Self-adapting flexible processing equipment suitable for multi-variety large steel plate castings

Abstract

The application provides a self-adaptive flexible processing equipment suitable for multi-species large steel plate casting, which comprises a mechanical arm arranged in a processing area, and a placing table for fixing the large steel plate casting is arranged on one side of the mechanical arm; a processing mechanism is arranged on the working end of the mechanical arm, the processing mechanism comprises a polishing unit driven to rotate by a driving motor, the polishing unit comprises a mounting disc, a brush wire is arranged on the mounting disc, and a motor shaft of the driving motor is in transmission connection with the mounting disc to realize the grinding processing of the surface of the steel plate casting. The application further comprises a cleaning unit arranged at the transmission connection position of the driving motor and the mounting disc and working in cooperation with the brush wire, the cleaning unit is not triggered when the mounting disc is driven by the driving motor to rotate forward for polishing, so that the brush wire keeps a normal grinding state; after the polishing is completed or the polishing is continuously performed for a period of time, the processing mechanism is moved away from the surface of the workpiece by the mechanical arm, and then the mounting disc is driven by the driving motor to rotate reversely, so that the cleaning unit is triggered to vibrate the brush wire.

Description

Technical Field

[0001] This invention relates to the field of grinding, specifically to an adaptive flexible processing equipment suitable for various types of large cast steel plates. Background Technology

[0002] After casting, existing large cast steel plates typically have riser residue, flash, oxide scale, and uneven areas on their surfaces. Therefore, subsequent grinding processes are necessary to improve surface smoothness and assembly accuracy. With the increasing size of large cast steel parts and the growing demand for automated processing, current technologies often employ robots combined with 3D vision scanning to identify and grind the surfaces of these large cast steel plates. Specifically, the surface contour data of the large cast steel plate is first acquired using 3D vision scanning equipment. Then, based on the scanning results, the area to be ground is identified, and the control system automatically generates the corresponding grinding trajectory. Subsequently, a robotic arm drives the grinding mechanism to perform automated, flexible grinding of the large cast steel plate along the planned path, thereby reducing manual labor intensity and improving the grinding efficiency of large cast steel parts.

[0003] In existing automated grinding processes for large cast steel plates, in addition to traditional abrasive wheel grinding structures, brush-type grinding structures are also used in some cases. This type of structure typically uses a drive motor to rotate a mounting disc, and the brushes on the disc contact the surface of the large cast steel plate to grind or polish the oxide layer, burrs, and localized residual protrusions. Compared to rigid abrasive wheel structures, brush-type grinding structures have a certain degree of flexible contact capability, enabling them to achieve a certain adaptive contact effect when there are local height differences or surface curvature variations on the surface of large cast steel plates. This reduces localized over-cutting or impact phenomena and improves the grinding uniformity of complex surfaces.

[0004] However, in existing brush-type grinding structures, during prolonged continuous grinding, metal shavings, oxide scale, and grinding residue easily adhere to or become trapped between the brush filaments. Long-term accumulation of these shavings can affect the normal spread of the brush filaments, leading to a decrease in the effective contact area and reducing the brush's grinding ability on the workpiece surface. Furthermore, during continuous unidirectional rotational grinding, the brush filaments are prone to bending, collapsing, or localized entanglement, resulting in unstable contact between the brush filaments and the workpiece. This, in turn, affects the grinding uniformity of large cast steel plates and the quality of subsequent processing.

[0005] Therefore, adaptive flexible processing equipment suitable for various types of large cast steel plates is provided to address the above problems. Summary of the Invention

[0006] In order to solve the problems of the existing brush grinding structure, which is prone to the decline of brush grinding ability due to the accumulation of waste chips during continuous grinding of large cast steel plates, and the problem of brush bristles being prone to bending, collapsing and tangling, thus affecting the grinding stability, this invention provides an adaptive flexible processing equipment suitable for a variety of large cast steel plates.

[0007] The present invention solves the above-mentioned technical problems through the following technical solutions: The present invention provides an adaptive flexible processing equipment suitable for various types of large cast steel plates, including a robotic arm set in the processing area, and a placement platform for fixing the cast steel plates is installed on one side of the robotic arm; The robotic arm's working end is equipped with a grinding mechanism, which includes a grinding unit that is driven to rotate by a drive motor. The grinding unit includes a mounting plate on which brush bristles are mounted. The motor spindle of the drive motor is connected to the mounting plate in a transmission connection. It also includes a cleaning unit, which is located at the transmission connection between the drive motor and the mounting plate. The cleaning unit is not triggered when the drive motor drives the mounting plate to rotate forward, but is triggered when the drive motor drives the mounting plate to rotate in reverse. The cleaning unit vibrates the brush bristles on the mounting plate.

[0008] The cleaning unit is not triggered while the drive motor drives the mounting plate to rotate forward. After the drive motor drives the brush bristles to rotate forward and finishes grinding or after grinding for a period of time, the mechanical arm drives the grinding mechanism to move to the side away from the workpiece. Then, the drive motor drives the mounting plate to rotate in reverse and triggers the cleaning unit. The cleaning unit vibrates the brush bristles on the mounting plate.

[0009] In this technical solution, the processing mechanism further includes a support frame, which is fixed on the working end of the robotic arm, and a drive motor is installed on the support frame; The motor spindle is fixedly connected to the mounting plate via a bearing shaft. The cleaning unit includes a drive assembly, a driven assembly, and a vibration assembly. The drive assembly is mounted on the bearing shaft, and the driven assembly is connected to the drive assembly in a transmission manner. The driven assembly and the vibration assembly are respectively mounted on the support frame and the mounting plate. As the motor spindle and mounting plate reverse synchronously, the drive assembly runs, and the drive assembly drives the vibration assembly to vibrate through the transmission assembly, which in turn drives the brush filaments on the mounting plate to vibrate.

[0010] In this technical solution, the driving component and the driven component are connected by the mutual meshing of external and internal threads. The bearing shaft reverses to drive the driving component to rotate synchronously. The reversed driving component drives the transmission component to move towards one side of the mounting plate through thread meshing, thereby driving the vibration component to deflect and vibrate during the deflection process. The forward rotation of the bearing shaft drives the drive assembly to rotate synchronously. The forward-rotating drive assembly pushes the driven assembly to move away from the mounting plate until it disengages from the drive assembly.

[0011] In this technical solution, the driving assembly includes a driving tube, which is sleeved on the bearing shaft, and the inside of the driving tube is fixed to the surface of the bearing shaft by a plurality of rods arranged in a ring array. The annular outer wall of the driving tube is provided with external threads. The driven component includes a driven tube, the annular inner wall of which is provided with an internal thread, and the driven tube is fixed to the support frame by a telescopic and resilient connector; The driven tube is connected to the vibration component via multiple transmission rods arranged in a ring array.

[0012] In this technical solution, the vibration assembly includes a transmission ring, which is mounted on a mounting plate via a mounting part and sleeved around the outer periphery of the bearing shaft. A guide part is provided on one side of the transmission ring, and the transmission ring is pushed to move on the guide part by a driving part. The guide part guides the transmission ring to vibrate during movement. The transmission ring is equipped with multiple vibrating elements, which can overlap with the root of the brush bristles or extend to one side of the brush bristles after passing through the mounting plate.

[0013] In this technical solution, the mounting part includes at least one mounting component, the mounting component includes a telescopic mounting rod, one end of the mounting rod is fixed to the transmission ring, the other end is fixed to the slider, the slider is slidably connected to the guide rail, and the guide rail is fixed to the mounting plate; A first telescopic rod is fixed on the outer wall of the side where the mounting rod connects to the slider. The first telescopic rod is mounted on the mounting plate. A first spring is sleeved on the surface of the first telescopic rod, and the two ends of the first spring are respectively fixed to the two ends of the first telescopic rod. A third spring is sleeved on the surface of the mounting rod, and the two ends of the third spring are respectively fixed to the two ends of the mounting rod.

[0014] In this technical solution, the vibrating component includes a drive shaft, which is arranged parallel to the bearing shaft. One end of the drive shaft is fixed to the drive ring, and the other end of the drive shaft passes through the mounting plate through a drive slot opened on the mounting plate. A vibrating plate is fixed to the end of the drive shaft. The vibrating plate overlaps with or is placed on one side of the brush filaments.

[0015] In this technical solution, the guide part includes two symmetrically arranged guide members, each guide member including a wave-shaped guide plate, the guide plate being fixed on the mounting plate, and a movable roller being attached to the surface of the guide plate, the movable roller being fixed on the transmission ring; The guide plate has a straight plate structure on the side closest to the transmission ring.

[0016] This technical solution also includes a separating component for separating the driving component and the driven component during the forward rotation of the drive motor. The separating component is disposed between the driving component and the driven component and is fixed to the support frame. The separating component includes a separating part and a releasing part. The separating part is located on one side of the driven component at its initial position and engages with the driven component at its initial position. The releasing part is located on the bearing shaft, and the releasing end of the releasing part extends to the separating part after passing around the periphery of the drive component. The releasing part releases the engagement between the separating part and the driven part after the drive motor reverses. After the drive motor reverses, the driven component and the drive component are connected to each other through external and internal threads.

[0017] In this technical solution, the partition includes a bearing ring, which is sleeved around the driven tube. Multiple partitions arranged in a ring array are provided on the side wall of the bearing ring. The partitions can rotate in one direction and can reset themselves. In the initial position, the partitions are engaged with the drive assembly. The release section includes multiple release components arranged in a ring array, and the number of release components is the same as that of the separators. Each release component includes a synchronizing rod, one end of which is fixed to the bearing shaft, and the other end of which passes around the drive assembly. The end of the synchronizing rod is provided with a release end that can rotate in one direction and can be reset.

[0018] 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.

[0019] The positive and progressive effects of this invention are as follows: The cleaning unit is not triggered during the forward rotation of the mounting plate driven by the drive motor, so that the mounting plate only drives the brush bristles to perform normal grinding on the workpiece. This avoids additional interference from the cleaning unit to the brush bristles during the grinding stage, which helps to ensure the stability of the contact state between the brush bristles and the workpiece, and improves the grinding efficiency and surface treatment consistency of the brush bristles on the surface of large cast steel plates.

[0020] After the brush bristles have finished grinding or have been continuously grinding for a period of time, the robotic arm moves the grinding mechanism to the side away from the workpiece, causing the brush bristles to detach from the workpiece surface. At this time, the drive motor drives the mounting plate to reverse, triggering the cleaning unit. After being triggered, the cleaning unit vibrates and cleans the brush bristles on the mounting plate, allowing metal shavings, oxide scale fragments, and grinding residues attached to or stuck between the brush bristles to detach under the action of vibration, thereby reducing the impact of long-term accumulation of waste on the cutting ability of the brush bristles.

[0021] Meanwhile, during long-term unidirectional rotational grinding, the bristles are prone to bending, collapsing, or local tangling. The cleaning unit vibrates the bristles during the reverse phase, which can help the bristles recover to a partially unfolded state and reduce the problem of uneven contact caused by the continuous deflection of the bristles. This helps to maintain the cutting stability and surface treatment uniformity of the bristles in the subsequent grinding process.

[0022] Furthermore, by setting the triggering time of the cleaning unit to the reverse phase of the mounting plate, the automatic cycle of brush bristle grinding and online cleaning can be achieved by switching between forward grinding and reverse cleaning. This eliminates the need for operators to frequently stop the machine to manually clean the brush bristles, thereby improving the automation level and work efficiency in the continuous grinding process of large cast steel plates and helping to extend the overall service life of the brush bristles. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the grinding mechanism of the present invention; Figure 3 For the present invention Figure 2 A structural diagram from another perspective; Figure 4 For the present invention Figure 2 A top-view structural diagram; Figure 5 For the present invention Figure 4 Schematic diagram of the cross-sectional structure at point AA; Figure 6 This is a schematic diagram of the connection structure of the driving component, the driven component, and part of the vibration component of the present invention; Figure 7 For the present invention Figure 6 A structural diagram from another perspective; Figure 8 For the present invention Figure 6 A schematic diagram of the cross-sectional structure; Figure 9 This is a top view of the driving component, the separating component, and the driven component of the present invention. Figure 10 For the present invention Figure 9 A magnified schematic diagram of the structure at point I; Figure 11 For the present invention Figure 9 A magnified schematic diagram of the structure at point J; Figure 12 For the present invention Figure 9 A schematic diagram of the resulting explosion distribution; Figure 13 For the present invention Figure 12 A magnified schematic diagram of the structure at point K; Figure 14 This is a schematic diagram of the connection structure between the vibration component and the driven component of the present invention; Figure 15 This is a schematic diagram of the structure of the connecting part of the present invention; Figure 16 This is a schematic diagram of the structure of the vibration component of the present invention; Figure 17 For the present invention Figure 16 A schematic diagram of the cross-sectional structure; Figure 18 For the present invention Figure 17 A magnified schematic diagram of the structure at point M.

[0024] Explanation of reference numerals in the attached figures 101. Supporting floor; 102. Robotic arm; 103. Dust collection shell; 1031. Dust collection chamber; 104. Processing mechanism; 105. Placement table; 1. Support frame; 11. Connecting boss; 2. Drive motor; 21. Motor spindle; 3. Bearing shaft; 4. Driven assembly; 41. Driven tube; 411. Gasket; 412. Stop bar; 42. Connecting plate; 43. Transmission rod; 44. First telescopic rod; 45. First spring; 46. Slider; 47. Guide rail; 48. Second telescopic rod; 481. Second spring; 49. Mounting rod; 5. Separator assembly; 51. Bearing ring; 511. Sliding groove; 52. Separator plate; 53. Check rod; 54. Fixing rod; 6. Drive assembly; 61. Synchronizing rod; 62. Release rod; 63. Check plate; 64. Drive tube; 7. Vibration assembly; 71. Transmission ring; 72. Moving roller; 73. Guide plate; 74. Transmission shaft; 75. Vibrating plate; 8. Mounting plate; 81. Brush bristles; 82. Transmission slot. Detailed Implementation

[0025] 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.

[0026] like Figure 1 and Figure 2 As shown, an adaptive flexible processing equipment suitable for various types of large cast steel plates includes a robotic arm 102 set in the processing area. The processing area is surrounded by a support floor 101 and a fence. The fence is set at the edge of the support floor 101. The robotic arm 102 is mounted on the support floor 101. A placement platform 105 for fixing the cast steel plates is installed on the support floor 101 on one side of the robotic arm 102. The robotic arm 102 is equipped with a grinding mechanism 104 at its working end. The grinding mechanism 104 includes a grinding unit that is driven to rotate by a drive motor 2. The grinding unit includes a mounting plate 8, on which brush bristles 81 arranged in strands are mounted. The motor spindle 21 of the drive motor 2 is connected to the mounting plate 8 via a transmission part. It also includes a cleaning unit, which is located at the transmission connection between the drive motor 2 and the mounting plate 8. The cleaning unit is not triggered when the drive motor 2 drives the mounting plate 8 to rotate forward. The cleaning unit is triggered after the drive motor 2 drives the mounting plate 8 to rotate in reverse. The cleaning unit vibrates the brush bristles 81 on the mounting plate 8.

[0027] It also includes a dust collection shell 103 disposed on one side of the robotic arm 102. The dust collection shell 103 is fixed on the support floor 101. A dust collection chamber 1031 is opened on the top of the dust collection shell 103. During cleaning, the robotic arm 102 drives the processing mechanism 104 to move above the dust collection chamber 1031 and then cleans it.

[0028] A clamping fixture for fixing cast steel plates is installed on the placement table 105. The clamping fixture is used to position and clamp the large cast steel plates to be processed, so as to ensure that they maintain a stable spatial position during the grinding process. The clamping fixture can adopt corresponding existing structural forms according to different specifications and shapes of cast steel plates, such as clamping fixtures, positioning support fixtures, or combined fixtures. The specific structure and working method are all existing mature technologies, and will not be described in detail in this application.

[0029] Example 1 In this embodiment, as Figure 2-5 As shown, the processing mechanism 104 also includes a support frame 1, which is fixed on the working end of the robotic arm 102, and a drive motor 2 is installed on the support frame 1; The transmission unit includes a bearing shaft 3, and the motor main shaft 21 is fixedly connected to the mounting plate 8 through the bearing shaft 3. The cleaning unit includes a drive assembly 6, a driven assembly 4 and a vibration assembly 7. The drive assembly 6 is disposed on the bearing shaft 3, the driven assembly 4 is connected to the drive assembly 6 in a transmission manner, and the driven assembly 4 and the vibration assembly 7 are respectively disposed on the support frame 1 and the mounting plate 8. After the motor spindle 21 and the mounting plate 8 rotate synchronously in reverse, the drive assembly 6 is driven to run. The drive assembly 6 drives the vibration assembly 7 to vibrate through the transmission assembly. The vibration assembly 7 drives the brush filaments 81 on the mounting plate 8 to vibrate.

[0030] Example 2 like Figure 3-5As shown, the drive assembly 6 and the driven assembly 4 are connected by the mutual meshing of external and internal threads. The bearing shaft 3 reverses and drives the drive assembly 6 to rotate synchronously. The reversed drive assembly 6 drives the transmission assembly to move towards one side of the mounting plate 8 through thread meshing, thereby driving the vibration assembly 7 to deflect and vibrate during the deflection process. The forward rotation of the bearing shaft 3 drives the drive assembly 6 to rotate synchronously. The forward-rotating drive assembly 6 pushes the driven assembly 4 to move away from the mounting plate 8 until it disengages from the drive assembly 6. Thus, when the bearing shaft 3 and the mounting plate 8 rotate forward, the drive assembly 6 and the driven assembly 4 disengage, and the vibration assembly 7 stops vibrating, achieving grinding when the mounting plate 8 rotates forward and self-cleaning when it rotates backward.

[0031] like Figures 6-8 As shown, the drive assembly 6 includes a drive tube 64, which is sleeved on the bearing shaft 3. The drive tube 64 is fixed to the surface of the bearing shaft 3 by a plurality of rods arranged in a ring array. The annular outer wall of the drive tube 64 is provided with external threads. The driven component 4 includes a driven tube 41, on which an internal thread is provided. The driven tube 41 is fixed to the support frame 1 or the connecting boss 11 integrally formed with the support frame 1 by a telescopic and spring-loaded connector. The compressed connector pushes the driven tube 41 to move towards one side of the drive tube 64. When the support shaft 3 and the drive tube 64 reverse, the connector pushes the driven tube 41 to move towards one side of the drive tube 64, so that the external thread on the drive tube 64 and the internal thread on the driven tube 41 mesh with each other. The driven tube 41 is connected to the vibration component 7 via multiple transmission rods 43 arranged in a ring array.

[0032] When the bearing shaft 3 drives the drive tube 64 to rotate forward, the drive tube 64 pushes the driven tube 41 to move away from the mounting plate 8 under the action of centrifugal force and relative motion. This causes the external thread on the outer wall of the drive tube 64 to gradually disengage from the internal thread on the inner wall of the driven tube 41, thereby separating the drive tube 64 from the driven tube 41. During the continuous forward rotation of the drive tube 64, since the drive tube 64 does not need to drive the driven tube 41 to move synchronously, it can avoid interference between the vibration cleaning component and the bristles 81 during the normal grinding stage, thus ensuring the stable grinding of the workpiece by the bristles 81.

[0033] Simultaneously, as the driven tube 41 moves away from the drive tube 64, the connecting piece is gradually compressed and forms an elastic storage state. When the bearing shaft 3 and the drive tube 64 stop rotating forward and reverse, the compressed connecting piece immediately releases its elastic restoring force, pushing the driven tube 41 to quickly reset towards the drive tube 64, allowing the internal thread on the driven tube 41 to re-engage with the external thread on the drive tube 64 immediately. Subsequently, the drive tube 64 in the reverse state drives the driven tube 41 to move synchronously, thereby driving the vibration cleaning component into working condition to vibrate and clean the bristles 81, promoting the removal of debris adhering to the bristles 81 and restoring bent or collapsed bristles 81 to a certain extent.

[0034] The connector includes at least one second telescopic rod 48, with a second spring 481 sleeved on the surface of the second telescopic rod 48. The two ends of the second spring 481 are respectively fixed to the two ends of the second telescopic rod 48. One end of the second telescopic rod 48 is fixed to the support frame 1 or the connecting boss 11 on the support frame 1, and the other end of the second telescopic rod 48 is fixedly connected to the driven tube 41 through a connecting plate 42 that is flush with the outer wall of the driven tube 41.

[0035] The second telescopic rod 48 is set parallel to the bearing shaft 3.

[0036] Example 3 like Figure 14-18 As shown, the vibration assembly 7 includes a transmission ring 71, which is mounted on the mounting plate 8 via a mounting part and sleeved around the bearing shaft 3. The bearing shaft 3, the drive tube 64, the driven tube 41, and the transmission ring 71 are all coaxially arranged. A guide part is provided on one side of the transmission ring 71. The transmission ring 71 is pushed by the drive part to move on the guide part, and the guide part guides the transmission ring 71 to vibrate during movement. The transmission ring 71 is provided with a plurality of vibrating elements. After passing through the mounting plate 8, the vibrating elements can overlap with the root of the brush bristles 81 or extend to one side of the brush bristles 81.

[0037] The mounting part includes at least one mounting component, which includes a telescopic mounting rod 49. The mounting rod 49 is arranged parallel to the bearing shaft 3. One end of the mounting rod 49 is fixed to the transmission ring 71, and the other end is fixed to the slider 46. The slider 46 is slidably connected to the guide rail 47, which is fixed to the mounting plate 8. The direction in which the slider 46 slides on the guide rail 47 is consistent with the direction of vibration of the transmission ring 71. A first telescopic rod 44 is fixed on the outer wall of the side where the mounting rod 49 connects to the slider 46. The first telescopic rod 44 is mounted on the mounting plate 8. A first spring 45 is sleeved on the surface of the first telescopic rod 44. The two ends of the first spring 45 are respectively fixed to the two ends of the first telescopic rod 44. The sliding directions of the first telescopic rod 44 and the slider 46 on the guide rail 47 are parallel. A third spring is sleeved on the surface of the mounting rod 49, and the two ends of the third spring are respectively fixed to the two ends of the mounting rod 49.

[0038] When the drive ring 71 is pushed by the driven component 4, the mounting rod 49 is shortened and the third spring is compressed, thereby accumulating the elastic potential energy required to push the drive ring 71 and the vibrating component to reset.

[0039] The vibrating component includes a drive shaft 74, which is arranged parallel to the bearing shaft 3. One end of the drive shaft 74 is fixed on the drive ring 71, and the other end of the drive shaft 74 passes through the mounting plate 8 through the drive through groove 82 opened on the mounting plate 8. A vibrating plate 75 is fixed on the end of the drive shaft 74. The vibrating plate 75 overlaps with or is disposed on one side of the brush bristles 81.

[0040] The transmission rod 43 is attached to the transmission ring 71.

[0041] Specifically, the brush filaments 81 are installed in strands on the mounting plate 8, and each vibrating element corresponds to at least one strand of brush filaments 81.

[0042] Preferably, the bristles 81 arranged in strands are mounted on a cylindrical boss on the mounting plate 8, and the vibrating plate 75 is arc-shaped or annular, fitting against the boss. When the drive shaft 74 is pushed, the vibrating plate 75 is also pushed to move. When the vibrating plate 75 disengages from the boss, it begins to vibrate. The moving vibrating plate 75 vibrates synchronously. The arc-shaped or annular vibrating plate 75 can drive the corresponding bristles 81 to vibrate, and can also straighten some of the bristles 81.

[0043] The guide section includes two symmetrically arranged guide members. Each guide member includes a wave-shaped guide plate 73. The guide plate 73 is fixed on the mounting plate 8. A movable roller 72 overlaps the surface of the guide plate 73. The movable roller 72 is fixed on the transmission ring 71. The guide plate 73 has a straight plate structure on the side near the transmission ring 71. That is, when the transmission ring 71 starts to move, the moving roller 72 moves on the straight plate structure and does not vibrate. Until the vibrating plate 75 is separated from the boss, the moving roller 72 begins to enter the wave structure area of ​​the guide plate 73 and then begins to vibrate.

[0044] The spring force of the first spring 45 ensures that the moving roller 72 is always attached to the guide plate 73.

[0045] Driven tube 41 pushes drive ring 71 toward one side of mounting plate 8 via drive rod 43.

[0046] Preferably, in order to reduce manufacturing difficulty and cost, one vibrating element corresponds to multiple strands of brush bristles 81, that is, multiple vibrating plates 75 are fixed on one drive shaft 74, and the multiple vibrating plates 75 correspond to the multiple strands of brush bristles 81 at adjacent positions of the drive shaft 74.

[0047] Example 4 like Figure 9-12 As shown, it also includes a separating component 5 for separating the driving component 6 and the driven component 4 during the forward rotation of the drive motor 2. The separating component 5 is disposed between the driving component 6 and the driven component 4 and is fixed on the support frame 1 or the connecting boss 11. The separating component 5 includes a separating part and a releasing part. The separating part is located on one side of the initial position of the driven component 4 and is engaged with the driven component 4 at the initial position. The releasing part is located on the bearing shaft 3, and the releasing end of the releasing part extends to the separating part after passing around the periphery of the driving component 6. The releasing part releases the engagement between the separating part and the driven part after the driving motor 2 reverses. After the driving motor 2 reverses, the driven component 4 and the driving component 6 are connected to each other through external and internal threads.

[0048] The partition includes a bearing ring 51, which is sleeved around the driven tube 41 and coaxially arranged with the driven tube 41. Multiple partitions are arranged in a ring array on the side wall of the bearing ring 51. The partitions can rotate in one direction and can reset themselves. In the initial position, the partitions are engaged with the drive assembly 6. The bearing ring 51 is fixed to the support frame 1 or the connecting boss 11 by a fixing rod 54. The release section includes multiple release components arranged in a ring array, and the number of release components is the same as that of the separators. Each release component includes a synchronizing rod 61, one end of which is fixed to the bearing shaft 3, and the other end of which passes around the drive assembly 6. The end of the synchronizing rod 61 is provided with a release end that can rotate in one direction and can be reset.

[0049] When the synchronizing rod 61 rotates forward with the bearing shaft 3 and the drive motor 2, the release end moves in a circular trajectory. When the release end passes the separator, it overlaps with the separator and has the tendency to push the separator to rotate. At this time, the direction in which the release end pushes the separator to rotate is the opposite direction of the direction in which the separator can rotate. After the release end can no longer push the separator, it rotates on its own. That is, after passing the separator, it continues to move in a circular trajectory synchronously with the synchronizing rod 61 and the bearing shaft 3. After passing the separator, the release end rotates and resets.

[0050] When the synchronizing rod 61 reverses with the bearing shaft 3 and the drive motor 2, the release end moves to the separator in a reverse arc trajectory. It still has the tendency to push the separator to rotate. At this time, the release end can no longer rotate, and it forcibly pushes the separator to rotate. The separator rotates after being pushed by the release end. Under the continuous push of the separator, it disengages from the driven component 4, releases the jamming between the driven component 4 and the separator, and the driven component 4 moves to form a threaded engagement connection with the reversed drive component 6.

[0051] The separator includes a separator plate 52 rotatably connected to a bearing ring 51. A check rod 53 is fixed on one side of the bearing ring 51 of the separator plate 52, and the check rod 53 overlaps with the separator plate 52. The separator plate 52 can overlap a gasket 411 on the drive assembly 6. The side of the gasket 411 near the rotatable direction of the separator plate 52 has an inclined structure. The release end includes a release rod 62, which is rotatably connected to the end of a synchronizing rod 61. A check plate 63 is also fixed to the end of the synchronizing rod 61, and the check plate 63 overlaps the surface of the release rod 62. The partition plate 52 and the release rod 62 are all provided with coil springs at the rotatable connection points with the bearing ring 51 and the synchronizing rod 61. The coil springs ensure that the partition plate 52 and the release rod 62 are always in contact with the check rod 53 and the check plate 63 when no external force is applied.

[0052] The side where the check rod 53 and the check plate 63 are located is the side where the partition plate 52 and the release rod 62 cannot rotate.

[0053] Preferably, a long strip-shaped stop bar 412 is fixed on the surface of the driven component 4 corresponding to the partition plate 52. The stop bar 412 is arranged parallel to the bearing shaft 3. The stop bar 412 passes through the bearing ring 51 via the sliding groove 511 on the bearing ring 51 and can overlap with the partition plate 52 that has been pushed to the maximum angle by the release rod 62. The side of the stop bar 412 that overlaps with the partition plate 52 is a transmission inclined surface. As the stop bar 412 moves towards the vibration component 7 with the driven component 4, the transmission inclined surface pushes the partition plate 52 to rotate continuously until the transmission inclined surface has completely passed the partition plate 52. At this time, the partition plate 52 stops rotating, and the reversed release rod 62 no longer contacts the partition plate 52.

[0054] Specifically, the gasket 411 is fixed on the outer wall of the annular plane of the driven tube 41 near the mounting plate 8, and the stop rod 412 is along the axial direction of the driven tube 41 and fixed on the outer wall of the annular curved surface of the driven tube 41. One end of the stop rod 412 is flush with the outer wall of the annular plane of the driven tube 41 where the gasket 411 is located.

[0055] After cleaning is completed, the drive tube 64 rotates clockwise with the bearing shaft 3, thereby pushing the driven tube 41 to move away from the mounting plate 8, thus returning the driven tube 41 to its initial position.

[0056] During the reset process, after the annular plane of the driven tube 41 with the washer 411 passes over the partition plate 52, the stop rod 412 also passes over the outer wall of the corresponding annular plane of the driven tube 41. The stop rod 412 disengages from the partition plate 52, and the partition plate 52 resets under the action of the corresponding coil spring and rotates towards the side of the corresponding washer 411. Under the push of the spring force of the partition plate 52 and the small spring force of the release rod 62 to make the release rod 62 overlap with the check plate 63, the partition plate 52 is pushed onto the inclined surface of the washer 411, thereby overlapping with the washer 411 again, completing the snap-fit ​​between the partition plate 52 and the driven tube 41.

[0057] A gasket 411 of a certain thickness separates the driven tube 41 and the driving tube 64, thereby separating the driving assembly 6 and the driven assembly 4.

[0058] Example 5 Based on embodiments one to five, this embodiment is derived. In this embodiment, the drive shaft 74 and the vibration plate 75 in the vibration assembly 7 are directly mounted on the mounting plate 8 and rotate synchronously with the mounting plate 8 and the brush bristles 81. This allows the structure in the vibration assembly 7 that is in direct contact with the brush bristles 81 or is easily worn to form an integral consumable structure with the mounting plate 8 and the brush bristles 81. After the brush bristles 81 are worn, deformed, or reach the end of their service life, they can be disassembled and replaced as a whole, along with the mounting plate 8 and the corresponding vibration component, to reduce the difficulty of later maintenance and improve the replacement efficiency.

[0059] The driven component 4 and the driving component 6 are mounted on the bearing shaft 3 and the bearing frame 1, thus keeping the driving structure relatively fixed to the main support structure and avoiding the need for simultaneous disassembly and assembly of the complex transmission structure during brush plate replacement. The guide and transmission parts of the vibration component 7 are detachably mounted on the mounting plate 8. The bearing shaft 3 and the mounting plate 8 are connected by a detachable structure, and the transmission shaft 74 and the transmission ring 71 are also detachably connected, which facilitates quick disassembly and maintenance of the brush bristles 81, the vibrating plate 75, and the vulnerable parts in the transmission structure.

[0060] Furthermore, in another embodiment, the mounting plate 8 can be divided into a fixed plate and a connecting plate. The fixed plate is fixedly connected to the end of the bearing shaft 3 and serves as the main mounting base. The guide part and the connecting part are both provided on the fixed plate. The connecting plate constitutes the brush plate body, and multiple brush bristles 81 are fixedly provided on the connecting plate. The connecting plate and the fixed plate are connected by a detachable method such as bolt connection, snap-fit ​​structure or plug-in limiting structure.

[0061] During installation, the drive shaft 74 in the vibration assembly 7 passes through the drive slot 82 on the fixed plate and connects with the corresponding area of ​​the drive ring 71, thus ensuring that the drive assembly 6 can drive the vibration assembly 7 normally under reverse operation. Since the connecting plate, brush bristles 81, and the vibrating component that forms the main body of the brush plate are all consumable structures, after the brush bristles 81 wear out, only the connecting plate, brush bristles 81, and the vibrating component that forms the whole with the connecting plate need to be disassembled to complete the overall replacement, while the fixed plate, bearing shaft 3, and drive assembly 6 can continue to be used, thereby reducing the scope of disassembly and assembly, reducing maintenance costs, and improving the continuous operation efficiency of the equipment.

[0062] The detachable structure between the connecting plate and the fixed plate can be implemented in various forms.

[0063] In some embodiments, the fixed disk has multiple circumferentially distributed positioning posts on the side facing the connecting disk, and the connecting disk has corresponding positioning holes. The circumferential positioning between the connecting disk and the fixed disk is achieved by the insertion and cooperation of the positioning posts and the positioning holes. At the same time, the fixed disk and the connecting disk are locked together by bolts to ensure the connection stability during the high-speed rotation of the brush disk.

[0064] In some embodiments, a snap-fit ​​connection structure can also be used between the fixed plate and the connecting plate. The fixed plate is provided with a slot, and the connecting plate is provided with a corresponding locking block or elastic claw. After the connecting plate is pressed into the fixed plate, quick installation is achieved through the limiting cooperation between the locking block and the slot, and quick disassembly can be achieved by releasing the snap-fit ​​state, thereby further improving the replacement efficiency of the brush plate.

[0065] In some embodiments, a plug-in limiting structure can also be used between the fixed plate and the connecting plate. The fixed plate is provided with plug-in slots distributed in a circumferential direction, and the connecting plate is provided with corresponding plug-in parts. After the connecting plate rotates to a preset angle, the connection is achieved through the limiting cooperation between the plug-in parts and the plug-in slots. At the same time, a locking pin, a limiting screw or an elastic locking element can be used for secondary fixation to prevent the connecting plate from loosening during the high-speed operation of the equipment.

[0066] Furthermore, to improve the coaxiality and rotational stability after installation, a conical guide structure, an annular positioning step, or a central positioning sleeve can be set between the fixed plate and the connecting plate. During the installation of the connecting plate, the installation position can be automatically corrected through the guide structure, thereby reducing the brush plate wobble and improving the stability of the brush bristles during grinding.

[0067] In addition, the detachable connection structure between the drive shaft 74 and the drive ring 71 can be achieved by key connection, spline connection, pin connection or threaded connection, so as to release the transmission structure connection at the same time when the brush plate is disassembled as a whole; the guide part and the mounting plate 8 can be connected by bolt, embedded connection or plug-in connection structure, so as to allow for individual maintenance and replacement of locally worn parts in the vibration assembly 7.

[0068] 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. An adaptive flexible processing equipment suitable for various types of large cast steel plates, including a robotic arm (102) set in the processing area, wherein a placement table (105) for fixing the cast steel plates is installed on one side of the robotic arm (102). The robotic arm (102) has a grinding mechanism (104) on its working end. The grinding mechanism (104) includes a grinding unit that is driven to rotate by a drive motor (2). The grinding unit includes a mounting plate (8) on which brush bristles (81) are mounted. The motor spindle (21) on the drive motor (2) is connected to the mounting plate (8) via a transmission connection. The feature is that: It also includes a cleaning unit, which is located at the transmission connection between the drive motor (2) and the mounting plate (8). The cleaning unit is not triggered when the drive motor (2) drives the mounting plate (8) to rotate forward. The cleaning unit is triggered after the drive motor (2) drives the mounting plate (8) to rotate in reverse. The cleaning unit vibrates the brush bristles (81) on the mounting plate (8).

2. The adaptive flexible processing equipment for various types of large cast steel plates as described in claim 1, characterized in that: The processing mechanism (104) also includes a support frame (1), which is fixed on the working end of the robotic arm (102), and a drive motor (2) is installed on the support frame (1). The motor spindle (21) is fixedly connected to the mounting plate (8) via the bearing shaft (3). The cleaning unit includes a drive assembly (6), a driven assembly (4) and a vibration assembly (7). The drive assembly (6) is mounted on the bearing shaft (3), and the driven assembly (4) is connected to the drive assembly (6) in a transmission manner. After the motor spindle (21) and the mounting plate (8) rotate synchronously in reverse, the drive assembly (6) is driven to run. The drive assembly (6) drives the vibration assembly (7) to vibrate through the transmission assembly. The vibration assembly (7) drives the brush filaments (81) on the mounting plate (8) to vibrate.

3. The adaptive flexible processing equipment for various types of large cast steel plates as described in claim 2, characterized in that: The drive assembly (6) and the driven assembly (4) are connected by the mutual meshing of external and internal threads. The bearing shaft (3) reverses and drives the drive assembly (6) to rotate synchronously. The reversed drive assembly (6) drives the transmission assembly to move toward one side of the mounting plate (8) through thread meshing, thereby driving the vibration assembly (7) to deflect and vibrate during the deflection process. The bearing shaft (3) rotates in the forward direction, causing the drive assembly (6) to rotate synchronously. The forward-rotating drive assembly (6) pushes the driven assembly (4) to move away from the mounting plate (8) until it disengages from the drive assembly (6).

4. The adaptive flexible processing equipment for various types of large cast steel plates as described in claim 3, characterized in that: The drive assembly (6) includes a drive tube (64), which is sleeved on the bearing shaft (3) and fixed to the surface of the bearing shaft (3) by a rod. The annular outer wall of the drive tube (64) is provided with an external thread. The driven component (4) includes a driven tube (41), the annular inner wall of the driven tube (41) is provided with an internal thread, and the driven tube (41) is fixed to the support frame (1) by a telescopic and resilient connector. The driven tube (41) is connected to the vibration component (7) via multiple transmission rods (43) arranged in a ring array.

5. The adaptive flexible processing equipment for various types of large cast steel plates as described in claim 3, characterized in that: The vibration assembly (7) includes a transmission ring (71), which is mounted on the mounting plate (8) by a mounting part and sleeved around the bearing shaft (3). A guide part is provided on one side of the transmission ring (71), and the transmission ring (71) is pushed on the guide part by the driving part. The guide part guides the transmission ring (71) to vibrate during movement. The transmission ring (71) is provided with multiple vibrating elements. After passing through the mounting plate (8), the vibrating elements can overlap with the root of the brush bristles (81) or extend to one side of the brush bristles (81).

6. The adaptive flexible processing equipment for various types of large cast steel plates as described in claim 5, characterized in that: The mounting part includes at least one mounting component, which includes a telescopic mounting rod (49). One end of the mounting rod (49) is fixed to the transmission ring (71), and the other end is fixed to the slider (46). The slider (46) is slidably connected to the guide rail (47), and the guide rail (47) is fixed to the mounting plate (8). A first telescopic rod (44) is fixed on the outer wall of the connection between the mounting rod (49) and the slider (46). The first telescopic rod (44) is mounted on the mounting plate (8). A first spring (45) is sleeved on the surface of the first telescopic rod (44). The two ends of the first spring (45) are respectively fixed to the two ends of the first telescopic rod (44). A third spring is sleeved on the surface of the mounting rod (49), and the two ends of the third spring are respectively fixed to the two ends of the mounting rod (49).

7. The adaptive flexible processing equipment for various types of large cast steel plates as described in claim 5, characterized in that: The vibrating component includes a drive shaft (74), which is arranged parallel to the bearing shaft (3). One end of the drive shaft (74) is fixed on the drive ring (71), and the other end of the drive shaft (74) passes through the mounting plate (8) through the drive slot (82) opened on the mounting plate (8). A vibrating plate (75) is fixed on the end of the drive shaft (74). The vibrating plate (75) overlaps with or is placed on one side of the brush bristles (81).

8. The adaptive flexible processing equipment for various types of large cast steel plates as described in claim 5, characterized in that: The guide section includes two symmetrically arranged guide members, each guide member including a wave-shaped guide plate (73), the guide plate (73) being fixed on the mounting plate (8), and a moving roller (72) overlapping the surface of the guide plate (73), the moving roller (72) being fixed on the transmission ring (71); The guide plate (73) has a straight plate structure on the side near the transmission ring (71).

9. The adaptive flexible processing equipment for various types of large cast steel plates as described in claim 2, characterized in that: It also includes a separating component (5) for separating the drive assembly (6) and the driven assembly (4) during the forward rotation of the drive motor (2), the separating component (5) being disposed between the drive assembly (6) and the driven assembly (4) and fixed to the support frame (1). The separating component (5) includes a separating part and a releasing part. The separating part is located on one side of the initial position of the driven component (4) and is engaged with the driven component (4) at the initial position. The releasing part is located on the bearing shaft (3), and the releasing end of the releasing part extends to the separating part after passing around the periphery of the driving component (6). The releasing part releases the engagement between the separating part and the driven part after the driving motor (2) reverses. After the driving motor (2) reverses, the driven component (4) and the driving component (6) are connected to each other through external threads and internal threads.

10. The adaptive flexible processing equipment for large cast steel plates of various types as described in claim 9, characterized in that: The partition includes a support ring (51), which is sleeved around the driven tube (41). Multiple partitions arranged in a ring array are provided on the side wall of the support ring (51). The partitions can rotate in one direction and can be reset automatically. The partitions in the initial position are engaged with the drive assembly (6). The release section includes multiple release components arranged in a ring array, and the number of release components is the same as that of the separator. The release component includes a synchronizing rod (61), one end of which is fixed on the bearing shaft (3), and the other end of which passes around the drive assembly (6). The end of the synchronizing rod (61) is provided with a release end that can rotate in one direction and can be reset.

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