Grinding device for large irregular castings

Abstract

The application provides a grinding device suitable for large special-shaped castings, which comprises a grinding chamber, the space in the grinding chamber is divided into an A working area and a B working area, the A working area and the B working area are independently arranged, and a workbench is arranged in each of the A working area and the B working area; a first grinding robot and a second grinding robot, and the first grinding robot and the second grinding robot are respectively installed at the seventh axis of the two robots. Through the double-robot layout of the first grinding robot and the second grinding robot and the double-working-area layout of the A working area and the B working area, the application realizes the parallel processing of the continuous polishing of the robot and the manual feeding and discharging, eliminates the waiting time, and improves the robot utilization rate.

Description

Technical Field

[0001] This invention relates to the field of automated grinding and machining, and more particularly to a grinding apparatus suitable for large, irregularly shaped castings. Background Technology

[0002] Grinding is a type of surface modification technology. It generally refers to a processing method that uses rough objects (such as sandpaper containing high-hardness particles) to change the physical properties of a material surface through friction. Its main purpose is to obtain a specific surface roughness.

[0003] Currently, the industry mainly adopts the following technical solutions for grinding and cleaning large cast steel plates: manual grinding, where experienced technicians manually grind the surface of the casting using tools such as angle grinders and grinding wheels. For large castings, multiple people are usually required to work together; automated grinding using dedicated machines, such as gantry grinders and belt grinders, with simple tooling to grind castings of specific models. The equipment can usually only complete a single process and requires manual loading, unloading, and positioning assistance; and robot teaching grinding, where an industrial robot holds the grinding tool and teaches the robot point by point through a teach pendant. The grinding path is programmed and input into the robot control system point by point. The workpiece needs to be placed on precision tooling to ensure that the workpiece position is consistent with the taught trajectory during each processing.

[0004] However, manual grinding is labor-intensive and results in poor quality consistency: large castings can weigh several tons, making manual turning and grinding extremely difficult and inefficient. Furthermore, grinding quality is highly dependent on the worker's skill level and experience, making it difficult to guarantee consistent product surface quality. Long-term exposure to dust and noise also poses occupational health and safety hazards. Specialized automated grinding machines are designed for specific workpieces. When workpiece types change, fixtures need to be replaced, equipment adjusted, or even machine tools customized, making them unsuitable for multi-variety, small-batch production models. In addition, existing grinding equipment typically requires extra-long worktables and corresponding large equipment when processing large workpieces, resulting in large floor space and high equipment costs. When workpiece sizes vary significantly, a single machine cannot handle the workload, often requiring the purchase of multiple machines of different specifications, increasing the company's investment burden. Moreover, each workpiece requires the design and manufacture of dedicated precision tooling fixtures to ensure workpiece positioning accuracy, leading to long production preparation cycles, high costs, and an inability to quickly respond to product change requests. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to overcome the shortcomings of low efficiency of manual grinding and insufficient flexibility of special machine grinding in the prior art, and to provide a grinding device suitable for large irregular castings.

[0006] The present invention solves the above-mentioned technical problems through the following technical solution: The present invention provides a grinding device suitable for large irregularly shaped castings, including a grinding chamber, wherein the space inside the grinding chamber is divided into a working area A and a working area B, the working area A and the working area B are set independently, and a worktable is set in both the working area A and the working area B, the worktable being used to support the workpiece; The first grinding robot and the second grinding robot are respectively installed on the seventh axis of the two robots. The two seventh axes of the robots are respectively set on the lateral sides of the worktable and extend along the arrangement direction of the A work area and the B work area. The first grinding robot and the second grinding robot on the seventh axis of the robot move along it and switch between the A work area and the B work area. A robot control cabinet is provided, in which the first grinding robot and the second grinding robot are electrically connected. The robot control cabinet is used to control the operation of the first grinding robot and the second grinding robot. A dust treatment unit is also provided in the grinding chamber. The dust treatment unit is located above the worktable and includes a collection mechanism and a treatment mechanism.

[0007] In this technical solution, the dual-robot layout of the first and second grinding robots and the dual-work area layout of work area A and work area B enables the parallel processing of continuous robot grinding and manual loading and unloading, eliminating waiting time, greatly reducing production cycle time, and significantly improving robot utilization rate.

[0008] Preferably, the robot's seventh axis includes a main frame, guide rails, transmission mechanism, protective device, and lubrication system.

[0009] In this technical solution, the seventh axis of the robot drives the corresponding first or second grinding robot to perform linear reciprocating movement.

[0010] Preferably, the collection mechanism includes a fixed frame, with movable plates on both sides of the fixed frame, both movable plates being connected to a control component, a collection component being connected to the top of the fixed frame and the movable plates, the collection component being connected to a processing mechanism, and an installation frame being provided below the fixed frame, the fixed frame being connected to the installation frame via the movable components. The processing mechanism includes a processing housing connected to a collection assembly. Two symmetrically distributed partitions are connected to the inner wall of the processing housing, dividing the processing housing into a left region, a middle region, and a right region. A vertical inclined filter screen is installed in the left region, an adsorption assembly is installed in the middle region, and multiple horizontally distributed filters are installed in the right region. A cleaning component one is provided on one side of the vertical inclined filter screen, and a cleaning component two is provided below the horizontal filter screen. Both the cleaning component one and the cleaning component two are connected to the output end of the same drive component. A shaking component is provided on the side of the adsorption component.

[0011] In this technical solution, the dust and harmful gases generated during grinding are collected and treated by a dust treatment unit to prevent them from affecting the surrounding environment and the health of the workers.

[0012] Preferably, the control component includes a central gear, which is connected to the output end of a control power source, and the control power source is connected to the top surface of the fixed frame. The central gear has two movable racks meshing with each other on both sides. The opposite ends of the two movable racks are slidably connected to the two sides of the fixed frame shell. The opposite ends of the two movable racks are connected to two movable plates.

[0013] In this technical solution, the distance between the two moving plates is adjusted synchronously by the control component, thereby adjusting the range of dust collection.

[0014] Preferably, the collection assembly includes a transfer box connected to the top of the fixed frame, with connecting hoses connected to both sides of the transfer box, and a collection tube end connected to the end of the connecting hose away from the transfer box, the surface of the collection tube end being connected to the movable plate. The top of the transfer box is connected to a conveying hose, the end of which is away from the transfer box is connected to the inlet end of the partition plate, the outlet end of the partition plate is connected to a conveying fan, and the outlet end of the conveying fan is connected to a discharge pipe.

[0015] In this technical solution, dust and other particles generated during grinding are collected by a collection component.

[0016] Preferably, the movable component includes a movable power source connected to the bottom of the fixed frame, and both output ends of the movable power source are connected to rotating gears, with the sides of the two rotating gears meshing with the top side of the fixed rack. The bottom of the fixed frame is connected to multiple sliding sleeves, the inner wall of the sliding sleeves is slidably connected to the positioning rail, and the bottom of the fixed rack and the positioning rail are both connected to the mounting frame.

[0017] In this technical solution, the moving component drives the fixed frame and collecting components to move.

[0018] Preferably, the adsorption assembly includes multiple fixed cylinders distributed from top to bottom. The inner wall of each fixed cylinder is connected to a multi-ring adsorption channel. A communication port is provided at the center of each fixed cylinder. The central discharge port of each multi-ring adsorption channel is connected to the outside of the fixed cylinder through the communication port. The multi-ring adsorption channel is filled with adsorption material. The outer inlet of the multi-ring adsorption channel is connected to a flexible channel, and the end of the flexible channel away from the multi-ring adsorption channel is connected to one of the partition plates.

[0019] In this technical solution, the airflow is treated by an adsorption component to adsorb harmful gases and dust in the airflow.

[0020] Preferably, the cleaning component includes a first threaded shaft, one end of which is connected to the output end of the co-drive component; A sliding plate is threadedly connected to the surface of the first threaded shaft. A cleaning brush is connected to one side of the sliding plate. The side of the cleaning brush away from the sliding plate is in contact with the vertical inclined filter screen.

[0021] In this technical solution, the surface of a pair of vertically angled filters is cleaned by a cleaning component to prevent the vertically angled filters from becoming clogged and affecting their use.

[0022] Preferably, the second cleaning component includes a collecting inclined plate and a second threaded shaft, and two symmetrically distributed collecting inclined plates are provided below the horizontal filter screen, the collecting inclined plates being connected to the inner wall of the processing housing; A second threaded shaft is provided below the horizontal filter screen. One end of the second threaded shaft is connected to the output end of the drive assembly. An adjustment plate is threadedly connected to the surface of the second threaded shaft. A second cleaning brush plate is connected to the top of the adjustment plate. The top side of the second cleaning brush plate is in contact with the bottom surface of the horizontal filter screen.

[0023] In this technical solution, the horizontal filter screen is cleaned by the second cleaning component to prevent the horizontal filter screen from being clogged and affecting its use.

[0024] Preferably, the swaying assembly includes a mounting housing connected to the inner wall of the processing housing, a swaying power source connected to the inner wall of the mounting housing, and a drive gear connected to the output end of the swaying power source; The driving gear is meshed with multiple driven gears on its side, and an eccentric wheel is connected to one side of the driven gear. The surface of the eccentric wheel is in contact with the outer surface of the fixed cylinder. The adsorption assembly includes a swaying plate, a guide post, and an elastic connector disposed on the outside of the fixed cylinder. The swaying plate is slidably connected to the guide post, and the elastic connector is connected between the swaying plate and the fixed side plate.

[0025] 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.

[0026] The positive and progressive effects of this invention are as follows: This invention achieves parallel processing of continuous robotic grinding and manual loading and unloading by using a dual-robot layout of a first grinding robot and a second grinding robot, and a dual-work area layout of work area A and work area B. This eliminates waiting time, significantly reduces production cycle time, and significantly improves robot utilization rate.

[0027] The design of work areas A and B enables cross-zone processing, allowing a single grinding chamber to process both standard workpieces and extra-long workpieces through the combined processing of two worktables. This eliminates the need to purchase expensive extra-long worktables or multiple pieces of equipment, reducing investment costs and optimizing site utilization.

[0028] Furthermore, the dust and harmful gases generated during grinding are removed by the dust treatment unit. The collection range can be adjusted synchronously with the robot's position by controlling the components and moving components. At the same time, cleaning components one and two are set up to clean the vertical and horizontal filters, prevent clogging, and maintain long-term high-efficiency purification capabilities. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the structure of a grinding device for large irregularly shaped castings according to an embodiment of the present invention.

[0030] Figure 2 for Figure 1 The diagram shows a three-dimensional structure of the dust treatment unit for a grinding device suitable for large, irregularly shaped castings. Figure 1 .

[0031] Figure 3 for Figure 2 The diagram shows a three-dimensional structure of the dust treatment unit for a grinding device suitable for large, irregularly shaped castings. Figure 2 .

[0032] Figure 4 for Figure 2 The diagram shows a three-dimensional structural diagram of the processing mechanism of a grinding device suitable for large irregularly shaped castings.

[0033] Figure 5 for Figure 4 The diagram shows a cross-sectional view of the internal structure of the processing housing of a grinding device suitable for large, irregularly shaped castings.

[0034] Figure 6 for Figure 4The diagram shows a three-dimensional structure of a grinding device suitable for large irregularly shaped castings, including a partition plate, a vertical inclined filter, an adsorption component, a horizontal filter, a cleaning component one, a cleaning component two, a co-drive component, and a shaking component.

[0035] Figure 7 for Figure 6 The diagram shows a three-dimensional structure of the adsorption component and the shaking component of a grinding device suitable for large irregularly shaped castings.

[0036] Figure 8 for Figure 7 The diagram shows a cross-sectional view of the adsorption and oscillation components of a grinding device suitable for large, irregularly shaped castings.

[0037] Figure 9 for Figure 7 The diagram shows a three-dimensional structural schematic of the wobbling component of a grinding device suitable for large, irregularly shaped castings.

[0038] Figure 10 for Figure 6 The diagram shows a three-dimensional structural diagram of cleaning component 1, cleaning component 2, and co-drive component of a grinding device suitable for large irregularly shaped castings.

[0039] Figure 11 for Figure 10 The diagram shows a three-dimensional structural diagram of the co-drive assembly of a grinding device suitable for large irregularly shaped castings.

[0040] Figure 12 for Figure 2 The diagram shows a three-dimensional structure of the collection mechanism of a grinding device suitable for large, irregularly shaped castings.

[0041] Figure 13 for Figure 12 The diagram shows a cross-sectional view of the fixed frame, moving plate, control assembly, and moving assembly of a grinding device suitable for large irregularly shaped castings.

[0042] Figure 14 for Figure 12 The diagram shows a three-dimensional structure of the moving plate and control components of a grinding device suitable for large irregularly shaped castings.

[0043] Figure 15 for Figure 14 The diagram shows a cross-sectional view of the moving plate and control components of a grinding device suitable for large, irregularly shaped castings.

[0044] Explanation of reference numerals in the attached figures 1. Grinding chamber; 2. Work area A; 3. Work area B; 4. Worktable; 5. First grinding robot; 6. Second grinding robot; 7. Seventh axis of the robot; 8. Robot electrical cabinet; 9. Fix the frame; 10. Movable board; 11. Control component; 111. Central gear; 112. Control power source; 113. Moving rack; 114. Fixed track; 115. Auxiliary moving bar; 116. Anti-deviation bar; 12. Collection assembly; 121. Transfer box; 122. Connecting hose; 123. Collection pipe end; 124. Conveying hose; 125. Conveying fan; 126. Discharge pipeline; 13. Install the frame; 14. Moving component; 141. Moving power source; 142. Rotating gear; 143. Fixed rack; 144. Sliding sleeve; 145. Positioning track; 15. Process the casing; 16. Divider; 17. Vertical slanted filter screen; 18. Adsorption assembly; 181. Fixed cylinder; 182. Multi-ring adsorption channel; 183. Flexible channel; 184. Adsorption material; 185. Shaking plate; 186. Guide column; 187. Fixed side plate; 188. Elastic connector; 19. Horizontal filter screen; 20. Cleaning component one; 201. First threaded shaft; 202. Sliding plate; 203. Cleaning brush plate one; 204. Anti-deviation column; 21. Cleaning component two; 211. Collecting inclined plate; 212. Second threaded shaft; 213. Adjusting plate; 214. Cleaning brush plate two; 215. Fixing post; 22. Synchronous drive assembly; 221. Protective housing; 222. Sprocket; 223. Chain; 224. Synchronous power source; 225. Bevel gear transmission unit; 226. Drive shaft; 23. Shaking component; 231. Mounting housing; 232. Shaking power source; 233. Driving gear; 234. Driven gear; 235. Eccentric wheel; 236. Support frame. Detailed Implementation

[0045] The present invention will be further illustrated by way of embodiments below, but the present invention is not limited to the scope of the embodiments described herein.

[0046] Figures 1 to 15 The diagram shown is a structural schematic of an embodiment of the grinding device of the present invention applicable to large irregularly shaped castings.

[0047] A grinding device suitable for large irregular castings includes a grinding chamber 1. The space inside the grinding chamber 1 is divided into a working area A 2 and a working area B 3. The working areas A 2 and B 3 are set independently. A worktable 4 is set in both working areas A 2 and B 3. The worktable 4 is used to support the workpiece. This workpiece is a large, irregularly shaped casting.

[0048] The first grinding robot 5 and the second grinding robot 6 are respectively installed on the seventh axis 7 of the two robots. The two seventh axes 7 are respectively set on the lateral sides of the worktable 4 and extend along the arrangement direction of the A work area 2 and the B work area 3. The first grinding robot 5 and the second grinding robot 6 on the seventh axis 7 move along it and switch between the A work area 2 and the B work area 3 for operation. The robot's seventh axis 7 is used to drive the first grinding robot 5 or the second grinding robot 6 to perform linear reciprocating movement.

[0049] The output ends of both the first grinding robot 5 and the second grinding robot 6 are equipped with grinding spindles, which are used to hold grinding tools for grinding operations.

[0050] The grinding chamber 1 is equipped with two sets of tool magazines, which contain various grinding tools. These tool magazines are used to allow the grinding spindle to switch grinding tools.

[0051] The grinding spindle is a 25KW automatic tool changer electric spindle, and its transmission mechanism adopts a multi-bearing structure. The grinding spindle is also equipped with a negative pressure sealing device, which is used to create a negative pressure environment inside the grinding spindle to prevent dust from entering.

[0052] The grinding tools use a standard tool holder quick-change interface, which can be directly gripped and switched by the grinding spindle; The grinding tools include a belt grinding mechanism and a grinding wheel mechanism, and all mechanisms use a uniform quick-change interface.

[0053] The grinding mechanism adopts a standard HSK or BT tool holder quick-change interface, which can be directly gripped and switched by the grinding spindle to achieve rapid deployment and high-precision positioning.

[0054] Both the belt abrasive mechanism and the grinding wheel mechanism use a standardized quick-change interface. Multiple sets of grinding tools with different grit sizes and functions are pre-stored in the automatic tool magazine. According to the preset process specifications, the system automatically calls upon the tool magazine during the grinding process, completing tool switching for different procedures such as rough grinding, semi-fine grinding, fine grinding, and polishing.

[0055] Robot cabinet 8, first grinding robot 5 and second grinding robot 6 are all electrically connected to robot cabinet 8, and robot cabinet 8 is used to control the operation of first grinding robot 5 and second grinding robot 6. The robot electrical cabinet 8 is located outside the grinding chamber 1.

[0056] A dust treatment unit is also provided in the grinding chamber 1. The dust treatment unit is located above the workbench 4 and includes a collection mechanism and a treatment mechanism.

[0057] Both the first grinding robot 5 and the second grinding robot 6 are equipped with vision systems at their ends. The vision systems are used to scan the workpiece and generate point cloud data.

[0058] The vision system is connected to the control system. The control system automatically plans the grinding path based on the point cloud data generated by the vision system and controls the first grinding robot 5 and the second grinding robot 6 to work together to perform the grinding operation.

[0059] The vision system is a high-precision 3D vision system that quickly scans and photographs the workpiece before operation, automatically identifies the spatial position and geometric shape of the features to be polished, and generates the polishing trajectory in real time, achieving programming-free and teaching-free operation.

[0060] The workflow of the vision system is as follows: Rapid scanning: The first grinding robot 5 and the second grinding robot 6 are equipped with 3D structured light cameras or laser profilometers, respectively, and perform rapid scanning of the workpiece according to the preset scanning path. Point cloud generation and stitching: The original data obtained by scanning is preprocessed by noise reduction, filtering and other processes to generate a high-density point cloud model; the point cloud data scanned by the first grinding robot 5 and the second grinding robot 6 are automatically stitched together through coordinate system calibration to form the three-dimensional point cloud data of the complete workpiece. Feature recognition: The software system within the control system uses algorithms such as point cloud segmentation and feature extraction to automatically identify features of the area to be polished, including the location of the gating gate, parting line, flash, surface depressions or protrusions, etc. Path planning: Based on the identified features, the control system automatically calculates the optimal polishing path. The path planning algorithm takes into account factors such as robot kinematic constraints, singularity avoidance, and dual-robot interference avoidance to generate a smooth, collision-free, and time-optimal polishing trajectory. Online adjustment: During the polishing process, if the vision system or force control system detects a deviation between the actual working conditions and the scanning results, it can fine-tune the path trajectory in real time, achieving true adaptive polishing.

[0061] In point cloud generation and stitching, a dual-robot point cloud stitching method based on an improved ICP (Iterative Closest Point) algorithm is specifically adopted for point cloud data registration and stitching. First, in the common base coordinate system of the two robots, hand-eye calibration is performed on the 3D cameras at the end effectors of both robots using a laser tracker to obtain the accurate transformation matrix from the camera coordinate system to the robot base coordinate system. Second, the two robots scan the workpiece within their respective work areas, acquiring two point cloud data sets, P and Q, with partially overlapping areas. Then, voxel filtering downsampling is applied to point clouds P and Q to reduce the data volume while preserving geometric features. A fast point feature histogram algorithm is then used to calculate the feature descriptor for each point. Finally, a sample consistency initial registration algorithm is used to match the feature descriptors to obtain an initial transformation matrix. This initial matrix is ​​then used as the initial value for the ICP algorithm. By minimizing the sum of squared Euclidean distances between corresponding points, the final accurate transformation matrix is ​​iteratively solved, completing the automatic stitching of the dual-robot point cloud data.

[0062] In feature recognition, a combined segmentation method based on region growth and curvature analysis is adopted for identifying the features of casting gating and risers. First, the normal vector and curvature of each point in the point cloud are calculated, with the point with the minimum curvature used as the initial seed point. Then, a threshold value of θ_th (θ_th = 15°-25°) for the included normal vector angle and a curvature threshold value of C_th (C_th = 0.05-0.1) are set. Starting from the seed point, points in the neighborhood with included normal vector angles less than θ_th and curvature less than C_th are included in the same planar region, thus segmenting the planar region. Based on prior knowledge of casting gating and risers—that gating and risers are located at the highest point of the casting or near the parting surface and exhibit a locally convex frustum or conical geometric shape—regions with local maxima in height and projected areas of 1500mm²-10000mm² are extracted from the segmented regions and identified as gating and riser features.

[0063] For the identification of parting lines, an edge extraction algorithm based on point cloud normal vector mutation detection is adopted. First, the point cloud data is smoothed using the moving least squares method to eliminate scanning noise. Then, the rate of change of the normal vector of each point in its local neighborhood is calculated, and a threshold N_th (N_th=0.5-0.7) is set for the rate of change of the normal vector. Points with a rate of change greater than N_th are marked as candidate edge points. Finally, the RANSAC algorithm is used to fit straight lines or curves to the candidate edge points to form continuous parting line features.

[0064] For the identification of flash, based on the identified parting line, thin, sheet-like protruding areas with an angle greater than 45° between the normal vector direction on both sides of the parting line and the normal vector of the parting surface and a height difference of less than 1 mm are extracted and identified as flash features.

[0065] The specific implementation of the dual-robot interference avoidance path planning in path planning is as follows. First, a kinematic model of the two robots in a common base coordinate system is established. The first grinding robot 5 and the second grinding robot 6 are modeled as standard DH parameter link models, respectively, to obtain the pose description of their respective end effectors in the workspace. Second, simplified bounding boxes are added to the link models of each robot for collision detection preprocessing. The link uses a capsule-shaped bounding box, and the end grinding tool uses a spherical bounding box. Then, a collaborative planning strategy combining path search and speed control based on the A* algorithm is adopted. In the path planning stage, the path of one of the two robots is fixed as the main path, and the path of the other robot is searched in C-space using the A* algorithm. The cost function of the search includes the path length and the minimum distance between the links of other robots. The minimum allowable safe distance d_safe between the links of the two robots is set to 50mm-100mm. When the distance d between the links of the two robots is less than d_safe at any time in the path planned by the A* algorithm, a penalty term is added to the cost function, forcing the algorithm to search again.

[0066] During the speed planning phase, the motion trajectories of the two robots are synchronized in time. For areas where there may be interference risks, a master-slave priority strategy is adopted: the first grinding robot 5 is set as high priority and its planned speed is kept unchanged, while the motion speed of the second grinding robot 6 is adjusted so that the time difference between the two robots when passing through the interference area is greater than a predetermined threshold Δt (Δt=0.3s-0.5s); finally, a time-optimal and collision-free collaborative grinding trajectory of the two robots is generated.

[0067] Online adjustment: During the polishing process, if the vision system detects a deviation between the actual working conditions and the scanning results, it can fine-tune the path trajectory in real time.

[0068] With the aforementioned vision system, operators only need to place the workpiece randomly on the workstation, and the system can automatically complete the entire process from recognition to grinding without any teaching programming or precision tooling, achieving programming-free grinding and significantly shortening production preparation time.

[0069] The control system is also connected to the force control system, which is used to monitor and adjust the grinding force in real time to keep the contact force between the grinding tool and the workpiece constant. The force control system also has an overload protection function. When the grinding force exceeds the preset safety threshold, it will trigger the grinding spindle to slow down or the robot to retract.

[0070] The specific working process of the second grinding robot 6 is as follows: Initial setup: The operator or process engineer sets the target grinding force value in the control system. This grinding force value is determined based on material and process requirements. Real-time monitoring: The force control system uses a six-dimensional force sensor installed at the end of the robot or on the grinding spindle to collect contact force data between the grinding tool and the workpiece in real time, including normal force, tangential force and torque, at a sampling frequency of milliseconds. Constant force control compares the real-time force value with the target force value and adjusts the robot's pose or the feed speed of the grinding spindle in real time through a force or position hybrid control algorithm, so that the actual grinding force is always kept near the target force value. This mechanism effectively compensates for workpiece clamping errors and the form and position tolerances of the casting itself, and prevents over-grinding due to local protrusions of the workpiece or under-grinding due to depressions. Overload protection and force control system simultaneously monitor whether the grinding force exceeds the safety threshold; when the grinding force exceeds the safety threshold, the force control system immediately triggers an emergency response; firstly, it commands the grinding spindle to slow down to a stop, and at the same time commands the first grinding robot 5 and the second grinding robot 6 to quickly retreat a certain distance along the contact normal direction; this overload protection function effectively avoids damage to the grinding spindle, tool breakage or workpiece scrapping caused by rigid collision, ensuring the safety of equipment operation.

[0071] Work areas A (2) and B (3) operate on a two-zone rotation mechanism. When the first grinding robot 5 and the second grinding robot 6 are performing grinding operations in one of the work areas, the operator is performing loading and unloading operations in the other work area.

[0072] The first grinding robot 5 and the second grinding robot 6 move and switch between the two work areas via the robot's seventh axis 7.

[0073] When machining long workpieces, the worktables 4 in work area A 2 and work area B 3 are combined into a continuous clamping area. The workpiece is clamped across the two worktables 4. The first grinding robot 5 and the second grinding robot 6 work together to perform grinding operations in the combined clamping area. The first grinding robot 5 and the second grinding robot 6 can be responsible for grinding different areas of the workpiece respectively, or they can perform master-slave collaborative grinding.

[0074] The grinding device also includes auxiliary modules such as robot cabinet, spindle cooling system, lubrication system and safety protection system. Each module is connected to the control system to work together to complete the automated operation of the entire workpiece grinding process.

[0075] By using the dual-robot layout of the first grinding robot 5 and the second grinding robot 6, and the dual-work area layout of work area A 2 and work area B 3, the parallel processing of continuous robot grinding and manual loading and unloading is realized, eliminating waiting time, greatly reducing production cycle time, and significantly improving robot utilization rate.

[0076] The design of work area A 2 and work area B 3 enables cross-zone processing, allowing a single grinding chamber 1 to process both conventional workpieces and extra-long workpieces through the combined processing of two worktables. This eliminates the need to purchase expensive extra-long worktables or multiple pieces of equipment, reducing investment costs and optimizing site utilization.

[0077] By integrating a 3D vision system with adaptive path planning, "programming-free and teaching-free" operation is achieved. Workpieces only need to be simply fixed, without the need for precision tooling. Production preparation time is reduced from several hours to minutes, perfectly adapting to multi-variety, small-batch production modes.

[0078] The robot's seventh axis includes the main frame, guide rails, transmission mechanism, protective device, and lubrication system.

[0079] The robot's seventh axis 7 drives the corresponding first grinding robot 5 or second grinding robot 6 to perform linear reciprocating movement.

[0080] The main frame of the robot's seventh axis is welded from high-strength square tubing and undergoes stress-relief treatment to ensure that it will not deform during long-term use. The guide rails are high-load-bearing roller linear guides, with double rails arranged in parallel to ensure the stability and rigidity of the robot during movement. The transmission mechanism uses a precision helical rack and pinion combined with a high-precision reducer to meet the requirements of high-precision grinding; Protective devices include bellows-shaped protective covers on moving parts to prevent grinding dust and chips from entering the guide rail and rack area; The lubrication system is a centralized automatic lubrication system that supplies oil to each moving part at regular intervals and in measured quantities to ensure long-term operational stability and service life.

[0081] For large, irregularly shaped castings with short dimensions, a two-zone rotation operation is implemented, and the specific process is as follows: The operator unloads the polished workpiece in work area A 2 and loads a new workpiece onto worktable 4 in work area A 2. The workpiece only needs to be simply fixed and no precision tooling is required. Under the control of the control system, the first grinding robot 5 and the second grinding robot 6 move to the working area A 2 via the robot's seventh axis 7. At the same time, the operator moves to the working area B 3 to perform the unloading and loading operations in the working area B 3. The first grinding robot 5 and the second grinding robot 6 are each equipped with a 3D camera to take pictures and scan the workpiece in work area A 2, generate point cloud data, and the control system automatically plans and generates the grinding path based on the point cloud data and the algorithm. The first grinding robot 5 and the second grinding robot 6 perform collaborative grinding operations on the workpieces in work area A 2 according to the system division of labor and the generated grinding path.

[0082] While grinding operations are underway in work area A2, the operator has already completed the loading and unloading operations in work area B3. After grinding in work area A2 is completed, the two robots move to work area B3 for grinding operations, and the operator returns to work area A2 to load and unload materials. This cycle repeats, achieving parallel processing of continuous robot operation and manual loading and unloading.

[0083] For large, irregularly shaped castings with long dimensions, single-area operation is implemented, and the specific process is as follows: Remove the isolation or transition device between work area 2 (A) and work area 3 (B) to connect the two worktables 4 into a continuous clamping area. The long workpiece is clamped and fixed across two worktables 4; The control system reconfigures the first grinding robot 5 and the second grinding robot 6 to perform collaborative grinding operations in the merged single area. The first grinding robot 5 and the second grinding robot 6 can be responsible for grinding different areas of the workpiece respectively, or they can perform master-slave collaborative grinding.

[0084] This operating mode allows a single grinding chamber 1 to meet the processing needs of both standard and extra-long workpieces, eliminating the need to purchase an extra-long worktable.

[0085] The collection mechanism includes a fixed frame 9, with movable plates 10 on both sides of the fixed frame 9. Both movable plates 10 are connected to the control component 11. A collection component 12 is connected to the top of the fixed frame 9 and the movable plates 10. The collection component 12 is connected to the processing mechanism. An installation frame 13 is provided below the fixed frame 9. The fixed frame 9 is connected to the installation frame 13 through the movable component 14. The processing mechanism includes a processing housing 15, which is connected to a collection assembly 12. The inner wall of the processing housing 15 is connected to two symmetrically distributed partition plates 16, which divide the processing housing 15 into a left region, a middle region, and a right region. A vertical inclined filter screen 17 is installed in the left region, an adsorption assembly 18 is installed in the middle region, and multiple horizontally distributed filter screens 19 are installed in the right region. A cleaning component 1 20 is provided on one side of the vertical inclined filter screen 17, and a cleaning component 21 is provided below the horizontal filter screen 19. Both the cleaning component 1 20 and the cleaning component 21 are connected to the output end of the co-drive component 22. A shaking component 23 is provided on the side of the adsorption component 18.

[0086] The dust and harmful gases generated during grinding are collected and treated by the dust treatment unit to prevent them from affecting the surrounding environment and the health of the workers.

[0087] The mounting frame 13 is positioned above the workbench 4 and installed on the wall or ceiling of the grinding chamber 1.

[0088] Overall, the airflow, including dust generated during grinding, is sent into the processing housing 15 by the collection component 12. The airflow then passes through the left region, the middle region and the right region in sequence, and then exits the processing housing 15. In the left region, the airflow is filtered using a vertical inclined filter 17. In the middle region, the airflow is adsorbed using an adsorption component 18. In the right region, the airflow is filtered again using multiple horizontal filters 19.

[0089] The control component 11 includes a central gear 111, which is connected to the output end of the control power source 112, which is connected to the top surface of the fixed frame 9. The central gear 111 has two movable racks 113 meshing with each other on both sides. The opposite ends of the two movable racks 113 are slidably connected to the two sides of the fixed frame 9. The opposite ends of the two movable racks 113 are connected to the two movable plates 10 respectively.

[0090] The distance between the two moving plates 10 is adjusted synchronously by the control component 11, thereby adjusting the range of dust collection.

[0091] The inner walls on both sides of the movable plate 10 are connected to fixed rails 114. The fixed rails 114 have a T-shaped cross-section. The movable rack 113 has a rail groove on the side away from the central gear 111. The fixed rails 114 are slidably connected to the movable rack 113 through the rail groove.

[0092] An auxiliary moving strip 115 is connected to the side of the movable plate 10 near the fixed frame 9. The auxiliary moving strip 115 is slidably connected to the side of the fixed frame 9. Multiple anti-deviation strips 116 are connected to the inner wall of the fixed frame 9, and the surface of the anti-deviation strips 116 is slidably connected to the auxiliary moving strips 115.

[0093] In use, the control power source 112 drives the central gear 111 to rotate, thereby driving the moving racks 113 on both sides to move towards or away from each other along the fixed track 114, thereby driving the corresponding moving plates 10 to move in the same direction.

[0094] When the movable plate 10 moves, it drives the corresponding auxiliary movable strip 115 to move in the same direction. The auxiliary movable strip 115 and the anti-deviation strip 116 provide auxiliary support for the movable plate 10, increasing the strength and stability of the movable plate 10.

[0095] The collection component 12 includes a transfer box 121, which is connected to the top of the fixed frame 9. Both sides of the transfer box 121 are connected to connecting hoses 122. The end of the connecting hose 122 away from the transfer box 121 is connected to a collection tube end 123, and the surface of the collection tube end 123 is connected to the moving plate 10. A conveying hose 124 is connected to the top of the transfer box 121. The end of the conveying hose 124 away from the transfer box 121 is connected to the inlet end of the partition plate 16. A conveying fan 125 is connected to the outlet end of the partition plate 16. An exhaust pipe 126 is connected to the outlet end of the conveying fan 125.

[0096] The dust and other particles generated during grinding are collected by the collection component 12.

[0097] When the moving plate 10 moves, it drives the collecting tube end 123 to move in the same direction, thereby adjusting the range of dust collection by the collecting tube end 123.

[0098] The mobile component 14 includes a mobile power source 141, which is connected to the bottom of the fixed frame 9. Both output ends of the mobile power source 141 are connected to rotating gears 142, and the sides of the two rotating gears 142 are meshed with the top side of the fixed rack 143. The bottom of the fixed frame 9 is connected to multiple sliding sleeves 144. The inner wall of the sliding sleeve 144 is slidably connected to the positioning rail 145. The bottom of the fixed rack 143 and the positioning rail 145 are both connected to the mounting frame 13.

[0099] The moving component 14 drives the fixed frame 9 and the collecting component 12 to move, so that the collecting component 12 can be adjusted according to the position of the first grinding robot 5 and the second grinding robot 6, so as to collect dust from different positions.

[0100] The cross-section of positioning track 145 is a T-shaped structure.

[0101] In use, the mobile power source 141 drives the rotating gear 142 to rotate. At this time, under the action of the fixed rack 143, the fixed frame 9 and the collecting component 12 and other structures are moved, thereby adjusting the position of the fixed frame 9 and the collecting component 12 and other structures.

[0102] When the fixed frame 9 moves, it drives the sliding sleeve 144 to move in the same direction along the positioning track 145, thus limiting the movement trajectory of the fixed frame 9.

[0103] Adsorption assembly 18 includes multiple fixed cylinders 181, which are distributed from top to bottom. The inner wall of the fixed cylinder 181 is connected to a multi-ring adsorption channel 182. A communication port is opened at the center of the fixed cylinder 181. The central discharge port of the multi-ring adsorption channel 182 is connected to the outside of the fixed cylinder 181 through the communication port. The multi-ring adsorption channel 182 is filled with adsorption material 184. The outer inlet of the multi-ring adsorption channel 182 is connected to a flexible channel 183, and the end of the flexible channel 183 away from the multi-ring adsorption channel 182 is connected to one of the partition plates 16.

[0104] The pollutants generated during the grinding of large irregular castings mainly include cast iron and cast steel dust (mainly composed of iron oxides, silicon dioxide, etc.), resin particles generated by the shedding of grinding wheels, and trace amounts of volatile organic compounds (VOCs) and metal fumes generated by high-temperature grinding. In order to achieve the dual functions of dust interception and gas adsorption at the same time, the adsorption material 184 adopts a composite filling layer of granular activated carbon and modified zeolite molecular sieve.

[0105] Specifically, following the airflow direction (from the outer ring to the inner ring), the upstream region is filled with 4-8 mesh granular activated carbon to adsorb volatile organic compounds and some heavy metal dust; the downstream region is filled with modified 13X molecular sieves to adsorb any trace amounts of acidic gases that may be generated (such as SO2, NO). x ); The volume ratio of the two adsorbent materials is activated carbon: molecular sieve = (2-3):1.

[0106] As an alternative, for grinding conditions where the main pollutant is metal dust and the content of volatile organic compounds is extremely low, the adsorbent material 184 can also be a high-efficiency flame-retardant activated carbon fiber felt.

[0107] In applications requiring the treatment of oily fumes, the adsorbent material 184 can also be hydrophobic silica gel or modified activated carbon.

[0108] The airflow is adsorbed by the adsorption component 18 to adsorb harmful gases and dust in the airflow.

[0109] A pre-set opening is provided at the connection between the partition plate 16 and the flexible channel 183.

[0110] Four rectangular shaking plates 185 are connected to the outside of the fixed cylinder 181. The shaking plates 185 are slidably connected to the surface of the guide column 186. Fixed side plates 187 are connected to both the upper and lower ends of the guide column 186. The side of the fixed side plate 187 is connected to one side of the partition plate 16. Multiple elastic connectors 188 are connected between the swaying plate 185 and the fixed side plate 187.

[0111] Multiple guide posts 186 are connected between the upper and lower fixed side plates 187, and the surface of the guide posts 186 is slidably connected to the rocking plate 185.

[0112] A sealing door is installed on the front side of the housing 15, through which the flexible channel 183 inside the fixed cylinder 181 can be replaced.

[0113] In use, the airflow collected by the collecting component 12 enters the processing housing 15, and then passes through the vertical inclined filter screen 17. After passing through the flexible channel 183, it enters the fixed cylinder 181, flows along the multi-ring adsorption channel 182, and finally flows from the center of the multi-ring adsorption channel 182 to the communication port of the fixed cylinder 181, and then enters the outside of the fixed cylinder 181. When the airflow flows in the multi-ring adsorption channel 182, the adsorption material 184 adsorbs it.

[0114] The multi-ring adsorption channel 182 with its annular channel design allows the airflow to fully contact the adsorption material 184, thereby improving the effect of airflow adsorption treatment.

[0115] One of the partition plates 16 has multiple preset openings, and the other partition plate 16 has a single preset opening located diagonally below the horizontal filter screen 19.

[0116] The cleaning component 20 includes a first threaded shaft 201, one end of which is connected to the output end of the co-drive component 22. The first threaded shaft 201 is threadedly connected to a sliding plate 202. A cleaning brush 203 is connected to one side of the sliding plate 202. The side of the cleaning brush 203 away from the sliding plate 202 is in contact with the vertical inclined filter screen 17.

[0117] The surface of the vertical angled filter screen 17 is cleaned by the cleaning component 20 to prevent the vertical angled filter screen 17 from becoming clogged and affecting its use.

[0118] The inner wall of the housing 15 is connected with a plurality of anti-deviation posts 204, and the surface of the anti-deviation posts 204 is slidably connected to the sliding plate 202.

[0119] One end of the first threaded shaft 201 is rotatably connected to the inner wall of one side of the processing housing 15, and the other end of the first threaded shaft 201 is rotatably connected to the other side of the processing housing 15 through a through-hole, and this end of the first threaded shaft 201 is connected to the output end of the co-drive assembly 22.

[0120] In use, the co-drive assembly 22 drives the first threaded shaft 201 to rotate, thereby driving the sliding plate 202 to move along the anti-deviation column 204, which in turn drives the cleaning brush 203 to move in the same direction. The cleaning brush 203 is used to clean the surface of the vertical inclined filter screen 17 to avoid clogging.

[0121] The second cleaning component 21 includes a collecting inclined plate 211 and a second threaded shaft 212. Two symmetrically distributed collecting inclined plates 211 are arranged below the horizontal filter screen 19. The collecting inclined plates 211 are connected to the inner wall of the processing housing 15. The two collecting inclined plates 211 located on the same horizontal plane have an inverted V-shaped structure. There is a gap between the two collecting inclined plates 211 to allow airflow to pass through. A second threaded shaft 212 is provided below the horizontal filter screen 19. One end of the second threaded shaft 212 is connected to the output end of the co-drive assembly 22. An adjustment plate 213 is threadedly connected to the surface of the second threaded shaft 212. A second cleaning brush plate 214 is connected to the top of the adjustment plate 213. The top side of the second cleaning brush plate 214 is in contact with the bottom surface of the horizontal filter screen 19.

[0122] The horizontal filter 19 is cleaned by cleaning component 21 to prevent it from becoming clogged and affecting its use.

[0123] The inner wall of the housing 15 is connected to a plurality of fixed posts 215, and the surface of the fixed posts 215 is slidably connected to the adjusting plate 213.

[0124] One end of the second threaded shaft 212 is rotatably connected to the inner wall of one side of the processing housing 15, and the other end of the second threaded shaft 212 is rotatably connected to the other side of the processing housing 15. This end of the second threaded shaft 212 is connected to the output end of the co-drive assembly 22.

[0125] In use, the co-drive assembly 22 drives the second threaded shaft 212 to rotate, thereby driving the adjusting plate 213 to move along the fixed column 215, which in turn drives the second cleaning brush 214 to move in the same direction, and the second cleaning brush 214 is used to clean the horizontal filter screen 19. Most of the solid particles swept out by the cleaning brush 214 fall to the collection inclined plate 211 for collection.

[0126] The co-drive assembly 22 includes a protective housing 221, which is connected to the outside of the processing housing 15. Two sprockets 222 are provided in the inner cavity of the protective housing 221. The two sprockets 222 are connected by a chain 223, and the side of the sprockets 222 is engaged with the chain 223. A drive shaft 226 is rotatably connected to the inner wall of the protective housing 221. Multiple bevel gear drive parts 225 are connected to the surface of the drive shaft 226. The multiple bevel gear drive parts 225 are respectively connected to one end of multiple second threaded shafts 212. The uppermost bevel gear drive part 225 is connected to one side of one of the sprockets 222. The other side of the sprocket 222 is connected to the output end of the synchronous power source 224. The synchronous power source 224 is installed on the outside of the protective housing 221. Another sprocket 222 is connected to one end of the first threaded shaft 201.

[0127] The bevel gear transmission unit 225 consists of two meshing bevel gears, one of which is connected to the second threaded shaft 212 and the other is connected to the transmission shaft 226.

[0128] In use, the synchronous power source 224 drives the corresponding sprocket 222 to rotate, thereby driving the chain 223 to rotate, and then driving another sprocket 222 to rotate. When the two sprockets 222 rotate, they can drive the first threaded shaft 201 and the bevel gear transmission part 225 to rotate respectively. When the bevel gear transmission part 225 rotates, it can drive the transmission shaft 226 to rotate, thereby driving the other bevel gear transmission parts 225 to rotate. When the bevel gear transmission part 225 rotates, it drives the second threaded shaft 212 to rotate.

[0129] The shaking component 23 includes a mounting housing 231, which is connected to the inner wall of the processing housing 15. A shaking power source 232 is connected to the inner wall of the mounting housing 231, and a drive gear 233 is connected to the output end of the shaking power source 232. The driving gear 233 is meshed with multiple driven gears 234 on its side. An eccentric wheel 235 is connected to one side of the driven gear 234. The surface of the eccentric wheel 235 is in contact with the outer surface of the fixed cylinder 181. The adsorption assembly 18 includes a swaying plate 185, a guide post 186, and an elastic connector 188 disposed on the outside of the fixed cylinder 181. The swaying plate 185 is slidably connected to the guide post 186, and the elastic connector 188 is connected between the swaying plate 185 and the fixed side plate 187. It is used to provide an elastic restoring force after the eccentric wheel 235 pushes, so that the fixed cylinder 181 can reciprocate.

[0130] The shaking component 23 can drive multiple adsorption components 18 to shake, so that the airflow can fully contact the adsorption material 184, thereby improving the efficiency of airflow adsorption treatment.

[0131] The end of the eccentric wheel 235 away from the driven gear 234 is rotatably connected to the support frame 236, which is connected to the inner wall of the processing housing 15.

[0132] In use, the shaking power source 232 drives the drive gear 233 to rotate, which in turn drives the driven gear 234 to rotate. At this time, under the action of the elastic connector 188, the fixed cylinder 181 and other structures can move back and forth, causing the fixed cylinder 181 and the flexible channel 183 and other structures to shake, thereby allowing the airflow to fully contact the adsorption material 184 to improve the adsorption treatment efficiency.

[0133] The elastic connector 188 is a spring or other component with elastic reset function.

[0134] The regulating power source 112, the mobile power source 141, the synchronous power source 224, and the swaying power source 232 are motor sets or other devices that can output rotational kinetic energy.

[0135] While specific embodiments of the present invention have been described above, those skilled in the art should understand that these are merely illustrative examples, and the scope of protection of the present invention is defined by the appended claims. Those skilled in the art can make various changes or modifications to these embodiments without departing from the principles and essence of the present invention, but all such changes and modifications fall within the scope of protection of the present invention.

Claims

1. A grinding device suitable for large, irregularly shaped castings, characterized in that: The grinding chamber (1) is divided into a working area A (2) and a working area B (3). The working area A (2) and the working area B (3) are set up independently. A worktable (4) is set up in both the working area A (2) and the working area B (3). The worktable (4) is used to carry the workpiece. The first grinding robot (5) and the second grinding robot (6) are respectively installed on the seventh axis (7) of the two robots. The two seventh axes (7) of the robots are respectively set on the horizontal sides of the worktable (4) and extend along the arrangement direction of the A work area (2) and the B work area (3). The first grinding robot (5) and the second grinding robot (6) on the seventh axis (7) of the robots move along it and switch between the A work area (2) and the B work area (3) for operation. Robot cabinet (8), the first grinding robot (5) and the second grinding robot (6) are both electrically connected to the robot cabinet (8), the robot cabinet (8) is used to control the operation of the first grinding robot (5) and the second grinding robot (6); The grinding chamber (1) is also equipped with a dust treatment unit. The dust treatment unit is located above the workbench (4). The dust treatment unit includes a collection mechanism and a treatment mechanism. The collection mechanism includes a fixed frame (9), with movable plates (10) respectively provided on both sides of the fixed frame (9). The movable plates (10) on both sides are connected to the control component (11). The top of the fixed frame (9) and the movable plates (10) are connected to the collection component (12). The collection component (12) is connected to the processing mechanism. An installation frame (13) is provided below the fixed frame (9). The fixed frame (9) is connected to the installation frame (13) through the movable component (14). The processing mechanism includes a processing housing (15) connected to a collection assembly (12). The inner wall of the processing housing (15) is connected to two symmetrically distributed partition plates (16). The two partition plates (16) divide the processing housing (15) into a left region, a middle region, and a right region. A vertical inclined filter screen (17) is installed in the left region, an adsorption assembly (18) is installed in the middle region, and multiple horizontally distributed filter screens (19) are installed in the right region. A cleaning component 1 (20) is provided on one side of the vertical inclined filter screen (17), and a cleaning component 2 (21) is provided below the horizontal filter screen (19). Both the cleaning component 1 (20) and the cleaning component 2 (21) are connected to the output end of the drive component (22). The adsorption component (18) is provided with a shaking component (23) on its side; The adsorption assembly (18) includes multiple fixed cylinders (181) distributed from top to bottom. The inner wall of each fixed cylinder (181) is connected to a multi-ring adsorption channel (182). A communication port is provided at the center of each fixed cylinder (181). The central discharge port of the multi-ring adsorption channel (182) is connected to the outside of the fixed cylinder (181) through the communication port. The multi-ring adsorption channel (182) is filled with adsorption material (184). The outer inlet of the multi-ring adsorption channel (182) is connected to a flexible channel (183), and the end of the flexible channel (183) away from the multi-ring adsorption channel (182) is connected to one of the partition plates (16). The shaking assembly (23) includes a mounting housing (231), which is connected to the inner wall of the processing housing (15). The inner wall of the mounting housing (231) is connected to a shaking power source (232), and the output end of the shaking power source (232) is connected to a drive gear (233). The driving gear (233) is meshed with a plurality of driven gears (234) on its side, and an eccentric wheel (235) is connected to one side of the driven gear (234). The surface of the eccentric wheel (235) is in contact with the outer surface of the fixed cylinder (181). The adsorption assembly (18) includes a swaying plate (185), a guide post (186), and an elastic connector (188) disposed on the outside of the fixed cylinder (181). The swaying plate (185) is slidably connected to the guide post (186), and the elastic connector (188) is connected between the swaying plate (185) and the fixed side plate (187).

2. The grinding device for large irregularly shaped castings as described in claim 1, characterized in that: The robot's seventh axis (7) includes a main frame, guide rails, transmission mechanism, protective device, and lubrication system.

3. The grinding device for large irregularly shaped castings as described in claim 1, characterized in that: The control component (11) includes a central gear (111), which is connected to the output end of the control power source (112), which is connected to the top surface of the fixed frame (9). The central gear (111) is connected to two movable racks (113) on both sides respectively. The two movable racks (113) are slidably connected to the two sides of the fixed frame (9) at opposite ends. The two movable racks (113) are connected to two movable plates (10) at opposite ends respectively.

4. The grinding device for large irregularly shaped castings as described in claim 1, characterized in that: The collection assembly (12) includes a transfer box (121), which is connected to the top of the fixed frame (9). Both sides of the transfer box (121) are connected to connecting hoses (122). The end of the connecting hose (122) away from the transfer box (121) is connected to a collection tube end (123), and the surface of the collection tube end (123) is connected to the moving plate (10). The top of the transfer box (121) is connected to a conveying hose (124), and the end of the conveying hose (124) away from the transfer box (121) is connected to the inlet end of the partition plate (16). The outlet end of the partition plate (16) is connected to a conveying fan (125), and the outlet end of the conveying fan (125) is connected to a discharge pipe (126).

5. The grinding device for large irregularly shaped castings as described in claim 1, characterized in that: The moving component (14) includes a moving power source (141), which is connected to the bottom of the fixed frame (9). Both output ends of the moving power source (141) are connected to rotating gears (142), and the sides of the two rotating gears (142) are meshed with the top side of the fixed rack (143). The bottom of the fixed frame (9) is connected to a plurality of sliding sleeves (144), the inner wall of the sliding sleeves (144) is slidably connected to the positioning rail (145), and the bottom of the fixed rack (143) and the positioning rail (145) are both connected to the mounting frame (13).

6. The grinding device for large irregularly shaped castings as described in claim 1, characterized in that: The cleaning component 1 (20) includes a first threaded shaft (201), one end of which is connected to the output end of the co-drive component (22); The first threaded shaft (201) has a sliding plate (202) threadedly connected to its surface. A cleaning brush plate (203) is connected to one side of the sliding plate (202). The side of the cleaning brush plate (203) away from the sliding plate (202) is in contact with the vertical inclined filter screen (17).

7. The grinding device for large irregularly shaped castings as described in claim 1, characterized in that: The second cleaning component (21) includes a collecting inclined plate (211) and a second threaded shaft (212). Two symmetrically distributed collecting inclined plates (211) are provided below the horizontal filter screen (19). The collecting inclined plates (211) are connected to the inner wall of the processing housing (15). A second threaded shaft (212) is provided below the horizontal filter screen (19). One end of the second threaded shaft (212) is connected to the output end of the drive assembly (22). An adjustment plate (213) is threadedly connected to the surface of the second threaded shaft (212). A second cleaning brush plate (214) is connected to the top of the adjustment plate (213). The top side of the second cleaning brush plate (214) is in contact with the bottom surface of the horizontal filter screen (19).

Images