CN112706016B

CN112706016B - Grinding treatment method and server suitable for engine crankshaft

Info

Publication number: CN112706016B
Application number: CN202011573254.4A
Authority: CN
Inventors: 苏毅昌; 何伟湛; 罗创明; 刘波; 关复烨
Original assignee: Guangdong Logen Robot Co ltd
Current assignee: Guangdong Logen Robot Co ltd
Priority date: 2020-12-24
Filing date: 2020-12-24
Publication date: 2022-04-12
Anticipated expiration: 2040-12-24
Also published as: CN112706016A

Abstract

The invention discloses a grinding processing method and a server suitable for an engine crankshaft, wherein the method is used for automatic processing of the crankshaft suitable for the engine by automatic equipment.

Description

Grinding treatment method and server suitable for engine crankshaft

Technical Field

The invention relates to the technical field of precision machining of engine crankshafts, in particular to a grinding treatment method and a server suitable for the engine crankshafts.

Background

In the prior art, for deburring and chamfering the edges of a signal disc of a crankshaft, deburring oil grooves of a shaft neck, chamfering and polishing oil holes and deburring crossed holes in the oil holes, manual hand-held grinding tools such as a pneumatic grinding head, an electric grinding head, oilstone, cotton cloth strips, abrasive cloth strips and the like are adopted to grind and process the crankshaft fixed on a special fixture, so that the defects of high labor intensity of personnel, poor working environment (dust and noise), low production efficiency, unstable product quality, excessive product scrapping caused by accidental bruising and the like exist in the prior art.

Disclosure of Invention

In order to overcome the defects of the prior art, the invention aims to provide a grinding treatment method suitable for an engine crankshaft, which can solve the problems of high labor intensity of personnel, poor working environment (dust and noise), low production efficiency, unstable product quality, more product scrapped due to accidental bruising and the like in the prior art.

The invention also aims to provide a grinding processing server suitable for the engine crankshaft, which can solve the problems of high labor intensity of personnel, poor working environment (dust and noise), low production efficiency, unstable product quality, more products scrapped due to accidental injury and the like in the prior art

In order to achieve one of the above purposes, the technical scheme adopted by the invention is as follows:

a grinding treatment method suitable for an engine crankshaft comprises the following steps:

s1: fixing the crankshaft on a crankshaft fixture, driving the oil hole on the crankshaft to be coaxial with the alloy reamer, then enabling the oil hole to enter the oil hole through the alloy reamer at the rotating speed of 800 revolutions per minute to remove burrs, and then returning the alloy reamer to the initial position;

s2: judging whether the crankshaft has an oil hole to be deburred, if so, executing S1, and if not, executing S3;

s3: adjusting the coaxial center of the oil hole on the crankshaft and the rotation center of the rotary sand gun, driving the rotary sand gun to rotate at the speed of 200 r/min and the abrasive belt to rotate at the speed of 2000 r/min to chamfer and polish the oil hole opening;

s4: judging whether the crankshaft has an oil hole to be chamfered and polished, if so, executing S3, and if not, executing S5;

s5: adjusting the included angle between the edge surface of the crankshaft signal disc and the alloy rotary file to be 45 degrees horizontally, and driving the alloy rotary file to chamfer the edge surface of the crankshaft signal disc at the rotating speed of 2000 rpm;

s6: judging whether the crankshaft has a signal disc edge surface to be chamfered or not, if so, executing S5, and if not, executing S7;

s7: adjusting the rotation center of the crankshaft to be parallel to the rotation center of the steel wire wheel, and driving the steel wire wheel to grind the oil groove of the crankshaft journal by using floating force of 3 kgf;

s8: and judging whether the crankshaft has a crankshaft journal oil groove to be ground, if so, executing S7, and if not, ending the process.

Preferably, the step S1 is specifically implemented by the following steps:

s11: fixing the crankshaft on a crankshaft fixture, driving the oil hole on the crankshaft to be coaxial with the alloy reamer, and moving the crankshaft to a position where the distance between the oil hole and the front end point of the alloy reamer is 5 mm;

s12: the alloy reamer is driven into the oil hole at the rotating speed of 800 rpm, moves to the position of the cross hole, then stays at the position of the cross hole for 1 second, and then is returned to the initial position.

Preferably, the step S3 is specifically implemented by the following steps:

s31: adjusting the oil hole on the crankshaft to be coaxial with the rotation center of the rotary sand gun, and moving the crankshaft to a position where the distance between the oil hole opening and the front end point of the rotary sand gun is 0.5 mm;

s32: the oil hole was chamfered and polished for 1 second by a floating force of 1kgf with a rotary sand gun at a driving speed of 200 rpm and a sanding belt at a driving speed of 2000 rpm.

Preferably, the step S5 is specifically implemented by the following steps:

s51: adjusting the included angle of the edge surface of the crankshaft signal disc and the alloy rotary file to be 45 degrees horizontally, and moving the crankshaft to the position where the edge of the signal disc is contacted with the alloy rotary file;

s52: an alloy rotary file with the driving rotating speed of 2000 r/min chamfers the edge surface of the crankshaft signal disc with the floating force of 3 kgf.

Preferably, the step S7 is specifically implemented by the following steps:

and adjusting the rotation center of the crankshaft to be parallel to the rotation center of the steel wire wheel, and driving the steel wire wheel with the rotation speed of 1000 revolutions per minute to grind the oil groove of the crankshaft journal by using the floating force of 3 kgf.

In order to achieve the second purpose, the technical scheme adopted by the invention is as follows:

a grinding processing server suitable for an engine crankshaft comprises a storage and a processor;

a memory for storing program instructions;

and the processor is used for operating the program instructions to execute the grinding treatment method suitable for the engine crankshaft.

Compared with the prior art, the invention has the beneficial effects that: according to the actual need of bent axle abrasive machining, adopt corresponding grinding tool to carry out automated processing respectively in signal disc arris, axle journal oil groove, oil drill way and the oilhole, reduce bent axle abrasive machining technology and to artificial intensity of labour and rely on, effectively avoided the possibility of the industry injury because of manual work produces, promoted the product yields, avoided artificial damage to scrap.

Drawings

FIG. 1 is a flow chart of a grinding process method for an engine crankshaft according to the present invention.

Fig. 2 is a schematic view of a crankshaft according to the present invention.

Detailed Description

The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The invention will be further described with reference to the accompanying drawings and the detailed description below:

the grinding treatment method suitable for the engine crankshaft is applied to automatic grinding equipment, in particular to a 6-axis industrial robot, wherein the crankshaft is shown in figure 2 and mainly used for bearing force transmitted by a connecting rod, converting the force into torque, outputting the torque through the crankshaft and driving other accessories on an engine to work, namely the crankshaft is subjected to the combined action of centrifugal force of rotating mass, gas inertia force with periodic change and reciprocating inertia force during working, so that the crankshaft is subjected to the action of bending and twisting load. Therefore, the crankshaft is required to have enough strength and rigidity, the surface of the journal needs to be wear-resistant, work is uniform, and balance is good, so that chamfering, deburring and polishing treatment must be carried out on an oil hole of the crankshaft, an edge surface of a signal disc and an oil groove of the journal of the crankshaft, and the problems that the normal work of the crankshaft is influenced, stress is uneven and the like, and the crankshaft is broken are avoided. In the invention, the six-axis industrial robot simulates the operation of moving, grinding and polishing products by hands, meanwhile, a special fixture is arranged on the 6 th axis at the tail end of the robot arm, and has the functions of clamping, loosening, automatically aligning the center of a crankshaft and rotating around the center of the crankshaft at any angle, and further, special equipment such as a material rack (used for placing products), a force-controlled floating electric spindle (provided with an alloy rotary file for deburring and chamfering the edge of a crankshaft signal disc), a force-controlled rotary sand gun (provided with an abrasive belt for chamfering and polishing the oil hole opening), a force-controlled polishing machine (provided with a steel wire wheel and an abrasive wire wheel for removing burrs generated by a journal oil groove and a machining surface), an axial reciprocating electric spindle (provided with an alloy reamer for removing burrs of crossed holes in the oil hole) and the like are distributed around the robot. Generally, 10V-shaped racks for placing products to be processed are arranged on a product rack, so that 10 points in total of the coordinate origin of a program starting product are set (the setting method is that a teaching device is used for manual teaching input, the input method is that 1, a robot is operated by the teaching device to move to a first product, 2, a numerical value position register of 6 axes of the current robot is recorded in a system, the coordinate origin of the first product is obtained at the moment, 3, because the distance between the racks is 220mm with equal distance, another 9 product coordinate origins are generated by adopting a parallel offset 220mm method, related I/O instructions are set in the program, the robot can automatically and circularly read the 10 coordinates in turn, respectively grab the products on the 10 coordinates to be processed, automatically put back to the original positions after the processing is finished, grab the products from the next coordinate point to be processed, and the whole process is automatic, executed by I/O instructions in a program) for the robot to recognize to grab and place the product. When setting, user coordinates of each processing device are set for the robot to recognize relative positions of different tools. The setting method comprises the following steps: 1. moving the 6 th axis of the robot to the datum point of each processing device by using a demonstrator; 2. recording the current position data relative to the reference coordinates of the robot base; 3. and defining the three-axis direction of the processing equipment according to a Cartesian rule, and setting a tool seat of the special fixture for the robot end for enabling the robot to identify the relative position of the fixture after clamping a product and a tool on each processing equipment. The setting method comprises the following steps: 1. measuring the distance between the rotating center of the special clamp and a 6 th shaft flange of the robot; 2. the distance data (in mm) is directly input into the 'Z' value in the tool coordinate system and can be automatically generated after being stored. After the product coordinate origin, the user coordinate origins of the processing devices and the tool coordinate origin of the special fixture are set, the robot is moved by the teaching device of the robot and the motion track is recorded, so that a standard program of a series of actions from product transportation to processing is generated. In the following process steps, various consumable and processing parameter values are standards established after actual grinding and polishing verification, and the requirements for processing different products can be met only by resetting coordinates and parameters according to different product shapes and processing quality requirements. After the to-be-processed product is placed into the material storage rack by a worker or other special equipment, the robot is started, and the robot can automatically grab the to-be-processed product from the material storage rack. After the robot grabs the product, the following steps suitable for the grinding processing method of the engine crankshaft are carried out, so that the crankshaft is processed automatically.

The first embodiment is as follows:

as shown in fig. 1-2, a grinding treatment method for an engine crankshaft comprises the following steps:

specifically, the automatic polishing device grabs the crankshaft from the rack, and moves to the front of the axial reciprocating electric spindle device and adjusts the posture, so that the oil hole in the crankshaft and the alloy reamer on the axial reciprocating electric spindle have the same axis, and in this embodiment, S1 is specifically realized by the following steps:

specifically, the crankshaft is fixed on a crankshaft fixture of automatic polishing equipment, the oil hole in the crankshaft and the alloy reamer are driven to be coaxial, then the axial reciprocating electric spindle is started, the rotating speed is set to be 800 revolutions per minute (only the axial reciprocating electric spindle rotates at the moment, and the alloy reamer does not rotate), the crankshaft is moved to the position where the distance between the oil hole and the front end point of the alloy reamer is 5mm, and therefore the positions of the oil hole and the alloy reamer are further calibrated, and the processing precision is improved.

Specifically, an air cylinder switch of a driving shaft moving axially towards a reciprocating electric main shaft is started to enable the electric main shaft to drive an alloy reamer rotating forward (to enter an oil hole), the alloy reamer enters the oil hole at the rotating speed of 800 rpm under the driving of the axial reciprocating electric main shaft, the alloy reamer stays for 1 second (burrs in the hole are removed by utilizing the cutting edge of the rotating alloy reamer) after reaching a cross hole position, then the air cylinder switch of the driving shaft moving axially towards the reciprocating electric main shaft is closed to enable the axial reciprocating electric main shaft to return to the initial position, and then the alloy reamer is moved away from the oil hole, so that the deburring operation of the oil hole is completed.

specifically, the steps S11-S12 are repeated until all the oil holes on the crankshaft finish the deburring operation, and then the chamfering and polishing operation of the oil hole openings is carried out. Specifically, coordinates of all oil holes in the crankshaft can be prestored in a storage device in the automatic grinding equipment, the coordinates of the oil holes are sequentially arranged along the machining direction, the automatic grinding equipment removes burrs of the oil holes one by one along the machining direction, after the automatic grinding equipment finishes the deburring operation of the current oil hole, whether the coordinate of the oil hole belongs to the coordinate of the last oil hole in the machining direction is judged, if yes, S3 is executed, if not, the steps S11-S12 are repeated, and the next oil hole in the machining direction is machined; preferably, the automatic polishing device is provided with an image capturing and analyzing device, such as CN106584273B, which is an online visual inspection system for robot polishing, after the automatic polishing device completes the deburring operation of the current oil hole, the image capturing and analyzing device captures an oil hole image on the crankshaft, and analyzes whether there is an oil hole to be deburred on the crankshaft, if yes, steps S11-S12 are repeated, and if no, step S3 is executed.

specifically, the crankshaft fixture of the automatic grinding device moves the crankshaft to the front of the rotary sand gun and adjusts the posture, so that the oil hole in the crankshaft and the rotation center of the rotary sand gun are coaxial, and in this embodiment, the S3 is specifically realized by the following steps:

specifically, a crankshaft clamp of the automatic polishing equipment moves a crankshaft to the front of the rotary sand gun and adjusts the posture, so that an oil hole in the crankshaft and the rotary center of the rotary sand gun are coaxial. And starting the rotary sand gun, setting the rotating speed to be 200 revolutions per minute and the rotating speed of the abrasive belt to be 2000 revolutions per minute, moving the crankshaft to a position where the distance between the oil hole opening and the front end point of the rotary sand gun is 0.5mm, and further calibrating the positions of the oil hole opening and the front end point of the rotary sand gun so as to facilitate the rotary sand gun to chamfer and polish the oil hole.

Specifically, the rotary sand gun floating switch is opened to enable the rotary sand gun to move forwards with constant floating force of 1kgf, specifically, the rotary sand gun abuts against the oil hole opening to be ground for 1 second (chamfering and polishing are carried out on the oil hole opening by using a rotating abrasive belt), then the rotary sand gun floating switch is closed to enable the rotary sand gun to return to the initial position and leave the oil hole, and chamfering and polishing operations on the oil hole opening are completed.

specifically, the steps S31-S32 are repeated until all oil orifices on the crankshaft finish chamfering and polishing operations, and then chamfering operations of the edge surface of the signal disc are carried out. Specifically, coordinates of all oil orifices on the crankshaft can be prestored in a storage device in the automatic grinding equipment, the coordinates of the oil orifices are sequentially arranged along the processing direction, the automatic grinding equipment performs chamfering and polishing on the oil orifices one by one along the processing direction, after the automatic grinding equipment completes chamfering and polishing operation of the current oil orifices, whether the coordinates of the oil orifices belong to the coordinates of the last oil orifice in the processing direction is judged, if yes, S5 is executed, if not, the steps S31-S3 are repeated, and the next oil orifice in the processing direction is processed; preferably, the automatic grinding equipment is provided with an image capturing and analyzing device, such as CN106584273B, which is an online visual inspection system for robot grinding, after the automatic grinding equipment completes the chamfering and polishing operation of the current oil orifice, the image capturing and analyzing device captures an image of the oil orifice on the crankshaft, and analyzes whether the crankshaft has an oil orifice to be chamfered and polished, if so, steps S31-S3 are repeated, and if not, step S5 is executed.

specifically, the crankshaft fixture of the automatic polishing device moves the crankshaft to the front of the floating electric spindle and adjusts the posture, so that the edge surface of the crankshaft signal panel and the axis of the floating electric spindle form a horizontal 45-degree included angle, in this embodiment, S5 is specifically realized by the following steps:

specifically, a crankshaft clamp of the automatic polishing equipment moves a crankshaft to the front of the floating electric spindle and adjusts the posture, so that the edge surface of the crankshaft signal panel and the axis of the floating electric spindle form a horizontal 45-degree included angle. And starting the floating electric spindle, setting the rotating speed to be 2000 rpm (at the moment, the floating electric spindle rotates, and the alloy rotary file does not rotate), and moving the crankshaft to the position where the edge of the signal disc is in contact with the alloy rotary file so as to further calibrate the position where the edge of the signal disc is in contact with the alloy rotary file.

Specifically, after a crankshaft clamp of the automatic grinding equipment moves a crankshaft to a position where a signal disc edge is in contact with an alloy rotary file, a floating electric spindle floating switch is started to enable the alloy rotary file to cut the crankshaft signal disc edge with a constant floating force of 3kgf (at the moment, the alloy rotary file is driven by the floating electric spindle to rotate at a rotating speed of 2000 rpm), a uniform chamfering effect is formed, the posture of a robot is changed, a 45-degree included angle is kept between the axis of the floating electric spindle and the edge surface of the signal disc, chamfering processing is uniformly performed on an area where the edge on the position of the crankshaft needs to be processed, then the floating electric spindle floating switch is closed, and the crankshaft is moved by the automatic grinding equipment to enable the crankshaft to leave the floating electric spindle.

specifically, the steps S51-S52 are repeated until all the edge surfaces of the signal disc on the crankshaft are chamfered, and then the grinding operation of the oil groove of the crankshaft journal is carried out. Specifically, coordinates of all signal panel edges on a crankshaft can be prestored in a memory inside the automatic polishing equipment, the coordinates of the signal panel edges are sequentially arranged along the machining direction, the automatic polishing equipment performs chamfering on the signal panel edges one by one along the machining direction, after the automatic polishing equipment completes chamfering operation of the current signal panel edge, whether the coordinate of the signal panel edge belongs to the coordinate of the last signal panel edge in the machining direction is judged, if yes, S7 is executed, if not, the steps S51-S52 are repeated, and the next signal panel edge in the machining direction is machined; preferably, the automatic polishing device is provided with an image capturing and analyzing device, such as CN106584273B, which is an online vision inspection system for robot polishing, after the automatic polishing device completes the chamfering operation of the current signal disc edge, the image capturing and analyzing device captures an image of the signal disc edge on the crankshaft, and analyzes whether a signal disc edge surface to be chamfered exists on the crankshaft, if so, steps S51-S52 are repeated, and if not, S7 is executed.

specifically, the crankshaft fixture of the automatic polishing apparatus moves the crankshaft to the front of the force-controlled polishing machine and adjusts the posture of the crankshaft, so that the rotation center of the crankshaft is parallel to the rotation center of the steel wire wheel on the force-controlled polishing machine, in this embodiment, the step S7 is specifically implemented by the following steps:

specifically, a crankshaft clamp of the automatic grinding equipment moves a crankshaft to the front of the force-controlled polishing machine and adjusts the posture, so that the rotation center of the crankshaft is parallel to the rotation center of a steel wire wheel on the force-controlled polishing machine. Starting the force control polishing machine, setting the rotating speed to be 1000 revolutions per minute (at the moment, the force control polishing machine rotates, the steel wire wheel does not rotate), moving the crankshaft until the crankshaft journal oil groove is contacted with the steel wire wheel, starting a floating switch of the force control polishing machine to enable the steel wire wheel to grind the crankshaft journal oil groove with constant floating force of 3kgf, changing the posture of the robot, enabling the journal to be always contacted with the steel wire wheel in parallel in the rotating process of the crankshaft around a shaft center, enabling the journal oil groove at the position of the crankshaft to be subjected to grinding processing of the steel wire wheel to achieve the purpose of removing burrs, and then closing the floating switch of the force control polishing machine and moving the crankshaft to enable the crankshaft to be separated from the steel wire wheel.

Specifically, the step S7 is repeated until all crankshaft journal oil grooves on the crankshaft finish grinding operation, and then the procedure is ended, specifically, coordinates of all crankshaft journal oil grooves on the crankshaft are prestored in a storage device inside the automatic grinding equipment, and the coordinates of the crankshaft journal oil grooves are sequentially arranged along the processing direction, the automatic grinding equipment grinds the crankshaft journal oil grooves one by one along the processing direction, after the automatic grinding equipment finishes the grinding operation of the current crankshaft journal oil groove, whether the coordinate of the crankshaft journal oil groove belongs to the coordinate of the last crankshaft journal oil groove in the processing direction is judged, if yes, the procedure is ended, if no, the step S7 is repeated, and the next crankshaft journal oil groove in the processing direction is processed; preferably, the automatic polishing equipment is provided with an image capturing and analyzing device, for example, CN106584273B is an online visual inspection system for robot polishing, after the automatic polishing equipment completes the current grinding operation of the crankshaft journal oil groove, the image capturing and analyzing device captures an image of the crankshaft journal oil groove on the crankshaft, and analyzes whether the crankshaft journal oil groove to be ground exists on the crankshaft, if so, step S7 is repeated, if not, the program is ended, after the above processing is completed, the automatic polishing equipment puts the crankshaft back into the material rack, and the product processing cycle is completed this time.

Example two:

a memory for storing program instructions;

and the processor is used for operating the program instructions to execute the grinding treatment method suitable for the engine crankshaft according to the first embodiment.

Various other modifications and changes may be made by those skilled in the art based on the above-described technical solutions and concepts, and all such modifications and changes should fall within the scope of the claims of the present invention.

Claims

1. A grinding treatment method suitable for an engine crankshaft is characterized by comprising the following steps:

s3: adjusting the coaxial center of the oil hole on the crankshaft and the rotation center of the rotary sand gun, driving the rotary sand gun to rotate at the speed of 200 r/min to chamfer the oil hole, and polishing the oil hole at the speed of 2000 r/min of the abrasive belt;

2. The grinding treatment method for the engine crankshaft as claimed in claim 1, wherein said S1 is specifically realized by the steps of:

3. The grinding treatment method for the engine crankshaft as claimed in claim 1, wherein said S3 is specifically realized by the steps of:

s32: the oil hole was chamfered by a rotary sand gun at a driving rotation speed of 200 rpm, and polished for 1 second by a sanding belt at a rotation speed of 2000 rpm with a floating force of 1 kgf.

4. The grinding treatment method for the engine crankshaft as claimed in claim 1, wherein said S5 is specifically realized by the steps of:

5. The grinding treatment method for the engine crankshaft as claimed in claim 1, wherein said S7 is specifically realized by the steps of:

6. A grinding processing server suitable for an engine crankshaft is characterized in that: comprises a storage and a processor;

a memory for storing program instructions;

a processor for executing said program instructions to perform a grinding treatment method for an engine crankshaft as claimed in any one of claims 1 to 5.