Polishing apparatus for large burrs on casting surface

Abstract

The application discloses a polishing device for large-scale burrs on the surface of a casting, comprising a three-dimensional scanner, which is arranged at one side of a polishing mechanism and parallel to the polishing mechanism; the three-dimensional scanner is fixedly arranged on a visual angle offset mechanism; and a burr sensing mechanism is fixedly arranged at the side of the polishing mechanism. In order to solve the technical problem that the common three-dimensional scanner is prone to missing scanning data due to blocked visual line when facing large-scale shielding burrs, the burr sensing mechanism is used to physically contact and detect the burrs, and the visual angle offset mechanism is directly mechanically driven through a linkage control mechanism, so that the visual angle of the three-dimensional scanner can be automatically deflected when encountering the burrs, the burr shielding can be bypassed, the three-dimensional data of the shielded area can be more fully acquired, and more reliable path planning basis can be provided for subsequent polishing.

Description

Technical Field

[0001] This application relates to the field of casting surface processing equipment, and in particular to grinding equipment for removing large burrs on the surface of castings. Background Technology

[0002] In the production of complex metal castings such as engine cylinder heads, due to mold parting, sand core fitting clearance and other reasons, casting burrs such as flash and seams will inevitably be generated on the surface of the casting. Before machining, the burrs on the surface of the casting must be cleaned.

[0003] Traditional deburring mainly relies on manual operation using hand tools such as angle grinders and rotary files. This method has problems such as high labor intensity, low production efficiency, inconsistent grinding quality depending on worker experience, and serious dust and noise hazards.

[0004] To improve the level of automation, existing technologies have introduced automated grinding systems based on industrial robots and 3D vision. The typical workflow is as follows: First, complete point cloud data of the casting is obtained through a 3D scanner. After comparing it with the CAD digital model, the burr area is identified. Then, the grinding path is planned to complete the burr removal.

[0005] However, when the burr is so large that it completely or partially obscures the surface of the casting body at the point of attachment under the scanning view, the fixed-view 3D scanner cannot obtain the 3D information of the surface of the casting body "behind" the burr. This results in the generated workpiece point cloud model having holes or distortions in that area, which causes the subsequent model comparison and burr recognition algorithms to fail and make it impossible to accurately determine the boundary between the burr and the body.

[0006] In other words, existing technologies have the following technical problems: ordinary 3D scanning grinding equipment is prone to burr obscuring due to the viewing angle when grinding large burrs. Therefore, a grinding device for large burrs on the surface of castings is proposed to address the above problems. Summary of the Invention

[0007] This embodiment provides a grinding device for large burrs on the surface of castings to solve the problem that ordinary three-dimensional scanning grinding devices in the prior art are prone to burr obscuring due to the viewing angle when grinding large burrs.

[0008] According to one aspect of this application, a grinding apparatus for removing large burrs on the surface of castings is provided, comprising:

[0009] The machining platform has an X-axis adjustment module fixedly installed on its upper surface, a Y-axis adjustment module installed on the X-axis adjustment module, a Z-axis adjustment module installed on the Y-axis adjustment module, and a grinding mechanism installed on the Z-axis adjustment module.

[0010] A 3D scanner is positioned on one side of the grinding mechanism and parallel to it.

[0011] The 3D scanner is fixedly mounted on the viewing angle offset mechanism, and one end of the viewing angle offset mechanism is fixedly connected to the grinding mechanism.

[0012] The burr sensing mechanism is fixedly installed on the side of the grinding mechanism, and a linkage control mechanism connects the burr sensing mechanism and the viewing angle offset mechanism.

[0013] Furthermore, the grinding mechanism includes a support arm, a milling and grinding cutter, and a grinding motor;

[0014] A milling and grinding tool is rotatably connected to one end of the support arm, and a grinding motor is fixedly installed at the upper end of the support arm. The grinding motor and the milling and grinding tool are connected by a transmission.

[0015] Furthermore, the viewing angle offset mechanism includes a support base plate, a deflection support plate, and an offset slider.

[0016] The support base plate is fixedly installed at one end of the support arm. A first rotating shaft is rotatably connected to the support base plate. A deflection support plate is fixedly connected to the arc-shaped wall of the first rotating shaft. When the first rotating shaft rotates, it can drive the deflection support plate to deflect.

[0017] An offset slider is slidably connected to the deflection support plate, and a 3D scanner is fixedly mounted on the bottom surface of the offset slider.

[0018] Furthermore, an offset gear is fixedly connected to the first rotating shaft, the offset gear meshes with the gear post, and the gear post is fixedly connected to the transmission shaft of the linkage control mechanism.

[0019] Furthermore, the burr sensing mechanism includes a connecting bracket, a guide plate, and a burr contact rod.

[0020] The connecting bracket is fixedly installed on the side wall of the support arm;

[0021] A guide plate is fixedly installed at the bottom of the connecting bracket, and a guide slider is slidably connected to the guide plate. A burr contact rod is provided on the bottom surface of the guide slider.

[0022] Furthermore, a connecting seat is fixedly connected to the upper surface of the guide slider, and a moving bar is connected to one side of the connecting seat. The upper surface of the moving bar is provided with protruding teeth, and a first gear is rotatably connected to the side wall of the connecting bracket. The first gear is used to mesh with the protruding teeth.

[0023] Furthermore, the linkage control mechanism includes a plate frame, a transmission shaft, and a second shaft, with the plate frame fixedly installed on the side wall of the support arm;

[0024] A second rotating shaft is rotatably connected to the plate frame. A first transmission wheel is fixedly connected to one end of the second rotating shaft. A second transmission wheel is coaxially fixed to one side of the first gear. A transmission belt is sleeved between the first transmission wheel and the second transmission wheel.

[0025] Furthermore, a transmission shaft is rotatably connected to the plate frame, and the transmission shaft is fixedly connected to the gear column.

[0026] Furthermore, a second transmission gear is fixedly connected to the arc-shaped wall of the transmission shaft, and a first transmission gear is fixedly connected to the arc-shaped wall of the second transmission shaft. The second transmission gear and the first transmission gear mesh with each other.

[0027] Furthermore, a reset damper is also provided at one end of the transmission shaft;

[0028] The reset damper includes a circular fixed shell, a reset torsion spring, a friction sleeve, and a damping friction plate. The circular fixed shell is fixedly mounted on the side wall of the plate frame.

[0029] One end of the drive shaft extends into the inner cavity of the circular fixed shell and is rotatably engaged with the circular fixed shell. A protruding plate is provided at one end of the drive shaft. A fixed side plate is fixedly connected in the inner cavity of the circular fixed shell. A reset torsion spring is fixedly connected between the fixed side plate and the protruding plate. It is used to store energy when the drive shaft rotates due to triggering and to provide torque to reset the drive shaft by rotating in the opposite direction after triggering. When the drive shaft rotates in the forward direction due to the driving angle shift, the reset torsion spring is torsionally stored.

[0030] A friction sleeve is fixedly connected to the arc-shaped wall of the transmission shaft, and a damping friction plate is slidably arranged in the inner cavity of the circular fixed shell, with the arc surface between the damping friction plate and the friction sleeve fitting together.

[0031] In order to solve the technical problem in the prior art that ordinary 3D scanners are prone to data loss due to obstructed vision when facing large burrs, this application designs a grinding device with adaptive scanning angle adjustment function. By physically contacting and detecting burrs through a burr sensing mechanism, and directly mechanically driving the angle offset mechanism through a linkage control mechanism, the 3D scanner's angle can be deflected in real time and automatically when encountering burrs, thereby bypassing the burr obstruction. This allows for more complete acquisition of 3D data of the obstructed area, thus providing a more reliable path planning basis for subsequent grinding. It can effectively improve the phenomenon of insufficient scanning data caused by large burr obstruction, and is particularly suitable for application in the automated grinding of complex castings such as engine cylinder heads. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 This is a schematic diagram of the overall structure of one embodiment of this application;

[0034] Figure 2 This is a three-dimensional structural diagram of the back of an embodiment of this application;

[0035] Figure 3 This is a front view structural diagram of one embodiment of this application;

[0036] Figure 4 This is a schematic diagram of the connection structure of a grinding mechanism according to an embodiment of this application;

[0037] Figure 5 This is a schematic diagram of the linkage control mechanism according to one embodiment of this application;

[0038] Figure 6 This is a schematic diagram of the viewpoint offset mechanism according to one embodiment of this application;

[0039] Figure 7 This is a schematic diagram of the structure of a burr sensing mechanism according to an embodiment of this application;

[0040] Figure 8 This is one embodiment of the present application. Figure 7 A magnified structural diagram of point A;

[0041] Figure 9 This is a schematic diagram of the structure of an initial position adjuster according to an embodiment of this application;

[0042] Figure 10 This is a schematic diagram of the structure of a reset damper according to an embodiment of this application;

[0043] Figure 11 This is a schematic diagram of the connection of a burr contact rod according to an embodiment of this application.

[0044] In the picture:

[0045] 1. Processing platform;

[0046] 2. X-axis adjustment module; 201. Fixed stand; 202. X-axis guide rod; 203. X-axis moving seat; 204. X-axis drive screw; 205. Bevel gear A; 206. Synchronizing rod; 207. Bevel gear B; 208. First servo motor; 209. Bevel gear set;

[0047] 3. Y-axis adjustment module; 301. Support frame; 302. Y-axis guide rod; 303. Y-axis moving seat; 304. Second servo motor; 305. Y-axis drive screw;

[0048] 4. Z-axis adjustment module; 401. Z-axis fixed housing; 402. Z-axis moving base; 403. Third servo motor; 404. Z-axis drive screw;

[0049] 5. Grinding mechanism; 501. Support arm; 502. Milling and grinding cutter; 503. Grinding motor;

[0050] 6. 3D scanner;

[0051] 7. Viewpoint offset mechanism; 701. Support base plate; 702. First rotating shaft; 703. Deflection support plate; 704. Offset slider; 705. Offset strut; 706. Offset gear; 707. Gear post;

[0052] 8. Burr sensing mechanism; 801. Connecting bracket; 802. Guide plate; 8021. Ear plate; 803. Guide slider; 804. Burr contact rod; 8041. Deflection rod; 8042. Traction link; 8043. Hemispherical contact part; 8044. Adjusting slide rod; 8045. Adjusting guide rod; 8046. Locking bolt; 805. Connecting seat; 806. Linear guide rod; 807. Return spring; 808. Moving bar; 809. Convex tooth; 810. First gear; 811. Initial position adjuster; 8111. Rectangular moving rod; 8112. Rectangular sleeve; 8113. Threaded sleeve; 8114. Adjusting screw; 8115. Adjusting knob;

[0053] 9. Linkage control mechanism; 901. Plate frame; 902. Second rotating shaft; 903. First transmission wheel; 904. Second transmission wheel; 905. Transmission belt; 906. First transmission gear; 907. Second transmission gear; 908. Transmission shaft; 9081. Protruding plate; 909. Reset damper; 9091. Circular fixed shell; 9092. Fixed side plate; 9093. Reset torsion spring; 9094. Friction sleeve; 9095. Damping friction plate; 9096. Damping spring. Detailed Implementation

[0054] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0055] Please see Figure 1 and Figure 2 As shown, a grinding device for removing large burrs on the surface of castings includes:

[0056] The machining platform 1 has an X-axis adjustment module 2 fixedly installed on its upper surface. The X-axis adjustment module 2 has a Y-axis adjustment module 3 installed on its upper surface. The Y-axis adjustment module 3 has a Z-axis adjustment module 4 installed on its upper surface. The Z-axis adjustment module 4 has a grinding mechanism 5 installed on its upper surface. The grinding mechanism is used to drive the grinding tool to move and position in three-dimensional space to cover the surface of the casting to be machined.

[0057] The 3D scanner 6 is located on one side of the polishing mechanism 5 and is arranged side by side with the polishing mechanism 5.

[0058] The 3D scanner 6 is fixedly mounted on the viewing angle offset mechanism 7. One end of the viewing angle offset mechanism 7 is fixedly connected to the grinding mechanism 5. The viewing angle offset mechanism 7 is used to drive the 3D scanner 6 to deflect its angle under mechanical linkage to change the scanning viewing angle.

[0059] The burr sensing mechanism 8 is fixedly installed on the side of the grinding mechanism 5. The burr sensing mechanism 8 and the viewing angle offset mechanism 7 are connected by a linkage control mechanism 9. When the burr contact rod 804 of the burr sensing mechanism 8 is lifted by a large burr on the surface of the casting and is in a triggered state, the linear displacement can be converted into rotational motion through the linkage control mechanism 9, thereby driving the viewing angle offset mechanism 7 to move.

[0060] This application uses a burr sensing mechanism 8 to physically detect burrs and a linkage control mechanism 9 to directly mechanically drive a viewing angle offset mechanism 7. This enables the 3D scanner 6 to automatically and in real time deflect its viewing angle when it encounters a burr, thus avoiding burr obstruction. This allows for more complete acquisition of 3D data of the obstructed area, providing a reliable path planning basis for subsequent precision grinding. It is particularly suitable for automated grinding of complex castings such as engine cylinder heads.

[0061] In one specific embodiment of this application, see [reference]. Figure 1 As shown, the X-axis adjustment module 2 includes a fixed stand 201, an X-axis drive screw 204, and an X-axis moving seat 203.

[0062] X-axis drive screws 204 are provided on both sides of the upper surface of the processing platform 1. Fixed brackets 201 are rotatably connected to both ends of the X-axis drive screws 204. The fixed brackets 201 are fixed on the upper surface of the processing platform 1 to support and position the X-axis drive screws 204.

[0063] An X-axis guide rod 202 is fixedly connected between two fixed legs 201. The X-axis guide rod 202 passes through the X-axis movable seat 203 and is slidably engaged with the X-axis movable seat 203. An X-axis drive screw 204 passes through the X-axis movable seat 203 and is threadedly engaged with the X-axis movable seat 203. It is used to drive the X-axis movable seat 203 to move linearly along the X-axis guide rod 202 when the X-axis drive screw 204 rotates.

[0064] To ensure the synchronous movement of the X-axis moving seats 203 on both sides and the stability of the Y-axis adjustment module 3, please refer to... Figure 2 and Figure 3 As shown, one end of each of the two X-axis guide rods 202 is fixedly connected to a bevel gear A205, and a synchronizing rod 206 is provided between the two bevel gears A205.

[0065] Both ends of the synchronizing rod 206 are fixedly connected to bevel gears B207, which mesh with bevel gears A205.

[0066] A first servo motor 208 is also fixedly installed on the upper surface of the processing platform 1. A bevel gear set 209 is provided between the end of the output shaft of the first servo motor 208 and the synchronizing rod 206 to transmit the power of the first servo motor 208 synchronously to the two X-axis drive screws 204 to ensure that they rotate synchronously in the same direction.

[0067] With this technical solution, when the first servo motor 208 starts, it drives the synchronous rod 206 to rotate through the bevel gear set 209, which in turn drives the bevel gears B207 at both ends to rotate. The bevel gear A205 that meshes with it drives the two X-axis drive screws 204 to rotate synchronously, which can drive the two X-axis moving seats 203 to move synchronously along the X-axis direction, thereby driving the Y-axis adjustment module 3 and the grinding mechanism 5 above them to perform X-axis positioning.

[0068] Further reading Figure 2 As shown, the Y-axis adjustment module 3 includes a support frame 301, a Y-axis guide rod 302, and a Y-axis moving seat 303.

[0069] Support frames 301 are fixedly connected to the upper surfaces of the two X-axis moving seats 203. A Y-axis guide rod 302 is fixedly connected between the two support frames 301. The Y-axis guide rod 302 passes through the Y-axis moving seat 303 and slides with the Y-axis moving seat 303; it is used to provide guidance and support for the Y-axis moving seat 303.

[0070] A Y-axis drive screw 305 is rotatably connected between the two support frames 301. The Y-axis drive screw 305 passes through the Y-axis moving seat 303 and is threadedly engaged with the Y-axis moving seat 303.

[0071] A second servo motor 304 is also fixedly installed on one side of the support frame 301. The output shaft of the second servo motor 304 is fixedly connected to one end of the Y-axis drive screw 305, which is used to drive the Y-axis moving seat 303 to move linearly along the Y-axis guide rod 302. When the second servo motor 304 is started, the rotation of the drive screw 305 can drive the Y-axis moving seat 303 to move along the Y-axis direction through the threaded joint, thereby realizing the positioning of the grinding mechanism 5 in the Y-axis direction.

[0072] Furthermore, see Figure 4 and Figure 7 As shown, the Z-axis adjustment module 4 includes a Z-axis fixed housing 401, a Z-axis movable seat 402, and a Z-axis drive screw 404. The Z-axis fixed housing 401 is fixedly disposed on one side of the Y-axis movable seat 303, and the Z-axis movable seat 402 is slidably connected in the inner cavity of the Z-axis fixed housing 401.

[0073] A Z-axis drive screw 404 is rotatably connected inside the Z-axis fixed housing 401. The Z-axis drive screw 404 passes through the Z-axis moving seat 402 and is threadedly engaged with the Z-axis moving seat 402. A third servo motor 403 is fixedly installed at the upper end of the Z-axis fixed housing 401. The end of the output shaft of the third servo motor 403 is fixedly connected to one end of the Z-axis drive screw 404.

[0074] With this technical solution, when the third servo motor 403 is started, it drives the Z-axis drive screw 404 to rotate, which can drive the Z-axis moving seat 402 to rise and fall vertically in the Z-axis fixed shell 401, thereby controlling the vertical height of the grinding mechanism 5 and adapting to castings of different heights and controlling the grinding depth.

[0075] In a preferred embodiment of this application, see [reference] Figure 4 As shown, the grinding mechanism 5 includes a support arm 501, a milling and grinding cutter 502, and a grinding motor 503;

[0076] The support arm 501 is fixedly installed on one side wall of the Z-axis moving seat 402. When the Z-axis moving seat 402 is raised or lowered, it can drive the entire grinding mechanism 5 to move synchronously.

[0077] A milling and grinding tool 502 is rotatably connected to one end of the support arm 501, and a grinding motor 503 is fixedly installed at the upper end of the support arm 501. The grinding motor 503 is connected to the milling and grinding tool 502 via a belt or coupling and is used to drive the milling and grinding tool 502 to rotate at high speed to remove burrs from the surface of the casting.

[0078] For specific technical solutions, please refer to Figure 4 and Figure 6 As shown, the viewing angle offset mechanism 7 includes a support base plate 701, a deflection support plate 703, and an offset slider 704.

[0079] A support base plate 701 is fixedly installed at one end of the support arm 501. A first rotating shaft 702 is rotatably connected to the support base plate 701. A deflection support plate 703 is fixedly connected to the arc-shaped wall of the first rotating shaft 702. When the first rotating shaft 702 rotates, it can drive the deflection support plate 703 to deflect.

[0080] A guide groove is provided on the deflection support plate 703, and an offset slider 704 is slidably connected in the guide groove of the deflection support plate 703. The 3D scanner 6 is fixedly installed at the bottom surface of the offset slider 704. In the initial state, the deflection support plate 703 is in a horizontal position, and the optical axis of the 3D scanner 6 is vertically downward, facing the surface of the casting to be scanned.

[0081] Furthermore, in order to optimize the viewing angle by simultaneously sliding backward when the deflection support plate 703 swings down, one end of the offset strut 705 is rotatably connected to the side wall of the support base plate 701, and the other end of the offset strut 705 extends to the bottom surface of the offset slider 704 and is rotatably connected to the offset slider 704.

[0082] With this technical solution, when the deflection support plate 703 deflects downward, the offset strut 705 can support and push and pull, thereby driving the offset slider 704 to move away from the grinding point along the guide groove under the combined action of gravity and the constraint of the connecting rod. Thus, while the optical axis angle of the 3D scanner 6 is adjusted, its scanning point is also appropriately moved to obtain a better side observation angle and further avoid the near burrs from forming new obstructions to the line of sight.

[0083] Furthermore, see Figure 6 As shown, an offset gear 706 is fixedly connected to the first rotating shaft 702. The offset gear 706 meshes with the gear post 707. The gear post 707 is fixedly connected to the transmission shaft 908 of the linkage control mechanism 9, and is used to receive the rotational power from the linkage control mechanism 9 to drive the first rotating shaft 702 to rotate, thereby realizing the angle adjustment of the deflection support plate 703.

[0084] In a preferred embodiment of this application, see [reference] Figure 4 and Figure 7 As shown, the burr sensing mechanism 8 includes a connecting bracket 801, a guide plate 802, and a burr contact rod 804.

[0085] The connecting bracket 801 is fixedly installed on the side wall of the support arm 501; it is used to fix the entire burr sensing mechanism 8 in front of the grinding mechanism 5 so that it contacts the surface to be processed first.

[0086] A guide plate 802 is fixedly installed at the bottom of the connecting bracket 801. A guide groove is provided on the guide plate 802. A guide slider 803 is slidably connected in the guide groove of the guide plate 802. A burr contact rod 804 is fixedly connected to the bottom surface of the guide slider 803.

[0087] A connecting seat 805 is fixedly connected to the upper surface of the guide slider 803. A linear guide rod 806 is fixedly connected to one side of the connecting seat 805. An ear plate 8021 is provided at one end of the upper surface of the guide plate 802. The linear guide rod 806 passes through the ear plate 8021 and slides with the ear plate 8021. A return spring 807 is also fixedly connected between the ear plate 8021 and the connecting seat 805.

[0088] With this technical solution, when the equipment moves and the burr contact rod 804 touches the inclined surface of the large burr, the burr contact rod 804 is lifted up, which can drive the guide slider 803 and the connecting seat 805 to slide along the guide plate 802, compressing the reset spring 807 to generate a linear displacement, and then transmit this displacement signal to the subsequent linkage control mechanism 9.

[0089] As a preferred technical solution, in order to reduce movement resistance and adapt to burrs of different shapes, the burr contact rod 804 is a rod with a roller installed, so that it can roll more smoothly over the burr surface and convert the height change of the burr into movement.

[0090] Furthermore, see Figure 8 As shown, a movable bar 808 is also connected to one side of the connecting seat 805. A tooth 809 is provided on the upper surface of the movable bar 808. A first gear 810 is rotatably connected to the side wall of the connecting bracket 801. The first gear 810 is used to mesh with the tooth 809.

[0091] When the connecting seat 805 moves, it can drive the moving bar 808 to move synchronously, thereby converting the linear motion into the rotational motion of the first gear 810 through the meshing of the convex tooth 809 with the first gear 810, which in turn drives the linkage control mechanism 9 to start working.

[0092] As a preferred technical solution, in order to enable the burr sensing mechanism 8 to adapt to castings with different burr height references or different burr trigger thresholds, an initial position adjuster 811 is also provided between the moving bar 808 and the connecting seat 805. The initial position adjuster 811 includes a rectangular moving rod 8111 and a rectangular sleeve rod 8112. The rectangular moving rod 8111 is fixedly connected to the moving bar 808, and the rectangular sleeve rod 8112 is fixedly connected to the connecting seat 805. The rectangular moving rod 8111 and the rectangular sleeve rod 8112 are in sliding engagement.

[0093] A threaded sleeve 8113 is fixedly connected in the inner cavity of a rectangular moving rod 8111, and an adjusting screw 8114 is rotatably connected in the inner cavity of a rectangular sleeve rod 8112. The adjusting screw 8114 passes through the threaded sleeve 8113 and is threadedly engaged with the threaded sleeve 8113.

[0094] An adjustment knob 8115 is rotatably connected to one side of the rectangular sleeve 8112. The adjustment knob 8115 is connected to the adjustment screw 8114 for transmission. Rotating the adjustment knob 8115 drives the adjustment screw 8114 to rotate, thereby causing the threaded sleeve 8113 and the rectangular moving rod 8111 to extend and retract relative to the rectangular sleeve 8112. When the adjustment knob 8115 is rotated, the length of the rectangular moving rod 8111 extending out of the rectangular sleeve 8112 can be changed, thereby adjusting the initial position of the convex tooth 809 on the moving bar 808 as a whole, and thus adjusting the minimum burr height required for triggering.

[0095] In other words, the closer the initial position of the tooth 809 is to the first gear 810, the smaller the minimum burr height required to trigger the deflection of the 3D scanner 6. Conversely, the farther the initial position of the tooth 809 is from the first gear 810, the larger the minimum burr height required to trigger the deflection of the 3D scanner 6. By adjusting the initial position, different burr requirements can be met.

[0096] In one specific embodiment of this application, see [reference]. Figure 4 and Figure 5 As shown, the linkage control mechanism 9 includes a plate frame 901, a transmission shaft 908, and a second shaft 902. The plate frame 901 is fixedly installed on the side wall of the support arm 501.

[0097] A second rotating shaft 902 is rotatably connected to the plate frame 901. A first transmission wheel 903 is fixedly connected to one end of the second rotating shaft 902. A second transmission wheel 904 is coaxially fixed to one side of the first gear 810. A transmission belt 905 is sleeved between the first transmission wheel 903 and the second transmission wheel 904. With this technical solution, when the first gear 810 rotates due to burr triggering, it can drive the coaxial second transmission wheel 904 to rotate, thereby driving the first transmission wheel 903 and the second rotating shaft 902 to rotate synchronously through the transmission belt 905.

[0098] Preferably, in order to make the transmission precise and smooth, the first transmission wheel 903 and the second transmission wheel 904 are toothed synchronous pulleys and the transmission belt 905 is a synchronous belt, so as to ensure that the rotational motion can be transmitted precisely without slippage.

[0099] Furthermore, in order to transmit the rotational motion of the second rotating shaft 902 to the transmission shaft 908 of the drive perspective offset mechanism 7, see [reference needed]. Figure 5As shown, a transmission shaft 908 is rotatably connected to the plate frame 901. The transmission shaft 908 is fixedly connected to the gear column 707 and is used to ultimately drive the offset gear 706 to rotate.

[0100] A second transmission gear 907 is fixedly connected to the arc-shaped wall of the transmission shaft 908, and a first transmission gear 906 is fixedly connected to the arc-shaped wall of the second shaft 902. The second transmission gear 907 and the first transmission gear 906 mesh with each other.

[0101] With this technical solution, when the second rotating shaft 902 rotates, it drives the first transmission gear 906 on it to rotate, which can drive the second transmission gear 907 and the transmission shaft 908 that mesh with it to rotate, thereby transmitting the motion triggered by the burr sensing mechanism 8 to the gear column 707, and then driving the view offset mechanism 7 to move, so that the 3D scanner 6 will deflect the view.

[0102] In a preferred embodiment of the burr sensing mechanism 8, see [reference] Figure 11 As shown, in order to enable the burr contact rod 804 to adapt more sensitively and reliably to burr surfaces with different orientations and slopes, and to effectively convert the burr contour changes into triggering actions, the burr contact rod 804 includes a deflection rod 8041, a traction link 8042, and a hemispherical contact part 8043.

[0103] The deflection rod 8041 is located on the bottom surface of the guide crossbar 802 and is rotatably connected to the guide crossbar 802 via a pin. One end of the traction rod 8042 is rotatably connected to the side wall of the deflection rod 8041, and the other end of the traction rod 8042 is in contact with the bottom surface of the guide slider 803.

[0104] With this technical solution, when the hemispherical contact part 8043 of the burr contact rod 804 contacts and slides along the burr inclined surface, it will be subjected to a lateral thrust, which will force the deflection rod 8041 to deflect around its connection point with the guide crossbar 802. Then, the rotational motion of the deflection rod 8041 can be converted into a traction effect on the bottom surface of the guide slider 803 by the traction link 8042, which will drive the guide slider 803 to overcome the elastic force of the return spring 807 and generate linear displacement along the guide groove of the guide crossbar 802, thereby outputting a trigger signal.

[0105] Furthermore, in order to enable fine-tuning of the initial trigger threshold, it is possible to match burrs of different sizes and shapes.

[0106] A hemispherical contact portion 8043 is provided on the side of the deflection rod 8041. An adjusting slide rod 8044 is fixedly provided on one side of the hemispherical contact portion 8043. The adjusting slide rod 8044 passes through the deflection rod 8041 and slides with the deflection rod 8041. An adjusting guide rod 8045 is also fixedly connected to the inner wall of the hemispherical contact portion 8043. The adjusting guide rod 8045 passes through the deflection rod 8041 and slides with the deflection rod 8041. The adjusting slide rod 8044 and the adjusting guide rod 8045 together form a sliding pair to ensure that the hemispherical contact portion 8043 can move linearly relative to the deflection rod 8041.

[0107] The bottom of the deflection rod 8041 is also threaded with a locking bolt 8046. The locking bolt 8046 is used to tighten the end of the adjusting slide rod 8044 after the adjustment is in place, so as to lock the relative position of the hemispherical contact part 8043 and the deflection rod 8041.

[0108] With the above design scheme, when adjustment is required, the locking bolt 8046 is first loosened, and the hemispherical contact part 8043 can be slid along the direction of the adjusting slide rod 8044 and the adjusting guide rod 8045. Then the position of the hemispherical contact part 8043 can be adjusted. By adjusting the distance between the hemispherical contact part 8043 and the edge of the casting, the trigger threshold can be adjusted to adapt to different working conditions from small protrusions to large burrs.

[0109] Preferably, the hemispherical contact portion 8043 is made of a material with high hardness and high wear resistance, such as hardened tool steel or cemented carbide. The outer surface of the hemispherical contact portion 8043 is precision ground and polished to form a smooth spherical surface. Through the smooth and hard surface treatment, the coefficient of sliding friction between the contact portion and the rough surface of the burr can be effectively reduced, so that the contact portion can more smoothly cross the peaks and valleys of the burr and reduce jamming.

[0110] In a preferred embodiment of this application, see [reference] Figure 5 and Figure 10 As shown, in order to enable the 3D scanner 6 to automatically and smoothly return to the initial viewing angle after the burr contact rod 804 passes the highest point of the burr, and to prevent the mechanism from generating impact or oscillation during the triggering process, a reset damper 909 is also provided at one end of the transmission shaft 908.

[0111] The reset damper 909 includes a circular fixed shell 9091, a reset torsion spring 9093, a friction sleeve 9094, and a damping friction plate 9095. The circular fixed shell 9091 is fixedly installed on the side wall of the plate frame 901.

[0112] One end of the transmission shaft 908 extends into the inner cavity of the circular fixed housing 9091 and is rotatably engaged with the circular fixed housing 9091. A protruding plate 9081 is provided at one end of the transmission shaft 908. A fixed side plate 9092 is fixedly connected to the inner cavity of the circular fixed housing 9091. A reset torsion spring 9093 is fixedly connected between the fixed side plate 9092 and the protruding plate 9081. The reset torsion spring 9093 is used to store energy when the transmission shaft 908 rotates due to triggering and to provide torque to reset the transmission shaft 908 by rotating in the opposite direction after triggering. When the transmission shaft 908 rotates in the forward direction due to the driving angle shift, the reset torsion spring 9093 is torsionally stored.

[0113] A friction sleeve 9094 is fixedly connected to the arc-shaped wall of the transmission shaft 908, and a damping friction plate 9095 is slidably disposed in the inner cavity of the circular fixed shell 9091, with the arc surface of the damping friction plate 9095 and the friction sleeve 9094 in contact.

[0114] One end of a damping spring 9096 is fixedly connected to the damping friction plate 9095, and the other end of the damping spring 9096 is fixedly connected to the inner wall of the circular fixed shell 9091. This is used to provide positive pressure to the damping friction plate 9095, so that it generates controllable sliding friction between itself and the friction sleeve 9094.

[0115] When the drive shaft 908 rotates, the friction sleeve 9094 rotates accordingly, and the friction damping generated between it and the damping friction plate 9095 can consume kinetic energy, making the viewing angle deflection and reset action of the 3D scanner 6 smoother, thereby improving the stability of the scanning deflection process.

[0116] The circuits, electronic components, and modules involved are all existing technologies, which can be fully implemented by those skilled in the art, and need not be elaborated upon. The content protected by this application does not involve any improvement to the software and methods.

[0117] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A grinding device for removing large burrs on the surface of castings, characterized in that: include: A processing platform (1) is provided with an X-axis adjustment module (2) fixedly installed on the upper surface of the processing platform (1), a Y-axis adjustment module (3) is provided on the X-axis adjustment module (2), a Z-axis adjustment module (4) is provided on the Y-axis adjustment module (3), and a grinding mechanism (5) is provided on the Z-axis adjustment module (4). A three-dimensional scanner (6) is disposed on one side of the polishing mechanism (5) and is arranged side by side with the polishing mechanism (5); The three-dimensional scanner (6) is fixedly mounted on the viewing angle offset mechanism (7), and one end of the viewing angle offset mechanism (7) is fixedly connected to the grinding mechanism (5); A burr sensing mechanism (8) is fixedly installed on the side of the grinding mechanism (5), and a linkage control mechanism (9) is connected between the burr sensing mechanism (8) and the viewing angle offset mechanism (7). The grinding mechanism (5) includes a support arm (501), a milling and grinding tool (502), and a grinding motor (503). A milling and grinding tool (502) is rotatably connected to one end of the support arm (501), and a grinding motor (503) is fixedly installed at the upper end of the support arm (501). The grinding motor (503) and the milling and grinding tool (502) are connected by a belt or a coupling. The viewing angle offset mechanism (7) includes a support base plate (701), a deflection support plate (703), and an offset slider (704). The support base plate (701) is fixedly installed at one end of the support arm (501). A first rotating shaft (702) is rotatably connected to the support base plate (701). A deflection support plate (703) is fixedly connected to the arc-shaped wall of the first rotating shaft (702). When the first rotating shaft (702) rotates, it can drive the deflection support plate (703) to deflect. An offset slider (704) is slidably connected to the deflection support plate (703), and the three-dimensional scanner (6) is fixedly installed on the bottom surface of the offset slider (704); An offset gear (706) is fixedly connected to the first rotating shaft (702). The offset gear (706) meshes with the gear column (707). The gear column (707) is fixedly connected to the transmission shaft (908) of the linkage control mechanism (9). The burr sensing mechanism (8) includes a connecting bracket (801), a guide plate (802), and a burr contact rod (804). The connecting bracket (801) is fixedly installed on the side wall of the support arm (501); The bottom end of the connecting bracket (801) is fixedly provided with a guide plate (802), and a guide slider (803) is slidably connected on the guide plate (802). A burr contact rod (804) is provided on the bottom surface of the guide slider (803), and a connecting seat (805) is provided on the upper surface of the guide slider (803). A movable bar (808) is also connected to one side of the connecting seat (805). A tooth (809) is provided on the upper surface of the movable bar (808). A first gear (810) is rotatably connected to the side wall of the connecting bracket (801). The first gear (810) is used to mesh with the tooth (809). The linkage control mechanism (9) includes a plate frame (901), a transmission shaft (908), and a second shaft (902). The plate frame (901) is fixedly installed on the side wall of the support arm (501). A second rotating shaft (902) is rotatably connected to the plate frame (901). A first transmission wheel (903) is fixedly connected to one end of the second rotating shaft (902). A second transmission wheel (904) is coaxially fixed to one side of the first gear (810). A transmission belt (905) is sleeved between the first transmission wheel (903) and the second transmission wheel (904).

2. The grinding equipment for removing large burrs on the surface of castings according to claim 1, characterized in that: A transmission shaft (908) is rotatably connected to the plate frame (901), and the transmission shaft (908) is fixedly connected to the gear column (707).

3. The grinding equipment for removing large burrs on the surface of castings according to claim 1, characterized in that: A second transmission gear (907) is fixedly connected to the arc-shaped wall of the transmission shaft (908), and a first transmission gear (906) is fixedly connected to the arc-shaped wall of the second shaft (902). The second transmission gear (907) and the first transmission gear (906) mesh with each other.

4. The grinding equipment for removing large burrs on the surface of castings according to claim 3, characterized in that: A reset damper (909) is also provided at one end of the transmission shaft (908). The reset damper (909) includes a circular fixed shell (9091), a reset torsion spring (9093), a friction sleeve (9094), and a damping friction plate (9095). One end of the transmission shaft (908) extends into the inner cavity of the circular fixed shell (9091) and is rotatably engaged with the circular fixed shell (9091). A protruding plate (9081) is provided at one end of the transmission shaft (908). A fixed side plate (9092) is fixedly connected in the inner cavity of the circular fixed shell (9091). A return torsion spring (9093) is fixedly connected between the fixed side plate (9092) and the protruding plate (9081). A friction sleeve (9094) is fixedly connected to the arc-shaped wall of the transmission shaft (908), and a damping friction plate (9095) is slidably disposed in the inner cavity of the circular fixed shell (9091). The arc surfaces of the damping friction plate (9095) and the friction sleeve (9094) are in contact.

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