Self-adaptive multi-size frozen sand mold intelligent carrying device and method thereof

Abstract

The invention discloses a self-adaptive multi-size frozen sand mold intelligent carrying device and method. The automation level and efficiency of sand mold carrying in the casting industry can be improved. The device comprises a longitudinal lifting device, a transverse clamping device, a turnover device, an industrial camera visual identification system and a crawler-type mobile platform. The longitudinal lifting device is responsible for lifting a sand mold to a proper height from the ground or a workbench, and the transverse clamping device conducts adaptive adjustment according to the size of the sand mold so as to ensure the clamping stability. And the turnover device allows the sand mold to be subjected to angle adjustment in the carrying process so as to adapt to different casting process requirements. The industrial camera visual recognition system automatically recognizes the size, the shape and the position of the sand mold and transmits information to the control system, and accurate operation of the transverse clamping device and the turnover device is guided. The crawler-type moving platform provides the flexible moving capacity of the device, and rapid carrying of the sand mold is achieved. The operation method comprises the steps of sand mold recognition, clamping, lifting, overturning, carrying and the like, the whole process is automatically completed through an intelligent control system, the carrying efficiency and accuracy are remarkably improved, the labor intensity and the error rate of manual operation are reduced, and powerful technical support is provided for automatic production of the casting industry.

Description

Technical Field

[0001] The invention relates to the technical field of frozen sand mold transportation, and in particular to an adaptive multi-size frozen sand mold intelligent transportation device. Background Art

[0002] As an innovative and environmentally friendly casting method, frozen sand casting mainly uses water as a binder to quickly solidify the sand particles into the desired shape under low temperature conditions. This process not only reduces the use of chemical binders that are harmful to the environment, but also the sand particles can be recycled and reused after the casting process, greatly improving the recycling rate and economy of the material. However, since frozen sand molds are usually large in size and weight and need to be operated in a low temperature environment, traditional manual handling methods are not only inefficient, but may also pose safety risks. At present, the handling of frozen sand molds mainly relies on manual handling or semi-automatic systems, which still need to be improved in terms of efficiency and safety.

[0003] Existing handling devices often face the challenge of controlling the clamping force when handling frozen sand molds. Since frozen sand molds are formed at low temperatures, their structures are relatively fragile and very sensitive to clamping force. Traditional handling devices can often only clamp the sides of the sand molds through manual operation or semi-automatic methods, which makes it difficult to accurately control the clamping force. When the robotic arm lifts the frozen sand mold through the handling fixture, the sand mold is affected by gravity. If the clamping force is too great, it may cause damage to the frozen sand mold structure and affect its integrity. Conversely, if the clamping force is too small, the sand mold may fall off the handling device due to instability during the handling process, causing production interruptions and material waste. Summary of the invention

[0004] The purpose of the present invention is to provide an adaptive multi-size frozen sand mold intelligent handling device and method thereof, so as to achieve precise control of the clamping force of the frozen sand mold, ensure that the sand mold can be protected from damage and prevented from falling off during the handling process, thereby improving the handling efficiency and safety, so as to solve the problems raised in the above background.

[0005] To achieve the above object, the technical solution adopted by the present invention is:

[0006] An adaptive multi-size frozen sand mold intelligent handling device includes a crawler-type mobile platform, a longitudinal lifting device, an industrial camera recognition system, a transverse clamping device and a flip device. The longitudinal lifting device is installed on the crawler-type mobile platform, the transverse clamping device is installed on the longitudinal lifting device, and the industrial camera recognition system and the longitudinal lifting device power system are fixedly installed on the base plate of the longitudinal lifting device to provide power.

[0007] Furthermore, the intelligent handling device is equipped with four crawler mobile platforms. The design of the crawler mobile platforms takes into account the impact of low temperature on material properties. The crawler design can not only adapt to low temperature environments, but also maintain its performance during long-term operation, ensuring the continuity and reliability of handling operations.

[0008] Furthermore, the longitudinal lifting part of the intelligent handling device is composed of a trapezoidal screw and a fixed frame, and the fixed frame ensures the stability of the screw during operation. The base plate serves as a supporting platform, on which other parts of the device are installed. The slider moves on the slide rail to realize the vertical handling of objects. The frame structure is sturdy, and its design fully considers the structural strength and material selection to withstand the stress and impact in long-term operation, while maintaining lightweight and reducing energy consumption. The power system provides power for the lifting device, ensuring its high efficiency and stability. The efficiency of the power system is reflected in its rational use of energy and precise control of the lifting speed. Whether it is fast lifting or slow descent, it can meet the needs of different handling tasks.

[0009] Furthermore, the high efficiency of the servo motor in the power system of the longitudinal lifting device ensures the rapid response and precise positioning of the lifting action. The design of the steering box allows the operator to adjust the lifting direction as needed, whether it is one-way or two-way, and can flexibly respond to different handling requirements. The coupling plays a buffering and protective role in the power transmission process, which can absorb the impact and vibration in the power system, reduce the wear on the lifting mechanism, and extend the service life of the equipment. The design of the connecting rod takes into account the power transmission efficiency and structural stability, ensuring that power will not be lost during the lifting process while maintaining the stability of the lifting mechanism.

[0010] Furthermore, the industrial camera recognition system is composed of an industrial camera, an industrial lens and an efficient control unit. The system can continuously capture high-definition images and use image processing technology to conduct in-depth analysis of the production process and realize automated path planning. The industrial visual inspection system also has a real-time feedback function to ensure that the production process always moves along the optimal path, thereby improving the efficiency and quality of device handling.

[0011] Furthermore, the structure of the lateral clamping device is composed of an I-shaped truss, which constitutes the main frame of the device, provides the necessary support and stability, and ensures the reliability and durability of the device during operation. The mobility of the device is achieved by a slide rail installed on the truss, which enables the device to move smoothly and accurately along a preset path. The large bearing seat is fixed to the truss to ensure the stable operation of the ball screw. The precise lateral positioning of the ball screw is achieved through the precise control of the servo motor. The coordinated work of the gear system and the ball screw further improves the transmission efficiency of the entire system, reduces energy loss, and improves the overall performance of the device. The motor support frame not only protects the motor, but also reduces vibration or impact, ensuring the stable operation of the motor. The small bearing seat is installed on the slide rail to reduce friction and improve movement accuracy.

[0012] Furthermore, the reversible splint is responsible for fixing and supporting the object to ensure stability during the reversal process. The device is added with reinforced protective ribs to enhance the structural strength and durability of the splint. The protective ribs enhance the bearing capacity of the splint and extend its service life. The cylinder is the power source of the reversible device. By providing the necessary thrust, it drives the entire reversal action to ensure the efficient operation of the device. The power transmission method of the reversible device is simple and reliable, which is the key to achieving rapid response and precise control. The rack and gear system are used in conjunction to achieve precise motion control. The power system ensures the accuracy of the reversal action and improves the operating efficiency of the entire device. The rack guide bracket ensures that the rack remains stable during the movement, prevents any possible deviation, and ensures the accuracy and consistency of the reversal action. In the gear system, the mutual engagement of the large gear and the small gear is the core of realizing power transmission and device reversal, ensuring the effective transmission of power and making the reversal action more stable and controllable. The reversible plate connects various components and coordinates the entire reversal process to achieve the overall reversal function of the device.

[0013] The present invention provides an adaptive multi-size frozen sand mold intelligent handling method, the steps are as follows:

[0014] Step 1: Use the industrial camera vision system to monitor and identify the frozen sand molds on the production line in real time. The system uses advanced image processing algorithms to analyze the contour, size and position of the sand mold to ensure accurate data. Based on the size and position information of the sand mold, the intelligent algorithm automatically plans the optimal transportation path to reduce transportation time and improve efficiency.

[0015] Step 2: After receiving the location information provided by the vision system, the intelligent handling device automatically drives to the location of the frozen sand mold through the built-in navigation system. The device is equipped with sensors and positioning systems to ensure that it reaches the target location accurately in a complex industrial environment.

[0016] Step 3: After the transport device reaches the designated position, the longitudinal lifting device is activated to lift the clamping part of the transport device vertically to a height that contacts the frozen sand mold. During the lifting process, the control system of the device will monitor the lifting speed and force in real time to ensure the smooth operation and the safety of the sand mold.

[0017] Step 3: After the transport device reaches the designated position, the longitudinal lifting device is activated to lift the clamping part of the transport device vertically to a height that contacts the frozen sand mold. During the lifting process, the control system of the device will monitor the lifting speed and force in real time to ensure the smooth operation and the safety of the sand mold.

[0018] Step 4: After the longitudinal lifting is in place, the transverse clamping device starts working to firmly clamp the frozen sand mold. The clamping force can be automatically adjusted according to the material and size of the sand mold to ensure the stability of the clamping while avoiding damage to the sand mold.

[0019] Step 5: After the clamping device stably holds the sand mold, the flip clamp can start working and flip the sand mold to the appropriate direction according to the handling requirements. The flipping operation requires precise control to ensure that the sand mold will not fall off or be damaged during the flipping process.

[0020] Step 6: After the flipping operation is completed, the intelligent handling device smoothly transports the frozen sand mold to the destination. During the transportation process, the control system of the device will monitor the transportation path and speed in real time to ensure that the sand mold arrives safely at the designated location.

[0021] Step 7: After the frozen sand mold is safely placed at the destination, the intelligent handling device will automatically execute the return procedure and return to the starting position along the preset path. After returning to the origin, the handling device will automatically perform self-inspection and standby, ready to accept the next handling task.

[0022] Furthermore, the intelligent handling method can perform real-time analysis of the three-dimensional geometric features of the frozen sand mold to ensure accurate alignment during handling. The handling method has a real-time monitoring function, which can track the temperature changes of the frozen sand mold and the working status of the handling equipment, and provide feedback on the current position, operating speed and clamping force of the handling device. The intelligent handling system is highly flexible and interactive, and can respond to the operator's instructions and switch between manual control and automatic control modes to adapt to different operating requirements and environmental conditions.

[0023] Beneficial effects of the present invention:

[0024] 1. The present invention realizes a fully automated process for sand mold transportation by integrating a longitudinal lifting device, a transverse clamping device, a flip device, an industrial camera visual recognition system and a crawler mobile platform, thereby significantly improving the automation level of the foundry industry.

[0025] 2. The intelligent control system of the present invention automatically completes the steps of identifying, clamping, lifting, turning and transporting the sand mold, reducing the time and labor intensity of manual operation, while improving the speed and efficiency of the transport operation.

[0026] 3. The industrial camera visual recognition system of the present invention can automatically identify the size, shape and position of the sand mold, ensuring the precise operation of the lateral clamping device and the flip device, thereby improving the accuracy during the handling process and reducing the losses caused by human operating errors.

[0027] 4. The automated handling device of the present invention reduces the need for manual handling, reduces the labor intensity of workers, reduces the risk of work-related injuries caused by repetitive labor, and improves the working environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is an overall schematic diagram of the adaptive multi-size frozen sand mold intelligent handling device of the present invention;

[0029] Figure 2 It is a general schematic diagram of the longitudinal lifting device of the present invention;

[0030] Figure 3 It is a general schematic diagram of the transverse clamping device of the present invention;

[0031] Figure 4 It is a general schematic diagram of the reversible device of the present invention;

[0032] List of reference numerals:

[0033] 1-longitudinal lifting device, 2-industrial camera recognition system, 3-horizontal clamping device, 4-reversible device, 5-crawler mobile platform, 101-trapezoidal screw fixing frame, 102-trapezoidal screw, 103-base plate, 104-longitudinal lifting device slider, 105-longitudinal lifting device slide rail, 106-frame, 107-longitudinal lifting device power system, 301-I-shaped truss, 302-horizontal device slide rail, 303-large bearing seat, 304-left and right rotating ball screw, 305-servo motor, 306-gear, 307-motor support frame, 308-small bearing seat, 309-horizontal clamping device slider, 401-plywood, 402-reinforced protective ribs, 403-cylinder, 404-rack, 405-rack guide bracket, 406-large gear, 407-small gear, 408-reversal plate, 409-bump. DETAILED DESCRIPTION

[0034] In order to make the technical means, creative features, objectives and effects of the present invention easy to understand, the present invention is further described below in conjunction with the accompanying drawings and specific embodiments. In the description of the present invention, it should be understood that the following specific embodiments are only used to illustrate the present invention and are not used to limit the scope of the present invention. It should be noted that the words "front", "rear", "left", "right", "up" and "down" used in the following description refer to the directions in the accompanying drawings, and the words "inside" and "outside" refer to the directions toward or away from the geometric center of a specific component, respectively. Unless otherwise clearly specified and limited, the terms "install", "connect" and "connect" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection can be a mechanical connection or an electrical connection: it can be directly connected, or it can be indirectly connected through an intermediate medium, and it can be the internal communication of two components. Example

[0035] Figure 1 , Figure 2 , Figure 3 and Figure 4 The figure shows the overall schematic diagram and internal structure schematic diagram of an adaptive multi-size frozen sand mold intelligent handling device and method of the present invention, which mainly includes a longitudinal lifting device 1, an industrial camera recognition system 2, a transverse clamping device 3, a reversible device 4 and a crawler mobile platform 5.

[0036] The lead screw fixing frame 101 firmly supports the lead screw 102 to maintain its stability during movement. The base plate 103 serves as a mounting platform for the entire device and supports other components. The longitudinal lifting device slider 104 moves vertically upward and downward along the slide rail 105 to achieve the lifting and lowering of objects. The frame 106 constitutes the framework of the device to ensure the strength and durability of the overall structure. The longitudinal lifting device power system 107 provides power to the device to ensure its efficiency and stability.

[0037] The longitudinal lifting device power system 107 is driven by a servo motor 1071, and the direction of movement is accurately controlled by a one-way steering box 1072 and a two-way steering box 1075. The coupling 1073 is responsible for smoothly transmitting power, and the connecting rod 1074 connects the power system with the lifting mechanism to achieve accurate vertical up and down lifting.

[0038] The industrial camera recognition system 2 is installed on the substrate 103, and includes a camera, a lens, and a control system. The recognition system can quickly identify and handle problems in the production process through continuous monitoring and analysis.

[0039] The transverse clamping device 3 is based on an I-shaped truss 301 as a frame to ensure stability. The transverse slide rail 302 is installed on the truss to enable the device to move smoothly to the left and right along the set trajectory. The large bearing seat 303 supports the ball screw, and the left and right rotating ball screw 304 is driven by the servo motor 305 to achieve precise transverse positioning. The gear 306 works with the screw to improve the transmission efficiency. The motor support frame 307 fixes the motor to ensure its stable operation. The small bearing seat 308 is installed on the slide rail to reduce friction and improve the movement accuracy of the slider 309 of the transverse clamping device.

[0040] The reversible device 4 includes a clamping plate 401 for fixing and supporting, and a reinforced protective rib 402 for enhancing the structural strength. The cylinder 403 provides power to drive the device to flip. The rack 404 works in conjunction with the gear system to ensure precise control of the movement. The rack guide bracket 405 keeps the rack stable and prevents deviation. The large gear 406 meshes with the small gear 407 to transmit power and flip the device. The flip plate 408 is a core component that connects various parts to achieve the flipping function, and the protrusion 409 prevents it from falling off when flipping the frozen sand mold.

[0041] The four crawler-type mobile platforms 5 ensure the safe and reliable operation of the intelligent handling device in a low-temperature environment due to their stable structure and material properties.

[0042] The present invention provides an adaptive multi-size frozen sand mold intelligent handling method, and the specific implementation steps are as follows:

[0043] Step 1: Use the industrial camera vision system to monitor and identify the frozen sand molds on the production line in real time. The system uses advanced image processing algorithms to analyze the contour, size and position of the sand mold to ensure accurate data. Based on the size and position information of the sand mold, the intelligent algorithm automatically plans the optimal transportation path to improve work efficiency.

[0044] Step 2: The intelligent handling device automatically navigates to the frozen sand mold position through its built-in navigation system based on the position data provided by the vision system. The device is equipped with sensors and positioning systems to ensure accurate positioning and reaching the target in a complex industrial environment.

[0045] Step 3: When the handling device reaches the predetermined position, the longitudinal lifting device is activated to lift the clamping part to the appropriate height for contact with the frozen sand mold. During this process, the control system continuously monitors the lifting speed and force to ensure the stability of the operation and the safety of the sand mold.

[0046] Step 4: After the longitudinal lifting is in place, the transverse clamping device starts working to firmly clamp the frozen sand mold. The clamping force can be automatically adjusted according to the material and size of the sand mold to ensure the stability of the clamping while avoiding damage to the sand mold.

[0047] Step 5: After the clamping device firmly holds the sand mold, the flip clamp is activated to adjust the sand mold to the appropriate direction according to the handling requirements. The flipping process needs to be precisely controlled to ensure the stability and integrity of the sand mold during flipping.

[0048] Step 6: After the flipping operation is completed, the intelligent handling device smoothly transports the frozen sand mold to the destination. During the handling process, the control system monitors the path and speed in real time to ensure that the sand mold arrives safely at the predetermined location.

[0049] Step 7: After the frozen sand mold is safely placed, the intelligent handling device will automatically return to the starting position and drive along the preset path. After arriving, the device will automatically perform a self-check and enter standby mode, ready to perform the next handling task.

[0050] The technical means disclosed in the scheme of the present invention are not limited to the technical means disclosed in the above-mentioned implementation mode, but also include technical schemes composed of any combination of the above technical features.

Claims

1. An adaptive multi-size frozen sand mold intelligent handling device, comprising a crawler mobile platform (5), a longitudinal lifting device (1), an industrial camera recognition system (2), a transverse clamping device (3) and a reversible device (4), characterized in that The crawler-type mobile platform (5) is provided with a longitudinal lifting device (4), the transverse clamping device (3) is provided with the longitudinal lifting device (4), and the base plate (103) of the longitudinal lifting device (1) is provided with an industrial camera recognition system (2).

2. The adaptive multi-size frozen sand mold intelligent handling device according to claim 1 is characterized in that: There are four crawler-type mobile platforms (5) to ensure that the intelligent transport device can smoothly pass through various road conditions.

3. The adaptive multi-size frozen sand mold intelligent handling device according to claim 1 is characterized in that: The longitudinal lifting device (1) comprises a trapezoidal screw fixing frame (101) which provides a stable support for the trapezoidal screw (102), thereby ensuring its stability during movement. The base plate (103) serves as a mounting platform for the entire device, carrying other components. The longitudinal lifting device slider (104) moves up and down along the longitudinal device slide rail (105) to achieve vertical displacement of the object. The frame (106) is the framework structure of the entire device, ensuring the overall rigidity and durability. The longitudinal lifting device power system (107) provides the necessary power for the device, ensuring its efficient and smooth operation.

4. The adaptive multi-size frozen sand mold intelligent handling device according to claim 3 is characterized by: The longitudinal lifting device power system (107) is powered by a servo motor (1071), and the direction of movement is precisely controlled by a one-way steering box (1072) and a two-way steering box (1075). A coupling (1073) ensures smooth power transmission, and a connecting rod (1074) connects the power system to the lifting mechanism to achieve precise longitudinal lifting action.

5. The adaptive multi-size frozen sand mold intelligent handling device according to claim 1 is characterized in that: The industrial camera recognition system (2) is fixedly mounted on a substrate (103) and is composed of an industrial camera, an industrial lens, and a control system. Through real-time monitoring and analysis, the industrial camera recognition system (2) can promptly detect and resolve problems in the production process.

6. The adaptive multi-size frozen sand mold intelligent handling device according to claim 1 is characterized by: The lateral clamping device (3) is composed of an I-shaped truss (301) forming the main frame, which provides the necessary support and stability. The lateral device slide rail (302) is installed on the truss, allowing the device to move smoothly along a predetermined path. The large bearing seat (303) is fixed on the truss to provide support for the ball screw. The left-right rotating ball screw (304) is a key component for achieving precise positioning. It is driven by a servo motor (305) to achieve high-precision lateral movement. The gear (306) cooperates with the ball screw to improve the transmission efficiency. The motor support frame (307) is used to fix the servo motor to ensure its stable operation. The small bearing seat (308) is installed on the slide rail to reduce friction and improve the movement accuracy of the slider (309) of the lateral clamping device.

7. The adaptive multi-size frozen sand mold intelligent handling device according to claim 1 is characterized by: The flip device (4) is fixed and supported by a clamp (401), and the reinforced protective ribs (402) provide additional strength and durability. The cylinder (403) serves as a power source to drive the flipping action of the device. The rack (404) cooperates with the gear system to ensure precise motion control. The rack guide bracket (405) ensures the stable operation of the rack and prevents deviation. The large gear (406) and the small gear (407) mesh with each other to transmit power and realize the flipping of the device. The flip plate (408) is the core part of the device. By connecting various components, the overall flipping function is realized. The protrusion (409) can protect the frozen sand mold from falling when flipping.

8. An adaptive multi-size frozen sand mold intelligent handling method, characterized in that: The method comprises the following steps: Step 1: Use the industrial camera vision system to monitor and identify the frozen sand molds on the production line in real time. The system uses advanced image processing algorithms to analyze the contour, size and position of the sand mold to ensure accurate data acquisition. Based on the size and location information of the sand mold, the intelligent algorithm automatically plans the optimal transportation path to reduce transportation time and improve efficiency. Step 2: After receiving the location information provided by the vision system, the intelligent handling device automatically drives to the location of the frozen sand mold through the built-in navigation system. The device is equipped with sensors and positioning systems to ensure that it reaches the target position accurately in complex industrial environments. Step 3: After the transport device reaches the designated position, the longitudinal lifting device is activated to lift the clamping part of the transport device vertically to a height that contacts the frozen sand mold. During the lifting process, the control system of the device will monitor the lifting speed and force in real time to ensure the smooth operation and the safety of the sand mold. Step 4: After the longitudinal lifting is in place, the transverse clamping device starts working to firmly clamp the frozen sand mold. The clamping force can be automatically adjusted according to the material and size of the sand mold to ensure the stability of the clamping while avoiding damage to the sand mold. Step 5: After the clamping device stably holds the sand mold, the flip clamp can start working and flip the sand mold to the appropriate direction according to the handling requirements. The flipping operation requires precise control to ensure that the sand mold will not fall off or be damaged during the flipping process. Step 6: After the flipping operation is completed, the intelligent handling device will smoothly transport the clamped frozen sand mold to the destination. During the transportation process, the control system of the device will monitor the transportation path and speed in real time to ensure that the sand mold arrives at the designated location safely. Step 7: After the frozen sand mold is safely placed at the destination, the intelligent handling device will automatically execute the return procedure and return to the starting position along the preset path. After returning to the origin, the transport device will automatically perform self-inspection and standby, ready to accept the next transport task.

9. The adaptive multi-size frozen sand mold intelligent handling method according to claim 8, characterized in that: The intelligent handling method can analyze the three-dimensional data of the sand mold in real time, including but not limited to height, width, length and volume, to ensure accurate matching during the handling process. The intelligent handling method can monitor the surface contact temperature of the frozen sand mold and the status of the handling device in real time, including position, speed, clamping force, etc. The control system can also receive instructions from the operator to switch between manual and automatic modes.

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