CN114453573A - Post-treatment device and method for cast workpiece - Google Patents
Post-treatment device and method for cast workpiece Download PDFInfo
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- CN114453573A CN114453573A CN202210216204.3A CN202210216204A CN114453573A CN 114453573 A CN114453573 A CN 114453573A CN 202210216204 A CN202210216204 A CN 202210216204A CN 114453573 A CN114453573 A CN 114453573A
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- 238000000034 method Methods 0.000 title claims abstract description 19
- 238000012805 post-processing Methods 0.000 claims abstract description 72
- 238000005266 casting Methods 0.000 claims abstract description 69
- 238000001816 cooling Methods 0.000 claims description 11
- 239000002184 metal Substances 0.000 claims description 3
- 230000000694 effects Effects 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
- B22D29/00—Removing castings from moulds, not restricted to casting processes covered by a single main group; Removing cores; Handling ingots
- B22D29/04—Handling or stripping castings or ingots
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
- B22D2/00—Arrangement of indicating or measuring devices, e.g. for temperature or viscosity of the fused mass
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
- B22D46/00—Controlling, supervising, not restricted to casting covered by a single main group, e.g. for safety reasons
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Abstract
The invention discloses a post-processing device and a post-processing method for a cast workpiece, wherein the device comprises: the casting machine, the casting unit manipulator, the conveying device, the pick-up table, the post-processing unit manipulator and the main controller are arranged on the casting machine; the casting machine is used for casting a workpiece, the casting unit manipulator is arranged on one side of the casting machine, a conveying device is further arranged on one side of the casting machine, the casting unit manipulator is used for grabbing the workpiece from the casting machine onto the conveying device, the picking platform is arranged at the tail of the conveying device, the post-processing unit manipulator is arranged on one side of the picking platform and used for grabbing the workpiece, a positioning camera is arranged on the post-processing unit manipulator and connected with the processor, and the casting unit manipulator, the conveying device, the post-processing unit manipulator and the processor are respectively connected with the main controller; the scheme has the characteristics of convenience in operation, high safety and capability of effectively improving the stability.
Description
Technical Field
The invention relates to a post-processing technology of a cast workpiece, in particular to a post-processing device and a post-processing method of the cast workpiece.
Background
The sub vehicle frame product of casting out at present is unstable, and the manipulator is difficult for the location to snatch, by the casting unit to aftertreatment unit's in-process, will guarantee the position uniformity of product, and aftertreatment needs will cut the sprue gate of product, water and say, mill, polish to the overlap of parting line department moreover. Therefore, certain requirements are required on the grabbing and positioning precision of the mechanical arm for post-processing, and the casting automatic unit and the post-processing unit are well connected. At present, all products produced by casting automatic units are manually conveyed to a post-treatment feeding mechanism after being cooled, and because the cast auxiliary frame products are heavy, a large number of sand cores are contained in the auxiliary frame products and are high in temperature, great difficulty is brought to manual operation, and the production efficiency and the safety are very low. Therefore, it is desirable to provide a post-processing apparatus and method for cast workpieces to solve the above problems.
Disclosure of Invention
Therefore, it is necessary to provide a post-treatment apparatus and method for a cast workpiece, which is easy to handle, highly safe, and effective in improving stability.
To achieve the above object, the inventors provide a cast workpiece post-processing apparatus comprising: the casting machine, the casting unit manipulator, the conveying device, the pick-up table, the post-processing unit manipulator and the main controller;
the casting machine is used for casting workpieces, the casting unit manipulator is arranged on one side of the casting machine, a conveying device is further arranged on one side of the casting machine, the casting unit manipulator is used for grabbing the workpieces from the casting machine onto the conveying device, the workpiece fetching platform is arranged at the tail of the conveying device, the post-processing unit manipulator is arranged on one side of the workpiece fetching platform and used for grabbing the workpieces, a positioning camera is arranged on the post-processing unit manipulator and connected with the processor, and the casting unit manipulator, the conveying device, the post-processing unit manipulator and the processor are respectively connected with the main controller.
As a preferable mode of the present invention, the post-processing unit robot includes a robot arm and two positioning cameras, and the two positioning cameras are respectively disposed on one side of the gripper mechanism.
As a preferable mode of the present invention, the clamping jaw mechanism includes a connecting frame, the connecting frame is square, one side of the connecting frame is fixedly connected to the mechanical arm, extending rods far away from the connecting frame are respectively disposed at four corners of the connecting frame, clamping jaws are respectively disposed at ends of the extending rods, and the two positioning cameras are respectively disposed at ends of a pair of extending rods diagonally disposed.
As a preferable mode of the present invention, the end of the extension rod provided with the positioning cameras is further provided with an annular light source, and the positioning cameras are respectively arranged at the centers of the annular light sources.
In a preferred embodiment of the present invention, the conveyor is a cooling conveyor chain.
In a preferred embodiment of the present invention, the cooling conveyor chain is a metal link plate conveyor chain with fan cooling.
To achieve the above object, the inventors also provide a cast workpiece post-treatment method comprising: casting machine, casting unit manipulator, conveyor, get a platform, post processing unit manipulator, location camera, treater and master controller still include the following step:
s101: after casting is finished, the main controller controls the casting unit manipulator to take the workpiece out of the casting machine and carry the workpiece to the conveying device;
s102: the main controller controls the conveying device to convey the workpiece to the workpiece taking platform;
s103: the main controller controls the post-processing unit manipulator to move to the workpiece taking platform, and the end part of the post-processing unit manipulator moves to the position above the workpiece taking platform;
s104: the main controller controls a positioning camera at the end part of the manipulator of the post-processing unit to photograph the workpiece;
s105: the positioning camera transmits the picture information to the processor, the processor processes the information, and an X, Y axis deviation value and a picture taking completion signal are given and sent to the controller:
s106: the controller transmits the signal to the post-processing unit manipulator, and the post-processing unit manipulator realizes grabbing of the workpiece after adjusting the angle according to the X, Y axis deviation value.
As a preferred mode of the present invention, the controller transmits the signal to the post-processing unit robot and then includes the steps of: the post-processing unit manipulator reads the signal of photographing completion and then reads the X, Y axis offset value.
In a preferred embodiment of the present invention, two calibrated photographing identification points are preset on the workpiece after casting, and are used as reference positions, and the information of photographing by the positioning camera is compared with the reference positions to obtain X, Y axis deviation values.
Different from the prior art, the technical scheme has the following beneficial effects:
(1) according to the scheme, the positioning camera is added, and the post-processing unit manipulator can automatically adjust the action to grab the product according to the offset of the XY axes through the photographing positioning of the positioning camera, so that the stability of grabbing the product by the post-processing unit manipulator is effectively improved, and the subsequent operation is facilitated;
(2) the automatic casting machine comprises a casting machine, a casting unit manipulator, a conveying device, a piece taking table, a post-processing unit manipulator and a main controller, can realize the full-automatic process of the subsequent processing of a cast workpiece, is convenient to operate, has high safety, and saves labor cost.
Drawings
FIG. 1 is a top view of an embodiment of an apparatus for post-treatment of cast workpieces;
FIG. 2 is a perspective view of an apparatus for post-treatment of cast workpieces according to one embodiment;
FIG. 3 is a perspective view of a robot of the aftertreatment unit according to one embodiment;
FIG. 4 is an elevation view of a robot of the aftertreatment unit according to an embodiment;
FIG. 5 is a diagram of a control system for a cast workpiece post-treatment apparatus according to an embodiment;
FIG. 6 is a flow chart of a cast workpiece post-treatment method according to an embodiment.
Description of reference numerals:
1. a casting unit manipulator; 2. a conveying device; 3. a pickup table; 4. a master controller; 5. a post-processing unit manipulator; 501. a mechanical arm; 502. a jaw mechanism; 5021. a connecting frame; 5022. an extension rod; 5023. a clamping jaw; 503. positioning a camera; 504. an annular light source; 505. a processor.
Detailed Description
To explain technical contents, structural features, and objects and effects of the technical solutions in detail, the following detailed description is given with reference to the accompanying drawings in conjunction with the embodiments.
Referring to fig. 1 to 5 together, as shown in the drawings, the present embodiment provides a post-processing apparatus for a cast workpiece, including: the casting machine, the casting unit manipulator 1, the conveying device 2, the pickup table 3, the post-processing unit manipulator 5 and the main controller 4; the casting machine is used for casting workpieces, the casting unit manipulator 1 is arranged on one side of the casting machine, the conveying device 2 is further arranged on one side of the casting machine, the casting unit manipulator is used for grabbing the workpieces from the casting machine onto the conveying device, the workpiece fetching platform 3 is arranged at the tail of the conveying device, the post-processing unit manipulator 5 is arranged on one side of the workpiece fetching platform and used for grabbing the workpieces, the post-processing unit manipulator is provided with a positioning camera 503, the positioning camera 503 is connected with the processor 505, and the casting unit manipulator 1, the conveying device 2, the post-processing unit manipulator 5 and the processor 505 are respectively connected with the main controller.
In the above embodiment, the post-processing unit robot includes a robot arm 501 and a gripper mechanism 502, the gripper mechanism is disposed at the front end of the robot arm, two positioning cameras 503 are disposed, and the two positioning cameras are disposed at one side of the gripper mechanism, respectively. In this embodiment, as shown in fig. 2 to 4, the gripper mechanism 502 includes a connecting frame 5021, the connecting frame is square, one side of the connecting frame is fixedly connected to the robot arm, four corners of the connecting frame are respectively provided with an extending rod 5022 away from the connecting frame, ends of the extending rods are respectively provided with a gripper 5023, and two positioning cameras are respectively arranged at ends of a pair of extending rods diagonally.
In some embodiments, the conveyor is a cooling conveyor chain; specifically can be for having fan cooling's metal link joint conveying chain, in this embodiment, the work piece that cooling conveying chain can be effectual in to transportation process cools off, avoids high temperature to cause staff's injury or machine impaired.
As shown in fig. 3 and 4, in this embodiment, an annular light source 504 is further disposed at an end of the extension rod where the positioning camera is disposed, the positioning camera is disposed at a center of the annular light source, and the setting of the annular light source can effectively improve brightness of a photographing environment, so that a photographing effect is clearer.
As shown in fig. 6, the present embodiment also provides a cast workpiece post-processing method, including: casting machine, casting unit manipulator, conveyor, get a platform, post processing unit manipulator, location camera, treater and master controller still include the following step:
s101: after casting is finished, the main controller controls the casting unit manipulator to take the workpiece out of the casting machine and carry the workpiece to the conveying device;
s102: the main controller controls the conveying device to convey the workpiece to the workpiece taking platform;
s103: the main controller controls the post-processing unit manipulator to move to the workpiece taking platform, and the end part of the post-processing unit manipulator moves to the position above the workpiece taking platform;
s104: the main controller controls a positioning camera at the end part of the manipulator of the post-processing unit to photograph the workpiece;
s105: the positioning camera transmits the picture information to the processor, the processor processes the information, and an X, Y axis deviation value and a picture taking completion signal are given and sent to the controller:
s106: the controller transmits the signal to the post-processing unit manipulator, and the post-processing unit manipulator realizes grabbing of the workpiece after adjusting the angle according to the X, Y axis deviation value.
In the above embodiment, the controller, after transmitting the signal to the post-processing unit manipulator, comprises the steps of: the post-processing unit manipulator reads signals after photographing is completed, and then reads X, Y axis deviation values; and two calibrated photographing identification points are preset on the workpiece after casting is finished and are used as reference positions, and the photographing information of the positioning camera is compared with the reference positions to obtain X, Y axis deviation values.
The working principle is as follows: the cast workpiece is taken out from the casting machine by controlling a casting unit manipulator through a main controller, the workpiece is placed on a cooling conveying chain for conveying and cooling treatment, when the workpiece is conveyed to a workpiece taking platform, the main controller controls a post-processing unit manipulator to move to the workpiece taking platform, a clamping jaw mechanism at the end part of the post-processing unit manipulator moves to the upper part of the workpiece, a positioning camera at the end part of the post-processing unit manipulator photographs the workpiece, the photographed photograph is processed by a processor and is compared with a preset reference position on the workpiece to calculate a relative X, Y shaft deviation value, the main controller sends a photographing completion signal and a X, Y shaft deviation value to the post-processing unit manipulator, the post-processing unit reads the photographing completion signal, reads a X, Y shaft deviation value and adjusts the position of the clamping jaw mechanism to enable the clamping jaw mechanism to correspond to the workpiece clamping position, and then the part is removed.
It should be noted that, although the above embodiments have been described herein, the invention is not limited thereto. Therefore, based on the innovative concepts of the present invention, the technical solutions of the present invention can be directly or indirectly applied to other related technical fields by making changes and modifications to the embodiments described herein, or by using equivalent structures or equivalent processes performed in the content of the present specification and the attached drawings, which are included in the scope of the present invention.
Claims (9)
1. A cast workpiece post-processing apparatus, comprising: the casting machine, the casting unit manipulator, the conveying device, the pick-up table, the post-processing unit manipulator and the main controller;
the casting machine is used for casting workpieces, the casting unit manipulator is arranged on one side of the casting machine, a conveying device is further arranged on one side of the casting machine, the casting unit manipulator is used for grabbing the workpieces from the casting machine onto the conveying device, the workpiece fetching platform is arranged at the tail of the conveying device, the post-processing unit manipulator is arranged on one side of the workpiece fetching platform and used for grabbing the workpieces, a positioning camera is arranged on the post-processing unit manipulator and connected with the processor, and the casting unit manipulator, the conveying device, the post-processing unit manipulator and the processor are respectively connected with the main controller.
2. The cast workpiece post-processing apparatus according to claim 1, characterized in that: the post-processing unit manipulator comprises a mechanical arm and a clamping jaw mechanism, wherein the clamping jaw mechanism is arranged at the end part of the front end of the mechanical arm, the number of the positioning cameras is two, and the two positioning cameras are respectively arranged on one side of the clamping jaw mechanism.
3. The cast workpiece post-processing apparatus according to claim 2, characterized in that: clamping jaw mechanism includes the link, the link is squarely, link one side and arm fixed connection, and four corners of link are equipped with the extension rod of keeping away from the link respectively, the tip of extension rod is equipped with the clamping jaw respectively, and two location cameras are located the tip that is a pair of extension rod of diagonal setting respectively.
4. The cast workpiece post-processing apparatus according to claim 3, characterized in that: the extension rod end part provided with the positioning camera is also provided with an annular light source, and the positioning camera is respectively arranged at the center of the annular light source.
5. The cast workpiece post-processing apparatus according to claim 1, characterized in that: the conveying device is a cooling conveying chain.
6. The cast workpiece post-processing apparatus according to claim 1, characterized in that: the cooling conveying chain is a metal chain plate conveying chain with fan cooling.
7. A method of post-processing a cast workpiece, comprising: casting machine, casting unit manipulator, conveyor, get a platform, post processing unit manipulator, location camera, treater and master controller still include the following step:
s101: after casting is finished, the main controller controls the casting unit manipulator to take the workpiece out of the casting machine and carry the workpiece to the conveying device;
s102: the main controller controls the conveying device to convey the workpiece to the workpiece taking platform;
s103: the main controller controls the post-processing unit manipulator to move to the workpiece taking platform, and the end part of the post-processing unit manipulator moves to the position above the workpiece taking platform;
s104: the main controller controls a positioning camera at the end part of the manipulator of the post-processing unit to photograph the workpiece;
s105: the positioning camera transmits the picture information to the processor, the processor processes the information, and an X, Y axis deviation value and a picture taking completion signal are given and sent to the controller:
s106: the controller transmits the signal to the post-processing unit manipulator, and the post-processing unit manipulator realizes grabbing of the workpiece after adjusting the angle according to the X, Y axis deviation value.
8. The cast workpiece post-processing method of claim 7, wherein the controller transmitting the signal to the post-processing cell robot comprises the steps of: the post-processing unit manipulator reads the signal of photographing completion and then reads the X, Y axis offset value.
9. The cast workpiece post-processing method according to claim 7, characterized in that: and two calibrated photographing identification points are preset on the workpiece after casting is finished and are used as reference positions, and the photographing information of the positioning camera is compared with the reference positions to obtain X, Y axis deviation values.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210216204.3A CN114453573A (en) | 2022-03-07 | 2022-03-07 | Post-treatment device and method for cast workpiece |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210216204.3A CN114453573A (en) | 2022-03-07 | 2022-03-07 | Post-treatment device and method for cast workpiece |
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| Publication Number | Publication Date |
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| CN114453573A true CN114453573A (en) | 2022-05-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210216204.3A Pending CN114453573A (en) | 2022-03-07 | 2022-03-07 | Post-treatment device and method for cast workpiece |
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Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05305413A (en) * | 1992-04-24 | 1993-11-19 | Tooa Diecast:Kk | Carrier for cast work in die casting |
| JPH0631434A (en) * | 1992-07-16 | 1994-02-08 | Honda Motor Co Ltd | Post treatment of casting work and apparatus therefor |
| JPH07308753A (en) * | 1994-05-20 | 1995-11-28 | Nippon Steel Corp | Post-treatment apparatus for cast product |
| CN203711828U (en) * | 2014-02-24 | 2014-07-16 | 安庆雅德帝伯活塞有限公司 | Integrated device for piston casting, taking, cooling and riser cutting |
| JP2015027684A (en) * | 2013-07-30 | 2015-02-12 | ダイハツ工業株式会社 | Post-treatment method for die-cast casting and die-cast casting installation |
| CN207600390U (en) * | 2017-12-29 | 2018-07-10 | 法雷奥市光（中国）车灯有限公司 | Workpiece automated sorting equipment |
| CN109719291A (en) * | 2019-03-06 | 2019-05-07 | 青岛航大新材料技术有限公司 | A kind of metal parts casting automated system |
| CN216938390U (en) * | 2022-03-07 | 2022-07-12 | 江苏天宏机械工业有限公司 | Post-processing device for cast workpiece |
-
2022
- 2022-03-07 CN CN202210216204.3A patent/CN114453573A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05305413A (en) * | 1992-04-24 | 1993-11-19 | Tooa Diecast:Kk | Carrier for cast work in die casting |
| JPH0631434A (en) * | 1992-07-16 | 1994-02-08 | Honda Motor Co Ltd | Post treatment of casting work and apparatus therefor |
| JPH07308753A (en) * | 1994-05-20 | 1995-11-28 | Nippon Steel Corp | Post-treatment apparatus for cast product |
| JP2015027684A (en) * | 2013-07-30 | 2015-02-12 | ダイハツ工業株式会社 | Post-treatment method for die-cast casting and die-cast casting installation |
| CN203711828U (en) * | 2014-02-24 | 2014-07-16 | 安庆雅德帝伯活塞有限公司 | Integrated device for piston casting, taking, cooling and riser cutting |
| CN207600390U (en) * | 2017-12-29 | 2018-07-10 | 法雷奥市光（中国）车灯有限公司 | Workpiece automated sorting equipment |
| CN109719291A (en) * | 2019-03-06 | 2019-05-07 | 青岛航大新材料技术有限公司 | A kind of metal parts casting automated system |
| CN216938390U (en) * | 2022-03-07 | 2022-07-12 | 江苏天宏机械工业有限公司 | Post-processing device for cast workpiece |
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