An automatic polishing apparatus and a polishing method for a casting

Abstract

The present application relates to a kind of automatic polishing equipment, including first station, second station, transfer device and control system, transfer device is connected in series first station and second station, between first station and second station, and transport casting;First station is provided with detection part and turnover part, detection part is used to measure the size information of casting and feedback to control system;Turnover part is used to overturn the casting, and the surface to be polished of casting is turned to correct direction;Second station is provided with polishing part;Control system analyzes the size information of the casting, and controls polishing part and polishes the casting.The automatic polishing equipment disclosed in the present application integrates detection part, turnover part and polishing part in the same automatic transfer system, realizes polishing and detection integration collaborative work, does not need manual transport casting, avoids the damage of knock in the process of transport, simultaneously reduces process link time consumption, greatly improves processing efficiency.

Description

Technical Field

[0001] This invention relates to the field of casting post-processing technology, and in particular to an automatic grinding equipment and a grinding method for castings. Background Technology

[0002] The casting grinding process removes rough sand, burrs, flash, and other imperfections from the casting surface, and is a crucial step in controlling casting dimensions. Currently, casting grinding and inspection are separate processes, which are difficult to adapt to the demands of large-scale, high-precision production.

[0003] In existing technologies, manual grinding is labor-intensive, operates in harsh environments, and its accuracy heavily relies on the operator's skill level, easily leading to uneven grinding and dimensional deviations, resulting in high overall costs. The separation of the grinding and inspection processes makes castings susceptible to damage during transport and increases turnaround time. Existing grinding equipment is mostly single-unit, single-point operation, unable to achieve simultaneous multi-faceted grinding; furthermore, it lacks data linkage, failing to adjust grinding parameters in real time based on inspection data, indicating insufficient intelligence. Multi-faceted grinding requires manual flipping, which is both labor-intensive and prone to secondary deviations due to inaccurate positioning, severely impacting grinding quality. Summary of the Invention

[0004] Therefore, it is necessary to provide an automatic grinding equipment and grinding method that can realize automatic grinding of castings as a whole and control their dimensions, in order to address the above-mentioned technical problems.

[0005] To solve the above problems, the present invention adopts the following technical solution: This invention discloses an automatic grinding device, including a first station, a second station, a transfer device, and a control system. The transfer device connects the first station and the second station in series, transferring a casting between the two stations. The first station is equipped with a detection unit and a flipping unit. The detection unit measures the dimensional information of the casting and feeds it back to the control system. The flipping unit flips the casting so that the surface to be ground is in the correct orientation. The second station is equipped with a grinding unit. The control system analyzes the dimensional information of the casting and controls the grinding unit to grind the casting.

[0006] In one embodiment, the detection unit includes a dimension scanning component and a first lifting mechanism. The dimension scanning component is disposed at the top of the first workstation. The first lifting mechanism is connected to the dimension scanning component and drives the dimension scanning component to move up and down.

[0007] In one embodiment, the detection unit further includes a U-shaped mounting bracket and a rotating mechanism. Two dimension scanning elements are mounted opposite each other at the ends of the U-shaped mounting bracket. The rotating mechanism is mounted in the middle of the U-shaped mounting bracket and drives the U-shaped mounting bracket to rotate, thereby causing the dimension scanning elements to rotate and scan and measure the dimension information of the side of the casting.

[0008] In one embodiment, the flipping part includes a clamping mechanism and a flipping mechanism. The clamping mechanism includes two clamping plates disposed opposite to each other on both sides of the first workstation and a telescopic drive member that drives the two clamping plates to move relative to each other or in opposite directions. The flipping mechanism is disposed between the clamping plates and the telescopic drive member.

[0009] In one embodiment, the working surface of the clamping plate is an arc-shaped structure adapted to the surface of the casting, and the working surface of the clamping plate is provided with an elastic layer.

[0010] In one embodiment, the flipping part further includes a second lifting mechanism, which is disposed at the end of the telescopic drive member opposite to the flipping mechanism, and is used to drive the held casting to rise to a suitable height before flipping.

[0011] In one embodiment, the polishing unit includes a horizontal moving mechanism, a vertical moving mechanism, and a polishing robot. A frame-shaped beam is provided at the top of the second station. A horizontal moving mechanism is installed on each side of the frame-shaped beam. The vertical moving mechanism is installed at the moving end of the horizontal moving mechanism, and the polishing robot is installed at the end of the vertical moving mechanism.

[0012] In one embodiment, the joints of the polishing robot are multi-degree-of-freedom adjustable, and the joints include a base joint, an upper arm joint, a forearm joint, and a wrist joint, each of which is equipped with an independent servo motor and an angle encoder.

[0013] In one embodiment, the wrist of the grinding robot is equipped with a force sensor, and the grinding head is connected to the output end of the wrist via a flexible coupling; the grinding robot is connected to the control system, and the control system adjusts the contact pressure between the grinding head and the casting in real time based on the feedback data from the force sensor.

[0014] This invention also discloses a method for grinding castings, using the automatic grinding equipment described in any of the above embodiments. The grinding method includes the following steps: Initial inspection: The transfer device transports the casting to the first station, where the inspection department measures the dimensions of the four sides of the casting and feeds them back to the control system; the control system performs dimensional fitting based on the standard model of the casting to determine the grinding parameters. In the initial grinding stage, the transfer device transfers the casting to the second station, and the control system controls the grinding unit to grind the four sides of the casting. For re-inspection, the transfer device transfers the casting back to the first station. The inspection unit measures the dimensional information of the four sides of the casting and feeds it back to the control system. The control system performs dimensional fitting based on the standard model of the casting and determines whether the grinding of the four sides is qualified. If it is not qualified, it returns to the initial grinding step. If it is qualified, the casting is flipped over and the dimensional information of the original bottom and top surfaces of the casting is measured. Secondary grinding: The transfer device transfers the casting to the second station, and the control system controls the grinding unit to grind the original bottom and top surfaces of the casting. For the second inspection, the transfer device transfers the casting back to the first station. The inspection department measures the dimensions of the original bottom and top surfaces of the casting and feeds them back to the control system. The control system performs dimensional fitting based on the standard model of the casting to determine whether the second grinding is qualified. If it is not qualified, it returns to the second grinding step. If it is qualified, the grinding is completed.

[0015] The technical solution adopted in this invention can achieve the following beneficial effects: The automatic grinding equipment disclosed in this invention integrates the inspection unit, the flipping unit, and the grinding unit into the same automatic transfer system, realizing integrated collaborative operation of grinding and inspection. It eliminates the need for manual transfer of castings, avoids collision damage during the transfer process, and reduces the time spent on process connections, thus significantly improving processing efficiency. The automatic grinding equipment disclosed in this invention has a high degree of automation and high grinding precision. The measurement data is fitted with a standard model to generate grinding parameters, and multiple grinding robots work synchronously. The grinding angle and force can be adjusted according to the fitted parameters to ensure that the dimensions of the casting meet the design requirements. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of the automatic polishing equipment disclosed in an embodiment of the present invention; Figure 2 This is a structural diagram of the first workstation; Figure 3 This is a schematic diagram of the second workstation. 100 - Castings; 200-track; 300 - Transport trolley; 310 - Casting fixing mechanism; 400 - First workstation; 410-U-shaped mounting bracket, 420-rotating mechanism, 430-first lifting mechanism, 440-clamping plate, 450-telescopic drive component, 460-flipping mechanism, 470-second lifting mechanism; 500 - Second workstation; 510 - Grinding robot; 520 - Horizontal moving mechanism; 530 - Vertical moving mechanism; 540 - Fourth lifting mechanism. Detailed Implementation

[0017] To facilitate understanding of the present invention, a more complete description will be given below with reference to the accompanying drawings. Preferred embodiments of the invention are shown in the drawings. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a thorough and complete understanding of the disclosure of the invention.

[0018] It should be noted that when an element is referred to as being "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "left," "right," "top," "bottom," "end," "top," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0019] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0020] In a first aspect, embodiments of the present invention disclose an automatic polishing device, such as... Figure 1 As shown, the disclosed automatic grinding equipment includes a first station 400, a second station 500, and a transfer device. The transfer device includes a track 200 and a transport trolley 300 that transports the casting 100 along the track 200. The first station 400 is located in the middle of the track 200 and is equipped with a detection unit for measuring the dimensional information of the casting 100 and a flipping unit for flipping the casting 100. The second station 500 is located at the end of the track 200 and is equipped with a grinding unit for grinding the casting 100. In addition, the automatic grinding equipment disclosed in this embodiment also includes a control system for controlling the operation of the automatic grinding equipment. The control system can be connected to the first station 400, the second station 500, and the transport trolley 300.

[0021] In the embodiments disclosed in this invention, the track 200 can be two parallel I-beam rails laid on the ground. The length of the track 200 can be adapted and designed as needed to cover the complete working stroke of the initial end, the first station 400, and the second station 500. The bottom of the transport trolley 300 is equipped with rollers that match the track 200, and the control system can control the transport trolley 300 to reciprocate along the track 200. The top of the transport trolley 300 is provided with a casting fixing mechanism 310 for fixing the casting 100 placed on the transport trolley 300, preventing the casting 100 from shifting during transportation, measurement, grinding, etc. Furthermore, the transport trolley 300 is also equipped with a trolley drive mechanism and a trolley locking mechanism connected to the control system.

[0022] Specifically, the trolley drive mechanism can be two sets of trolley drive components installed on both sides of the bottom of the transport trolley 300. Each set of trolley drive components includes a servo motor and a reduction gearbox connected to the output end of the servo motor. The output end of the reduction gearbox is connected to the roller. The servo motor receives pulse signals from the control system, adjusts the speed through the reduction gearbox, drives the roller to rotate, and thus drives the transport trolley 300 to move smoothly back and forth along the track 200. The trolley locking mechanism includes an electromagnetic chuck, a locking pin, a guide sleeve, and a return spring. The electromagnetic chuck is fixedly installed on the bottom side of the transport trolley 300. The guide sleeve is vertically fixed on the side of the track 200 corresponding to the first station 400 and / or the second station 500. The locking pin slides through the guide sleeve. One end of the locking pin corresponds to the electromagnetic chuck, and the other end is provided with a conical lock head. The bottom of the transport trolley 300 is provided with a locking hole adapted to the conical lock head at the position corresponding to the locking pin. When the transport trolley 300 arrives at the first station 400 and / or the second station 500, the control system controls the electromagnetic chuck to be energized to generate suction force. The suction lock pin moves along the guide sleeve towards the flatcar direction, so that the conical lock head is inserted into the locking hole, thereby mechanically locking the transport trolley 300. When the transport trolley 300 needs to run, the electromagnetic chuck is de-energized, the return spring pushes the lock pin to reset, the conical lock head disengages from the locking hole, and the locked state of the transport trolley 300 is released.

[0023] In the embodiments disclosed in this invention, such as Figure 2The support frame of the first workstation 400 is welded from high-strength square steel. The detection unit is installed on top of the support frame. The detection unit may include a U-shaped mounting frame 410, a first lifting mechanism 430, and dimension scanning components. The first lifting mechanism 430 is fixed to the top of the support frame, and its output end is connected to the middle of the U-shaped mounting frame 410. A dimension scanning component is installed on the inner side of each of the two U-shaped ends of the U-shaped mounting frame 410. The control system controls the first lifting mechanism 430 to drive the U-shaped mounting frame 410 down to a suitable position. The dimension scanning components scan the surface dimensions of the casting and feed the measurement results back to the control system. After the measurement is completed, the control system controls the first lifting mechanism 430 to drive the U-shaped mounting frame 410 up and retract, without affecting the operation of the transport trolley 300. In addition, the inspection unit may also include a rotating mechanism 420, which is installed between the first lifting mechanism 430 and the U-shaped mounting frame 410 and is connected to the control system. The control system controls the rotating mechanism 420 to drive the U-shaped mounting frame 410 to rotate, thereby driving the dimensional scanning component to scan and measure all four sides of the casting 100 around its circumference.

[0024] Specifically, the first lifting mechanism 430 can be a linear module structure, and may include a lifting guide rail, a lifting slider, a lifting servo motor, a ball screw, and a screw nut. The lifting guide rail is vertically fixed to the center of the top crossbeam of the support frame. The lifting slider is slidably mounted on the lifting guide rail. The ball screw is arranged parallel to the lifting guide rail. The screw nut is sleeved on the ball screw and rigidly connected to the lifting slider. The lifting servo motor is fixed above the top crossbeam of the support frame, and its output end is connected to the upper end of the ball screw via a coupling. The U-shaped mounting bracket 410 is fixedly mounted on the bottom of the lifting slider via a mounting base. The control system controls the lifting servo motor to start, driving the ball screw to rotate, which in turn moves the screw nut and the lifting slider up and down along the lifting guide rail, thereby driving the U-shaped mounting bracket 410 to move up and down. The lifting speed of the U-shaped mounting bracket 410 is adjustable. The cooperation between the lifting guide rail and the lifting slider ensures the stability of the lifting process and avoids the scanning equipment from deviating. The lifting accuracy is ≤±0.01mm. The lifting slider is equipped with a travel limit switch to prevent excessive lifting from damaging the equipment. At the same time, the lifting servo motor is equipped with an encoder, which can provide real-time feedback on the lifting position and achieve accurate positioning of the dimensional scanning parts.

[0025] The rotating mechanism 420 can be installed at the bottom of the lifting slider, and is connected to the lifting slider by a circular gear structure. The U-shaped mounting bracket 410 can rotate 180°, driving two dimension scanning elements to rotate and scan the surface dimensions of the casting 100 along its four circumferences. Furthermore, except for the outer side of the U-shaped end of the U-shaped mounting bracket 410, one dimension scanning element can be installed on each of the remaining sides to improve the measurement accuracy of each side of the casting 100. The lateral dimension of the U-shaped mounting bracket 410 should be adapted to the maximum dimension of the casting.

[0026] The dimensional scanning component can be a laser scanning sensor. When the U-shaped mounting bracket 410 descends to the designated position, the casting 100 is located in the central area of ​​the U-shaped mounting bracket 410. All laser scanning sensors are simultaneously activated and rotated at a uniform speed by the U-shaped mounting bracket 410, performing laser scanning on the four sides of the casting 100. The scanning range covers the entire height and width of the sides of the casting 100. The laser scanning sensors convert the collected distance and contour signals into electrical signals, which are transmitted to the control system in real time. The control system synchronously processes the scanning signals and performs dimensional fitting with the three-dimensional model of the casting 100, controlling the scanning accuracy within ±0.02mm.

[0027] In the embodiments disclosed in this invention, such as Figure 2 As shown, in the first workstation 400, a flipping section is symmetrically installed on the longitudinal frames perpendicular to both sides of the track 200 in the support frame. The flipping section includes a clamping mechanism, a flipping mechanism 460, and a second lifting mechanism 470. The clamping mechanism includes a clamping plate 440 and a telescopic drive member 450. Telescopic drive members 450 are installed on both longitudinal frames, with their output ends facing each other. The output ends of the telescopic drive members 450 are connected to the clamping plate 440. The control system controls the two telescopic drive members 450 to drive the two clamping plates 440 to move towards or away from each other. The working surface of the clamping plate 440 can be provided with an arc-shaped structure adapted to the surface of the casting 100, and its surface can be provided with an elastic layer to improve clamping stability and prevent damage to the casting 100. The flipping mechanism 460 is located at the connection between the clamping plate 440 and the telescopic drive member 450, and is used to drive the clamping plate 440 to rotate, thereby causing the casting 100 clamped by the two clamping plates 440 to flip. The second lifting mechanism 470 can be set at the bottom of the longitudinal frame, and its output end is connected to the telescopic drive 450. The second lifting mechanism 470 drives the telescopic drive 450, the flipping mechanism 460 and the clamping plate 440 to perform lifting and lowering movements synchronously.

[0028] At the first workstation 400, the telescopic drive 450 drives two clamping plates 440 to move towards each other, clamping the casting 100; the second lifting mechanism 470 drives the casting 100 clamped by the clamping plates 440 to rise to a safe height, and then the flipping mechanism 460 drives the clamping plates 440 to rotate 90°, causing the clamped casting 100 to flip, and the bottom and top surfaces of the casting 100 are flipped to the side; after flipping, the second lifting mechanism 470 drives the casting 100 to safely land on the transport trolley 300.

[0029] In addition, a third lifting drive can be installed at the bottom of the four corner longitudinal bars of the first station 400 support frame to drive the entire first station 400 to lift and move to accommodate castings 100 of different heights.

[0030] In the embodiments disclosed in this invention, such as Figure 3 As shown, the support frame of the second station 500 is welded from high-strength square steel, and the bottom of each of its four corner longitudinal bars is equipped with a fourth lifting mechanism 540, which drives the entire second station 500 to lift and move to accommodate castings 100 of different heights.

[0031] The second workstation 500 is located at the tail end of the track 200. A frame-shaped crossbeam is mounted on the top of its support frame, and four grinding units are installed on the crossbeam. Each grinding unit may include a horizontal moving mechanism 520, a vertical moving mechanism 530, and a grinding robot 510 connected in sequence. The horizontal moving mechanism 520, mounted on the crossbeam, drives the grinding robot 510 to move horizontally along the crossbeam. The vertical moving mechanism 530 is mounted at the moving end of the horizontal moving mechanism 520, and its output end is connected to the grinding robot 510, driving the grinding robot 510 to move vertically. All four grinding robots 510 and their connected vertical and horizontal moving mechanisms 520 can be controlled by a control system. The vertical and horizontal moving mechanisms 530 and the grinding robots 510 work together to precisely adjust the grinding position, angle, and force based on the dimensional fitting data sent by the control system, thereby achieving all-around, dead-angle-free grinding of the entire surface of the casting 100.

[0032] Specifically, the horizontal moving mechanism 520 may include a horizontal guide rail, a horizontal slider, a horizontal servo motor, a ball screw, and a screw nut. The horizontal guide rail is fixedly installed along the length of the frame beam. The horizontal slider is slidably mounted on the horizontal guide rail. The ball screw is arranged parallel to the horizontal guide rail. The screw nut is sleeved on the ball screw and rigidly connected to the horizontal slider. The horizontal servo motor is fixed to one end of the frame beam, and its output end is connected to one end of the ball screw through a coupling. The horizontal servo motor receives instructions from the control system, drives the ball screw to rotate, and drives the screw nut and the horizontal slider to reciprocate along the horizontal guide rail to achieve horizontal position adjustment. The horizontal slider is equipped with a travel limit switch to prevent excessive movement from damaging the equipment.

[0033] The vertical moving mechanism 530 can adopt a lifting linear module structure, including a vertical guide rail, a vertical slider, a vertical servo motor, a ball screw, and a screw nut. The vertical guide rail is vertically fixed to the bottom of the horizontal slider of the horizontal moving mechanism 520. The vertical slider is slidably mounted on the vertical guide rail. The ball screw is arranged parallel to the vertical guide rail. The screw nut is sleeved on the ball screw and rigidly connected to the vertical slider. The vertical servo motor is fixed to the top of the horizontal slider, and its output end is connected to the upper end of the ball screw through a coupling. The vertical servo motor receives instructions from the control unit, drives the ball screw to rotate, and drives the screw nut and the vertical slider to move up and down along the vertical guide rail, thereby driving the end-effector grinding robot 510 to achieve vertical position adjustment. The vertical slider is also equipped with a travel limit switch to ensure safe operation.

[0034] The grinding robot 510 can be a six-degree-of-freedom articulated robot. The robot's base is fixed to the bottom of the vertical slider of the vertical movement mechanism 530 by bolts. The grinding robot 510 has adjustable joints with multiple degrees of freedom. The joints can include base joints, upper arm joints, forearm joints, and wrist joints. Each joint can be equipped with an independent servo motor and angle encoder. The control system fits the dimensional data fed back by the detection unit to the three-dimensional standard model of the casting 100 stored internally or retrieved from the host computer to determine the specific position (three-dimensional coordinate parameters) of the casting 100 that needs to be ground. The coordinate parameters are decomposed into horizontal, vertical, and motion commands for each joint of the robot itself. The horizontal movement mechanism 520 and the vertical movement mechanism 530 receive the commands and drive the grinding robot 510 to move along the horizontal and vertical directions to achieve coarse positioning. Then, the servo motors of each joint of the grinding robot 510 receive the commands and drive the corresponding joints to rotate. Through the extension and retraction of the upper arm and forearm and the movement of the wrist, the grinding head is moved to the designated grinding position to achieve fine positioning. Angle encoders provide real-time feedback on the rotation angles of each joint, while position sensors for the horizontal and vertical moving mechanisms provide real-time feedback on the movement position. These three components work together to achieve precise adjustment of the grinding position, with an adjustment accuracy of ≤±0.02mm. Simultaneously, the trolley drive assembly can fine-tune the position of the transport trolley 300, further ensuring precise alignment between the grinding head and the casting 100.

[0035] The wrist joints of the 510 grinding robot adopt a three-degree-of-freedom structure, including a wrist rotation joint, a wrist pitch joint, and a wrist swing joint. Each wrist joint is equipped with a servo motor and a harmonic reducer. The control system determines the optimal grinding angle for each grinding position based on the dimensional fitting results and sends angle adjustment commands to the servo motors of each wrist joint. The servo motors drive the wrist rotation joint, pitch joint, and swing joint to rotate in coordination, causing the grinding head to adjust around the grinding position of the casting 100 at multiple angles. The grinding angle adjustment range is 0-180°, and the angle adjustment accuracy is ±0.1°. This enables all-round grinding of complex positions such as edges and curved surfaces of the casting 100, ensuring that the grinding surface fits the designed curved surface of the casting 100.

[0036] The grinding robot 510 can also be equipped with a force sensor at the end of its wrist. The grinding head is connected to the output end of the wrist via a flexible coupling. The force sensor is used to detect the contact pressure between the grinding head and the surface of the casting 100 in real time. Based on the dimensional fitting results, the control system sets the target grinding force for different grinding positions and sends the target force signal to the robot control unit. The robot control unit compares the actual grinding force detected by the force sensor with the target grinding force. If the actual force is less than the target force, it controls the robot wrist to feed slightly, increasing the contact pressure between the grinding head and the casting 100; if the actual force is greater than the target force, it controls the robot wrist to retreat slightly, reducing the contact pressure. Simultaneously, the grinding head can be equipped with a variable frequency speed-regulating motor. By adjusting the motor speed in conjunction with the adjustment of the contact pressure, the grinding force can be further precisely controlled to avoid over-grinding or incomplete grinding, ensuring that the dimensions of the casting 100 meet the design requirements after grinding.

[0037] In the embodiments disclosed in this invention, the control system integrates control units for each component and has a built-in or retrievable three-dimensional standard model of the casting 100 from a host computer. The control system receives measurement data fed back from the detection unit, performs dimensional fitting between the measurement data and the three-dimensional standard model, generates grinding parameters, and sends them to the four grinding robots 510. Simultaneously, the control system can receive operational feedback data from the grinding robots 510, as well as operational status data from the transport trolley 300, the tilting unit, etc., achieving coordinated control of the entire equipment and completing an automated closed-loop operation of grinding, detection, and tilting.

[0038] It should be noted that in this invention, the second lifting mechanism 470, the third lifting mechanism, the fourth lifting mechanism 540 and the telescopic drive component 450 can all be hydraulically driven, with adjustable driving force and a self-locking function.

[0039] Secondly, embodiments of the present invention also disclose a method for grinding castings, using the automatic grinding equipment described in any of the above embodiments.

[0040] Specifically, the polishing method may include the following steps: Loading and fixing: Place the casting 100 to be ground onto the transport trolley 300 and fix the casting 100 by the casting fixing mechanism 310 on the top of the transport trolley 300 to ensure that the casting 100 does not shift during subsequent operations.

[0041] Initial Inspection: Based on the height of casting 100, the control system raises or lowers the first station 400 to a suitable inspection height. The transport trolley 300 moves casting 100 to the first station 400 along the track 200, and locks itself after stopping. The inspection unit descends to the appropriate position, and the dimensional scanner scans the dimensions of the four sides of casting 100 and feeds them back to the control system. After scanning, the inspection unit rises and retracts. The measurement data from the inspection unit is transmitted to the control system in real time. The control system performs dimensional fitting between the measurement data and the three-dimensional standard model of casting 100 to determine the locations and thicknesses requiring grinding, and stores the fitting results.

[0042] Initial grinding: The transport trolley 300 is released from its locked position and continues to move along the track 200 to the second station 500, where it stops and locks to prevent movement during grinding. The control system sends grinding parameters to the grinding department, and four grinding robots 510 operate simultaneously according to these parameters, grinding all four sides of the casting 100 at the same time. During the grinding process, the grinding robots 510 provide real-time feedback on their operating status to the control system.

[0043] Initial Re-inspection: After grinding, the transport trolley 300 is released from its locking position and returns along track 200 to the first station 400 before stopping and locking. The inspection unit descends to a suitable position, and the dimensional scanner scans the dimensional information of the four sides of the casting 100 and feeds it back to the control system. After scanning, the inspection unit rises and retracts. The scanned data is synchronized to the control system, which performs dimensional fitting again to confirm whether the grinding of the four sides of the casting 100 is qualified. If it is not qualified, the transport trolley 300 transports the casting to the second station 500, and the grinding robot 510 adjusts the grinding parameters according to the measured structure and re-grinds until it is qualified.

[0044] After the casting 100 is flipped and undergoes secondary inspection to confirm that all four sides of the casting are properly ground, the clamping mechanisms on both sides of the first station 400 extend to hold the casting 100 and rise to a suitable height before flipping it 90°. After flipping, the casting 100 is lowered and placed back into the transport trolley 300. The inspection unit descends to a suitable position, and the dimensional scanner scans the original bottom and top surfaces of the casting 100, feeding the data back to the control system. After scanning, the inspection unit rises and retracts. The measurement data from the inspection unit is transmitted to the control system in real time. The control system performs dimensional fitting between the measurement data and the three-dimensional standard model of the casting 100 to determine the grinding positions and thicknesses of the original bottom and top surfaces of the casting 100, and stores the fitting results.

[0045] For the second grinding, the transport trolley 300 continues along track 200 to the second workstation 500, where it stops and locks. The control system sends grinding parameters to the grinding department, and the grinding robot 510 operates simultaneously according to these parameters, grinding both the original bottom and top surfaces of the casting 100. During the grinding process, the grinding robot 510 provides real-time feedback on its operating status to the control system.

[0046] After the second inspection and grinding, the transport trolley 300 is released from its locking position and returns to the first workstation 400 along the track 200 before stopping and locking. The inspection unit descends to a suitable position, and the dimensional scanner scans the original bottom and top surfaces of the casting 100, feeding the data back to the control system. After scanning, the inspection unit rises and retracts. The scanned data is synchronized to the control system, which then performs dimensional fitting again to confirm whether the grinding of the original bottom and top surfaces of the casting 100 is qualified. If not, the transport trolley 300 transports the casting to the second workstation 500, where the grinding robot 510 adjusts the grinding parameters according to the measured structure and re-grinds until it is qualified.

[0047] Unloading and cyclic operation: After confirming that the surface of casting 100 is fully polished to a satisfactory level, the transport trolley 300 runs along the track 200 to the initial end to unload and lift casting 100. Then, it is transported to the initial end to prepare to receive the next casting to be polished and enter the next round of polishing operation, thus realizing continuous operation.

[0048] It should be noted that the "installation" mentioned in this invention can be a fixed connection method such as welding, or a detachable connection method such as screws, bolts, or riveting. This embodiment of the invention does not specifically limit the method.

[0049] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. An automatic polishing device, characterized in that, Includes the first workstation, the second workstation, the transfer device, and the control system. The transfer device connects the first station and the second station in series, and transfers the casting between the first station and the second station; The first workstation is equipped with a detection unit and a flipping unit. The detection unit is used to measure the dimensional information of the casting and feed it back to the control system. The flipping unit is used to flip the casting so that the surface of the casting to be polished is rotated to the correct direction. The second workstation is equipped with a grinding section; the control system analyzes the dimensional information of the casting and controls the grinding section to grind the casting.

2. The automatic polishing equipment according to claim 1, characterized in that, The detection unit includes a dimension scanning component and a first lifting mechanism. The dimension scanning component is disposed at the top of the first workstation. The first lifting mechanism is connected to the dimension scanning component and drives the dimension scanning component to move up and down.

3. The automatic polishing equipment according to claim 2, characterized in that, The detection unit also includes a U-shaped mounting bracket and a rotating mechanism, with two dimensional scanning components mounted opposite each other at the ends of the U-shaped mounting bracket; The rotating mechanism is installed in the middle of the U-shaped mounting frame. The rotating mechanism drives the U-shaped mounting frame to rotate, thereby causing the dimension scanning component to rotate and scan and measure the dimension information of the side of the casting.

4. The automatic polishing equipment according to claim 1, characterized in that, The flipping part includes a clamping mechanism and a flipping mechanism. The clamping mechanism includes two clamping plates symmetrically arranged on both sides of the first workstation and a telescopic drive member that drives the two clamping plates to move towards each other or away from each other. The flipping mechanism is provided between the clamping plate and the telescopic drive component.

5. The automatic polishing equipment according to claim 4, characterized in that, The working surface of the clamping plate is an arc-shaped structure adapted to the surface of the casting, and the working surface of the clamping plate is provided with an elastic layer.

6. The automatic polishing equipment according to claim 4, characterized in that, The flipping part also includes a second lifting mechanism, which is located at the end of the telescopic drive member away from the flipping mechanism, and is used to drive the held casting to rise to a suitable height before flipping.

7. The automatic polishing equipment according to claim 1, characterized in that, The polishing unit includes a horizontal moving mechanism, a vertical moving mechanism, and a polishing robot. A frame-shaped beam is provided at the top of the second station. A horizontal moving mechanism is installed on each side of the frame-shaped beam. The vertical moving mechanism is installed at the moving end of the horizontal moving mechanism, and the polishing robot is installed at the end of the vertical moving mechanism.

8. The automatic polishing equipment according to claim 7, characterized in that, The grinding robot has adjustable joints with multiple degrees of freedom. The joints include a base joint, an upper arm joint, a forearm joint, and a wrist joint. Each joint is equipped with an independent servo motor and an angle encoder.

9. The automatic polishing equipment according to claim 7, characterized in that, The wrist of the grinding robot is equipped with a force sensor, and the grinding head is connected to the output end of the wrist via a flexible coupling; The grinding robot is connected to the control system, which adjusts the contact pressure between the grinding head and the casting in real time based on the feedback data from the force sensor.

10. A method for grinding castings, using the automatic grinding equipment as described in any one of claims 1 to 9, characterized in that, Includes the following steps: Initial inspection: The transfer device transports the casting to the first station, where the inspection department measures the dimensions of the four sides of the casting and feeds them back to the control system; the control system performs dimensional fitting based on the standard model of the casting to determine the grinding parameters. In the initial grinding stage, the transfer device transfers the casting to the second station, and the control system controls the grinding unit to grind the four sides of the casting. For re-inspection, the transfer device transfers the casting back to the first station. The inspection unit measures the dimensional information of the four sides of the casting and feeds it back to the control system. The control system performs dimensional fitting based on the standard model of the casting and determines whether the grinding of the four sides is qualified. If it is not qualified, it returns to the initial grinding step. If it is qualified, the casting is flipped over and the dimensional information of the original bottom and top surfaces of the casting is measured. Secondary grinding: The transfer device transfers the casting to the second station, and the control system controls the grinding unit to grind the original bottom and top surfaces of the casting. For the second inspection, the transfer device transfers the casting back to the first station. The inspection department measures the dimensions of the original bottom and top surfaces of the casting and feeds them back to the control system. The control system performs dimensional fitting based on the standard model of the casting to determine whether the second grinding is qualified. If it is not qualified, it returns to the second grinding step. If it meets the requirements, the polishing is complete.

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