WO2022121336A1

WO2022121336A1 - Conveying system for low-pressure cast water-cooled shell spiral sand core

Info

Publication number: WO2022121336A1
Application number: PCT/CN2021/109574
Authority: WO
Inventors: 朱小明; 韩伟; 陈宇姗; 刘建光; 段海峰; 童洲; 颜建
Original assignee: 广州城市理工学院
Priority date: 2020-12-08
Filing date: 2021-07-30
Publication date: 2022-06-16
Also published as: CN112439880A

Abstract

A conveying system for a low-pressure cast water-cooled shell spiral sand core, comprising a sand core (3) and a conveying device. The sand core (3) is provided with core heads (31), the conveying device comprises a core setting working position (1) and a sand core feeding device (2), and the core setting working position (1) is provided on one side of the sand core feeding device (2); the core setting working position (1) comprises a clamping robot (11) and a clamping rack (12), and the clamping robot (11) is provided at the top of the clamping rack (12); the clamping robot (11) is provided with a clamping hand (111); the sand core feeding device (2) comprises a core locking workbench (21), a transmission mechanism (22), core locking bases (23), and a detection device; the detection device comprises a detection camera (24) and a diffuse reflection photoelectric switch (25), the detection camera (24) is provided on the side of the top surface of the core locking workbench (21) close to the core setting working position (1), and the diffuse reflection photoelectric switch (25) is provided on one side of the top surface of the core locking workbench (21); the clamping hand (111) is provided with clamping fingers (1111), and clamping grooves (3111) matching the clamping fingers (1111) in shape are provided on the core heads (31).

Description

A conveying system for low-pressure casting water-cooled casing spiral sand core

technical field

The invention relates to the technical field of motor casting, in particular to a conveying system for a spiral sand core of a low-pressure casting water-cooled casing.

Background technique

At present, in the production of low-pressure casting of electric vehicle motor water-cooled casings, most of them still use manual methods for core lowering operations. In the low-pressure casting production of water-cooled casings, the working temperature of the mold cavity is as high as more than 300 degrees, and there is a problem of high temperature radiation in manual core lowering. In addition, the spiral sand core of the water-cooled casing is large in volume and irregular in shape. The manual core operation is labor-intensive, low in efficiency, random and uncertain, and it is difficult to ensure the installation accuracy and speed; in addition, because the sand core is made of resin sand. It is shot by a core shooting machine, and its strength is limited, and the shape of the spiral channel sand core is complex, and it is easy to be damaged by a slight collision during the core lowering process.

In order to solve the above-mentioned technical problems, the patent document with the Chinese patent number of 201811345354.4 and the announcement date of 2020.07.14 discloses a new energy vehicle motor or a surface dip coating process and method for making sand cores; including an immersion box; wherein, the immersion A transfer assembly is fixed on one side of the tank, a dip coating bracket assembly is fixed on the lower end of the transfer assembly, a conveyor belt is disposed on the side of the transfer assembly away from the immersion tank, and a support frame is disposed on the side of the conveyor belt. In the present invention, a dip-coating bracket assembly is provided, and an openable connecting rod is used to fix the support plate to the column. When transferring to the conveyor belt, the connecting rod is opened, so that the support plate falls on the upper end of the conveyor belt for conveying, so as to avoid manual transfer of objects caused by damage and improve quality; among them, this patent document discloses the steps of transferring the casting sand core of the motor casing, the transfer: move the motor casing casting sand core on the support plate upward through the pneumatic telescopic rod, and then move the sliding seat to make the sliding seat smooth When moving to the upper end of the conveyor belt, lower the pneumatic telescopic rod, so that the casting sand core of the motor casing on the support plate is lowered to the top of the conveyor belt, and then rotate the connecting rods at both ends to make the support plate fall on the top of the conveyor belt. The upper end of the conveyor belt then transports the casting sand core of the motor casing on the support plate to the lower end of the surface treatment assembly through the conveyor belt.

However, according to the technical solution disclosed in this document, the sand core is placed on the conveyor belt through the cooperation of the pneumatic telescopic rod and the sliding seat. There is no sand core transfer detection mechanism, and the sand core may be damaged and the sand core is placed in the wrong position.

SUMMARY OF THE INVENTION

The invention provides a conveying system for a spiral sand core of a low-pressure casting water-cooled casing. Using the structure of the invention, the grasping work of the sand core can be completed quickly, continuously and stably, and the sand core can be conveyed in preparation.

In order to achieve the above purpose, the technical scheme of the present invention is: a conveying system for a low-pressure casting water-cooled casing spiral sand core, comprising a sand core and a conveying device, the sand core is provided with a core head, and the conveying device includes a core lowering station and a sand core. Core feeding device, the lower core station is set on one side of the sand core feeding device;

The core lowering station includes a clamping robot and a clamping frame, the clamping robot is arranged on the top of the clamping frame; the clamping robot is provided with a clamping hand.

The sand core feeding device includes a lock cylinder table, a transmission mechanism, a lock cylinder base and a detection device. The transmission mechanism includes a synchronizing wheel, a transmission belt, a conveying motor, an annular guide rail and a sliding seat. The synchronizing wheel and the annular guide rail are arranged on the top of the lock cylinder table. There are more than two synchronizing wheels in total. The synchronizing wheels are arranged on the inner side of the annular guide rail, and the outer side of the synchronizing wheels is connected with the transmission belt. The conveying motor is arranged at the bottom of the lock cylinder table and is fixedly connected to one side synchronous wheel through the lock cylinder table. The center of the circle, the sliding seat is slidably connected to the annular guide rail, and there are more than one sliding seat on the annular guide rail. .

The detection device includes a detection camera and a diffuse reflection photoelectric switch, the detection camera is arranged on the side of the top surface of the lock cylinder worktable close to the lower core station, and the diffuse reflection photoelectricity is arranged on the side of the top surface of the lock cylinder worktable.

The gripping hand is provided with gripping fingers, and the core head is provided with gripping grooves matching the shape of the gripping fingers.

With the above settings, the sand core is installed on the lock cylinder base, the lock cylinder base is fixed on the sliding seat, the conveying motor drives the synchronizing wheel to rotate, and the synchronizing wheel drives the sliding seat to rotate along the annular guide rail through the transmission belt, thereby driving the sand core to move; when the sand core moves When it is below the gripping hand, the sand core at the corresponding position is moved to the next station by the gripping robot and the gripping hand. In this way, the grasping work of the sand core can be completed quickly, continuously and stably.

Further, two sides of the fixing protrusion are provided with openings. In this way, the positioning of the core head of the sand core allows the sand core to be connected with the base of the lock cylinder reliably and stably.

Further, the lock cylinder base is provided with a core head slot on one side of the opening of the fixed protrusion, and the shape of the core head slot matches the core head of the sand core. In this way, the accuracy of positioning the sand core on the lock cylinder base is further improved.

Further, the outer side of the transmission belt is fixedly provided with a first connecting block, the sliding seat is provided with a second connecting block, the first connecting block and the second connecting block are connected by bolts, and the sliding seat is connected by the first connecting block and the second connecting block. The block is mated and connected with the drive belt.

Further, the sliding seat is provided with more than two pulleys, and the sliding seat is clamped and slidably connected to the annular guide rail by the pulleys. In this way, the sliding seat can rotate stably along the annular guide rail, which improves the stability of the sand core when the lock cylinder base rotates.

Further, the clamping robot also includes a rotating base, a mechanical arm, a rotating arm, a first flexion and extension motor, a second flexion and extension motor, a motor and a rotation motor.

The rotating base includes a fixed base, a slewing bearing and a rotating seat. The fixed base is fixed on the clamping frame. The outer ring of the slewing bearing is fixed on the fixed base. The outer ring of the slewing bearing is provided with an external gear ring. The inner ring is fixed on the rotating base, the rotating motor is installed on the rotating base, the output end of the rotating motor is connected with a gear, and the gear meshes with the outer gear ring; the first flexion and extension motor is installed on the rotating base, and one end of the mechanical arm is fixedly connected to the first The output shaft of the flexion and extension motor; the second flexion and extension motor is installed at one end of the rotating arm, and the other end of the mechanical arm is connected to the output shaft of the second flexion and extension motor; the rotating arm includes a connecting arm, a connecting seat and a rotating shaft; the second The flexion and extension motor is installed on the connecting arm, the connecting seat is connected to the connecting arm, the rotating shaft is installed on the connecting seat through the bearing, the first gear is installed on the rotating shaft, and the motors are respectively installed on both sides of the rotating shaft on the connecting seat. , a second gear meshing with the first gear is arranged on the output shaft of the motor; the clamping hand is installed on the rotating shaft.

With the above settings, the rotating base is driven by the rotating motor to drive the robotic arm to rotate, the first flexion and extension motors and the second flexion and extension motors drive the rotating arm to swing, and the motor drives the rotating shaft to rotate. The sand core completes the grabbing action.

Further, the clamping hand includes a beam, a hand-held cylinder and a clamping finger; a beam is installed at the lower end of the rotating shaft, a finger cylinder is installed at both ends of the beam, and a clamping finger is connected to the finger cylinder.

Further, the output end of each finger cylinder is respectively connected with two gripping fingers. In this way, each clamping cylinder drives two clamping fingers to respectively clamp the clamping grooves provided on the core head that match the shape of the clamping fingers, so that the clamping hands can clamp accurately and stably.

Further, a control touch screen is also provided on one side of the lock cylinder workbench. In this way, the control of the transfer device is facilitated.

Description of drawings

FIG. 1 is a schematic diagram of the three-dimensional structure of the present invention.

FIG. 2 is a schematic structural diagram of a gripping robot in the present invention.

FIG. 3 is a schematic view of the split structure of the sand core feeding device in the present invention.

FIG. 4 is a schematic structural diagram of the transmission mechanism in the present invention.

FIG. 5 is a schematic structural diagram of the lock cylinder base in the present invention.

FIG. 6 is a schematic structural diagram of the state in which the lock core base is installed with the sand core in the present invention.

Detailed ways

The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

As shown in Fig. 1-Fig. 6, a conveying system for a spiral sand core of a low-pressure casting water-cooled casing includes a sand core and a conveying device. The sand core 3 is provided with a core head 31, and the conveying device includes a lower core station 1 and a sand core. The core feeding device 2 and the core lowering station 1 are arranged on one side of the sand core feeding device 2 .

The core lowering station 1 includes a clamping robot 11 and a clamping frame 12 . The clamping robot 11 is arranged on the top of the clamping frame 12 ; the clamping robot 11 is provided with a clamping hand 111 .

The sand core feeding device 2 includes a lock cylinder table 21, a transmission mechanism 22, a lock cylinder base 23 and a detection device. The transmission mechanism 22 includes a synchronizing wheel 221, a transmission belt 222, a conveying motor 223, an annular guide rail 224 and a sliding seat 225, and the synchronizing wheel 221 The synchronous wheel 221 and the annular guide rail 224 are arranged on the top surface of the lock cylinder workbench 21. There are two synchronous wheels 221. The synchronous wheel 221 is arranged on the inner side of the annular guide rail 224. The outer side of the synchronous wheel 221 is connected with the transmission belt 222. The bottom of the core table 21 is fixedly connected to the center of the synchronizing wheel 221 on one side through the lock cylinder table 21. The sliding seat 225 is slidably arranged and connected to the annular guide rail 224. There are more than one sliding seat 225 on the annular guide rail 224. Each sliding seat 225 is fixedly connected to the lock cylinder base 23 , and the sliding seat 225 is connected to the transmission belt 222 ; the lock cylinder base 23 is provided with a fixing protrusion 231 .

The detection device includes a detection camera 24 and a diffuse reflection photoelectric switch 25. The detection camera 24 is arranged on the top surface of the lock cylinder table 21 on the side close to the lower core station 1, and the diffuse reflection photoelectric 25 is arranged on the side of the top surface of the lock cylinder table 21. .

The gripping hand 111 is provided with gripping fingers 1111 , and the core head 31 is provided with gripping grooves 3111 that match the shape of the gripping fingers 1111 .

With the above settings, the sand core is installed on the lock cylinder base, the lock cylinder base is fixed on the sliding seat, the conveying motor drives the synchronizing wheel to rotate, and the synchronizing wheel drives the sliding seat to rotate along the annular guide rail through the transmission belt, thereby driving the sand placed on the lock cylinder base. The core moves; the diffuse reflection photoelectric switch measures the sand core on the base of the lock cylinder during the sand core transmission process, transmits the signal of the detected sand core to the conveying motor through the controller, and controls the conveying motor to stop according to the time point when the sand core is measured. Rotate to make the sand core reach the preparatory core position accurately; if the sand core is not detected, the conveying motor continues to rotate; the detection principle of the diffuse reflection photoelectric switch is: because the diffuse reflection photoelectric switch is a sensor that integrates the reflector and the transmitter, When the sand core passes through the diffuse reflection photoelectric switch, the object reflects the light emitted by the slow reflection reflector to the receiver, then the diffuse reflection photoelectric switch generates a switch signal to stop the rotation of the conveying motor, and the detection method is the prior art;

A visual inspection device is installed on one side of the lower core station to detect whether the conveyed sand core can meet the position accuracy requirements. After the transmission belt stops rotating, the detection camera takes pictures of the sand core head and the lock cylinder base on the side of the lower core station. , and then compare with the graphic template on the inner side of the fixing protrusion of the lock cylinder base with the accurate core head, and check whether the installation of the core head fixing seat on the lock cylinder base is accurate. , and feedback the signal to the clamping robot; if the installation of the fixing seat of the core head on the base of the lock cylinder is not accurate and accurate, an alarm will be issued; Take a picture and compare it with the graphic template on the inner side of the fixing protrusion of the lock cylinder base with the accurate core head. The steps to check whether the installation of the core head fixing seat on the lock cylinder base is accurate include: pre-installing the accurate core head into the lock cylinder The graphics on the inner side of the fixed protrusion of the base are stored. When the detection camera captures the photos of the core head and the base of the lock cylinder on the side of the lower core station, the photos of the core head and the base of the lock cylinder will be detected with the preset. Compare the photos of the two pictures to determine the similarity between the two pictures. The algorithm for determining the similarity adopts the existing similarity algorithm. If the similarity reaches more than 80%, it is determined that the fixing seat of the core head is installed accurately on the base of the lock cylinder. Otherwise, If it is judged to be inaccurate, the detection method is the prior art; the clamping robot moves down to clamp, clamps the core head part of the sand core according to the predetermined direction, position and strength, and clamps the fingers to clamp the clamping concave on the core head. slot, take the sand core vertically upward from the lock cylinder conveyor belt, put it into the next station, reinstall the positioning sand core on the lock cylinder base above the sand core feeding device, and re-run the conveying motor for the next round of sand core transmission and detection. In this way, the photoelectric switch is used to detect the sand core, control the motor to stop, and the detection camera detects the installation position of the sand core head at the base of the lock cylinder, so that it can be accurately positioned and automatically detected, and the sand core can be grasped accurately, quickly and stably. take work.

In this embodiment, openings 2311 are provided on both sides of the fixing protrusion 231 . In this way, the core head of the sand core is positioned with the opening 2311 , so that the sand core can be reliably installed on the lock cylinder base 223 .

The lock cylinder base 23 is provided with a core head slot 2312 on the opening side of the fixed protrusion 231 , and the shape of the core head slot 2312 matches the core head of the sand core 31 . In this way, the accuracy of positioning the sand core 3 on the lock cylinder base 23 is further improved.

The outer side of the transmission belt 222 is fixedly provided with a first connecting block 2221, the sliding seat 225 is provided with a second connecting block 2222, the first connecting block 2221 and the second connecting block 2222 are connected by bolts, and the sliding seat 225 is connected by the first connecting block 2221 and the second connecting block 2222 are matched and connected with the transmission belt 222 .

The sliding seat 225 is provided with four pulleys 2251 , and the sliding seat 225 is clamped and slidably connected to the annular guide rail 224 by the pulleys 2251 . In this way, the sliding seat can rotate stably along the annular guide rail, which improves the stability of the sand core when the lock cylinder base rotates.

The clamping robot 11 further includes a rotating base 112 , a mechanical arm 113 , a rotating arm 114 , a finger cylinder 115 , a first flexion and extension motor 116 , a second flexion and extension motor 117 , a motor 118 and a rotation motor 119 .

The rotating base 112 includes a fixed base 1121, a slewing bearing and a rotating base 1122. The fixed base 1121 is fixed on the clamping frame 12, the outer ring of the slewing bearing is fixed on the fixed base 1121, and the outer ring of the slewing bearing is provided with an outer ring. The ring gear, the inner ring of the slewing bearing is fixed on the rotating seat 1122, the rotating motor 119 is installed on the rotating seat 1122, the output end of the rotating motor 119 is connected with a gear, and the gear meshes with the outer ring gear. The first flexion and extension motor 116 is installed on the rotating base 1122 , and one end of the mechanical arm 113 is fixedly connected to the output shaft of the first flexion and extension motor 116 . The second flexion and extension motor 117 is installed on one end of the rotating arm 114 , and the other end of the mechanical arm 113 is connected to the output shaft of the second flexion and extension motor 117 . The rotating arm 114 includes a connecting arm 1141, a connecting seat 1142 and a rotating shaft 1143; the second bending and stretching motor 117 is mounted on the connecting arm 1141, the connecting seat 1142 is connected on the connecting arm 1141, and the rotating shaft 1143 is mounted on the connecting seat through a bearing 1142, a first gear is installed on the rotating shaft 1143, a motor 118 is installed on both sides of the rotating shaft on the connecting seat, and a second gear meshing with the first gear is arranged on the output shaft of the motor 118. A beam 1112 is installed at the lower end of the rotating shaft 1143 , and finger cylinders 115 are respectively installed at both ends of the beam, and the fingers 1111 are connected to the finger cylinders 115 .

With the above settings, the rotating motor drives the gear, and the gear interacts with the outer ring gear to make the rotating seat and the rotating motor rotate, so as to realize the rotation of the mechanical arm and the rotating arm; the first flexion and extension motor and the second flexion and extension motor drive the mechanical arm and the rotating arm respectively. Swing, the motor works, and the rotation of the rotating shaft is realized under the action of the first gear and the second gear, thereby driving the rotation of the gripping fingers. Through the above actions, the gripping robot can quickly and accurately grasp the sand core on the base of the lock cylinder. action.

A control touch screen 26 is also provided on one side of the lock cylinder workbench 21 . In this way, the control of the transfer device is facilitated.

Claims

A conveying system for low-pressure casting water-cooled casing spiral sand cores, comprising a sand core and a conveying device, the sand core is provided with a core head, and is characterized in that: the conveying device comprises a core lowering station and a sand core feeding device, and the lowering station Set on one side of the sand core feeding device;

The core lowering station includes a clamping robot and a clamping frame, and the clamping robot is arranged on the top of the clamping frame; the clamping robot is provided with a clamping hand;

The sand core feeding device includes a lock cylinder table, a transmission mechanism, a lock cylinder base and a detection device. The transmission mechanism includes a synchronizing wheel, a transmission belt, a conveying motor, an annular guide rail and a sliding seat. The synchronizing wheel and the annular guide rail are arranged on the top of the lock cylinder table. There are more than two synchronizing wheels in total. The synchronizing wheels are arranged on the inner side of the annular guide rail, and the outer side of the synchronizing wheels is connected with the transmission belt. The conveying motor is arranged at the bottom of the lock cylinder table and is fixedly connected to one side synchronous wheel through the lock cylinder table. The center of the circle, the sliding seat is slidably connected to the annular guide rail, and there are more than one sliding seat on the annular guide rail. ;

The detection device includes a detection camera and a diffuse reflection photoelectric switch, the detection camera is arranged on the side of the top surface of the lock cylinder worktable close to the lower core station, and the diffuse reflection photoelectricity is arranged on the side of the top surface of the lock cylinder worktable;

The gripping hand is provided with gripping fingers, and the core head is provided with gripping grooves matching the shape of the gripping fingers.
The conveying system for a spiral sand core of a low-pressure casting water-cooled casing according to claim 1, wherein openings are provided on both sides of the fixed protrusion.
A low-pressure casting water-cooled casing spiral sand core conveying system according to claim 1, characterized in that: the lock cylinder base is provided with a core head slot on the opening side of the fixed protrusion, and the core head slot has a shape of Matches the core head of the sand core.
The conveying system for a low-pressure casting water-cooled casing spiral sand core according to claim 1, wherein a first connecting block is fixedly arranged on the outer side of the transmission belt, a second connecting block is arranged on the sliding seat, and the first The connecting block and the second connecting block are connected by bolts, and the sliding seat is connected with the transmission belt through the cooperation of the first connecting block and the second connecting block.
The conveying system for low-pressure casting water-cooled casing spiral sand cores according to claim 1, wherein the sliding seat is provided with more than two pulleys, and the sliding seat is clamped and slidably connected to the annular guide rail by the pulleys.
The conveying system for a low-pressure casting water-cooled casing spiral sand core according to claim 1, wherein the clamping robot further comprises a rotating base, a mechanical arm, a rotating arm, a first flexion and extension motor, and a second flexion and extension motor. , motors and rotating electrical machines;

The rotating base includes a fixed base, a slewing bearing and a rotating seat. The fixed base is fixed on the clamping frame. The outer ring of the slewing bearing is fixed on the fixed base. The outer ring of the slewing bearing is provided with an external gear ring. The inner ring is fixed on the rotating base, the rotating motor is installed on the rotating base, the output end of the rotating motor is connected with a gear, and the gear meshes with the outer gear ring; the first flexion and extension motor is installed on the rotating base, and one end of the mechanical arm is fixedly connected to the first The output shaft of the flexion and extension motor; the second flexion and extension motor is installed at one end of the rotating arm, and the other end of the mechanical arm is connected to the output shaft of the second flexion and extension motor; the rotating arm includes a connecting arm, a connecting seat and a rotating shaft; the second The flexion and extension motor is installed on the connecting arm, the connecting seat is connected to the connecting arm, the rotating shaft is installed on the connecting seat through the bearing, the first gear is installed on the rotating shaft, and the motors are respectively installed on both sides of the rotating shaft on the connecting seat. , a second gear meshing with the first gear is arranged on the output shaft of the motor; the clamping hand is installed on the rotating shaft.
A low-pressure casting water-cooled casing spiral sand core conveying system according to claim 6, characterized in that: the gripping hand comprises a beam, a hand-held cylinder and a gripping finger; the beam is installed on the lower end of the rotating shaft, Finger cylinders are respectively installed on both ends of the beam, and clamping fingers are connected to the finger cylinders.
The conveying system for a low-pressure casting water-cooled casing spiral sand core according to claim 7, wherein the output end of each finger cylinder is respectively connected with two clamping fingers.
The conveying system for spiral sand cores of low-pressure casting water-cooled casings according to claim 1, wherein a control touch screen is also provided on one side of the lock cylinder workbench.