Intelligent robot large machine body casting cutting and grinding system

Abstract

The utility model discloses an intelligent robot large machine body casting cutting and polishing system which comprises a first cutting and polishing station and a second cutting and polishing station, and the first cutting and polishing station and the second cutting and polishing station are both used for installing workpieces to be machined. The device comprises a first cutting and grinding robot and a second cutting and grinding robot, a mechanical arm of the first cutting and grinding robot and a mechanical arm of the second cutting and grinding robot are each provided with a constant-force floating electric spindle, and each constant-force floating electric spindle is provided with a cutting and grinding piece in a replaceable mode. A visual mechanism is mounted on a mechanical arm of the first cutting and polishing robot in a replaceable manner; and the storage rack is arranged on the side edge of the first cutting and grinding station, and a visual mechanism replaced on a mechanical arm of the first cutting and grinding robot is placed on the storage rack. Constant force is applied to the whole polishing track, axial floating is carried out according to the surface of a workpiece, the polishing consistency of the surface of the workpiece is ensured, and the service life of the main shaft is prolonged.

Description

Technical Field

[0001] This utility model relates to the technical field of large machine casting product preparation, and in particular to an intelligent robot large machine casting cutting and grinding system. Background Technology

[0002] Large machine castings may have dimensional deviations during the manufacturing process, and are also prone to defects such as excess material, risers, and burrs, which can cause protrusions on the surface of the blank. Therefore, the surface of large machine castings must be cut and ground before they can be used.

[0003] The cutting and grinding workstations for large machine castings in the industry are mainly composed of high-precision tooling fixtures, rigid spindles, laser measurement and trajectory compensation programs, etc., and have the following problems:

[0004] 1. Existing cutting and grinding workstations for large machine body castings are highly dependent on the accuracy and wear resistance of tooling fixtures, mainly because it is necessary to ensure the positioning accuracy of the workpiece.

[0005] 2. The existing large machine casting product cutting and grinding workstation has poor grinding process flexibility and surface grinding effect. The main reason is that the rigid spindle cannot adjust the floating and grinding force in real time according to abnormal protrusions during the grinding process, and cannot apply constant force throughout the grinding path, resulting in poor grinding consistency of the workpiece surface and easy damage and stalling.

[0006] 3. The existing laser compensation strategy for cutting and grinding workstations of large machine casting products has a low level of intelligence and ease of use. The main reason is that the laser measurement and trajectory compensation program can only compensate for preset trajectories on a two-dimensional plane, and some features cannot be identified by laser point measurement. At the same time, it cannot quickly respond to the rapid production of new workpieces. It is necessary to first analyze the deformation points of the workpiece, confirm the laser measurement position, reprogram and continuously optimize the trajectory to meet the qualification standards. Summary of the Invention

[0007] In view of the above-mentioned problems in the cutting and grinding of existing large-body casting products, the aim is to provide an intelligent robot system for cutting and grinding large-body castings.

[0008] The specific technical solution is as follows:

[0009] A cutting and grinding system for large-body castings of an intelligent robot includes: a first cutting and grinding station and a second cutting and grinding station, both of which are used to mount the workpiece to be processed;

[0010] A first cutting and grinding robot and a second cutting and grinding robot, both the first cutting and grinding robot and the second cutting and grinding robot are equipped with constant force floating electric spindles, and each constant force floating electric spindle can be replaced with a cutting and grinding part, and the first cutting and grinding robot is replaced with a vision mechanism.

[0011] A storage rack is provided on the side of the first cutting and grinding station, and the storage rack is used to place the vision mechanism that can be replaced on the robotic arm of the first cutting and grinding robot.

[0012] The aforementioned intelligent robot large-body casting cutting and grinding system also includes:

[0013] The first vehicle conveyor line and the first loading station are located between the first loading station and the first cutting and grinding station.

[0014] The second car conveyor line is located between the second loading station and the second cutting and grinding station.

[0015] The first vehicle conveyor line is parallel to the second vehicle conveyor line.

[0016] In the aforementioned intelligent robot large-body casting cutting and grinding system, the first cutting and grinding robot and the second cutting and grinding robot are distributed along the conveying direction of the first vehicle conveyor line.

[0017] The aforementioned intelligent robot large-body casting cutting and grinding system includes tooling fixtures on both the first and second vehicle conveyor lines.

[0018] The aforementioned intelligent robot large-body casting cutting and grinding system includes a vision mechanism comprising: a mounting frame, a linear axis, a line scan camera, and a 2D camera. One end of the mounting frame is mounted on the robotic arm of the first cutting and grinding robot via a quick-change disc assembly. The linear axis is mounted on the mounting frame, the line scan camera is movably mounted on the linear axis, and the 2D camera is mounted at one end of the mounting frame.

[0019] The aforementioned intelligent robot large-body casting cutting and grinding system includes a hoisting device between the first loading position and the second loading position.

[0020] The aforementioned intelligent robot large-body casting cutting and grinding system further includes a dust removal system, which comprises a work chamber, pipelines, and a dust removal device. The first cutting and grinding station, the second cutting and grinding station, the first cutting and grinding robot, the second cutting and grinding robot, and the storage rack are installed in the work chamber, and the work chamber is connected to the dust removal device through the pipelines.

[0021] The aforementioned intelligent robot large-body casting cutting and grinding system includes a first safety light curtain on the side of the first trolley conveyor line and the first loading position, and a second safety light curtain on the side of the second trolley conveyor line and the second loading position. Both the first and second safety light curtains are equipped with corner mirrors.

[0022] The aforementioned intelligent robot large-body casting cutting and grinding system includes a pre-processing position on the side of the first loading position.

[0023] The positive effects of the above technical solution compared with the existing technology are:

[0024] This invention equips the robotic arms of the first and second cutting and grinding robots with constant force floating electric spindles, which can apply constant force throughout the grinding trajectory and float axially according to the surface condition of the workpiece, ensuring the consistency of grinding of the workpiece surface and improving the service life of the spindle.

[0025] This invention equips the robotic arm of the first cutting and grinding robot with a vision mechanism, which includes a linear axis, a line scan camera, a 2D camera, and other equipment. It can realize workpiece recognition, feature detection, and trajectory generation, and can quickly respond to new workpieces for rapid production. At the same time, it has low requirements for workpiece tooling and fixtures, and can position the workpiece through the vision mechanism. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the overall structure of an intelligent robot large body casting cutting and grinding system according to the present invention;

[0027] Figure 2 This is a top view of the overall structure of an intelligent robot large body casting cutting and grinding system according to this utility model;

[0028] Figure 3 This is a schematic diagram of the vision mechanism of a large-body casting cutting and grinding system for an intelligent robot according to this utility model.

[0029] Figure 4 This is a schematic diagram of the storage rack of a large-body casting cutting and grinding system for an intelligent robot according to this utility model;

[0030] In the attached diagram: 11. First cutting and grinding station; 12. Second cutting and grinding station; 21. First cutting and grinding robot; 22. Second cutting and grinding robot; 23. Cutting and grinding parts; 31. First car conveyor line; 32. Second car conveyor line; 41. First loading station; 42. Second loading station; 51. First safety light curtain; 52. Second safety light curtain; 53. Corner mirror; 61. Workroom; 62. Piping; 63. Dust removal device; 7. Storage rack; 8. Vision mechanism; 81. Mounting frame; 82. Linear axis; 83. Line scan camera; 84. 2D camera; 9. Constant force floating electric spindle; 91. Quick change tray assembly; 10. Pre-processing station. Detailed Implementation

[0031] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but this is not intended to limit the present invention.

[0032] like Figures 1-4 The figure shows a preferred embodiment of an intelligent robot large-body casting cutting and grinding system, including: a first cutting and grinding station 11, a second cutting and grinding station 12, a first cutting and grinding robot 21, and a second cutting and grinding robot 22. The first cutting and grinding station 11 and the second cutting and grinding station 12 are used to install workpieces to be processed. A constant force floating electric spindle 9 is installed on the robotic arm of the first cutting and grinding robot 21 and the robotic arm of the second cutting and grinding robot 22. A cutting and grinding part 23 can be replacedly installed on each constant force floating electric spindle 9. A vision mechanism 8 can be replacedly installed on the robotic arm of the first cutting and grinding robot 21 through a quick-change disc assembly 91.

[0033] Cutting and grinding parts 23 are tool holders and cutting and grinding consumables.

[0034] In addition, the constant force floating electric spindle 9 has an automatic tool changer function, and the tool holder is equipped with various consumables to cope with different machining characteristics.

[0035] Furthermore, as a preferred embodiment, the intelligent robot large body casting cutting and grinding system also includes: a storage rack 7, which is located on the side of the first cutting and grinding station 11, and the storage rack 7 is used to place the vision mechanism 8 that can be replaced on the mechanical arm of the first cutting and grinding robot 11.

[0036] When scanning is required, the vision mechanism 8 is grasped, and after scanning, the vision mechanism 8 is placed on the storage rack 7.

[0037] Furthermore, as a preferred embodiment, the vision mechanism 8 includes: a mounting frame 81, a linear axis 82, a line scan camera 83, and a 2D camera 84. One end of the mounting frame 81 is mounted on the robotic arm of the first cutting and grinding robot 11 via a quick-change disc assembly 91. The linear axis 82 is mounted on the mounting frame 81, the line scan camera 83 is movably mounted on the linear axis 82, and the 2D camera 84 is mounted at one end of the mounting frame 81. This enables workpiece recognition, feature detection, and trajectory generation.

[0038] The quick-change disc assembly 91 includes a quick-change main disc and a quick-change auxiliary disc connected to each other. The quick-change main disc is installed on the connector at the end of the J6 axis of the first cutting and grinding robot, and the quick-change auxiliary disc is installed on one end of the mounting bracket 81.

[0039] The vision mechanism 8 also includes a laser sensor.

[0040] The above are merely preferred embodiments of the present invention and are not intended to limit the implementation methods and protection scope of the present invention.

[0041] Based on the above, this utility model also has the following embodiments:

[0042] For further embodiments of this utility model, please refer to... Figure 1-4 As shown, the intelligent robot large body casting cutting and grinding system also includes: a first car conveyor line 31, a first loading position 41, a second car conveyor line 32 and a second loading position 42. The first car conveyor line 31 is located between the first loading position 41 and the first cutting and grinding position 11, and the second car conveyor line 32 is located between the second loading position 42 and the second cutting and grinding position 12.

[0043] The first loading position 41 is located on the first car conveyor line 31, and the second loading position 42 is located on the second car conveyor line 32.

[0044] In a further embodiment of this utility model, the first vehicle conveyor line 31 and the second vehicle conveyor line 32 are parallel.

[0045] In a further embodiment of this utility model, the first cutting and polishing robot 21 and the second cutting and polishing robot 22 are distributed along the conveying direction of the first vehicle conveyor line 31.

[0046] In a further embodiment of this utility model, tooling fixtures (not shown in the figure) are provided on both the first vehicle conveyor line 31 and the second vehicle conveyor line 32.

[0047] In a further embodiment of this utility model, a hoisting device (not shown in the figure) is provided between the first loading position 41 and the second loading position 42.

[0048] In a further embodiment of this utility model, the intelligent robot large body casting cutting and grinding system further includes a dust removal system, which includes a work chamber 61, a pipeline 62 and a dust removal device 63. The first cutting and grinding station 11, the second cutting and grinding station 12, the first cutting and grinding robot 21, the second cutting and grinding robot 22 and the storage rack 7 are arranged in the work chamber 61. The work chamber 61 is connected to the dust removal device 63 through the pipeline 62.

[0049] In a further embodiment of the present invention, a first safety light curtain 51 is provided on the side of the first vehicle conveyor line 31 and the first loading position 41, and a second safety light curtain 52 is provided on the side of the second vehicle conveyor line 32 and the second loading position 42. A corner mirror 53 is provided on both the first safety light curtain 51 and the second safety light curtain 52.

[0050] In a further embodiment of this utility model, a pre-processing position 10 is provided on the side of the first feeding position 31.

[0051] The working process of this utility model is as follows:

[0052] 1. The workpiece is manually loaded onto the first loading position 41 of the first car conveyor line 31 and fixed with tooling fixtures to prevent shaking during cutting and grinding. The first car conveyor line 31 transports the workpiece on the first loading position 41 to the first cutting and grinding station 11.

[0053] 2. The first cutting and grinding robot 21 grasps the vision mechanism 8, and the linear axis 82 drives the line scanning camera 83 to perform coarse positioning of the workpiece and acquire images of the surfaces to be cut and ground. The vision mechanism 8 generates intelligent cutting and grinding trajectories for the product. The first cutting and grinding robot 21 places the vision mechanism 8 on the storage rack 7. The first cutting and grinding robot 21 and the second cutting and grinding robot 22 together use the constant force floating electric spindle 9 and the cutting and grinding parts 23 to cut and grind the product features.

[0054] 3. The workpieces that have been cut and ground at the first cutting and grinding station 11 are removed to the first loading station 41, where they are manually moved and flipped. After flipping, the workpieces are manually hoisted to the second loading station 42 by a hoisting device. The second trolley conveyor line 32 transports the workpieces on the second loading station 42 to the second cutting and grinding station 12.

[0055] 4. At the second cutting and grinding station 12, the remaining features are scanned, cut, and ground.

[0056] 5. Products that have been cut and polished at the second cutting and polishing station 12 are returned to the second loading station 42 and manually lifted off.

[0057] This invention equips the robotic arms of the first cutting and grinding robot 21 and the second cutting and grinding robot 22 with a constant force floating electric spindle 9, which can apply constant force throughout the grinding trajectory and float axially according to the surface condition of the workpiece, thereby ensuring the grinding consistency of the workpiece surface and improving the service life of the spindle.

[0058] This utility model equips the robotic arm of the first cutting and grinding robot 21 with a vision mechanism. The vision mechanism 8 includes: a linear axis 82, a line scan camera 83, a 2D camera 84 and other equipment, which can realize workpiece recognition, feature detection and trajectory generation. It can quickly respond to new workpieces and produce them quickly. At the same time, it has low requirements for workpiece tooling fixtures and can position the workpiece through the vision mechanism.

[0059] The above description is only a preferred embodiment of the present utility model and does not limit the implementation method and protection scope of the present utility model. Those skilled in the art should realize that all solutions obtained by equivalent substitutions and obvious changes made based on the description and illustrations of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A cutting and grinding system for large-body castings of an intelligent robot, characterized in that, include: The first cutting and grinding station and the second cutting and grinding station are both used to install the workpiece to be processed; A first cutting and grinding robot and a second cutting and grinding robot, both the first cutting and grinding robot and the second cutting and grinding robot are equipped with constant force floating electric spindles, and each constant force floating electric spindle can be replaced with a cutting and grinding part, and the first cutting and grinding robot is replaced with a vision mechanism. A storage rack is provided on the side of the first cutting and grinding station, and the storage rack is used to place the vision mechanism that can be replaced on the robotic arm of the first cutting and grinding robot.

2. The intelligent robot large-body casting cutting and grinding system according to claim 1, characterized in that, Also includes: The first vehicle conveyor line and the first loading station are located between the first loading station and the first cutting and grinding station. The second car conveyor line is located between the second loading station and the second cutting and grinding station. The first vehicle conveyor line is parallel to the second vehicle conveyor line.

3. The intelligent robot large-body casting cutting and grinding system according to claim 2, characterized in that, The first cutting and grinding robot and the second cutting and grinding robot are distributed along the conveying direction of the first vehicle conveyor line.

4. The intelligent robot large-body casting cutting and grinding system according to claim 2, characterized in that, Both the first and second vehicle conveyor lines are equipped with tooling fixtures.

5. The intelligent robot large-body casting cutting and grinding system according to claim 1, characterized in that, The vision mechanism includes a mounting frame, a linear axis, a line scan camera, and a 2D camera. One end of the mounting frame is mounted on the robotic arm of the first cutting and grinding robot via a quick-change disc assembly. The linear axis is mounted on the mounting frame. The line scan camera is movably mounted on the linear axis. The 2D camera is mounted at one end of the mounting frame.

6. The intelligent robot large-body casting cutting and grinding system according to claim 2, characterized in that, A hoisting device is provided between the first loading position and the second loading position.

7. The intelligent robot large-body casting cutting and grinding system according to claim 1, characterized in that, Also includes: The dust removal system includes a workroom, pipelines, and a dust removal device. The first cutting and grinding station, the second cutting and grinding station, the first cutting and grinding robot, the second cutting and grinding robot, and the storage rack are installed in the workroom. The workroom is connected to the dust removal device through the pipelines.

8. The intelligent robot large-body casting cutting and grinding system according to claim 2, characterized in that, The first vehicle conveyor line and the first loading position are provided with a first safety light curtain on their side, and the second vehicle conveyor line and the second loading position are provided with a second safety light curtain on their side. Both the first safety light curtain and the second safety light curtain are provided with corner mirrors.

9. The intelligent robot large-body casting cutting and grinding system according to claim 2, characterized in that, A pre-treatment station is provided on the side of the first feeding station.

Images