KR20240058484A - Robot automatic system of melting and casting process - Google Patents

Abstract

The present invention is a system for performing a dross removal process, a temperature measurement process, and a sampling process as a casting melting process for forming raw materials necessary for producing cast products. The dross removal process, the temperature measurement process, and the sampling process are performed. A stand on which tools including a dross removal jig, a probe measuring device, and a sampling jig are mounted; The holder is positioned in front, and a rail is provided between the melting furnace for the casting melting process and the holder; a protection branch pipe assembly unit located close to the probe measuring device mounted on the holder and assembling a protection branch pipe to protect the probe to the probe measuring device; A robot that can move along the rail, selectively grasps one of the tools from the holder, transfers it to the melting furnace, proceeds with the process, and returns it to the holder; and an operation of the robot holding and returning the tool, an operation of taking out dross with the dross removal jig, an operation of measuring the temperature of the product with the probe measuring device, and an operation of sampling the product with the sampling jig. and a control unit that controls the operation of the robot and the operation of assembling the protective branch pipe to the probe measuring device.

Description

Robot automation system for casting melting process {ROBOT AUTOMATIC SYSTEM OF MELTING AND CASTING PROCESS}

The present invention relates to a robot automation system for the casting melting process, and more specifically, to a robot automation system for the casting melting process in which the dross removal process, temperature measurement process, and sampling process can be automated by robots. .

In general, casting is a method of melting metal at high temperature to create liquid metal and injecting it into a mold (sand mold, mold, etc.) to create the desired shape.

This casting process goes through a total of dozens of detailed processes, from molding and melting to product shipment, and in particular, about 40 steps in the case of cast iron. It is mainly the melting process that has the most critical impact on the quality, performance, and unit price of the product.

The dissolution process varies depending on the type of material used and the process, but generally can be limited to the range of raw material charging, dissolution, and tapping.

This melting process is a major process that not only determines the quality (properties) of the molten metal, but also directly affects the presence or absence of various defects that occur in subsequent processes, casting quality, and the unit cost and performance of the final product.

However, the entire casting and melting process is performed manually by humans.

That is, the process of putting raw materials into the melting furnace, operating the equipment and then adding sand, the dross removal process, the process of measuring the temperature of the material, and the sampling process of the material are performed. These processes are performed. They are carried out repeatedly, and the entire process must be carried out by people.

Work is carried out in a very high temperature environment, and in particular, the weight of the tools used in the dross removal process or sampling process is very heavy, and workers have to stir the material while holding these tools, so there is a very high risk of safety accidents. There are high problems.

Republic of Korea Patent Publication No. 10-1724595 (2017.04.03.)

The present invention was developed based on the above technical background, and its purpose is to provide a robot automation system for the casting melting process that can automate the main processes of the casting melting process by robots.

The purpose of the present invention is to provide a robot automation system for the casting melting process that can significantly reduce the risk of safety accidents because workers do not work directly in a very dangerous environment.

In addition, the purpose of the present invention is to provide a robot automation system for the casting melting process that can perform the casting melting process with minimal input of workers.

The object of the present invention is not limited to the object mentioned above, and other objects not mentioned can be clearly understood from the description below.

The present invention to achieve the above object is a system for performing a dross removal process, a temperature measurement process, and a sampling process as a casting melting process for forming raw materials necessary for producing cast products, wherein the dross removal process and the temperature measurement process are performed. A stand on which tools including a dross removal jig, a probe measuring device, and a sampling jig for performing the process and sampling process are mounted; The holder is positioned in front, and a rail is provided between the melting furnace for the casting melting process and the holder; a protection branch pipe assembly unit located close to the probe measuring unit mounted on the holder and assembling a protection branch pipe to protect the probe to the probe measuring unit; A robot that can move along the rail, selectively grasps one of the tools from the holder, transfers it to the melting furnace, proceeds with the process, and returns it to the holder; and an operation of the robot holding and returning the tool, an operation of taking out dross with the dross removal jig, an operation of measuring the temperature of the product with the probe measuring device, and an operation of sampling the product with the sampling jig. and a control unit that controls the operation of the robot and the operation of assembling the protective branch pipe to the probe measuring device.

And according to a preferred embodiment according to the present invention, the first holder is on which the dross removal jig and the sampling jig are mounted, and includes a plurality of brackets to which the dross removal jig and the sampling jig are respectively fitted. It is characterized by being composed of a holder, a second holder including a plurality of brackets on which the probe measuring device is mounted, and into which the probe measuring device is inserted.

In addition, according to a preferred embodiment according to the present invention, the first holder is in the shape of a triangular pillar, and the plurality of brackets are installed on the inclined surface, so that the dross removal jig and the sampling jig are erected and mounted on the inclined surface, A stand is further installed at the lower part of the inclined surface to prevent the dross removal jig and sampling jig from being separated in the downward direction.

And according to a preferred embodiment according to the present invention, the second holder has a table shape, and a plurality of brackets are installed on the upper surface so that the probe measuring device is laid down and mounted, and the probe is mounted protruding.

In addition, according to a preferred embodiment according to the present invention, the protective branch pipe assembly unit includes a loading portion on which a plurality of protective branch pipes are loaded, a first pusher that pushes one of the loaded protective branch pipes, and the first pusher. It is characterized in that it includes a second pusher that pushes the protection branch pipe into the probe measuring device waiting at the front end of the protection branch pipe pushed out by.

The present invention with the above configuration can expect the following effects.

This has the effect of enabling automation of the main processes of the casting and melting process using robots.

Because of this, the risk of safety accidents can be significantly reduced because workers do not work directly in a very dangerous environment, and there is also the effect of allowing a minimum number of workers to be deployed.

Therefore, there is an effect of improving work efficiency and productivity.

1 is a diagram showing a robot automation system for the casting melting process according to a preferred embodiment of the present invention.
2 to 4 are diagrams showing the first and second holders and the protective branch pipe assembly of the robot automation system for the casting melting process according to a preferred embodiment of the present invention.
5A to 5C are diagrams showing the sequence of the dross removal process in the robot automation system for the casting melting process according to a preferred embodiment of the present invention.
Figures 6a to 6c are diagrams showing the sequence of the temperature measurement process in the robot automation system for the casting melting process according to a preferred embodiment of the present invention.
Figures 7a to 7c are diagrams showing the sequence of the sampling process in the robot automation system for the casting melting process according to a preferred embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the attached drawings. Prior to the description, the advantages and features of the present invention and methods for achieving them will become clear by referring to the embodiments described in detail below along with the accompanying drawings. And the terms used in this specification are for describing embodiments and are not intended to limit the present invention. Among these terms, the singular includes the plural unless specifically stated in the phrase, and words indicating direction in the description Please note that this is to aid understanding of the explanation and may change depending on the time.

Hereinafter, the robot automation system for the casting melting process according to a preferred embodiment of the present invention will be described in detail with reference to the attached drawings. Figure 1 is a diagram showing a robot automation system for the casting melting process according to a preferred embodiment of the present invention, and Figures 2 to 4 are the first and second robot automation systems for the casting melting process according to a preferred embodiment of the present invention. This is a drawing showing the holder and protection pipe assembly.

Referring to Figures 1 to 4, the robot automation system 100 for the casting melting process according to the present invention includes a rail 45, a holder 20, a protection pipe assembly unit 30, a robot 40, and a control unit ( 50).

First, looking at the overall configuration and arrangement of the robot automation system 100 for the casting melting process according to the present invention, as shown in FIG. 1, the control unit 50 is provided in a control room provided in the central portion, and is provided to the operator. The operation of the robot 40 is controlled according to the signal input by the robot.

Melting furnaces 60 are located on both sides of the control unit 50. This is shown as an example of two melting furnaces 60 being provided to increase production efficiency, but is not limited to this form.

The robot 40 is located in front of the control unit 50, and the robot 40 can move in a straight line along the rail 45. That is, the rail 45 is provided in front of the control unit 50, and each melting furnace 60 is located at the ends of the rail 45, that is, one end and the other end.

The robot 40 can move linearly between the melting furnaces 60 on both sides along the rails 45 and work in the melting furnaces 60 on both sides.

And the holder 20 and the protective branch pipe assembly 30 for holding the tool used for the casting melting process according to the present invention are located in front of the robot 40.

That is, the robot 40 can grasp each tool on the front holder 20 and perform work in the melting furnace 60 with the tools held while moving linearly along the rail 45.

And the first and second extraction units 71 and 72 are provided between the control room and each melting furnace 60. These take-out parts (71, 72) are used so that the robot 40 can perform this when take-out is required during the casting melting process according to the present invention, for example, when take-out of dross or protective paper pipe, or take-out of material for sampling is required. It is provided within the action radius of (40).

Next, looking at each configuration of the robot automation system 100 for the casting melting process according to the present invention, the tool includes a dross removal jig ( It includes a jig 11, a probe measuring device 12 for measuring the temperature of the melt 65 in the melting furnace 60, and a sampling jig 12 for scooping out the melt 65 to sample the melt 65. .

The dross removal jig 11 is mounted on the first holder 20a, is a long bar-shaped rebar, and is used during the dross removal process. The length of this dross removal jig 11 can be changed depending on working conditions and is formed so that the robot 40 can grip it.

Using the dross removal jig 11, the robot 40 stirs the melted material 65 of the melting furnace 60, and the dross floats on the melted material 65 and gathers together to form a lump, which is then removed from the dross removal jig 11. ) is used to retrieve it.

The dross removed by the dross removal jig 11 is taken out into the first extraction section 71 described below.

The probe measuring device 12 is mounted on the second holder 20b and consists of a probe 12a, which is a part that directly measures temperature, and a handle, and the probe 12a and the handle are detachable as shown in the drawing. It may be combined or integrally combined.

The probe 12a has a shape that facilitates measuring the temperature of the melt 65 in the melting furnace 60, and is preferably bent in an 'L' shape. This bending angle can be changed depending on working conditions. The length can also be changed depending on working conditions. And it is formed so that the robot 40 can grip it.

Since the probe measuring device 12 measures the temperature of the material 65 at a very high temperature, the protection branch tube 35 to protect the probe 12a is assembled to the probe 12a to perform a temperature measurement process. Assembling this protective branch pipe 35 will be described below.

The sampling jig 13 is mounted on the first holder 20a and has the shape of a long rod, with the tip having a dented shape like a ladle so that it can scoop up the liquid 65. The length of this sampling jig 13 can be changed depending on working conditions and is formed so that the robot 40 can grip it.

Using the sampling jig 13, the robot 40 scoops up the melted material 65 from the melting furnace 60 and transfers it to the second extraction unit 72 to perform a sampling operation.

Next, the holder 20 is a place to mount the above-described tools, such as the dross removal jig 11, the probe measuring device 12, and the sampling jig 13.

This holder 20 is composed of a first holder 20a on which the dross removal jig 11 and the sampling jig 13 are mounted, and a second holder 20b on which the probe measuring device 12 is mounted.

The first holder 20a is shaped like a triangular pillar so that the dross removal jig 11 and the sampling jig 13 are erected vertically and at an angle.

That is, a plurality of brackets 21a are installed on the inclined surface, so that the dross removal jig 11 and the sampling jig 13 are erected and mounted on the inclined surface to facilitate gripping by the robot 40. This type is limited to this type. That is not the case.

The first holder 20a is provided with a plurality of brackets 21a so that the dross removal jig 11 and the sampling jig 13 are respectively inserted, and the dross removal jig 11 and the sampling jig 13 are erected and mounted. ) are each provided with a stand (23) to prevent them from deviating downward.

That is, as shown in FIG. 2, the first holder 20a is provided with a plurality of brackets 21a, for example, three brackets 21a, for supporting the dross removal jig 11, and the dross removal jig ( A stand 23 is provided to support the lower part of 11).

Additionally, a plurality of brackets 21a, for example, four brackets 21a, are provided to support the sampling jig 13, and a stand 23 is provided to support the lower portion of the sampling jig 13.

Here, each bracket 21a is provided to match the thickness of the dross removal jig 11 and the sampling jig 13, and can be mounted by inserting the dross removal jig 11 and the sampling jig 13. It is provided.

As shown in FIG. 3, the second holder 20b is in the shape of a table, and the probe measuring device 12 is laid down on its upper surface. It is provided so that it is mounted parallel to the floor, so that it can be easily held by the robot 40. In addition, it facilitates the assembly of the protection branch pipe 35 in the protection branch pipe assembly unit 30, which will be described below, but is not limited to this form.

The second holder 20b is provided with a plurality of brackets 21b, for example, two brackets 21b, on the upper surface of which the probe measuring device 12 is inserted.

Here, the probe 12a of the probe measuring device 12 is mounted so as to protrude from the second holder 20b, making it easy to assemble the protection branch pipe 35.

Next, the protective branch tube assembly part 30 is located close to the mounted probe measuring device 12 and is a part that assembles the protective branch pipe 35 for protecting the probe 12a to the probe measuring device 12.

This protection branch pipe assembly unit 30 includes a loading part 33 on which a plurality of protection branch pipes 35 are loaded, a first pusher 31 that pushes one of the loaded protection branch pipes 35, and a first pusher. It includes a second pusher (32) that pushes the protection branch pipe (35) into the probe measuring device (12) waiting at the front end of the protection branch pipe (35) pushed out by (31).

As shown in FIG. 1, the protective branch pipe assembly portion 30 is located close to the second holder 20b on which the probe measuring device 12 is mounted. In particular, the probe 12a of the probe measuring device 12 is assembled. It is located so that it can be provided at the front end of the protection branch pipe 35 waiting for it.

As shown in FIG. 4, in this protective branch pipe assembly unit 30, a plurality of protective branch pipes 35 are loaded on the loading unit 33. They are stacked one after another in a lying position parallel to the floor, and the loading unit ( 33) is provided in a shape so that the loaded protection branch pipe 35 does not fall out of the loading part 33.

The first pusher 31 is provided at the rear of the loading unit 33 in the direction shown in FIG. 4 and pushes the protection branch pipe 35 provided at the lowest portion toward the front of the loading unit 33. Here, the first pusher 31 is shown as being provided including a cylinder, a motor, etc., but it is not limited to this form.

The protection branch pipe 35 pushed out by the first pusher 31 stands in front of the loading unit 33, and at this time, the front end of the protection branch pipe 35, that is, on one side of the protection branch pipe assembly unit 30, is The probe 12a of the probe measuring device 12 is in a waiting state.

When a signal for the temperature measurement process is received, the second pusher 32 provided on the other side of the loading unit 33, that is, at the rear end of the waiting protection branch pipe 35, pushes the protection branch pipe 35, as shown in Figure 4. As shown, the protection branch pipe 35 is inserted into the probe 12a of the probe measuring device 12 and assembled.

That is, during the temperature measurement process, the protective branch pipe 35 is assembled into the probe measuring device 12 by a signal from the control unit 50, and the robot 40 holds the probe measuring device 12 on which the protective branch pipe 35 is assembled. Thus, the temperature measurement process proceeds.

Here, the second pusher 32 is also shown as being provided including a cylinder, a motor, etc., but it is not limited to this form.

And after the temperature measurement process, the used protection branch pipe 35 is taken out of the second extraction unit 72 according to the set shape, or the protection branch pipe 35 can be returned to the second holder 20b in its assembled form. .

Next, the robot 40 is capable of moving between the holder 20 and the melting furnace 60, and selectively grasps one of the tools from the holder 20 and transfers it to the melting furnace 60 and the holder 20. reinstate

This robot 40 includes a robot body (41 in FIG. 5A) capable of linear movement along the rail 45 and a gripper (43 in FIG. 5A), and the gripper 43 includes a tool, such as a dross removal jig. (11), the sampling jig (13), and the probe measuring device (12) with the protection branch pipe (35) installed are held, the tool is put into the melting furnace (60), the process is performed, and the tool is placed in the holder (20). Return to .

The robot 40 operates according to signals from the control unit 50.

The robot 40 according to the present invention may have various known configurations and functions, such as robot arms and gripping parts.

During the dross removal process, the robot 40 holds the dross removal jig 11 and inserts it into the melting furnace 60 to extract the dross, and then places the dross removal jig 11 on the first holder 20a. reinstate

During the temperature measurement process, the robot 40 measures the temperature of the product 65 by holding the probe measuring device 12, for example, the probe measuring device 12 with the protective branch pipe 35 assembled, and then uses the probe measuring device 12 as a second Return to the holder (20b).

During the sampling process, the robot 40 holds the sampling jig 13 to scoop up and take out the material 65, and then returns the sampling jig 13 to the first holder 20a.

Next, the control unit 50 performs the operation of the robot 40 holding and returning the tool, the operation of removing the dross with the dross removal jig 11, and the measurement of the temperature of the product 65 with the probe measuring device 12. The operation of sampling the material 65 with the sampling jig 13, the operation of assembling the protective branch pipe 35 to the probe measuring device 12, etc. are controlled.

This control unit 50 transmits an operation signal according to automatic settings or an input signal by an operator to the robot 40 and the protection pipe assembly unit 30.

In addition, the control unit 50 can proceed with the process according to the temperature measurement process, such as controlling the heating temperature and whether to reintroduce raw materials or sand.

Additionally, the control unit 50 performs an operation depending on whether the protection branch pipe 35 assembled in the probe measuring device 12 is taken out or reused. In other words, the protection branch pipe 35 is a consumable item, and usually after 1 to 3 uses, it burns due to the temperature of the material 65 and cannot be used.

Accordingly, the control unit 50 may allow the robot 40 to perform an operation of not taking out the protection branch pipe 35 but reusing it and then taking it out according to a set number of times after the robot 40 performs the temperature measurement process.

In addition, the control unit 50 may proceed with the process according to the sampling process, for example, by measuring the components of the liquid taken out through the sampling process, adjusting the heating temperature, and determining whether to reintroduce raw materials or sand.

Below, we will look at the process according to the robot automation system of the casting melting process according to the present invention in more detail.

First, looking at the dross removal process, FIGS. 5A to 5C are diagrams showing the sequence of the dross removal process in the robot automation system for the casting melting process according to a preferred embodiment of the present invention.

As shown in FIG. 5A, the gripper 43 of the robot 40 grips the dross removal jig 11 mounted on the first holder 20a. At this time, the robot 40 operates the gripper 43 in a standby state as shown in FIG. 1 to grip the dross removal jig 11, and the robot body 41 moves toward the melting furnace 60 along the rail 45. moves in a straight line

Next, as shown in FIG. 5B, the robot 40 inserts the dross removal jig 11 into the melting furnace 60 and stirs the melted material 65 to collect dross.

Subsequently, as shown in FIG. 5C, the robot 40 lifts the collected dross with the dross removal jig 11 and takes it out to the first take-out unit 71, and the first holder 20a along the rail 45. ) Move straight forward and return the dross removal jig (11) to the first holder (20a).

Next, looking at the temperature measurement process, FIGS. 6A to 6C are diagrams showing the sequence of the temperature measurement process in the robot automation system for the casting melting process according to a preferred embodiment of the present invention.

As shown in FIG. 6A, when a temperature measurement process operation signal is generated from the control unit 50, the protection branch pipe assembly unit 30 assembles the protection branch pipe 35 to the probe measuring device 12, and the robot 40 2 Hold the probe measuring device (12) with the protective branch pipe (35) mounted on the holder (20b) assembled.

Next, as shown in FIG. 6C, the robot 40 immerses the probe measuring device 12 on which the protection branch pipe 35 is assembled into the liquid 65 and measures the temperature of the liquid 65. Here, the measured temperature information may be transmitted to the control unit 50.

Next, as shown in FIG. 6C, the robot 40 takes out the protection branch pipe 35 from the first take-out part 71 and returns the probe measuring device 12 to the second holder 20b.

At this time, the extraction operation of the protection branch pipe 35 may or may not proceed depending on the transmitted signal. If the extraction operation of the protection branch pipe 35 does not proceed, the robot 40 measures the temperature of the material 65 and then places the probe measuring device 12 in the assembled state of the protection branch pipe 35 on the second holder ( Return to 20b).

Next, looking at the sampling process, FIGS. 7A to 7C are diagrams showing the sequence of the sampling process in the robot automation system for the casting melting process according to a preferred embodiment of the present invention.

As shown in FIG. 7A, the gripper 43 of the robot 40 holds the sampling jig 13 mounted on the first holder 20a.

Next, as shown in FIG. 7B, the robot 40 moves linearly along the rail 45, inserts the sampling jig 13 into the melting furnace 60, and pours out the melted material 65.

Subsequently, as shown in FIG. 7C, the robot 40 takes out the material 65 put in the sampling jig 13 to the second extraction unit 72 and places it on the first holder 20a along the rail 45. ) Move straight forward to return the sampling jig (13) to the first holder (20a). At this time, sampling of the extracted material 65 is performed, for example, the material content and temperature of the material 65 are measured, and the corresponding data is transmitted to the control unit 50.

In this way, the dross removal process, temperature measurement process, and sampling process among the casting and melting processes can be automated by robots, which has the effect of improving work efficiency, improving productivity, and significantly reducing the risk of safety accidents for workers.

The above description is merely an illustrative explanation of the technical idea of the present invention, and various modifications, changes, and substitutions can be made by those skilled in the art without departing from the essential characteristics of the present invention. will be. And, as described above, the embodiments disclosed in the present invention and the accompanying drawings are not intended to limit the technical idea of the present invention, but are for illustrative purposes, and the scope of the technical idea of the present invention is limited by these embodiments and the attached drawings. It doesn't work. The scope of protection of the present invention should be interpreted in accordance with the claims below, and all technical ideas within the equivalent scope should be construed as being included in the scope of rights of the present invention.

100; Robotic automation system for casting melting process
11; Dross Removal Jigger
12; probe measuring instrument
13; sampling jig
20; holder
21a, 21b; Brackets
23; Pedestal
30; Protection pipe assembly section
31, 32; pusher
33; loading department
35; Conservation Center
40; robot
41; robot body
43; gripper
45; rail
50; control unit
60; melting furnace
65; dragon water
71, 72; Take-out part

Claims (5)

In a system for performing a dross removal process, temperature measurement process, and sampling process as a casting melting process to form raw materials necessary for producing cast products,
A stand on which tools including a dross removal jig, a probe measuring device, and a sampling jig for performing the dross removal process, temperature measurement process, and sampling process are mounted;
The holder is positioned in front, and a rail is provided between the melting furnace for the casting melting process and the holder;
a protection branch pipe assembly unit located close to the probe measuring device mounted on the holder and assembling a protection branch pipe to protect the probe to the probe measuring device;
A robot that can move along the rail, selectively grasps one of the tools from the holder, transfers it to the melting furnace, proceeds with the process, and returns it to the holder; and
An operation of the robot holding and returning the tool, an operation of taking out dross with the dross removal jig, an operation of measuring the temperature of the product with the probe measuring device, and an operation of sampling the product with the sampling jig. A robot automation system for a casting melting process comprising a control unit that controls the operation of the robot and the operation of assembling the protective branch pipe to the probe measuring device. The method of claim 1, wherein the holder is:
A first holder on which the dross removal jig and the sampling jig are mounted and which includes a plurality of brackets on which the dross removal jig and the sampling jig are respectively fitted;
A robot automation system for a dissolution process, characterized in that it consists of a second holder on which the probe measuring device is mounted and which includes a plurality of brackets into which the probe measuring device is inserted. The method of claim 2, wherein the first holder is:
In the shape of a triangular pillar, the plurality of brackets are installed on an inclined surface, and the dross removal jig and sampling jig are erected and mounted on the inclined surface,
A robot automation system for a dissolution process, characterized in that a pedestal is further installed at the lower part of the inclined surface to prevent the dross removal jig and the sampling jig from being separated in the downward direction. The method of claim 2, wherein the second holder is:
A robot automation system for a dissolution process that has a table shape, with a plurality of brackets installed on the upper surface so that the probe measuring device is laid down and mounted, and the probe is mounted protruding. The method of claim 1, wherein the protective branch pipe assembly,
A loading part where a plurality of protection branch pipes are loaded, a first pusher that pushes one of the loaded protection branch pipes, and a probe measuring machine waiting at the front end of the protection branch pipe pushed out by the first pusher. A robot automation system for the casting melting process, characterized in that it includes a second pusher that pushes the.