places the casting on the rotary table mechanism, then drives the inner side polishing mechanism to pass out from the first avoiding port, and then extends to the inside of the casting. At this time, the rotary table mechanism is started, the rotary table mechanism drives the casting to rotate horizontally, and the orientation angle of the casting can be changed during the rotation of the casting. During the rotation of the casting, the inner side polishing mechanism can polish the inner surface of the casting, and the outer side polishing mechanism can simultaneously polish the outer surface of the casting, realizing synchronous polishing of the inner and outer sides. The mechanical polishing method replaces manual polishing, making the polishing process more efficient, safe and reliable.

[0052] In addition, the outer side polishing mechanism is provided with at least two groups, one low-position robot and one high-position robot, and the two groups of robots polish up and down at the same time, further optimizing and improving the polishing efficiency.

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

[0054] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0055] Figure 1 is a structural schematic diagram of a large casting intelligent ring polishing robot system provided by embodiment one of the present application;

[0056] Figure 2 is a structural schematic diagram of a turntable mechanism and an inner side polishing mechanism provided by embodiment one of the present application;

[0057] Figure 3 is a structural schematic diagram of the inner side polishing mechanism in a folded state provided by embodiment one of the present application;

[0058] Figure 4 is an assembly relationship schematic diagram between a correcting assembly and a table plate provided by embodiment one of the present application;

[0059] Figure 5 is a structural schematic diagram of the inner side polishing mechanism in an unfolded state provided by embodiment one of the present application;

[0060] Figure 6 is a structural schematic diagram of an outer side polishing mechanism provided by embodiment one of the present application.

[0061] Figure 7 is a structural schematic diagram of an outer side polishing mechanism and a guide rail mechanism provided by embodiment one of the present application;

[0062] Figure 8 is a structural schematic diagram of a guide rail mechanism provided by embodiment one of the present application.

[0063] Reference signs:

[0064] 1, rack; 2, turntable mechanism; 21, table plate; 22, gear ring; 23, speed reducer motor; 24, gear; 25, correcting assembly; 251, first linear module; 252, second linear module; 253, bearing platform; 3, inner side polishing mechanism; 31, lifting assembly; 311, lifting guide rail; 312, lifting sliding block; 313, lifting hydraulic cylinder; 32, mounting seat; 33, telescopic assembly; 331, telescopic arm; 332, telescopic cylinder body; 333, sliding block; 334, sliding groove; 34, inner side polisher; 4, outer side polishing mechanism; 41, base; 42, robot; 43, outer side polisher; 5, guide rail mechanism; 51, ring-shaped guide rail; 52, ring-shaped driving assembly; 521, driving motor; 522, driving gear; 1001, first avoiding opening; 1002, second avoiding opening. Detailed Implementation

[0065] To make the objectives, features, and advantages of this invention more apparent and understandable, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below are only some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0066] In the description of this invention, it should be understood that when a component is considered to be "connected" to another component, it can be directly connected to the other component or there may be an intermediate component present simultaneously. When a component is considered to be "set" on another component, it can be directly set on the other component or there may be an intermediate component present simultaneously.

[0067] Furthermore, terms such as “long,” “short,” “inner,” and “outer” indicate orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings. They are used only for the purpose of describing the present invention and are not intended to indicate or imply that the device or component referred to must have this specific orientation or operate in a specific orientational configuration. Therefore, they should not be construed as limitations of the present invention.

[0068] The following is in conjunction with the appendix Figures 1-8 The technical solution of the present invention will be further illustrated through specific embodiments.

[0069] Example 1:

[0070] Please refer to Figure 1 and Figure 2 This invention provides an intelligent circular grinding robot system for large castings, comprising a frame 1, a turntable mechanism 2, an inner grinding mechanism 3, an outer grinding mechanism 4, and a scanning module. The frame 1 is used to provide installation positions for each mechanism, and the specific arrangement of the frame 1 is not limited herein.

[0071] Based on this, a turntable mechanism 2 is mounted on the frame 1. The top of the turntable mechanism 2 is a flat surface, which can be used to place the casting vertically. The turntable mechanism 2 is also used to drive the casting to rotate horizontally. Specifically, in order to achieve rapid grinding of the casting, this embodiment mainly adopts a method of simultaneous internal and external grinding. When placing the casting, it is usually placed vertically so that one end of the casting can face downwards. For ease of description, a vertical axis is drawn here. Based on this, the turntable mechanism 2 is used to drive the casting to rotate along this vertical axis.

[0072] The inner polishing mechanism 3 is arranged on the frame 1 in a lifting manner and is located below the rotary table mechanism 2. The rotary table mechanism 2 has a first avoiding opening 1001 in the middle part thereof, the first avoiding opening 1001 is arranged opposite to the inner polishing mechanism 3, and the inner polishing mechanism 3 can extend above the rotary table mechanism 2 through the first avoiding opening 1001 to polish the inner surface of the casting in a ring shape.

[0073] Meanwhile, the outer polishing mechanism 4 is arranged on the frame 1. The outer polishing mechanism 4 can be directly mounted on the frame 1 or indirectly arranged on the frame 1. The specific arrangement of the outer polishing mechanism 4 is not described herein. The outer polishing mechanism 4 is arranged adjacent to the rotary table mechanism 2 to polish the outer surface of the casting in a ring shape. At this time, the inner and outer surfaces of the casting can be polished simultaneously under the action of the inner polishing mechanism 3 and the outer polishing mechanism 4.

[0074] In addition, scanning modules (not shown in the figure) are arranged on the inner polishing mechanism 3 and the outer polishing mechanism 4, respectively. The scanning modules arranged 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 polishing mechanism 3 and the outer polishing mechanism 4 polish based on the above scanning data.

[0075] In the above embodiment, the rotary table mechanism 2 can drive the casting to rotate horizontally along the vertical axis to automatically adjust the polishing angle. In this process, the outer polishing mechanism 4 and the inner polishing mechanism 3 can polish the inner and outer surfaces of the casting.

[0076] Referring to Figure 3 The rotary table mechanism 2 includes a table plate 21, a gear ring 22, and a reduction motor 23. The table plate 21 is arranged horizontally and rotatably on the top of the frame 1. Specifically, a bearing can be arranged at the bottom of the table plate 21 and mounted on the table plate 21, so that the table plate 21 can rotate on the frame 1. The first avoiding opening 1001 penetrates the middle part of the table plate 21, and the vertical axis of the first avoiding opening 1001 passes through the center point of the table plate 21.

[0077] Meanwhile, the gear ring 22 is fixedly arranged at the bottom of the table plate 21, and the reduction motor 23 is fixedly arranged on the frame 1 below the table plate 21. The output shaft of the reduction motor 23 is provided with a gear 24, the gear 24 is arranged adjacent to the gear ring 22, and the gear 24 is engaged with the gear ring 22.

[0078] Based on the above structure, in one embodiment, the casting can be directly hoisted onto the table plate 21, and by starting the speed reducer motor 23, the speed reducer motor 23 drives the gear 24 to rotate, the gear 24 in turn drives the gear ring 22 to rotate the table plate 21, and in turn drives the casting to rotate with the vertical axis as the rotation axis.

[0079] Further, in actual application, during hoisting the casting on the rotary table mechanism 2, there may be a problem of casting offset, so that the deviation between the center line of the casting and the vertical axis is too large, resulting in the problem of unbalanced load of the casting during rotation, which may affect the subsequent polishing action.

[0080] To overcome the above technical obstacles, with reference to Figure 4 , the rotary table mechanism 2 further comprises a correction assembly 25, which in this embodiment comprises a first linear module 251, a second linear module 252 and a bearing platform 253. Among them, the bearing platform 253 is slidingly arranged on the table plate 21, specifically, the bearing platform 253 is horizontally arranged, and a plurality of bearing wheels are fixedly arranged at the bottom of the bearing platform 253. On this basis, the bearing platform 253 is placed on the top of the table plate 21, and the bearing platform 253 can be slidingly arranged on the table plate 21 through the bearing wheels, and the bearing wheels can also provide large load support for the bearing platform 253. At this time, the casting can be placed on the bearing platform 253, and the casting is supported by the bearing platform 253.

[0081] Further, the first linear module 251 and the second linear module 252 can adopt a motor linear module structure, which has a sliding table that can reciprocate. By driving the sliding table to reciprocate, a stable linear reciprocating motion is output. The specific structure of the motor linear module is a prior art and will not be described in detail here.

[0082] In specific arrangement, the first linear module 251 is fixedly installed on the top of the table plate 21, and the displacement direction of the sliding table 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 sliding table of the first linear module 251, and the output end of the second linear module 252 is connected with the bearing platform 253. It can be understood that the bearing platform 253 is fixedly arranged on the sliding table of the second linear module 252, and at this time, the displacement output direction of the sliding table of the second linear module 252 is configured to be perpendicular to the x-axis direction. For the sake of distinction, the displacement direction of the sliding table of the first linear module 251 is defined as the y-axis displacement direction.

[0083] At this time, under the cooperation of the first linear module 251 and the second linear module 252, a plane displacement structure is formed, and by starting the first linear module 251 and the second linear module 252 respectively, the x-axis direction displacement and the y-axis direction displacement can be superimposed, thereby fine-tuning the relative position between the bearing platform 253 and the table plate 21, so as to effectively reduce the deviation value between the center axis of the casting and the vertical axis.

[0084] On this basis, the bearing platform 253 is provided with a second avoiding opening 1002 opposite to the first avoiding opening 1001, and the inner side polishing mechanism 3 extends to the upper side of the rotating table mechanism 2 through the first avoiding opening 1001 and the second avoiding opening 1002 in sequence. At this time, under the action of the first avoiding opening 1001 and the second avoiding opening 1002, the inner side polishing mechanism 3 can extend to the inside of the casting for polishing.

[0085] Preferably, the opening size of the second avoiding opening 1002 can be larger than that of the first avoiding opening 1001, so that after adjustment, the second avoiding opening 1002 can cover the first avoiding opening 1001, so as to avoid structural interference to the inner side polishing mechanism 3.

[0086] Referring to Figure 3 and Figure 5 In order to polish the inner surface of the casting, the inner side polishing mechanism 3 comprises a lifting assembly 31, a mounting seat 32, a telescopic assembly 33 and an inner polisher 34. The mounting recess is downwardly recessed in the middle of the rack 1, and the lifting assembly 31 is arranged on the rack 1 and located in the mounting recess.

[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 reciprocatingly move up and down, so that the mounting seat 32 can extend into the inside of the casting; at the same time, the telescopic assembly 33 is arranged on the mounting seat 32 and located on one side of the mounting seat 32 in this embodiment, and the telescopic assembly 33 can approach or move away from the inner wall of the casting by telescoping; further, the inner polisher 34 is arranged on the telescopic assembly 33, and the telescopic assembly 33 is used to drive the inner polisher 34 to extend to the inner wall of the casting or to fold the inner polisher 34 on the mounting seat 32.

[0088] At this time, when the telescopic assembly 33 drives the inner polisher 34 to extend to the inner wall of the casting, the inner polisher 34 can polish the inner surface of the casting. In the embodiment, the inner polisher 34 is an alloy grinding wheel polisher, which can quickly polish the surface of the casting. The specific structure of the inner polisher 34 is not limited here. In addition, after the polishing action is completed, the telescopic assembly 33 drives the inner polisher 34 to fold to the mounting seat 32. At this time, the inner polisher 34 can be accommodated in the mounting seat 32 to prevent the mounting seat 32 from interfering with the table plate 21 or the bearing platform 253 when lifting. The structure is flexible and reliable.

[0089] Continuing to refer to Figure 5 In the embodiment, to realize the lifting function of the mounting seat 32, the lifting assembly 31 includes lifting guide rails 311, lifting sliding blocks 312, and a lifting hydraulic cylinder 313. The lifting guide rails 311 are vertically arranged and fixedly arranged on the rack 1. Specifically, the number of the lifting guide rails 311 can be multiple, and the multiple lifting guide rails 311 are uniformly arranged around the mounting recess. The specific number of the lifting guide rails 311 is not limited here. In the embodiment, the number of the lifting guide rails 311 is two, and the two lifting guide rails 311 are arranged at the opposite inner walls of the mounting recess.

[0090] At the same time, the lifting sliding blocks 312 are fixedly arranged on the outer side of the mounting seat 32. The number of the lifting sliding blocks 312 is matched with the number of the lifting guide rails 311, and the several lifting sliding blocks 312 are slidingly arranged on the several lifting guide rails 311. At this time, under the action of the lifting sliding blocks 312 and the lifting guide rails 311, the mounting seat 32 is slidingly guided, and the mounting seat 32 can move up and down along the vertical axis.

[0091] In addition, the lifting hydraulic cylinder 313 is fixedly arranged on the rack 1. In the 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 upwards, and the output shaft of the lifting hydraulic cylinder 313 is fixedly connected with the mounting seat 32.

[0092] By adopting the above technical solution, on the one hand, the lifting hydraulic cylinder 313 can provide a larger lifting thrust and has good displacement accuracy, which can adapt to the actual working conditions. On the other hand, under the guidance of the lifting guide rails 311 and the lifting sliding blocks 312, the lifting seat can stably lift the telescopic assembly 33.

[0093] Further, in the embodiment, the telescopic assembly 33 comprises a telescopic arm 331 and a telescopic cylinder 332. The telescopic arm 331 is capable of realizing the outward stretching and retracting actions in a swinging manner. Specifically, one end of the telescopic arm 331 is rotatably connected to the top end of the mounting base 32. At this time, the other end of the telescopic arm 331 forms a free end and is capable of approaching or moving away from the inner surface of the casting in a rotating manner. The inner polisher 34 is fixedly installed at the other end of the telescopic arm 331. The telescopic arm 331 is capable of driving the inner polisher 34 to approach or move away from the inner surface of the casting in a swinging manner.

[0094] The telescopic cylinder 332 adopts a cylinder element. The base 41 of the telescopic cylinder 332 is rotatably arranged on the mounting base 32 in a hinged manner. The telescopic rod of the telescopic cylinder 332 is slidably connected to the inner side surface of the telescopic arm 331. Specifically, the inner side surface of the telescopic arm 331 is provided with a sliding groove 334 extending along the length direction. In addition, a sliding block 333 is hingedly arranged at the end of the telescopic rod of the telescopic cylinder 332. By slidingly installing the sliding block 333 into the sliding groove 334, the telescopic cylinder 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 the telescopic movement, the telescopic arm 331 can be driven to swing under the cooperation of the sliding block 333 and the sliding groove 334. The action is efficient and fast, and the structure has strong support. When the inner polisher 34 is polishing, the telescopic arm 331 is not easy to loosen, and the polishing precision is guaranteed.

[0096] Further, the two groups of the telescopic assembly 33 and the inner polisher 34 are arranged on the opposite sides of the mounting base 32. When only one group of the telescopic assembly 33 and the inner polisher 34 is arranged, the casting needs to be rotated by 360 degrees to completely polish the inner surface in all directions. When the two groups of the telescopic assembly 33 and the inner polisher 34 are arranged on the opposite sides, the casting only needs to be rotated by 180 degrees to realize the all-direction polishing function of the inner surface, and the polishing efficiency is significantly improved.

[0097] Reference Figure 6 In order to polish the outer surface of the casting, in the embodiment, the outer polishing mechanism 4 comprises a base 41, a robot 42 and an outer polisher 43. The structure of the outer polisher 43 is similar to that of the inner polisher 34, and details thereof will not be described herein.

[0098] When the above components are arranged, in one embodiment, the base 41 is fixedly installed on the rack 1 and arranged adjacent to the rotary table mechanism 2.

[0099] In the embodiment, the base 41 is in a block structure, which is used to bear the robot 42, and the robot 42 is fixedly installed on the top of the base 41. The robot 42 can be a six-axis robot 42, so as to have good motion freedom and be capable of performing more complex polishing actions. The specific model and structure of the robot 42 are not limited here.

[0100] On this basis, the outer polisher 43 is fixedly installed on the swing arm of the robot 42, and under the driving of the robot 42, the outer surface of the casting can be automatically polished through preset programming.

[0101] Further, the outer polishing mechanism 4 is provided as at least two groups, for example, three groups, four groups or five groups, etc. In the embodiment, the outer polishing mechanism 4 is provided in the same number as the inner polishing mechanism 3, so as to keep the polishing progress of the two consistent and make the cooperation between the inner and outer sides more synchronous and accurate. Therefore, the outer polishing mechanism 4 in the embodiment is provided as two groups. Through the provision of multiple groups of outer polishing mechanisms 4, the polishing efficiency of the outer surface of the casting can be effectively improved, and the polishing effect is more efficient.

[0102] In addition, when multiple groups of outer polishing mechanisms 4 are provided, the up-down polishing angle and range of the robot 42 are limited. When the casting has a large height, the outer polishing mechanism 4 at a single horizontal height may have a polishing dead angle, which affects the polishing effect. In order to overcome the above technical difficulties, the polishing area of one group of outer polishing mechanisms 4 is higher than that of another group of outer polishing mechanisms 4, and the polishing height of the casting is covered by the outer polishing mechanisms 4. Specifically, in the embodiment, the height of the base 41 of one group of outer polishing mechanisms 4 is greater than that of another group of outer polishing mechanisms 4. In this way, one low-position robot 42 and one high-position robot 42 can be obtained. The two robots 42 polish 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 polishing dead angle is solved.

[0103] Further, referring to Figure 7 and Figure 8In order to improve the overall polishing efficiency of the outer polishing mechanism 4, in the embodiment, the robot system further comprises a guide rail mechanism 5, the guide rail mechanism 5 comprises a ring-shaped guide rail 51 and a ring-shaped driving assembly 52, and the outer polishing mechanism 4 is slidingly arranged on the ring-shaped guide rail 51. The ring-shaped guide rail 51 is fixedly arranged on the ground, and the central axis of the ring-shaped guide rail 51 coincides with the vertical axis; and the bottom of the base 41 is fixedly provided with a ring-shaped sliding block (not shown in the figure), which is slidingly arranged on the ring-shaped guide rail 51. At this time, under the action of the ring-shaped sliding block and the ring-shaped guide rail 51, the outer polishing mechanism 4 can be driven to move in a ring shape relative to the casting, thereby further polishing the casting in a ring shape, and the outer polishing mechanism 4 is more flexible and the polishing efficiency is optimized and improved.

[0104] Specifically, the ring-shaped driving assembly 52 is arranged on the outer polishing mechanism 4 and connected with the ring-shaped guide rail 51, and the ring-shaped driving assembly 52 is used to drive the outer polishing mechanism 4 to move in a ring shape on the ring-shaped guide rail 51. In the embodiment, the ring-shaped driving assembly 52 comprises 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, a meshing tooth is formed on the ring-shaped guide rail 51, and the driving gear 522 is engaged with the meshing tooth. At this time, by starting the driving motor 521, the driving gear 522 can be driven to rotate, thereby driving the base 41 to move on the ring-shaped guide rail 51, achieving the reciprocating displacement adjustment function of the outer polishing mechanism 4, which is fast and convenient, and has good adjustment accuracy.

[0105] Based on the above scheme, because the polishing area of the outer side of the casting is large, if the same polishing speed as the inner side is adopted, the inner and outer polishing efficiency or effect will be inconsistent. In this way, by driving the outer polishing mechanism 4 to move in a ring shape on the ring-shaped guide rail 51, the polishing speed of the outer side can be improved, or the number of polishing rings of the outer side per unit time can be improved. The polishing effect of the outer side is also improved due to the faster polishing speed.

[0106] Further, the scanning module mainly plays a role in scanning the outer surface and the inner surface of the casting. In the embodiment, the scanning module can adopt a CCD scanning camera, and the mechanical vision system is used to calculate and convert the image obtained by the CCD scanning camera, so that the scanning data can be obtained.

[0107] In addition, the scanning module is installed on the mounting seat 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 recorded respectively when the casting rotates, so as to obtain the scanning data.

[0108] After obtaining the scanning data, an 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 part of the scanning data is analyzed and processed by the processing software of the computer.

[0109] During the processing, the scanning data can be compared with the three-dimensional grid data of the ideal casting to obtain the polishing allowance data and the polishing path data, and the programming signal is calculated based on the polishing allowance data and the polishing path data 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, and the PLC controller is electrically connected to the turntable mechanism 2, the inner polishing mechanism 3 and the outer polishing mechanism 4. By sending the control signal to the corresponding mechanism, the mechanisms are controlled to perform actions such as lifting, rotating and polishing, realizing the automatic polishing function.

[0111] At this point, the large casting intelligent ring polishing robot system provided by the embodiment can realize automatic identification of the casting to be polished through the visual scanning scheme, formulate a corresponding polishing scheme based on the specific situation of the casting to be polished, and realize the automatic polishing function of the inner surface and the outer surface of the casting through the cooperation of the turntable mechanism 2, the inner polishing mechanism 3 and the outer polishing mechanism 4. The overall polishing efficiency is significantly improved, and the operation safety during polishing is also significantly improved, which has broad application prospects in the industry.

[0112] It can be understood that in actual application, the inner surface of the casting usually has some complex structure design, such as step structure, which may interfere with the polishing action or misjudge, therefore, based on such situation, the obstacle avoidance area can be further configured when setting the polishing path data, so as to avoid polishing the part, realizing the obstacle avoidance function.

[0113] Embodiment two:

[0114] The embodiment discloses a large casting intelligent ring polishing method, which adopts the large casting intelligent ring polishing robot system shown in embodiment one. On the basis of embodiment one, the features not explained in this embodiment are explained in embodiment 1, and will not be described here.

[0115] Specifically, the large casting intelligent ring polishing method shown in the embodiment includes the following steps:

[0116] S1: hoist the casting to the turntable mechanism 2, usually, gantry crane equipment can be used to hoist and arrange the casting on the turntable mechanism 2.

[0117] After the lifting is completed, the device is debugged, specifically, the opening of the casting needs to be opposite to the first avoiding opening 1001 and the second avoiding opening 1002, and the rotation of the casting is tried to drive, to check whether there is eccentric rotation or dumping problem when the casting rotates, if there is eccentric rotation, the correction assembly 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 rotating table mechanism 2 drives the casting to rotate, and the surface data of the casting is obtained through the scanning module.

[0119] S2-1: further, on the basis of S2, the scanning module can be set on the inner side polishing mechanism 3 and the outer side polishing mechanism 4 at the same time during the rotation scanning, and then the inner surface and the outer surface of the casting are scanned at the same time, and three-dimensional grid data is generated, and the complete scanning times are at least twice, preferably three times, through multiple scanning, more accurate three-dimensional grid data can be obtained.

[0120] It can be understood that after obtaining the three-dimensional grid data, the data is 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 comparison and calculation can be carried out with the help of computer equipment and computer software, through the Boolean subtraction method, the non-overlapping graphic contour is obtained, based on the contour, the root path is selected to obtain the final polishing allowance data and polishing path data, then the data is 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 rotating table mechanism 2, the inner side polishing mechanism 3 and the outer side polishing mechanism 4, respectively. S3, rotating polishing, the inner side polishing mechanism 3 and the outer side polishing mechanism 4 respond to the control signal, the rotating table mechanism 2 drives the casting to rotate, and the inner side polishing mechanism 3 and the outer side polishing mechanism 4 polish 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 rotating table mechanism 2, the inner side polishing mechanism 3 and the outer side polishing mechanism 4 output the rotating action, the inner side polishing mechanism 3 polishes the inner surface of the casting, and the outer side polishing mechanism polishes the outer surface of the casting, and under the 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, the outer side polishing mechanism 4 is driven to polish along the circumferential direction of the casting, and then the polishing speed and efficiency of the outer side of the casting are improved.

[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 polishing action in step S3 is being performed, the scanning module can be configured to simultaneously scan the inner surface and the outer surface of the casting to constantly update the polishing value, thereby facilitating calibration of the specific polishing condition and achieving the purpose of precise polishing.

[0125] S5: When the surface data of the casting meets the standard value, stop the action of each mechanism. In this process, a threshold value can be set in the computer. When the polishing 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 it to each mechanism. The inner polishing mechanism 3 and the outer polishing mechanism 4 respond to the stop signal and stop operating and move away from the casting, respectively, to prevent structural interference and facilitate subsequent removal of the casting.

[0126] S6: The casting is hoisted and discharged, and the polishing work is completed.

[0127] So far, the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit it. Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements for some technical features. These modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. An intelligent robotic ring polishing system for large castings, characterized by, The utility model relates to a kind of casting inner wall and outer wall polishing device, including: Frame (1); Rotary table mechanism (2) is arranged in the frame (1), for the vertical placement of casting and for driving casting rotates along a vertical axis, the middle part of the rotary table mechanism (2) has first avoiding mouth (1001); Inner side polishing mechanism (3) is liftable and arranged in the frame (1), and can be extended to rotary table mechanism (2) above by the first avoiding mouth (1001), for the annular polishing of the inner surface of casting; Outer side polishing mechanism (4) is arranged in the frame (1), and is adjacent to the rotary table mechanism (2), for the annular polishing of the outer surface of casting; And scanning module is arranged in the inner side polishing mechanism (3) and the outer side polishing mechanism (4) respectively, for scanning the inner and outer surface of casting respectively to obtain scanning data, and the inner side polishing mechanism (3) and the outer side polishing mechanism (4) are polished based on scanning data; The inner side polishing mechanism (3) includes: Lifting assembly (31) is arranged in the frame (1); Mounting seat (32) is arranged in the lifting assembly (31), and the lifting assembly (31) is used to drive the reciprocating lifting movement of the mounting seat (32); Telescopic assembly (33) is arranged in the mounting seat (32); And inner polisher (34) is arranged in the telescopic assembly (33), and the telescopic assembly (33) is used to drive the inner polisher (34) to extend to the inner wall of casting or for driving the inner polisher (34) to fold in the mounting seat (32); The lifting assembly (31) includes: Lifting guide rail (311) is fixedly arranged in the frame (1) and vertically arranged; Lifting sliding block (312) is fixedly arranged in the mounting seat (32), and the lifting sliding block (312) is slidably arranged in the lifting guide rail (311); And lifting hydraulic cylinder (313) is fixedly arranged in the frame (1), and the output shaft of the lifting hydraulic cylinder (313) is fixedly connected with the mounting seat (32); The telescopic assembly (33) includes: Telescopic arm (331) is rotatably arranged at one end of the mounting seat (32), and the inner polisher (34) is fixedly arranged at the other end of the telescopic arm (331); And telescopic cylinder body (332) is rotatably arranged in the mounting seat (32), and the telescopic rod of the telescopic cylinder body (332) is slidably connected with the telescopic arm (331) along the length direction of the telescopic arm (331); The rotary table mechanism (2) includes: Table plate (21) is rotatably arranged in the frame (1), and the first avoiding mouth (1001) is arranged in the middle part of the table plate (21): Gear ring (22) is fixedly arranged in the table plate (21); Speed reducer motor (23) is arranged in the frame (1), and the output shaft of the speed reducer motor (23) is provided with gear (24), and the gear (24) is engaged with the gear ring (22); The rotary table mechanism (2) further includes correction assembly (25), and the correction assembly (25) includes: A first linear module (251) is arranged on the table plate (21) and is configured to output an x-axis displacement; A second linear module (252) is arranged on a sliding table of the first linear module (251) and is configured to output a y-axis displacement; A bearing platform (253) is slidingly arranged on the table plate (21) and is connected to an output end of the second linear module (252), and a second avoiding opening (1002) is arranged on the bearing platform (253) and is opposite to the first avoiding opening (1001), and the inner polishing mechanism (3) extends to above the rotary table mechanism (2) through the first avoiding opening (1001) and the second avoiding opening (1002) in sequence.

2. The intelligent robotic ring polishing system for large castings of claim 1, wherein, The telescopic assembly (33) and the inner polisher (34) are connected to each other and are arranged on opposite sides of the mounting seat (32).

3. The intelligent robotic ring polishing system for large castings of claim 1, wherein, The outer polishing mechanism (4) is arranged in at least two groups, and the polishing area of one group of the outer polishing mechanism (4) is higher than that of the other group of the outer polishing mechanism (4), and the outer polishing mechanism (4) covers the overall polishing height of the casting, and the outer polishing mechanism (4) comprises: A base (41) is arranged on the rack (1); A robot (42) is arranged on the base (41); And an outer polisher (43) is arranged on the swing arm of the robot (42).

4. The large casting intelligent ring polishing robot system according to claim 3, further comprising a guide rail mechanism (5), wherein the guide rail mechanism (5) comprises: A ring-shaped guide rail (51) on which the outer polishing mechanism (4) is slidingly arranged; And a ring-shaped driving assembly (52) arranged on the outer polishing mechanism (4) and connected to the ring-shaped guide rail (51), and configured to drive the outer polishing mechanism (4) to displace on the ring-shaped guide rail (51). The large casting intelligent ring polishing robot system according to any one of claims 1-4, comprising the following steps:

5. A method of intelligent ring polishing of large castings, characterized in that, S1: hoisting the casting onto the rotary table mechanism (2) and debugging the equipment to ensure that the casting can rotate smoothly; S2: scanning and archiving, the rotary table mechanism (2) drives the casting to rotate, and the surface data of the casting is obtained through the scanning module; S3: rotating and polishing, the rotary table mechanism (2) drives the casting to rotate, and the inner polishing mechanism (3) and the outer polishing mechanism (4) polish 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: stopping the operation of each mechanism when the surface data of the casting meets the standard value; S6: hoisting the casting and discharging, and the polishing work is completed. ​

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