Polyurethane wheel integrated processing equipment and processing technology

Abstract

The invention discloses polyurethane wheel integrated machining equipment, and belongs to the technical field of polyurethane wheel production and machining, the polyurethane wheel integrated machining equipment comprises a rack, two first stabilizing seats are fixedly connected to one side of the top of the rack, a driving motor is fixedly connected to the outer side of one first stabilizing seat, and a lead screw is fixedly connected to an output shaft of the driving motor; a screw rod is arranged on the U-shaped frame, the screw rod is a bidirectional threaded rod, one side of a forward thread on the screw rod is in threaded connection with a sliding seat, and the sliding seat is fixedly connected with an outer frame. The two industrial cameras located on the portal frame are located right in front of and right behind the polyurethane wheel respectively, so that the polyurethane wheel placed on a glass plate can be visually positioned in the front, back, up and down directions, and the position of each flaw is detected.

Description

Technical Field

[0001] The invention relates to the technical field of polyurethane wheel production and processing, and in particular to polyurethane wheel integrated processing equipment and a processing technology. Background Art

[0002] Polyurethane is a general term for macromolecular compounds containing repeated carbamate groups on the main chain. It is formed by the addition polymerization of organic diisocyanates or polyisocyanates with dihydroxy or polyhydroxy compounds. In addition to carbamate, polyurethane macromolecules may also contain ether, ester, urea, biuret, allophanate and other groups. Polyurethane materials have a wide range of uses and can replace rubber, plastic, nylon, etc. They are used in airports, hotels, building materials, automobile factories, coal mines, cement plants, high-end apartments, villas, landscaping, colored stone art, parks, etc.

[0003] The existing polyurethane wheels include an iron core and an annular polyurethane block. The annular polyurethane is formed on the outside of the iron core by injection molding and then vulcanization. Since the polyurethane wheels have good wear resistance and low loss during use, they are often used in transport vehicles in dust-free workshops, thereby avoiding the increase of particle size in the dust-free workshop due to tire loss.

[0004] The above technical conditions still have defects: after the above-mentioned polyurethane wheel is formed inside the mold and vulcanized, burrs are easily formed on the outer side of the molded wheel, and bumps may be formed on the pressure-bearing surface of the wheel. The existing processing methods are mostly manual grinding, and a large amount of polyurethane powder will be generated during the grinding process, which will cause some harm to the operator.

[0005] Based on this, the present invention designs a polyurethane wheel integrated processing equipment and processing technology to solve the above problems. Summary of the invention

[0006] The purpose of the present invention is to provide a polyurethane wheel integrated processing equipment and processing technology to solve the above technical problems.

[0007] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a polyurethane wheel integrated processing equipment, comprising a frame, two groups of first stable seats are fixedly connected to one side of the top of the frame, a driving motor is fixedly connected to the outer side of one group of first stable seats, a screw rod is fixedly connected to the output shaft of the driving motor, the screw rod is a bidirectional threaded rod, a sliding seat is threadedly connected to one side of the forward thread on the screw rod, an outer frame is fixedly connected to the sliding seat, a glass plate is fixedly connected to the inner side of the outer frame, a moving seat is threadedly connected to one side of the reverse thread on the screw rod, and a moving seat is fixed on the moving seat. A dust collecting frame is connected, and a transverse driving mechanism is also fixedly connected to the frame. A lifting cylinder is connected to the control end of the transverse driving mechanism, a lifting plate is fixedly connected to the telescopic end of the lifting cylinder, an adjusting motor is fixedly connected to the top of one side of the lifting plate, a rotating shaft is fixedly connected to the output shaft of the adjusting motor, a limiting block is threadedly connected to the bottom end of the rotating shaft, an annular electromagnet is fixedly connected to the top of the limiting block, a bracket is fixedly connected to one side of the frame and located at the transverse driving mechanism, a grinding robot arm is fixedly connected to the top of the bracket, and a visual positioning device is also arranged on the frame.

[0008] By adopting the above technical solution, the polyurethane wheel can be automatically polished, thereby removing the burrs and bumps on the wheel to ensure that the polyurethane wheel can be used subsequently.

[0009] Preferably, the visual positioning device includes a U-shaped frame fixed on the frame, a steering gear is rotatably connected to the top of the U-shaped frame, a gantry is fixedly connected to the top of the steering gear, and industrial cameras are arranged on the top and bottom of the inner side of the U-shaped frame and on both sides of the inner wall of the gantry.

[0010] By adopting the above technical solution, the burrs or bumps on the wheel can be accurately located by an industrial camera, so that they can be processed specifically during subsequent grinding to increase the grinding efficiency.

[0011] Preferably, the visual positioning device also includes a transmission gear rotatably connected to the frame, a transmission shaft is fixedly connected to the transmission gear, a reducing gear is fixedly connected to the top of the transmission shaft, a toothed belt is transmission-connected between the reducing gear and the steering gear, and the diameter ratio of the reducing gear to the steering gear is 1:5.

[0012] By adopting the above technical solution, the steering gear and the gantry are driven to rotate at a certain angle through the transmission structure, so that the polyurethane wheel will not be blocked when moving.

[0013] Preferably, the visual positioning device also includes a rack fixedly connected to the bottom of the outer frame, and the rack is meshed with the transmission gear.

[0014] By adopting the above technical solution, the transmission gear rotates through the movement of the rack.

[0015] Preferably, the limiting block is in the shape of a truncated cone, the bottom surface of which is a small diameter, and the top surface is the same as the inner diameter of the iron core of the polyurethane wheel.

[0016] By adopting the above technical solution, the polyurethane wheel can be well positioned, so that the subsequent grinding process has a better effect.

[0017] Preferably, a dust pump is fixedly connected to the frame on one side close to the dust collecting frame, two groups of dust pipes are connected to the air suction end of the dust pump, and two dust hoppers are fixedly arranged on the inner side of the dust collecting frame and close to the dust pump, and the two dust hoppers are respectively connected to one end of the two groups of dust pipes.

[0018] By adopting the above technical solution, the debris generated during the grinding process can be absorbed and the impact on the surrounding environment can be reduced.

[0019] Preferably, two groups of second stable seats are fixedly connected to the other side of the top of the frame, a guide rod is fixedly connected between the two groups of second stable seats, and sliders are fixedly connected to one side of the outer frame and the dust collecting frame, and both sliders are slidably connected to the guide rods.

[0020] By adopting the above technical solution, the outer frame and the dust collecting frame are more stable when moving.

[0021] Preferably, a stabilizing rod is fixedly connected to the other side of the dust collecting frame, and a guide rail is fixedly connected to the frame, and the bottom end of the stabilizing rod is slidably connected to the guide rail.

[0022] By adopting the above technical solution, the stability of the dust collecting frame during movement is further improved.

[0023] Preferably, a sealing strip is fixedly connected to the bottom surface of the dust collecting frame, and a slope is provided on the outer side surface of the sealing strip.

[0024] By adopting the above technical solution, the sealing strip can increase the sealing performance between the dust collecting frame and the outer frame, further reducing dust falling on the glass plate, and the inclined surface is used to reduce the resistance of the contact between the sealing strip and the outer frame.

[0025] The processing technology of the polyurethane wheel integrated processing equipment includes the following steps:

[0026] Step 1: Move the outer frame and the dust collecting frame to their initial positions. At this time, the center of the glass plate is located between the two industrial cameras in the upper and lower directions.

[0027] Step 2: Place the polyurethane wheel to be processed on the glass plate, and try to make the axis of the polyurethane wheel correspond to the center of the glass plate to reduce the distance that the wheel needs to be offset in subsequent processing;

[0028] Step 3: At this time, the drive motor is started, and the output shaft of the drive motor is used to control the rotation of the lead screw. Under the threaded connection between the sliding seat and the moving seat and the lead screw, the outer frame and the dust collecting frame are brought closer to each other. At the same time, the rack moves with the outer frame, and the rack drives the transmission gear to rotate, and the variable gear is driven to rotate through the transmission shaft. The variable gear drives the direction-changing gear to rotate through the toothed belt, thereby rotating the gantry;

[0029] Step 4: When the gantry rotates 30°, the bottom end of the gantry leaves the traveling direction of the polyurethane wheel, and thus will not affect the movement of the polyurethane wheel;

[0030] Step 5: When the gantry rotates 45°, the drive motor stops working. At this time, the polyurethane wheel on the glass plate just moves to the bottom of the limit block (or close to the bottom of the limit block), and then the lifting cylinder controls the limit block to move downward, so that the limit block is inserted into the middle hole of the polyurethane wheel. At the same time, the annular electromagnet is started to adsorb the iron core on the polyurethane wheel, and then the polyurethane wheel is controlled to move upward by the lifting cylinder. At the same time, the lateral drive mechanism controls the lifting cylinder to move toward the direction close to the grinding robot.

[0031] Step 6: The driving motor continues to control the screw rod to rotate, and stops when the dust collecting frame completely covers the outer frame and the glass plate. At this time, the polyurethane wheel is controlled by the lateral moving mechanism to move to the top of the dust collecting frame;

[0032] Step 7: According to the information of the polyurethane wheel captured by four industrial cameras, the polyurethane wheel is polished by the polishing robot arm, and the motor is adjusted to control the rotation of the polyurethane wheel, so that the polishing robot arm can fully polish the wheel;

[0033] Step 8: While grinding, start the vacuum pump. Through the vacuum tube and the vacuum hopper, the debris dropped during the grinding process can be absorbed to reduce the impact of the debris on the surrounding environment.

[0034] In summary, this application has the following beneficial technical effects:

[0035] 1. Through the visual positioning device, the two industrial cameras on the U-shaped frame are respectively located directly above and below the center of the glass plate, and the two industrial cameras on the gantry are respectively located directly in front of and behind the polyurethane wheel, so that the polyurethane wheel placed on the glass plate can be visually positioned in the front, back, up and down directions, and the position of each defect can be detected. In the subsequent polishing process, the polishing robot arm can control the polishing head on it to perform targeted polishing on the burrs and bumps on the wheel, and at the same time adjust the motor to control the rotation of the polyurethane wheel, thereby reducing the process required by the robot arm during the polishing work;

[0036] 2. By setting the limit block and the annular magnet, the limit block is in the shape of a truncated cone, the diameter of the bottom surface is smaller than the diameter of the top surface, and the top surface is the same as the inner diameter of the iron core of the polyurethane wheel. When the limit block is inserted into the hole in the middle of the polyurethane wheel, the bottom surface enters the hole first. At this time, the axis of the wheel and the axis of the limit block may be located on different straight lines. Through the guiding effect of the side of the limit block, the polyurethane wheel can be well positioned on the limit block. The annular magnet can be sleeved on the rotating shaft. When powered on, it can magnetically attract the iron core on the polyurethane wheel well, so that the polyurethane wheel will not deviate during the subsequent grinding process.

[0037] Furthermore, the limit block is arranged in a detachable manner, so that the limit blocks of different sizes can be replaced according to the polyurethane wheels of different sizes, so as to be applicable to the processing of wheels of various sizes;

[0038] 3. The dust collecting frame is set up, which moves towards the outer frame and the glass plate under the control of the driving motor and the screw rod. At the same time, the moving seat and the slider on the dust collecting frame are set on the side away from the outer frame, which will not prevent the dust collecting frame from moving to the top of the outer frame. Since the carrier of the polyurethane wheel is a transparent glass plate, the glass plate will be blocked by the dust collecting frame during the grinding process, so that the powder and debris generated during the grinding process will not fall onto the glass plate, so that it will not affect the subsequent visual positioning of the bottom of the wheel.

[0039] Furthermore, the dust suction pipe on the dust suction pump is connected to the dust suction hopper inside the dust receiving frame. The dust suction hopper is arranged at the two corners of the dust receiving frame. After the dust receiving frame receives dust or debris, the dust suction hopper can absorb the dust or debris inside the dust receiving frame, so that the dust receiving frame can continue to work.

[0040] Furthermore, a stabilizing rod and a slider are provided on the dust receiving frame. The stabilizing rod can be slidably connected to the guide rail on the frame, and the slider can be slidably connected to the guide rod, which can increase the stability of the dust receiving frame during movement, and avoid deformation and tilting of the side of the dust receiving frame away from the slider after a long period of use, so that the dust receiving frame and the outer frame are close to each other, causing the dust receiving frame to contact the outer frame, which will cause the processing equipment to be unable to continue to operate;

[0041] 4. Through the gear transmission structure, when the outer frame moves toward the dust collecting frame, it will move with the rack, thereby driving the transmission gear to rotate, converting the linear motion of the rack into the rotational motion of the transmission gear, thereby driving the reducer gear to rotate through the transmission shaft, and then driving the steering gear to rotate through the toothed belt, so that the deflection angle of the gantry changes with the displacement of the outer frame.

[0042] When the transmission gear and the reducer gear rotate 150°, the steering gear and the gantry rotate 30°. At this time, the bottom end of the gantry leaves the traveling direction of the polyurethane wheel so that it will not affect the movement of the polyurethane wheel toward the dust collecting frame.

[0043] When the transmission gear and the reducer gear rotate 225°, the steering gear and the gantry rotate 45°. At this time, the axis of the polyurethane wheel on the glass plate just moves to the bottom of the limit block (or close to it), so that the polyurethane wheel can be lifted up by the limit block and the annular magnet.

[0044] When the transmission gear and the reducer gear rotate one circle, the steering gear and the gantry rotate 72°. At this time, the dust collecting frame is completely located on the top of the outer frame and the glass plate (such as Figure 2 As shown), the glass plate is then blocked so that during the subsequent grinding process, grinding powder and debris will not fall onto the glass plate, thereby not affecting the subsequent visual positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0046] Figure 1 Schematic diagram of the overall structure of this embodiment;

[0047] Figure 2 This is a schematic diagram of the structure in which the outer frame and the dust receiving frame overlap in this embodiment;

[0048] Figure 3 Schematic diagram of the structure of the visual positioning device in this embodiment;

[0049] Figure 4 It is a bottom view showing part of the structure of this embodiment;

[0050] Figure 5 Schematic diagram of the structure of the limit block in this embodiment;

[0051] Figure 6 Schematic diagram of the internal structure of the dust collecting frame in this embodiment;

[0052] Figure 7 Schematic diagram of the position of the sealing strip in this embodiment;

[0053] Figure 8 Schematic diagram of the cross section of the sealing strip in this embodiment.

[0054] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0055] 1. Frame; 2. First stable seat; 3. Second stable seat; 4. Driving motor; 5. Screw; 6. Outer frame; 7. Glass plate; 8. Sliding seat; 9. Moving seat; 10. Dust collecting frame; 11. Guide rod; 12. Sliding block; 13. Dust suction pump; 14. Dust suction pipe; 15. Transverse driving mechanism; 16. Lifting cylinder; 17. Lifting plate; 18. Rotating shaft; 19. Limiting block; 20. Annular electromagnet; 21. Bracket; 22. Grinding robot arm; 23. Visual positioning device; 231. U-shaped frame; 232. Steering gear; 233. Gantry; 234. Industrial camera; 235. Transmission gear; 236. Transmission shaft; 237. Variable diameter gear; 238. Toothed belt; 239. Rack; 24. Stabilizing bar; 25. Guide rail; 26. Dust suction hopper; 27. Adjusting motor; 28. Sealing strip; 281. Inclined surface. DETAILED DESCRIPTION

[0056] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments 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.

[0057] The following is combined with Figure 1-8 This application is described in further detail.

[0058] Reference Figure 1 and Figure 2A polyurethane wheel integrated processing equipment comprises a frame 1, two groups of first stable seats 2 are fixedly connected to one side of the top of the frame 1, a driving motor 4 is fixedly connected to the outside of one group of first stable seats 2, a screw rod 5 is fixedly connected to the output shaft of the driving motor 4, the screw rod 5 is a bidirectional threaded rod, that is, the threads on both sides of the surface are relatively reverse threads, the part of the screw rod 5 close to the driving motor 4 is a forward thread, and the part away from the driving motor 4 is a reverse thread, the ratio between the length of the forward thread and the length of the reverse thread is about 2:1, a sliding seat 8 is threadedly connected to one side of the forward thread on the screw rod 5, when the screw rod 5 rotates, the sliding seat 8 can move along the axial direction of the screw rod 5, an outer frame 6 is fixedly connected to the sliding seat 8, and a screw rod 6 is fixed on the inner side of the outer frame 6 A glass plate 7 is connected, and the glass plate 7 is a transparent tempered glass, which has high strength and can also be light-transmitting. The polyurethane wheel that needs to be processed can be placed on the glass plate 7. When placing, the center position of the polyurethane wheel should be close to or overlapped with the center position of the glass plate 7. A movable seat 9 is threadedly connected to one side of the reverse thread on the screw rod 5, and a dust receiving frame 10 is fixedly connected to the movable seat 9. The dust receiving frame 10 is used to receive the debris generated during the grinding process. When the driving motor 4 drives the screw rod 5 to rotate, the glass plate 7 and the dust receiving frame 10 can be controlled to approach or separate from each other at the same time, thereby realizing the absorption of waste chips. At the same time, when the dust receiving frame 10 is located on the top of the glass plate 7, it can block the top space of the glass plate 7, so that the grinding The debris generated during the lifting process will not fall onto the glass plate 7, thereby increasing its use effect. A transverse driving mechanism 15 is also fixedly connected to the frame 1. The driving of the transverse driving mechanism 15 is formed by hydraulic pressure or air pressure. A lifting cylinder 16 is connected to the control end of the transverse driving mechanism 15. The transverse driving mechanism 15 can control the lifting cylinder 16 to move horizontally in the horizontal direction. A lifting plate 17 is fixedly connected to the telescopic end of the lifting cylinder 16. The lifting cylinder 16 can control the lifting plate 17 to move in the vertical direction. An adjusting motor 27 is fixedly connected to the top of one side of the lifting plate 17. The adjusting motor 27 is a stepping motor that can perform precise adjustment. A rotating shaft 18 is fixedly connected to the output shaft of the adjusting motor 27. A limited screw thread is connected to the bottom end of the rotating shaft 18. The limit block 19 is fixedly connected to the top of the limit block 19 with an annular electromagnet 20. The annular electromagnet 20 generates a strong magnetic field when powered on, thereby adsorbing the iron core in the polyurethane wheel so that it is firmly adsorbed on the annular electromagnet 20 for subsequent processing. A bracket 21 is fixedly connected to the frame 1 and is located on one side of the transverse drive mechanism 15. A grinding mechanical arm 22 is fixedly connected to the top of the bracket 21. The grinding mechanical arm 22 is composed of a multi-angle mechanical arm and an electric grinding mechanism. Under the control of the mechanical arm, various parts of the wheel can be ground. A visual positioning device 23 is also provided on the frame 1. The visual positioning device 23 is used to visually locate the polyurethane wheel, thereby being able to determine the position of the burr or bump.To guide the robot arm to control the grinding mechanism to grind the specified position without manual adjustment of grinding parameters.

[0059] Further, see Figure 3 The visual positioning device 23 includes a U-shaped frame 231 fixed on the frame 1, and a steering gear 232 is rotatably connected to the top of the U-shaped frame 231, and a gantry 233 is fixedly connected to the top of the steering gear 232. When the steering gear 232 rotates, the gantry 233 can be driven to rotate, and then its angle can be adjusted. Industrial cameras 234 are arranged on the top and bottom of the inner side of the U-shaped frame 231 and on both sides of the inner wall of the gantry 233. The two industrial cameras 234 located on the U-shaped frame 231 are respectively located directly above and directly below the center of the glass plate 7, and the two industrial cameras 234 located on the gantry 233 are respectively located directly in front of and directly behind the polyurethane wheel, so that the polyurethane wheel placed on the glass plate 7 can be visually positioned in the front, back, up and down directions, and then the position of each defect can be detected, which is convenient for subsequent polishing.

[0060] Furthermore, the visual positioning device 23 also includes a transmission gear 235 rotatably connected to the frame 1, a transmission shaft 236 is fixedly connected to the transmission gear 235, a variable diameter gear 237 is fixedly connected to the top of the transmission shaft 236, a toothed belt 238 is transmission-connected between the variable diameter gear 237 and the steering gear 232, and the diameter ratio of the variable diameter gear 237 to the steering gear 232 is 1:5, that is, when the variable diameter gear 237 rotates one circle, the steering gear 232 rotates 72°, and the gantry 233 also rotates 72° (such as Figure 2 As shown), the industrial camera 234 will not block the forward direction of the polyurethane wheel to increase the use effect.

[0061] Furthermore, the visual positioning device 23 also includes a rack 239 fixedly connected to the bottom of the outer frame 6, and the rack 239 is meshed with the transmission gear 235, that is, when the outer frame 6 drives the rack 239 to move linearly, the transmission gear 235 can rotate. Figure 2 In the position shown, the rack 239 just drives the transmission gear 235 to rotate one circle.

[0062] Further, see Figure 5 The limit block 19 is in the shape of a truncated cone, with a small diameter at the bottom and the same top surface as the inner diameter of the iron core of the polyurethane wheel, so that the polyurethane wheel can be well positioned on the limit block 19. At the same time, the limit block 19 is arranged in a detachable manner, so that limit blocks 19 of different sizes can be replaced according to polyurethane wheels of different sizes, so as to be suitable for processing wheels of various sizes.

[0063] Further, see Figure 6A dust suction pump 13 is fixedly connected to the frame 1 on one side close to the dust receiving frame 10, and two groups of dust suction pipes 14 are connected to the suction end of the dust suction pump 13. The dust suction pipes 14 are spring hoses, which can be stretched when extended and can form a spring-like shape when shortened, thereby not affecting the free movement of the dust receiving frame 10. Two dust suction hoppers 26 are fixedly arranged on the inner side of the dust receiving frame 10 and on one side close to the dust suction pump 13. The two dust suction hoppers 26 are respectively connected to one end of the two groups of dust suction pipes 14, so as to absorb the debris received inside the dust receiving frame 10, thereby facilitating the cleaning of the dust receiving frame 10.

[0064] Furthermore, two groups of second stable seats 3 are fixedly connected on the other side of the top of the frame 1, a guide rod 11 is fixedly connected between the two groups of second stable seats 3, and sliders 12 are fixedly connected on one side of the outer frame 6 and the dust collecting frame 10. Both sliders 12 are slidably connected to the guide rod 11, so that the outer frame 6 and the dust collecting frame 10 are more stable when moving.

[0065] Furthermore, a stabilizing rod 24 is fixedly connected to the other side of the dust collecting frame 10, and a guide rail 25 is fixedly connected to the frame 1. The bottom end of the stabilizing rod 24 is slidably connected to the guide rail 25, which can further improve the stability of the dust collecting frame 10 when moving.

[0066] Furthermore, a sealing strip 28 is fixedly connected to the bottom surface of the dust collecting frame 10, and the sealing strip 28 can increase the sealing performance between the dust collecting frame 10 and the outer frame 6, further reducing the dust falling on the glass plate 7. A slope 281 is provided on the outer side surface of the sealing strip 28, and the slope 281 is used to reduce the contact resistance between the sealing strip 28 and the outer frame 6.

[0067] The working principle of this embodiment is as follows: the polyurethane wheel to be processed is placed on the glass plate 7, and the axis of the polyurethane wheel is made to correspond to the center of the glass plate 7 as much as possible. The drive motor 4 is started, and the screw rod 5 is controlled to rotate by the output shaft of the drive motor 4. Under the threaded connection between the sliding seat 8 and the moving seat 9 and the screw rod 5 respectively, the outer frame 6 and the dust receiving frame 10 are brought close to each other, and at the same time, the rack 239 moves together with the outer frame 6, and the rack 239 drives the transmission gear 235 to rotate, and drives the diameter-changing gear 237 to rotate through the transmission shaft, and the diameter-changing gear 237 drives the direction-changing gear 232 to rotate through the toothed belt 238, thereby rotating the gantry 233. When the gantry 233 rotates 45°, the drive motor 4 stops working, and the polyurethane wheel on the glass plate 7 is just moved to the bottom of the limit block 19 (or close to it). The lifting cylinder 16 controls the limit block 19 to move downward so that the limit block 19 is inserted into the middle hole of the polyurethane wheel, and the annular electromagnet 20 is started at the same time to adsorb the iron core on the polyurethane wheel. The lifting cylinder 16 controls the polyurethane wheel to move upward, and the lateral drive mechanism 15 controls the lifting cylinder 16 to move toward the direction close to the grinding robot 22. The drive motor 4 continues to control the screw rod 5 to rotate and stops when the dust collecting frame 10 completely covers the outer frame 6 and the glass plate 7. The polyurethane wheel is controlled to move to the top of the dust collecting frame 10 by the lateral moving mechanism 15. The grinding robot arm 22 controls the grinding mechanism thereon to grind the polyurethane wheel. While grinding, the dust suction pump 13 is started. The dust suction pipe 14 and the dust suction bucket 26 can absorb the debris dropped during the grinding process.

[0068] A processing technology of polyurethane wheel integrated processing equipment comprises the following steps:

[0069] Step 1: Move the outer frame 6 and the dust receiving frame 10 to their initial positions (such as Figure 1 As shown), at this time, the center position of the glass plate 7 is located between the two industrial cameras 224 in the upper and lower directions;

[0070] Step 2: Place the polyurethane wheel to be processed on the glass plate 7, and try to make the axis of the polyurethane wheel correspond to the center of the glass plate 7, so as to reduce the distance that the wheel needs to be offset in subsequent processing;

[0071] Step 3: At this time, the drive motor 4 is started, and the output shaft of the drive motor 4 controls the screw rod 5 to rotate. Under the threaded connection between the sliding seat 8 and the moving seat 9 and the screw rod 5, the outer frame 6 and the dust collecting frame 10 are brought closer to each other. At the same time, the rack 239 moves with the outer frame 6, and the rack 239 drives the transmission gear 235 to rotate, and drives the variable diameter gear 237 to rotate through the transmission shaft. The variable diameter gear 237 rotates with the changing gear 232 through the toothed belt 238, thereby rotating the gantry 233;

[0072] Step 4: When the gantry 233 rotates 30°, the bottom end of the gantry 233 leaves the traveling direction of the polyurethane wheel, and thus does not affect the movement of the polyurethane wheel;

[0073] Step 5: When the gantry 233 rotates 45°, the driving motor 4 stops working. At this time, the polyurethane wheel on the glass plate 7 just moves to the bottom of the limit block 19 (or close to the bottom of the limit block 19), and then the lifting cylinder 16 controls the limit block 19 to move downward, so that the limit block 19 is inserted into the middle hole of the polyurethane wheel. At the same time, the annular electromagnet 20 is started to adsorb the iron core on the polyurethane wheel, and then the polyurethane wheel is controlled to move upward by the lifting cylinder 16. At the same time, the lateral driving mechanism 15 controls the lifting cylinder 16 to move toward the direction close to the grinding robot 22;

[0074] Step 6: The driving motor 4 continues to control the screw rod 5 to rotate, and stops when the dust receiving frame 10 completely covers the outer frame 6 and the glass plate 7. At this time, the polyurethane wheel is controlled by the lateral moving mechanism 15 to move to the top of the dust receiving frame 10;

[0075] Step 7: Based on the information of the polyurethane wheel captured by the four industrial cameras 234, the polishing robot arm 22 is guided to polish the polyurethane wheel, and the motor is adjusted to control the rotation of the polyurethane wheel, so that the polishing robot arm 22 can fully polish the wheel.

[0076] Step 8: While grinding, start the dust pump 13. Through the dust pipe 14 and the dust hopper 26, the debris dropped during the grinding process can be absorbed to reduce the impact of the debris on the surrounding environment.

[0077] In the description of the present invention, it is necessary to understand that the terms "coaxial", "bottom", "one end", "top", "middle", "the other end", "upper", "one side", "top", "inside", "front", "center", "both ends" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and 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 a limitation on the present invention.

[0078] In the present invention, unless otherwise clearly stipulated and limited, the terms such as "installation", "setting", "connection", "fixation" and "screw-on" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. Unless otherwise clearly defined, ordinary technicians in this field can understand the specific meanings of the above terms in the present invention according to the specific circumstances.

[0079] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A polyurethane wheel integrated processing equipment, comprising a frame (1), characterized in that: Two groups of first stable seats (2) are fixedly connected to one side of the top of the frame (1); a driving motor (4) is fixedly connected to the outside of one group of first stable seats (2); a screw rod (5) is fixedly connected to the output shaft of the driving motor (4); the screw rod (5) is a bidirectional threaded rod; a sliding seat (8) is threadedly connected to one side of the screw rod (5) with a positive thread; an outer frame (6) is fixedly connected to the sliding seat (8); a glass plate (7) is fixedly connected to the inner side of the outer frame (6); a moving seat (9) is threadedly connected to one side of the screw rod (5) with a reverse thread; a dust collecting frame (10) is fixedly connected to the moving seat (9); and a transverse driving mechanism (15) is also fixedly connected to the frame (1); The control end of the driving mechanism (15) is connected to a lifting cylinder (16), a lifting plate (17) is fixedly connected to the telescopic end of the lifting cylinder (16), an adjusting motor (27) is fixedly connected to the top of one side of the lifting plate (17), a rotating shaft (18) is fixedly connected to the output shaft of the adjusting motor (27), a limit block (19) is threadedly connected to the bottom end of the rotating shaft (18), a ring-shaped electromagnet (20) is fixedly connected to the top of the limit block (19), a bracket (21) is fixedly connected to one side of the frame (1) and located on the horizontal driving mechanism (15), a grinding mechanical arm (22) is fixedly connected to the top of the bracket (21), and a visual positioning device (23) is also arranged on the frame (1).

2. The polyurethane wheel integrated processing equipment according to claim 1, characterized in that: The visual positioning device (23) comprises a U-shaped frame (231) fixed on the frame (1), a steering gear (232) rotatably connected to the top of the U-shaped frame (231), a gantry (233) fixedly connected to the top of the steering gear (232), and industrial cameras (234) are arranged at the top and bottom of the inner side of the U-shaped frame (231) and on both sides of the inner wall of the gantry (233).

3. The polyurethane wheel integrated processing equipment according to claim 2, characterized in that: The visual positioning device (23) further comprises a transmission gear (235) rotatably connected to the frame (1); a transmission shaft (236) is fixedly connected to the transmission gear (235); a reducing gear (237) is fixedly connected to the top of the transmission shaft (236); a toothed belt (238) is transmission-connected between the reducing gear (237) and the steering gear (232); and a diameter ratio between the reducing gear (237) and the steering gear (232) is 1:

5.

4. The polyurethane wheel integrated processing equipment according to claim 3, characterized in that: The visual positioning device (23) also includes a rack (239) fixedly connected to the bottom of the outer frame (6), and the rack (239) is meshed with the transmission gear (235).

5. The polyurethane wheel integrated processing equipment according to claim 1, characterized in that: The limiting block (19) is in the shape of a truncated cone, the bottom surface of which is a small diameter, and the top surface of which is the same as the inner diameter of the iron core of the polyurethane wheel.

6. The polyurethane wheel integrated processing equipment according to claim 1, characterized in that: A dust suction pump (13) is also fixedly connected to a side of the frame (1) close to the dust collecting frame (10); two groups of dust suction pipes (14) are connected to the air suction end of the dust suction pump (13); two dust suction hoppers (26) are fixedly arranged on the inner side of the dust collecting frame (10) close to the dust suction pump (13); the two dust suction hoppers (26) are respectively connected to one end of the two groups of dust suction pipes (14).

7. The polyurethane wheel integrated processing equipment according to claim 1, characterized in that: Two groups of second stable seats (3) are fixedly connected to the other side of the top of the frame (1), a guide rod (11) is fixedly connected between the two groups of second stable seats (3), and a slider (12) is fixedly connected to one side of the outer frame (6) and the dust collecting frame (10), and the two sliders (12) are slidably connected to the guide rod (11).

8. The polyurethane wheel integrated processing equipment according to claim 1, characterized in that: A stabilizing rod (24) is fixedly connected to the other side of the dust collecting frame (10), and a guide rail (25) is fixedly connected to the frame (1), and the bottom end of the stabilizing rod (24) is slidably connected to the guide rail (25).

9. The polyurethane wheel integrated processing equipment according to claim 1, characterized in that: The bottom surface of the dust collecting frame (10) is also fixedly connected to a sealing strip (28), and an inclined surface (281) is provided on the outer side surface of the sealing strip (28).

10. The processing technology of the polyurethane wheel integrated processing equipment according to claims 1-9, characterized in that: The following steps are involved: Step 1: Move the outer frame (6) and the dust collecting frame (10) to their initial positions respectively, at which time the center position of the glass plate (7) is located between the two industrial cameras (224) in the upper and lower directions; Step 2: placing the polyurethane wheel to be processed on the glass plate (7), and making the axis of the polyurethane wheel correspond to the center of the glass plate (7) as much as possible, so as to reduce the distance that the wheel needs to be offset in subsequent processing; Step 3: At this time, the driving motor (4) is started, and the screw rod (5) is controlled to rotate through the output shaft of the driving motor (4). Under the action of the threaded connection between the sliding seat (8) and the moving seat (9) and the screw rod (5), the outer frame (6) and the dust collecting frame (10) are brought closer to each other. At the same time, the rack (239) moves together with the outer frame (6), and the rack (239) drives the transmission gear (235) to rotate, and drives the variable diameter gear (237) to rotate through the transmission shaft. The variable diameter gear (237) drives the direction-changing gear (232) to rotate through the toothed belt (238), thereby causing the gantry (233) to rotate; Step 4: When the gantry (233) rotates 30°, the bottom end of the gantry (233) leaves the traveling direction of the polyurethane wheel, thereby not affecting the movement of the polyurethane wheel; Step 5: When the gantry (233) rotates 45 degrees, the driving motor (4) stops working. At this time, the polyurethane wheel on the glass plate (7) just moves to the bottom of the limit block (19) (or close to the bottom of the limit block), and then the lifting cylinder (16) controls the limit block (19) to move downward, so that the limit block (19) is inserted into the middle hole of the polyurethane wheel. At the same time, the annular electromagnet (20) is started to adsorb the iron core on the polyurethane wheel, and then the lifting cylinder (16) controls the polyurethane wheel to move upward. At the same time, the lateral driving mechanism (15) controls the lifting cylinder (16) to move in the direction close to the grinding robot (22); Step 6: The driving motor (4) continues to control the screw rod (5) to rotate, and stops when the dust receiving frame (10) completely covers the outer frame (6) and the glass plate (7). At this time, the polyurethane wheel is controlled by the lateral moving mechanism (15) to move to the top of the dust receiving frame (10); Step 7: Based on the information of the polyurethane wheel captured by the four industrial cameras (234), the grinding robot arm (22) is guided to grind the polyurethane wheel, and the motor is adjusted to control the rotation of the polyurethane wheel, so that the grinding robot arm (22) can grind the wheel comprehensively; Step 8: While grinding, start the dust pump (13), and through the dust pipe (14) and the dust bucket (26), the debris dropped during the grinding process can be absorbed to reduce the impact of the debris on the surrounding environment.

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