CN115319581A - Automatic equipment of polishing of large-scale steel casting - Google Patents
Automatic equipment of polishing of large-scale steel casting Download PDFInfo
- Publication number
- CN115319581A CN115319581A CN202210959345.4A CN202210959345A CN115319581A CN 115319581 A CN115319581 A CN 115319581A CN 202210959345 A CN202210959345 A CN 202210959345A CN 115319581 A CN115319581 A CN 115319581A
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- Prior art keywords
- polishing
- grinding
- casting
- sliding table
- robot
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B9/00—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor
- B24B9/02—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground
- B24B9/04—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground of metal, e.g. skate blades
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/06—Work supports, e.g. adjustable steadies
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
- B24B55/06—Dust extraction equipment on grinding or polishing machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
- B24B55/12—Devices for exhausting mist of oil or coolant; Devices for collecting or recovering materials resulting from grinding or polishing, e.g. of precious metals, precious stones, diamonds or the like
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Laser Beam Processing (AREA)
Abstract
The invention provides automatic polishing equipment for large steel castings, which solves the problems of low manual polishing efficiency and potential safety hazards of the large steel castings and effectively solves the influences of dust pollution and noise in the casting cleaning process. The automatic polishing equipment comprises a material transfer trolley, a single-arm crane, a logistics sliding table system, a clamping and positioning tool, a protection room, a polishing robot, a polishing main shaft and a tool, a three-dimensional laser scanner and a laser correction system; high rigidity of data on a large scale of erectting in the adoption cutting robot that polishes compromise cutting and two kinds of processes of polishing, and the tool bit of polishing is three tool bit forms, can realize quick tool changing through rotatory polishing head at the foundry goods in-process of polishing, has improved the efficiency of polishing. Press from both sides tight location frock and pass through connecting device with commodity circulation slip table system and link to each other, commodity circulation slip table system is rotatory from the area and removes the function, realizes that large-scale steel casting clamping complete sequence is polished. The three-dimensional laser scanner and the laser correction system realize dynamic optimization adjustment of a polishing track in a polishing process.
Description
Technical Field
The invention belongs to the technical field of railway vehicles, and relates to automatic grinding equipment for a large swing bolster steel casting.
Background
The large-scale cast steel swing bolster is a main product of a railway vehicle and is an important component of a railway vehicle bogie, more than ten kinds of swing bolster products exist at present, the transfer K6 type swing bolster is a cast steel part for the national railway truck bogie with the largest production batch at present, the swing bolster is suitable for various types of railway trucks such as C70, C80B, P70 and the like, the product state is stable, the product length is more than 2m, and the weight of a single piece exceeds 450kg. Due to the particularity of a cast product, defects such as casting head residual roots, burrs, core fakes and the like must be polished and cleaned before product inspection, no mature case exists in the automatic cleaning and polishing equipment for large steel castings such as swing bolster in the current market, the automatic cleaning and polishing equipment still stays in a scheme design or process research stage, the automatic polishing equipment for swing bolster and side frame steel castings does not realize engineering application, and more automatic polishing equipment for cast iron and small steel castings is realized. At present, mainly adopt artifical clearance mode to polishing of truck bloster, the workman is that burnishers such as direct operation electric arc air gouging machine or cutting gun polish, and the process of polishing need turn over, transport with the help of the crane.
The defects of the background art are as follows:
the manual work has very big potential safety hazard to large-scale steel casting such as the bolster of clearing up and polish, and operation workman intensity of labour is high, and the efficiency of polishing is low, and the air gouging, the spark that polishes and produce, arc light, smog, dust and noise are big, have very big influence to operation workman's physical and mental health, and smog, dust are pervaded in the workshop environment, and the operation environment is very abominable, and the enterprise faces the difficult, production efficiency hangs down, product quality uniformity subalternation problem of recruiting.
Disclosure of Invention
The invention aims to provide (aiming at) automatic grinding equipment for a large steel casting of a swing bolster, which can effectively solve the problems of low efficiency and potential safety hazard of manual grinding of the large steel casting, effectively solve the influences of dust pollution and noise in the casting cleaning process, completely recycle scraps, have low rejection rate and little manual intervention and can completely realize full-automatic and intelligent production.
The technical scheme of the invention is as follows: the automatic polishing equipment for the large steel castings is characterized by comprising a material transfer trolley (1), a single-arm crane (2), a logistics sliding table system (3), a clamping and positioning tool (4), a protection room (5), a polishing robot (6), a polishing main shaft and a tool (7), a three-dimensional laser scanner and a laser correction system (8); the material transfer trolley (1) is arranged in the operation range of the single-arm crane (2); the single-arm crane (2) is used for grabbing parts, hoisting the parts from the feeding station to a logistics sliding table system (3) of the polishing unit, and conveying the parts from the logistics sliding table system (3) to the material transfer trolley (1); the clamping and positioning tool (4) is arranged on the logistics sliding table system (3); the clamping and positioning tool (4) is used for clamping parts and can move and rotate on the logistics sliding table system (3); when the clamping and positioning tool (4) moves to the feeding station, the center of the clamping and positioning tool (4) is within the operation range of the single-arm crane (2); the logistics sliding table system (3) is a conveying platform and a rotating platform, is used for conveying the castings to a polishing station in the protection room 5, and is also used for rotatably polishing the castings; a polishing robot (6), a polishing main shaft and a cutter (7), a three-dimensional laser scanner and a laser correction system (8) are arranged in the protection room (5); the grinding robot (6) is used for cutting and grinding parts; the grinding main shaft and the cutter (7) are arranged at the tail end of the grinding robot (6), so that the grinding robot (6) can complete automatic and rapid switching of at least three cutter heads; the grinding main shaft and the cutter (7) are actuating mechanisms of grinding equipment, the grinding main shaft is used for transmitting torque and driving the cutter to rotate, and the cutter is used for cutting and grinding gradually; the three-dimensional laser scanner and the laser correction system (8) are used for carrying out point-line scanning on the casting to obtain the relative external dimension error of the casting, automatically calculating the dimension error through the correction system, and automatically correcting and polishing according to the scanning result.
The invention has the following effects:
the automatic grinding equipment for the large steel casting realizes automatic grinding and engineering application of the bolster steel casting, and the diamond grinding wheel is best in effect by performing data comparison tests on different grinding tools (diamond grinding wheels, resin grinding wheels and alloy grinding wheels), the grinding wheel does not crack, and the spindle load rate is lowest. Through the contrast test of different polishing robots (six joint robot in industry, the cutting robot that polishes of multitool head high rigidity), the effect of polishing of the cutting robot that polishes of multitool head high rigidity is better, and the rigid structure design of robot high strength and the nimble cutter technology system that switches and perfect of multiple tool bit form have formed complete polishing process, and the precision of polishing can reach 0.5mm, and the comprehensive price/performance ratio can promote more than the twice. Moreover, through 11 motion control shaft structure designs and the configuration of removal slip table, the full preface of having successfully realized medium and large-scale steel-casting is polished, can optimize the configuration to different grade type foundry goods forms moreover, very big improvement the flexibility of equipment, can realize that the preface accomplishes polishing of whole foundry goods, improved whole efficiency of polishing, reduced the foundry goods time cost of polishing, single bolster beat of polishing can shorten to 35min. Furthermore, closed whole protection house structural design and independent dust pelletizing system can effectively the noise reduction, reduce the pollution of dust, and the dust can be filtered discharge through dust pelletizing system, and metal iron fillings can be retrieved through the chip removal machine, realizes cyclic utilization.
Drawings
FIG. 1 is a top view of a large-scale steel casting automatic grinding device;
FIG. 2 shows the internal structure of a dust removal room in the top view of the large-scale steel casting automatic polishing equipment
Detailed Description
The key points of the invention are as follows:
1. high rigidity of high many tool bits of high erectly inscription is polished and is cut the robot in having adopted, and this robot has compromise cutting and two kinds of processes of polishing, and the tool bit of polishing is the three-tool-bit form, can realize quick tool changing through rotatory polishing head at the foundry goods in-process of polishing, has improved the efficiency of polishing.
2. The clamping and positioning tool is connected with the logistics sliding table system through a connecting device, the logistics sliding table system has the functions of rotation and movement, and one-time clamping and full-sequence polishing of large steel castings can be achieved.
3. The three-dimensional laser scanner and the laser correction system are connected through the connecting device, and dynamic optimization adjustment of a polishing track in the polishing process is achieved.
4. The dust removal system is connected with the protection room and the protection room is connected with the chip removal machine through the connecting devices, so that the metal chips and dust can be effectively removed and recovered.
This is described in further detail below in conjunction with the figures.
As shown in fig. 1, the invention provides (for a swing bolster) large-scale steel casting automatic polishing equipment which comprises a material transfer trolley 1, a single-arm crane 2, a logistics sliding table system 3, a clamping and positioning tool 4, a protection room 5, a polishing robot 6, a polishing main shaft and cutter 7, a three-dimensional laser scanner and laser correction system 8, an electrical control system 9, a chip removal machine 10 and a dust removal system 11.
As shown in fig. 1, the material transfer trolley 1 is arranged in the operation range of the single-arm crane 2, the clamping and positioning tool 4 is arranged on the logistics sliding table system 3 and can move and rotate on the logistics sliding table system 3, when the clamping and positioning tool 4 moves to the feeding station, the center of the clamping and positioning tool 4 must be in the operation range of the single-arm crane 2, and the clamping and positioning tool 4 is used for positioning and clamping castings to prevent the castings from moving in the grinding process.
Polishing robot 6 is the high rigidity of high bright (u) first many blades of middle and high rigidity cutting robot that polishes, and main shaft and cutter 7 of polishing are installed in 6 end in polishing robot, make polishing robot 6 can accomplish the automatic fast switch-over of at least three kinds of tool bits. The polishing robot 6, the polishing main shaft and the tool 7, the three-dimensional laser scanner and the laser correction system 8 are uniformly arranged in the protection room 5, the observation window and the maintenance door are arranged on three sides of the protection room 5, and the dust removal opening is formed in the top of the protection room 5 and connected with the dust removal system 11 through a dust removal pipe. The electric control system 9 and the chip removal machine 10 are arranged on the outer side face of the protection room 5, the electric control system 9 can be placed close to a workshop power supply and an air source, and the chip removal machine 10 is preferably arranged opposite to the feeding side, so that chips can be removed conveniently and scraps can be treated manually.
The material transfer trolley 1 is used for carrying parts to the operation range of the single-arm crane 2.
The single armed hangs 2 and is used for snatching the part, hangs the part from the material loading station and transports to the commodity circulation slip table system 3 of unit of polishing to and transport the part to material transfer trolley 1 from commodity circulation slip table system 3.
The clamping and positioning tool 4 is arranged on the logistics sliding table system 3; the clamping and positioning tool 4 is used for clamping parts and can move and rotate on the logistics sliding table system 3.
Commodity circulation slip table system 3 is the conveying platform promptly and is rotary platform also for carry the foundry goods to the station of polishing in the protection room 5, also is used for the rotatory foundry goods that polishes simultaneously, enlarges the working range of robot that polishes.
A polishing robot 6, a polishing main shaft and a cutter 7, a three-dimensional laser scanner and a laser correction system 8 are arranged in the protection room 5;
the grinding robot 6 cuts and grinds parts; the grinding main shaft and the cutter 7 are arranged at the tail end of the grinding robot 6, so that the grinding robot 6 can complete automatic and rapid switching of at least three cutter heads.
The grinding main shaft and the cutter 7 are actuating mechanisms of grinding equipment, the grinding main shaft is used for transmitting torque and driving the cutter to rotate, and the cutter is used for cutting and grinding gradually.
The three-dimensional laser scanner and the laser correction system 8 are used for carrying out point-line scanning on the casting to obtain the relative external dimension error of the casting, automatically calculating the dimension error amount through the correction system, and automatically correcting the polishing procedure according to the scanning result to ensure that the tool does not have the polishing phenomenon.
The electrical control system 9 is the core (brain) of the polishing device and is used for realizing automatic control of the polishing device, thereby ensuring safe and reliable operation of the polishing device.
The working process of the automatic grinding equipment for the large swing bolster steel castings comprises the following steps:
after casting head cutting of large steel castings to be polished is completed manually, the large steel castings are transported to a feeding station within the operation range of a single-arm crane 2 through a material transporting trolley 1, the castings are hoisted to a logistics sliding table system 3 of a polishing unit from the feeding station through the single-arm crane 2 manually, an operator presses an equipment starting button, equipment is powered on to work, a safety roller shutter door of a protection room 5 is lifted to be opened, the castings are transported to a polishing station of a polishing robot 6 in the protection room 5 through the logistics sliding table system 3, the safety roller shutter door of the protection room 5 descends to be closed, the robot has a self cutter head switching function under the control of a control system, the castings are polished fully automatically in cooperation with rotation and movement of the logistics sliding table system 3, after polishing, the castings are transported to the outside of the protection room 5 through the logistics sliding table system 3, the single-arm crane 2 is manually operated to perform blanking, the castings are unloaded to a blanking area, the single-arm crane 2 is manually operated to complete feeding of the next casting, and the casting is sequentially and circularly operated.
Claims (10)
1. The large-scale steel casting automatic polishing equipment is characterized by comprising a material transfer trolley (1), a single-arm crane (2), a logistics sliding table system (3), a clamping and positioning tool (4), a protection room (5), a polishing robot (6), a polishing main shaft and cutter (7), a three-dimensional laser scanner and a laser correction system (8);
the material transfer trolley (1) is arranged in the operation range of the single-arm crane (2),
the single-arm crane (2) is used for grabbing parts, hoisting and transporting the parts from the feeding station to a logistics sliding table system (3) of the polishing unit, and transporting the parts from the logistics sliding table system (3) to the material transfer trolley (1);
the clamping and positioning tool (4) is arranged on the logistics sliding table system (3); the clamping and positioning tool (4) is used for clamping parts and can move and rotate on the logistics sliding table system (3); when the clamping and positioning tool (4) moves to the feeding station, the center of the clamping and positioning tool (4) is within the operation range of the single-arm crane (2);
the logistics sliding table system (3) is a conveying platform and a rotating platform, is used for conveying the castings to a polishing station in the protection room 5, and is also used for rotatably polishing the castings;
a polishing robot (6), a polishing main shaft and a cutter (7), a three-dimensional laser scanner and a laser correction system (8) are arranged in the protection room (5);
the grinding robot (6) is used for cutting and grinding parts;
the grinding main shaft and the cutter (7) are arranged at the tail end of the grinding robot (6), so that the grinding robot (6) can complete automatic and rapid switching of at least three cutter heads; the grinding main shaft and the cutter (7) are actuating mechanisms of grinding equipment, the grinding main shaft is used for transmitting torque and driving the cutter to rotate, and the cutter is used for cutting and grinding gradually;
the three-dimensional laser scanner and the laser correction system (8) are used for carrying out point-line scanning on the casting to obtain the relative external dimension error of the casting, automatically calculating the dimension error through the correction system, and automatically correcting and polishing according to the scanning result.
2. The automatic grinding equipment for the large steel castings according to claim 1, further comprising an electrical control system for realizing automatic control of the grinding equipment.
3. The automatic grinding equipment for the large steel castings according to claim 1, wherein the protection house is provided with observation windows and maintenance doors on three sides.
4. An automatic grinding device for large steel castings according to claim 1, characterized by further comprising a chip ejector (10) for discharging chips.
5. An automatic grinding device for large steel castings according to claim 1, characterized by a dust removal system (11); the top of the protection room (5) is provided with a dust removal port which is connected with a dust removal system (11) through a dust removal pipe.
6. The automatic grinding equipment for the large steel castings according to claim 2, wherein the electrical control system and the chip removal machine are arranged on the outer side face of the protection house 5, and the electrical control system is arranged nearby a workshop power supply and a gas source.
7. The automatic grinding equipment for the large steel castings according to claim 1, wherein a chip removal machine is provided opposite to the feeding side to facilitate chip removal and manual scrap handling.
8. The automatic grinding equipment for the large steel castings according to claim 1, wherein the grinding robot is a high-rigidity grinding and cutting robot with a plurality of high-profile tool bits, the grinding tool bits are in a three-tool-bit form, and tool changing is achieved through rotating the grinding head in the casting grinding process.
9. The automatic grinding equipment for the large steel castings according to claim 1, wherein the clamping and positioning tool is connected with the logistics sliding table system through a connecting device, and the logistics sliding table system has rotation and movement functions.
10. The automatic grinding equipment for large steel castings according to claim 1, wherein,
the working mode of the automatic grinding equipment is as follows:
after the casting head of the large-scale steel casting to be polished is cut manually, the large-scale steel casting to be polished is transferred to a feeding station within the operation range of a single-arm crane (2) through a material transfer trolley (1), and the casting is hoisted to a logistics sliding table system (3) of a polishing unit from the feeding station by using the single-arm crane (2);
the equipment is electrified to work, a safe roller shutter door of the protection room (5) is lifted up and opened, the castings are conveyed to a polishing station of a polishing robot (6) in the protection room (5) through the logistics sliding table system (3), the safe roller shutter door of the protection room (5) descends and is closed, the robot has a tool bit switching function under the control of the control system, and the complete automatic polishing of the castings is carried out in cooperation with the rotation and the movement of the logistics sliding table system (3);
after polishing, the casting is conveyed out of the protective room (5) through the logistics sliding table system (3), the single-arm crane (2) is operated to carry out blanking, the casting is unloaded in a blanking area, and then the single-arm crane (2) is operated to complete feeding of the next casting;
and sequentially and circularly operating.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210959345.4A CN115319581A (en) | 2022-08-10 | 2022-08-10 | Automatic equipment of polishing of large-scale steel casting |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210959345.4A CN115319581A (en) | 2022-08-10 | 2022-08-10 | Automatic equipment of polishing of large-scale steel casting |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115319581A true CN115319581A (en) | 2022-11-11 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210959345.4A Pending CN115319581A (en) | 2022-08-10 | 2022-08-10 | Automatic equipment of polishing of large-scale steel casting |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2821872A1 (en) * | 2013-07-01 | 2015-01-07 | Getting Robotika S.L. | Robotised cell, installation and method for deburring parts |
| CN204736078U (en) * | 2015-06-18 | 2015-11-04 | 大连誉洋工业智能有限公司 | System of polishing of robot based on slip table |
| CN105215809A (en) * | 2015-10-13 | 2016-01-06 | 沈阳博林特智能高科机器人有限公司 | With the Intellisense grinding machine robot system of explosion prevention function |
| CN112223292A (en) * | 2020-10-21 | 2021-01-15 | 湖南科技大学 | Online grinding system of structural member welding seam intelligent grinding and polishing robot |
| CN215317617U (en) * | 2021-07-23 | 2021-12-28 | 佛山缔乐视觉科技有限公司 | Large casting machining device |
| CN114227432A (en) * | 2021-12-17 | 2022-03-25 | 宁波航工智能装备有限公司 | Hull steel plate polishing equipment and machining process thereof |
| CN114248256A (en) * | 2021-12-31 | 2022-03-29 | 天津中屹铭科技有限公司 | A integrative robot for foundry goods cutting is polished |
-
2022
- 2022-08-10 CN CN202210959345.4A patent/CN115319581A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2821872A1 (en) * | 2013-07-01 | 2015-01-07 | Getting Robotika S.L. | Robotised cell, installation and method for deburring parts |
| CN204736078U (en) * | 2015-06-18 | 2015-11-04 | 大连誉洋工业智能有限公司 | System of polishing of robot based on slip table |
| CN105215809A (en) * | 2015-10-13 | 2016-01-06 | 沈阳博林特智能高科机器人有限公司 | With the Intellisense grinding machine robot system of explosion prevention function |
| CN112223292A (en) * | 2020-10-21 | 2021-01-15 | 湖南科技大学 | Online grinding system of structural member welding seam intelligent grinding and polishing robot |
| CN215317617U (en) * | 2021-07-23 | 2021-12-28 | 佛山缔乐视觉科技有限公司 | Large casting machining device |
| CN114227432A (en) * | 2021-12-17 | 2022-03-25 | 宁波航工智能装备有限公司 | Hull steel plate polishing equipment and machining process thereof |
| CN114248256A (en) * | 2021-12-31 | 2022-03-29 | 天津中屹铭科技有限公司 | A integrative robot for foundry goods cutting is polished |
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