Device and method for removing residual steel shot from a casting

Abstract

The application provides a cast residual steel shot removing device and a cast residual steel shot removing method. The cast residual steel shot removing device comprises a controller, a robot assembly, a visual identification assembly and a blowing assembly, and the robot assembly, the blowing assembly and the visual identification assembly are electrically connected with the controller; the visual identification assembly is configured to identify the model of the cast; the controller is configured to determine the corresponding overturning mode and blowing mode of the model of the cast according to the model of the cast; the robot assembly is configured to grab and move the cast to the blowing assembly, and overturn the cast according to the overturning mode; and the blowing assembly is configured to blow air to the cast according to the blowing mode. The cast residual steel shot removing device provided by the application improves the removal effect and efficiency of the steel shot in the cast.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of casting processing, and in particular to a casting residual steel shot removing device and a casting residual steel shot removing method. BACKGROUND

[0002] After the casting is finely polished by using steel shots, the steel shots are easy to enter the inner cavity channel of the casting and cannot automatically flow out.

[0003] In the related art, the casting is turned over by 180 degrees by using a turnover machine, and then the residual steel shots in the inner cavity are blown and cleaned by using a manual blowing and cleaning tool, so as to remove the residual steel shots in the inner cavity of the casting.

[0004] However, the removing effect of this casting residual steel shot removing method is poor, and the efficiency is low. SUMMARY

[0005] The present application provides a casting residual steel shot removing device and a casting residual steel shot removing method to improve the removing effect and efficiency of the steel shots in the casting.

[0006] In a first aspect, the present application provides a casting residual steel shot removing device, comprising a controller, a robot assembly, a visual recognition assembly and a blowing and cleaning assembly, the robot assembly and the blowing and cleaning assembly are electrically connected with the controller;

[0007] The visual recognition assembly is configured to identify the model of the casting;

[0008] The controller is configured to determine the turnover mode and the blowing mode corresponding to the model of the casting according to the model of the casting;

[0009] The robot assembly is configured to grasp and move the casting to the blowing and cleaning assembly, and turn over the casting according to the turnover mode;

[0010] The blowing and cleaning assembly is configured to blow air to the casting according to the blowing mode.

[0011] In a possible implementation, the casting residual steel shot removing device provided by the present application, the visual recognition assembly comprises a mounting frame and a camera, the camera is connected with the mounting frame, and the camera is electrically connected with the controller.

[0012] In a possible implementation, the casting residual steel shot removing device provided by the present application, the visual recognition assembly further comprises a cover, a driving member and a movable door, the cover is connected with the mounting frame, one side of the cover is provided with an opening, the camera is located in the cover, and a shooting end of the camera faces the opening side, the movable door is movably connected with the cover, and a driving shaft of the driving member is connected with the movable door; the driving member drives the movable door to move relative to the cover to open or close the opening.

[0013] In a possible implementation, the casting residual steel shot removing device provided by the application further comprises a plurality of dust blowing members, the plurality of dust blowing members are located on opposite sides of the camera, and the dust blowing ports of the dust blowing members face the opening to blow dust out of the shell through the opening.

[0014] In a possible implementation, the casting residual steel shot removing device provided by the application further comprises a plurality of dust blowing members, the plurality of dust blowing members are located on opposite sides of the camera, and the dust blowing ports of the dust blowing members face the opening to blow dust out of the shell through the opening.

[0015] In a possible implementation, the casting residual steel shot removing device provided by the application further comprises a plurality of dust blowing members, the plurality of dust blowing members are located on opposite sides of the camera, and the dust blowing ports of the dust blowing members face the opening to blow dust out of the shell through the opening.

[0016] In a possible implementation, the casting residual steel shot removing device provided by the application further comprises a plurality of dust blowing members, the plurality of dust blowing members are located on opposite sides of the camera, and the dust blowing ports of the dust blowing members face the opening to blow dust out of the shell through the opening.

[0017] In a possible implementation, the casting residual steel shot removing device provided by the application further comprises a plurality of dust blowing members, the plurality of dust blowing members are located on opposite sides of the camera, and the dust blowing ports of the dust blowing members face the opening to blow dust out of the shell through the opening.

[0018] In a possible implementation, the casting residual steel shot removing device provided by the application further comprises a plurality of dust blowing members, the plurality of dust blowing members are located on opposite sides of the camera, and the dust blowing ports of the dust blowing members face the opening to blow dust out of the shell through the opening.

[0019] In a possible implementation, the casting residual steel shot removing device provided by the application further comprises a plurality of dust blowing members, the plurality of dust blowing members are located on opposite sides of the camera, and the dust blowing ports of the dust blowing members face the opening to blow dust out of the shell through the opening.

[0020] In a possible implementation, the casting residual steel shot removing device provided by the application further comprises a plurality of dust blowing members, the plurality of dust blowing members are located on opposite sides of the camera, and the dust blowing ports of the dust blowing members face the opening to blow dust out of the shell through the opening.

[0021] In a possible implementation, the casting residual steel shot removing device provided by the application further comprises a plurality of dust blowing members, the plurality of dust blowing members are located on opposite sides of the camera, and the dust blowing ports of the dust blowing members face the opening to blow dust out of the shell through the opening.

[0022] The connecting piece is moved along the extension direction of the mounting groove relative to the first support to adjust the position of the blowing piece, and the bottom of the connecting piece is provided with at least one mounting hole matched with the mounting groove, and the fastener is inserted into the mounting groove through the mounting hole.

[0023] In a second aspect, the application provides a method for removing residual steel shots from a casting, which uses the device for removing residual steel shots from a casting provided in the first aspect, and the method comprises:

[0024] controlling the visual recognition component to recognize the model of the casting;

[0025] determining the overturning mode and the blowing mode corresponding to the model of the casting according to the model of the casting;

[0026] controlling the robot component to grab and move the casting to the cleaning and blowing component, and overturn the casting according to the overturning mode;

[0027] controlling the cleaning and blowing component to blow air to the casting according to the blowing mode.

[0028] The device for removing residual steel shots from a casting and the method for removing residual steel shots from a casting provided by the application have the following advantages: the controller, the robot component, the visual recognition component and the cleaning and blowing component are arranged, the model of the casting is recognized by the visual recognition component, the model information of the casting is received by the robot component, the casting is moved to the cleaning and blowing component, and the casting is overturned according to the overturning mode corresponding to the model of the casting, the model information of the casting is received by the cleaning and blowing component, and air is blown to the casting according to the blowing mode corresponding to the model of the casting. The robot component and the cleaning and blowing component have higher flexibility, the residual steel shots in the casting are less likely to remain, and the efficiency of the removal is higher and the consistency of the operation is higher. BRIEF DESCRIPTION OF DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the application, and other drawings can be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0030] Figure 1 The structural schematic diagram of the device for removing residual steel shots from a casting provided by the embodiments of the application is shown in the figure.

[0031] Figure 2 The structural schematic diagram of the clamp in the device for removing residual steel shots from a casting provided by the embodiments of the application is shown in the figure.

[0032] Figure 3 The structural schematic diagram of the first stop component in the device for removing residual steel shots from a casting provided by the embodiments of the application is shown in the figure.

[0033] Figure 4 is a left view of Figure 3 ;

[0034] Figure 5 is a structural schematic view of a visual identification component in a casting residual steel shot cleaning device provided by an embodiment of the present application;

[0035] Figure 6 is a left view of Figure 5 ;

[0036] Figure 7 is a structural schematic view of a cleaning blowing component in a casting residual steel shot cleaning device provided by an embodiment of the present application;

[0037] Figure 8 is a front view of Figure 7 ;

[0038] Figure 9 is a partial enlarged view of A in Figure 7 ;

[0039] Figure 10 is a structural schematic view of a connecting piece in a casting residual steel shot cleaning device provided by an embodiment of the present application;

[0040] Figure 11 is a structural schematic view of a rotating piece in a casting residual steel shot cleaning device provided by an embodiment of the present application;

[0041] Figure 12 is a flow schematic view of a casting residual steel shot cleaning method provided by an embodiment of the present application.

[0042] Legend of reference signs:

[0043] 100 - robot component;

[0044] 110 - clamp; 111 - first finger; 112 - second finger; 113 - servo controller;

[0045] 200 - visual identification component; 210 - mounting frame; 220 - cover; 230 - driving piece; 240 - dust blowing piece;

[0046] 300 - cleaning blowing component; 310 - shot recycling piece; 320 - first support; 321 - mounting groove; 330 - blowing group structure; 331 - first blowing structure; 3311 - connecting piece; 3311a - arc-shaped groove; 3311b - connecting hole; 3312 - rotating piece; 3313 - blowing piece; 340 - second support; 350 - second blowing structure; 360 - third support; 370 - third blowing structure;

[0047] 400 - transfer line assembly; 410 - first stopper assembly; 411 - mounting seat; 412 - stopper driving member; 413 - rotary stopper; 414 - control valve;

[0048] 500 - spacer. DETAILED DESCRIPTION

[0049] In the description of the application, unless otherwise clearly specified and limited, the terms "mounting", "connection", "connecting" should be understood in a broad sense, for example, can be fixed connection, can be indirectly connected through an intermediate medium, can be internal communication of two elements or interaction relationship of two elements. For those skilled in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances.

[0050] In the description of the application, the terms "upper", "lower", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the application.

[0051] The terms "first", "second", "third" (if any) in the specification and claims of the application and the above drawings are used to distinguish similar objects, and do not necessarily describe a particular order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the application described herein can be implemented in an order other than that illustrated or described herein.

[0052] In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or maintenance tool including a series of steps or units does not have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or maintenance tools.

[0053] In order to make the purpose, technical scheme and advantages of the embodiments of the application more clear, the technical scheme in the embodiments of the application will be described clearly and completely in the following with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are part of the embodiments of the application, not all the embodiments. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the application.

[0054] In the related art, the residual steel shots in the inner cavity of the casting are removed by using a turnover machine to turn the casting by 180 degrees and then using a worker to hold a blowing and cleaning tool to blow and clean the residual steel shots in the inner cavity, so that the residual steel shots in the inner cavity of the casting are removed. Since the turnover machine can only turn by 180 degrees, only the steel shots in the inner cavity of the casting parallel to the turning direction can be poured out, the steel shots in other inner cavities of the diesel engine casting perpendicular to the turning direction cannot be poured out, and the cleaning of the residual steel shots is performed by manual blowing and cleaning operation, which has poor consistency and high uncertainty, and the quality of the inner cavity of the casting is difficult to guarantee, and there is a great quality risk.

[0055] To solve the above technical problems, the present application provides a casting residual steel shot removing device and a casting residual steel shot removing method. The casting residual steel shot removing device is provided with a controller, a robot assembly, a visual recognition assembly and a blowing and cleaning assembly. The visual recognition assembly can identify the model of the casting. The robot assembly grasps the casting and moves it to the blowing and cleaning assembly. The turning mode corresponding to the model of the casting is retrieved according to the model of the casting, and the casting is turned at multiple angles. The blowing and cleaning assembly can retrieve the blowing mode corresponding to the model of the casting according to the model of the casting, and blow air to the casting, so that the residual steel shots in the casting are removed. The residual steel shots are not easy to remain, and the removal efficiency is high.

[0056] Referring to Figure 1 The casting residual steel shot removing device provided by the present application includes a controller (not shown in the figure), a robot assembly 100, a visual recognition assembly 200 and a blowing and cleaning assembly 300.

[0057] The robot assembly 100, the blowing and cleaning assembly 300 and the visual recognition assembly 200 are all electrically connected to the controller.

[0058] The visual recognition assembly 200 is configured to identify the model of the casting.

[0059] For example, the casting can be provided with an identification element, such as a product code, a bar code or a two-dimensional code, etc. The visual recognition assembly 200 identifies the identification element on the casting to obtain the model information of the casting.

[0060] The visual recognition assembly 200 can also be used to obtain the position of the casting to guide the robot to grasp.

[0061] The controller is configured to determine the turning mode and the blowing mode corresponding to the model of the casting according to the model of the casting.

[0062] The robot assembly 100 is configured to grasp the casting according to the position of the casting, move the casting to the blowing and cleaning assembly 300, and turn the casting according to the turning mode corresponding to the model of the casting.

[0063] It can be understood that the inner cavity structure of different castings is different, so the turning angle and the number of turns are different.

[0064] Exemplarily, the robot assembly 100 can include a 6-axis robot and a clamp arranged on the 6-axis robot, so as to be compatible with multiple types of castings, realize multi-angle turning of the castings, and improve the effect of turning the castings. The 6-axis robot and the clamp can be a 6-axis robot and a clamp 110 commonly used in the related art, and the embodiment will not be described here.

[0065] Exemplarily, referring to Figure 2 As shown in the figure, the clamp 110 can be a double-finger clamp, that is, the first finger 111 is a fixed finger, and the second finger 112 is a movable finger. The double-finger clamp can be driven by a hydraulic system, and the hydraulic system is provided with a servo controller 113, which can accurately control the initial position of the movable finger and realize automatic switching when different products are gripped.

[0066] The blowing assembly 300 is configured to blow air to the casting according to the blowing mode corresponding to the model of the casting.

[0067] It can be understood that different castings require different blowing directions and positions, or the same casting requires different blowing directions and positions at different turning angles. Therefore, the blowing assembly 300 is required to blow air to the casting according to the blowing mode corresponding to the model of the casting.

[0068] The casting residual steel shot removing device provided by the embodiment can prevent the steel shot in the casting from being easily left and has high removal efficiency. Therefore, the casting residual steel shot removing device provided by the application has good steel shot removal effect. Moreover, the application of robot integration application technology and visual recognition technology realizes automatic turning, turning, and blowing of the workpiece casting, and ensures the consistency of the operation.

[0069] Referring to Figure 1 As shown in the figure, in some embodiments, a conveying line assembly 400 is further included to facilitate the conveying of the casting. The conveying line assembly 400 is used to convey the casting to the visual recognition assembly 200 and convey the casting after turning and removing the shot to other stations.

[0070] The visual recognition assembly 200 can be arranged on the top of the conveying assembly, and the robot assembly 100 and the blowing assembly 300 are arranged on the same side of the conveying assembly.

[0071] Exemplarily, the conveying line assembly 400 can be a roller line assembly.

[0072] In some other embodiments, a first sensor (not shown in the figure) and a first stop assembly 410 are further included.

[0073] The first sensor is arranged on the conveying line assembly 400, and the first stopper assembly 410 is arranged at the bottom of the conveying line assembly 400. The first sensor is electrically connected with the conveying line assembly 400 and the first stopper assembly 410.

[0074] It should be noted that the first sensor is arranged in the shooting area of the visual recognition assembly 200. After the conveying line assembly 400 is started, the conveying line assembly 400 conveys the castings towards the visual recognition assembly 200. When the castings move into the shooting area of the visual recognition assembly 200, the first sensor senses the castings and sends a signal to the conveying line assembly 400 and the first stopper assembly 410, so that the conveying line assembly 400 stops moving, and the first stopper assembly 410 is lifted to limit the position of the castings. It can be understood that the first stopper assembly 410 can effectively prevent the castings from moving around and affecting the shooting accuracy of the visual recognition assembly 200. After shooting is completed, the robot assembly 100 moves the castings to the cleaning and blowing assembly 300 for turning and blowing. After the steel ball treatment is completed, the robot assembly 100 moves the castings to the conveying line assembly 400, the first stopper assembly 410 falls down, the robot assembly 100 returns to the original position, and the conveying line assembly 400 conveys the castings to the next process position.

[0075] In some embodiments, in order to effectively prevent the castings from accumulating in the shooting area of the visual recognition assembly 200, a second stopper assembly (not shown in the figure) and a second sensor (not shown in the figure) are further included. The second stopper assembly is arranged at the bottom of the conveying line assembly 400, the second sensor is electrically connected with the conveying line assembly 400, the second stopper assembly and the second sensor are located upstream of the first sensor, and the second stopper assembly and the second sensor are electrically connected.

[0076] When starting to work, the second stopper assembly is lowered, the conveying line assembly 400 is operated, and the castings move towards the visual recognition assembly 200. When the first sensor senses the first castings, a signal is sent to the conveying line assembly 400 and the first stopper assembly 410, so that the conveying line assembly 400 stops moving, and the first stopper assembly 410 is lifted. During the operation of the conveying line assembly 400, when the second sensor senses the second castings, the second stopper assembly is lifted. Until the first castings in the shooting area are shot, the first stopper assembly 410 is lowered. The conveying line assembly 400 continues to operate, and when the first castings leave the shooting area, the second stopper assembly is lowered to continue the next cycle.

[0077] It should be noted that the first stopper assembly 410 and the second stopper assembly can have the same structure.

[0078] Referring to Figure 3 and Figure 4As shown, the first stop assembly 410 includes a mounting base 411, a stop driving member 412, a rotary stop plate 413 and a control valve 414. The rotary stop plate 413 is hinged to the mounting base 411. The housing of the stop driving member 412 is connected to the mounting base 411. The driving shaft of the stop driving member 412 is connected to the rotary stop plate 413. The stop driving member 412 is connected to the control valve 414.

[0079] The stop driving member 412 can be a pneumatic cylinder. The control valve 414 can be a pneumatic control valve.

[0080] The specific structure of the visual identification assembly 200 will be described below.

[0081] Referring to Figure 1 , Figure 5 and Figure 6 , in a possible implementation, the visual identification assembly 200 includes a camera (not shown in the figure) which is electrically connected to the controller.

[0082] It should be noted that the area shown by the triangle in the figure is the shooting area of the camera.

[0083] The camera can be mounted on the mounting rack 210 and vertically downward to take pictures of the castings of the conveying line assembly 400.

[0084] In a possible implementation, in order to protect the camera, the visual identification assembly 200 further includes a cover 220, a driving member 230 and a movable door (not shown in the figure). The cover 220 is connected to the mounting rack 210. The cover 220 is provided with an opening on one side. The camera is located in the cover 220 and the shooting end of the camera faces the opening side. The movable door is movably connected to the cover 220. The driving shaft of the driving member 230 is connected to the movable door. The driving member 230 drives the movable door to move relative to the cover 220 to open or close the opening. The movable door is opened when the camera takes pictures and is closed when the camera does not take pictures.

[0085] Specifically, the driving member 230 can be a pneumatic cylinder.

[0086] The bottom of the cover 220 can be provided with an opening.

[0087] In a possible implementation, in order to effectively prevent dust from entering the cover 220, the visual identification assembly 200 further includes a plurality of dust blowing members 240. The plurality of dust blowing members 240 are located on opposite sides of the camera. The dust blowing port of the dust blowing member 240 faces the opening so as to blow the dust out of the cover 220 through the opening.

[0088] It can be understood that when the camera works, the dust blowing member 240 can blow air downward in the direction of the opening.

[0089] Exemplarily, the dust blowing member 240 can be a blowing nozzle, for example, a flat blowing nozzle.

[0090] The specific structure of the cleaning and blowing assembly 300 is described below.

[0091] Referring to Figure 7 and Figure 8 In a possible implementation, the cleaning and blowing assembly 300 includes a shot recovery member 310, a first support 320, at least one blowing group structure 330, a second support 340, and at least one second blowing structure 350.

[0092] The shot recovery member 310 is configured to collect steel shots. The first support 320 and the second support 340 are configured to mount the blowing group structure 330 and the second blowing structure 350 respectively, and the blowing ports of the blowing group structure 330 and the second blowing structure 350 are directed in different directions. In this way, the cleaning and blowing assembly 300 can use the blowing group structure 330 or the second blowing structure 350 or both to blow air according to the model of different castings.

[0093] It should be noted that the blowing group structure 330 and the second blowing structure 350 can be controlled by different electromagnetic valves.

[0094] Exemplarily, the shot recovery member 310 can have a funnel structure. Specifically, the shot recovery member 310 includes a support frame and a funnel arranged on the support frame. The first support 320 and the second support 340 can be connected with the support frame.

[0095] It can be understood that the shot recovery member 310 has a funnel structure, and the funnel is provided with an inclined wall panel, thereby effectively preventing the steel shots from splashing out of the shot recovery member 310 during the reverse blowing and cleaning, and ensuring that the steel shots blown out by the reverse blowing can be collected to a greater extent in the shot recovery member 310. The bottom of the shot recovery member 310 is provided with an opening, and the discharged shot can enter the shot recovery vehicle arranged below the shot recovery member 310 through the opening. After the steel shots are transported away by the shot recovery vehicle, the steel shots can be reused, thereby saving costs.

[0096] In other embodiments, in order to improve the collection rate of the steel shots, the side of the first support 320 and the second support 340 away from the funnel can be provided with a baffle.

[0097] The first support 320 and the second support 340 are arranged at the circumferential side of the shot recovery member 310 in a spaced manner and are connected with the shot recovery member 310.

[0098] Specifically, the first support 320 and the second support 340 can be arranged at opposite sides of the shot recovery member 310, or can be arranged at adjacent sides.

[0099] At least one blowing group structure 330 is arranged on the first support 320.

[0100] As shown in Figure 9 The number of blowing group structures 330 can be multiple, and the multiple blowing group structures 330 are arranged at intervals along the direction of the X axis. The blowing port orientations of the blowing group structures 330 can be at least partially the same, or the blowing port orientations of the blowing group structures 330 can be different. The blowing group structures 330 can be controlled by different electromagnetic valves. The present embodiment is not limited in this regard.

[0101] The blowing group structure 330 includes multiple first blowing structures 331 arranged at intervals along the extension direction of the first support 320. The extension direction of the first support 320 is the direction of the Y axis in the figure. The blowing port orientations of the first blowing structures 331 in the same blowing group structure 330 can be the same.

[0102] It should be noted that the structure of the first support 320 is simplified in the figure for clarity of representation.

[0103] As shown in Figure 7 and Figure 8 At least one second blowing structure 350 is arranged on the second support 340, and the blowing port orientations of the first blowing structure 331 and the second blowing structure 350 are different.

[0104] It should be noted that the number of second blowing structures 350 can be at least two, and the at least two second blowing structures 350 can be arranged at the same height, or the at least two second blowing structures 350 can be arranged at different heights.

[0105] As shown in Figure 7 and Figure 8 In some other embodiments, in order to improve the blowing and cleaning effect, the blowing and cleaning assembly 300 further includes a third support 360 and at least one third blowing structure 370. The first support 320, the second support 340, and the third support 360 are arranged at intervals on the periphery of the pellet recycling member 310 and are connected to the pellet recycling member 310.

[0106] At least one third blowing structure 370 is arranged on the third support 360.

[0107] The blowing port orientations of the first blowing structure 331, the second blowing structure 350, and the third blowing structure 370 are all different.

[0108] It should be noted that the first blowing structure 331, the second blowing structure 350, and the third blowing structure 370 can be the same, and the first blowing structure 331 will be taken as an example for description below.

[0109] As shown inFigures 9 to 11 As shown, in order to be able to process more different castings, the first blowing structure 331 includes a connecting piece 3311, a rotating piece 3312 and a blowing piece 3313.

[0110] The connecting piece 3311 is connected with the first support 320. The rotating piece 3312 is rotationally connected with the connecting piece 3311. The blowing piece 3313 is connected with the rotating piece 3312. The rotating piece 3312 drives the blowing piece 3313 to rotate relative to the connecting piece 3311, so as to adjust the orientation of the blowing port of the blowing piece 3313.

[0111] Exemplarily, the angle adjustment range can be 40°-80°, for example, 50° or 60°.

[0112] Specifically, the connecting piece 3311 is provided with an arc-shaped slot 3311a and a connecting hole 3311b. The rotating piece 3312 is provided with a sliding part matched with the arc-shaped slot 3311a and a connecting part matched with the connecting hole 3311b. The connecting part is inserted into the connecting hole 3311b, and the sliding part is inserted into the arc-shaped slot 3311a. Exemplarily, the connecting hole 3311b can be a circular hole, and the connecting part can be in a cylindrical shape.

[0113] The central angle corresponding to the arc-shaped slot 3311a can be determined according to the above-mentioned angle adjustment range.

[0114] The sliding part and the connecting part can be designed separately from the rotating piece 3312, for example, the rotating piece 3312 is provided with two mounting holes, and the sliding part and the connecting part are separately designed parts which are inserted into the two mounting holes.

[0115] During adjustment, the rotating piece 3312 rotates, the connecting part rotates relative to the connecting hole 3311b, and the sliding part moves along the arc-shaped slot 3311a.

[0116] The blowing piece 3313 can be a blowing nozzle.

[0117] It should be noted that in some embodiments, the first blowing structure 331 further includes a driving piece connected with the rotating piece 3312, and the rotating piece 3312 is driven by the driving piece to realize automatic rotation of the rotating piece 3312.

[0118] In a possible implementation, the first support 320 is provided with a mounting slot 321, and the extension direction of the mounting slot 321 is consistent with the extension direction of the first support 320.

[0119] The connecting piece 3311 moves along the extension direction of the mounting slot 321 relative to the first support 320, so as to adjust the position of the blowing piece 3313. In this way, the flexibility of the blowing assembly 300 is higher.

[0120] Specifically, the bottom of the connecting piece 3311 is provided with at least one mounting hole matched with the mounting groove 321, and a fastener can be inserted into the mounting groove 321 through the mounting hole.

[0121] The first support 320, the second support 340 and the third support 360 can be welded from aluminum profile square tubes.

[0122] In the embodiment, the cleaning and blowing assembly 300 further comprises a booster and a gas storage tank, the booster and the gas storage tank are in communication, and the gas storage tank is in communication with the first blowing structure 331, the second blowing structure 350 and the third blowing structure 370. The booster can increase the inlet pressure of the main gas source by 1.5-2 times, and temporarily store the boosted gas in the gas storage tank.

[0123] Exemplarily, the booster can be a booster pump.

[0124] In some embodiments, a dust treatment assembly (not shown in the figure) and a safety protection assembly are further included. The safety protection assembly comprises an isolation piece 500, and the robot assembly 100, the cleaning and blowing assembly 300 and the visual recognition assembly 200 are located in the isolation piece 500. The isolation piece 500 is used to effectively avoid the overflow of dust. The isolation piece 500 can be a house building.

[0125] The isolation piece 500 is provided with a safety door and an observation window. The number of the safety door can be three, one of which is an access and exit maintenance safety door on the conveying line side, one is an access and exit safety door of the work station, and the other is a discharge safety door of the ball recycling vehicle. The place is a material car access channel, and personnel cannot pass through. The observation window is convenient for monitoring the internal operation of the isolation piece 500.

[0126] The dust treatment assembly is used for dust collection and treatment, and is arranged directly above the cleaning and blowing assembly 300 and connected with the air outlet of the plant through a pipeline.

[0127] It should be noted that the dust treatment assembly can be a dust structure commonly used in related technologies, and the present embodiment will not be described here.

[0128] Referring to Figure 12 The present application provides a cast residual steel shot cleaning method, which adopts the cast residual steel shot cleaning device provided in the above embodiment, and the cast residual steel shot cleaning method comprises the following steps:

[0129] S101, controlling the visual recognition assembly to identify the model of the cast.

[0130] Specifically, the identification can be performed by setting an identification piece on the cast and taking a picture by the camera of the visual recognition assembly 200.

[0131] S102, according to the model of the casting, determine the turnover mode and the blowing mode corresponding to the model of the casting.

[0132] S103, control the robot assembly to grab and move the casting to the blowing and cleaning assembly, and turn over the casting according to the turnover mode.

[0133] Specifically, the casting can be grabbed by the 6-axis robot and the clamp 110, and the casting can be moved and turned over.

[0134] S104, control the blowing and cleaning assembly to blow air to the casting according to the blowing mode.

[0135] Specifically, the first blowing structure 331, the second blowing structure 350 and the third blowing structure 370 of the blowing and cleaning assembly 300 cooperate with each other to realize blowing in different directions.

[0136] The casting residual steel shot cleaning method provided by the embodiment is more flexible in the operation track of the robot assembly 100 and the design of the blowing and cleaning assembly 300 with multi-angle adjustable, which is conducive to ensuring the thorough cleaning of the residual steel shot in the inner cavity and improving the inner cavity quality of the casting.

[0137] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A device for removing residual steel shot from a casting, characterized in that The controller, the robot assembly, the visual identification assembly and the blowing assembly are electrically connected with the controller; The visual identification assembly is configured to identify the model of the casting; The controller is configured to determine the corresponding overturning mode and blowing mode of the casting according to the model of the casting; The robot assembly is configured to grasp and move the casting to the blowing assembly, and overturn the casting according to the overturning mode; The blowing assembly is configured to blow air to the casting according to the blowing mode; The blowing assembly comprises a pellet recycling member, a first support, at least one blowing group structure, a second support and at least one second blowing structure, the first support and the second support are arranged at the periphery of the pellet recycling member in a spaced manner and are connected with the pellet recycling member; At least one blowing group structure is arranged on the first support, the blowing group structure comprises a plurality of first blowing structures arranged in a spaced manner along the extension direction of the first support, and at least one second blowing structure is arranged on the second support, the blowing ports of the first blowing structure and the second blowing structure are different.

2. The apparatus of claim 1 wherein, The visual identification assembly comprises a mounting frame and a camera, the camera is connected with the mounting frame, and the camera is electrically connected with the controller.

3. The apparatus of claim 2 wherein, The visual identification assembly further comprises a cover, a driving member and a movable door, the cover is connected with the mounting frame, one side of the cover is provided with an opening, the camera is arranged in the cover, and the shooting end of the camera faces the opening side, the movable door is movably connected with the cover, the driving shaft of the driving member is connected with the movable door, and the driving member drives the movable door to move relative to the cover to open or close the opening.

4. The apparatus according to claim 3, wherein The visual identification assembly further comprises a plurality of dust blowing members, the dust blowing members are arranged on opposite sides of the camera, and the dust blowing ports of the dust blowing members face the opening to blow dust out of the cover through the opening.

5. The device according to any one of claims 1 to 4, wherein The blowing assembly further comprises a third support and at least one third blowing structure, the first support, the second support and the third support are arranged at the periphery of the pellet recycling member in a spaced manner and are connected with the pellet recycling member; At least one third blowing structure is arranged on the third support; The blowing ports of the first blowing structure, the second blowing structure and the third blowing structure are different.

6. The apparatus according to any one of claims 1 to 4, wherein The first blowing structure comprises a connecting member, a rotating member and a blowing member, the connecting member is connected with the first support, the rotating member is rotatably connected with the connecting member, and the blowing member is connected with the rotating member, the rotating member drives the blowing member to rotate relative to the connecting member to adjust the direction of the blowing port of the blowing member.

7. The apparatus of claim 6 wherein, An arc-shaped groove and a connecting hole are arranged on the connecting member, a sliding part matched with the arc-shaped groove and a connecting part matched with the connecting hole are arranged on the rotating member, the connecting part is inserted into the connecting hole, and the sliding part is inserted into the arc-shaped groove. When the rotating member rotates, the connecting part rotates relative to the connecting hole, and the sliding part slides along the arc-shaped groove.

8. The apparatus of claim 6 wherein, The first support is provided with a mounting slot, and an extension direction of the mounting slot is consistent with an extension direction of the first support; The connecting piece moves relative to the first support along the extension direction of the mounting slot to adjust the position of the blowing piece, and a bottom of the connecting piece is provided with at least one mounting hole matched with the mounting slot, and a fastener is inserted into the mounting slot through the mounting hole.

9. A method of removing residual steel shot from a casting, characterized by, The casting residual steel shot removing device and the casting residual steel shot removing method can realize the automatic identification of the casting model, the automatic determination of the corresponding overturning mode and blowing mode according to the casting model, the automatic overturning of the casting according to the overturning mode, and the automatic blowing of the casting according to the blowing mode. A visual identification component is controlled to identify the model of the casting; According to the model of the casting, a overturning mode and a blowing mode corresponding to the model of the casting are determined; The robot component is controlled to grab and move the casting to the cleaning and blowing component, and overturn the casting according to the overturning mode; The cleaning and blowing component is controlled to blow air to the casting according to the blowing mode.

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