Polishing device suitable for multi-variety large special-shaped cast steel parts

Abstract

This invention provides a grinding device suitable for various types of large, irregularly shaped cast steel parts, including a grinding station with inlets and outlets on both sides; a feeding conveyor and a discharging conveyor respectively installed on both sides of the grinding station, and an internal conveyor installed inside the grinding station; a grinding robot installed inside the grinding station; a vision scanning module installed on the top of the feeding conveyor; a sealing plate installed on the outer side of the inlets and outlets, with an inflatable sealing ring fixed at the edge of the sealing plate, and the inflatable sealing ring connected to an air injection and exhaust mechanism; and an automatic opening and closing mechanism; the automatic opening and closing mechanism is used to drive the sealing plate to rotate, so that the inlets and outlets automatically open or close. Through the collaborative design of the vision scanning module and the grinding robot, the vision scanning module scans to obtain the actual three-dimensional point cloud data of the workpiece blank, automatically plans the optimal processing path, and can adapt to large, irregularly shaped cast steel parts of different types and structures without manual programming.

Description

Technical Field

[0001] This invention relates to the field of grinding and processing of irregularly shaped cast steel parts, and particularly to a grinding device suitable for various types of large irregularly shaped cast steel parts. Background Technology

[0002] Large, irregularly shaped cast steel parts are widely used in high-end equipment manufacturing fields such as engineering machinery, wind power equipment, and rail transportation. Their blank surfaces often have residual gating gates, flash burrs, oxide scale, and uneven machining allowances, which need to be polished before they can proceed to subsequent processing.

[0003] Existing grinding equipment mostly uses a fixed-programmable robotic arm structure. For different types and structures of irregularly shaped cast steel parts, it is necessary to manually write special processing path programs, which involves a large amount of programming work and a long debugging cycle, resulting in low processing efficiency. At the same time, the entrances and exits of traditional grinding stations are mostly open or have simple curtain designs. A large amount of metal shavings and dust generated during the grinding process can easily spread from the entrances and exits into the external environment, causing workshop pollution and endangering the health of operators.

[0004] Therefore, a grinding device suitable for various types of large, irregularly shaped cast steel parts is provided to address the above problems. Summary of the Invention

[0005] In order to solve the technical problem that dust generated during grinding can easily spread to the outside world, this invention provides a grinding device suitable for various types of large and irregularly shaped cast steel parts.

[0006] The present invention solves the above-mentioned technical problems through the following technical solutions:

[0007] This invention provides a grinding device suitable for various types of large, irregularly shaped cast steel parts, including a grinding station with inlets and outlets on both sides; a feeding conveyor and a discharging conveyor respectively installed on both sides of the grinding station, and an internal conveyor installed inside the grinding station; a grinding robot installed inside the grinding station; a vision scanning module installed on the top of the feeding conveyor; a sealing plate installed on the outer side of the inlets and outlets, with an inflatable sealing ring fixed at the edge of the sealing plate, and the inflatable sealing ring connected to an air injection and exhaust mechanism; and an automatic opening and closing mechanism; the automatic opening and closing mechanism is used to drive the sealing plate to flip, so that the inlets and outlets automatically open or close.

[0008] Preferably, the automatic opening and closing mechanism includes a movable column and a first guide sleeve; the movable column is slidably sleeved with the first guide sleeve, and the first guide sleeve is fixed to the outside of the feeding conveyor by a second support frame; a roller is rotatably installed at one end of the movable column near the feeding conveyor; a push plate is fixed at the other end of the movable column; a push seat is provided on one side of the push plate; a guide part is connected to the push seat; a reset part is provided on the guide part; a rack is connected to the guide part; a gear is meshed with the rack; a rotating shaft is fixed in the middle of the gear; the rotating shaft is rotatably connected to the grinding station; the rotating shaft is fixed to one side of the closing plate; a second spring is installed between the push plate and the first guide sleeve; and a tray for placing large irregularly shaped cast steel parts is also included; a wedge-shaped surface for pressing the roller is provided on one side of the tray.

[0009] Preferably, a locking mechanism is provided on the outer side of the feeding conveyor; the locking mechanism includes a locking block, the locking block is fixed with a slide block, the slide block is slidably connected to a slide rail fixed to the outer side wall of the feeding conveyor, a third spring is provided on one side of the slide block, a locking hole adapted to the locking block is opened on the movable column, and an unlocking part is connected to the slide block.

[0010] Preferably, the unlocking part includes a second guide sleeve fixed to the outside of the feeding conveyor, the second guide sleeve is fitted with a movable block, and the movable block is an iron block. A guide wheel is rotatably mounted on the outside of the feeding conveyor. A pull rope is fixed on one side of the movable block. The pull rope passes around the guide wheel, and the end of the pull rope away from the movable block is fixed to the slide. A magnetic block is provided on the side wall of the tray.

[0011] Preferably, the air injection and exhaust mechanism includes a cylinder fixed to one end of a rotating shaft; a first piston is connected to the cylinder, one side wall of the first piston and the inner wall of the cylinder form an air chamber, and a driving part is provided on the other side of the first piston; a connecting hole is provided in the rotating shaft and the connecting hole communicates with the air chamber; a connecting pipe is provided in the sealing plate, and the connecting hole communicates with the inflation sealing ring through the connecting pipe.

[0012] Preferably, the drive unit includes a traveling bar, which is fixed to the push plate by a connecting rod. The traveling bar is provided with a second vertical surface, a ramp surface and a first vertical surface in sequence along the direction away from the feed conveyor. The distance between the second vertical surface and the end face of the rotating shaft is greater than the distance between the first vertical surface and the end face of the rotating shaft. A traveling seat is slidably mounted on the traveling bar. A square column is fixed to the side wall of the first piston, and one end of the square column is rotatably connected to the traveling seat.

[0013] Preferably, an end plate is fixed at one end of the cylinder, and a square hole is provided on the end plate to cooperate with the square column. A fourth spring is sleeved on the square column, and the two ends of the fourth spring abut against the first piston and the end plate, respectively.

[0014] Preferably, the traveling bar has a strip-shaped groove along its length, and the traveling bar also has a sliding groove along its length. The traveling seat is provided with a sliding head and a round rod. The round rod is rotatably connected to the end of the square column. The round rod passes through the strip-shaped groove, and the sliding head is slidably connected to the sliding groove.

[0015] Preferably, a positioning mechanism is provided on the rotating shaft; the positioning mechanism includes a positioning block; a second piston is fixed to one end of the positioning block, a guide groove is provided on the outer wall of the rotating shaft, a connecting groove is provided between the guide groove and the connecting hole, the second piston is fitted into the connecting groove, the positioning block is slidably installed into the guide groove, a positioning groove is provided on the outer wall of the grinding station, and the positioning block is inserted into the positioning groove.

[0016] Preferably, a stop block is fixed at the bottom of the connecting groove.

[0017] Based on common knowledge in the field, the above-mentioned preferred conditions can be combined arbitrarily to obtain various preferred embodiments of the present invention.

[0018] The positive and progressive effects of this invention are as follows:

[0019] The aforementioned grinding device, applicable to various types of large irregularly shaped cast steel parts, utilizes a collaborative design between a vision scanning module and a grinding robot. The vision scanning module scans and acquires the actual three-dimensional point cloud data of the workpiece blank, automatically planning the optimal processing path. It can adapt to different types and structures of large irregularly shaped cast steel parts without manual programming, significantly improving grinding accuracy and consistency while ensuring grinding efficiency.

[0020] The automatic opening and closing mechanism is driven by the wedge-shaped extrusion of the pallet, which can realize the flipping opening and closing of the sealing plate without the need for additional power components. A locking mechanism is set up to keep the inlet and outlet continuously open when the workpiece is loaded and unloaded. In conjunction with the coordinated operation of the in-station conveyor and the loading and unloading conveyor, continuous operation of workpiece scanning, grinding, loading and unloading can be realized. After the pallet and workpiece enter the grinding station, the next workpiece and pallet move to the bottom of the vision scanning module. The locking mechanism can be automatically unlocked by the magnetic block on the pallet, which will cause the automatic opening and closing mechanism to automatically close the sealing plate. The unlocking of the locking mechanism does not require manual operation.

[0021] The inflatable sealing ring along the edge of the sealing plate, in conjunction with the air injection and exhaust mechanism, inflates and expands to press against the inlet and outlet side walls when closed, ensuring a sealing effect and preventing dust and debris from spilling out; before opening and closing, it is evacuated and retracted to avoid friction between the inflatable sealing ring and the outer wall of the grinding station, greatly extending the service life of the seal.

[0022] The air intake and exhaust mechanism is linked to the automatic opening and closing mechanism, with all power supplied through the wedge-shaped surface of the tray. This eliminates the need for an additional power source and control components for the air intake and exhaust mechanism. A positioning mechanism is also included, which, driven by the air pressure of the air intake and exhaust mechanism, automatically inserts into the positioning slot after the sealing plate closes. This prevents accidental opening of the sealing plate due to collisions or other factors during grinding, ensuring sealing stability. The positioning mechanism automatically releases itself before opening. This enhances the stability of the sealing plate when closed and eliminates the need for an additional power source for driving and control. Attached Figure Description

[0023] Figure 1 This is a three-dimensional structural diagram of the entire invention;

[0024] Figure 2 This is a schematic diagram of the grinding station and the discharge conveyor of the present invention;

[0025] Figure 3 This is a schematic diagram of the overall planar structure of the present invention;

[0026] Figure 4 This is a schematic diagram of the internal structure of the grinding station of the present invention;

[0027] Figure 5 This is a schematic diagram of the automatic opening and closing mechanism and locking mechanism of the present invention;

[0028] Figure 6 For the present invention Figure 5 Enlarged structural diagram of section A in the middle;

[0029] Figure 7 This is a schematic diagram of the automatic opening and closing mechanism of the present invention;

[0030] Figure 8 For the present invention Figure 7 Enlarged structural diagram of section B in the middle;

[0031] Figure 9 This is a schematic diagram of the structure of the baffle and guide post of the present invention;

[0032] Figure 10 This is a schematic diagram of the connection structure between the first guide sleeve and the push plate of the present invention;

[0033] Figure 11 This is a schematic diagram of the air injection and exhaust mechanism of the present invention;

[0034] Figure 12 This is a schematic diagram of the structure of the walking strip of the present invention;

[0035] Figure 13 This is a schematic diagram of the structure of the walking seat of the present invention;

[0036] Figure 14 This is a schematic diagram of the structure of the sealing plate and the rotating shaft of the present invention;

[0037] Figure 15 Schematic diagram of the connection structure between the inflatable sealing ring and the communication hole of the present invention;

[0038] Figure 16 Schematic diagram of the structure of the positioning mechanism of the present invention;

[0039] Figure 17 Schematic diagram of the structure of the present invention in the open state of the inlet and outlet;

[0040] Figure 18 For the present invention Figure 17 Schematic diagram of the enlarged structure of part C in the present invention;

[0041] Figure 19 Schematic diagram of the structure of the tray of the present invention;

[0042] Figure 20 Schematic diagram when the matching turning mechanism of the grinding device of the present invention is implemented;

[0043] Figure 21 Schematic diagram of the structure of the turning mechanism of the present invention.

[0044] Explanation of reference numerals

[0045] 1. Grinding station; 101. Grinding robot; 102. Inlet / outlet; 103. Positioning slot; 2. Feeding conveyor; 3. Discharging conveyor; 4. Vision scanning module; 401. First support frame; 5. Pallet; 501. Wedge-shaped surface; 502. Magnetic block; 6. Enclosure plate; 601. Inflatable sealing ring; 602. Connecting pipe; 7. In-station conveyor; 8. Rotating shaft; 801. Connecting hole; 802. Connecting groove; 803. Guide groove; 9. Automatic opening / closing mechanism; 901. Live... 9011 Moving column; 902 Locking hole; 903 Roller; 904 Second support frame; 905 First guide sleeve; 906 Push plate; 907 Guide column; 908 Sliding frame; 909 Push seat; 910 Gear; 911 First spring; 912 Stop plate; 913 Second spring; 10 First protective cover; 11 Second protective cover; 12 Locking mechanism; 1201 Pull rope; 1202 Guide wheel; 1203 Connecting seat; 1204 Movable 1205, Second guide sleeve; 1206, Slide rail; 1207, Slide seat; 1208, Locking block; 1209, Third spring; 1210, Guide plate; 13, Air injection / venting mechanism; 1301, Connecting rod; 1302, Traveling bar; 13021, First vertical surface; 13022, Sloping surface; 13023, Second vertical surface; 13024, Slide groove; 13025, Strip groove; 1303, Traveling seat; 13031, Sliding head; 13032, Round rod; 130 4. Cylinder; 1305. First piston; 1306. Square column; 1307. Fourth spring; 1308. End plate; 14. Positioning mechanism; 1401. Positioning block; 1402. Second piston; 1403. Stop block; 15. Tilting mechanism; 1501. Third support frame; 1502. Tilting frame; 1503. Motor; 1504. First tilting conveyor; 1505. Lifting rod; 1506. Second tilting conveyor; 1507. Hydraulic cylinder; 1508. Pressure plate. Detailed Implementation

[0046] The present invention will be further illustrated by way of embodiments below, but the present invention is not limited to the scope of the embodiments described herein.

[0047] like Figures 1-21 As shown, a grinding device suitable for grinding various types of large irregularly shaped cast steel parts includes a grinding station 1, with inlet and outlet 102 on both sides of the grinding station 1.

[0048] The grinding station 1 is equipped with a feeding conveyor 2 and a discharging conveyor 3 on both sides, and an internal conveyor 7 is installed inside the grinding station 1.

[0049] The polishing station 1 is equipped with a polishing robot 101.

[0050] A vision scanning module 4 is provided at the top center of the feeding conveyor 2; the vision scanning module 4 is fixed with a first support frame 401, and the bottom of the first support frame 401 is directly installed on the ground.

[0051] A sealing plate 6 is provided on the outside of the inlet / outlet 102. An inflatable sealing ring 601 is fixed at the edge of the sealing plate 6. The inflatable sealing ring 601 is connected to an air injection / exhaust mechanism 13.

[0052] It also includes an automatic opening and closing mechanism 9; the automatic opening and closing mechanism 9 is used to drive the closing plate 6 to flip, so that the inlet and outlet 102 automatically opens or closes.

[0053] After the workpiece is conveyed to the area below the vision scanning module 4 via the feeding conveyor 2, the vision scanning module 4 scans it to quickly acquire the actual 3D point cloud data of the large, irregularly shaped casting blank. By comparing the actual model obtained from the scan with the CAD design model in real time, an allowance distribution map is automatically generated. Based on this data, the system intelligently plans the optimal processing path to achieve "programming-free" adaptive processing. After scanning, the workpiece is conveyed into the grinding station 1, entering the station conveyor 7 from the inlet / outlet 102. The station conveyor 7 then transports the workpiece to the center of the station, where the grinding robot 101 automatically grinds the workpiece according to the aforementioned optimal processing path. After grinding, the workpiece is conveyed to the outlet conveyor 3 via the station conveyor 7 and then transported away by the outlet conveyor 3. The vision scanning module 4 uses a high-precision 3D scanner.

[0054] In the above, the grinding robot 101 adopts a multi-degree-of-freedom robotic arm to meet the grinding requirements at different angles and positions, so as to be suitable for the complex processing of large irregular cast steel parts; at the same time, before grinding, the vision scanning module 4 performs vision scanning and the system automatically generates the processing path based on the scanning data, so as to be suitable for grinding and processing of large irregular cast steel parts with multiple varieties and different types of structures.

[0055] With the automatic opening and closing mechanism 9 and the closing plate 6, when the workpiece needs to be fed or discharged from the inlet and outlet 102, the automatic opening and closing mechanism 9 drives the closing plate 6 to flip, so that the inlet and outlet 102 opens automatically; while during grinding, the closing plate 6 is driven to flip, so that the inlet and outlet 102 closes automatically, preventing grinding debris and dust from overflowing through the inlet and outlet 102 and polluting the external environment. Furthermore, an inflatable sealing ring 601 is provided on the edge of the sealing plate 6. After the sealing plate 6 closes the inlet and outlet 102, the inflatable sealing ring 601 is inflated by the air injection and exhaust mechanism 13, causing it to expand and press against the outer wall of the inlet and outlet 102, ensuring the sealing effect of the sealing plate 6 on the inlet and outlet 102. Before the sealing plate 6 is flipped to open the inlet and outlet 102, the air injection and exhaust mechanism 13 extracts the gas from the inflatable sealing ring 601, causing it to contract and separate the inflatable sealing ring 601 from the outer wall of the inlet and outlet 102. During the subsequent flipping and opening or closing of the sealing plate 6, the inflatable sealing ring 601 does not rub against the outer wall of the grinding station 1, avoiding wear on the inflatable sealing ring 601 and improving its service life.

[0056] like Figure 4 , Figure 5 , Figure 7 as well as Figure 9 As shown, the automatic opening and closing mechanism 9 includes a movable column 901 and a first guide sleeve 904; the movable column 901 and the first guide sleeve 904 are slidably sleeved together, and the first guide sleeve 904 is fixed to the outside of the feeding conveyor 2 by a second support frame 903. A roller 902 is rotatably mounted on one end of the movable column 901 near the feeding conveyor 2, and a push plate 905 is fixed to the other end of the movable column 901. A push seat 908 is provided on one side of the push plate 905, and a guide part is connected to the push seat 908, and a reset part is provided on the guide part. The guide section is connected to a rack 909, which meshes with a gear 910. A rotating shaft 8 is fixed in the middle of the gear 910 and is rotatably connected to the grinding station 1. The rotating shaft 8 is fixed to one side of the sealing plate 6. A second spring 913 is installed between the push plate 905 and the first guide sleeve 904. The two ends of the second spring 913 are fixed to the push plate 905 and the first guide sleeve 904, respectively. It also includes a tray 5 for placing large irregular cast steel parts. A wedge-shaped surface 501 for pressing rollers 902 is provided on one side of the tray 5.

[0057] The guide part includes a guide post 906 fixed to the outside of the feed conveyor 2. A sliding frame 907 is slidably mounted on the guide post 906. The two sides of the sliding frame 907 are fixed to the push seat 908 and the rack 909, respectively. The reset part is a first spring 911. The first spring 911 is sleeved on the guide post 906. An end seat is fixed to one end of the guide post 906 away from the feed conveyor 2. A baffle 912 is fixedly sleeved on the guide post 906. One end of the first spring 911 abuts against the sliding frame 907, and the other end abuts against the end seat.

[0058] The automatic opening and closing mechanism 9 is covered with a first protective cover 10, which is fixed to the outside of the feeding conveyor 2 for the protection of the automatic opening and closing mechanism 9.

[0059] The tray 5, carrying the workpiece on it, moves to below the vision scanning module 4 (i.e., the middle of the feed conveyor 2) for scanning, such as... Figure 4 As shown; after scanning, the tray 5 is conveyed by the feeding conveyor 2, moving it closer to the grinding station 1. During the movement of the tray 5, the wedge surface 501 presses against the roller 902, causing the roller 902, the movable column 901, and the push plate 905 to move together away from the feeding conveyor 2 and stretch the second spring 913. After the push plate 905 is in contact with the push seat 908, the push plate 905 pushes the push seat 908 to move together. The push seat 908 drives the sliding frame 907 to slide on the guide column 906 and compress the first spring 911. The sliding frame 907 drives the rack 909 to move. Through the meshing transmission of the rack 909 and the gear 910, the rotating shaft 8 rotates, thereby causing the closing plate 6 to flip away from the inlet and outlet 102, so that the inlet and outlet 102 opens automatically. Figures 17-18 As shown in the figure (in the figure, the roller 902 contacts the end of the wedge-shaped surface 501 on the tray 5. When the tray 5 moves, the non-wedge-shaped surface 501 of the tray 5 contacts the roller 902, which will prevent the roller 902 from moving further).

[0060] After the aforementioned inlet / outlet 102 is opened, the pallet 5 remains outside the inlet / outlet 102 (i.e., on the feed conveyor 2). In order to ensure that the inlet / outlet 102 remains open when the pallet 5 enters later, a locking mechanism 12 is provided to lock the movable column 901 of the automatic opening and closing mechanism 9.

[0061] like Figures 5-8As shown, a locking mechanism 12 is provided on the outer side of the feeding conveyor 2; the locking mechanism 12 includes a locking block 1208, a slide block 1207 fixed to the locking block 1208, the slide block 1207 being slidably connected to a slide rail 1206 fixed to the outer wall of the feeding conveyor 2, a third spring 1209 being provided on one side of the slide block 1207, a locking hole 9011 adapted to the locking block 1208 being provided on the movable column 901, and an unlocking part being connected to the slide block 1207. A guide plate 1210 is fixed on the slide rail 1206, one end of the third spring 1209 is fixed to the guide plate 1210, and the other end is fixed to the slide block 1207.

[0062] The unlocking part includes a second guide sleeve 1205 fixed to the outside of the feeding conveyor 2. A movable block 1204, which is an iron block, is fitted onto the second guide sleeve 1205. A guide wheel 1202 is rotatably mounted on the outside of the feeding conveyor 2 (specifically, the guide wheel 1202 is rotatably connected to a connecting seat 1203 fixed to the outer wall of the feeding conveyor 2). The guide wheel 1202 is located on one side of the second guide sleeve 1205. A pull rope 1201 is fixed to one side of the movable block 1204. The pull rope 1201 passes around the guide wheel 1202, and one end of the pull rope 1201 away from the movable block 1204 is fixed to a slide block 1207. A magnetic block 502 is provided on the side wall of the tray 5. Specifically, a groove is formed on the side wall of the tray 5, and the magnetic block 502 is fixedly fitted into the groove. The magnetic block 502 is a permanent magnet.

[0063] A guide plate 1210 is also provided on one side of the guide wheel 1202. The guide plate 1210 is fixed to the outer wall of the feed conveyor 2. The guide plate 1210 is provided with a groove, through which the pull rope 1201 passes.

[0064] When the pallet 5 moves to the middle of the feeding conveyor 2 (i.e., below the vision scanning module 4), the magnetic block 502 aligns with the movable block 1204. However, as the pallet 5 moves away from below the vision scanning module 4, and the wedge-shaped surface 501 on the pallet 5 presses against the roller 902, causing the automatic opening and closing mechanism 9 to open the closing plate 6, the magnetic block 502 and the movable block 1204 are not aligned. After the closing plate 6 opens, the locking hole 9011 on the movable column 901 aligns with the locking block 1208. The elastic force of the third spring 1209 causes the slide block 1207 to slide on the slide rail 1206, driving the locking block 1208 to insert into the locking hole 9011, thus achieving automatic locking and maintaining the opening of the inlet / outlet 102. In the above process, the slide 1207 pulls the pull rope 1201, which in turn pulls the movable block 1204 to move. As the tray 5 enters the middle of the grinding station 1 (the middle of the conveyor 7 in the station), the next tray 5 carrying the workpiece enters the middle of the feeding conveyor 2. The magnetic block 502 of the tray 5 is aligned with the movable column 901. Through the magnetic attraction of the magnetic block 502 on the movable column 901, the movable column 901 moves and comes into contact with the magnetic block 502. The movable column 901 pulls the slide 1207 and the locking block 1208 to move through the pull rope 1201, and compresses the third spring 1209, causing the locking block 1208 to leave the lock hole 9011, thus achieving automatic unlocking.

[0065] After unlocking, the rack 909, sliding frame 907, and push seat 908 are reset by the elastic force of the first spring 911 until the sliding frame 907 is in contact with the baffle 912. The push plate 905, movable column 901, and roller 902 are reset by the elastic force of the second spring 913. During the reset process, the rack 909 drives the gear 910 and the rotating shaft 8 to reset and rotate, so that the sealing plate 6 closes the inlet and outlet 102.

[0066] It should be noted that the grinding device is a continuous processing equipment. When a pallet 5 carrying a workpiece enters the middle of the station conveyor 7, the next pallet 5 carrying a workpiece is transported to the feeding conveyor 2 and moved to the middle of the feeding conveyor 2, so that the next workpiece is scanned while the previous workpiece is being ground.

[0067] In this system, the sealing plates 6 at the inlet and outlet 102 on both sides of the grinding station 1 are connected to the rotating shaft 8. The rotating shaft 8 drives the two sealing plates 6 to open and close synchronously. When the workpiece grinding on the conveyor 7 in the station is completed and the workpiece scanning on the feeding conveyor 2 is completed, the feeding conveyor 2 transports the pallet 5 on it to the grinding station 1, so that the inlet and outlet 102 are opened. The conveyor 7 in the station transports the pallet 5 on it to the discharge conveyor 3. The length of the conveyor 7 in the station is equal to that of the feeding conveyor 2, and the conveying speed of the two is kept equal. This achieves the simultaneous entry of the scanned workpiece into the grinding station 1 and the exit of the ground workpiece from the grinding station 1.

[0068] The locking mechanism 12 is covered with a second protective cover 11, and the second protective cover 11 is fixed to the outer side wall of the feeding conveyor 2. The second protective cover 11 is used to protect the locking mechanism 12.

[0069] like Figures 11-15 As shown, the air injection and exhaust mechanism 13 includes a cylinder 1304 fixed to one end of the rotating shaft 8; a first piston 1305 is connected inside the cylinder 1304, one side wall of the first piston 1305 and the inner wall of the cylinder 1304 form an air chamber, and a driving part is provided on the other side of the first piston 1305; a connecting hole 801 is provided inside the rotating shaft 8, and the connecting hole 801 communicates with the air chamber; a connecting pipe 602 is provided inside the sealing plate 6, and the connecting hole 801 communicates with the inflation sealing ring 601 through the connecting pipe 602.

[0070] The drive unit includes a traveling bar 1302, which is fixed to the push plate 905 via a connecting rod 1301. The traveling bar 1302 is provided with a second vertical surface 13023, a ramp surface 13022, and a first vertical surface 13021 in sequence along the direction away from the feed conveyor 2. The distance between the second vertical surface 13023 and the end face of the rotating shaft 8 is greater than the distance between the first vertical surface 13021 and the end face of the rotating shaft 8. A traveling seat 1303 is slidably mounted on the traveling bar 1302. A square column 1306 is fixed to the side wall of the first piston 1305, and one end of the square column 1306 is rotatably connected to the traveling seat 1303.

[0071] An end plate 1308 is fixed at one end of the cylinder 1304, and a square hole is provided on the end plate 1308 to cooperate with the square post 1306. A fourth spring 1307 is sleeved on the square post 1306, and the two ends of the fourth spring 1307 abut against the first piston 1305 and the end plate 1308 respectively.

[0072] The walking bar 1302 has a strip groove 13025 along its length direction, and the walking bar 1302 also has a sliding groove 13024 along its length direction. The walking seat 1303 is provided with a sliding head 13031 and a round rod 13032. The round rod 13032 is rotatably connected to the end of the square column 1306. The round rod 13032 passes through the strip groove 13025, and the sliding head 13031 is slidably connected to the sliding groove 13024.

[0073] The air injection / venting mechanism 13 is used for venting and injecting air into the air-filled sealing ring 601. The specific process is as follows:

[0074] As the pusher plate 905 approaches the push seat 908, the push seat 908 is not subjected to the pushing force of the pusher plate 905, the rotating shaft 8 does not rotate, and the sealing plate 6 does not flip open. During the above process, the traveling bar 1302 moves with the pusher plate 905, causing the traveling seat 1303 to slide from the first vertical surface 13021 and through the ramp surface 13022 to the second vertical surface 13023. This causes the traveling seat 1303, the square column 1306, and the first piston 1305 to move away from the rotating shaft 8, increasing the volume of the air chamber and increasing the compression of the fourth spring 1307. The air chamber draws gas from the inflatable sealing ring 601 through the connecting hole 801 and the connecting pipe 602, causing the inflatable sealing ring 601 to contract. During the subsequent process of the push plate 905 pushing the push seat 908, the traveling seat 1303 slides on the second vertical surface 13023, and the traveling seat 1303, the square column 1306 and the first piston 1305 will not move about the rotating shaft 8.

[0075] During the process of push plate 905 resetting and separating from push seat 908, push plate 905 moves closer to feed conveyor 2, and push seat 908 also resets, causing closing plate 6 to close, until push seat 908 is fully reset (closing plate 6 is fully closed). During this process, the traveling seat 1303 slides on the second vertical surface 13023. The traveling seat 1303, square column 1306, and first piston 1305 will not move about the rotating shaft 8. Subsequently, push plate 905 continues to move, and traveling seat 1303 enters the second vertical surface 13022 from the ramp surface 13022. On a vertical surface 13021, the compression force of the fourth spring 1307 causes the traveling seat 1303, the square column 1306, and the first piston 1305 to move closer to the end of the rotating shaft 8. The first piston 1305 pushes out the gas in the air chamber and injects it into the inflatable sealing ring 601 through the connecting hole 801 and the connecting pipe 602, causing the inflatable sealing ring 601 to expand and ensure that the sealing plate 6 seals the inlet and outlet 102. This expansion process takes place after the sealing plate 6 has closed to avoid friction between the inflatable sealing ring 601 and the outer wall of the grinding station 1.

[0076] like Figure 16 As shown, a positioning mechanism 14 is provided on the rotating shaft 8; the positioning mechanism 14 includes a positioning block 1401; a second piston 1402 is fixed to one end of the positioning block 1401; a guide groove 803 is provided on the outer wall of the rotating shaft 8; a connecting groove 802 is provided between the guide groove 803 and the connecting hole 801; the second piston 1402 is fitted into the connecting groove 802; the positioning block 1401 is slidably installed in the guide groove 803; and a stop block 1403 is fixed at the bottom of the connecting groove 802; a positioning groove 103 is provided on the outer wall of the grinding station 1; and the positioning block 1401 is inserted into the positioning groove 103.

[0077] When the sealing plate 6 closes the inlet and outlet 102, the positioning block 1401 aligns with the positioning groove 103, and the air injection and exhaust mechanism 13 injects air to increase the air pressure in the connecting hole 801. The connecting groove 802 is connected to the connecting hole 801, and the air pressure acts on the second piston 1402, causing the second piston 1402 and the positioning block 1401 to move upward together. The positioning block 1401 is inserted into the positioning groove 103, realizing automatic positioning after the sealing plate 6 is closed, and preventing the sealing plate 6 from opening accidentally, such as due to a collision.

[0078] When the sealing plate 6 needs to be flipped open, the air injection and exhaust mechanism 13 extracts air, the air pressure in the connecting hole 801 decreases, the second piston 1402 and the positioning block 1401 fall automatically by gravity, and the positioning block 1401 leaves the positioning hole, thus realizing automatic release of positioning.

[0079] Through the above design, the automatic positioning and automatic release of the sealing plate 6 are achieved, and the automatic positioning and automatic release are driven by the air pressure of the air filling and releasing mechanism 13, without the need for additional power and control.

[0080] In practical implementation, to ensure that both the upper and lower surfaces of the workpiece are polished, two sets of the aforementioned polishing devices can be installed, and a flipping mechanism 15 can be installed between the two sets of polishing devices to flip the workpiece. Figure 20 As shown.

[0081] like Figure 21 As shown, the flipping mechanism 15 includes two third support frames 1501, and a flipping frame 1502 is rotatably mounted between the two third support frames 1501. A motor 1503 is fixed to one side of one of the third support frames 1501, and the output shaft of the motor 1503 is fixed to one side of the flipping frame 1502. A vertical lifting rod 1505 is mounted on the flipping frame 1502. The lifting rod 1505 can be a cylinder. A second flipping conveyor 1506 is fixed to the bottom end of the lifting rod 1505. A first flipping conveyor 1504 is fixed to the top of the flipping frame 1502. Hydraulic cylinders 1507 are fixed to both sides of the first flipping conveyor 1504 and the second flipping conveyor 1506. A pressure plate 1508 is fixed to the output end of the hydraulic cylinder 1507.

[0082] When the second tilting conveyor 1506 is below, the pallet 5 is conveyed onto the second tilting conveyor 1506. Then, the hydraulic cylinder 1507 on the second tilting conveyor 1506 drives the pressure plate 1508 to clamp the pallet 5. Then, the lifting rod 1505 retracts, so that the pallet 5 clamped on the first tilting conveyor 1504 presses the top of the workpiece. Then, the motor 1503 drives the tilting frame 1502 to rotate 180°. The hydraulic cylinder 1507 on the first tilting conveyor 1504 drives the pressure plate 1508 to leave the pallet 5. The lifting rod 1505 extends, so that the pallet 5 on the second tilting conveyor 1506 does not press the workpiece. Finally, the tilted workpiece is conveyed away by the first tilting conveyor 1504.

[0083] When the first tilting conveyor 1504 is below, the pallet 5 is conveyed onto the first tilting conveyor 1504. Then, the hydraulic cylinder 1507 on the first tilting conveyor 1504 drives the pressure plate 1508 to clamp the pallet 5. Then, the lifting rod 1505 retracts, so that the pallet 5 clamped on the second tilting conveyor 1506 presses the top of the workpiece. Then, the motor 1503 drives the tilting frame 1502 to rotate 180°. The hydraulic cylinder 1507 on the second tilting conveyor 1506 drives the pressure plate 1508 to leave the pallet 5. The lifting rod 1505 extends, so that the pallet 5 on the first tilting conveyor 1504 does not press the workpiece. Finally, the tilted workpiece is conveyed away by the second tilting conveyor 1506.

[0084] This invention is not limited to the embodiments described above. Any changes in shape or structure shall fall within the protection scope of this invention. The protection scope of this invention is defined by the appended claims. Those skilled in the art may make various changes or modifications to these embodiments without departing from the principles and essence of this invention, but all such changes and modifications shall fall within the protection scope of this invention.

Claims

1. A grinding device suitable for grinding various types of large, irregularly shaped cast steel parts, comprising a grinding station (1), wherein the grinding station (1) has inlet and outlet (102) on both sides; characterized in that: The grinding station (1) is provided with a feeding conveyor (2) and a discharging conveyor (3) on both sides, and an in-station conveyor (7) is provided inside the grinding station (1). The polishing station (1) is equipped with a polishing robot (101). The top of the feeding conveyor (2) is equipped with a vision scanning module (4); A sealing plate (6) is provided on the outside of the inlet and outlet (102), and an inflatable sealing ring (601) is fixed at the edge of the sealing plate (6). The inflatable sealing ring (601) is connected to an air injection and air release mechanism (13). It also includes an automatic opening and closing mechanism (9); the automatic opening and closing mechanism (9) is used to drive the closing plate (6) to flip, so that the inlet and outlet (102) automatically open or close; The automatic opening and closing mechanism (9) includes a movable column (901) and a first guide sleeve (904); the movable column (901) and the first guide sleeve (904) are slidably sleeved together, and the first guide sleeve (904) is fixed to the outside of the feeding conveyor (2) by a second support frame (903). A roller (902) is rotatably installed at one end of the movable column (901) near the feeding conveyor (2), and a push plate (905) is fixed at the other end of the movable column (901). A push seat (908) is provided on one side of the push plate (905). A guide part is connected to the push seat (908), and a reset part is provided on the guide part. A rack (909) is connected to the guide part, and a gear (910) is meshed with the rack (909). A rotating shaft (8) is fixed in the middle of the gear (910), and the rotating shaft (8) is rotatably connected to the grinding station (1). The rotating shaft (8) is connected to the closing plate (6). One side is fixed, and a second spring (913) is installed between the push plate (905) and the first guide sleeve (904). It also includes a tray (5) for placing large irregular cast steel parts; a wedge-shaped surface (501) for pressing roller (902) is provided on one side of the tray (5); the air injection and exhaust mechanism (13) includes a cylinder (1304) fixed to one end of the rotating shaft (8); a first piston (1305) is connected in the cylinder (1304), and one side wall of the first piston (1305) and the inner wall of the cylinder (1304) form an air cavity. A driving part is provided on the other side of the first piston (1305). A connecting hole (801) is opened in the rotating shaft (8), and the connecting hole (801) communicates with the air cavity. A connecting pipe (602) is provided in the sealing plate (6), and the connecting hole (801) communicates with the air sealing ring (601) through the connecting pipe (602).

2. The grinding device for various types of large, irregularly shaped cast steel parts as described in claim 1, characterized in that: A locking mechanism (12) is provided on the outside of the feeding conveyor (2); the locking mechanism (12) includes a locking block (1208), the locking block (1208) is fixed with a slide block (1207), the slide block (1207) is slidably connected to a slide rail (1206) fixed to the outer wall of the feeding conveyor (2), a third spring (1209) is provided on one side of the slide block (1207), a locking hole (9011) adapted to the locking block (1208) is opened on the movable column (901), and an unlocking part is connected to the slide block (1207).

3. The grinding device for various types of large, irregularly shaped cast steel parts as described in claim 2, characterized in that: The unlocking part includes a second guide sleeve (1205) fixed to the outside of the feeding conveyor (2). The second guide sleeve (1205) is fitted with a movable block (1204), and the movable block (1204) is an iron block. A guide wheel (1202) is rotatably mounted on the outside of the feeding conveyor (2). A pull rope (1201) is fixed on one side of the movable block (1204). The pull rope (1201) passes around the guide wheel (1202), and the end of the pull rope (1201) away from the movable block (1204) is fixed to the slide (1207). A magnetic block (502) is provided on the side wall of the tray (5).

4. The grinding device for various types of large, irregularly shaped cast steel parts as described in claim 1, characterized in that: The drive unit includes a walking bar (1302), which is fixed to the push plate (905) by a connecting rod (1301). The walking bar (1302) is provided with a second vertical surface (13023), a ramp surface (13022) and a first vertical surface (13021) in sequence along the direction away from the feed conveyor (2). The distance between the second vertical surface (13023) and the end face of the rotating shaft (8) is greater than the distance between the first vertical surface (13021) and the end face of the rotating shaft (8). A walking seat (1303) is slidably installed on the walking bar (1302). A square column (1306) is fixed on the side wall of the first piston (1305), and one end of the square column (1306) is rotatably connected to the walking seat (1303).

5. The grinding device for various types of large, irregularly shaped cast steel parts as described in claim 1, characterized in that: An end plate (1308) is fixed at one end of the cylinder (1304), and a square hole is provided on the end plate (1308) to cooperate with the square post (1306). A fourth spring (1307) is sleeved on the square post (1306), and the two ends of the fourth spring (1307) abut against the first piston (1305) and the end plate (1308) respectively.

6. The grinding device for various types of large, irregularly shaped cast steel parts as described in claim 4, characterized in that: The walking bar (1302) has a strip groove (13025) along its length direction, and the walking bar (1302) also has a sliding groove (13024) along its length direction. The walking seat (1303) is provided with a sliding head (13031) and a round rod (13032). The round rod (13032) is rotatably connected to the end of the square column (1306). The round rod (13032) passes through the strip groove (13025), and the sliding head (13031) is slidably connected to the sliding groove (13024).

7. The grinding device for various types of large, irregularly shaped cast steel parts as described in claim 1, characterized in that: A positioning mechanism (14) is provided on the rotating shaft (8); the positioning mechanism (14) includes a positioning block (1401); a second piston (1402) is fixed at one end of the positioning block (1401); a guide groove (803) is provided on the outer wall of the rotating shaft (8); a connecting groove (802) is provided between the guide groove (803) and the connecting hole (801); the second piston (1402) is fitted into the connecting groove (802); the positioning block (1401) is slidably installed into the guide groove (803); a positioning groove (103) is provided on the outer wall of the grinding station (1); the positioning block (1401) is inserted into the positioning groove (103).

8. The grinding device for various types of large, irregularly shaped cast steel parts as described in claim 7, characterized in that: A stop (1403) is fixed at the bottom of the connecting groove (802).

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