Mold drawing method and mold drawing apparatus

Abstract

The application discloses a mold stripping mode, which comprises three steps of positioning, pre-tightening and mold stripping; through the positioning, the first arm and the second arm of a manipulator can cooperate to clamp a sand mold; through the pre-tightening, jacking working pieces press against the manipulator and a bottom plate to overcome the gap between the arms and the sand box in the Z direction; the synchronous action of all the jacking working pieces is favorable for the sand mold to integrally separate from the bottom plate in a relatively horizontal stable state; after the sand mold separates from the bottom plate, the sand mold and a wooden mold are separated, and the sand mold can be easily and quickly lifted by the upward movement of the manipulator. The application also provides a mold stripping device for realizing the mold stripping mode; the mold stripping device comprises a manipulator, the manipulator comprises a hanging beam, a first arm, a second arm, a first support, a second support and jacking working pieces; the jacking working pieces can realize the reliable separation of the sand mold and the bottom plate through pre-tightening and synchronous force; after the manipulator lifts the sand mold, the first support and the second support cooperate to overturn the sand mold, so as to facilitate flow coating, mold closing and other operations.

Description

Technical Field

[0001] This application relates to the field of sand mold preparation device technology, and in particular to a mold release method and mold release equipment. Background Technology

[0002] In recent years, my country has become a major machinery manufacturing country. In the foundry industry, the traditional operation method that relies on workers using overhead cranes to hoist steel wire ropes to achieve sand mold lifting, turning, coating, and box closing can no longer meet the requirements for sand mold quality, production efficiency, and production safety.

[0003] To address this issue, the overhead crane-mounted hydraulic tilting robot was developed. The advent of the hydraulic tilting robot not only solved the problem of tilting large, unevenly weighted sand boxes, but also significantly improved production efficiency and safety.

[0004] However, hydraulic tilting robots do not perform ideally in the sand mold release process, easily leading to sand mold roughening or damage. This is mainly because it's difficult to ensure synchronization of the four lifting points of the hydraulic tilting robot. Therefore, hydraulic tilting robots are mostly used in processes such as sand box tilting, flow coating, and box closing after mold release; while mold release requires independent operation by overhead cranes that are convenient for worker participation. This leads to problems such as excessive investment and interference / waiting during parallel crane operations. Summary of the Invention

[0005] The purpose of this application is to overcome the shortcomings of the existing technology and provide a mold release method and mold release equipment.

[0006] To achieve the above technical objectives, this application provides a mold-release method, characterized by comprising the following steps:

[0007] S1. Positioning: The robot arm is positioned above the mold-removal station; the sand mold to be removed is positioned at the mold-removal station; the robot arm descends and holds the sand mold.

[0008] S2. Pre-tension: The total weight of the robot arm is G1, and the total weight of the sand mold is G2; the robot arm includes a first arm and a second arm, which can cooperate to clamp the sand mold; so that one lifting workpiece supports the first arm and the base plate where the sand mold is located; so that another lifting workpiece supports the second arm and the base plate; each lifting workpiece continuously presses against the robot arm and the base plate until the output force is G3, G1 < G3 < G1 + G2;

[0009] S3. Demolding: All lifting workpieces move synchronously to lift the sand mold off the base plate; after the sand mold is removed from the base plate, the robot arm rises, causing the sand mold to detach from the wooden mold.

[0010] Furthermore, in S2, the lifting workpiece is delayed, the output force is gradually increased until the output force reaches G3; and / or, in S2, G3≤G1+½G2.

[0011] Furthermore, in S3, after the sand mold is lifted 2-10mm away from the bottom plate, the robot arm rises to facilitate the sand mold's separation from the wooden mold.

[0012] Furthermore, in S3, the maximum output force of the lifting working part is G4, where G1+G2<G4≤G1+2G2.

[0013] Furthermore, in S3, if the output force of the lifting workpiece reaches G4 and the sand mold still has not detached from the base plate, the base plate will leave the ground so that the base plate can detach from the sand mold under the influence of gravity.

[0014] Furthermore, if the output force of the lifting workpiece reaches G4 and the sand mold still has not detached from the base plate, the base plate is 2-10mm away from the ground; and / or, the base plate is lifted off the ground by a gantry crane. When the gantry crane is working, the robot arm cooperates to lift the sand mold so that the base plate and the sand mold move away from the ground synchronously.

[0015] Furthermore, if the sand mold remains attached to the base plate after it leaves the ground, the lifting workpiece can be used to increase the output force, or manual force can be applied to the base plate to help separate the base plate from the sand mold.

[0016] This application also provides a mold-lifting device for implementing the above-mentioned mold-lifting method, including a robot arm, which is suspended in the workshop and can move up and down to approach or move away from the mold-lifting station; the robot arm includes: a lifting beam; a first arm and a second arm, which are slidably mounted on the lifting beam and can move relative to each other, and each of the first arm and the second arm is provided with a pin; a lifting working component, which is provided on both the first arm and the second arm; the sand box of the sand mold is provided with a pin hole, so that the pin can be inserted into the corresponding pin hole, and the first arm and the second arm can cooperate to clamp the sand mold; when lifting the mold, the first arm and the second arm move away from each other, the robot arm descends until the pin is aligned with the pin hole, the first arm and the second arm move closer to each other until the pin is inserted into the pin hole, the movable end of the lifting working component extends out and presses against the base plate where the sand mold is located, realizing the pre-tightening of the pin and the pin hole, all the lifting working components move synchronously, pushing the sand mold away from the base plate, and the robot arm rises, so that the sand mold moves away from the base plate and the wooden mold.

[0017] Furthermore, the demolding equipment also includes a traveling crane, which is located above the demolding station, and a robotic arm is mounted on the traveling crane. The traveling crane includes: a main beam extending along the X direction; and a crane slidably mounted on the main beam and capable of moving along the X direction. The crane includes two sets of lifting ropes, with a hook at the end of each set of ropes. The lifting beam has a fixed lifting ring and a movable lifting ring, with one hook connected to the fixed lifting ring and the other hook connected to the movable lifting ring. The first side of the movable lifting ring is rotatably connected to the lifting beam, the second side is connected to the hook, and the third side is connected to a balance cylinder. One of the movable end and the fixed end of the balance cylinder is rotatably connected to the lifting beam, and the other is connected to the movable lifting ring. The traveling crane also includes a level, which can detect whether the lifting beam is level.

[0018] Furthermore, the demolding equipment also includes a gantry crane, which is used to lift the base plate; the demolding equipment has a normal operating mode and a manual assistance mode; when demolding is performed in the normal operating mode, the sand mold is lifted off the base plate by the lifting working parts; when demolding is performed in the manual assistance mode, the base plate is lifted off the ground by the gantry crane, and then the bottom plate is manually subjected to force to help separate the bottom plate from the sand mold.

[0019] This application provides a mold-lifting method, comprising three steps: positioning, pre-tightening, and mold lifting. Positioning allows the first and second arms of the robotic arm to grip the sand mold. Pre-tightening presses against the robotic arm and base plate, overcoming the gap between the arms and the sand box in the Z-direction. This ensures that all lifting components move synchronously and exert force simultaneously, facilitating the sand mold's overall detachment from the base plate in a relatively horizontal and stable state. After the sand mold detaches from the base plate, the sand mold inevitably separates from the wooden mold, and the two are no longer tightly connected. The robotic arm can then easily and quickly lift the sand mold. This application pre-tightens the robotic arm and sand mold using lifting components, ensuring that each arm of the robotic arm presses against the sand box of the sand mold in the Z-direction. The lifting components then work together to lift the sand mold from the base plate, ensuring that the sand mold detaches from the base plate synchronously and smoothly, thus preventing mutual damage between the sand mold and the wooden mold. After the sand mold detaches from the base plate, the robotic arm can quickly lift the sand mold, moving it away from the wooden mold and base plate, facilitating its rotation and downstream transfer.

[0020] This application also provides a mold-lifting device for realizing the above-mentioned mold-lifting method; the mold-lifting device includes a robot arm, which includes a lifting beam, a first arm, a second arm, a first support, a second support, and a lifting working component. The first and second supports are rotatable and are provided with pins that can be inserted into the pin holes of the sand mold; the lifting working component can reliably separate the sand mold from the base plate through pre-tightening and synchronous force application; after the robot arm lifts the sand mold, the first and second supports cooperate to flip the sand mold to facilitate operations such as flow coating and box assembly. Attached Figure Description

[0021] Figure 1 A schematic diagram of a mold-removing device provided in this application;

[0022] Figure 2 for Figure 1 The diagram shows a front structural sectional view of the mold-removing device.

[0023] Figure 3 for Figure 2 Enlarged view of the inner structure of the center circle;

[0024] Figure 4 for Figure 1 The diagram shows a top-view structural cross-sectional view of the mold-removing device. Detailed Implementation

[0025] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0026] First, let me explain the process of creating a mold.

[0027] In this application, the sand mold includes a sand box and a sand pattern, which is formed by shaping sand material.

[0028] To ensure the sand material forms the desired shape, a wooden mold is pre-designed. The wooden mold needs to be fixed to the base plate, while the sand box is placed over the wooden mold. After the base plate, wooden mold, and sand box are assembled, the molding machine fills the sand box with sand, which covers the wooden mold and forms the sand mold. Once the sand has hardened, the mold needs to be removed—so that the sand mold is detached from the wooden mold and the base plate.

[0029] Since the sand fills the outside of the wooden mold, after demolding, the part of the sand mold that comes into contact with the wooden mold during the molding process will form a groove; during casting, the molten metal is poured into the groove, and the groove can define the shape of the casting.

[0030] It's easy to understand that during the demolding process, if the lifting direction of the sand mold is tilted relative to the base plate, the wooden mold and the sand mold will squeeze and rub against each other, eventually causing the sand mold to deform or even be damaged. Therefore, if a robot is used to lift the sand mold directly, the rigid movement of the robot makes it easy for the sand mold to be damaged by the wooden mold if there are problems such as the base plate not being level, lifting swaying, directional deviation, or structural tolerance.

[0031] To ensure the stability and reliability of mold release, this application provides a mold release method, including the following steps:

[0032] S1. Positioning:

[0033] The robotic arm is positioned above the mold-removal station;

[0034] The sand mold to be demolded is in the demolding station;

[0035] The robotic arm descends and holds the sand mold;

[0036] S2. Pre-tightening:

[0037] The total weight of the robotic arm is G1, and the total weight of the sand mold is G2;

[0038] The robotic arm consists of a first arm and a second arm, which work together to hold the sand mold.

[0039] This allows a lifting working component to support the first arm and the base plate where the sand mold is located;

[0040] This allows another lifting component to support the second arm and the base plate;

[0041] Each lifting workpiece continuously presses against the robot arm and the base plate until the output force is G3, where G1 < G3 < G1 + G2;

[0042] S3. Demolding:

[0043] All the lifting components move simultaneously, lifting the sand mold off the bottom plate;

[0044] After the sand mold detaches from the base plate, the robotic arm rises, causing the sand mold to separate from the wooden mold.

[0045] Specifically, at the demolding station, the sand mold is relatively fixed on the wooden mold and the base plate; at this time, a force needs to be applied to the sand mold to move it away from the base plate so that the sand mold can overcome material stress, detach from the base plate and the wooden mold, and achieve demolding.

[0046] To facilitate the assembly of the base plate, wooden mold and sand box, and to make it easier to fill the sand box with sand, the robotic arm is suspended in the workshop above the sand mold at the mold-making station.

[0047] When the base plate is set horizontally in the workshop, in order to facilitate the sand mold to detach from the base plate, it is preferable to apply a force in the Z direction away from the base plate to the sand mold.

[0048] When the mold is removed, the robotic arm descends and holds the sand box.

[0049] It's easy to understand that simply holding the sand box ensures the robot arm contacts and abuts against it in the horizontal direction, but it cannot guarantee that the robot arm contacts and abuts against the sand box in the Z direction. If the gap between the first arm and the sand box in the Z direction is not equal to the gap between the second arm and the sand box in the Z direction, when the robot arm rises, the first and second arms will lift the sand box one after the other, which can easily cause the sand mold to tilt relative to the base plate, and further cause the sand mold and the wooden mold to squeeze and rub against each other.

[0050] With the mold-lifting method provided in this application, after the robot arm holds the sand box, the lifting workpiece supports the base plate and the arm. When the lifting workpiece simultaneously contacts the base plate and the arm, and the output force reaches G1, the weight of the robot arm is completely pressed on the lifting workpiece, that is, the lifting workpiece supports the robot arm. If the output force of the lifting workpiece is further increased, since the output force is greater than G1, the lifting workpiece can lift the arm, so that the arm tends to move upward in the Z direction. At this time, if there is a gap between the arm and the sand box in the Z direction, as the arm is lifted, the arm can support the sand box and eliminate the gap.

[0051] Since the force output by the lifting workpiece is less than G1+G2, after the pre-tightening step is completed, the first and second arms will press against the sand box but will not lift the sand mold.

[0052] After all the lifting components have been pre-tightened, the first and second arms are in the Z direction with no gap between them and the sand mold. At this point, as long as the output force of the lifting components is increased again, so that the output force reaches or exceeds G1+G2, under normal circumstances, the lifting components can lift the sand mold and make the sand mold detach from the base plate.

[0053] This allows all the lifting components to move synchronously and exert force simultaneously to lift the sand mold and the base plate. This multi-point action helps the sand mold to detach from the base plate as a whole in a horizontal and stable state.

[0054] Generally, considering the need for mold release, wooden molds are typically narrower at the top and wider at the bottom, becoming smaller the further away from the base plate. Therefore, once the sand mold detaches from the base plate, the sand mold will inevitably separate from the wooden mold as well, and the two will no longer be in a tightly connected state. At this point, the sand mold can be easily and quickly lifted by using a robotic arm.

[0055] In summary, this application uses a lifting working component to pre-tighten the robot arm and sand mold, ensuring that each arm of the robot arm is pressed against the sand box of the sand mold in the Z direction. Then, the lifting working component works together to open the sand mold from the base plate, ensuring that the sand mold is released from the base plate simultaneously at multiple points in a stable state, thereby avoiding mutual damage between the sand mold and the wooden mold. After the sand mold is released from the base plate, the robot arm can quickly lift the sand mold, moving it away from the wooden mold and the base plate, so as to facilitate the flipping and downstream transfer of the sand mold.

[0056] This application also provides a mold-removing device for implementing the above-mentioned mold-removing method. The mold-removing device includes a robot arm 200, which is suspended in the workshop and capable of lifting and lowering to approach or move away from the mold-removing station.

[0057] Specifically, the robotic arm 200 includes: a lifting beam 210; a first arm 221 and a second arm 222, the first arm 221 and the second arm 222 being slidably mounted on the lifting beam 210 and capable of relative movement; both the first arm 221 and the second arm 222 are provided with pins 231, and the sand box is provided with pin holes 232, so that the pins 231 are inserted into the corresponding pin holes 232, and the first arm 221 and the second arm 222 can cooperate to clamp the sand mold.

[0058] When the mold is lifted, the robot arm 200 is suspended above the mold lifting station and facing the sand mold; the first arm 221 and the second arm 222 are in a state of being far apart from each other. The robot arm 200 descends until the pin 231 is aligned with the pin hole 232; the first arm 221 and the second arm 222 move closer to each other until the pin 231 is inserted into the pin hole 232; in this way, the robot arm 200 holds the sand mold.

[0059] It's easy to understand that, to facilitate the insertion and removal of pins 231 from pin holes 232, the outer diameter of pin 231 is generally slightly smaller than the inner diameter of pin holes 232. However, due to mechanical errors, manufacturing tolerances, and wear, there's a high possibility that pin 231 may be inserted into pin holes 232, but a gap exists between them in the Z-direction. If the robotic arm 200 rises directly to lift the sand mold, it needs to overcome this gap before it can lift the mold. If the gaps between each pin 231 and its corresponding pin hole 232 are different, and the robotic arm 200 rises synchronously, the points at which each pin 231 overcomes the gap will inevitably be different. The pin that overcomes the gap first will rise first, which can easily cause the sand mold to tilt relative to the base plate, easily damaging the sand mold.

[0060] Therefore, the mold-lifting device provided in this application also includes at least two lifting working parts 250, with some lifting working parts 250 located between the first arm 221 and the base plate, and other lifting working parts 250 located between the second arm 222 and the base plate.

[0061] After the first arm 221 and the second arm 222 work together to clamp the sand mold, the lifting working part 250 works and supports the corresponding arm and the base plate; in the supporting state, one of the movable end and the fixed end of the lifting working part 250 contacts the arm and the other contacts the base plate.

[0062] The lifting workpiece 250 can be driven by automatic devices such as digital cylinders and hydraulic cylinders, or by manual devices such as hydraulic jacks. It can also be partially driven by automatic devices and partially by manual devices.

[0063] The lifting workpiece 250 can be set on the base plate. After the robot arm 200 holds the sand mold, the movable end of the lifting workpiece 250 extends upward and approaches the corresponding arm. Alternatively, the lifting workpiece 250 can be set on the first arm 221 and the second arm 222. After the robot arm 200 holds the sand mold, the movable end of the lifting workpiece 250 extends downward and approaches the base plate.

[0064] This application does not limit the specific configuration and installation location of the lifting working component 250.

[0065] In one specific implementation method, refer to Figures 1 to 4The first arm 221 and the second arm 222 are both equipped with lifting components 250. After the pin 231 is inserted into the pin hole 232, the first arm 221 and the second arm 222 cooperate to clamp the sand mold. Then, the movable end of the lifting component 250 extends and approaches the bottom plate. As the movable end of the lifting component 250 extends, the force output by the lifting component 250 increases. When the output force is greater than the total weight G1 of the robot, the lifting component 250 can lift the arm so that the pin 231 presses against the pin hole 232 in the Z direction. Then, all the lifting components 250 move synchronously. Through multi-point synchronous force, the sand mold is smoothly lifted away from the bottom plate. After the sand mold is separated from the bottom plate, a gap appears between the sand mold and the wooden mold. The robot 200 can then lift the sand mold and move it away from the bottom plate and the wooden mold.

[0066] Optionally, adding a lifting working component 250 can increase the force application point for lifting the sand mold, which is beneficial for the sand mold to detach from the base plate.

[0067] Figures 1 to 4 In the illustrated embodiment, the first arm 221 and the second arm 222 are arranged opposite each other along the X direction. The first arm 221 has two lifting working components 250, which are spaced apart along the Y direction. The second arm 222 also has two lifting working components 250, which are also spaced apart along the Y direction, but with a smaller spacing. The number of lifting working components 250 on both sides is the same, which is beneficial for the synchronization and symmetry of the drive. The four lifting working components 250 achieve four-point force application, which can efficiently lift the sand mold from both sides, ensuring that the sand mold detaches from the base plate synchronously.

[0068] Optionally, the mold-lifting device provided in this application also includes force detection components, such as a weighing gauge and a pressure sensor. The force detection components can monitor the pressure on the movable end of the lifting workpiece 250 when it presses against the base plate or arm, so as to confirm that the force output by the lifting workpiece 250 reaches G3, and thus confirm whether the robot and the sand mold have achieved pre-tightening.

[0069] Optionally, the mold-lifting device provided in this application also includes a synchronization valve; when multiple lifting working parts 250 are driven by an automatic drive device, the synchronization valve is used to link these lifting working parts 250 together so that they can move synchronously and in the same amount, further ensuring the synchronicity of mold lifting.

[0070] Optionally, in S2, the lifting workpiece is delayed, and the output force is gradually increased until the output force reaches G3.

[0071] It is easy to understand that pre-tightening is a support process with uncertain motion. Each time the mold is lifted and each time pre-tightening is performed, the force that the lifting workpiece needs to output, or the length that the moving end of the lifting workpiece needs to extend, is uncertain. Therefore, it is not possible to directly set the stroke of the lifting workpiece so that the lifting workpiece can complete the pre-tightening in one movement.

[0072] This causes the lifting workpiece to move with a delay. During the pre-tightening process, the lifting workpiece intermittently lifts the robot arm until the robot arm presses against the sand mold in the Z direction.

[0073] In one embodiment, the lifting workpiece is mounted on the robot arm 200, and the lifting workpiece uses a hydraulic cylinder. Since the specifications of the sand mold are clear and the position where the robot arm holds the sand mold is clear, the distance between the lifting workpiece and the base plate is fixed after the robot arm holds the sand mold. During pre-tightening, the lifting workpiece works for the first time, and the movable end extends downward by a preset length to contact the base plate. Subsequently, the lifting workpiece works for the second time, and the movable end continues to extend downward by a certain length. If the pressure on the lifting workpiece does not exceed G1, the lifting workpiece works for the third time, and the movable end continues to extend downward by a certain length... and so on, until the pressure it receives reaches G3.

[0074] In another embodiment, the lifting workpiece is mounted on the base plate and is lifted using a manually controlled hydraulic jack. After the robotic arm grips the sand mold, the worker operates the lifting workpiece, causing its movable end to contact the robotic arm. The worker operates each lifting workpiece individually and repeatedly, causing its movable end to extend continuously. When the lifting workpiece supports the robotic arm, the worker can clearly feel the pressure on the lifting workpiece. Based on this, the worker continues to operate the lifting workpiece, and when the lifting workpiece further supports the sand mold, the worker can again feel the increase in pressure on the lifting workpiece, thus confirming successful pre-tightening.

[0075] Using a delayed lifting action for pre-tightening can prevent the moving end of the lifting workpiece from extending excessively, damaging itself or the sand mold, and also facilitates pre-tightening of the robot with different sand molds.

[0076] Optionally, when the lifting workpiece is delayed, the amount of extension of the moving end is the same each time.

[0077] The consistent extension of the moving end in each operation simplifies the control of the lifting workpiece.

[0078] Optionally, when the lifting working part delays its movement, the amount by which the moving end extends each time is 1~10mm.

[0079] In this application, the lifting working component serves two main purposes: first, to pre-tighten the mold before demolding; and second, to separate the sand mold and the base plate simultaneously during demolding. The design purpose of the lifting working component is to improve the synchronicity of the separation between the sand mold and the base plate.

[0080] To reduce the load and design cost of the lifting components, and to ensure the stability and reliability of pre-tensioning and separating the base plate, the stroke of the lifting components can be made smaller with each lift. A smaller extension of the moving end each time makes it easier to confirm whether pre-tensioning is complete.

[0081] For example, during the pre-tightening process, when the sand mold is small, the movable end of the lifting workpiece extends 2mm each time; when the sand mold is large, the movable end of the lifting workpiece extends 5mm each time; and for large or extra-large sand molds, the movable end of the lifting workpiece extends 10mm or even more each time.

[0082] It should be added that after pre-tightening, the extension amount of the moving ends of multiple lifting components may be the same or different, because the setting positions of the lifting components are different and the size of the gap that needs to be overcome during pre-tightening will vary. If necessary, while maintaining pre-tightening, the extension amount of the moving ends of multiple lifting components can be adjusted to a uniform amount.

[0083] It should also be noted that, under pre-tightened conditions, the magnitude of the force output by multiple lifting working parts may be the same or different, as long as it does not exceed G1+G2.

[0084] Optionally, in S2, G3 ≤ G1 + ½G2.

[0085] It is important to note that the purpose of pre-tightening is to ensure that the robot arm is firmly pressed against the sand mold in the Z direction. Ensuring that there is no gap between the robot arm and the sand mold in the lifting direction is crucial to ensuring synchronous mold removal.

[0086] Therefore, during the pre-tightening process, it is necessary to control the magnitude of the force output by the lifting working component to avoid the lifting working component outputting too quickly or with too much force, causing part of the sand mold to move relative to the base plate or wooden mold first.

[0087] This ensures that G3 ≤ G1 + ½ G2, further reducing the upper limit of G3. This ensures that pre-tightening can be achieved while preventing the sand mold from being accidentally pushed open when the workpiece is lifted for output.

[0088] Optionally, in S3, after the sand mold is lifted 2-10mm away from the bottom plate, the robot arm rises to facilitate the sand mold's separation from the wooden mold.

[0089] Controlling the distance the sand mold is pushed open prevents it from rising too quickly and excessively, thus avoiding interference between the sand mold and the wooden mold. Simultaneously, it allows control of the output of the moving end of the lifting component, avoiding the need for large-stroke lifting components and reducing costs.

[0090] Optionally, in S3, the maximum output force of the lifting working part is G4, where G1+G2<G4≤G1+3G2.

[0091] It should be added that, due to factors such as stress between materials, adhesion of sand, and friction between structures, when demolding, the force output by the lifting workpiece may be greater than G1+G2, but the sand mold may still not detach from the base plate.

[0092] If the output of the lifting workpiece is further increased rigidly, it is highly likely to damage the lifting workpiece, sand mold, or base plate.

[0093] Therefore, a maximum value is set, which is the limit value of the lifting workpiece. Once the lifting workpiece outputs to the limit value, if the sand mold and the base plate are still not separated, an alarm or reminder can be issued through the control system, and staff can intervene to confirm the mold release status.

[0094] Furthermore, in S3, if the output force of the lifting workpiece reaches G4 and the sand mold still has not detached from the base plate, the base plate will leave the ground so that the base plate can be detached from the sand mold by gravity.

[0095] When the sand mold is difficult to detach from the base plate, the sand mold and the base plate are raised into the air. There is no support under the base plate. The base plate is affected by the force of the sand mold and the lifting working part 250, as well as its own weight. It is easy to fall off naturally, which is conducive to the separation from the sand mold.

[0096] Optionally, in S3, the base plate is lifted off the ground and the distance between the base plate and the ground is 2~10mm.

[0097] Controlling the lifting height of the base plate serves two purposes: firstly, it prevents the base plate from falling from a high position and causing harm; secondly, if the falling distance of the base plate is too great, the speed and direction of the falling base plate become uncontrollable, and the wooden mold is very likely to interfere with the sand mold.

[0098] In one embodiment, when the output force of the lifting workpiece reaches G4 and the sand mold has not yet detached from the base plate, the manipulator lifts the workpiece, thereby lifting the sand mold and the base plate.

[0099] In another embodiment, a gantry crane is configured.

[0100] Specifically, the overhead crane includes an installation frame spanning the workshop ceiling and a lifting device slidably mounted on the installation frame; the installation frame is located above the mold-making station, and the lifting device can both move horizontally along the installation frame and be raised and lowered.

[0101] When it is necessary to lift the base plate, the workers use the lifting equipment to fix and lift the base plate so that the base plate leaves the ground; when the overhead crane is working, the robot arm works together to lift the sand mold so that the base plate and the sand mold move away from the ground at the same time; after the base plate leaves the ground, the lifting equipment releases the base plate so that the base plate can fall freely under the influence of gravity.

[0102] Furthermore, in S3, if the sand mold remains attached to the base plate after it leaves the ground, the lifting workpiece increases the output force, or the base plate is manually subjected to force to help separate from the sand mold.

[0103] If the base plate still cannot detach from the sand mold after leaving the ground, the output force of the lifting workpiece can be increased to allow the movable end of the lifting workpiece to continue to extend and thus open the base plate; or, workers can press down on the base plate to increase the force on the base plate so that the base plate can detach from the sand mold.

[0104] In one embodiment, the base plate and auxiliary base plate are separated from the sand mold by hammering. Specifically, two workers can be arranged to hammer the base plate from opposite sides, which forces the base plate and makes it easier to detach from the sand mold.

[0105] It should be added that before manually hammering the base plate, the lifting component 250 needs to be depressurized. For example, if the lifting component 250 uses a hydraulic cylinder, forcefully striking the base plate while the cylinder is in the oil-filled and locked state can easily damage the solenoid valve controlled by the hydraulic circuit. Therefore, depressing the lifting component 250 first, and ensuring it is no longer pressing against the base plate, is beneficial for protecting the lifting component 250.

[0106] After the robotic arm 200 lifts the sand mold, it needs to be flipped over to facilitate operations such as flow coating, storage, and pouring.

[0107] Optionally, the robotic arm 200 provided in this application further includes: a first support 230, rotatably mounted on the first arm 221; a second support 240, rotatably mounted on the second arm 222; and a pin 231 is provided on both the first support 230 and the second support 240.

[0108] After the pin 231 is inserted into the corresponding pin hole 232, the robot arm 200 holds the sand mold; after the sand mold detaches from the base plate, the robot arm 200 rises, moving the sand mold away from the base plate and the wooden mold. After confirming that the sand mold has room to flip, the first support 230 and the second support 240 rotate, thus flipping the sand mold.

[0109] The robotic arm 200 provided in this application also includes a tilting drive, which can be a motor or other driving component. At least one of the first support 230 and the second support 240 is connected to the tilting drive. After the sand mold is raised, the tilting drive operates and drives the support connected to it to rotate, thereby realizing the tilting of the sand mold.

[0110] To facilitate the flipping of the sand mold, at least one of the first support 230 and the second support 240 is provided with two or more pins 231; correspondingly, the sand box is provided with two or more pin holes 232.

[0111] For details, please refer to Figures 1 to 4 In the illustrated embodiment, the first arm 221 and the second arm 222 are spaced apart along the X direction; the first support 230 is provided with two pins 231, which are spaced apart along the Y direction; the first arm 221 is provided with a flipping drive, which is connected to the first support 230; the second support 240 is provided with a pin 231, which is located on the vertical axis of the first support 230. When the sand mold is flipped, the first support 230 is driven to rotate actively by the flipping drive, and the two pins 231 on the first support 230 restrain each other, which can prevent the pins 231 from slipping in the pin holes 232, thereby ensuring that the sand box is rotated under force; when the sand box rotates, the second support 240 is rotated passively under force, thereby causing the sand box to flip at a large angle.

[0112] Adding pin 231 and pin hole 232 facilitates sand mold flipping.

[0113] Optionally, the mold-lifting device provided in this application also includes a pad 260, which corresponds one-to-one with the lifting working piece 250; the pad 260 is used for the lifting working piece 250 to press against.

[0114] When the lifting working piece 250 is mounted on the first arm 221 or the second arm 222, the pad 260 is mounted on the base plate; when the lifting working piece 250 is mounted on the base plate, the pad 260 is mounted on the first arm 221 or the second arm 222. During pre-tightening and mold release, the movable end of the lifting working piece 250 extends and abuts against the pad 260 to support the arm and the base plate.

[0115] The pad 260 serves two purposes: firstly, it limits the holding position of the lifting workpiece 250 to ensure the normal operation of the robot arm 200; secondly, it protects the base plate or robot arm 200 and prevents damage to the equipment structure from the lifting workpiece 250. Furthermore, the pad 260 is easy to install, easy to replace, and inexpensive, allowing for low-cost repair or replacement if damaged.

[0116] Optionally, the height of the pad 260 is adjustable.

[0117] Sand molds come in various specifications, and different specifications of sand molds may have different heights. When the height of the sand mold held by the robotic arm 200 is different, the holding position will also be different.

[0118] For example, the sand box has a pin hole 232, which is located at half the height of the sand box. At this time, the higher the sand box, the higher the position of the pin hole 232, and the higher the position of the robot arm 200 holding the sand mold, the larger the distance between the arm and the base plate.

[0119] The different distances between the arm and the base plate result in different extension lengths required for the movable ends of the top holding arm, the base plate, and the lifting workpiece 250.

[0120] When the sand mold configuration is large, the stroke of the small-sized lifting workpiece 250 may not be able to meet the lifting requirements. If a large-stroke lifting workpiece 250 is used, it will not only increase the equipment cost, but also increase the load on the entire robot arm 200 when the lifting workpiece 250 is set on the arm, affecting the safety and durability of the equipment.

[0121] For this purpose, a height-adjustable pad 260 is used. The pad 260 is adjusted to a suitable height according to the specifications of the sand mold so that the lifting workpiece 250 can be supported by the pad 260 to support the arm and the base plate.

[0122] The pad 260 can be stacked; for example, the pad 260 includes multiple pad blocks that can be stacked to increase the height. Before the demolding operation, a suitable number of pad blocks are stacked according to the specifications of the sand mold to ensure that the lifting workpiece 250 can abut against the pad blocks, thereby supporting the arm and the base plate, and achieving pre-tightening and demolding operations.

[0123] Alternatively, the pad 260 can be made of an elastic structure; when the elastic structure is compressed, the pad 260 becomes shorter; when the elastic structure is released, the pad 260 becomes taller; thus, it is also convenient to lift the working part 250.

[0124] Alternatively, the pad 260 can adopt a folding structure; when folded, the pad 260 becomes shorter; when unfolded, the pad 260 becomes taller; thus, it can also facilitate the lifting of the working part 250.

[0125] This application does not limit the specific configuration of the pad 260.

[0126] Optionally, after the robotic arm 200 holds the sand mold, the distance between the lifting workpiece 250 and the pad 260 is determined and uniform.

[0127] In simple terms, before releasing sand molds of different specifications, the height of the pad 260 is adjusted to ensure that the distance between the lifting workpiece 250 and the pad 260 remains at the preset value after the robot arm 200 holds the sand mold. Thus, when the lifting workpiece 250 works for the first time, its movable end extends the preset length and contacts the pad 260, followed by a delay action to achieve pre-tightening. At this point, the operating parameters of the lifting workpiece 250 do not require additional adjustment, simplifying control.

[0128] Optionally, when the robot arm 200 holds the sand mold, the distance between the lifting workpiece 250 and the pad 260 is 5~100mm.

[0129] This distance is relatively small, and most drives can meet this stroke requirement. A smaller distance also improves mold release efficiency.

[0130] Optionally, the levelness of the base plate is adjustable.

[0131] It is easy to understand that the levelness of the base plate will also affect the synchronization of mold release; only by ensuring that the plane on which the base plate is located is perpendicular to the lifting direction of the lifting workpiece 250 and the mold release direction of the robot arm 200 can the sand mold be guaranteed not to interfere with the wooden mold.

[0132] In one embodiment, the base plate is provided with support feet at the four corners, and the height of the support feet is adjustable; by adjusting the height of different support feet, the levelness of the base plate can be adjusted.

[0133] In another embodiment, a level is provided on the base plate. The position and orientation of the base plate can be adjusted according to the level reading, or a heightening element can be inserted under the base plate to adjust the levelness of the base plate.

[0134] This application does not limit the method of adjusting the levelness of the base plate.

[0135] Optionally, the demolding equipment provided in this application further includes a crane 100, which is located above the demolding station, and a robot arm 200 is hoisted on the crane 100. The crane 100 includes: a main beam 110, which extends along the X direction; a crane 120, which is slidably mounted on the main beam 110 and can move along the X direction; and a robot arm 200 is hoisted on the crane 120, which can lift and lower the robot arm 200.

[0136] By setting up the overhead crane 100, the robot arm 200 can be reliably hoisted into the workshop; the crane 120 moves along the main beam 110 in the X direction, which can drive the robot arm 200 to different workstations.

[0137] Optionally, this application also provides a casting manufacturing section, including a sand box preparation station, a molding station, a mold removal station, a flow coating station, and a box assembly station. These stations are arranged along the X direction, and the robot arm 200 can travel back and forth between each station via the overhead crane 100.

[0138] Specifically, the sand box preparation station stores empty sand boxes; the robot arm 200 can transport the empty sand boxes to the molding station to facilitate the assembly of the sand box, wooden mold, and base plate, and to achieve sand filling molding; the molded sand mold waits for demolding at the demolding station, which can be an independent station or the molding station used as a demolding station; after the sand mold is formed, the robot arm 200, in conjunction with the lifting workpiece 250, demolds the sand mold, and then the robot arm 200 transports the sand mold to the flow coating station; at the flow coating station, the robot arm 200 flips the sand mold at a certain angle to facilitate the flow coating of the sand mold by the worker; after the flow coating is completed, the robot arm 200 flips the sand mold so that the groove faces upward; the robot arm 200 transports the sand mold with the groove facing upward to the box assembly station, where the robot arm 200 can assemble the upper and lower sand boxes to facilitate the shaping of the sand mold and the pouring of molten metal.

[0139] The robotic arm provided in this application can meet the needs of operations such as transferring and flipping items in multiple stages of the casting process.

[0140] It should be added that, in the mold-lifting method provided in this application, lifting the working part 250 requires lifting the robot arm 200 and the sand mold. If the robot arm 200 is rigidly mounted on the overhead crane 100, when lifting the working part 250 for mold lifting, the overhead crane 100 needs to be lifted at the same time. This is not only detrimental to design and cost, but also affects workshop safety.

[0141] Therefore, in one embodiment, the robotic arm 200 is flexibly connected to the crane 100.

[0142] For example, the robotic arm 200 is connected to the crane 100 via flexible connectors such as steel wire ropes or chains, and lifts the working piece 250 to perform mold-making operations. The flexible connectors can compensate for the displacement of the robotic arm 200 through their own deformation, thereby avoiding affecting the main body of the crane 100.

[0143] In one specific embodiment, the crane 120 includes two sets of lifting ropes 121, with a hook 122 at the end of each set of lifting ropes 121; the lifting beam 210 is provided with a fixed lifting ring 123 and a movable lifting ring 124, with one hook 122 connected to the fixed lifting ring 123 and the other hook 122 connected to the movable lifting ring 124; the first side of the movable lifting ring 124 is rotatably connected to the lifting beam 210, the second side is connected to the hook 122, and the third side is connected to the balance cylinder 125; one of the movable end and the fixed end of the balance cylinder 125 is rotatably connected to the lifting beam 210, and the other is connected to the movable lifting ring 124; the crane 100 also includes a level, which can detect whether the lifting beam 210 is level.

[0144] In this embodiment, the lifting rope 121 is capable of flexible deformation, and the two sets of lifting ropes 121 can improve the levelness and stability of the entire robotic arm 200 during lifting. If necessary, the crane 120 can be equipped with only one set of lifting ropes 121, or it can be equipped with three or even more sets of lifting ropes 121.

[0145] The crane 120 also includes a rope winding mechanism. The rope 121 is wound in the rope winding mechanism. When the rope winding mechanism rotates, it can release or retract the rope 121, thereby realizing the lifting and lowering of the robot arm 200.

[0146] The connection structure between the hook 122 and the lifting ring facilitates the assembly and disassembly of the robot arm 200 and the crane 100.

[0147] The triangular connection structure of the movable lifting ring 124 enables the horizontal adjustment of the robotic arm 200. See details for further information. Figure 2The level is used to confirm whether the lifting beam 210 is level. If the lifting beam 210 is tilted, the movable end of the balance cylinder 125 extends or retracts, thereby pulling the movable lifting ring 124, which in turn pulls the hook 122 connected to it, causing one side of the lifting beam 210 to rise or fall, thereby achieving the horizontal adjustment of the lifting beam 210.

[0148] Optionally, in S3, when the lifting workpiece 250 moves synchronously and the sand mold is lifted, the gantry crane 100 can control the hoisting rope 121 to cooperate with the rise of the robot arm 200 for recovery, thereby sharing the pressure of the lifting workpiece 250 and facilitating the sand mold to detach from the base plate.

[0149] Optionally, the crane 100 has a slow mode and a fast mode; the worker can select the appropriate operating speed of the crane 100 according to the work mode. For example, when it is necessary to move or lift goods quickly, the fast mode can be selected; when it is necessary to perform delicate operations or slow operations on important goods, the slow mode can be selected.

[0150] The principle behind the 100-speed / slow-speed crane operation is to control the operating speed of the crane's main motor by adjusting its operating voltage and current. In fast mode, the operating voltage and current of the main motor increase, thereby increasing the motor speed and the crane's operating speed; while in slow mode, the voltage and current decrease, thereby reducing the machine's speed and operating speed.

[0151] Alternatively, variable frequency drives can be used to adjust the speed.

[0152] The operating speed of the crane 100 includes the translation speed of the crane 120 and the lifting speed of the robotic arm 200.

[0153] In one specific embodiment, after the sand mold detaches from the base plate, the gantry crane 100 is in slow mode, driving the robot arm 200 to rise slowly so that the sand mold can be smoothly detached from the wooden mold; after the sand mold is far away from the wooden mold, the gantry crane 100 enters fast mode, driving the robot arm 200 to rise to a preset height, and then realizing the flipping of the sand mold and its transfer downstream.

[0154] Optionally, the formwork lifting equipment provided in this application also includes a gantry crane, which is used to lift the base plate. The gantry crane can be set up independently in the workshop and can lift or lower the base plate by raising and lowering the lifting device; the gantry crane can also be slidably set on the main beam 110 of the overhead crane 100 and can move along the main beam 110 to avoid positioning.

[0155] Furthermore, the demolding equipment provided in this application has a normal use mode and a manual assistance mode; when demolding is performed in the normal use mode, the sand mold is lifted off the base plate by the lifting working piece 250; when demolding is performed in the manual assistance mode, the base plate is lifted off the ground by the overhead crane, and then the bottom plate is manually subjected to force to help separate the bottom plate from the sand mold.

[0156] Specifically, in the normal use mode, according to the mold-lifting method provided in this application, after the first arm 221 and the second arm 222 hold the sand box tightly, the lifting working part 250 is first pre-tightened and then simultaneously exerts force to lift the sand mold; if the lifting working part 250 cannot lift the sand mold, the bottom plate is lifted by a crane in conjunction with a robot arm; if the bottom plate cannot fall off actively after leaving the ground, manual force is applied to help the bottom plate fall off.

[0157] When using the manual assistance mode, the lifting workpiece 250 does not work. The gantry crane, in conjunction with the robotic arm, directly lifts the base plate and the sand mold on it, and then the base plate is detached by manual operations such as hammering.

[0158] It should be noted that when the lifting workpiece 250 is driven automatically, its force is limited due to the limitations of its model. Sand molds come in various configurations. Small sand molds weigh around one ton, and a standard lifting workpiece 250 is sufficient for lifting. However, large and extra-large sand molds may exceed twenty-five tons. Relying on the lifting workpiece 250 to lift the sand mold would not only require selecting a larger model of lifting workpiece 250, increasing costs, but would also increase the overall weight of the robot and affect the reliability of the entire production line.

[0159] To meet diverse mold release needs, this application is equipped with both a robotic arm 200 and a gantry crane, which can select the mold release mode according to the sand mold specifications, further optimizing the usage scheme.

[0160] The above embodiments merely illustrate several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A method for releasing a mold, characterized in that, The mold-removal method is achieved through a mold-removal device, which includes a robotic arm (200). The robotic arm (200) is suspended in the workshop and can perform lifting and lowering movements to approach or move away from the mold-removal station. The robotic arm (200) includes: Hanging beam (210); The first arm (221) and the second arm (222) are slidably mounted on the lifting beam (210) and can move relative to each other. Both the first arm (221) and the second arm (222) are provided with pins (231). The lifting working component (250) is provided on both the first arm (221) and the second arm (222). The sand box of the sand mold is provided with a pin hole (232) so that the pin (231) can be inserted into the corresponding pin hole (232) and the first arm (221) and the second arm (222) can cooperate to clamp the sand mold; During demolding, the first arm (221) and the second arm (222) move away from each other, the robot (200) descends until the pin (231) aligns with the pin hole (232), the first arm (221) and the second arm (222) move closer to each other until the pin (231) is inserted into the pin hole (232), the movable end of the lifting working piece (250) extends and presses against the base plate where the sand mold is located, achieving pre-tightening of the pin (231) and the pin hole (232), all the lifting working pieces (250) move synchronously, pushing the sand mold away from the base plate, the robot (200) rises, causing the sand mold to move away from the base plate and the wooden mold. The mold release method includes the following steps: S1. Positioning: The robotic arm is positioned above the mold-removal station; The sand mold to be demolded is located at the demolding station; The robotic arm descends and holds the sand mold; S2. Pre-tightening: The total weight of the robotic arm is G1, and the total weight of the sand mold is G2; The robotic arm includes a first arm and a second arm, which are capable of gripping the sand mold in cooperation. This causes a lifting working component to support the first arm and the base plate where the sand mold is located; This causes another lifting component to support the second arm and the base plate; Each of the lifting components has a delayed action and gradually increases its output force. The lifting component continuously presses against the robot and the base plate until the output force is G3, where G1 < G3 < G1 + G2. S3. Demolding: All of the lifting components move synchronously to lift the sand mold away from the base plate; After the sand mold detaches from the base plate, the robotic arm rises, causing the sand mold to detach from the wooden mold.

2. The demolding method according to claim 1, characterized in that, In S2, G3 ≤ G1 + ½G2.

3. The demolding method according to claim 1, characterized in that, In S3, after the sand mold is lifted 2-10mm away from the bottom plate, the robotic arm rises to facilitate the sand mold's separation from the wooden mold.

4. The demolding method according to claim 1, characterized in that, In S3, the maximum output force of the lifting working piece is G4, where G1+G2<G4≤G1+2G2.

5. The demolding method according to claim 4, characterized in that, In S3, if the output force of the lifting workpiece reaches G4 and the sand mold still has not detached from the base plate, the base plate will leave the ground so that the base plate can detach from the sand mold under the influence of gravity.

6. The demolding method according to claim 5, characterized in that, If the output force of the lifting workpiece reaches G4 and the sand mold still does not detach from the base plate, the base plate will be 2-10mm away from the ground. And / or, the base plate is lifted off the ground by a gantry crane. When the gantry crane is working, the robot arm works together to lift the sand mold so that the base plate and the sand mold move away from the ground synchronously.

7. The demolding method according to claim 5, characterized in that, If the sand mold remains attached to the base plate after it leaves the ground, the lifting working component increases its output force, or the base plate is manually subjected to force to help separate the base plate from the sand mold.

8. The demolding method according to claim 1, characterized in that, The mold-lifting equipment further includes a crane (100), which is located above the mold-lifting station, and the robotic arm (200) is mounted on the crane (100); the crane (100) includes: The main beam (110) extends along the X direction; The crane (120) is slidably mounted on the main beam (110) and is capable of moving along the X direction; The crane (120) includes two sets of lifting ropes (121), and each set of lifting ropes (121) has a hook (122) at its end. The lifting beam (210) is provided with a fixed lifting ring (123) and a movable lifting ring (124), wherein one of the hooks (122) is connected to the fixed lifting ring (123) and the other hook (122) is connected to the movable lifting ring (124); The first side of the movable lifting ring (124) is rotatably connected to the lifting beam (210), the second side is connected to the hook (122), and the third side is connected to the balance cylinder (125); One of the movable end and the fixed end of the balance cylinder (125) is rotatably connected to the lifting beam (210), and the other end is connected to the movable lifting ring (124); The crane (100) also includes a level, which is capable of detecting whether the lifting beam (210) is level.

9. The demolding method according to claim 1, characterized in that, The formwork lifting equipment also includes a gantry crane, which is used to lift the base plate; The mold-removing equipment has a normal operating mode and a manual assistance mode; When using the normal operating mode for mold release, the sand mold is lifted away from the base plate by the lifting working piece (250); When using the manual assistance mode for mold removal, the gantry crane is used to lift the base plate off the ground, and then manual force is applied to the base plate to help separate the base plate from the sand mold.

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