Surface treatment device and method for robot articulated arm speed reducer casting

Abstract

The invention relates to the technical field of grinding, in particular to a surface treatment device and method for a robot articulated arm speed reducer casting, the surface treatment device comprises a treatment box and the casting, and further comprises an industrial robot which is arranged in the treatment box, and the output end of the industrial robot is provided with a connector capable of being connected with a cutter to conduct fine machining on the casting and flexible abrasive paper. The multiple flexible abrasive paper is constructed and can be attached to the surface of a casting to grind the casting, the top of the flexible abrasive paper is connected with a T-shaped sliding strip, the T-shaped sliding strip is made of memory alloy, the rigidity of the T-shaped sliding strip is reduced after the T-shaped sliding strip is heated, and a connecting shell used for being connected with the T-shaped sliding strip in a sliding mode is arranged in the treatment box. A self-adaption assembly for adjusting the T-shaped sliding strip to be bent and attached to the surface of the casting is arranged in the connecting shell, and the heater is arranged in the self-adaption assembly and used for conducting heating of the T-shaped sliding strip. The flexible abrasive paper is of a flexible structure and can be attached to the irregular surface of the casting, and therefore comprehensive grinding of the surface of the casting is achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of grinding technology, in particular to a surface treatment device and method for robot joint arm speed reducer castings. BACKGROUND

[0002] The robot joint arm speed reducer is the core component of the industrial robot to realize precise motion control, and its castings (such as cycloid wheels, planet carriers, pin gear housings, etc.) need to withstand high load, high frequency friction and complex working condition impact for a long time. After machining, the end face of the speed reducer casting will produce burrs, which will affect the working effect and service life of the parts. In addition, the surface quality requirement of some existing speed reducer castings is relatively high, so after the casting of the speed reducer casting is completed, the surface treatment of the speed reducer casting is needed. With the development of industrial automation towards high precision and high reliability, the downstream customers have put forward strict requirements on the surface quality of the speed reducer casting: the surface must have extremely low roughness to ensure smooth gear meshing, and at the same time, it must have high hardness and corrosion resistance to resist wear and environmental erosion during long-term operation. However, the existing surface treatment technology cannot meet the above requirements at the same time, which has become a key bottleneck restricting the upgrading of the industry.

[0003] For example, the patent document with the publication number CN213795676U discloses a special-shaped speed reducer casting surface treatment device, which includes a bottom plate and a support frame. The top of the bottom plate is fixedly connected with the support frame, the top of the support frame is fixedly connected with a hydraulic rod, the bottom of the hydraulic rod is fixedly connected with a bearing, the inside of the bottom plate is movably connected with a cleaning connecting pipe, and one end of the cleaning connecting pipe is fixedly connected with a cleaning nozzle. The special-shaped speed reducer casting surface treatment device can conveniently move the cleaning connecting pipe through the movement of the moving block, so as to realize cleaning of speed reducer castings of different sizes by the staff. Through the cooperation of the top rotating disc and the bottom rotating disc, the top rotating disc and the bottom rotating disc are driven by the hydraulic rod and the servo motor, so that the speed reducer casting is clamped between the top rotating disc and the bottom rotating block, the casting is fixed up and down, and the stability of the device polishing is improved.

[0004] In the prior art, through the ingenious design of the cooperation mechanism of the telescopic rod and the polishing grinding wheel, the telescopic rod is driven to move the polishing grinding wheel flexibly, thereby realizing effective polishing of castings of different sizes to a certain extent. This innovative design significantly enhances the adaptability of the polishing device in dealing with various polishing objects, expands its application range, and brings positive influence to the casting polishing process. However, in actual production application scenarios, we face a difficult problem that needs to be solved. The surface of the casting is often distributed with grooves of different shapes and sizes, and the diameter of these grooves varies greatly, with high randomness and uncertainty. When encountering a groove with too small diameter, the existing polishing grinding wheel cannot enter the groove for polishing due to its size limitation. This forces the operator to interrupt the current polishing process and spend extra time and effort to replace the grinding wheel with smaller size that is more suitable for the groove. The process of replacing the grinding wheel is complicated and time-consuming, not only needs to accurately adjust the installation position of the grinding wheel to ensure its coaxiality and stability with the polishing device, but also needs to reposition and calibrate to ensure the accuracy and quality of polishing. This series of operations seriously disrupts the normal polishing rhythm, resulting in a significant decrease in polishing efficiency, increases the production cycle and cost, and cannot meet the needs of modern high-efficiency production. Therefore, how to solve the problem of polishing small-diameter grooves with the existing polishing device has become the key to improving the efficiency and quality of casting polishing. Therefore, the present application proposes a robot joint arm speed reducer casting surface treatment device and method. SUMMARY

[0005] The present application aims to provide a robot joint arm speed reducer casting surface treatment device and method to solve the problems raised in the background art.

[0006] To achieve the above-mentioned purpose, the present application provides the following technical solution: a robot joint arm speed reducer casting surface treatment device, comprising a treatment box and a casting, further comprising: An industrial robot is arranged inside the treatment box, and the output end of the industrial robot is provided with a joint that can be connected with a tool to perform fine machining on the casting; A plurality of flexible sandpapers are configured, which can be attached to the surface of the casting for grinding. The top of the flexible sandpaper is connected with a T-shaped sliding bar, and the T-shaped sliding bar is made of a memory alloy which has reduced rigidity after being heated. A connecting shell for sliding connection of the T-shaped sliding bar is arranged inside the treatment box, and the connecting shell is provided with an adaptive assembly for adjusting the bending of the T-shaped sliding bar to fit the surface of the casting; A heater is arranged in the adaptive assembly for conducting heat to the T-shaped sliding bar.

[0007] Preferably, the adaptive assembly is arranged in a plurality of liquid inlet cylinders inside the connecting shell, the bottom of each of the plurality of liquid inlet cylinders is slidably connected with a piston rod, the piston end of the piston rod is arranged inside the liquid inlet cylinder, one end of the piston rod away from the piston end is connected with a sliding clamp block slidably connected with a T-shaped slide bar, and the top of the connecting shell is provided with a power mechanism for delivering fluid into the plurality of liquid inlet cylinders to push the piston rod to move.

[0008] Preferably, the power mechanism comprises a liquid pump fixedly connected to the top of the connecting shell, the top of the connecting shell is fixedly connected with a liquid cylinder for storing oil, the input end of the liquid pump is in communication with the liquid cylinder, the output end of the liquid pump is in communication with a shunt pipe, and one end of the shunt pipe is in communication with a plurality of cross pipes in communication with the liquid inlet cylinders.

[0009] Preferably, the heater is arranged inside the piston rod, and the connection between the sliding clamp block and the piston rod is provided with a heat-conducting pad, and the heating end of the heater is connected with a heat sheet in heat exchange with the heat-conducting pad.

[0010] Preferably, the piston end of the piston rod is fixedly connected with a copper sheet, the bottom of the copper sheet is fixedly connected with a plurality of heat-conducting rods, the top of the heat-conducting pad is fixedly connected with a plurality of copper core rods, and the plurality of copper core rods are connected with the plurality of heat-conducting rods through a guide sheet.

[0011] Preferably, the inside of the processing box is fixedly connected with a bracket, the inside of the bracket is fixedly connected with a lifting motor, the inside of the lifting motor is drivingly connected with a movable connecting rod, the bottom of the movable connecting rod is connected with the connecting shell through a linear module, and the linear module is used to drive the connecting shell to move linearly.

[0012] Preferably, the conveying frame is further provided, the top of the conveying frame is provided with a clamp for fixing the casting, one end of the conveying frame extends into the inside of the processing box, and the processing box is provided with a box door on one side for the casting to enter and exit.

[0013] Preferably, the inside of the processing box is fixedly connected with an industrial camera.

[0014] Preferably, the inside of the processing box is fixedly connected with a bracket, and the two sides of the bracket are provided with a tool magazine for storing tools.

[0015] The application further provides a surface treatment method for a robot joint arm speed reducer casting, comprising the following steps: S1, conveying the fixed casting into the processing box for processing; S2, then heating the heater to soften the T-shaped slide bar; S3, the adaptive assembly runs to adjust the positions of the nodes of the T-shaped slide bar to make the T-shaped slide bar fit the irregular surface of the casting, at the same time, the T-shaped slide bar is cooled by fluid to restore rigidity, and the flexible sandpaper is operated to move linearly and reciprocally to grind the casting; S4, the last industrial robot tool changer performs finishing.

[0016] Compared with the prior art, the present application has the following advantages: 1. The design of multiple flexible sandpapers fully considers the irregular characteristics of the surface of the casting. The flexible sandpaper has a flexible structure that can conform to the irregular surface of the casting, thereby achieving overall grinding of the surface of the casting. Compared with traditional rigid sandpaper, the flexible sandpaper can better adapt to castings of different shapes, improving the quality and effect of grinding and reducing dead angles caused by the inability to conform to the surface. The T-shaped slide is made of memory alloy, which provides a unique advantage for the conformance and grinding of the flexible sandpaper. After being heated, the rigidity of the T-shaped slide decreases and the material becomes soft, which enables it to be better driven by the self-adaptive assembly to bend and better conform to the surface of the casting. After cooling, the T-shaped slide will restore strength to provide stable support for the flexible sandpaper and improve the grinding efficiency between the flexible sandpaper and the casting. This design that changes characteristics according to temperature changes cleverly solves the support problem of the flexible sandpaper during conformance and grinding.

[0017] 2. The heater is arranged in the self-adaptive assembly and is used to conduct heat to the T-shaped slide, which is a key component for enabling the T-shaped slide to change characteristics according to design requirements. Before the self-adaptive assembly is operated, the heater can preheat the T-shaped slide to make it soft at the melting point, preparing for the subsequent bending and conformance operation. This preheating design can ensure that the T-shaped slide deforms smoothly under the action of the self-adaptive assembly, improving the operation stability and reliability of the equipment.

[0018] 3. After the flexible sandpaper completes the initial polishing, the industrial robot can target repair local defects (such as pores and sand holes) of the casting based on the industrial camera. The camera collects three-dimensional topographic data of the surface of the casting in real time, generates a polishing allowance distribution map, and drives the robot to adjust the processing trajectory to reduce excessive material cutting. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 is a schematic diagram of the three-dimensional structure of the present application; Figure 2 is a schematic diagram of the cross-sectional structure of the processing box in the present application; Figure 3 is a schematic diagram of the structure of the conveying frame in the present application; Figure 4 is a schematic diagram of the structure of the connecting shell in the present application; Figure 5 is a schematic diagram of the cross-sectional structure of the connecting shell in the present application; Figure 6 is a schematic diagram of the structure of the connecting shell in the present application; Figure 7A cross-sectional structure diagram of the liquid inlet cylinder in the application; Figure 8 A structure diagram of a single liquid inlet cylinder in the application; Figure 9 A structure diagram of the application; Figure 8 An enlarged structure diagram of A in the application.

[0020] In the figure: 100, processing box; 101, conveying frame; 102, clamp; 103, casting; 104, chip collecting cylinder; 105, box door; 200, industrial robot; 201, industrial camera; 202, support; 203, tool library; 204, mounting seat; 205, joint; 300, flexible sandpaper; 301, connecting shell; 302, T-shaped slide bar; 303, bracket; 304, movable connecting rod; 305, lifting motor; 306, linear module; 307, liquid pump; 308, liquid cylinder; 309, shunt pipe; 310, sliding clamp block; 311, piston rod; 312, liquid inlet cylinder; 313, cross pipe; 314, spring; 400, heater; 401, heat-conducting pad; 402, copper core rod; 403, heat-conducting rod; 404, copper sheet; 405, heat sheet. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the application will be clearly and completely described below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only part of the embodiments of the application, rather than all the embodiments of the application. Based on the embodiments in the application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the application.

[0022] Embodiment one: please refer to Figures 1-9The application provides a technical scheme: a surface treatment device for robot joint arm speed reducer castings, which comprises a treatment box 100 and a casting 103, further comprises a conveying frame 101, the top of the conveying frame 101 is provided with a clamp 102 for fixing the casting 103, and one end of the conveying frame 101 extends to the inside of the treatment box 100, a box door 105 is arranged on one side of the treatment box 100, and the conveying frame 101 can be used for conveying the clamp 102 to move, so that the user can fix the casting 103 on the clamp 102 outside the treatment box 100 and convey the casting 103 to the inside of the treatment box 100 for treatment, and two groups of workstations are arranged, which is a key design for improving production efficiency. In the surface treatment process of the robot joint arm speed reducer casting, the double workstations can simultaneously treat different castings or one workstation can perform preparation work such as loading and unloading of the casting while the other workstation is treating the casting. This parallel treatment mode effectively shortens the overall treatment time, improves the utilization rate of the equipment, and thus improves the efficiency of the entire production process. Meanwhile, a scrap collecting cylinder 104 is arranged at the bottom of the conveying frame 101 in the treatment box 100, the scrap collecting cylinder 104 is used for collecting scrap, and scrap guide plates can be arranged around the scrap collecting cylinder 104, a receiving trolley is arranged at the end of the scrap collector, and the scrap is conveyed to the trolley, and the scrap in the trolley is manually cleaned to improve the convenience.

[0023] Further comprising flexible sandpaper 300, which is configured with multiple pieces, and can be attached to the surface of the casting 103 for grinding, the top of the flexible sandpaper 300 is connected with a T-shaped sliding strip 302, and the T-shaped sliding strip 302 is made of memory alloy, which has reduced rigidity after being heated, the inside of the treatment box 100 is provided with a connecting shell 301 for sliding connection of the T-shaped sliding strip 302, and the inside of the connecting shell 301 is provided with an adaptive assembly for adjusting the bending of the T-shaped sliding strip 302 to attach to the surface of the casting 103, multiple flexible sandpapers 300 can be attached to the surface of the casting 103, which is configured to be flexible and can be attached to the irregular surface of the casting 103, and can provide better support force for attaching to the surface of the casting 103 under the cooperation of the adaptive assembly, wherein the T-shaped sliding strip 302 is made of memory alloy, which becomes soft after being heated and can be better driven by the adaptive assembly to bend, and will restore strength after cooling, thereby improving the grinding efficiency between the T-shaped sliding strip 302 and the casting 103.

[0024] The adaptive assembly is arranged in the plurality of liquid inlet cylinders 312 inside the connecting shell 301, the bottom of the plurality of liquid inlet cylinders 312 is slidably connected with the piston rod 311, the piston end of the piston rod 311 is arranged inside the liquid inlet cylinder 312, the end of the piston rod 311 away from the piston end is connected with the sliding clamp block 310 which is slidably connected with the T-shaped slide bar 302, the top of the connecting shell 301 is provided with a power mechanism for delivering fluid into the plurality of liquid inlet cylinders 312 to push the piston rod 311 to move, wherein the increase of the fluid in the plurality of liquid inlet cylinders 312 will extrude the piston end of the piston rod 311 to push the sliding clamp block 310 to move downward, so that the T-shaped slide bar 302 is bent and adheres to the surface of the casting 103, and the plurality of liquid inlet cylinders 312 are connected with the plurality of cross pipes 313, which can drive the piston rod 311 to move different distances when the fluid increases, so as to adapt to the irregular surface of the casting 103, and the outer surface of the piston rod 311 is sleeved with the spring 314 for self-resetting.

[0025] Further, the power mechanism includes the liquid pump 307 fixedly connected to the top of the connecting shell 301, the liquid cylinder 308 for storing oil is fixedly connected to the top of the connecting shell 301, the input end of the liquid pump 307 is communicated with the liquid cylinder 308, the output end of the liquid pump 307 is communicated with the shunt pipe 309, one end of the shunt pipe 309 is communicated with the plurality of cross pipes 313 communicated with the liquid inlet cylinders 312, when the piston rod 311 needs to be driven to move, the liquid pump 307 can be started to continuously pump oil into the plurality of liquid inlet cylinders 312, so as to drive the piston rod 311 to move, and the oil flows in the shunt pipe 309 and the plurality of cross pipes 313, having good fluidity and supporting force for the piston rod 311.

[0026] Further, the power mechanism is the power source of the adaptive assembly, which is composed of the liquid pump 307 fixedly connected to the top of the connecting shell 301, the liquid cylinder 308 for storing oil, and the shunt pipe 309 and the cross pipe 313. The liquid pump 307 adopts a high-performance hydraulic pump, having the advantages of stable flow and adjustable pressure. The liquid cylinder 308 adopts a container with good sealing performance, which can ensure that the oil does not leak and deteriorate during storage. When the piston rod 311 needs to be driven to move, the liquid pump 307 is started to continuously suck oil from the liquid cylinder 308, and then distribute the oil to the plurality of cross pipes 313 through the shunt pipe 309, and finally deliver the oil to the plurality of liquid inlet cylinders 312 through the cross pipes 313. The oil flows in the shunt pipe 309 and the plurality of cross pipes 313, having good fluidity and supporting force for the piston rod 311, which can ensure that the piston rod 311 can move stably and accurately, so as to realize accurate control of the flexible sandpaper 300, and in the subsequent resetting work, the liquid pump 307 can suck the oil in the plurality of liquid inlet cylinders 312 back into the liquid cylinder 308.

[0027] The inside of the processing box 100 is fixedly connected with a bracket 303, the inside of the bracket 303 is fixedly connected with a lifting motor 305, the inside of the lifting motor 305 is drivingly connected with a movable connecting rod 304, the bottom of the movable connecting rod 304 is connected with the connecting shell 301 through a linear module 306, the linear module 306 is used for driving the linear motion of the connecting shell 301, the linear module 306 can effectively drive the connecting shell 301 to move to realize the transmission of the flexible sandpaper 300, so that the flexible sandpaper 300 performs linear reciprocating motion to polish the casting 103, and the lifting motor 305 can adjust the height of the connecting shell 301.

[0028] Further comprising a heater 400 arranged in the adaptive assembly for conducting heat of the T-shaped slide bar 302, the heater 400 is arranged in the inside of the piston rod 311, the connecting position of the sliding clamp block 310 and the piston rod 311 is provided with a heat conduction pad 401, and the heating end of the heater 400 is connected with a heat sheet 405 for heat exchange with the heat conduction pad 401, the heater 400 can preheat the T-shaped slide bar 302 before the adaptive assembly operates, so that the T-shaped slide bar 302 reaches the melting point and becomes soft, the heat sheet 405 conducts the heat generated by the heater 400 to heat the T-shaped slide bar 302 through the gasket.

[0029] Further, the piston end of the piston rod 311 is fixedly connected with a copper sheet 404, the bottom of the copper sheet 404 is fixedly connected with a plurality of heat conduction rods 403, the top of the heat conduction pad 401 is fixedly connected with a plurality of copper core rods 402, and the plurality of copper core rods 402 are connected with the plurality of heat conduction rods 403 through a guide sheet, after the T-shaped slide bar 302 is heated and softened, the adaptive assembly moves to deform it, and the oil contacts the copper sheet 404 while moving the piston end of the piston rod 311, and conducts heat through the heat conduction rods 403 and the copper core rods 402, so as to cool the T-shaped slide bar 302 to solidify and shape, at the same time, the friction between the T-shaped slide bar 302 and the sliding clamp block 310 increases, and the friction between the T-shaped slide bar 302 and the connecting shell 301 also increases, so that the connecting shell 301 can stably drive the flexible sandpaper 300 to polish the casting 103.

[0030] It is worth mentioning that the heater 400 is the key component in the device that enables the T-shaped slide bar 302 to change the characteristics according to the design requirements. It is arranged in the adaptive assembly for conducting heat to the T-shaped slide bar 302. The heater 400 adopts advanced heating technology and can quickly and uniformly generate heat. The heater 400 is arranged inside the piston rod 311, and in order to ensure that the heat can be effectively conducted to the T-shaped slide bar 302, a heat-conducting pad 401 is arranged at the connection between the sliding clamp block 310 and the piston rod 311. The heat-conducting pad 401 is made of a material with high thermal conductivity and can quickly conduct the heat generated by the heater 400. The heating end of the heater 400 is connected with a heat sheet 405 that exchanges heat with the heat-conducting pad 401. The heat sheet 405 is designed with a large area and a thin thickness, which can increase the heat exchange area and improve the heat conduction efficiency. Before the adaptive assembly operates, the heater 400 is started, the heat sheet 405 generates heat and conducts it to the sliding clamp block 310 through the heat-conducting pad 401, and then the T-shaped slide bar 302 is heated. When the T-shaped slide bar 302 reaches the melting point, it becomes soft, which prepares for the subsequent bending and fitting operation.

[0031] Specifically, the casting 103 is placed on the top of the clamp 102 and fixed, the conveying frame 101 can convey the clamp 102 in and out of the processing box 100, and the box door 105 can be opened and closed. By operating the conveying frame 101, the clamp 102 is conveyed into the processing box 100 for processing. After the casting 103 enters the processing box 100, it is first located directly below the connecting shell 301. Then, the lifting motor 305 is operated to adjust the height of the connecting shell 301 to make it close to the casting 103. By turning on the plurality of heaters 400, the heat sheet 405 generates heat to heat the heat-conducting pad 401, so that the sliding clamp block 310 conducts heat to the T-shaped slide bar 302. The T-shaped slide bar 302 is composed of a low-melting-point alloy and a shape memory polymer, which will soften after being heated. The heaters 400 are turned off, and then the liquid pump 307 is operated to draw oil from the liquid cylinder 308 and convey it into the flow divider 309, and finally into the plurality of horizontal pipes 313, into the plurality of liquid inlet cylinders 312, to respectively push the plurality of piston rods 311 to move, and then drive the sliding clamp block 310 to extrude the flexible sandpaper 300 to deform and fit the irregular surface of the casting 103. As the oil fills the liquid inlet cylinder 312, it will come into contact with the copper sheet 404 to absorb the heat of the copper sheet 404, so that the T-shaped slide bar 302 gradually cools down. After the T-shaped slide bar 302 completely cools down and restores the initial solidification strength, the linear module 306 is operated to drive the connecting shell 301 to perform linear reciprocating motion, so that the flexible sandpaper 300 continuously grinds the surface of the casting 103.

[0032] In summary, the design of the plurality of flexible sandpaper 300 fully considers the irregular characteristics of the surface of the casting 103. The flexible sandpaper 300 has a flexible structure that can conform to the irregular surface of the casting 103, thereby achieving comprehensive grinding of the surface of the casting 103. Compared with traditional rigid sandpaper, the flexible sandpaper 300 can better adapt to castings 103 of different shapes, improving the quality and effect of grinding and reducing the dead angle of grinding caused by the inability to conform to the surface. The T-shaped slide bar 302 is made of memory alloy, which provides a unique advantage for the conforming and grinding of the flexible sandpaper 300. After being heated, the rigidity of the T-shaped slide bar 302 decreases and the material becomes soft, which allows it to be better driven by the self-adaptive assembly to bend and better conform to the surface of the casting 103. After cooling, the T-shaped slide bar 302 will restore strength to provide stable support force for the flexible sandpaper 300 and improve the grinding efficiency with the casting 103. This design that changes characteristics according to temperature changes cleverly solves the support problem of the flexible sandpaper 300 during conforming and grinding. The heater 400 is arranged in the self-adaptive assembly and is used to conduct heat to the T-shaped slide bar 302, which is a key component that allows the T-shaped slide bar 302 to change characteristics according to design requirements. Before the self-adaptive assembly operates, the heater 400 can preheat the T-shaped slide bar 302 to make it reach the melting point and become soft, preparing for the subsequent bending and conforming operation. This preheating design can ensure that the T-shaped slide bar 302 deforms smoothly under the action of the self-adaptive assembly, improving the operation stability and reliability of the equipment.

[0033] Embodiment two: please refer to Figure 1 Figure 9 The present application also provides a technical solution, which is different from the technical solution of embodiment one: a surface treatment device for robot joint arm speed reducer casting, further comprising an industrial robot 200 arranged in the interior of the treatment box 100, and the output end of the industrial robot 200 is provided with a joint 205 that can be connected with a tool to perform fine machining on the casting 103, the industrial robot 200 adopts a six-axis articulated structure, the end thereof is connected with a tool or a grinding tool through a quick-change joint 205 to realize modular connection, and the joint 205 can be arranged to perform secondary grinding on the casting 103 for fine processing.

[0034] Further, the interior of the treatment box 100 is fixedly connected with an industrial camera 201, the interior of the treatment box 100 is fixedly connected with a support 202, and the two sides of the support 202 are provided with a tool magazine 203 for storing tools, and the tool magazine 203 adopts a double-station rotary design, wherein the tool magazine 203 can place a plurality of tools of different specifications to facilitate different grinding scenes.

[0035] ​Specifically, the industrial camera 201 is operated to shoot the castings 103 after being processed by the flexible sandpaper 300, to detect the grinding quality, and the industrial robot 200 can be operated to extract the required tool from the tool library 203 to finely grind the castings 103.

[0036] In summary, after the flexible sandpaper 300 completes the initial polishing, the industrial robot 200 can target repair the local defects such as pores and sand holes of the castings 103 based on the industrial camera 201, the camera 201 collects the three-dimensional topographic data of the surface of the castings 103 in real time, generates a polishing allowance distribution map, and drives the robot 200 to adjust the processing trajectory to reduce excessive material cutting.

[0037] Embodiment three: please refer to Figure 1 Figure 9 The application also provides a technical solution, which is different from the technical solution of embodiment one: a surface treatment method for a robot joint arm speed reducer casting, comprising the following steps: S1, the castings 103 are placed on the top of the clamp 102 and fixed, the conveying frame 101 can convey the clamp 102 in and out of the inside of the treatment box 100, and the box door 105 can be opened and closed, the clamp 102 is conveyed to the inside of the treatment box 100 for treatment by operating the conveying frame 101; S2, after the castings 103 enter the treatment box 100, they are first located directly below the connecting shell 301, then the height of the connecting shell 301 is adjusted by operating the lifting motor 305 to make it close to the castings 103, the heaters 400 are turned on to make the heat plates 405 generate heat and heat the heat-conducting pads 401, so that the sliding clamping blocks 310 conduct the T-shaped sliding bars 302, which are composed of low-melting-point alloys and shape-memory polymers, and soften after being heated, and the heaters 400 are turned off; S3, then the liquid pump 307 sucks the oil from the liquid cylinder 308 and conveys it to the shunt pipe 309, and finally divides it into the multiple horizontal pipes 313, enters the multiple liquid inlet cylinders 312, and respectively pushes the multiple piston rods 311 to move, and then drives the sliding clamping blocks 310 to extrude the flexible sandpaper 300 to deform and fit the irregular surface of the castings 103, and as the oil fills the liquid inlet cylinder 312, it will contact the copper sheet 404 to absorb the heat of the copper sheet 404, so that the T-shaped sliding bar 302 gradually cools down, and after the T-shaped sliding bar 302 completely cools down, it returns to the initial solidification strength; S4, the linear module 306 is operated to drive the connecting shell 301 to perform linear reciprocating motion, so that the flexible sandpaper 300 continuously polishes the surface of the castings 103, and then the industrial camera 201 is operated to shoot the castings 103 after being processed by the flexible sandpaper 300, to detect the grinding quality, and the industrial robot 200 can be operated to extract the required tool from the tool library 203 to finely grind the castings 103. ​

[0038] In summary, the method realizes high-precision and self-adaptive polishing of complex surfaces of reducer castings (such as cycloid wheels and pin gear housings) by coupling thermal deformation technology with a closed-loop quality control system. The conveying frame 101 drives the clamp 102 to carry the casting 103 into the processing box 100, and the box door 105 is automatically closed to form a sealed space, preventing the leakage of metal dust generated by polishing. The heater 400 heats the heat-conducting pad 401 through the heat sheet 405, so that the sliding clamp block 310 conducts heat to the T-shaped slide bar 302 (low-melting-point alloy + shape memory polymer), triggering its softening. The oil pump 307 delivers oil to the shunt pipe 309, pushing the piston rod 311 to move, so that the sliding clamp block 310 extrudes the flexible sandpaper 300 to deform. The oil absorbs the heat of the copper sheet 404, accelerating the cooling and solidification of the T-shaped slide bar 302. The oil is both a power medium and a cooling medium. After cooling, the T-shaped slide bar 302 restores the initial solidification strength, ensuring stable contact force between the sandpaper and the casting during polishing, and avoiding overcutting caused by vibration.

[0039] It should be noted that the relational terms herein such as first and second, and the like, are used solely to distinguish one entity or action from another, without necessarily requiring or implying any such actual relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus.

[0040] Although embodiments of the present application have been shown and described, it is to be understood that various modifications, substitutions, replacements and changes can be made to these embodiments without departing from the principles and spirit of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A surface treatment device for a robot joint arm reduction casting, comprising a treatment tank (100) and a casting (103), characterized in that, Also include: Industrial robot (200), which is arranged in the processing box (100), and the output end of the industrial robot (200) is provided with a joint (205) which can be connected with a tool to carry out fine machining on the casting (103); Flexible sandpaper (300) is configured with multiple, which can be attached to the surface of the casting (103) to grind it, the top of the flexible sandpaper (300) is connected with a T-shaped slide bar (302), and the T-shaped slide bar (302) is composed of a memory alloy, which has a lower rigidity after being heated, the inside of the processing box (100) is provided with a connecting shell (301) for sliding connection of the T-shaped slide bar (302), and the inside of the connecting shell (301) is provided with an adaptive assembly for adjusting the bending of the T-shaped slide bar (302) to fit the surface of the casting (103); The heater (400) is arranged in the adaptive assembly for conducting heat to the T-shaped slide bar (302).

2. The surface treatment device for a robot joint arm reduction gear casting according to claim 1, characterized by: The adaptive assembly is arranged in a plurality of liquid inlet cylinders (312) inside the connecting shell (301), the bottom of each of the plurality of liquid inlet cylinders (312) is slidingly connected with a piston rod (311), and the piston end of the piston rod (311) is arranged inside the liquid inlet cylinder (312), the end of the piston rod (311) away from the piston end is connected with a sliding clamp block (310) slidingly connected with the T-shaped slide bar (302), the top of the connecting shell (301) is provided with a power mechanism for delivering fluid into the plurality of liquid inlet cylinders (312) to push the piston rod (311) to move.

3. The surface treatment device for a robot joint arm reduction casting according to claim 2, characterized in that: The power mechanism includes a liquid pump (307) fixedly connected to the top of the connecting shell (301), the top of the connecting shell (301) is fixedly connected with a liquid cylinder (308) for storing oil, the input end of the liquid pump (307) is in communication with the liquid cylinder (308), the output end of the liquid pump (307) is in communication with a shunt pipe (309), one end of the shunt pipe (309) is in communication with a plurality of cross pipes (313) in communication with the liquid inlet cylinders (312).

4. The surface treatment device for a robot joint arm reduction casting according to claim 2, characterized in that: The heater (400) is arranged inside the piston rod (311), and the connection between the sliding clamp block (310) and the piston rod (311) is provided with a heat-conducting pad (401), and the heating end of the heater (400) is connected with a heat exchange with the heat-conducting pad (401).

5. The surface treatment device for a robot joint arm reduction casting according to claim 4, characterized in that: The piston end of the piston rod (311) is fixedly connected with a copper sheet (404), and the bottom of the copper sheet (404) is fixedly connected with a plurality of heat-conducting rods (403), the top of the heat-conducting pad (401) is fixedly connected with a plurality of copper core rods (402), and the plurality of copper core rods (402) are connected with the plurality of heat-conducting rods (403) through a guide sheet.

6. The surface treatment device for a robot joint arm reduction casting according to claim 1, characterized in that: The inside of the processing box (100) is fixedly connected with a bracket (303), and the inside of the bracket (303) is fixedly connected with a lifting motor (305), the inside of the lifting motor (305) is drivingly connected with a movable connecting rod (304), and the bottom of the movable connecting rod (304) is connected with the connecting shell (301) through a linear module (306), the linear module (306) is used to drive the linear motion of the connecting shell (301).

7. The surface treatment device for a robot joint arm reduction casting according to claim 1, characterized in that: Also include a conveying frame (101), the top of the conveying frame (101) is placed with a clamp (102) for fixing the casting (103), and one end of the conveying frame (101) extends to the inside of the processing box (100), one side of the processing box (100) is provided with a box door (105) for the casting (103) to go out.

8. The surface treatment apparatus for a robot joint arm reduction casting according to claim 1, characterized by: The inside of the processing box (100) is fixedly connected with an industrial camera (201).

9. The surface treatment apparatus for a robot joint arm reduction casting according to claim 1, characterized by: The inside of the processing box (100) is fixedly connected with a support (202), and the two sides of the support (202) are provided with a tool magazine (203) for storing tools.

10. A surface treatment method for robot joint arm reducer casting, according to any one of claims 1-9, characterized in that: S1, the fixed casting (103) is conveyed into the processing box (100) for processing; S2, then the heater (400) is heated to soften the T-shaped slide bar (302); S3, the adaptive assembly runs to adjust the node position of the T-shaped slide bar (302) to make it fit the irregular surface of the casting (103), and the T-shaped slide bar (302) is cooled by fluid to restore rigidity, and the flexible sandpaper (300) is operated to move linearly and reciprocally to grind the casting (103); S4, finally, the industrial robot (200) changes the tool to perform finishing.

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