Multi-station multi-stage polishing equipment and method for castings

Abstract

This invention relates to the field of grinding equipment technology, and provides a multi-station, multi-stage grinding equipment for castings, including a ground rail and a loading platform. A first handling robot is installed at the intersection of the loading platform and the ground rail. A grinding workstation for rough grinding is located at the end of the first handling robot that is relatively far away from it. This invention performs rough grinding through the grinding workstation directly opposite the loading platform, and then performs multi-stage fine grinding through multiple grinding workstations on both sides of the ground rail. In conjunction with AGV trolleys, handling and grinding robots, it realizes the automatic handling and grinding of large die-cast parts, improving production efficiency. The grinding unit is equipped with a protective cover and a protective plate to form a closed space to reduce noise and improve the working environment. The water supply unit can achieve sludge stratification and water circulation without power, reducing the number of water changes and water consumption. The clamping unit uses only one hydraulic cylinder to drive the inner clamping block and the outer clamping claw, simultaneously realizing inner support and outer clamping, with high linkage, compactness and consistency.

Description

Technical Field

[0001] This invention relates to the field of grinding equipment technology, and more specifically, to a multi-station, multi-stage grinding equipment and method for castings. Background Technology

[0002] Integrated die-cast parts for large components of new energy vehicles refer to a new type of manufactured component that uses ultra-large high-vacuum die-casting technology to integrate body or chassis structural parts (such as rear floor, front engine compartment, battery pack housing, etc.) that were originally composed of dozens or even hundreds of stamped and welded parts into a single complete casting. This technology significantly reduces the number of parts, connection processes, and tooling investment, achieving vehicle lightweighting, increased rigidity, and optimized production efficiency, while effectively reducing manufacturing costs and carbon emissions. It is one of the key technological paths to promote the upgrading of new energy vehicle body manufacturing towards integration, greening, and high efficiency.

[0003] While integrated die-casting offers numerous advantages, it also presents unprecedented challenges to subsequent finishing processes, especially the "fine finishing and grinding" process, making it a bottleneck restricting production efficiency and quality. Traditional manual or semi-automatic finishing methods are no longer adequate for the following reasons:

[0004] 1. Oversized and overweight workpieces: Large die-cast parts can be over 2 meters in size and weigh hundreds of kilograms, making manual handling and flipping difficult and posing safety risks.

[0005] 2. Uneven Deformation and Allowance: The workpieces after die casting and heat treatment have unpredictable deformation. The location, height and shape of the allowance that needs to be removed, such as gates, flash, and parting lines, are inconsistent, making standardized processing difficult.

[0006] 3. Stringent Quality Requirements: As a core structural or exterior component of the vehicle body, it requires extremely high levels of surface smoothness, contour accuracy, and thorough burr removal after sanding. Any damage can affect strength or coating results. Traditional manual or semi-automatic sanding may result in uneven sanding or damage, impacting product quality.

[0007] 4. Harsh working environment: The grinding production line is noisy and dusty, it is difficult to recruit workers and the labor cost is high. Moreover, the quality stability depends on the experience of the workers.

[0008] To address the aforementioned issues, this application proposes a multi-station, multi-stage grinding equipment and method for castings. Summary of the Invention

[0009] The purpose of this invention is to provide a multi-station, multi-stage grinding equipment and method for castings, which achieves automated grinding through a handling robot and a grinding robot, while setting up a relatively enclosed grinding environment to reduce noise and solve the problems in the prior art.

[0010] The objective of this invention can be achieved through the following technical solution: A multi-station, multi-stage grinding equipment for castings, comprising a ground rail and a loading platform, wherein a first transport robot is installed at the intersection of the loading platform and the ground rail, and a grinding workstation for coarse grinding is provided at the end of the first transport robot relatively away from the first transport robot; several sets of grinding workstations for fine grinding are symmetrically arranged on both sides of the ground rail; a transfer platform is provided at the end of the ground rail away from the first transport robot, and a calibration platform for moving the workpiece to a manual calibration station is slidably installed on the transfer platform; and a unloading platform is installed on the side of the ground rail near the transfer platform.

[0011] The ground rail is equipped with a second transport robot that drives the workpiece to move. The end of the ground rail near the first transport robot is equipped with a loading transfer table for waiting for finely ground parts to be placed. The end of the ground rail away from the unloading table is equipped with an unloading transfer table for waiting for shaped parts to be placed.

[0012] The loading platform and unloading platform are respectively equipped with a loading AGV trolley and an unloading AGV trolley;

[0013] The grinding workstation includes a grinding unit, a water supply unit, and a clamping unit, with two sets of clamping units mounted on the water supply unit.

[0014] Preferably, the grinding unit includes a grinding table and a protective cover fixedly installed on the grinding table. The protective cover covers the clamping unit and has a window for loading and unloading near the ground rail. The window has an openable protective plate. A grinding robot is installed on the grinding table via an electric rail. The grinding robot places the grinding end on the two clamping units in the protective cover through the grinding window.

[0015] Preferably, a rectangular sleeve for vertical sliding of the protective plate is installed at the lower end of the protective cover near the window. A gear is installed on the rectangular sleeve, and a toothed plate that meshes with the gear is fixed on the surface of the protective plate. A motor that drives the gear to mesh with the toothed plate and drives the protective plate to rise and fall is installed on the side of the water supply unit.

[0016] Preferably, the water supply unit is filled with cooling water, and the water supply unit is provided with a mudguard that divides the interior into upper and lower parts. The mudguard is inclined, and the lower end of the inclined mudguard forms a space that connects the upper and lower parts. The mudguard is located directly below the two sets of clamping units and is located in the cooling water.

[0017] Preferably, a drain pipe is installed at the bottom of the water supply unit near the connecting space between the upper and lower parts, and a water supply pipe connected to the top liquid level of the lower part is installed at the inclined top of the mudguard.

[0018] Preferably, the clamping unit includes a clamping seat fixed to the top of the water supply unit. Several inner clamping blocks for forming support inside the workpiece are slidably provided on the clamping seat. An outer clamping claw for vertically pressing the external connecting lug of the workpiece is also hinged on the clamping seat. The upper end of the outer clamping claw is the pressing end, and the lower end is connected to an adapter seat. A hydraulic cylinder is installed at the bottom of the clamping seat through a bracket. The output end of the hydraulic cylinder is downward and fixedly connected to a linkage plate. The linkage plate is connected to the inner clamping blocks and the bottom of the adapter seat through connecting rods. Both ends of the connecting rods are hinged.

[0019] Preferably, the top surface of the clamp is fixed with an upper sliding seat that slides in cooperation with the inner clamping block, and the bottom surface of the clamp is fixed with a lower sliding seat that slides in cooperation with the adapter.

[0020] Preferably, the clamp is connected to the water supply unit by a connecting plate and fixed with bolts, and a space is formed around the clamp for the grinding water to flow back to the upper part of the water supply unit.

[0021] The present invention also provides a multi-station, multi-stage grinding method for castings, which, according to the above-mentioned multi-station, multi-stage grinding equipment for castings, includes the following steps:

[0022] S1. The AGV trolley transports the finished casting workpiece to the loading platform. The first transport robot takes the workpiece from the loading platform and transports it to the rough grinding workstation.

[0023] S2. After the rough grinding workstation is completed, the first transport robot will transport the workpiece to the loading transfer platform. Then the second transport robot will transport the workpiece from the loading transfer platform to the fine grinding workstation. After multiple grinding workstations and multiple stages of grinding are completed, the second transport robot will take out the workpiece and place it on the calibration platform. The transfer platform will move the calibration platform and the workpiece to the manual calibration station.

[0024] S3. After manual calibration is completed, the calibration table is reset. The second handling robot moves the workpiece from the calibration table to the unloading table, and then the unloading AGV trolley moves the processed workpiece away from the unloading table.

[0025] Preferably, when the workpiece is transported to the grinding workstation, the inner clamping block on the clamping unit is in a retracted state, and the outer clamping jaw is in an open state. After the workpiece is placed in the clamping seat, the hydraulic cylinder synchronously drives the inner clamping block and the outer clamping jaw to clamp it; at the same time, the guard plate closes.

[0026] The beneficial effects of this invention are:

[0027] This invention enables rough grinding of workpieces through a grinding workstation directly opposite the loading platform, and then multi-stage fine grinding of workpieces through multiple grinding workstations on both sides of the ground rail. Combined with AGV loading and unloading trolleys, handling robots, grinding robots, ground rails, and automation programs, it realizes the automatic handling and grinding of large die-cast parts, thereby improving production efficiency.

[0028] This invention creates a relatively enclosed grinding space by setting a cover and a protective plate on the grinding unit, thereby reducing noise and greatly improving the working environment.

[0029] The water supply unit equipped with this invention can form diagonal stratification of sludge and water supply pipe without the need for power, without affecting the collection and sedimentation of sludge, and the water in the circulating part has the least sludge content, reducing the number of water changes and water consumption.

[0030] The present invention features a clamping unit located on the water supply unit to facilitate water circulation. At the same time, the inner clamping blocks and outer clamping jaws on the clamping unit can achieve internal support and external clamping of the workpiece. Moreover, all the inner clamping blocks and outer clamping jaws can be driven by only one hydraulic cylinder, which has the characteristics of strong linkage, compactness and high consistency. Attached Figure Description

[0031] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0032] Figure 1 This is a top view of the structure of the present invention;

[0033] Figure 2 This is a schematic diagram of the grinding workstation in this invention;

[0034] Figure 3 This is a rear view structural schematic diagram of the grinding workstation in this invention;

[0035] Figure 4 for Figure 2 A schematic diagram of the closed middle guard plate structure;

[0036] Figure 5 A side half-section structural schematic diagram of the water supply unit and the clamping unit;

[0037] Figure 6 This is an enlarged structural diagram of the clamp;

[0038] Figure 7 This is an enlarged structural diagram of the clamping unit, excluding the clamping base.

[0039] Figure 8 This is an enlarged structural diagram of the water supply unit;

[0040] The attached diagram lists the components represented by each number as follows:

[0041] In the picture:

[0042] 1. Ground rail; 11. Second handling robot; 12. Loading transfer station; 13. Unloading transfer station; 2. Loading platform; 21. Loading AGV trolley; 3. First handling robot;

[0043] 4. Grinding workstation;

[0044] 41. Grinding unit; 411. Grinding table; 412. Protective cover; 4121. Grinding window; 4122. Rectangular sleeve; 4123. Gear; 4124. Motor; 413. Electric track; 414. Grinding robot; 4141. Nozzle; 415. Protective plate; 4151. Toothed plate;

[0045] 42. Water supply unit; 421. Mudguard; 422. Drainage pipe; 423. Water supply pipe;

[0046] 43. Clamping unit; 431. Clamping seat; 4311. Upper slide; 4312. Lower slide; 432. Hydraulic cylinder; 433. Linkage plate; 434. Inner clamping block; 435. Connecting rod; 436. Outer jaw; 437. Adapter seat;

[0047] 5. Transfer platform; 51. Alignment platform; 6. Unloading platform; 61. Unloading AGV trolley. Detailed Implementation

[0048] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without inventive effort are within the scope of protection of this invention.

[0049] like Figure 1 - Figure 8As shown, this embodiment provides a multi-station, multi-stage grinding equipment for castings, including a ground rail 1 and a loading platform 2. A first transport robot 3 is installed at the intersection of the loading platform 2 and the ground rail 1. A grinding workstation 4 for coarse grinding is provided at the end of the first transport robot 3 that is relatively away from the first transport robot 3. Several sets of grinding workstations 4 for fine grinding are also symmetrically arranged on both sides of the ground rail 1. A transfer platform 5 is provided at the end of the ground rail 1 that is away from the first transport robot 3. A calibration platform 51 for moving the workpiece to the manual calibration station is slidably installed on the transfer platform 5. A unloading platform 6 is installed on the side of the ground rail 1 near the transfer platform 5.

[0050] The ground rail 1 is equipped with a second transport robot 11 that drives the workpiece to move. The ground rail 1 is equipped with a loading transfer table 12 for waiting for fine grinding parts to be placed at the end of the ground rail 1 near the first transport robot 3. The ground rail 1 is equipped with a unloading transfer table 13 for waiting for shaping parts to be placed at the end of the ground rail 1 away from the unloading table 6.

[0051] The loading platform 2 and the unloading platform 6 are respectively equipped with a loading AGV trolley 21 and an unloading AGV trolley 61;

[0052] The grinding workstation 4 includes a grinding unit 41, a water supply unit 42, and a clamping unit 43. The clamping unit 43 is installed on the water supply unit 42 and consists of two sets. The large die-casting parts are automatically transported to the loading platform 2 by the loading AGV trolley 21. The first handling robot 3 then transfers the workpiece to the rough grinding workstation 4, effectively solving the problem of difficulty and safety risks in manually handling ultra-large and ultra-heavy workpieces. The multiple sets of fine grinding workstations 4 symmetrically arranged on both sides of the ground rail 1 can perform multi-level fine grinding on the workpieces, adapting to the uneven allowance after the die-casting parts are deformed. They remove excess materials such as gates, flash, and parting lines in sequence, avoiding excessive grinding or omissions in a single grinding. The loading transfer table 12 and the unloading transfer table 13 temporarily store the workpieces to be finely ground and the workpieces to be shaped, respectively, forming a buffer between the rough grinding, fine grinding, and manual shaping processes. This avoids the entire line from stopping due to fluctuations in the cycle time of a certain station, thus improving the overall production efficiency.

[0053] Furthermore, the grinding unit 41 includes a grinding table 411 and a protective cover 412 fixedly installed on the grinding table 411. The protective cover 412 covers the clamping unit 43 and has a window for loading and unloading near the ground rail 1. The window is equipped with an openable protective plate 415. A grinding robot 414 is installed on the grinding table 411 via an electric rail 413. The grinding robot 414 places its grinding end on the two clamping units 43 in the protective cover 412 through the grinding window 4121. The protective cover 412 and the protective plate 415 cooperate to form a relatively closed grinding space, which effectively reduces the outward transmission of noise during the grinding process and significantly improves the working environment of the grinding station. The grinding robot 414 moves on the grinding table 411 via the electric rail 413, so that its grinding end can process the workpieces on the two clamping units 43 in the protective cover 412 in sequence, realizing one robot serving two workstations, which not only improves the equipment utilization rate but also reduces the floor space of the grinding workstation.

[0054] Furthermore, a rectangular sleeve 4122 for vertical sliding of the guard plate 415 is installed at the lower end of the cover 412 near the window. A gear 4123 is installed on the rectangular sleeve 4122, and a toothed plate 4151 that meshes with the gear 4123 is fixed on the surface of the guard plate 415. A motor 4124 is installed on the side of the water supply unit 42 to drive the gear 4123 to mesh with the toothed plate 4151 and drive the guard plate 415 to rise and fall. When loading and unloading are required, the motor 4124 drives the gear 4123 to rotate, which drives the guard plate 415 to rise vertically along the rectangular sleeve 4122 through the toothed plate 4151, automatically opening the window. After loading and unloading are completed, the guard plate 415 falls and closes the window, forming a closed grinding space. This lifting mechanism realizes the automatic opening and closing of the guard plate without manual intervention and is seamlessly connected with the automated loading and unloading process. At the same time, the meshing transmission method of the toothed plate and gear runs smoothly and is accurately positioned, ensuring the sealing between the guard plate and the cover after the guard plate is closed, effectively maintaining the noise reduction and dust prevention effect.

[0055] Furthermore, cooling water is injected into the water supply unit 42. Inside the water supply unit 42, a mudguard 421 divides the interior into upper and lower sections. The mudguard 421 is inclined, and its lower end forms a space connecting the upper and lower sections. The mudguard 421 is located directly below the two clamping units 43 and within the cooling water. Grinding debris and dust generated during the grinding process fall into the upper part of the water supply unit 42 with the cooling water and gradually settle under gravity. The inclined mudguard 421 and the connecting space at its lower end allow the silt-laden water in the upper part to flow towards the connecting opening. Due to its higher density, the silt preferentially settles in the water tank near the drain pipe 422, while the relatively clear water flows from below the mudguard 421 to the water supply pipe 423, achieving natural stratification sedimentation without the need for power. The mudguard 421 is located directly below the two sets of clamping units 43, ensuring that the grinding debris can fall directly into the settling area, avoiding the accumulation of debris on the workpiece or clamping unit. At the same time, the cooling water continuously circulates to remove the grinding heat and prevent the workpiece from thermally deforming.

[0056] Furthermore, a drain pipe 422 is installed at the bottom of the water supply unit 42 near the connecting space between the upper and lower parts, and a water supply pipe 423 connected to the top liquid level of the lower part is installed on the inclined top of the mudguard 421. The drain pipe 422 is located near the bottom of the connecting space to periodically discharge the high-concentration sludge deposited, facilitating cleaning and maintenance. The water supply pipe 423 extends from the inclined top of the mudguard 421 and connects to the top liquid level of the lower part, so that the circulating cooling water comes from the upper clear liquid layer with the least sludge content in the lower part of the water tank, effectively reducing suspended particles in the circulating water, reducing the risk of nozzle 4141 clogging, and extending the overall replacement cycle of the cooling water, reducing water consumption and wastewater treatment costs; specifically as follows... Figure 2 As shown, nozzle 4141 is installed on grinding robot 414, and the water spray direction is downward. It should be noted that the sprayed water does not fall directly on the surface of the grinding disc, but rather on the workpiece near the grinding disc to ensure cooling and dust suppression effects.

[0057] Furthermore, the clamping unit 43 includes a clamping seat 431 fixed to the top of the water supply unit 42. Several inner clamping blocks 434 are slidably mounted on the clamping seat 431 to form support inside the workpiece. An outer clamping jaw 436 is also hinged to the clamping seat 431 to vertically press the external connecting lugs of the workpiece. The upper end of the outer clamping jaw 436 is the pressing end, and the lower end is connected to an adapter seat 437. A hydraulic cylinder 432 is mounted on the bottom of the clamping seat 431 via a bracket. The output end of the hydraulic cylinder 432 faces downwards and is fixedly connected to a linkage plate 433. The linkage plate 433 is connected to the inner clamping blocks 434 and the bottom of the adapter seat 437 respectively via connecting rods 435. Both ends of the connecting rods 435 are hinged. When the hydraulic cylinder... When the output end of the pressure cylinder 432 extends downward, the linkage plate 433 moves downward, and simultaneously pulls the inner clamping block 434 outward along the clamping seat 431 via the connecting rod 435, forming support from inside the workpiece; at the same time, the connecting rod 435 pulls the adapter seat 437 downward, causing the outer clamping jaw 436 to rotate around the hinge point, and its upper pressing end swings downward, vertically pressing the external connecting ear of the workpiece; only one hydraulic cylinder 432 is needed to achieve synchronous linkage of inner support and outer clamping, with a compact structure, rapid response, and automatic balance of inner and outer clamping forces, avoiding the problem of asynchronous clamping or over-positioning caused by multi-point independent drive, especially suitable for stable fixing of large die-cast parts under grinding stress.

[0058] Furthermore, the top surface of the clamping seat 431 is fixed with an upper slide seat 4311 that slides with the inner clamping block 434, and the bottom surface of the clamping seat 431 is fixed with a lower slide seat 4312 that slides with the adapter seat 437. The upper slide seat 4311 provides precise guidance for the sliding of the inner clamping block 434, ensuring that when multiple inner clamping blocks 434 extend synchronously, they expand evenly along the same circumference, achieving stable support for the inner wall of the workpiece without generating off-center load. The lower slide seat 4312 provides guidance for the sliding of the adapter seat 437, ensuring that the movement trajectory of the lower end of the outer jaw 436 is straight, thereby making the clamping action of the upper end of the outer jaw 436 accurate and reliable, avoiding uneven clamping force or damage to the workpiece connecting ear due to movement deviation. The upper and lower double slide seat structure improves the motion accuracy and repeatability of the entire clamping system.

[0059] Furthermore, the clamping base 431 and the water supply unit 42 are connected by a connecting plate and fixed with bolts. The clamping base 431 has a space around its perimeter for the grinding water to flow back to the upper part of the water supply unit 42. The connecting plate connection and bolt fixing facilitate quick disassembly, assembly, replacement, and maintenance of the clamping unit 431. When it is necessary to adapt to different models of die-cast parts, the corresponding clamping unit can be replaced as a whole. The reserved return space around the clamping base 431 allows the cooling water sprayed during grinding, carrying debris, to flow directly downwards into the upper part of the water supply unit 42, preventing water or debris residue from remaining on the clamping surface and affecting clamping accuracy. It also achieves natural return and recycling of the cooling water.

[0060] The present invention also provides a multi-station, multi-stage grinding method for castings, which, according to the above-mentioned multi-station, multi-stage grinding equipment for castings, includes the following steps:

[0061] S1. The loading AGV trolley 21 transports the finished casting workpiece to the loading platform 2. The first handling robot 3 takes the workpiece from the loading platform 2 and transports it to the rough grinding workstation 4. Through the automatic connection between the loading AGV trolley 21 and the first handling robot 3, unmanned transfer from the casting process to the grinding process is realized, avoiding the safety risks of manually handling large die-cast parts weighing hundreds of kilograms.

[0062] S2. After the rough grinding workstation 4 is completed, the first transport robot 3 transports the workpiece to the loading transfer table 12. Then, the second transport robot 11 transports the workpiece from the loading transfer table 12 to the fine grinding workstation 4. After the multi-stage grinding of multiple sets of grinding workstations 4 is completed, the second transport robot 11 takes out the workpiece and places it on the calibration table 51. The transfer table 5 moves the calibration table 51 and the workpiece to the manual calibration station. First, rough grinding is performed to quickly remove large amounts of gates, flash, etc. Then, multiple sets of fine grinding workstations are used for multi-stage finishing, gradually refining the abrasive particle size to adapt to the uneven surface allowance and deformation characteristics of the die casting. This avoids damage to the workpiece caused by excessive grinding in a single operation. At the same time, the loading transfer table 12 acts as a buffer, making the cycles of rough grinding and fine grinding independent of each other. If one set of grinding workstations 4 fails, it will not affect the continued operation of other stations.

[0063] S3. After manual calibration, the calibration table 51 is reset, and the second transport robot 11 transfers the workpiece from the calibration table 51 to the unloading table 6. Then, the unloading AGV trolley 61 removes the finished workpiece from the unloading table 6. The manual calibration station is set after fine grinding. Through the sliding cooperation between the transfer table 5 and the calibration table 51, it is convenient for manual correction of workpieces that still have slight deformation after grinding, ensuring that the final product contour accuracy meets the assembly requirements of the core structural components of the car body. The unloading AGV trolley 61 automatically transports the finished product out, forming a complete closed loop of automated grinding production line.

[0064] Furthermore, when the workpiece is transported to the grinding workstation 4, the inner clamping block 434 on the clamping unit 43 is in a retracted state, and the outer clamping jaw 436 is in an open state. After the workpiece is placed in the clamping seat 431, the hydraulic cylinder 432 synchronously drives the inner clamping block 434 and the outer clamping jaw 436 to clamp it; at the same time, the guard plate 415 closes. This clamping process ensures that the workpiece will not interfere with the clamping elements during placement. The retracted state of the inner clamping block 434 provides clearance for the workpiece to fall, and the open state of the outer clamping jaw 436 allows the workpiece to be freely placed on the clamping seat 431. After the workpiece is in place, the hydraulic cylinder 432 completes the inner support and outer clamping simultaneously in one action, avoiding workpiece displacement that may be caused by step-by-step clamping. After clamping, the guard plate 415 closes, isolating the grinding process from the outside world, which not only ensures operational safety but also reduces noise and dust. After grinding, the guard plate 415 opens first, and then the hydraulic cylinder 432 moves in the opposite direction to release the workpiece, making it easy for the robot to pick up the part. The whole process is seamlessly integrated with automated loading and unloading, with short cycle time for single station and high efficiency for multi-station parallel operation.

[0065] Understandably, this invention performs rough grinding at the grinding workstation directly opposite the loading platform, followed by multi-stage fine grinding at multiple grinding workstations on both sides of the ground rail. This, combined with AGV trolleys, handling and grinding robots, enables automated handling and grinding of large die-cast parts, improving production efficiency. The grinding unit is equipped with a protective cover and plate, forming a closed space to reduce noise and improve the working environment. The water supply unit can achieve sludge stratification and water circulation without power, reducing the frequency of water changes and water consumption. The clamping unit uses only one hydraulic cylinder to drive the inner clamping block and outer jaws, simultaneously achieving internal support and external clamping, exhibiting high linkage, compactness, and consistency.

[0066] In the description of this invention, unless otherwise stated, "a plurality of" means two or more; it should be understood that the terms "opening", "upper", "lower", "thickness", "top", "middle", "length", "inner", "around", etc., which indicate orientation or positional relationship, are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the components or elements referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting this invention.

[0067] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A multi-station, multi-stage grinding equipment for castings, comprising a ground rail (1) and a loading platform (2), characterized in that, A first transport robot (3) is installed at the intersection of the loading platform (2) and the ground rail (1). A grinding workstation (4) for rough grinding is provided at the end of the first transport robot (3) that is relatively far away from the first transport robot (3). Several sets of grinding workstations (4) for fine grinding are also symmetrically arranged on both sides of the ground rail (1). A transfer platform (5) is provided at the end of the ground rail (1) that is far away from the first transport robot (3). A calibration platform (51) for moving the workpiece to the manual calibration station is slidably installed on the transfer platform (5). A unloading platform (6) is installed at the end of the side of the ground rail (1) near the transfer platform (5). The ground rail (1) is equipped with a second transport robot (11) that drives the workpiece to move. The ground rail (1) is equipped with a loading transfer table (12) for waiting for fine grinding parts to be placed at the end of the ground rail (1) near the first transport robot (3). The ground rail (1) is equipped with a unloading transfer table (13) for waiting for shaping parts to be placed at the end of the ground rail (1) away from the unloading table (6). The loading platform (2) and unloading platform (6) are respectively equipped with a loading AGV trolley (21) and an unloading AGV trolley (61). The grinding workstation (4) includes a grinding unit (41), a water supply unit (42) and a clamping unit (43), wherein the clamping unit (43) is installed on the water supply unit (42) and there are two sets of clamping units (43).

2. The multi-station, multi-stage grinding equipment for castings according to claim 1, characterized in that: The grinding unit (41) includes a grinding table (411) and a protective cover (412) fixedly installed on the grinding table (411). The protective cover (412) covers the clamping unit (43) and has a window for loading and unloading materials at one end near the ground rail (1). The window is provided with a protective plate (415) that can be opened and closed. A grinding robot (414) is installed on the grinding table (411) via an electric rail (413). The grinding robot (414) places the grinding end on the two clamping units (43) in the protective cover (412) through the grinding window (4121).

3. The multi-station, multi-stage grinding equipment for castings according to claim 2, characterized in that: The lower end of the cover (412) near the window is equipped with a rectangular sleeve (4122) for vertical sliding of the guard plate (415). A gear (4123) is installed on the rectangular sleeve (4122). A toothed plate (4151) that meshes with the gear (4123) is fixed on the surface of the guard plate (415). A motor (4124) that drives the gear (4123) to mesh with the toothed plate (4151) and drives the guard plate (415) to rise and fall is installed on the side of the water supply unit (42).

4. The multi-station, multi-stage grinding equipment for castings according to claim 1, characterized in that: Cooling water is injected into the water supply unit (42). The water supply unit (42) is provided with a mudguard (421) that divides the interior into upper and lower parts. The mudguard (421) is inclined and the lower end of the inclined mudguard forms a space that connects the upper and lower parts. The mudguard (421) is located directly below the two sets of clamping units (43) and is located in the cooling water.

5. The multi-station, multi-stage grinding equipment for castings according to claim 4, characterized in that: The water supply unit (42) has a drain pipe (422) installed at the bottom of the side near the connecting space between the upper and lower parts, and the mudguard (421) has a water supply pipe (423) installed at the top of the inclined side, which is connected to the liquid level at the top of the lower part.

6. The multi-station, multi-stage grinding equipment for castings according to claim 4, characterized in that: The clamping unit (43) includes a clamping seat (431) fixed to the top of the water supply unit (42). Several inner clamping blocks (434) for forming support inside the workpiece are slidably provided on the clamping seat (431). An outer clamping claw (436) for vertically pressing the external connecting lug of the workpiece is also hinged on the clamping seat (431). The upper end of the outer clamping claw (436) is the pressing end, and the lower end is connected to the adapter seat (437). A hydraulic cylinder (432) is installed at the bottom of the clamping seat (431) through a bracket. The output end of the hydraulic cylinder (432) is downward and fixedly connected to a linkage plate (433). The linkage plate (433) is connected to the inner clamping blocks (434) and the bottom of the adapter seat (437) respectively through a connecting rod (435). Both ends of the connecting rod (435) are hinged.

7. The multi-station, multi-stage grinding equipment for castings according to claim 6, characterized in that: The top surface of the clamp (431) is fixed with an upper sliding seat (4311) that slides with the inner clamp (434), and the bottom surface of the clamp (431) is fixed with a lower sliding seat (4312) that slides with the adapter (437).

8. The multi-station, multi-stage grinding equipment for castings according to claim 6, characterized in that: The clamp (431) is connected to the water supply unit (42) by a connecting plate and fixed with bolts, and a space is formed around the clamp (431) for the grinding water to flow back to the upper part of the water supply unit (42).

9. A multi-station, multi-stage grinding method for castings, comprising the multi-station, multi-stage grinding equipment for castings according to any one of claims 1-8, characterized in that: Includes the following steps: S1. The loading AGV trolley (21) transports the finished casting workpiece to the loading platform (2), and the first handling robot (3) takes the workpiece from the loading platform (2) and transports it to the rough grinding workstation (4). S2. After the rough grinding workstation (4) is completed, the first transport robot (3) transports the workpiece to the loading transfer table (12). Then the second transport robot (11) transports the workpiece on the loading transfer table (12) to the fine grinding workstation (4). After the multi-stage grinding of multiple grinding workstations (4) is completed, the second transport robot (11) takes out the workpiece and places it on the calibration table (51). The transfer table (5) drives the calibration table (51) and the workpiece to the manual calibration station. S3. After manual calibration is completed, the calibration table (51) is reset, and the second handling robot (11) moves the workpiece from the calibration table (51) to the unloading table (6). Then, the unloading AGV trolley (61) moves the processed workpiece away from the unloading table (6).

10. The multi-station, multi-stage grinding method for castings according to claim 9, characterized in that: When the workpiece is transported to the grinding workstation (4), the inner clamping block (434) on the clamping unit (43) is in the retracted state, and the outer clamping jaw (436) is in the open state. After the workpiece is placed in the clamping seat (431), the hydraulic cylinder (432) drives the inner clamping block (434) and the outer clamping jaw (436) to clamp simultaneously; at the same time, the guard plate (415) is closed.

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