Automatic grinding method for battery bracket of electric vehicle

Abstract

The invention belongs to the technical field of polishing of die cutting workpieces in die forging, and discloses an automatic polishing method for an electric automobile battery support and an automatic polishing machine applied to a die forging electric automobile battery support polishing assembly line. The method comprises the steps that design parameters of the battery support are obtained, and the polishing amount needing to be removed from the edge after die cutting during die forging is determined; and the placing posture of the battery support blank during die cutting is obtained, and the grinding coordinates of the blank grinding area are obtained according to the placing posture. The grinding device has the beneficial effects that grinding of a grinding area can be completed only through actions of the grinding cutter in two directions, and for the grinding area with coordinate difference in the vertical direction of the cutter, namely the vertical direction in the horizontal plane of the feeding direction of the whole grinding machine, the grinding area with coordinate difference in the vertical direction can be ground; the grinding tool can be completed only by increasing the movement of the tool in the direction, at the moment, the grinding tool is three-axis, and compared with a six-axis industrial robot in the prior art, the control and equipment structure still have the great simple advantage.

Description

Technical Field

[0001] The invention belongs to the technical field of grinding a die-cut workpiece in die forging, and in particular relates to an automatic grinding method applied to a battery bracket of an electric vehicle. Background Art

[0002] At present, there are two main methods for grinding forgings in the prior art: The first one is manual grinding, which is also the main grinding method. It can handle grinding of various shapes, but it has low efficiency, high risk, high grinding cost, and cannot guarantee accuracy. The second type, industrial robot grinding, is an emerging grinding method that can handle grinding of various shapes, such as square, circular, and spatial polygonal grinding. However, it has stringent control requirements and high equipment costs. In order to improve grinding efficiency, multiple robots are sometimes required to work in coordination, which further increases the cost of grinding equipment.

[0003] Chinese National Invention CN109093477A discloses a device and method for multi-robot collaborative grinding of flash of castings and forgings, which divides the flash of castings and forgings into a series of flash grinding areas, then uses a workpiece robot to automatically grab the workpiece to the designated working area, and continuously adjusts the terminal posture according to the planned motion path to make it enter different flash grinding areas, and after each adjustment, a tool robot is used to clamp the grinding tool to grind all the flash in each flash grinding area, and at the same time, through the synergy of the force control unit, the industrial computer and the robot control cabinet, the castings and forgings are subjected to constant force grinding. The present invention can continuously adjust the workpiece posture according to the planned motion path to minimize the blind area of ​​flash grinding of castings and forgings, thereby realizing efficient and accurate removal of flash of castings and forgings, shortening the grinding cycle, and improving the grinding efficiency. It is particularly suitable for the grinding of flash of castings and forgings with large size and complex shapes in the fields of automobiles, aerospace, etc.

[0004] This technical solution can achieve precise grinding, but the equipment cost is expensive, which is not conducive to the popularization and application of grinding equipment. The reason is that to adapt to the robot for grinding involves grinding trajectories in various spaces, and to achieve these grinding trajectories, without changing the workstation, it is necessary to increase the robot's axes or multiple robots to cooperate, which increases the hardware and corresponding control requirements of the robot accordingly, thereby increasing the manufacturing cost of the equipment. Summary of the invention

[0005] The object to be achieved by the present invention is to solve the technical problem of high cost of grinding equipment for die-cut workpieces in die forging in the prior art through a simple track combination.

[0006] In order to achieve the above object, the present invention provides an automatic grinding method for an electric vehicle battery bracket.

[0007] The specific technical solution adopted by the present invention is: On the one hand, the present invention provides an automatic grinding method for an electric vehicle battery bracket, which is applied to an automatic grinding machine of a die-forged electric vehicle battery bracket grinding line, and the method comprises: Obtain the design parameters of the battery bracket and determine the amount of grinding that needs to be removed from the edge after die cutting during die forging; Obtain the placement posture of the battery bracket blank during die-cutting, and obtain the grinding coordinates of the blank grinding area according to the placement posture; The coordinate value in the grinding coordinate that is the same as the die-cutting direction is used as the Z coordinate when the grinding tool grinds the blank, and the coordinate values ​​in the grinding coordinate that are perpendicular to the die-cutting direction are marked one by one in the order of timestamps as the X coordinate when the grinding tool grinds the blank, to form an X-axis grinding coordinate data set; The X coordinates with different timestamps and the same coordinate value of the X coordinate are defined as the turning polishing coordinates, and the timestamp is defined as the turning timestamp to form the Y-direction polishing coordinate data set; According to the timestamp, the X-axis grinding coordinate data set and the Y-axis grinding coordinate data set, the blank grinding area is ground until the grinding amount is zero, and the grinding is completed.

[0008] Furthermore, the obtaining of the design parameters of the battery bracket and determining the amount of grinding that needs to be removed from the edge after die cutting during die forging includes: Obtain the three-dimensional digital model of the battery bracket design; Obtain the die-cutting three-dimensional digital model of the battery bracket; A Boolean operation of subtracting the three-dimensional digital model from the die-cut three-dimensional digital model is performed, and the Boolean operation result is used as the grinding amount.

[0009] Furthermore, the polishing amount is subdivided in order of timestamps to obtain polishing points, and the coordinate value of each polishing point is output to obtain the X coordinate, Y coordinate and Z coordinate.

[0010] Furthermore, when grinding according to the X-axis grinding coordinate data set, when the next coordinate is obtained as the coordinate of the Y-axis grinding coordinate data set, the corresponding station of the grinder stops grinding, and the grinder returns to the origin to wait for the blank to enter the next grinding workstation.

[0011] Further, the grinding of the blank grinding area is performed according to the timestamp, the X-direction grinding coordinate data set and the Y-direction grinding coordinate data set until the grinding amount is zero, and the grinding is completed, including: When the rough grinding area is being polished, when all coordinates of the X-direction polishing coordinate data set are traversed, the rough enters the next polishing station and the workpiece is rotated 90 degrees, and then the rough is polished according to the Y-direction polishing coordinate data set; When all coordinates of the Y-axis grinding coordinate data set are traversed, the blank enters the next grinding station and the workpiece is rotated 45 degrees. The grinder reads the repeated coordinate values ​​of the X-axis grinding coordinate data set and the Y-axis grinding coordinate data set, and performs 45-degree grinding.

[0012] Furthermore, after the 45-degree grinding is completed, the sandblasting station is entered to perform local sandblasting on the grinding area.

[0013] On the other hand, the present invention provides an automatic grinding system for an electric vehicle battery bracket based on an automatic grinding method for an electric vehicle battery bracket, the system comprising: An input module is used to provide the automatic polishing system with control parameters for designing 3D digital models, cutting 3D digital models and polishing; The detection module is used to detect whether the blank is in place and whether the grinding is completed and feed back the detection results to the control system; The polishing module includes a first polishing module for polishing according to an X-direction polishing coordinate data set; a second polishing module for polishing according to a Y-direction polishing coordinate data set; and a 45-degree polishing module for reading the coordinate values ​​repeated between the X-direction polishing coordinate data set and the Y-direction polishing coordinate data set to perform 45-degree polishing. The sandblasting module is used to enter the sandblasting station to perform local sandblasting on the grinding area after the 45-degree grinding is completed; The control system obtains information through the input module and the detection module, and then controls the grinding module and the sandblasting module to perform operations.

[0014] The positive effects of the present invention are as follows: by obtaining the grinding coordinates of the blank grinding area according to the placement posture, the coordinate value in the grinding coordinates that is the same as the die-cutting direction is used as the Z coordinate when the grinding tool grinds the blank, and the coordinate values ​​in the grinding coordinates that are perpendicular to the die-cutting direction are marked one by one in the order of timestamps as the X coordinates when the grinding tool grinds the blank, forming an X-direction grinding coordinate data set; the X coordinates with different timestamps and the same coordinate values ​​of the X coordinates are defined as steering grinding coordinates, and the timestamp is defined as a steering timestamp to form a Y-direction grinding coordinate data set; the grinding area can be polished only by the movements of the grinding tool in two directions, and the grinding area with a coordinate difference in the vertical direction of the tool, that is, the vertical direction in the horizontal plane of the entire grinder feed direction, can be completed by only increasing the movement of the tool in this direction. At this time, the grinding tool is three-axis, and compared with the six-axis of the industrial robot in the prior art, it still has great simplicity advantages in control and equipment structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1It is a three-dimensional structural schematic diagram of an automatic grinder of a die-forged electric vehicle battery bracket grinding line used in an automatic grinding method of an electric vehicle battery bracket of the present invention; Figure 2 yes Figure 1 Enlarged view of point E in the middle; Figure 3 This is a flow chart of an automatic grinding method for an electric vehicle battery bracket of the present invention; Figure 4 yes Figure 1 A flow chart of obtaining the grinding amount of an automatic grinding method for an electric vehicle battery bracket of the present invention is shown in the figure; Figure 5 yes Figure 1 A flowchart of grinding a blank grinding area according to a timestamp, an X-direction grinding coordinate data set and a Y-direction grinding coordinate data set in an automatic grinding method for an electric vehicle battery bracket of the present invention is shown; Figure 6 The present invention is a block diagram of an automatic grinding system for an electric vehicle battery bracket based on an automatic grinding method for an electric vehicle battery bracket; Legend: 1—control cabinet, 2—speed chain, 3—sandblasting machine, 4—45-degree grinding unit, 5—X-axis grinding unit, 6—Y-axis grinding unit, 7—top surface of upper pressing block, 8—upper pressing block, 9—grinding area of ​​forging, 10—lower pressing block; DETAILED DESCRIPTION

[0016] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments: In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0017] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0018] The specific implementation of the present invention is described in detail below in conjunction with specific embodiments.

[0019] Embodiment 1: Figures 1 to 5 As shown, an automatic grinding method for an electric vehicle battery bracket provided by an embodiment of the present invention is applied to an automatic grinding machine of a die-forged electric vehicle battery bracket grinding line, and the method comprises: S100: Obtain design parameters of the battery bracket and determine the amount of grinding that needs to be removed from the edge after die cutting during die forging; The step of obtaining the design parameters of the battery bracket and determining the amount of grinding to be removed from the edge after die cutting during die forging includes: S101: Obtain a three-dimensional digital model of the battery bracket design; S102: Obtain a die-cut three-dimensional digital model of the battery bracket; S103: performing a Boolean operation of subtracting the three-dimensional digital model from the die-cutting three-dimensional digital model, and using the Boolean operation result as the polishing amount.

[0020] S200: Obtaining the placement posture of the battery bracket blank during die-cutting, and obtaining the grinding coordinates of the blank grinding area according to the placement posture; S300: taking the coordinate value in the grinding coordinate that is the same as the die-cutting direction as the Z coordinate when the grinding tool grinds the blank, marking the coordinate values ​​in the grinding coordinate that are perpendicular to the die-cutting direction one by one in the order of timestamps as the X coordinate when the grinding tool grinds the blank, and forming an X-axis grinding coordinate data set; S400: defining X coordinates with different timestamps and the same coordinate value of the X coordinate as the turning polishing coordinate, and defining the timestamp as the turning timestamp, to form a Y-direction polishing coordinate data set; Furthermore, the polishing amount is subdivided in order of timestamps to obtain polishing points, and the coordinate value of each polishing point is output to obtain the X coordinate, Y coordinate and Z coordinate.

[0021] Further, when grinding according to the X-axis grinding coordinate data set, when the next coordinate is obtained as the coordinate of the Y-axis grinding coordinate data set, the corresponding station of the grinding machine stops grinding, and the grinding machine returns to the origin to wait for the blank to enter the next grinding work station; When grinding according to the X-direction grinding coordinate data set, when the next coordinate is obtained as the coordinate of the Y-direction grinding coordinate data set, the corresponding station of the grinding machine stops grinding, which should be understood as the X-direction grinding has been completed at this time. Figure 2 As shown, the grinding along the X-direction of the grinding area 9 of the forging has been completed, wherein the X-direction of the grinding area 9 of the forging, that is, when the X-direction grinding unit 6 or the Y-direction grinding unit 5 is working, the tool moves along the direction of the workpiece or the feed direction of the entire automatic grinding machine.

[0022] S500: Grinding the blank grinding area according to the timestamp, the X-axis grinding coordinate data set and the Y-axis grinding coordinate data set until the grinding amount is zero, and the grinding is completed.

[0023] The method of grinding the blank grinding area according to the timestamp, the X-direction grinding coordinate data set and the Y-direction grinding coordinate data set until the grinding amount is zero and the grinding is completed includes: S501: When the rough grinding area is being polished, when all coordinates of the X-axis polishing coordinate data set are traversed, the rough enters the next polishing station and the workpiece is rotated 90 degrees, and then the rough is polished according to the Y-axis polishing coordinate data set; S502: When all coordinates of the Y-axis grinding coordinate data set are traversed, the blank enters the next grinding station and the workpiece is rotated 45 degrees. The grinder reads the repeated coordinate values ​​of the X-axis grinding coordinate data set and the Y-axis grinding coordinate data set, and performs 45-degree grinding.

[0024] During the above grinding process, the forging remains stationary, such as Figure 2 The forging shown is pressed by the upper pressing block 8 on the top surface of the lower pressing block 10. The upper pressing block 8 and the lower pressing block 10 are pressed together to form the state of the forging when it is die-cut, wherein the outer edges of the upper pressing block 8 and the lower pressing block 10 are reduced compared with those when the forging is die-cut, and the reduction amount can at least meet the activity space of the grinding tool; the forging is placed in such a posture, so that the grinding area can be completed by only moving the grinding tool in two directions. For the grinding area with a coordinate difference in the vertical direction of the tool, that is, the vertical direction in the horizontal plane of the entire grinder feed direction, it can be completed by only increasing the movement of the tool in this direction. At this time, the grinding tool is three-axis, compared with the 6-axis industrial robot in the prior art, it still has great simplicity advantages in control and equipment structure.

[0025] For forgings with surface treatment requirements or burr requirements, they can enter the grinding tool, that is, after the 45-degree grinding is completed, they enter the sandblasting station to perform local sandblasting on the grinding area; for forgings without surface treatment requirements or burr requirements, they directly pass through the sandblasting station, and the sandblasting machine is not started at this time.

[0026] In an embodiment of the present invention, the grinding coordinates of the blank grinding area are obtained according to the placement posture, the coordinate value in the grinding coordinates that is the same as the die-cutting direction is used as the Z coordinate when the grinding tool grinds the blank, and the coordinate values ​​in the grinding coordinates that are perpendicular to the die-cutting direction are marked one by one in the order of timestamps as the X coordinates when the grinding tool grinds the blank, forming an X-direction grinding coordinate data set; the X coordinates with different timestamps and the same coordinate values ​​of the X coordinates are defined as steering grinding coordinates, and the timestamp is defined as a steering timestamp to form a Y-direction grinding coordinate data set; so that the grinding area can be completed by only the movement of the grinding tool in two directions, and for the grinding area with a coordinate difference in the vertical direction of the tool, that is, the vertical direction in the horizontal plane of the entire grinder feed direction, it can be completed only by increasing the movement of the tool in this direction. At this time, the grinding tool is three-axis, and compared with the six-axis industrial robot in the prior art, it still has great simplicity advantages in control and equipment structure.

[0027] At the same time, the equipment based on the grinding method disclosed in the present invention only needs to have a maximum of three axes to complete the grinding, and compared with the six-axis equipment, the three-axis equipment is simple to control, simple in structure, and low in cost.

[0028] Embodiment 2: An automatic grinding system for an electric vehicle battery bracket based on an automatic grinding method for an electric vehicle battery bracket, the system comprising: An input module is used to provide the automatic polishing system with control parameters for designing 3D digital models, cutting 3D digital models and polishing; The detection module is used to detect whether the blank is in place and whether the grinding is completed and feed back the detection results to the control system; The polishing module includes a first polishing module for polishing according to an X-direction polishing coordinate data set; a second polishing module for polishing according to a Y-direction polishing coordinate data set; and a 45-degree polishing module for reading the coordinate values ​​repeated between the X-direction polishing coordinate data set and the Y-direction polishing coordinate data set to perform 45-degree polishing. The sandblasting module is used to enter the sandblasting station to perform local sandblasting on the grinding area after the 45-degree grinding is completed; The control system obtains information through the input module and the detection module, and then controls the grinding module and the sandblasting module to perform operations.

[0029] Specific use: Among them, the double-speed chain is a prior art, and the 90-degree rotation of the forging on the double-speed chain is also a prior art. In the present invention, the structure of the double-speed chain and the 90-degree rotation of the forging is no longer described in detail.

[0030] like Figures 1 to 6 As shown, the forging Figure 1The middle left end is placed in the mold cavity of the lower pressing block 10, and at the same time, the digital module is input, and the design three-dimensional digital model, the die-cutting three-dimensional digital model and the control parameters of grinding are obtained by inputting or obtaining from the corresponding database. The design three-dimensional digital model and the die-cutting three-dimensional digital model are used to determine the grinding amount, and the grinding control parameters are used to control the feed amount of the grinding tool; When the speed chain moves to the X-axis grinding unit 6, the detection module detects whether the forging is installed in place and whether the forging is clamped. If the forging is installed in place and clamped at the same time, the three-axis X-axis grinding unit grinds the side of the forging along the workpiece feed direction according to the X-axis grinding coordinate data set. When all the coordinates of the X-axis grinding coordinate data set are traversed, the blank enters the Y-axis grinding unit 5, and the workpiece rotates 90 degrees. The detection module detects whether the forging is installed in place and whether the forging is clamped. If the forging is installed to The forging is in place and clamped at the same time, and then the Y-axis grinding unit 5 starts to grind the blank according to the Y-axis grinding coordinate data set; similarly, when all the coordinates of the Y-axis grinding coordinate data set are traversed, the blank enters the 45-degree grinding unit 4, and the workpiece is rotated 45 degrees at the same time. The detection module detects whether the forging is installed in place and whether the forging is clamped. If the forging is installed in place and clamped at the same time, the 45-degree grinding unit 4 reads the coordinate values ​​repeated in the X-axis grinding coordinate data set and the Y-axis grinding coordinate data set, and performs 45-degree grinding; For forgings with surface treatment requirements or burr requirements, they can enter the grinding tool, that is, after the 45-degree grinding is completed, they enter the sandblasting station to perform local sandblasting on the grinding area; for forgings without surface treatment requirements or burr requirements, they directly pass through the sandblasting station. At this time, the sandblasting machine 3 is not started, and the forgings directly pass through the sandblasting machine 3 to enter the subsequent process.

[0031] The control system is installed in the control cabinet and is connected to the detection module, input module, grinding module and sandblasting module respectively to control and monitor the operation of the grinding machine.

[0032] The foregoing has broadly outlined some aspects and features of various embodiments, which should be construed as merely illustrative of various potential applications. Other beneficial results may be obtained by applying the disclosed information in different ways or by combining various aspects of the disclosed embodiments. Other aspects and a more comprehensive understanding may be obtained by reference to the detailed description of the exemplary embodiments in conjunction with the accompanying drawings, within the scope defined by the claims.

[0033] The above embodiments have been described in detail. Of course, the above description is not intended to limit the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions, reductions, and substitutions made by relevant technicians within the essential scope of the present invention also fall within the protection scope of the present invention.

Claims

1. An automatic grinding method for an electric vehicle battery bracket, applied to an automatic grinding machine of a die-forged electric vehicle battery bracket grinding line, characterized in that: The method comprises: Obtain the design parameters of the battery bracket and determine the amount of grinding that needs to be removed from the edge after die cutting during die forging; Obtain the placement posture of the battery bracket blank during die-cutting, and obtain the grinding coordinates of the blank grinding area according to the placement posture; The coordinate value in the grinding coordinate that is the same as the die-cutting direction is used as the Z coordinate when the grinding tool grinds the blank, and the coordinate values ​​in the grinding coordinate that are perpendicular to the die-cutting direction are marked one by one in the order of timestamps as the X coordinate when the grinding tool grinds the blank, to form an X-axis grinding coordinate data set; The X coordinates with different timestamps and the same coordinate value of the X coordinate are defined as the turning polishing coordinates, and the timestamp is defined as the turning timestamp to form the Y-direction polishing coordinate data set; According to the timestamp, the X-axis grinding coordinate data set and the Y-axis grinding coordinate data set, the blank grinding area is ground until the grinding amount is zero, and the grinding is completed.

2. The automatic grinding method for an electric vehicle battery bracket according to claim 1, characterized in that: The obtaining of the design parameters of the battery bracket and determining the amount of grinding to be removed from the edge after die cutting during die forging include: Obtain the three-dimensional digital model of the battery bracket design; Obtain the die-cutting three-dimensional digital model of the battery bracket; A Boolean operation of subtracting the three-dimensional digital model from the die-cut three-dimensional digital model is performed, and the Boolean operation result is used as the grinding amount.

3. The automatic grinding method of an electric vehicle battery bracket according to claim 2 is characterized in that: The polishing amount is subdivided in order of timestamps to obtain polishing points, and the coordinate value of each polishing point is output to obtain the X coordinate, Y coordinate and Z coordinate.

4. The automatic grinding method for an electric vehicle battery bracket according to claim 3 is characterized in that: When grinding according to the X-axis grinding coordinate data set, when the next coordinate is obtained as the coordinate of the Y-axis grinding coordinate data set, the corresponding station of the grinder stops grinding, and the grinder returns to the origin to wait for the blank to enter the next grinding workstation.

5. The automatic grinding method of an electric vehicle battery bracket according to any one of claims 1 to 4, characterized in that: The method of grinding the blank grinding area according to the timestamp, the X-direction grinding coordinate data set and the Y-direction grinding coordinate data set until the grinding amount is zero and the grinding is completed includes: When the rough grinding area is being polished, when all coordinates of the X-direction polishing coordinate data set are traversed, the rough enters the next polishing station and the workpiece is rotated 90 degrees, and then the rough is polished according to the Y-direction polishing coordinate data set; When all coordinates of the Y-axis grinding coordinate data set are traversed, the blank enters the next grinding station and the workpiece is rotated 45 degrees. The grinder reads the repeated coordinate values ​​of the X-axis grinding coordinate data set and the Y-axis grinding coordinate data set, and performs 45-degree grinding.

6. The automatic grinding method for an electric vehicle battery bracket according to claim 5, characterized in that: After the 45-degree grinding is completed, the sandblasting station is entered to perform local sandblasting on the grinding area.

7. An automatic grinding system for an electric vehicle battery bracket based on an automatic grinding method for an electric vehicle battery bracket, characterized in that: The system comprises: An input module is used to provide the automatic polishing system with control parameters for designing 3D digital models, cutting 3D digital models and polishing; The detection module is used to detect whether the blank is in place and whether the grinding is completed and feed back the detection results to the control system; The polishing module includes a first polishing module for polishing according to an X-direction polishing coordinate data set; a second polishing module for polishing according to a Y-direction polishing coordinate data set; and a 45-degree polishing module for reading the coordinate values ​​repeated between the X-direction polishing coordinate data set and the Y-direction polishing coordinate data set to perform 45-degree polishing. The sandblasting module is used to enter the sandblasting station to perform local sandblasting on the grinding area after the 45-degree grinding is completed; The control system obtains information through the input module and the detection module, and then controls the grinding module and the sandblasting module to perform operations.

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