CN210475509U - Milling and grinding integrated large casting robot - Google Patents
Milling and grinding integrated large casting robot Download PDFInfo
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- CN210475509U CN210475509U CN201921395895.8U CN201921395895U CN210475509U CN 210475509 U CN210475509 U CN 210475509U CN 201921395895 U CN201921395895 U CN 201921395895U CN 210475509 U CN210475509 U CN 210475509U
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Abstract
The utility model discloses a milling and grinding integrated large casting robot, which comprises a sliding table base, wherein one side of the sliding table base is provided with an industrial robot, the sliding table base is slidably connected with a table top, a positioning jig is arranged on the table top, the table top is slidably connected with the sliding table base along a Y axis, and a first driving mechanism is arranged between the table top and the sliding table base; a gantry is arranged on the sliding table base, a ram is arranged on the gantry, the ram is connected with the gantry in a sliding mode along an X axis, and a second driving mechanism is arranged between the ram and the gantry; sliding connection has the aircraft nose on the ram, and aircraft nose and ram are provided with third actuating mechanism along Z axle sliding connection between aircraft nose and the ram, the utility model discloses only need once fix a position large casting, alright mill the operation of rising head and two processes of the joint line of polishing, and need not the large casting of secondary transport, machining precision is higher, and efficiency promotes.
Description
Technical Field
The utility model belongs to the industrial robot field, more specifically the utility model relates to a mill integrative large casting robot that grinds that says so.
Background
The feeder is a supplementary part which is added above or on the side of the casting to avoid the defect of the casting. The function of the riser is that in the casting mould, the cavity of the riser is a cavity for storing liquid metal, the metal is supplied when the casting is formed, the functions of preventing shrinkage cavity, shrinkage porosity, exhausting and slag collection are achieved, and the main function of the riser is feeding. The risers with different design functions have different forms, sizes and opening positions, and can protrude out of the hole positions of the castings.
After casting, the large casting needs to be treated on a riser, then a joint line is polished, the existing large casting is finished by two devices of a riser milling device and a mold clamping line polishing device, after the riser milling is finished, the large casting needs to be transferred to the mold clamping line polishing device and repositioned, the whole process is long, the large casting needs to be transferred, carried and positioned again, and the whole machining efficiency is low.
SUMMERY OF THE UTILITY MODEL
The utility model provides a not enough to prior art, the utility model provides a only need once fix a position large casting, alright mill the rising head and polish the operation of two processes of joint line, and need not the large casting of secondary transport, the machining precision is higher, efficiency promotes.
In order to achieve the above purpose, the utility model provides a following technical scheme: a milling and grinding integrated large casting robot comprises a sliding table base, wherein an industrial robot is arranged on one side of the sliding table base, the sliding table base is connected with a table top in a sliding mode, a positioning jig is arranged on the table top, the table top is connected with the sliding table base in a sliding mode along a Y axis, and a first driving mechanism is arranged between the table top and the sliding table base;
a gantry is arranged on the sliding table base, a ram is arranged on the gantry, the ram is connected with the gantry in a sliding mode along an X axis, and a second driving mechanism is arranged between the ram and the gantry;
the ram is connected with a machine head in a sliding mode, the machine head is connected with the ram in a sliding mode along the Z axis, and a third driving mechanism is arranged between the machine head and the ram.
Further be provided with Y axle linear guide on the slip table base, the mesa below is provided with Y axle slider, the portal frame spanes Y axle linear guide.
Further, an X-axis linear guide rail is arranged on the portal frame, and an X-axis sliding block is arranged on the ram.
Furthermore, a Z-axis linear guide rail is arranged on the ram, and a Z-axis sliding block is arranged on the mechanism.
Further first actuating mechanism includes Y axle motor and Y axle lead screw, and Y axle lead screw one end rotates with the slip table base and is connected the other end and connect Y axle motor, Y axle lead screw and mesa threaded connection, Y axle motor is fixed in on the slip table base.
Furthermore, chip grooves are formed in the two sides, corresponding to the X axis of the table board, of the sliding table base.
Further be provided with the outer storehouse that covers the slip table base on the slip table base, the exit has been seted up to outer storehouse corresponding Y axle linear guide department, Y axle linear guide extends to the exit outside.
Compared with the prior art, the beneficial effects of the utility model are that: the method comprises the following steps that a cutter is fixed on a machine head and an industrial robot, a corresponding positioning jig is fixed on a table board according to a large casting, the large casting is fixed on the positioning jig, the table board carries the large casting to slide along the Y axis to the robot direction, the sliding pillow stops moving along the Y axis to be right above a riser when the table board reaches the lower part of a portal frame, the ram moves along the X axis of the portal frame to be right above the riser, and the machine head moves along the Z axis of the ram and performs a milling process on the riser through the cutter; the finishing background surface continues to move towards the direction of the industrial robot, the finishing background surface is close to the industrial robot and stops, the industrial robot performs a grinding process on the die line through a cutter, the large-scale processing of milling a dead head and grinding the die line is completed gradually and fixedly for one time, secondary transfer carrying and secondary positioning are omitted, and the production efficiency and the processing precision are improved.
Drawings
FIG. 1 is a three-dimensional structure view of the milling and grinding integrated large casting robot of the present invention;
FIG. 2 is a first three-dimensional structure diagram of the present invention without an outer bin;
FIG. 3 is a second three-dimensional structure diagram of the present invention without an outer bin;
FIG. 4 is an enlarged view of portion A of FIG. 2;
fig. 5 is a side view of the present invention without an outer bin.
Reference numerals: 1. an outer bin; 11. a window; 12. a tool magazine; 2. a sliding table base; 21. a chip groove; 22. a Y-axis motor; 23. a Y-axis linear guide rail; 25. a Y-axis lead screw; 3. a table top; 34. positioning a groove; 4. positioning a jig; 5. an industrial robot; 6. a gantry; 63. an X-axis linear guide rail; 7. a ram; 72. an X-axis motor; 73. an X-axis linear guide rail; 75. an X-axis lead screw; 8. a machine head; 81. a drive motor; 82. rotating the main shaft; 83. and (4) a bracket.
Detailed Description
The embodiment of the milling and grinding integrated large casting robot of the present invention is further described with reference to fig. 1 to 5.
In the description of the present invention, it should be noted that, for the orientation words, such as the terms "center", "lateral (X)", "longitudinal (Y)", "vertical (Z)", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., the orientation and the positional relationship are indicated based on the orientation or the positional relationship shown in the drawings, and the description is only for convenience of describing the present invention and simplifying the description, but not for indicating or implying that the device or the element referred to must have a specific orientation, be constructed and operated in a specific orientation, and should not be construed as limiting the specific protection scope of the present invention.
Furthermore, if the terms "first" and "second" are used for descriptive purposes only, they are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features. Thus, the definition of "a first" or "a second" feature may explicitly or implicitly include one or more of the features, and "a plurality" or "a plurality" in the description of the invention means two or more unless a specific definition is explicitly provided.
A milling and grinding integrated large casting robot comprises a sliding table base 2, wherein an industrial robot 5 is arranged on one side of the sliding table base 2, the sliding table base 2 is connected with a table top 3 in a sliding mode, a positioning jig 4 is arranged on the table top 3, the table top 3 is connected with the sliding table base 2 in a sliding mode along a Y axis, and a first driving mechanism is arranged between the table top 3 and the sliding table base 2;
a portal frame 6 is arranged on the sliding table base 2, a ram 7 is arranged on the portal frame 6, the ram 7 is connected with the portal frame 6 in a sliding mode along an X axis, and a second driving mechanism is arranged between the ram 7 and the portal frame 6;
the ram 7 is connected with a machine head 8 in a sliding mode, the machine head 8 is connected with the ram 7 in a sliding mode along the Z axis, and a third driving mechanism is arranged between the machine head 8 and the ram 7.
Wherein the directions of the Y-axis, X-axis and Z-axis are shown in fig. 2.
Before processing, selecting (or manufacturing) a corresponding positioning jig 4 according to a large casting to be processed, wherein the table top 3 is the same as the table top 3 of the milling machine, a plurality of inverted T-shaped positioning grooves 34 extending along the X axis are arranged on the table top 3, and the positioning jig 4 is fixed on the table top 3 through the matching of bolts and nuts; and simultaneously, corresponding tools are selected and fixed on the industrial robot 5 and the machine head 8.
The industrial robot 5 is preferably of the type IRB6700-200, the machine head 8 comprises a support 83, the support 83 is provided with a vertically arranged rotating spindle 82 and a driving motor 81, and the tool is fixed on the rotating spindle 82.
Before processing, the table top 3 is positioned at one end far away from the industrial robot 5, a large table is gradually fixed on a positioning jig 4, then the table top 3 is enabled to move along the Y axis to the direction of the industrial robot 5 through a first driving mechanism, after the table top reaches a designated position below a portal frame 6, a ram 7 is enabled to move to be right above a riser to be processed along the X axis through a second driving mechanism, then a driving motor 81 is started (the starting time of the driving motor 81 can be advanced or delayed, only the moment before a cutter contacts the riser), a main shaft and the cutter are enabled to rotate, a machine head 8 is enabled to move along the Z axis through a third driving mechanism, and the cutter is gradually close to and contacts the riser to perform a milling;
after finishing, aircraft nose 8 resets, and mesa 3 continues to stop after being close to industrial robot 5 removal, and industrial robot 5 will polish the process to the moulding line through the cutter, and whole back that finishes, industrial robot 5 resets, and first actuating mechanism makes mesa 3 leave industrial robot 5 and reach initial position again, take off large casting and more renew the reworking can.
Certainly in the utility model discloses in, can also polish processing to the feeding mouth through cutter and industrial robot 5.
The preferred positioning jig 4 in this embodiment adopts the positioner, and for more complicated castings, the casting is fixed on the positioner, and the angle of the casting can be adjusted through the positioner, so that the tools on the machine head 8 and the industrial robot 5 process the positions of the casting.
As shown in fig. 3, in the preferred embodiment, a Y-axis linear guide rail 23 is disposed on the sliding table base 2, a Y-axis slider is disposed below the table top 3, and the gantry 6 spans the Y-axis linear guide rail 23.
Similarly, an X-axis linear guide rail 7363 is arranged on the portal frame 6, an X-axis sliding block is arranged on the ram 7, a Z-axis linear guide rail is arranged on the ram 7, and a Z-axis sliding block is arranged on the mechanism.
The preferred first actuating mechanism of this embodiment includes Y axle motor 22 and Y axle lead screw 25, and Y axle lead screw 25 one end is rotated with slip table base 2 and is connected the other end and connect Y axle motor 22, Y axle lead screw 25 and 3 threaded connection of mesa, Y axle motor 22 is fixed in on the slip table base 2.
Wherein, the two ends of the sliding table base 2 corresponding to the Y-axis screw rod 25 are provided with screw rod frames, the screw rod frames are used for positioning the Y-axis screw rod 25, and a coupling is arranged between the Y-axis motor 22 and the Y-axis screw rod 25.
The table top 3 can move towards or away from the industrial robot 5 by driving the Y-axis screw rod 25 to rotate through the forward rotation or the reverse rotation of the Y-axis motor 22.
Similarly, the second driving mechanism comprises an X-axis motor 72 and an X-axis lead screw 75, the X-axis motor 72 is fixed on the portal frame 6, one end of the X-axis lead screw 75 is rotatably connected with the portal frame 6, the other end of the X-axis lead screw is connected with the X-axis motor 72, the X-axis lead screw 75 is in threaded connection with the ram 7, and the X-axis motor 72 can drive the ram 7 to move along the X-axis direction through the X-axis lead screw 75;
the third driving mechanism comprises a Z-axis motor and a Z-axis lead screw, the Z-axis motor is fixed on the ram 7, one end of the Z-axis lead screw is rotatably connected with the ram 7, the other end of the Z-axis lead screw is connected with the Z-axis motor, the Z-axis lead screw is in threaded connection with the machine head 8, and the Z-axis motor can drive the machine head 8 to move along the Z-axis direction through the Z-axis lead screw.
As shown in fig. 2, in the present embodiment, preferably, the sliding table base 2 is provided with chip removal grooves 21 corresponding to two sides of the X-axis of the table top 3, the chip removal grooves 21 are located below two side ends of the table top 3, when a large casting is processed, waste chips are generated, and at the same time, a large amount of cooling water is provided, the cooling water flows to the chip removal grooves 21 on two sides through the table top 3 with the waste chips, and the cooling water and the chip removal grooves 21 are discharged through the chip removal grooves 21.
As shown in fig. 1, preferably, an outer bin 1 covering the sliding table base 2 is arranged on the sliding table base 2 in the embodiment, an inlet and an outlet are formed in the position, corresponding to the Y-axis linear guide rail 23, of the outer bin 1, the Y-axis linear guide rail 23 extends to the outside of the inlet and the outlet, the outer bin 1 can prevent scraps from splashing to the outside, and the inlet and the outlet ensure that the table top 3 can be moved to the outside of the outer bin 1 by the Y-axis linear guide rail 23 to load and unload large castings.
A plurality of windows 11 and openable access doors are arranged on the preferable outer bin 1, the windows 11 are used for observing the condition of the tool, and the access doors can be used for overhauling equipment.
In the embodiment, the tool magazine 12 can be arranged in the outer bin 1, and a plurality of tools are reserved in the tool magazine 12 and are replaced when different large castings are machined.
It is above only the utility model discloses a preferred embodiment, the utility model discloses a scope of protection does not only confine above-mentioned embodiment, the all belongs to the utility model discloses a technical scheme under the thinking all belongs to the utility model discloses a scope of protection. It should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (7)
1. The utility model provides a mill integrative large-scale foundry goods robot which characterized in that: the automatic positioning device comprises a sliding table base, wherein an industrial robot is arranged on one side of the sliding table base, the sliding table base is connected with a table top in a sliding manner, a positioning jig is arranged on the table top, the table top is connected with the sliding table base in a sliding manner along a Y axis, and a first driving mechanism is arranged between the table top and the sliding table base;
a gantry is arranged on the sliding table base, a ram is arranged on the gantry, the ram is connected with the gantry in a sliding mode along an X axis, and a second driving mechanism is arranged between the ram and the gantry;
the ram is connected with a machine head in a sliding mode, the machine head is connected with the ram in a sliding mode along the Z axis, and a third driving mechanism is arranged between the machine head and the ram.
2. The milling and grinding integrated large casting robot according to claim 1, wherein: the sliding table is characterized in that a Y-axis linear guide rail is arranged on the sliding table base, a Y-axis sliding block is arranged below the table top, and the portal frame stretches across the Y-axis linear guide rail.
3. The milling and grinding integrated large casting robot according to claim 2, wherein: an X-axis linear guide rail is arranged on the portal frame, and an X-axis sliding block is arranged on the ram.
4. The milling and grinding integrated large casting robot according to claim 3, wherein: the ram is provided with a Z-axis linear guide rail, and the mechanism is provided with a Z-axis sliding block.
5. The milling and grinding integrated large casting robot according to claim 4, wherein: first actuating mechanism includes Y axle motor and Y axle lead screw, and Y axle lead screw one end rotates with the slip table base and is connected the other end and connect Y axle motor, Y axle lead screw and mesa threaded connection, Y axle motor are fixed in on the slip table base.
6. The milling and grinding integrated large casting robot according to claim 5, wherein: the X-axis both sides that the slip table base corresponds the mesa are provided with the chip groove.
7. The milling and grinding integrated large casting robot according to claim 6, wherein: the sliding table base is provided with an outer bin covering the sliding table base, an inlet and an outlet are formed in the position, corresponding to the Y-axis linear guide rail, of the outer bin, and the Y-axis linear guide rail extends to the outer side of the inlet and the outlet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921395895.8U CN210475509U (en) | 2019-08-26 | 2019-08-26 | Milling and grinding integrated large casting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921395895.8U CN210475509U (en) | 2019-08-26 | 2019-08-26 | Milling and grinding integrated large casting robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210475509U true CN210475509U (en) | 2020-05-08 |
Family
ID=70539386
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921395895.8U Expired - Fee Related CN210475509U (en) | 2019-08-26 | 2019-08-26 | Milling and grinding integrated large casting robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210475509U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110434317A (en) * | 2019-08-26 | 2019-11-12 | 嘉兴学院 | Milling one heavy castings robot |
| CN111408952A (en) * | 2020-05-29 | 2020-07-14 | 吉林大学 | Annular workpiece milling, grinding and measuring hybrid processing machine tool and control method thereof |
| CN112025315A (en) * | 2020-09-14 | 2020-12-04 | 吉林大学 | Annular workpiece milling, grinding and measuring integrated processing machine tool and control method thereof |
-
2019
- 2019-08-26 CN CN201921395895.8U patent/CN210475509U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110434317A (en) * | 2019-08-26 | 2019-11-12 | 嘉兴学院 | Milling one heavy castings robot |
| CN111408952A (en) * | 2020-05-29 | 2020-07-14 | 吉林大学 | Annular workpiece milling, grinding and measuring hybrid processing machine tool and control method thereof |
| CN112025315A (en) * | 2020-09-14 | 2020-12-04 | 吉林大学 | Annular workpiece milling, grinding and measuring integrated processing machine tool and control method thereof |
| CN112025315B (en) * | 2020-09-14 | 2021-09-10 | 吉林大学 | Annular workpiece milling, grinding and measuring integrated processing machine tool and control method thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200508 Termination date: 20210826 |