Automatic installation device and installation method for refractory sealing gasket

Abstract

The application discloses a kind of automatic installation device and installation method of refractory sealing pad, belong to field of sand casting.The technical scheme for using in the application is, including the robot for controlling the automatic installation device, the automatic installation device includes base and several pad taking mechanisms spaced apart on base, the driving mechanism for driving the pad taking mechanism is equipped on the base to complete the refractory sealing pad grabbing action, the robot is used to move refractory sealing pad to press-in station to complete the press-in action of refractory sealing pad;The application can realize the automatic grabbing, transfer and installation of refractory sealing pad by PLC control system control driving mechanism, robot, pad taking mechanism, greatly improve the installation efficiency of refractory sealing pad, when being grabbed by pad taking needle to be installed refractory sealing pad, pad can keep the posture of refractory sealing pad flat in the process of grabbing and transferring refractory sealing pad, avoid the wrinkle of refractory sealing pad to affect installation.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of sand casting and particularly relates to an automatic installation device and installation method for refractory sealing pads. BACKGROUND

[0002] Sand casting is a production method of pouring molten metal into a cavity of a casting mold, and obtaining a product after cooling and solidification. In the process of manufacturing automobiles, many parts are made of cast iron, accounting for about 60% of the total weight of the vehicle, such as cylinder blocks, transmission housings, steering gear housings, rear axle housings, brake drums, various brackets, etc. Sand molds are usually used to manufacture cast iron parts. The raw material of the sand mold is mainly sand, which is mixed with binders, water, etc. The sand mold material must have a certain bonding strength so as to be shaped as required and resist the erosion of high-temperature molten iron without collapsing. In order to avoid the defect of air holes in the castings, refractory sealing pads designed according to the shape of the sand core are generally used to hinder the flow of molten iron during the production of the castings, so as to form an exhaust passage and avoid the defect of sand sticking caused by the contact between the sand core and the molten iron in the castings.

[0003] The prior art generally installs the refractory sealing pad on the designated refractory sealing pad installation station of the sand core by manual operation. However, there are many human factors in this process, which leads to the need to improve the installation precision and flatness of the refractory sealing pad. In addition, the control of the pressure between the refractory sealing pad and the sand core during the manual installation process can only be based on the operating experience of the workers, which may lead to unstable connection between the sealing pad and the sand core due to small pressure, or damage to the main structure of the sand core due to excessive pressure. On the other hand, the manual installation of the refractory sealing pad is complicated and inefficient, which is not conducive to the batch production of castings. SUMMARY

[0004] The application provides an automatic installation device and installation method for refractory sealing pads to solve at least one of the above technical problems.

[0005] The technical solution adopted by the application is as follows:

[0006] The application discloses an automatic mounting device for refractory sealing pads, which comprises a robot for controlling the automatic mounting device, a base and a plurality of pad taking mechanisms arranged on the base in a spaced manner, wherein the base is provided with a driving mechanism for driving the pad taking mechanisms to complete a pad grabbing action, and the robot is used for moving the refractory sealing pad to a pressing station to complete a pressing action of the refractory sealing pad; and the automatic mounting device further comprises a PLC control system for controlling the robot, the pad taking mechanisms and the driving mechanism; the pad taking mechanism comprises a pad placing stop plate arranged on the base, the pad placing stop plate is provided with a plurality of insertion holes, the base is provided with a pad taking assembly matched with the pad placing stop plate, the pad taking assembly is provided with a plurality of pad taking needles matched with the insertion holes, and the driving mechanism drives the pad taking assembly to slide so that the pad taking needles have a first position penetrating through the insertion holes and extending out of the insertion holes and a second position located on one side of the pad placing stop plate close to the pad taking assembly.

[0007] Preferably, the pad taking assembly comprises a pad taking part, and the pad taking needles are detachably connected with the pad taking part.

[0008] Preferably, the pad taking assembly comprises a pad taking housing and a pad taking part, the pad taking housing is provided with a sliding cavity, the pad taking part is slidably connected in the sliding cavity, the pad taking needles are detachably connected with the pad taking part, and the side, away from the pad taking needles, of the pad taking part is provided with a push rod penetrating through the pad taking housing and extending out of the pad taking housing.

[0009] Preferably, the driving mechanism comprises a cylinder seat, the cylinder seat is provided with a telescopic cylinder, the telescopic cylinder has a telescopic end, and the telescopic end is fixedly connected with the pad taking part.

[0010] Preferably, the driving mechanism comprises a telescopic cylinder, the base is provided with a cylinder seat for fixing the telescopic cylinder, the telescopic cylinder has a telescopic end, and the end of the telescopic end is fixedly connected with one end of the push rod out of the pad taking housing through a clamping groove, clamping block connector;

[0011] Alternatively, the driving mechanism comprises a linear guide rail, the linear guide rail is slidably connected with a driving block, and one end of the push rod out of the pad taking housing is fixedly connected with the driving block through a clamping groove, clamping block connector.

[0012] Preferably, the pad taking needle comprises a screw rod, the end of the screw rod is provided with a sharp part, the pad taking part is provided with a plurality of thread holes matched with threads of the screw rod, and the screw rod or the sharp part is provided with a scale mark line.

[0013] Preferably, the pad taking part is threadedly connected with the push rod.

[0014] Preferably, the sliding cavity is provided with a spring, and the two ends of the spring are fixedly connected with the pad taking part and the inner wall of the sliding cavity respectively.

[0015] A mounting method of a refractory sealing gasket, the specific steps are as follows:

[0016] S1, the robot grabs the sand core and puts the sand core into the water-based coating pool, so that the sand core surface is infiltrated with a layer of water-based coating, and after completion, the robot is placed on the roller tray;

[0017] S2, after the sand core is placed on the roller tray, the PLC control system starts and judges the part number and reads the part number cylinder distance information stored in the database; when the sand core is not placed on the roller tray, the PLC control system is closed;

[0018] S3, the PLC control system adjusts the distance of the plurality of refractory sealing gasket automatic mounting devices by adjusting the servo motor according to the part number cylinder distance information;

[0019] S4, after the adjustment is completed, the PLC control system controls the robot to the feeding station of the refractory sealing gasket;

[0020] S5, after the robot reaches the set feeding station, the internal IO drive cylinder of the robot extends, the cylinder drives the mounting device to move towards the refractory sealing gasket to make the gasket picking needle insert into the outermost refractory sealing gasket, and the refractory sealing gasket is grabbed;

[0021] S6, after the robot completes the operation of grabbing the refractory sealing gasket, it returns to the original position, and the robot outputs a signal to the PLC control system, and the material taking is completed;

[0022] S7, the PLC control system outputs a signal, allowing the robot to move the refractory sealing gasket to the pressing station;

[0023] S8, the robot communicates through Socket at the photographing position, controls the camera to take a picture, and after the photographing is completed, the robot communicates and reads the XYR coordinate data grabbed by the camera;

[0024] S9, the robot compensates the camera XYR data read to the pressing station of the robot assembling the refractory sealing gasket;

[0025] S10, the robot drives the gasket picking needle to be recycled to the inside of the jack through the internal IO control driving mechanism, at the same time, the robot moves the gasket blocking plate to the refractory sealing gasket mounting position according to the position coordinate data, and when the gasket picking needle is separated from the refractory sealing gasket, the gasket blocking plate presses the refractory sealing gasket on the refractory sealing gasket mounting position of the sand core;

[0026] S11, after the robot moves to the detection photographing position, the robot controls the camera to take a picture through Socket communication;

[0027] S12, the camera judges whether the installation of the refractory sealing gasket is qualified through image contrast, if yes, the roller bed starts to release the sand core, if not, the roller bed tray stops to release and waits for manual processing before releasing.

[0028] Thanks to the above technical solutions, the application has the following advantages:

[0029] 1. The application can realize the automatic grabbing, transferring and installation of the refractory sealing gasket through the PLC control system to control the driving mechanism, the robot and the pad taking mechanism, greatly improving the installation efficiency of the refractory sealing gasket. The pad taking needle at the first position is close to the feeding machine loaded with the refractory sealing gasket through the cooperative control of the PLC control system and the robot. The camera on the pad placing block can identify whether the position of the pad taking needle matches the position of the refractory sealing gasket loaded on the feeding machine through shooting. When the positions of the pad taking needle and the refractory sealing gasket match, the PLC controls the robot to move the installation device horizontally, so that the pad placing block abuts against the outermost refractory sealing gasket. Then the driving mechanism drives the pad taking mechanism to drive the pad taking needle to move from the second position to the first position. The tip of the pad taking needle is inserted into the outermost refractory sealing gasket to grab the outermost refractory sealing gasket. After the grabbing action is completed, the PLC controls the robot to separate the installation device from the feeding machine and move to the front of the refractory sealing gasket installation position on the sand core. The robot controls the pad placing block to move horizontally to press and install the grabbed refractory sealing gasket on the refractory sealing gasket installation station on the sand core. Then the driving mechanism drives the pad taking mechanism to drive the pad taking needle to reset from the first position to the second position. The pad taking needle is separated from the refractory sealing gasket. Then the robot moves the installation device to the side of the feeding machine to grab the outermost refractory sealing gasket. At the same time, the sand core with the installed refractory sealing gasket moves to the next station along with the roller line tray, thereby realizing the automation of the refractory sealing gasket installation on the sand core and greatly improving the installation precision and efficiency of the refractory sealing gasket.

[0030] It is worth mentioning that when the pad taking needle grabs the refractory sealing gasket to be installed, the pad placing block can keep the refractory sealing gasket in a flat posture during the grabbing and transferring of the refractory sealing gasket, avoiding the wrinkles of the refractory sealing gasket affecting the installation.

[0031] The water-based paint and the liquid adhesion of the refractory sealing gasket are used to fix and adhere the refractory sealing gasket at the specified position of the sand core, canceling the use of the adhesive and reducing the gas source of the casting, thereby reducing the tendency of the casting pores. The pad taking needle and the pad placing block contact the refractory sealing gasket to complete the grabbing, transferring and installation of the refractory sealing gasket, which can avoid the contact between other parts except the refractory sealing gasket and the water-based paint layer on the surface of the sand core, thereby avoiding the damage of the paint layer caused by touching the paint, and affecting the quality of the inner cavity of the casting.

[0032] 2. As a preferred embodiment of the present application, the detachable connection between the cushion taking needle and the cushion taking part facilitates the replacement and maintenance of the cushion taking needle. It should be noted that the cushion taking part can have multiple mounting holes reserved according to the mounting positions of common types of refractory sealing cushions, and the mounting position of the cushion taking needle can be changed to adapt to different types of sand cores.

[0033] 3. As a preferred embodiment of the present application, the cushion taking shell and the sliding cavity are provided for positioning and guiding the cushion taking part, ensuring the stability of the cushion taking part during the sliding process between the first position and the second position. The driving mechanism drives the cushion taking part to slide between the first position and the second position through the push rod connected to the output end of the driving mechanism. The cushion taking part and the push rod are connected through threads, so that the push rod and the cushion taking part can be separately disassembled, and different types of sand cores can be adapted by replacing different cushion taking parts. The spring is provided to reset the cushion taking part when the force applied by the driving mechanism to the push rod is removed.

[0034] 4. As a preferred embodiment of the present application, the internal IO of the robot controls the extension and retraction of the telescopic end of the telescopic cylinder, and the telescopic end is connected through the clamping groove, clamping block connector to slide in the cushion taking shell, and the push rod drives the cushion taking part to slide between the first position and the second position. Alternatively, the internal IO of the robot controls the driving block to slide on the linear guide rail, and the driving block drives the push rod to move through the clamping groove, clamping block connector, thereby driving the cushion taking part to reciprocally slide between the first position and the second position.

[0035] 5. As a preferred embodiment of the present application, the cushion taking needle is installed through the cooperation of the threaded hole and the screw rod, which can greatly reduce the difficulty of installing the cushion taking needle while ensuring the mechanical strength after installation. The scale mark line is provided to identify the extension length of the sharp part, ensuring the consistency of the extension of the sharp part. BRIEF DESCRIPTION OF DRAWINGS

[0036] Figure 1 is a structural schematic diagram of a specific embodiment of the present application;

[0037] Figure 2 is a structural schematic diagram of a specific embodiment of the present application;

[0038] Figure 3 is a structural schematic diagram of a specific embodiment of the present application;

[0039] Figure 4 is a structural schematic diagram of a specific embodiment of the present application;

[0040] Figure 5 is a structural schematic diagram of a specific embodiment of the present application;

[0041] Figure 6Sixth structural schematic view of the embodiment of the present application;

[0042] Figure 7 Seventh structural schematic view of the embodiment of the present application;

[0043] Figure 8 Eighth structural schematic view of the embodiment of the present application;

[0044] Figure 9 Logic block diagram of the installation method in the embodiment of the present application.

[0045] The accompanying drawings, which are included to provide a further understanding of the present application and are incorporated in and constitute a part of this application, illustrate embodiments of the present application and together with the description serve to explain the present application.

[0046] Reference signs:

[0047] 1, base; 2, pad blocking plate; 201, jack; 3, pad taking part; 301, pad taking needle; 4, telescopic air cylinder; 401, air cylinder seat; 402, telescopic end; 5, pad taking shell; 501, sliding cavity; 502, spring; 6, linear guide rail; 601, driving block. DETAILED DESCRIPTION

[0048] In order to more clearly illustrate the overall concept of the present application, the following will be described in detail with reference to the accompanying drawings.

[0049] In the following description, a lot of specific details are set forth in order to facilitate a thorough understanding of the present application, however, the present application can also be implemented in other ways different from those described herein, therefore, the scope of protection of the present application is not limited by the specific embodiments disclosed below.

[0050] In addition, in the description of the present application, it should be understood that the terms "top", "bottom", "inner", "outer", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present 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, therefore, it cannot be understood as a limitation of the present application.

[0051] In the present application, unless specifically defined and limited otherwise, the terms "mount", "connect", "connection", "fixed", and the like, should be construed broadly and are used in connection with what is claimed as being the most general terms to encompass a wide variety of connections and configurations, such as fixedly connected, detachably connected, or integrated; mechanically connected, electrically connected, or communicatively connected; directly connected, or connected through an intermediary; or internal connections between elements, or interactions between elements. Those skilled in the art will understand the specific meaning of the above terms in the present application according to the specific circumstances.

[0052] In the present application, unless specifically defined and limited otherwise, the first feature is "on" or "under" the second feature can be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. In the description of the present application, the description of the terms "embodiment", "example", "one embodiment", "exemplary", or "specific example" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present application, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples.

[0053] Referring to Figures 1-9 A kind of automatic installation device of refractory sealing pad, for controlling the robot of the automatic installation device, the automatic installation device includes base 1 and several pad taking mechanisms spaced apart on base 1, the base 1 is equipped with the drive mechanism for driving the pad taking mechanism to complete the refractory sealing pad grabbing action, the robot is used to move refractory sealing pad to press installation station to complete the press installation action of refractory sealing pad, further include the PLC control system for controlling the robot, pad taking mechanism and drive mechanism, the pad taking mechanism includes the pad placing blocking plate 2 arranged on base 1, the pad placing blocking plate 2 is equipped with several insertion holes 201, the base 1 is equipped with the pad taking assembly matched with pad placing blocking plate 2, the pad taking assembly is equipped with several pad taking needles 301 matched with insertion hole 201, the drive mechanism drives the pad taking assembly to slide to make the pad taking needle 301 have the first position of insertion hole 201 and extend to the outside of insertion hole 201, and make the pad taking needle 301 have the second position of being located on the side of pad placing blocking plate 2 close to pad taking assembly.

[0054] The skilled in the art can understand that the surface of the sand core needs to be pretreated before the installation of the refractory sealing pad, the robot picks up the sand core and puts it into the water-based coating pool to make the surface of the sand core be coated with a layer of water-based coating, and then the robot places the sand core on the roller tray for conveying the sand core; after the sand core is placed on the roller tray, the PLC control system starts and judges the sand core part number and reads the cylinder distance information of the sand core part number stored in the database; when there is no sand core placed on the roller tray, the PLC control system is closed; the PLC control system adjusts the distance of a plurality of automatic installation devices of the refractory sealing pad according to the cylinder distance information of the sand core part number through the servo motor, so that each pad placement stop plate 2 matches the position of the refractory sealing pad installation position on the corresponding sand core; after the adjustment is completed, the PLC control system controls the robot to the loading position of the refractory sealing pad; after the robot reaches the set loading position, the internal IO control driving mechanism of the robot operates, the driving mechanism drives the pad taking assembly to move towards the refractory sealing pad to make the pad taking needle 301 insert into the outermost refractory sealing pad and perform the grabbing action on the refractory sealing pad; after the robot completes the operation of grabbing the refractory sealing pad, it returns to the original position, and the robot outputs a signal to the PLC control system, and the taking is completed; the PLC control system outputs a signal to allow the robot to move the refractory sealing pad to the pressing position; the robot communicates through Socket at the shooting position to control the camera to shoot, and after shooting is completed, the robot communicates to read the XYR coordinate data of the camera shooting; the robot compensates the read camera XYR data to the pressing position of the robot assembling the refractory sealing pad; at the same time, the robot moves the pad placement stop plate 2 to the position of the sand core refractory sealing pad according to the position coordinate data, and when the pad taking needle 301 is separated from the refractory sealing pad, the pad placement stop plate 2 presses the refractory sealing pad on the sand core refractory sealing pad installation position; after the robot moves to the detection shooting position, the robot controls the camera to shoot through Socket communication; the camera judges whether the installation of the refractory sealing pad is qualified through image comparison, if yes, the roller starts to release the sand core, if not, the roller tray stops releasing, and waits for manual processing before releasing.

[0055] The automatic installation device is controlled by the PLC control system and the robot to move the taking pad needle 301 from the second position to the first position, and the tip of the taking pad needle 301 is inserted into the outermost refractory sealing gasket to grasp the outermost refractory sealing gasket, and after the grasping operation is completed, the robot drives the installation device to separate from the feeding machine and move to the front of the refractory sealing gasket installation position on the sand core, and the robot controls the pad placing block 2 to move horizontally to press and install the grasped refractory sealing gasket on the refractory sealing gasket installation station on the sand core, and then the driving mechanism drives the taking pad mechanism to drive the taking pad needle 301 to reset from the first position to the second position, and the taking pad needle 301 is separated from the refractory sealing gasket, and then the robot drives the installation device to move to the feeding machine to grasp the outermost refractory sealing gasket, and at the same time, the sand core with the installed refractory sealing gasket is moved to the next station along the roller line tray, thereby realizing the automation of the installation of the refractory sealing gasket on the sand core and greatly improving the installation precision and efficiency of the refractory sealing gasket.

[0056] It is worth mentioning that when the refractory sealing gasket to be installed is grasped by the taking pad needle 301, the pad placing block 2 can keep the refractory sealing gasket in a flat posture during the grasping and transferring of the refractory sealing gasket, so as to avoid wrinkles of the refractory sealing gasket affecting the installation.

[0057] The water-based paint is used to fix and adhere the refractory sealing gasket to the specified position of the sand core, the use of the adhesive is cancelled, the gas source of the casting is reduced, and the tendency of the casting pores is reduced. By contacting the refractory sealing gasket through the taking pad needle 301 and the pad placing block 2, the grasping, transferring and installation of the refractory sealing gasket are completed, which can avoid the contact between other parts except the refractory sealing gasket and the water-based paint layer on the surface of the sand core, thereby avoiding the damage of the paint layer caused by touching the paint, and affecting the quality of the inner cavity of the casting.

[0058] The structure of the taking pad assembly is not limited in the application, and any one of the following embodiments can be used:

[0059] Embodiment one: refer to Figures 1-3 The taking pad assembly includes a taking pad part 3, the taking pad needle 301 is detachably connected with the taking pad part 3, and the taking pad part 3 is slidingly connected with the base 1.

[0060] The detachable connection between the taking pad needle 301 and the taking pad part 3 can facilitate the replacement and maintenance of the taking pad needle 301. It should be noted that the taking pad part 3 can be provided with a plurality of mounting holes in positions reserved according to common types of refractory sealing pad mounting positions, and the mounting position of the taking pad needle 301 can be changed to adapt to different types of sand cores.

[0061] Embodiment two: refer to Figures 4-8 The taking pad assembly includes a taking pad shell 5 and a taking pad part 3. The taking pad shell 5 is provided with a sliding cavity 501. The taking pad part 3 is slidingly connected in the sliding cavity 501. The side of the taking pad part 3 away from the taking pad needle 301 is provided with a push rod 302. The push rod 302 penetrates through the taking pad shell 5 and extends out of the taking pad shell 5.

[0062] The taking pad shell 5 and the sliding cavity 501 are provided to limit and guide the taking pad part 3, so as to ensure the stability of the taking pad part 3 during the sliding process between the first position and the second position. The push rod 302 is connected with the output end of the driving mechanism. The driving mechanism drives the taking pad part 3 to slide between the first position and the second position through the push rod 302.

[0063] Preferably, the taking pad part 3 and the push rod 302 are connected through threads, so as to facilitate the separate disassembly of the push rod 302 and the taking pad part 3. By replacing different taking pad parts 3, different types of sand cores can be adapted.

[0064] Further, the sliding cavity 501 is provided with a spring 502. The two ends of the spring 502 are fixedly connected with the taking pad part 3 and the inner wall of the sliding cavity 501, respectively. The spring 502 can drive the taking pad part 3 to reset when the force applied by the driving mechanism to the push rod 302 is removed.

[0065] The specific implementation of the driving mechanism is not limited in the present application, and any one of the following embodiments can be adopted:

[0066] Embodiment one: refer to Figures 1-3 The driving mechanism includes a cylinder seat 401. The cylinder seat 401 is provided with a telescopic cylinder 4. The telescopic cylinder 4 has a telescopic end 402. The telescopic end 402 is fixedly connected with the taking pad part 3.

[0067] The cylinder seat 401 can fix and support the telescopic cylinder 4 and play a damping role, so that the telescopic cylinder 4 runs more smoothly and the shaking of the telescopic cylinder 4 during operation is inhibited. The telescopic end 402 of the telescopic cylinder 4 is directly connected with the taking pad part 3. The internal IO of the robot directly controls the movement of the taking pad part 3 between the first position and the second position by controlling the telescopic end 402 of the telescopic cylinder 4.

[0068] Embodiment two: refer to Figure 6The driving mechanism comprises a telescopic cylinder 4, the base 1 is provided with a cylinder seat 401 for fixing the telescopic cylinder 4, the telescopic cylinder 4 has a telescopic end 402, and the telescopic end 402 is fixedly connected with one end of the push rod 302 outside the pad taking shell 5 through a clamping groove, clamping block connecting piece. The telescopic end 402 of the telescopic cylinder 4 is controlled to be telescopic inside the robot, the telescopic end 402 is driven to slide in the pad taking shell 5 through the clamping groove, clamping block connecting piece, and the push rod 302 drives the pad taking part 3 to slide between the first position and the second position.

[0069] Embodiment three: Figures 4-5 The driving mechanism comprises a linear guide rail 6, the linear guide rail 6 is slidably connected with a driving block 601, and the push rod 302 is fixedly connected between one end outside the pad taking shell 5 and the driving block 601 through a clamping groove, clamping block connecting piece. The driving block 601 is controlled to slide on the linear guide rail 6 inside the robot, the driving block 601 drives the push rod 302 to move through the clamping groove, clamping block connecting piece, and then drives the pad taking part 3 to reciprocate and slide between the first position and the second position.

[0070] As a preferred embodiment of the pad taking needle 301, Figures 1-4 The pad taking needle 301 comprises a screw rod, the screw rod is provided with a sharp part at an end, the pad taking part 3 is provided with a plurality of groups of thread holes matched with the screw rod in a threaded mode, and the screw rod or the sharp part is provided with a scale mark line.

[0071] The pad taking needle 301 is installed in the threaded hole and the screw rod, the difficulty of installing the pad taking needle 301 can be greatly reduced while the mechanical strength of the pad taking needle 301 after installation is ensured, and the extension length of the sharp part can be marked through the scale mark line, so that the consistency of the sharp part extension is ensured.

[0072] The places not mentioned in the application can be realized by using or referring to the existing technology.

[0073] Each embodiment in the specification is described in a progressive manner, and the same and similar parts between each embodiment can be referred to each other, and each embodiment mainly describes the difference from other embodiments.

[0074] The above only describes the embodiments of the application and is not used to limit the application. The application can have various changes and modifications for those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the application shall be included in the scope of the claims of the application.

Claims

1. A kind of automatic installation device of refractory sealing pad, including robot for controlling the automatic installation device, the automatic installation device includes base and several pad taking mechanisms arranged at intervals on base, the base is equipped with driving mechanism for driving the pad taking mechanism to complete the grabbing action of refractory sealing pad, the robot is used to move refractory sealing pad to press installation station to complete the press installation action of refractory sealing pad, further including PLC control system for controlling the robot, pad taking mechanism and driving mechanism, the pad taking mechanism includes the pad placing blocking plate arranged on base, the pad placing blocking plate is equipped with several insertion holes, the base is equipped with pad taking assembly matched with pad placing blocking plate, the pad taking assembly is equipped with several pad taking needles matched with insertion hole, the driving mechanism drives pad taking assembly to slide to make pad taking needle have the first position of penetrating insertion hole and extending to the outside of insertion hole and make pad taking needle have the second position of being located on the side of pad placing blocking plate close to pad taking assembly; The pad taking assembly includes pad taking shell and pad taking part, the pad taking shell is equipped with sliding cavity inside, the pad taking part is slidably connected in the sliding cavity, the pad taking needle is detachably connected with the pad taking part, the side of the pad taking part away from the pad taking needle is equipped with push rod, the push rod penetrates the pad taking shell and extends to the outside of the pad taking shell; The driving mechanism includes telescopic cylinder, the base is equipped with cylinder seat for fixing telescopic cylinder, the telescopic cylinder has telescopic end, the end of telescopic end is fixedly connected with the end of push rod outside the pad taking shell through card slot, block connecting piece;Or, the driving mechanism includes linear guide rail, the linear guide rail is slidably connected with driving block, the end of push rod outside the pad taking shell is fixedly connected with driving block through card slot, block connecting piece.

2. The automatic installation device for fire-resistant sealing gaskets according to claim 1, characterized in that, The pad taking needle includes screw rod, the end of screw rod is equipped with sharp part, the pad taking part is equipped with several groups of thread holes matched with screw rod thread, the screw rod or sharp part is equipped with scale mark line.

3. The automatic installation device for fire-resistant sealing gaskets according to claim 1, characterized in that, The pad taking part and push rod are connected by thread.

4. The automatic installation device for fire-resistant sealing gaskets according to claim 1, characterized in that, The sliding cavity is equipped with spring, the both ends of spring are fixedly connected with pad taking part and sliding cavity inner wall respectively.

5. A method of installing a fire resistant sealing gasket using the automatic installation apparatus of any one of claims 1 to 4, characterised in that, The specific steps are as follows: S1, grab the sand core by the robot and put the sand core into the water-based paint pool to make the sand core surface soak a layer of water-based paint layer, after completion, the robot places the sand core on the roller tray; S2, after the sand core is placed on the roller tray, the PLC control system starts and judges the part number, reads the part number cylinder distance information stored in the database;When the sand core is not placed on the roller tray, the PLC control system is closed; S3, the PLC control system adjusts the distance of several automatic installation devices of refractory sealing pad according to the part number cylinder distance information by adjusting the servo motor; S4, after adjustment, the PLC control system controls the robot to the feeding station of refractory sealing pad; S5, after the robot reaches the set feeding station, the internal IO drive cylinder of the robot extends, the cylinder drives the installation device to move towards the refractory sealing pad to make the pad taking needle insert into the outermost refractory sealing pad, and the grabbing action of the refractory sealing pad is performed. S6, after the robot completes the operation of grabbing the refractory sealing gasket, it returns to the original position, and outputs a signal to the PLC control system, indicating that the taking is completed; S7, the PLC control system outputs a signal, allowing the robot to move the refractory sealing gasket to the pressing station; S8, the robot communicates through Socket to control the camera to take a picture, and after the picture is taken, the robot communicates to read the XYR coordinate data captured by the camera; S9, the robot compensates the read camera XYR data to the pressing station of the refractory sealing gasket assembled by the robot; S10, the robot controls the driving mechanism through internal IO to drive the taking pin to be recycled to the inside of the jack, at the same time, the robot moves the placing blocking plate to the position of the sand core refractory sealing gasket mounting position according to the position coordinate data, when the taking pin is separated from the refractory sealing gasket, the placing blocking plate presses the refractory sealing gasket on the sand core refractory sealing gasket mounting position; S11, after the robot moves to the detection and photographing position, the robot controls the camera to take a picture through Socket communication; S12, the camera judges whether the installation of the refractory sealing gasket is qualified through image comparison, if qualified, the roller starts to release the sand core, if not qualified, the roller tray stops releasing, and waits for manual processing before releasing.

Images