Shakeout Department Based on Large-tonnage Remote Hydraulic Control Foundry Manipulator

Abstract

The present application discloses a shakeout section based on a large-tonnage remote hydraulic control casting manipulator, which includes a feeding device, a mold box disassembling and handling device, a first shakeout device, a second shakeout device, a first transfer device and a second transfer device; the mold box disassembling and handling device can handle and disassemble mold boxes to meet the needs of diversified component transportation and operations; the first shakeout device and the second shakeout device can cooperate to achieve diversified shakeout operations, which is beneficial to improving the shakeout efficiency and can also operate independently to meet the shakeout requirements of different stages, different sand molds or different standards; the first transfer device can recycle casting bottom plates and mold boxes, and the second transfer device can transfer castings. Multiple mechanisms are connected in series and cooperate to work, with a high degree of workshop automation and a small workload for workers.

Description

Technical Field

[0001] This application relates to the technical field of casting equipment, and in particular to a shakeout section based on a large-tonnage remote hydraulic control casting manipulator. Background Art

[0002] Currently, casting enterprises mostly use a combination of workshop cranes and worker assistance to perform shakeout cleaning of sand boxes. Specifically, when taking out the shakeout parts, first, the worker manually hoists the sand box onto the vibrating shakeout machine for vibrating shakeout. After the sand blocks and the castings therein are separated from the sand box, the sand box and the castings are respectively hoisted and transported to the next section by the workshop crane manually.

[0003] During the shakeout of the sand box, the working environment temperature in the casting workshop is high, and operations such as hoisting cause great labor intensity for workers, which is easy to damage the physical health of workers; at the same time, there is a lot of dust in the casting workshop, and the dust enters the human body through the mouth and nose, which is easy to cause lung infections and occupational diseases for workers; in addition, the noise in the casting workshop is loud, which will cause hearing loss for workers, and even cause tinnitus and deafness for workers, and is prone to work injury accidents. Summary of the Invention

[0004] The purpose of this application is to overcome the deficiencies existing in the prior art and provide a shakeout section based on a large-tonnage remote hydraulic control casting manipulator.

[0005] To achieve the above technical purposes, this application provides a shakeout section based on a large-tonnage remote hydraulic control casting manipulator, including: a feeding device for conveying workpieces to be shakeout, the workpieces including a casting bottom plate and a sand box filled with sand material in which castings are molded; a first shakeout device and a second shakeout device arranged side by side, both for performing shakeout on the sand box; a box-opening handling device for docking with the feeding device, the first shakeout device and the second shakeout device; a first transfer device for docking with the feeding device and / or the box-opening handling device; a second transfer device for docking with the first shakeout device, the second shakeout device and / or the box-opening handling device; during operation, the box-opening handling device docks with the feeding device, can pick up and transport the sand box to the first shakeout device or the second shakeout device; the box-opening handling device can also disassemble the sand box into an upper sand box and a lower sand box; the first shakeout device and the second shakeout device can respectively perform shakeout on the upper sand box and the lower sand box; the first shakeout device and the second shakeout device can perform shakeout on different sand boxes; the first shakeout device and the second shakeout device can also perform shakeout on the same sand box in sequence; the first transfer device can pick up an empty casting bottom plate; the first transfer device can also pick up an empty sand box; the second transfer device can pick up the castings.

[0006] Further, the mold unloading and handling device includes: a transfer mechanism for docking with the feeding device and the first transfer device; a handling mechanism for docking with the transfer mechanism, the first sand falling device, and the second sand falling device; wherein, the transfer mechanism can pick up the workpiece to be sanded; the handling mechanism can pick up the sand box on the transfer mechanism and transport the sand box to the first sand falling device or the second sand falling device; after the sand box is taken away, the casting bottom plate on the transfer mechanism is vacant, and the first transfer device can pick up the casting bottom plate; after sand falling, the handling mechanism can transport the vacant sand box back to the transfer mechanism to facilitate the first transfer device to pick up the sand box.

[0007] Further, the mold unloading and handling device further includes a picking mechanism for docking with the first sand falling device, the second sand falling device, and the second transfer device; the picking mechanism can pick up and transport the casting to the second transfer device.

[0008] Further, the picking mechanism adopts a multi-axis manipulator; the picking mechanism is arranged above the first sand falling device and the second sand falling device and can move in multiple directions to realize the extraction and transfer of the casting.

[0009] Further, the feeding device includes: a feeding transportation mechanism for transporting the workpiece; a feeding transmission mechanism for docking with the feeding transportation mechanism and the mold unloading and handling device; the workpiece can enter the feeding transmission mechanism through the feeding transportation mechanism, and the mold unloading and handling device can obtain the workpiece to be sanded through the feeding transmission mechanism.

[0010] Further, the first transfer device includes: a transfer transmission mechanism for docking with the mold unloading and handling device to facilitate picking up the casting bottom plate and the sand box; a first transfer transportation mechanism for docking with the transfer transmission mechanism to facilitate picking up the casting bottom plate; a second transfer transportation mechanism for docking with the transfer transmission mechanism to facilitate picking up the sand box.

[0011] Further, the first transfer device further includes a first tilting drive assembly; the first tilting drive assembly is used to drive the transfer transmission mechanism or the first transfer transportation mechanism to tilt to facilitate removing the floating sand on the casting bottom plate.

[0012] Further, the second transfer device includes: a first lifting mechanism for picking up the casting, and a tray is provided on the first lifting mechanism, and the casting entering the first lifting mechanism is placed in the tray; a first running mechanism for picking up the tray with the casting and being able to transfer the tray downstream; a second lifting mechanism is arranged downstream of the first running mechanism for picking up the tray on the first running mechanism; a second running mechanism is arranged below the first running mechanism for picking up the tray on the second lifting mechanism and being able to transfer the tray to the first lifting mechanism; the tray can realize circular flow through the first lifting mechanism, the first running mechanism, the second lifting mechanism, and the second running mechanism.

[0013] Further, the second transfer device further includes a second tipping drive assembly; the first lifting mechanism includes a receiving table, and the tray is placed on the receiving table; the second tipping drive assembly is used to drive the receiving table to tip over so as to remove the floating sand in the tray.

[0014] Further, the shakeout section based on the large-tonnage remote hydraulic control casting manipulator further includes: a dust removal chamber, in which a mold-unboxing handling device, a first shakeout device, and a second shakeout device are arranged; and / or, an operation room where workers can operate the mold-unboxing handling device.

[0015] The present application provides a shakeout section based on a large-tonnage remote hydraulic control casting manipulator, including a feeding device, a mold-unboxing handling device, a first shakeout device, a second shakeout device, a first transfer device, and a second transfer device; the mold-unboxing handling device can handle and disassemble the sand mold to meet the diverse needs of component transportation and operations; the first shakeout device and the second shakeout device can cooperate to achieve diverse shakeout operations, which is beneficial to improving the shakeout efficiency and can also operate independently to meet the shakeout requirements of different stages, different sand molds, or different standards. When an accident such as a failure occurs in one shakeout device and requires shutdown for treatment, the other shakeout device can continue to be used, thereby avoiding the shutdown of the entire line and affecting the normal operation of the workshop; the first transfer device can recycle the casting bottom plate and the sand mold, and the second transfer device can transfer the casting. Multiple mechanisms are connected in series and cooperate to work, with a high degree of automation in the workshop and a small workload for workers. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a three-dimensional structural schematic diagram of a shakeout section based on a large-tonnage remote hydraulic control casting manipulator provided by the present application;

[0017] Figure 2 is Figure 1 the front view structural schematic diagram of the shakeout section based on the large-tonnage remote hydraulic control casting manipulator shown in;

[0018] Figure 3 is Figure 1 the top view structural schematic diagram of the shakeout section based on the large-tonnage remote hydraulic control casting manipulator shown in;

[0019] Figure 4 is Figure 1 the structural schematic diagram of the mold-unboxing handling device of the shakeout section based on the large-tonnage remote hydraulic control casting manipulator shown in;

[0020] Figure 5 is Figure 1 the structural schematic diagram of the second transfer device of the shakeout section based on the large-tonnage remote hydraulic control casting manipulator shown in;

[0021] Figure 6Another three-dimensional structural schematic diagram of the shakeout section of the large-tonnage remote hydraulic control foundry manipulator provided by this application. Detailed implementation manners

[0022] To make the above objects, features, and advantages of this application more obvious and understandable, the following will describe the detailed implementation manners of this application in conjunction with the accompanying drawings. Many specific details are set forth in the following description to fully understand this application. However, this application can be implemented in many other ways different from those described herein. Those skilled in the art can make similar improvements without departing from the connotation of this application. Therefore, this application is not limited by the specific embodiments disclosed below.

[0023] First, explain the workpiece described in this application.

[0024] The workpiece is the form of the product to be processed after the pouring operation, and the pouring operation is used to obtain the casting.

[0025] Specifically, the sand box is filled with sand material. The sand material is an important molding material in the casting manufacturing process and is usually composed of materials such as foundry sand, binder, and additives mixed in a certain proportion. The sand material forms a sand mold with a preset shape in the sand box through molding. After the sand mold hardens, molten metal is poured into it. When the molten metal solidifies, the casting can be obtained.

[0026] To take out the casting, it is necessary to break the sand mold.

[0027] It should also be explained that for the convenience of constructing the sand mold, the sand box is usually divided into parts, filled with sand separately, and finally assembled for use.

[0028] For example, the sand box adopts a two-part structure; at this time, the sand box includes an upper sand box and a lower sand box, and both the upper sand box and the lower sand box are frames with openings at both ends; when preparing the casting, first place the upper and lower sand boxes on a pouring bottom plate respectively, and then fill the upper and lower sand boxes with sand separately; fill the upper sand box with sand material to form the upper sand mold; fill the lower sand box with sand material to form the lower sand mold; after the sand mold hardens, remove the upper sand box from the pouring bottom plate and invert the upper sand box onto the lower sand box; the upper and lower sand molds are assembled together to form a complete sand mold; pour the sand mold, and the casting is formed in the sand mold.

[0029] Another example is that the sand box adopts a three-part structure; at this time, the sand mold includes an upper sand box, a middle sand box, and a lower sand box. Fill the upper, middle, and lower sand boxes with sand for molding respectively, and then assemble the three together to form a complete sand mold.

[0030] If necessary, the sand box can also be set to a four-part or even more-part structure.

[0031] Briefly speaking, after the casting operation, the casting is inside the sand mold, the sand mold is inside the sand box, and the sand box is on the casting bottom plate. The casting bottom plate, the sand box, the sand mold and the casting constitute the workpiece. The shakeout section provided in this application is used to process the workpiece. By disassembling the various components of the workpiece and performing shakeout on the sand box, the casting is finally obtained and each component is recycled.

[0032] Specifically, a shakeout section based on a large-tonnage remote hydraulic control casting manipulator provided in this application includes: a loading device 100 for conveying the workpiece to be shakeout, the workpiece including a casting bottom plate and a sand box, the sand box being filled with sand material in which a casting is molded; a first shakeout device 310 and a second shakeout device 320, the first shakeout device 310 and the second shakeout device 320 being arranged side by side and both being used for performing shakeout on the sand box; a mold-opening handling device 200 for docking with the loading device 100, the first shakeout device 310 and the second shakeout device 320; a first transfer device 400 for docking with the loading device 100 and / or the mold-opening handling device 200; and a second transfer device 500 for docking with the first shakeout device 310, the second shakeout device 320 and / or the mold-opening handling device 200.

[0033] During operation, the mold-opening handling device 200 docks with the loading device 100 and can pick up the sand box on the casting bottom plate; the mold-opening handling device 200 docks with the first shakeout device 310 or the second shakeout device 320 and can transfer the sand box to the shakeout device.

[0034] According to the shakeout requirement, the mold-opening handling device 200 can also disassemble the sand box into an upper sand box and a lower sand box, and the first shakeout device 310 and the second shakeout device 320 can perform shakeout on the upper sand box and the lower sand box respectively.

[0035] The first shakeout device 310 and the second shakeout device 320 can perform shakeout on different sand boxes; the first shakeout device 310 and the second shakeout device 320 can also perform shakeout on the same sand box in sequence.

[0036] After the sand box is taken away, the casting bottom plate is vacant. The vacant casting bottom plate needs to be recycled for reuse, and the first transfer device 400 can pick up the vacant casting bottom plate.

[0037] After the shakeout is completed, the casting is taken away and the sand box is vacant. The vacant sand mold needs to be recycled for reuse, and the first transfer device 400 can also pick up the vacant sand box.

[0038] The second transfer device 500 can pick up the casting.

[0039] In one embodiment, the loading device 100 transports the workpiece to the picking-up station of the sand box handling device 200; the sand box handling device 200 picks up the sand box; the casting bottom plate is vacant, and the first transfer device 400 picks up the casting bottom plate; the picking-up station is vacant, and the loading device 100 transports the next workpiece to it. The sand box handling device 200 transports the sand box to the first sand shaking device 310 and the second sand shaking device 320, and the sand shaking devices perform sand shaking on the sand box, the sand molds in the upper and lower sand boxes are damaged, and the castings appear. The second transfer device 500 picks up the castings; the first transfer device 400 picks up the sand box.

[0040] In this application, two groups of sand shaking devices (the first sand shaking device 310 and the second sand shaking device 320) are provided, and the two groups of sand shaking devices cooperate to enable various forms of sand shaking operations.

[0041] For example, the sand box handling device 200 transports one sand box to the first sand shaking device 310 and another sand box to the second sand shaking device 320, and the two sand shaking devices can perform sand shaking operations on different sand molds respectively.

[0042] For another example, the sand box handling device 200 transports the sand box to the first sand shaking device 310, and the first sand shaking device 310 performs the first sand shaking; subsequently, the sand box handling device 200 transports the sand box to the second sand shaking device 320, and the second sand shaking device 320 performs the second sand shaking; the sand box undergoes two consecutive sand shakings, and finally the separation of the casting and the sand mold is achieved.

[0043] For still another example, the sand box handling device 200 disassembles the sand box to separate the upper sand box and the lower sand box, so that the first sand shaking device 310 can process one of them and the second sand shaking device 320 can process the other.

[0044] Adding the sand shaking device, on the one hand, increases the sand shaking treatment stations and can perform sand shaking operations on two sand boxes simultaneously, which is beneficial to the sand shaking efficiency. On the other hand, when an accident such as a failure occurs to one of the sand shaking devices and it needs to be shut down for processing, the other sand shaking device can continue to be used to avoid the entire line being shut down and affecting the normal operation of the workshop.

[0045] At the same time, the two sand shaking devices can operate independently; if necessary, the working parameters such as the sand shaking speed and strength of each sand shaking device can be set separately to meet the sand shaking requirements in different stages, different sand molds or different standards, further improving the applicability of the equipment.

[0046] In addition, after disassembling the sand box and performing sand shaking on different parts by different sand shaking devices, the amount of sand on each sand shaking device is small, the sand mold is easily damaged, and the scattered sand is easily collected, which is beneficial to improving the sand shaking efficiency, ensuring the sand shaking effect, and can also suppress the scattering of dust and reduce noise to a certain extent.

[0047] In a specific embodiment, the sand mold box is assembled by an upper sand mold box and a lower sand mold box; the mold box disassembling and handling device 200 first places the sand mold box on the first shakeout device 310, and the first shakeout device 310 receives the lower sand mold box; then the mold box disassembling and handling device 200 removes the upper sand mold box from the lower sand mold box and places the upper sand mold box on the second shakeout device 320; the first shakeout device 310 and the second shakeout device 320 work to break the sand molds in the upper and lower sand mold boxes; the casting appears, and the second transfer device 500 takes away the casting; the first transfer device 400 takes away the upper sand mold box and the lower sand mold box.

[0048] Among them, the first transfer device 400 can store the empty pouring bottom plates, or the first transfer device 400 can transfer the pouring bottom plates back to the previous process section for the pouring bottom plates to be reused.

[0049] Similarly, the first transfer device 400 can store the empty sand mold boxes, or the first transfer device 400 can transfer the sand mold boxes back to the previous process section for the sand mold boxes to be reused.

[0050] The second transfer device 500 can store the castings, or the second transfer device 500 can transfer the castings downstream.

[0051] The mold box disassembling and handling device 200 can disassemble the sand mold box at the picking-up station and then transport each part to different shakeout devices, or can also disassemble the sand mold box on one of the shakeout devices and then transport the removed parts to another shakeout device.

[0052] Optionally, the first transfer device 400 is only connected to the loading device 100. At this time, the empty sand mold boxes after shakeout need to be transported back to the picking-up station by the mold box disassembling and handling device 200 and returned to the loading device 100.

[0053] Optionally, the first transfer device 400 is only connected to the mold box disassembling and handling device 200. At this time, the empty pouring bottom plates need to be picked up by the mold box disassembling and handling device 200 and then handed over to the first transfer device 400.

[0054] Optionally, the first transfer device 400 is simultaneously connected to the loading device 100 and the mold box disassembling and handling device 200. At this time, the first transfer device 400 can pick up the empty pouring bottom plates through the loading device 100 and can pick up the empty sand mold boxes through the mold box disassembling and handling device 200.

[0055] Optionally, the second transfer device 500 is connected to the shakeout device; after shakeout, the second transfer device 500 picks up the castings through the shakeout device.

[0056] Optionally, the second transfer device 500 is connected to the mold box disassembling and handling device 200; after shakeout, the mold box disassembling and handling device 200 first takes out the castings from the shakeout device and then hands the castings over to the second transfer device 500.

[0057] This application does not limit the specific configurations and cooperation modes of each structure in the shakeout section.

[0058] Among them, the mold unloading and handling device 200 can adopt handling mechanisms such as overhead cranes and robots.

[0059] In a specific embodiment, the mold unloading and handling device 200 includes: a transfer mechanism 210 for docking with the feeding device 100 and the first transfer device 400; a handling mechanism 220 for docking with the transfer mechanism 210, the first shakeout device 310, and the second shakeout device 320; wherein, the transfer mechanism 210 can pick up the workpiece to be shaken out; the handling mechanism 220 can pick up the sand box on the transfer mechanism 210 and transport the sand box to the first shakeout device 310 or the second shakeout device 320; after the sand box is taken away, the casting bottom plate on the transfer mechanism 210 is vacant, and the first transfer device 400 can pick up the casting bottom plate; after shakeout, the handling mechanism 220 can transport the vacant sand box back to the transfer mechanism 210 to facilitate the first transfer device 400 to pick up the sand box.

[0060] In this embodiment, by setting the transfer mechanism 210 to receive the workpiece, on the one hand, it can connect the feeding device 100, the handling mechanism 220, and the first transfer device 400, so as to facilitate the accurate flow of the workpiece along the preset route; on the other hand, by using the transfer mechanism 210 to quickly receive and temporarily store the workpiece, the feeding device 100 can quickly return to pick up the next workpiece to be shaken out, which is beneficial to improving the working efficiency of the equipment.

[0061] The transfer mechanism 210 can adopt conveying mechanisms such as conveyor belts, conveyor rollers, and conveying platforms. At this time, in addition to being able to receive workpieces, the transfer mechanism 210 can also convey workpieces as needed. For example, the feeding device 100 is matched with the input end of the transfer mechanism 210, the handling mechanism 220 is matched with a certain position on the conveying path of the transfer mechanism 210, and the first transfer device 400 is matched with the output end of the transfer mechanism 210. During the process of the transfer mechanism 210 receiving the workpiece at its input end and transferring the workpiece to its output end, the handling mechanism 220 can take away the sand box, so that the transfer mechanism 210 finally outputs the casting bottom plate; thus, with three-way cooperation, the transportation of the workpiece is clearer, safer, and more efficient.

[0062] In this embodiment, the first sand falling device 310, the second sand falling device 320 and the transfer mechanism 210 are all on the movement path of the handling mechanism 220. Optionally, on this movement path, the first sand falling device 310 is downstream of the transfer mechanism 210, and the second sand falling device 320 is downstream of the first sand falling device 310; thus, after the handling mechanism 220 obtains the workpiece from the transfer mechanism 210, it can sequentially reach the first sand falling device 310 and the second sand falling device 320 to realize multi-station transportation of the sand box. Of course, the first sand falling device 310, the second sand falling device 320 and the transfer mechanism 210 can also be arranged in a staggered manner, as long as the handling mechanism 220 can reach the corresponding positions.

[0063] The handling mechanism 220 adopts handling mechanisms such as overhead cranes, manipulators, and robots.

[0064] In a specific embodiment, referring to Figures 1 to 5 , the transfer mechanism 210 adopts a motorized roller conveyor, and the handling mechanism 220 adopts a movable fixture.

[0065] Specifically, the transfer mechanism 210 includes a plurality of rollers 211 arranged at intervals in the first direction. Any roller 211 extends in the second direction, and the vertical direction, the first direction and the second direction are perpendicular to each other in pairs. After the workpiece is placed on the roller 211, the roller 211 rotates, and the workpiece can be conveyed in the first direction. The transfer mechanism 210 further includes a driving motor 212 (such as a reduction gearbox). One of the rollers 211 is connected to the driving motor 212, and the plurality of rollers 211 are linked; alternatively, any roller 211 is connected to a driving motor 212; when the driving motor 212 works, all the rollers 211 can be driven to rotate, thereby realizing the movement of the workpiece in the first direction.

[0066] The handling mechanism 220 includes a jaw 221, a horizontal extraction driving member 222 and a vertical extraction driving member 223. The horizontal extraction driving member 222 is used to drive the jaw 221 to move in the horizontal direction, and the vertical extraction driving member 223 is used to drive the jaw 221 to move in the vertical direction; during operation, the jaw 221 can transport the sand box under the drive of the horizontal extraction driving member 222 and the vertical extraction driving member 223, and can also disassemble the sand box.

[0067] Specifically, the jaw 221 includes two clamping parts that can approach or separate from each other for clamping objects. The horizontal extraction driving member 222 and the vertical extraction driving member 223 can adopt driving components such as electric cylinders and linear modules.

[0068] More specifically, the handling mechanism 220 is disposed above the shakeout station, and the gripper 221 is suspended above the first shakeout device 310, the second shakeout device 320 and the transfer mechanism 210; on the transfer mechanism 210, after the workpiece reaches the picking-up station of the handling mechanism 220, the horizontal extraction driving member 222 drives the gripper 221 to move to face the workpiece, the gripper 221 opens, and the vertical extraction driving member 223 drives the gripper 221 to descend so as to facilitate the gripper 221 to grip the workpiece; after the gripper 221 closes and clamps the workpiece, the vertical extraction driving member 223 drives the gripper 221 to rise so as to facilitate the horizontal extraction driving member 222 to drive the gripper 221 to move towards the first shakeout device 310 and the second shakeout device 320.

[0069] Optionally, the transfer mechanism 210 adopts a stepped motorized roller conveyor.

[0070] At this time, there are steps on both sides in the width direction of the roller conveyor, and the steps can limit the position of the casting bottom plate, thereby limiting the workpiece entering the transfer mechanism 210 to prevent the workpiece from running off track.

[0071] Optionally, the handling mechanism 220 further includes: a first steel rail 224, which is disposed at a high position through a column 225; a second steel rail 226, which is disposed at a low position, both the first steel rail 224 and the second steel rail 226 extend along the second direction, and the first steel rail 224 and the second steel rail 226 are spaced apart along the first direction; a cross beam 228, the gripper 221 is disposed on the cross beam 228, one side of the cross beam 228 is slidably connected to the first steel rail 224, and the other side is slidably connected to the second steel rail 226 through a support column 227; wherein, the first direction, the second direction and the vertical direction are perpendicular to each other in pairs.

[0072] Wherein, the second steel rail 226 can be disposed on the ground or the workbench surface. The column 225 can also be disposed on the ground or the workbench surface and extend vertically upward; the first steel rail 224 is disposed on the column 225 and is higher than the shakeout station.

[0073] The first steel rail 224 and the second steel rail 226 are arranged in a high-low and parallel manner. The second steel rail 226 is provided with a support column 227, and the support column 227 extends vertically upward. The support column 227 cooperates with the first steel rail 224 to support the cross beam 228, so that the gripper 221 is suspended in the workshop.

[0074] The first steel rail 224 and the second steel rail 226 have a guiding function. The horizontal extraction driving member 222 is used to drive the gripper 221 to move along the steel rail, and the first steel rail 224 and the second steel rail 226 can limit the movement direction of the gripper 221, which is beneficial to the stability and accuracy of the movement of the gripper 221.

[0075] The first rail 224 and the second rail 226 are arranged at different heights, which can also adapt to the installation of equipment and optimize the space occupation, being beneficial to both the equipment layout and the subsequent dust removal and cleaning operations.

[0076] After shakeout is completed, the sand mold is damaged, and the sand material forming the sand mold is dispersed and separated from the sand box, and the casting in the sand mold is thus exposed.

[0077] In one embodiment, the mold-opening handling device 200 includes a transfer mechanism 210 and a handling mechanism 220. The handling mechanism 220 is used to both handle the sand box and handle the casting. Specifically, after shakeout is completed, the handling mechanism 220 transports the casting to the second transfer device 500 and transports the sand box to the transfer mechanism 210.

[0078] In another embodiment, the mold-opening handling device 200 includes a transfer mechanism 210, a handling mechanism 220, and a picking mechanism 230. The picking mechanism 230 is used to interface with the first shakeout device 310, the second shakeout device 320, and the second transfer device 500; the picking mechanism 230 can pick up and transport the casting to the second transfer device 500.

[0079] In this embodiment, the transfer mechanism 210 is used to receive the workpiece to be shakeout, the handling mechanism 220 is used to take away the sand box of the workpiece and, as required, transport the sand box to the first shakeout device 310 and the second shakeout device 320; the picking mechanism 230 is used to pick up the casting in the sand box after shakeout and transfer the casting downstream. After the casting is taken away, the handling mechanism 220 retrieves the sand box and transports the sand box to the transfer mechanism 210. The picking mechanism 230 can transfer the casting to the second transfer device 500, and the transfer mechanism 210 can transfer the sand box to the first transfer device 400.

[0080] Different from the previous embodiment, the picking mechanism 230 is added, enabling the transfer of the casting and the transfer of the sand box to be carried out separately. Therefore, during the process of the picking mechanism 230 handling the casting, the handling mechanism 220 can handle the sand box, which is beneficial to improving work efficiency. In addition, by using the picking mechanism 230 to handle the casting, the handling mechanism 220 only needs to reciprocate between the transfer mechanism 210 and the shakeout device, and no longer needs to go to the second transfer device 500, thus reducing the movement path of the handling mechanism 220, simplifying the control program, and being beneficial to the efficient and accurate movement of the handling mechanism 220.

[0081] Among them, the picking mechanism 230 can adopt handling mechanisms such as robots, manipulators, and overhead cranes.

[0082] In a specific embodiment, referring to Figures 1 to 5 , the picking mechanism 230 adopts a multi-axis manipulator; the picking mechanism 230 is arranged above the shakeout station and can move in multiple directions to achieve the extraction and transfer of the casting.

[0083] It should be added that since the positions of the transfer mechanism 210 and the shakeout device are fixed, the handling mechanism 220 can accurately grasp and transport the sand box by running along the preset path. However, during the shakeout process, the castings in the sand mold may be displaced, that is to say, after the shakeout is completed, the positions of the separated castings are uncertain. Therefore, it is beneficial to use a multi-axis manipulator for the picking mechanism 230 to accurately grasp the castings.

[0084] In addition, the castings are formed in the sand mold, and after the shakeout, there will inevitably be loose sand on the castings. By setting the picking mechanism 230 as a multi-axis manipulator, after the picking mechanism 230 picks up the castings, it can remove the loose sand on the castings through movements such as rotation and shaking.

[0085] In summary, the picking mechanism 230 has at least three advantages. One is a large movement range and a wide working range. The second is flexible movement and the ability to freely grasp the castings. The third is the ability to remove sand from the castings.

[0086] Optionally, the picking mechanism 230 is slidably arranged on the first rail 224 and the second rail 226; enabling the picking mechanism 230 to move along the first rail 224 and the second rail 226 can expand the working range of the picking mechanism 230 and further realize the use of the picking mechanism 230 across workstations and workshops.

[0087] Specifically, Figures 1 to 5 In the shown embodiment, the handling mechanism 220 includes a jaw 221, a horizontal extraction driving member 222 and a vertical extraction driving member 223. The jaw 221 is arranged at the working end of the vertical extraction driving member 223. The vertical extraction driving member 223 is arranged on the cross beam 228. The working end of the horizontal extraction driving member 222 is connected to the cross beam 228. When the horizontal extraction driving member 222 works, it drives the cross beam 228 to move in the second direction so that the jaw 221 can go to different workstations; after the jaw 221 reaches the required workstation, the vertical extraction driving member 223 can drive the jaw 221 to descend to grasp or release the article. The picking mechanism 230 uses a multi-axis manipulator, and the picking mechanism 230 is arranged on the cross beam 228; if necessary, the picking mechanism 230 can move to the required workstation through the translation of the cross beam 228 in the second direction.

[0088] Optionally, the load of the picking mechanism 230 provided in this application is not less than 20T. So that the picking mechanism 230 has a bearing capacity of at least 20 tons, which can solve the problems of low load and low degree of freedom of traditional casting manipulators.

[0089] Optionally, the picking mechanism 230 provided in this application is connected to the control system and the production system, and the worker can remotely control the picking mechanism 230 in real time.

[0090] Specifically, the workpiece picking mechanism 230 can be connected to production systems such as the control system and MES of the shakeout section to achieve real-time remote control, thereby improving the digitization and intelligence of the production line.

[0091] More specifically, the present application provides a large-tonnage workpiece picking mechanism 230 with a load capacity of 20t. The workpiece picking mechanism 230 can perform actions such as left and right rotation, up and down extension, and pitching through remote control, so as to accurately grasp heavy castings. At the same time, the workpiece picking mechanism 230 also has a walking function and can cooperate with other sections in the workshop for operations.

[0092] Optionally, the shakeout section of the large-tonnage remote hydraulic control casting manipulator provided in the present application further includes an RFID reader, which is used to read the information of the workpiece on the transfer mechanism 210.

[0093] Specifically, after the transfer mechanism 210 picks up the workpiece to be shakeout, it can transport the workpiece to the picking station of the handling mechanism 220. After the workpiece reaches the picking station, the transfer mechanism 210 stops transporting, and the workpiece stays at the picking station to facilitate the handling mechanism 220 to extract the sand box. The working end of the RFID reader is facing the picking station. After the workpiece arrives, the RFID reader can read the identification (such as a two-dimensional code) on the workpiece, record the workpiece, and can also obtain information such as the model of the workpiece to facilitate the control system to confirm the workpiece.

[0094] After the casting is poured, it is necessary to wait for the casting to cool and solidify. Therefore, in some factories, special storage racks are equipped to place the workpieces. After the casting is solidified, the workpieces are taken out and shakeout is carried out. In some embodiments, the workpiece can be manually carried to the loading device 100. The loading device 100 can adopt handling mechanisms such as manipulators and robots. After the loading device 100 picks up the workpiece, it can transfer the workpiece to the box-opening handling device 200. Or, the loading device 100 can adopt conveying mechanisms such as conveyor belts and conveyor rollers. The output end of the loading device 100 is connected to the box-opening handling device 200. After the workpiece is placed on the loading device 100, the loading device 100 can directly input the workpiece into the box-opening handling device 200.

[0095] In another embodiment, the loading device 100 includes: a loading transportation mechanism 110 for transporting the workpiece; a loading transmission mechanism 120 for connecting the loading transportation mechanism 110 and the box-opening handling device 200. The workpiece can enter the loading transmission mechanism 120 through the loading transportation mechanism 110, and the box-opening handling device 200 can obtain the sand box to be shakeout through the loading transmission mechanism 120.

[0096] In this embodiment, the loading and transporting mechanism 110 can adopt a transfer trolley, such as a rail trolley or an AGV trolley. The loading and transporting mechanism 110 can pick up workpieces from a relatively far position and transport them to the loading and conveying mechanism 120. After the loading and conveying mechanism 120 picks up the workpieces, the loading and transporting mechanism 110 can return to pick up the next workpiece. On the one hand, the cooperation between the loading and transporting mechanism 110 and the loading and conveying mechanism 120 can improve the loading efficiency of the workpieces; on the other hand, the loading and transporting mechanism 110 can cooperate with the automated equipment in the factory to achieve automated loading of the workpieces.

[0097] In a specific embodiment, referring to Figure 1 , tracks extending in the second direction are laid on the ground. The loading and transporting mechanism 110 adopts a roller - track transfer trolley. The loading and transporting mechanism 110 is slidably arranged on the tracks and can transport workpieces along the second direction; a motorized roller track is arranged on the surface of the loading and transporting mechanism 110. When the roller track is stationary, the loading and transporting mechanism 110 can stably support the workpieces; after the loading and transporting mechanism 110 moves to dock with the loading and conveying mechanism 120, the roller track rotates and can transfer the workpieces to the loading and conveying mechanism 120.

[0098] In this embodiment, the loading and conveying mechanism 120 can adopt conveying mechanisms such as conveyor belts, conveying rollers, and conveying platforms, which can pick up workpieces and convey the workpieces to the transfer mechanism 210.

[0099] Continuing to refer to Figure 1 , in the illustrated embodiment, both the loading and conveying mechanism 120 and the transfer mechanism 210 adopt motorized roller tracks, and the motorized roller tracks of the two are docked. The workpieces can be directly input into the transfer mechanism 210 through the loading and conveying mechanism 120, and the transportation of the workpieces is more stable and the position is more accurate.

[0100] In one embodiment, the first transfer device 400 only includes a transfer and conveying mechanism, which can pick up the casting bottom plate and the sand box in sequence and transfer them to the recycling station.

[0101] Among them, the transfer and conveying mechanism can adopt handling mechanisms such as robots and manipulators, or can also adopt conveying mechanisms such as conveyor belts and conveying rollers, as long as it can pick up and transfer components.

[0102] In another embodiment, the first transfer device 400 includes: a transfer and conveying mechanism 410, which is used to dock with the unboxing and handling device 200 to pick up the casting bottom plate and the sand box; a first transfer and transporting mechanism 420, which is used to dock with the transfer and conveying mechanism 410 to pick up the casting bottom plate; a second transfer and transporting mechanism 430, which is used to dock with the transfer and conveying mechanism 410 to pick up the sand box.

[0103] By setting the first transfer and transportation mechanism 420 and the second transfer and transportation mechanism 430 to pick up the casting bottom plate and the sand box respectively, the casting bottom plate and the sand box can be independently transferred and picked up. On the one hand, the first transfer and transportation mechanism 420 and the second transfer and transportation mechanism 430 can work simultaneously, which is beneficial to improving the transfer efficiency of workpieces. On the other hand, when the picking stations and / or recycling stations of the casting bottom plate and the sand box are different, the grouped transfer and transportation mechanisms are more capable of adapting to diverse transfer and recycling needs.

[0104] Among them, the transfer and transmission mechanism 410 can adopt handling mechanisms such as robots and manipulators, or can also adopt conveying mechanisms such as conveyor belts and conveyor rollers, as long as it can pick up components and transfer them to the corresponding transfer and transportation mechanism.

[0105] The first transfer and transportation mechanism 420 and the second transfer and transportation mechanism 430 can adopt transfer trolleys, such as rail cars or AGV trolleys. After receiving the casting bottom plate or the sand box, the first transfer and transportation mechanism 420 and the second transfer and transportation mechanism 430 can transfer them to the corresponding recycling stations.

[0106] In a specific embodiment, referring to Figures 1 to 5 , both the transfer and transmission mechanism 410 and the transfer station mechanism 210 adopt motorized roller beds, and the motorized roller beds of the two are butted; the transfer and transmission mechanism 410 is arranged downstream of the transfer station mechanism 210; the first transfer and transportation mechanism 420 and the second transfer and transportation mechanism 430 are arranged downstream of the transfer and transmission mechanism 410. Further, both the first transfer and transportation mechanism 420 and the second transfer and transportation mechanism 430 adopt roller bed transfer trolleys. The surfaces of the first transfer and transportation mechanism 420 and the second transfer and transportation mechanism 430 are provided with motorized roller beds. The first transfer and transportation mechanism 420 and the second transfer and transportation mechanism 430 are slidably arranged on the same track, and the track extends along the second direction. Specifically, after the transfer station mechanism 210 transfers the workpiece to the picking station, the handling mechanism 220 takes away the sand box; the transfer station mechanism 210 conveys the casting bottom plate downstream. After the transfer and transmission mechanism 410 receives the casting bottom plate, it continues to convey the casting bottom plate downstream; at this time, the roller bed of the first transfer and transportation mechanism 420 is butted with the roller bed of the transfer and transmission mechanism 410; after the first transfer and transportation mechanism 420 receives the casting bottom plate, it moves along the track to the corresponding recycling station; the second transfer and transportation mechanism 430 moves to make its roller bed butted with the roller bed of the material transmission mechanism 410; after knocking out the sand, the handling mechanism 220 moves the sand box back to the transfer station mechanism 210, and the transfer station mechanism 210 conveys the sand box downstream; after the second transfer and transportation mechanism 430 receives the sand box, it moves along the track to the corresponding recycling station.

[0107] Optionally, the first transfer device 400 further includes a first tipping drive assembly 440 for tipping the transfer and transport mechanism 410 or the first transfer and transportation mechanism 420 to facilitate the removal of floating sand on the casting bottom plate.

[0108] Taking the first tipping drive assembly 440 tipping the transfer and transport mechanism 410 as an example for illustration. In the normal state, the surface of the transfer and transport mechanism 410 for picking up the workpiece is a horizontal plane to facilitate receiving the casting bottom plate or the sand box; after the casting bottom plate completely enters the transfer and transport mechanism 410, the transfer and transport mechanism 410 stops transporting, so that the casting bottom plate stays at the tipping station; the first tipping drive assembly 440 tips the surface of the transfer and transport mechanism 410, and the transfer and transport mechanism 410 drives the casting bottom plate to tilt. Affected by its own weight, the floating sand on the casting bottom plate slides from high to low.

[0109] In a specific embodiment, the first tipping drive assembly 440 includes: a rotating shaft, one side of the transfer and transport mechanism 410 is rotatably arranged through the rotating shaft; a tipping drive member connected to the other side of the transfer and transport mechanism 410; the tipping drive member can drive the other side of the transfer and transport mechanism 410 to move upward, so that the transfer and transport mechanism 410 rotates around the rotating shaft. Among them, the tipping drive member can adopt a cylinder, and the cylinder is rotationally connected to the transfer and transport mechanism 410 through a U-joint, and the U-joint can compensate for the stroke difference between the linear motion of the cylinder piston rod and the rotational motion of the transfer and transport mechanism 410.

[0110] In other embodiments, the first tipping drive assembly 440 can also adopt a motor, and one side of the transfer and transport mechanism 410 is connected to the output shaft of the motor. When the motor works and the output shaft rotates, it can drive the transfer and transport mechanism 410 to rotate.

[0111] The present application does not limit the specific structure of the first tipping drive assembly 440, as long as it can tip the transfer and transport mechanism 410 to facilitate the sliding of the floating sand on the casting bottom plate.

[0112] Since the first transfer and transportation mechanism 420 is also used to transport the casting bottom plate, in order to facilitate the reuse of the casting bottom plate, as long as the floating sand on it is removed before the casting bottom plate returns to the recycling station, therefore, the first tipping drive assembly 440 can also be used to tip the first transfer and transportation mechanism 420, and the details will not be elaborated here.

[0113] Optionally, a floating sand collection box 450 is provided at the tipping station to collect the floating sand that slides off the casting bottom plate.

[0114] For the convenience of destroying the sand mold and collecting the scattered sand materials, in one embodiment, the first shakeout device 310 and the second shakeout device 320 adopt vibratory shakeout. Specifically, the surface of the shakeout device for receiving the sand box can vibrate up and down to facilitate the dispersion of the sand mold. At the same time, a filter screen is provided on the surface of the shakeout device, and the dispersed sand grains can be collected through the filter screen while the casting remains on the filter screen, which is convenient for grasping and transferring.

[0115] More specifically, the first shakeout device 310 or the second shakeout device 320 includes a machine body, a base, springs and vibration motors. The machine body adopts a welded structure, and after welding, the machine body is subjected to tempering treatment to eliminate welding stress. The machine body is supported on the base by two rows of springs. The base adopts a welded structure and is fixedly installed through anchor bolts. Each shakeout device includes a pair of vibration motors, which are horizontally and symmetrically arranged on both sides of the machine body, and the two vibration motors operate in reverse synchronously. There is an eccentric block at the output end of each of the two vibration motors. By changing the included angle between the two eccentric blocks, the exciting force of the vibration motor can be adjusted. The greater the exciting force, the greater the amplitude of the first shakeout device. According to the actual production needs, the exciting force and amplitude are adjusted to the most suitable range.

[0116] Optionally, positioning bosses are further provided on the surface of the first shakeout device 310 and / or the second shakeout device 320 for receiving the sand box, so that the sand box is snapped into the positioning bosses, which can limit the placement position of the sand box, facilitate the confirmation that the mold unloading and handling device 200 transports the sand box in place, and can also prevent the sand box from displacing during vibration and is beneficial to shakeout.

[0117] To protect the casting, during the process of the second transfer device 500 transferring the casting, it is necessary to avoid the casting directly contacting the mechanical equipment. For this reason, a tray is provided on the second transfer device 500. After shakeout is completed, the casting is transferred to the tray, and then the second transfer device 500 transports the tray to realize the output of the casting.

[0118] In one embodiment, the second transfer device 500 can adopt conveying mechanisms such as conveyor belts and conveyor rollers, and the tray is on the conveying surface of the second transfer device 500. Since the tray can be recycled, after the output of one casting is completed, the second transfer device 500 moves in the reverse direction to send the empty tray back to the initial position to facilitate receiving the next casting.

[0119] In another embodiment, the second transfer device 500 includes: a first lifting mechanism 510 for picking up castings. A tray is provided on the first lifting mechanism 510, and the castings entering the first lifting mechanism 510 are placed in the tray; a first transfer mechanism 520 for picking up the tray with castings and capable of transferring the tray downstream; a second lifting mechanism 530 provided downstream of the first transfer mechanism 520 for picking up the tray on the first transfer mechanism 520; a second transfer mechanism 540 provided below the first transfer mechanism 520 for picking up the tray on the second lifting mechanism 530 and capable of transferring the tray to the first lifting mechanism 510; the tray can be circulated through the first lifting mechanism 510, the first transfer mechanism 520, the second lifting mechanism 530 and the second transfer mechanism 540.

[0120] For details, reference can be made to Figure 2 and Figure 5 , in the illustrated embodiment, the first transfer mechanism 520 is provided above the second transfer mechanism 540; both the first transfer mechanism 520 and the second transfer mechanism 540 can convey the tray in the left-right direction. The difference is that the first transfer mechanism 520 is used to convey the tray from right to left, while the second transfer mechanism 540 is used to convey the tray from left to right. The first lifting mechanism 510 is provided on the right side of the two transfer mechanisms, and the second lifting mechanism 530 is provided on the left side of the two transfer mechanisms. After shakeout, the castings appear; the picking mechanism 230 grabs the castings and transfers them to the first lifting mechanism 510; at this time, there is a tray on the first lifting mechanism 510, and the tray is at a high position and facing the first transfer mechanism 520; the picking mechanism 230 puts the castings into the tray, and the tray carries the castings into the first transfer mechanism 520; the first transfer mechanism 520 conveys the tray from right to left; at this time, the output station of the castings can be located on the movement route of the first transfer mechanism 520; after the first transfer mechanism 520 conveys the castings to the output station, the castings are taken away, leaving an empty tray; the first transfer mechanism 520 continues to convey the empty tray to the second lifting mechanism 530; after the second lifting mechanism 530 picks up the empty tray, it carries the empty tray down until the empty tray is at a low position and facing the second transfer mechanism 540; after the empty tray enters the second transfer mechanism 540, the second transfer mechanism 540 conveys the empty tray from left to right until the empty tray enters the first lifting mechanism 510; at this time, the first lifting mechanism 510 is at a low position to facilitate the entry of the empty tray; after the first lifting mechanism 510 receives the empty tray, it carries the empty tray up so that the empty tray returns to the initial high position to facilitate picking up castings again.

[0121] By providing the first transfer mechanism 520 and the second transfer mechanism 540 with opposite conveying directions, the circulation of the empty tray can be realized, and the vertical layout can reasonably utilize the space and reduce the floor area of the equipment.

[0122] Meanwhile, while an empty pallet receives the castings and is conveyed by the first conveying mechanism 520, another empty pallet can be conveyed by the second conveying mechanism 540 onto the first lifting mechanism 510 to wait for receiving the next casting. That is to say, the second transfer device 500 can simultaneously and circularly convey more than one pallet, which is beneficial to improving the feeding efficiency of the equipment.

[0123] Wherein, the first conveying mechanism 520 and the second conveying mechanism 540 can adopt conveying mechanisms such as conveyor belts and conveyor rollers. To facilitate the first lifting mechanism 510 and the second lifting mechanism 530 to receive and output pallets, both the first lifting mechanism 510 and the second lifting mechanism 530 include a receiving table 511 and a lifting part 512; the receiving table 511 is used for receiving pallets; the lifting part 512 can adopt driving components such as air cylinders and electric cylinders, and the lifting part 512 is connected and can drive the receiving table 511 to move in the vertical direction.

[0124] Optionally, the receiving table 511 adopts a conveying mechanism such as a conveyor belt and a conveyor roller; at this time, the receiving table 511 can not only support the pallet, but also output or input the pallet when the conveying mechanism works forward, and input or output the pallet when the conveying mechanism works in reverse.

[0125] In a specific embodiment, referring to Figure 2 and Figure 5 , the first conveying mechanism 520 includes a roller path transfer trolley 521 and a powered roller path 522. The roller path transfer trolley 521 is slidably arranged on the track. The track extends along the second direction and can guide the roller path transfer trolley 521 to dock with the first lifting mechanism 510 or the powered roller path 522; roller wheels are provided on the surface of the roller path transfer trolley 521 and the surface of the powered roller path 522, and the roller wheels are driven by motors. When the roller wheels rotate, they can drive the pallets thereon to move. After the roller path transfer trolley 521 transports a pallet carrying castings onto the powered roller path 522, it can return to receive the next pallet, with high working efficiency.

[0126] Continuing to refer to Figure 2 and Figure 5 , the second conveying mechanism 540 adopts a powered roller path and can continuously convey pallets from left to right. Both the first lifting mechanism 510 and the second lifting mechanism 530 include a receiving table 511 and a lifting part 512; the receiving table 511 also adopts a powered roller path.

[0127] It should be added that the output station of the castings can be on the movement path of the first conveying mechanism 520, or on the movement path of the second lifting mechanism 530, or on the movement path of the second conveying mechanism 540. This application does not limit the output station of the castings, as long as any mechanism of the second transfer device 500 can reach this station during the process of transporting the castings, so as to facilitate manual or picking equipment to pick up the castings.

[0128] Optionally, the second transfer device 500 further includes a second tilting drive assembly 550; the first lifting mechanism 510 includes a receiving platform 511, and the tray is placed on the receiving platform 511; the second tilting drive assembly 550 is used to drive the receiving platform 511 to flip to facilitate removal of floating sand in the tray.

[0129] As is readily understood, as castings are removed from the sand, sand tends to adhere to their surfaces. During the process of transferring castings on the pallet, sand tends to accumulate on the pallet. If not promptly addressed, this can affect the pallet's ability to support the castings. Therefore, a second tilting drive assembly 550 is provided to cause the receiving platform 511 to flip, facilitating the removal of loose sand from the pallet.

[0130] Specifically, after an empty pallet enters the first lifting mechanism 510 , the second tilting drive assembly 550 can drive the receiving platform 511 to flip over, causing the pallet on the receiving platform 511 to tilt.

[0131] The structure of the second tilting drive assembly 550 is similar to that of the first tilting drive assembly 440 and will not be described again here.

[0132] Optionally, the sand-falling unit based on the large-tonnage remote hydraulically controlled casting robot provided in the present application further includes a dust removal chamber 1 , in which the unpacking and handling device 200 , the first sand-falling device 310 and the second sand-falling device 320 are arranged.

[0133] For details, please refer to Figure 6 In the illustrated embodiment, the loading and conveying mechanism 120, the transfer mechanism 210, the handling mechanism 220, the picking mechanism 230, the transfer and conveying mechanism 410, and the first lifting mechanism 510 are all arranged in the dust removal chamber 1; the dust removal chamber 1 can effectively control the diffusion space of dust and prevent the sand and dust from spreading throughout the entire workshop during the sand falling process.

[0134] Optionally, the dust removal chamber 1 is connected to an exhaust device. During the sand falling process, the exhaust device can exhaust air in the dust removal chamber 1, thereby removing the diffused dust to ensure a clean and safe working environment.

[0135] Optionally, the shakeout section based on a large-tonnage remote hydraulically controlled casting robot provided in the present application further includes an operating room 2 , which is equipped with air conditioning, and the operator can operate the unpacking and handling device 200 in the operating room 2 .

[0136] The operator can control the transport mechanism 220 and / or the piece-taking mechanism 230 so that the unpacking and transporting device 200 can accurately transport the sand box or the casting. By arranging air conditioning in the operating room 2, the operator can also have a comfortable operating environment.

[0137] Meanwhile, both the dust removal chamber 1 and the operation chamber 2 have certain sound insulation functions, which can effectively reduce the noise during the sand falling process and ensure the work safety of the operators.

[0138] The installation position of the operation chamber 2 in this application is not limited. The operation chamber 2 can be horizontally arranged on one side of the case opening and handling device 200, or can be arranged on the dust removal chamber 2, as long as the operator can observe the case opening and handling device 200 through the operation chamber 2.

[0139] The above embodiments only represent several implementation manners of this application. The description is relatively specific and detailed, but it cannot be understood as a limitation on the scope of the patent application. It should be pointed out that for those of ordinary skill in the art, without departing from the concept of this application, several deformations and improvements can still be made, and these all belong to the protection scope of this application. Therefore, the protection scope of this application patent shall be subject to the appended claims.

Claims

1. A shakeout section based on a large-tonnage remote hydraulic control casting manipulator, characterized in that, Including: A loading device (100) for conveying workpieces to be shaken out of sand. The workpieces include casting bottom plates and sand boxes, and the sand boxes are filled with sand materials in which castings are molded. A first sand shaking device (310) and a second sand shaking device (320). The first sand shaking device (310) and the second sand shaking device (320) are arranged side by side and are both used for shaking out sand from the sand boxes. A box disassembling and handling device (200) for docking with the loading device (100), the first sand shaking device (310) and the second sand shaking device (320). A first transfer device (400) for docking with the loading device (100) and / or the box disassembling and handling device (200). A second transfer device (500) for docking with the first sand shaking device (310), the second sand shaking device (320) and / or the box disassembling and handling device (200). During operation, the box disassembling and handling device (200) docks with the loading device (100), can pick up and transport the sand box to the first sand shaking device (310) or the second sand shaking device (320). The box disassembling and handling device (200) can also disassemble the sand box into an upper sand box and a lower sand box. The first sand shaking device (310) and the second sand shaking device (320) can respectively shake out sand from the upper sand box and the lower sand box. The first sand shaking device (310) and the second sand shaking device (320) can shake out sand from different sand boxes. The first sand shaking device (310) and the second sand shaking device (320) can also sequentially shake out sand from the same sand box. The first transfer device (400) can pick up an empty casting bottom plate. The first transfer device (400) can also pick up an empty sand box. The second transfer device (500) can pick up castings. Wherein, the box disassembling and handling device (200) includes: A transfer mechanism (210) for docking with the loading device (100) and the first transfer device (400). A handling mechanism (220) for docking with the transfer mechanism (210), the first sand shaking device (310) and the second sand shaking device (320). Wherein, the transfer mechanism (210) can pick up workpieces to be shaken out of sand. The handling mechanism (220) can pick up the sand box on the transfer mechanism (210) and transport the sand box to the first sand shaking device (310) or the second sand shaking device (320). After the sand box is taken away, the casting bottom plate on the transfer mechanism (210) is empty, and the first transfer device (400) can pick up the casting bottom plate. After sand shaking, the handling mechanism (220) can transport the empty sand box back to the transfer mechanism (210) so that the first transfer device (400) can pick up the sand box. The handling mechanism (220) includes a clamping jaw (221), a horizontal extraction driving member (222), and a vertical extraction driving member (223). The horizontal extraction driving member (222) is used to drive the clamping jaw (221) to move in the horizontal direction, and the vertical extraction driving member (223) is used to drive the clamping jaw (221) to move in the vertical direction; During operation, the clamping jaw (221) can transport the sand box under the drive of the horizontal extraction driving member (222) and the vertical extraction driving member (223), and can also disassemble the sand box; The handling mechanism (220) further includes: A first steel rail (224), which is arranged at a high place through a column (225); A second steel rail (226), which is arranged at a low place. Both the first steel rail (224) and the second steel rail (226) extend along the second direction, and the first steel rail (224) and the second steel rail (226) are arranged at intervals along the first direction. The first direction, the second direction, and the vertical direction are perpendicular to each other in pairs; A cross beam (228), the clamping jaw (221) is arranged on the cross beam (228). One side of the cross beam (228) is slidably connected to the first steel rail (224), and the other side is slidably connected to the second steel rail (226) through a support column (227); Wherein, the first steel rail (224) and the second steel rail (226) are arranged in a high-low and parallel manner; The sand box disassembling and handling device (200) further includes a picking mechanism (230), and the picking mechanism (230) is used to dock with the first shakeout device (310), the second shakeout device (320), and the second transfer device (500); The picking mechanism (230) can pick up and transport the casting to the second transfer device (500); The picking mechanism (230) adopts a multi-axis manipulator. The picking mechanism (230) is arranged above the first shakeout device (310) and the second shakeout device (320), and can move in multiple directions to realize the extraction and transfer of the casting; The casting is formed in the sand mold. After shakeout, there is floating sand on the casting. By setting the picking mechanism (230) as a multi-axis manipulator, after the picking mechanism (230) picks up the casting, it can remove the floating sand on the casting by rotating and shaking; The picking mechanism (230) is arranged on the cross beam; The load of the picking mechanism (230) is not less than 20T.

2. The shakeout section of the large-tonnage remote hydraulic control casting manipulator according to claim 1, wherein The feeding device (100) includes: A feeding transportation mechanism (110), which is used to transport workpieces; A feeding transmission mechanism (120), which is used to dock with the feeding transportation mechanism (110) and the sand box disassembling and handling device (200); The workpiece can enter the feeding transmission mechanism (120) through the feeding transportation mechanism (110), and the sand box disassembling and handling device (20) can obtain the workpiece to be shakeout through the feeding transmission mechanism (120).

3. The shakeout section of the large-tonnage remote hydraulic control casting manipulator according to claim 1, wherein, The first transfer device (400) includes: A transfer transmission mechanism (410), which is used to dock with the sand box disassembling and handling device (200) to facilitate picking up the pouring bottom plate and the sand box; The first transfer and transportation mechanism (420) is used to dock with the transfer and transmission mechanism (410) to facilitate picking up the casting bottom plate. The second transfer and transportation mechanism (430) is used to dock with the transfer and transmission mechanism (410) to facilitate picking up the sand box.

4. The shakeout section of the large-tonnage remote hydraulically controlled foundry manipulator according to claim 3, characterized in that, The first transfer device (400) further includes a first tilting drive assembly (440). The first tilting drive assembly (440) is used to drive the transfer and transmission mechanism (410) or the first transfer and transportation mechanism (420) to flip to facilitate removing the floating sand on the casting bottom plate.

5. The shakeout section of the large-tonnage remote hydraulic control foundry manipulator according to claim 1, characterized in that, The second transfer device (500) includes: A first lifting mechanism (510) for picking up the casting. A tray is provided on the first lifting mechanism (510), and the casting entering the first lifting mechanism (510) is placed on the tray. A first running mechanism (520) for picking up the tray with the casting and capable of transferring the tray downstream. A second lifting mechanism (530) is provided downstream of the first running mechanism (520) for picking up the tray on the first running mechanism (520). A second running mechanism (540) is provided below the first running mechanism (520) for picking up the tray on the second lifting mechanism (530) and capable of transferring the tray to the first lifting mechanism (510). The tray can realize cyclic flow through the first lifting mechanism (510), the first running mechanism (520), the second lifting mechanism (530) and the second running mechanism (540).

6. The shakeout section of the large-tonnage remote hydraulic control foundry manipulator according to claim 5, characterized in that, The second transfer device (500) further includes a second tilting drive assembly (550). The first lifting mechanism (510) includes a receiving platform (511), and the tray is placed on the receiving platform (511). The second tilting drive assembly (550) is used to drive the receiving platform (511) to flip to facilitate removing the floating sand in the tray.

7. The shakeout section of the large-tonnage remote hydraulic control foundry manipulator according to any one of claims 1-6, characterized in that, It further includes: A dust removal chamber (1), in which the mold unloading and handling device (200), the first shakeout device (310) and the second shakeout device (320) are arranged. And / or, an operation room (2), where workers can operate the mold unloading and handling device (200).

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