WO2022121336A1 - 一种低压铸造水冷机壳螺旋砂芯的输送*** - Google Patents

一种低压铸造水冷机壳螺旋砂芯的输送*** Download PDF

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Publication number
WO2022121336A1
WO2022121336A1 PCT/CN2021/109574 CN2021109574W WO2022121336A1 WO 2022121336 A1 WO2022121336 A1 WO 2022121336A1 CN 2021109574 W CN2021109574 W CN 2021109574W WO 2022121336 A1 WO2022121336 A1 WO 2022121336A1
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Prior art keywords
core
sand core
clamping
rotating
lock cylinder
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PCT/CN2021/109574
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English (en)
French (fr)
Inventor
朱小明
韩伟
陈宇姗
刘建光
段海峰
童洲
颜建
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广州城市理工学院
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Application filed by 广州城市理工学院 filed Critical 广州城市理工学院
Publication of WO2022121336A1 publication Critical patent/WO2022121336A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22C—FOUNDRY MOULDING
    • B22C19/00—Components or accessories for moulding machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22C—FOUNDRY MOULDING
    • B22C13/00—Moulding machines for making moulds or cores of particular shapes
    • B22C13/12—Moulding machines for making moulds or cores of particular shapes for cores
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/64—Electric machine technologies in electromobility

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  • 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.
  • 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.
  • 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.
  • 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.
  • a dip-coating bracket assembly is provided, and an openable connecting rod is used to fix the support plate to the column.
  • 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
  • the pneumatic telescopic rod 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.
  • 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.
  • 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.
  • 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.
  • 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 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.
  • 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.
  • 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.
  • 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
  • the sliding seat is connected by the first connecting block and the second connecting block.
  • 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.
  • 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
  • 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
  • the motor drives the rotating shaft to rotate.
  • the sand core completes the grabbing action.
  • 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.
  • each finger 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.
  • 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.
  • 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.
  • 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.
  • 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 .
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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
  • 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
  • the gear meshes with the outer ring gear is
  • 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 .
  • 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.
  • 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.

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  • Mechanical Engineering (AREA)
  • Molds, Cores, And Manufacturing Methods Thereof (AREA)

Abstract

一种低压铸造水冷机壳螺旋砂芯的输送***，包括砂芯（3）和传送装置，砂芯（3）上设有芯头（31），传送装置包括下芯工位（1）和砂芯送料装置（2），下芯工位（1）设置在砂芯送料装置（2）的一侧；下芯工位（1）包括夹持机器人（11）和夹持机架（12），夹持机器人（11）设置在夹持机架（12）的顶部；夹持机器人（11）上设有夹持手（111）；砂芯送料装置（2）包括锁芯工作台（21）、传动机构（22）、锁芯底座（23）和检测装置；检测装置包括检测相机（24）和漫反射光电开关（25），检测相机（24）设置在锁芯工作台（21）顶面靠近下芯工位（1）一侧，漫反射光电开关（25）设置在锁芯工作台（21）顶面的一侧；夹持手（111）上设有夹持手指（1111），芯头（31）上设有与夹持手指（1111）形状匹配的夹持凹槽（3111）。

Description

一种低压铸造水冷机壳螺旋砂芯的输送*** 技术领域
本发明涉及电机铸造技术领域，具体涉及一种低压铸造水冷机壳螺旋砂芯的输送***。
背景技术
目前在电动汽车电动机水冷机壳低压铸造生产中虽然大部分仍然使用手工方法进行下芯操作，水冷机壳低压铸造生产中模腔工作温度高达三百多度，人工下芯存在高温辐射的问题，且水冷机壳螺旋砂芯体积较大、形状不规则，手工下芯操作劳动强度大、效率低，具有随意性和不确定性，难以保证安装精度和速度；另外，由于砂芯是由树脂砂经射芯机射制而成，其强度有限，而且螺旋水道砂芯的形状复杂，下芯过程中稍微碰撞即容易损坏。
为解决上述技术问题，在中国专利号为201811345354.4公告日为2020.07.14的专利文献公开了一种新能源汽车电机即可砂芯制作表面浸涂工艺及方法；包括浸没箱；其中，所述浸没箱的一侧固定有转移组件，所述转移组件的下端固定有浸涂支架组件，所述转移组件远离浸没箱的一侧设置有输送带，所述输送带的侧边位置设置有支撑架。本发明通过设置有浸涂支架组件，利用可打开的连接杆将支撑板固定柱，在转移到输送带时，打开连接杆，使支撑板落在输送带上端进行输送，避免人工转移造成物件的损伤，提高质量；其中，该专利文献公开了转移电机机壳铸造砂芯的步骤，转移：通过气动伸缩杆上移支撑板上的电机机壳铸造砂芯，然后移动滑动座，使滑动座顺着滑轨进行移动，当移动到输送带的上端时，下降气动伸缩杆，使支撑板上的电机机壳铸造砂芯下降到输送带的上方，然后转动两端的连接杆，使支撑板落在输送带的上端，然后通过输送带将支撑板上的电机机壳铸造砂芯输送到表面处理组件的下端。
但是，根据该文献公开的技术方案，通过气动伸缩杆、滑动座配合将砂芯放置到输送带上，没有砂芯转移检测机构，可能出现砂芯碰坏、砂芯放置位置错误的情况。
发明内容
本发明提供一种低压铸造水冷机壳螺旋砂芯的输送***，利用本发明的结构，快速、连续稳定地完成砂芯的抓取工作，且能准备地进行砂芯输送。
为达到上述目的，本发明的技术方案是：一种低压铸造水冷机壳螺旋砂芯的输送***， 包括砂芯和传送装置，砂芯上设有芯头，传送装置包括下芯工位和砂芯送料装置，下芯工位设置在砂芯送料装置的一侧；
下芯工位包括夹持机器人和夹持机架，夹持机器人设置在夹持机架的顶部；夹持机器人上设有夹持手。
砂芯送料装置包括锁芯工作台、传动机构、锁芯底座和检测装置，传动机构包括同步轮、传动带、输送电机、环形导轨和滑座，同步轮和环形导轨设置在锁芯工作台的顶面，同步轮共设有两个以上，同步轮设置在环形导轨内侧，同步轮的外侧与传动带连接，输送电机设置在锁芯工作台的底部并穿过锁芯工作台固定连接一侧同步轮的圆心，滑座滑动设置连接在环形导轨上，环形导轨上共设有一个以上的滑座，每个滑座固定连接锁芯底座，滑座与传动带连接；锁芯底座上设有固定凸起。
检测装置包括检测相机和漫反射光电开关，检测相机设置在锁芯工作台顶面靠近下芯工位一侧，漫反射光电设置在锁芯工作台顶面的一侧。
夹持手上设有夹持手指，芯头上设有与夹持手指形状匹配的夹持凹槽。
以上设置，砂芯安装于锁芯底座上，锁芯底座固定在滑座上，输送电机驱动同步轮转动，同步轮通过传动带带动滑座沿环形导轨转动，从而带动砂芯移动；当砂芯移动到夹持手的下方时，通过夹持机器人和夹持手将对应位置的砂芯移动到下一个工位，同时，环形导轨上的下一个滑座上的锁芯底座移动到夹持手的下方，这样，能快速、连续稳定地完成砂芯的抓取工作。
进一步地，所述固定凸起的两侧设有开口。这样，利用砂芯的芯头定位让砂芯可靠的、稳定的与锁芯底座对接。
进一步地，所述锁芯底座在固定凸起的开口一侧设有芯头槽位，芯头槽位形状与砂芯的芯头匹配。这样，进一步提高砂芯在锁芯底座上定位的准确率。
进一步地，所述传动带的外侧固定设置有第一连接块，滑座上设有第二连接块，第一连接块和第二连接块通过螺栓连接，滑座通过第一连接块和第二连接块配合与传动带连接。
进一步地，所述滑座上设有2个以上的滑轮，滑座通过滑轮夹持滑动连接环形导轨。这样，滑座可以沿着环形导轨稳定地转动，提高砂芯在锁芯底座转动时的稳定性。
进一步地，所述夹持机器人还包括旋转底座、机械臂、旋转臂、第一屈伸电机、第二屈 伸电机、电机和旋转电机。
旋转底座包括固定底座、回转支承和旋转座，固定底座固定设置在夹持机架上，回转支承的外圈固定在固定底座上，在回转支承的外圈上设有外齿圈，回转支承的内圈固定在旋转座上，旋转电机安装在旋转座上，旋转电机的输出端连接有齿轮，齿轮与外齿圈啮合；第一屈伸电机安装在旋转座上，机械臂的一端固定连接第一屈伸电机的输出轴；第二屈伸电机安装在旋转臂的一端，机械臂的另一端连接在第二屈伸电机的输出轴上；所述的旋转臂包括连接臂、连接座和旋转轴；第二屈伸电机安装在连接臂上，连接座连接在连接臂上，旋转轴通过轴承安装在连接座上，在旋转轴上安装有第一齿轮，在连接座上位于旋转轴的两侧分别安装有电机，在电机的输出轴上设有与第一齿轮啮合的第二齿轮；夹持手安装在旋转轴上。
以上设置，通过旋转电机驱动旋转底座带动机械臂转动，第一屈伸电机和第二屈伸电机驱动旋转臂摆动，电机驱动旋转轴旋转，通过以上动作，夹持机器人可快速准确对锁芯底座上的砂芯完成抓取动作。
进一步地，所述的夹持手包括横梁、手持气缸和夹持手指；在旋转轴的下端安装横梁，在横梁的两端分别安装有手指气缸，手指气缸上连接有夹持手指。
进一步地，每个手指气缸的输出端分别连接两个夹持手指。这样，每个夹持气缸驱动两个夹持手指，分别夹持芯头上设置的与夹持手指形状匹配的夹持凹槽，使得夹持手夹持准确，稳定。
进一步地，所述锁芯工作台的一侧还设有控制触摸屏。这样，便于控制传送装置。
附图说明
图1为本发明的立体结构示意图。
图2为本发明中的夹持机器人的结构示意图。
图3为本发明中的砂芯送料装置的拆分结构示意图。
图4为本发明中的传动机构的结构示意图。
图5为本发明中的锁芯底座的结构示意图。
图6为本发明中的锁芯底座安装砂芯状态的结构示意图。
具体实施方式
下面结合附图和具体实施方式对本发明做进一步详细说明。
如图1-图6所示，一种低压铸造水冷机壳螺旋砂芯的输送***，包括砂芯和传送装置，砂芯3上设有芯头31，传送装置包括下芯工位1和砂芯送料装置2，下芯工位1设置在砂芯送料装置2的一侧。
下芯工位1包括夹持机器人11和夹持机架12，夹持机器人11设置在夹持机架12的顶部；夹持机器人11上设有夹持手111。
砂芯送料装置2包括锁芯工作台21、传动机构22、锁芯底座23和检测装置，传动机构22包括同步轮221、传动带222、输送电机223、环形导轨224和滑座225，同步轮221和环形导轨224设置在锁芯工作台21的顶面，同步轮221共设有两个，同步轮221设置在环形导轨224内侧，同步轮221的外侧与传动带222连接，输送电机223设置在锁芯工作台21的底部并穿过锁芯工作台21固定连接一侧同步轮221的圆心，滑座225滑动设置连接在环形导轨224上，环形导轨224上共设有一个以上的滑座225，每个滑座225固定连接锁芯底座23，滑座225与传动带222连接；锁芯底座23上设有固定凸起231。
检测装置包括检测相机24和漫反射光电开关25，检测相机24设置在锁芯工作台21顶面靠近下芯工位1一侧，漫反射光电25设置在锁芯工作台21顶面的一侧。
夹持手111上设有夹持手指1111，芯头31上设有与夹持手指1111形状匹配的夹持凹槽3111。
以上设置，砂芯安装于锁芯底座上，锁芯底座固定在滑座上，输送电机驱动同步轮转动，同步轮通过传动带带动滑座沿环形导轨转动，从而带动放置在锁芯底座上的砂芯移动；漫反射光电开关在砂芯传送过程中测定锁芯底座上的砂芯，将检测到砂芯的信号经控制器传输到输送电机，根据测定到砂芯的时间点来控制输送电机停止转动，使砂芯准确到达预备下芯工位；若检测不到砂芯，输送电机继续转动；其中漫反射光电开关检测原理为：由于漫反射光电开关为反射器和发射器于一体的传感器，当砂芯经过漫反射光电开关时，物体将慢反射反射器发射的光线反射到接收器，于是漫反射光电开关产生输送电机停止转动的开关信号，该检测方法为现有技术；。
下芯工位的一侧安装视觉检测装置，检测传送的砂芯是否能够满足位置精度要求，在传动带停止转动后，检测相机对下芯工位一侧的砂芯芯头和锁芯底座进行拍照，然后与准确的芯头装入锁芯底座固定凸起内侧的图形模板进行对比，检测芯头的固定座在锁芯底座的安装 是否准确，若芯头的固定座在锁芯底座的安装准确，并反馈信号给夹持机器人；若芯头的固定座在锁芯底座的安装不准确准确，发出警报；具体地，检测相机对下芯工位一侧的砂芯芯头和锁芯底座进行拍照，与准确的芯头装入锁芯底座固定凸起内侧的图形模板进行对比，检测芯头的固定座在锁芯底座的安装是否准确的步骤具体包括：预先将准确的心头装入锁芯底座固定凸起内侧的图形存储起来，当检测相机拍摄到下芯工位一侧的砂芯芯头和锁芯底座的照片之后，将检测到砂芯芯头和锁芯底座的照片与预设的照片进行对比，确定两幅图片的相似点，确定相似点的算法采用现有相似算法，若相似度达到80％以上，则判定为芯头的固定座在锁芯底座的安装准确，否则，判定为不准确，该检测方法为现有技术；夹持机器人下移夹持，按照既定的方向位置和力度夹持砂芯的芯头部位，夹持手指夹持芯头上的夹持凹槽，从锁芯传送带上垂直向上取走砂芯，放入下一工位，砂芯送料装置上空的锁芯底座重新安装定位砂芯，输送电机重新运行，进行下一轮砂芯传送、检测和定位工作，这样，通过光电开关检测砂芯控制电机停止和检测相机对砂芯芯头于锁芯底座处的安装位置检测，使其精确定位、自动检测，准确快速稳定地完成砂芯的抓取工作。
在本实施例中，所述固定凸起231的两侧设有开口2311。这样，利用砂芯的芯头与开口2311定位，让砂芯可靠的安装到锁芯底座223上。
所述锁芯底座23在固定凸起231的开口一侧设有芯头槽位2312，芯头槽位2312形状与砂芯31的芯头匹配。这样，进一步提高砂芯3在锁芯底座23上定位的准确率。
所述传动带222的外侧固定设置有第一连接块2221，滑座225上设有第二连接块2222，第一连接块2221和第二连接块2222通过螺栓连接，滑座225通过第一连接块2221和第二连接块2222配合与传动带222连接。
所述滑座225上设有4个的滑轮2251，滑座225通过滑轮2251夹持滑动连接环形导轨224。这样，滑座可以沿着环形导轨稳定地转动，提高砂芯在锁芯底座转动时的稳定性。
所述夹持机器人11还包括旋转底座112、机械臂113、旋转臂114、手指气缸115、第一屈伸电机116、第二屈伸电机117、电机118和旋转电机119。
旋转底座112包括固定底座1121、回转支承和旋转座1122，固定底座1121固定设置在夹持机架12上，回转支承的外圈固定在固定底座1121上，在回转支承的外圈上设有外齿圈，回转支承的内圈固定在旋转座1122上，旋转电机119安装在旋转座1122上，旋转电机119 的输出端连接有齿轮，齿轮与外齿圈啮合。第一屈伸电机116安装在旋转座1122上，机械臂113的一端固定连接第一屈伸电机116的输出轴。第二屈伸电机117安装在旋转臂114的一端，机械臂113的另一端连接在第二屈伸电机117的输出轴上。所述的旋转臂114包括连接臂1141、连接座1142和旋转轴1143；第二屈伸电机117安装在连接臂1141上，连接座1142连接在连接臂1141上，旋转轴1143通过轴承安装在连接座1142上，在旋转轴1143上安装有第一齿轮，在连接座上位于旋转轴的两侧分别安装有电机118，在电机118的输出轴上设有与第一齿轮啮合的第二齿轮。在旋转轴1143的下端安装横梁1112，在横梁的两端分别安装有手指气缸115，手指气缸115上连接有夹持手指1111。
以上设置，通过旋转电机驱动齿轮，齿轮与外齿圈作用，让旋转座和旋转电机回转，从而实现机械臂、旋转臂的回转；第一屈伸电机和第二屈伸电机分别驱动机械臂和旋转臂摆动，电机工作，在第一齿轮和第二齿轮的作用下实现旋转轴的旋转，从而带动夹持手指的旋转通过以上动作，夹持机器人可快速准确对锁芯底座上的砂芯完成抓取动作。
所述锁芯工作台21的一侧还设有控制触摸屏26。这样，便于控制传送装置。

Claims (9)

  1. 一种低压铸造水冷机壳螺旋砂芯的输送***，包括砂芯和传送装置，砂芯上设有芯头，其特征在于：传送装置包括下芯工位和砂芯送料装置，下芯工位设置在砂芯送料装置的一侧；
    下芯工位包括夹持机器人和夹持机架，夹持机器人设置在夹持机架的顶部；夹持机器人上设有夹持手；
    砂芯送料装置包括锁芯工作台、传动机构、锁芯底座和检测装置，传动机构包括同步轮、传动带、输送电机、环形导轨和滑座，同步轮和环形导轨设置在锁芯工作台的顶面，同步轮共设有两个以上，同步轮设置在环形导轨内侧，同步轮的外侧与传动带连接，输送电机设置在锁芯工作台的底部并穿过锁芯工作台固定连接一侧同步轮的圆心，滑座滑动设置连接在环形导轨上，环形导轨上共设有一个以上的滑座，每个滑座固定连接锁芯底座，滑座与传动带连接；锁芯底座上设有固定凸起；
    检测装置包括检测相机和漫反射光电开关，检测相机设置在锁芯工作台顶面靠近下芯工位一侧，漫反射光电设置在锁芯工作台顶面的一侧；
    夹持手上设有夹持手指，芯头上设有与夹持手指形状匹配的夹持凹槽。
  2. 根据权利要求1所述的一种低压铸造水冷机壳螺旋砂芯的输送***，其特征在于：所述固定凸起的两侧设有开口。
  3. 根据权利要求1所述的一种低压铸造水冷机壳螺旋砂芯的输送***，其特征在于：所述锁芯底座在固定凸起的开口一侧设有芯头槽位，芯头槽位形状与砂芯的芯头匹配。
  4. 根据权利要求1所述的一种低压铸造水冷机壳螺旋砂芯的输送***，其特征在于：所述传动带的外侧固定设置有第一连接块，滑座上设有第二连接块，第一连接块和第二连接块通过螺栓连接，滑座通过第一连接块和第二连接块配合与传动带连接。
  5. 根据权利要求1所述的一种低压铸造水冷机壳螺旋砂芯的输送***，其特征在于：所述滑座上设有2个以上的滑轮，滑座通过滑轮夹持滑动连接环形导轨。
  6. 根据权利要求1所述的一种低压铸造水冷机壳螺旋砂芯的输送***，其特征在于：所述夹持机器人还包括旋转底座、机械臂、旋转臂、第一屈伸电机、第二屈伸电机、电机和旋转电机；
    旋转底座包括固定底座、回转支承和旋转座，固定底座固定设置在夹持机架上，回转支承的外圈固定在固定底座上，在回转支承的外圈上设有外齿圈，回转支承的内圈固定在旋转座上，旋转电机安装在旋转座上，旋转电机的输出端连接有齿轮，齿轮与外齿圈啮合；第一屈伸电机安装在旋转座上，机械臂的一端固定连接第一屈伸电机的输出轴；第二屈伸电机安装在旋转臂的一端，机械臂的另一端连接在第二屈伸电机的输出轴上；所述的旋转臂包括连接臂、连接座和旋转轴；第二屈伸电机安装在连接臂上，连接座连接在连接臂上，旋转轴通过轴承安装在连接座上，在旋转轴上安装有第一齿轮，在连接座上位于旋转轴的两侧分别安装有电机，在电机的输出轴上设有与第一齿轮啮合的第二齿轮；夹持手安装在旋转轴上。
  7. 根据权利要求6所述的一种低压铸造水冷机壳螺旋砂芯的输送***，其特征在于：所述的夹持手包括横梁、手持气缸和夹持手指；在旋转轴的下端安装横梁，在横梁的两端分别安装有手指气缸，手指气缸上连接有夹持手指。
  8. 根据权利要求7所述的一种低压铸造水冷机壳螺旋砂芯的输送***，其特征在于：每个手指气缸的输出端分别连接两个夹持手指。
  9. 根据权利要求1所述的一种低压铸造水冷机壳螺旋砂芯的输送***，其特征在于：所述锁芯工作台的一侧还设有控制触摸屏。
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CN116851651A (zh) * 2023-08-15 2023-10-10 无锡锡南科技股份有限公司 电机壳组合式气道芯及制芯方法
CN116851651B (zh) * 2023-08-15 2024-02-23 无锡锡南科技股份有限公司 电机壳组合式气道芯及制芯方法

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