A cleaning system and method for large precision-cast shells

Abstract

This application discloses a cleaning system and method for large precision casting shells, belonging to the technical field of cleaning equipment. The system includes: a storage and transfer unit, a tooling unit, a water injection and drainage unit, and a robotic arm unit. The storage and transfer unit is located outside the cleaning area, while the tooling unit and the water injection and drainage unit are located within the operating range of the robotic arm unit. The storage and transfer unit is used to store and transfer the shells; the tooling unit is used to fix the shells; the water injection and drainage unit is used to inject and recover the cleaning fluid; and the robotic arm unit is used to perform shell handling and cleaning operations. This application improves shell cleaning efficiency, enhances cleaning effect, and improves the cleanliness of large precision casting shells, especially those with complex internal cavities, thereby improving the overall casting quality.

Description

Technical Field

[0001] This application belongs to the field of cleaning equipment technology, specifically relating to a cleaning system and method for large precision-cast shells. Background Technology

[0002] Investment casting, also known as lost-wax casting, is a process where a wax model corresponding to the product is first made. Then, multiple layers of fire-retardant material are wrapped around the wax model to form a shell. Through dewaxing and firing, a corresponding mold shell is obtained. Molten metal is then poured into the mold shell, and after cooling, the ceramized shell is removed to obtain the target product. The fired mold shell, especially large and complex ones, often contains residues, including wax slag and powder. These residues can lead to defects in the casting, such as sand inclusions, impurities, and incomplete filling, significantly affecting the quality of the finished casting, increasing post-processing costs, and even causing the casting to be scrapped.

[0003] For typical mold shells, the traditional manual cleaning process involves first sealing the dewaxing port outside the joint of the mold shell with a rubber stopper, then pouring in cleaning fluid, and manually shaking the mold to remove impurities. The cleaning fluid is then poured out of the mold shell, completing the cleaning process. However, for larger products, where the mold shell weighs 1-2 tons, shaking cleaning is impractical. Patent CN 115739803A discloses a cleaning method and device for titanium alloy precision casting mold shells, designing a novel cleaning fluid and utilizing centrifugal force to flush the initial cavity of the mold shell. However, the liquid flow generated by centrifugal force is relatively unidirectional, making it difficult to effectively flush the mold shell channels in all directions. Summary of the Invention

[0004] To address the technical problem in related technologies where it is difficult to effectively flush the shell channels in all directions during shell cleaning, this application provides a cleaning system and method for large precision-cast shells, the technical solution of which is as follows:

[0005] In a first aspect, a cleaning system for large precision casting shells is provided, comprising: a storage and transfer unit, a tooling unit, a water injection and drainage unit, and a robotic arm unit; the storage and transfer unit is located outside the cleaning area, and the tooling unit and the water injection and drainage unit are located within the operating range of the robotic arm unit; the storage and transfer unit is used to store and transfer the shells; the tooling unit is used to fix the shells; the water injection and drainage unit is used to inject and recover the cleaning fluid; and the robotic arm unit is used to perform shell handling and cleaning operations.

[0006] Optionally, the storage and transfer unit includes a storage frame and a transfer AGV. The storage frame is used to store and transfer mold shells and store corresponding material status information. When the cleaning operation begins, the transfer AGV retrieves the mold shells to be cleaned from the designated material location of the storage frame and transfers them to the tooling unit.

[0007] Optionally, the cleaning system further includes a mobile platform, which is located at the edge of the robot's operating range and below the tooling unit, for controlling the tooling unit to move back and forth between the AGV's movement area and the robot's operating range.

[0008] Optionally, the tooling unit includes a cage-type tooling and a sealing device, with the sealing device fixed on the cage-type tooling.

[0009] The cage-type fixture includes: a fixture frame, a first quick-connect power interface, a water injection funnel, and a connector; the sealing device includes: a bottom sealing element and a side sealing element;

[0010] A positioning reference is set at the bottom of the tooling frame; the connector is set at the center of the upper end of the tooling frame, the first quick power interface is set next to the connector, and the water injection funnel is set next to the connector and away from the robot arm unit; a support beam is set inside the tooling frame, and the support beam forms a tandem structure for docking with the transfer AGV; clamping devices for clamping the shell are set on both sides of the tooling frame; the clamping devices extend to clamp the shell, and the bottom sealing part extends through the cylinder to block the bottom dewaxing port of the shell; the lateral sealing parts are set according to the number of dewaxing ports on the side of the shell.

[0011] Optionally, the robotic arm unit includes: a robotic arm and a robotic arm gripper. The robotic arm is connected to the tooling unit through the robotic arm gripper. The robotic arm gripper includes: a gripper body, a power interface moving cylinder, a second quick power interface, and a gripper.

[0012] The gripper can move relative to the gripper body. After aligning with the connector, the gripper can retract and fix the tooling unit to the end of the robot gripper.

[0013] The second quick power interface extends through the power interface moving cylinder and connects to the first quick power interface on the tooling unit, providing power to the clamping device, bottom sealing component, and side sealing component on the tooling unit; the power interface moving cylinder connects the second quick power interface to the gripper body.

[0014] Optionally, the water injection and drainage unit includes: a water injection device and a drainage device.

[0015] The water injection device includes: a water injection device frame and a water injection pipe. A water tank for storing cleaning fluid is located above the water injection device frame, and a filter and a booster pump are located below to replenish the cleaning fluid in the tank. The water tank is equipped with a submersible level sensor, which controls the start and stop of the booster pump based on the water level. The water injection pipe is located below the water tank, and a water injection switch is located at the end of the water injection pipe to control the start and stop of water injection. A tilting cylinder is located in the middle of the water injection device frame to adjust the relative position of the water injection pipe and the tooling unit. During the water injection operation, the robotic arm unit moves the tooling unit to the designated position, the tilting cylinder moves the water injection pipe to connect with the water injection funnel of the cage-type tooling, the water injection switch is opened, and the submersible level sensor in the water tank detects the water injection volume. When the water injection volume reaches the set value, the tilting cylinder removes the water injection pipe.

[0016] After the water injection operation is completed, the robot arm unit controls the tooling unit to shake according to the set motion trajectory; after the shaking operation is completed, the robot arm unit controls the tooling unit to move to the drainage device.

[0017] Optionally, the drainage device includes: a drainage device frame and a water tank fixed to the drainage device frame;

[0018] The water tank is equipped with a drain outlet and an observation window, and a filter basket is installed inside the water tank.

[0019] Optionally, the cleaning fluid is a volatile liquid that poses no risk of flammability or explosion.

[0020] Optionally, the cleaning system further includes a drying unit for drying the cleaned shell.

[0021] Secondly, a cleaning method for large precision-cast shells is provided, including:

[0022] The storage and transfer unit loads the uncleaned mold shells onto the cage-type fixture of the tooling unit; then, the gripper of the robotic arm unit moves relative to the gripper body, aligns with the connector, and fixes the cage-type fixture. Power is then supplied to the moving parts on the cage-type fixture via the second quick-connect power interface. The clamping device secures the mold shell, and the sealing device seals the dewaxing port on the mold shell. Afterward, the robotic arm unit moves the cage-type fixture to the water injection and drainage unit, injecting cleaning fluid into the mold shell via the water injection device. According to a preset motion trajectory, the robotic arm unit causes the cage-type fixture to shake. Then, the robotic arm unit controls the sealing device to disengage via the second quick-connect power interface, allowing the cleaning fluid in the mold shell to drain from the dewaxing port into the drainage device. Finally, the robotic arm unit moves the cage-type fixture back to its initial position, releases the clamping device, and disconnects the first quick-connect power interface and connector. The storage and transfer unit then transfers the cleaned mold shells to the storage frame.

[0023] The beneficial effects of this application are at least as follows:

[0024] 1. An automated shell cleaning solution is proposed, which improves the shell cleaning efficiency.

[0025] 2. By introducing a robotic arm, the missing shaking cleaning process in the shell cleaning process was supplemented, thus improving the final cleaning effect.

[0026] 3. It enhances the cleanliness of large precision casting shells, especially those with complex internal cavities, thereby improving the overall casting quality. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of a shell cleaning system based on a robotic arm provided in this application;

[0028] Figure 2 This is a schematic diagram of the tooling unit structure provided in this application;

[0029] Figure 3 This is a schematic diagram of the drainage device provided in this application;

[0030] Figure 4 This is a schematic diagram of the water injection device provided in this application;

[0031] Figure 5 This is a schematic diagram of the robotic gripper structure provided in this application.

[0032] The components are as follows: 1-Storage frame, 2-Transfer AGV, 3-Mobile platform, 4-Tooling unit, 5-Robot arm unit, 6-Drainage device, 7-Water injection device, 41-Tooling frame, 42-Positioning reference, 43-Support beam, 44-First quick power interface (execution end), 45-Water injection funnel, 46-Connector, 47-Clamping device, 48-Bottom sealing component, 49-Side sealing component, 61-Drainage device frame, 62-Water tank, 63-Drain outlet, 64-Observation window, 65-Filter basket, 71-Water injection device frame, 72-Tilting cylinder, 73-Water injection switch, 74-Water injection pipe, 75-Water tank, 76-Secondary filter, 77-First-stage filter, 78-Lifting water pump, 81-Gripper body, 82-Power interface moving cylinder, 83-Second quick power interface (input end), 84-Gripper. Detailed Implementation

[0033] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the flowchart of the method of this application. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0034] This application provides a cleaning system for large precision-cast shells, including: a storage and transfer unit, a tooling unit 4, a water injection and drainage unit, and a robotic arm unit 5.

[0035] The storage and transfer unit is located outside the cleaning area, while the tooling unit 4 and the water injection and drainage unit are located within the operating range of the robotic arm unit 5. The storage and transfer unit is used to store and transfer the mold shells; the tooling unit 4 is used to fix the mold shells; the water injection and drainage unit is used to inject and recover the cleaning fluid; and the robotic arm unit 5 is used to perform mold shell handling and cleaning operations.

[0036] Tooling unit 4 includes a cage-type tooling and a sealing device. The cage-type tooling is equipped with a clamping device for fixing the shell; the cage-type tooling is also equipped with a first quick-connect power interface, which can be connected to the corresponding interface, i.e., the second quick-connect power interface, on the robot arm unit 5 to provide power to the motion mechanism on the cage-type tooling, i.e., the clamping device. The sealing device is fixed on the cage-type tooling and is used to seal the dewaxing port of the shell to prevent the cleaning fluid from being directly discharged through the dewaxing port after being poured in.

[0037] The water injection and drainage unit includes a water injection device and a drainage device. The water injection device is used to inject the cleaning fluid into the mold shell in the cage tooling; the drainage device is used to collect the cleaning fluid discharged from the mold shell after the shaking operation.

[0038] The working process of the cleaning system for large precision-cast shells provided in this application is as follows:

[0039] First, the transport device (AGV) of the storage and transfer unit loads the uncleaned mold shells onto the cage-type fixture. Then, the gripper of the robotic arm unit moves its gripper jaws relative to the gripper body, aligns with the connector, and fixes the cage-type fixture. Power is then supplied to the moving parts on the cage-type fixture via the second quick-connect power interface. The clamping device secures the mold shell, and the sealing device seals the dewaxing port on the mold shell. Next, the robotic arm unit moves the cage-type fixture to the water injection and drainage unit, where a measured amount of cleaning fluid is injected into the mold shell via the water injection device. Following a pre-set motion trajectory, the robotic arm unit causes the cage-type fixture to shake. Then, the robotic arm unit controls the sealing device to disengage via the second quick-connect power interface, allowing the cleaning fluid in the mold shell to quickly drain from the dewaxing port into the drainage device. Finally, the robotic arm unit moves the cage-type fixture back to its initial position, releases the clamping device, disconnects the first quick-connect power interface and connector, and uses the AGV of the storage and transfer unit to transfer the cleaned mold shells onto the storage frame.

[0040] Specifically, such as Figure 1 As shown, the storage and transfer unit includes a storage frame 1 and a transfer AGV 2. The storage frame 1 is used to store and transfer shells, and to store corresponding material status information. In this embodiment, the transfer AGV 2 is selected as the transportation device.

[0041] When the cleaning operation begins, the transfer AGV 2 retrieves the mold shell to be cleaned from the designated material location of the storage frame 1 and transfers it to the tooling unit 4.

[0042] In this embodiment, a mobile platform 3 is also provided to isolate the movement range of the robotic arm unit 5 from that of the transfer AGV 2. The mobile platform 3 is located at the edge of the robotic arm's operating range, and a tooling unit 4 is mounted on top of the mobile platform 3 to control the tooling unit to move back and forth between the movement area of ​​the AGV 2 and the operating range of the robotic arm unit 5.

[0043] like Figure 2 As shown, tooling unit 4 includes a cage-type tooling and a sealing device. The sealing device is fixed on the cage-type tooling and is used to seal the dewaxing port of the shell, preventing the cleaning fluid from being directly discharged through the dewaxing port after being poured in. The cage-type tooling includes: a tooling frame 41, a positioning reference 42, a support beam 43, a first quick-connect power interface (actuator) 44, a water injection funnel 45, a connector 46, and a clamping device 47. The sealing device includes: a bottom sealing element 48 and a side sealing element 49.

[0044] The tooling frame 41 has a positioning reference 42 at its bottom to ensure accurate docking with the mobile platform 3.

[0045] The tooling frame 41 is provided with a first quick power interface (actuator) 44, a water injection funnel 45 and a connector 46 on the top. The connector 46 is located at the center of the upper end of the tooling frame 41. The first quick power interface (actuator) 44 is located next to the connector 46. The water injection funnel 45 is located next to the connector 46 on the side away from the robot arm unit, and is used to dock with the robot arm unit and provide power to the clamping device 47, the bottom sealing member 48 and the side sealing member 49.

[0046] The tooling frame 41 has a support beam 43 inside, which forms a tandem structure for docking with the transfer AGV 2.

[0047] The tooling frame 41 is provided with clamping devices 47 on both sides for clamping the shell.

[0048] After the shell transfer AGV 2 moves to the tooling unit 4, it is placed on the zigzag structure formed by the support beam 43, and the lateral sealing parts 49 are installed according to the number of dewaxing ports on the side of the shell. Then, the moving platform 3 moves the tooling unit 4 and brings it close to the robot arm unit 5.

[0049] The robotic arm unit 5 includes a robotic arm and a robotic arm gripper, with the robotic arm connected to the tooling unit 4 via the robotic arm gripper. For example... Figure 5 As shown, the robotic gripper includes: a gripper body 81, a power interface moving cylinder 82, a second fast power interface (input end) 83, and a gripper 84.

[0050] The gripper 84 can move relative to the gripper body 81. After aligning with the connector 46, the gripper 84 can be retracted to fix the tooling unit 4 to the end of the robot gripper.

[0051] The second quick power interface (input end) 83 extends through the power interface moving cylinder 82 and connects to the first quick power interface (actuator end) 44 on the tooling unit 4, providing power to the clamping device 47, bottom sealing member 48, and side sealing member 49 on the tooling unit 4. The power interface moving cylinder 82 connects the second quick power interface (input end) 83 to the gripper body 81.

[0052] The clamping device 47 extends to clamp the mold shell, and the bottom sealing part 48 extends through the cylinder to block the bottom dewaxing port of the mold shell.

[0053] like Figure 1 As shown, the water injection and drainage unit includes a drainage device 6 and a water injection device 7. The water injection device 7 is used to inject cleaning fluid into the mold shell within the cage-type fixture. The drainage device 6 is used to collect the cleaning fluid discharged from the mold shell after the shaking operation.

[0054] Specifically, such as Figure 4 As shown, the water injection device 7 includes: a water injection device frame 71, a tilting cylinder 72, a water injection switch 73, a water injection pipe 74, a water tank 75, a secondary filter element 76, a primary filter element 77, and a booster pump 78.

[0055] The water injection device frame 71 is equipped with a water tank 75 above it for storing cleaning fluid, and a secondary filter 76, a primary filter 77 and a booster pump 78 below it for replenishing the water tank 75 with clean cleaning fluid. Specifically, the booster pump 78 delivers the cleaning fluid from the cleaning fluid supply point to the primary filter 77 and the secondary filter 76. After filtration, the cleaning fluid is injected into the water tank 75 along the pipeline.

[0056] The water tank 75 is equipped with an immersion-type liquid level sensor to detect the liquid level and control the start and stop of the booster pump 78. A tilting cylinder 72 is located in the middle of the water injection device frame 71 to adjust the relative position of the water injection pipe 74 and the tooling unit 4 to avoid interference. The water injection pipe 74 is located below the water tank 75, level with the water injection funnel 45 when horizontal. A water injection switch 73 is located at the end of the water injection pipe 74 to control the start and stop of water injection.

[0057] During the water injection operation, the robotic arm unit 5 moves the tooling unit 4 to the designated position, and the tilting cylinder 72 moves the water injection pipe 74 to connect with the water injection funnel 45. The water injection switch 73 is opened, and the submersible liquid level sensor in the water tank 75 detects the water injection volume. When the water injection volume reaches the set value, the tilting cylinder 72 removes the water injection pipe 74.

[0058] After the water injection operation is completed, the robotic arm unit 5 controls the tooling unit 4 to shake according to the set motion trajectory, with a shaking amplitude greater than 10°. The motion trajectory is set according to the connecting directions inside the shell to ensure that the cleaning fluid fully flushes the internal space of the shell during shaking.

[0059] After the shaking operation is completed, the robotic arm unit 5 controls the tooling unit 4 to move onto the drainage device 6.

[0060] like Figure 3 As shown, the drainage device 6 includes: a drainage device frame 61, a water tank 62, a drain outlet 63, an observation window 64, and a filter basket 65.

[0061] The water tank 62 is fixed to the drainage device frame 61, and the water tank 62 is equipped with a drain outlet 63 and an observation window 64. A filter basket 65 is installed inside the water tank 62 to filter insoluble substances in the cleaning fluid to determine the quality of the mold shell. Specifically, if large flaky impurities are present in the filter basket 65, it indicates damage to the inner side of the mold shell; if a large number of particulate impurities are present in the filter basket 65, it indicates a risk of sand inclusion during the mold shell casting process.

[0062] The robot arm unit 5 controls the bottom sealing part 48 and the side sealing part 49 on the tooling unit 4 to release the seal, so that the impurities inside the shell are quickly carried out by the cleaning fluid and fall into the drainage device 6.

[0063] After the drainage operation is completed, the clamping device 47 is released, and the first quick power interface (actuator) 44 is disconnected from the second quick power interface (input) 83.

[0064] Positioned using positioning reference 42, the robotic arm unit 5 moves the tooling unit 4 onto the moving platform 3 and returns to its initial position. Then, the transfer AGV 2 is used to transfer the cleaned mold shell from the tooling unit 4 to the storage frame 1, and the corresponding material status information is updated.

[0065] The cleaning fluid used in this embodiment is a volatile liquid that poses no risk of flammability or explosion, such as distilled water.

[0066] In another embodiment, the cleaning system provided in this application may further include a drying unit to increase the evaporation rate of the cleaning solution and improve the drying efficiency after cleaning. Depending on the actual drying time requirements, if rapid drying is required, the transport device transfers the cleaned mold shell to the drying unit and performs rapid drying based on the set drying temperature and time according to the cleaning solution.

[0067] For example, the drying unit can be a baking furnace. If the shell cleaning process requires rapid drying, the shell is transferred to the baking furnace via a transfer AGV 2, and the temperature is set to 200°C for 30 minutes. After heating, it is removed from the baking furnace and allowed to cool to complete the drying process.

[0068] This application provides a shell cleaning system that uses the flexible movements of a robotic arm to perform shaking cleaning of large precision-cast shells. It uses a volatile liquid with no flammable or explosive risks as the cleaning fluid and provides a rapid subsequent drying solution, thus achieving efficient and highly automated shell cleaning operations.

[0069] The above description is merely a specific embodiment of this application, providing a detailed description of the application. Parts not covered herein are conventional techniques. However, the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application.

Claims

1. A cleaning system for large precision-cast shells, characterized in that, include: The system includes a storage and transfer unit, a tooling unit, a water injection and drainage unit, and a robotic arm unit. The storage and transfer unit is located outside the cleaning area, while the tooling unit and the water injection and drainage unit are located within the operating range of the robotic arm unit. The storage and transfer unit is used to store and transfer the mold shell. The tooling unit is used to fix the shell; the water injection and drainage unit is used to inject and recover the cleaning fluid. The robotic arm unit is used to perform shell handling and cleaning operations; The storage and transfer unit includes a storage frame and a transfer AGV. The storage frame is used to store and transfer mold shells and store the corresponding material status information. When the cleaning operation begins, the transfer AGV retrieves the mold shell to be cleaned from the designated material position of the storage frame and transfers it to the tooling unit. The tooling unit includes a cage-type tooling and a sealing device, with the sealing device fixed on the cage-type tooling; The cage-type fixture includes: a fixture frame, a first quick-connect power interface, a water injection funnel, and a connector; the sealing device includes: a bottom sealing element and a side sealing element; A positioning reference is set at the bottom of the tooling frame; the connector is set at the center of the upper end of the tooling frame, the first quick power interface is set next to the connector, and the water injection funnel is set next to the connector and away from the robot arm unit; a support beam is set inside the tooling frame, and the support beam forms a tandem structure for docking with the transfer AGV; clamping devices for clamping the shell are set on both sides of the tooling frame; the clamping devices extend to clamp the shell, and the bottom sealing part extends through the cylinder to block the bottom dewaxing port of the shell; the lateral sealing parts are set according to the number of dewaxing ports on the side of the shell; The robotic arm unit includes: a robotic arm and a robotic arm gripper. The robotic arm is connected to the tooling unit through the robotic arm gripper. The robotic arm gripper includes: a gripper body, a power interface moving cylinder, a second fast power interface, and a gripper. The gripper can move relative to the gripper body. After aligning with the connector, the gripper can retract and fix the tooling unit to the end of the robot gripper. The second quick power interface extends through the power interface moving cylinder and connects to the first quick power interface on the tooling unit, providing power to the clamping device, bottom sealing component, and side sealing component on the tooling unit; the power interface moving cylinder connects the second quick power interface to the gripper body.

2. The system according to claim 1, characterized in that, The cleaning system also includes a mobile platform, which is located at the edge of the robot's operating range and below the tooling unit, for controlling the tooling unit to move back and forth between the AGV's movement area and the robot's operating range.

3. The system according to claim 1, characterized in that, The water injection and drainage unit includes: a water injection device and a drainage device. The water injection device includes: a water injection device frame and a water injection pipe. A water tank for storing cleaning fluid is located above the water injection device frame, and a filter and a booster pump are located below to replenish the cleaning fluid in the tank. The water tank is equipped with a submersible level sensor, which controls the start and stop of the booster pump based on the water level. The water injection pipe is located below the water tank, and a water injection switch is located at the end of the water injection pipe to control the start and stop of water injection. A tilting cylinder is located in the middle of the water injection device frame to adjust the relative position of the water injection pipe and the tooling unit. During the water injection operation, the robotic arm unit moves the tooling unit to the designated position, the tilting cylinder moves the water injection pipe to connect with the water injection funnel of the cage-type tooling, the water injection switch is opened, and the submersible level sensor in the water tank detects the water injection volume. When the water injection volume reaches the set value, the tilting cylinder removes the water injection pipe. After the water injection operation is completed, the robot arm unit controls the tooling unit to shake according to the set motion trajectory; after the shaking operation is completed, the robot arm unit controls the tooling unit to move to the drainage device.

4. The system according to claim 3, characterized in that, The drainage device includes: a drainage device frame and a water tank fixed to the drainage device frame; The water tank is equipped with a drain outlet and an observation window, and a filter basket is installed inside the water tank.

5. The system according to claim 4, characterized in that, The cleaning fluid is a volatile liquid with no flammable or explosive risk.

6. The system according to claim 1, characterized in that, The cleaning system also includes a drying unit for drying the cleaned shell.

7. A cleaning method for large precision-cast shells, characterized in that, The cleaning system for large precision-cast shells as described in claim 3, the method comprising: The storage and transfer unit loads the uncleaned mold shells onto the cage-type fixture of the tooling unit; then, the gripper of the robotic arm unit moves relative to the gripper body, aligns with the connector, and fixes the cage-type fixture. Power is then supplied to the moving parts on the cage-type fixture via the second quick-connect power interface. The clamping device secures the mold shell, and the sealing device seals the dewaxing port on the mold shell. Afterward, the robotic arm unit moves the cage-type fixture to the water injection and drainage unit, injecting cleaning fluid into the mold shell via the water injection device. According to a preset motion trajectory, the robotic arm unit causes the cage-type fixture to shake. Then, the robotic arm unit controls the sealing device to disengage via the second quick-connect power interface, allowing the cleaning fluid in the mold shell to drain from the dewaxing port into the drainage device. Finally, the robotic arm unit moves the cage-type fixture back to its initial position, releases the clamping device, and disconnects the first quick-connect power interface and connector. The storage and transfer unit then transfers the cleaned mold shells to the storage frame.

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