CN116652124A - Automatic core setting method for static pressure line modeling - Google Patents

Abstract

The invention relates to an automatic core setting method for static pressure line modeling, and belongs to the technical field of casting. Including transfer chain, control system and at least a set of setting are in core setting system around the transfer chain, core setting system includes first camera equipment, second camera equipment, locating station, core setting manipulator and destacking manipulator, communication connection between control system, first camera equipment, second camera equipment, locating station, core setting manipulator and the destacking manipulator. The automatic core setting method for the static pressure line modeling can realize full-automatic core setting modeling, does not need manual core assembly, not only reduces the cost and saves the labor force, but also has the advantages that the manipulator takes and places the sand core according to a preset program, the core setting position is accurate, and the production quality is improved.

Description

Automatic core setting method for static pressure line modeling

Technical Field

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

Background

The brake disc sand core is a material for casting the brake disc, and is manufactured by mixing casting sand, binder and the like according to a certain proportion and then manufacturing the core by using a core manufacturing machine, and the casting process of the brake disc generally comprises the steps of sand core preparation, core manufacturing, drying and dip-coating (the gradual surface quality can be improved) by adopting a drying furnace, core setting (the formed sand core is put into a die cavity of a sand box to be called as core setting), casting and forming after closing a box and the like.

For some brake discs with simple structures, a single sand core is adopted for casting and forming, and only a flat layer is required to be arranged in a die cavity of a sand box; however, for some brake discs with complex structures, multiple sand cores are often required to be combined to form a combined sand core, for example, the combined sand core 7 shown in fig. 17 includes an upper sand core 7.1, a middle sand core 7.2 and a lower sand core 7.3, and the multiple sand cores are required to be stacked in a die cavity of a sand box. The existing automatic core setting production line is generally only suitable for a flat layer modeling process, and for combined sand cores, semi-automatic process modeling is adopted at present, namely manual core setting is firstly carried out, an operator combines a plurality of sand cores together according to a fixed direction and places the sand cores at a designated position, a cylinder drives a sliding table to move the sand cores to the designated position, a transfer manipulator conveys the sand cores to a transition platform, a core setting manipulator waits for a sand box to be in place firstly, the core setting manipulator carries a camera, a position for grinding holes is shot, and then the core is set.

The semi-automated process has the following disadvantages:

(1) The sand cores are required to be manually placed in a fixed direction at a fixed position, the time is short, the labor is busy, the positioning among a plurality of sand cores is often deviated, the labor is not saved, and the rejection rate is high;

(2) The sizes of sand boxes on the conveying line are different, after each sand box needs to be positioned in a mold cavity, a manipulator can accurately place sand cores in the mold cavity, and the core setting time is increased by adopting a positioning mode that a core setting manipulator takes a camera to take a picture;

(3) In addition, the lower core manipulator takes the camera to take the picture in the mode that the position of the sand box mold cavity is directly shot, and due to the reasons of shooting reflection, the shooting positioning mode has low success rate of mold cavity positioning, long positioning time, and repeated positioning shooting is needed when positioning is unsuccessful, so that on-line equipment is always in a stop waiting state, and the next operation can not be performed until the positioning is successful.

Disclosure of Invention

The present invention aims to provide a new technical solution to improve or solve the technical problems existing in the prior art as described above.

The technical scheme provided by the invention is as follows: the automatic core setting method for the static pressure line modeling comprises a conveying line, a control system and at least one group of core setting systems arranged around the conveying line, wherein the core setting systems comprise first camera equipment, second camera equipment, a positioning table, a core setting manipulator and a unstacking manipulator, and the control system, the first camera equipment, the second camera equipment, the positioning table, the core setting manipulator and the unstacking manipulator are in communication connection, and the core setting method comprises the following steps:

(1) The first camera shooting equipment shoots a stacking photo and transmits photo information to the control system;

(2) The control system identifies the number and the model of the products currently positioned at the uppermost layer of the stacking according to the photos, calculates the coordinate positions of the products, and the unstacking manipulator adjusts the gesture of the grabbing piece according to the model and the coordinate positions of the products and performs the operation of grabbing the products;

(3) The unstacking manipulator places the grabbed products on the positioning table, and the positioning table selectively sweeps or/and positions the sand cores according to the model of the products;

(4) The core setting manipulator accurately grabs the product after adjusting the gesture of the grabbing piece according to the model of the product;

(5) After the sand box is in place, the second camera shooting equipment shoots photos of the sand box positioning part, the control system calculates coordinate information of each mold cavity in the sand box according to the photo information, and the core setting manipulator accurately places the sand core in the mold cavity of the sand box after adjusting the core setting position according to the coordinate information of the mold cavity;

(6) Judging whether the backing plate needs to be removed or not: if the backing plate needs to be removed, the unstacking manipulator adjusts the gesture and adsorbs and transfers the backing plate by using the sucker component; if the backing plate does not need to be dismantled, judging whether the modeling is completed, and if the modeling is completed, ending the core setting operation;

(7) And (5) if the modeling is not completed, repeating the steps (1) - (6) until the modeling is completed.

Further, when the automatic lower core line of the static pressure line modeling comprises three groups of lower core systems, the three groups of lower core systems are sequentially arranged around the conveying line from upstream to downstream, the lower core system at the upstream places the lower core of the combined sand core into a die cavity of a sand box, when the sand box moves to the lower core system at the midstream along with the conveying line, the lower core system at the midstream places the middle core of the combined sand core into the die cavity provided with the lower core, and when the sand box moves to the lower core system at the downstream along with the conveying line, the lower core system at the downstream places the upper core of the combined sand core into the die cavity provided with the lower core and the middle core.

The core setting method provided by the invention can be suitable for a laminated molding process of a combined sand core by adopting the three-group core setting system.

Further, any one group of core setting systems comprises two positioning tables, and the two positioning tables are arranged at two sides of the core setting manipulator.

The beneficial effect of adopting above-mentioned further scheme is, can reduce the shutdown latency of core manipulator, raise the efficiency.

Further, when the core setting system includes two positioning tables, in step (3), a first positioning table on which the product is placed is selected, and a second positioning table on which the gripped product is placed.

The beneficial effect of adopting above-mentioned further scheme is, improves location and sweeps efficiency.

Further, any one group of core setting systems further comprises a transfer manipulator and a turnover table, wherein the transfer manipulator turns over and transfers the product on the positioning table to the turnover table, and the core setting manipulator grabs a piece from the turnover table to set a core.

The sand core overturning device has the beneficial effects that the overturning function of the sand core is realized, and the sand core overturning device is suitable for modeling of sand cores of different models.

Further, when the core setting system further comprises a middle-rotating manipulator and a turnover table, the core setting method of the core setting system firstly judges whether a product exists on the positioning table in the step (3), if so, judges whether the product needs to be positioned according to the model of the product, if so, positions and purges the sand core, and if not, purges the product only; after purging and/or positioning are finished, the transfer manipulator grabs and overturns the product from the positioning table, firstly, whether the product exists on the overturning table is judged, if the product exists, the overturning table is waited to have no product, and if the product does not exist, the grabbed product is moved to the overturning table; firstly judging whether a product exists on the overturning table or not in the step (4), and if the product does not exist, stopping the machine for waiting; if the product exists, accurately grabbing the product from the overturning platform after adjusting the grabbing gesture, and continuing the step (5);

further, the core setting system comprises two second image pickup devices, and the two second image pickup devices are respectively aligned with positioning parts at two ends of a sand box on a conveying line.

The adoption of the method has the further beneficial effects that: the two ends of the sand box are provided with reference positioning sleeves, the position relation between the positions of the mold cavities in the sand box and the reference positioning sleeves is relatively fixed, the positioning sleeves are made of materials which are easy to capture by cameras, the light is not easy to reflect, the shooting success rate is high, the positioning sleeves at the two ends of the sand box are respectively shot and identified by two 2D cameras, the coordinates of the mold cavity positions are calculated according to the shot pictures, and therefore the positions of the mold cavities in the sand box are obtained, and the core setting manipulator accurately performs core setting according to the mold cavity positions.

Further, the first image pickup device and the second image pickup device are 3D cameras or 2D cameras, the first image pickup device is used for acquiring information of products on stacking, and the second image pickup device is used for identifying position information of a sand box die cavity on a conveying line.

Further, the positioning table comprises a frame, a workbench is arranged on the frame, one or more turntables, a rotating mechanism for driving the turntables to rotate and laser sensors are arranged on the workbench, and the laser sensors are arranged on one side of each turntable.

The sand core positioning device has the advantages that the positioning table can accurately position the sand core on the rotary table, and a manipulator can conveniently and accurately grasp the sand core to place the sand core at the correct position of the sand box.

Further, a blowing device is further arranged on the workbench and used for blowing floating sand on the sand core placed on the rotary table.

The sand core sweeping device has the further beneficial effects that when the sand core sweeping device is used for positioning, compressed air is controlled by the electromagnetic valve to sweep the sand core, redundant sand dust on the sand core is swept completely, and waste products are reduced.

Further, the unstacking manipulator comprises an unstacking manipulator clamp, the unstacking manipulator clamp comprises a main connecting plate, a connecting flange, a workpiece clamping mechanism and a sucker assembly, wherein the connecting flange is used for being connected with the manipulator, the connecting flange is installed at the upper end of the main connecting plate, the workpiece clamping mechanism is installed at the lower end of the main connecting plate, the workpiece clamping mechanism is used for grabbing and transferring workpieces, the sucker assembly is installed at one side of the main connecting plate, and the sucker assembly is used for adsorbing and transferring a base plate.

The adoption of the method has the further beneficial effects that: the unstacking manipulator clamp can be used for disassembling stacked sand cores from top to bottom one layer through the workpiece clamping mechanism, and after the sand cores of the previous layer are disassembled and removed, the sucker assembly can be used for adsorbing the base plate and transferring the base plate to other positions, so that the sand cores below the base plate can be conveniently disassembled and separated continuously.

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

1. the automatic core setting method for the static pressure line modeling can realize full-automatic core setting modeling, does not need manual core assembly, not only reduces cost and saves labor force, but also has the advantages that a manipulator takes and places sand cores according to a preset program, the core setting position is accurate, and the production quality is improved;

2. when the sand box is in place, the second camera shooting equipment is used for shooting and automatically shooting, so that the positioning time of the mold cavity is saved;

3. according to the invention, the positioning table is adopted, so that the sand core can be purged while the automatic positioning is realized by the sand core rotating direction, and the positioning efficiency and the product quality are improved.

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

5. the core setting method can realize automatic matching of the clamp according to the model of the product, and is suitable for modeling of products with different models.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.

FIG. 1 is a plan view of the automated core setting method of the present invention for hydrostatic wire molding;

FIG. 2 is a front view of the flask;

FIG. 3 is a front view of the second image capturing apparatus of the present invention in photographing and positioning a flask;

FIG. 4 is a side view of the second image capturing apparatus of the present invention in photographing and positioning a flask;

FIG. 5 is a schematic perspective view of the unstacking manipulator clamp of the present invention;

FIG. 6 is a schematic perspective view of the lower part of the unstacking manipulator clamp of the present invention;

FIG. 7 is a schematic perspective view of a work holding mechanism of the unstacking robot gripper of the present invention holding a sand core;

FIG. 8 is a schematic perspective view of a unstacking manipulator clamp of the present invention with suction cups transferring pads;

FIG. 9 is a schematic perspective view of a brake disc positioning table according to the present invention;

FIG. 10 is a top view of the brake disc positioning table of the present invention;

FIG. 11 is a schematic view of the mounting structure of the rotary mechanism of the present invention;

FIG. 12 is a schematic perspective view of a lifting mechanism according to the present invention;

FIG. 13 is a schematic view of the elevating mechanism of the present invention without a shielding plate;

FIG. 14 is a schematic perspective view of the sand core of the present invention placed on a brake disc positioning table;

FIG. 15 is a schematic perspective view of a sand core;

FIG. 16 is a schematic view of the stacking of sand cores on a tray;

FIG. 17 is a cross-sectional view of a composite sand core;

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

FIG. 19a is a workflow diagram of an unstacking robot of the core laying system upstream of the present invention;

FIG. 19b is a flow chart of the transfer robot of the core laying system upstream of the present invention;

FIG. 19c is a workflow diagram of a core laying robot of the core laying system upstream of the present invention;

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

FIG. 21a is a flow chart of the unstacking robot of the core laying system of the midstream of the present invention;

FIG. 21b is a flow chart of the core setting robot of the midstream core setting system of the present invention;

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

FIG. 23a is a flow chart of the unstacking robot of the lower core system downstream of the present invention;

FIG. 23b is a flow chart of the core setting robot of the core setting system downstream of the present invention;

in the figure, 1, a conveying line; 2. a first image pickup apparatus; 3. a second image pickup apparatus; 4. a positioning table; 4.1, a frame; 4.2, a turntable; 4.3, a rotating mechanism; 4.4, a laser sensor; 4.5, a purging device; 4.6, a mounting seat; 4.7, a sliding table cylinder; 4.8, a cylinder; 4.9, a cylinder connecting plate; 4.10, a shielding plate; 4.12, a sand core body; 4.13, supporting the boss; 4.14, detecting the laser beam; 4.15, mounting blocks; 5. a core setting manipulator; 6. unstacking manipulator; 6.1, a main connecting plate; 6.2, connecting the flange; 6.3, a workpiece clamping mechanism; 6.31, fixing base; 6.32, clamping jaw cylinder; 6.33, clamping jaws; 6.4, sucking disc assembly; 6.41, a sucker connecting plate; 6.42, vacuum chuck; 6.5, backing plate; 6.6, unstacking manipulator clamp; 7. combining sand cores; 7.1, feeding a sand core; 7.2, an intermediate sand core; 7.3, setting sand cores; 8. a sand box; 8.1, a positioning part; 8.2, a mold cavity; 9. a turnover table; 11. a transfer manipulator; 12. stacking; 13. and a base plate storage station.

Detailed Description

The principles and features of the present invention are described below in connection with examples, which are set forth only to illustrate the present invention and not to limit the scope of the invention.

As shown in fig. 1, the automatic core setting method for the static pressure line modeling comprises a conveying line 1, a control system and at least one group of core setting systems arranged around the conveying line 1, wherein the core setting systems comprise a first camera device 2, a second camera device 3, a positioning table 4, a core setting manipulator 5 and an unstacking manipulator 6, the control system, the first camera device 2, the second camera device 3, the positioning table 4, the core setting manipulator 5 and the unstacking manipulator 6 are in communication connection, and the core setting method comprises the following steps:

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

(2) The control system recognizes the number and the model of the products currently positioned at the uppermost layer of the stacking 12 according to the photos, calculates the coordinate positions of the products, and the unstacking manipulator 6 adjusts the grabbing gesture and performs grabbing operation according to the model and the coordinate positions of the products;

(3) The unstacking manipulator 6 places the grabbed products on the positioning table 4, and the positioning table 4 can purge or/and position the sand cores according to the model of the products;

(4) The core setting manipulator 5 accurately grabs the product after adjusting the grabbing gesture according to the model of the product;

(5) After the sand box 8 is in place, the second camera equipment 3 shoots a picture of the positioning part 8.1 of the sand box 8, the control system calculates coordinate information of each mold cavity 8.2 in the sand box 8 according to the picture information, and the core setting manipulator 5 accurately places sand cores in the mold cavities 8.2 of the sand box 8 after adjusting the core setting positions according to the coordinate information of the mold cavities 8.2;

(6) Judging whether the backing plate 6.5 needs to be removed or not: if the base plate 6.5 needs to be removed, the unstacking manipulator 6 adjusts the gesture and adsorbs and transfers the base plate 6.5 to the base plate storage station 13 by using the sucker assembly 6.4; if the backing plate 6.5 does not need to be removed, judging whether the modeling is completed, and if the modeling is completed, ending the core setting operation;

(7) And (5) if the modeling is not completed, repeating the steps (1) - (6) until the modeling is completed.

In addition, in the present embodiment, the present invention,

the core setting system comprises two second image pickup devices 3, and the two second image pickup devices 3 are respectively aligned with positioning parts 8.1 positioned at two ends of a sand box 8 on a conveying line 1 (refer to fig. 2-4). The second camera device 3 is a 2D camera, the first camera device 2 is a 3D camera, the first camera device 2 is used for acquiring information of products on the stacking 12, and the second camera device 3 is used for identifying position information of the die cavity 8.2 of the cope flask 8 of the conveying line 1. The principle of positioning the mold cavity 8.2 by adopting two 2D cameras is as follows: the two ends of the sand box 8 are provided with reference positioning sleeves, the position relation between the positions of the mold cavities 8.2 in the sand box 8 and the reference positioning sleeves is relatively fixed, the positioning sleeves at the two ends of the sand box 8 are respectively identified by photographing through two 2D cameras, the coordinates of the positions of the mold cavities 8.2 are calculated according to photographed photos, and therefore the positions of the mold cavities 8.2 in the sand box 8 are obtained, and the core setting manipulator 5 accurately sets cores according to the positions of the mold cavities 8.2. In actual production, the position deviation of the mold cavity 8.2 acquired by the 2D camera is less than or equal to 0.02mm, and the photographing positioning time is 2 seconds, so that the production beat requirement is completely met. Of course, the second image capturing device 3 may also adopt one 3D camera to perform the positioning of the mold cavity 8.2, but because the price of one set of 3D camera is more than 20 ten thousand, the cost is higher, the mold cavity 8.2 positioning function can be realized by using 2D cameras, and the cost of 2D cameras is about 8 thousand, so that the cost can be saved.

As shown in fig. 4 and 5, the unstacking robot 6: including unstacking manipulator anchor clamps 6.6, unstacking manipulator anchor clamps 6.6 install the end at the arm of unstacking manipulator through flange 6.2, the arm can drive unstacking manipulator anchor clamps 6.6 is around flange 6.2's central axis is rotatory, just the arm can drive unstacking manipulator anchor clamps 6.6 upset. The unstacking manipulator clamp 6.6 comprises a main connecting plate 6.1, a connecting flange 6.2, a workpiece clamping mechanism 6.3 and a sucker assembly 6.4, wherein the connecting flange 6.2 is used for being connected with a manipulator, the connecting flange 6.2 is arranged at the upper end of the main connecting plate 6.1, the workpiece clamping mechanism 6.3 is arranged at the lower end of the main connecting plate 6.1, the workpiece clamping mechanism 6.3 is used for grabbing and transferring workpieces, the sucker assembly 6.4 is arranged at one side of the main connecting plate 6.1, and the sucker assembly 6.4 is used for adsorbing and transferring a base plate 6.5 to a base plate storage station 13.

The sucker assembly 6.4 comprises a sucker connecting plate 6.41 and one or more suckers arranged on the sucker connecting plate 6.41, the sucker connecting plate 6.41 is vertically arranged on one side of the main connecting plate 6.1, the sucker connecting plate 6.41 is detachably connected with the main connecting plate 6.1, the sucker is a vacuum sucker 6.42, the vacuum sucker 6.42 is connected with the vacuum element assembly through a pipeline, and when the vacuum element assembly is started, the vacuum sucker 6.42 can be vacuumized, so that the sucker can grasp the base plate 6.5.

The workpiece clamping mechanism 6.3 includes a mounting seat 4.6, a clamping jaw cylinder 6.32 and a plurality of clamping jaws 6.33, the number of the clamping jaws 6.33 is not limited in this embodiment, and the number of the clamping jaws 6.33 may be three, five or eight, so long as the workpiece can be stably gripped within the protection scope of the present invention. One end of the mounting seat 4.6 is mounted on the main connecting plate 6.1, the other end of the mounting seat 4.6 is connected with the clamping jaw air cylinders 6.32, a plurality of clamping jaws 6.33 are uniformly distributed on the clamping jaw air cylinders 6.32 along the circumferential direction, and the clamping jaws 6.33 can slide along the radial direction. More specifically, the clamping jaw cylinder 6.32 is provided with a plurality of sliding ways, the number of the sliding ways is the same as that of the clamping jaws 6.33, sliding blocks are arranged in the sliding ways, the clamping jaws 6.33 are respectively arranged in the sliding ways through the sliding blocks, the clamping jaw cylinder 6.32 is communicated with an air source, the sliding blocks can reciprocate through switching of air inlet and exhaust states in the cylinder cavities of the clamping jaw cylinder 6.32, and the clamping jaws 6.33 can slide along the sliding ways in a reciprocating manner to grab and put down workpieces.

In this embodiment, four work piece fixture 6.3 have been installed altogether on the main connecting plate 6.11, two sets of sucking disc subassembly 6.4, set up four vacuum chuck 6.42 on every sucking disc subassembly 6.4, through unstacking manipulator anchor clamps 6.6, unstacking manipulator 6 can once snatch four work pieces, after the work piece unstacking of last layer is accomplished, two sets of sucking disc subassembly 6.4 can be stable adsorb backing plate 6.5 and shift to backing plate storage station 13, conveniently continue the separation of tearing down to the psammitolite of backing plate 6.5 below.

Referring to fig. 6 and 7, the working method of unstacking by the unstacking robot 6 of the present embodiment is as follows: the unstacking manipulator clamp 6.6 is mounted on a manipulator arm of the manipulator through a connecting flange 6.2, and the unstacking manipulator clamp 6.6 is driven to move and turn through the unstacking manipulator 6. When the sand core is unstacked, the mechanical arm drives the unstacking mechanical arm clamp 6.6 to move to the upper part of the stacking 12, the workpiece clamping mechanism 6.3 is started by the clamping jaw cylinder 6.32 after aligning with the position to be clamped of the sand core, and the clamping jaw 6.33 is opened to grasp the sand core and move to a designated station; after the first layer of sand cores are removed, the unstacking manipulator 6 drives the unstacking manipulator clamp 6.6 to overturn, so that the sucker connecting plate 6.41 of the sucker assembly 6.4 is parallel to the base plate 6.5, after the manipulator drives the sucker assembly 6.4 to downwards move to the sucker to adsorb the base plate 6.5, the base plate 6.5 is removed, and the unstacking manipulator 6 drives the unstacking manipulator clamp 6.6 to reversely overturn to a grabbing state, and the sand cores of the second layer are grabbed continuously until unstacking is completed.

It should be noted that, the mechanical arm fixture 6.6 of unstacking can be simultaneously with four sand cores grasp, also can grasp the sand core one by one, the mechanical arm fixture 6.6 of unstacking can rotate around the central axis of flange 6.2, when needs are with the sand core grasp one by one, can be through rotatory and remove mechanical arm fixture 6.6 of unstacking, snatch arbitrary work piece fixture 6.3 adjustment to the top of sand core.

According to the unstacking manipulator clamp 6.6, stacked sand cores can be disassembled from top to bottom layer by layer through the workpiece clamping mechanism 6.3, and after the sand cores of the previous layer are disassembled and removed, the sucker assembly 6.4 can adsorb the base plate 6.5 and transfer the base plate to other positions, so that the sand cores below the base plate 6.5 can be disassembled and separated continuously.

As shown in fig. 9 to 14, the positioning table 4: the casting process of the brake disc generally comprises the working procedures of sand core preparation, core making, drying by adopting a drying furnace, dip coating (the gradual surface quality can be improved), core setting (the formed sand core is put into a die cavity of a sand box 8 to be called as core setting), casting and forming after mold closing, and the like. In production, in order to match the beats of a core making machine and a drying furnace, the sand core is provided with three supporting bosses 4.13 which are used for stacking and drying after dip-coating the sand core, so as to prevent the sand core from deforming, and referring to fig. 15 and 16, positioning grooves matched with the three supporting bosses 4.13 of the sand core are arranged in the sand box 8, and when the sand core is placed down, the three supporting bosses 4.13 on the sand core need to be aligned with the positioning grooves in the sand box 8. The positioning table 4 is arranged on one side of the core setting manipulator 5, and the positioning table 4 can accurately position the sand core on the rotary table 4.2, so that the core setting manipulator 5 can conveniently and accurately grasp the sand core to place the sand core at the correct position of the sand box 8.

The positioning table 4 comprises a frame 4.1, a workbench is arranged on the frame 4.1, one or more rotary tables 4.2, a rotating mechanism 4.3 for driving the rotary tables 4.2 to rotate and laser sensors 4.4 are arranged on the workbench, and one side of each rotary table 4.2 is provided with a laser sensor 4.4. More specifically, the rotating mechanism 4.3 is mounted on the frame 4.1, and a driving shaft of the rotating mechanism 4.3 passes through the workbench and is in transmission connection with the turntable 4.2, the structure of the rotating mechanism 4.3 is not limited in this embodiment, and the rotating mechanism 4.3 may be a servo motor or a stepper motor, so long as the turntable 4.2 can be driven to rotate. The number of the turntables 4.2 is not limited in this embodiment, and the number of the turntables 4.2 may be one, two, three or four, so long as the production requirements can be met, which is within the scope of the present invention. The shape of the turntable 4.2 is not limited in this embodiment, and the turntable 4.2 may be a circular tray or a square tray. The working table is also provided with a purging device 4.5, and the purging device 4.5 is used for purging floating sand on the sand core placed on the rotary table 4.2. The purging device 4.5 comprises a compressed air pipe which is supported on the workbench through a bracket, the compressed air pipe is communicated with a compressed gas generator, and an electromagnetic valve is arranged on the compressed air pipe. The compressed air is controlled by the electromagnetic valve to purge the sand core, so that redundant sand dust on the sand core is purged completely, the casting quality of the brake disc is improved, and the generation of waste products is reduced. The laser sensor 4.4 is installed on the workbench through the lifting mechanism, so that the adjustment of the laser sensor 4.4 in the height direction can be realized, and the positioning detection of brake discs with different sizes is suitable. In this embodiment, elevating system includes fixing base 6.31, slip table cylinder 4.7 and cylinder, fixing base 6.31 is fixed on the workstation, the cylinder body of slip table cylinder 4.7 is installed on fixing base 6.31, two the cylinder is installed on the slip table of slip table cylinder 4.7 through cylinder connecting plate 4.9, two the output shaft tip of cylinder is equipped with installation piece 4.15, can steadily support installation piece 4.15 through two cylinders, laser sensor 4.4 is installed on the installation piece 4.15. The lifting mechanism drives the laser sensor 4.4 to move up and down through the sliding table cylinder 4.7 and the two common cylinders, so that the adjustment of four height ranges can be realized, and the positioning of sand cores with more types can be adapted. And a shielding plate 4.10 is further arranged above the cylinder fixing seat 6.31, so that the laser sensor 4.4 on-line detection accuracy is prevented from being influenced by the environment.

The working process of positioning and purging the sand core by using the brake disc positioning table 4 provided by the invention is as follows: (1) By adjusting the lifting mechanism, the height of the laser beam emitted by the laser sensor 4.4 is higher than the height of the sand core body 4.12 but lower than the height of the supporting boss 4.13; (2) Placing the sand core on a rotary table 4.2, starting a rotating mechanism 4.3 and a laser sensor 4.4, and simultaneously, the rotary table 4.2 drives the sand core to rotate, the laser sensor 4.4 outwards emits parallel detection laser beams 4.14, when the sand core rotates to a position where a support boss 4.13 shields the detection laser beams 4.14, the laser sensor 4.4 sends a signal to a control system, and the control system controls the rotating mechanism 4.3 to stop rotating, so that the sand core is accurately positioned, and the sand core is positioned to a position suitable for grabbing by a manipulator; (3) And when the sand core is positioned, the control system controls compressed air to sweep the sand core through the electromagnetic valve, so that redundant sand dust on the sand core is swept cleanly.

The brake disc positioning table 4 can also select whether to start a positioning function and whether to adjust the height of the laser sensor 4.4 according to the model of the sand core, and can only start a purging function if the sand core does not have a supporting boss 4.13 structure. The sand core is circular, uses servo motor drive revolving stage 4.2 to drive the sand core and rotates, on automated production line, control system calls the data of corresponding model according to the production model, decides whether need fix a position, whether need adjust the height of laser sensor 4.4, detect the signal variation of sand core rising edge, falling edge through laser sensor 4.4 to detect the position of support boss 4.13 on the sand core, calculate the central point position of support boss 4.13 according to the algorithm again, thereby realize the accurate location of sand core, positioning accuracy can reach + -1.5 mm, positioning time is about 1.6 seconds. And when the sand core is positioned, the compressed air is controlled by the electromagnetic valve to sweep the sand core, so that redundant sand dust on the sand core is swept completely, and waste products are reduced.

In this embodiment, the automatic lower core line of the static pressure line modeling includes three groups of lower core systems, the three groups of lower core systems are sequentially arranged from upstream to downstream along the conveying line 1, the lower core system at the upstream places the lower core 7.3 of the combined core 7 into the mold cavity 8.2 of the sand box 8, when the sand box 8 moves to the lower core system at the midstream along with the conveying line 1, the lower core system at the midstream places the middle core 7.2 of the combined core 7 into the mold cavity 8.2 provided with the lower core 7.3, and when the sand box 8 moves to the lower core system at the downstream along with the conveying line 1, the lower core system at the downstream places the upper core 7.1 of the combined core 7 into the mold cavity 8.2 provided with the lower core 7.3 and the middle core 7.2.

With reference to fig. 18, 19a, 19b and 19c, the lower core 7.3, the intermediate core 7.2 and the upper core 7.1 of the combined core 7 can be sequentially loaded into the mold cavity 8.2 of the flask 8 by using the automated lower core wire, and the lower core 7.3, the intermediate core 7.2 and the upper core 7.1 are individually stacked during actual production. The lower sand cores 7.3 are stacked together in a front-up manner (refer to fig. 16), when the lower sand cores 7.3 are required to be turned over and then placed in the mold cavities 8.2, the state that the lower sand cores 7.3, the middle sand cores 7.2 and the upper sand cores 7.1 are placed in the mold cavities 8.2 refers to fig. 17, so that the upper-stream lower core system further comprises a transfer manipulator 11 and a turning table 9, the transfer manipulator 11 turns over and transfers the products on the positioning table 4 onto the turning table 9, the lower core manipulator 5 grabs the lower core from the turning table 9, and the upper-stream lower core system lower core method performs the following steps:

(1) The first camera device 2 shoots a stacking 12 picture of the sand core 7.3 and transmits picture information to the control system;

(2) The control system recognizes the number and the model of the lower sand cores 7.3 currently positioned at the uppermost layer of the stacking 12 according to the photos, calculates the coordinate position of the product, and the unstacking manipulator adjusts the gesture of the grabbing piece according to the model and the coordinate position of the lower sand cores 7.3 and performs the operation of grabbing the lower sand cores 7.3;

(3) Firstly judging whether a lower sand core 7.3 product exists on the positioning table 4, if the lower sand core 7.3 product exists, judging whether the lower sand core 7.3 needs to be positioned according to the model of the lower sand core 7.3, namely judging whether a supporting boss 4.13 exists on the lower sand core 7.3, if the supporting boss 4.13 exists on the lower sand core 7.3, positioning and purging the sand core, and if the supporting boss 4.13 does not exist on the lower sand core 7.3, only purging the product; after the purging and/or positioning are finished, the transfer manipulator 11 grabs and overturns the product from the positioning table 4, firstly judges whether the product exists on the overturning table 9, waits for the overturning table 9 to be free of the product if the product exists, and moves the grabbed product onto the overturning table 9 if the product does not exist;

(4) After the core setting manipulator 5 is started, firstly judging whether a core setting 7.3 product exists on the overturning platform 9, and if the core setting 7.3 product does not exist, continuing waiting; if the product of the lower sand core 7.3 exists, accurately grabbing the product of the lower sand core 7.3 from the overturning platform 9 after adjusting the grabbing gesture, and continuing the step (5);

(5) After the sand boxes 8 are in place, the two second camera devices 3 respectively shoot the positioning parts 8.1 at the two ends of the sand boxes 8, the control system calculates the coordinate information of each mold cavity 8.2 in the sand boxes 8 according to the photo information, and the core setting manipulator 5 accurately places the core setting 7.3 in the mold cavities 8.2 of the sand boxes 8 after adjusting the core setting position according to the coordinate information of the mold cavities 8.2;

(6) Judging whether the backing plate 6.5 needs to be removed or not:

if the cushion plate 6.5 needs to be removed, the unstacking manipulator adjusts the gesture and adsorbs and transfers the cushion plate 6.5 by using the sucker assembly 6.4;

if the backing plate 6.5 does not need to be removed, judging whether the modeling is completed, and if the modeling is completed, ending the core setting operation;

some sand cores are piled 12 in a mode of piling up from bottom to top, in particular to a sand core with a support boss 4.13 (refer to fig. 16), and when some sand core products are piled up, in order to ensure the stability of piling up 12, each layer of sand cores are separated by a cushion plate 6.5 (refer to fig. 7 and 8), so that when the unstacking manipulator unstacks, the cushion plate 6.5 needs to be removed to grasp the sand cores.

(7) And (5) if the modeling is not completed, repeating the steps (1) - (6) until the modeling is completed.

As shown in fig. 20 to 21b, the core setting system of the midstream includes two positioning tables 4, the two positioning tables 4 are disposed on the upper and lower sides of the core setting robot 5, and when the sand box with the lower sand core 7.3 is transported to the midstream station along with the conveyor line 1, the core setting method of the core setting system of the midstream performs the following steps:

(1) The first camera equipment 2 shoots photos of the middle sand core 7.2 and stacks 12, and transmits photo information to the control system;

(2) The control system recognizes the number and the model of the middle sand cores 7.2 currently positioned at the uppermost layer of the stacking 12 according to the photos, calculates the coordinate positions of the products, and the unstacking manipulator adjusts the grabbing gesture according to the model and the coordinate positions of the middle sand cores 7.2 and performs the operation of grabbing the middle sand cores 7.2;

(3) Selecting which positioning table 4 a product is placed on, placing the grabbed middle sand core 7.2 on the selected positioning table 4, judging whether the middle sand core 7.2 exists on the positioning table 4, judging whether the product needs to be positioned according to the model of the middle sand core 7.2 if the middle sand core 7.2 exists, positioning and purging the sand core if the product needs to be positioned, and purging the product only if the product does not need to be positioned;

(4) After the sand box 8 is in place, the second camera equipment 3 shoots a picture of the positioning part 8.1 of the sand box 8, the control system calculates coordinate information of each mold cavity 8.2 in the sand box 8 according to the picture information, and the core setting manipulator 5 accurately places the middle sand core 7.2 on the positioning table 4 into the mold cavity 8.2 of the sand box 8 after adjusting the core setting position according to the coordinate information of the mold cavities 8.2;

(5) Judging whether the backing plate 6.5 needs to be removed or not: if the cushion plate 6.5 needs to be removed, the unstacking manipulator adjusts the gesture and adsorbs and transfers the cushion plate 6.5 by using the sucker assembly 6.4; if the backing plate 6.5 does not need to be removed, judging whether the modeling is completed, and if the modeling is completed, ending the core setting operation;

(6) And (5) if the modeling is not completed, repeating the steps (1) - (6) until the modeling is completed.

As shown in fig. 22 to 23b, the downstream core setting system includes two positioning tables 4, the two positioning tables 4 are disposed on the upper and lower sides of the core setting robot 5, and when the sand box with the lower sand core 7.3 and the intermediate sand core 7.2 is transported to the downstream station along with the conveyor line 1, the downstream core setting method of the core setting system performs the steps of:

(1) The first camera equipment 2 shoots a picture of the stacking 12 of the upper sand core 7.1 and transmits picture information to the control system;

(2) The control system identifies the number and the model of the products of the upper sand core 7.1 currently positioned at the uppermost layer of the stacking 12 according to the photos, calculates the coordinate position of the upper sand core 7.1, and the unstacking manipulator adjusts the gesture of the grabbing piece according to the model and the coordinate position of the upper sand core 7.1 and performs the operation of grabbing the upper sand core 7.1;

(3) After the unstacking manipulator is started, judging whether the clamp needs to be replaced or not, if the unstacking manipulator needs to replace the clamp, moving the unstacking manipulator into a clamp library firstly to automatically replace the clamp, and then continuing the step (4), and if the clamp does not need to be replaced, continuing the step (4); the automatic model switching can be realized according to the model of the product, and the model switching device is suitable for the models of products of different models; in this embodiment, as shown in fig. 17, the upper sand core 7.1 and the lower sand core 7.3 have the same structure, and the unstacking manipulator clamp 6.6 of the upstream lower core system is the same as the manipulator clamp of the downstream lower core system.

(4) Selecting which positioning table 4 a product is placed on, placing the grabbed upper sand core 7.1 on the selected positioning table 4, judging whether the upper sand core 7.1 exists on the positioning table 4, if so, judging whether the upper sand core 7.1 needs to be positioned according to the model of the upper sand core 7.1, if so, positioning and purging the sand core, and if not, only purging the product;

(5) After the core setting manipulator 5 is started, judging whether the clamp needs to be replaced according to the product model, if the clamp needs to be replaced, moving the core setting manipulator 5 into a clamp library firstly to automatically replace the clamp, and then continuing the step (6), and if the clamp does not need to be replaced, continuing the step (6);

(6) After the sand box 8 is in place, the second camera equipment 3 shoots a picture of the positioning part 8.1 of the sand box 8, the control system calculates coordinate information of each mold cavity 8.2 in the sand box 8 according to the picture information, and the core setting manipulator 5 accurately places the upper sand core 7.1 in the mold cavity 8.2 of the sand box 8 after adjusting the core setting position according to the coordinate information of the mold cavity 8.2;

(7) Judging whether the backing plate 6.5 needs to be removed or not: if the cushion plate 6.5 needs to be removed, the unstacking manipulator adjusts the gesture and adsorbs and transfers the cushion plate 6.5 by using the sucker assembly 6.4; if the backing plate 6.5 does not need to be removed, judging whether the modeling is completed, and if the modeling is completed, ending the core setting operation;

(8) And (5) if the modeling is not completed, repeating the steps (1) - (7) until the modeling is completed.

It should be noted that, the control system may optionally start or not start any group of core setting systems, and when only one sand core needs to be arranged in a flat layer in one mold cavity 8.2, only one group of core setting systems may be selectively started; of course, it is also possible to choose to activate all the aforesaid core setting systems, in which case all the aforesaid core setting systems arrange the same sand cores in the moulding cavities 8.2 of the different moulding boxes 8, improving the core setting efficiency.

The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.

Claims (10)

1. The automatic core setting method for the static pressure line modeling is characterized by comprising a conveying line (1), a control system and at least one group of core setting systems arranged around the conveying line (1), wherein the core setting systems comprise first camera equipment (2), second camera equipment (3), a positioning table (4), a core setting manipulator (5) and a unstacking manipulator (6), and the control system, the first camera equipment (2), the second camera equipment (3), the positioning table (4), the core setting manipulator (5) and the unstacking manipulator (6) are in communication connection, and the automatic core setting method comprises the following steps:

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

(2) The control system identifies the number and the model of the products currently positioned at the uppermost layer of the stacking (12) according to the photos, calculates the coordinate positions of the products, and the unstacking manipulator (6) adjusts the gesture of the grabbing piece according to the model and the coordinate positions of the products and performs the operation of grabbing the products;

(3) The unstacking manipulator (6) places the grabbed products on the positioning table (4), and the positioning table (4) selectively sweeps or/and positions the sand cores according to the model of the products;

(4) The core setting manipulator (5) accurately grabs the product after adjusting the gesture of the grabbing piece according to the model of the product;

(5) After the sand box (8) is in place, the second camera equipment (3) shoots pictures of positioning parts (8.1) at two ends of the sand box (8), the control system calculates coordinate information of each mold cavity (8.2) in the sand box (8) according to the picture information, and the core setting manipulator (5) accurately places sand cores in the mold cavities (8.2) of the sand box (8) after adjusting the core setting positions according to the coordinate information of the mold cavities (8.2);

(6) Judging whether the backing plate (6.5) needs to be removed or not: if the base plate (6.5) needs to be removed, the unstacking manipulator (6) adjusts the gesture and adsorbs and transfers the base plate (6.5) by using the sucker assembly (6.4); if the backing plate (6.5) does not need to be removed, judging whether the modeling is completed, and if the modeling is completed, ending the core setting operation;

(7) And (5) if the modeling is not completed, repeating the steps (1) - (6) until the modeling is completed.

2. The automated core setting method according to claim 1, wherein when the automated core setting system comprises three sets of the core setting systems, the three sets of the core setting systems are sequentially disposed around the conveyor line (1) from upstream to downstream, the upstream core setting system places the core setting (7.3) of the combined core (7) into the cavity (8.2) of the flask (8), and when the flask (8) moves with the conveyor line (1) to the downstream core setting system, the downstream core setting system places the intermediate core (7.2) of the combined core (7) into the cavity (8.2) containing the core setting (7.3), and when the flask (8) moves with the conveyor line (1) to the downstream core setting system, the downstream core setting system places the upper core (7.1) of the combined core (7) into the cavity (8.2) containing the core setting (7.3) and the intermediate core (7.2).

3. The automated core setting method of a hydrostatic line molding according to claim 2, wherein any one set of the core setting systems comprises two positioning tables (4), the two positioning tables (4) being arranged on both sides of the core setting robot (5).

4. A method according to claim 3, wherein when the core setting system includes two positioning tables (4), the system in step (3) selects which positioning table (4) the unstacking robot (6) places the product on, and then the unstacking robot (6) places the gripped product on the selected positioning table (4).

5. The automated core setting method of the hydrostatic line modeling of claim 2, wherein any one of the core setting systems further comprises a transfer manipulator (11) and a turnover table (9), the transfer manipulator (11) turns and transfers the product on the positioning table (4) onto the turnover table (9), and the core setting manipulator (5) grasps a core from the turnover table (9).

6. The automatic core setting method of the static pressure line modeling according to claim 5, wherein when the core setting system further comprises a middle rotating manipulator (11) and a turnover table (9), the core setting method of the core setting system firstly judges whether a product exists on the positioning table (4) in the step (3), if the product exists, judges whether the product needs to be positioned according to the model of the product, if the product needs to be positioned, the sand core is positioned and purged, and if the product does not need to be positioned, only the product is purged; after purging and/or positioning are finished, the transfer manipulator (11) grabs and overturns a product from the positioning table (4), firstly judges whether the product exists on the overturning table (9), waits for the overturning table (9) to be free of the product if the product exists, and moves the grabbed product to the overturning table (9) if the product does not exist; firstly judging whether a product exists on the overturning table (9) in the step (4), and if the product does not exist, stopping the machine for waiting; if the product exists, accurately grabbing the product from the overturning table (9) after adjusting the grabbing gesture, and continuing the step (5).

7. The automated core setting method of the hydrostatic line molding according to claim 1, wherein the core setting system comprises two second image pickup apparatuses (3), and the two second image pickup apparatuses (3) are respectively aligned with positioning portions (8.1) at both ends of a flask (8) on the conveyor line (1).

8. The automated core setting method of hydrostatic line molding according to any one of claims 1 to 7, wherein the first camera device (2) and the second camera device (3) are 3D cameras or 2D cameras, the first camera device (2) is used for acquiring information of products on the palletizing (12), and the second camera device (3) is used for identifying position information of a mold cavity (8.2) of a cope flask (8) of the conveyor line (1).

9. The automatic core setting method for the static pressure line modeling according to claim 1, wherein the positioning table (4) comprises a frame (4.1), a workbench is arranged on the frame (4.1), one or more rotary tables (4.2), a rotating mechanism (4.3) for driving the rotary tables (4.2) to rotate and laser sensors (4.4) are arranged on the workbench, and one side of each rotary table (4.2) is provided with a laser sensor (4.4).

10. The automated core setting method according to claim 1, characterized in that the unstacking manipulator (6) comprises an unstacking manipulator clamp (6.6), the unstacking manipulator clamp (6.6) comprises a main connecting plate (6.1), a connecting flange (6.2) for connection with the manipulator, a workpiece clamping mechanism (6.3) and a sucker assembly (6.4), the connecting flange (6.2) is mounted at the upper end of the main connecting plate (6.1), the workpiece clamping mechanism (6.3) is mounted at the lower end of the main connecting plate (6.1), the workpiece clamping mechanism (6.3) is used for grabbing and transferring workpieces, the sucker assembly (6.4) is mounted at one side of the main connecting plate (6.1), and the sucker assembly (6.4) is used for adsorbing and transferring a backing plate (6.5).