CN109719291A - A kind of metal parts casting automated system - Google Patents
A kind of metal parts casting automated system Download PDFInfo
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- CN109719291A CN109719291A CN201910168077.2A CN201910168077A CN109719291A CN 109719291 A CN109719291 A CN 109719291A CN 201910168077 A CN201910168077 A CN 201910168077A CN 109719291 A CN109719291 A CN 109719291A
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- 229910052751 metal Inorganic materials 0.000 title claims abstract description 27
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 80
- 238000001816 cooling Methods 0.000 claims abstract description 45
- 238000007654 immersion Methods 0.000 claims abstract description 29
- 239000007788 liquid Substances 0.000 claims description 31
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 19
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Abstract
A kind of metal parts casting automated system, including casting machine, robot, casting cooling unit, tooling library, casting crawl tooling and casting supply unit;Casting cooling unit includes water tank and the casting positioning mechanism that is mounted on water tank;Casting positioning mechanism includes bracket guiding mechanism, carriage drive mechanism and immersion bracket, and immersion bracket is arranged on water tank;Carriage drive mechanism driving immersion bracket is moved in a straight line in the vertical direction and is immersed in water tank;More set casting crawl toolings are placed in tooling library, it includes linking arm, pallet, tray drive mechanism, pallet guiding mechanism and clamping jaw driving mechanism that casting, which grabs tooling,;Linking arm is used to be mounted on the manipulator of robot, and pallet is installed on the connecting arm;Tray drive mechanism driving pallet moves in the guide direction of pallet guiding mechanism;Clamping jaw driving mechanism is mounted on the top surface of pallet.It is rationally distributed, the versatile, high degree of automation of the present invention, easy to use.
Description
Technical field
The invention belongs to Casting Equipment technical fields, cast automated system more particularly, to a kind of metal parts.
Background technique
Lightweight is one of fuel-engined vehicle energy-saving and emission-reduction, most important approach of new-energy automobile consumption reduction increasing journey, with aluminium alloy
Equal lightweighting materials replace traditional steel material, it has also become the inevitable choice that Automobile Design updates.With foundry engieering
Development, more components are using the casting methods such as low pressure casting, counter-pressure casting, adjustable pressure casting, extrusion casint.
Metal casting production in the prior art mostly uses man-handling of materials, artificial pickup and manual control mode, in life
Manually participate in more in the different links of producing line, the degree of automation is lower, thus brings a series of problems, such as working environment
Rather harsh, degree of danger is high, and great work intensity, production efficiency is low, unstable product quality etc..As auto parts and components are cast
The fast development of industry, industrial automation demand is more more and more urgent therewith, and the above problem is badly in need of solving.Moreover, along with new energy
The rise of the new industries such as source automobile, auto parts and components category demand increasingly tend to diversification, need flexibly easy-to-use, adaptation journey
It is matched to spend higher casting system.
Summary of the invention
The present invention provides a kind of metal parts to cast automated system, raw its object is to solve existing metal casting
In producing line the degree of automation it is low brought by working environment rather harsh, degree of danger height, great work intensity, production efficiency it is low with
And the problems such as unstable product quality.
In order to achieve the above objectives, the technical solution adopted by the present invention is that: a kind of metal parts casts automated system, including
Casting machine, robot, casting cooling unit, tooling library, casting crawl tooling and casting supply unit;
The robot includes the manipulator of the pedestal fixed on the ground and installation on the base;
The casting cooling unit includes water tank and at least one casting positioning mechanism, which is mounted on the water
On the cabinet of case, the upper end of water tank is in opening setting;The casting positioning mechanism includes bracket guiding mechanism, carriage drive mechanism
And immersion bracket, the immersion bracket are arranged on the cabinet of water tank by bracket guiding mechanism, immersion bracket includes frame body
Pedestal and supporting part, the supporting part are fixedly mounted on the frame body pedestal, and supporting part corresponds to be arranged at the upper end opening of water tank,
The supporting part is equipped with the fixture for positioning clamping casting;The carriage drive mechanism is fixedly mounted on the case of the water tank
On body, the driving end of carriage drive mechanism acts on the frame body pedestal and can drive immersion bracket in the vertical direction
It moves in a straight line, the supporting part is immersed in the coolant liquid of water tank;
More sets casting crawl tooling is placed in the tooling library, casting crawl tooling includes linking arm, pallet, pallet drive
Motivation structure, at least three pallet guiding mechanisms, clamping jaw and at least one clamping jaw driving mechanism;The linking arm can be mounted on
On the manipulator of the robot, the pallet is installed on the connecting arm by pallet guiding mechanism;The tray drive mechanism
It is fixedly mounted on the connecting arm, the driving end of tray drive mechanism acts on the bottom surface of pallet and pallet can be driven to hold in the palm
It is moved in a straight line in the guide direction of disk guiding mechanism;The clamping jaw driving mechanism is fixedly mounted on the top surface of pallet, clamping jaw
Clamping jaw is provided in driving mechanism, clamping jaw driving mechanism can drive clamping jaw to clamp casting.
In the operating condition, the manipulator of the robot can be moved on the position in the tooling library, and by tooling
Casting crawl tooling in library is installed on manipulator;Then, robot drives casting to grab the mold that tooling enters casting machine
Between grab casting;Robot crawl casting cools down casting into the casting cooling unit, finally, robot is by casting
Crawl tooling is transferred to casting supply unit.
Related content in above-mentioned technical proposal is explained as follows:
1, in above scheme, the metal parts casting automated system further includes casting trimming unit, sawing unit and casting
Part mark unit.
The casting trimming unit includes bead cutter and shaving die;Bead cutter used includes conventional hydraulic bead cutter, watches
It is several to take hydraulic trimmer etc.;Shaving die is a kind of tooling for adapting to die casting post-processing.Casting trimming unit is for cutting
Except overlap inevitable on cast product, burr, every skin, appearance profile and corresponding running gate system, overflow system, use
Pneumatically, hydraulic technique can realize that any direction is punched, and casting is disposably cleaned out.Traditional overlap removal technique is by manually making
With file, electric tool by gimmick and experience polishing removal, the quality of product not can guarantee in this journey, and production efficiency is not
Height, artificial is even more to be difficult to manage;As the requirement of die casting is higher and higher, labor cost is constantly soaring, artificial deburring
Method will be eliminated thoroughly.The reasonable employment of edger may insure the consistency of product, effectively improve production efficiency, be a large amount of
Reduction scene it is artificial.
The sawing unit includes sawing bracket, sawing shield, dust car and sawing annular saw main shaft, the sawing speed of mainshaft
It can be adjusted by frequency converter, sawing annular saw main shaft is mounted on sawing frame upper, and sawing shield is equally installed on sawing bracket
Portion simultaneously arranges that dust car is located at the lower section of sawing bracket around sawing annular saw main shaft.Sawing unit is for removing casting running channel, emitting
The casting techniques structures such as mouth.
For the casting mark unit using pneumatic marking machine or laser marking machine etc., effect is assigned to casting mark
Each distinctive identification code of casting, it is easy to produce and manage after sale.
The metal parts casting automated system further includes casting auxiliary turntable, and it includes rotary power that casting, which assists turntable,
Unit (can be rotary cylinder), jig pallet and positioning fixture;The rotary power units act on jig pallet simultaneously
Pallet rotation is driven fixture, the positioning fixture is installed on jig pallet according to casting layout.The casting auxiliary turntable is used
Posture and temporary casting in adjustment casting relative mechanical hand.
2, in above scheme, metal parts casting automated system further includes control device, the control device with
Robot, carriage drive mechanism, tray drive mechanism and the connection of clamping jaw driving mechanism.Control device can be monitored in real time and be collected
The exercise data of robot, robot command, which moves in tooling library, to be installed casting crawl tooling and casting is transferred to casting
Cooling unit casting trimming unit, sawing unit, casting mark unit, in casting supply unit.
3, in relation to casting cooling unit: the bracket guiding mechanism include the first sliding sleeve and the first guide rod, described first
Sliding sleeve is slidably connected with the first guide rod, and the first sliding sleeve is fixedly mounted on the cabinet of the water tank, first guide rod
Upper end is fixedly connected with the frame body pedestal of the immersion bracket.
The cabinet of the water tank is equipped with water compensating valve, drain valve and overflow pipe, one end of the overflow pipe and water tank
Cabinet communicates, and the other end of overflow pipe is communicated with the drain valve.Overflow pipe is further ensured that the liquid level of coolant liquid does not spill over water
Case.The cabinet of the water tank is equipped with liquid level sensor and water temperature sensor.That is, water tank has temperature incubation function, water tank
The water temperature and liquid level of middle coolant liquid can be controlled by control device.
The casting cooling unit includes at least two casting positioning mechanisms, and a casting positioning mechanism is equivalent to a work
Position, when being provided with two or more stations, multiple stations can alternately realize that casting is cooling, improve production efficiency.Example
Such as, when there are two station, a station is in water outlet working position state upwards, positive that casting is waited to be transferred to immersion from casting machine
On bracket, another station is in downwards immersion working position state, and the immersion bracket for being loaded with high temperature casting is just immersed water tank
In coolant liquid.By control device, each casting positioning mechanism can be controlled respectively, realizes being alternately cooled for casting.
In casting cooling unit, the supporting part is in horizontally disposed and is mounted on the frame body pedestal.
The carriage drive mechanism is cylinder.The casting cooling unit further includes solenoid valve as a result, solenoid valve installation
On the water tank and control the carriage drive mechanism work.When needing cooling casting, solenoid valve control carriage drive
The piston rod of mechanism declines, and immersion bracket is immersed with casting in the coolant liquid of water tank, after casting immerses appropriate duration, electromagnetism
The piston rod that valve controls carriage drive mechanism rises, and casting is detached from coolant liquid therewith.
4, related casting grabs tooling: the linking arm is to be consolidated by first support arm, second support arm and third support arm three
Surely formula composition is connected and composed or is integrally formed, one end of the third support arm and one end of first support arm connect, the third branch
The other end of arm and one end of second support arm connect, and the first support arm, second support arm and third support arm three form one
Contraband type component.The tray drive mechanism is mounted between the first support arm and second support arm.
The linking arm is installed on a robotic arm by quick-release connector.That is, the casting crawl tooling passes through fastly
Changing-over head is mounted on the manipulator of robot, realizes the quick-replaceable of casting crawl tooling.Quick-release connector is a kind of general
Pneumatic quick-locking device, be made of male end and female end, male end is installed on a robotic arm, and female end is installed on the connecting arm, public
End connects and separates with pneumatic mode realization is used between female end.
The pallet guiding mechanism includes the second sliding sleeve and the second guide rod, and second sliding sleeve and the second guide rod slide
Connection, the upper end of the second sliding sleeve are fixedly connected with the pallet, and the lower end of second guide rod is fixedly connected on the connecting arm,
The upper end of second guide rod passes through the disk body of pallet as free end.
The tray drive mechanism can drive pallet to move in a straight line on the direction perpendicular to linking arm, that is,
It says, pallet is located on the top surface of linking arm, and the guide direction of pallet guiding mechanism is the direction perpendicular to the top surface of linking arm.
In casting crawl tooling, the tray drive mechanism is cylinder, and most preferably, the tray drive mechanism is low
Rub cylinder.The clamping jaw driving mechanism is clamping jaw cylinder, is provided at least one clamping jaw in each clamping jaw driving mechanism.Work as support
When dish driving mechanism and clamping jaw driving mechanism are cylinder, the casting crawl tooling further includes solenoid valve block and pressure reducing valve, electricity
Magnet valve group and pressure reducing valve are installed on the linking arm.When pickup, the piston rod that solenoid valve block controls low rubbing cylinder stretches out,
So that pallet is moved upward to a high position, meanwhile, solenoid valve block control clamping jaw cylinder firmly grasps casting;When casting machine executes material returned action
When, pressure reducing valve is used to for the air in low rubbing cylinder being discharged.Casting downlink under material returned effect, low rubbing cylinder is passive at this time
Downlink, cylinder air are discharged through pressure reducing valve.A set of casting crawl tooling can be disposably from the mold of a multi-cavity mold
It is middle to take out multiple casting.
5, in above scheme, the metal parts casting automated system is suitable for production aluminium alloy castings, specific to be applicable in
In bottoms disk-like accessory and new energy electric machine casing class part and aerospaces such as production spindle, control arm and subframes
Cabin class part.
6, in above scheme, in metal parts casting automated system, centered on robot, casting machine, casting
Part cooling unit, tooling library and casting supply unit are arranged around robot;Alternatively, centered on robot, casting machine, casting
Part cooling unit, tooling library, casting supply unit, casting trimming unit, sawing unit and casting mark cell rings are around machine
People's arrangement;Alternatively, centered on robot, casting machine, casting cooling unit, tooling library, casting supply unit, casting trimming list
Member, sawing unit, casting mark unit and casting auxiliary turntable are arranged around robot.
7, in above scheme, the casting machine can be counter-pressure casting machine, air injection machine, extrusion casting machine and pressure regulation
Any one in casting machine.
8, in above scheme, the robot just refers to that industrial robot common in the art, industrial robot are
Multi-joint manipulator or multivariant installations towards industrial circle, it can execute work automatically, be by self power
A kind of machine of various functions is realized with control ability.The robot is specially four-degree-of-freedom robot, five degree of freedom machine
Any one in device people and six-DOF robot, preferable scheme is using six-DOF robot.
The present invention compared with the existing technology the advantages of be:
1, casting cooling unit of the invention is equipped with the casting positioning mechanism that can be gone up and down, and casting positioning mechanism includes bracket Guiding machine
Structure, carriage drive mechanism and immersion bracket, the horizontal supporting part for the bracket that soaks correspond to the cavity setting of water tank, and are driving
Soak under the driving effect of motivation structure bracket can oscilaltion, the design of this structure, which facilitates, will be placed on immersion bracket
Product is immersed in the coolant liquid of water tank, is carried out cooling mode instead of traditional artificial clamping product, is realized product
Automation cooling.Moreover, at least two casting positioning mechanisms of setting, a casting positioning mechanism is equivalent to a station, when setting
When being equipped with two or more stations, it can be controlled respectively by control device, multiple stations can alternately realize that casting is cooling,
Improve automated production efficiency.
2, casting cooling unit of the invention further includes having liquid level sensor and water temperature sensor, and liquid level sensor cooperation is mended
Liquid level in water valve and drain valve control water tank;Liquid maximum temperature can use draining in water tank and moisturizing movement is controlled
System, guarantees the cooling effect of casting, and the temperature of coolant liquid is fed back by water temperature sensor, when temperature is more than the set temperature upper limit,
Sequence opens drain valve and water compensating valve, with cold water displacement hot water, until the temperature of coolant liquid meets set temperature lower limit.
3, tooling is grabbed equipped with tooling library and casting in production line of the invention, robot can replace casting into tooling library
Part grabs tooling, improves Technological adaptability and versatility.For example, when the casting model of production changes, or producing
In the different processes of line, according to the difference of function and clamping technique, the casting crawl tooling on manipulator is also required to replace, in turn
To cooperate different technique or process.
4, casting crawl tooling of the invention can fit in standard machinery on hand, when taken out from mold cavity casting it
Afterwards, tray drive mechanism drives pallet downlink, and casting grabs tooling can be synchronous with the holding of the material returned action of casting machine, in turn, peace
Manipulator equipped with casting crawl tooling can be well adapted for the material returned action of casting machine, play protection to manipulator and make
With.In addition, tray drive mechanism can be low rubbing cylinder, due in the material returned in mold liftout attachment strength up to tonne,
It can be servo-actuated during the material returned using low rubbing cylinder, further avoid material returned action and manipulator is caused to damage, ensure that machine
The service life of tool hand.That is, to solve previous manipulator unmatched with material returned action for casting crawl tooling used
Problem ensure that the safety of feeding work.
5, the linking arm in casting of the invention crawl tooling can be Contraband type component, so that casting grabs tooling overall structure
Simply, compact, and supporting role well is played to pallet, it ensure that integrally-built stability.
6, the present invention is laid out using circulating type, i.e., centered on robot, each unit is arranged around robot, whole to tie
Structure is more reasonable, saves space, improves production efficiency.
7, the present invention replaces man-handling of materials using robot, realizes full-automatic production, lowers labor intensity, improves effect
Rate.
8, the present invention completes the processes such as pickup, cooling, sawing, mark using robot crawl, avoids repeatedly the same of clamping
When, improve process stability and efficiency.
In short, rationally distributed, the versatile, high degree of automation of the present invention, control are accurate, easy to use.
Detailed description of the invention
Attached drawing 1 is the schematic layout pattern that metal parts of the present invention casts automated system;
Attached drawing 2 is casting machine of the invention and robot pickup schematic diagram;
Attached drawing 3 is the structural schematic diagram of casting cooling unit of the invention under effluent state, and the bracket that soaks at this time is with casting
The coolant liquid being detached from water tank;
Attached drawing 4 is the structural schematic diagram of casting cooling unit of the invention under Riddled Condition, and the bracket that soaks at this time is with casting
The coolant liquid being immersed in water tank;
Attached drawing 5 is the structural schematic diagram that casting of the invention grabs tooling;
Attached drawing 6 is the structural schematic diagram of casting trimming unit of the invention;
Attached drawing 7 is the structural schematic diagram of sawing unit of the invention;
Attached drawing 8 is the structural schematic diagram that casting of the invention assists turntable.
In the figures above: 1. counter-pressure casting machines;2. casting cooling unit;3. tooling library;4. casting mark unit;5. splicing
Disk;6. casting trimming unit;7. sawing annular saw main shaft;8. dust car;9. sawing shield;10. casting supply unit;11. casting
Assist turntable;12. robot;13. quick-release connector;14. casting grabs tooling;15. casting demoulding device;18. sawing unit;
21. the first solenoid valve;22. carriage drive mechanism;23. bracket guiding mechanism;24. water temperature sensor;25. water tank;26.
Liquid level sensor;27. soak bracket;28. fixture;30. water compensating valve;31. overflow pipe;32. drain valve;33. frame body base
Seat;34. supporting part;41. quick-release connector;44. pallet;45. clamping jaw driving mechanism;46. clamping jaw;48. pallet Guiding machine
Structure;49. linking arm;50. tray drive mechanism;51. first support arm;52. second support arm;53. third support arm;54. the second electricity
Magnet valve;55. pressure reducing valve;56. flanging beam;57. four guide posts;58. servo hydraulic system is set;59. bottom beam;60. sawing bracket;
61. rotary cylinder;62. jig pallet;63. positioning fixture.
Specific embodiment
The invention will be further described with reference to the accompanying drawings and embodiments:
A kind of embodiment: metal parts casting automated system
Referring to shown in attached drawing 1 to attached drawing 8, this implementation is specially counter-pressure casting automated system, including counter-pressure casting machine 1, machine
People 12, casting cooling unit 2, tooling library 3, casting grab tooling 14, casting trimming unit 6, sawing unit 18, casting mark list
Member 4, casting supply unit 10 and casting assist turntable 11;Centered on robot 12, counter-pressure casting machine 1, casting are cooling single
Member 2, tooling library 3, casting supply unit 10, casting trimming unit 6, sawing unit 18, casting mark unit 4 and casting auxiliary
Turntable 11 is arranged around robot, wherein robot 12 is placed between counter-pressure casting machine 1 and casting supply unit 10.
The counter-pressure casting machine 1 is four column counter-pressure casting machines, including bottom plate, middle partition, movable plate, top plate and vertical
Column;Holding furnace is placed between bottom plate and middle partition, to store, heat-insulation metal molten aluminum;On middle partition equipped with casting lower die and
Lower autoclave pressure;The downside of movable plate is also equipped with casting demoulding device 15 on the downside of movable plate equipped with upper mold and upper autoclave pressure is cast;
Receiver 5 is installed on one side frame of counter-pressure casting machine 1.
The robot 12 includes the manipulator of the pedestal fixed on the ground and installation on the base, and robot 12 has
Body uses six-DOF robot.
The casting cooling unit 2 includes that water tank 25 and two sets of casting positioning mechanisms, casting positioning mechanism are mounted on water tank
On 25 cabinet, the upper end of water tank 25 is arranged in opening, fills coolant liquid in the cabinet of water tank 25 (coolant liquid is generally water);One
A casting positioning mechanism is the equal of a cooling station, and two stations can alternately realize that casting is cooling;
The casting positioning mechanism includes bracket guiding mechanism 23, carriage drive mechanism 22 and immersion bracket 27, the immersion
Bracket 27 is arranged on the cabinet of water tank 25 by bracket guiding mechanism 23, and immersion bracket 27 includes frame body pedestal 33 and supporting part
34, in being horizontally disposed with and being fixedly mounted on the frame body pedestal 33, supporting part 34 corresponds to the upper end of water tank 25 for the supporting part 34
Opening setting, that is to say, that supporting part 34 can be easily placed in the cabinet of water tank 25, and supporting part 34, which is equipped with, to be used
In the fixture 28 of positioning clamping casting;The bracket guiding mechanism 23 include the first sliding sleeve and the first guide rod, the first sliding sleeve and
First guide rod is in be vertically arranged, and the first sliding sleeve is slidably connected with the first guide rod, and specifically the first guide rod is threaded through
In one sliding sleeve, the first sliding sleeve is fixedly mounted on the cabinet of water tank 5, the upper end of the first guide rod and the frame body base of immersion bracket 27
Seat 33 is fixedly connected;
The carriage drive mechanism 22 is specially cylinder, and the cylinder body of carriage drive mechanism 22 is fixedly mounted on the cabinet of water tank 25
On, the driving end (i.e. the piston rod of cylinder) of carriage drive mechanism 22 acts on frame body pedestal 33 and immersion can be driven to hold in the palm
Frame 27 moves in a straight line in the vertical direction, and supporting part 34 is immersed in the coolant liquid of water tank 25.First solenoid valve
21 are mounted on water tank 25 and control the work of carriage drive mechanism 22.23 pairs of immersion brackets 27 of bracket guiding mechanism are in vertical side
Upward movement plays the role of guiding.
The cabinet of the water tank 25 be equipped with water compensating valve 30, drain valve 32 and overflow pipe 31, the one of the overflow pipe 31
End is communicated with the cabinet of water tank 25, and the other end of overflow pipe 31 is communicated with the drain valve 32.It is set on the cabinet of the water tank 25
There are liquid level sensor 26 and water temperature sensor 24.
The course of work of casting cooling unit: the water tank 25 is upper opening container, and liquid level sensor 26 cooperates water compensating valve
30 and drain valve 32 control water tank 5 in liquid level;24 real-time monitoring coolant temperature of water temperature sensor, liquid is most in water tank 25
High-temperature can use draining and moisturizing movement is controlled, and guarantee cooling effect.25 side of water tank is provided with overflow pipe 31, into
One step guarantees that liquid level does not spill over water tank.
In standby mode, the bracket 27 that soaks is elected by carriage drive mechanism 22 to high-order (i.e. water outlet working condition), such as attached
Shown in Fig. 3, after casting is placed on fixture 28, by the first solenoid valve 21 control cylinder piston rod decline, immersion bracket 27 with
Casting immerses in the coolant liquid of water tank 25 (i.e. immersion working condition), and as shown in Fig. 4, casting is after immersing appropriate duration, and the
The piston rod that one solenoid valve 21 controls cylinder rises, and casting is detached from coolant liquid therewith.
The opposite ground in the tooling library 3 is fixedly installed, and the main body in tooling library 3 is a frame body, is placed in tooling library 3 more
It covers casting and grabs tooling 14, casting crawl tooling 14 can be installed on a robotic arm, for clamping casting from casting machine;Casting
Grabbing tooling 14 includes linking arm 49, pallet 44, tray drive mechanism 50, four pallet guiding mechanisms 48, clamping jaws 46 and four
A clamping jaw driving mechanism 45;The linking arm 49 is mounted on the manipulator of robot 12 by quick-release connector 41, quick-release connector
41 be a kind of general pneumatic quick-locking device, is made of male end and female end, male end is installed on a robotic arm, and female end is mounted on
On linking arm 49, is realized between male end and female end using pneumatic mode and connect and separate;
The linking arm 49 be fixedly connected by first support arm 51, second support arm 52 and 53 three of third support arm constitute or one
Formation type is constituted, and one end of the third support arm 53 is connect with one end of first support arm 51, the other end of the third support arm 53
It is connect with one end of second support arm 52, the first support arm 51, second support arm 52 and 53 three of third support arm form a Contraband
Type component;
The pallet 44 is located, is mounted on linking arm 49 by pallet guiding mechanism 48;The pallet guiding mechanism 48 includes
Second sliding sleeve and the second guide rod, second sliding sleeve are slidably connected with the second guide rod, and specifically the second guide rod is threaded through
In second sliding sleeve, the upper end of the second sliding sleeve is fixedly connected with the pallet 44, and the lower end of second guide rod is fixedly connected on
On linking arm 49, the upper end of the second guide rod passes through the disk body of pallet 44 as free end;Four 48 pairs of pallet guiding mechanism supports
Disk 44 forms four-point supporting;
The tray drive mechanism 50 is specially low rubbing cylinder, and the cylinder body of low rubbing cylinder is fixedly mounted on linking arm 49,
Specifically it is mounted between first support arm 51 and second support arm 52;Driving end (the i.e. work of low rubbing cylinder of tray drive mechanism 50
Stopper rod) it acts on the bottom surface of pallet 44 and pallet 44 can be driven to do straight line fortune on the direction perpendicular to linking arm 49
It is dynamic;Pallet guiding mechanism 48 is playing guiding role perpendicular to the movement on 49 direction of linking arm to pallet 44;
Four clamping jaw driving mechanisms 45 are laid on one pallet 44;The clamping jaw driving mechanism 45 is specially clamping jaw cylinder,
The cylinder body of clamping jaw cylinder is fixedly mounted on the top surface of pallet 44, clamping jaw 46 there are three settings in each clamping jaw driving mechanism 45,
The driving end of clamping jaw driving mechanism 45 acts on clamping jaw 46 and clamping jaw 46 can be driven to clamp casting;The casting crawl
Tooling 14 further includes second solenoid valve 54 and pressure reducing valve 55, and second solenoid valve 54 and pressure reducing valve 55 are installed on linking arm 49.
The course of work of casting crawl tooling 14: under armed state, clamping jaw driving mechanism 45 is in the open state, and pallet drives
The piston rod of motivation structure 50 stretches out, and pallet 44 is in an attached high position shown in fig. 5;When obtaining pickup instruction, robot 12 can be this
The casting crawl tooling 14 of embodiment is sent to the underface of casting mould, and casting is located in casting mould, and casting can stay after die sinking
In upper mold, casting crawl tooling 14 is on working position at this time;Clamping jaw driving mechanism 45 is promptly cast by the control of second solenoid valve 54
Part, counter-pressure casting machine 1 executes material returned action, casting downlink under material returned effect, under tray drive mechanism 50 is passive at this time later
Row, cylinder air are discharged through pressure reducing valve 55;After the completion of material returned action, 50 latched position of tray drive mechanism, casting is being pressed from both sides
Subsequent processing is sent to by robot 12 under tight state.
The casting trimming unit 6 is bead cutter, three specially traditional beam four-column type hydraulic trimmers, wherein flanging
Beam 56 can be moved up and down along four guide posts 57, complete flanging movement;Servo hydraulic system sets 58 at the top of equipment, is responsible for entire flanging
The conveying of power;The upper and lower mould of edger passes through the bottom beam 59 and flanging beam 56 that T-bolt is installed on bead cutter respectively;Casting is cut
Side unit 6 for cut off inevitable overlap on cast product, burr, every skin, appearance profile and corresponding running gate system,
Overflow system can realize that any direction is punched using pneumatic, hydraulic technique, casting is disposably cleaned out;
The sawing unit 18 includes sawing bracket 60, sawing shield 9, dust car 8 and sawing annular saw main shaft 7, sawing annular saw
7 revolving speed of main shaft can be adjusted by frequency converter, and sawing annular saw main shaft 7 is mounted on 60 top of sawing bracket, and sawing shield 9 is equally installed
It is arranged in 60 top of sawing bracket and around sawing annular saw main shaft 7, dust car 8 is located at the lower section of sawing bracket 60.Sawing unit
18 for removing the casting techniques structure such as casting running channel, riser.
For the casting mark unit 4 using pneumatic marking machine or laser marking machine etc., effect is assigned to casting mark
Each distinctive identification code of casting, it is easy to produce and manage after sale;
The casting supply unit 10 is conveyer belt or transmission chain common in the art;
The casting auxiliary turntable 11 includes rotary cylinder 61, jig pallet 62 and positioning fixture 63;The rotary cylinder 61
It acts on jig pallet 62 and drives fixture the rotation of pallet 62, jig pallet 62 is mounted on the installation interface of rotary cylinder 61
On, positioning fixture 63 is mounted on jig pallet 62 according to casting layout.The casting auxiliary turntable 11 is for adjusting casting phase
Posture and temporary casting to manipulator.
The metal parts casting automated system further includes control device, control device and robot 12, carriage drive
Mechanism 22, tray drive mechanism 50 and clamping jaw driving mechanism 45 connect.Control device can control the movement of robot 12, and real
When supervisory-controlled robot 12 exercise data;Control device can control the piston of carriage drive mechanism 22 and tray drive mechanism 50
Bar is stretched out or is retracted, moreover it is possible to control closing up or opening for the clamping jaw 46 in clamping jaw driving mechanism 45.
In the operating condition, the manipulator of the robot 12 can be moved on the position in tooling library 3, and by tooling library
Casting crawl tooling 14 in 3 is installed on manipulator;Then, robot 12 drives casting crawl tooling 14 to enter casting machine 1
Mold between grab casting;Robot 12 grabs casting and cools down into the casting cooling unit 3 to casting, finally, machine
Casting crawl tooling 14 is transferred to casting supply unit 10 by device people 12.
The course of work of the entire production line is as follows:
(1) completion of casting machine 1 casting is formed and is opened, and robot 12 drives casting crawl tooling 14 to enter between casting mould, folder
Pawl 46 firmly grasps casting, and casting demoulding device 15 starts to demould later, and tray drive mechanism 50 works asynchronously, after completing demoulding, support
50 latched position of dish driving mechanism.
(2) robot 12 grabs casting to casting cooling unit 2, casting is placed in one of cooling station, casting
Cooling unit 2 executes cooling action.
(3) six free robots 12, which grab in casting cooling unit 2, is completed cooling casting, is transported to casting trimming list
Member 6 completes trimming and acts and take out trimming casting.
(4) six free robots 12 grab casting and are transferred to sawing unit 18, and cooperation sawing annular saw main shaft 7 is completed casting and poured
Mouth, the sawed-off work of riser, sawed-off waste material enter dust car 8.
(5) six free robots 12 shift casting to mark station, complete mark movement by casting mark unit 4.
(6) finally, six free robots 12 shift casting to casting supply unit 10, casting is transported to next processing work
In sequence.
During the work time, six free robots 12 can into tooling library 3, quick-replaceable casting be grabbed according to casting features
Tooling 14;After completing cooling and after completing trimming, six free robots 12 need to replace casting crawl tooling into tooling library 3
14, then grab casting.During the work time, casting can be temporarily placed on casting auxiliary turntable 11 by robot 12, adjustment casting
It is grabbed again after part posture.
Explanation in relation to above-described embodiment:
1, casting machine used in above-described embodiment is counter-pressure casting machine common in the art, the specific knot of counter-pressure casting machine
Structure without limitation and require.But casting machine of the present invention is not limited to counter-pressure casting machine, and those skilled in the art can basis
Counter-pressure casting machine in above-described embodiment is replaced with air injection machine or extruding by the technical concept of automated system of the invention
Casting machine or pressure adjusting casting machine.
2, positioning fixture common in the art can be used in the fixture 28 on the immersion bracket 27, and the present invention is to fixture
28 specific structure is without limitation and requirement, the effect of fixture 28 are only that the supporting part 34 that casting is located in immersion bracket 27
On.
3, the carriage drive mechanism 22 can be using other conventional driving mechanisms, such as various types in the prior art
Linear motor or hydraulic cylinder, the cylinder be not limited to the present embodiment.
4, the present invention is set there are two casting positioning mechanism, and from position, a casting positioning mechanism is the equal of one
A cooling station belongs to preferable embodiment, and the quantity of casting positioning mechanism is without being limited thereto, and the quantity of casting positioning mechanism can
It is arranged according to actual needs.Certainly, when two or more casting positioning mechanisms of recommended setting, multiple stations can be alternately real
Existing casting is cooling, is greatly improved production efficiency.
5, to facilitate installation, the bracket guiding mechanism 23 of the present embodiment belongs to preferable embodiment, bracket Guiding machine
Structure 23 can also be using other conventional structure designs, for example, bracket guiding mechanism 23 can be made of guide groove and guide rail, guide groove is set
It sets on the outer wall of water tank 25 and in being vertically arranged, guide rail is in being vertically arranged, and guide rail is slidably connected with guide groove, the upper end of guide rail
It is fixedly connected with frame body pedestal 33.Certainly, there are many specific version of bracket guiding mechanism 23.
6, tray drive mechanism 50 can be using other conventional driving mechanisms, such as various types of electricity in the prior art
Machine or hydraulic cylinder, the low rubbing cylinder be not limited to the present embodiment.
7, the tray drive mechanism 50 drive that the direction of motion of pallet 44 is not limited to the present embodiment " perpendicular to connection
Moved in a straight line on the direction of arm 49 ", in practice, manipulator can casting grab tooling 14 be sent to casting mould just under
Side, as long as pallet 4 can be directed at casting, it is best that setting pallet 4 moves in a straight line only on the direction perpendicular to linking arm 9
Embodiment.
8, the present embodiment is that casting is taken out from the mold of four chamber of a mould, therefore, if there are four clamping jaw driving mechanisms 45, and
It is set in each clamping jaw driving mechanism 45 there are three clamping jaw 46, a clamping jaw driving mechanism 45 is corresponding to grab a casting.In reality
In design, it is not limited to above-mentioned quantity, if it is casting is taken out from the mold of a cavity per mould, casting crawl tooling 14 can be equipped with
One clamping jaw driving mechanism 45.
It is because relatively steady more firm when grabbing casting as being set in each clamping jaw driving mechanism 45 there are three small clamping jaw 46
Gu.In actual design, the clamping jaw 46 in each clamping jaw driving mechanism 45 is not limited to above-mentioned quantity, in clamping jaw driving mechanism 45
Multiple small clamping jaws 46 can be equipped with and grab casting in a manner of multiple spot, a big clamping jaw 46 is also provided with and directly grabs casting
Part, those skilled in the art can according to actual needs do the quantity and specific structure of clamping jaw 46 in the range of the prior art
Variation.
9, the present embodiment is set there are four pallet guiding mechanism 48, belongs to preferred forms, the number of pallet guiding mechanism 48
Measure it is without being limited thereto, the quantity of pallet guiding mechanism 48 should at least there are three, can consolidate and support pallet 44.
10, to facilitate installation, the pallet guiding mechanism 48 of the present embodiment belongs to preferable embodiment, pallet Guiding machine
Structure 48 can also using other conventional structure designs, for example, the sliding sleeve in pallet guiding mechanism 48 is deformed into sliding block, sliding block with
Guide rod is slidably connected.Certainly, there are many specific version of pallet guiding mechanism 48.
The above embodiments merely illustrate the technical concept and features of the present invention, and its object is to allow person skilled in the art
Scholar cans understand the content of the present invention and implement it accordingly, and it is not intended to limit the scope of the present invention.It is all according to the present invention
Equivalent change or modification made by Spirit Essence, should be covered by the protection scope of the present invention.
Claims (10)
1. a kind of metal parts casts automated system, it is characterised in that: cooling including casting machine (1), robot (12), casting
Unit (2), tooling library (3), casting crawl tooling (14) and casting supply unit (10);
The robot (12) includes the manipulator of pedestal and installation on the base;
The casting cooling unit (2) includes water tank (25) and at least one casting positioning mechanism, casting positioning mechanism installation
On the cabinet of the water tank (25), the upper end of water tank (25) is in opening setting;The casting positioning mechanism includes bracket guiding
Mechanism (23), carriage drive mechanism (22) and immersion bracket (27), the immersion bracket (27) pass through bracket guiding mechanism
(23) it is arranged on the cabinet of water tank (25), immersion bracket (27) includes frame body pedestal (33) and supporting part (34), the supporting part
(34) it is fixedly mounted on the frame body pedestal (33), is arranged at the upper end opening of supporting part (34) corresponding water tank (25), it is described
Supporting part (34) is equipped with the fixture (28) for positioning clamping casting;The carriage drive mechanism (22) is fixedly mounted on described
On the cabinet of water tank (25), the driving end of carriage drive mechanism (22) acts on the frame body pedestal (33) and can drive
Immersion bracket (27) moves in a straight line in the vertical direction, so that the supporting part (34) can be immersed in the cooling of water tank (25)
In liquid;
More sets casting crawl tooling (14) is placed in the tooling library (3), it includes linking arm that casting, which grabs tooling (14),
(49), pallet (44), tray drive mechanism (50), at least three pallet guiding mechanisms (48), clamping jaw (46) and at least one
Clamping jaw driving mechanism (45);The linking arm (49) can be mounted on the manipulator of the robot (12), the pallet
(44) it is mounted on linking arm (49) by pallet guiding mechanism (48);The tray drive mechanism (50) is fixedly mounted on connection
On arm (49), the driving end of tray drive mechanism (50) acts on the bottom surface of pallet (44) and pallet (44) can be driven to exist
It is moved in a straight line in the guide direction of pallet guiding mechanism (48);The clamping jaw driving mechanism (45) is fixedly mounted on pallet (44)
Top surface on, be provided in clamping jaw driving mechanism (45) clamping jaw (46), clamping jaw driving mechanism (45) can drive clamping jaw (46) press from both sides
Handle casting.
2. metal parts according to claim 1 casts automated system, it is characterised in that: the metal parts casting is certainly
Dynamicization system further includes casting trimming unit (6), sawing unit (18) and casting mark unit (4).
3. metal parts according to claim 1 casts automated system, it is characterised in that: the metal parts casting is certainly
Dynamicization system further includes control device, the control device and robot (12), carriage drive mechanism (22), tray drive mechanism
(50) and clamping jaw driving mechanism (45) connects.
4. metal parts according to claim 1 casts automated system, it is characterised in that: the bracket guiding mechanism
It (23) include the first sliding sleeve and the first guide rod, first sliding sleeve is slidably connected with the first guide rod, the fixed peace of the first sliding sleeve
On the cabinet of the water tank (25), the frame body pedestal (33) of the upper end of first guide rod and immersion bracket (27)
It is fixedly connected.
5. metal parts according to claim 1 casts automated system, it is characterised in that: the cabinet of the water tank (25)
It is equipped with water compensating valve (30), drain valve (32) and overflow pipe (31), one end of the overflow pipe (31) and the case of water tank (25)
Body communicates, and the other end of overflow pipe (31) is communicated with the drain valve (32).
6. metal parts casts automated system according to claim 1 or 5, it is characterised in that: the water tank (25)
Cabinet is equipped with liquid level sensor (26) and water temperature sensor (24).
7. metal parts according to claim 1 casts automated system, it is characterised in that: the linking arm (49) is served as reasons
First support arm (51), second support arm (52) and third support arm (53) three are fixedly connected with composition or are integrally formed formula and constitute, institute
The one end for stating third support arm (53) is connect with one end of first support arm (51), the other end of the third support arm (53) and second
One end of arm (52) connects, and the first support arm (51), second support arm (52) and third support arm (53) three form a Contraband
Type component.
8. metal parts according to claim 7 casts automated system, it is characterised in that: the tray drive mechanism
(50) it is mounted between the first support arm (51) and second support arm (52).
9. metal parts according to claim 1 casts automated system, it is characterised in that: the pallet guiding mechanism
It (48) include the second sliding sleeve and the second guide rod, second sliding sleeve is slidably connected with the second guide rod, the upper end of the second sliding sleeve
It is fixedly connected with the pallet (44), the lower end of second guide rod is fixedly connected on linking arm (49).
10. metal parts according to claim 1 casts automated system, it is characterised in that: the tray drive mechanism
(50) pallet (44) can be driven to move in a straight line on the direction perpendicular to linking arm (49).
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CN201910168077.2A CN109719291B (en) | 2019-03-06 | 2019-03-06 | Automatic metal part casting system |
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CN201910168077.2A CN109719291B (en) | 2019-03-06 | 2019-03-06 | Automatic metal part casting system |
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CN109719291B CN109719291B (en) | 2024-01-26 |
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Cited By (5)
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CN110802219A (en) * | 2019-11-08 | 2020-02-18 | 苏州三信机器制造有限公司 | Automatic punching and cleaning work station for cast iron cylinder cover casting flash of engine |
CN111974983A (en) * | 2020-08-22 | 2020-11-24 | 唐晓晖 | Pressure-resistant submersible pump and preparation method thereof |
CN112756983A (en) * | 2021-01-18 | 2021-05-07 | 浙江万丰科技开发股份有限公司 | Steering knuckle cooling, marking and cutting line connecting device |
CN113245522A (en) * | 2021-04-14 | 2021-08-13 | 深圳领威科技有限公司 | Die casting system |
CN114007780A (en) * | 2019-07-03 | 2022-02-01 | 里弗雷克特里知识产权两合公司 | Device for operating a preferably cast tube in a replacement installation at a pouring opening of a metallurgical vessel |
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CN106583687A (en) * | 2016-12-29 | 2017-04-26 | 北京航空航天大学 | Casting holding furnace with round quick double-furnace-door structure |
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CN114007780A (en) * | 2019-07-03 | 2022-02-01 | 里弗雷克特里知识产权两合公司 | Device for operating a preferably cast tube in a replacement installation at a pouring opening of a metallurgical vessel |
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CN110802219B (en) * | 2019-11-08 | 2021-04-13 | 苏州三信机器制造有限公司 | Automatic punching and cleaning work station for cast iron cylinder cover casting flash of engine |
CN111974983A (en) * | 2020-08-22 | 2020-11-24 | 唐晓晖 | Pressure-resistant submersible pump and preparation method thereof |
CN112756983A (en) * | 2021-01-18 | 2021-05-07 | 浙江万丰科技开发股份有限公司 | Steering knuckle cooling, marking and cutting line connecting device |
CN113245522A (en) * | 2021-04-14 | 2021-08-13 | 深圳领威科技有限公司 | Die casting system |
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