阅读说明：本技术 一种基于机器人的大型复杂砂型干燥系统 (Large-scale complicated sand mould drying system based on robot ) 是由 徐彪 胡长明 徐小平 娄华威 陈实 冯展鹰 于 2020-07-03 设计创作，主要内容包括：本发明公开了一种基于机器人的大型复杂砂型干燥系统,涉及无模铸造技术领域,具体包括机器人、涂料检查台、自动抓取机构、干燥装置和砂型存放台。本发明在实施过程中,改变了传统砂型自然干燥的方法,采用基于机器人的自动干燥的系统,缩短了干燥时间,提高了砂型干燥效率,大大节省了后续合型工序所需等待的时间；采用机器人、视觉系统,按照砂型干燥工艺顺序,逐件将浸涂好的砂型放入干燥装置内腔支撑架上的相应位置进行自动加热、保温,完成砂型干燥,为大型复杂砂型自动干燥提供了自动化系统。(The invention discloses a robot-based large complex sand mold drying system, relates to the technical field of die-free casting, and particularly comprises a robot, a coating inspection table, an automatic grabbing mechanism, a drying device and a sand mold storage table. In the implementation process, the traditional sand mold natural drying method is changed, and an automatic drying system based on a robot is adopted, so that the drying time is shortened, the sand mold drying efficiency is improved, and the waiting time required by the subsequent mold assembling process is greatly saved; and (3) a robot and a vision system are adopted, and the sand mould which is well dipped and coated is placed into a corresponding position on a support frame of an inner cavity of a drying device one by one according to the sand mould drying process sequence to be automatically heated and insulated, so that the sand mould drying is completed, and an automatic system is provided for the automatic drying of large-scale complex sand moulds.)

1. A robot-based large-scale complex sand mold drying system comprises a robot (1), a coating inspection table (2), an automatic grabbing mechanism (3), a drying device (4) and a sand mold storage table (5), and is characterized in that the coating inspection table (2) consists of a pedal (2-1), an inspection table rack (2-2) and a rotary table (2-3), the inspection table rack (2-2) is built by aluminum profiles, the upper part of the inspection table rack is provided with the rotary table (2-3) through a bearing, the pedal (2-1) is arranged at the lower part of the inspection table rack (2-2), the pedal (2-1) is connected with the rotary table (2-3) through a connecting rod to form a cam mechanism, the rotary table (2-3) is provided with a sand mold rack (2-4) and a photoelectric switch (2-5), safety gratings (2-6) are arranged and fixed on two sides of the coating inspection table.

2. A robot-based large complex sand mould drying system according to claim (1), characterized in that the coating inspection station (2) has a total of six stations.

3. A robot-based large complex sand mould drying system according to claim (1), characterized in that the safety light barrier (2-6) and the photoelectric switch (2-5) are connected to an external control system.

4. The robot-based large-scale complex sand mold drying system according to claim (1), wherein the sand mold automatic grabbing mechanism (3) is installed on an arm of the robot (1) and consists of a servo transmission mechanism (3-1), a gripper (3-2), a vision system (3-3) and a rack (3-4), the rack (3-4) is fixed on the arm of the robot (1), the servo transmission mechanism (3-1), the gripper (3-2) and the vision system (3-3) are all installed on the rack (3-4), and the gripper (3-2) is driven by the servo transmission mechanism (3-1).

5. The robot-based large complex sand mold drying system according to the claim (4), wherein the servo transmission mechanism (3-1) and the vision system (3-3) are electrically connected with a processor built in the sand mold automatic gripping mechanism (3).

6. The robot-based large complex sand mold drying system according to claim (1), wherein the drying device (4) comprises a drying box body (4-1), a heating system, a temperature control system, a support frame (4-2), a drying cylinder (4-3) and a drying device upper cover (4-4), the support frame (4-2) is fixed in the drying box body (4-1), the drying device upper cover (4-4) is rotatably installed at the top of the drying box body (4-1) through a hinge and is pneumatically and automatically opened and closed by the drying cylinder (4-3), and the heating system and the temperature control system are arranged in the drying box body (4-1).

7. The robot-based large complex sand mold drying system according to claim 6, wherein the drying cylinders (4-3) are installed in two side walls of the drying box body (4-1), and one end of each drying cylinder (4-3) extends out of the drying box body (4-1) and is rotatably connected with the middle parts of two sides of the drying device upper cover (4-4).

8. The robot-based large complex sand mold drying system according to claim 6, wherein the heating system is composed of a cast aluminum heating plate installed at the bottom of the drying box (4-1) and a control system, the cast aluminum heating plate is electrically connected with the control system through an electromagnetic switch, and the temperature control system is composed of a temperature sensor and the control system.

9. The robot-based large complex sand mold drying system according to claim (1), wherein the sand mold storage table (5) is composed of an aluminum alloy frame table (5-1), a table plate (5-2), positioning stoppers (5-3) and a detection switch (5-4), the aluminum alloy frame table (5-1) is constructed by aluminum alloy profiles, the table plate (5-2) is fixed on the aluminum alloy frame table (5-1), four positioning stoppers (5-3) are arranged at preset positions on the side portion of the table plate (5-2), and the detection switch (5-4) is installed on the table plate (5-2).

Technical Field

The invention relates to the technical field of die-free casting, in particular to a robot-based large complex sand mold drying system.

Background

In conventional sand casting, a wooden mold or a metal mold is placed in a sand box and filled with a mixture of sand and a binder resin, after the resin is cured, the mold is taken out, and then an upper mold, a lower mold and a sand core are manually assembled to form a casting mold for casting.

The traditional sand mold is used for brushing the surface of the sand mold, the coating is not soaked in the sand mold, and the sand mold is dried naturally without drying equipment. After the sand mold adopts a dip-coating process, the whole sand mold is immersed into the coating of the dip-coating device, if the coating on the surface of the sand mold adopts the traditional natural drying process, the time for completely drying the surface is long, the subsequent mold assembly needs to wait for a long time, and the final casting efficiency is seriously influenced.

The automatic sand mold drying system based on the robot can automatically complete the drying of sand molds, heat and dry a plurality of sand molds at a time, and improve the sand mold drying efficiency and quality.

Disclosure of Invention

The invention aims to provide a robot-based large complex sand mold drying system to solve the problems in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme:

the utility model provides a large-scale complicated sand mould drying system based on robot, includes that robot, coating inspection desk, automatic snatch mechanism, drying device and sand mould deposit the platform, the coating inspection desk comprises running-board, inspection desk rack and revolving stage, and the inspection desk rack is built by the aluminium alloy, and rotatable revolving stage is installed through the bearing in its upper portion, and the running-board setting is in inspection desk rack lower part, and the running-board passes through the connecting rod to be connected with the revolving stage and form cam mechanism, is equipped with sand mould shelf and photoelectric switch on the revolving stage, and the installation is fixed with safe grating in coating inspection desk both sides.

As a further scheme of the invention: the coating inspection table is provided with six stations.

As a further scheme of the invention: the safety grating and the photoelectric switch are connected with an external control system.

As a further scheme of the invention: the automatic sand mold grabbing mechanism is arranged on an arm of a robot and consists of a servo transmission mechanism, a gripper, a vision system and a rack, the rack is fixed on the arm of the robot, the servo transmission mechanism, the gripper and the vision system are all arranged on the rack, and the gripper is driven by the servo transmission mechanism.

As a further scheme of the invention: and the servo transmission mechanism and the vision system are electrically connected with a processor arranged in the sand mold automatic grabbing mechanism.

As a further scheme of the invention: the drying device is composed of a drying box body, a heating system, a temperature control system, a support frame, a drying cylinder and a drying device upper cover, the support frame is fixed in the drying box body, the drying device upper cover is rotatably installed at the top of the drying box body through hinges and is pneumatically and automatically opened and closed through the drying cylinder, and the heating system and the temperature control system are arranged in the drying box body.

As a further scheme of the invention: the drying air cylinders are arranged in two side walls of the drying box body, and one ends of the drying air cylinders extend out of the drying box body and are rotatably connected with the middle parts of two sides of the upper cover of the drying device.

As a further scheme of the invention: the heating system is composed of a cast aluminum heating plate and a control system, wherein the cast aluminum heating plate is installed at the bottom of the drying box body, the cast aluminum heating plate is electrically connected with the control system through an electromagnetic switch, and the temperature control system is composed of a temperature sensor and the control system.

As a further scheme of the invention: the sand mold storage table is composed of an aluminum alloy frame table, a table plate, positioning stop blocks and a detection switch, the aluminum alloy frame table is formed by building aluminum alloy sections, the table plate is fixed on the aluminum alloy frame table, the four positioning stop blocks are arranged at preset positions on the side portion of the table plate, and the detection switch is installed on the table plate.

Compared with the prior art, the invention has the beneficial effects that: in the implementation process, the traditional sand mold natural drying method is changed, and an automatic drying system based on a robot is adopted, so that the drying time is shortened, the sand mold drying efficiency is improved, and the waiting time required by the subsequent mold assembling process is greatly saved; and (3) a robot and a vision system are adopted, and the sand mould which is well dipped and coated is placed into a corresponding position on a support frame of an inner cavity of a drying device one by one according to the sand mould drying process sequence to be automatically heated and insulated, so that the sand mould drying is completed, and an automatic system is provided for the automatic drying of large-scale complex sand moulds.

Drawings

Fig. 1 is a schematic structural diagram of a robot-based large complex sand mold drying system.

Fig. 2 is a schematic structural diagram of a coating inspection table in a robot-based large complex sand mold drying system.

Fig. 3 is a schematic structural diagram of an automatic sand mold grabbing mechanism in a robot-based large complex sand mold drying system.

Fig. 4 is a schematic structural diagram of a sand mold drying device in a robot-based large complex sand mold drying system.

Fig. 5 is a schematic structural diagram of a sand mold storage table in a robot-based large complex sand mold drying system.

As shown in the figure: the device comprises a robot 1, a coating inspection table 2, a pedal 2-1, an inspection table rack 2-2, a rotary table 2-3, a sand mold shelf 2-4, a photoelectric switch 2-5, a safety grating 2-6, an automatic grabbing mechanism 3, a servo transmission mechanism 3-1, a grab handle 3-2, a vision system 3-3, a rack 3-4, a drying device 4, a drying box 4-1, a support frame 4-2, a drying cylinder 4-3, a drying device upper cover 4-4, a sand mold storage table 5, an aluminum alloy frame table rack 5-1, a table plate 5-2, a positioning stop block 5-3 and a detection switch 5-4.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "top/bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "sleeved/connected," "connected," and the like are to be construed broadly, e.g., "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Referring to fig. 1 and 2, in the embodiment of the invention, a robot-based large complex sand mold drying system comprises a robot 1, a coating inspection table 2, an automatic grabbing mechanism 3, a drying device 4 and a sand mold storage table 5, wherein the coating inspection table 2 comprises a pedal 2-1, an inspection table frame 2-2 and a turntable 2-3, the inspection table frame 2-2 is constructed by aluminum profiles, a rotatable turntable 2-3 is mounted at the upper part of the inspection table frame 2-2 through a bearing, the pedal 2-1 is arranged at the lower part of the inspection table frame 2-2, the pedal 2-1 is connected with the turntable 2-3 through a connecting rod to form a cam mechanism, when the system is used, the turntable 2-3 can be manually rotated or stopped by stepping on the pedal 2-1, so as to inspect the dip-coating quality of a sand mold, the turntable 2-3 is provided with a sand mold frame 2-4 and a photoelectric switch 2-5, the sand mould shelf 2-4 is used for bearing a sand mould, the photoelectric switch 2-5 is used for judging whether the sand mould exists or not, the safety grating 2-6 is arranged on two sides of the coating inspection table, the safety grating 2-6 and the photoelectric switch 5 are both connected with an external control system, after the sand mould is inspected and confirmed through manual judgment, a button of the safety grating 2-6 is pressed, an inspector exits from a station, and the safety grating 2-6 sends a signal to the robot 1 to grab the sand mould;

the coating inspection table 2 is provided with six stations in total, and inspection of the sand mold dip-coating quality and coating supplement are manually completed;

referring to fig. 3, the automatic sand mold grabbing mechanism 3 is mounted on an arm of a robot 1 and consists of a servo transmission mechanism 3-1, a gripper 3-2, a vision system 3-3 and a frame 3-4, the frame 3-4 is fixed on the arm of the robot 1, the servo transmission mechanism 3-1, the gripper 3-2 and the vision system 3-3 are mounted on the frame 3-4, the gripper 3-2 is driven by the servo transmission mechanism 3-1 to realize grabbing function, the servo transmission mechanism 3-1 and the vision system 3-3 are electrically connected with a processor built in the automatic sand mold grabbing mechanism 3, when the robot 1 works, the robot 1 moves to a sand mold table 5, the servo transmission mechanism 3-1 acts to open the gripper 3-2, and photographs are taken through the vision system 3-3, calculating by a processor to obtain the position of a sand mold, clamping and grabbing the sand mold by a gripper 3-2, automatically moving a robot 1 to the front of a drying device 4, taking a picture by a vision system 3-3, placing a first sand mold to be dried on an inner cavity support frame of the drying device 4, subsequently repeating the previous steps, grabbing and placing the dip-coated sand mold on the inner cavity support frame of the drying device 4 one by one according to a drying sequence;

referring to fig. 4, the sand mold drying device 4 is used for drying the sand mold after dip coating, the drying device 4 is composed of a drying box 4-1, a heating system, a temperature control system, a support frame 4-2, a drying cylinder 4-3 and a drying device upper cover 4-4, the support frame 4-2 is fixed in the drying box 4-1, the drying device upper cover 4-4 is rotatably installed at the top of the drying box 4-1 through hinges and is pneumatically and automatically opened and closed by the drying cylinder 4-3, the drying cylinder 4-3 is installed in two side walls of the drying box 4-1, one end of the drying cylinder 4-3 extends out of the drying box 4-1 and is rotatably connected with the middle parts of two sides of the drying device upper cover 4-4, so as to realize the automatic opening and closing of the drying device upper cover 4-4, the drying cylinder 4-3 is controlled to stretch by a control system built in the drying box 4, the heating system and the temperature control system are arranged in the drying box body 4-1 and controlled by the control system, the heating system is composed of a cast aluminum heating plate and the control system which are arranged at the bottom of the drying box body 4-1, the cast aluminum heating plate is electrically connected with the control system through an electromagnetic switch, the temperature control system is composed of a temperature sensor and the control system, the temperature in the drying box body 4-1 is monitored, the heating of the heating system is controlled through the control system, so that the drying device 4 has the functions of overtemperature protection, fan overload protection and current protection, the robot 1 grabs the sand mold after dip coating into the drying box body 4-1 and places the sand mold on the support frame 4-2, the gripper mechanism 3 of the robot 1 retreats out of the drying box body 4-1, the upper cover 4-4 of the drying device is closed, the drying device 4 starts to work, and after the set heating time, the drying cylinder 4-3 receives a signal to open the upper cover 4-4 of the drying device, the dried sand molds are taken out, and in addition, at least two sand molds can be simultaneously dried in the drying box body 4-1, so that the drying efficiency is improved;

referring to fig. 5, the sand mold storage table 5 is composed of an aluminum alloy frame table 5-1, a table plate 5-2, a positioning block 5-3 and a detection switch 5-4, the sand mold storage table 5 is used for storing sand molds to be combined after drying, when all the sand molds to be molded are dried, the robot puts the dried sand molds on a sand mold storage table 5 one by one to wait for grabbing and molding, an aluminum alloy frame table 5-1 is built by aluminum alloy sectional materials, a table plate 5-2 is fixed on the aluminum alloy frame table 5-1, four positioning stop blocks 5-3 are arranged at preset positions on the side portion of the bedplate 5-2, the positioning stop blocks 5-3 are used for checking positions of sand molds, a detection switch 5-4 is installed on the bedplate 5-2, whether the sand molds exist on the bedplate 5-2 or not is detected, and a plurality of sand molds can be stored on the bedplate 5-2.

Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes in the embodiments and/or modifications of the invention can be made, and equivalents and modifications of some features of the invention without departing from the spirit and scope of the invention.