CN116652124A - An automatic core setting method for static pressure line molding - Google Patents

Abstract

The invention relates to an automatic core setting method for static pressure line molding, which belongs to the technical field of casting. It includes a conveying line, a control system, and at least one set of core-setting system arranged around the conveying line, and the core-setting system includes a first camera device, a second camera device, a positioning platform, a core-setting manipulator and a destacking manipulator. The control system, the first camera device, the second camera device, the positioning platform, the core-setting manipulator and the unstacking manipulator are connected by communication. Utilizing the static pressure line molding automatic core setting method of the present invention can realize fully automatic core setting molding without manual core assembly, which not only reduces the cost and saves labor force, but also the manipulator picks and places the sand core according to the established procedure, and the position of the core setting is accurate. Improve production quality.

Description

An automatic core setting method for static pressure line molding

technical field

The invention relates to an automatic core setting method for static pressure line molding, which belongs to the technical field of casting.

Background technique

Brake disc sand core is a material for casting brake discs. It is made by mixing casting sand and binder in a certain proportion and then using a core making machine. The casting process of brake discs generally includes sand core preparation, core making , using a drying furnace for drying, dip coating (which can improve the surface quality gradually), lower core (putting the formed sand core into the mold cavity of the sand box is called the lower core) and casting after closing the box. .

For some brake discs with a simple structure, a single sand core can be cast and formed, and only need to be arranged in a flat layer in the mold cavity of the sand box; but for some brake discs with a complex structure, it is often necessary to combine multiple sand cores to form a combined sand core. For example, the combined sand core 7 shown in Figure 17 includes an upper sand core 7.1, a middle sand core 7.2 and a lower sand core 7.3, and multiple sand cores need to be stacked in the mold cavity of the sand box. The existing automatic core laying production line is generally only suitable for flat layer molding process. For combined sand cores, semi-automatic process molding is mostly used at present, that is, manual core assembly is performed first, and the operator combines multiple sand cores together in a fixed direction. After placing it at the designated position, the cylinder drives the sliding table to move the sand core to the designated position, the transfer manipulator transports the sand core to the transition platform, the core manipulator waits for the sand box to be in place, and the core manipulator takes a camera to take pictures of the grinding hole position, and then core.

The semi-automatic process has the following disadvantages:

(1) It is necessary to manually place the sand cores in a fixed position and a fixed direction. Time is tight and busy, and the positioning of multiple sand cores often deviates, which is labor-intensive and has a high scrap rate;

(2) The size of the sand box on the conveying line is different. After the mold cavity is positioned for each sand box, the manipulator can accurately place the sand core into the mold cavity. The core-setting manipulator takes a camera to take pictures of the positioning method. Increase the time of setting the core;

(3) In addition, the method of taking pictures with the camera of the core-setting manipulator is to directly take pictures of the position of the cavity of the sand box. Due to the reflection of the photo, this way of taking pictures has a low success rate of cavity positioning, long positioning time, and unsuccessful positioning. , it is necessary to repeatedly locate and take pictures, so that the online device has been in a stop waiting state, and the device can not proceed to the next step until the positioning is successful.

Contents of the invention

The purpose of the present invention is to provide a new technical solution to improve or solve the above-mentioned technical problems in the prior art.

The technical solution provided by the present invention is as follows: an automatic core setting method for static pressure line molding, including a conveying line, a control system, and at least one set of core setting systems arranged around the conveying line, and the core setting system includes a first camera Equipment, second camera equipment, positioning platform, core-setting manipulator and unstacking manipulator, communication connection between the control system, first camera equipment, second camera equipment, positioning platform, core-setting manipulator and de-stacking manipulator, core setting Methods as below:

(1) The first camera device takes a photo of palletizing and transmits the photo information to the control system;

(2) The control system recognizes the quantity and model of the products currently on the top layer of the stack according to the photos, and calculates the coordinate position of the product, and the unstacking manipulator adjusts the grasping posture according to the product model and coordinate position and performs the operation of grabbing the product;

(3) The destacking manipulator places the grabbed product on the positioning platform, and the positioning platform selects to purge or/and position the sand core according to the model of the product;

(4) The core-setting manipulator accurately grasps the product after adjusting the posture of the grasping piece according to the model of the product;

(5) After the sand box is in place, the second camera device takes a photo of the sand box positioning part, and the control system calculates the coordinate information of each mold cavity in the sand box according to the photo information, and the core-setting manipulator adjusts the next step according to the coordinate information of the mold cavity. After the core position, put the sand core into the mold cavity of the sand box accurately;

(6) Judging whether the backing board needs to be removed: if it is necessary to remove the backing board, adjust the attitude of the unstacking manipulator and use the suction cup assembly to absorb and transfer the backing board; if it is not necessary to remove the backing board, judge whether the modeling is completed, and if the modeling is completed, end the next step core operation;

(7) If the modeling is not completed, repeat the above steps (1) to (6) until the modeling is completed.

Further, when the static pressure line molding automatic lowering core line includes three sets of the core setting systems, the three sets of the core setting systems are sequentially arranged around the conveying line from upstream to downstream, and the upstream core setting systems The core setting system places the lower sand core of the combined sand core in the mold cavity of the sand box, and when the sand box moves to the midstream core setting system with the conveying line, the midstream core setting system places the middle sand core of the combined sand core In the mold cavity with the lower sand core, when the sand box moves to the downstream core system with the conveying line, the downstream core system will place the upper sand core of the combined sand core into the lower sand core and the middle. In the mold cavity of the sand core.

The beneficial effect of adopting the above further solution is that the core setting method of the present invention can be applied to the laminated molding process of combined sand cores by adopting the three sets of core setting system.

Further, any set of the core setting system includes two positioning platforms, and the two positioning platforms are arranged on both sides of the core setting robot.

The beneficial effect of adopting the above further solution is that it can reduce the downtime waiting time of the core setting manipulator and improve the efficiency.

Further, when the core setting system includes two positioning platforms, in step (3), first select which positioning platform to place the product on, and place the grabbed product on the selected positioning platform.

The beneficial effect of adopting the above further solution is to improve the efficiency of positioning and purging.

Further, any set of the core-setting system also includes a transfer manipulator and an overturning table, the transfer manipulator turns over and transfers the product on the positioning table to the overturning table, and the core-setting manipulator moves from the overturning table Grasp the lower core.

The beneficial effect of adopting the above further solution is that the flipping function of the sand core is realized, which is suitable for the molding of different types of sand cores.

Further, when the core setting system also includes a transfer manipulator and an overturning platform, the core setting method of the core setting system first judges whether there is a product on the positioning platform in step (3), if there is a product, then according to the product The model judges whether the product needs to be positioned. If positioning is required, the sand core will be positioned and purged. If no positioning is required, only the product will be purged. After purging and/or positioning, the transfer robot will Grab the product from the positioning platform and turn it over, first judge whether there is a product on the turning platform, if there is a product, wait for the turning platform to have no products, if there is no product, then move the grabbed product to the turning platform; Judging whether there is a product on the turning table, if there is no product, then continue to stop and wait; if there is a product, then adjust the grasping posture and accurately grab the product from the turning table, and continue to step (5);

Further, the core setting system includes two sets of the second camera, and the two sets of the second camera are respectively aligned with the positioning parts at both ends of the sand box on the conveying line.

As shown by the above further beneficial effects: the two ends of the sand box have reference positioning sleeves, the positions of the mold cavities in the sand box and the positional relationship between the reference positioning sleeves are relatively fixed, and the positioning sleeves are made of materials that are easy to be captured by the camera, and It is not easy to reflect light, and the success rate of shooting is high. Two 2D cameras are used to take pictures respectively to identify the positioning sleeves at both ends of the sand box, and calculate the coordinates of the position of the mold cavity according to the photos taken, so as to obtain the position of each mold cavity in the sand box. Accurately place the core at the hole position.

Further, the first camera device and the second camera device are 3D cameras or 2D cameras, the first camera device is used to obtain information on products on the pallet, and the second camera device is used to identify the conveying line The location information of the mold cavity of the upper flask.

Further, the positioning platform includes a frame, and the frame is provided with a workbench, and the workbench is provided with one or more turntables, a rotating mechanism for driving the turntable to rotate, and a laser sensor, and each of the There are laser sensors on one side of the turntable.

The further beneficial effect of adopting the above is that the positioning table can realize accurate positioning of the sand core on the turntable, and facilitate the manipulator to accurately grab the sand core and place the sand core in the correct position of the sand box.

Further, the workbench is also provided with a purging device, which is used for purging the floating sand on the sand core placed on the turntable.

The further beneficial effect of adopting the above is that at the same time of positioning, the electromagnetic valve controls the compressed air to blow the sand core, so as to clean the excess sand particles and dust on the sand core and reduce the generation of waste products.

Further, the destacking manipulator includes a destacking manipulator clamp, and the destacking manipulator clamp includes a main connecting plate, a connecting flange for connecting with the manipulator, a workpiece clamping mechanism and a suction cup assembly, and the connecting flange is installed on The upper end of the main connecting plate, the workpiece clamping mechanism is installed on the lower end of the main connecting plate, the workpiece clamping mechanism is used to grab and transfer the workpiece, and the suction cup assembly is installed on one side of the main connecting plate , the suction cup assembly is used to absorb and transfer the pad.

The further beneficial effect of adopting the above is that the dismantling manipulator fixture can disassemble the sand cores stacked together from top to bottom layer by layer through the workpiece clamping mechanism. After walking, the suction cup assembly can absorb the backing plate and transfer it to other positions, so as to facilitate the continuous disassembly and separation of the sand core under the backing plate.

Compared with the prior art, the technical solution provided by the invention has the following beneficial effects:

1. Using the automatic core setting method for static pressure line molding of the present invention can realize fully automatic core setting without manual core assembly, which not only reduces the cost and saves labor force, but also the manipulator picks and places the sand core according to the established procedure. Accurate, improve production quality;

2. When the sand box is in place, use the second camera device to take pictures automatically to save the mold cavity positioning time;

3. The present invention adopts a positioning table, and while the rotation direction of the sand core realizes automatic positioning, the sand core can also be purged, thereby improving the positioning efficiency and product quality.

4. The present invention can start different core setting systems according to product models, not only suitable for the flat layer molding process of a single sand core, but also suitable for the stacked molding process of combined sand cores;

5. The core setting method of the present invention can automatically match the fixture according to the model of the product, and adapt to the shapes of different models of products.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only It is an embodiment of the present invention, and those skilled in the art can also obtain other drawings according to the provided drawings without creative work.

Fig. 1 is the plane layout diagram of the static pressure line molding automatic core setting method of the present invention;

Fig. 2 is the front view of sand box;

Fig. 3 is the front view when the second camera device of the present invention takes pictures of the sand box;

Fig. 4 is the side view when the second camera device of the present invention takes pictures of the sand box;

Fig. 5 is the schematic diagram of the three-dimensional structure of the destacking manipulator fixture of the present invention;

Fig. 6 is the schematic diagram of the three-dimensional structure of the lower part of the unstacking manipulator fixture of the present invention;

Fig. 7 is a three-dimensional structural schematic view of the workpiece clamping mechanism of the destacking manipulator fixture of the present invention when clamping the sand core;

Fig. 8 is a three-dimensional structural schematic view of the suction cup of the destacking manipulator fixture of the present invention when transferring the backing plate;

Fig. 9 is a schematic diagram of the three-dimensional structure of the brake disc positioning platform of the present invention;

Fig. 10 is a top view of the brake disc positioning platform of the present invention;

Fig. 11 is a schematic diagram of the installation structure of the rotating mechanism of the present invention;

Fig. 12 is a three-dimensional structural schematic diagram of the lifting mechanism of the present invention;

Fig. 13 is a schematic structural view of the lifting mechanism of the present invention when no shielding plate is installed;

Fig. 14 is a three-dimensional structural schematic view of placing the sand core on the brake disc positioning platform of the present invention;

Fig. 15 is a schematic diagram of the three-dimensional structure of the sand core;

Fig. 16 is a structural schematic diagram of stacking sand cores on a tray;

Fig. 17 is the sectional view of combined sand core;

Fig. 18 is a flow chart of the core setting method of the upstream core setting system of the present invention;

Fig. 19a is a working flow chart of the unstacking manipulator of the upstream core setting system of the present invention;

Fig. 19b is a working flow chart of the transfer manipulator of the upstream core setting system of the present invention;

Fig. 19c is a working flow diagram of the core-setting manipulator of the upstream core-setting system of the present invention;

Fig. 20 is a flow chart of the core setting method of the midstream core setting system of the present invention;

Fig. 21a is a working flow chart of the unstacking manipulator of the core setting system in the middle reaches of the present invention;

Fig. 21b is a working flow chart of the core-setting manipulator of the core-setting system in the middle reaches of the present invention;

Fig. 22 is a flow chart of the core setting method of the downstream core setting system of the present invention;

Fig. 23a is a working flow chart of the unstacking manipulator of the downstream core setting system of the present invention;

Fig. 23b is a working flow chart of the core-setting manipulator of the downstream core-setting system of the present invention;

In the figure, 1. Conveyor line; 2. First camera device; 3. Second camera device; 4. Positioning platform; 4.1. Rack; 4.2. Turntable; 4.3. Rotary mechanism; 4.4. Laser sensor; 4.5. Purge Device; 4.6, mounting seat; 4.7, sliding table cylinder; 4.8, cylinder; 4.9, cylinder connecting plate; 4.10, shielding plate; 4.12, sand core body; 4.13, support boss; 4.14, detection laser beam; 4.15, installation block ;5. Core lowering manipulator; 6. Unstacking manipulator; 6.1. Main connecting plate; 6.2. Connecting flange; 6.3. Workpiece clamping mechanism; 6.31. Fixing seat; Suction cup assembly; 6.41, suction cup connecting plate; 6.42, vacuum suction cup; 6.5, backing plate; 6.6, unstacking manipulator fixture; 7, combined sand core; 7.1, upper sand core; 7.2, middle sand core; 7.3, lower sand core; 8. Sand box; 8.1. Positioning department; 8.2. Mold cavity; 9. Turning table; 11. Transfer manipulator; 12. Stacking; 13. Backing plate storage station.

Detailed ways

The principles and features of the present invention are described below in conjunction with examples, which are only used to explain the present invention and are not intended to limit the scope of the present invention.

As shown in Figure 1, an automatic core setting method for static pressure line molding, including a conveying line 1, a control system and at least one set of core setting systems arranged around the conveying line 1, the core setting system includes a first camera Equipment 2, second camera equipment 3, positioning platform 4, core lowering manipulator 5 and unstacking manipulator 6, described control system, first camera equipment 2, second camera equipment 3, positioning platform 4, core lowering manipulator 5 and dismantling The stacking manipulators 6 are connected by communication, and the core setting method is as follows:

(1) The first camera device 2 takes photos of palletizing 12 and sends the photo information to the control system;

(2) The control system recognizes the quantity and model of the products currently located on the uppermost layer of the stacking 12 according to the photos, and calculates the coordinate position of the product, and the unstacking manipulator 6 adjusts the grasping posture according to the product model and the coordinate position and grabs the product. operate;

(3) The destacking manipulator 6 places the grabbed product on the positioning platform 4, and the positioning platform 4 selects to purge or/and locate the sand core according to the model of the product;

(4) The core-setting manipulator 5 adjusts the grasping posture according to the model of the product and accurately grasps the product;

(5) After the sand box 8 is in place, the second camera device 3 takes a photo of the positioning part 8.1 of the sand box 8, and the control system calculates the coordinate information of each mold cavity 8.2 in the sand box 8 according to the photo information. After adjusting the position of the lower core according to the coordinate information of the mold cavity 8.2, place the sand core accurately in the mold cavity 8.2 of the sand box 8;

(6) Determine whether the backing plate 6.5 needs to be removed: if it is necessary to remove the backing plate 6.5, the unstacking manipulator 6 adjusts its posture and uses the suction cup assembly 6.4 to absorb and transfer the backing plate 6.5 to the backing plate storage station 13; if it is not necessary to remove the backing plate 6.5 , judge whether the molding is completed, if the molding is completed, end the core setting operation;

(7) If the modeling is not completed, repeat the above steps (1) to (6) until the modeling is completed.

Additionally, in this example,

The core setting system includes two second camera devices 3, and the two second camera devices 3 are respectively aligned with the positioning parts 8.1 at both ends of the sand box 8 on the conveying line 1 (referring to Fig. 2-Fig. 4 ). And the second camera device 3 is a 2D camera, the first camera device 2 is a 3D camera, and the first camera device 2 is used to obtain the information of the product on the pallet 12, and the second camera device 3 uses It is used to identify the position information of the mold cavity 8.2 of the sand box 8 on the conveying line 1. The principle of using two 2D cameras to locate the mold cavity 8.2 is: there are reference positioning sleeves at both ends of the sand box 8, and the position relationship between the position of each mold cavity 8.2 in the sand box 8 and the reference positioning sleeve is relatively fixed. Take pictures to identify the positioning sleeves at both ends of the sand box 8, and calculate the coordinates of the mold cavity 8.2 positions according to the photographs taken, so as to obtain the positions of each mold cavity 8.2 in the sand box 8, and the core setting manipulator 5 performs accurate core setting according to the position of the mold cavity 8.2. In actual production, the position deviation of the mold cavity 8.2 captured by the 2D camera is ≤0.02mm, and the photo positioning time is 2 seconds, which fully meets the production cycle requirements. Of course, the second camera device 3 can also use a 3D camera to locate the mold cavity 8.2, but since the price of a set of 3D cameras is more than 200,000, the cost is relatively high, and the use of two 2D cameras can realize the positioning of the mold cavity 8.2 function, the cost of two 2D cameras is about 8,000, which can save costs.

As shown in Fig. 4 and Fig. 5, unstacking manipulator 6: comprise unstacking manipulator clamp 6.6, described unstacking manipulator clamp 6.6 is installed on the end of the mechanical arm of unstacking manipulator by connecting flange 6.2, described mechanical arm can Drive the destacking manipulator clamp 6.6 to rotate around the central axis of the connecting flange 6.2, and the mechanical arm can drive the destacking manipulator clamp 6.6 to turn over. The destacking manipulator fixture 6.6 includes a main connecting plate 6.1, a connecting flange 6.2 for connecting with the manipulator, a workpiece clamping mechanism 6.3 and a suction cup assembly 6.4, and the connecting flange 6.2 is installed on the upper end of the main connecting plate 6.1, The workpiece clamping mechanism 6.3 is installed on the lower end of the main connecting plate 6.1, the workpiece clamping mechanism 6.3 is used to grab and transfer the workpiece, the suction cup assembly 6.4 is installed on one side of the main connecting plate 6.1, the The suction cup assembly 6.4 is used to absorb and transfer the backing plate 6.5 to the backing plate storage station 13.

The suction cup assembly 6.4 includes a suction cup connection plate 6.41 and one or more suction cups installed on the suction cup connection plate 6.41, the suction cup connection plate 6.41 is vertically installed on one side of the main connection plate 6.1, and the suction cups are connected The plate 6.41 is detachably connected to the main connecting plate 6.1, the suction cup is a vacuum suction cup 6.42, and the vacuum suction cup 6.42 is connected to the vacuum element assembly through a pipeline, and the vacuum suction cup can be adjusted when the vacuum element assembly is started. 6.42 Vacuumize, so that the suction cup grabs the backing plate 6.5.

The workpiece clamping mechanism 6.3 includes a mounting seat 4.6, a clamping jaw cylinder 6.32 and a plurality of clamping jaws 6.33. In this embodiment, the number of clamping jaws 6.33 is not limited, and the number of clamping jaws 6.33 can be three, five or eight One, as long as the workpiece can be picked up stably, it is all within the protection scope of the present invention. One end of the mounting base 4.6 is mounted on the main connecting plate 6.1, the other end of the mounting base 4.6 is connected to the clamping jaw cylinder 6.32, and a plurality of clamping jaws 6.33 are evenly distributed on the clamping jaws along the circumferential direction on the cylinder 6.32, and the jaws 6.33 can slide radially. More specifically, the jaw cylinder 6.32 is provided with a plurality of slideways, the number of the slideways is the same as the number of the jaws 6.33, a slide block is arranged in the slideway, and a plurality of the jaws 6.33 are respectively installed in the respective slideways through the sliders, the jaw cylinder 6.32 is connected with the air source, and the reciprocating movement of the slider is realized through the switching of the intake and exhaust states in the cylinder cavity of the jaw cylinder 6.32, and the jaw cylinder The claw 6.33 can follow the slide block and slide back and forth along the slideway, so as to realize grabbing and putting down the workpiece.

In this embodiment, four workpiece clamping mechanisms 6.3 and two sets of suction cup assemblies 6.4 are installed on the main connecting plate 6.11, and four vacuum suction cups 6.42 are arranged on each set of suction cup assemblies 6.4. The destacking manipulator 6 can grab four workpieces at a time. After the destacking of the workpieces on the upper layer is completed, the two sets of suction cup assemblies 6.4 can stably absorb and transfer the backing plate 6.5 to the backing plate storage station 13, which is convenient Continue to disassemble and separate the sand core below the backing plate 6.5.

With reference to Fig. 6 and Fig. 7, utilize the destacking manipulator 6 destacking working method of present embodiment as follows: described destacking manipulator clamp 6.6 is installed on the mechanical arm of manipulator through connecting flange 6.2, drives by destacking manipulator 6 The fixture 6.6 of the unstacking manipulator moves and turns over. When unstacking, the mechanical arm first drives the jig 6.6 of the unstacking manipulator to move to the top of the stacking 12. After the workpiece clamping mechanism 6.3 is aligned with the position of the sand core to be clamped, the clamping jaw cylinder 6.32 is activated, and the clamping jaw 6.33 is opened to remove the sand core. The core is picked up and moved to the designated station; when the first layer of sand core is removed, the destacking manipulator 6 drives the destacking manipulator clamp 6.6 to turn over, so that the suction cup connecting plate 6.41 of the suction cup assembly 6.4 is parallel to the backing plate 6.5, when the manipulator Drive the suction cup assembly 6.4 to move down to the suction cup to absorb the backing plate 6.5 and then remove the backing plate 6.5. The destacking manipulator 6 drives the destacking manipulator clamp 6.6 to reverse to the grabbing state, and continues to carry out the sand core on the second layer. Grab until the depalletizing is complete.

It should be noted that the destacking manipulator fixture 6.6 can pick up four sand cores at the same time, or pick up the sand cores one by one, and the destacking manipulator fixture 6.6 can rotate around the central axis of the connecting flange 6.2, when When the sand cores need to be picked up one by one, any workpiece clamping mechanism 6.3 can be adjusted to the top of the sand cores for grabbing by rotating and moving the destacking manipulator fixture 6.6.

The unstacking manipulator fixture 6.6 of the present invention can disassemble the sand cores stacked together from top to bottom layer by layer through the workpiece clamping mechanism 6.3. After the sand cores of the previous layer are disassembled and removed, the The suction cup assembly 6.4 can absorb the backing plate 6.5 and transfer it to other positions, so as to facilitate the continuous disassembly and separation of the sand core below the backing plate 6.5.

As shown in Figures 9-14, positioning platform 4: the casting process of the brake disc generally includes sand core preparation, core making, drying with a drying furnace, dip coating (which can improve the gradual surface quality), and core setting ( Put the molded sand core into the mold cavity of the sand box 8 and call it the lower core) and the processes such as casting after closing the box. In production, in order to match the rhythm of the core making machine and the drying furnace, three support bosses 4.13 are designed for the sand core, which are used for stacking and drying the sand core after dipping to prevent deformation of the sand core. Refer to Figure 15 and Figure 16, Design positioning grooves in the sand box 8 that match the three supporting bosses 4.13 of the sand core. When setting the core, the three supporting bosses 4.13 on the sand core need to be placed in alignment with the positioning grooves in the sand box 8 . The positioning table 4 is arranged on one side of the core-setting manipulator 5, and the positioning table 4 can realize accurate positioning of the sand core on the turntable 4.2, so that the core-setting manipulator 5 can accurately grasp the sand core and place the sand core on the sand core. Correct position of box 8.

The positioning table 4 includes a frame 4.1, the frame 4.1 is provided with a workbench, and the workbench is provided with one or more turntables 4.2, a rotating mechanism 4.3 and a laser sensor 4.4 for driving the rotation of the turntable 4.2, One side of each turntable 4.2 is provided with a laser sensor 4.4. More specifically, the rotating mechanism 4.3 is installed on the frame 4.1, and the drive shaft of the rotating mechanism 4.3 passes through the workbench and is connected to the turntable 4.2. The structure of the rotating mechanism 4.3 in this embodiment Without limitation, the rotating mechanism 4.3 may be a servo motor or a stepping motor, as long as it can drive the turntable 4.2 to rotate, it is within the protection scope of the present invention. This embodiment does not limit the number of turntables 4.2, and the number of turntables 4.2 can be one, two, three or four, as long as the production requirements can be met, all are within the protection scope of the present invention. In this embodiment, the shape of the turntable 4.2 is not limited, and the turntable 4.2 may be a circular tray or a square tray. A purging device 4.5 is also provided on the workbench, and the purging device 4.5 is used for purging the floating sand on the sand core placed on the turntable 4.2. The purging device 4.5 includes a compressed air pipe, which is supported on the workbench by a bracket, the compressed air pipe communicates with a compressed gas generator, and an electromagnetic valve is arranged on the compressed air pipe. The compressed air is controlled by the solenoid valve to blow the sand core, and the excess sand and dust on the sand core is blown away, the casting quality of the brake disc is improved, and the generation of waste products is reduced. The laser sensor 4.4 is installed on the workbench through the lifting mechanism, which can realize the adjustment of the laser sensor 4.4 in the height direction, and is suitable for the positioning detection of brake discs of different sizes. In this embodiment, the lifting mechanism includes a fixed base 6.31, a slide cylinder 4.7 and an air cylinder, the fixed base 6.31 is fixed on the workbench, and the cylinder body of the slide cylinder 4.7 is installed on the fixed base On 6.31, the two cylinders are installed on the slide table of the slide cylinder 4.7 through the cylinder connecting plate 4.9, and the output shaft ends of the two cylinders are provided with a mounting block 4.15, and the mounting block can be installed by the two cylinders. 4.15 is stably supported, and the laser sensor 4.4 is installed on the installation block 4.15. The lifting mechanism drives the laser sensor 4.4 to move up and down through a sliding table cylinder 4.7 and two common cylinders, which can realize the adjustment of four height ranges and can adapt to the positioning of more types of sand cores. A shielding plate 4.10 is also provided above the cylinder fixing seat 6.31 to prevent the environment from affecting the online detection accuracy of the laser sensor 4.4.

Utilize the brake disc positioning table 4 of the present invention to carry out the work process of positioning and purging the sand core as follows: (1) by adjusting the lifting mechanism, the height of the laser beam emitted by the laser sensor 4.4 is higher than the height of the sand core body 4.12 but less than the height of the sand core body 4.12 Lower than the height of the support boss 4.13; (2) place the sand core on the turntable 4.2, start the rotation mechanism 4.3 and the laser sensor 4.4, and when the turntable 4.2 drives the sand core to rotate, the laser sensor 4.4 sends out a parallel detection laser beam 4.14, when the sand core rotates to the position where its support boss 4.13 will block the detection laser beam 4.14, the laser sensor 4.4 sends a signal to the control system, and the control system controls the rotation mechanism 4.3 to stop rotating, thereby realizing the precise positioning of the sand core. (3) At the same time of positioning, the control system controls the compressed air through the solenoid valve to purge the sand core to clean the excess sand dust on the sand core.

The brake disc positioning platform 4 of the present invention can also select whether to enable the positioning function and whether the height of the laser sensor 4.4 needs to be adjusted according to the model of the sand core. If the sand core does not have the support boss 4.13 structure, only the blowing function can be enabled. The sand core is circular, and the servo motor is used to drive the turntable 4.2 to drive the sand core to rotate. In the automatic production line, the control system calls the data of the corresponding model according to the production model to determine whether positioning is required, and whether the height of the laser sensor 4.4 needs to be adjusted. The signal change of the rising edge and falling edge of the sand core is detected by the laser sensor 4.4, so as to detect the position of the support boss 4.13 on the sand core, and then calculate the center point position of the support boss 4.13 according to the algorithm, so as to realize the sand core Precise positioning, the positioning accuracy can reach ±1.5mm, and the positioning time is about 1.6 seconds. At the same time of positioning, the electromagnetic valve controls the compressed air to blow the sand core, so as to clean the excess sand and dust on the sand core and reduce the generation of waste products.

In this embodiment, the static pressure line molding automatic lowering core line includes three sets of the core setting systems, and the three sets of the core setting systems are arranged in sequence along the conveying line 1 from upstream to downstream, and the upstream lower The core system places the lower sand core 7.3 of the combined sand core 7 into the mold cavity 8.2 of the sand box 8. When the sand box 8 moves to the midstream core system along with the conveying line 1, the midstream core system will combine The middle sand core 7.2 of the sand core 7 is placed in the mold cavity 8.2 equipped with the lower sand core 7.3. When the sand box 8 moves to the downstream core lowering system along with the conveying line 1, the downstream core lowering system will combine the sand The upper sand core 7.1 of the core 7 is placed in the mold cavity 8.2 with the lower sand core 7.3 and the middle sand core 7.2.

Referring to Fig. 18, 19a, Fig. 19b and Fig. 19c, the lower sand core 7.3, the middle sand core 7.2 and the upper sand core 7.1 of the combined sand core 7 can be sequentially loaded into the mold cavity 8.2 of the sand box 8 by using the automatic lower core line In the actual production process, the lower sand core 7.3, the middle sand core 7.2 and the upper sand core 7.1 are stacked separately. The lower sand core 7.3 is stacked together with the front facing up (refer to Figure 16). When lowering the core, the lower sand core 7.3 needs to be turned over first and then placed in the mold cavity 8.2. The lower sand core 7.3, the middle sand core 7.2 and the upper sand core 7.1 Refer to Figure 17 for the state of putting it into the mold cavity 8.2, so the upstream core setting system also includes a transfer manipulator 11 and an overturning table 9, and the transfer manipulator 11 overturns the product on the positioning table 4 and transfers it to the overturning On the stage 9, the core-setting manipulator 5 grabs the core from the turning table 9, and the core-setting method of the upstream core-setting system performs the following steps:

(1) The first camera device 2 takes photos of the palletizing 12 of the sand core 7.3, and transmits the photo information to the control system;

(2) The control system recognizes the quantity and type of the lower sand core 7.3 currently located on the uppermost layer of the stacking 12 according to the photo, and calculates the coordinate position of the product, and the unstacking manipulator adjusts the posture of the grasping piece according to the type of the lower sand core 7.3 and the coordinate position. Carry out the operation of grabbing the lower sand core 7.3;

(3) First judge whether there is a lower sand core 7.3 product on the positioning table 4, if there is a lower sand core 7.3 product, then judge whether the lower sand core 7.3 needs to be positioned according to the model of the lower sand core 7.3, that is, judge the lower sand core 7.3. Whether there is a support boss 4.13 on the core 7.3, if there is a support boss 4.13 on the lower sand core 7.3, the sand core is positioned and purged, if there is no support boss 4.13 on the lower sand core 7.3, only the product is blown Sweeping: After purging and/or positioning, the transfer manipulator 11 grabs the product from the positioning platform 4 and turns it over, first judge whether there is a product on the turning platform 9, if there is a product, wait for the turning platform 9 to have no product, if there is no product , the grabbed product is moved to the turning table 9;

(4) After the core lowering manipulator 5 is started, first judge whether there is a lower sand core 7.3 product on the turning table 9, if there is no lower sand core 7.3 product, then continue to wait; if there is a lower sand core 7.3 product, then adjust the grasping piece Accurately grab the sand core 7.3 product from the flipping table 9 after the posture, and continue to step (5);

(5) After the sand box 8 is in place, the two second camera devices 3 take pictures of the positioning parts 8.1 at both ends of the sand box 8 respectively, and the control system calculates the coordinate information of each mold cavity 8.2 in the sand box 8 according to the photo information, and the following The core manipulator 5 adjusts the position of the lower core according to the coordinate information of the mold cavity 8.2, and then accurately places the lower sand core 7.3 into the mold cavity 8.2 of the sand box 8;

(6) Judging whether it is necessary to remove the backing plate 6.5:

If the backing plate 6.5 needs to be removed, the unstacking manipulator adjusts its posture and uses the suction cup assembly 6.4 to absorb and transfer the backing plate 6.5;

If it is not necessary to remove the backing plate 6.5, judge whether the molding is completed, and if the molding is completed, end the core setting operation;

Some sand cores are stacked 12 by stacking together from bottom to top, especially for those with support bosses 4.13 (refer to Figure 16) designed on the sand cores. The stability of stack 12 is separated by backing plate 6.5 between each layer of sand cores (referring to Fig. 7 and Fig. 8), so unstacking manipulator needs to remove backing plate 6.5 and could grab sand core when unstacking.

(7) If the modeling is not completed, repeat the above steps (1) to (6) until the modeling is completed.

As shown in Figures 20 to 21b, the core setting system in the middle reaches includes two positioning platforms 4, and the two positioning platforms 4 are arranged on the upper and lower sides of the core setting manipulator 5. When the sand box of core 7.3 is transported to the midstream station along with the conveying line 1, the core setting method of the midstream core setting system performs the following steps:

(1) The first camera device 2 takes photos of the middle sand core 7.2 stacking 12, and sends the photo information to the control system;

(2) The control system recognizes the quantity and model of the intermediate sand core 7.2 currently located on the uppermost layer of the stacking 12 according to the photo, and calculates the coordinate position of the product, and the unstacking manipulator adjusts the grasping posture according to the product model and coordinate position of the intermediate sand core 7.2 And carry out the operation of grabbing the middle sand core 7.2;

(3) Select which positioning platform 4 to place the product on, place the captured intermediate sand core 7.2 on the selected positioning platform 4, and judge whether there is an intermediate sand core 7.2 on the positioning platform 4, if so For the middle sand core 7.2, judge whether the product needs to be positioned according to the model of the middle sand core 7.2. If positioning is required, the sand core should be positioned and purged. If no positioning is required, only the product should be purged;

(4) After the sand box 8 is in place, the second camera device 3 takes a photo of the positioning part 8.1 of the sand box 8, and the control system calculates the coordinate information of each mold cavity 8.2 in the sand box 8 according to the photo information. After adjusting the position of the lower core according to the coordinate information of the mold cavity 8.2, place the middle sand core 7.2 on the positioning table 4 into the mold cavity 8.2 of the sand box 8 accurately;

(5) Judging whether the backing plate 6.5 needs to be removed: if it is necessary to remove the backing plate 6.5, adjust the attitude of the unstacking manipulator and use the suction cup assembly 6.4 to absorb and transfer the backing plate 6.5; Finished, then end the core operation;

(6) If the modeling is not completed, repeat the above steps (1) to (6) until the modeling is completed.

As shown in Figures 22 to 23b, the downstream core-setting system includes two positioning platforms 4, and the two positioning platforms 4 are arranged on the upper and lower sides of the core-setting manipulator 5. When the sand box of the core 7.3 and the middle sand core 7.2 is transported to the downstream station along with the conveying line 1, the core setting method of the downstream core setting system performs the following steps:

(1) The first camera device 2 takes photos of the stacking 12 of the upper sand core 7.1, and sends the photo information to the control system;

(2) The control system recognizes the quantity and model of the upper sand core 7.1 products currently located on the uppermost layer of the stacking 12 according to the photos, and calculates the coordinate position of the upper sand core 7.1, and the unstacking manipulator is adjusted according to the model and coordinate position of the upper sand core 7.1 Grasp the attitude of the piece and perform the operation of grabbing the upper sand core 7.1;

(3) After the destacking manipulator is started, it is first judged whether the clamp needs to be replaced, if the destacking manipulator needs to replace the clamp, then the destacking manipulator first moves to the clamp storehouse to automatically replace the clamp and then continues the step ( 4), if there is no need to replace the fixture, then continue to step (4); automatic model switching can be realized according to the model of the product, adapting to the shapes of different models of products; in this embodiment, as shown in Figure 17, the upper sand core 7.1 has the same structure as the lower sand core 7.3, and the unstacking manipulator fixture 6.6 of the upstream core setting system is the same as the manipulator fixture of the downstream core setting system.

(4) Choose which positioning platform 4 to place the product on, place the upper sand core 7.1 grabbed on the selected positioning platform 4, and judge whether there is an upper sand core 7.1 on the positioning platform 4, if so For the upper sand core 7.1, judge whether it is necessary to locate the upper sand core 7.1 according to the model of the upper sand core 7.1. If positioning is required, the sand core is positioned and purged. If no positioning is required, only the product is purged. ;

(5) After the core-setting manipulator 5 is started, first judge whether the fixture needs to be replaced according to the product model, if the fixture needs to be replaced, then the core-setting manipulator 5 first moves to the fixture storehouse to automatically replace the fixture before continuing step (6) , if there is no need to replace the fixture, then continue to step (6);

(6) After the sand box 8 is in place, the second camera device 3 takes a picture of the positioning part 8.1 of the sand box 8, and the control system calculates the coordinate information of each mold cavity 8.2 in the sand box 8 according to the photo information. After adjusting the position of the lower core according to the coordinate information of the mold cavity 8.2, place the upper sand core 7.1 accurately into the mold cavity 8.2 of the sand box 8;

(7) Judging whether the backing plate 6.5 needs to be removed: if it is necessary to remove the backing plate 6.5, the unstacking manipulator adjusts its posture and uses the suction cup assembly 6.4 to absorb and transfer the backing plate 6.5; Finished, then end the core operation;

(8) If the modeling is not completed, repeat the above steps (1) to (7) until the modeling is completed.

It should be noted that the control system can also choose to start or not start any set of the core-setting system. When only one sand core needs to be arranged in a flat layer in a mold cavity 8.2, you can choose to start only one of the set of the core-setting systems. Core system; of course, you can also choose to start all the core systems. At this time, all the core systems arrange the same sand cores in the mold cavities 8.2 of different sand boxes 8 to improve the core efficiency.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection of the present invention. within range.

Claims (10)

1. An automatic core setting method for static pressure line molding, characterized in that it comprises a conveying line (1), a control system and at least one group of core setting systems arranged around the conveying line (1), and the core setting system Including a first camera device (2), a second camera device (3), a positioning platform (4), a core-setting robot (5) and a destacking robot (6), the control system, the first camera device (2), The second camera device (3), the positioning platform (4), the core-setting manipulator (5) and the unstacking manipulator (6) are connected by communication, and the automatic core-setting method is as follows: (1) the first camera equipment (2) takes a photo of palletizing (12) and sends the photo information to the control system; (2) The control system recognizes the quantity and model of the products currently located on the top layer of the stacking (12) according to the photos, and calculates the coordinate position of the product, and the destacking manipulator (6) adjusts the grasping posture according to the product model and coordinate position And carry out the operation of grabbing the product; (3) The destacking manipulator (6) places the grabbed product on the positioning platform (4), and the positioning platform (4) selects to purge or/and position the sand core according to the model of the product; (4) the core-setting manipulator (5) accurately grasps the product after adjusting the posture of the grasping piece according to the model of the product; (5) After the sand box (8) is in place, the second camera device (3) takes pictures of the positioning parts (8.1) at both ends of the sand box (8), and the control system calculates the position of each mold in the sand box (8) according to the photo information. The coordinate information of the hole (8.2), the manipulator for lowering the core (5) adjusts the position of the lower core according to the coordinate information of the mold cavity (8.2), and then accurately puts the sand core in the mold cavity (8.2) of the sand box (8); (6) Determine whether the backing plate (6.5) needs to be removed: if it is necessary to remove the backing plate (6.5), the unstacking manipulator (6) adjusts its posture and uses the suction cup assembly (6.4) to absorb and transfer the backing plate (6.5); if it is not necessary to remove Backing plate (6.5), to judge whether the molding is completed, if the molding is completed, then end the core setting operation; (7) If the modeling is not completed, repeat the above steps (1) to (6) until the modeling is completed. 2. The static pressure wire molding automatic core setting method according to claim 1, characterized in that, when the static pressure wire molding automatic core setting system includes three sets of the core setting system, the three sets of the core setting system The system is sequentially arranged around the conveying line (1) from upstream to downstream, and the upstream core lowering system places the lower sand core (7.3) of the combined sand core (7) into the mold cavity ( 8.2), when the sand box (8) moves to the midstream core setting system with the conveying line (1), the midstream core setting system will place the middle sand core (7.2) of the combined sand core (7) to the In the mold cavity (8.2) of the lower sand core (7.3), when the sand box (8) moves to the downstream core lowering system with the conveying line (1), the downstream lower core lower system will combine the sand core (7) The upper sand core (7.1) is placed into the mold cavity (8.2) with the lower sand core (7.3) and the middle sand core (7.2). 3. The automatic core setting method for static pressure line molding according to claim 2, characterized in that, any set of said core setting system includes two said positioning platforms (4), and two said positioning platforms (4) Arranged on both sides of the core-setting manipulator (5). 4. The static pressure line molding automatic core setting method according to claim 3, characterized in that, when the core setting system includes two positioning platforms (4), the system in step (3) first selects the Which positioning platform (4) will the unstacking manipulator (6) place the product on, and then the unstacking manipulator (6) will place the grabbed product on the selected positioning platform (4). 5. The static pressure line molding automatic core setting method according to claim 2, characterized in that any set of said core setting system also includes a transfer manipulator (11) and a turning table (9), and said transfer manipulator (11 ) overturning the product on the positioning platform (4) and transferring it to the overturning platform (9), and the core-setting manipulator (5) grasps the lower core from the overturning platform (9). 6. The automatic core-setting method for static pressure line molding according to claim 5, characterized in that, when the core-setting system also includes a transfer manipulator (11) and a turning table (9), the core-setting system of the core-setting system Method In step (3), first judge whether there is a product on the positioning platform (4), if there is a product, then judge whether the product needs to be positioned according to the model of the product, if positioning is required, then the sand core is positioned and blown If no positioning is required, only the product is purged; after the purging and/or positioning is completed, the transfer manipulator (11) grabs the product from the positioning platform (4) and turns it over, and first judges the turning platform (9) Whether there is a product on the table, if there is a product, wait for the overturning platform (9) to have no product, if there is no product, then move the grabbed product to the overturning platform (9); Whether there is a product, if there is no product, then continue to stop and wait; if there is a product, then adjust the posture of the grasper to accurately grab the product from the turning table (9), and continue to step (5). 7. The automatic core setting method for static pressure line molding according to claim 1, wherein the core setting system includes two second camera equipment (3), and two second camera equipment (3) ) are respectively aligned with the positioning parts (8.1) located at both ends of the flask (8) on the conveying line (1). 8. The static pressure line molding automatic core setting method according to any one of claims 1 to 7, characterized in that, the first imaging device (2) and the second imaging device (3) are 3D camera or 2D camera, the first camera device (2) is used to obtain the information of the product on the pallet (12), and the second camera device (3) is used to identify the sand box (8) on the conveying line (1) ) position information of the mold cavity (8.2). 9. The automatic core setting method for static pressure line molding according to claim 1, characterized in that, the positioning table (4) comprises a frame (4.1), and a workbench is provided on the frame (4.1), so that One or more turntables (4.2), a rotating mechanism (4.3) and a laser sensor (4.4) for driving the turntable (4.2) to rotate are arranged on the workbench, and one side of each turntable (4.2) is provided with Laser sensor (4.4). 10. The automatic core setting method for static pressure line molding according to claim 1, characterized in that, the destacking manipulator (6) includes a destacking manipulator gripper (6.6), and the destacking manipulator gripper (6.6) includes a main The connection plate (6.1), the connection flange (6.2) used to connect with the manipulator, the workpiece clamping mechanism (6.3) and the suction cup assembly (6.4), the connection flange (6.2) is installed on the main connection plate (6.1 ), the workpiece clamping mechanism (6.3) is installed on the lower end of the main connecting plate (6.1), the workpiece clamping mechanism (6.3) is used to grab and transfer the workpiece, and the suction cup assembly (6.4) is installed on On one side of the main connecting plate (6.1), the suction cup assembly (6.4) is used to absorb and transfer the backing plate (6.5).