Automatic grinding and polishing system and process for submersed nozzle

Abstract

The invention provides an automatic submersed nozzle grinding and polishing system and a process thereof, and relates to the technical field of metallurgical continuous casting part machining, the automatic submersed nozzle grinding and polishing system comprises a bottom plate, a set of stabilizing blocks are arranged at the upper end of the bottom plate, a vertical plate is installed at the upper end of the bottom plate, and the bottom of the vertical plate extends to the inner sides of the stabilizing blocks of the bottom plate; the positioning plate is hinged to the upper end of the vertical plate; the multi-axis manipulator is stably mounted at the upper end of the bottom plate; the positioning shell is installed at the upper end of the multi-axis mechanical arm, and the locking rod is movably installed at the bottom of the positioning shell. The multi-axis manipulator drives the polishing mechanism to move according to a preset path and is matched with the first electric motor to adjust the angle of the water gap to realize automatic polishing of an inner hole and an outer cambered surface; the grinding head is rapidly locked and unlocked through the locking frame and the supporting spring, feeding and discharging and grinding head replacement are convenient and fast, the overall operation efficiency is greatly improved compared with manual work, and the problem that traditional water gap grinding is manually intervened is solved.

Description

Technical Field

[0001] This invention relates to the field of metallurgical continuous casting component processing technology, and in particular to an automatic grinding and polishing system and process for immersion gates. Background Technology

[0002] Submerged entry nozzles are core refractory material components in continuous casting production. The smoothness of their inner bore and the precision of their outer arc surface directly determine the stability of molten steel flow and the quality of the cast billet. After use, they need to be ground and polished to repair surface defects for reuse. Currently, the grinding and polishing of submerged entry nozzles mainly relies on manual operation, which has many technical drawbacks, as follows: When grinding manually, the nozzle is often positioned by a single clamp, which is prone to displacement or deformation. This can easily lead to low grinding accuracy of the inner hole and outer arc surface, and large fluctuations in surface roughness, making it difficult to meet the high precision requirements of continuous casting production for nozzles. In addition, a large amount of refractory material dust is generated during the grinding process, and there is no effective collection device. This not only pollutes the working environment, but also seriously endangers the respiratory health of the operators. Changing grinding heads to different grit sizes manually is cumbersome, and the angle of the sprue needs to be manually adjusted when loading and unloading materials, resulting in low work efficiency and difficulty in meeting the maintenance needs of large-scale production. In addition, the grinding force and path are entirely controlled by experience, which can easily lead to over-grinding or incomplete grinding of the sprue, wasting sprue consumables, shortening their service life, and increasing production costs. At the same time, the traditional clamping structure is complicated to adjust, which further limits the flexibility and applicability of grinding operations.

[0003] These problems severely restrict the quality and efficiency of immersion gate grinding and polishing, and there is an urgent need to develop an automated, high-precision, dust-controlled, and highly adaptable grinding and polishing system to overcome the shortcomings of existing technologies. Summary of the Invention

[0004] This invention relates to an automatic immersion sprue grinding and polishing system and its process. The system achieves stable positioning of the immersion sprue through internal and external coordinating clamping components, preventing displacement and deformation during grinding. A first electric motor drives a positioning plate to adjust its angle, while a multi-axis robotic arm drives the grinding mechanism to move flexibly, adapting to the grinding requirements of complex curved surfaces of the sprue. The grinding mechanism uses an electric motor to drive the grinding head to rotate at high speed, and a push cylinder adjusts the grinding height for precise grinding. A locking frame and support spring work together to facilitate quick replacement of the grinding head. A collection housing and a negative pressure absorber work together to efficiently collect grinding dust. All modules work together to achieve automated, high-precision, and low-pollution grinding and polishing of the sprue.

[0005] This invention provides an immersion-type automatic grinding and polishing system for sprue marks and its process, specifically comprising: a base plate, the upper end of which is provided with a set of stabilizing blocks; a vertical plate installed on the upper end of the base plate, the bottom of which extends to the inner side of the stabilizing blocks on the base plate; a positioning plate hinged to the upper end of the vertical plate; a multi-axis robot arm securely installed on the upper end of the base plate; a positioning housing installed on the upper end of the multi-axis robot arm; a locking rod movably installed on the bottom of the positioning housing; a collecting housing also installed on the bottom of the positioning housing; a grinding mechanism installed on the upper end of the positioning housing; and a clamping assembly installed on the vertical plate, with a sprue mark processing component installed on one side of the clamping assembly.

[0006] Furthermore, the first electric motor is installed on one side of the upright plate, and a set of bolt mounting holes are opened on one side of the upright plate and at the corner of the first electric motor. A hinge shaft is installed at the upper end of the upright plate and the bottom of the positioning plate. The hinge shaft and the positioning plate are securely connected, and the hinge shaft and the upright plate are movably connected. The hinge shaft passes through the interior of the upright plate and is connected to the drive shaft of the first electric motor.

[0007] Furthermore, the mounting plate is located on the top of the multi-axis robot and has a rectangular structure; the bottom of the positioning housing has two mounting slots with an L-shaped structure, and the side of the mounting plate extends into the interior of the mounting slots; the bottom of the positioning housing has a set of sliding holes that communicate with the mounting slots.

[0008] Furthermore, the locking rod is inserted into the sliding hole of the positioning housing, a support spring is installed on the outer side of the locking rod, a retaining ring is provided on one side of the locking rod, and the support spring is located on one side of the retaining ring; a locking groove corresponding to the locking rod is opened on one side of the mounting plate, and one side of the locking rod extends into the interior of the locking groove.

[0009] Furthermore, the bottom of the positioning housing has two T-shaped grooves, the upper end of the collecting housing has two T-shaped blocks, and the T-shaped blocks extend into the interior of the T-shaped grooves; a feed hole communicating with the collecting housing is opened on one side of the positioning housing, and a drain pipe is provided at the bottom of the collecting housing.

[0010] Furthermore, there are two push cylinders, which are installed on the side of the push cylinder; the push rod is located in the middle of the push cylinder, and a stabilizing groove is formed at the upper end of the push rod; the second electric motor is installed in the stabilizing groove at the upper end of the push rod; the rotating shaft is installed on the upper end of the drive shaft of the second electric motor; a locking block is provided at the upper end of the locking frame, and a pressing block is provided at the bottom of the locking frame; the locking frame is installed on the upper end of the rotating shaft, and a set of sliding holes is formed at the upper end of the rotating shaft, through which the locking block and the pressing block of the locking frame pass; the grinding head is installed on the upper end of the rotating shaft, and a set of locking grooves is formed inside the grinding head, with the locking block at the upper end of the locking frame extending into the interior of the locking grooves; a support spring is installed between the two locking frames.

[0011] Furthermore, the third electric motor is installed on the side of the positioning plate; the bidirectional threaded rod is installed on the rear side of the positioning plate; a rotating hole is opened on the rear side of the positioning plate, the smooth part of the bidirectional threaded rod passes through the interior of the rotating hole, and one side of the bidirectional threaded rod is connected to the drive shaft of the third electric motor; the outer clamping plate is installed in the middle of the positioning plate, and a set of sliding holes with a rectangular structure are opened in the middle of the positioning plate; one side of the outer clamping plate passes through the interior of the sliding holes, and a threaded hole is opened on one side of the outer clamping plate respectively. The spiral directions of the threaded holes of two adjacent outer clamping plates are opposite, the bidirectional threaded rod passes through the interior of the threaded holes in sequence, and a clamping groove with a V-shaped structure is opened on the inner side of the outer clamping plate; The fourth electric motor is installed on the upper end of the positioning plate; the one-way threaded rod is installed on the rear side of the positioning plate; a rotating hole is opened at the upper end of the positioning plate, and the one-way threaded rod passes through the interior of the rotating hole and connects to the drive shaft of the fourth electric motor; the movable frame is installed on the upper end of the positioning plate, and two sliding grooves are opened at the upper end of the positioning plate. The sliding grooves have a U-shaped structure, and one side of the movable frame extends into the interior of the sliding groove. A threaded hole is opened in the middle of the sliding groove, and the threaded hole corresponds to the one-way threaded rod, which passes through the interior of the threaded hole; the support rod is installed at the bottom of the movable frame, and a set of sliding holes corresponding to the support rod are opened at the bottom of the movable frame. The support rod is inserted into the interior of the sliding holes, and the inner clamping plate is located on one side of the support rod.

[0012] Furthermore, the extrusion rod is located on one side of the positioning plate. There are two extrusion rods in total. The extrusion rods have a triangular structure and extend between the two inner clamping plates.

[0013] This invention provides an immersion-type automatic grinding and polishing system and process for sprue finishing, which has the following beneficial effects: The immersion-type automatic sprue grinding and polishing system of this invention has high grinding precision and stable quality. It adopts an internal and external coordinating clamping structure. The V-groove of the outer clamping plate fits the outside of the sprue, and the inner clamping plate, together with the triangular extrusion rod, achieves rapid and stable clamping of sprues of different diameters, avoiding displacement and deformation during grinding. In the second embodiment, the combination of visual positioning and pressure sensor further optimizes the grinding path and maintains constant grinding pressure, ensuring that the surface roughness of the sprue meets the standard and improving quality stability.

[0014] The immersion-type automatic grinding and polishing system of this invention has a high degree of automation and excellent work efficiency. The multi-axis robot arm drives the grinding mechanism to move along a preset path, and the first electric motor adjusts the angle of the sprue to realize the automatic grinding of the inner hole and the outer arc surface. The grinding head can be quickly locked and unlocked through the locking frame and the support spring. The loading and unloading of materials and the replacement of grinding heads are convenient, and the overall work efficiency is greatly improved compared with manual operation.

[0015] The immersion-type automatic grinding and polishing system of this invention has controllable dust and is environmentally friendly. The collection shell is quickly installed through a T-shaped structure, and the feed hole guides the dust in. The external negative pressure absorber can efficiently adsorb the grinding dust, prevent the dust from spreading, significantly improve the working environment, and protect the health of the operators.

[0016] The automatic grinding and polishing system for immersion gates in this invention has strong adaptability and low material consumption; the internal and external clamping structure, combined with the extrusion rod, can flexibly adapt to immersion gates of different diameters without complex adjustments; automated and precise grinding and constant pressure control avoid over-grinding, reduce material consumption of gates and grinding heads, and lower production costs. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings of the embodiments will be briefly described below.

[0018] The accompanying drawings described below are only related to some embodiments of the invention and are not intended to limit the invention.

[0019] In the attached diagram: Figure 1 A schematic diagram of the overall isometric structure of the automatic grinding and polishing system of the present invention is shown; Figure 2 A schematic diagram of the axial structure of the positioning plate and clamping assembly after flipping is shown. Figure 3 A schematic diagram of the inner clamping axial structure of the sprue strip after cutting is shown. Figure 4 A partial axial side view of the automatic grinding and polishing system of the present invention is shown; Figure 5 A schematic diagram of the axial side structure of the grinding mechanism of the present invention after partial cross-section is shown; Figure 6 A schematic diagram of the clamping assembly and the axial structure of the positioning plate of the present invention is shown. Figure 7 The diagram shows an axial side view of the positioning housing and the collection housing of the present invention from an elevation perspective. Figure 8 The present invention is shown Figure 7 A schematic diagram of a partial axial side structure; Figure 9 A schematic diagram of the axial structure of the clamping assembly of the present invention is shown; Figure 10 The present invention is shown Figure 3 A magnified structural diagram at point A; Figure 11 The present invention is shown Figure 5 A magnified structural diagram at point B.

[0020] List of reference numerals 100. Base plate; 200. Vertical plate; 210. First electric motor; 300. Positioning plate; 310. Extrusion rod; 400. Multi-axis robotic arm; 410. Mounting plate; 500. Positioning housing; 600. Locking lever; 700. Collect the shell; 800. Grinding mechanism; 810. Push cylinder; 820. Push rod; 830. Second electric motor; 840. Rotating shaft; 850. Locking frame; 860. Grinding head; 900 Clamping assembly; 910 Third electric motor; 920 Bidirectional threaded rod; 930 Outer clamping plate; 940 Fourth electric motor; 950 Unidirectional threaded rod; 960 Moving frame; 970 Support rod; 980 Inner clamping plate; 1000. Sprue with machined parts. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the described embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] Example 1: Please refer to Figures 1 to 11 : This invention proposes an immersion-type automatic grinding and polishing system and its process, comprising: a base plate 100, with a set of stabilizing blocks at the upper end of the base plate 100; a vertical plate 200 installed at the upper end of the base plate 100, the bottom of the vertical plate 200 extending to the inner side of the stabilizing blocks of the base plate 100; a positioning plate 300 hingedly installed at the upper end of the vertical plate 200; a multi-axis robot 400 securely installed at the upper end of the base plate 100; a positioning housing 500 installed at the upper end of the multi-axis robot 400; a locking rod 600 movably installed at the bottom of the positioning housing 500; and a mounting plate 410 located at the top of the multi-axis robot 400, the mounting plate 410 being a rectangular structure; the positioning housing 500... Two mounting slots are provided at the bottom of the 0, and the mounting slots are L-shaped. The side of the mounting plate 410 extends into the interior of the mounting slots. A set of sliding holes are provided at the bottom of the positioning housing 500. The sliding holes are connected to the mounting slots. Specifically, the mounting slots enable quick positioning and docking between the positioning housing 500 and the mounting plate 410, and the sliding holes provide an installation channel for the locking rod 600, laying the foundation for locking and fixing the positioning housing 500. A collection housing 700 is also installed at the bottom of the positioning housing 500. A grinding mechanism 800 is installed at the upper end of the positioning housing 500. A clamping assembly 900 is installed on the upright plate 200, and a sprue strip processing part 1000 is installed on one side of the clamping assembly 900.

[0023] In this embodiment, the first electric motor 210 is installed on one side of the upright plate 200. A set of bolt mounting holes are opened on one side of the upright plate 200 and at the corner of the first electric motor 210. The bolt mounting holes are positioned to install matching bolts according to actual needs. A hinge shaft is installed on the upper end of the upright plate 200 and the bottom of the positioning plate 300. The hinge shaft and the positioning plate 300 are firmly connected, and the hinge shaft and the upright plate 200 are movably connected. The hinge shaft passes through the interior of the upright plate 200 and is connected to the drive shaft of the first electric motor 210. The hinge shaft enables the positioning plate 300 to rotate flexibly. The first electric motor 210 drives the hinge shaft to rotate the positioning plate 300, which can adjust the angle of the positioning plate 300 and the clamping assembly 900 to adapt to the grinding and loading / unloading requirements of different parts of the immersion sprue, and improve the flexibility of grinding the sprue with the processed parts 1000.

[0024] In this embodiment, the locking rod 600 is inserted into the sliding hole of the positioning housing 500. A support spring is installed on the outer side of the locking rod 600, and a retaining ring is provided on one side of the locking rod 600, with the support spring located on one side of the retaining ring. A locking groove corresponding to the locking rod 600 is formed on one side of the mounting plate 410, and one side of the locking rod 600 extends into the interior of the locking groove. Specifically, the elastic force of the support spring pushes the locking rod 600 to automatically engage with the locking groove, enabling the positioning housing 500 and the mounting plate 410 to lock quickly. Pulling the locking rod 600 outward unlocks the positioning housing 500 and the mounting plate 410, facilitating the positioning of the housing 500. For disassembly, maintenance, and replacement, two T-slots are provided at the bottom of the positioning housing 500, and two T-blocks are provided at the upper end of the collecting housing 700, with the T-blocks extending into the interior of the T-slots. A feed hole communicating with the collecting housing 700 is provided on one side of the positioning housing 500, and a drain pipe is provided at the bottom of the collecting housing 700. The drain pipe is connected to a negative pressure absorber according to conventional procedures. Specifically, the cooperation between the T-slots and the T-blocks facilitates the quick installation and disassembly of the collecting housing 700, and the feed hole guides the dust generated by grinding into the collecting housing 700. The negative pressure absorber quickly adsorbs the dust through the drain pipe, preventing dust from spreading and polluting the environment, and protecting the health of operators.

[0025] In this embodiment, there are two push cylinders 810, which are installed on the side of the push cylinder 810. A push rod 820 is located in the middle of the push cylinder 810, and a stabilizing groove is formed at the upper end of the push rod 820. A second electric motor 830 is installed in the stabilizing groove at the upper end of the push rod 820. A rotating shaft 840 is installed on the upper end of the drive shaft of the second electric motor 830. A locking block is provided at the upper end of the locking frame 850, and a pressing block is provided at the bottom of the locking frame 850. The locking frame 850 is installed on the upper end of the rotating shaft 840, and a set of sliding holes is formed at the upper end of the rotating shaft 840. The locking block and pressing block of the locking frame 850 pass through the interior of the sliding holes. A grinding head 860 is installed on the upper end of the rotating shaft 840, and a set of locking blocks is formed inside the grinding head 860. The locking block at the upper end of the locking bracket 850 extends into the locking groove. A support spring is installed between the two locking brackets 850, which elastically supports the two locking brackets 850 outward. After pressing the locking block of the locking bracket 850 inward, it moves the locking block inward, thus completing the quick unlocking of the grinding head 860. Specifically, the push cylinder 810 drives the push rod 820 to lift and lower, which can adjust the height of the grinding head 860 to adapt to different grinding depth requirements. The second electric motor 830 drives the rotating shaft 840 to drive the grinding head 860 to rotate at high speed, realizing the grinding and polishing operation. The locking bracket 850 and the support spring cooperate to realize the quick locking and unlocking of the grinding head 860, which makes it easy to change the grinding head 860 of different grit according to the grinding stage and improve the work efficiency.

[0026] In this embodiment, the third electric motor 910 is installed on the side of the positioning plate 300; the bidirectional threaded rod 920 is installed on the rear side of the positioning plate 300; a rotating hole is opened on the rear side of the positioning plate 300, and the smooth rod in the middle of the bidirectional threaded rod 920 passes through the interior of the rotating hole. One side of the bidirectional threaded rod 920 is connected to the drive shaft of the third electric motor 910; the outer clamping plate 930 is installed in the middle of the positioning plate 300, and a set of sliding holes with a rectangular structure are opened in the middle of the positioning plate 300; one side of the outer clamping plate 930 passes through the interior of the sliding hole, and a threaded hole is opened on one side of the outer clamping plate 930. The threaded holes of two adjacent outer clamping plates 930 have opposite spiral directions, and the bidirectional threaded rod 920 passes through the interior of the threaded hole in sequence. A clamping groove with a V-shaped structure is opened on the inner side of the outer clamping plate 930; the fourth electric motor 940 is installed on the upper end of the positioning plate 300; and the unidirectional threaded rod 950 is installed on the positioning plate. The rear side of the positioning plate 300; a rotating hole is opened at the upper end of the positioning plate 300, and a one-way threaded rod 950 passes through the interior of the rotating hole and connects to the drive shaft of the fourth electric motor 940; the moving frame 960 is installed on the upper end of the positioning plate 300, and two sliding grooves are opened at the upper end of the positioning plate 300. The sliding grooves have a U-shaped structure, and one side of the moving frame 960 extends into the interior of the sliding groove. A threaded hole is opened in the middle of the sliding groove, and the threaded hole corresponds to the one-way threaded rod 950. The one-way threaded rod 950 passes through the interior of the threaded hole; the support rod 970 is installed at the bottom of the moving frame 960, and a set of sliding holes corresponding to the support rod 970 are opened at the bottom of the moving frame 960. The support rod 970 is inserted into the interior of the sliding holes. The inner clamping plate 980 is located on one side of the support rod 970. Specifically, the third electric motor 910 drives the bidirectional threaded rod 920 to rotate. Because the spiral direction of the threaded hole of the outer clamping plate 930 is opposite, it can drive the outer clamping plate 930 to move relative to or in opposite directions. The clamping groove is adapted to the outer surface of the sprue to achieve stable external clamping of the sprue; the fourth electric motor 940 drives the one-way threaded rod 950 to move the moving frame 960 up and down, adjusting the height of the inner clamping plate 980. The inner clamping plate 980 extends into the inner hole of the sprue to achieve internal clamping. The cooperation of inner and outer clamping ensures that there is no displacement or deformation during sprue grinding, thus improving grinding accuracy.

[0027] In this embodiment, the extrusion rod 310 is located on one side of the positioning plate 300. There are two extrusion rods 310, which are triangular in structure. The extrusion rods 310 extend between the two inner clamping plates 980. When the inner clamping plate 980 is subjected to force and moves inside the sprue strip processing part 1000, the extrusion rod 310 will extrude the inner clamping plate 980 outward, so that the inner clamping plate 980 can quickly clamp the sprue strip processing parts 1000 with different diameters. At this time, it is convenient for the grinding head 860 to grind the outer side of the sprue strip processing part 1000.

[0028] Example 2, based on Example 1, such as Figures 1-11As shown, a visual positioning sensor and a pressure sensor can be installed on the positioning housing 500. The visual positioning sensor captures the surface morphology of the sprue in real time, and the pressure sensor monitors the contact pressure between the grinding head 860 and the sprue. The sensors are electrically connected to the multi-axis robot 400 and the push cylinder 810. Specifically, the visual positioning sensor enables precise optimization of the grinding path, and the pressure sensor ensures constant grinding pressure, avoiding over-grinding or incomplete grinding, and further improving grinding accuracy and quality stability.

[0029] The working principle of this embodiment: In this embodiment, when using the automatic grinding and polishing system, firstly, the matching grinding head 860 is installed through the locking bracket 850, and the support spring pushes the locking block into the locking groove to lock the grinding head 860; the drain pipe of the collection housing 700 is connected to a negative pressure absorber, and the negative pressure absorber is started; the sprue with the processed part 1000 is placed between the outer clamping plates 930, the third electric motor 910 is started, the bidirectional threaded rod 920 rotates and drives the outer clamping plates 930 to move relative to each other, and the clamping groove of the outer clamping plate 930 fits against the outside of the sprue to clamp it. At this time, the inner wall of the sprue belt processing part 1000 can be polished; according to the polishing requirements, the multi-axis robot 400, the second electric motor 830 and the push cylinder 810 are started. The second electric motor 830 drives the polishing head 860 to rotate at high speed, the push cylinder 810 adjusts the height of the polishing head 860, and the multi-axis robot 400 drives the polishing mechanism 800 to move along the preset path to polish the inner hole of the sprue belt processing part 1000; the dust generated by polishing enters the collection shell 700 through the feed hole and is quickly adsorbed and collected by the negative pressure absorber. Next, the third electric motor 910 is controlled to drive the bidirectional threaded rod 920 to rotate in the opposite direction. At this time, the outer clamping plate 930 is subjected to force and expands outward. At the same time, the fourth electric motor 940 is started, and the unidirectional threaded rod 950 drives the moving frame 960 to descend. The inner clamping plate 980 extends into the interior of the sprue strip processing part 1000. When the inner clamping plate 980 is subjected to force and moves inside the sprue strip processing part 1000, the extrusion rod 310 will extrude the inner clamping plate 980 outward. Thus, the inner clamping plate 980 quickly clamps the sprue strip processing parts 1000 of different diameters. The multi-axis robot arm 400 is started, and the grinding head 860 grinds and polishes the outer arc surface of the sprue strip processing part 1000. The dust generated by grinding enters the collection shell 700 through the feed hole and is quickly adsorbed and collected by the negative pressure absorber. According to the material loading and unloading requirements, start the first electric motor 210 and adjust the angle of the positioning plate 300 and the sprue belt processing part 1000. When the grinding head 860 needs to be replaced, press the pressing block of the locking bracket 850 inward. The locking block will disengage from the locking groove of the grinding head 860, and the old grinding head 860 can be removed. After replacement, release the pressing block, and the support spring will automatically reset and lock. After grinding is completed, reverse the clamping assembly 900 to release the sprue, remove the finished sprue, and clean the dust inside the collection housing 700.

Claims

1. An immersion-type automatic grinding and polishing system for sprue nozzles, characterized in that, include: A base plate (100) is provided with a set of stabilizing blocks at its upper end; An upright plate (200) is installed on the upper end of the base plate (100), and the bottom of the upright plate (200) extends to the inner side of the stabilizing block of the base plate (100). A positioning plate (300) is hinged to the upper end of the upright plate (200); A multi-axis robotic arm (400) is securely mounted on the upper end of the base plate (100); A positioning housing (500) is installed on the upper end of the multi-axis manipulator (400); A locking lever (600) is movably mounted on the bottom of the positioning housing (500); a collecting housing (700) is also mounted on the bottom of the positioning housing (500). A grinding mechanism (800) is installed at the upper end of the positioning housing (500); A clamping assembly (900) is mounted on a vertical plate (200), and a sprue strip machining part (1000) is mounted on one side of the clamping assembly (900).

2. The immersion-type automatic grinding and polishing system for sprues according to claim 1, characterized in that, The upright plate (200) includes: A first electric motor (210) is installed on one side of the upright plate (200). A set of bolt mounting holes are opened on one side of the upright plate (200) and at the corner of the first electric motor (210). A hinge shaft is installed on the upper end of the upright plate (200) and the bottom of the positioning plate (300). The hinge shaft and the positioning plate (300) are firmly connected. The hinge shaft and the upright plate (200) are movably connected. The hinge shaft passes through the interior of the upright plate (200) and is connected to the drive shaft of the first electric motor (210).

3. The immersion-type automatic grinding and polishing system for sprues according to claim 1, characterized in that, The positioning plate (300) includes: The extrusion rod (310) is located on one side of the positioning plate (300). There are two extrusion rods (310), and the extrusion rod (310) has a triangular structure.

4. The immersion-type automatic grinding and polishing system for sprues according to claim 1, characterized in that, The multi-axis robot (400) includes: Mounting plate (410) is located on the top of multi-axis robot (400) and has a rectangular structure; the bottom of positioning housing (500) has two mounting grooves with an L-shaped structure and the side of mounting plate (410) extends into the interior of the mounting grooves; the bottom of positioning housing (500) has a set of sliding holes that are connected to the mounting grooves.

5. The immersion-type automatic grinding and polishing system for sprues according to claim 1, characterized in that, The locking rod (600) is inserted into the sliding hole of the positioning housing (500). A support spring is installed on the outer side of the locking rod (600). A retaining ring is provided on one side of the locking rod (600), and the support spring is located on one side of the retaining ring. A locking groove corresponding to the locking rod (600) is opened on one side of the mounting plate (410), and one side of the locking rod (600) extends into the interior of the locking groove.

6. The immersion-type automatic grinding and polishing system for sprues according to claim 1, characterized in that, The bottom of the positioning housing (500) has two T-shaped grooves, and the upper end of the collecting housing (700) has two T-shaped blocks that extend into the interior of the T-shaped grooves. A feed hole communicating with the collecting housing (700) is opened on one side of the positioning housing (500), and a drain pipe is provided at the bottom of the collecting housing (700).

7. The immersion-type automatic grinding and polishing system for sprues according to claim 1, characterized in that, The polishing mechanism (800) includes: There are two push cylinders (810), and the push cylinders (810) are installed on the side of the push cylinder (810); Push rod (820), the push rod (820) is located in the middle of the push cylinder (810), and a stabilizing groove is opened at the upper end of the push rod (820); The second electric motor (830) is installed in the stabilizing groove at the upper end of the push rod (820); A rotating shaft (840) is mounted on the upper end of the drive shaft of the second electric motor (830); A locking frame (850) is provided with a locking block at its upper end and a pressing block at its bottom. The locking frame (850) is installed on the upper end of a rotating shaft (840), and a set of sliding holes are opened at the upper end of the rotating shaft (840). The locking block and the pressing block of the locking frame (850) pass through the interior of the sliding holes respectively. A grinding head (860) is mounted on the upper end of a rotating shaft (840). A set of locking grooves is opened inside the grinding head (860). A locking block at the upper end of a locking bracket (850) extends into the interior of the locking grooves. A support spring is installed between the two locking brackets (850).

8. The immersion-type automatic grinding and polishing system for sprues according to claim 1, characterized in that, The clamping assembly (900) includes: The third electric motor (910) is installed on the side of the positioning plate (300); A bidirectional threaded rod (920) is installed on the rear side of the positioning plate (300); a rotating hole is opened on the rear side of the positioning plate (300), and the smooth rod in the middle of the bidirectional threaded rod (920) passes through the interior of the rotating hole. One side of the bidirectional threaded rod (920) is connected to the drive shaft of the third electric motor (910). An outer clamping plate (930) is installed in the middle of a positioning plate (300). A set of sliding holes are opened in the middle of the positioning plate (300). One side of the outer clamping plate (930) passes through the interior of the sliding hole. A threaded hole is opened on one side of the outer clamping plate (930). The threaded holes of two adjacent outer clamping plates (930) have opposite spiral directions. A bidirectional threaded rod (920) passes through the interior of the threaded hole in sequence. A clamping groove is opened on the inner side of the outer clamping plate (930). A fourth electric motor (940) is mounted on the upper end of the positioning plate (300); A one-way threaded rod (950) is installed on the rear side of the positioning plate (300); a rotating hole is opened at the upper end of the positioning plate (300), and the one-way threaded rod (950) passes through the interior of the rotating hole and is connected to the drive shaft of the fourth electric motor (940). A movable frame (960) is installed on the upper end of a positioning plate (300). Two sliding grooves are opened on the upper end of the positioning plate (300). The sliding grooves are U-shaped structures. One side of the movable frame (960) extends into the interior of the sliding groove. A threaded hole is opened in the middle of the sliding groove. The threaded hole corresponds to a one-way threaded rod (950). The one-way threaded rod (950) passes through the interior of the threaded hole. A support rod (970) is installed at the bottom of a movable frame (960). A set of sliding holes corresponding to the support rod (970) are opened at the bottom of the movable frame (960), and the support rod (970) is inserted into the interior of the sliding holes. An inner clamping plate (980) is provided on one side of the support rod (970).

9. The process for automatic grinding and polishing of immersion sprues according to any one of claims 1 to 8, comprising the following steps: (1). When using this automatic grinding and polishing system, first install the matching grinding head (860) through the locking bracket (850), and push the locking block into the locking groove with the support spring to lock the grinding head (860); connect the drainage tube of the collection housing (700) to the negative pressure absorber and start the negative pressure absorber. (2). Place the sprue with the workpiece (1000) between the outer clamping plates (930), start the third electric motor (910), the bidirectional threaded rod (920) rotates and drives the outer clamping plate (930) to move relative to each other, and the clamping groove of the outer clamping plate (930) fits against the outside of the sprue and clamps it tightly; at this time, the inner wall of the sprue with the workpiece (1000) can be polished; according to the polishing requirements, start the multi-axis robot (400), the second electric motor (830) and the push cylinder (810), the second electric motor (830) drives the polishing head (860) to rotate at high speed, the push cylinder (810) adjusts the height of the polishing head (860), the multi-axis robot (400) drives the polishing mechanism (800) to move along the preset path, and polish the inner hole of the sprue with the workpiece (1000); the dust generated by polishing enters the collection shell (700) through the feed hole and is quickly adsorbed and collected by the negative pressure absorber; (3). Next, control the third electric motor (910) to drive the bidirectional threaded rod (920) to rotate in the opposite direction. At this time, the outer clamping plate (930) is forced to expand outward. At the same time, start the fourth electric motor (940), and the unidirectional threaded rod (950) drives the moving frame (960) to descend. The inner clamping plate (980) extends into the interior of the sprue strip processing part (1000). When the inner clamping plate (980) is forced to move inside the sprue strip processing part (1000), the extrusion rod (310) will extrude the inner clamping plate (980) outward. Thus, the inner clamping plate (980) quickly clamps the sprue strip processing parts (1000) of different diameters. Start the multi-axis robot (400), and the grinding head (860) grinds and polishes the outer arc surface of the sprue strip processing part (1000). The dust generated by grinding enters the collection shell (700) through the feed hole and is quickly adsorbed and collected by the negative pressure absorber. (4). According to the material loading and unloading requirements, start the first electric motor (210) and adjust the angle of the positioning plate (300) and the sprue belt processing part (1000); (5) When the grinding head (860) needs to be replaced, press the pressing block of the locking frame (850) inward. The locking block will disengage from the locking groove of the grinding head (860), and the old grinding head (860) can be removed. After replacement, release the pressing block and the support spring will automatically reset and lock. After grinding is completed, reverse the start of the clamping assembly (900) to release the water inlet, remove the finished water inlet, and clean the dust in the collection housing (700).

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