CN209094505U - A kind of casting automated system - Google Patents

Abstract

A kind of casting automated system, including casting machine, robot, casting cooling unit, tooling library, casting crawl tooling and casting supply unit；Casting machine rack is equipped with material-receiving device, and material-receiving device includes sliding rack, splicing guiding mechanism, big pivoted arm, pull rod, splicing bracket and receiver；Casting cooling unit includes water tank and casting positioning mechanism；Casting positioning mechanism includes immersion bracket guiding mechanism, immersion carriage drive mechanism and immersion bracket；Immersion carriage drive mechanism driving immersion bracket is immersed in water tank；More set casting crawl toolings are placed in tooling library, it includes linking arm, pallet, tray drive mechanism, pallet guiding mechanism and clamping jaw driving mechanism that casting, which grabs tooling,；Linking arm is used to be mounted on the manipulator of robot, and pallet is installed on the connecting arm；Tray drive mechanism drives tray motion；Clamping jaw driving mechanism is mounted on pallet.The utility model is rationally distributed, versatile, high degree of automation, easy to use.

Description

A kind of casting automated system

Technical field

The utility model belongs to Casting Equipment technical field, more particularly, to a kind of casting automated system.

Background technique

Lightweight is one of fuel-engined vehicle energy-saving and emission-reduction, most important approach of new-energy automobile consumption reduction increasing journey, with aluminium alloy Equal lightweighting materials replace traditional steel material, it has also become the inevitable choice that Automobile Design updates.With foundry engieering Development, more components are using the casting methods such as low pressure casting, counter-pressure casting, high-pressure casting, extrusion casint.

Metal casting production in the prior art mostly uses man-handling of materials, artificial pickup and manual control mode, in life Manually participate in more in the different links of producing line, the degree of automation is lower, thus brings a series of problems, such as working environment Rather harsh, degree of danger is high, and great work intensity, production efficiency is low, unstable product quality etc..As auto parts and components are cast The fast development of industry, industrial automation demand is more more and more urgent therewith, and the above problem is badly in need of solving.Moreover, along with new energy The rise of the new industries such as source automobile, auto parts and components category demand increasingly tend to diversification, need flexibly easy-to-use, adaptation journey It is matched to spend higher casting system.

Summary of the invention

The utility model provides a kind of casting automated system, and its object is to solve existing metal casting production line Working environment rather harsh, degree of danger height, great work intensity, production efficiency brought by middle the degree of automation is low are low and produce The problems such as quality is unstable.

In order to achieve the above objectives, the technical solution adopted in the utility model is: a kind of casting automated system, including casting Machine, robot, casting cooling unit, tooling library, casting crawl tooling and casting supply unit；

The casting machine includes rack, which is equipped with material-receiving device, and the material-receiving device includes that sliding rack, splicing are led To mechanism, big pivoted arm, pull rod, splicing bracket, receiver, straight line driving mechanism and rotary drive mechanism；

The sliding rack is arranged in the rack of casting machine by the splicing guiding mechanism, and the straight line driving mechanism is solid In the rack of the casting machine, the driving end of straight line driving mechanism, which acts on the sliding rack, enables sliding rack for Dingan County It is enough to move in the vertical direction；

The rotary drive mechanism is fixedly mounted on the sliding rack, and one end of the big pivoted arm is as positioning end and rotation The driving end for turning driving mechanism is fixedly connected, and enables rotary drive mechanism that big pivoted arm is driven to rotate, the other end of big pivoted arm It is protruded horizontally up outward as extension end；

The splicing bracket has a tie point and a supporting point, and a level outward is equipped on the tie point The small pivoted arm extended, small pivoted arm are fixedly connected with composition with splicing bracket or are integrally formed formula and constitute；The receiver, which is mounted on, to be connect On the supporting point of material torr frame, for picking up casting；

The sliding rack is equipped with the first hinge joint, and one end of the pull rod is hinged on the first hinge joint of the sliding rack On, the small pivoted arm is equipped with the second hinge joint, and the other end of pull rod is hinged on the second hinge joint of small pivoted arm；Described big turn The extension end of arm is hinged on the tie point of the splicing bracket, the axial line of the extension end rotation of the relatively large pivoted arm of splicing bracket By the extension end and perpendicular to ground；The length of the big pivoted arm is greater than the length of pull rod, and the length of pull rod is greater than big To the length between first hinge joint, the extension end of big pivoted arm is big to the length between the first hinge joint for the extension end of pivoted arm Length between the tie point of second hinge joint to splicing bracket；

The robot includes the manipulator of the pedestal fixed on the ground and installation on the base；

The casting cooling unit includes water tank and at least one casting positioning mechanism, which is mounted on institute It states on the cabinet of water tank, the upper end of water tank is in opening setting；The casting positioning mechanism includes immersion bracket guiding mechanism, immersion Carriage drive mechanism and immersion bracket, the immersion bracket are arranged on the cabinet of water tank by the bracket guiding mechanism that soaks, The bracket that soaks includes frame body pedestal and supporting part, which is fixedly mounted on the frame body pedestal, and supporting part corresponds to water tank Upper end opening at be arranged, the supporting part be equipped with for positioning clamping casting fixture；The immersion carriage drive mechanism It is fixedly mounted on the cabinet of the water tank, the driving end of immersion carriage drive mechanism acts on the frame body pedestal and energy Enough driving immersion brackets move in a straight line in the vertical direction, and the supporting part is immersed in the coolant liquid of water tank；

More sets casting crawl tooling is placed in the tooling library, it includes linking arm, pallet, support that casting, which grabs tooling, Dish driving mechanism, at least three pallet guiding mechanisms, clamping jaw and at least one clamping jaw driving mechanism；The linking arm can pacify On the manipulator of the robot, the pallet is installed on the connecting arm by pallet guiding mechanism；The pallet driving Mechanism is fixedly mounted on the connecting arm, and the driving end of tray drive mechanism acts on the bottom surface of pallet and can drive pallet It is moved in a straight line in the guide direction of pallet guiding mechanism；The clamping jaw driving mechanism is fixedly mounted on the top surface of pallet, Clamping jaw is provided in clamping jaw driving mechanism, clamping jaw driving mechanism can drive clamping jaw to clamp casting.

In the operating condition, the manipulator of the robot can be moved on the position in the tooling library, and by tooling Casting crawl tooling in library is installed on manipulator；Then, robot drives casting to grab the mold that tooling enters casting machine Between grab casting；Robot crawl casting cools down casting into the casting cooling unit, finally, robot is by casting Crawl tooling is transferred to casting supply unit.

Related content in above-mentioned technical proposal is explained as follows:

1, in above scheme, the metal casting automated system further includes casting trimming unit, sawing unit and casting Part mark unit.

The casting trimming unit includes bead cutter and shaving die；Bead cutter used includes conventional hydraulic bead cutter, watches It is several to take hydraulic trimmer etc.；Shaving die is a kind of tooling for adapting to die casting post-processing.Casting trimming unit is for cutting Except overlap inevitable on cast product, burr, every skin, appearance profile and corresponding running gate system, overflow system, use Pneumatically, hydraulic technique can realize that any direction is punched, and casting is disposably cleaned out.Traditional overlap removal technique is by manually making With file, electric tool by gimmick and experience polishing removal, the quality of product not can guarantee in this journey, and production efficiency is not Height, artificial is even more to be difficult to manage；As the requirement of die casting is higher and higher, labor cost is constantly soaring, artificial deburring Method will be eliminated thoroughly.The reasonable employment of edger may insure the consistency of product, effectively improve production efficiency, be a large amount of Reduction scene it is artificial.

The sawing unit includes sawing bracket, sawing shield, dust car and sawing annular saw main shaft, the sawing speed of mainshaft It can be adjusted by frequency converter, sawing annular saw main shaft is mounted on sawing frame upper, and sawing shield is equally installed on sawing bracket Portion simultaneously arranges that dust car is located at the lower section of sawing bracket around sawing annular saw main shaft.Sawing unit is for removing casting running channel, emitting The casting techniques structures such as mouth.

For the casting mark unit using pneumatic marking machine or laser marking machine etc., effect is assigned to casting mark Each distinctive identification code of casting, it is easy to produce and manage after sale.

The metal casting automated system further includes casting auxiliary turntable, and it includes rotary power units that casting, which assists turntable, (can be rotary cylinder), jig pallet and positioning fixture；The rotary power units are acted on jig pallet and are driven Jig pallet rotation, the positioning fixture are installed on jig pallet according to casting layout.The casting auxiliary turntable is for adjusting The posture of one-piece casting relative mechanical hand and temporary casting.

2, in above scheme, the metal casting automated system further includes control device, the control device and machine People, immersion carriage drive mechanism, tray drive mechanism and the connection of clamping jaw driving mechanism.Control device can be monitored in real time and be collected The exercise data of robot, robot command, which moves in tooling library, to be installed casting crawl tooling and casting is transferred to casting Cooling unit casting trimming unit, sawing unit, casting mark unit, in casting supply unit.

3, in relation to casting cooling unit: the immersion bracket guiding mechanism includes the first sliding sleeve and the first guide rod, described First sliding sleeve is slidably connected with the first guide rod, and the first sliding sleeve is fixedly mounted on the cabinet of the water tank, first guiding The upper end of bar is fixedly connected with the frame body pedestal of the immersion bracket.

The cabinet of the water tank is equipped with water compensating valve, drain valve and overflow pipe, one end of the overflow pipe and water tank Cabinet communicates, and the other end of overflow pipe is communicated with the drain valve.Overflow pipe is further ensured that the liquid level of coolant liquid does not spill over water Case.The cabinet of the water tank is equipped with liquid level sensor and water temperature sensor.That is, water tank has temperature incubation function, water tank The water temperature and liquid level of middle coolant liquid can be controlled by control device.

The casting cooling unit includes at least two casting positioning mechanisms, and a casting positioning mechanism is equivalent to a work Position, when being provided with two or more stations, multiple stations can alternately realize that casting is cooling, improve production efficiency.Example Such as, when there are two station, a station is in water outlet working position state upwards, positive that casting is waited to be transferred to immersion from casting machine On bracket, another station is in downwards immersion working position state, and the immersion bracket for being loaded with high temperature casting is just immersed water tank In coolant liquid.By control device, each casting positioning mechanism can be controlled respectively, realizes being alternately cooled for casting.

In casting cooling unit, the supporting part is in horizontally disposed and is mounted on the frame body pedestal.

The immersion carriage drive mechanism is cylinder.The casting cooling unit further includes solenoid valve as a result, the solenoid valve It is mounted on the water tank and controls the immersion carriage drive mechanism work.When needing cooling casting, solenoid valve control The piston rod decline for carriage drive mechanism of soaking, immersion bracket are immersed with casting in the coolant liquid of water tank, are immersed in casting suitable After duration, the piston rod of solenoid valve control immersion carriage drive mechanism rises, and casting is detached from coolant liquid therewith.

4, related casting grabs tooling: the linking arm is to be consolidated by first support arm, second support arm and third support arm three Surely formula composition is connected and composed or is integrally formed, one end of the third support arm and one end of first support arm connect, the third branch The other end of arm and one end of second support arm connect, and the first support arm, second support arm and third support arm three form one Contraband type component.The tray drive mechanism is mounted between the first support arm and second support arm.

The linking arm is installed on a robotic arm by quick-release connector.That is, the casting crawl tooling passes through fastly Changing-over head is mounted on the manipulator of robot, realizes the quick-replaceable of casting crawl tooling.Quick-release connector is a kind of general Pneumatic quick-locking device, be made of male end and female end, male end is installed on a robotic arm, and female end is installed on the connecting arm, public End connects and separates with pneumatic mode realization is used between female end.

The pallet guiding mechanism includes the second sliding sleeve and the second guide rod, and second sliding sleeve and the second guide rod slide Connection, the upper end of the second sliding sleeve are fixedly connected with the pallet, and the lower end of second guide rod is fixedly connected on the connecting arm, The upper end of second guide rod passes through the disk body of pallet as free end.

The tray drive mechanism can drive pallet to move in a straight line on the direction perpendicular to linking arm, that is, It says, pallet is located on the top surface of linking arm, and the guide direction of pallet guiding mechanism is the direction perpendicular to the top surface of linking arm.

In casting crawl tooling, the tray drive mechanism is cylinder, and most preferably, the tray drive mechanism is low Rub cylinder.The clamping jaw driving mechanism is clamping jaw cylinder, is provided at least one clamping jaw in each clamping jaw driving mechanism.Work as support When dish driving mechanism and clamping jaw driving mechanism are cylinder, the casting crawl tooling further includes solenoid valve block and pressure reducing valve, electricity Magnet valve group and pressure reducing valve are installed on the linking arm.When pickup, the piston rod that solenoid valve block controls low rubbing cylinder stretches out, So that pallet is moved upward to a high position, meanwhile, solenoid valve block control clamping jaw cylinder firmly grasps casting；When casting machine executes material returned action When, pressure reducing valve is used to for the air in low rubbing cylinder being discharged.Casting downlink under material returned effect, low rubbing cylinder is passive at this time Downlink, cylinder air are discharged through pressure reducing valve.A set of casting crawl tooling can be disposably from the mold of a multi-cavity mold It is middle to take out multiple casting.

5, in above scheme, the casting automated system is suitable for production spindle, control arm and subframe etc. Bottom disk-like accessory and new energy electric machine casing class part and aerospace cabin class part.

6, in above scheme, in the metal casting automated system, centered on robot, casting machine, casting are cold But unit, tooling library and casting supply unit are arranged around robot；Alternatively, casting machine, casting are cold centered on robot But unit, tooling library, casting supply unit, casting trimming unit, sawing unit and casting mark cell rings are around robot cloth It sets；Alternatively, centered on robot, casting machine, casting cooling unit, tooling library, casting supply unit, casting trimming unit, Sawing unit, casting mark unit and casting auxiliary turntable are arranged around robot.

7, in above scheme, the casting machine can be counter-pressure casting machine, air injection machine, extrusion casting machine and pressure regulation Any one in casting machine.

8, in above scheme, be in relation to the preferable scheme of material-receiving device in casting machine rack: the splicing bracket is L-type Component, the tie point are the top end of L-type component, and the supporting point is the bottom endpoint of L-type component.

The length of the big pivoted arm, the length of pull rod, big pivoted arm extension end between the first hinge joint length and Second hinge joint to the length between the tie point of splicing bracket, four length ratio is followed successively by (7 ~ 7.8): (5.8 ~ 6.5): (1 ~ 1.2): (0.9 ~ 1).Receiver by before casting machine rack between the underface of the mold cavity of casting machine away from From upper, aforementioned proportion relationship ensure that the running track of receiver close to straight line.

The splicing guiding mechanism includes guide rail and sliding block, and the guide rail is vertically arranged, and the sliding block is fixedly mounted on casting It makes in the rack of machine, sliding block is slidably connected with guide rail, and the sliding rack is fixedly mounted on guide rail.

The straight line driving mechanism is motor or hydraulic cylinder or cylinder.

The rotary drive mechanism is motor or cycloid hydraulic motor.

It can be by the extension end of the big pivoted arm point regarded as a coincidence approximate with the tie point of bracket.

On the basis of horizontal plane, the guide direction of the guiding mechanism is vertical direction.

9, in above scheme, the robot just refers to that industrial robot common in the art, industrial robot are Multi-joint manipulator or multivariant installations towards industrial circle, it can execute work automatically, be by self power A kind of machine of various functions is realized with control ability.The robot is specially four-degree-of-freedom robot, five degree of freedom machine Any one in device people and six-DOF robot, preferable scheme is using six-DOF robot.

The utility model compared with the existing technology the advantages of be:

1, the casting cooling unit of the utility model is equipped with the casting positioning mechanism that can be gone up and down, and casting positioning mechanism includes leaching Water bracket guiding mechanism, immersion carriage drive mechanism and immersion bracket, the horizontal supporting part for the bracket that soaks corresponds to water tank Cavity setting, and soak under the driving effect of driving mechanism bracket can oscilaltion, the design of this structure facilitate by The product being placed on immersion bracket is immersed in the coolant liquid of water tank, carries out cooling instead of traditional artificial clamping product Mode, the automation for realizing product are cooling.Moreover, at least two casting positioning mechanisms of setting, a casting positioning mechanism phase When being provided with two or more stations, being controlled respectively by control device, multiple stations can in a station Alternately realize that casting is cooling, improves automated production efficiency.

2, the casting cooling unit of the utility model further includes having liquid level sensor and water temperature sensor, and liquid level sensor is matched Close liquid level in water compensating valve and drain valve control water tank；Liquid maximum temperature can use draining in water tank and moisturizing movement adds With control, guarantee the cooling effect of casting, the temperature of coolant liquid is fed back by water temperature sensor, when temperature is more than in set temperature Limit, sequence opens drain valve and water compensating valve, with cold water displacement hot water, until the temperature of coolant liquid meets set temperature lower limit.

3, tooling is grabbed equipped with tooling library and casting in the production line of the utility model, robot can be into tooling library more Casting crawl tooling is changed, Technological adaptability and versatility are improved.For example, when the casting model of production changes, Huo Zhe In the different processes of production line, according to the difference of function and clamping technique, the casting crawl tooling on manipulator is also required to replace, And then to cooperate different technique or process.

4, the casting crawl tooling of the utility model can fit in standard machinery on hand, when taking out casting from mold cavity Later, tray drive mechanism drives pallet downlink, and casting grabs tooling can be synchronous with the holding of the material returned action of casting machine, in turn, The manipulator for being equipped with casting crawl tooling can be well adapted for the material returned action of casting machine, play protection to manipulator and make With.In addition, tray drive mechanism can be low rubbing cylinder, due in the material returned in mold liftout attachment strength up to tonne, It can be servo-actuated during the material returned using low rubbing cylinder, further avoid material returned action and manipulator is caused to damage, ensure that machine The service life of tool hand.That is, to solve previous manipulator unmatched with material returned action for casting crawl tooling used Problem ensure that the safety of feeding work.

5, the linking arm in the casting crawl tooling of the utility model can be Contraband type component, so that casting crawl tooling is whole Structure is simple, compact, and plays supporting role well to pallet, ensure that integrally-built stability.

6, the material-receiving device of the utility model is mounted in the rack of casting machine, and feeding function can be automatically performed on casting machine Can, it is all participated in without artificial in the reclaiming process of entire casting, largely improves working environment, improve production Safety also improves production efficiency.

7, the receiver of the material-receiving device of the utility model needs to avoid when moving some columns of casting machine rack, The underface that the mold cavity of casting machine can be moved to carries out splicing, and therefore, the utility model devises quadrilateral hinge mechanism, The length of i.e. big pivoted arm, the length of pull rod, big pivoted arm extension end between the first hinge joint length, the second hinge joint is to connecing Length between the tie point of material torr frame is equivalent to the four edges of quadrilateral hinge structure, constrains receiver to a certain extent Running track so that the running track of receiver is no longer the very big camber line of radian.

Moreover, the utility model devises the length ratio between quadrilateral hinge mechanism four edges, receiver is passing through To on the distance between the underface of mold cavity of casting machine before casting machine rack, it ensure that the running track of receiver connects It is bordering on straight line, and then receiver can avoid the interference point of casting machine framework pillar etc. on casting machine.

8, the splicing bracket in the material-receiving device of the utility model is L-type component, so that receiver more easily enters Underface in casting machine and positioned at mold cavity.Material-receiving device is mounted in casting machine rack by splicing guiding mechanism, peace Dress is convenient, is also convenient for the position adjustment of material-receiving device.

9, the utility model is laid out using circulating type, i.e., centered on robot, each unit is arranged around robot, whole Body more reasonable structure saves space, improves production efficiency.

10, the utility model replaces man-handling of materials using robot, realizes full-automatic production, lowers labor intensity, It improves efficiency.

11, the utility model completes the processes such as pickup, cooling, sawing, mark using robot crawl, avoids clamping repeatedly While, improve process stability and efficiency.

In short, the utility model is rationally distributed, versatile, high degree of automation, control it is accurate, easy to use.

Detailed description of the invention

Attached drawing 1 is the schematic layout pattern of the utility model metal casting automated system；

Attached drawing 2 is the casting machine and robot pickup schematic diagram of the utility model；

Attached drawing 3 is structural schematic diagram of the casting cooling unit of the utility model under effluent state, and soak bracket at this time The coolant liquid in water tank is detached from casting；

Attached drawing 4 is structural schematic diagram of the casting cooling unit of the utility model under Riddled Condition, and soak bracket at this time The coolant liquid being immersed in casting in water tank；

Attached drawing 5 is that the casting of the utility model grabs the structural schematic diagram of tooling；

Attached drawing 6 is the structural schematic diagram of the casting trimming unit of the utility model；

Attached drawing 7 is the structural schematic diagram of the sawing unit of the utility model；

Attached drawing 8 is that the casting of the utility model assists the structural schematic diagram of turntable；

Attached drawing 9 is the perspective view of the material-receiving device of the utility model；

Attached drawing 10 is the main view of the material-receiving device of the utility model；

Attached drawing 11 is the top view of the material-receiving device of the utility model；

Attached drawing 12 is that the receiver in the material-receiving device of the utility model is located at the status diagram on splicing position, splicing position I.e. receiver is moved to the mold cavity following location directly in casting machine.

In the figures above: 1. counter-pressure casting machines；2. casting cooling unit；3. tooling library；4. casting mark unit；5. Receiver；6. casting trimming unit；7. sawing annular saw main shaft；8. dust car；9. sawing shield；10. casting conveying is single Member；11. casting assists turntable；12. robot；13. quick-release connector；14. casting grabs tooling；15. casting demoulding dress It sets；18. sawing unit；21. the first solenoid valve；22. carriage drive mechanism of soaking；23. soak bracket guiding mechanism；24. Water temperature sensor；25. water tank；26. liquid level sensor；27. soak bracket；28. fixture；30. water compensating valve；31. overflow Pipe；32. drain valve；33. frame body pedestal；34. supporting part；41. quick-release connector；44. pallet；45. clamping jaw driving mechanism； 46. clamping jaw；48. pallet guiding mechanism；49. linking arm；50. tray drive mechanism；51. first support arm；52. second Arm；53. third support arm；54. second solenoid valve；55. pressure reducing valve；56. flanging beam；57. four guide posts；58. servo-hydraulic System is set；59. bottom beam；60. sawing bracket；61. rotary cylinder；62. jig pallet；63. positioning fixture；71. straight line Driving mechanism；72. sliding rack；73. rotary drive mechanism；74. big pivoted arm；75. pull rod；76. bracket；77. receiver； 78. guide rail；79. sliding block；80. small pivoted arm；81. the first hinge joint；82. the second hinge joint；83. extension end；84. casting Make machine.

Specific embodiment

The utility model is further described with reference to the accompanying drawings and embodiments:

A kind of embodiment: casting automated system

Referring to shown in attached drawing 1 to attached drawing 8, this implementation specially counter-pressure casting automated system, including counter-pressure casting machine 1, Robot 12, casting cooling unit 2, tooling library 3, casting crawl tooling 14, casting trimming unit 6, sawing unit 18, casting are beaten It marks unit 4, casting supply unit 10 and casting and assists turntable 11；Centered on robot 12, counter-pressure casting machine 1, casting are cold But unit 2, tooling library 3, casting supply unit 10, casting trimming unit 6, sawing unit 18, casting mark unit 4 and casting Turntable 11 is assisted to arrange around robot, wherein robot 12 is placed between counter-pressure casting machine 1 and casting supply unit 10.

The counter-pressure casting machine 1 is four column counter-pressure casting machines, including bottom plate, middle partition, movable plate, top plate and vertical Column；Holding furnace is placed between bottom plate and middle partition, to store, heat-insulation metal molten aluminum；On middle partition equipped with casting lower die and Lower autoclave pressure；The downside of movable plate is also equipped with casting demoulding device 15 on the downside of movable plate equipped with upper mold and upper autoclave pressure is cast； Material-receiving device is installed on one side frame of counter-pressure casting machine 1.

The material-receiving device includes sliding rack 72, splicing guiding mechanism, big pivoted arm 74, pull rod 75, splicing bracket 76, splicing Disk 77, straight line driving mechanism 71 and rotary drive mechanism 73；

The sliding rack 72 is arranged in the rack of counter-pressure casting machine 1 by the splicing guiding mechanism, specifically splicing Guiding mechanism includes guide rail 78 and sliding block 79, and guide rail 78 is vertically arranged, and sliding block 79 is fixedly mounted on the rack of counter-pressure casting machine 1 On, sliding block 79 is slidably connected with guide rail 78, and sliding rack 72 is fixedly mounted on guide rail 78；

The straight line driving mechanism 71 is specially hydraulic cylinder, and the cylinder body of hydraulic cylinder is fixedly mounted on the machine of counter-pressure casting machine 1 On frame, the driving end (i.e. the piston rod of hydraulic cylinder) of straight line driving mechanism 71, which acts on sliding rack 72, enables sliding rack 72 It moves up and down along vertical direction in the rack of counter-pressure casting machine 1；

The rotary drive mechanism 73 is specially cycloid hydraulic motor, and rotary drive mechanism 73 is fixedly mounted on sliding rack 72 On, one end of the big pivoted arm 74 is fixedly connected as positioning end with the driving end of rotary drive mechanism 73, so that rotation driving Mechanism 73 can drive big pivoted arm 74 to rotate, and the other end of big pivoted arm 74 protrudes horizontally up outward as extension end 83；

The splicing bracket 76 is L-type component, and splicing bracket 76 has a tie point and a supporting point, tie point are The top end of L-type component, supporting point are the bottom endpoint of L-type component；An outside level is equipped on the tie point to prolong The small pivoted arm 80 stretched, small pivoted arm 80 are fixedly connected with composition with splicing bracket 76 or are integrally formed formula and constitute, that is to say, that tie point Also on small pivoted arm 80, small pivoted arm 80 can be regarded as a part on splicing bracket 76；The receiver 77, which is mounted on, to be connect On the supporting point of material torr frame 76, for picking up, holding casting；

The sliding rack 72 is equipped with the first hinge joint 81, and one end of the pull rod 75 is hinged on the of the sliding rack 72 On one hinge joint 81, the small pivoted arm 80 is equipped with the second hinge joint 82, and the other end of pull rod 75 is hinged on the of small pivoted arm 80 On two hinge joints 82；The extension end 83 of the big pivoted arm 74 is hinged on the tie point of the splicing bracket 76 (can turn big The extension end of arm 74 is regarded as with the tie point of splicing bracket 76 to be overlapped), the extension end of the relatively large pivoted arm 74 of splicing bracket 76 The axial line of 83 rotations is by the extension end 83 and perpendicular to ground, that is to say, that axial line is also by tie point；

The length of big pivoted arm 74 is denoted as A, the length of pull rod 75 is denoted as B, the extension end 83 of big pivoted arm 74 to described first Length between hinge joint 11 is denoted as C, and the length between the tie point of the second hinge joint 82 to splicing bracket 76 is denoted as D, length Size relation is A > B > C > D, in the present embodiment specific length ratio A:B:C:D=7.4:6.1:1.1:1.

The course of work of material-receiving device: straight line driving mechanism 71 drives sliding rack 72 to rise, guide rail 78 and 72 phase of sliding rack Even, guiding role is played, after sliding rack 72 reaches specified altitude assignment, rotary drive mechanism 73 drives big pivoted arm 74 in the horizontal direction Quadrilateral hinge mechanism is formd along rotation, big pivoted arm 74, pull rod 75, small pivoted arm 80 and splicing bracket 76 4 counterclockwise, The motion profile of splicing bracket 76 is constrained, receiver 77 is connected on splicing bracket 76, before by 1 rack of counter-pressure casting machine On the distance between underface of mold cavity to casting machine 1, the running track of receiver 77 is close to straight line, receiver 77 It avoids 1 framework pillar of counter-pressure casting machine and is moved to splicing position (i.e. the underface of mold cavity) and picks up metal casting, work as the material returned When executing agency executes material returned action, metal casting is fallen into receiver 77.After the completion of feeding, rotary drive mechanism 73 is driven greatly Pivoted arm 74 rotates clockwise, and receiver 77 is mobile to be retracted into initial bit, and straight line driving mechanism 71 drives sliding rack 72 to decline, will Metal casting and receiver 77 are fallen into the slot that gets wet, and after completing casting cooling, straight line driving mechanism 71 drives sliding rack 72 to rise To initial bit, a feeding hardening actuation cycle is completed.

The robot 12 includes the manipulator of the pedestal fixed on the ground and installation on the base.

The casting cooling unit 2 includes that water tank 25 and two sets of casting positioning mechanisms, casting positioning mechanism are mounted on water tank On 25 cabinet, the upper end of water tank 25 is arranged in opening, fills coolant liquid in the cabinet of water tank 25 (coolant liquid is generally water)；One A casting positioning mechanism is the equal of a cooling station, and two stations can alternately realize that casting is cooling；

The casting positioning mechanism includes immersion bracket guiding mechanism 23, immersion carriage drive mechanism 22 and immersion bracket 27, the immersion bracket 27 is arranged on the cabinet of water tank 25 by the bracket guiding mechanism 23 that soaks, and immersion bracket 27 includes frame Body pedestal 33 and supporting part 34, the supporting part 34 are in horizontally disposed and are fixedly mounted on the frame body pedestal 33, supporting part 34 It is arranged at the upper end opening of corresponding water tank 25, that is to say, that supporting part 34 can be easily placed in the cabinet of water tank 25, Supporting part 34 is equipped with the fixture 28 for positioning clamping casting；The immersion bracket guiding mechanism 23 includes the first sliding sleeve and the One guide rod, the first sliding sleeve and the first guide rod are in be vertically arranged, and the first sliding sleeve is slidably connected with the first guide rod, specifically First guide rod is threaded through in the first sliding sleeve, and the first sliding sleeve is fixedly mounted on the cabinet of water tank 5, the upper end of the first guide rod with The frame body pedestal 33 of immersion bracket 27 is fixedly connected；

The immersion carriage drive mechanism 22 is specially cylinder, and the cylinder body of immersion carriage drive mechanism 22 is fixedly mounted on water On the cabinet of case 25, the driving end (i.e. the piston rod of cylinder) of immersion carriage drive mechanism 22 act on frame body pedestal 33 and Immersion bracket 27 can be driven to move in a straight line in the vertical direction, supporting part 34 is enabled to be immersed in the coolant liquid of water tank 25 In.First solenoid valve 21 is mounted on water tank 25 and controls immersion carriage drive mechanism 22 and works.Soak bracket guiding mechanism The movement of 23 pairs of immersion brackets 27 in the vertical direction plays the role of guiding.

The cabinet of the water tank 25 be equipped with water compensating valve 30, drain valve 32 and overflow pipe 31, the one of the overflow pipe 31 End is communicated with the cabinet of water tank 25, and the other end of overflow pipe 31 is communicated with the drain valve 32.It is set on the cabinet of the water tank 25 There are liquid level sensor 26 and water temperature sensor 24.

The course of work of casting cooling unit: the water tank 25 is upper opening container, and liquid level sensor 26 cooperates water compensating valve 30 and drain valve 32 control water tank 5 in liquid level；24 real-time monitoring coolant temperature of water temperature sensor, liquid is most in water tank 25 High-temperature can use draining and moisturizing movement is controlled, and guarantee cooling effect.25 side of water tank is provided with overflow pipe 31, into One step guarantees that liquid level does not spill over water tank.

In standby mode, the bracket 27 that soaks is elected by immersion carriage drive mechanism 22 to high-order (i.e. water outlet working condition), As shown in Fig. 3, after casting is placed on fixture 28, by the control cylinder piston rod decline of the first solenoid valve 21, soak bracket 27 (i.e. immersion working condition) is immersed in the coolant liquid of water tank 25 with casting, and as shown in Fig. 4, casting is immersing appropriate duration Afterwards, the piston rod of the first solenoid valve 21 control cylinder rises, and casting is detached from coolant liquid therewith.

The opposite ground in the tooling library 3 is fixedly installed, and the main body in tooling library 3 is a frame body, is placed in tooling library 3 more It covers casting and grabs tooling 14, casting crawl tooling 14 can be installed on a robotic arm, for clamping casting from casting machine；Casting Grabbing tooling 14 includes linking arm 49, pallet 44, tray drive mechanism 50, four pallet guiding mechanisms 48, clamping jaws 46 and four A clamping jaw driving mechanism 45；The linking arm 49 is mounted on the manipulator of robot 12 by quick-release connector 41, quick-release connector 41 be a kind of general pneumatic quick-locking device, is made of male end and female end, male end is installed on a robotic arm, and female end is mounted on On linking arm 49, is realized between male end and female end using pneumatic mode and connect and separate；

The linking arm 49 be fixedly connected by first support arm 51, second support arm 52 and 53 three of third support arm constitute or Integrated molding formula is constituted, and one end of the third support arm 53 connect with one end of first support arm 51, the third support arm 53 it is another One end is connect with one end of second support arm 52, and the first support arm 51, second support arm 52 and 53 three of third support arm form one A Contraband type component；

The pallet 44 is located, is mounted on linking arm 49 by pallet guiding mechanism 48；The pallet guiding mechanism 48 Including the second sliding sleeve and the second guide rod, second sliding sleeve is slidably connected with the second guide rod, and specifically the second guide rod is worn It is located in the second sliding sleeve, the upper end of the second sliding sleeve is fixedly connected with the pallet 44, and the lower end of second guide rod is fixed to be connected It connects on linking arm 49, the upper end of the second guide rod passes through the disk body of pallet 44 as free end；Four pallet guiding mechanisms 48 Four-point supporting is formed to pallet 44；

The tray drive mechanism 50 is specially low rubbing cylinder, and the cylinder body of low rubbing cylinder is fixedly mounted on linking arm 49 On, it is specifically mounted between first support arm 51 and second support arm 52；Driving end (the i.e. low rubbing cylinder of tray drive mechanism 50 Piston rod) it acts on the bottom surface of pallet 44 and pallet 44 can be driven to do straight line fortune on the direction perpendicular to linking arm 49 It is dynamic；Pallet guiding mechanism 48 is playing guiding role perpendicular to the movement on 49 direction of linking arm to pallet 44；

Four clamping jaw driving mechanisms 45 are laid on one pallet 44；The clamping jaw driving mechanism 45 is specially clamping jaw gas Cylinder, the cylinder body of clamping jaw cylinder are fixedly mounted on the top surface of pallet 44, and there are three clamping jaws for setting in each clamping jaw driving mechanism 45 46, the driving end of clamping jaw driving mechanism 45 acts on clamping jaw 46 and clamping jaw 46 can be driven to clamp casting；The casting Grabbing tooling 14 further includes second solenoid valve 54 and pressure reducing valve 55, and second solenoid valve 54 and pressure reducing valve 55 are installed in linking arm 49 On.

The course of work of casting crawl tooling 14: under armed state, clamping jaw driving mechanism 45 is in the open state, and pallet drives The piston rod of motivation structure 50 stretches out, and pallet 44 is in an attached high position shown in fig. 5；When obtaining pickup instruction, robot 12 can be this The casting crawl tooling 14 of embodiment is sent to the underface of casting mould, and casting is located in casting mould, and casting can stay after die sinking In upper mold, casting crawl tooling 14 is on working position at this time；Clamping jaw driving mechanism 45 is promptly cast by the control of second solenoid valve 54 Part, counter-pressure casting machine 1 executes material returned action, casting downlink under material returned effect, under tray drive mechanism 50 is passive at this time later Row, cylinder air are discharged through pressure reducing valve 55；After the completion of material returned action, 50 latched position of tray drive mechanism, casting is being pressed from both sides Subsequent processing is sent to by robot 12 under tight state.

The casting trimming unit 6 is bead cutter, three specially traditional beam four-column type hydraulic trimmers, wherein flanging Beam 56 can be moved up and down along four guide posts 57, complete flanging movement；Servo hydraulic system sets 58 at the top of equipment, is responsible for entire flanging The conveying of power；The upper and lower mould of edger passes through the bottom beam 59 and flanging beam 56 that T-bolt is installed on bead cutter respectively；Casting is cut Side unit 6 for cut off inevitable overlap on cast product, burr, every skin, appearance profile and corresponding running gate system, Overflow system can realize that any direction is punched using pneumatic, hydraulic technique, casting is disposably cleaned out；

The sawing unit 18 includes sawing bracket 60, sawing shield 9, dust car 8 and sawing annular saw main shaft 7, sawing 7 revolving speed of annular saw main shaft can be adjusted by frequency converter, and sawing annular saw main shaft 7 is mounted on 60 top of sawing bracket, and sawing shield 9 is same It is installed on 60 top of sawing bracket and is arranged around sawing annular saw main shaft 7, dust car 8 is located at the lower section of sawing bracket 60.Sawing Unit 18 is for removing the casting techniques structure such as casting running channel, riser.

For the casting mark unit 4 using pneumatic marking machine or laser marking machine etc., effect is assigned to casting mark Each distinctive identification code of casting, it is easy to produce and manage after sale；

The casting supply unit 10 is conveyer belt or transmission chain common in the art；

The casting auxiliary turntable 11 includes rotary cylinder 61, jig pallet 62 and positioning fixture 63；The rotary pneumatic Cylinder 61 acts on jig pallet 62 and drives fixture the rotation of pallet 62, and the installation that jig pallet 62 is mounted on rotary cylinder 61 connects On mouth, positioning fixture 63 is mounted on jig pallet 62 according to casting layout.The casting auxiliary turntable 11 is for adjusting casting The posture of relative mechanical hand and temporary casting.

The metal casting automated system further includes control device, control device and robot 12, immersion carriage drive Mechanism 22, tray drive mechanism 50 and clamping jaw driving mechanism 45 connect.Control device can control the movement of robot 12, and real When supervisory-controlled robot 12 exercise data；Control device can control immersion carriage drive mechanism 22 and tray drive mechanism 50 Piston rod is stretched out or is retracted, moreover it is possible to control closing up or opening for the clamping jaw 46 in clamping jaw driving mechanism 45.

In the operating condition, the manipulator of the robot 12 can be moved on the position in tooling library 3, and by tooling library Casting crawl tooling 14 in 3 is installed on manipulator；Then, robot 12 drives casting crawl tooling 14 to enter casting machine 1 Mold between grab casting；Robot 12 grabs casting and cools down into the casting cooling unit 3 to casting, finally, machine Casting crawl tooling 14 is transferred to casting supply unit 10 by device people 12.

The course of work of the entire production line is as follows:

(1) completion of casting machine 1 casting is formed and is opened, and robot 12 drives casting crawl tooling 14 to enter casting mould Between, clamping jaw 46 firmly grasps casting, and casting demoulding device 15 starts to demould later, and tray drive mechanism 50 works asynchronously, and completes demoulding Afterwards, 50 latched position of tray drive mechanism.

(2) robot 12 grabs casting to casting cooling unit 2, casting is placed in one of cooling station, casting Cooling unit 2 executes cooling action.

(3) six free robots 12, which grab in casting cooling unit 2, is completed cooling casting, is transported to casting trimming list Member 6 completes trimming and acts and take out trimming casting.

(4) six free robots 12 grab casting and are transferred to sawing unit 18, and cooperation sawing annular saw main shaft 7 is completed casting and poured Mouth, the sawed-off work of riser, sawed-off waste material enter dust car 8.

(5) six free robots 12 shift casting to mark station, complete mark movement by casting mark unit 4.

(6) finally, six free robots 12 shift casting to casting supply unit 10, casting is transported to next processing work In sequence.

During the work time, six free robots 12 can into tooling library 3, quick-replaceable casting be grabbed according to casting features Tooling 14；After completing cooling and after completing trimming, six free robots 12 need to replace casting crawl tooling into tooling library 3 14, then grab casting.During the work time, casting can be temporarily placed on casting auxiliary turntable 11 by robot 12, adjustment casting It is grabbed again after part posture.

Explanation in relation to above-described embodiment:

1, casting machine used in above-described embodiment is counter-pressure casting machine common in the art, the tool of counter-pressure casting machine Body structure without limitation and require.But casting machine used by the utility model is not limited to counter-pressure casting machine, those skilled in the art Member can the technical concept of automated system according to the present utility model the counter-pressure casting machine in above-described embodiment is replaced with into low pressure Casting machine or extrusion casting machine or pressure adjusting casting machine.

2, positioning fixture common in the art, the utility model pair can be used in the fixture 28 on the immersion bracket 27 The specific structure of fixture 28 is without limitation and requirement, the effect of fixture 28 are only that the support that casting is located in immersion bracket 27 In portion 34.

3, the immersion carriage drive mechanism 22 can use driving mechanisms that other are conventional in the prior art, such as various The linear motor or hydraulic cylinder of type, the cylinder be not limited to the present embodiment.

4, the utility model is set there are two casting positioning mechanism, and from position, a casting positioning mechanism is equivalent to It is a cooling station, belongs to preferable embodiment, the quantity of casting positioning mechanism is without being limited thereto, the number of casting positioning mechanism Amount can be arranged according to actual needs.Certainly, when two or more casting positioning mechanisms of recommended setting, multiple stations can be handed over For realizing that casting is cooling, it is greatly improved production efficiency.

5, to facilitate installation, the immersion bracket guiding mechanism 23 of the present embodiment belongs to preferable embodiment, immersion support Frame guiding mechanism 23 can also be using other conventional structure designs, for example, immersion bracket guiding mechanism 23 by guide groove and can be led Rail composition, guide groove are arranged on the outer wall of water tank 25 and in being vertically arranged, and in being vertically arranged, guide rail and guide groove sliding connect guide rail It connects, the upper end of guide rail is fixedly connected with frame body pedestal 33.Certainly, there are many specific version of immersion bracket guiding mechanism 23.

6, tray drive mechanism 50 can be using other conventional driving mechanisms, such as various types of electricity in the prior art Machine or hydraulic cylinder, the low rubbing cylinder be not limited to the present embodiment.

7, the tray drive mechanism 50 drive that the direction of motion of pallet 44 is not limited to the present embodiment " perpendicular to connection Moved in a straight line on the direction of arm 49 ", in practice, manipulator can casting grab tooling 14 be sent to casting mould just under Side, as long as pallet 4 can be directed at casting, it is best that setting pallet 4 moves in a straight line only on the direction perpendicular to linking arm 9 Embodiment.

8, the present embodiment is that casting is taken out from the mold of four chamber of a mould, therefore, if there are four clamping jaw driving mechanisms 45, and It is set in each clamping jaw driving mechanism 45 there are three clamping jaw 46, a clamping jaw driving mechanism 45 is corresponding to grab a casting.In reality In design, it is not limited to above-mentioned quantity, if it is casting is taken out from the mold of a cavity per mould, casting crawl tooling 14 can be equipped with One clamping jaw driving mechanism 45.

It is because relatively steady more firm when grabbing casting as being set in each clamping jaw driving mechanism 45 there are three small clamping jaw 46 Gu.In actual design, the clamping jaw 46 in each clamping jaw driving mechanism 45 is not limited to above-mentioned quantity, in clamping jaw driving mechanism 45 Multiple small clamping jaws 46 can be equipped with and grab casting in a manner of multiple spot, a big clamping jaw 46 is also provided with and directly grabs casting Part, those skilled in the art can according to actual needs do the quantity and specific structure of clamping jaw 46 in the range of the prior art Variation.

9, the present embodiment is set there are four pallet guiding mechanism 48, belongs to preferred forms, the number of pallet guiding mechanism 48 Measure it is without being limited thereto, the quantity of pallet guiding mechanism 48 should at least there are three, can consolidate and support pallet 44.

10, to facilitate installation, the pallet guiding mechanism 48 of the present embodiment belongs to preferable embodiment, pallet Guiding machine Structure 48 can also using other conventional structure designs, for example, the sliding sleeve in pallet guiding mechanism 48 is deformed into sliding block, sliding block with Guide rod is slidably connected.Certainly, there are many specific version of pallet guiding mechanism 48.

11, to facilitate installation, the splicing guiding mechanism of the present embodiment belongs to preferable embodiment, splicing guiding mechanism Can also be using other conventional structure designs, such as the guide rail 78 in the present embodiment is designed to I-shaped, guide rail 78 is direct It is fixedly mounted in the rack of counter-pressure casting machine 1, one side and the guide rail 78 of sliding block 79 are slidably connected, the another side and cunning of sliding block 79 Moving frame 72 is fixedly connected, so that sliding rack 72 can move up and down along vertical direction in the rack of counter-pressure casting machine 1. Certainly, there are many specific version of splicing guiding mechanism, belong to the prior art.

12, based on the considerations of cost, the straight line driving mechanism 71 of the present embodiment uses hydraulic cylinder, and straight line driving mechanism 71 is also It can be using other conventional driving mechanisms, such as linear motor in the prior art, naturally it is also possible to use cylinder.Similarly, Rotary drive mechanism 73 can be not limited to this implementation using other conventional driving mechanisms, such as rotating electric machine in the prior art The cycloid hydraulic motor of example.

13, in the above-described embodiments, in " other end of big pivoted arm 74 protrudes horizontally up outward as extension end 83 " " to Refer on the direction far from casting machine 1 outside ", it may also be said to be on the direction far from big 74 positioning end of pivoted arm.Similarly, " in institute It states tie point and refers to the direction far from 76 tie point of bracket equipped with " outside " in an outside horizontal-extending small pivoted arm 80 " On.

The above embodiments are only for explaining the technical ideas and features of the present invention, and its object is to allow be familiar with technique Personage can understand the content of the utility model and implement accordingly, do not limit the protection scope of the present invention. All equivalent change or modifications according to made by the spirit of the present invention essence, should all cover the protection scope of the utility model it It is interior.

Claims (10)

1. a kind of casting automated system, it is characterised in that: including casting machine, robot (12), casting cooling unit (2), work Fill library (3), casting crawl tooling (14) and casting supply unit (10)；

The casting machine includes rack, which is equipped with material-receiving device, and the material-receiving device includes that sliding rack (72), splicing are led It is driven to mechanism, big pivoted arm (74), pull rod (75), splicing bracket (76), receiver (77), straight line driving mechanism (71) and rotation Motivation structure (73)；

The sliding rack (72) is arranged in the rack of casting machine by the splicing guiding mechanism, the straight line driving mechanism (71) it is fixedly mounted in the rack of the casting machine, the driving end of straight line driving mechanism (71) acts on the sliding rack (72) Above so that sliding rack (72) can move in the vertical direction；

The rotary drive mechanism (73) is fixedly mounted on the sliding rack (72), and one end of the big pivoted arm (74) is as fixed Position end is fixedly connected with the driving end of rotary drive mechanism (73), so that rotary drive mechanism (73) can drive big pivoted arm (74) Rotation, the other end of big pivoted arm (74) protrude horizontally up outward as extension end (83)；

The splicing bracket (76) has a tie point and a supporting point, and a level outward is equipped on the tie point The small pivoted arm (80) extended, small pivoted arm (80) are fixedly connected with composition with splicing bracket (76) or are integrally formed formula and constitute；It is described to connect Charging tray (77) is mounted on the supporting point of splicing bracket (76), for picking up casting；

The sliding rack (72) is equipped with the first hinge joint (81), and one end of the pull rod (75) is hinged on the sliding rack (72) The first hinge joint (81) on, the small pivoted arm (80) is equipped with the second hinge joint (82), and the other end of pull rod (75) is hinged on On the second hinge joint (82) of small pivoted arm (80)；The extension end (83) of the big pivoted arm (74) is hinged on the splicing bracket (76) Tie point on, the axial line of the extension end (83) of splicing bracket (76) relatively large pivoted arm (74) rotation passes through the extension end (83) and perpendicular to ground；The length of the big pivoted arm (74) is greater than the length of pull rod (75), and the length of pull rod (75) is greater than Length between extension end (83) to first hinge joint (81) of big pivoted arm (74), the extension end (83) of big pivoted arm (74) is extremely Length between first hinge joint (81) is greater than second hinge joint (82) to the length between the tie point of splicing bracket (76) Degree；

The robot (12) includes the manipulator of pedestal and installation on the base；

The casting cooling unit (2) includes water tank (25) and at least one casting positioning mechanism, casting positioning mechanism installation On the cabinet of the water tank (25), the upper end of water tank (25) is in opening setting；The casting positioning mechanism includes immersion bracket Guiding mechanism (23), immersion carriage drive mechanism (22) and immersion bracket (27), the immersion bracket (27) pass through immersion support Frame guiding mechanism (23) is arranged on the cabinet of water tank (25), and immersion bracket (27) includes frame body pedestal (33) and supporting part (34), which is fixedly mounted on the frame body pedestal (33), and the upper end of supporting part (34) corresponding water tank (25) is opened It is arranged at mouthful, the supporting part (34) is equipped with the fixture (28) for positioning clamping casting；The immersion carriage drive mechanism (22) it is fixedly mounted on the cabinet of the water tank (25), the driving end of immersion carriage drive mechanism (22) acts on the frame body On pedestal (33) and immersion bracket (27) can be driven to move in a straight line in the vertical direction, so that the supporting part (34) energy It is enough immersed in the coolant liquid of water tank (25)；

More sets casting crawl tooling (14) is placed in the tooling library (3), it includes linking arm that casting, which grabs tooling (14), (49), pallet (44), tray drive mechanism (50), at least three pallet guiding mechanisms (48), clamping jaw (46) and at least one Clamping jaw driving mechanism (45)；The linking arm (49) can be mounted on the manipulator of the robot (12), the pallet (44) it is mounted on linking arm (49) by pallet guiding mechanism (48)；The tray drive mechanism (50) is fixedly mounted on connection On arm (49), the driving end of tray drive mechanism (50) acts on the bottom surface of pallet (44) and pallet (44) can be driven to exist It is moved in a straight line in the guide direction of pallet guiding mechanism (48)；The clamping jaw driving mechanism (45) is fixedly mounted on pallet (44) Top surface on, be provided in clamping jaw driving mechanism (45) clamping jaw (46), clamping jaw driving mechanism (45) can drive clamping jaw (46) press from both sides Handle casting.

2. casting automated system according to claim 1, it is characterised in that: the casting automated system further includes casting Part trimming unit (6), sawing unit (18) and casting mark unit (4).

3. casting automated system according to claim 1, it is characterised in that: the casting automated system further includes control Device processed, the control device and robot (12), immersion carriage drive mechanism (22), tray drive mechanism (50) and clamping jaw Driving mechanism (45) connection.

4. casting automated system according to claim 1, it is characterised in that: immersion bracket guiding mechanism (23) packet The first sliding sleeve and the first guide rod are included, first sliding sleeve is slidably connected with the first guide rod, and the first sliding sleeve is fixedly mounted on institute On the cabinet for stating water tank (25), the frame body pedestal (33) of the upper end of first guide rod and immersion bracket (27) is fixed to be connected It connects.

5. casting automated system according to claim 1, it is characterised in that: the cabinet of the water tank (25), which is equipped with, to be mended One end of water valve (30), drain valve (32) and overflow pipe (31), the overflow pipe (31) is communicated with the cabinet of water tank (25), is overflow The other end of flow tube (31) is communicated with the drain valve (32).

6. casting automated system according to claim 1 or 5, it is characterised in that: set on the cabinet of the water tank (25) There are liquid level sensor (26) and water temperature sensor (24).

7. casting automated system according to claim 1, it is characterised in that: the linking arm (49) is by first support arm (51), second support arm (52) and third support arm (53) three are fixedly connected with composition or are integrally formed formula and constitute, the third branch One end of arm (53) is connect with one end of first support arm (51), the other end and second support arm (52) of the third support arm (53) One end connection, the first support arm (51), second support arm (52) and third support arm (53) three form a Contraband type component.

8. casting automated system according to claim 7, it is characterised in that: the tray drive mechanism (50) is mounted on Between the first support arm (51) and second support arm (52).

9. casting automated system according to claim 1, it is characterised in that: the pallet guiding mechanism (48) includes the Two sliding sleeves and the second guide rod, second sliding sleeve are slidably connected with the second guide rod, the upper end of the second sliding sleeve and the pallet (44) it is fixedly connected, the lower end of second guide rod is fixedly connected on linking arm (49).

10. casting automated system according to claim 1, it is characterised in that: the tray drive mechanism (50) can Driving pallet (44) moves in a straight line on the direction perpendicular to linking arm (49).