Casting finishing equipment

Abstract

The utility model discloses casting finishing equipment which comprises a clamp, a frame body and a plurality of mechanical arms, the clamp is used for fixing a casting, the frame body is provided with a plurality of first mounting points and a plurality of second mounting points, and the first mounting points and the second mounting points are arranged at intervals in the vertical direction. The multiple first mounting points are arranged in the circumferential direction of the clamp at intervals, the multiple second mounting points are all arranged on the bottom side of the clamp, the multiple mechanical arms are assembled to the multiple first mounting points and the multiple second mounting points correspondingly, and the free end of each mechanical arm is provided with a trimming tool. And the trimming tool is used for trimming the casting when the mechanical arm acts. The casting finishing equipment disclosed by the utility model is small in occupied area and small in number of required stations.

Description

Technical Field

[0001] The utility model relates to the technical field of casting processing, and specifically, to a casting trimming device capable of trimming flash, burrs, etc. of a casting. Background Art

[0002] In recent years, the new energy vehicle industry has developed rapidly. In order to improve the overall vehicle performance and production capacity, an integrated high-pressure casting processing technology has been gradually adopted for some components of new energy vehicles. For example, some current body platforms of new energy vehicles are integrated castings. During processing, there will be a lot of flash, burrs, etc. on the cast body platform. At this time, a special flash and burr removal device is required to correct and process the body platform. However, the existing flash and burr removal devices have problems such as large floor area, large number of occupied workstations, and difficult control of processing quality. Summary of the Utility Model

[0003] The utility model aims to solve at least one of the technical problems in the related technologies to a certain extent.

[0004] To this end, an embodiment of the utility model provides a casting trimming device, which has a small floor area and requires a small number of occupied workstations.

[0005] The casting trimming device according to the embodiment of the utility model includes:

[0006] A fixture for fixing the casting;

[0007] A frame body provided with a plurality of first mounting points and a plurality of second mounting points, the first mounting points and the second mounting points being arranged at intervals in the up and down direction, the plurality of first mounting points being arranged at intervals in the circumferential direction of the fixture, and the plurality of second mounting points being provided on the bottom side of the fixture;

[0008] A plurality of robotic arms respectively assembled on the plurality of first mounting points and the plurality of second mounting points, and a trimming tool being provided at the free end of each robotic arm for trimming the casting when the robotic arm moves.

[0009] In some embodiments, the frame body includes:

[0010] A platform, at least part of the second mounting points being provided on the platform;

[0011] A plurality of support parts provided on the platform and arranged at intervals along the circumferential direction of the fixture, and the plurality of first mounting points being respectively provided at the tops of the plurality of support parts.

[0012] In some embodiments, the fixture includes:

[0013] A frame;

[0014] A plurality of positioning members, all of the plurality of positioning members are arranged in the middle of the frame, and each positioning member is used for plugging and assembling with the casting to realize the positioning of the casting;

[0015] A plurality of support members and a plurality of pressing members, all of the plurality of support members are arranged on the frame, the plurality of support members are arranged at intervals along the circumferential direction of the frame, each support member is used for propping up the casting, and at least part of the support members are matched with the pressing members, and the pressing members are used for pressing and fixing the casting against the corresponding support members.

[0016] In some embodiments, the frame includes:

[0017] A first cross beam, a second cross beam and a third cross beam, the first cross beam, the second cross beam and the third cross beam are arranged at intervals in sequence along a first direction;

[0018] Two first longitudinal beams and two second longitudinal beams, both of the two first longitudinal beams are connected between the first cross beam and the second cross beam, and the two first longitudinal beams are arranged at intervals along a second direction orthogonal to the first direction, both of the two second longitudinal beams are connected between the second cross beam and the third cross beam, and the two second longitudinal beams are arranged at intervals along a second direction orthogonal to the first direction;

[0019] The support members and the pressing members are both arranged on the first cross beam and the third cross beam, and the positioning members are arranged in the middle of the second cross beam or the third cross beam.

[0020] In some embodiments, the fixture includes a plurality of columns, the plurality of columns are evenly distributed on the frame, and a monitoring sensor for monitoring whether the casting is in place is arranged on each column.

[0021] In some embodiments, the robotic arm includes:

[0022] An arm body;

[0023] A mounting plate and a force sensor, the mounting plate is arranged at the driving end of the arm body, the force sensor is arranged between the mounting plate and the arm body, and the force sensor is used for monitoring the acting force of the casting on the dressing tool during the dressing operation;

[0024] A floating assembly and a driving assembly, the floating assembly is fixed to the mounting plate, the dressing tool is arranged at one end of the floating assembly, and the driving assembly is arranged at the other end of the floating assembly and is used for driving the dressing tool to perform a dressing operation through the floating assembly.

[0025] In some embodiments, the robotic arm includes an image monitoring device which is fixed to the mounting plate. The force sensor is located between the image monitoring device and the floating assembly, and the image monitoring device is configured to collect image information of the casting.

[0026] In some embodiments, a tool changing device is included. The tool changing device is provided on the frame body and includes:

[0027] A housing and a cover. The housing is provided on the frame body, and the cover is rotatably assembled on the top side of the housing;

[0028] A plurality of tool holders, and a plurality of the tool holders are all provided in the housing and are all used for placing the dressing tools;

[0029] A plurality of dust covers, and a plurality of the dust covers are all provided on the cover. After the cover is closed on the housing, the plurality of dust covers are used to cover the outer peripheral sides of the dressing tools on each of the tool holders one by one;

[0030] A driver, which is assembled between the housing and the cover, and the driver is used to drive the cover to rotate relative to the housing.

[0031] In some embodiments, a chip removal device is included. The chip removal device includes:

[0032] A container, which is used to store the waste generated by dressing the dressing tools;

[0033] A conveying assembly. A collecting groove for collecting the waste falling during the dressing operation is provided at the bottom of the frame body. The inlet of the conveying assembly is provided below the collecting groove, and the conveying assembly is used to convey the waste into the container.

[0034] In some embodiments, a soundproof room is included. The fixture, the frame body, and a plurality of the robotic arms are all provided in the soundproof room. The soundproof room is formed by splicing soundproof boards. The soundproof board includes a housing and soundproof material. An opening is provided on the inner side of the housing, and the soundproof material is provided in the housing and is arranged opposite to the opening.

[0035] Advantageous effects: The multiple first mounting points and multiple second mounting points of the casting dressing equipment according to the embodiments of the present invention are hierarchically arranged in space. This design, on the one hand, meets the operation requirements for dressing the surfaces of all orientations of the casting, and on the other hand, can enable some robotic arms to be hierarchically arranged in the up and down direction, thereby reducing the occupied area of the space in the same horizontal plane, and further avoiding the situation in the prior art where the dressing equipment occupies a large area and many workstations, which facilitates the installation and arrangement on the production line. Description of the Drawings

[0036] Figure 1 It is a top view schematic diagram of a partial structure of the casting trimming equipment according to an embodiment of the present utility model.

[0037] Figure 2 It is a three-dimensional schematic diagram of a partial structure of the casting trimming equipment according to an embodiment of the present utility model.

[0038] Figure 3 It is a schematic diagram of a fixture according to an embodiment of the present utility model.

[0039] Figure 4 It is an assembly schematic diagram of the fixture and the vehicle body floor according to an embodiment of the present utility model.

[0040] Figure 5 It is a schematic diagram of a robotic arm according to an embodiment of the present utility model.

[0041] Figure 6 It is a schematic diagram of the running track of the trimming tool under the operation of the robotic arm according to an embodiment of the present utility model.

[0042] Figure 7 It is a schematic diagram of a tool changing device according to an embodiment of the present utility model.

[0043] Figure 8 It is a three-dimensional schematic diagram of the overall structure of the casting trimming equipment according to an embodiment of the present utility model.

[0044] Figure 9 It is a three-dimensional schematic diagram of a chip removal device according to an embodiment of the present utility model.

[0045] Figure 10 It is a layout schematic diagram of a collection tank according to an embodiment of the present utility model.

[0046] Figure 11 It is a cross-sectional view schematic diagram of a sound insulation board of a soundproof room according to an embodiment of the present utility model.

[0047] Reference numerals:

[0048] 100 - Casting trimming equipment;

[0049] 1 - Fixture; 11 - Frame; 111 - First cross beam; 112 - Second cross beam; 113 - Third cross beam; 114 - First longitudinal beam; 115 - Second longitudinal beam; 12 - Positioning member; 13 - Support member; 14 - Pressing member; 15 - Column body; 16 - Monitoring sensor;

[0050] 2 - Frame body; 21 - Platform; 22 - Support part; 23 - First mounting point; 24 - Second mounting point;

[0051] 3 - Robotic arm; 31 - Arm body; 32 - Mounting plate; 33 - Force sensor; 34 - Floating assembly; 35 - Driving assembly; 37 - Trimming tool;

[0052] 4 - Tool changing device; 41 - Housing; 42 - Cover; 43 - Tool holder; 44 - Dust cover; 45 - Driver; 46 - Tool aligner; 47 - Dust removal pipe; 48 - Rotating shaft;

[0053] 5 - Chip removal device; 51 - Container; 52 - Conveyor assembly;

[0054] 6 - Soundproof room; 61 - Observation window; 62 - Teach pendant; 63 - Soundproof panel; 631 - Outer shell; 6311 - Punched steel plate; 6312 - Cold rolled plate; 632 - Soundproof material;

[0055] 7 - Control cabinet;

[0056] 8 - Maintenance passage;

[0057] 9 - Collection trough;

[0058] 200 - Casting. Detailed implementation manners

[0059] The embodiments of the present utility model will be described in detail below. The examples of the embodiments are shown in the drawings. The embodiments described below by referring to the drawings are exemplary and are intended to explain the present utility model, and should not be construed as a limitation to the present utility model.

[0060] As Figure 1 shown, the casting trimming equipment of the embodiment of the present utility model includes a fixture 1, a frame 2 and a plurality of robotic arms 3.

[0061] The fixture 1 is used to fix the casting 200. For example, the fixture 1 can be a component with a clamping and fixing function. The casting 200 is a component processed and formed by casting. The casting 200 can be a vehicle body floor panel. In some other embodiments, the casting 200 can also be other castings of other parts of the vehicle body sheet metal or other equipment.

[0062] The frame 2 is provided with a plurality of first mounting points 23 and a plurality of second mounting points 24. The first mounting points 23 and the second mounting points are arranged at intervals in the up - down direction. The plurality of first mounting points 23 are arranged at intervals in the circumferential direction of the fixture 1, and the plurality of second mounting points 24 are all arranged on the bottom side of the fixture 1.

[0063] For example, as Figure 2 shown, the frame 2 can include a plurality of columnar structures. The plurality of columnar structures can be arranged at intervals along the circumferential direction of the fixture 1. The plurality of first mounting points 23 can be respectively arranged at the tops of the plurality of columnar structures, and the plurality of second mounting points 24 can be arranged in the middle of the frame 2, and the plurality of second mounting points 24 are all located below the plurality of first mounting points 23.

[0064] A plurality of robotic arms 3 are respectively assembled on a plurality of first mounting points 23 and a plurality of second mounting points 24, and a trimming tool 37 is provided at the free end of each robotic arm 3. The trimming tool 37 is used to trim the casting 200 when the robotic arm 3 moves.

[0065] For example, as Figure 2 shown, one robotic arm 3 can be installed at each first mounting point 23 and each second mounting point 24. The trimming tool 37 can be a milling cutter assembly or the like, and a milling cutter assembly can be installed at the free end of each robotic arm 3. During use, the robotic arm 3 can be used to drive the trimming tool 37 to adjust the spatial orientation and working angle, so that the trimming of flash, burrs, etc. on the casting 200 can be realized by means of the running trimming tool 37.

[0066] In the casting trimming equipment according to the embodiment of the present utility model, the plurality of first mounting points 23 and the plurality of second mounting points 24 are arranged in layers in space. This design not only meets the operation requirements for trimming the surfaces of all orientations of the casting 200, but also enables some of the robotic arms 3 to be arranged in layers in the up and down direction, thereby reducing the occupied area of the space in the same horizontal plane, and further avoiding the situation in the prior art that the trimming equipment occupies a large area and many workstations, and facilitating the installation and arrangement on the production line.

[0067] In some embodiments, each robotic arm 3 can be a collaborative robot. Compared with the situation where the robotic arm 3 of the trimming equipment in the prior art is an industrial robot, the overall specification size of the collaborative robot is smaller, so that the occupied area can be further reduced and the number of occupied workstations can be reduced.

[0068] In some embodiments, the frame 2 includes a platform 21 and a plurality of supporting parts 22. At least part of the second mounting points 24 are arranged on the platform 21. The plurality of supporting parts 22 are all arranged on the platform 21 and are arranged at intervals along the circumferential direction of the fixture 1. The plurality of first mounting points 23 are respectively arranged at the tops of the plurality of supporting parts 22.

[0069] For example, as Figure 2 shown, the platform 21 can be in the shape of a flat plate, the supporting part 22 can be in the shape of a column or a portal structure, and the supporting part 22 can be arranged vertically and can be located above the platform 21. All the second mounting points 24 can be arranged on the platform 21, and a first mounting point 23 can be arranged on the top side of each supporting part 22. Thus, the arrangement of the first mounting point 23 and the second mounting point 24 is facilitated.

[0070] In some embodiments, the fixture 1 includes a frame 11, a plurality of positioning members 12, a plurality of supporting members 13 and a plurality of pressing members 14. As Figure 3 shown, the frame 11 can be formed by welding square steel or the like, and the overall shape of the frame 11 can be in the shape of an 8.

[0071] A plurality of positioning members 12 are all arranged in the middle of the frame 11, and each positioning member 12 is used for plugging and assembling with the casting 200 to realize the positioning of the casting 200. For example, as Figure 3 shown, there may be two positioning members 12. The positioning member 12 may be a spring positioning pin or the like. The two positioning members 12 may both be arranged at the middle position of the frame 11 in the left - right direction, and the two positioning members 12 may be arranged at intervals in the front - back direction.

[0072] After the casting 200 is placed on the frame 11, the two positioning members 12 can be respectively plugged and assembled with the corresponding holes on the casting 200, so as to play a role in limiting the casting 200 in the X - direction (left - right direction) and Y - direction (front - back direction).

[0073] A plurality of supporting members 13 are all arranged on the frame 11. The plurality of supporting members 13 are arranged at intervals along the circumferential direction of the frame 11. Each supporting member 13 is used for propping up the casting 200. At least some of the supporting members 13 are equipped with pressing members 14, and the pressing members 14 are used for pressing and fixing the casting 200 against the corresponding supporting members 13.

[0074] For example, as Figure 3 shown, the supporting member 13 may be a supporting column. The plurality of supporting members 13 and the above - mentioned positioning members 12 may both be arranged on the same side of the frame 11, and the plurality of supporting members 13 may be evenly distributed on the frame 11. The pressing member 14 may be a pressing cylinder or the like. The pressing member 14 may include a pressing block, and the pressing block is arranged opposite to the corresponding supporting member 13.

[0075] During assembly, each supporting member 13 can play a role in supporting the casting 200, and the corresponding part of each casting 200 can be clamped and fixed between the supporting member 13 and the pressing block of the pressing member 14. Thus, the clamping and fixing of the casting 200 can be realized, as specifically shown in Figure 4 shown.

[0076] In some embodiments, the frame 11 includes a first cross - beam 111, a second cross - beam 112, a third cross - beam 113, two first longitudinal beams 114 and two second longitudinal beams 115. For example, as Figure 3 shown, the first cross - beam 111, the second cross - beam 112, the third cross - beam 113, the first longitudinal beam 114, and the second longitudinal beam 115 may all be square steel.

[0077] The first cross - beam 111, the second cross - beam 112, and the third cross - beam 113 are arranged at intervals in sequence along the first direction. For example, as Figure 3 shown, the first cross - beam 111, the second cross - beam 112, and the third cross - beam 113 may all extend along the left - right direction and may be arranged at intervals in sequence along the direction from front to back (the first direction).

[0078] The two first longitudinal beams 114 are both connected between the first cross beam 111 and the second cross beam 112, and the two first longitudinal beams 114 are arranged at intervals along a second direction orthogonal to the first direction. For example, as Figure 3 shown, both the first longitudinal beam 114 and the second longitudinal beam 115 can extend along the front-rear direction, and each first longitudinal beam 114 can be connected between the first cross beam 111 and the second cross beam 112. The two first longitudinal beams 114 are arranged in parallel at intervals in the left-right direction (the second direction).

[0079] The two second longitudinal beams 115 are both connected between the second cross beam 112 and the third cross beam 113, and the two second longitudinal beams 115 are arranged at intervals along a second direction orthogonal to the first direction. For example, as Figure 3 shown, each second longitudinal beam 115 can be connected between the second cross beam 112 and the third cross beam 113, and the two second longitudinal beams 115 are arranged in parallel at intervals in the left-right direction.

[0080] Support members 13 and pressing members 14 are provided on both the first cross beam 111 and the third cross beam 113. For example, as Figure 3 shown, three support members 13 can be provided on the first cross beam 111. The three support members 13 can be arranged at intervals along the left-to-right direction. The support member 13 in the middle can be configured with a pressing member 14. Thus, the use requirement of pressing and fixing the front side of the casting 200 can be achieved.

[0081] A support member 13 and a pressing member 14 can also be provided at the front end of each first longitudinal beam 114. Four support members 13 and two pressing members 14 can be provided on the third cross beam 113. The four support members 13 can be arranged at intervals along the left-right direction. One pressing member 14 is respectively configured at two support members 13 located at the left end and the right end of the third cross beam 113.

[0082] The positioning member 12 is provided at the middle part of the second cross beam 112 or the third cross beam 113. As Figure 3 shown, one positioning member 12 can be respectively installed at the middle parts of the second cross beam 112 and the third cross beam 113, so as to achieve the positioning effect on the middle part of the casting 200.

[0083] In some embodiments, the fixture 1 includes a plurality of columns 15. The plurality of columns 15 are evenly distributed on the frame 11, and a monitoring sensor 16 for monitoring whether the casting 200 is in place is provided on each column 15.

[0084] For example, as Figure 3As shown, there can be four columns 15, and two columns 15 spaced apart in the left - right direction can be respectively arranged on the above - mentioned second cross - beam 112 and third cross - beam 113. A monitoring sensor 16 can be installed at the top of each column 15, and the monitoring sensor 16 can be a detection switch. After the casting 200 is assembled on the fixture 1, each detection switch can detect whether there is a casting 200 at this position, so as to ensure the assembly accuracy of the casting 200 and the fixture 1.

[0085] In some embodiments, as Figure 5 shown, the robotic arm 3 includes an arm body 31, a mounting plate 32, a force sensor 33, a floating assembly 34 and a driving assembly 35. Among them, the arm body 31 can be the above - mentioned collaborative robot.

[0086] The mounting plate 32 is arranged at the driving end of the arm body 31, the force sensor 33 is arranged between the mounting plate 32 and the arm body 31, and the force sensor 33 is used to monitor the force exerted by the casting 200 on the finishing tool 37 during the finishing operation. For example, as Figure 5 shown, the mounting plate 32 can be a rectangular plate, the force sensor 33 can be a six - axis force sensor, the force sensor 33 can be installed at the end of the arm body 31, and the mounting plate 32 can be fixed on the outside of the force sensor 33, that is, the force sensor 33 can be clamped between the arm body 31 and the mounting plate 32.

[0087] The floating assembly 34 is fixed to the mounting plate 32, the finishing tool 37 is arranged at one end of the floating assembly 34, and the driving assembly 35 is arranged at the other end of the floating assembly 34 and is used to drive the finishing tool 37 to perform a correction operation through the floating assembly 34.

[0088] For example, as Figure 5 shown, the floating assembly 34 can be an ATI floating sleeve (floating spindle), etc., the driving assembly 35 can be an electric spindle, the floating assembly 34 can be fixed on the mounting plate 32, and the driving assembly 35 can be fixed at the end of the floating assembly 34. During use, the driving assembly 35 can drive the finishing tool 37 to operate, so as to realize the correction operation of flash, burrs, etc. The floating assembly 34 can adjust the minimum force of the floating assembly 34 by adjusting the air pressure, and by means of the floating assembly 34, it can protect the robotic arm 3 and the finishing tool 37 from being damaged by large external forces, and also avoid the situation of damaging the casting 200.

[0089] Secondly, as Figure 6As shown in the figure, curve A in the figure is the desired trajectory, curve B is the current trajectory, point a is the desired position, and point b is the current position. During the correction operation, the force sensor 33 can collect the force data of the trimming tool 37. For example, according to the force data monitored by the force sensor 33, the normal and tangential forces of the trimming tool 37 can be analyzed. According to the analyzed force conditions, the normal force application and tangential feed speed of the trimming tool 37 can be controlled in reverse. That is, it is necessary to adjust the trimming tool 37 from curve B to curve A as much as possible, that is, it is necessary to adjust the trimming tool 37 from the current position b to the desired position a, so as to improve the quality of deburring and burr removal.

[0090] In some embodiments, the robotic arm 3 includes an image monitoring device. The image monitoring device is fixed to the mounting plate 32. The force sensor 33 is located between the image monitoring device and the floating assembly 34, and the image monitoring device is used to collect image information of the casting 200.

[0091] For example, as Figure 5 shown, the image monitoring device can be a 3D camera. Since there is a product offset between the cast casting 200 and the desired standard part, and the offset of each casting 200 is different, if the trimming tool 37 is uniformly trimmed according to the trimming trajectory of the standard part, the trimming quality will be reduced.

[0092] In view of the above situation, the casting 200 can be first measured retroactively by the image monitoring device to generate data, and then visual calculation methods such as dense registration, partial rigid registration, and partial non-rigid registration can be used, and then compared with the digital model of the casting 200 (which can be regarded as the above standard part) to calculate the offset of the casting 200. Finally, the offset data can be used to guide the movement trajectory of the trimming tool 37, thereby further ensuring the trimming effect and quality. Moreover, this method can improve the product size compatibility, reduce the size requirements for the casting 200, reduce the risk of robot collision and the risk of damaging the product, and improve the quality of product deburring and burring.

[0093] In some embodiments, the casting trimming equipment includes a tool changing device 4. The tool changing device 4 is arranged on the frame 2. For example, as Figure 2 shown, the tool changing device 4 can be specifically installed on the top side of the rear gantry support portion 22. When the life of the trimming tool 37 reaches or a tool break occurs, the trimming tool 37 can be automatically replaced by means of the tool changing device 4, thereby ensuring the continuity of operation.

[0094] In some embodiments, as Figure 7 shown, the tool changing device 4 includes a housing 41, a cover 42, a plurality of tool holders 43, a plurality of dust covers 44, and a driver 45.

[0095] The housing 41 is provided on the frame 2, and the cover 42 is rotatably assembled on the top side of the housing 41. For example, as Figure 7 shown, the housing 41 can generally be in the shape of a square box, and the housing 41 can be fixed to the top side of the support portion 22 by fasteners such as screws. The cover 42 can be rotatably assembled on the housing 41 through a rotating shaft 48. During use, the cover 42 can rotate around the axis of the rotating shaft 48, so that the cover 42 can be buckled on the top side of the housing 41 or the housing 41 can be opened.

[0096] A plurality of tool holders 43 are all provided in the housing 41 and are all used for placing the trimming tools 37. As Figure 7 shown, the tool holder 43 can generally be in the shape of a circular ring column, and the tool holder 43 can be fixed in the housing 41 and can be arranged at intervals along the length direction of the housing 41. A plurality of spare trimming tools 37 can be respectively placed at a plurality of tool holders 43 and can be respectively inserted into the central holes of the corresponding tool holders 43.

[0097] A plurality of dust covers 44 are all provided on the cover 42, and the plurality of dust covers 44 are used for covering the outer peripheral sides of the trimming tools 37 on each tool holder 43 one by one after the cover 42 is closed on the housing 41. For example, the dust cover 44 can be in the shape of a circular tube, and the dust cover 44 can be fixed to the inner side of the cover 42 and can be arranged at intervals along the length direction of the cover 42. When the cover 42 is closed on the housing 41, each dust cover 44 can respectively cover the outer peripheral side of the corresponding trimming tool 37, so as to achieve the effect of isolating dust.

[0098] The driver 45 is assembled between the housing 41 and the cover 42, and the driver 45 is used to drive the cover 42 to rotate relative to the housing 41. For example, as Figure 7 shown, the driver 45 can be a cylinder or the like. The driver 45 can be installed at the end of the housing 41 and connected to the cover 42. During use, the telescopic movement of the driver 45 can drive the cover 42 to rotate relative to the housing 41, so that the self-switching of the rotation of the cover 42 can be realized.

[0099] In some embodiments, as Figure 7 shown, the tool changing device 4 can further include a tool aligner 46 and a dust removal pipe 47. The tool aligner 46 can be provided in the middle of the housing 41. During use, the tool aligner 46 can play a role in calibrating and aligning the trimming tool 37, so as to facilitate the assembly with the manipulator. The dust removal pipe 47 can blow air flow, so as to achieve the effect of dust removal.

[0100] In some embodiments, the casting trimming equipment includes a chip removal device 5. For example, as Figure 8 shown, the chip removal device 5 can be provided at the bottom side of the whole equipment. During use, the flash, burrs, etc. generated during trimming can be discharged and collected in time through the chip removal device 5, ensuring the overall operation.

[0101] In some embodiments, such as Figure 9 shown, the chip removal device 5 includes a container 51 and a conveying component 52. The container 51 is used to store the waste generated by the dressing of the dressing tool 37. For example, the container 51 can be a box structure with an open top, and the waste generated by dressing can be collected into the container 51.

[0102] A collection groove 9 for collecting the waste falling during the dressing operation is provided at the bottom of the frame body 2. For example, as Figure 10 shown, the collection groove 9 can be a funnel structure. The collection groove 9 can be provided below the above-mentioned platform 21. The waste generated by the dressing operation can directly fall into the collection groove 9, and then slide down to the outlet at the bottom under the guidance of the inclined groove wall of the collection groove 9.

[0103] The inlet of the conveying component 52 is provided below the collection groove 9, and the conveying component 52 is used to convey the waste into the container 51. For example, as Figure 9 shown, the conveying component 52 can be a chain plate conveyor or the like. The inlet of the conveying component 52 can be directly below the outlet of the collection groove 9, so as to facilitate the waste to directly fall onto the conveying component 52. The outlet end of the conveying component 52 can be lapped on the top side of the container 51, and the running conveying component 52 can directly convey the waste into the container 51.

[0104] In some embodiments, the casting dressing equipment includes a soundproof room 6. The fixture 1, the frame body 2, and the plurality of robotic arms 3 are all arranged in the soundproof room 6. For example, as Figure 8 shown, the soundproof room 6 can generally be a square box structure. The soundproof room 6 can cover the outer peripheral sides of the fixture 1, the frame body 2, and the plurality of robotic arms 3, so as to achieve the effect of reducing noise during use.

[0105] The soundproof room 6 is assembled by soundproof panels 63. The soundproof panel 63 includes a housing 631 and a soundproof material 632. An opening is provided on the inner side of the housing 631, and the soundproof material 632 is arranged in the housing 631 and is arranged opposite to the opening. For example, as Figure 11 shown, the soundproof room 6 can be assembled by a plurality of soundproof panels 63. The housing 631 of the soundproof panel 63 can be assembled by a steel plate and a cold-rolled plate 6312. The steel plate can be located on the inner side of the soundproof room 6, and the steel plate can specifically be a perforated steel plate 6311. The cold-rolled plate 6312 can be located on the outer side of the soundproof room 6.

[0106] The sound insulation material 632 can be sound insulation cotton or the like. The sound insulation material 632 can be installed at the middle position of each sound insulation board 63. The opening can be provided on the inner side of the above-mentioned steel plate, and the sound insulation material 632 can be arranged opposite to the opening in the inner and outer directions. In use, the perforated steel plate 6311 can collect noise in the room to the greatest extent, the sound insulation cotton can absorb the noise, and the cold-rolled plate 6312 can provide sound insulation to the greatest extent.

[0107] In some embodiments, as Figure 8 shown, the soundproof room 6 can also be provided with an observation window 61, through which it is convenient to observe the operation conditions of each robotic arm 3 during the trimming operation.

[0108] In some embodiments, as Figure 8 shown, a plurality of teach pendants 62 can also be provided on the outer side of the soundproof room 6. The plurality of teach pendants 62 can be arranged in one-to-one correspondence with the plurality of robotic arms 3, and it is convenient to operate each robotic arm 3 through the teach pendant 62.

[0109] In some embodiments, as Figure 8 shown, a control cabinet 7 and a maintenance passage 8 can also be provided on the outer side of the soundproof room 6. The control cabinet 7 is used to realize the overall operation control of the plurality of robotic arms 3, and the maintenance passage 8 facilitates the inspection and maintenance of the equipment by personnel.

[0110] Although the above embodiments have been shown and described, it can be understood that the above embodiments are exemplary and should not be construed as limitations on the present invention. Any changes, modifications, substitutions, and variations made by those of ordinary skill in the art to the above embodiments are within the protection scope of the present invention.

Claims

1. A casting finishing device, characterized in that: include: A clamp, the clamp being used to fix the casting; A frame, wherein the frame is provided with a plurality of first mounting points and a plurality of second mounting points, wherein the first mounting points and the second mounting points are arranged at intervals in the up-down direction, the plurality of first mounting points are arranged at intervals in the circumferential direction of the fixture, and the plurality of second mounting points are all arranged on the bottom side of the fixture; A plurality of robotic arms are respectively mounted on a plurality of the first mounting points and a plurality of the second mounting points, and a trimming tool is provided at the free end of each of the robotic arms, and the trimming tool is used to trim the casting when the robotic arms are in motion.

2. The casting finishing equipment according to claim 1, characterized in that: The frame comprises: a platform, at least part of said second mounting points being disposed on said platform; A plurality of support parts are provided on the platform and are arranged at intervals along the circumference of the clamp, and a plurality of the first mounting points are respectively provided at the top ends of the plurality of support parts.

3. The casting finishing equipment according to claim 1, characterized in that: The fixture comprises: frame; A plurality of positioning members, each of which is arranged in the middle of the frame, and each of which is used for plugging and assembling with the casting to realize positioning of the casting; Multiple support members and multiple clamping members, multiple support members are all provided on the frame, multiple support members are arranged at intervals along the circumference of the frame, each support member is used to support the casting, at least some of the support members are equipped with the clamping members, and the clamping members are used to press and fix the casting to the corresponding support members.

4. The casting finishing equipment according to claim 3, characterized in that: The framework includes: A first crossbeam, a second crossbeam and a third crossbeam, wherein the first crossbeam, the second crossbeam and the third crossbeam are sequentially arranged in a spaced relationship along a first direction; Two first longitudinal beams and two second longitudinal beams, the two first longitudinal beams are connected between the first cross beam and the second cross beam, and the two first longitudinal beams are arranged at intervals along a second direction orthogonal to the first direction, and the two second longitudinal beams are connected between the second cross beam and the third cross beam, and the two second longitudinal beams are arranged at intervals along the second direction orthogonal to the first direction; The supporting member and the pressing member are both provided on the first cross beam and the third cross beam, and the positioning member is provided at the middle part of the second cross beam or the third cross beam.

5. The casting finishing equipment according to claim 3, characterized in that: The fixture comprises a plurality of columns, which are evenly distributed on the frame, and each of the columns is provided with a monitoring sensor for monitoring whether the casting is in place.

6. The casting finishing equipment according to claim 1, characterized in that: The robotic arm comprises: Arm body; A mounting plate and a force sensor, wherein the mounting plate is disposed at the driving end of the arm body, the force sensor is disposed between the mounting plate and the arm body, and the force sensor is used to monitor the force of the casting reacting to the dressing tool during the dressing operation; A floating component and a driving component, wherein the floating component is fixed to the mounting plate, the trimming tool is arranged at one end of the floating component, and the driving component is arranged at the other end of the floating component and is used to drive the trimming tool to perform a correction operation through the floating component.

7. The casting finishing equipment according to claim 6, characterized in that: The robotic arm comprises an image monitoring device, which is fixed to the mounting plate. The force sensor is located between the image monitoring device and the floating assembly, and the image monitoring device is used to collect image information of the casting.

8. The casting finishing equipment according to claim 1, characterized in that: It includes a tool changing device, which is arranged on the frame, and includes: A shell and a cover, wherein the shell is arranged on the frame, and the cover is rotatably coupled to the top side of the shell; A plurality of tool seats, each of which is disposed in the housing and is used to place the trimming tools; A plurality of dust covers, each of which is disposed on the cover body, and is used to cover the outer peripheral side of the dressing tool on each of the tool seats in a one-to-one correspondence after the cover body is covered on the housing; A driver is assembled between the shell and the cover, and is used to drive the cover to rotate relative to the shell.

9. The casting finishing equipment according to claim 1, characterized in that: A chip removal device is included, wherein the chip removal device includes: A container, the container being used to store waste material generated by the dressing tool; A conveying component, wherein a collecting trough is provided at the bottom of the frame for collecting the waste dropped during the trimming operation, an inlet of the conveying component is provided below the collecting trough, and the conveying component is used to convey the waste into the container.

10. The casting finishing equipment according to any one of claims 1 to 9, characterized in that: It includes a soundproof room, wherein the fixture, the frame, and the plurality of robotic arms are all arranged in the soundproof room, and the soundproof room is assembled by soundproof panels, wherein the soundproof panels include an outer shell and soundproof materials, an opening is arranged on the inner side of the outer shell, and the soundproof materials are arranged in the outer shell and opposite to the opening.

Images