Automatic polishing and trimming equipment for hydro-generator casting

Abstract

The utility model provides automatic polishing and trimming equipment for a hydro-generator casting, and belongs to the technical field of polishing and trimming equipment. Comprising a base, a robotic arm is arranged on the base, an operating arm is connected to the top end of the robotic arm to form a six-axis robot, a rotatable mounting base is mounted at the end, away from the robotic arm, of the operating arm, a machine shell is fixed to the end, away from the operating arm, of the mounting base, and a rotatable grinding roller is arranged at the end of the machine shell; a limiting frame parallel to the grinding roller is further fixed to the end of the machine shell, and a limiting plate is arranged on the side, facing the grinding roller, of the limiting frame. The hydraulic generator casting polishing device not only can automatically polish a hydraulic generator casting, but also can support and protect thin-wall parts such as an impeller in the hydraulic generator casting during polishing, the vibration frequency of the thin-wall parts is reduced, the polishing effect is guaranteed, and the overall using effect is good.

Description

Technical Field

[0001] This utility model relates to the technical field of grinding and trimming equipment, and in particular to an automatic grinding and trimming equipment for hydro generator castings. Background Technology

[0002] As the core equipment of a hydroelectric power generation system, the machining quality of its castings (such as impellers and volutes) directly affects the unit's efficiency and lifespan. In traditional manufacturing processes, grinding and trimming of castings mainly relies on manual operation of handheld grinding machines. Workers need to control the grinding path and force based on experience, resulting in low efficiency and poor consistency. Especially for thin-walled components such as impellers, vibration during grinding can easily lead to uneven surfaces or even localized over-grinding, requiring repeated adjustments and further extending the processing cycle.

[0003] In recent years, industrial robot technology has been gradually applied to the field of casting grinding, with some companies using six-axis robots equipped with grinding tools to achieve automated operations. However, existing automated equipment is mostly focused on general casting processing, and there are still problems with insufficient adaptability for special components with complex curved surfaces and thin walls, such as turbine generator impellers. For example, thin-walled areas are prone to resonance during high-speed grinding due to the lack of effective support, resulting in excessive surface roughness or dimensional deviations, which affects the processing accuracy.

[0004] Therefore, this application provides an automatic grinding and trimming device for hydro-generator castings to solve the above-mentioned technical problems. Utility Model Content

[0005] The technical problem to be solved by this utility model is to provide an automatic grinding and trimming equipment for hydro-generator castings, which combines a six-axis robot with an adaptive limit support mechanism to solve the problems of low efficiency of manual grinding and the impact of vibration on processing quality of thin-walled parts in the prior art.

[0006] To solve the above-mentioned technical problems, this utility model provides the following technical solution:

[0007] An automatic grinding and trimming device for hydro-generator castings includes a base, on which a robotic arm is mounted. An operating arm is connected to the top of the robotic arm, forming a six-axis robot. A rotatable mounting base is mounted on the end of the operating arm away from the robotic arm. A housing is fixed to the end of the mounting base away from the operating arm. A rotatable grinding roller is mounted on the end of the housing. A limiting frame parallel to the grinding roller is also fixed to the end of the housing. A limiting plate is provided on the side of the limiting frame facing the grinding roller.

[0008] Optionally, a servo motor is installed inside the housing, and the output end of the servo motor is inserted and fixed to one end of the grinding roller.

[0009] Optionally, the end of the grinding roller is fixed with a fixing strip, the surface of the fixing strip is provided with at least two fixing holes, and the output end of the servo motor is provided with at least two bolts for inserting into the output end of the servo motor and being threadedly fixed with the fixing holes.

[0010] Optionally, the limiting frame is an L-shaped frame, with one part fixed to the end of the machine housing and the other part parallel to the grinding roller, and the limiting plate is arranged parallel to the limiting frame on the inner side of the grinding roller.

[0011] Optionally, a cylinder is fixed on the limiting frame, the shaft of the cylinder passes through the limiting frame and is fixed to the middle of the limiting plate, and controls the limiting plate to translate in the direction of the grinding roller.

[0012] Optionally, a plurality of rubber strips may be detachably installed on the side of the limiting plate facing the grinding roller.

[0013] Optionally, the limiting plate has a plurality of locking grooves on the side facing the grinding roller, and the bottom of the rubber strip is locked and fixed in the locking grooves.

[0014] Compared with the prior art, this utility model has at least the following beneficial effects:

[0015] In the above solution, thanks to the six-axis robot formed by the base, robotic arm and operating arm, and the grinding roller set at the end of the operating arm through a rotatable mounting seat, the robot's motion trajectory can be planned to drive the grinding roller to perform flexible and automatic grinding on the hydro-generator casting. Compared with the processing method of using a manual hand-held grinding machine in the prior art, the working efficiency of this device is higher.

[0016] In the above solution, thanks to the cooperation of the grinding roller, the limiting frame, the cylinder and the limiting plate, the limiting plate can be used to support some thin-walled components in the hydro generator, such as the impeller, thereby ensuring the grinding effect of the grinding roller on such components and reducing the problem of vibration affecting the grinding effect during the grinding process.

[0017] In summary, this device can not only automatically grind and process the castings of hydro-generators, but also provide support and protection for thin-walled components such as impellers during grinding, reducing their vibration frequency and ensuring grinding effect. Overall, it has good performance. Attached Figure Description

[0018] The accompanying drawings, which are incorporated herein and form part of the specification, illustrate embodiments of the present invention and, together with the specification, further serve to explain the principles of the present invention and enable those skilled in the art to implement and use the present invention.

[0019] Figure 1This is a schematic diagram of the structure of this utility model;

[0020] Figure 2 This is a schematic diagram of the installation structure of the grinding roller of this utility model;

[0021] Figure 3 This is a schematic diagram of the structure of the grinding roller of this utility model;

[0022] Figure 4 This is a schematic diagram of the limiting plate of this utility model.

[0023] [Figure Labels]

[0024] 1. Base; 2. Robotic arm; 3. Operating arm; 4. Mounting seat; 5. Grinding roller; 501. Fixing strip; 502. Fixing hole; 6. Housing; 7. Servo motor; 8. Limit frame; 9. Cylinder; 10. Limit plate; 1001. Snap-fit ​​groove; 11. Adhesive strip.

[0025] As shown in the figure, specific structures and devices are marked in the figure to clearly illustrate the structure of the embodiment of this utility model. However, this is only for illustrative purposes and is not intended to limit this utility model to this specific structure, device and environment. Those skilled in the art can adjust or modify these devices and environments according to specific needs. Detailed Implementation

[0026] The automatic grinding and trimming equipment for hydro-generator castings provided by this utility model will be described in detail below with reference to the accompanying drawings and specific embodiments. It should also be noted that, to make the embodiments more detailed, the following embodiments are the best and preferred embodiments, and those skilled in the art can use other alternative methods to implement some known technologies; moreover, the accompanying drawings are only for more specific description of the embodiments and are not intended to specifically limit this utility model.

[0027] It should be noted that the use of terms such as "an embodiment," "an embodiment," "an exemplary embodiment," and "some embodiments" in the specification indicates that the described embodiment may include a specific feature, structure, or characteristic, but not every embodiment necessarily includes that specific feature, structure, or characteristic. Furthermore, when a specific feature, structure, or characteristic is described in connection with an embodiment, implementing such a feature, structure, or characteristic in conjunction with other embodiments (whether explicitly described or not) should be within the knowledge of those skilled in the art.

[0028] Generally, terms can be understood at least partly from their use in context. For example, depending at least partly on the context, the term "one or more" as used herein can be used to describe any feature, structure, or characteristic in a singular sense, or a combination of features, structures, or characteristics in a plural sense. Additionally, the term "based on" can be understood not necessarily to convey an exclusive set of factors, but rather, alternatively, depending at least partly on the context, to allow for the presence of other factors that are not necessarily explicitly described.

[0029] It is understood that the meanings of “on”, “above”, and “above” in this utility model should be interpreted in the broadest manner, such that “on” not only means “directly on” something, but also includes the meaning of being “on” something with an intervening feature or layer, and that “above” or “above” not only means “on” something, but also includes the meaning of being “on” something without an intervening feature or layer.

[0030] Furthermore, spatially related terms such as “below,” “under,” “lower,” “above,” and “upper” are used herein for convenience to describe the relationship of one element or feature to one or more other elements or features, as illustrated in the accompanying drawings. Spatially related terms are intended to cover different orientations in the use or operation of the device other than those depicted in the accompanying drawings. The device may be oriented in other ways, and the spatially related descriptive terms used herein can be interpreted similarly.

[0031] like Figure 1-4 As shown, an embodiment of this utility model provides an automatic grinding and trimming device for hydro generator castings, including a base 1, on which a robotic arm 2 is mounted, and an operating arm 3 is connected to the top of the robotic arm 2 to form a six-axis robot. Combined with offline programming (OLP) or vision guidance, high-precision path planning can be achieved (repeat positioning accuracy can reach ±0.1mm).

[0032] Meanwhile, a rotatable mounting base 4 (which can be driven by a motor or other components) is installed at the end of the operating arm 3 away from the robotic arm 2, and a housing 6 is fixed at the end of the mounting base 4 away from the operating arm 3. A rotatable grinding roller 5 is provided at the end of the housing 6, and a limiting plate 10 parallel to the grinding roller 5 is also fixed at the end of the housing 6. The limiting plate 10 is provided on the side facing the grinding roller 5.

[0033] Specifically, a servo motor 7 is installed inside the housing 6. The output end of the servo motor 7 is inserted and fixed to one end of the grinding roller 5. A fixing strip 501 is fixed to the end of the grinding roller 5. Two fixing holes 502 are opened on the surface of the fixing strip 501. Two bolts are provided at the output end of the servo motor 7 for inserting into the output end of the servo motor 7 and threadedly fixing to the fixing holes 502, thereby completing the fixed installation of the grinding roller 5.

[0034] The limiting frame 8 is an L-shaped frame, with one part fixed to the end of the housing 6 and the other part parallel to the grinding roller 5. The limiting plate 10 is positioned parallel to the limiting frame 8 on the inner side of the grinding roller 5. A cylinder 9 is fixed to the limiting frame 8, with its shaft passing through the limiting frame 8 and fixed to the middle of the limiting plate 10. The cylinder 9 controls the translation of the limiting plate 10 towards the grinding roller 5. Therefore, the limiting plate 10 can be driven closer to the workpiece by the cylinder 9, providing physical support for thin-walled areas (such as impeller blades) and suppressing vibration amplitude (expectedly reduced by 30%~50%).

[0035] In addition, the limiting plate 10 has several locking grooves 1001 on the side facing the grinding roller 5, and each locking groove 1001 has a rubber strip 11 fixedly engaged. This allows the limiting plate 10 to have several rubber strips 11 on the side facing the grinding roller 5, thus absorbing high-frequency vibration energy and preventing metal-to-metal contact that could scratch the workpiece surface. Specifically, the rubber strips 11 are made of, but are not limited to, polyurethane, and the cylinder 9 can be driven by a servo electric cylinder or piezoelectric ceramic, with a vibration sensor (such as an accelerometer) used for closed-loop control. In other embodiments, a force / torque sensor can be added to achieve active force control, avoiding the problem of surface consistency issues caused by contact force fluctuations due to reliance solely on robot position control.

[0036] The working principle provided by this utility model is that the automatic grinding and trimming equipment for hydro-generator castings can be programmed offline based on the three-dimensional model of the hydro-generator casting (such as the impeller) (specifically, it can be implemented using software such as RobotStudio and KUKA.Sim). This allows for the planning of the robot's motion trajectory. The hydro-generator casting is then flexibly and automatically ground through the mounting base 4 at the end of the operating arm 3 and the grinding roller 5. Compared with the processing method of using a manual hand-held grinding machine in the prior art, this device has higher working efficiency.

[0037] During the grinding process, the cylinder 9 can drive the limit plate 10, which is equipped with several rubber strips 11, to abut against thin-walled components such as impellers in the turbine generator casting for support, so as to ensure the grinding effect of the grinding roller 5 on such components and reduce the problem of vibration affecting the grinding effect during the grinding process.

[0038] In summary, this device can not only automatically grind and process the castings of hydro-generators, but also provide support and protection for thin-walled components such as impellers during grinding, reducing their vibration frequency and ensuring grinding effect. Overall, it has good performance.

[0039] This utility model encompasses any substitutions, modifications, equivalent methods, and solutions made within the spirit and scope of this utility model. To provide the public with a thorough understanding of this utility model, specific details are described in detail in the following preferred embodiments; however, those skilled in the art will fully understand this utility model even without these detailed descriptions. Furthermore, to avoid unnecessary confusion regarding the essence of this utility model, well-known methods, processes, procedures, components, and circuits are not described in detail.

[0040] 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 principle of the present utility model, and these improvements and modifications should also be considered within the protection scope of the present utility model.

Claims

1. A kind of hydroelectric generator casting automatic polishing and deburring equipment, including base (1), machine arm (2) is provided on the base (1), the top of the machine arm (2) is connected with operating arm (3), forms six-axis robot, it is characterized in that, The operating arm (3) is provided with a rotatable mounting base (4) at one end away from the machine arm (2), the mounting base (4) is fixed with a machine shell (6) at one end away from the operating arm (3), the end of the machine shell (6) is provided with a rotatable polishing roller (5), the end of the machine shell (6) is also fixed with a limiting frame (8) parallel to the polishing roller (5), the limiting frame (8) is provided with a limiting plate (10) on the side facing the polishing roller (5).

2. The hydrogenerator casting automatic polishing and trimming apparatus according to claim 1, characterized in that, The machine shell (6) is provided with a servo motor (7), and the output end of the servo motor (7) is inserted and fixed with one end of the polishing roller (5).

3. The hydrogenerator casting automatic polishing and trimming apparatus according to claim 2, characterized in that, The end of the polishing roller (5) is fixed with a fixed strip (501), the surface of the fixed strip (501) is provided with at least two fixing holes (502), and the output end of the servo motor (7) is provided with at least two bolts for penetrating into the output end of the servo motor (7) and being threadedly fixed with the fixing holes (502).

4. The hydrogenerator casting automatic polishing and trimming apparatus according to claim 1, characterized in that, The limiting frame (8) is an L-shaped frame body, one part is fixed with the end of the machine shell (6), and the other part is parallel to the polishing roller (5), and the limiting plate (10) is provided on the inner side parallel to the polishing roller (5) of the limiting frame (8).

5. The hydrogenerator casting automatic polishing and trimming apparatus according to claim 4, characterized in that, The limiting frame (8) is provided with a cylinder (9), the shaft of the cylinder (9) penetrates through the limiting frame (8) and is fixed with the middle part of the limiting plate (10), and the limiting plate (10) is controlled to translate towards the direction of the polishing roller (5).

6. The hydrogenerator casting automatic polishing and deflashing apparatus according to claim 1, characterized in that, The limiting plate (10) is detachably provided with a plurality of rubber strips (11) on the side facing the polishing roller (5).

7. The hydrogenerator casting automatic polishing and trimming apparatus according to claim 6, characterized in that, The limiting plate (10) is provided with a plurality of clamping grooves (1001) on the side facing the polishing roller (5), and the bottom of the rubber strip (11) is clamped and fixed in the clamping groove (1001).

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