An adaptive grinding system suitable for flash burr of axle housing castings

Abstract

The application provides a self-adaptive grinding system suitable for flash of axle housing castings, which comprises a mechanical arm, a polishing mechanism is installed on the mobile terminal of the mechanical arm, and a double-station workbench for clamping the axle housing castings is arranged on one side of the mechanical arm; the polishing mechanism comprises a self-rotatable cylindrical cutter, a cleaning mechanism is arranged on the periphery of the cutter, the cleaning mechanism comprises two trigger assemblies respectively arranged on the two sides of the polishing area and a plurality of dust suction assemblies in transmission connection with the trigger assemblies; when the mechanical arm drives the cutter to approach the polishing area, the two trigger assemblies contact the castings before the cutter and move to the two sides, thereby driving the plurality of dust suction assemblies to gather towards the polishing area, so that the dust suction assemblies can be self-adaptively adjusted according to the position and contour of the polishing area, the deviation between the dust suction position and the polishing position is reduced, and the dust collection effect is improved; after the cutter leaves, the dust suction assemblies can be reset to adapt to continuous polishing at different positions.

Description

Technical Field

[0001] This invention relates to the field of grinding, specifically to an adaptive grinding system suitable for burrs and flash on bridge housing castings. Background Technology

[0002] Axle housing castings are crucial load-bearing components in automotive axle systems, typically forming the axle housing and supporting and protecting internal components such as the differential and half-shafts. Due to their typically large dimensions, complex wall shapes, and the presence of recesses, bosses, reinforcing ribs, and corners, their external contours are not simple planes or regular curved surfaces. Axle housing castings are usually formed using casting processes. After pouring, cooling, and demolding, burrs and other excess material easily accumulates at the parting line, gating and riser connections, and edges of certain structural features. Therefore, subsequent grinding processes are necessary to clean these areas to meet the casting's dimensional, surface quality, and subsequent assembly requirements.

[0003] Currently, the removal of burrs and flash from bridge-type castings typically involves grinding the casting surface with grinding wheels and grinding heads. With the development of automated machining technology, robotic arms are increasingly being used to drive grinding tools along a pre-set machining path to continuously grind multiple locations on the casting. During grinding, the contact between the tool and the casting generates a large amount of dust and fine debris. If not collected promptly, this dust can easily spread to the processing equipment and surrounding environment, affecting the cleanliness of the processing area. Therefore, automated grinding equipment usually incorporates a dust extraction structure near the grinding tools. This structure generates negative pressure airflow through the suction port to promptly remove the dust and debris generated during grinding.

[0004] However, the grinding areas of bridge housing castings exhibit significant variations in location and contour. This is particularly true when grinding burrs and flash in recessed areas of the outer wall, near reinforcing ribs, and at connection areas of varying heights. The relative position between the grinding tool and the casting changes depending on the area being processed. Existing dust collection systems typically employ fixed or pre-positioned suction ports, which can easily lead to significant distance deviations between the suction port and the actual grinding location. When the grinding location changes or the casting's contour exhibits unevenness, a fixed suction port cannot consistently remain close to the dust generation area, thus affecting the dust capture capability of the suction airflow. Summary of the Invention

[0005] In order to solve the problem that when grinding burrs and flash on bridge-type castings at different locations, the fixed dust collection structure is difficult to adapt to changes in the position and contour of the grinding area, resulting in the dust collection port deviating from the position of the dust and affecting the dust collection effect, the present invention provides an adaptive grinding system for burrs and flash on bridge-type castings.

[0006] The present invention solves the above-mentioned technical problems through the following technical solutions: The present invention provides an adaptive grinding system for burrs and flash on bridge shell castings, including a robotic arm, a grinding mechanism installed on the mobile terminal of the robotic arm, and a dual-station worktable for clamping bridge shell castings on one side of the robotic arm. The grinding mechanism includes a cylindrical cutter that can rotate under the drive of a motor, and a cleaning mechanism is provided around the cutter. The cleaning mechanism includes two symmetrically arranged trigger components, which are located on both sides of the tool's grinding area. It also includes multiple vacuuming components that are connected to the triggering component and can move along a circular trajectory. The vacuuming components have the ability to reset after moving.

[0007] In this technical solution, the grinding mechanism includes a mounting frame, which is fixed on the mobile terminal of the robotic arm, and the motor is fixed on the mounting frame by a ring-shaped mounting plate. A cutting tool extending out of the mounting frame is fixed on the output end of the motor. The cleaning mechanism is mounted on a mounting frame or mounting plate.

[0008] In this technical solution, the vacuuming assembly includes two external vacuuming assemblies and multiple internal vacuuming assemblies. The two external vacuuming assemblies are located on the side of the two triggering assemblies that are close to each other. The two internal vacuuming assemblies are fixedly connected to the two triggering assemblies respectively, and the remaining internal vacuuming assemblies are located between the two external vacuuming assemblies. As the two trigger components move to the sides, they drive the inner vacuum component that is fixed to them to move synchronously, and push the adjacent outer vacuum component and inner vacuum component to move synchronously, causing multiple vacuum components to converge towards the sides of the polishing area. After the two external suction components converge to the critical position, they move in the opposite direction to the convergence direction, and gradually raise the suction end during the movement, so that the two external suction components move towards the top side of the bridge shell casting grinding area.

[0009] In this technical solution, the triggering component and the inner suction component can move along the first circular trajectory, and the two outer suction components can move along the second circular trajectory located outside the first circular trajectory. The first circular trajectory and the second circular trajectory are coaxially arranged. The inner vacuum assembly, which is fixedly connected to the trigger assembly, and the adjacent outer vacuum assembly are connected by an outer connecting part. The two adjacent inner vacuum assemblies are connected by an inner connecting part. Both the outer connecting part and the inner connecting part have the ability to deform under pressure and spring back to their original position after pressure is released.

[0010] In this technical solution, the triggering component includes a trigger plate, which is fixedly connected to the corresponding slider via a first connecting rod; The internal suction assembly includes an internal suction housing, the top of which is fixedly connected to the corresponding slider via a second connecting rod; The external suction assembly includes an external suction shell. The top of the external suction shell is fixedly connected to the corresponding slider via a third link. The third link includes a retractable portion along the axial direction of the cutter. A first spring is fitted over the retractable portion of the third link. A traveling wheel is provided on the portion of the third link located below the retractable portion. The traveling wheel can move along the lifting guide rail.

[0011] In this technical solution, the triggering component, the internal suction component, and the external suction component are all slidably connected to the bearing component through corresponding sliders. The bearing component is fixedly installed on the surface of the grinding mechanism that does not rotate synchronously with the cutting tool.

[0012] In this technical solution, the supporting component includes a mounting bracket, which is fitted around the outer periphery of the tool and fixed to the mounting frame or mounting plate. The mounting bracket is equipped with a first guide rail and a second guide rail, both of which are circular in shape. The outer vacuum assembly slides on the first guide rail via a slider, while the inner vacuum assembly slides on the second guide rail via a slider.

[0013] In this technical solution, two transmission components are also provided at two critical positions. The transmission components include a transmission part for changing the transmission direction and amplifying the transmission displacement. The transmission part is mounted on the bearing component. The two sides of the transmission part are respectively engaged with a drive rack and a driven rack that extend in an arc shape. The drive rack and driven rack are fixedly connected to the triggering component and the corresponding external suction component, respectively.

[0014] In this technical solution, the transmission unit includes a mounting rod extending along the axial direction of the tool. The mounting rod is mounted on the mounting bracket via a fixing rod and can rotate relative to the end of the fixing rod. A drive gear and a driven gear are fixedly installed on the outer circumferential surface of the mounting rod, which are staggered along the axial direction. The diameter of the drive gear is smaller than the diameter of the driven gear. The transmission gear meshes with the drive rack that has moved to the critical position, and the driven gear meshes with the driven rack.

[0015] In this technical solution, the outer dust collection shell and the inner dust collection shell have the same structure. The inner dust collection shell includes a dust collection box. The side of the dust collection box that faces and contacts the grinding area has an outwardly protruding dust collection surface. Multiple evenly distributed dust collection holes are opened on the dust collection surface. A pressure equalization shell is fixedly installed on the side of the dust collection box away from the dust collection surface. The pressure equalization shell is connected to the dust collection box through multiple air inlets and is connected to the air pump through an external pipe. The air inlets are covered with a filter screen.

[0016] 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.

[0017] The positive and progressive effects of this invention are as follows: In this application, during the process of the robotic arm driving the grinding mechanism to move towards the grinding area of ​​the bridge shell casting, the two trigger components can contact the two sides of the grinding area before the cylindrical cutter, and move to the two sides along a circular trajectory under the push of the grinding area, so as to pre-adjust the position of the cleaning mechanism according to the actual contour of the grinding area before the cutter enters the grinding area.

[0018] Furthermore, as the two trigger components move to both sides, they can respectively drive the corresponding dust-collecting components to move in the opposite direction, causing multiple dust-collecting components to gradually converge towards both sides of the grinding area. Thus, the dust-collecting components do not need to rely on additional detection devices to identify the grinding area of ​​the bridge housing casting. They can automatically adjust the distribution position of multiple dust-collecting components based on the actual position and contour of the grinding area, utilizing the contact relationship between the trigger components and the casting. This allows the dust-collecting components to be more concentratedly distributed around the contact point between the tool and the grinding area.

[0019] Compared to structures with fixed dust collection positions, this application can reduce the deviation of the dust collection component from the actual grinding position caused by local contour changes, uneven structures, or changes in grinding position of bridge housing castings. This allows the dust collection component to complete position adjustment before the tool contacts the grinding area, thereby improving the timeliness of dust and debris collection generated during the grinding process and helping to reduce the spread of dust to the surrounding area.

[0020] In addition, the dust collection component has a reset capability after completing the position adjustment. After the tool leaves the current grinding area and moves to other positions, the dust collection component can return to the initial position, thus providing conditions for subsequent adaptive adjustment of the grinding area at different positions. There is no need to manually adjust for different grinding positions, which is conducive to improving the automation level and processing efficiency in the continuous grinding process of bridge shell castings. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 For the present invention Figure 1 A magnified schematic diagram of the structure at point I; Figure 3 For the present invention Figure 1 A top-view structural diagram; Figure 4 This is a schematic diagram of the grinding mechanism and cleaning mechanism of the present invention; Figure 5 For the present invention Figure 4 A schematic diagram of the structure viewed from below; Figure 6 This is a schematic diagram showing the positional relationship between the cleaning mechanism and the cutting tool of the present invention; Figure 7 This is a schematic diagram of the cleaning mechanism of the present invention; Figure 8 For the present invention Figure 8 A magnified schematic diagram of the structure at point J; Figure 9 For the present invention Figure 7 A schematic diagram of the side view structure; Figure 10 This is a schematic diagram of the structure of the inner dust collection component, the outer dust collection component, the outer connecting part, and the inner connecting part of the present invention; Figure 11 This is a schematic diagram of the internal structure of the inner dust collection shell of the present invention; Figure 12 For the present invention Figure 7 A schematic diagram of the structure viewed from below.

[0022] Explanation of reference numerals in the attached figures 101. Dual-station workbench; 102. Robotic arm; 103. Mounting frame; 104. Motor; 1041. Mounting plate; 105. Cutting tool; 106. Cleaning mechanism; 107. Bridge housing castings; 1. Load-bearing component; 11. Mounting bracket; 12. First guide rail; 13. Second guide rail; 2. Trigger assembly; 21. Trigger plate; 22. First connecting rod; 23. Guide rod; 3. Slider; 4. Internal suction assembly; 41. Internal suction housing; 411. Dust collection box; 412. Suction hole; 413. Pressure equalizing housing; 414. Air inlet; 415. External connecting pipe; 42. Second connecting rod; 5. External vacuum assembly; 51. External vacuum housing; 52. Third linkage; 53. First spring; 54. Wheels; 6. Fixing frame; 61. Lifting guide rail; 7. Transmission assembly; 71. Transmission part; 711. Mounting rod; 712. Transmission gear; 713. Driven gear; 72. Drive rack; 73. Driven rack; 74. Fixing rod; 8. External connecting part; 81. Transmission plate; 82. External connecting rod; 9. Inner connecting rod. Detailed Implementation

[0023] 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.

[0024] like Figure 1 and Figure 2As shown, an adaptive grinding system for burrs and flash on bridge shell castings includes a robotic arm 102, a grinding mechanism mounted on the mobile terminal of the robotic arm 102, and a dual-station worktable 101 for clamping bridge shell castings 107 on one side of the robotic arm 102. The grinding mechanism includes a cylindrical cutter 105 that can rotate under the drive of a motor 104, and a cleaning mechanism 106 is provided around the cutter 105. The cleaning mechanism 106 includes two symmetrically arranged trigger components 2, which are located on both sides of the grinding area of ​​the tool 105. It also includes multiple vacuuming components that are connected to the triggering component 2 and can move along a circular trajectory. The vacuuming components have the ability to reset after moving. As the robotic arm 102 drives the grinding mechanism to move toward the grinding area of ​​the bridge shell casting 107, the two trigger components 2 contact the two sides of the grinding area before the cutter 105, and move toward the two sides along a circular trajectory under the push of the grinding area until the cutter 105 contacts the grinding area; during the movement of the two trigger components 2, they respectively drive the dust collection components located on both sides to move in opposite directions, so that multiple dust collection components gather toward the two sides of the grinding area.

[0025] Specifically, the dual-station workbench 101 has two independent clamping stations, each capable of clamping two bridge shell castings 107. This allows one station to be grinding a bridge shell casting 107 while the other station is loading, unloading, or preparing to clamp it. The two stations can sequentially enter the grinding area by switching between workbenches, thereby reducing idle time during loading and unloading, and improving the equipment's continuous processing capacity and overall processing efficiency.

[0026] Example 1 In this embodiment, as Figure 1 and Figure 2 As shown, the grinding mechanism includes a mounting frame 103, which is fixed on the mobile terminal of the robotic arm 102, and a motor 104 is fixed on the mounting frame 103 by a ring-shaped mounting plate 1041. A cutter 105 extending out of the mounting frame 103 is fixed on the output end of the motor 104. The cleaning mechanism 106 is mounted on the mounting frame 103 or the mounting plate 1041.

[0027] Specifically, the grinding mechanism is fixed to the mobile terminal of the robotic arm 102 via the mounting frame 103 as the overall supporting base, enabling the grinding mechanism to adjust its position and posture synchronously with the robotic arm 102. The motor 104 is fixedly mounted on the mounting frame 103 via the mounting plate 1041, which supports and positions the motor 104, allowing the output end of the motor 104 to extend out of the mounting frame 103 in a predetermined direction.

[0028] After the motor 104 is started, its output end drives the fixedly connected tool 105 to rotate synchronously. The robotic arm 102 then drives the mounting frame 103, the motor 104, and the tool 105 to move as a whole towards the grinding area of ​​the bridge housing casting 107. Through the coordinated rotation of the tool 105 and the movement of the robotic arm 102, the tool 105 gradually approaches and contacts the grinding area of ​​the bridge housing casting 107, thereby grinding away burrs and other defects on the grinding area.

[0029] The mounting frame 103 not only supports the motor 104 but also provides a mounting base for the cleaning mechanism 106, which is located around the tool 105, allowing the tool 105 and the cleaning mechanism 106 to be mounted together on the same grinding mechanism. When the robotic arm 102 moves the grinding mechanism, the tool 105 and the cleaning mechanism 106 can synchronously approach the bridge housing casting 107, enabling the cleaning mechanism 106 to adjust its position around the grinding area of ​​the tool 105 and collect the dust and debris generated during the grinding process of the tool 105.

[0030] Example 2 like Figures 4-6 As shown, the vacuuming assembly includes two external vacuuming assemblies 5 and multiple internal vacuuming assemblies 4. The two external vacuuming assemblies 5 are respectively located on the side of the two triggering assemblies 2 that are close to each other. The two internal vacuuming assemblies 4 are respectively fixedly connected to the two triggering assemblies 2, and the remaining internal vacuuming assemblies 4 are located between the two external vacuuming assemblies 5. As the two trigger components 2 move to the sides respectively, they drive the inner vacuum component 4, which is fixedly connected to them, to move synchronously, and push the adjacent outer vacuum component 5 and inner vacuum component 4 to move synchronously, so that multiple vacuum components gather to both sides of the polishing area. After the two external suction components 5 converge to the critical position, they move in the opposite direction to the convergence direction, and gradually raise the suction end during the movement so that the two external suction components 5 move towards the top side of the grinding area of ​​the bridge shell casting 107.

[0031] In this design, multiple dust-collecting components are divided into an inner dust-collecting component 4 and two outer dust-collecting components 5. Two triggering components 2 drive the inner dust-collecting component 4, which is fixedly connected to it, to move, and simultaneously push the adjacent outer dust-collecting components 5 and the inner dust-collecting component 4 to move synchronously. This allows the multiple dust-collecting components to converge towards both sides of the grinding area as the triggering components 2 move. The position of the multiple dust-collecting components can be adjusted according to the actual contour of the grinding area of ​​the bridge housing casting 107, making the dust-collecting components more concentrated around the grinding position of the tool 105, thereby improving the collection effect of dust and debris generated during the grinding process.

[0032] When a large depression exists in the locally polished area of ​​the bridge shell casting 107, the travel distance generated by the two triggering components 2 increases accordingly, and multiple dust collection components continuously converge towards both sides of the polished area. If all dust collection components always move in the same direction, some dust collection components are prone to excessive concentration on one side of the polished area, resulting in an uneven distribution of dust collection positions around the polished area. In this application, after the two external dust collection components 5 converge to the critical position, they move in the opposite direction to the original convergence direction, and during the movement, the dust collection end is gradually raised, so that the two external dust collection components 5 gradually shift from the side of the polished area to the top side of the polished area.

[0033] With the above structure, when the grinding area is significantly recessed, the two external suction components 5 can compensate for the positional concentration caused by the continuous lateral convergence of multiple suction components. This allows some suction ends to move from the side of the grinding area to near the top, resulting in a more balanced spatial distribution of the suction components around the grinding area. This not only expands the effective suction range around the grinding area but also reduces the escape of dust and debris from above and around the grinding area, improving the dust collection and cleaning effect on the complex recessed areas of the bridge shell casting 107.

[0034] Example 3 This embodiment is derived based on Embodiment 2, such as... Figure 6 , Figure 7 and Figure 10 As shown, the trigger component 2 and the inner suction component 4 can move along the first circular trajectory, and the two outer suction components 5 can move along the second circular trajectory located outside the first circular trajectory. The first circular trajectory and the second circular trajectory are coaxially arranged. The inner vacuum assembly 4, which is fixedly connected to the trigger assembly 2, and the adjacent outer vacuum assembly 5 are connected by an outer connecting part 8. The two adjacent inner vacuum assemblies 4 are connected by an inner connecting part. Both the outer connecting part 8 and the inner connecting part have the ability to deform under pressure and spring back to their original position after pressure is released.

[0035] Trigger assembly 2 includes trigger plate 21, which is fixedly connected to the corresponding slider 3 via first connecting rod 22; The internal suction assembly 4 includes an internal suction shell 41, the top of which is fixedly connected to the corresponding slider 3 via a second connecting rod 42. like Figure 8 and Figure 9As shown, the external suction assembly 5 includes an external suction shell 51. The top of the external suction shell 51 is fixedly connected to the corresponding slider 3 via a third link 52. The third link 52 includes a retractable portion along the axial direction of the cutter 105. A first spring 53 is provided on the retractable area of ​​the third link 52. A traveling wheel 54 is provided on the portion of the third link 52 located below the retractable area. The traveling wheel 54 can move along the lifting guide rail 61.

[0036] Specifically, the trigger component 2, the inner suction component 4, and the outer suction component 5 are installed via corresponding sliders 3, enabling each component to move along a predetermined trajectory under the action of the corresponding guide structure.

[0037] In this design, the trigger plate 21 is fixedly connected to the corresponding slider 3 via the first connecting rod 22. As the robotic arm 102 drives the grinding mechanism towards the grinding area of ​​the bridge-shell casting 107, the trigger plate 21 contacts the grinding area before the cutting tool 105, and, pushed by the surface of the casting, moves the corresponding slider 3. Since the inner dust-collecting shell 41, fixedly connected to the trigger assembly 2, is fixed to the corresponding slider 3 via the second connecting rod 42, the movement of the trigger assembly 2 can simultaneously move the corresponding inner dust-collecting shell 41, and through the connecting structure, continue to adjust the position of other dust-collecting components.

[0038] The outer suction housing 51 is connected to the corresponding slider 3 via a third connecting rod 52. The third connecting rod 52 has a retractable portion along the axial direction of the cutter 105, allowing the outer suction housing 51 to move along with the slider 3 and also generate axial displacement of the cutter 105. A first spring 53 is fitted over the retractable portion of the third connecting rod 52. The first spring 53 provides elastic support and a reset function for the retraction and extension of the third connecting rod 52, giving the outer suction housing 51 a tendency to return to its original position after adjustment.

[0039] As the external suction assembly 5 moves along the corresponding trajectory, the traveling wheel 54, located at the lower part of the third connecting rod 52, moves synchronously along the lifting guide rail 61. The lifting guide rail 61 guides the movement trajectory of the traveling wheel 54, and by changing the height of the lifting guide rail 61, the traveling wheel 54 gradually moves upward. After the traveling wheel 54 moves upward, it pushes the retractable part of the third connecting rod 52 to retract relatively, thereby causing the external suction housing 51 to rise synchronously. Thus, while the external suction housing 51 is adjusting its circumferential position, it can also compensate for the axial position of the tool 105 according to the guidance of the lifting guide rail 61, causing the suction end of the external suction housing 51 to gradually move towards the top side of the grinding area of ​​the bridge shell casting 107.

[0040] Furthermore, the two ends of the lifting guide rail 61 are arc-shaped plate structures at different heights, and a curved plate structure that gradually extends upward along the spiral direction is provided between the two ends, so that the traveling wheel 54 gradually rises as it moves along the lifting guide rail 61. The lifting guide rail 61 is fixed to the connector, the first guide rail 12 or the second guide rail 13 on the bearing component 1 by the fixing frame 6.

[0041] Preferably, such as Figure 6 As shown, the fixing frame 6 is positioned at the center between the two trigger plates 21. The first connecting rod 22 on the trigger plate 21 is connected to the fixing frame 6 via a guide rod 23 that extends in an arc shape and has telescopic capability. A second spring is sleeved on the guide rod 23. The second spring applies a resetting action to the two trigger plates 21 in opposite directions through the guide rod 23, so that the two trigger plates 21 remain symmetrically distributed on both sides of the fixing frame 6 without external force, thereby providing a stable initial positioning reference for the trigger plates 21.

[0042] Example 4 like Figure 4 and 6 As shown in the figure, the trigger component 2, the inner suction component 4 and the outer suction component 5 are all slidably connected to the carrier component 1 through the corresponding slider 3. The carrier component 1 is fixedly installed on the surface of the component on the grinding mechanism that does not rotate synchronously with the tool 105.

[0043] Specifically, the support component 1 includes a mounting bracket 11, which is fitted around the outer periphery of the cutter 105 and is fixed to the mounting frame 103 or the mounting plate 1041. The mounting bracket 11 is equipped with a first guide rail 12 and a second guide rail 13, which are circular in structure. The outer dust collection component 5 slides on the first guide rail 12 via a slider 3, and the inner dust collection component 4 is slidably connected to the second guide rail 13 via a slider 3.

[0044] Furthermore, the inner suction shell 41 is slidably connected to the second guide rail 13 via the slider 3, and the outer suction shell 51 is slidably connected to the first guide rail 12 via the slider 3. The diameter of the first guide rail 12 is larger than that of the second guide rail 13, causing the outer suction shell 51 to be offset radially outward relative to the inner suction shell 41; or, by extending the third connecting rod 52 radially outward relative to the cutter 105 and retracting the second connecting rod 42 radially inward relative to the cutter 105, the outer suction shell 51 and the inner suction shell 41 are offset from each other in the radial direction, thereby avoiding interference between the outer suction shell 51 and the inner suction shell 41 during movement.

[0045] Preferably, such as Figure 12As shown, with the current position of the outer suction shell 51 as a reference, after shifting a certain distance radially inward along the cutter 105, the outer suction shell 51 and the inner suction shell 41 can form a state in which they are evenly distributed around the periphery of the cutter 105. Although this arrangement places the outer suction shell 51 and the inner suction shell 41 on different circular trajectories, when viewed from the radial direction of the cutter 105, the circumferential positions of the multiple suction shells can still form a relatively uniform distribution, so that each suction shell has a relatively balanced circumferential coverage area around the cutter 105.

[0046] During actual grinding, the dust and debris generated during grinding usually diffuse in different directions around the tool 105. By keeping the outer dust collection shell 51 and the inner dust collection shell 41 evenly distributed in corresponding circumferential positions, it is possible to avoid multiple dust collection shells being concentrated in a certain circumferential area. Even if the two outer dust collection shells 51 are located on relatively outer circular tracks, it will not significantly affect the dust collection coverage of multiple dust collection shells in different directions around the tool 105, thereby improving the overall dust collection uniformity around the tool 105.

[0047] Preferably, the second link 42 in the vacuuming assembly 4, which is fixedly connected to the triggering assembly 2, and the first link 22 corresponding to the triggering assembly 2 are both fixed on the same slider 3.

[0048] like Figure 10 As shown, the outer connecting part 8 includes a transmission plate 81 rotatably connected to the third connecting rod 52. A coil spring is provided at the rotatable connection between the transmission plate 81 and the third connecting rod 52. Under the action of the coil spring, the transmission plate 81 maintains its initial posture of extending radially along the cutter 105 when it is not subjected to external force. At the same time, before the drive rack 72 meshes with the transmission gear 712, the coil spring does not deform, so that the transmission plate 81 always maintains the state of extending radially along the cutter 105 and maintains an overlapping relationship with the outer connecting rod 82, thereby enabling the outer connecting rod 82 to continuously push the transmission plate 81 and the corresponding external dust collection assembly 5 to move synchronously.

[0049] The transmission plate 81 has an external connecting rod 82 on at least one side near the trigger assembly 2. The external connecting rod 82 has an arc-shaped structure and telescopic capability. Its other end is fixedly connected to the inner dust suction assembly 4, which is fixedly connected to the trigger assembly 2, specifically to the corresponding second connecting rod 42. A third spring is sleeved on the surface of the external connecting rod 82, so that the external connecting rod 82 can rebound and reset after being compressed.

[0050] The internal connecting component includes an arc-shaped, telescopic internal connecting rod 9. Both ends of the internal connecting rod 9 are fixedly connected to the second connecting rods 42 corresponding to two adjacent internal vacuuming components 4. A fourth spring is sleeved on the surface of the internal connecting rod, thereby establishing a transmission connection between adjacent internal vacuuming components 4 through the internal connecting rod 9. When one internal vacuuming component 4 is moved by the triggering component 2, the internal connecting rod 9 can transmit this movement to the adjacent internal vacuuming components 4, enabling multiple internal vacuuming components 4 to move in unison.

[0051] Specifically, when external connecting rods 82 are provided on both sides of the transmission plate 81, the two external connecting rods 82 are respectively fixedly connected to the second connecting rod 42 corresponding to the inner dust suction component 4 fixedly connected to the trigger component 2, and the second connecting rod 42 corresponding to the inner dust suction component 4 adjacent to the outer dust suction component 5. A gap is reserved between the two external connecting rods 82 for the transmission plate 81 to move. The transmission plate 81 located at the edge can extend between the two external connecting rods 82 during the movement of the dust suction component, and form a transmission engagement through contact with the two external connecting rods 82.

[0052] When the transmission plate 81 is provided with an external connecting rod 82 only on the side near the trigger component 2, the external connecting rod 82 and the transmission plate 81 form an overlapping engagement relationship, so that the external connecting rod 82 can apply a force to the transmission plate 81 as it moves with the corresponding internal dust collection component 4, thereby driving the transmission plate 81 to rotate around the connection position with the third connecting rod 52, and causing the transmission plate 81 to drive the corresponding external dust collection component 5 to move.

[0053] In this embodiment, when the two triggering components 2 are not in contact with the grinding area of ​​the bridge housing casting 107, they are symmetrically distributed on both sides of the cutter 105 under the combined action of the fixing frame 6, the guide rod 23, and the second spring, and drive the inner dust suction component 4 fixedly connected to it to maintain the corresponding initial position. The multiple inner dust suction components 4 are interconnected through inner connecting components, and the two outer dust suction components 5 establish a transmission connection with the adjacent inner dust suction components 4 through the outer connecting parts 8, so that the multiple dust suction components can form an interconnected movement relationship around the periphery of the cutter 105.

[0054] After the robotic arm 102 drives the grinding mechanism to approach the grinding area of ​​the bridge housing casting 107, the two trigger plates 21 contact the sides of the grinding area before the cutting tool 105, and move to the sides respectively under the push of the grinding area. After the trigger plates 21 move, they drive the corresponding sliders 3 and the internal dust collection components 4 fixedly connected to them to move synchronously through the first connecting rod 22. Since the adjacent internal dust collection components 4 are connected by the internal connecting rod 9, the internal connecting rod 9 can transmit the movement of the corresponding internal dust collection component 4 to other internal dust collection components 4, so that multiple internal dust collection components 4 converge synchronously to the sides of the grinding area.

[0055] Meanwhile, the inner suction assembly 4 corresponding to the trigger assembly 2 applies a force to the transmission plate 81 via the outer connecting rod 82. Before the outer suction assembly 5 moves to the critical position, the transmission plate 81 and the outer connecting rod 82 maintain a transmission engagement, and the transmission plate 81 does not rotate relative to the third connecting rod 52, allowing the outer connecting rod 82 to continuously push the transmission plate 81 and the corresponding outer suction assembly 5 to move synchronously. During this stage, the two trigger assemblies 2, the multiple inner suction assemblies 4, and the two outer suction assemblies 5 can gradually converge towards both sides of the grinding area under the drive of the trigger plate 21.

[0056] As the two trigger components 2 continue to move to both sides, the guide rod 23 connecting the trigger component 2 and the fixing frame 6 gradually extends, and the second spring sleeved on the guide rod 23 deforms accordingly and stores elastic potential energy. At the same time, the third spring on the outer connecting rod 82 and the fourth spring on the inner connecting rod 9 can also produce corresponding elastic deformations as the relative positions between the various vacuuming components change, so that the entire trigger component 2 and vacuuming component system have a tendency to return to the initial position after completing the movement.

[0057] When the external vacuum assembly 5 moves to the critical position, its motion state changes. Under the corresponding driving and guiding action, the external vacuum assembly 5 moves in the opposite direction to the original gathering direction. At this time, the transmission plate 81 rotates relative to the third connecting rod 52, causing the original transmission cooperation between the transmission plate 81 and the external connecting rod 82 to gradually disengage, and eventually separate from each other. The external connecting rod 82 no longer continuously applies a pushing action to the transmission plate 81, allowing the external vacuum assembly 5 to break away from the synchronous gathering motion of the internal vacuum assembly 4 and move in the opposite direction along a predetermined trajectory.

[0058] With the above structure, when the grinding area of ​​the bridge housing casting 107 is shallow or the concavity is small, the trigger component 2 can drive the inner dust collection component 4 and the outer dust collection component 5 to converge synchronously, so that multiple dust collection components are concentrated near the grinding area of ​​the tool 105. When the grinding area is more concave, the travel of the trigger component 2 continues to increase and the outer dust collection component 5 reaches the critical position, the outer dust collection component 5 can achieve motion switching by disengaging the transmission plate 81 from the outer connecting rod 82, separating from the original convergence motion and moving in the opposite direction. With the guidance of the lifting guide rail 61, the outer dust collection component 5 can also gradually rise during the movement, so that its dust collection end is transferred from the side of the grinding area to near the top of the grinding area, thereby avoiding the excessive concentration of multiple dust collection components on one side of the grinding area due to continuous convergence.

[0059] After the cutting tool 105 leaves the current grinding area, the external force acting on the two trigger plates 21 gradually disappears. The second spring releases the elastic potential energy stored during the extension of the guide rod 23, pushing the two trigger plates 21 back to their initial positions. This, in turn, drives the corresponding inner and outer dust collection components 4 and 5 to return to their original positions via the inner connecting rod 9 and the outer connecting rod 82. The third spring, the fourth spring, and the coil spring at the transmission plate 81 respectively assist the outer connecting rod 82, the inner connecting rod 9, and the transmission plate 81 in returning to their initial states, enabling the entire cleaning mechanism 106 to re-establish its initial distribution state. This provides conditions for the subsequent adaptive adjustment of the cutting tool 105 after it moves to other grinding areas.

[0060] Example 5 This embodiment is derived based on Embodiment 4, such as... Figure 9 and Figure 10 As shown, it also includes two transmission components 7 respectively set at two critical positions. The transmission component 7 includes a transmission part 71 for changing the transmission direction and amplifying the transmission displacement. The transmission part 71 is mounted on the bearing component 1. The two sides of the transmission part 71 are respectively meshed with a drive rack 72 and a driven rack 73 that extend in an arc shape. The drive rack 72 and the driven rack 73 are fixedly connected to the trigger assembly 2 and the corresponding external dust collection assembly 5, respectively, so that after the trigger assembly 2 moves to the critical position, the drive rack 72, the transmission part 71 and the driven rack 73 drive the corresponding external dust collection assembly 5 to move in the opposite direction to the trigger assembly 2.

[0061] The transmission unit 71 includes a mounting rod 711 extending axially along the cutter 105. The mounting rod 711 is mounted on the mounting bracket 11 via a fixing rod 74 and is rotatable relative to the end of the fixing rod 74. A drive gear 712 and a driven gear 713 are fixedly arranged on the outer circumferential surface of the mounting rod 711, which are staggered along the axial direction. The diameter of the drive gear 712 is smaller than the diameter of the driven gear 713. The transmission gear 712 is engaged with the drive rack 72 which has moved to the critical position, and the driven gear 713 is engaged with the driven rack 73.

[0062] Furthermore, the drive rack 72 is fixedly connected to the corresponding first link 22, and the driven rack 73 is fixedly connected to the surface of the area of ​​the third link 52 that remains in a fixed position along the axial direction of the cutter 105.

[0063] Preferably, the driven racks 73 and their corresponding driven gears 713 in the two transmission components 7 are staggered along the axial direction of the cutter 105, so that the two driven racks 73 are located at different axial positions, thereby avoiding interference between the two driven racks 73 during movement and enabling the corresponding external dust collection component 5 to obtain a larger travel distance.

[0064] During operation, the robotic arm 102 drives the grinding mechanism to approach the grinding area of ​​the bridge housing casting 107. The two trigger components 2 are pushed to the sides by the surface of the casting on both sides of the grinding area. After the trigger components 2 move to the corresponding critical position, the drive rack 72 fixed on the first connecting rod 22 moves synchronously with the trigger components 2 and meshes with the transmission gear 712 in the transmission part 71.

[0065] The circular arc trajectory movement of the drive rack 72 drives the transmission gear 712 to rotate, and the transmission gear 712 drives the coaxially fixed driven gear 713 to rotate synchronously via the mounting rod 711. Since the diameters of the transmission gear 712 and the driven gear 713 are different, and the diameter of the transmission gear 712 is smaller than that of the driven gear 713, the movement input by the drive rack 72 can be transmitted and amplified through the gear set, and through the meshing between the driven gear 713 and the driven rack 73, the rotation of the transmission gear 712 is converted into the movement of the driven rack 73 along the circular arc trajectory.

[0066] During the aforementioned transmission process, the drive rack 72 and the driven rack 73 are located on opposite sides of the transmission unit 71, such that the moving direction of the driven rack 73 is opposite to the moving direction of the drive rack 72. Therefore, after the trigger assembly 2 moves to the critical position on both sides, it can drive the corresponding external dust suction assembly 5 to move in the opposite direction to the trigger assembly 2 through the drive rack 72, transmission gear 712, driven gear 713, and driven rack 73, causing the external dust suction assembly 5 to disengage from its original converging motion and perform position compensation in the direction of the outer side of the grinding area.

[0067] The two transmission components 7 are respectively positioned at two critical locations. The driven racks 73 and their corresponding driven gears 713 of the two transmission components 7 are staggered along the axial direction of the cutter 105, so that the two driven racks 73 are in different axial positions. This arrangement can avoid spatial interference between the two driven racks 73 and their corresponding transmission structures during opposite or reversible movements, while providing a large movement space for the driven racks 73, so that the corresponding external dust collection component 5 can obtain sufficient travel.

[0068] Through the above transmission method, the movement of the trigger component 2, which was originally used to sense the contour of the polishing area, is further utilized after reaching the critical position. The movement direction is changed and the displacement is amplified through the transmission part 71, so that the external vacuuming component 5 can obtain a large reverse movement stroke when the movement stroke of the trigger component 2 is small, thereby meeting the need for the external vacuuming component 5 to perform position compensation to the top side of the polishing area.

[0069] Example 6 This embodiment is derived based on embodiment three, such as... Figure 10 and Figure 11As shown, the outer dust collection shell 51 and the inner dust collection shell 41 have the same structure. The inner dust collection shell 41 includes a dust collection box 411. The dust collection box 411 has an outwardly protruding dust collection surface on the side facing and contacting the polishing area. Multiple evenly distributed dust collection holes 412 are opened on the dust collection surface. A pressure equalization shell 413 is fixedly installed on the side of the dust collection box 411 away from the dust collection surface. The pressure equalization shell 413 is connected to the dust collection box 411 through multiple air inlets 414 and is connected to the air pump through an external pipe 415. A filter screen is covered at the air inlets 414.

[0070] In this application, the dust collection box 411 has an outwardly protruding dust collection surface on the side facing the grinding area, allowing the dust collection hole 412 to be positioned closer to the grinding area relative to the main body of the dust collection box 411. During the position adjustment of the dust collection shell with the trigger component 2, the protruding dust collection surface can preferentially approach or contact the grinding area of ​​the bridge shell casting 107, keeping the dust collection hole 412 close to the actual grinding position of the tool 105. This helps to shorten the path of dust diffusion from the generation location to the dust collection hole 412, improving the dust collection hole 412's ability to capture grinding dust.

[0071] Meanwhile, the suction surface protrudes outward relative to the main body of the suction box 411, allowing the suction surface to approach the grinding area without the main body of the suction box 411 needing to be completely close to the bridge shell casting 107. Therefore, even if the grinding area of ​​the bridge shell casting 107 has recesses, corners, or other structures, the suction box can still form an effective suction space by utilizing the protruding suction surface after approaching the grinding area. This reduces the problem of the suction box 411 being restricted from further approaching due to interference between the main body of the suction box 411 and the workpiece surface, allowing the suction hole 412 to continuously collect dust at a position relatively close to the grinding area.

[0072] In addition, multiple suction holes 412 are evenly distributed on the suction surface, so that the suction surface can form a relatively uniform suction area; the pressure equalization shell 413 is connected to the dust collection box 411 through multiple air inlets 414, which helps to make each suction hole 412 obtain a relatively balanced negative pressure suction. With the filter screen set at the air inlet 414, it can also intercept larger particulate impurities entering the pressure equalization shell 413, thus taking into account both the dust collection effect and the cleanliness of the inside of the suction component.

[0073] Specifically, the bottom side wall of the dust collection box 411 is provided with a removable cover to facilitate opening the dust collection box 411 and cleaning the dust and debris accumulated inside.

[0074] It should be noted that the accompanying drawings are mainly used to illustrate the connection relationships and relative positions between the components. The specific dimensions, proportions, and shapes of the components shown in the drawings should not be construed as limiting the scope of protection of this application. In practical applications, the cleaning mechanism 106 can be adapted to the structural dimensions of the bridge shell casting 107, the size of the grinding area, and the specifications of the cutting tool 105.

[0075] Example 7 In a preferred embodiment of this application, specifically, to reduce the overall thickness of the cleaning mechanism 106 along the radial direction of the cutter 105, and to allow the cleaning mechanism 106 to be arranged closer to the cutter 105, the dimensions of the inner suction shell 41 and the outer suction shell 51 along the radial direction of the cutter 105 can be appropriately reduced. This reduces the radial space occupied by the cleaning mechanism 106 while ensuring suction space and structural strength. When more inner suction components 4 need to be arranged around the cutter 105 to increase the distribution density of suction components along the circumference of the cutter 105, the width of the inner suction shell 41 and the outer suction shell 51 along the circumference of the cutter 105 can be shortened accordingly, allowing multiple suction shells to be arranged within a limited circumferential space.

[0076] The aforementioned dimensional adjustments do not alter the basic connection relationships and motion principles between the trigger assembly 2, the internal dust collection assembly 4, the external dust collection assembly 5, and each of the 71 transmission components. They are only used to accommodate the grinding space of different specifications of cutting tools 105 and different bridge housing castings 107. Therefore, without changing the basic structure and working principle of this application, the specific dimensions, proportions, and quantities of each component can be appropriately adjusted according to actual processing requirements.

[0077] This invention is not limited to the embodiments described above. Any changes in shape or structure shall fall within the protection scope of this invention. The protection scope of this invention is defined by the appended claims. Those skilled in the art may make various changes or modifications to these embodiments without departing from the principles and essence of this invention, but all such changes and modifications shall fall within the protection scope of this invention.

Claims

1. An adaptive grinding system for burrs on bridge shell castings, comprising a robotic arm (102), wherein a grinding mechanism is installed on the mobile terminal of the robotic arm (102), and a dual-station worktable (101) for clamping bridge shell castings (107) is provided on one side of the robotic arm (102). The grinding mechanism includes a cylindrical blade (105) that can rotate under the drive of a motor (104), and a cleaning mechanism (106) is provided around the blade (105). The feature is that: The cleaning mechanism (106) includes two symmetrically arranged trigger components (2), which are located on both sides of the grinding area of ​​the tool (105); It also includes multiple vacuuming components that are connected to the triggering component (2) and can move along a circular trajectory, and the vacuuming components have the ability to reset after moving.

2. The adaptive grinding system for burrs and flash on bridge-type castings as described in claim 1, characterized in that: The grinding mechanism includes a mounting frame (103), which is fixed on the mobile terminal of the robotic arm (102), and a motor (104) is fixed on the mounting frame (103) by a ring mounting plate (1041). A cutter (105) extending out of the mounting frame (103) is fixed on the output end of the motor (104). The cleaning mechanism (106) is mounted on the mounting frame (103) or mounting plate (1041).

3. The adaptive grinding system for burrs and flash on bridge-type castings as described in claim 1, characterized in that: The vacuuming assembly includes two external vacuuming assemblies (5) and a plurality of internal vacuuming assemblies (4). The two external vacuuming assemblies (5) are respectively located on the side of the two triggering assemblies (2) that are close to each other. The two internal vacuuming assemblies (4) are respectively fixedly connected to the two triggering assemblies (2), and the remaining internal vacuuming assemblies (4) are located between the two external vacuuming assemblies (5). As the two trigger components (2) move to the sides respectively, they drive the inner vacuum component (4) fixedly connected to them to move synchronously, and push the adjacent outer vacuum component (5) and inner vacuum component (4) to move synchronously, so that the multiple vacuum components gather to the sides of the polishing area; After the two external suction components (5) converge to the critical position, they move in the opposite direction to the convergence direction, and gradually raise the suction end during the movement so that the two external suction components (5) move towards the top side of the grinding area of ​​the bridge shell casting (107).

4. The adaptive grinding system for burrs and flash on bridge-type castings as described in claim 3, characterized in that: The triggering component (2) and the inner suction component (4) can move along the first circular trajectory, and the two outer suction components (5) can move along the second circular trajectory located outside the first circular trajectory. The first circular trajectory and the second circular trajectory are coaxially arranged. The inner vacuum assembly (4) fixedly connected to the trigger assembly (2) and the adjacent outer vacuum assembly (5) are connected by an outer connecting part (8). The two adjacent inner vacuum assemblies (4) are connected by an inner connecting part. Both the outer connecting part (8) and the inner connecting part have the ability to deform under pressure and spring back to reset after pressure is released.

5. The adaptive grinding system for burrs and flash on bridge-type castings as described in claim 3, characterized in that: The triggering component (2) includes a trigger plate (21), which is fixedly connected to the corresponding slider (3) via a first connecting rod (22). The inner suction assembly (4) includes an inner suction shell (41), the top of which is fixedly connected to the corresponding slider (3) via a second connecting rod (42). The external suction assembly (5) includes an external suction shell (51). The top of the external suction shell (51) is fixedly connected to the corresponding slider (3) via a third link (52). The third link (52) includes a retractable portion along the axial direction of the cutter (105). A first spring (53) is provided on the retractable area of ​​the third link (52). A traveling wheel (54) is provided on the portion of the third link (52) below the retractable area. The traveling wheel (54) can move along the lifting guide rail (61).

6. The adaptive grinding system for burrs and flash on bridge-type castings as described in claim 3, characterized in that: The triggering component (2), the inner dust suction component (4) and the outer dust suction component (5) are all slidably connected to the bearing component (1) through the corresponding slider (3). The bearing component (1) is fixedly installed on the surface of the grinding mechanism that does not rotate synchronously with the tool (105).

7. The adaptive grinding system for burrs and flash on bridge-type castings as described in claim 6, characterized in that: The support component (1) includes a mounting bracket (11), which is fitted around the outer periphery of the cutter (105) and is fixed to the mounting frame (103) or mounting plate (1041); The mounting bracket (11) is equipped with a first guide rail (12) and a second guide rail (13) with a circular structure. The external dust collection component (5) slides on the first guide rail (12) via a slider (3), and the internal dust collection component (4) slides on the second guide rail (13) via a slider (3).

8. The adaptive grinding system for burrs and flash on bridge-type castings as described in claim 6, characterized in that: It also includes two transmission components (7) respectively set at two critical positions. The transmission component (7) includes a transmission part (71) for changing the transmission direction and amplifying the transmission displacement. The transmission part (71) is mounted on the bearing component (1). The two sides of the transmission part (71) are respectively meshed with the drive rack (72) and the driven rack (73) extending in an arc shape. The drive rack (72) and driven rack (73) are fixedly connected to the trigger assembly (2) and the corresponding external suction assembly (5), respectively.

9. The adaptive grinding system for burrs and flash on bridge-type castings as described in claim 8, characterized in that: The transmission unit (71) includes a mounting rod (711) extending axially along the cutter (105), the mounting rod (711) being mounted on the mounting bracket (11) by means of a fixing rod (74) and being rotatable relative to the end of the fixing rod (74); The outer circumferential surface of the mounting rod (711) is fixedly provided with a transmission gear (712) and a driven gear (713) that are staggered along the axial direction. The diameter of the transmission gear (712) is smaller than the diameter of the driven gear (713). The transmission gear (712) is engaged with the drive rack (72) which has moved to the critical position, and the driven gear (713) is engaged with the driven rack (73).

10. The adaptive grinding system for burrs and flash on bridge-type castings as described in claim 5, characterized in that: The inner dust collection shell (41) includes a dust collection box (411), which has an outwardly protruding dust collection surface on the side facing and contacting the polishing area. The dust collection surface is provided with a plurality of evenly distributed dust collection holes (412). The dust collection box (411) has a pressure equalization shell (413) fixedly installed on the side away from the dust collection surface. The pressure equalization shell (413) is connected to the dust collection box (411) through multiple air inlets (414) and connected to the air pump through an external pipe (415). The air inlets (414) are covered with a filter screen.

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