Gantry truss movable type intelligent surface cleaning equipment

Abstract

The invention relates to the technical field of casting polishing equipment, in particular to gantry truss movable type intelligent surface cleaning equipment which is characterized in that the gantry truss movable type intelligent surface cleaning equipment comprises two parallel guide rails, a plurality of placement stations arranged at intervals are arranged between the two guide rails, and castings can be placed on the placement stations; the first portal frame mechanism is arranged on the guide rail, performs reciprocating displacement adjustment in the length direction of the guide rail and passes through the placing station; the visual scanning assembly is movably arranged on the first portal frame mechanism, is close to or far away from the placing station, is located above the placing station and is used for scanning the periphery of the casting so as to obtain a polishing track; and the grinding mechanism is movably arranged on the first portal frame mechanism, is close to or far away from the placing station, is located above the placing station and is used for grinding the periphery of the casting along the grinding track, and the problems that the grinding efficiency of the large casting is low and the cleaning quality is unstable can be solved.

Description

Technical Field

[0001] The invention relates to the technical field of casting grinding equipment, and in particular to a gantry truss movable intelligent surface cleaning equipment. Background Art

[0002] For large metal components, casting is usually used to achieve molding. Currently, the resin sand casting process is widely used. The resin sand casting process is a casting process using a mold made of a mixture of resin and sand. This casting method combines the flexibility of sand casting and the excellent properties of resin. It is widely used in the manufacture of metal castings with complex shapes. It has the characteristics of being able to produce large castings with high precision and high surface quality, and has good high temperature resistance and good casting performance. It still has a relatively broad application scenario in the future.

[0003] During the production and molding process of castings, it is usually necessary to grind the casting body riser and casting surface defects such as sand holes, air holes, and uneven areas to obtain suitable casting surface quality; and currently, for large and heavy casting structures, such as large wind power equipment castings, manual grinding is usually used due to their large outline dimensions and heavy casting weight. However, this manual production method has the problems of low cleaning efficiency, high labor intensity for workers, unstable surface quality of cleaned castings, dust and noise that endanger the health of operators, and safety hazards. Therefore, it is necessary to improve the existing technology.

[0004] The above information is presented as background information only to assist with understanding the present disclosure and no determination or admission is made as to whether any of the above may be used as prior art with respect to the present disclosure. Summary of the invention

[0005] The invention provides a gantry truss movable intelligent surface cleaning device to solve the problems of low grinding efficiency and unstable cleaning quality of large castings in the prior art.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] A gantry truss mobile intelligent surface cleaning device, comprising:

[0008] The guide rails are arranged in two parallel positions, and a plurality of placement stations arranged at intervals are provided between the two guide rails, and the placement stations are used for placing castings;

[0009] A first gantry mechanism is disposed on the guide rail and is adjusted to move back and forth along the length direction of the guide rail and passes through the placement station;

[0010] A visual scanning component, movably arranged on the first gantry mechanism, closer to or farther away from the placement station and located above the placement station, for scanning around the casting to obtain a grinding trajectory;

[0011] and a grinding mechanism, which is movably arranged on the first gantry mechanism, closer to or farther away from the placement station and located above the placement station, and is used for grinding the casting around along a grinding track.

[0012] Preferably, the visual scanning component comprises:

[0013] A scanning manipulator, arranged on the first gantry mechanism;

[0014] And a three-dimensional scanning camera is arranged on the scanning manipulator, the scanning manipulator is used to drive the three-dimensional scanning camera to move around the casting, and the three-dimensional scanning camera is used to scan the casting.

[0015] Preferably, the grinding mechanism comprises:

[0016] A grinding robot, arranged on the first gantry mechanism;

[0017] And a grinder is arranged on the grinding manipulator, the grinding manipulator is used to drive the grinder to move around the casting, and the grinder is used to grind the surface of the casting.

[0018] Preferably, it also includes

[0019] A second gantry mechanism is arranged on the guide rail, and a visual scanning component is arranged on the second gantry mechanism, and the visual scanning component located on the second gantry mechanism is used to scan around the casting to obtain a cutting trajectory;

[0020] and a cutting mechanism, which is movably arranged on the second gantry mechanism, closer to or farther away from the placement station and located above the placement station, and is used for cutting the casting around along the cutting track.

[0021] Preferably, the cutting mechanism comprises:

[0022] A cutting robot, arranged on the second gantry mechanism;

[0023] And a cutting nozzle is arranged on the cutting robot, the cutting robot is used to drive the cutting nozzle to move around the casting, and the cutting nozzle is used to cut the pouring spout and / or burr defects of the casting.

[0024] Preferably, it also includes:

[0025] A third gantry mechanism is arranged on the guide rail, and a visual scanning component is arranged on the third gantry mechanism. The visual scanning component located on the third gantry mechanism is used to scan around the casting to obtain a sand cleaning trajectory;

[0026] And a sand cleaning mechanism, which is movably arranged on the third gantry mechanism, closer to or farther away from the placement station and located above the placement station, and is used for performing sand cleaning around the casting along a sand cleaning track.

[0027] Preferably, the sand cleaning mechanism comprises:

[0028] A sand cleaning manipulator, arranged on the third gantry mechanism;

[0029] And a wind shovel element is arranged on the sand cleaning robot, the sand cleaning robot is used to drive the wind shovel element to move around the casting, and the wind shovel element is used to clean the sand layer of the casting.

[0030] Preferably, it also includes:

[0031] A fourth gantry mechanism, arranged on the guide rail;

[0032] A flaw detection manipulator, movably arranged on the fourth gantry mechanism, closer to or farther away from the placement station;

[0033] And a detection probe is arranged on the flaw detection manipulator, the flaw detection manipulator is used to drive the detection probe to move around the casting, and the detection probe is used to perform flaw detection operations on the casting.

[0034] Preferably, it also includes:

[0035] A track, arranged between the two guide rails;

[0036] And an AGV transport vehicle is slidably arranged on the track and is used to carry the castings. The guide rail is used to guide the AGV transport vehicle to pass through the plurality of placement stations in sequence.

[0037] Preferably, it also includes:

[0038] A telescopic assembly, arranged on the first gantry mechanism;

[0039] A positioning clamping block having a protruding portion and disposed on the telescopic assembly, wherein the telescopic assembly is used to drive the positioning clamping block closer to or farther away from the AGV transport vehicle;

[0040] And a positioning matching block is arranged on the GV transport vehicle and has a notch portion which is mutually engaged and positioned with the protruding portion.

[0041] Compared with the prior art, the present invention has the following beneficial effects: the gantry truss movable intelligent surface cleaning equipment provided by the present invention, when performing grinding operations on large castings, firstly places multiple castings in different placement stations through lifting equipment; at this time, the first gantry mechanism is driven to move to the casting, thereby driving the visual scanning component and the grinding mechanism to move to the vicinity of the casting; firstly, the visual scanning component is started, and the visual scanning component moves to above the casting, at which time the casting is scanned to obtain a grinding trajectory; the visual scanning component then leaves the placement station, and then the grinding mechanism approaches the placement station, and grinds the four sides of the casting through the grinding trajectory; the above scheme efficiently obtains data through automatic scanning, and the grinding mechanism automatically grinds based on the grinding trajectory, which greatly reduces the time and labor-consuming problems in the manual grinding process, and at the same time can effectively improve the grinding efficiency and maintain a high grinding accuracy, and the problems of low grinding efficiency and unstable grinding quality of large castings are solved.

[0042] The present invention has other features and advantages, which will be apparent from or will be described in detail in the accompanying drawings and the following detailed description incorporated herein, which together serve to explain the specific principles of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0044] Figure 1 It is a structural schematic diagram of the gantry truss mobile intelligent surface cleaning device in the first embodiment of the present invention;

[0045] Figure 2 is a structural schematic diagram of a gantry truss mobile intelligent surface cleaning device in Embodiment 2 of the present invention;

[0046] Figure 3 It is a structural schematic diagram of a second gantry mechanism, a visual scanning component and a cutting mechanism provided in the second embodiment of the present invention;

[0047] Figure 4 It is a structural schematic diagram of a third gantry mechanism, a visual scanning component and a sand cleaning mechanism provided in the second embodiment of the present invention;

[0048] Figure 5 It is a structural schematic diagram of a fourth gantry, a flaw detection manipulator, and a detection probe provided in the second embodiment of the present invention;

[0049] Figure 6 It is a structural schematic diagram of the telescopic assembly, AGV transporter, positioning clamping block and positioning matching block provided in the second embodiment of the present invention.

[0050] Reference numerals:

[0051] 1001, placement station; 1002, track; 1003, AGV transporter;

[0052] 1. First gantry mechanism; 11. Gantry bracket; 12. Traveling mechanism; 13. Adjustment module;

[0053] 2. Guide rails;

[0054] 3. Visual scanning component; 31. Scanning manipulator; 32. 3D scanning camera;

[0055] 4. Grinding mechanism; 41. Grinding manipulator; 42. Grinding machine;

[0056] 5. Second gantry mechanism;

[0057] 6. Cutting mechanism; 61. Cutting manipulator; 62. Cutting nozzle;

[0058] 7. The third gantry mechanism;

[0059] 8. Sand cleaning mechanism; 81. Sand cleaning manipulator; 82. Wind shovel element;

[0060] 9. The fourth gantry mechanism;

[0061] 101. Flaw detection manipulator; 102. Detection probe;

[0062] 14. Telescopic assembly; 15. Positioning clamping block; 151. Raised portion; 16. Positioning matching block; 161. Notch portion. DETAILED DESCRIPTION

[0063] In order to make the purpose, features and advantages of the present invention more obvious and easy to understand, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described below are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0064] In the description of the present invention, it is to be understood that when a component is considered to be "connected" to another component, it may be directly connected to the other component or there may be a centrally disposed component. When a component is considered to be "disposed on" another component, it may be directly disposed on the other component or there may be a centrally disposed component.

[0065] In addition, terms such as "long", "short", "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings and are only used to facilitate the description of the present invention. They do not indicate or imply that the device or component referred to must have this specific direction or operate with a specific direction structure, and should not be understood as a limitation of the present invention.

[0066] The following is combined with Figure 1-6 The technical solution of the present invention is further illustrated by specific implementation methods.

[0067] Embodiment 1:

[0068] Please refer to Figure 1 The embodiment of the present invention provides a gantry truss mobile intelligent surface cleaning device, including a first gantry mechanism 1, a guide rail 2, a visual scanning component 3 and a grinding mechanism 4. Among them, the guide rail 2 is set on the ground, the first gantry mechanism 1 is set on the guide rail 2, and the guide rail 2 is used to provide a guiding effect for the first gantry mechanism 1, so that the first gantry mechanism 1 can move back and forth on the guide rail 2. At this time, the visual scanning component 3 and the grinding mechanism 4 are set on the first gantry mechanism 1. First, the casting is scanned by the visual scanning component 3, and then the surface of the casting is polished by the grinding structure to realize the automatic polishing function.

[0069] For details, please refer to Figure 1 In order to guide the first gantry mechanism 1, two guide rails 2 are provided which are parallel to each other, and the guide rails 2 are straight guide rails which are fixedly provided on the ground; at the same time, the spacing between the guide rails 2 is consistent with the span distance of the first gantry mechanism 1. At this time, by providing the first gantry mechanism 1 on the two guide rails 2, under the guidance of the guide rails 2, the first gantry mechanism 1 can stably move back and forth on the guide rails 2.

[0070] Furthermore, there are a number of placement stations 1001 arranged at intervals between the two guide rails 2, and the placement stations 1001 are for placing castings. Specifically, the number of the placement stations 1001 can be set according to actual needs, for example, it can be three, four or five, etc., and there is no restriction on the specific number of the placement stations 1001. Based on the above structural setting, the first gantry mechanism 1 can pass through a number of placement stations 1001 in sequence during the movement on the guide rail 2, and then pass through a number of castings. At this time, multiple castings can be scanned and polished in sequence, and the polishing sequence is reasonable and efficient.

[0071] It should be explained that the first gantry mechanism 1 adopts a gantry truss module, which mainly includes a gantry bracket 11, a walking mechanism 12 and an adjustment module 13. Among them, the gantry bracket 11 is slidably arranged on the guide rail 2, the walking mechanism 12 is arranged on the gantry bracket 11 and connected to the guide rail 2, and the walking mechanism 12 generally includes a motor and a roller. By starting the motor, the roller is driven to rotate, and finally the gantry bracket 11 is moved on the guide rail 2. In addition, by controlling the rotation direction of the roller, the gantry bracket 11 can be reset and moved along the length direction of the guide rail 2.

[0072] On this basis, the adjustment module 13 is arranged on the crossbeam part of the gantry bracket 11, and the adjustment module 13 is used to provide an installation position for the visual scanning component 3 and the grinding mechanism 4, and to adjust the relative arrangement of the scanning component and the grinding mechanism 4 on the crossbeam.

[0073] In this embodiment, the adjustment module 13 includes a slide, a motor, a gear and a rack, wherein the slide is slidably arranged on the crossbeam of the gantry bracket 11, and the motor is arranged on the slide, the rack is fixedly arranged along the length direction of the crossbeam, the gear is fixedly arranged on the output shaft of the motor, and the gear and the rack are meshed with each other. At this time, by starting the motor, the gear is driven to rotate, and under the condition that the gear and the rack are meshed with each other, the slide can be pushed to move on the crossbeam, and by arranging the visual scanning component 3 or the grinding mechanism 4 on the slide, the activity adjustment of the visual scanning component 3 and the grinding mechanism 4 can be realized.

[0074] It is understandable that, in another embodiment, the adjustment module 13 can adopt a direct module structure to replace components such as slides, motors, gears, and racks. Specifically, the linear module is fixedly set on the beam, and the linear module has a reciprocating slide. By setting the visual scanning component 3 or the grinding mechanism 4 on the slide, the visual scanning component 3 and the grinding mechanism 4 can also be adjusted in displacement; therefore, the specific setting structure of the adjustment module 13 is not specifically limited here, and any structure that can output reciprocating displacement motion on the beam should be included in the interpretation scope of the adjustment module 13.

[0075] Based on the above structural setting, the number of adjustment modules 13 is further set to two groups, and the visual scanning component 3 and the grinding mechanism 4 are respectively set on the two groups of adjustment modules 13. At this time, the visual scanning component 3 and the grinding mechanism 4 are respectively set on the first gantry mechanism 1 through the two groups of adjustment modules 13; at this time, because the visual scanning component 3 and the grinding mechanism 4 are set on the adjustment module 13, the visual scanning component 3 and the grinding mechanism 4 are respectively located above the placement station 1001, and by controlling the power output of the adjustment module 13, the visual scanning component 3 and the grinding mechanism 4 can be moved closer to or farther from the placement station 1001; further, by controlling the visual scanning component 3 and the grinding mechanism 4 to alternately enter the placement station 1001, the scanning first and the grinding later are realized, the action switching is quick and convenient, and the grinding efficiency is optimized and improved.

[0076] Continue to refer to Figure 1 The visual scanning component 3 is used to scan the casting around to obtain the grinding track. In this embodiment, the visual scanning component 3 includes a scanning manipulator 31 and a three-dimensional scanning camera 32. Among them, the scanning manipulator 31 adopts a six-axis manipulator structure, and the scanning manipulator 31 is arranged on the first gantry mechanism 1; specifically, the scanning manipulator 31 is installed on the slide, which can realize a series of complex actions such as rotation and extension, and well meet the actual scanning action requirements.

[0077] On this basis, the 3D scanning camera 32 is arranged on the scanning manipulator 31. Specifically, the 3D scanning camera 32 is installed on the swing arm of the scanning manipulator 31, and the scanning manipulator 31 is used to drive the 3D scanning camera 32 to move around the casting. During the movement, the 3D scanning camera 32 is used to scan the casting around, and then obtain the grinding track.

[0078] It can be understood that in order to obtain the grinding trajectory, the three-dimensional scanning camera 32 needs to be electrically connected to a computer device, the computer device is connected to the PLC controller, and the PLC controller is electrically connected to the grinding mechanism 4; the specific principle of the above structure is as follows: during the scanning process of the three-dimensional scanning camera 32, the three-dimensional scanning camera 32 can obtain image information, and the three-dimensional scanning camera 32 sends the image information to the computer device. The computer device is configured with processing software. The processing software is based on the image information. By comparing it with the standard three-dimensional size of the casting, the Boolean subtraction method is used to obtain the area that needs to be polished, and then the grinding trajectory is generated. The grinding trajectory is then sent to the PLC controller. The PLC controller generates a control signal based on the grinding trajectory, and sends the control signal to the grinding mechanism 4. The grinding mechanism 4 grinds the casting based on the control signal, and finally realizes the automatic scanning and grinding function.

[0079] Furthermore, in order to achieve grinding treatment on the surface of the casting, the grinding mechanism 4 is used to grind the casting around along the grinding track. Specifically, the grinding mechanism 4 includes a grinding robot 41 and a grinder 42 .

[0080] In this embodiment, the grinding robot 41 also adopts a six-axis robot, and the grinding robot 41 is arranged on the first gantry mechanism 1. Specifically, the grinding robot 41 is installed on the slide.

[0081] On this basis, the grinder 42 is arranged on the grinding manipulator 41. Specifically, the grinder 42 is installed on the swing arm of the grinding manipulator 41. In this embodiment, the grinder 42 adopts an alloy grinding wheel grinder 42, which has a good grinding effect and is adapted to the needs of the grinding action; at this time, the grinding manipulator 41 can also realize a series of complex actions such as rotation and extension, and the grinding manipulator 41 drives the grinder 42 to move around the casting and move along the grinding track 1002, and finally the surface of the casting is polished by the grinder 42.

[0082] The implementation principle of this embodiment is: the first gantry mechanism 1 can drive the visual scanning component 3 and the grinding mechanism 4 to move flexibly to different castings. Under this condition, the visual scanning component 3 close to the casting can perform a three-dimensional scan of the casting, and then obtain a grinding trajectory. The grinding mechanism 4 then grinds the surface of the casting based on the grinding trajectory, thereby removing surface defects and improving the quality of the casting. At the same time, it can also improve the overall grinding efficiency and grinding accuracy through automated grinding.

[0083] Embodiment 2:

[0084] On the basis of Example 1, the features not explained in this embodiment are explained in Example 1 and will not be repeated here. It can be understood that the surface defects of the casting include not only sand holes, pores, and uneven defects, but the surface of the casting may also have defects such as sand sticking, sand packaging, seam burrs, etc. Based on this, the difference between this embodiment and Example 1 is that the grinding equipment in this embodiment also has the functions of cutting, sand cleaning and flaw detection.

[0085] Among them, refer to Figure 2 Based on the structure of the first embodiment, the grinding equipment further includes a track 1002 and an AGV transporter 1003. The track 1002 and the guide rail 2 are arranged parallel to each other, the track 1002 is fixedly installed on the ground and arranged between two guide rails 2, and the guide rails 2 pass through a plurality of placement stations 1001 in sequence; further, the AGV transporter 1003 is slidably installed on the track 1002, the AGV transporter 1003 is used to carry the casting, and the guide rail 2 is used to guide the AGV transporter 1003 to pass through a plurality of placement stations 1001 in sequence.

[0086] Based on the above structural setting, the casting can be transferred, so that the transfer efficiency of the casting is improved. In addition, it can also provide a basis for cutting, sand cleaning and flaw detection of the casting.

[0087] At this time, the running route of the casting is set to be transferred in a single direction, and the casting can pass through multiple placement stations 1001 in sequence. Furthermore, different processing steps can be performed in sequence at different placement stations 1001. For example, in this embodiment, along the transfer direction of the casting, processing steps such as sand cleaning, cutting, grinding and flaw detection are performed in sequence, which can further improve the surface treatment efficiency of the casting and optimize the surface quality of the casting.

[0088] On the one hand, it is understandable that after the casting is removed from the mold, there will be defects such as pouring heads and seams on the surface of the casting. Since such defects are prominent on the outer surface of the casting, they will affect the grinding process. Therefore, it is preferably cut before grinding.

[0089] Reference Figure 3 In order to clean the surface defects such as pouring and riser, seam, etc., the grinding equipment also includes a second gantry mechanism 5 and a cutting mechanism 6. The second gantry mechanism 5 has the same structure as the first gantry mechanism 1, and its structure is not described here. The second gantry mechanism 5 is arranged on the guide rail 2 and is located at the upstream position of the first gantry mechanism 1. The casting first passes through the second gantry mechanism 5 and then moves to the first gantry mechanism 1 for grinding.

[0090] Here, in order to improve the degree of automation of the cutting action, a visual scanning component 3 is provided on the second gantry mechanism 5. The visual scanning component 3 located on the second gantry mechanism 5 has the same structure as the visual scanning component 3 arranged on the first gantry mechanism 1, and the setting principle is the same, which will not be elaborated here. The visual scanning component 3 located on the second gantry mechanism 5 is used to scan the casting around to obtain the cutting trajectory.

[0091] Furthermore, the cutting mechanism 6 is movably arranged on the second gantry mechanism 5. Specifically, the cutting mechanism 6 is arranged at the slide seat of the adjustment module 13 of the second gantry mechanism 5, and the cutting mechanism 6 is movably arranged through the slide seat; at this time, under the action of the slide seat, the cutting mechanism 6 can be closer to or farther away from the placement station 1001, and the cutting mechanism 6 is located above the placement station 1001, so that the casting can be cut around along the cutting track.

[0092] It can be understood that the visual scanning component 3 can obtain the image information of the casting before cutting. The visual scanning component 3 is electrically connected to the computer device. The computer device compares the standard three-dimensional size of the casting with the image information obtained by the visual scanning component 3, and selects the root contour of the defect as the cutting trajectory, thereby obtaining the cutting trajectory, and then sends the cutting trajectory to the PLC controller. The PLC controller generates a control signal based on the cutting trajectory and sends the control signal to the cutting mechanism 6. The cutting mechanism 6 cuts the surface defects of the casting based on the control signal, and finally realizes the automatic scanning and cutting function.

[0093] In this embodiment, the cutting mechanism 6 includes a cutting manipulator 61 and a cutting nozzle 62. The cutting manipulator 61 is a six-axis manipulator, and the cutting manipulator 61 is arranged on the second gantry mechanism 5. Specifically, the cutting manipulator 61 is fixedly mounted on the slide; at the same time, the cutting nozzle 62 is arranged on the swing arm of the cutting manipulator 61, and the cutting manipulator 61 can drive the cutting nozzle 62 to realize a series of complex actions such as rotation and extension, and can realize complex cutting actions.

[0094] On this basis, the cutting nozzle 62 can adopt a plasma cutter or a high-pressure water jet structure, and the cutting manipulator 61 is used to drive the cutting nozzle 62 to move around the casting, and the cutting nozzle 62 is used to cut the pouring and / or burr defects of the casting. Among them, the plasma cutter uses the high temperature and high energy characteristics of plasma to ionize the compressed gas (usually argon, nitrogen, etc.) into plasma through a plasma spray gun, forming a high-speed, high-temperature plasma jet, thereby achieving a cleaning effect; and the working principle of the high-pressure water jet is mainly to pressurize water to an extremely high pressure through a high-pressure booster, and form a high-speed jet of water through an extremely fine nozzle, thereby achieving material cutting.

[0095] It can be understood that both the plasma cutter and the high-pressure water jet structure can quickly and accurately cut surface defects. The specific setting method of the cutting nozzle 62 is not limited here. As long as the nozzle module can cut the surface of the product, it can be tried and should be included in the scope of interpretation of the cutting nozzle 62.

[0096] It is understandable that after the casting is removed from the mold, a layer of sand coating is usually attached to its surface. The sand coating is mainly resin sand, which is used to make the mold. However, due to the shrinkage of the casting during cooling, the sand layer falls off and covers the surface of the casting. At this time, the sand coating will block the surface of the casting, thereby affecting the grinding and cutting actions. Therefore, before grinding, it is preferably performed to clean the sand.

[0097] Reference Figure 4In order to clean the sand layer, the grinding equipment also includes a third gantry mechanism 7 and a sand cleaning mechanism 8. The specific structure of the third gantry mechanism 7 is the same as that of the first gantry mechanism 1 and the second gantry mechanism 5, and the specific structure of the third gantry is not repeated here. The third gantry mechanism 7 is arranged on the guide rail 2 and is located at the upstream position of the first gantry mechanism 1 and the second gantry mechanism 5. The casting first passes through the third gantry mechanism 7 for sand cleaning, and then passes through the second gantry mechanism 5 and the first gantry mechanism 1 in sequence.

[0098] Correspondingly, a visual scanning component 3 is also provided in the third gantry mechanism 7. At this time, it can be understood that the visual scanning component 3 can be set into multiple groups and respectively set in different gantry mechanisms; at this time, the visual scanning component 3 located on the third gantry mechanism 7 is used to scan the casting around to obtain the sand cleaning trajectory.

[0099] Furthermore, the sand cleaning mechanism 8 is movably arranged on the third gantry mechanism 7. Specifically, the sand cleaning mechanism 8 is arranged on the slide seat of the adjustment module 13 of the third gantry mechanism 7. At this time, under the action of the slide seat, the sand cleaning mechanism 8 can be closer to or farther away from the placement station 1001, and the sand cleaning mechanism 8 is located above the placement station 1001, and is used to perform sand cleaning around the casting along the sand cleaning trajectory.

[0100] It can be understood that the visual scanning component 3 can obtain the image information of the casting before sand cleaning. The visual scanning component 3 is electrically connected to the computer device. Through the computer device, the standard three-dimensional size of the casting is compared with the image information obtained by the visual scanning component 3, and the thickness and area trend of the sand coating layer are selected to obtain the sand cleaning trajectory, and then the sand cleaning trajectory is sent to the PLC controller. The PLC controller produces a control signal based on the sand cleaning trajectory and sends the control signal to the sand cleaning mechanism 8. The sand cleaning mechanism 8 cleans the surface defects of the casting based on the control signal, and finally realizes the automatic scanning and sand cleaning function.

[0101] In this embodiment, the sand cleaning mechanism 8 includes a sand cleaning manipulator 81 and a wind shovel element 82. The sand cleaning manipulator 81 also adopts a six-axis manipulator, and the sand cleaning manipulator 81 is arranged on the third gantry mechanism 7. Specifically, the sand cleaning manipulator 81 is fixedly installed on the slide seat; at the same time, the wind shovel element 82 is arranged on the swing arm of the sand cleaning manipulator 81. The sand cleaning manipulator 81 can drive the wind shovel element 82 to realize a series of complex actions such as rotation and extension, and can realize complex sand cleaning requirements.

[0102] On this basis, the wind shovel element 82 adopts a pneumatic wind shovel structure, which uses the airflow generated by the fan to be sent into the wind shovel, and then the sand layer is broken up through the movement of the wind shovel, and the sand cleaning robot 81 is used to drive the wind shovel element 82 to move around the casting, and clean the sand layer of the casting based on the sand cleaning trajectory.

[0103] Further, refer to Figure 5 After the product has gone through the steps of sand cleaning, cutting and grinding, there may be tiny cracks invisible to the naked eye on the surface of the product and internal shrinkage cavities, shrinkage, pores, slag inclusions and other defects, which will affect the mechanical properties of the product. In order to control the quality of the casting, the grinding equipment also includes a fourth gantry mechanism 9, a flaw detection robot 101 and a detection probe 102.

[0104] Specifically, the fourth gantry mechanism 9 is arranged on the guide rail 2, and the specific structure of the fourth gantry mechanism 9 is similar to that of the first gantry mechanism 1, except that only one set of adjustment modules 13 is required to be arranged on the fourth gantry mechanism 9. At the same time, the flaw detection manipulator 101 adopts a six-axis manipulator structure, and the flaw detection manipulator 101 is arranged on a slide seat, and is arranged on the fourth gantry mechanism 9 through the slide seat movement. At this time, the flaw detection manipulator 101 can be closer to or farther away from the placement station 1001.

[0105] On this basis, the detection probe 102 is arranged on the swing arm of the flaw detection manipulator 101. The flaw detection manipulator 101 adopts a six-axis manipulator structure, which can drive the detection probe 102 to move around the casting. During the displacement process, the detection probe 102 is used to perform flaw detection on the casting. Optionally, the detection probe 102 can adopt an ultrasonic flaw detection probe, which realizes the flaw detection function by using the ultrasonic principle, has fast and efficient operation, and can control the molding quality of the casting.

[0106] Further, refer to Figure 6 When the casting is moved to the first gantry mechanism 1, there may be a deviation between the casting placement position and the placement station 1001, which will cause deviations in the scanning and polishing actions. To ensure the accuracy of the polishing and scanning actions, the polishing equipment disclosed in this embodiment also includes a telescopic component 14, a positioning clamping block 15 and a positioning matching block 16.

[0107] Among them, the telescopic component 14 adopts a cylinder structure in this embodiment, and the telescopic component 14 is arranged on the first gantry mechanism 1. Specifically, the telescopic component 14 is arranged horizontally and fixedly arranged on the column of the first gantry mechanism 1. The telescopic rod of the telescopic component 14 faces the side of the placement station 1001, and its main output is reciprocating movement; in another embodiment, the telescopic component 14 can also adopt a hydraulic cylinder structure, or a crank connecting rod structure. The specific structure of the telescopic component 14 is not limited here. As long as it can output reciprocating linear motion, it can be tried and should be included in the interpretation scope of the telescopic component 14.

[0108] On this basis, the positioning clamping block 15 is fixedly mounted on the telescopic rod of the telescopic assembly 14, and the positioning clamping block 15 is arranged adjacent to the placement station 1001. Furthermore, a protrusion 151 is integrally arranged on the side of the positioning clamping block 15 close to the placement station 1001. The protrusion 151 is in the shape of a V-shaped protrusion in this embodiment, and has two V-shaped guide surfaces connected in sequence on one side of the protrusion 151; at this time, under the action of the telescopic assembly 14, the positioning clamping block 15 can be driven closer to or farther away from the AGV transporter 1003.

[0109] In addition, the positioning matching block 16 is arranged on the AGV transport vehicle 1003. Specifically, the positioning matching block 16 is fixedly arranged on one side of the AGV transport vehicle 1003, and the positioning clamping block 15 is arranged opposite to the positioning matching block 16. The positioning matching block 16 has a recessed portion 161 on the side facing the positioning clamping block 15, which is interlocked and positioned with the protrusion 151. In the present embodiment, the recessed portion 161 is a V-shaped recessed structure, so that it can be adapted to the contour of the protrusion 151.

[0110] Based on the above structural setting, when the AGV transporter 1003 moves to the placement station 1001, the telescopic component 14 is started to make the protrusion 151 embed into the recessed portion 161. During this process, the two V-shaped guide surfaces on the protrusion 151 can push the positioning matching block 16 to adjust its displacement until the two are interlocked with each other. At this time, it is equivalent to fixing the AGV transporter 1003. When performing processes such as sand cleaning, cutting and grinding, the casting is not easy to drive the AGV transporter 1003 to shift due to force, and the processing stability is optimized and improved.

[0111] Optionally, the surface cleaning equipment in this embodiment can also be connected to the MES system, where the MES system is also called the MES (Manufacturing Execution System), a management information system for the workshop, including order data issuance, production scheduling and production instruction data issuance, production process monitoring, product quality traceability, on-site production data collection and data statistical processing. The above management system can make the entire production process more automated, digitalized and intelligent.

[0112] In specific settings, various data in the production process can be collected through sensors, PLC controllers and other equipment in various mechanisms and components, such as equipment status, production progress, quality data, process parameters, etc. These data are transmitted to the database of the MES system through industrial communication protocols. Sensors and PLC devices will continuously monitor the operation of the equipment during the production process, record various production indicators, and transmit them to the MES system for real-time analysis.

[0113] Furthermore, the MES system receives production orders and production plans from the ERP system, and performs production scheduling based on factors such as the workshop's production capacity, equipment status, and material conditions. MES assigns production tasks to specific production lines, workstations, and operators, and updates the production progress in real time. If an abnormality occurs (such as equipment failure or material shortage), the MES system will automatically adjust the plan and notify operators to help them take quick action.

[0114] At the same time, the MES system collects and analyzes quality data in the production process (such as surface treatment path parameters, surface treatment, etc.) in real time, and makes judgments based on preset quality standards. If the quality is unqualified, the system can provide fault data feedback to correct the production process.

[0115] Based on the above structural setting, the intelligence and automation of surface cleaning equipment can be further improved, downtime can be reduced, and the overall efficiency of surface treatment actions can be improved.

[0116] The implementation principle of this embodiment is as follows: by performing sand cleaning and cutting before grinding, and performing flaw detection after grinding, the surface quality of the casting is optimized and improved, and the molding quality of the casting is guaranteed; and in this process, by setting up multi-layer scanning actions, the degree of automation in the overall surface treatment process is improved, and the molding quality of the casting is significantly optimized and improved.

[0117] So far, the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A gantry truss mobile intelligent surface cleaning device, characterized in that: include: The guide rails (2) are arranged as two rails parallel to each other, and a plurality of placement stations (1001) arranged at intervals are provided between the two guide rails (2), wherein the placement stations (1001) are used for placing castings; A first gantry mechanism (1) is arranged on the guide rail (2) and is adjusted to move back and forth along the length direction of the guide rail (2) and passes through the placement station (1001); A visual scanning component (3) is movably arranged on the first gantry mechanism (1), closer to or farther away from the placement station (1001), and is located above the placement station (1001), and is used to scan the surroundings of the casting to obtain a grinding trajectory; and a grinding mechanism (4), which is movably arranged on the first gantry mechanism (1), closer to or farther away from the placement station (1001), and is located above the placement station (1001), and is used for grinding the casting around along a grinding track.

2. The gantry truss mobile intelligent surface cleaning device according to claim 1 is characterized in that: The visual scanning component (3) comprises: A scanning robot (31), arranged on the first gantry mechanism (1); and a three-dimensional scanning camera (32) arranged on the scanning manipulator (31), wherein the scanning manipulator (31) is used to drive the three-dimensional scanning camera (32) to move around the casting, and the three-dimensional scanning camera (32) is used to scan the casting.

3. The gantry truss mobile intelligent surface cleaning device according to claim 1 or 2, characterized in that: The grinding mechanism (4) comprises: A polishing robot (41), arranged on the first gantry mechanism (1); and a grinder (42) arranged on the grinding manipulator (41); the grinding manipulator (41) is used to drive the grinder (42) to move around the casting; the grinder (42) is used to grind the surface of the casting.

4. The gantry truss mobile intelligent surface cleaning device according to claim 1, characterized in that: Also includes: A second gantry mechanism (5) is arranged on the guide rail (2), and a visual scanning component (3) is arranged on the second gantry mechanism (5). The visual scanning component (3) located on the second gantry mechanism (5) is used to scan the periphery of the casting to obtain a cutting trajectory; and a cutting mechanism (6), which is movably arranged on the second gantry mechanism (5), closer to or farther away from the placement station (1001), and is located above the placement station (1001), and is used to cut the casting around along a cutting track.

5. The gantry truss mobile intelligent surface cleaning device according to claim 4 is characterized in that: The cutting mechanism (6) comprises: A cutting robot (61), arranged on the second gantry mechanism (5); and a cutting nozzle (62) arranged on the cutting manipulator (61), wherein the cutting manipulator (61) is used to drive the cutting nozzle (62) to move around the casting, and the cutting nozzle (62) is used to cut the pouring head and / or the seam defects of the casting.

6. The gantry truss mobile intelligent surface cleaning device according to claim 1, characterized in that: Also includes: A third gantry mechanism (7) is arranged on the guide rail (2), and a visual scanning component (3) is arranged on the third gantry mechanism (7). The visual scanning component (3) located on the third gantry mechanism (7) scans around the casting to obtain a sand cleaning trajectory; and a sand cleaning mechanism (8), which is movably arranged on the third gantry mechanism (7), closer to or farther away from the placement station (1001), and located above the placement station (1001), and is used for performing sand cleaning around the casting along a sand cleaning track.

7. The gantry truss mobile intelligent surface cleaning device according to claim 6, characterized in that: The sand cleaning mechanism (8) comprises: A sand cleaning robot (81), arranged on the third gantry mechanism (7); And a wind shovel element (82) is arranged on the sand cleaning robot (81), the sand cleaning robot (81) is used to drive the wind shovel element (82) to move around the casting, and the wind shovel element (82) is used to clean the sand coating layer of the casting.

8. The gantry truss mobile intelligent surface cleaning device according to claim 1, characterized in that: Also includes: A fourth gantry mechanism (9) is arranged on the guide rail (2); A flaw detection manipulator (101) is movably arranged on the fourth gantry mechanism (9) and is closer to or farther away from the placement station (1001); and a detection probe (102) arranged on the flaw detection manipulator (101); the flaw detection manipulator (101) is used to drive the detection probe (102) to move around the casting; the detection probe (102) is used to perform flaw detection operations on the casting.

9. The gantry truss mobile intelligent surface cleaning device according to claim 1, characterized in that: Also includes: A track (1002) is arranged between the two guide rails (2); And an AGV transport vehicle (1003) is slidably arranged on the track (1002) and is used to carry the castings. The guide rail (2) is used to guide the AGV transport vehicle (1003) to pass through several of the placement stations (1001) in sequence.

10. The gantry truss mobile intelligent surface cleaning device according to claim 9, characterized in that: Also includes: A telescopic assembly (14) is arranged on the first gantry mechanism (1); A positioning clamping block (15) having a protruding portion (151) and arranged on the telescopic assembly (14), wherein the telescopic assembly (14) is used to drive the positioning clamping block (15) to move closer to or farther away from the AGV transport vehicle (1003); And a positioning matching block (16) is arranged on the AGV transport vehicle (1003) and has a notch portion (161) which is mutually engaged and positioned with the protrusion portion (151).

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