Casting manipulator automatic polishing device

Abstract

The utility model relates to the technical field of metal processing, and discloses an automatic casting manipulator polishing device which comprises a manipulator arranged on a main frame and a polishing device arranged on the right side of the manipulator. A casting feeding mechanism is arranged on the front side of the manipulator, the casting feeding mechanism comprises an upper feeding plate and a lower feeding plate which are arranged up and down, and a plurality of castings in a rectangular array are placed on the upper feeding plate and the lower feeding plate respectively; the upper feeding plate and the lower feeding plate can independently move back and forth; a discharging conveying belt is arranged between the casting feeding mechanism and the grinding device. The casting can be automatically taken and polished through the upper feeding plate, the lower feeding plate and the mechanical arm, the polishing efficiency of the casting can be effectively improved, the labor cost is reduced, and potential safety hazards can be avoided.

Description

Technical Field

[0001] This utility model relates to the field of metal processing technology, and in particular to an automatic grinding device for casting robotic arms. Background Technology

[0002] Castings often do not meet the requirements of finished products immediately after casting, and have many burrs, gating lines, risers, etc., which require grinding and repair. Currently, the grinding of castings is generally done manually by one person with one machine, that is, the casting is transferred to the grinding machine by hand. The manual grinding work is relatively inefficient and poses certain safety hazards. Utility Model Content

[0003] The purpose of this invention is to provide an automatic grinding device for castings using a robotic arm. The device can automatically pick up and grind castings using upper and lower feeding plates and a robotic arm, which can effectively improve the grinding efficiency of castings, reduce labor costs, and avoid safety hazards.

[0004] The above-mentioned technical objective of this utility model is achieved through the following technical solution:

[0005] An automatic grinding device for casting robotic arms includes a robotic arm mounted on a main frame and a grinding device mounted on the right side of the robotic arm; a casting feeding mechanism is provided on the front side of the robotic arm, the casting feeding mechanism includes an upper feeding plate and a lower feeding plate arranged vertically, and multiple rectangular arrays of castings are placed on the upper feeding plate and the lower feeding plate respectively; the upper feeding plate and the lower feeding plate can move back and forth independently;

[0006] A discharge conveyor belt is provided between the casting feeding mechanism and the grinding device.

[0007] Through the above technical solution, the robotic arm grabs a casting from the upper feeding plate and then sends the casting to the grinding device for grinding. After grinding, the robotic arm places the ground casting onto the discharge conveyor belt for output, thereby automatically completing the grinding work of the casting.

[0008] After the castings on the upper feed plate are all picked up, the upper feed plate moves forward and the lower feed plate moves backward. The robotic arm picks up castings from the lower feed plate, while the worker places castings on the upper feed plate. This process is repeated. After the castings on the lower feed plate are all picked up, the lower feed plate moves forward to replenish the castings, and the upper feed plate moves backward, thus achieving uninterrupted feeding and grinding.

[0009] The present invention is further configured such that: the upper feeding plate is fixed on two pairs of left and right first legs; the lower ends of the pair of first legs on the left and the pair of first legs on the right are each inserted into a first guide rail arranged in a front-back direction; the first guide rail is fixed on the main frame; a first rack arranged in a front-back direction is fixed on one of the first guide rails; the first rack meshes with a first gear; the first gear is fixed on the motor shaft of the first servo motor; the first servo motor is fixed on one of the first legs.

[0010] The lower feeding plate is located on the inside of the two pairs of first support legs;

[0011] The lower feed plate is fixed to two pairs of second legs arranged on the left and right. The lower ends of the pair of second legs on the left and the pair of second legs on the right are each inserted into the corresponding second guide rail. The second guide rail is arranged parallel to the first guide rail and fixed on the main frame. A second rack is fixed on one of the second guide rails. The second rack meshes with a second gear. The second gear is fixed on the motor shaft of the second servo motor. The second servo motor is fixed on one of the second legs.

[0012] Both the first servo motor and the second servo motor are electrically connected to the controller, which controls the robotic arm.

[0013] Through the above technical solution, the first servo motor rotates, and the rotation of the first servo motor pre-drives the first gear to rotate. However, since the first rack is stationary, it reacts to the first gear and the first servo motor. The first servo motor drives the upper feeding plate to move along the first guide rail through the first support foot, thereby realizing the forward or backward movement of the upper feeding plate. The movement displacement and movement direction of the upper feeding plate can be accurately controlled through the first servo motor.

[0014] Similarly, the rotation of the second servo motor pre-drives the rotation of the second gear, but since the second rack remains stationary, it reacts on the second gear and the second servo motor. The second servo motor, through the second support leg, drives the upper feed plate to move along the second guide rail, thereby realizing the forward or backward movement of the lower feed plate. The movement displacement and direction of the lower feed plate can be precisely controlled by the second servo motor.

[0015] This invention is further configured such that: a first shielding roll is provided below the upper feeding plate, and a second shielding roll is provided on both the left and right sides of the first shielding roll. The shielding rolls are flexibly configured, allowing them to be laid flat or rolled up.

[0016] The first and second shielding rolls can be used to shield metal shavings generated during the grinding process.

[0017] The present invention is further configured such that: the first shielding roll is provided with a first leg clearance hole, and the first leg is inserted into the first leg clearance hole;

[0018] The first shielding roll is wound around two first spools arranged in front and behind, with one first spool fixed to a first drive shaft. One end of the first drive shaft is connected to a third servo motor that drives it to rotate. The third servo motor is fixed to the main frame, and the first drive shaft is rotatably connected to the main frame. The two ends of the other first spool are rotatably connected to a first support shaft. The outer wall of the first support shaft is fixed to the inner end of a first spring, and the outer end of the first spring is fixedly connected to the corresponding first spool. The first support shaft is fixed to the main frame.

[0019] The second shielding roll is provided with a second leg clearance hole, and the second leg is inserted into the second leg clearance hole;

[0020] The two ends of the second shielding roll are respectively wound onto two second spools arranged in front and behind. One of the second spools is fixed to a second drive shaft, one end of which is connected to a fourth servo motor that drives its rotation. The fourth servo motor is fixed to the main frame, and the second drive shaft is rotatably connected to the main frame. The two ends of the other second spool are rotatably connected to a second support shaft. The outer wall of the second support shaft is fixed to the inner end of a second spring, and the outer end of the second spring is fixedly connected to the corresponding second spool. The second support shaft is fixed to the main frame. The controller is electrically connected to the third and fourth servo motors.

[0021] With the above technical solution, when the upper feeding plate and the lower feeding plate move, the corresponding first shielding roll and the second shielding roll also move accordingly.

[0022] When the third servo motor rotates forward, it can drive the corresponding first drum to wind up the first shielding material, while the other first drum rotates passively, and the corresponding first spring becomes tighter; conversely, when the third servo motor rotates in reverse, the first spring automatically rotates back to wind up the first shielding material in the opposite direction.

[0023] Similarly, when the fourth servo motor rotates forward, it can drive the corresponding second drum to wind up the second shielding material, while the other second drum rotates passively, and the corresponding second spring becomes tighter; conversely, when the fourth servo motor rotates in reverse, the second spring automatically rotates back to wind up the second shielding material in the opposite direction.

[0024] The present invention is further configured such that: the grinding device includes a grinding wheel; a chip hopper is provided below the grinding wheel, and a dust collector is provided above the grinding wheel.

[0025] The chip hopper can collect the metal chips produced during grinding, preventing them from scattering everywhere. The dust collector can absorb the dust generated during grinding, preventing the dust from moving outwards.

[0026] The present invention is further configured such that: each of the upper feeding plate and the lower feeding plate is fixed with multiple pairs of casting positioning shafts.

[0027] Each casting can be positioned in an orderly manner on the upper feed plate and the small feed plate through a corresponding pair of casting positioning shafts, which can facilitate the orderly and accurate grasping of the robotic arm.

[0028] The outstanding effect of this utility model is:

[0029] Compared with existing technologies, uninterrupted material supply can be achieved by staggering the upper and lower feeding plates;

[0030] Robotic arms can automatically complete tasks such as grasping and transferring work, which can significantly reduce the labor intensity of workers, save on the number of workers, and reduce labor costs. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the structure of this utility model;

[0032] Figure 2 for Figure 1 A view of A;

[0033] Figure 3 for Figure 1 A sectional view of BB;

[0034] Figure 4 This is a schematic diagram of the assembly of the first shielding roll and the first roll of the present invention.

[0035] Attached label: 10, robotic arm;

[0036] 20. Grinding device; 201. Grinding wheel; 202. Chip hopper; 203. Dust collector;

[0037] 30. Casting feeding mechanism; 301. Upper feeding plate; 302. Lower feeding plate; 303. First support leg; 304. First guide rail; 305. First rack; 306. First gear; 307. First servo motor; 308. Second support leg; 309. Second guide rail; 310. Second rack; 311. Second gear; 312. Second servo motor; 313. First shielding coil; 314. Second shielding coil; 315. First drive shaft; 316. Third servo motor; 317. First support shaft; 318. First spring; 319. Second drum; 320. First drum; 321. Casting positioning shaft;

[0038] 3131, First leg clearance hole; 3141, Second leg clearance hole;

[0039] 40. Discharge conveyor belt;

[0040] 90. Castings. Detailed Implementation

[0041] The specific embodiments of this utility model will be further described in detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate this utility model, but are not intended to limit the scope of this utility model.

[0042] The following is for reference Figures 1 to 4 The present invention will be described as follows:

[0043] An automatic grinding device for casting robotic arms includes a robotic arm mounted on a main frame and a grinding device mounted on the right side of the robotic arm; a casting feeding mechanism is provided on the front side of the robotic arm, the casting feeding mechanism includes an upper feeding plate and a lower feeding plate arranged vertically, and multiple rectangular arrays of castings are placed on the upper feeding plate and the lower feeding plate respectively; the upper feeding plate and the lower feeding plate can move back and forth independently;

[0044] A discharge conveyor belt is provided between the casting feeding mechanism and the grinding device.

[0045] The robotic arm picks up a casting from the upper feed plate and sends it to the grinding device for grinding. After grinding, the robotic arm places the ground casting onto the discharge conveyor belt for output, thus automatically completing the grinding work of the casting.

[0046] After the castings on the upper feed plate are all picked up, the upper feed plate moves forward and the lower feed plate moves backward. The robotic arm picks up castings from the lower feed plate, while the worker places castings on the upper feed plate. This process is repeated. After the castings on the lower feed plate are all picked up, the lower feed plate moves forward to replenish the castings, and the upper feed plate moves backward, thus achieving uninterrupted feeding and grinding.

[0047] The upper feed plate is fixed on two pairs of left and right first legs. The lower ends of the pair of first legs on the left and the pair of first legs on the right are each inserted into a first guide rail arranged in the front-back direction. The first guide rail is fixed on the main frame. A first rack arranged in the front-back direction is fixed on one of the first guide rails. The first rack meshes with a first gear. The first gear is fixed on the motor shaft of the first servo motor. The first servo motor is fixed on one of the first legs.

[0048] The lower feeding plate is located on the inside of the two pairs of first support legs;

[0049] The lower feed plate is fixed to two pairs of second legs arranged on the left and right. The lower ends of the pair of second legs on the left and the pair of second legs on the right are each inserted into the corresponding second guide rail. The second guide rail is arranged parallel to the first guide rail and fixed on the main frame. A second rack is fixed on one of the second guide rails. The second rack meshes with a second gear. The second gear is fixed on the motor shaft of the second servo motor. The second servo motor is fixed on one of the second legs.

[0050] Both the first servo motor and the second servo motor are electrically connected to the controller, which controls the robotic arm.

[0051] The first servo motor rotates, which in turn drives the first gear to rotate. However, since the first rack is stationary, it reacts to the first gear and the first servo motor. The first servo motor drives the upper feed plate to move along the first guide rail through the first support foot, thereby realizing the forward or backward movement of the upper feed plate. The movement displacement and direction of the upper feed plate can be accurately controlled through the first servo motor.

[0052] Similarly, the rotation of the second servo motor pre-drives the rotation of the second gear, but since the second rack remains stationary, it reacts on the second gear and the second servo motor. The second servo motor, through the second support leg, drives the upper feed plate to move along the second guide rail, thereby realizing the forward or backward movement of the lower feed plate. The movement displacement and direction of the lower feed plate can be precisely controlled by the second servo motor.

[0053] A first shielding roll is provided below the upper feeding plate, and a second shielding roll is provided on both the left and right sides of the first shielding roll. The shielding rolls are flexibly designed and can be laid flat or rolled up.

[0054] The first and second shielding rolls can be used to shield metal shavings generated during the grinding process.

[0055] The first shielding roll is provided with a first leg clearance hole, and the first leg is inserted into the first leg clearance hole;

[0056] The first shielding roll is wound around two first spools arranged in front and behind, with one first spool fixed to a first drive shaft. One end of the first drive shaft is connected to a third servo motor that drives it to rotate. The third servo motor is fixed to the main frame, and the first drive shaft is rotatably connected to the main frame. The two ends of the other first spool are rotatably connected to a first support shaft. The outer wall of the first support shaft is fixed to the inner end of a first spring, and the outer end of the first spring is fixedly connected to the corresponding first spool. The first support shaft is fixed to the main frame.

[0057] The second shielding roll is provided with a second leg clearance hole, and the second leg is inserted into the second leg clearance hole;

[0058] The two ends of the second shielding roll are respectively wound onto two second spools arranged in front and behind. One of the second spools is fixed to a second drive shaft, one end of which is connected to a fourth servo motor that drives its rotation. The fourth servo motor is fixed to the main frame, and the second drive shaft is rotatably connected to the main frame. The two ends of the other second spool are rotatably connected to a second support shaft. The outer wall of the second support shaft is fixed to the inner end of a second spring, and the outer end of the second spring is fixedly connected to the corresponding second spool. The second support shaft is fixed to the main frame. The controller is electrically connected to the third and fourth servo motors.

[0059] When the upper and lower feeding plates move, the corresponding first and second shielding rolls also move accordingly.

[0060] When the third servo motor rotates forward, it can drive the corresponding first drum to wind up the first shielding material, while the other first drum rotates passively, and the corresponding first spring becomes tighter; conversely, when the third servo motor rotates in reverse, the first spring automatically rotates back to wind up the first shielding material in the opposite direction.

[0061] Similarly, when the fourth servo motor rotates forward, it can drive the corresponding second drum to wind up the second shielding material, while the other second drum rotates passively, and the corresponding second spring becomes tighter; conversely, when the fourth servo motor rotates in reverse, the second spring automatically rotates back to wind up the second shielding material in the opposite direction.

[0062] The grinding device includes a grinding wheel; a chip hopper is provided below the grinding wheel, and a dust collector is provided above the grinding wheel.

[0063] The chip hopper can collect the metal chips produced during grinding, preventing them from scattering everywhere. The dust collector can absorb the dust generated during grinding, preventing the dust from moving outwards.

[0064] Multiple pairs of casting positioning shafts are fixed on both the upper and lower feeding plates.

[0065] Each casting can be positioned in an orderly manner on the upper feed plate and the small feed plate through a corresponding pair of casting positioning shafts, which can facilitate the orderly and accurate grasping of the robotic arm.

[0066] The above description is only a preferred embodiment of the present utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present utility model. These improvements and modifications assumed above should also be considered within the protection scope of the present utility model.

Claims

1. An automatic grinding device for casting robotic arms, comprising a robotic arm (10) mounted on a main frame and a grinding device (20) mounted on the right side of the robotic arm (10); characterized in that: The front side of the robotic arm (10) is provided with a casting feeding mechanism (30), which includes an upper feeding plate (301) and a lower feeding plate (302) arranged vertically. Multiple rectangular arrays of castings (90) are placed on the upper feeding plate (301) and the lower feeding plate (302), respectively. The upper feeding plate (301) and the lower feeding plate (302) can move back and forth independently. A discharge conveyor belt (40) is provided between the casting feeding mechanism (30) and the grinding device (20).

2. The automatic grinding device for casting robotic arms according to claim 1, characterized in that: The upper feed plate (301) is fixed on two pairs of left and right first legs (303). The lower ends of the pair of first legs (303) on the left and the pair of first legs (303) on the right are each inserted into a first guide rail (304) arranged in the front-back direction. The first guide rail (304) is fixed on the main frame. A first rack (305) arranged in the front-back direction is fixed on one of the first guide rails (304). The first rack (305) meshes with a first gear (306). The first gear (306) is fixed on the motor shaft of the first servo motor (307). The first servo motor (307) is fixed on one of the first legs (303). The lower feed plate (302) is located on the inner side of the two pairs of first legs (303); The lower feed plate (302) is fixed on two pairs of left and right second legs (308). The lower ends of the pair of second legs (308) on the left and the pair of second legs (308) on the right are each inserted into the corresponding second guide rail (309). The second guide rail (309) is parallel to the first guide rail (304) and fixed on the main frame. A second rack (310) is fixed on one of the second guide rails (309). The second rack (310) meshes with a second gear (311). The second gear (311) is fixed on the motor shaft of the second servo motor (312). The second servo motor (312) is fixed on one of the second legs (308).

3. The automatic grinding device for casting robotic arms according to claim 2, characterized in that: A first shielding roll (313) is provided below the upper feeding plate (301), and a second shielding roll (314) is provided on the left and right sides of the first shielding roll (313).

4. The automatic grinding device for casting robotic arms according to claim 3, characterized in that: The first shielding roll (313) is provided with a first leg clearance hole (3131), and the first leg (303) is inserted into the first leg clearance hole (3131); The two ends of the first shielding roll (313) are respectively wound on two first rolls (320) arranged in front and behind. One of the first rolls (320) is fixed on the first drive shaft (315). One end of the first drive shaft (315) is connected to a third servo motor (316) that drives it to rotate. The third servo motor (316) is fixed on the main frame. The first drive shaft (315) is rotatably connected to the main frame. The two ends of the other first roll (320) are rotatably connected to the first support shaft (317). The outer wall of the first support shaft (317) is fixed to the inner end of the first spring (318). The outer end of the first spring (318) is fixedly connected to the corresponding first roll (320). The second shielding roll (314) is provided with a second leg clearance hole (3141), and the second leg (308) is inserted into the second leg clearance hole (3141); The two ends of the second shielding roll (314) are respectively wound on two second rolls (319) arranged in front and behind. One of the second rolls (319) is fixed on the second drive shaft. One end of the second drive shaft is connected to a fourth servo motor that drives it to rotate. The fourth servo motor is fixed on the main frame. The second drive shaft is rotatably connected to the main frame. The two ends of the other second roll (319) are rotatably connected to the second support shaft. The outer wall of the second support shaft is fixed to the inner end of the second spring. The outer end of the second spring is fixedly connected to the corresponding second roll (319). The controller is electrically connected to the third servo motor and the fourth servo motor.

5. The automatic grinding device for casting robotic arms according to claim 1, characterized in that: The grinding device (20) includes a grinding wheel (201); a chip hopper (202) is provided below the grinding wheel (201), and a dust collector (203) is provided above the grinding wheel (201).

6. The automatic grinding device for casting robotic arms according to claim 1, characterized in that: Multiple pairs of casting positioning shafts (321) are fixed on the upper feeding plate (301) and the lower feeding plate (302).

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