Automatic adjusting core repairing device, system and method

Abstract

The invention discloses an automatic adjusting core repairing device, system and method, and relates to the technical field of mechanical engineering, the automatic adjusting core repairing device is connected to a mechanical arm, and comprises a base body connected to the mechanical arm; the electric control mechanism comprises a driving assembly and a telescopic piece; the driving assembly is connected to the base body; the telescopic piece can do telescopic motion relative to the base body through a driving assembly; the rotating mechanism comprises a guide column and a rotating disc; the guide column is rotationally connected to the base body; the rotating disc is provided with a guide part connected with the guide column and a hinge part hinged to the telescopic piece. The telescopic piece is driven by a driving assembly to do linear reciprocating motion so as to drive the rotating disc to rotate relative to the base body; the core repairing mechanism comprises a core repairing rod connected to the rotating disc, and the core repairing rod is driven by the rotating disc to rotate by a preset angle so as to scrape off fins of the sand core; the core repairing rod can be driven to rotate by a preset angle, and fins at different positions can be scraped.

Description

Technical Field

[0001] The present application belongs to the field of mechanical engineering technology, and specifically relates to an automatic adjustment core repairing device, system and method. Background Art

[0002] During the production of large castings such as engine blocks, sand cores are required to form the internal structure of the casting. The more complex the internal structure of the casting, the more complex the structure of the sand core. During the preparation of the sand core, the sand core may have excessive material due to the loose mold clamping of the core making tooling on the left and right. If the seam defect is not handled, it will lead to material shortage in the casting. When the seam is too large, it will be washed away by the molten iron during the molten iron pouring process, and fixed in the casting as the molten iron solidifies, causing sand eye defects in the casting, which may cause the casting to be scrapped in severe cases.

[0003] In the prior art, the seams are usually trimmed manually. During the manual trimming process, the thickness of the seams scraped is different due to different operating forces and operating speeds, resulting in excessive sand core trimming. In addition, manual scraping has high work intensity and low work efficiency, which easily leads to the appearance of defective products. For example, the application number is CN201810605820.1, and the application name is a forming and scraping die for trimming the seams of sand cores that is easy to use and reliable. It discloses that the sand core is placed in a guide column, and the sand core is pressed downward from the blade of the trimming die to pass through the blade to scrape off the excess seams. This trimming structure is only suitable for small castings and sand cores with smooth surfaces. For example, for engine blocks, they are large in size and not smooth in surface, and have irregular structural shapes. Therefore, they are not suitable for trimming with the above-mentioned forming and scraping die. If used, it will damage the engine block or even cause it to be scrapped. Summary of the invention

[0004] The present application provides an automatic adjustment core repair device, system and method to solve the above-mentioned technical problem that it is not applicable to the treatment of the seams existing in large castings, and avoids the problems of different correction amounts, low pass rate and low work efficiency caused by manual scraping.

[0005] The technical solution adopted in this application is:

[0006] An automatic adjustment and repairing device, connected to a mechanical arm, comprises:

[0007] A base body connected to the robot arm;

[0008] The electric control mechanism comprises a driving assembly and a telescopic member; the driving assembly is connected to the base; the telescopic member can perform telescopic movement relative to the base through the driving assembly;

[0009] The rotating mechanism comprises a guide column and a rotating disk; the guide column is rotatably connected to the base; the rotating disk has a guide portion connected to the guide column and a hinge portion hingedly connected to the telescopic member; the telescopic member is driven to move linearly back and forth by a driving assembly to drive the rotating disk to rotate relative to the base;

[0010] The core repairing mechanism comprises a core repairing rod connected to a rotating disk. The core repairing rod is driven by the rotating disk to rotate at a preset angle to scrape off the seams of the sand core.

[0011] The automatic adjustment and core repairing device of the present application also has the following additional technical features:

[0012] The rotating disk includes a disk body and an extension portion connected to each other, the disk body is provided with a connecting hole for connecting with a guide column; the extension portion extends toward one side of the telescopic member, the extension portion is provided with a first positioning hole, and the telescopic member is provided with a second positioning hole corresponding to the extension portion; the telescopic member is hingedly connected to the rotating disk by a hinged member that is inserted into the first positioning hole and the second positioning hole.

[0013] The extension portion is further provided with a mounting groove, the hinged member can be inserted into the mounting groove and the first positioning hole, and the telescopic member can be embedded in the mounting groove and hingedly connected to the hinged member.

[0014] The automatic adjustment core repairing device also includes a limiting mechanism, which includes a baffle and a limiting member; the baffle is connected to the base through a connecting member, and the limiting member is connected to the middle part of the baffle corresponding to the telescopic member to limit the distance of the telescopic member moving along a straight line.

[0015] The base includes a base, and a first connecting plate and a second connecting plate are connected to the side of the base facing the rotating mechanism. The telescopic member is connected in parallel between the first connecting plate and the second connecting plate; the baffle is vertically connected between the first connecting plate and the second connecting plate through a connecting member.

[0016] The first connecting plate is provided with a first mounting hole, the second connecting plate is provided with a second mounting hole, the guide column is rotatably connected to the first mounting hole and the second mounting hole; the rotating disk is rotatably connected to the guide column and is arranged between the first connecting plate and the second connecting plate.

[0017] The driving assembly includes a driving member, a lead screw and a slider; the driving member is connected to the base, the lead screw is connected to the driving member, the slider is threadedly connected to the lead screw, one end of the slider is connected to a telescopic member, and the driving member drives the lead screw to rotate to drive the slider to move along the lead screw, which can drive the telescopic member to move linearly back and forth; or,

[0018] The driving assembly includes a hydraulic cylinder and a motor. The hydraulic cylinder is driven by the motor. The motor and the hydraulic cylinder are connected to a base. The piston rod of the hydraulic cylinder is connected to the telescopic member to drive the telescopic member to move back and forth in a straight line.

[0019] The present application also relates to an automatic adjustment and core repairing system, based on an automatic adjustment and core repairing device as described in any one of the above, comprising:

[0020] PLC controller;

[0021] Displacement sensor, used to detect whether the sand core is installed in place;

[0022] The visual system is used to take pictures of the formed sand cores and identify the seams of the sand cores, and measure the seam thickness and deformation;

[0023] The automatic adjustment core repairing device is connected to the PLC controller, and the PLC controller controls the extension amount of the telescopic part in the automatic adjustment core repairing device to scrape the seam;

[0024] The mechanical arm is used to be connected with the automatic adjusting core repairing device and can move according to a preset trajectory to drive the automatic adjusting core repairing device to scrape the seams of the sand core.

[0025] The present application also relates to an automatic adjustment and core repairing method, based on the automatic adjustment and core repairing system described above, the specific steps include:

[0026] Use displacement sensor to detect whether the sand core is in place;

[0027] After the sand core is installed in place, the PLC controls the visual system to take pictures of the sand core and identify the seams of the sand core, and measure the seam thickness and deformation;

[0028] The obtained seam thickness and deformation are uploaded to the PLC controller, and the telescopic amount of the telescopic part is calculated by the PLC controller so that the telescopic part can scrape seams of different thicknesses;

[0029] The electric control mechanism drives the telescopic member to be extended and retracted to the desired position, and drives the rotating mechanism to rotate, so that the core repairing mechanism moves to the position where the seam is located;

[0030] The PLC controller controls the robot arm to move along the trajectory and drive the automatic adjustment core repairing device to scrape the seams at different positions.

[0031] The method of controlling the visual system by PLC to take photos of the sand core and identify the seams of the sand core, and measuring the seam thickness and deformation specifically includes: controlling the visual system by PLC to take photos of the sand core, comparing the visual system with a standard template, and identifying the thickness and deformation of the seam of the sand core through calculation.

[0032] Due to the adoption of the above technical solution, the beneficial effects achieved by this application are as follows:

[0033] 1. The present application relates to an automatic adjustment core repairing device, which is connected to a robot arm and comprises a base, an electric control mechanism, a rotating mechanism and a core repairing mechanism; the electric control mechanism comprises a driving assembly and a telescopic member; the driving assembly is connected to the base; the telescopic member can perform telescopic movement relative to the base through the driving assembly; the rotating mechanism comprises a guide column and a rotating disk; the guide column is rotatably connected to the base; the rotating disk has a guide portion connected to the guide column, and a hinge portion hingedly connected to the telescopic member; the telescopic member is driven to move linearly back and forth by the driving assembly to drive the rotating disk to rotate relative to the base; thereby, the rotating angle of the rotating disk can be controlled by the electric control mechanism, and since the core repairing rod of the core repairing mechanism is connected to the rotating disk, the core repairing rod can be driven to rotate a preset angle, so that the seams at different positions can be scraped off, and at the same time, by connecting the core repairing device to the robot arm and cooperating with the robot arm, the robot arm control can control the rotating position of the rotating disk and the position relative to the sand core, thereby scraping off the seams of different thicknesses. The trimming amount is automatically adjusted according to the position and thickness of the seam. The trimming amount is increased for thicker seams, and the trimming amount is relatively reduced for thinner seams, so as to provide customized trimming for seams in different positions and thicknesses.

[0034] 2. As a preferred embodiment of the present application, the rotating disk includes a disk body and an extension part connected to each other, the disk body is provided with a connection hole for connecting with a guide column; the extension part extends toward one side of the telescopic member, the extension part is provided with a first positioning hole, and the telescopic member is provided with a second positioning hole corresponding to the extension part; the telescopic member is hingedly connected to the rotating disk by a hinge part inserted into the first positioning hole and the second positioning hole. The disk body is used to connect with the guide column, and the guide column can be rotatably connected to the base, so that the disk body can rotate relative to the machine body, and the extension part is connected to the disk body and extends toward one side of the telescopic member, so as to be hingedly connected with the telescopic member, so that the telescopic member can drive the disk body to rotate relative to the base when moving back and forth in a straight line, providing a driving force for the rotation of the disk body.

[0035] 3. As a preferred embodiment of the present application, the extension part is also provided with a mounting groove, the hinge can be installed in the mounting groove and the first positioning hole, and the telescopic part can be embedded in the mounting groove and hingedly connected with the hinge. By providing the extension part with a mounting groove, the mounting groove and the first positioning hole are provided with a hinge, and the telescopic part can be embedded in the mounting groove and hingedly connected with the hinge, the hinged connection between the extension part and the telescopic part is achieved, and the disc body can be driven to rotate when the telescopic part moves back and forth in a straight line.

[0036] 4. As a preferred embodiment of the present application, the automatic adjustment and core repairing device also includes a limiting mechanism, which includes a baffle and a limiting member; the baffle is connected to the base through a connecting member, and the limiting member is connected to the middle of the baffle corresponding to the telescopic member, and is used to limit the distance of the telescopic member moving in a straight line. The baffle is connected to the base, and the purpose is to block the rotating disk in the circumferential direction when the telescopic member drives the rotating disk to rotate, to prevent the rotating disk from rotating too much, and to limit the rotation of the rotating disk; the limiting member is connected to the middle of the baffle and corresponds to the position of the telescopic member, and the purpose is to limit the telescopic member in the direction of movement of the linear reciprocating motion, to prevent the telescopic member from moving too far in a straight line and colliding with the baffle.

[0037] 5. As a preferred embodiment of the present application, the base includes a base, and the first connecting plate and the second connecting plate are connected to the side of the base facing the rotating mechanism, and the telescopic member is connected in parallel between the first connecting plate and the second connecting plate; the baffle is vertically connected between the first connecting plate and the second connecting plate through a connecting member. The first connecting plate and the second connecting plate of the base have the function of providing support for the guide column, thereby realizing support for the rotating disk, and the telescopic member is connected in parallel between the first connecting plate and the second connecting plate, so that the telescopic member can move back and forth in a straight line along the parallel direction of the first connecting plate and the second connecting plate, and push the rotating disk to rotate relative to the base under the rotation of the guide column; the baffle is vertically connected between the first connecting plate and the second connecting plate and can be vertically distributed relative to the telescopic member. Since the limiter connected to the baffle corresponds to the telescopic member, the movement distance of the telescopic member is limited to prevent the telescopic member from exceeding the baffle. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0039] Figure 1 It is a structural schematic diagram of a first angle of an automatic core repairing device according to an implementation mode of the present application;

[0040] Figure 2 It is a structural schematic diagram of a second angle of an automatic core repairing device according to an embodiment of the present application;

[0041] Figure 3 It is a structural schematic diagram of a third angle of an automatic adjustment core repairing device according to an implementation mode of the present application;

[0042] Figure 4 A flowchart of an automatic adjustment and core repairing method according to an implementation mode of the present application;

[0043] In the figure,

[0044] 1. Base; 2. Telescopic member; 3. Guide column; 4. Rotating disk; 5. Core repairing rod; 6. Baffle; 7. Limiting member; 8. First connecting plate; 9. Second connecting plate. DETAILED DESCRIPTION

[0045] In order to more clearly illustrate the overall concept of the present application, a detailed description is given below in an illustrative manner in conjunction with the accompanying drawings.

[0046] In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present application is not limited to the specific embodiments disclosed below.

[0047] In addition, in the description of the present application, it should be understood that the terms "top", "bottom", "inside", "outside", "axial", "radial", "circumferential", etc., indicating orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0048] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or a communication; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0049] In the present application, unless otherwise clearly specified and limited, the first feature "above" or "below" the second feature may be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. In the description of this specification, the description with reference to the terms "implementation method", "example", "one embodiment", "example" or "specific example" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in an appropriate manner in any one or more embodiments or examples.

[0050] Example 1

[0051] The present application relates to an automatic adjustment core repairing device, such as Figure 1-3 As shown, connected to a robotic arm, comprising:

[0052] Base 1, connected to the robot arm;

[0053] The electric control mechanism includes a driving assembly and a telescopic member 2; the driving assembly is connected to the base 1; the telescopic member 2 can perform telescopic movement relative to the base 1 through the driving assembly;

[0054] The rotating mechanism comprises a guide column 3 and a rotating disk 4; the guide column 3 is rotatably connected to the base 1; the rotating disk 4 has a guide portion connected to the guide column 3 and a hinge portion hingedly connected to the telescopic member 2; the telescopic member 2 is driven to move linearly back and forth by a driving assembly to drive the rotating disk 4 to rotate relative to the base 1;

[0055] The core repairing mechanism comprises a core repairing rod 5 connected to a rotating disk 4. The core repairing rod 5 is driven by the rotating disk 4 to rotate at a preset angle to scrape off the seams of the sand core.

[0056] like Figure 1-3 As shown, the base 1 is used to connect with the robot arm, and the motion trajectory of the base 1 and the multi-angle motion are adjusted by cooperating with the robot arm, so as to realize the positioning of the automatic adjustment core repairing device to the position of the sand core placed in place, so as to facilitate the seaming of the sand core; the base 1 is connected with an electric control mechanism, a rotating mechanism and a core repairing mechanism, wherein the driving component of the electric control mechanism is connected to the base 1, and the telescopic member 2 can be connected to the driving component, and is controlled by the driving component to move relative to the base 1 along the direction as shown in FIG. Figure 3 The position shown in the figure moves back and forth in a straight line in the horizontal direction. Figure 3 When the orientation shown moves horizontally and linearly to the right, since the telescopic member 2 is hingedly connected to the rotating disk 4, and the rotating disk 4 is rotatably connected to the base 1 through the guide column 3, when the telescopic member 2 hingedly connected to one side of the rotating disk 4 moves linearly, the other side of the rotating disk 4 can be rotated relative to the base 1 under the rotation of the guide column 3. The rotation angle is controlled by the displacement of the telescopic member 2 of the electric control mechanism, so that the preset angle can be adjusted, so that the rotating disk 4 can rotate at a certain angle relative to the base 1, thereby achieving the scraping of the seams of the sand core at different positions. Of course, the core repairing rod 5 connected to the rotating disk 4 is responsible for the work of scraping the seams. Since the core repairing rod 5 has a certain angle of rotation under the rotation of the rotating disk 4, for example, when the outer peripheral surface of the engine cylinder body has seams from the top to the bottom, it is necessary to use the movement of the mechanical arm to achieve the processing of the entire seam. Therefore, the automatic adjustment core repairing device of the present application can process seams at different positions and different thicknesses through the cooperation with the mechanical arm.

[0057] In the present application, the rotation angle of the rotating disk 4 can be controlled by the electric control mechanism. Since the core repairing rod 5 of the core repairing mechanism is connected to the rotating disk 4, the core repairing rod 5 can be driven to rotate to a preset angle, and the seams at different positions can be scraped off. At the same time, by connecting the core repairing device to the mechanical arm, the mechanical arm control can control the rotation position of the rotating disk 4 and the position relative to the sand core through cooperation with the mechanical arm, so that seams of different thicknesses can be scraped off. The trimming amount is automatically adjusted according to the position and thickness of the seam. The trimming amount is increased for seams with larger thickness, and the trimming amount is relatively reduced for seams with smaller thickness, so as to customize the trimming of seams at different positions and different thicknesses.

[0058] As a preferred embodiment, the rotating disk 4 includes a disk body portion and an extension portion that are connected to each other, the disk body portion is provided with a connecting hole for connecting with the guide column 3; the extension portion extends toward one side of the telescopic member 2, the extension portion is provided with a first positioning hole, and the telescopic member 2 is provided with a second positioning hole corresponding to the extension portion; the telescopic member 2 is hingedly connected to the rotating disk 4 by a hinged member that is inserted into the first positioning hole and the second positioning hole.

[0059] The disc body is used to connect with the guide column 3, and the guide column 3 can be rotatably connected to the base 1, so that the disc body can rotate relative to the machine body. The extension part is connected to the disc body and extends toward one side of the telescopic member 2. The purpose is to be able to be hingedly connected with the telescopic member 2, so that the telescopic member 2 can drive the disc body to rotate relative to the base 1 when it moves back and forth in a straight line, providing a driving force for the rotation of the disc body.

[0060] Furthermore, the extension portion has a mounting groove, and the telescopic member 2 can be embedded in the mounting groove and hingedly connected to the hinge member.

[0061] By providing a mounting groove in the extension part, hinges are installed in the mounting groove and the first positioning hole, and the telescopic part 2 can be embedded in the mounting groove and hingedly connected to the hinge, thereby realizing a hinged connection between the extension part and the telescopic part 2, and realizing that when the telescopic part 2 moves back and forth in a straight line, it can drive the disc body to rotate.

[0062] As a preferred embodiment, the automatic adjustment core repairing device also includes a limiting mechanism, which includes a baffle 6 and a limiting member 7; the baffle 6 is connected to the base 1 through a connecting member, and the limiting member 7 is connected to the middle part of the baffle 6 corresponding to the telescopic member 2, which is used to limit the distance of the telescopic member 2 moving along a straight line.

[0063] The baffle 6 is connected to the base 1, so as to block the rotating disk 4 in the circumferential direction when the telescopic member 2 drives the rotating disk 4 to rotate, thereby preventing the rotating disk 4 from rotating too much, thereby playing a role in limiting the rotation of the rotating disk 4; the limiting member 7 is connected to the middle part of the baffle 6 and corresponds to the position of the telescopic member 2, so as to limit the telescopic member 2 in the direction of linear reciprocating motion, thereby preventing the telescopic member 2 from colliding with the baffle 6 due to excessive linear movement.

[0064] As a preferred embodiment, the base 1 includes a base, and the side of the base facing the rotating mechanism is connected to a first connecting plate 8 and a second connecting plate 9, the telescopic member 2 is connected in parallel between the first connecting plate 8 and the second connecting plate 9; the baffle 6 is vertically connected between the first connecting plate 8 and the second connecting plate 9 through a connecting member.

[0065] like Figure 1-3 As shown, the base 1 includes a base plate and a base, the base plate is used to connect with the robot arm, and the base is connected to the right side of the base plate for connecting the rotating disk 4, wherein the base has a first connecting plate 8 and a second connecting plate 9 which are spaced a preset distance apart and parallel to each other. The first connecting plate 8 and the second connecting plate 9 function to provide support for the guide column 3, thereby realizing support for the rotating disk 4, the telescopic member 2 is connected in parallel between the first connecting plate 8 and the second connecting plate 9, so that the telescopic member 2 can move back and forth in a straight line along the parallel direction of the first connecting plate 8 and the second connecting plate 9, and push the rotating disk 4 to rotate relative to the base 1 under the rotation of the guide column 3; the baffle 6 is vertically connected between the first connecting plate 8 and the second connecting plate 9 and can be vertically distributed relative to the telescopic member 2, and the limiting member 7 connected to the baffle 6 corresponds to the telescopic member 2, thereby realizing the limitation of the movement distance of the telescopic member 2, and preventing the telescopic member 2 from exceeding the baffle 6.

[0066] Furthermore, the first connecting plate 8 is provided with a first mounting hole, the second connecting plate 9 is provided with a second mounting hole, and the guide column 3 is rotatably connected to the first mounting hole and the second mounting hole; the rotating disk 4 is rotatably connected to the guide column 3 and is arranged between the first connecting plate 8 and the second connecting plate 9.

[0067] The first connecting plate 8 is arranged above the second connecting plate 9, a first mounting hole is provided on the first connecting plate 8, a second mounting hole corresponding to the first mounting hole is provided on the second connecting plate 9, the guide column 3 is rotatably connected to the first mounting hole and the second mounting hole through a bearing assembly, the top section of the guide column 3 is rotatably connected to the first mounting hole, and the bottom section of the guide column 3 is rotatably connected to the second mounting hole. When in use, the guide column 3 is first fixedly inserted into the rotating disk 4, and then the top of the guide column 3 is inserted into the first mounting hole, and the bottom of the guide column 3 is inserted into the second mounting hole, so that the rotating disk 4 can be rotatably connected relative to the base 1 under the connection of the guide column 3.

[0068] The structure of the driving component is not limited by the present application, and any of the following implementations may be adopted:

[0069] Embodiment 1: The driving assembly includes a driving member, a lead screw and a slider; the driving member is connected to the base 1, the lead screw is connected to the driving member, the slider is threadedly connected to the lead screw, and one end of the slider is connected to a telescopic member 2. The driving member drives the lead screw to rotate to drive the slider to move along the lead screw, which can drive the telescopic member 2 to move back and forth in a straight line.

[0070] The driving member can be a motor, which drives the lead screw to rotate. Since the two ends of the lead screw are rotatably connected to the base 1, the lead screw can only rotate along the base 1, and the slider threadedly connected to the lead screw can move relative to the axis of the lead screw under the rotation of the lead screw. Since the slider is connected to the telescopic member 2, the telescopic member 2 can produce linear motion along the axis of the lead screw. The forward and reverse motions of the lead screw are adjusted by the motor to adjust the telescopic member 2 to achieve reciprocating linear motion.

[0071] Embodiment 2: The driving assembly includes a hydraulic cylinder and a motor. The hydraulic cylinder is driven by the motor. The motor and the hydraulic cylinder are connected to the base 1. The piston rod of the hydraulic cylinder is connected to the telescopic member 2 to drive the telescopic member 2 to move back and forth in a straight line.

[0072] The piston rod of the hydraulic cylinder can realize linear reciprocating movement, thereby driving the telescopic member 2 to realize linear movement, thereby pushing the rotating disk 4 to rotate relative to the base 1, so that the core repairing rod 5 can rotate to scrape off the seam.

[0073] In addition, an automatic adjustment core repairing device of the present application also includes a collecting device, which includes a base, a suction pump, a suction pipe and a carrying box. The base is connected to the base body of the robotic arm, and the suction pipe is connected to the bottom of the robotic arm through a support column and can move with the robotic arm to facilitate the absorption of powder remaining after scraping the seams. The base is connected to a carrying box, and the carrying box is used to be connected to an output pipe, and the output pipe is connected to the outlet of the suction pump, and the suction pipe is connected to the inlet of the suction pump. The suction pipe has a conical feed port inclined downward toward the seams, and the motor drives the suction pump to start running, and the scraped powder is sucked through the conical feed port of the suction pipe and input into the carrying box through the output pipe, so as to realize scraping the seams and recovering the powder at the same time.

[0074] Example 2

[0075] The present application also relates to an automatic adjustment and core repairing system, an automatic adjustment and core repairing device based on any one of the above items, comprising:

[0076] PLC controller;

[0077] Displacement sensor, used to detect whether the sand core is installed in place;

[0078] The visual system is used to take pictures of the formed sand cores and identify the seams of the sand cores, and measure the seam thickness and deformation;

[0079] The automatic adjustment core repairing device is connected to the PLC controller, and the PLC controller controls the telescopic amount of the telescopic member 2 in the automatic adjustment core repairing device to scrape the seam;

[0080] The mechanical arm is used to be connected with the automatic adjusting core repairing device and can move according to a preset trajectory to drive the automatic adjusting core repairing device to scrape the seams of the sand core.

[0081] The PLC controller is used to determine whether the sand core is installed in place based on the position data of the sand core uploaded by the displacement sensor. When it is determined that the sand core is installed in place, it will control the visual system to take pictures of the formed sand core and identify the seams on the sand core. After the thickness and deformation of the seams are calculated by the visual system, the PLC controller controls the electric control mechanism of the automatic core repairing device to adjust the telescopic amount of the telescopic part 2. The rotation range of the core repairing rod 5 is controlled by adjusting the telescopic amount of the telescopic part 2 to scrape the seams within a certain range. The robot arm is used to plan a reasonable path for the robot arm to scrape the seams at different positions. The seams of different thicknesses can be scraped off by controlling the displacement distance of the robot arm relative to the sand core.

[0082] As a preferred embodiment, the robotic arm is also connected to a rotating disk, and the rotating disk is connected to a first jaw and a second jaw. The first jaw and the second jaw can slide relatively along the rotating disk so that the distance between the first jaw and the second jaw is adjustable. The first jaw and the second jaw are connected to a base plate of the base body to achieve the installation of core repairing devices of different sizes; the base body is driven to rotate under the drive of the rotating disk to achieve the adjustment of the rotation angle of the core repairing device.

[0083] In addition to using PLC controllers, industrial PCs can also be used to introduce cloud computing platforms for remote monitoring and management, which is not only convenient for maintaining data but also can optimize process parameters through big data analysis. Human-machine interactive all-in-one machines can also be added. The human-machine interactive all-in-one machine has a display screen with voice input options, and enhanced virtual reality VR or reality AR technology, which enables staff to directly control the core repair device or robotic arm by operating the display screen, thereby improving operational convenience and user experience.

[0084] In addition, a reasonable path can be planned through linear reciprocating, spiral scanning and contour following strategies, and an adaptive path planning algorithm can be further developed, so that the robot arm can dynamically adjust the path according to the actual state of the sand core, thereby improving the efficiency and core repair quality.

[0085] Example 3

[0086] The present application also relates to an automatic adjustment core repair method, such as Figure 4 As shown, based on the above-mentioned automatic adjustment and core repairing system, the specific steps include:

[0087] Use displacement sensor to detect whether the sand core is in place;

[0088] After the sand core is installed in place, the PLC controls the visual system to take pictures of the sand core and identify the seams of the sand core, and measure the seam thickness and deformation;

[0089] If the sand core is not installed in place, recheck the position of the sand core;

[0090] The obtained seam thickness and deformation are uploaded to the PLC controller, and the telescopic amount of the telescopic member 2 is calculated by the PLC controller so that the telescopic member 2 can scrape seams of different thicknesses;

[0091] The electric control mechanism drives the telescopic member 2 to be extended and retracted to the desired position, and drives the rotating mechanism to rotate, so that the core repairing mechanism moves to the position where the seam is located;

[0092] The robot is controlled by a PLC controller to drive its mechanical arm to set a predetermined route according to the model size of the sand core and the location information of the seam, so as to formulate a corresponding trajectory program, and the trajectory program is called by the PLC controller to control the mechanical arm to drive the automatic adjustment core repairing device to move according to the predetermined trajectory. Preferably, the predetermined trajectory is the distribution path of the seam, and the seam is scraped along the distribution path of the seam to achieve scraping of the seams at different positions;

[0093] After the robot drives the mechanical arm to complete the core repair work of seam scraping, the sand core is released to the next process;

[0094] After scraping, the robot drives its mechanical arm back to the original position, waiting for the scraping of the seam of the sand core in the next cycle.

[0095] Specifically, the PLC controls the visual system to take pictures of the sand core and identify the seams of the sand core, and the seam thickness and deformation are measured. Specifically, the PLC controls the visual system to take pictures of the sand core, the visual system compares it with a standard template, and the thickness and deformation of the sand core seam are identified through calculation.

[0096] Furthermore, the position coordinate information of the sand core is detected by the displacement sensor and uploaded to the PLC controller, and the PLC controller is used to determine whether the sand core is installed in place. When the sand core is installed in place, the PLC controls the visual system to take pictures of the sand core. The visual system includes a first facing camera, a second facing camera and a third facing camera, wherein the first facing camera is arranged above the robot arm in the Z-axis direction, and can take pictures of the Z-axis edge of the large casting, and calculate the offset data of the seam on the large casting along the Z-axis direction according to the collected photo information, and upload it to the PLC controller; the second facing camera is arranged above the robot arm in the Z-axis direction, and the third ... The front of the robot arm can take pictures of the X-axis edge of the large casting, and calculate the offset data of the seam of the large casting along the X-axis direction based on the collected photo information, and then upload it to the PLC controller; the third camera is set on the side of the robot arm in the Y-axis direction, and can take pictures of the Y-axis edge of the large casting, and calculate the offset data of the seam on the large casting along the Y-axis direction based on the collected photo information, and upload it to the PLC controller; the PLC can judge the thickness and deformation of the seam by comparing it with the standard data of the large casting contained in the standard template;

[0097] After obtaining the thickness and deformation of the seam, the PLC controller can control the robotic arm to drive the core repairing device to follow the planned predetermined path that can move along the seam according to the position of the sand core and the position information of the seam, and by controlling the electronic control mechanism to adjust the telescopic amount of the telescopic part 2, the seams of different thicknesses on the predetermined path can be adaptively scraped, and the seams of uneven thickness can be adaptively scraped while walking along the path of the seam, so that the scraping amount and correction amount can be automatically adjusted according to the thickness of the seam, and there will be no over-scraping or under-scraping, thereby achieving the effect of uniformly removing the seams.

[0098] Anything not described in this application can be achieved by adopting or drawing on existing technologies.

[0099] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referenced to each other, and each embodiment focuses on the differences from other embodiments.

[0100] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. An automatic adjustment and repairing device, connected to a mechanical arm, characterized in that: include: A base (1) connected to the robot arm; An electric control mechanism, comprising a drive assembly and a telescopic member (2); The driving assembly is connected to the base (1); the telescopic member (2) can perform telescopic movement relative to the base (1) through the driving assembly; The rotating mechanism comprises a guide column (3) and a rotating disk (4); the guide column (3) is rotatably connected to a base (1); the rotating disk (4) comprises a guide portion connected to the guide column (3) and a hinge portion hingedly connected to a telescopic member (2); the telescopic member (2) is driven to move linearly back and forth by a driving assembly, so as to drive the rotating disk (4) to rotate relative to the base (1); The core repairing mechanism comprises a core repairing rod (5) connected to a rotating disk (4); the core repairing rod (5) is driven by the rotating disk (4) to rotate at a preset angle to scrape off the seams of the sand core.

2. The automatic adjustment and core repairing device according to claim 1, characterized in that: The rotating disk (4) comprises a disk body and an extension portion connected to each other, the disk body portion is provided with a connection hole for connecting with a guide column (3); the extension portion extends toward one side of the telescopic member (2), the extension portion is provided with a first positioning hole, and the telescopic member (2) is provided with a second positioning hole corresponding to the extension portion; the telescopic member (2) is hingedly connected to the rotating disk (4) by inserting a hinge into the first positioning hole and the second positioning hole.

3. An automatic adjustment and core repairing device as claimed in claim 2, characterized in that: The extension portion is also provided with a mounting groove, and the hinged member can be inserted into the mounting groove and the first positioning hole, and the telescopic member (2) can be embedded in the mounting groove and hingedly connected to the hinged member.

4. The automatic adjustment and core repairing device according to claim 1, characterized in that: It also comprises a limiting mechanism, which comprises a baffle (6) and a limiting member (7); the baffle (6) is connected to the base (1) via a connecting member, and the limiting member (7) is connected to the middle part of the baffle (6) corresponding to the telescopic member (2) and is used to limit the distance of the telescopic member (2) moving along a straight line.

5. The automatic adjustment and core repairing device according to claim 4, characterized in that: The base (1) comprises a base, a first connecting plate (8) and a second connecting plate (9) are connected to the side of the base facing the rotating mechanism, the telescopic member (2) is connected in parallel between the first connecting plate (8) and the second connecting plate (9); and the baffle (6) is vertically connected between the first connecting plate (8) and the second connecting plate (9) via a connecting member.

6. An automatic adjustment and core repairing device as claimed in claim 5, characterized in that: The first connecting plate (8) is provided with a first mounting hole, the second connecting plate (9) is provided with a second mounting hole, the guide column (3) is rotatably connected to the first mounting hole and the second mounting hole; the rotating disk (4) is rotatably connected to the guide column (3) and is arranged between the first connecting plate (8) and the second connecting plate (9).

7. The automatic adjustment and core repairing device according to claim 1, characterized in that: The driving assembly comprises a driving member, a lead screw and a slider; the driving member is connected to the base (1), the lead screw is connected to the driving member, the slider is threadedly connected to the lead screw, one end of the slider is connected to a telescopic member (2), and the driving member drives the lead screw to rotate to drive the slider to move along the lead screw, thereby driving the telescopic member (2) to move back and forth in a straight line; or, The driving assembly comprises a hydraulic cylinder and a motor, the hydraulic cylinder is driven by the motor, the motor and the hydraulic cylinder are connected to a base body (1), and the piston rod of the hydraulic cylinder is connected to a telescopic member (2) to drive the telescopic member (2) to move linearly back and forth.

8. An automatic adjustment and repairing system, characterized in that: include: PLC controller; Displacement sensor, used to detect whether the sand core is installed in place; The visual system is used to take pictures of the formed sand cores and identify the seams of the sand cores, and measure the seam thickness and deformation; An automatic adjustment core repairing device is connected to a PLC controller, and the PLC controller is used to control the extension amount of a telescopic member (2) in the automatic adjustment core repairing device to scrape off the seam; The mechanical arm is used to be connected with the automatic adjusting core repairing device and can move according to a preset trajectory to drive the automatic adjusting core repairing device to scrape the seams of the sand core.

9. An automatic adjustment core repair method, the specific steps include: Use displacement sensor to detect whether the sand core is in place; After the sand core is installed in place, the PLC controls the visual system to take pictures of the sand core and identify the seams of the sand core, and measure the seam thickness and deformation; The obtained seam thickness and deformation amount are uploaded to a PLC controller, and the telescopic amount of the telescopic member (2) is calculated by the PLC controller so that the telescopic member (2) can scrape seams of different thicknesses; The electric control mechanism drives the telescopic member (2) to be telescopically extended to a certain position, and drives the rotating mechanism to rotate, so that the core repairing mechanism moves to the position where the seam is located; The PLC controller controls the robot arm to move along the trajectory and drive the automatic adjustment core repairing device to scrape the seams at different positions.

10. An automatic adjustment and core repairing method as claimed in claim 9, characterized in that: The PLC-controlled visual system is used to take pictures of the sand core and identify the seams of the sand core, and the seam thickness and deformation are measured. Specifically, the PLC-controlled visual system takes pictures of the sand core, the visual system compares it with the standard template, and the thickness and deformation of the sand core seam are identified through calculation.

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