Automatic cutting device and method applied to valve body castings

Abstract

An automatic cutting device and method applied to valve body castings, comprising conveying components, positioning and clamping components, cutting robots, frames, stereoscopic vision cameras and power components; the power components are respectively longitudinally arranged on the four sides of the frame; the positioning and clamping components are slidingly arranged on the frame, are connected with the power components and can move up and down along the frame under the driving of the power components; the cutting robots are arranged on the side of the frame; and the stereoscopic vision cameras are arranged on the frame. The positioning and clamping components can be used for grabbing the valve body castings, and the valve body castings can be twice corrected and positioned, so that the highest point of the four circular holes of the valve body castings is determined on the parallel plane with the top of the frame, and the axis of the four circular holes of the valve body castings is correspondingly parallel to the geometric center line of the top of the frame, that is, the position of the valve body castings can be corrected and positioned to an optimal cutting position, and the pouring riser of the valve body castings can be accurately cut.

Description

Technical Field

[0001] This invention relates to the field of valve body processing technology, and in particular to an automated cutting method for valve body castings. Background Technology

[0002] The valve body is cast using sand casting, which mainly consists of an upper sand mold and a lower sand mold, with the parting line at the junction of the upper and lower sand molds. During casting, the molten metal is generally poured in through the external gating gate at the top of the upper sand mold. Due to process limitations, after casting, the end faces of the round holes above the parting line of the valve body casting are relatively smooth, while the end faces of the round holes below the parting line and the surface of the casting retain irregular gating gates and risers. After casting, the gating gates and risers need to be cut and separated to allow the usable blank product to proceed with subsequent production processes. The traditional method of cutting gating gates and risers involves manual cutting with both hands on a simple band saw, without safety protection measures, posing significant safety hazards, and is labor-intensive. The quality of manually cut products is also inconsistent. The utility model patent with authorization announcement number CN207272308U discloses a gate and riser cutting device. It uses a robotic arm to grip the workpiece, and then transfers the workpiece to be cut to a positioning fixture for clamping and positioning. After clamping and positioning, the drive device drives the workpiece to be cut to be fed to the rotating cutting device for cutting. However, after the robotic arm grips the workpiece and places it on the positioning fixture for clamping, the position of the workpiece is not properly adjusted. During cutting, due to the inaccurate position of the workpiece, some gate and riser will still remain in the cut product. Summary of the Invention

[0003] In order to solve the technical problems existing in the above-mentioned technologies, it is necessary to provide an automated cutting device for valve body castings.

[0004] An automated cutting device for valve body castings includes a conveying component, a positioning and clamping component, a cutting robot, a frame, a stereo vision camera, and a power component. The conveying component is used to convey the valve body casting to the bottom of the frame; There are four power components, and each power component is longitudinally arranged on the four sides of the frame. The positioning and clamping component is slidably mounted on the frame. The positioning and clamping component is connected to the power component and can move up and down along the frame under the drive of the power component. The positioning and clamping component is used to position and clamp the valve body casting. The cutting robot is located on the side of the frame and is used to cut the gating and riser of the valve body casting; The stereo vision camera is mounted on the frame.

[0005] Preferably, the positioning and clamping component includes a telescopic assembly, a push plate, and a clamping plate. The telescopic assembly frame is slidably connected to one end of the telescopic assembly and connected to the power component, and the other end is fixedly connected to the push plate. The clamping plate is disposed on the side of the push plate away from the telescopic assembly.

[0006] Preferably, the push plate includes a top plate and a side plate. The side plate is longitudinally disposed at the end of the telescopic assembly, and the side plate is horizontally disposed at the upper end of the side plate and away from the telescopic assembly, so that the side plate and the top plate form an "L" shaped structure.

[0007] Preferably, the clamping plate includes a first clamping plate and a second clamping plate, the first clamping plate is directly opposite the side plate, and the second clamping plate is disposed on the top of the first clamping plate and directly opposite the top plate.

[0008] Preferably, the conveying component includes a longitudinal moving mechanism, a transverse slide, and a lifting mechanism. One end of the longitudinal moving mechanism is located below the frame, and the longitudinal moving mechanism can drive the transverse slide to move along its length direction to convey the valve body to the bottom of the frame. The lifting mechanism is set on the transverse slide and can move laterally along the transverse slide. A support platform is provided on the top of the lifting mechanism.

[0009] Preferably, a receiving box is provided on the side of the transverse slide table near the frame.

[0010] Preferably, the power component includes a servo motor and a drive rod. The drive rod is longitudinally mounted on the frame, and its two ends are rotatably connected to the frame. The drive rod is threadedly connected to the telescopic assembly, and the output end of the servo motor is connected to the drive rod.

[0011] Preferably, pressure sensors are provided on the surfaces of the side plates and top plates away from the telescopic components, and pressure sensors are provided on the support platform.

[0012] Preferably, the longitudinal moving mechanism includes a longitudinal slide rail, a power rod, and a drive motor. The upper end of the longitudinal slide rail is slidably connected to the bottom of the transverse slide table. The power rod is rotatably mounted on the slide rail and is threadedly connected to the transverse slide table. The output end of the drive motor is connected to the power rod.

[0013] It is also necessary to provide an automated cutting method for valve body castings.

[0014] An automated cutting method for valve body castings includes the following steps: Step 1: Place the valve body casting onto the support platform of the conveying component; Step 2: Control the vertical moving mechanism to move the horizontal slide table to a position below the stereo vision camera and stop. Step 3: Obtain images of the valve body casting by taking pictures with a stereo vision camera, and obtain the symmetry center position of the valve body casting and the height information of each circular hole on the valve body casting through image processing and analysis; Step 4: The longitudinal moving mechanism and the transverse slide are adjusted and moved according to the deviation between the center of symmetry of the valve body casting and the center of symmetry of the top of the frame obtained by the stereo vision camera, and the two are aligned and corrected. Step 5: According to the design parameters, control the movement of the other three positioning and clamping components, except for the one closest to the longitudinal moving mechanism, so that the plane formed by the push plate on each positioning and clamping component is consistent with the plane formed by the axis of the four circular holes of the valve body casting. Step 6: Based on the images captured by the stereo vision camera, and following the principle that the top plate extends 5mm beyond the end face of the circular hole, calculate the pre-extend length of the telescopic components, and control the extension of each telescopic component accordingly. Step 7: Control the lifting mechanism to rise, which will drive the valve body casting to move upward, so that the highest point of the four round holes of the valve body casting contacts the second clamping plate respectively. Under the action of pressure, the valve body casting is positioned once, so that the reference plane determined by the highest point of the four round holes of the valve body casting is parallel to the plane determined by the top of the frame. Step 8: Control the telescopic assembly to continue extending until the first clamping plate contacts the end face of the four round holes of the valve body casting. Under the action of pressure, the valve body casting is positioned for the second time, so that the axis of the four round holes of the valve body casting is parallel to the geometric center line of the top of the frame. At this time, under the pressure of the first clamping plate, the valve body casting is clamped and positioned. Step 9: Control the lifting mechanism to descend back to the initial position, and control the longitudinal movement mechanism to move the transverse slide backward so that the receiving box is located below the valve body casting; Step 10: The cutting robot moves according to the pre-programmed program, walks out of the cutting trajectory, and returns to the initial position after completing the removal of the riser and gating gate of the valve body casting. The cut-off riser and gating gate waste falls into the receiving box. Step 11: After the cutting is completed, the longitudinal moving mechanism moves forward so that the support platform is directly below the valve body casting. The lifting mechanism rises and stops rising when the support platform contacts the bottom of the valve body casting. The telescopic component retracts to the initial position, and the valve body casting can be released and placed on the support platform. Step 12: The lifting mechanism descends to the initial position, and the transverse slide moves backward through the longitudinal moving mechanism to transport the valve body casting out of the frame. The operator removes the valve body casting, and the entire cutting process is completed.

[0015] As can be seen from the above technical solution, the automated cutting and method for valve body castings provided by the present invention includes a conveying component, a positioning and clamping component, a cutting robot, a frame, a stereo vision camera, and a power component; there are four power components, and each power component is longitudinally arranged on the four sides of the frame; the positioning and clamping component is slidably arranged on the frame, connected to the power component, and can move up and down along the frame under the drive of the power component; the cutting robot is arranged on the side of the frame; and the stereo vision camera is arranged on the frame. This invention controls the conveying components to transport valve body castings to the bottom of the frame, achieving mechanized conveying of valve body castings and reducing manual handling costs. The positioning and clamping components grip the valve body castings and perform two corrections and positioning operations, ensuring that the reference plane determined by the highest point of the four circular holes in the valve body casting is parallel to the plane determined by the top of the frame, and that the axes of the four circular holes in the valve body casting are parallel to the geometric center line of the top of the frame. This allows the valve body casting to be corrected and positioned to an optimal cutting position. Through a pre-set cutting path, the cutting robot can precisely cut the gating and riser of the valve body casting, thereby reducing manual labor costs and achieving mechanized processing. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the structure of the present invention.

[0018] Figure 2 This is a schematic diagram of the positioning and clamping component of the present invention.

[0019] Figure 3 This is a schematic diagram of the connection between the longitudinal moving mechanism, the power component, and the frame of the present invention.

[0020] Figure 4 for Figure 3 A magnified view of a portion of point A in the middle.

[0021] Figure 5 For the present invention Figure 3 A structural diagram from another angle.

[0022] Figure 6 for Figure 5 A magnified view of a section at point B.

[0023] In the figure: conveying component 01, longitudinal moving mechanism 11, longitudinal slide rail 111, power rod 112, drive motor 113, transverse slide 12, lifting mechanism 13, support platform 14, positioning and clamping component 02, telescopic component 21, push plate 22, top plate 221, side plate 222, clamping plate 23, first clamping plate 231, second clamping plate 232, cutting robot 03, frame 04, stereo vision camera 05, valve body casting 06, power component 07, servo motor 71, drive rod 72, pressure sensor 08, receiving box 09. Detailed Implementation

[0024] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0025] In the description of this invention, it should be understood that the terms "upper", "middle", "outer", "inner", "lower", etc., which indicate orientation or positional relationship, are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the components or elements referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting this invention.

[0026] Please refer to Figures 1 to 6This invention provides an automated cutting device for valve body castings, including a conveying component 01, a positioning and clamping component 02, a cutting robot 03, a frame 04, a stereo vision camera 05, and a power component 07. The conveying component 01 is used to convey the valve body casting 06 to the bottom of the frame 04. There are four power components 07, and each power component 07 is longitudinally arranged on one of the four sides of the frame 04. The positioning and clamping component 02 is slidably disposed on the frame 04, connected to the power components 07, and can move up and down along the frame 04 under the drive of the power components 07. The positioning and clamping component 02 is used to position and clamp the valve body casting 06. The cutting robot 03 is disposed on the side of the frame 04 and is used to cut the gating and riser of the valve body casting 06. The stereo vision camera 05 is disposed on the frame 04 and can observe the position of the valve body casting 06 to determine its specific location. It also includes a host computer and a slave PLC control system, which are connected to the cutting robot 03 and the stereo vision camera 05 via a communication network. A human-machine interface is designed on the computer, providing an interface for the operator to control the entire cutting process, such as starting and stopping cutting, selecting valve body models, and setting process parameters. The host computer has a database installed to store the design parameters for the diameters of the four circular holes of different valve body models in advance. The slave PLC control system is used to control the conveying component 01, the positioning and clamping component 02, the power component 07, the telescopic component 21, and to collect pressure sensor values.

[0027] In one embodiment, the positioning and clamping component 02 includes a telescopic assembly 21, a push plate 22, and a clamping plate 23. The frame 04 of the telescopic assembly 21 is slidably connected to one end of the telescopic assembly 21 and connected to the power component 07. The other end of the telescopic assembly 21 is fixedly connected to the push plate 22. The clamping plate 23 is disposed on the side of the push plate 22 away from the telescopic assembly 21.

[0028] Specifically, the push plate 22 includes a top plate 221 and a side plate 222. The side plate 222 is longitudinally disposed at the end of the telescopic assembly 21, and the side plate 222 is horizontally disposed at the upper end of the side plate 222 and away from the telescopic assembly 21, so that the side plate 222 and the top plate 221 form an "L" shape. The clamping plate 23 includes a first clamping plate 231 and a second clamping plate 232. The first clamping plate 23 is directly opposite the side plate 222, and the second clamping plate 23 is disposed on the top of the first clamping plate 23 and directly opposite the top plate 221.

[0029] In one embodiment, the conveying component 01 includes a longitudinal moving mechanism 11, a transverse slide 12, and a lifting mechanism 13. One end of the longitudinal moving mechanism 11 is located below the frame 04. The longitudinal moving mechanism 11 can drive the transverse slide 12 to move along its length, conveying the valve body casting 06 to the area below the frame 04. The lifting mechanism 13 is disposed on the transverse slide 12 and can move laterally along the transverse slide 12. A support platform 14 is disposed on the top of the lifting mechanism 13, and the lifting mechanism 13 can control the up and down movement of the support platform 14. A receiving box 09 is disposed on the side of the transverse slide 12 near the frame 04 to collect waste material generated during the cutting of the riser and gating system.

[0030] In one embodiment, the power component 07 includes a servo motor 71 and a drive rod 72. The drive rod 72 is longitudinally mounted on the frame 04, and its two ends are rotatably connected to the frame 04. The drive rod 72 is threadedly connected to the telescopic assembly 21, and the output end of the servo motor 71 is connected to the drive rod 72. By driving the drive rod 72 to rotate through the servo motor 71, the drive rod 72 can cause the telescopic assembly 21 to move up and down along the frame 04, thereby controlling the up and down movement of the positioning and clamping component 02.

[0031] Pressure sensors 08 are provided on the surfaces of the side plates 222 and the top plate 221 on the side away from the telescopic component 21, and pressure sensors 08 are also provided on the support platform 14.

[0032] In one embodiment, the longitudinal moving mechanism 11 includes a longitudinal slide rail 111, a power rod 112, and a drive motor 113. The upper end of the longitudinal slide rail 111 is slidably connected to the bottom of the transverse slide table 12. The power rod 112 is rotatably mounted on the slide rail and is threadedly connected to the transverse slide table 12. The output end of the drive motor 113 is connected to the power rod 112.

[0033] The present invention also provides an automated cutting method for valve body castings.

[0034] Example 1: This automated cutting method for valve body castings includes the following steps: Step 1: Place the valve body casting 06 onto the support platform 14 of the conveying component 01; Step 2: Control the vertical moving mechanism 11 to move the horizontal slide 12 to below the stereo vision camera 05 and stop; Step 3: Obtain an image of valve body casting 06 by capturing it with stereo vision camera 05, and obtain the symmetry center position and height information of each circular hole on valve body casting 06 through image processing and analysis. Step 4: The longitudinal moving mechanism 11 and the transverse slide table 12 are adjusted and moved according to the deviation between the center of symmetry of the valve body casting 06 and the center of symmetry of the top of the frame 04 obtained by the stereo vision camera 05, and the two are aligned and corrected. Step 5: According to the design parameters, control the movement of the other three positioning and clamping components 02 except those close to the longitudinal moving mechanism 11, so that the plane formed by the push plate 22 on each positioning and clamping component 02 is consistent with the plane formed by the axis of the 4 circular holes of the valve body casting 064. Step 6: Based on the image captured by the stereo vision camera 05, and following the principle that the top plate 221 extends 5mm beyond the end face of the circular hole, calculate the pre-extended length of the telescopic component 21, and control the extension of each telescopic component 21 accordingly. Step 7: Control the lifting mechanism 13 to rise, which will drive the valve body casting 06 to move upward, so that the highest point of the four round holes of the valve body casting 06 contacts the second clamping plate 232 respectively. At this time, the pressure sensors 08 installed on the side plate 222 and the top plate 221 will detect the pressure. Under the pressure of the first clamping plate 231 and the second clamping plate 232, the valve body casting 06 is positioned once, so that the reference plane determined by the highest point of the four round holes of the valve body casting 06 is parallel to the plane determined by the top of the frame 04. Step 8: Control the telescopic component 21 to continue extending until the first clamping plate 231 contacts the end face of the four round holes of the valve body casting 06. Under the action of pressure, the valve body casting 06 is positioned for the second time, so that the axis of the four round holes of the valve body casting 06 is parallel to the geometric center line of the top of the frame 04. At this time, under the pressure of the first clamping plate 231, the valve body casting 06 is clamped and positioned. Step 9: Control the lifting mechanism 13 to descend back to the initial position, and control the longitudinal moving mechanism 11 to move the transverse slide 12 backward so that the receiving box 09 is located below the valve body casting 06; Step 10: The cutting robot moves according to the pre-programmed program, walks out of the cutting trajectory, and returns to the initial position after completing the removal of the riser and gating on the valve body casting 06. The cut-off riser and gating waste falls into the receiving box 09. Step 11: After the cutting is completed, the longitudinal moving mechanism 11 moves forward so that the support platform 14 is directly below the valve body casting 06. The lifting mechanism 13 rises and stops rising when the support platform 14 contacts the bottom of the valve body casting 06. The telescopic component 21 retracts to the initial position, and the valve body casting 06 can be released and placed on the support platform 14. Step 12: The lifting mechanism 13 descends to the initial position, and the transverse slide 12 is moved backward by the longitudinal moving mechanism 11 to transport the valve body casting 06 out of the frame 04. The operator removes the valve body casting 06, and the entire cutting process is completed.

[0035] Example 2: This automated cutting method for valve body castings includes the following steps: Step 1: Place the valve body casting 06 onto the support platform 14 of the conveying component 01; Step 2: The operator enters the valve body model on the host computer and then clicks the start button on the host computer's human-machine interface; Step 3: The host computer retrieves the design parameters of the diameters of the four circular holes from the database based on the input valve body model. Based on the design parameters, it calculates the moving distance of the three positioning and clamping components 02 (excluding the one closest to the longitudinal moving mechanism 11) and sends it to the lower PLC control system via the communication network. The lower PLC control system controls the motor on the power component 07 connected to the positioning and clamping component 02 to move according to the moving distance. The positioning and clamping component 02 slides to the corresponding position and stops, so that the plane formed by the push plate 22 on each positioning and clamping component 02 is consistent with the plane formed by the axes of the four circular holes of the valve body casting. Then, the lower PLC control system sends the sliding position status information back to the host computer via the communication network. Step 4: After receiving the positioning and clamping component 02's arrival information, the host computer sends an instruction to the lower PLC control system. The lower PLC control system controls the longitudinal moving mechanism 11 to move, and stops when the transverse slide table 12 is below the stereo vision camera 05, and sends the longitudinal moving mechanism 11's arrival information to the host computer. Step 5: After receiving the positioning information of the longitudinal moving mechanism 11, the host computer sends a photo-taking command to the stereo vision camera 05 through the communication network. After receiving the command, the stereo vision camera 05 takes a picture of the valve body casting 06 and sends it back to the host computer. The host computer processes and analyzes the image to obtain the symmetrical center position of the valve body casting 06. Step 6: The host computer sends the symmetry center position of the valve body casting 06 to the lower PLC control system through the communication network. The lower PLC control system controls the longitudinal moving mechanism 11 and the transverse slide table 12 to adjust and move according to the deviation between the symmetry center position of the valve body casting 06 and the symmetry center of the top of the frame 04, and aligns and corrects the two. Step 7: Based on the image captured by the stereo vision camera 05, the host computer calculates the pre-extended length of the telescopic component 21 according to the principle that the top plate 221 exceeds the end face of the circular hole by 5mm, and sends it to the lower PLC control system through the communication network. The lower PLC control system controls each telescopic component 21 to extend accordingly. Step 8: The lower-level PLC control system controls the lifting mechanism 13 to rise, which drives the valve body casting 06 to move upward, so that the highest point of the four round holes of the valve body casting contacts the second clamping plate 232 respectively. Under the action of pressure, the valve body casting 06 is positioned once, so that the reference plane determined by the highest point of the four round holes of the valve body casting is parallel to the plane determined by the top of the frame 04. During this process, the lower-level PLC control system will detect the value of the pressure sensor in real time to determine whether the highest point of the four round holes contacts the second clamping plate 232. Step 9: The lower-level PLC control system controls the telescopic component 21 to continue extending until the first clamping plate 231 contacts the end faces of the four circular holes of the valve body casting 06. Under the action of pressure, the valve body casting 06 is positioned twice, so that the axes of the four circular holes of the valve body casting 06 are parallel to the geometric center line of the top of the frame 04. At this time, under the pressure of the first clamping plate 231, the valve body casting 06 is clamped and positioned. During this process, the lower-level PLC control system will detect the value of the pressure sensor in real time to determine whether the end faces of the four circular holes are in contact with the first clamping plate 231, and calculate the clamping force according to the value of the pressure sensor. The extension of the telescopic component 21 will stop when the clamping force reaches a certain set value to ensure that the valve body casting 06 is reliably clamped. Step 10: The lower-level PLC control system controls the lifting mechanism 13 to descend back to the initial position, and the longitudinal moving mechanism 11 controls the transverse slide 12 to move backward, so that the receiving box is located below the valve body casting 06 and sends the completion information to the upper-level computer through the communication network. Step 11: After receiving the completion information, the host computer sends the valve body model to the cutting robot 03 through the communication network. The cutting robot 03 retrieves the valve body model and moves according to the pre-programmed corresponding program, walks out of the cutting trajectory, completes the removal of the gating and riser of the valve body casting 06, and returns to the initial position. The cut gating and riser waste falls into the receiving box 09. Step 12: After the cutting is completed, the lower PLC control system controls the longitudinal moving mechanism 11 to move forward, so that the support platform 14 is directly below the valve body casting 06. The lifting mechanism 13 rises and stops rising when the support platform 14 contacts the bottom of the valve body casting 06. The telescopic component 21 retracts to the initial position, and the valve body casting 06 can be released and placed on the support platform 14. Step 13: The lifting mechanism 13 descends to the initial position, and the transverse slide 12 is moved backward by the longitudinal moving mechanism 11 to transport the valve body casting 06 out of the frame 04. The operator removes the valve body casting 06, and the entire cutting process is completed.

[0036] The above-disclosed embodiments are merely preferred embodiments of the present invention and should not be construed as limiting the scope of the invention. Those skilled in the art will understand that implementing all or part of the above-described embodiments and making equivalent changes in accordance with the claims of the present invention are still within the scope of the invention.

Claims

1. An automated cutting method for valve body castings, characterized in that: Includes the following steps, Step 1: Place the valve body casting onto the support platform of the conveying component; Step 2: Control the vertical moving mechanism to move the horizontal slide table to a position below the stereo vision camera and stop. Step 3: Obtain images of the valve body casting by taking pictures with a stereo vision camera, and obtain the symmetry center position of the valve body casting and the height information of each circular hole on the valve body casting through image processing and analysis; Step 4: The longitudinal moving mechanism and the transverse slide are adjusted and moved according to the deviation between the center of symmetry of the valve body casting and the center of symmetry of the top of the frame obtained by the stereo vision camera, and the two are aligned and corrected. Step 5: According to the design parameters, control the movement of the other three positioning and clamping components, except for the one closest to the longitudinal moving mechanism, so that the plane formed by the push plate on each positioning and clamping component is consistent with the plane formed by the axis of the four circular holes of the valve body casting. Step 6: Based on the images captured by the stereo vision camera, and following the principle that the top plate extends 5mm beyond the end face of the circular hole, calculate the pre-extend length of the telescopic components, and control the extension of each telescopic component accordingly. Step 7: Control the lifting mechanism to rise, driving the valve body casting to move upward, so that the highest points of the four round holes of the valve body casting contact the top plate respectively. Under the action of pressure, the valve body casting is positioned once, so that the reference plane determined by the highest points of the four round holes of the valve body casting is parallel to the plane determined by the top of the frame. Step 8: Control the telescopic assembly to continue extending until the side plate contacts the end face of the four round holes of the valve body casting. Under the action of pressure, the valve body casting is positioned for the second time, so that the axis of the four round holes of the valve body casting is parallel to the geometric center line of the top of the frame. At this time, under the pressure of the side plate, the valve body casting is clamped and positioned. Step 9: Control the lifting mechanism to descend back to the initial position, and control the longitudinal movement mechanism to move the transverse slide backward so that the receiving box is located below the valve body casting; Step 10: The cutting robot moves according to the pre-programmed program, walks out of the cutting trajectory, and returns to the initial position after completing the removal of the riser and gating gate of the valve body casting. The cut-off riser and gating gate waste falls into the receiving box. Step 11: After the cutting is completed, the longitudinal moving mechanism moves forward so that the support platform is directly below the valve body casting. The lifting mechanism rises and stops rising when the support platform contacts the bottom of the valve body casting. The telescopic component retracts to the initial position, and the valve body casting can be released and placed on the support platform. Step 12: The lifting mechanism descends to the initial position, and the transverse slide moves backward through the longitudinal moving mechanism to transport the valve body casting out of the frame. The operator removes the valve body casting, and the entire cutting process is completed. The automated cutting method is applied to an automated cutting device for valve body castings. The automated cutting device includes a conveying component, a positioning and clamping component, a cutting robot, a frame, a stereo vision camera, and a power component. The conveying component is used to convey the valve body casting to the bottom of the frame; There are four power components, and each power component is longitudinally arranged on the four sides of the frame. The positioning and clamping component is slidably mounted on the frame. The positioning and clamping component is connected to the power component and can move up and down along the frame under the drive of the power component. The positioning and clamping component is used to position and clamp the valve body casting. The cutting robot is located on the side of the frame and is used to cut the gating and riser of the valve body casting; The stereo vision camera is mounted on the frame; The positioning and clamping component includes a telescopic assembly, a push plate, and a clamping plate. The telescopic assembly frame is slidably connected to one end of the telescopic assembly and connected to the power component, and the other end is fixedly connected to the push plate. The clamping plate is located on the side of the push plate away from the telescopic assembly. The push plate includes a top plate and a side plate. The side plate is longitudinally arranged at the end of the telescopic assembly, and the side plate is horizontally arranged at the upper end of the side plate and away from the telescopic assembly, so that the side plate and the top plate form an "L" shaped structure. The conveying component includes a longitudinal moving mechanism, a transverse slide, and a lifting mechanism. One end of the longitudinal moving mechanism is located below the frame. The longitudinal moving mechanism can drive the transverse slide to move along its length direction to convey the valve body to the bottom of the frame. The lifting mechanism is set on the transverse slide and can move laterally along the transverse slide. A support platform is set on the top of the lifting mechanism.

2. The automated cutting method for valve body castings according to claim 1, characterized in that: The clamping plate includes a first clamping plate and a second clamping plate. The first clamping plate is directly opposite the side plate, and the second clamping plate is disposed on the top of the first clamping plate and directly opposite the top plate.

3. The automated cutting method for valve body castings according to claim 1, characterized in that: A receiving box is provided on the side of the transverse slide table near the frame.

4. The automated cutting method for valve body castings according to claim 1, characterized in that: The power component includes a servo motor and a drive rod. The drive rod is longitudinally mounted on the frame, and its two ends are rotatably connected to the frame. The drive rod is threadedly connected to the telescopic assembly, and the output end of the servo motor is connected to the drive rod.

5. The automated cutting method for valve body castings according to claim 1, characterized in that: Pressure sensors are installed on the surfaces of the side plates and top plates away from the telescopic components, and pressure sensors are installed on the support platform.

6. The automated cutting method for valve body castings according to claim 1, characterized in that: The longitudinal moving mechanism includes a longitudinal slide rail, a power rod, and a drive motor. The upper end of the longitudinal slide rail is slidably connected to the bottom of the transverse slide table. The power rod is rotatably mounted on the slide rail and is threadedly connected to the transverse slide table. The output end of the drive motor is connected to the power rod.

Images