CN112278845A - Brittle material space transfer device - Google Patents
Brittle material space transfer device Download PDFInfo
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- CN112278845A CN112278845A CN202011179936.7A CN202011179936A CN112278845A CN 112278845 A CN112278845 A CN 112278845A CN 202011179936 A CN202011179936 A CN 202011179936A CN 112278845 A CN112278845 A CN 112278845A
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- brittle material
- sand core
- space
- heat
- piston
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22C—FOUNDRY MOULDING
- B22C9/00—Moulds or cores; Moulding processes
- B22C9/10—Cores; Manufacture or installation of cores
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
- B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
Abstract
The invention discloses a space transfer device for a brittle material. The end effector for the brittle material space transfer device transfers the brittle material sand core to the position above the sand core stacked, the space posture of the brittle material sand core is subjected to online detection through structured light vision, the end effector of the brittle material space transfer device compensates, and the space posture and the position of the brittle material sand core caused by nonlinear deformation of the whole system are subjected to accurate stacking. Compared with the prior art, the automatic processing device has the advantages that manpower is saved, labor intensity is reduced, the automation level of online processing is improved, processing efficiency is improved, manual errors such as workpiece scraping caused by manual operation are avoided, and workpiece rejection rate is greatly reduced.
Description
Technical Field
The invention relates to a brittle material conveying mode in the field of powder metallurgy, in particular to a brittle material space transfer device in a limited working space.
Background
In the existing blanking operation process of the sand core, in the casting industry, core setting of the sand core is a key process, and the carrying quality of the sand core often determines the quality of a product. In the traditional production field, the core setting of the sand core is generally carried by manpower. However, the manual carrying workload is large, the efficiency is low, the sand core is easy to damage, and meanwhile, the environment of a sand core production workshop is poor, so that the health of workers is greatly threatened. Therefore, if the prior art can be improved, manual carrying and core setting work is carried out, and mechanical automation is used for carrying and core setting automatically, so that the labor intensity of workers can be reduced, the production efficiency is improved, and the method has important significance for the casting industry. Generally, manual loading and unloading operation is required, or a truss manipulator is matched with the loading and unloading operation. When manual operation is carried out, personnel are required to be equipped for each sand core preparation press, and human resources are consumed; and some sand core preparation press machines have residual high temperature, so that potential safety hazards exist to workers. Although the truss manipulator is automated to a certain degree, the truss manipulator can only complete the movements of three axes of XYZ and XYZ, and if a massive material is to be transported from one side to the other side of the massive material transporting device in a limited working space and the loading and unloading work is completed, the application of the existing truss manipulator also has certain limitations, and a brittle material space transporting device is urgently needed.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a brittle material space transfer device, namely the device can complete the working process that a space special-shaped block material is transferred to the other side from a sand core preparation press machine in a limited working space and blanking and stacking are completed, and the nonlinear deformation of a correcting system is ensured to avoid collision.
In order to achieve the purpose, the technical scheme of the invention is as follows:
a brittle material space transfer device comprises a base (10), a vertical column (11), a cross beam (12), a large arm (13), a small arm (14), a pickup mechanism (100) and a structured light vision (28), wherein the pickup mechanism (100) comprises two symmetrical end pickers (15), a heat-proof capsule (16), an electrorheological liquid (17), a piston (19) and a reset spring (20);
the base (10) is connected with a linear motion pair of an upright post (11), the direction of freedom is longitudinal (22), the upright post (11) and a cross beam (12) are connected by adopting two bi-orthogonal linear motion pairs, the direction of freedom is height (24) and transverse (23), the cross beam (12) is connected with a large arm (13) by a rotary motion pair, the axis of freedom is pitch and depression (26), the large arm (13) is connected with a small arm (14) by a rotary motion pair, the axis of freedom is lateral pendulum (25), the small arm (14) is connected with two end pickups (15), two coaxial rotary motion pairs are formed, the axis of connection freedom is lateral pendulum (25), and the six degrees of freedom can enable the end pickups (15) to carry out space position and posture transformation relative to the sand core preparation press bed (1);
an electrorheological fluid (17) is arranged in the heat-proof capsule (16), one end of a return spring (20) is connected with a piston (19), the other end of the return spring (20) is connected with an end effector (15), the piston (19) is hermetically connected with a cylindrical pair of the end effector (15), the piston (19) and the end effector (15) form an air pressure cavity (21) at the rod side of the piston (19), the piston (19) and the end effector (15) form an electrorheological fluid cavity (18) at the rodless side of the piston (19), and the rodless side of the piston (19) forms the electrorheological fluid cavity (18) which is communicated with a plurality of groups of heat-proof capsules (16) through a pipeline;
and the structured light vision (28) is used for carrying out online detection on the spatial attitude of the brittle material sand core.
Preferably, the end heat-proof capsule (16) contains a plurality of flexible dividing plates (29), and the flexible dividing plates (29) divide the electrorheological fluid (17) in the heat-proof capsules (16) into independent units;
further preferably, the flexible dividing plate (29) is made of a flexible material with a fixed surface area, for example, natural silica gel embedded with a steel wire mesh, and has an effect of preventing controllable expansion of the heat-proof capsule (16) caused by the electrorheological fluid (17) in the heat-proof capsule (16).
Preferably, the rodless side of the piston (19) forms an electrorheological fluid cavity (18) which is communicated with the flexible dividing plate (29) in the plurality of groups of heat-proof capsules (16) and is divided into independent units through pipelines.
The space transfer device for the brittle material is adopted to transfer the brittle material in space.
A spatial transport method for brittle materials comprises the following steps:
step 1: the sand core preparation press (1) is used for compressing and manufacturing a brittle material sand core in a limited operation space (2), and a top column (3) is arranged on the lower surface of the limited operation space (2) to upwards eject the brittle material sand core;
step 2: the brittle material space transfer device moves an end effector (15) to a proper engineering position near a space special-shaped protrusion (9) of the brittle material sand core:
and step 3: the compressed air in an air pressure cavity (21) is formed on the rod side of a piston (19) to be pressurized, the piston (19) overcomes the elastic force of a return spring (20), the electro-rheological liquid (17) in an electro-rheological liquid cavity (18) is formed on the rodless side of the piston (19) by the piston (19) and an end effector (15) to be extruded out, the electro-rheological liquid (17) is inflated to expand a heat-proof capsule (16) to enable the heat-proof capsule (16) to be protruded in a special shape, the outer surface of the heat-proof capsule (16) partially and fully contains the space special-shaped protrusion (9) of a sand core made of a brittle material, and the space special-shaped protrusion (9) is fully contained by the heat-proof capsule (16);
and 4, step 4: the electrorheological fluid (17) is switched on with current, the electrorheological fluid (17) of the macromolecule electrorheological fluid in the heat-proof capsule (16) is changed from liquid state to solid state, and the spatial position locking of the brittle material sand core and the end effector (15) of the brittle material spatial transfer device is ensured;
and 5: the end effector (15) is used for enabling the brittle material sand core to move upwards to be separated from the top end of the top column (3) on the lower surface of the limited operation space (2), and the brittle material sand core is in an uncertain posture in space due to the fact that the brittle material space transfer device structure and the brittle material sand core structure nonlinearity and the top end of the top column (3) on the lower surface of the limited operation space (2) are contained simultaneously, and the brittle material sand core space constraint is dissipated;
step 6: carrying out spatial six-degree-of-freedom transportation on the brittle material sand core by using an end effector (15), and completing technological actions such as pulling out, overturning, steering, turning around and the like;
and 7: the structural light vision (28) is used for carrying out online detection on the space posture of the brittle material sand core, six degrees of freedom are carried out on the brittle material sand core in an uncertain posture in space under the action of the controller, the brittle material sand core picked up by the end pick-up (15) is subjected to space position and posture transformation relative to the sand core preparation press (1) until the postures of the brittle material sand core and the upper layer of brittle material sand core are isomorphic, the point contact damage of the brittle material sand core and the upper layer of brittle material sand core is prevented, and the surface contact stacking of the brittle material sand core and the upper layer of brittle material sand core is achieved;
and 8: stacking the brittle material sand core to an upper brittle material sand core by using an end effector (15) in three spatial degrees of freedom, finishing the surface contact stacking process action of the brittle material sand core and the upper brittle material sand core, and stacking the brittle material sand cores according to the surface contact from bottom to top;
and step 9: the current of the electrorheological fluid (17) is cut off, so that the high molecular electrorheological fluid (17) in the heat-proof capsule (16) is changed from a solid state to a liquid state, and the situation that the sand core of the brittle material and the end effector (15) of the spatial transportation device of the brittle material complete spatial position release contact locking is ensured;
step 10: the air in the air pressure cavity (21) is formed at the rod side of the piston (19) to reduce pressure, the elastic force resetting function of the resetting spring (20) causes the piston (19) to reset, the electro-rheological fluid pressure in the electro-rheological fluid cavity (18) formed by the piston (19) and the end effector (15) at the rodless side of the piston (19) is reduced, so that the electro-rheological fluid in the electro-rheological fluid (17) heat-proof capsule (16) flows back to the electro-rheological fluid cavity (18), and the heat-proof capsule (16) is caused to shrink in a special shape;
step 11: the electro-rheological fluid (17) in the heat-proof capsule (16) is recovered to cause the controllable shrinkage function of the heat-proof capsule (16), and the heat-proof capsule (16) is released and separated from the space special-shaped protrusion (9) which is attached to and contains the sand core of the brittle material;
step 12: the brittle material space transfer device is provided with an end pick-up (15) which returns to zero position.
Advantageous effects
The device can finish the working process of transferring the special-shaped block materials in space from the sand core preparation press machine to the other side and finishing blanking and stacking in the limited working space, correct the nonlinear deformation of the system and ensure that the special-shaped block materials are not collided, so that the problems of high labor intensity, potential safety hazards and incapability of meeting the requirement of transferring the block materials from one side to the other side in the limited working space and finishing the blanking and loading in the limited working space due to the adoption of the conventional manual blanking and loading operation and the limited application space of the truss manipulator are solved.
The device can finish the working process of transferring the spatial special-shaped block materials from the sand core preparation press machine to the other side in the limited operation space and finishing blanking and stacking, correct the nonlinear deformation of the system and ensure no collision.
The device can finish the working process of transferring the space special-shaped block materials from the sand core preparation press machine to the other side in the limited working space and finishing blanking and stacking, each group of heat-proof capsules contains a plurality of flexible partition plates, the electrorheological liquid in the heat-proof capsules is divided into independent units by the flexible partition plates, and the flexible partition plates are made of flexible materials with fixed surface area, such as natural silica gel embedded with a steel wire mesh, and have the function of preventing the electrorheological liquid from expanding in the heat-proof capsules to cause uncontrollable expansion of the heat-proof capsules. This patent has controllable deformation function.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention.
FIG. 1 is an isometric layout of a brittle material space transfer device.
FIG. 2 is a front view of a brittle material space transfer device.
FIG. 3 is a top view of a brittle material space transfer device.
FIG. 4 is a partially enlarged isometric layout view of a mechanism of a brittle material space transfer device.
FIG. 5 is a sectional view taken along line A-A of a brittle material space transfer device.
FIG. 6 is a sectional view taken along line B-B of a brittle material space transfer device.
FIG. 7 is a partially enlarged isometric layout of materials for a brittle material space transfer device.
The sand core preparation press comprises a sand core preparation press machine (1), a limited operation space (2), a top column (3), a to-be-moved brittle material sand core (4), a brittle material sand core (5), a bottom layer brittle material sand core (6), a middle layer brittle material sand core (7), an upper layer brittle material sand core (8), a space special-shaped protrusion (9) of the brittle material sand core, a base (10), a stand column (11), a cross beam (12), a large arm (13), a small arm (14), a pickup mechanism (100) and a structured light vision (28);
the picking mechanism (100) comprises an end effector (15), a heat-proof capsule (16), electrorheological fluid (17), a piston (19) and a return spring (20).
Detailed Description
The design of the invention is that the brittle material space transfer device moves the end effector to the vicinity of the space special-shaped protrusion of the brittle material sand core, and the brittle material space transfer device pressurizes the electrorheological fluid in the heat-proof capsule of the end effector to ensure that the electrorheological fluid fills and expands the heat-proof capsule, so that the heat-proof capsule wraps the space special-shaped protrusion of the brittle material sand core. And switching on current to the electrorheological fluid to ensure that the brittle material sand core and the end effector of the brittle material space transfer device complete picking. The end effector for the brittle material space transfer device transfers the brittle material sand core to the position above the sand core stacked, the space posture of the brittle material sand core is subjected to online detection by structured light vision, the end effector of the brittle material space transfer device compensates, and the space posture and the position of the brittle material sand core are subjected to accurate stacking due to nonlinear deformation of the whole system.
To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. The preferred embodiments of this patent are set forth in the accompanying drawings. This patent may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete. It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this patent belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
As shown in fig. 1 to 7, the brittle material spatial transfer device comprises a base (10), an upright column (11), a cross beam (12), a large arm (13), a small arm (14), a pickup mechanism (100) and a structured light vision (28), wherein the pickup mechanism (100) comprises two symmetrical end pickers (15), a heat-proof capsule (16), an electrorheological liquid (17), a piston (19) and a return spring (20);
the base (10) is connected with a linear motion pair of an upright column (11), the direction of freedom is longitudinal (22), the upright column (11) is connected with a cross beam (12) by adopting two bi-orthogonal linear motion pairs, the direction of freedom is height (24) and the direction of freedom is transverse (23), the cross beam (12) is connected with a large arm (13) by a rotary motion pair, the axis of freedom is upward and downward (26), the large arm (13) is connected with a small arm (14) by a rotary motion pair, the axis of freedom is lateral pendulum (25), the small arm (14) and two end pickups (15) form two coaxial rotary motion pairs, the axis of connection freedom is lateral pendulum (25), and the six degrees of freedom can enable the end pickups (15) to carry out space position and posture transformation relative to the sand core preparation press bed (1);
the sand core preparation press machine (1) comprises a limited operation space (2), and the lower surface of the limited operation space (2) comprises a top column (3);
the heat-proof capsules (16) are internally provided with electrorheological fluid (17), the heat-proof capsules (16) are internally provided with a plurality of flexible partition plates (29), each group of heat-proof capsules (16) is internally provided with nine flexible partition plates (29), the electrorheological fluid (17) in a plurality of groups of heat-proof capsules (16) is divided into independent units by the flexible partition plates (29), the flexible partition plates (29) are made of flexible materials with fixed surface area, such as natural silica gel embedded with a steel wire mesh, and have the function of preventing the electrorheological fluid (17) from expanding in the heat-proof capsules (16) to cause the controllable expansion of the heat-proof capsules (16), one end of a reset spring (20) is connected with a piston (19), the other end of the reset spring (20) is connected with an end pickup (15), the piston (19) is connected with a cylindrical pair of the end pickup (15) in a sealing manner, the piston (19) and the end pickup (15) form an air pressure cavity (21) at the side of the piston, the piston (19) and the end effector (15) form an electrorheological fluid cavity (18) on the rodless side of the piston (19), and the electrorheological fluid cavity (18) formed on the rodless side of the piston (19) is communicated with the electrorheological fluids (17) in the multiple groups of heat-proof capsules (16) by being divided into independent units through pipelines;
and the structured light vision (28) is used for carrying out online detection on the spatial attitude of the brittle material sand core.
The working steps of the brittle material space transfer device are as follows:
step 1: as shown in fig. 2, a sand core preparation press machine (1) compresses and manufactures a to-be-moved brittle material sand core (4) in a limited operation space (2), a top column (3) is arranged on the lower surface of the limited operation space (2) to upwards eject the brittle material sand core, and the position of the to-be-moved brittle material sand core (4) is shown in fig. 2;
step 2: as shown in fig. 1, the brittle material space transfer device moves the end effector (15) to a suitably implemented engineering position near the space profile protrusion (9) of the brittle material sand core (5):
and step 3: the compressed air in an air pressure cavity (21) formed on the rod side of a piston (19) is pressurized, the piston (19) overcomes the elastic force of a return spring (20), the electro-rheological fluid in an electro-rheological fluid cavity (18) formed on the rodless side of the piston (19) by the piston (19) and an end effector (15) is pressed and extruded, and the electro-rheological fluid cavity (18) formed on the rodless side of the piston (19) and electro-rheological fluids (17) in a plurality of groups of heat-proof capsules (16) are divided into independent units to be communicated with each other, so that the electro-rheological fluid (17) is inflated to the heat-proof capsules (16), and the heat-proof capsules (16) are deformed and protruded;
and 4, step 4: the heat-proof capsule (16) that the end effector (15) contains, each group of heat-proof capsule (16) contains a plurality of flexible partition boards (29), this embodiment is that each group of heat-proof capsule (16) contains nine flexible partition boards (29), a plurality of flexible partition boards (29), the electrorheological fluid (17) in a plurality of groups of heat-proof capsules (16) is divided into independent units, a plurality of flexible partition boards (29) divide the electrorheological fluid (17) in a plurality of groups of heat-proof capsules (16) into independent units, the flexible partition boards (29) are made of flexible and fixed surface area material, such as natural silica gel embedded with steel wire mesh, and have the function of preventing the electrorheological fluid (17) in the heat-proof capsule (16) from expanding, resulting in the controllable expansion limitation of the heat-proof capsule (16), the expansion of the heat-proof capsule (16) has a certain controllable range, the distance of the outer contour of the heat-proof capsule (16) and the end effector (15) expands, controlled by embedding a steel wire mesh into the flexible partition plate (29), the phenomenon that local expansion is too large and local over-low is prevented, and the condition that a space special-shaped bulge (9) containing a brittle material sand core (5) is not attached is avoided:
and 5: the outer surface of the heat-proof capsule (16) partially and fully contains the space special-shaped protrusion (9) of the brittle material sand core (5), the end pick-up (15) comprises two space special-shaped protrusions (9) which are respectively used for the heat-proof capsule (16) from two sides and fully contain the brittle material sand core (5), each end pick-up (15) comprises two groups of heat-proof capsules (16) and fully contain the space special-shaped protrusion (9) of the brittle material sand core (5) from the upper heat-proof capsule (16) and the lower heat-proof capsule (16), and the space special-shaped protrusion (9) is fully contained by the heat-proof capsule (16);
step 6: the electrorheological fluid (17) is switched on with current, the electrorheological fluid (17) of the macromolecule electrorheological fluid in the heat-proof capsule (16) is changed from liquid state to solid state, and the brittle material sand core (5) and the end effector (15) of the brittle material space transfer device are ensured to complete the space position locking;
and 7: the end effector (15) for the brittle material space transfer device moves the brittle material sand core (5) upwards to separate from the top end of the top column (3) on the lower surface of the limited operation space (2), and the brittle material sand core (5) is in an uncertain posture in space due to the fact that the structure of the brittle material space transfer device and the structural nonlinearity of the brittle material sand core (5) and the top end of the top column (3) on the lower surface of the limited operation space (2) are contained simultaneously, and the brittle material sand core (5) is dissipated in space constraint;
and 8: the brittle material space transfer device carries out space six-degree-of-freedom transportation on the brittle material sand core (5) by using an end effector (15), and finishes technological actions such as pulling out, overturning, turning around and the like;
step 10: the brittle material space transfer device is characterized in that the brittle material sand core (5) is stacked on the upper brittle material sand core (8) in three degrees of freedom in space by using an end pick-up (15), and the surface contact stacking process action of the brittle material sand core (5) and the upper brittle material sand core (8) is completed, so that the bottom brittle material sand core (6), the middle brittle material sand core (7), the upper brittle material sand core (8) and the brittle material sand core (5) are sequentially stacked from bottom to top in the surface contact stacking process;
step 11: the current of the electrorheological fluid (17) is cut off, the macromolecule electrorheological fluid (17) in the heat-proof capsule (16) changes from solid state to liquid state, and the situation that the sand core (5) of the brittle material and the end effector (15) of the spatial transportation device of the brittle material complete the spatial position unlocking and locking is ensured;
step 12: the air in an air pressure cavity (21) is formed on the side, with a rod, of a piston (19) to reduce pressure, the elastic force resetting function of a resetting spring (20) causes the piston (19) to reset, the electro-rheological fluid pressure in an electro-rheological fluid cavity (18) formed on the side, without the rod, of the piston (19) and an end effector (15) is reduced, and the electro-rheological fluid cavity (18) formed on the side, without the rod, of the piston (19) is separated from electro-rheological fluids (17) in a plurality of groups of heat-proof capsules (16) to form independent through unit communication, so that the electro-rheological fluid in the heat-proof capsules (16) of the electro-rheological fluid (17) flows back to the electro-rheological fluid cavity (18), and the heat-proof capsules (16);
step 13: the electro-rheological fluid (17) in the heat-proof capsule (16) is recovered to cause the controllable shrinkage function of the heat-proof capsule (16), so that the heat-proof capsule (16) is released and separated from the space special-shaped protrusion (9) attached to and containing the brittle material sand core (5):
step 14: an end effector (15) for the brittle material space transfer device returns to zero;
the design of the invention is that the brittle material space transfer device moves the end effector to the vicinity of the space special-shaped protrusion of the brittle material sand core, and the brittle material space transfer device pressurizes the electrorheological fluid in the heat-proof capsule of the end effector to ensure that the electrorheological fluid fills and expands the heat-proof capsule, so that the heat-proof capsule wraps the space special-shaped protrusion of the brittle material sand core. And switching on current to the electrorheological fluid to ensure that the brittle material sand core and the end effector of the brittle material space transfer device complete picking. The device can finish the working process of transferring the spatial special-shaped block materials from the sand core preparation press machine to the other side in the limited operation space and finishing blanking and stacking, correct the nonlinear deformation of the system and ensure no collision.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the patent, the scope of which is defined in the appended claims and their equivalents.
Claims (7)
1. A brittle material space transfer device is characterized by comprising a base (10), a vertical column (11), a cross beam (12), a large arm (13), a small arm (14), a pickup mechanism (100) and structured light vision (28), wherein the pickup mechanism (100) comprises two symmetrical end pickers (15), a heat-proof capsule (16), electrorheological fluid (17), a piston (19) and a return spring (20);
the base (10) is connected with a linear motion pair of an upright post (11), the direction of freedom is longitudinal (22), the upright post (11) and a cross beam (12) are connected by adopting two bi-orthogonal linear motion pairs, the direction of freedom is height (24) and transverse (23), the cross beam (12) is connected with a large arm (13) by a rotary motion pair, the axis of freedom is pitch and depression (26), the large arm (13) is connected with a small arm (14) by a rotary motion pair, the axis of freedom is lateral pendulum (25), the small arm (14) is connected with two end pickups (15), two coaxial rotary motion pairs are formed, the axis of connection freedom is lateral pendulum (25), and the six degrees of freedom can enable the end pickups (15) to carry out space position and posture transformation relative to the sand core preparation press bed (1);
an electrorheological fluid (17) is arranged in the heat-proof capsule (16), one end of a return spring (20) is connected with a piston (19), the other end of the return spring (20) is connected with an end effector (15), the piston (19) is hermetically connected with a cylindrical pair of the end effector (15), the piston (19) and the end effector (15) form an air pressure cavity (21) at the rod side of the piston (19), the piston (19) and the end effector (15) form an electrorheological fluid cavity (18) at the rodless side of the piston (19), and the rodless side of the piston (19) forms the electrorheological fluid cavity (18) which is communicated with a plurality of groups of heat-proof capsules (16) through a pipeline;
and the structured light vision (28) is used for carrying out online detection on the spatial attitude of the brittle material sand core.
2. A brittle-like material space transfer device according to claim 1, characterized in that the end heat proof capsule (16) contains a number of flexible dividing plates (29) dividing the electro-rheological fluid (17) in the heat proof capsule (16) into separate units.
3. A brittle-material space transfer device according to claim 2, characterized in that the flexible dividing plate (29) is of a flexible and surface area-defining material.
4. A brittle material space transfer device according to claim 3, characterized in that the flexible dividing plate (29) is natural silica gel with embedded steel wire mesh.
5. A space transfer device of brittle material according to claim 2 or 3 or 4, characterized in that the rodless side of the piston (19) forms the electro-rheological fluid chamber (18) and the flexible dividing plate (29) in the sets of heat proof capsules (16) are divided into separate units which are communicated by pipes.
6. A method for spatially transferring a brittle material, characterized by spatially transferring the brittle material by using the brittle material spatial transfer device according to claim 1.
7. The method for spatially transporting a brittle material as claimed in claim 6, characterized by the steps of:
step 1: the sand core preparation press (1) is used for compressing and manufacturing a brittle material sand core in a limited operation space (2), and a top column (3) is arranged on the lower surface of the limited operation space (2) to upwards eject the brittle material sand core;
step 2: the brittle material space transfer device moves an end effector (15) to a proper engineering position near a space special-shaped protrusion (9) of the brittle material sand core:
and step 3: the compressed air in an air pressure cavity (21) is formed on the rod side of a piston (19) to be pressurized, the piston (19) overcomes the elastic force of a return spring (20), the electro-rheological liquid (17) in an electro-rheological liquid cavity (18) is formed on the rodless side of the piston (19) by the piston (19) and an end effector (15) to be extruded out, the electro-rheological liquid (17) is inflated to expand a heat-proof capsule (16) to enable the heat-proof capsule (16) to be protruded in a special shape, the outer surface of the heat-proof capsule (16) partially and fully contains the space special-shaped protrusion (9) of a sand core made of a brittle material, and the space special-shaped protrusion (9) is fully contained by the heat-proof capsule (16);
and 4, step 4: the electrorheological fluid (17) is switched on with current, the electrorheological fluid (17) of the macromolecule electrorheological fluid in the heat-proof capsule (16) is changed from liquid state to solid state, and the spatial position locking of the brittle material sand core and the end effector (15) of the brittle material spatial transfer device is ensured;
and 5: the end effector (15) is used for enabling the brittle material sand core to move upwards to be separated from the top end of the top column (3) on the lower surface of the limited operation space (2), and the brittle material sand core is in an uncertain posture in space due to the fact that the brittle material space transfer device structure and the brittle material sand core structure nonlinearity and the top end of the top column (3) on the lower surface of the limited operation space (2) are contained simultaneously, and the brittle material sand core space constraint is dissipated;
step 6: carrying out spatial six-degree-of-freedom transportation on the brittle material sand core by using an end effector (15), and completing technological actions such as pulling out, overturning, steering, turning around and the like;
and 7: the structural light vision (28) is used for carrying out online detection on the space posture of the brittle material sand core, six degrees of freedom are carried out on the brittle material sand core in an uncertain posture in space under the action of the controller, the brittle material sand core picked up by the end pick-up (15) is subjected to space position and posture transformation relative to the sand core preparation press (1) until the postures of the brittle material sand core and the upper layer of brittle material sand core are isomorphic, the point contact damage of the brittle material sand core and the upper layer of brittle material sand core is prevented, and the surface contact stacking of the brittle material sand core and the upper layer of brittle material sand core is achieved;
and 8: stacking the brittle material sand cores to an upper layer of brittle material sand cores in three degrees of freedom in space by using an end effector (15), finishing the surface contact stacking process action among the brittle material sand cores, and stacking the brittle material sand cores according to the surface contact sequence from bottom to top;
and step 9: the current of the electrorheological fluid (17) is cut off, so that the high molecular electrorheological fluid (17) in the heat-proof capsule (16) is changed from a solid state to a liquid state, and the situation that the sand core of the brittle material and the end effector (15) of the spatial transportation device of the brittle material complete spatial position release contact locking is ensured;
step 10: the air in the air pressure cavity (21) is formed at the rod side of the piston (19) to reduce pressure, the elastic force resetting function of the resetting spring (20) causes the piston (19) to reset, the electro-rheological fluid pressure in the electro-rheological fluid cavity (18) formed by the piston (19) and the end effector (15) at the rodless side of the piston (19) is reduced, so that the electro-rheological fluid in the electro-rheological fluid (17) heat-proof capsule (16) flows back to the electro-rheological fluid cavity (18), and the heat-proof capsule (16) is caused to shrink in a special shape;
step 11: the electro-rheological fluid (17) in the heat-proof capsule (16) is recovered to cause the controllable shrinkage function of the heat-proof capsule (16), and the heat-proof capsule (16) is released and separated from the space special-shaped protrusion (9) which is attached to and contains the sand core of the brittle material;
step 12: the brittle material space transfer device is provided with an end pick-up (15) which returns to zero position.
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