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CN107952952A - A kind of heavy castings deburring system - Google Patents

A kind of heavy castings deburring system Download PDF

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Publication number
CN107952952A
CN107952952A CN201711490000.4A CN201711490000A CN107952952A CN 107952952 A CN107952952 A CN 107952952A CN 201711490000 A CN201711490000 A CN 201711490000A CN 107952952 A CN107952952 A CN 107952952A
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China
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robot
track
deburring
plate
heavy castings
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CN201711490000.4A
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CN107952952B (en
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余伟
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Wuhu Hit Robot Technology Research Institute Co Ltd
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Wuhu Hit Robot Technology Research Institute Co Ltd
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B22CASTING; POWDER METALLURGY
    • B22DCASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
    • B22D31/00Cutting-off surplus material, e.g. gates; Cleaning and working on castings
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02PCLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P70/00Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/10Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

本发明提供一种应用于大型铸件机器人生产加工设备技术领域的大型铸件去毛刺系统,所述的大型铸件去毛刺系统的机器人Ⅰ(1)设置在靠近输送轨道Ⅰ(3)位置,机器人Ⅱ(2)设置在靠近输送轨道Ⅱ(4)位置,机器人Ⅰ(1)的机器人Ⅰ机械臂上安装清洁部件Ⅰ(5),机器人Ⅱ(2)的机器人Ⅱ机械臂上安装清洁部件Ⅱ(6),输送轨道Ⅰ(3)和输送轨道Ⅱ(4)之间设置翻转机构(7),机器人Ⅰ(1)和机器人Ⅱ(2)分别与控制部件(9)连接,本发明的大型铸件去毛刺系统,结构简单,能对大型铸件的进行去毛刺处理,并且实现去毛刺处理的自动化控制,提高去毛刺处理效率和质量,降低操作人员劳动强度。

The present invention provides a large-scale casting deburring system applied to the technical field of large-scale casting robot production and processing equipment. The robot I (1) of the large-scale casting deburring system is arranged at a position close to the conveying track I (3), and the robot II ( 2) Set it near the conveying track II (4), install the cleaning part I (5) on the robot I mechanical arm of the robot I (1), and install the cleaning part II (6) on the robot II mechanical arm of the robot II (2) , a turning mechanism (7) is set between the conveying track I (3) and the conveying track II (4), the robot I (1) and the robot II (2) are respectively connected with the control part (9), and the deburring of large castings of the present invention The system has a simple structure, can deburr large-scale castings, and realize automatic control of deburring treatment, improve the efficiency and quality of deburring treatment, and reduce the labor intensity of operators.

Description

一种大型铸件去毛刺系统A large casting deburring system

技术领域technical field

本发明属于大型铸件机器人生产加工设备技术领域,更具体地说,是涉及一种大型铸件去毛刺系统。The invention belongs to the technical field of large-scale casting robot production and processing equipment, and more specifically relates to a large-scale casting deburring system.

背景技术Background technique

发动机铸件等大型铸件,结构非常复杂,需要去毛刺的点位较多,而且发动机铸件等大型铸件各类曲线面、凹凸面也较多,打磨需要的工具诸如毛刷、锉刀、磨具等种类繁多,需要来回切换。一些较为深和复杂的孔系,往往无法实现去毛刺任务。现有的大型铸件去毛刺方式主要有:(1)人工去毛刺。即操作人员握持去毛刺工具去工件进行去毛刺作业。这类去毛刺方式精度差、效率低,劳动强度大。(2)机器人自动去毛刺。该类去毛刺系统往往只能对多几个面进行去毛刺,无法对全部的面进行操作。且需要配备刀具中心用于换刀,大大增加了成本。而且由于去毛刺工具尺寸的限制,对一些深度较大的孔和油道,机器人一般无法完成去毛刺任务。因此,上述去毛刺方式无法满足实际生产需求。Large castings such as engine castings have a very complex structure, and there are many points that need to be deburred. Moreover, large castings such as engine castings also have many curved surfaces and concave-convex surfaces. The tools required for grinding such as brushes, files, abrasives, etc. There are many, need to switch back and forth. Some deep and complex hole systems are often unable to achieve the deburring task. The existing deburring methods of large castings mainly include: (1) manual deburring. That is, the operator holds the deburring tool to remove the workpiece for deburring operation. This type of deburring method has poor precision, low efficiency and high labor intensity. (2) The robot automatically deburrs. This type of deburring system can often only deburr several surfaces, and cannot operate on all surfaces. And it needs to be equipped with a tool center for tool change, which greatly increases the cost. Moreover, due to the limitation of the size of the deburring tool, for some deep holes and oil passages, robots generally cannot complete the deburring task. Therefore, the above-mentioned deburring method cannot meet actual production needs.

发明内容Contents of the invention

本发明所要解决的技术问题是:针对现有技术不足,提供一种结构简单,能够对大型铸件的平面、曲线面、凹凸面、孔系干净地进行去毛刺处理,并且实现去毛刺处理的自动化控制,不仅有效提高去毛刺处理效率和质量,而且有效降低操作人员人工劳动强度,全面适应生产线整体节奏的大型铸件去毛刺系统。The technical problem to be solved by the present invention is to provide a simple structure for the deficiencies of the existing technology, which can cleanly deburr the plane, curved surface, concave-convex surface, and hole system of large castings, and realize the automation of deburring treatment. Control not only effectively improves the efficiency and quality of deburring treatment, but also effectively reduces the labor intensity of operators, and is a large-scale casting deburring system that fully adapts to the overall rhythm of the production line.

要解决以上所述的技术问题,本发明采取的技术方案为:To solve the technical problems described above, the technical solution adopted by the present invention is:

本发明为一种大型铸件去毛刺系统,所述的大型铸件去毛刺系统包括机器人Ⅰ、机器人Ⅱ、输送轨道Ⅰ、输送轨道Ⅱ,机器人Ⅰ设置在靠近输送轨道Ⅰ位置,机器人Ⅱ设置在靠近输送轨道Ⅱ位置,机器人Ⅰ的机器人Ⅰ机械臂上安装清洁部件Ⅰ,机器人Ⅱ的机器人Ⅱ机械臂上安装清洁部件Ⅱ,输送轨道Ⅰ和输送轨道Ⅱ之间设置翻转机构,翻转机构设置为能够控制大型铸件翻转的结构,机器人Ⅰ和机器人Ⅱ分别与控制部件连接。The present invention is a deburring system for large-scale castings. The deburring system for large-scale castings includes robot I, robot II, conveying track I, and conveying track II. At the position of the track II, the cleaning part I is installed on the robotic arm of the robot I, and the cleaning part II is installed on the robot II mechanical arm of the robot II. A turning mechanism is set between the conveying track I and the conveying track II. The cast turned over structure, robot I and robot II are respectively connected with the control parts.

所述的翻转机构包括翻转机构框架,翻转机构框架上设置多个转轮,多个转轮上支撑放置翻转转盘,翻转转盘包括滑移部件Ⅰ和滑移部件Ⅱ,滑移部件Ⅰ和滑移部件Ⅱ之间设置中间间隙,翻转转盘设置为能够相对翻转机构框架上的多个转轮转动的结构,所述的大型铸件设置为能够从中间间隙通过的结构。The turning mechanism includes a turning mechanism frame, a plurality of runners are arranged on the turning mechanism frame, and the turning turntable is supported on the turning wheels, and the turning turntable includes a sliding part I and a sliding part II, a sliding part I and a sliding part A middle gap is set between the parts II, the turntable is set as a structure capable of rotating relative to multiple runners on the frame of the turning mechanism, and the large casting is set as a structure capable of passing through the middle gap.

所述的机器人Ⅰ的机器人Ⅰ机械臂上安装的清洁部件Ⅰ为毛刷Ⅰ,控制部件设置为能够带动毛刷Ⅰ移动,从而对输送轨道Ⅰ输送的大型铸件顶面进行去毛刺及清理的结构,机器人Ⅱ的机器人Ⅱ机械臂上安装的清洁部件Ⅱ为毛刷Ⅱ,控制部件设置为能够带动毛刷Ⅱ移动,从而对输送轨道Ⅱ输送的大型铸件底面进行去毛刺及清理的结构。The cleaning part I installed on the robotic arm of the robot I is a brush I, and the control part is set to drive the brush I to move, so as to deburr and clean the top surface of the large casting conveyed by the conveying track I , the cleaning part II installed on the robotic arm of the robot II is a brush II, and the control part is set to drive the brush II to move, so as to deburr and clean the bottom surface of the large castings conveyed by the conveyor track II.

所述的大型铸件去毛刺系统还包括铸件孔系工作台,铸件孔系工作台设置在靠近输送轨道Ⅱ位置,铸件孔系工作台包括工作台本体,工作台本体上安装轨道,轨道上安装移动块,移动块上安装多个孔清理杆,每个孔清理杆端部设置一个清理刷。The large-scale casting deburring system also includes a casting hole system workbench, which is set at the position close to the conveying track II. The casting hole system workbench includes a workbench body, and a track is installed on the workbench body. A block, a plurality of hole cleaning rods are installed on the moving block, and a cleaning brush is arranged at the end of each hole cleaning rod.

所述的翻转转盘包括板件Ⅰ、板件Ⅱ、滑移部件Ⅰ、滑移部件Ⅱ,所述的翻转转盘的滑移部件Ⅰ一端与板件Ⅰ连接,滑移部件Ⅰ另一端与板件Ⅱ连接,翻转转盘的滑移部件Ⅱ一端与板件Ⅰ连接,滑移部件Ⅱ另一端与板件Ⅱ连接,板件Ⅰ上设置开口部Ⅰ,板件Ⅱ上设置开口部Ⅱ,板件Ⅰ支撑在多个转轮上,板件Ⅱ支撑在多个转轮上。The turntable includes a plate I, a plate II, a sliding part I, and a sliding part II. One end of the sliding part I of the turning turntable is connected to the plate I, and the other end of the sliding part I is connected to the plate Ⅱ connection, one end of the sliding part II of the flip turntable is connected with the plate Ⅰ, the other end of the sliding part Ⅱ is connected with the plate Ⅱ, the opening part I is set on the plate part I, the opening part II is set on the plate part II, and the plate part I Supported on multiple runners, plate II is supported on multiple runners.

所述的输送轨道Ⅱ包括输送轨道Ⅱ前轨道和输送轨道Ⅱ后轨道,所述的大型铸件去毛刺系统还包括旋转机构,旋转机构包括框架,框架上安装旋转电机,旋转电机与旋转轨道连接,旋转轨道为水平布置的结构,旋转电机与控制部件连接,旋转轨道设置在输送轨道Ⅱ前轨道和输送轨道Ⅱ后轨道之间。The conveying track II includes the front track of the transport track II and the rear track of the transport track II, and the deburring system for large castings also includes a rotating mechanism, the rotating mechanism includes a frame, and a rotating motor is installed on the frame, and the rotating motor is connected to the rotating track. The rotating track is a horizontally arranged structure, the rotating motor is connected with the control unit, and the rotating track is arranged between the front track of the conveying track II and the rear track of the transporting track II.

所述的输送轨道Ⅱ的旋转轨道与输送轨道Ⅱ前轨道之间设置为存在间隙部Ⅰ的结构,所述的输送轨道Ⅱ的旋转轨道与输送轨道Ⅱ后轨道之间设置为存在间隙部Ⅱ的结构,所述的大型铸件去毛刺系统还包括铸件孔系工作台,铸件孔系工作台设置在靠近旋转机构的位置。There is a gap part I between the rotating track of the conveying track II and the front track of the transporting track II, and there is a gap part II between the rotating track of the transporting track II and the rear track of the transporting track II. structure, the large-scale casting deburring system also includes a casting hole system workbench, and the casting hole system workbench is arranged at a position close to the rotating mechanism.

所述的大型铸件去毛刺系统还包括末端夹具,末端夹具包括末端夹具本体,末端夹具本体与机器人Ⅱ的机器人Ⅱ移动臂末端连接,所述的末端夹具本体上安装平磨机、旋转锉、毛刷、气动风枪中的一种或多种。The large-scale casting deburring system also includes an end fixture, the end fixture includes an end fixture body, the end fixture body is connected to the end of the robot II moving arm of the robot II, and a flat grinder, a rotary file, a buff One or more of brushes and pneumatic air guns.

所述的翻转机构框架上设置多个U字形的转轮支架,每个转轮通过一个连接轴安装在一个转轮支架上,转轮设置为凹进在转轮支架内的结构,板件Ⅰ支撑在多个转轮上时,板件Ⅰ侧面设置为能够卡装在转轮支架上的结构,板件Ⅱ支撑在多个转轮上时,板件Ⅱ设置为能够同时卡装在转轮支架上的结构。A plurality of U-shaped runner brackets are arranged on the frame of the turning mechanism, each runner is mounted on a runner bracket through a connecting shaft, and the runner is set as a structure recessed in the runner bracket, and the plate part I When supported on multiple runners, the side of plate I is set to be able to be clamped on the runner bracket; when plate II is supported on multiple runners, plate II is set to be able to be clamped on the runners at the same time structure on the stand.

采用本发明的技术方案,能得到以下的有益效果:Adopt technical scheme of the present invention, can obtain following beneficial effect:

本发明所述的大型铸件去毛刺系统,在需要进行大型铸件去毛刺处理时,先将大型铸件通过远程输送线输送到输送轨道Ⅰ上,控制部件控制输送轨道Ⅰ和输送轨道Ⅱ启动,输送大型铸件沿着输送轨道Ⅰ向输送轨道Ⅱ方向移动,在大型铸件经过输送轨道Ⅰ时,控制部件控制机器人Ⅰ1动作,机器人Ⅰ1的机器人Ⅰ机械臂上安装的清洁部件Ⅰ对大型铸件顶面进行去毛刺及清理,而后,大型铸件继续输送,在输送到输送轨道Ⅱ前经过翻转机构,翻转机构可以转动180°,使得大型铸件顶面朝下,底面朝上,然后大型铸件被输送到输送轨道Ⅱ,此时,控制部件控制机器人Ⅱ动作,机器人Ⅱ的机器人Ⅱ机械臂上安装的清洁部件Ⅱ对大型铸件底面进行底面及侧面进行去毛刺及清理,而后大型铸件继续在输送轨道Ⅱ上输送,这样,就实现对大型铸件顶面、底面及侧面的可靠去毛刺和清理,实现去毛刺的自动化处理,提高去毛刺效率和去毛刺质量,提高大型铸件整体质量。本发明所述的大型铸件去毛刺系统,结构简单,能够对大型铸件的平面、曲线面、凹凸面、孔系干净地进行去毛刺处理,并且实现去毛刺处理的自动化控制,不仅有效提高去毛刺处理效率和质量,而且有效降低操作人员人工劳动强度,全面适应生产线整体节奏。本发明所述的大型铸件去毛刺系统,能够达到以下效果:(1)实现了大型铸件的全表面、全特征去毛刺;(2)减少了去毛刺工具的更换频率,提高了效率,降低了成本;(3)实现生成过程离线化和自动化,减少人工成本。In the deburring system for large castings described in the present invention, when large castings need to be deburred, the large castings are first transported to the conveyor track I through the remote conveyor line, and the control unit controls the start of the conveyor track I and the conveyor track II to transport the large castings. The casting moves along the conveying track Ⅰ to the conveying track Ⅱ. When the large casting passes through the conveying track Ⅰ, the control part controls the action of the robot Ⅰ1, and the cleaning part Ⅰ installed on the robotic arm of the robot Ⅰ of the robot Ⅰ deburrs the top surface of the large casting. and cleaning, and then, the large castings continue to be transported, and pass through the turning mechanism before being transported to the conveyor track II. At this time, the control part controls the action of the robot II, and the cleaning part II installed on the robotic arm of the robot II deburrs and cleans the bottom surface and side of the large casting, and then the large casting continues to be transported on the conveying track II. In this way, Realize reliable deburring and cleaning of the top, bottom and side surfaces of large castings, realize automatic deburring processing, improve deburring efficiency and deburring quality, and improve the overall quality of large castings. The large-scale casting deburring system described in the present invention has a simple structure, can cleanly deburr the plane, curved surface, concave-convex surface, and hole system of large-scale castings, and realize automatic control of the deburring process, which not only effectively improves the deburring process. Processing efficiency and quality, and effectively reduce the labor intensity of operators, fully adapt to the overall rhythm of the production line. The large-scale casting deburring system described in the present invention can achieve the following effects: (1) realize the full-surface and full-feature deburring of large-scale castings; (2) reduce the replacement frequency of deburring tools, improve efficiency, and reduce (3) Realize the off-line and automation of the generation process to reduce labor costs.

附图说明Description of drawings

下面对本说明书各附图所表达的内容及图中的标记作出简要的说明:The following is a brief description of the contents expressed in the drawings of this manual and the marks in the drawings:

图1为本发明所述的大型铸件去毛刺系统的整体结构示意图;Fig. 1 is the overall structure schematic diagram of large casting deburring system of the present invention;

图2为本发明所述的大型铸件去毛刺系统的翻转机构的结构示意图;Fig. 2 is the schematic structural view of the overturning mechanism of the large casting deburring system of the present invention;

图3为本发明所述的大型铸件去毛刺系统的旋转机构结构示意图;Fig. 3 is a schematic structural view of the rotating mechanism of the large-scale casting deburring system according to the present invention;

图4为本发明所述的大型铸件去毛刺系统的铸件孔系工作台的结构示意图;Fig. 4 is the structural representation of the casting hole system workbench of the large-scale casting deburring system of the present invention;

图5为本发明所述的大型铸件去毛刺系统的末端夹具的结构示意图;Fig. 5 is a schematic structural view of the end clamp of the large-scale casting deburring system according to the present invention;

附图中标记分别为:1、机器人Ⅰ;2、机器人Ⅱ;3、输送轨道Ⅰ;4、输送轨道Ⅱ;5、清洁部件Ⅰ;6、清洁部件Ⅱ;7、翻转机构;8、大型铸件;9、控制部件;10、翻转机构框架;11、转轮;12、翻转转盘;13、滑移部件Ⅰ;14、滑移部件Ⅱ;15、中间间隙;16、铸件孔系工作台;17、工作台本体;18、轨道;19、移动块;20、孔清理杆;21、清理刷;22、板件Ⅰ;23、板件Ⅱ;24、开口部Ⅰ;25、开口部Ⅱ;26、输送轨道Ⅱ前轨道;27、输送轨道Ⅱ后轨道;28、旋转机构;29、框架;30、旋转电机;31、旋转轨道;32、末端夹具;33、末端夹具本体;34、转轮支架。The marks in the drawings are: 1. Robot Ⅰ; 2. Robot Ⅱ; 3. Conveying track Ⅰ; 4. Conveying track Ⅱ; 5. Cleaning part Ⅰ; 6. Cleaning part Ⅱ; 7. Turning mechanism; 8. Large casting ;9. Control part; 10. Turning mechanism frame; 11. Runner; 12. Turning plate; 13. Sliding part Ⅰ; 14. Sliding part Ⅱ; 1. Workbench body; 18. Track; 19. Moving block; 20. Hole cleaning rod; 21. Cleaning brush; 22. Plate Ⅰ; 23. Plate Ⅱ; 24. Opening Ⅰ; 25. Opening Ⅱ; 26 , Conveying track II front track; 27, Conveying track II rear track; 28, Rotating mechanism; 29, Frame; 30, Rotating motor; 31, Rotating track; 32, End fixture; 33, End fixture body; .

具体实施方式Detailed ways

下面对照附图,通过对实施例的描述,对本发明的具体实施方式如所涉及的各构件的形状、构造、各部分之间的相互位置及连接关系、各部分的作用及工作原理等作进一步的详细说明:Below with reference to the accompanying drawings, through the description of the embodiments, the specific embodiments of the present invention, such as the shape, structure, mutual position and connection relationship between the various parts, the role and working principle of the various parts, etc., will be further described. Detailed instructions:

如附图1-附图5所示,本发明为一种大型铸件去毛刺系统,所述的大型铸件去毛刺系统包括机器人Ⅰ1、机器人Ⅱ2、输送轨道Ⅰ3、输送轨道Ⅱ4,机器人Ⅰ1设置在靠近输送轨道Ⅰ3位置,机器人Ⅱ2设置在靠近输送轨道Ⅱ4位置,机器人Ⅰ1的机器人Ⅰ机械臂上安装清洁部件Ⅰ5,机器人Ⅱ2的机器人Ⅱ机械臂上安装清洁部件Ⅱ6(清洁部件Ⅱ6可以直接与机器人Ⅱ机械臂连接,也可以设置在末端夹具32的末端夹具本体33上),输送轨道Ⅰ3和输送轨道Ⅱ4之间设置翻转机构7,翻转机构7设置为能够控制大型铸件8翻转的结构,机器人Ⅰ1和机器人Ⅱ2分别与控制部件9连接。上述结构,在需要进行大型铸件去毛刺处理时,先将大型铸件通过远程输送线输送到输送轨道Ⅰ3上,控制部件控制输送轨道Ⅰ3和输送轨道Ⅱ4启动,输送大型铸件沿着输送轨道Ⅰ3向输送轨道Ⅱ4方向移动,在大型铸件经过输送轨道Ⅰ3时,控制部件控制机器人Ⅰ1动作,机器人Ⅰ1的机器人Ⅰ机械臂上安装的清洁部件Ⅰ5对大型铸件顶面进行去毛刺及清理,而后,大型铸件继续输送,在输送到输送轨道Ⅱ4前经过翻转机构7,翻转机构可以转动180°,使得大型铸件顶面朝下,底面朝上,然后大6型铸件被输送到输送轨道Ⅱ4,此时,控制部件控制机器人Ⅱ2动作,机器人Ⅱ2的机器人Ⅱ机械臂上安装的清洁部件Ⅱ6对大型铸件底面进行底面及侧面进行去毛刺及清理,而后大型铸件继续在输送轨道Ⅱ4上输送,再将去毛刺后的大型铸件转送到远程输送线送走。这样,就实现对大型铸件顶面、底面及侧面的可靠去毛刺和清理,实现去毛刺的自动化处理,提高去毛刺效率和去毛刺质量,提高大型铸件整体质量。本发明的大型铸件去毛刺系统,能够对大型铸件的平面、曲线面、凹凸面、孔系干净地进行去毛刺处理,实现去毛刺处理的自动化控制,不仅有效提高去毛刺处理效率和质量,而且降低操作人员人工劳动强度,适应生产线整体节奏。As shown in accompanying drawings 1 to 5, the present invention is a deburring system for large castings. The deburring system for large castings includes robot I1, robot II2, conveying track I3, and conveying track II4. Robot I1 is set near Conveying track I3 position, robot II2 is set close to the conveying track II4 position, cleaning part I5 is installed on robot I mechanical arm of robot I1, and cleaning part II6 is installed on robot II mechanical arm of robot II2 (cleaning part II6 can be directly connected with robot II mechanical arm) The arm is connected, and can also be arranged on the end clamp body 33 of the end clamp 32), a turning mechanism 7 is arranged between the conveying track I3 and the conveying track II4, and the turning mechanism 7 is set as a structure capable of controlling the turning of the large casting 8, the robot I1 and the robot II2 are respectively connected with the control unit 9 . With the above structure, when deburring of large castings is required, the large castings are first transported to the conveyor track I3 through the remote conveyor line, the control unit controls the start of the conveyor track I3 and the conveyor track II4, and the large castings are transported along the conveyor track I3 The track II4 moves in the direction of the track II4. When the large castings pass the conveying track I3, the control part controls the action of the robot I1, and the cleaning part I5 installed on the robotic arm of the robot I1 of the robot I1 deburrs and cleans the top surface of the large castings. Then, the large castings continue Conveying, passing through the overturning mechanism 7 before being transported to the conveying track II4, the overturning mechanism can be rotated 180°, so that the top of the large casting is facing down and the bottom is facing up, and then the large 6-shaped casting is transported to the conveying track II4, at this time, the control unit Control the action of the robot Ⅱ2, the cleaning part Ⅱ6 installed on the robot Ⅱ mechanical arm of the robot Ⅱ2 deburrs and cleans the bottom surface and side of the large casting, and then the large casting continues to be transported on the conveying track Ⅱ4, and then the large casting after deburring Castings are transferred to remote conveyor lines for departure. In this way, the reliable deburring and cleaning of the top, bottom and side surfaces of large castings can be realized, the automatic processing of deburring can be realized, the deburring efficiency and deburring quality can be improved, and the overall quality of large castings can be improved. The large-scale casting deburring system of the present invention can cleanly deburr the plane, curved surface, concave-convex surface, and hole system of large-scale castings, realize automatic control of deburring treatment, not only effectively improve the efficiency and quality of deburring treatment, and Reduce the manual labor intensity of operators and adapt to the overall rhythm of the production line.

本发明所述的大型铸件去毛刺系统,能够解决以下问题:(1)完成工件全部面的去毛刺任务,且对主要的油口、孔系等内腔进行去毛刺和清理;(2)集成多工具,避免换刀带来的成本增加和时间损耗;(3)减少人工参与,实现自动生产。本发明所述的大型铸件去毛刺系统,能够达到以下效果:(1)实现了大型铸件的全表面、全特征去毛刺;(2)减少了去毛刺工具的更换频率,提高了效率,降低了成本;(3)实现生成过程离线化和自动化,减少人工成本。The large-scale casting deburring system described in the present invention can solve the following problems: (1) complete the deburring task on the entire surface of the workpiece, and deburr and clean the inner cavities such as main oil ports and hole systems; (2) integrate Multiple tools avoid cost increase and time loss caused by tool change; (3) Reduce manual participation and realize automatic production. The large-scale casting deburring system described in the present invention can achieve the following effects: (1) realize the full-surface and full-feature deburring of large-scale castings; (2) reduce the replacement frequency of deburring tools, improve efficiency, and reduce (3) Realize the off-line and automation of the generation process to reduce labor costs.

所述的翻转机构7包括翻转机构框架10,翻转机构框架10上设置多个转轮11,多个转轮11上支撑放置翻转转盘12,翻转转盘12包括滑移部件Ⅰ13和滑移部件Ⅱ14,滑移部件Ⅰ13和滑移部件Ⅱ14之间设置中间间隙15,翻转转盘12设置为能够相对翻转机构框架10上的多个转轮11转动的结构,所述的大型铸件8设置为能够从中间间隙15通过的结构。上述结构,在输送中的大型铸件经过翻转机构时,大型铸件会进入滑移部件Ⅰ13和滑移部件Ⅱ14之间,被滑移部件Ⅰ13和滑移部件Ⅱ14夹持,不会脱离翻转机构,此时可以带动翻转机构旋转180°,旋转时,由于多个转轮的设置,翻转机构的反转转盘能够相对于转轮转动,从而方便实现大型铸件翻转,使得大型铸件顶面和地面换位,而后,大型铸件被输送出翻转机构的滑移部件Ⅰ13和滑移部件Ⅱ14之间,移动到输送轨道Ⅱ4上,此时机器人Ⅱ2的机器人Ⅱ机械臂上安装的清洁部件Ⅱ6对大型铸件进行底部及侧面去毛刺及清理。上述结构,能够方便实现大型铸件的可靠翻转。The turning mechanism 7 includes a turning mechanism frame 10, a plurality of runners 11 are arranged on the turning mechanism frame 10, and a turning turntable 12 is supported on the turning wheels 11, and the turning turntable 12 includes a sliding part I13 and a sliding part II14, An intermediate gap 15 is set between the sliding part I13 and the sliding part II14, and the overturning turntable 12 is set as a structure capable of rotating relative to a plurality of runners 11 on the frame 10 of the overturning mechanism. 15 adopted structures. With the above structure, when the large castings being conveyed pass through the turning mechanism, the large castings will enter between the sliding part I13 and the sliding part II14, be clamped by the sliding part I13 and the sliding part II14, and will not leave the turning mechanism. When turning, it can drive the turning mechanism to rotate 180°. Due to the setting of multiple runners, the turning plate of the turning mechanism can rotate relative to the turning wheels, so that it is convenient to realize the turning of large castings, so that the top surface of large castings and the ground are transposed. Then, the large-scale casting is conveyed between the sliding part I13 and the sliding part II14 of the turning mechanism, and moves to the conveying track II4. At this time, the cleaning part II6 installed on the robot II mechanical arm of the robot II2 cleans the bottom of the large casting. Side deburring and cleaning. The above-mentioned structure can conveniently realize reliable overturning of large castings.

所述的机器人Ⅰ1的机器人Ⅰ机械臂上安装的清洁部件Ⅰ5为毛刷Ⅰ,控制部件9设置为能够带动毛刷Ⅰ移动,从而对输送轨道Ⅰ3输送的大型铸件8顶面进行去毛刺及清理的结构,机器人Ⅱ2的机器人Ⅱ机械臂上安装的清洁部件Ⅱ6为毛刷Ⅱ,控制部件9设置为能够带动毛刷Ⅱ移动,从而对输送轨道Ⅱ4输送的大型铸件8底面进行去毛刺及清理的结构。The cleaning part I5 installed on the robot I mechanical arm of the robot I1 is a brush I, and the control part 9 is set to drive the brush I to move, so as to deburr and clean the top surface of the large casting 8 conveyed by the conveying track I3 structure, the cleaning part II6 installed on the robotic arm of the robot II2 is a brush II, and the control part 9 is set to drive the brush II to move, so as to deburr and clean the bottom surface of the large casting 8 conveyed by the conveying track II4 structure.

所述的大型铸件去毛刺系统还包括铸件孔系工作台16,铸件孔系工作台16设置在靠近输送轨道Ⅱ4位置,铸件孔系工作台16包括工作台本体17,工作台本体17上安装轨道18,轨道18上安装移动块19,移动块19上安装多个孔清理杆20,每个孔清理杆20端部设置一个清理刷21。上述结构,在大型铸件在输送轨道Ⅱ4上输送到靠近铸件孔系工作台16位置时,控制部件控制输送轨道Ⅱ4暂停,此时,大型铸件侧面的多个孔与多个孔清理杆一一对应,然后控制部件控制移动块向靠近大型铸件方向移动,每个孔清理杆的清理刷延伸到一个孔内,从而能够对大型铸件的孔进行去毛刺及清理,而后控制部件再控制移动块相对于轨道向远离大型铸件方向移动,清理刷退出孔,完成孔系去毛刺及清理。The large-scale casting deburring system also includes a casting hole system workbench 16, which is arranged at a position close to the conveying track II4, and the casting hole system workbench 16 includes a workbench body 17, on which the track is installed 18. A moving block 19 is installed on the track 18, a plurality of hole cleaning rods 20 are installed on the moving block 19, and a cleaning brush 21 is arranged at the end of each hole cleaning rod 20. With the above structure, when the large castings are transported on the conveying track II4 to the position close to the casting hole system table 16, the control part controls the conveying track II4 to pause. At this time, the multiple holes on the side of the large casting correspond to the multiple hole cleaning rods. , and then the control part controls the moving block to move close to the direction of the large casting, and the cleaning brush of each hole cleaning rod extends into a hole, so that the holes of the large casting can be deburred and cleaned, and then the control part controls the moving block relative to The track moves away from the large casting, and the cleaning brush exits the hole to complete the deburring and cleaning of the hole system.

所述的翻转转盘12包括板件Ⅰ22、板件Ⅱ23、滑移部件Ⅰ13、滑移部件Ⅱ14,所述的翻转转盘12的滑移部件Ⅰ13一端与板件Ⅰ22连接,滑移部件Ⅰ13另一端与板件Ⅱ23连接,翻转转盘12的滑移部件Ⅱ14一端与板件Ⅰ22连接,滑移部件Ⅱ14另一端与板件Ⅱ23连接,板件Ⅰ22上设置开口部Ⅰ24,板件Ⅱ23上设置开口部Ⅱ25,板件Ⅰ22支撑在多个转轮11上,板件Ⅱ23支撑在多个转轮11上。上述结构,翻转转盘支撑在转轮上时,板件Ⅰ22支撑在多个转轮上、板件Ⅱ23支撑在另外的多个转轮上,能够方便省力地实现翻转转盘的转动。而开口部Ⅰ24和开口部Ⅱ25的设置,便于大型铸件方便可靠地进入翻转机构。The turntable 12 includes a plate I22, a plate II23, a sliding part I13, and a sliding part II14. One end of the sliding part I13 of the turning turntable 12 is connected to the plate I22, and the other end of the sliding part I13 is connected to the plate I22. The plate part II23 is connected, one end of the sliding part II14 of the turntable 12 is connected with the plate part I22, the other end of the sliding part II14 is connected with the plate part II23, the opening part I24 is set on the plate part I22, and the opening part II25 is set on the plate part II23, Plate I 22 is supported on multiple runners 11 , and plate II 23 is supported on multiple runners 11 . With the above structure, when the turntable is supported on the runners, the plate I22 is supported on multiple runners, and the plate II23 is supported on other multiple runners, which can conveniently and labor-savingly realize the rotation of the turntable. The setting of the opening part I24 and the opening part II25 is convenient for large castings to enter the turning mechanism conveniently and reliably.

所述的输送轨道Ⅱ4包括输送轨道Ⅱ前轨道26和输送轨道Ⅱ后轨道27,所述的大型铸件去毛刺系统还包括旋转机构28,旋转机构28包括框架29,框架29上安装旋转电机30,旋转电机30与旋转轨道31连接,旋转轨道31为水平布置的结构,旋转电机30与控制部件9连接,旋转轨道31设置在输送轨道Ⅱ前轨道26和输送轨道Ⅱ后轨道27之间。旋转机构的设置,能够通过控制部件控制旋转电机转动,从而带动旋转轨道转动,这样的结构,在大型铸件输送到输送轨道Ⅱ4的输送轨道Ⅱ前轨道26后,机器人Ⅱ先对大型铸件底面及一侧侧面进行去毛刺及清理,而后大型铸件被输送到旋转机构的旋转轨道上,此时控制部件控制铸件孔系工作台16对大型铸件一侧侧面的孔系进行去毛刺及清理。而后,控制部件控制旋转电机转动,带动旋转轨道旋转180°,此时控制部件再控制机器人Ⅱ动作,对大型铸件另一侧侧面进行去毛刺及清理,同时控制部件再控制铸件孔系工作台16对大型铸件另一侧侧面的孔系进行去毛刺及清理。上述结构,能够全面地对大型铸件的顶面、底面、孔系进行去毛刺及清理作业。处理完后,大型铸件被输送到输送轨道Ⅱ后轨道27,再沿着远程输送轨道送走。The conveying track II 4 includes the front track 26 of the transporting track II and the rear track 27 of the transporting track II, and the deburring system for large castings also includes a rotating mechanism 28, and the rotating mechanism 28 includes a frame 29 on which a rotating motor 30 is installed. The rotating motor 30 is connected to the rotating track 31, which is a horizontally arranged structure, the rotating motor 30 is connected to the control unit 9, and the rotating track 31 is arranged between the front track 26 of the transport track II and the rear track 27 of the transport track II. The setting of the rotating mechanism can control the rotation of the rotating motor through the control components, thereby driving the rotation of the rotating track. With this structure, after the large casting is transported to the front track 26 of the transport track II of the transport track II4, the robot II first performs the inspection on the bottom surface of the large casting and a Deburring and cleaning are carried out on the side and side, and then the large casting is transported to the rotary track of the rotary mechanism. At this time, the control part controls the casting hole system workbench 16 to deburr and clean the hole system on the side of the large casting. Then, the control part controls the rotation of the rotating motor to drive the rotating track to rotate 180°. At this time, the control part controls the action of the robot II to deburr and clean the other side of the large casting. At the same time, the control part controls the casting hole system table 16 Deburring and cleaning the hole system on the other side of the large casting. The above structure can comprehensively deburr and clean the top surface, bottom surface and hole system of large castings. After processing, the large castings are transported to the rear track 27 of the transport track II, and then sent away along the long-distance transport track.

所述的输送轨道Ⅱ4的旋转轨道31与输送轨道Ⅱ前轨道26之间设置为存在间隙部Ⅰ的结构,所述的输送轨道Ⅱ4的旋转轨道31与输送轨道Ⅱ后轨道27之间设置为存在间隙部Ⅱ的结构,所述的大型铸件去毛刺系统还包括铸件孔系工作台16,铸件孔系工作台16设置在靠近旋转机构28的位置。间隙部Ⅰ和间隙部Ⅱ的设置,便于在旋转机构旋转时,旋转轨道不会和输送轨道Ⅱ前轨道26及输送轨道Ⅱ后轨道27发生干涉,便于旋转机构高效顺畅完成大型铸件位置变换。There is a gap portion I between the rotating track 31 of the conveying track II4 and the front track 26 of the transporting track II, and there is a gap between the rotating track 31 of the transporting track II4 and the rear track 27 of the transporting track II. For the structure of the gap part II, the large-scale casting deburring system also includes a casting hole system workbench 16 , and the casting hole system workbench 16 is arranged at a position close to the rotation mechanism 28 . The setting of the gap part I and the gap part II facilitates that when the rotating mechanism rotates, the rotating track will not interfere with the front track 26 of the conveying track II and the rear track 27 of the conveying track II, which facilitates the rotating mechanism to efficiently and smoothly complete the position change of large castings.

所述的大型铸件去毛刺系统还包括末端夹具32,末端夹具32包括末端夹具本体33,末端夹具本体33与机器人Ⅱ2的机器人Ⅱ移动臂末端连接,所述的末端夹具本体33上安装平磨机、旋转锉、毛刷、气动风枪中的一种或多种。上述结构,末端夹具32包括多种,而通过机器人Ⅱ2的机器人Ⅱ移动臂末端的位置变换,可以在平磨机、旋转锉、毛刷、气动风枪之间进行快捷切换,从而高效使用不同工具对大型铸件进行作业,而平磨机等也可以拆卸更换为其他工具。The large-scale casting deburring system also includes an end clamp 32, the end clamp 32 includes an end clamp body 33, the end clamp body 33 is connected to the end of the robot II mobile arm of the robot II2, and a flat grinder is installed on the end clamp body 33 , rotary file, brush, pneumatic air gun in one or more. In the above structure, the end clamp 32 includes multiple types, and through the position change of the end of the robot II mobile arm of the robot II2, it is possible to quickly switch between the flat grinder, the rotary file, the brush, and the pneumatic air gun, so that different tools can be used efficiently Work on large castings, and the flat grinder can also be disassembled and replaced with other tools.

所述的翻转机构框架10上设置多个U字形的转轮支架34,每个转轮11通过一个连接轴安装在一个转轮支架34上,转轮11设置为凹进在转轮支架34内的结构,板件Ⅰ22支撑在多个转轮11上时,板件Ⅰ22侧面设置为能够卡装在转轮支架34上的结构,板件Ⅱ23支撑在多个转轮11上时,板件Ⅱ23设置为能够同时卡装在转轮支架34上的结构。上述结构,通过转轮支架的设置,能够对板件Ⅰ22和板件Ⅱ23分别进行限位,避免板件Ⅰ22和板件Ⅱ23脱离转轮。A plurality of U-shaped runner brackets 34 are arranged on the described turning mechanism frame 10, and each runner 11 is installed on a runner bracket 34 through a connecting shaft, and the runners 11 are arranged to be recessed in the runner bracket 34 structure, when the plate I22 is supported on multiple runners 11, the side of the plate I22 is set as a structure that can be clamped on the runner bracket 34, and when the plate II23 is supported on multiple runners 11, the plate II23 It is arranged as a structure that can be clamped on the runner bracket 34 at the same time. The above structure, through the setting of the runner bracket, can respectively limit the position of the plate I22 and the plate II23, so as to prevent the plate I22 and the plate II23 from detaching from the runner.

上述结构,输送轨道Ⅰ3、输送轨道Ⅱ4、翻转机构的滑移部件Ⅰ13和滑移部件Ⅱ14、旋转机构的旋转轨道,均可以设置多根输送轮或输送杆,同时设置各自的电机,电机带动皮带,皮带套装在输送杆上,而电机与控制部件连接,从而实现上述输送轨道Ⅰ3、输送轨道Ⅱ4、翻转机构的滑移部件Ⅰ13和滑移部件Ⅱ14、旋转机构的旋转轨道的自动启停及输送。输送轨道Ⅰ3、输送轨道Ⅱ4、翻转机构的滑移部件Ⅰ13和滑移部件Ⅱ14、旋转机构的旋转轨道的启停节奏,与机器人Ⅰ1、机器人Ⅱ2、铸件孔系工作台16的节奏匹配,均通过控制部件控制,形成一个完整的工作系统,满足大型铸件各个部位的去毛刺及清理作业。The above structure, the conveying track I3, the transporting track II4, the sliding part I13 and the sliding part II14 of the turning mechanism, and the rotating track of the rotating mechanism can all be provided with multiple conveying wheels or conveying rods, and their respective motors can be set at the same time, and the motors drive the belts. , the belt is set on the conveying rod, and the motor is connected with the control part, so as to realize the automatic start-stop and conveying of the above-mentioned conveying track I3, conveying track II4, sliding part I13 and sliding part II14 of the turning mechanism, and the rotating track of the rotating mechanism . The starting and stopping rhythms of the conveying track I3, the transporting track II4, the sliding parts I13 and II14 of the turning mechanism, and the rotating track of the rotating mechanism match the rhythms of the robot I1, the robot II2, and the casting hole system workbench 16, and all pass Control parts control to form a complete working system to meet the deburring and cleaning operations of various parts of large castings.

本发明中,1)关于大型铸件夹持方式的改进。可变换采用大型铸件夹紧定位、机器人末端安装工具的方式进行去毛刺。在其他较小的工件上,也可以采用工具定位安装、机器人带动工件的方式进行去毛刺。2)关于工具定位及种类的研究:结合上一点,如果采用工具确定定位的方式进行去毛刺,那就需要重新设计工具的布置,研究何种布置和安装方式可以更加高效、便捷地的配合机器人夹持工件进行去毛刺。同时,在该系统中使用的工具种类,也应该结合不同工件特性进行替换,比如要综合考虑工件的材料、加工面的复杂性及客户对去毛刺精度的要求等方面进行工具的替换。3)关于机器人离线编程和软件的二次开发技术的研究:对于点位不多、路径不复杂、工件通用性差的项目,采用机器人示教方式进行编程是可以的。但是对于点位较多、路径复杂、工件通用型较强的项目,为了提高技术人员的工作量、提高系统的竞争力,可以研究采用机器人离线编程技术应用于项目研发中去,甚至可以结合相关软件进行二次开发,设计一套通用的去毛刺工艺软件系统,可以达到提高项目的竞争力。4)视觉引导去毛刺技术的研究:对不确定或未知轮廓进行在线轨迹跟踪,应用三维测量设备或各种视觉传感器在线生成被加工部分的几何模型,进而找出边界轨迹,计算出刀具路径。这样,能够进一步提高系统的精度和适用范围。In the present invention, 1) improvement on the clamping method of large castings. It can be deburred by clamping and positioning large castings and installing tools at the end of the robot. On other smaller workpieces, deburring can also be carried out by means of tool positioning and installation, and robots driving the workpiece. 2) Research on tool positioning and types: Combined with the previous point, if the deburring method is used to determine the positioning of the tool, it is necessary to redesign the tool layout, and study which layout and installation method can cooperate with the robot more efficiently and conveniently. Clamps the workpiece for deburring. At the same time, the types of tools used in the system should also be replaced according to the characteristics of different workpieces. For example, the material of the workpiece, the complexity of the processed surface, and the customer's requirements for deburring accuracy should be considered comprehensively for tool replacement. 3) Research on robot offline programming and secondary development technology of software: For projects with few points, uncomplicated paths, and poor workpiece versatility, it is possible to use robot teaching methods for programming. However, for projects with many points, complex paths, and highly versatile workpieces, in order to increase the workload of technicians and improve the competitiveness of the system, it is possible to study the use of robot offline programming technology for project development, and even combine related The secondary development of the software and the design of a general deburring process software system can improve the competitiveness of the project. 4) Research on vision-guided deburring technology: online trajectory tracking for uncertain or unknown contours, using 3D measuring equipment or various visual sensors to generate online geometric models of the processed parts, and then find out the boundary trajectory and calculate the tool path. In this way, the accuracy and scope of application of the system can be further improved.

上面结合附图对本发明进行了示例性的描述,显然本发明具体的实现并不受上述方式的限制,只要采用了本发明的方法构思和技术方案进行的各种改进,或未经改进将本发明的构思和技术方案直接应用于其他场合的,均在本发明的保护范围内。The present invention has been exemplarily described above in conjunction with the accompanying drawings. Obviously, the specific implementation of the present invention is not limited by the above-mentioned manner, as long as various improvements are adopted in the method concept and technical solutions of the present invention, or the present invention is converted without improvement. The ideas and technical solutions of the invention that are directly applied to other occasions are within the protection scope of the present invention.

Claims (9)

  1. A kind of 1. heavy castings deburring system, it is characterised in that:The heavy castings deburring system includes robot I (1), robot II (2), delivery track I (3), delivery track II (4), robot I (1) are positioned close to delivery track I (3) position Put, robot II (2) is positioned close to delivery track II (4) position, cleaning be installed on I mechanical arm of robot of robot I (1) Component I (5), cleaning member II (6), delivery track I (3) and conveyor track are installed on II mechanical arm of robot of robot II (2) Switching mechanism (7) is set between road II (4), and switching mechanism (7) is configured to the structure of control heavy castings (8) upset, machine Device people I (1) and robot II (2) are connected with control unit (9) respectively.
  2. 2. heavy castings deburring system according to claim 1, it is characterised in that:The switching mechanism (7) includes Switching mechanism frame (10), sets multiple runners (11) on switching mechanism frame (10), on multiple runners (11) support placement turn over Walk around disk (12), turntable flip (12) includes sliding component I (13) and sliding component II (14), sliding component I (13) and slides Intermediate space (15) is set between component II (14), and turntable flip (12) is configured on opposite switching mechanism frame (10) The structure that multiple runners (11) rotate, the heavy castings (8) are configured to the structure passed through from intermediate space (15).
  3. 3. heavy castings deburring system according to claim 1 or 2, it is characterised in that:The robot I (1) The cleaning member I (5) installed on I mechanical arm of robot is hairbrush I, and control unit (9) is configured to band electric brush I and moves, So as to carry out the structure of deburring and cleaning, the machine of robot II (2) to heavy castings (8) top surface of delivery track I (3) conveying The cleaning member II (6) installed on II mechanical arm of device people is hairbrush II, and control unit (9) is configured to band electric brush II and moves It is dynamic, so as to carry out the structure of deburring and cleaning to heavy castings (8) bottom surface of delivery track II (4) conveying.
  4. 4. heavy castings deburring system according to claim 1 or 2, it is characterised in that:The heavy castings unhairing Thorn system further includes casting hole system workbench (16), and casting hole system workbench (16) is positioned close to delivery track II (4) position, Casting hole system workbench (16) includes workbench body (17), attachment rail (18) in workbench body (17), on track (18) Movable block (19) is installed, multiple hole cleaning rods (20), each hole cleaning rod (20) end set one are installed on movable block (19) Cleaning brush (21).
  5. 5. heavy castings deburring system according to claim 2, it is characterised in that:The turntable flip (12) includes Plate I (22), plate II (23), sliding component I (13), sliding component II (14), the slipping part of the turntable flip (12) Part I (13) one end is connected with plate I (22), and sliding component I (13) other end is connected with plate II (23), turntable flip (12) Sliding component II (14) one end is connected with plate I (22), and sliding component II (14) other end is connected with plate II (23), plate I (22) opening portion I (24) are set on, opening portion II (25) are set on plate II (23), plate I (22) is supported on multiple runners (11) on, plate II (23) is supported on multiple runners (11).
  6. 6. heavy castings deburring system according to claim 1 or 2, it is characterised in that:The delivery track II (4) Including track (27) after track (26) before delivery track II and delivery track II, the heavy castings deburring system further includes Rotating mechanism (28), rotating mechanism (28) include frame (29), mounting rotary electric machine (30) on frame (29), electric rotating machine (30) It is connected with swing-around trajectory (31), the structure that swing-around trajectory (31) is arranged horizontally, electric rotating machine (30) connects with control unit (9) Connect, swing-around trajectory (31) is arranged on before delivery track II after track (26) and delivery track II between track (27).
  7. 7. heavy castings deburring system according to claim 6, it is characterised in that:The delivery track II (4) It is arranged to that there are the structure of clearance portion I, the delivery track before swing-around trajectory (31) and delivery track II between track (26) It is arranged to after the swing-around trajectory (31) and delivery track II of II (4) between track (27) there are the structure of clearance portion II, it is described Heavy castings deburring system further includes casting hole system workbench (16), and casting hole system workbench (16) is positioned close to whirler The position of structure (28).
  8. 8. heavy castings deburring system according to claim 1, it is characterised in that:The heavy castings deburring system System further includes end clamp (32), and end clamp (32) includes end clamp body (33), end clamp body (33) and machine The II moving arm end of robot of people II (2) connects, and flat-grinding machine, rotary file, hair are installed on the end clamp body (33) One or more in brush, pneumatic air pressure gun.
  9. 9. heavy castings deburring system according to claim 5, it is characterised in that:The switching mechanism frame (10) The upper runner stent (34) for setting multiple U-shaped, each runner (11) are installed on a runner stent by a connecting shaft (34) on, runner (11) is arranged to the structure being recessed in runner stent (34), and plate I (22) is supported on multiple runners (11) When, plate I (22) side is configured to the structure being installed on runner stent (34), and plate II (23) is supported on multiple runners (11) when on, plate II (23) is configured to the structure being installed at the same time on runner stent (34).
CN201711490000.4A 2017-12-30 2017-12-30 Burr removing system for large castings Active CN107952952B (en)

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CN108789005A (en) * 2018-06-30 2018-11-13 浙江奥龙电源有限公司 A kind of casting grid spends flash device
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