CN106938317B - Automatic casting system for investment casting - Google Patents
Automatic casting system for investment casting Download PDFInfo
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- CN106938317B CN106938317B CN201710239405.4A CN201710239405A CN106938317B CN 106938317 B CN106938317 B CN 106938317B CN 201710239405 A CN201710239405 A CN 201710239405A CN 106938317 B CN106938317 B CN 106938317B
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- casting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22C—FOUNDRY MOULDING
- B22C9/00—Moulds or cores; Moulding processes
- B22C9/02—Sand moulds or like moulds for shaped castings
- B22C9/04—Use of lost patterns
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
- B22D33/00—Equipment for handling moulds
- B22D33/02—Turning or transposing moulds
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
- B22D35/00—Equipment for conveying molten metal into beds or moulds
- B22D35/04—Equipment for conveying molten metal into beds or moulds into moulds, e.g. base plates, runners
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Casting Support Devices, Ladles, And Melt Control Thereby (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to the field of investment precision casting, and particularly relates to an automatic casting system for investment casting, which can automatically finish casting operation and improve safety and comprises a mould shell conveying line, wherein a robot is arranged on the side part of the mould shell conveying line.
Description
Technical Field
The invention belongs to the field of investment precision casting, and particularly relates to an automatic casting system for investment casting.
Background
In the existing production, because the appearance of the investment casting mould shell is complex, unlike a sand mould, the surface is square and integral, the pouring gate positioning and the automatic casting are easy to realize, and the difficulty of the automatic casting of the investment casting lies in that: 1. the positioning problem of the movement of the mould shell from the roasting furnace to the casting line, 2, the accurate positioning problem of the zero point coordinate of the mould shell to be cast, and 3, the problem of the accurate pouring of the molten steel of the casting ladle into the pouring cup of the mould shell in the casting process. Therefore, the prior casting adopts manual casting, the casting temperature is usually 1100-1300 ℃, the manual casting is very hot, the baking is very difficult to be carried out on the manual casting, meanwhile, the weight of the formwork is larger, common parts, the weight of the formwork is about ten-odd kilograms, the weight of the formwork is dozens of kilograms, and the formwork with the weight needs to be manually taken out of a roasting furnace by using formwork forks and placed in a casting area, then molten steel is poured into the formwork by a casting ladle, the workload is very large, the scalding is easy, and the high-temperature baking is very difficult to be carried out.
Disclosure of Invention
In order to solve the above problems, the present invention provides an automatic casting system for investment casting, which is capable of automatically completing a casting operation and improving safety.
The technical scheme is as follows: the utility model provides an investment casting automatic casting system, its includes the mould shell transfer chain, mould shell transfer chain lateral part is provided with the robot, its characterized in that, it still includes casting mechanism, casting mechanism includes intermediate frequency smelting furnace base, install the intermediate frequency stove through the rotatory drive shaft of casting ladle on the intermediate frequency smelting furnace base, the intermediate frequency stove includes intermediate frequency smelting furnace and intermediate frequency smelting furnace runner, the rotatory drive shaft of casting ladle is connected intermediate frequency furnace rotating electrical machines, be provided with conveyer belt location taper pin on the mould shell transfer chain, the robot includes investment mobile robot and investment casting robot.
The infrared receiving device and the infrared emitting device are arranged on the conveying line of the formwork;
the investment pattern mobile robot comprises an investment pattern mobile robot base, an investment pattern mobile robot large arm joint is installed on the investment pattern mobile robot base, a rotatable investment pattern mobile robot large arm is installed on the investment pattern mobile robot large arm joint, the investment pattern mobile robot large arm is connected with a large arm rotary driving motor through an investment pattern mobile robot large arm rotary harmonic reducer, a rotatable investment pattern mobile robot auxiliary arm is installed on the investment pattern mobile robot large arm, the investment pattern mobile robot auxiliary arm is connected with a formwork mobile robot auxiliary arm upper and lower rotary driving motor A through a formwork mobile robot auxiliary arm upper and lower rotary harmonic reducer A, an investment pattern mobile robot small arm is installed on the investment pattern mobile robot auxiliary arm, the investment pattern mobile robot small arm is connected with a formwork mobile robot small arm rotary driving motor A through an investment pattern mobile robot small arm rotary harmonic reducer, the investment pattern mobile robot forearm is also connected with a formwork mobile robot forearm overturning driving motor A, a rotatable formwork manipulator execution arm is mounted on the investment pattern mobile robot forearm, the formwork manipulator execution arm is connected with a formwork manipulator execution arm rotation driving motor and a formwork manipulator execution arm driving motor, a rotatable electric control manipulator hydraulic cylinder is mounted on the formwork manipulator execution arm, a piston rod of the electric control manipulator hydraulic cylinder is connected with a manipulator rotation driving motor, and a cylinder body is connected with a formwork manipulator;
the investment casting robot comprises an investment casting robot base, an investment casting robot large arm joint is mounted on the investment casting robot base, a rotatable investment casting robot large arm is mounted on the investment casting robot large arm joint, the investment casting robot large arm is connected with a large arm rotary driving motor through an investment casting robot large arm rotary harmonic reducer, a rotatable investment casting robot auxiliary arm is mounted on the investment casting robot large arm, the investment casting robot auxiliary arm is connected with a formwork moving robot auxiliary arm upper and lower rotary driving motor B through a formwork moving robot auxiliary arm upper and lower rotary harmonic reducer B, an investment casting robot small arm is mounted on the investment casting robot auxiliary arm, the investment casting robot small arm is connected with a formwork moving robot small arm rotary driving motor B through an investment casting robot small arm rotary harmonic reducer, the small arm of the investment casting robot is further connected with a small arm overturning driving motor B of a formwork moving robot, a rotatable casting robot executing arm is installed on the small arm of the investment casting robot and connected with a casting robot executing arm rotary driving motor, the casting robot executing arm comprises a casting robot executing arm worm shell, a casting robot executing arm worm is arranged in the casting robot executing arm worm shell, one end of the casting robot executing arm worm is connected with a casting ladle worm rotary driving motor, the other end of the casting robot executing arm worm is connected with a casting robot executing arm worm gear, the casting robot executing arm worm gear is connected with a casting manipulator worm gear, the casting manipulator worm gear is connected with a casting ladle driving gear, the casting ladle driving gear drives a casting ladle driving executing gear through a casting ladle driving intermediate gear, the casting ladle driving execution gear is connected with one end of a casting ladle, the other end of the casting ladle is hinged to the casting ladle rotating support, and a casting ladle opening is formed in the casting ladle;
and the investment casting robot base and the investment mobile robot base are both provided with 3D laser emission devices.
After the structure of the invention is adopted, the investment casting robot drives the casting ladle to move to the intermediate frequency furnace to automatically pour molten steel into the casting ladle, the investment mobile robot grabs the formwork, and then the investment casting robot controls the casting ladle to pour the molten steel into the formwork, thereby automatically completing the casting operation, improving the safety, and effectively avoiding the possible personal accidents of the existing manual casting and the human body damage caused by the severe environment.
Drawings
FIG. 1 is a schematic front view of the present invention;
FIG. 2 is a rear view of the present invention;
FIG. 3 is a view of the base structure of an investment casting (mobile) robot;
FIG. 4 is a right side view of the investment mobile robot;
FIG. 5 is a left side view of the investment mobile robot;
FIG. 6 is a front view of an investment casting robot;
FIG. 7 is a rear view of the investment casting robot;
FIG. 8 is a block diagram of an investment casting robot manipulator;
FIG. 9 is a structural view of an intermediate frequency furnace;
FIG. 10 is a schematic view of a formwork and a formwork positioning system;
FIG. 11 is a schematic view of a formwork delivery line;
FIG. 12 is a schematic diagram of the operation of the investment casting automatic casting system.
Detailed Description
Referring to fig. 1 to 12, an automatic investment casting system comprises a formwork conveying line 49, an investment moving robot, an investment casting robot and a casting mechanism are arranged at the side of the formwork conveying line 49, the casting mechanism comprises a medium frequency smelting furnace base 14, a medium frequency smelting furnace 11 is mounted on the medium frequency smelting furnace base 14 through a casting ladle rotating driving shaft 10, the medium frequency smelting furnace 11 is connected with a medium frequency smelting furnace control cabinet 32, the medium frequency smelting furnace 11 comprises a medium frequency furnace 33, intermediate frequency smelting furnace 12 and intermediate frequency smelting furnace runner 13, intermediate frequency smelting furnace 12 are provided with intermediate frequency smelting furnace coil 59 in the intermediate frequency smelting furnace 12, and the rotatory drive shaft of watering packet 10 passes through intermediate frequency furnace rotary gearbox 34 and connects intermediate frequency furnace rotating electrical machines 35, is provided with conveyer belt location taper pin 46 on the mould shell conveyer belt 47 in the mould shell transfer chain 49, and mould shell conveyer belt 47 connects motor 48. An infrared receiving device 75 and an infrared transmitting device 8 are arranged on the formwork conveying line 49. The investment pattern moving robot and the investment casting robot are electrically connected with a robot control console 43, a robot teaching box is installed on the robot control console 43, and the robot control console 43 is installed in a robot operation control room 41.
The investment pattern mobile robot comprises an investment pattern mobile robot base 1, an investment pattern mobile robot big arm joint 4 is arranged on the investment pattern mobile robot base 1, a rotatable investment pattern mobile robot big arm 6 is arranged on the investment pattern mobile robot big arm joint 4, the investment pattern mobile robot big arm 6 is connected with a big arm rotary driving motor 2 through an investment pattern mobile robot big arm rotary harmonic reducer 3, a rotatable investment pattern mobile robot auxiliary arm is arranged on the investment pattern mobile robot big arm 6, the investment pattern mobile robot auxiliary arm is connected with a formwork mobile robot auxiliary arm upper and lower rotary driving motor A40 through a formwork mobile robot auxiliary arm upper and lower rotary harmonic reducer A52, an investment pattern mobile robot small arm 39 is arranged on the investment pattern mobile robot auxiliary arm, the investment pattern mobile robot small arm 39 is connected with a formwork mobile robot small arm rotary driving motor A38 through a investment pattern mobile robot small arm rotary harmonic reducer 37, the small arm 39 of the investment pattern mobile robot is further connected with a small arm overturning driving motor A51 of the formwork mobile robot, a rotatable formwork manipulator execution arm 45 is installed on the small arm 39 of the investment pattern mobile robot, the formwork manipulator execution arm 45 is connected with an execution arm rotation driving motor 36 and a formwork manipulator execution arm driving motor 44, a rotatable electric control manipulator hydraulic cylinder 50 is installed on the formwork manipulator execution arm 44, and a piston rod of the electric control manipulator hydraulic cylinder 50 is connected with a manipulator rotation driving motor 9 and a cylinder body is connected with a formwork manipulator 7.
The investment casting robot comprises an investment casting robot base 17, an investment casting robot big arm joint 57 is installed on the investment casting robot base 17, a rotatable investment casting robot big arm 20 is installed on the investment casting robot big arm joint 57, the investment casting robot big arm 20 is connected with a big arm rotation driving motor 42 through an investment casting robot big arm rotation harmonic reducer 19, a rotatable investment casting robot auxiliary arm is installed on the investment casting robot big arm 20, the investment casting robot auxiliary arm is connected with a formwork moving robot auxiliary arm up-and-down rotation driving motor B22 through a formwork moving robot auxiliary arm up-and-down rotation harmonic reducer B21, an investment casting robot small arm 25 is installed on the investment casting robot auxiliary arm, the investment casting robot small arm 25 is connected with a formwork moving robot small arm rotation driving motor B78 through an investment casting robot small arm rotation harmonic reducer 24, the small arm 25 of the investment casting robot is also connected with a small arm overturning driving motor B23 of a formwork moving robot, a rotatable casting robot executing arm is arranged on the small arm 25 of the investment casting robot, the casting robot executing arm is connected with an executing arm rotating driving motor 36, the casting robot executing arm comprises a casting robot executing arm worm shell 55, a casting robot executing arm worm is arranged in the casting robot executing arm worm shell 55, one end of the casting robot executing arm worm is connected with a casting ladle worm rotating driving motor 26 through a casting robot executing arm worm driving reducer 54, the other end of the casting robot executing arm worm is connected with a casting robot executing arm worm gear 56, the casting robot executing arm worm gear 56 is connected with a casting manipulator worm gear 16, the casting manipulator worm gear 16 is connected with a casting ladle driving gear 27, the casting ladle driving gear 27 drives a casting ladle driving executing gear 29 through a casting ladle driving intermediate gear 28, the ladle driving execution gear 29 is connected with one end of a ladle 31, the other end of the ladle 31 is hinged on a ladle rotating bracket 58, and a ladle opening 30 is arranged on the ladle;
the investment casting robot base is provided with a first 3D laser emitting device 5, and the investment mobile robot base is provided with a second 3D laser emitting device 18.
As shown in fig. 10, a shuttering positioning taper pin 62 is arranged at the lower end of the element 61, the element 61 is supported on a zero coordinate positioning base 66, an upper positioning base taper hole 63 is arranged on the front side of the zero coordinate positioning base 66 and is used for matching with the shuttering positioning taper pin 62, a lower positioning base taper hole 64 is arranged on the back side of the zero coordinate positioning base and is used for matching with the conveyor belt positioning taper pin 46, and a shuttering pouring cup 60 and a pouring gate 65 are arranged on the element 61.
The structures in the bases of the investment mobile robot and the investment casting robot are the same, and the specific structures are as follows: when the structure above the big arm of the robot needs to rotate, a programming instruction is sent by the robot operating platform, the base rotation driving motor 76 works to drive the small synchronizing gear 67 to rotate, the small synchronizing gear 67 drives the big synchronizing gear 68 connected with the small synchronizing gear to rotate, the big synchronizing gear 68 drives the upper bearing plate 72 to rotate, and then the big arm of the robot arranged on the upper bearing frame is driven to rotate. When the structure above the big arm of the robot needs to be lifted, a robot console sends a programming instruction, the big arm lifting driving motor 70 starts to work to drive the lead screw to rotate, the lead screw drives the lower supporting plate and the lifting guide sleeve 73, and the upper supporting plate 72 moves up and down. Thereby driving the robot big arm and the above mechanisms to complete the up-and-down lifting function. Of which 69 is a fixed support post.
The formwork movement process is as follows: the formwork zero-point coordinate positioning base 66 is firstly placed on the conveying belt positioning taper pin 46 on the formwork conveying belt 47 on the casting line, then the formwork 15 is placed in the upper positioning taper hole 63 on the zero-point coordinate positioning base 66, and the positioning of other formworks is analogized. After the formwork positioning is finished, a programming instruction is sent by a robot operating platform, the robot drives a large arm 6 of an investment pattern moving robot, a small arm 39 of the investment pattern moving robot and a motor of an auxiliary mechanical arm of the investment pattern moving robot to be linked, a formwork manipulator 7 is driven to move to the outside of a formwork pouring cup 60, at the moment, the robot program continues to operate, an instruction is sent, an electric control hydraulic cylinder 50 is given, the hydraulic cylinder works, the formwork manipulator 7 is driven to clamp the arm formwork pouring cup 60, the robot program continues to operate, and after the formwork manipulator 7 clamps the arm formwork pouring cup 60, the robot moves to a formwork positioning taper pin 46 on a formwork conveying belt 47 to finish the movement of a formwork material.
Automatic casting process: the mould shell 15 on the mould shell conveyor belt 47 is driven backwards, after the mould shell reaches a casting positioning point, the infrared transmitting device 8 and the infrared receiving device 75 on the side of the casting positioning side start to work, the mould shell conveyor belt 47 is controlled to stop, at the moment, the automatic casting ladle moves to a position below a pouring gate of the intermediate frequency smelting furnace 11 according to a simulated teaching route, a hearth 12 of the intermediate frequency smelting furnace 11 pours molten steel into a casting ladle 31, and the automatic casting process is started:
the casting robot then enters a program for searching the position of the pouring cup of the formwork to be cast: the first positioning: and opening the second 3D laser coordinate positioning device 18, transmitting laser to the excircle of the formwork zero coordinate positioning base 66 by the second 3D laser transmitting device 18, reflecting the laser to a laser receiver, sending laser information to an operating computer through a data line, and obtaining the zero coordinate positioning coordinate number of the positioning base 66 after the analysis and calculation of the computer. And programming the moving route of the casting manipulator by taking the zero coordinate number as a programming zero coordinate.
And a second positioning: and (3) setting the operation mode on the teaching box to a teaching mode, newly building a program or selecting an edited program, controlling the robot through the teaching box to move the casting manipulator to a proper position on the mould shell pouring cup, pressing a teaching memory key, and storing positioning information.
After the positioning of the formwork positioning pouring cup is finished, the robot operating platform sends an instruction, the casting robot drives the casting robot large arm 20, the casting robot small arm 25 and the casting robot casting ladle worm to rotate and drive the motor 26 to be linked, the casting robot casting ladle worm 56 is driven to rotate, the casting ladle drives the driving gear 27, the casting ladle drives the intermediate gear 28, the casting ladle drives the execution gear 29 to rotate, the casting ladle 31 is driven to quantitatively pour molten steel in the casting ladle into the formwork 15 according to the angle simulating the rotation by a fixed amount, and the casting process is finished.
Claims (2)
1. An automatic casting system for investment casting comprises a formwork conveying line, wherein a robot is arranged on the side portion of the formwork conveying line, and the automatic casting system is characterized by further comprising a casting mechanism, the casting mechanism comprises a medium-frequency smelting furnace base, an intermediate-frequency furnace is installed on the medium-frequency smelting furnace base through a casting ladle rotating driving shaft, the intermediate-frequency furnace comprises a medium-frequency smelting furnace hearth and a medium-frequency smelting furnace sprue, the casting ladle rotating driving shaft is connected with a medium-frequency furnace rotating motor, a conveying belt positioning taper pin is arranged on the formwork conveying line, the robot comprises an investment mobile robot and an investment casting robot, an infrared receiving device and an infrared transmitting device are installed on the formwork conveying line, the investment mobile robot comprises an investment mobile robot base, an investment mobile robot arm joint is installed on the investment mobile robot base, a rotatable investment mobile robot arm is installed on the investment mobile robot arm joint, the large arm of the investment pattern mobile robot is connected with a large arm rotation driving motor through an investment pattern mobile robot large arm rotation harmonic reducer, a rotatable investment pattern mobile robot auxiliary arm is installed on the large arm of the investment pattern mobile robot, the investment pattern mobile robot auxiliary arm is connected with a formwork mobile robot auxiliary arm upper and lower rotation driving motor A through a formwork mobile robot auxiliary arm upper and lower rotation harmonic reducer A, a small arm of the investment pattern mobile robot is installed on the investment pattern mobile robot auxiliary arm, the small arm of the investment pattern mobile robot is connected with a formwork mobile robot small arm rotation driving motor A through a investment pattern mobile robot small arm rotation harmonic reducer, the small arm of the investment pattern mobile robot is further connected with a formwork mobile robot small arm overturn driving motor A, and a rotatable formwork manipulator execution arm is installed on the small arm of the investment pattern mobile robot, the formwork manipulator execution arm is connected with the formwork manipulator execution arm rotation driving motor and the formwork manipulator execution arm driving motor, a rotatable electric control manipulator hydraulic cylinder is installed on the formwork manipulator execution arm, a piston rod of the electric control manipulator hydraulic cylinder is connected with the manipulator rotation driving motor, a cylinder body of the electric control manipulator hydraulic cylinder is connected with the formwork manipulator, the investment casting robot comprises an investment casting robot base, an investment casting robot boom joint is installed on the investment casting robot base, a rotatable investment casting robot boom is installed on the investment casting robot boom joint, the investment casting robot boom is connected with the boom rotation driving motor through an investment casting robot boom rotation harmonic reducer, a rotatable investment casting robot auxiliary arm is installed on the investment casting robot boom, and the investment casting robot auxiliary arm is connected with the formwork manipulator rotation harmonic reducer B through a formwork moving robot auxiliary arm up-down rotation harmonic reducer B The shell moving robot comprises a shell moving robot auxiliary arm, a shell moving robot slewing drive motor B, a investment casting robot small arm, a shell moving robot small arm overturning drive motor B, a casting robot execution arm, a casting robot slewing drive motor, a casting robot execution arm and a casting robot worm shell, wherein the shell moving robot auxiliary arm is vertically and rotatably driven by the drive motor B, the investment casting robot auxiliary arm is provided with the investment casting robot small arm which is connected with the shell moving robot small arm slewing drive motor B through an investment casting robot small arm slewing harmonic reducer, the investment casting robot small arm is further connected with the shell moving robot small arm overturning drive motor B, the investment casting robot execution arm is provided with the casting robot execution arm worm in the shell, one end of the casting robot execution arm worm is connected with the casting worm slewing drive motor B, the casting robot execution arm worm shell is provided with the casting robot, The other end of the casting robot is connected with a casting robot actuating arm worm gear, the casting robot actuating arm worm gear is connected with a casting manipulator worm gear, the casting manipulator worm gear is connected with a casting ladle driving gear, the casting ladle driving gear drives a casting ladle driving actuating gear through a casting ladle driving intermediate gear, the casting ladle driving actuating gear is connected with one end of a casting ladle, the other end of the casting ladle is hinged on a casting ladle rotating support, and a casting ladle port is formed in the casting ladle.
2. The investment casting automatic casting system of claim 1, wherein the investment casting robot base and the investment mobile robot base are each mounted with a 3D laser emitting device.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710239405.4A CN106938317B (en) | 2017-04-13 | 2017-04-13 | Automatic casting system for investment casting |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710239405.4A CN106938317B (en) | 2017-04-13 | 2017-04-13 | Automatic casting system for investment casting |
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| CN106938317A CN106938317A (en) | 2017-07-11 |
| CN106938317B true CN106938317B (en) | 2020-04-14 |
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| CN107127734B (en) * | 2017-07-19 | 2023-03-03 | 安徽理工大学 | Suspension track type multi-arm casting robot |
| CN107243622B (en) * | 2017-08-10 | 2018-06-19 | 安徽理工大学 | Series parallel type moves heavily loaded foundry robot |
| CN108480603A (en) * | 2018-04-25 | 2018-09-04 | 河南摩西机械制造有限公司 | A kind of automatic pouring manipulator |
| CN108526449A (en) * | 2018-05-23 | 2018-09-14 | 成都忠联科技有限公司 | A kind of mechanical arm for cast |
| CN108907162A (en) * | 2018-08-09 | 2018-11-30 | 张家港市创华智能设备有限公司 | Seven axis pour robot |
| CN109604571B (en) * | 2018-12-29 | 2024-06-14 | 长沙长泰机器人有限公司 | Casting sand mould transfer chain |
| IT201900007824A1 (en) * | 2019-06-03 | 2020-12-03 | Imr Engineering & Tech S R L | PERFECTED EQUIPMENT FOR LOW PRESSURE CASTING OF METALLIC PRODUCTS |
| CN113676387B (en) * | 2021-08-11 | 2023-02-24 | 北京小米移动软件有限公司 | Zero calibration method and device for multi-legged robot, storage medium and electronic device |
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