A method for automatic breaking of a decompression channel in a high-pressure casting cleaning process

Abstract

The present application belongs to the technical field of high pressure casting, and discloses a kind of automatic supporting breaking operation method for decompression channel in high pressure casting cleaning engineering.The method comprises the following steps: manipulator is placed into cylinder to equipment internal spare part area No.1, sensor confirms cylinder position, and confirms manipulator return to original position signal;Pushing mechanism pushes cylinder to supporting breaking device operation area No.2, and pushing mechanism returns after confirming that supporting breaking device operation area No.2 cylinder occupies;Positioning mechanism opens safety lock, positioning clamping jaw extends positioning, supporting breaking mechanism extends, hydraulic cylinder starts supporting breaking operation, returns to original position after completion, positioning mechanism returns to original position, and safety lock is locked;Pushing mechanism pushes out cylinder to cleaning operation area No.3, and confirms cleaning operation.The present application cancels the operation of hand hammer knocking decompression channel, saves 20 seconds per station, changes from 2 people operation to 1 person operation before improvement, and reduces from 4 people to 2 people in double shift;The present application reduces outsourcing cost by 100,000 yuan.

Description

Technical Field

[0001] This invention belongs to the field of high-pressure casting technology, and in particular relates to an automatic support method for pressure relief channels in high-pressure casting cleaning processes. Background Technology

[0002] There are two high-pressure casting machines on site. By changing the molds, they can produce 2.0 and 2.5 TNGA cylinder blocks. After casting, the cylinder blocks come with a pair of pressure relief channels, which need to be removed by the cleaning crew. There are two people on site for the cleaning work, one working on machine number one and the other on machine number two. They use a hammer to tap the inside of the pressure relief channels to loosen them, and then remove them and put them into the recycling bin.

[0003] Based on the above analysis, it is clear that when operators use a hammer to strike the pressure relief channel, the workload increases, the risk of injury from impacts increases, and production efficiency decreases. Summary of the Invention

[0004] To overcome the problems existing in related technologies, the present invention discloses an embodiment of an automatic support method for pressure relief channels in high-pressure casting cleaning processes.

[0005] The technical solution is as follows: An automatic breaking method for pressure relief channels in high-pressure casting cleaning processes. This method utilizes a mechanical structure combined with pneumatic components to form an automatic breaking device. The automatic breaking device is controlled by a PLC program to achieve automatic breaking of the pressure relief channels, thus enabling the operation of striking the pressure relief channels. Specifically, it includes the following steps:

[0006] S1, the robotic arm is placed into the cylinder into position 1 of the placement area inside the equipment. The sensor confirms the position of the cylinder and sends a signal to confirm the return of the robotic arm to its original position.

[0007] S2, after confirming that there is no cylinder occupying position 2 in the working area of ​​the support device, the pushing mechanism pushes the cylinder to position 2 in the working area of ​​the support device. After confirming that the cylinder is occupied in position 2 of the working area of ​​the support device, the pushing mechanism returns; the positioning mechanism opens the safety lock, the positioning claw extends to position, the support mechanism extends, the hydraulic cylinder begins the support operation, after completion, the support mechanism returns to its original position, the positioning mechanism returns to its original position, and the safety lock is locked.

[0008] S3, the pushing mechanism pushes the cylinder to position 3 in the cleaning work area. After the cylinder is in place, the pushing mechanism returns. After confirming that the cylinder is occupied at position 3 in the cleaning work area, the robot arm grabs the pressure relief channel through the gripper assembly and puts the pressure relief channel into the recycling box at the rear end. After completion, it returns to its original position. A backup operation program is set to automatically push the cylinder to position 3 in the cleaning work area by the pushing mechanism, which is used to stop the operation when the support mechanism malfunctions.

[0009] Furthermore, the cylinder body has two slides, and a first rodless cylinder and a second rodless cylinder are installed on both sides of the cylinder body; the first rodless cylinder transmits the driving force by pushing the stop block to contact the end face of the cylinder body, and the second rodless cylinder transmits the driving force by pushing the lower end of the cylinder body through a movable baffle device; when the cylinder body is pushed from position 1 of the placement area inside the equipment to position 2 of the support device working area, the movable baffle is deformed by a double torsion spring to avoid the cylinder body, and automatically resets after the cylinder body moves away.

[0010] Furthermore, the slide is made of stainless steel and has a guide plate in the middle that fits with the crankcase groove at the bottom of the cylinder body, allowing the robot arm to place the cylinder body normally.

[0011] The guide plate has mounting holes on its surface, which are fastened to the lower aluminum alloy profile and installed on the slide bracket for normal cylinder pushing.

[0012] An aluminum alloy outer frame protective cover was made at position 2 of the support device operation area, and a light grating was installed at the exit to prevent misoperation.

[0013] Furthermore, based on the height of the slide and the width of the actual gap, an irregularly shaped slide guard plate is installed on the side of the slide and secured with countersunk screws. The bottom of the guard plate is attached to the push slide to eliminate the gap between the slide and the cylinder, preventing aluminum blocks from entering the gap between the slide and the push cylinder when the cylinder is pushed. A dust removal brush is installed under the push block to clean aluminum shavings from the surface of the push cylinder as the cylinder moves.

[0014] In step S1, a position 1 cylinder occupant switch is set in position 1 of the workpiece placement area inside the equipment. The start-up conditions are confirmed by the return position of the robot arm to prevent the robot arm from colliding with the pushing mechanism if it fails to return. The start-up conditions are: the optical sensor detects that the workpiece position is correct, the occupant switch is opened, the robot arm returns to its original position signal is issued, and the support device is started.

[0015] In step S2, the positioning mechanism adopts a suspension structure to eliminate the impact of falling aluminum chips and liquid corrosion on the fixture;

[0016] By comparing the dimensions of the 2.5 and 2.0 cylinder blocks, the center between the 2-hole and 3-hole blocks was determined to be the common center of the two cylinder blocks, which also coincides with the center dimensions of the two decompression passages. The inner walls of the 2-hole and 3-hole blocks were selected as the universal reference, and the cylinder block was positioned in conjunction with the suspension method.

[0017] Based on the bore spacing of the 2.5 and 2.0 cylinder blocks, and the dimensional changes in cylinder block height, a stepped positioning gripper is designed. The small end positioning face of the step corresponds to the 2.0 model, and the large end positioning face corresponds to the 2.5 model. When positioning the cylinder block, it fits against both sides of bores 2 and 3. The two middle steps of the stepped positioning gripper... The pin hole is inlaid with Bushing, inserted with locating pin to connect the connecting rod, used for transmission, rear end The pin hole connects to the cam follower and serves as a guide.

[0018] The entire positioning mechanism utilizes the principle of linkage transmission, connecting multiple linkages through the connector at the lower end of the positioning cylinder to drive the stepped positioning gripper to perform an opening motion; when the positioning cylinder extends to the fixed point, the direction of the force between the linkage and the positioning cylinder rod forms a 90° angle, resulting in horizontal self-locking.

[0019] Furthermore, a pair of custom guide grooves are made at the top of the positioning cylinder to ensure the position of the starting point and the ending point. The intermediate stroke has a custom arc. The cam follower devices at the rear end of the left and right stepped positioning grippers are then placed in the grooves to make curved motion within the custom guide grooves. When the cylinder push position deviates, the cylinder bore is gripped within a certain range.

[0020] The positioning cylinder is a fully locking cylinder, which automatically locks when the air supply is cut off at all positions. When the fully locking cylinder reaches the stop position, a safety lock is added to prevent misoperation during maintenance.

[0021] In step S2, after the cylinder body is positioned, the telescopic cylinder on the second support positioning plate drives the first support positioning plate to extend, and the left and right hydraulic cylinders extend simultaneously to support and break. After the break, the hydraulic cylinders return, and the telescopic cylinders return. At the same time, the break point is set between the second and third tie rods to prevent the pressure relief channel from interfering during the pushing process.

[0022] During the simultaneous extension of the left and right hydraulic cylinders to break the seal, the irregularly shaped breaking jaws are designed with two different shapes according to the actual contact surfaces of the pressure relief channels on both sides to ensure the fit of the contact surfaces. The top is designed with a barb to prevent the contact point from leaving its original position. The middle screw hole is connected to the hydraulic cylinder rod thread, and an external nut is added to form a double nut fastening.

[0023] The rear end of the irregular support claw is designed with a pin hole for installing an anti-rotation pin, and a set screw hole is made on the side. The anti-rotation pin is machined with a positioning surface. After being inserted into the pin hole of the irregular support claw, it is fixed to the positioning surface with a set screw. An anti-rotation bracket is made. The lower end is designed with a mounting hole for threaded connection with the first support positioning plate, and the upper end is designed with a pin hole for clearance fit with the anti-rotation pin inserted into the support claw to ensure the direction of the support claw.

[0024] Furthermore, a force-balancing device is fabricated on the hydraulic cylinder rod to reduce radial shear force.

[0025] In step S3, after the broken cylinder is pushed to position 3 in the cleaning work area, the robot takes a picture to sense the position, uses the gripper assembly to remove the loose pressure relief channel, and puts it into the recycling bin behind it; limiters and their sensors are installed in the fixed area for the fixed position of the recycling bin.

[0026] Combining all the above technical solutions, the beneficial effects of this invention are as follows: This invention forms an automatic breaking device by combining a mechanical structure with pneumatic components. This device uses PLC program control to form a linkage to automatically break the pressure relief channel, thereby replacing the operator's manual hammering of the pressure relief channel.

[0027] The device is installed at the outlet of the high-pressure casting machine where finished products are placed. After the robotic arm of the high-pressure casting machine inserts the cylinder, it can automatically perform the breaking operation and achieve adaptive switching between 2.0 and 2.5 cylinders without the need to change adjustment parts or programs. It eliminates the need for the operator to strike the pressure relief channel with a hammer, eliminating the risk of injury from impact and realizing unmanned operation of the high-pressure cleaning process.

[0028] In terms of safety, this invention eliminates the safety hazards caused by hand-hammering by automatically breaking the circuit. This invention eliminates the need for hand-hammering the pressure relief channel, saving 20 seconds per unit of labor time, reducing the workload from two people to one (two people per shift), and decreasing the number of people per shift from four to two. This invention also reduces external procurement costs by 100,000 yuan. Attached Figure Description

[0029] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure;

[0030] Figure 1 This is an overall schematic diagram of the automatic support device provided in an embodiment of the present invention;

[0031] Figure 2 This is a schematic diagram of the push mechanism provided in an embodiment of the present invention;

[0032] Figure 3 This is a schematic diagram of the pushing cylinder a provided in an embodiment of the present invention;

[0033] Figure 4 This is a schematic diagram of the pushing cylinder b provided in an embodiment of the present invention;

[0034] Figure 5 This is a schematic diagram of the push bracket provided in an embodiment of the present invention;

[0035] Figure 6 This is a schematic diagram of the first slide rail support type provided in an embodiment of the present invention;

[0036] Figure 7 This is a schematic diagram of the second slide rail support type provided in an embodiment of the present invention;

[0037] Figure 8 This is a schematic diagram of the stainless steel slide rail provided in an embodiment of the present invention;

[0038] Figure 9This is a schematic diagram of the stainless steel slide rail, guide plate, and protective plate provided in an embodiment of the present invention;

[0039] Figure 10 This is a schematic diagram of the protective plate provided in an embodiment of the present invention;

[0040] Figure 11 This is a schematic diagram of the brush cleaning device provided in an embodiment of the present invention;

[0041] Figure 12 This is a schematic diagram of the positioning frame provided in an embodiment of the present invention;

[0042] Figure 13 This is a schematic diagram of the cylinder center position provided in an embodiment of the present invention;

[0043] Figure 14 This is a schematic diagram of the movable component of the positioning mechanism provided in an embodiment of the present invention;

[0044] Figure 15 This is a schematic diagram of the fully lock cylinder CLG1DN40-100-E provided in an embodiment of the present invention;

[0045] Figure 16 This is a schematic diagram of the linkage connector provided in an embodiment of the present invention;

[0046] Figure 17 This is a schematic diagram of the connecting rod provided in an embodiment of the present invention;

[0047] Figure 18 This is a schematic diagram of the left positioning gripper provided in an embodiment of the present invention;

[0048] Figure 19 This is a schematic diagram of the right-side positioning gripper provided in an embodiment of the present invention;

[0049] Figure 20 This is a schematic diagram of the cam follower device provided in an embodiment of the present invention;

[0050] Figure 21 This is a schematic diagram of the positioning pin provided in an embodiment of the present invention;

[0051] Figure 22 This is a schematic diagram of the frame positioning plate provided in an embodiment of the present invention;

[0052] Figure 23 This is a schematic diagram of the positioning guide plate provided in an embodiment of the present invention;

[0053] Figure 24 This is a schematic diagram of the security lock CDQ2B25R-15DZ-M9BASDPCS provided in an embodiment of the present invention;

[0054] Figure 25 This is a schematic diagram of the support mechanism provided in an embodiment of the present invention;

[0055] Figure 26 This is a schematic diagram of the assembly of the support component provided in an embodiment of the present invention;

[0056] Figure 27 This is a schematic diagram of the first support positioning plate provided in an embodiment of the present invention;

[0057] Figure 28 This is a schematic diagram of the first support positioning plate provided in an embodiment of the present invention;

[0058] Figure 29 This is a schematic diagram of the second support positioning plate provided in an embodiment of the present invention;

[0059] Figure 30 This is a schematic diagram of a linear guide rail provided in an embodiment of the present invention;

[0060] Figure 31 This is a schematic diagram of the support positioning plate limiting block provided in an embodiment of the present invention;

[0061] Figure 32 This is a schematic diagram of the buffer support provided in an embodiment of the present invention;

[0062] Figure 33 This is a schematic diagram of the buffer C-MACAT1412C provided in an embodiment of the present invention;

[0063] Figure 34 This is a schematic diagram of the hydraulic cylinder 160H-12LA32BN40-B0 provided in an embodiment of the present invention;

[0064] Figure 35 This is a schematic diagram of the right side of the support gripper provided in an embodiment of the present invention;

[0065] Figure 36 This is a schematic diagram of the left side of the support clamp provided in an embodiment of the present invention;

[0066] Figure 37 This is a schematic diagram of the anti-rotation device provided in an embodiment of the present invention;

[0067] Figure 38 This is a schematic diagram of the balancing force device provided in an embodiment of the present invention;

[0068] Figure 39 This is a schematic diagram of the hydraulic station provided in an embodiment of the present invention;

[0069] Figure 40 This is a schematic diagram of a pneumatic component provided in an embodiment of the present invention;

[0070] Figure 41 This is a schematic diagram of the operation control panel provided in an embodiment of the present invention;

[0071] Figure 42This is a schematic diagram of the protective cover and grating provided in an embodiment of the present invention;

[0072] Figure 43 This is a schematic diagram of the cleaning mechanism provided in an embodiment of the present invention;

[0073] Figure 44 This is a schematic diagram of the gripper assembly provided in an embodiment of the present invention;

[0074] Figure 45 This is a schematic diagram of the placement of the recycling bin provided in an embodiment of the present invention;

[0075] Figure 46 This is a schematic diagram of the check valve device provided in an embodiment of the present invention;

[0076] Figure 47 This is a flowchart of an automatic pressure relief channel breaking operation method provided by an embodiment of the present invention for cleaning engineering in high pressure casting;

[0077] In the diagram: 1. Pushing mechanism; 2. Positioning mechanism; 3. Supporting mechanism; 4. Cleaning mechanism; 5. First rodless cylinder; 6. Second rodless cylinder; 7. Slide rail frame; 8. Slide rail base; 9. Trolley; 10. Pushing block; 11. Pushing bracket; 12. First connecting plate; 13. Pushing plate; 14. Double torsion spring; 15. Thrust plate; 16. Tie rod; 17. First slide rail bracket; 18. Second slide rail bracket; 19. Stainless steel slide rail shell; 20. 45# steel slide rail main body 21. Body; 22. Aluminum alloy bracket; 23. Guide plate; 24. Protective side plate; 25. Dust removal brush; 26. Dust removal brush bracket; 27. Positioning clamp; 28. Auxiliary support rod; 29. ​​Cylinder body center; 30. Fully locked cylinder (MY1B50-1200-M9NAV-XC67); 31. Connector; 32. Connecting rod; 33. Left irregularly shaped positioning jaw; 34. Right irregularly shaped positioning jaw; 35. Safety lock; 36. Connector M14×1.5 screw hole; 37. Connector Pin hole; 37. Connector Keyhole; 38, connecting rod 39. Pin hole; 40. Small end positioning surface; 41. Large end positioning surface; 42. Irregularly shaped positioning jaws Pin holes; 42. Irregularly shaped positioning jaws 43. Pin hole; 44. Cam follower (CF10-A); 45. Positioning pin; 46. Frame positioning plate; 47. Positioning guide plate; 48. Custom guide groove; 49. First limit block; 50. Small cylinder; 51. Safety lock bracket; 52. Support fixing part; 53. Support floating part; 54. Second support positioning plate; 55. First support positioning plate; 56. Balancing force device; 57. Telescopic device; 58. Telescopic cylinder (CDM3L32-100-M9BW); 59. 60. Cylinder bracket; 61. Floating joint; 62. Joint connecting block; 63. Left cylinder; 64. Right cylinder; 65. Left irregular support clamp; 66. Right irregular support clamp; 67. Oil pipe bracket; 68. Oil pipe; 69. Weight reduction hole of support positioning plate; 70. Linear slide rail; 71. Second limit block; 72. Buffer bracket; 73. First buffer; 74. Hydraulic cylinder rod thread (M14×1.5); 75. M14×1.5 threaded hole; 76. Support 76. Broken contact surface; 77. Support barb; 78. Pin hole; 79. Set screw hole; 80. Anti-rotation pin; 81. Anti-rotation bracket; 82. Sensing switch bracket; 83. Sensing switch; 84. C-type positioning plate; 85. Second buffer; 86. Hydraulic pump; 87. Foot cup; 88. Pneumatic component mounting plate; 89. Solenoid valve island; 90. Air source triplet; 91. Manual / automatic switching key; 92. Operation preparation button; 93. Backup operation switching key; 94. Aluminum alloy outer frame protective cover; 95. PLC electrical box; 96. Positioning mechanism protective cover; 97. Grating; 98. XM7 type robot arm; 99. Gripper assembly; 100. Robot arm platform; 101. Cylinder (MHZL2-20D); 102. Gripper fingers; 103. Pneumatic gripper fixing plate; 104. Recycling bin; 105. Check valve; 106. Telescopic cylinder (CDM2C40-50Z-NW-M9BW); 107. Fixing plate. Detailed Implementation

[0078] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0079] The innovative aspect of the automatic support and breaking method for pressure relief channels in high-pressure casting cleaning provided by this invention is that the device uses machinery to replace manual labor to achieve automatic support and breaking, thus saving time, manpower, and money. It utilizes cylinders, multi-links, self-made guides, and self-locking devices to achieve adaptive workpiece positioning; it uses optical signals and robotic arm return signals to prevent errors; it employs irregularly shaped grippers to maintain support and breaking stability; and it achieves support and breaking through hydraulic cylinders and electrical signals.

[0080] Example 1, as Figures 1-46 As shown, the automatic support device provided in this embodiment of the invention includes:

[0081] Push agency 1;

[0082] The slide frame 7 is installed on three working areas. A first rodless cylinder 5 and a second rodless cylinder 6 are installed on the slide frame 7. A push stop 10 is connected to the upper end of the first rodless cylinder 5. A dust removal brush bracket 25 is installed below the push stop 10, and a dust removal brush 24 is installed on the dust removal brush bracket 25.

[0083] The lower end of the first rodless cylinder 5 is connected to the first slide rail bracket 17 and the second slide rail bracket 18.

[0084] The second rodless cylinder 6 is connected to the push bracket 11. A double torsion spring 14 is installed on the push bracket 11. The double torsion spring 14 is connected to the push plate 13. A thrust plate 15 is installed at the rear end of the push plate 13.

[0085] The lower end of the second rodless cylinder 6 is equipped with a first connecting plate 12, which connects the first slide rail bracket 17 and the second slide rail bracket 18.

[0086] The slide consists of a stainless steel slide shell 19 and a 45# steel slide body 20, with an aluminum alloy bracket 21 connected to the lower end and a protective side plate 23 installed on the side.

[0087] The guide plate 22 and the stainless steel slide rail housing 19 are connected to the aluminum alloy bracket 21. The lower end of the aluminum alloy bracket 21 is connected to the slide rail frame 7 through the first slide rail bracket 17 and the second slide rail bracket 18. The slide rail frame 7 is equipped with protective side plates 23 on its sides and slide rail feet 8 on its bottom.

[0088] Positioning mechanism 2;

[0089] Positioning Frame ( Figure 12 It is installed in the support device area and connected to the slide frame 7 by auxiliary support rod 27.

[0090] A positioning fixture 26 is installed at the upper end of the positioning frame. The top of the positioning fixture 26 is an SMC full-lock cylinder (MY1B50-1200-M9NAV-XC67) 29, and the lower end is a connector 30, which has two connectors. Pin hole 36, a connector M14×1.5 screw hole 35, and a connector Lock hole 37, connector There is a bushing inside pin hole 36.

[0091] Connector 30 has irregularly shaped positioning jaws on both sides, left 32 and right 33, and the irregularly shaped positioning jaws have a middle irregularly shaped positioning jaw. Pin hole 41 and upper irregular positioning claw 42 pin holes, irregularly shaped positioning jaws Pin hole 41 and irregular positioning claw Bushings are installed inside the pin holes 42. The lower end of the irregularly shaped positioning jaws has a small end positioning surface 39 and a large end positioning surface 40.

[0092] Connector 30 is connected to six links 31, each with two links. Pin hole 38, used Positioning pins 44 pass through connector 30 and irregularly shaped positioning jaws respectively. Pin hole 41. Upper end of irregularly shaped positioning jaws. The pin hole 42 is fitted with a cam follower (CF10-A) 43, which is used in conjunction with the positioning guide plate 46.

[0093] The positioning guide plate 46 is installed at the front end of the cylinder body, and a connector is located on the upper end of the positioning guide plate 46. The device features a pin hole 36 and a connector M14×1.5 screw hole, with first limiting blocks 48 designed on both the left and right sides. A pair of custom guide grooves 47 are designed on the surface to cooperate with the cam follower (CF10-A) 43 on the irregular positioning gripper.

[0094] The positioning guide plate 46 is connected to the frame positioning plate 45, and the frame positioning plate 45 is connected to the positioning frame ( Figure 12 Connection. A safety lock bracket 50 is mounted on the side of the positioning guide plate 46. A small cylinder 49 is mounted on the safety lock bracket 50, and its main shaft is connected to the connector. The keyhole 37 is matched.

[0095] Support mechanism 3;

[0096] The support bracket 52 is installed in the support device area, and the support bracket 52 is connected to the support fixing part 51 and the support floating part 53. The support floating part 53 is divided into two layers: the second support positioning plate 54 and the first support positioning plate 55.

[0097] The second support positioning plate 54 has a telescopic device 57. The telescopic device 57 consists of a telescopic cylinder 58, a cylinder bracket 59, a floating joint 60, and a joint connecting block 61. It is connected to the first support positioning plate 55 through the joint connecting block 61.

[0098] A pair of linear slide rails 69 are installed at the lower end of the first support positioning plate 55. The sliding part of the linear slide rail 69 is connected to the first support positioning plate 55, and the guide rail is fixed on the second support positioning plate 54.

[0099] The second limiting block 70 is installed on the lower ends of both sides of the first support positioning plate 55 and cooperates with the first buffer 72 on the second support positioning plate 54.

[0100] The first buffer 72 is mounted on the buffer bracket 71, and the buffer bracket 71 is mounted on the second support positioning plate 54.

[0101] The first support positioning plate 55 is equipped with the left 62 and right 63 hydraulic cylinders. The cylinder rod threads (m14×1.5) 73 of the hydraulic cylinders of the left 62 and right 63 are respectively matched with the M14×1.5 screw holes on the left 64 and right 65 of the irregular support claw.

[0102] The left 64 and right 65 of the irregular support jaws have a support contact surface 75 which is the working contact surface. The top end is provided with a support barb 76, the bottom end has a pin hole 77, and the rear end face is designed with a set screw hole 78.

[0103] The rear end of the first support positioning plate 55 is supported by the oil pipe bracket 66, which supports the oil pipe 67. The front end of the oil pipe 67 is connected to the left oil cylinder 62 and the right oil cylinder 63. The first support positioning plate 55 also has a weight reduction hole 68 in the middle.

[0104] An anti-rotation device is installed on the side of the hydraulic cylinder, including an anti-rotation pin 79 and an anti-rotation bracket 80, as well as a proximity switch 82 and a switch bracket 81. The anti-rotation pin 79 is installed in the pin holes 77 of the left 64 and right 65 of the irregular support claw and is fixed by the set screw hole 78 on the rear end face.

[0105] The first support positioning plate 55 is equipped with a balancing force device 56, which consists of a C-shaped positioning plate 83 and a second buffer 84.

[0106] A hydraulic pump 85 is placed on the side of the support bracket 52. The hydraulic pump 85 is placed on the bracket and supported by the foot cup 86. It is connected to the hydraulic cylinder through the hydraulic pipe.

[0107] Positioning Frame ( Figure 12 A pneumatic component mounting plate 87 is installed at the lower rear end, and a solenoid valve island 88 and an air source triplet 89 are installed on the pneumatic component mounting plate 87.

[0108] Install an operation control panel on the outside of the equipment. Figure 41 The manual / automatic switching key 90, the operation preparation button 91, and the backup job switching key 92 are set.

[0109] In the positioning frame ( Figure 12 The outer layer is equipped with an aluminum alloy outer frame protective cover 93, the rear end is equipped with a PLC electrical box 94, the positioning device is equipped with a positioning mechanism protective cover 95, and the slide rail outlet is equipped with light gratings 96 on both sides.

[0110] Cleaning agency 4,

[0111] Place an XM7 robotic arm 97 in the cleaned work area. Install a gripper assembly 98 at the front end of the XM7 robotic arm 97 and a robotic arm platform 99 at the bottom. The bottom of the robotic arm platform 99 is connected to the bottom surface with feet.

[0112] The gripper assembly 98 consists of an SMC cylinder (MHZL2-20D) 100, gripper fingers 101, and a gripper fixing plate 102.

[0113] A fixed recycling bin 103 is placed behind the cleaning work area, and the lower end of the recycling bin 103 is connected to the vehicle frame.

[0114] A small cart 9 is placed on the slide at position 3. The small cart 9 has a slide and a guide plate 22, and its position is aligned with the slide and guide plate at position 2 in front.

[0115] The lower end of the trolley slide is connected to the slide frame 7, and a backstop device is installed at the rear end. Figure 46 The upper end of the check valve is a check baffle 104, and the rear end of the check baffle 104 is a fixed plate 106, which are connected by a pin and can be rotated 30°. A pin is installed in the middle of the check baffle 104 to connect to the telescopic cylinder 105. The lower end of the fixed plate 106 is connected to an L-shaped fixed plate, and the bottom is connected to the telescopic cylinder by a positioning pin. Through holes are designed on both sides, and bolts are used to fix it to the slide frame 7.

[0116] Example 2, as Figure 47 As shown, this embodiment of the invention provides a method for automatically breaking pressure relief channels in high-pressure casting cleaning processes. The method utilizes a mechanical structure and pneumatic components to form an automatic breaking device. This device is controlled by a PLC program to automatically break the pressure relief channels, replacing the manual hammering of the channels. Specifically, the method includes:

[0117] S1, the robotic arm is placed into the cylinder into position 1 of the placement area inside the equipment. The sensor confirms the position of the cylinder and sends a signal to confirm the return of the robotic arm to its original position.

[0118] S2, after confirming that there is no cylinder occupying position 2 in the working area of ​​the support device, the pushing mechanism pushes the cylinder to position 2 in the working area of ​​the support device. After confirming that the cylinder is occupied in position 2 in the working area of ​​the support device, the pushing mechanism returns.

[0119] The positioning mechanism unlocks the safety lock, the positioning gripper extends to position, the breaking mechanism extends, the hydraulic cylinder begins the breaking operation, and after completion, the breaking mechanism returns to its original position, the positioning mechanism returns to its original position, and the safety lock is locked.

[0120] S3, the pushing mechanism pushes the cylinder to position 3 in the cleaning operation area. After the cylinder is in place, the pushing mechanism returns. After confirming that the cylinder is in position 3 in the cleaning operation area, the robot arm grabs the pressure relief channel through the gripper assembly and puts the pressure relief channel into the recycling box at the rear end. After completion, it returns to its original position.

[0121] Specifically, the automatic support method for pressure relief channels in high-pressure casting cleaning projects is implemented through an automatic support device. The implementation principle of this automatic support device includes:

[0122] The function of the pushing mechanism 1 is to automatically push the cylinder at position 1 of the placement area inside the equipment to position 2 of the support device working area. After the support device in position 2 has completed the support, it is then pushed to position 3 of the cleaning working area.

[0123] There are two slides supporting the cylinder body, each 2000mm long, with a first rodless cylinder 5 and a second rodless cylinder 6 installed on both sides. The first rodless cylinder 5 transmits the driving force by pushing a stop block to contact the end face of the cylinder body, while the second rodless cylinder 6 transmits the driving force by pushing the lower end of the cylinder body through a movable baffle device.

[0124] The function of the movable baffle device is that when the cylinder is pushed from position 1 of the placement area inside the equipment to position 2 of the support device working area, the movable baffle uses the deformation of the double torsion spring to avoid the cylinder, and automatically resets after the cylinder moves away.

[0125] Considering the effects of liquid corrosion and aluminum shavings buildup, which prevent the rollers from rotating and increase friction tenfold when pushing the cylinder, accompanied by a bouncing sensation, this invention abandons the rollers and uses a stainless steel slide rail. The main body of the 45# steel slide rail is designed to be 20mm long, 500mm wide, 20mm high, and 40mm high, with two sections at the top. Stepped holes, recessed platforms 30mm deep, with a 21mm aluminum alloy frame at the bottom. Three on the sides. The through-hole mates with the through-hole on the side of the stainless steel casing. The stainless steel casing is 2000mm long and is secured with high-side screws for easy disassembly and replacement.

[0126] Experiments have shown that when the bottom of the cylinder contacts the surface of the stainless steel slide, the friction is reduced to 1.5 times that of a normal roller, but there is no problem of aluminum blocks getting stuck on the roller. Pushing is easier and more stable, and the bottom is more stable and durable when it breaks.

[0127] A guide plate 22 is designed in the middle of the slide rail, which mates with the crankcase through groove at the bottom of the cylinder block with a clearance of 2mm to ensure proper placement of the cylinder block by the robot arm. The guide plate 22 is 12mm high and 2000mm long, with mounting holes on its surface. It is fastened to the lower aluminum alloy profile and installed on the slide rail bracket to ensure proper cylinder block pushing. The surface is blackened to prevent corrosion.

[0128] To address abnormal situations, this invention includes a position occupancy switch for cylinder position 1, and also adds a start condition for confirming the robot's return position to prevent collisions with the pushing mechanism if the robot fails to return. Additionally, a backup operation program is designed to stop operation and automatically push the cylinder to position 3 in case of a support mechanism malfunction, reducing downtime due to support mechanism failure.

[0129] To prevent aluminum blocks from entering the gap between the slide rail and the push cylinder during cylinder pushing and causing jamming of the pushing mechanism, a protective side plate 23 (slide rail protective plate) was designed. Based on the actual gap width and slide rail height, it is designed as an irregularly shaped plate, installed on the side of the slide rail, and secured with countersunk screws. Its bottom fits snugly against the push slide rail, effectively eliminating the gap between the slide rail and the cylinder and preventing aluminum chips and blocks from scraping and jamming.

[0130] To keep the surface of the push cylinder clean, a dust removal brush 24 was designed. It consists of a regular brush and a bracket, and is installed under the push block 10. The brush bristles contact the surface of the push cylinder and can clean the surface aluminum shavings as the push cylinder moves.

[0131] Positioning mechanism 2 is used to fix the cylinder on the slide to assist the operation of the support mechanism.

[0132] After various design attempts, in order to eliminate the impact of aluminum shavings and liquid corrosion on the fixture and to achieve the function of positioning cylinder in a limited space, it was finally designed as a suspended type.

[0133] To ensure seamless switching between 2.5 and 2.0 cylinder blocks, this invention compares the dimensions of various parts of the two models and determines that the center between the 2-hole and 3-hole ports is the common center of both cylinder blocks, namely, cylinder center 28. This center coincides with the center dimensions of the two decompression passages. Therefore, the inner walls of the 2-hole and 3-hole ports can be selected as a universal reference, and the cylinder block can be positioned using a suspension system.

[0134] Based on the bore spacing of the 2.5 and 2.0 cylinder blocks, as well as the changes in cylinder block height, a stepped positioning gripper was designed. The smaller end positioning surface 39 of the step corresponds to the 2.0 model, and the larger end positioning surface 40 corresponds to the 2.5 model. When positioning the cylinder block, it can tightly fit against both sides of bores 2 and 3. The positioning gripper has two... The pin hole is inlaid with A bushing, into which a locating pin can be inserted to connect the connecting rod, is used for transmission. One at the rear end. The pin hole connects to the cam follower 43 and serves a guiding function. The two... The pin hole is a non-circular positioning gripper. Pin hole 41, irregularly shaped positioning claw Pin hole 42;

[0135] The entire positioning mechanism utilizes the principle of linkage transmission. A multi-link 31 is connected via a connector 30 at the lower end of the positioning cylinder, driving the stepped positioning gripper to perform an opening motion. When the positioning cylinder extends to its fixed point, the force between the connecting rod 31 and the positioning cylinder rod forms a 90° angle, achieving self-locking in the horizontal direction.

[0136] Simultaneously, the sides of the stepped positioning grippers on both the left and right sides (left 32 and right 33) contact the first limiting blocks 48 on both sides of the positioning guide plate 46. The force borne by the positioning grippers is transmitted to the entire cantilever frame through the positioning guide plate 46, making the positioned cylinder more stable. (At this time, the stepped positioning grippers first contact the limiting blocks on both sides of the guide plate, with an allowable gap of <0.2mm between them and the inner wall of the cylinder bore.)

[0137] When the pushing mechanism 1 pushes the cylinder, there will be a deviation in the pushing position between the 2.5 and 2.0 models, with a center position difference of about 17mm. Ordinary devices require the addition of adjustment blocks to the pushing mechanism to eliminate the difference before the positioning action is performed. This increases on-site operations and is prone to oversights and errors. This invention requires an adaptive positioning mechanism. When designing the positioning guide plate 46, a pair of custom guide grooves 47 are made at the top to ensure the position of the starting and ending points, with a custom arc in the middle stroke. Then, the cam follower devices at the rear end of the left and right stepped positioning grippers are respectively placed, so that they make curved movements within the custom guide grooves 47. When the cylinder pushing position deviates, the cylinder bore can be gripped within a certain range. The center of the positioning mechanism is fixed between the centers of the 2.5 and 2.0 models, and connected to the positioning frame through the frame positioning plate 45, which can reduce the cylinder position offset and reduce the difficulty of the positioning mechanism gripping the cylinder. Combined with the self-locking property of the double linkage structure, universal positioning for both models is achieved. It also enables seamless switching between the 2.5 and 2.0 models without the need to replace parts, increasing the fault tolerance.

[0138] Increasing the width of the guide plate at the break point by 1.4mm can reduce the swaying of the cylinder during positioning and increase the stability of the break operation.

[0139] The C-shaped positioning frame is connected to the ground using anchor feet, which places a significant load on the upper part, causing some swaying during positioning operations. To increase stability, a sliding support bracket can be used as an auxiliary support. Two auxiliary support rods are designed, one end connected to the upper crossbeam of the sliding support bracket, and the other end connected to the uprights on both sides of the positioning frame. Experiments have shown that the C-shaped positioning frame did not wobble during the support operation, improving both stability and durability.

[0140] In terms of safety, the positioning cylinder uses an SMC fully locking cylinder, model CLG1DN40-100-E, which automatically locks in all positions when air supply is cut off (spring locking type). When the fully locking cylinder reaches the stop position, an additional safety lock 34 is added to prevent accidental operation during maintenance. The side-mounted thin cylinder engages with the connector's locking hole, which is opened during positioning mechanism operation and normally locked.

[0141] The function of the support mechanism 3 is to support the decompression passage when the positioning mechanism fixes the cylinder.

[0142] Once the cylinder body is positioned, the telescopic cylinder CDM3L32-100-M9BW on the second support positioning plate 54 drives the first support positioning plate 55 to extend, and the left and right hydraulic cylinders extend simultaneously to support and break the cylinder. After the cylinder breaks the cylinder, the hydraulic cylinders return, and the telescopic cylinders return.

[0143] To ensure that the pressure relief channel does not fall and accumulate inside the equipment upon breakage, it can be easily removed by the operator and placed into a collection bin. The desired breakage result of this invention is breakage without falling off.

[0144] Based on the shape of the left and right pressure relief channels and the position of the tie rod 16 between the connecting cylinders, as well as the adjustable height of the support device and the interference problem of the pressure relief channel during the pushing process, the present invention sets the support point between the second and third tie rods from the top.

[0145] Based on the characteristics of stable hydraulic transmission and amplification, the required pressure for the pressure relief channel, and the limited space, a small hydraulic cylinder was selected. However, the top area of ​​the cylinder rod is too small, making slippage prone to occur at the contact point with the pressure relief channel. To prevent slippage, a uniquely shaped support clamp was designed based on actual measurements and experiments. The uniquely shaped support clamp is designed in two different shapes according to the actual contact surfaces of the left and right pressure relief channels, ensuring a 90% fit. Furthermore, a 3mm high barb is designed at the top to effectively prevent the contact point from dislodging. The central threaded hole connects to the hydraulic cylinder rod thread (m14×1.5), with an additional nut forming a double-nut fastening. During installation, it should be screwed directly to the bottom of the thread; shims should not be used to adjust the thickness to prevent deformation of the shim's inner hole, which could lead to an unstable installation of the uniquely shaped support clamp and unstable support.

[0146] The cylinder rod of a hydraulic cylinder can drive the irregularly shaped support claw to rotate, causing support failure. It is necessary to restrict it to one direction. This invention designs an anti-rotation device. The rear end of the support claw is designed with a pin hole to install the anti-rotation pin, and a set screw hole is made on the side. A positioning surface is machined on the surface of the anti-rotation pin. After being inserted into the pin hole of the support claw, it is fixed to the positioning surface with a set screw. An anti-rotation bracket is fabricated, with a mounting hole at the lower end for threaded connection to the first support positioning plate (55mm), and a pin hole at the upper end for clearance fit with the anti-rotation pin inserted into the support claw. This ensures that the anti-rotation device maintains the pin hole fit during the support operation, guaranteeing the orientation of the support claw.

[0147] After numerous trials and improvements, the optimal support distance of 478.5mm was found, allowing the four broken stress relief braces to be easily removed without falling off.

[0148] Because the lever arm of the support claw is relatively long and the radial force is large, the cylinder rod may fatigue and fracture during prolonged support operations. Therefore, a balancing force device was designed to reduce the radial shear force. Based on torque calculations, a C-type positioning plate was used in conjunction with an adjustable buffer. One end of the C-type positioning plate 83 is designed as a mounting plate with four... Four M6 screw holes are designed on the first support positioning plate 55 for bolt connection. Screw holes are also designed on the other end of the C-shaped positioning plate for installing a buffer. The position of the buffer is adjusted to ensure that when the front end of the support claw contacts the pressure relief channel, the rear end simultaneously contacts the buffer, and forces are applied simultaneously, thus achieving force balance. The buffer is adjusted to five positions based on on-site support experiments.

[0149] Because the existing 380V hydraulic station is too large, and sharing a 380V power supply with the casting machine would affect the stability of the equipment, this invention selects a small 220V hydraulic station, which is fixed under the support column.

[0150] An adjustable air blowing device was also installed to replace the operator's task of cleaning the marking positions on the cylinder.

[0151] The cleaning mechanism 4 uses a robotic arm to remove the loosened pressure relief channel after it has broken, and then sends it into the recycling bin.

[0152] After the broken cylinder is pushed to position 3, the robotic arm takes a picture to sense its location, uses the gripper assembly to remove the loose pressure relief channel, and puts it into the recycling bin behind it.

[0153] Due to limited space, this invention selected the small XM7 robotic arm to ensure the cleaning work was completed while reducing the chance of interference with surrounding objects.

[0154] To ensure the accuracy of the robotic arm's gripping, the cylinder's position must first be stabilized to prevent erratic movement. This invention incorporates a check valve at the rear end of the trolley at the bottom of the cylinder. The device automatically locks when the trolley returns and automatically unlocks after the cleaning mechanism completes its operation.

[0155] To address the issue of bin placement, a designated placement area is designed, and limit switches and sensors are installed. When the bin is not in the designated area, the robotic arm automatically pauses operation. When the bin returns to its original position, manual confirmation via a button is required for automatic operation to resume.

[0156] In terms of electrical components, the operation sequence of the pressure relief channel support device is controlled by using Toyota Koki PLC program logic in conjunction with solenoid valves, thereby meeting the operational requirements of the on-site project.

[0157] Pneumatic components are mounted on the positioning frame ( Figure 12 The lower end of ).

[0158] The electrical control box is mounted on the positioning frame ( Figure 12 The upper part of ).

[0159] The operation control panel is located above the operator's start switch.

[0160] To prevent safety hazards from the actuating mechanism, an aluminum alloy outer frame protective cover is installed at position 2, and a light grating 96 is installed at the exit to prevent accidental operation. An additional protective cover is installed on the internal positioning mechanism to prevent accidental contact.

[0161] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0162] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications, equivalent substitutions, and improvements made by those skilled in the art within the scope of the technology disclosed in the present invention, and within the spirit and principles of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A method for automatically breaking the pressure relief channel in high-pressure casting cleaning processes, characterized in that, This method uses a mechanical structure combined with pneumatic components to form an automatic breaking device. This automatic breaking device is controlled by a PLC program to create a linkage, automatically breaking the pressure relief channel and enabling the operation of striking the pressure relief channel. Specifically... Includes the following steps: S1, the robotic arm is placed into the cylinder into position 1 of the placement area inside the equipment. The sensor confirms the position of the cylinder and sends a signal to confirm the return of the robotic arm to its original position. S2, after confirming that there is no cylinder occupying position 2 in the working area of ​​the support device, the pushing mechanism pushes the cylinder to position 2 in the working area of ​​the support device. After confirming that the cylinder is occupied in position 2 of the working area of ​​the support device, the pushing mechanism returns; the positioning mechanism opens the safety lock, the positioning claw extends to position, the support mechanism extends, the hydraulic cylinder begins the support operation, after completion, the support mechanism returns to its original position, the positioning mechanism returns to its original position, and the safety lock is locked. The positioning mechanism adopts a suspended structure to eliminate the impact of falling aluminum chips and liquid corrosion on the fixture; By comparing the dimensions of the 2.5 and 2.0 cylinder blocks, the common center of the two cylinder blocks was determined and matched with the center dimensions of the two decompression channels. The cylinder block was then positioned in conjunction with the suspension method. Based on the bore spacing of the 2.5 and 2.0 cylinder blocks and the dimensional changes in cylinder block height, a stepped positioning gripper is designed. The small end positioning face of the step corresponds to the 2.0 model, and the large end positioning face corresponds to the 2.5 model. The two ∅14 pin holes in the middle of the stepped positioning gripper are inlaid with ∅12 bushings, into which positioning pins are inserted to connect the connecting rod for transmission. The ∅10 pin hole at the rear end connects to the cam follower for guidance. The entire positioning mechanism utilizes the principle of linkage transmission, connecting multiple linkages through the connector at the lower end of the positioning cylinder to drive the stepped positioning gripper to perform an opening motion; when the positioning cylinder extends to the fixed point, the direction of the force between the linkage and the positioning cylinder rod forms a 90° angle, and it self-locks in the horizontal direction. Once the cylinder body is positioned, the telescopic cylinder on the second support positioning plate drives the first support positioning plate to extend, and the left and right hydraulic cylinders extend simultaneously to support and break the cylinder. After the cylinder breaks, the hydraulic cylinders return, and the telescopic cylinders return. At the same time, the point of breaking the cylinder is set between the second and third tie rods to prevent the pressure relief channel from interfering during the pushing process. During the simultaneous extension of the left and right hydraulic cylinders to break the seal, the irregularly shaped breaking jaws are designed with two different shapes according to the actual contact surfaces of the pressure relief channels on both sides to ensure the fit of the contact surfaces. The top is designed with a barb to prevent the contact point from leaving its original position. The middle screw hole is connected to the hydraulic cylinder rod thread, and an external nut is added to form a double nut fastening. The rear end of the irregular support claw is designed with a pin hole to install an anti-rotation pin, and a set screw hole is made on the side. The anti-rotation pin is machined with a positioning surface. After being inserted into the pin hole of the irregular support claw, it is fixed to the positioning surface with a set screw. An anti-rotation bracket is made. The lower end is designed with an installation hole to be threaded to the first support positioning plate. The upper end is designed with a pin hole to be clearance-fitted with the anti-rotation pin inserted into the support claw to ensure the direction of the support claw. S3, the pushing mechanism pushes the cylinder to position 3 in the cleaning work area. After the cylinder is in place, the pushing mechanism returns. After confirming that the cylinder is occupied at position 3 in the cleaning work area, the robot arm grabs the pressure relief channel through the gripper assembly and puts the pressure relief channel into the recycling box at the rear end. After completion, it returns to its original position. A backup operation program is set to automatically push the cylinder to position 3 in the cleaning work area by the pushing mechanism, which is used to stop the operation when the support mechanism malfunctions.

2. The method for automatically breaking the pressure relief channel in high-pressure casting cleaning as described in claim 1, characterized in that, The cylinder has two slides, and the first rodless cylinder and the second rodless cylinder are installed on both sides of the cylinder. The first rodless cylinder transmits the driving force by pushing the stop block to contact the end face of the cylinder. The second rodless cylinder transmits the driving force by pushing the lower end of the cylinder through the movable baffle device. When the cylinder is pushed from position 1 of the placement area inside the equipment to position 2 of the support device working area, the movable baffle is deformed by the double torsion spring to avoid the cylinder. The cylinder automatically resets after it moves away.

3. The method for automatically breaking the pressure relief channel in high-pressure casting cleaning as described in claim 2, characterized in that, The slide is made of stainless steel and has a guide plate in the middle that fits with the crankcase groove at the bottom of the cylinder body, allowing the robot arm to place the cylinder body normally. The guide plate has mounting holes on its surface, which are fastened to the lower aluminum alloy profile and installed on the slide bracket for normal cylinder pushing. An aluminum alloy outer frame protective cover was made at position 2 of the support device operation area, and a light grating was installed at the exit to prevent misoperation.

4. The method for automatically breaking the pressure relief channel in high-pressure casting cleaning as described in claim 3, characterized in that, Based on the height of the slide and the width of the actual gap, an irregularly shaped slide guard plate is installed on the side of the slide and secured with countersunk screws. The bottom of the guard plate is attached to the push slide to eliminate the gap between the slide and the cylinder and prevent aluminum blocks from entering the gap between the slide and the push cylinder when the cylinder is pushed. A dust removal brush is installed under the push block to clean aluminum shavings from the surface of the push cylinder as the cylinder moves.

5. The method for automatically breaking the pressure relief channel in high-pressure casting cleaning as described in claim 1, characterized in that, In step S1, a cylinder block occupancy switch is set at position 1 in the placement area inside the equipment. The start-up conditions are confirmed by the return position of the robot arm to prevent the robot arm from colliding with the pushing mechanism if it fails to return. The activation conditions are: the optical sensor detects that the workpiece is in the correct position, the placeholder switch is turned on, the robot arm sends a signal to return to its original position, and the support device is activated.

6. The method for automatically breaking the pressure relief channel in high-pressure casting cleaning as described in claim 1, characterized in that, A pair of custom guide grooves are made at the top of the positioning cylinder to ensure the position of the starting point and the ending point. The intermediate stroke has a custom arc. The cam follower devices at the rear end of the left and right stepped positioning jaws are then placed in the custom guide grooves to make curved motion. When the cylinder push position deviates, the cylinder hole is gripped within a certain range. The positioning cylinder is a fully locking cylinder, which automatically locks when the air supply is cut off at all positions. When the fully locking cylinder reaches the stop position, a safety lock is added to prevent accidental operation during maintenance.

7. The method for automatically breaking the pressure relief channel in high-pressure casting cleaning as described in claim 1, characterized in that, Radial shear force is reduced by creating a balancing force device on the hydraulic cylinder rod.

8. The method for automatically breaking the pressure relief channel in high-pressure casting cleaning as described in claim 1, characterized in that, In step S3, after the broken cylinder is pushed to position 3 in the cleaning work area, the robot takes a picture to sense the position, uses the gripper assembly to remove the loose pressure relief channel, and puts it into the recycling bin behind it; limiters and their sensors are installed in the fixed area for the fixed position of the recycling bin.

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