CN109732059B - Pressure regulating casting automation system - Google Patents

Abstract

An automatic pressure regulating casting system comprises a pressure regulating casting machine, a robot, a casting cooling unit, a tool library, a casting grabbing tool and a casting conveying unit; the casting cooling unit comprises a water tank and a casting positioning mechanism arranged on the water tank; the casting positioning mechanism comprises a bracket guide mechanism, a bracket driving mechanism and a soaking bracket, and the soaking bracket is arranged on the water tank; the bracket driving mechanism drives the soaking bracket to do linear motion in the vertical direction and to be soaked in the water tank; a plurality of sets of casting grabbing tools are placed in the tool library, and each casting grabbing tool comprises a connecting arm, a tray driving mechanism, a tray guiding mechanism and a clamping jaw driving mechanism; the connecting arm is used for being installed on a manipulator of the robot, and the tray is installed on the connecting arm; the tray driving mechanism drives the tray to move in the guiding direction of the tray guiding mechanism; the jaw drive mechanism is mounted on the top surface of the tray. The invention has reasonable layout, strong universality, high automation degree, simplicity and easy use.

Description

Pressure regulating casting automation system

Technical Field

The invention belongs to the technical field of casting equipment, and particularly relates to a pressure-regulating casting automation system.

Background

The light weight is one of the most important ways of energy conservation and emission reduction of the fuel oil automobile and consumption reduction and range increase of the new energy automobile, and the light weight materials such as aluminum alloy and the like replace the traditional steel materials, so that the light weight material becomes the necessary choice for updating the automobile design. With the development of casting technology, more parts adopt casting methods such as low-pressure casting, pressure regulating casting, high-pressure casting, extrusion casting and the like.

In the prior art, the metal casting production adopts manual transfer, manual workpiece taking and manual control modes, so that the metal casting production has more manual participation in different links of the production line and lower automation degree, and thus a series of problems, such as relatively severe working environment, high dangerous degree, high working strength, low production efficiency, unstable product quality and the like, are brought. With the rapid development of the automobile part casting industry, the industrial automation demand is more and more urgent, and the problems are urgently needed to be solved. In addition, with the rising of new energy automobiles and other emerging industries, the demands for automobile parts and components are becoming more diversified, and a casting system which is flexible and easy to use and has higher adaptation degree is required to be matched with the automobile parts and components.

Disclosure of Invention

The invention provides a pressure-regulating casting automation system, which aims to solve the problems of relatively bad working environment, high dangerous degree, high working strength, low production efficiency, unstable product quality and the like caused by low automation degree in the existing metal casting production line.

In order to achieve the above purpose, the invention adopts the following technical scheme: the automatic pressure regulating casting system comprises a pressure regulating casting machine, a robot, a casting cooling unit, a tool library, a casting grabbing tool and a casting conveying unit;

the die-casting machine comprises a frame, a heat preservation furnace, a casting lower die, a lower pressure kettle, a casting upper die, an upper pressure kettle, a vacuum regulating system and a casting demoulding device, wherein the heat preservation furnace is provided with a tooth-meshed quick-opening furnace door structure, the furnace door structure comprises a furnace door of a furnace mouth, teeth are arranged around the furnace door, a furnace door swing arm is arranged on the furnace door, the furnace door swing arm is hinged or pivoted with a swing arm shaft, a furnace mouth toothed flange is arranged on the furnace mouth, the furnace mouth toothed flange is provided with teeth meshed with the furnace door, and the die-casting machine further comprises a gear ring rotary drive capable of driving the furnace mouth toothed flange to rotate, and a locking block is arranged on the inner side of the furnace mouth toothed flange;

the robot comprises a base and a manipulator arranged on the base;

the robot comprises a base fixed on the ground and a manipulator arranged on the base;

the casting cooling unit comprises a water tank and at least one casting positioning mechanism, the casting positioning mechanism is arranged on a tank body of the water tank, and the upper end of the water tank is provided with an opening; the casting positioning mechanism comprises a bracket guide mechanism, a bracket driving mechanism and a soaking bracket, wherein the soaking bracket is arranged on a box body of the water tank through the bracket guide mechanism and comprises a bracket base and a bearing part, the bearing part is fixedly arranged on the bracket base, the bearing part is arranged corresponding to an opening at the upper end of the water tank, and a clamp for positioning and clamping the casting is arranged on the bearing part; the bracket driving mechanism is fixedly arranged on the tank body of the water tank, the driving end of the bracket driving mechanism acts on the base of the frame body and can drive the soaking bracket to do linear motion in the vertical direction, so that the bearing part can be soaked into cooling liquid of the water tank;

a plurality of sets of casting grabbing tools are placed in the tool library, and each casting grabbing tool comprises a connecting arm, a tray driving mechanism, at least three tray guiding mechanisms, clamping jaws and at least one clamping jaw driving mechanism; the connecting arm can be arranged on the manipulator of the robot, and the tray is arranged on the connecting arm through the tray guiding mechanism; the tray driving mechanism is fixedly arranged on the connecting arm, and the driving end of the tray driving mechanism acts on the bottom surface of the tray and can drive the tray to do linear motion in the guiding direction of the tray guiding mechanism; the clamping jaw driving mechanism is fixedly arranged on the top surface of the tray, clamping jaws are arranged on the clamping jaw driving mechanism, and the clamping jaw driving mechanism can drive the clamping jaws to clamp castings.

In a working state, a manipulator of the robot can move to the position of the tool library, and a casting grabbing tool in the tool library is mounted on the manipulator; then, the robot drives the casting grabbing tool to enter a die of the casting machine to grab the casting; and the robot grabs the castings to the casting cooling unit to cool the castings, and finally, the robot transfers the casting grabbing tool to the casting conveying unit.

The relevant content explanation in the technical scheme is as follows:

1. in the scheme, the pressure regulating casting automation system further comprises a casting trimming unit, a sawing unit and a casting marking unit.

The casting edge cutting unit comprises an edge cutter and an edge cutting die; the edge cutter comprises a plurality of conventional hydraulic edge cutters, servo hydraulic edge cutters and the like; the trimming die is a tool which is suitable for die casting post-treatment. The casting trimming unit is used for cutting off unavoidable burrs, separation skins, appearance outlines, corresponding pouring systems and overflow systems on casting products, and can realize random-direction punching by adopting pneumatic and hydraulic technologies, so that the castings are cleaned at one time. The traditional flash removing process is manually carried out by using a file and an electric tool through manual and experience grinding and removing, the quality of a product in the process cannot be guaranteed, the production efficiency is low, and the manual work is difficult to manage; with the increasing requirement of die castings, the labor cost is continuously increased, and the manual deburring method is thoroughly eliminated. Reasonable use of the trimming die can ensure consistency of products, effectively improve production efficiency and greatly reduce site labor.

The sawing unit comprises a sawing support, a sawing shield, a waste truck and a sawing circular saw spindle, the rotating speed of the sawing spindle can be adjusted through a frequency converter, the sawing circular saw spindle is arranged on the upper portion of the sawing support, the sawing shield is also arranged on the upper portion of the sawing support and surrounds the sawing circular saw spindle, and the waste truck is located below the sawing support. The sawing unit is used for removing casting process structures such as casting pouring channels, risers and the like.

The casting marking unit adopts a pneumatic marking machine or a laser marking machine and the like, and has the functions of marking castings, endowing each casting with a specific identification code, and facilitating production and after-sale management and control.

The pressure regulating casting automation system also comprises a casting auxiliary turntable, wherein the casting auxiliary turntable comprises a rotary power unit (which can be a rotary cylinder), a clamp tray and a positioning clamp; the rotary power unit acts on the clamp tray and drives the clamp tray to rotate, and the positioning clamp is arranged on the clamp tray according to the casting layout. The auxiliary rotating platform for the castings is used for adjusting the postures of the castings relative to the manipulator and temporarily storing the castings.

2. In the scheme, the pressure regulating casting automation system further comprises a control device, and the control device is connected with the robot, the bracket driving mechanism, the tray driving mechanism and the clamping jaw driving mechanism. The control device can monitor and collect motion data of the robot in real time, and instruct the robot to move to a tool library to install a casting grabbing tool and transfer castings to a casting trimming unit, a sawing unit, a casting marking unit and a casting conveying unit of the casting cooling unit.

3. Regarding the casting cooling unit: the bracket guiding mechanism comprises a first sliding sleeve and a first guiding rod, the first sliding sleeve is in sliding connection with the first guiding rod, the first sliding sleeve is fixedly installed on the tank body of the water tank, and the upper end of the first guiding rod is fixedly connected with the bracket body base of the soaking bracket.

The water tank is characterized in that a water supplementing valve, a water draining valve and an overflow pipe are arranged on the tank body of the water tank, one end of the overflow pipe is communicated with the tank body of the water tank, and the other end of the overflow pipe is communicated with the water draining valve. The overflow pipe further ensures that the liquid level of the cooling liquid does not overflow the water tank. The water tank body of the water tank is provided with a liquid level sensor and a water temperature sensor. That is, the water tank has a constant temperature function, and the temperature and level of the coolant in the water tank can be controlled by the control device.

The casting cooling unit comprises at least two casting positioning mechanisms, one casting positioning mechanism is equivalent to one station, and when two or more stations are arranged, the plurality of stations can alternately realize casting cooling, so that the production efficiency is improved. For example, when there are two stations, one station is in an upward out-water operating position, waiting for the casting to be transferred from the casting machine to the submerged bracket, and the other station is in a downward out-water operating position, immersing the submerged bracket carrying the high temperature casting in the coolant of the water tank. And through the control device, each casting positioning mechanism can be controlled respectively, so that the alternate cooling of castings is realized.

In the casting cooling unit, the bearing part is horizontally arranged and mounted on the frame base.

The bracket driving mechanism is an air cylinder. Thus, the casting cooling unit further includes a solenoid valve mounted to the water tank and controlling operation of the carriage drive mechanism. When the castings need to be cooled, the electromagnetic valve controls the piston rod of the bracket driving mechanism to descend, the immersed bracket is immersed into the cooling liquid of the water tank with the castings, and after the castings are immersed for a proper period of time, the electromagnetic valve controls the piston rod of the bracket driving mechanism to ascend, and the castings are separated from the cooling liquid.

4. Relevant foundry goods snatchs frock: the connecting arm is formed by fixedly connecting or integrally forming a first support arm, a second support arm and a third support arm, one end of the third support arm is connected with one end of the first support arm, the other end of the third support arm is connected with one end of the second support arm, and the first support arm, the second support arm and the third support arm form a type component. The tray driving mechanism is installed between the first support arm and the second support arm.

The connecting arm is arranged on the manipulator through the quick-change connector. That is, the casting grabbing tool is installed on the manipulator of the robot through the quick-change connector, and quick change of the casting grabbing tool is achieved. The quick-change connector is a universal pneumatic quick-locking device and consists of a male end and a female end, wherein the male end is arranged on a manipulator, the female end is arranged on a connecting arm, and connection and separation between the male end and the female end are realized in a pneumatic mode.

The tray guiding mechanism comprises a second sliding sleeve and a second guiding rod, the second sliding sleeve is in sliding connection with the second guiding rod, the upper end of the second sliding sleeve is fixedly connected with the tray, the lower end of the second guiding rod is fixedly connected to the connecting arm, and the upper end of the second guiding rod serves as a free end to penetrate through a tray body of the tray.

The tray driving mechanism can drive the tray to do linear motion in the direction perpendicular to the connecting arm, namely, the tray is located on the top surface of the connecting arm, and the guiding direction of the tray guiding mechanism is the direction perpendicular to the top surface of the connecting arm.

In the casting grabbing tool, the tray driving mechanism is an air cylinder, and most preferably, the tray driving mechanism is a low-friction air cylinder. The clamping jaw driving mechanisms are clamping jaw air cylinders, and each clamping jaw driving mechanism is provided with at least one clamping jaw. When tray actuating mechanism and clamping jaw actuating mechanism are the cylinder, foundry goods snatchs frock still includes solenoid valve group and relief pressure valve, solenoid valve group and relief pressure valve all install on the linking arm. When the workpiece is taken out, the electromagnetic valve group controls the piston rod of the low-friction cylinder to extend out, so that the tray moves upwards to a high position, and meanwhile, the electromagnetic valve group controls the clamping jaw cylinder to clamp the casting; the pressure reducing valve is used to exhaust air in the low friction cylinder when the casting machine performs a blanking action. The casting descends under the action of material returning, at the moment, the low-friction air cylinder passively descends, and air in the air cylinder is discharged through the pressure reducing valve. The set of casting grabbing tool can take out a plurality of castings from a multi-cavity mold at one time.

5. In the scheme, the pressure regulating casting automatic system is suitable for producing aluminum alloy castings, and is particularly suitable for producing chassis parts such as automobile steering knuckles, control arms, auxiliary frames and the like, new energy motor shell parts and aerospace cabin parts.

6. In the scheme, in the pressure-regulating casting automation system, a casting machine, a casting cooling unit, a tool warehouse and a casting conveying unit are arranged around the robot by taking the robot as a center; or the casting machine, the casting cooling unit, the tool warehouse, the casting conveying unit, the casting trimming unit, the sawing unit and the casting marking unit are arranged around the robot by taking the robot as a center; or, centering on the robot, the casting machine, the casting cooling unit, the tool warehouse, the casting conveying unit, the casting trimming unit, the sawing unit, the casting marking unit and the casting auxiliary turntable are arranged around the robot.

7. In the above scheme, the robot refers to an industrial robot commonly found in the prior art, the industrial robot is a multi-joint manipulator or a multi-degree-of-freedom machine device facing the industrial field, can automatically execute work, and is a machine for realizing various functions by self power and control capability. The robot is specifically any one of a four-degree-of-freedom robot, a five-degree-of-freedom robot and a six-degree-of-freedom robot, and a preferable scheme is that the robot is a six-degree-of-freedom robot.

8. In the scheme, the pressure regulating casting machine adopts the pressure regulating type pressurizing casting technology, the technology is a novel casting technology developed based on differential pressure casting, low-pressure laminar flow filling and high-pressure solidification forming can be realized, and the compensating effect of the casting is obviously improved.

The invention has the advantages compared with the prior art that:

1. the casting cooling unit is provided with the casting positioning mechanism capable of lifting, the casting positioning mechanism comprises the bracket guide mechanism, the bracket driving mechanism and the soaking bracket, the horizontal bearing part of the soaking bracket is arranged corresponding to the cavity of the water tank, and the soaking bracket can lift up and down under the driving action of the driving mechanism. Moreover, at least two casting positioning mechanisms are arranged, one casting positioning mechanism is equivalent to one station, when two or more stations are arranged, the two or more stations can be respectively controlled by the control device, and the plurality of stations can alternately realize casting cooling, so that the automatic production efficiency is improved.

2. The casting cooling unit also comprises a liquid level sensor and a water temperature sensor, wherein the liquid level sensor is matched with the water supplementing valve and the water draining valve to control the liquid level height in the water tank; the highest temperature of liquid in the water tank can be controlled by utilizing the actions of water discharge and water supplement, the cooling effect of castings is guaranteed, the temperature of cooling liquid is fed back through a water temperature sensor, when the temperature exceeds the upper limit of the set temperature, a water discharge valve and a water supplement valve are sequentially opened, hot water is replaced by cold water until the temperature of the cooling liquid meets the lower limit of the set temperature.

3. The production line is provided with the tool library and the casting grabbing tools, and the robot can replace the casting grabbing tools in the tool library, so that the process adaptability and the universality are improved. For example, when the model of the cast to be produced changes, or in different working procedures of the production line, the casting grabbing tool on the manipulator needs to be replaced according to different functions and clamping processes, so as to match with different processes or working procedures.

4. The casting grabbing tool disclosed by the invention can be adapted to a common manipulator, after a casting is taken out from a die cavity, the tray driving mechanism drives the tray to move downwards, the casting grabbing tool can keep synchronous with the material returning action of a casting machine, and furthermore, a manipulator provided with the casting grabbing tool can be well adapted to the material returning action of the casting machine, so that the manipulator is protected. In addition, the tray driving mechanism can be a low-friction air cylinder, and the force of the ejection device in the die can reach ton level when the material is returned, so that the low-friction air cylinder can be adopted to follow in the material returning process, the damage to the manipulator caused by the material returning action is further avoided, and the service life of the manipulator is ensured. That is, the casting grabbing tool solves the problem that the traditional mechanical arm is not matched with the material returning action, and ensures the safety of material taking work.

5. The connecting arm in the casting grabbing tool can be a type component, so that the whole structure of the casting grabbing tool is simple and compact, the tray is well supported, and the stability of the whole structure is ensured.

6. According to the invention, the robot is adopted to replace manual transportation, so that full-automatic production is realized, the labor intensity is reduced, and the efficiency is improved.

7. The invention utilizes the robot to grasp and complete the working procedures of picking up the workpiece, cooling, sawing, marking and the like, thereby improving the stability and efficiency of the working procedure while avoiding repeated clamping.

8. The invention adopts the surrounding layout, namely, the robot is used as the center, each unit is arranged around the robot, the whole structure is more reasonable, the space is saved, and the production efficiency is improved.

In a word, the invention has reasonable layout, strong universality, high automation degree, accurate control, simplicity and easiness in use.

Drawings

FIG. 1 is a schematic layout of a pressure regulating casting automation system of the present invention;

FIG. 2 is a schematic illustration of a casting machine and robot picking according to the present invention;

FIG. 3 is a schematic view of the casting cooling unit of the present invention in a water-out condition, wherein the submerged bracket is shown with the casting disengaged from the coolant in the water tank;

FIG. 4 is a schematic view showing the structure of the casting cooling unit of the present invention in a submerged state, in which the submerged bracket is immersed in the coolant in the water tank with the casting;

FIG. 5 is a schematic structural view of the casting grabbing tool of the invention;

FIG. 6 is a schematic structural view of the casting trimming unit of the present invention;

FIG. 7 is a schematic view of the sawing unit of the present invention;

FIG. 8 is a schematic view of the casting auxiliary turntable of the present invention;

FIG. 9 is a schematic perspective view of a holding furnace in the pressure regulating type pressurizing casting machine of the invention;

FIG. 10 is an enlarged schematic view of the toothed flange of the furnace door and the furnace mouth of the heat preservation furnace of the present invention;

FIG. 11 is a front view and a partial cross-sectional view of a holding furnace in the pressure regulating type pressurizing casting machine of the present invention.

In the above figures: 1. pressure regulating booster casting machine; 2. a casting cooling unit; 3. a tool library; 4. a casting marking unit; 5. a receiving tray; 6. a casting trimming unit; 7. sawing a circular saw spindle; 8. waste skip; 9. sawing the shield; 10. a casting conveying unit; 11. a casting auxiliary turntable; 12. a robot; 13. a quick-change joint; 14. casting grabbing tools; 15. a cast demoulding device; 18. sawing units; 21. a first electromagnetic valve; 22. a carriage driving mechanism; 23. a bracket guide mechanism; 24. a water temperature sensor; 25. a water tank; 26. a liquid level sensor; 27. a water-immersed bracket; 28. a clamp; 30. a water supplementing valve; 31. an overflow pipe; 32. a drain valve; 33. a frame base; 34. a support part; 41. a quick-change joint; 44. a tray; 45. a jaw drive mechanism; 46. a clamping jaw; 48. a tray guide mechanism; 49. a connecting arm; 50. a tray driving mechanism; 51. a first arm; 52. a second arm; 53. a third arm; 54. a second electromagnetic valve; 55. a pressure reducing valve; 56. edge pressing beams; 57. four guide posts; 58. a servo hydraulic system is arranged; 59. a bottom beam; 60. sawing a bracket; 61. a rotary cylinder; 62. a clamp tray; 63. positioning a clamp; 71. a furnace door bracket; 72. swing arm shaft; 73. the gear ring is driven to rotate; 74. a furnace door swing arm; 75. a gear ring; 76. a furnace door; 77. a handle; 78. a furnace door heat preservation layer; 79. a toothed flange at the furnace mouth; 80. a locking block; 81. a furnace body.

Detailed Description

The invention is further described below with reference to the accompanying drawings and examples:

examples: pressure regulating casting automation system

Referring to fig. 1 to 10, the embodiment is a pressure-regulating pressurizing casting automation system, which comprises a pressure-regulating pressurizing casting machine 1, a robot 12, a casting cooling unit 2, a tool library 3, a casting grabbing tool 14, a casting trimming unit 6, a sawing unit 18, a casting marking unit 4, a casting conveying unit 10 and a casting auxiliary turntable 11; the robot 12 is used as a center, the pressure regulating type pressurizing casting machine 1, the casting cooling unit 2, the tool warehouse 3, the casting conveying unit 10, the casting trimming unit 6, the sawing unit 18, the casting marking unit 4 and the casting auxiliary turntable 11 are arranged around the robot 12, wherein the robot 12 is arranged between the pressure regulating type pressurizing casting machine 1 and the casting conveying unit 10.

The pressure regulating type pressurizing casting machine 1 is a four-column pressure regulating casting machine and comprises a frame, a heat preservation furnace, a casting lower die, a lower pressure kettle, a casting upper die, an upper pressure kettle, a vacuum regulating system and a casting demoulding device 15; the rack comprises a bottom plate, a middle partition plate, a movable plate, a top plate and stand columns; a heat preservation furnace is arranged between the bottom plate and the middle partition plate and used for storing and preserving the metal aluminum liquid, and the heat preservation furnace comprises a furnace body 11; the middle partition plate is provided with a casting lower die and a lower pressure kettle; the lower side of the movable plate is provided with a casting upper die and an upper pressure kettle, and the lower side of the movable plate is also provided with a casting demoulding device 15; a receiving tray 5 is arranged on a frame at one side of the pressure regulating casting machine 1.

The heat-insulating furnace of the pressure-regulating pressurizing casting machine 1 is provided with a tooth-meshing quick-opening furnace door structure, the furnace door structure comprises a furnace door 76 arranged at a furnace mouth, a handle 77 is arranged on the furnace door 76, a gear ring 75 is arranged around the furnace door, a furnace door swing arm 74 is arranged on the furnace door 76, the furnace door swing arm 4 is hinged or pivoted with the swing arm shaft 72, namely, the furnace door swing arm 74 can rotate around the swing arm shaft 72, the swing arm shaft 72 is fixed on a furnace door support 71, the furnace mouth is provided with a furnace mouth toothed flange 79, the furnace mouth toothed flange 79 is provided with teeth meshed with the gear ring 5, the locking/unlocking of the furnace mouth toothed flange 9 and the furnace door can be realized through rotation, the gear ring is used for driving the furnace mouth toothed flange 79 to rotate through rotation, a furnace door heat-insulating layer 8 is filled between the furnace door and the furnace mouth toothed flange 79, and a locking block 80 is arranged on the inner side of the furnace mouth toothed flange 79, and the rotary positioning of the furnace mouth toothed flange 79 is realized.

When the casting heat preservation furnace is used, firstly, a liquid adding device is used for injecting metal liquid into the heat preservation furnace from a furnace mouth, after the liquid adding device is used, a handle 77 is used for enabling a furnace door swing arm 74 to rotate along a swing arm shaft 72 to drive a furnace door 76 to enter a furnace mouth toothed flange 79, then a gear ring is used for driving the furnace mouth toothed flange 79 to rotate in a rotating mode, the flange 79 stops rotating and is locked after touching a locking block 80, teeth on the flange are meshed with the gear ring 75 on the furnace door at the moment, closing of a furnace door structure is achieved, after the heat preservation furnace is pressurized, air pressure is applied to the furnace door 76, the furnace door 76 is enabled to tightly press the flange 79, sealing is further achieved, and casting can be carried out at the moment. After the use is finished, the heat preservation fire is discharged for pressure relief, then the gear ring rotary drive 73 drives the furnace mouth toothed flange 79 to rotate, teeth on the flange are not meshed with the gear ring 75 on the furnace door, the furnace door swing arm 74 is rotated along the swing arm shaft 72 by the handle 77, the furnace door 76 is driven to leave the furnace mouth toothed flange 79, the furnace door 76 is opened, and the next working cycle is started.

The robot 12 includes a base fixed on the ground and a manipulator mounted on the base.

The casting cooling unit 2 comprises a water tank 25 and two sets of casting positioning mechanisms, wherein the casting positioning mechanisms are arranged on a tank body of the water tank 25, the upper end of the water tank 25 is provided with an opening, and cooling liquid (generally water) is filled in the tank body of the water tank 25; one casting positioning mechanism is equivalent to a cooling station, and the two stations can alternately realize casting cooling;

the casting positioning mechanism comprises a bracket guide mechanism 23, a bracket driving mechanism 22 and a soaking bracket 27, wherein the soaking bracket 27 is arranged on a box body of the water tank 25 through the bracket guide mechanism 23, the soaking bracket 27 comprises a frame base 33 and a bearing part 34, the bearing part 34 is horizontally arranged and fixedly arranged on the frame base 33, the bearing part 34 is arranged corresponding to an upper end opening of the water tank 25, that is, the bearing part 34 can be conveniently arranged in the box body of the water tank 25, and a clamp 28 for positioning and clamping castings is arranged on the bearing part 34; the bracket guide mechanism 23 comprises a first sliding sleeve and a first guide rod, the first sliding sleeve and the first guide rod are vertically arranged, the first sliding sleeve is in sliding connection with the first guide rod, specifically the first guide rod is arranged in the first sliding sleeve in a penetrating manner, the first sliding sleeve is fixedly arranged on the tank body of the water tank 5, and the upper end of the first guide rod is fixedly connected with the frame body base 33 of the soaking bracket 27;

the bracket driving mechanism 22 is specifically an air cylinder, the cylinder body of the bracket driving mechanism 22 is fixedly mounted on the tank body of the water tank 25, the driving end of the bracket driving mechanism 22 (i.e. the piston rod of the air cylinder) acts on the frame base 33 and can drive the soaking bracket 27 to do linear motion in the vertical direction, so that the bearing part 34 can be soaked in the cooling liquid of the water tank 25. The first solenoid valve 21 is mounted on the water tank 25 and controls the operation of the carriage drive mechanism 22. The tray guide mechanism 23 plays a role of guiding the movement of the submerged tray 27 in the vertical direction.

The water tank 25 is provided with a water supplementing valve 30, a water draining valve 32 and an overflow pipe 31, one end of the overflow pipe 31 is communicated with the water tank 25, and the other end of the overflow pipe 31 is communicated with the water draining valve 32. The tank body of the water tank 25 is provided with a liquid level sensor 26 and a water temperature sensor 24.

The working process of the casting cooling unit comprises the following steps: the water tank 25 is an upper opening container, and the liquid level sensor 26 is matched with the water supplementing valve 30 and the water draining valve 32 to control the liquid level height in the water tank 5; the water temperature sensor 24 monitors the temperature of the cooling liquid in real time, and the highest temperature of the liquid in the water tank 25 can be controlled by utilizing the water draining and supplementing actions, so that the cooling effect is ensured. An overflow pipe 31 is arranged on one side of the water tank 25 to further ensure that the liquid level does not overflow the water tank.

In the standby state, the soaking bracket 27 is lifted to a high position (namely, a water outlet working state) by the bracket driving mechanism 22, after the casting is placed on the clamp 28 as shown in fig. 3, the piston rod of the cylinder is controlled to descend by the first electromagnetic valve 21, the soaking bracket 27 is immersed in the cooling liquid of the water tank 25 (namely, the water soaking working state) with the casting, and after the casting is immersed for a proper period of time as shown in fig. 4, the piston rod of the cylinder is controlled to ascend by the first electromagnetic valve 21, and the casting is separated from the cooling liquid.

The tool storage 3 is fixedly arranged relative to the ground, the main body of the tool storage 3 is a frame body, a plurality of sets of casting grabbing tools 14 are arranged in the tool storage 3, and the casting grabbing tools 14 can be arranged on a manipulator and are used for clamping castings from a casting machine; the casting grabbing tool 14 comprises a connecting arm 49, a tray 44, a tray driving mechanism 50, four tray guiding mechanisms 48, clamping jaws 46 and four clamping jaw driving mechanisms 45; the connecting arm 49 is mounted on the manipulator of the robot 12 through a quick-change connector 41, the quick-change connector 41 is a universal pneumatic quick-locking device, and consists of a male end and a female end, the male end is mounted on the manipulator, the female end is mounted on the connecting arm 49, and the male end and the female end are connected and separated in a pneumatic manner;

the connecting arm 49 is formed by fixedly connecting or integrally forming a first support arm 51, a second support arm 52 and a third support arm 53, one end of the third support arm 53 is connected with one end of the first support arm 51, the other end of the third support arm 53 is connected with one end of the second support arm 52, and the first support arm 51, the second support arm 52 and the third support arm 53 form a -type member;

the tray 44 is located and mounted on the connecting arm 49 by the tray guiding mechanism 48; the tray guiding mechanism 48 includes a second sliding sleeve and a second guiding rod, where the second sliding sleeve is slidably connected with the second guiding rod, specifically, the second guiding rod is inserted into the second sliding sleeve, the upper end of the second sliding sleeve is fixedly connected with the tray 44, the lower end of the second guiding rod is fixedly connected with the connecting arm 49, and the upper end of the second guiding rod is used as a free end to pass through the tray body of the tray 44; four tray guide mechanisms 48 form a four-point support for the tray 44;

the tray driving mechanism 50 is specifically a low-friction air cylinder, and the cylinder body of the low-friction air cylinder is fixedly arranged on the connecting arm 49 and specifically arranged between the first support arm 51 and the second support arm 52; the driving end of the tray driving mechanism 50 (i.e., the piston rod of the low friction cylinder) acts on the bottom surface of the tray 44 and is capable of driving the tray 44 to make a linear motion in a direction perpendicular to the connecting arm 49; the tray guide mechanism 48 guides the movement of the tray 44 in a direction perpendicular to the connecting arm 49;

four clamping jaw driving mechanisms 45 are uniformly distributed on one tray 44; the clamping jaw driving mechanisms 45 are specifically clamping jaw air cylinders, the cylinder bodies of the clamping jaw air cylinders are fixedly arranged on the top surface of the tray 44, three clamping jaws 46 are arranged on each clamping jaw driving mechanism 45, and the driving ends of the clamping jaw driving mechanisms 45 act on the clamping jaws 46 and can drive the clamping jaws 46 to clamp castings; the casting grabbing tool 14 further comprises a second electromagnetic valve 54 and a pressure reducing valve 55, and the second electromagnetic valve 54 and the pressure reducing valve 55 are mounted on the connecting arm 49.

The working process of the casting grabbing tool 14 comprises the following steps: in the standby state, the jaw driving mechanism 45 is in an open state, the piston rod of the tray driving mechanism 50 extends out, and the tray 44 is in a high position shown in fig. 5; when a picking command is obtained, the robot 12 sends the casting grabbing tool 14 of the embodiment to the position right below the casting mold, the casting is positioned in the casting mold, the casting is left on the upper mold after mold opening, and at the moment, the casting grabbing tool 14 is positioned on a working position; the clamping jaw driving mechanism 45 is controlled by the second electromagnetic valve 54 to grasp the casting, then the die-casting machine 1 executes a material returning action, the casting descends under the material returning action, at the moment, the tray driving mechanism 50 descends passively, and air in the air cylinder is discharged through the pressure reducing valve 55; after the material returning operation is completed, the tray driving mechanism 50 is locked in position, and the casting is transferred to the next process by the robot 12 in a clamped state.

The casting edge cutting unit 6 is an edge cutter, in particular a traditional three-beam four-column type hydraulic edge cutter, wherein an edge pressing beam 56 can move up and down along four guide columns 57 to finish edge pressing action; the servo hydraulic system is arranged at the top of the equipment and is responsible for the transmission of the whole blank pressing power; the upper die and the lower die of the trimming die are respectively arranged on a bottom beam 59 and a side pressing beam 56 of the trimming machine through T-shaped bolts; the casting trimming unit 6 is used for cutting off unavoidable burrs, separation skins, appearance outlines, corresponding pouring systems and overflow systems on casting products, and can realize any-direction punching by adopting pneumatic and hydraulic technologies, so that the castings are cleaned at one time;

the sawing unit 18 comprises a sawing support 60, a sawing shield 9, a waste truck 8 and a sawing circular saw spindle 7, the rotating speed of the sawing circular saw spindle 7 can be adjusted through a frequency converter, the sawing circular saw spindle 7 is arranged on the upper portion of the sawing support 60, the sawing shield 9 is also arranged on the upper portion of the sawing support 60 and surrounds the sawing circular saw spindle 7, and the waste truck 8 is arranged below the sawing support 60. The sawing unit 18 is used for removing casting process structures such as casting runners, risers and the like.

The casting marking unit 4 adopts a pneumatic marking machine or a laser marking machine and the like, and has the functions of marking castings, endowing each casting with a specific identification code, and facilitating production and after-sale management and control;

the casting transport unit 10 is a conveyor belt or conveyor chain as is common in the art;

the casting auxiliary turntable 11 includes a rotary cylinder 61, a jig tray 62, and a positioning jig 63; the rotary cylinder 61 acts on the jig tray 62 and drives the jig tray 62 to rotate, the jig tray 62 is mounted on the mounting interface of the rotary cylinder 61, and the positioning jig 63 is mounted on the jig tray 62 in accordance with the casting layout. The auxiliary rotating platform 11 for castings is used for adjusting the posture of the castings relative to the manipulator and temporarily storing the castings.

The metal casting automation system further includes a control device coupled to the robot 12, the carriage drive 22, the tray drive 50, and the jaw drive 45. The control device can control the movement of the robot 12 and monitor the movement data of the robot 12 in real time; the control device can control the extension or retraction of the piston rods of the carriage drive mechanism 22 and the tray drive mechanism 50, and can also control the closing or opening of the jaws 46 on the jaw drive mechanism 45.

In the working state, the manipulator of the robot 12 can move to the position of the tool magazine 3, and the casting grabbing tool 14 in the tool magazine 3 is mounted on the manipulator; then, the robot 12 drives the casting grabbing tool 14 to enter a die space of the pressure regulating type pressurizing casting machine 1 to grab castings; the robot 12 grabs the castings into the casting cooling unit 3 to cool the castings, and finally, the robot 12 transfers the casting grabbing tool 14 to the casting conveying unit 10.

The working process of the whole production line is as follows:

(1) The pressure regulating type pressurizing casting machine 1 completes casting molding and mold opening, the robot 12 drives the casting grabbing tool 14 to enter a casting mold, the clamping jaws 46 grab the casting, then the casting demolding device 15 starts demolding, the tray driving mechanism 50 synchronously works, and after demolding is completed, the tray driving mechanism 50 locks the position.

(2) The robot 12 grabs the casting to the casting cooling unit 2, places the casting on one of the cooling stations, and the casting cooling unit 2 performs a cooling action.

(3) The six-freedom robot 12 grabs the cooled castings in the casting cooling unit 2, transfers the castings to the casting trimming unit 6, completes trimming actions and takes out the trimmed castings.

(4) The six-freedom robot 12 grabs the castings and transfers the castings to the sawing unit 18, and the sawing circular saw spindle 7 is matched with the six-freedom robot to complete casting pouring gate and riser sawing work, and sawing waste enters the waste car 8.

(5) The six-freedom robot 12 transfers the castings to the marking station, and the marking action is completed by the casting marking unit 4.

(6) Finally, the six-freedom robot 12 transfers the castings to the casting transfer unit 10, and the castings are transferred to the next machining process.

In the working process, the six-freedom robot 12 can quickly replace the casting grabbing tool 14 in the tool warehouse 3 according to the casting characteristics; after cooling and trimming, the six-freedom robot 12 needs to replace the casting grabbing tool 14 in the tool magazine 3 and then grab the casting. In the working process, the robot 12 can temporarily place the castings on the casting auxiliary turntable 11, and grasp the castings again after adjusting the posture of the castings.

Explanation about the above embodiment:

1. the fixture 28 on the submerged bracket 27 may be a positioning fixture commonly used in the prior art, and the specific structure of the fixture 28 is not limited or required in the present invention, and the fixture 28 only serves to position the casting on the supporting portion 34 of the submerged bracket 27.

2. The carriage driving mechanism 22 may be other conventional driving mechanisms in the art, such as various types of linear motors or hydraulic cylinders, and is not limited to the cylinder of the present embodiment.

3. The invention is provided with two casting positioning mechanisms, one casting positioning mechanism is equivalent to a cooling station in terms of position, and belongs to a preferred embodiment, the number of casting positioning mechanisms is not limited to the above, and the number of casting positioning mechanisms can be set according to actual needs. Of course, when two or more casting positioning mechanisms are recommended, the plurality of stations can alternately realize casting cooling, and the production efficiency can be greatly improved.

4. For convenience of installation, the bracket guide mechanism 23 of the present embodiment belongs to a preferred embodiment, and the bracket guide mechanism 23 may also adopt other conventional structural designs, for example, the bracket guide mechanism 23 may be composed of a guide groove and a guide rail, the guide groove is disposed on the outer wall of the water tank 25 and is vertically disposed, the guide rail is slidably connected with the guide groove, and the upper end of the guide rail is fixedly connected with the frame base 33. Of course, the specific variations of the carriage guide 23 are numerous.

5. The tray driving mechanism 50 may employ other conventional driving mechanisms in the art, such as various types of motors or hydraulic cylinders, not limited to the low friction cylinder of the present embodiment.

6. The movement direction of the tray driving mechanism 50 for driving the tray 44 is not limited to the "linear movement in the direction perpendicular to the connecting arm 49" in the present embodiment, in practice, the manipulator will send the casting gripping tool 14 directly under the casting mold, as long as the tray 4 can align with the casting, and it is only the best embodiment to set the tray 4 to perform the linear movement in the direction perpendicular to the connecting arm 9.

7. In this embodiment, the castings are taken out from a four-cavity mold, so that four jaw driving mechanisms 45 are provided, three jaws 46 are provided on each jaw driving mechanism 45, and one jaw driving mechanism 45 is used for grabbing one casting correspondingly. In practical designs, not limited to the above numbers, the casting gripping tool 14 may be provided with a jaw drive mechanism 45 if the casting is to be removed from a one-die-cavity mold.

As for each jaw drive mechanism 45, three small jaws 46 are provided because of the stability and firmness of the gripping of the castings. In practical designs, the number of the clamping jaws 46 on each clamping jaw driving mechanism 45 is not limited to the number, and the clamping jaw driving mechanism 45 can be provided with a plurality of small clamping jaws 46 for clamping castings in a multi-point mode, and can also be provided with a large clamping jaw 46 for directly clamping castings, so that the number and specific structure of the clamping jaws 46 can be changed within the scope of the prior art according to practical needs by a person skilled in the art.

8. In this embodiment, four tray guiding mechanisms 48 are provided, and the number of tray guiding mechanisms 48 is not limited to this, and at least three tray guiding mechanisms 48 may be provided to firmly support the tray 44.

9. For convenience of installation, the tray guiding mechanism 48 of the present embodiment is a preferred embodiment, and the tray guiding mechanism 48 may also adopt other conventional structural designs, for example, a sliding sleeve in the tray guiding mechanism 48 is deformed into a sliding block, and the sliding block is slidingly connected with the guiding rod. Of course, the specific variations of the tray guide 48 are numerous.

The above embodiments are provided to illustrate the technical concept and features of the present invention and are intended to enable those skilled in the art to understand the content of the present invention and implement the same, and are not intended to limit the scope of the present invention. All equivalent changes or modifications made in accordance with the spirit of the present invention should be construed to be included in the scope of the present invention.

Claims (7)

1. A pressure regulating casting automation system, characterized by: the casting machine comprises a die-casting machine (1), a robot (12), a casting cooling unit (2), a tool library (3), a casting grabbing tool (14) and a casting conveying unit (10);

the pressure regulating casting machine (1) comprises a frame, a heat preservation furnace, a casting lower die, a lower pressure kettle, a casting upper die, an upper pressure kettle, a vacuum regulating system and a casting demoulding device (15), wherein the heat preservation furnace is provided with a tooth-meshed quick-opening furnace door structure, the furnace door structure comprises a furnace door (76) of a furnace mouth, teeth are arranged around the furnace door (76), a furnace door swing arm (74) is arranged on the furnace door (76), the furnace door swing arm (74) is hinged or pivoted with a swing arm shaft (72), a furnace mouth toothed flange (79) is arranged on the furnace mouth, the furnace mouth toothed flange (79) is provided with teeth meshed with the furnace door (76), the furnace mouth toothed flange (79) is driven to rotate by a tooth ring rotation driving device (73), and a locking block (80) is arranged on the inner side of the furnace mouth toothed flange (79);

the robot (12) comprises a base and a manipulator mounted on the base;

the casting cooling unit (2) comprises a water tank (25) and at least one casting positioning mechanism, wherein the casting positioning mechanism is arranged on the tank body of the water tank (25), and the upper end of the water tank (25) is provided with an opening; the casting positioning mechanism comprises a bracket guide mechanism (23), a bracket driving mechanism (22) and a soaking bracket (27), wherein the soaking bracket (27) is arranged on a box body of the water tank (25) through the bracket guide mechanism (23), the soaking bracket (27) comprises a bracket base (33) and a bearing part (34), the bearing part (34) is fixedly arranged on the bracket base (33), the bearing part (34) is arranged corresponding to an opening at the upper end of the water tank (25), and a clamp (28) for positioning and clamping castings is arranged on the bearing part (34); the bracket driving mechanism (22) is fixedly arranged on the tank body of the water tank (25), the driving end of the bracket driving mechanism (22) acts on the frame body base (33) and can drive the soaking bracket (27) to do linear motion in the vertical direction, so that the bearing part (34) can be soaked in cooling liquid of the water tank (25);

a plurality of sets of casting grabbing tools (14) are placed in the tool library (3), and each casting grabbing tool (14) comprises a connecting arm (49), a tray (44), a tray driving mechanism (50), at least three tray guiding mechanisms (48), clamping jaws (46) and at least one clamping jaw driving mechanism (45); the connecting arm (49) can be mounted on the manipulator of the robot (12), and the tray (44) is mounted on the connecting arm (49) through a tray guiding mechanism (48); the tray driving mechanism (50) is fixedly arranged on the connecting arm (49), and the driving end of the tray driving mechanism (50) acts on the bottom surface of the tray (44) and can drive the tray (44) to do linear motion in the guiding direction of the tray guiding mechanism (48); the clamping jaw driving mechanism (45) is fixedly arranged on the top surface of the tray (44), clamping jaws (46) are arranged on the clamping jaw driving mechanism (45), and the clamping jaw driving mechanism (45) can drive the clamping jaws (46) to clamp castings;

the pressure-regulating casting automation system further comprises a casting trimming unit (6), a sawing unit (18) and a casting marking unit (4);

the tray guiding mechanism (48) comprises a second sliding sleeve and a second guiding rod, the second sliding sleeve is in sliding connection with the second guiding rod, the upper end of the second sliding sleeve is fixedly connected with the tray (44), and the lower end of the second guiding rod is fixedly connected to the connecting arm (49).

2. The pressure regulating casting automation system of claim 1, wherein: the pressure regulating casting automation system further comprises a control device, wherein the control device is connected with the robot (12), the bracket driving mechanism (22), the tray driving mechanism (50) and the clamping jaw driving mechanism (45).

3. The pressure regulating casting automation system of claim 1, wherein: the bracket guide mechanism (23) comprises a first sliding sleeve and a first guide rod, the first sliding sleeve is in sliding connection with the first guide rod, the first sliding sleeve is fixedly arranged on the tank body of the water tank (25), and the upper end of the first guide rod is fixedly connected with the bracket base (33) of the soaking bracket (27).

4. The pressure regulating casting automation system of claim 1, wherein: the water tank is characterized in that a water supplementing valve (30), a water draining valve (32) and an overflow pipe (31) are arranged on the tank body of the water tank (25), one end of the overflow pipe (31) is communicated with the tank body of the water tank (25), and the other end of the overflow pipe (31) is communicated with the water draining valve (32).

5. The pressure regulating casting automation system of claim 1 or 4, wherein: the tank body of the water tank (25) is provided with a liquid level sensor (26) and a water temperature sensor (24).

6. The pressure regulating casting automation system of claim 1, wherein: the connecting arm (49) is formed by fixedly connecting or integrally forming a first support arm (51), a second support arm (52) and a third support arm (53), one end of the third support arm (53) is connected with one end of the first support arm (51), the other end of the third support arm (53) is connected with one end of the second support arm (52), and the first support arm (51), the second support arm (52) and the third support arm (53) form a -type component.

7. The pressure regulating casting automation system of claim 6, wherein: the tray driving mechanism (50) is installed between the first arm (51) and the second arm (52).