Auxiliary positioning system and method for casting robot

Abstract

The present invention discloses an auxiliary positioning system for a casting robot, comprising: an auxiliary positioning device, the auxiliary positioning device comprising a vertical arm, a flipping mechanism, and a fork-fixing mechanism, wherein the vertical arm is arranged on the main body of the casting robot, the flipping mechanism is installed at the lower end of the vertical arm, and the fork-fixing mechanism is installed on one side of the flipping mechanism and is rotationally connected to the flipping mechanism. When in use, the operator can rotate the main body of the casting robot through the auxiliary armrest mechanism, and then the auxiliary positioning device can be moved to the vicinity of the furnace so that the ladle can catch the molten aluminum. The operator then pushes the auxiliary positioning device to the casting shell position, and then activates the flipping mechanism through the auxiliary armrest mechanism. The flipping mechanism drives the casting ladle to flip from a vertical state to one side until it is directly poured into the shell on the tray to complete the casting. The fork-fixing mechanism and the casting ladle are designed separately, and the visual module can take pictures of the casting ladle, and then the flipping mechanism can be very stable during the flipping and pouring process, thereby improving the casting accuracy.

Description

Technical Field

[0001] The present invention relates to the technical field of pouring positioning, and more particularly to an auxiliary positioning system and method for a pouring robot. Background Art

[0002] With advances in automation technology, there's a growing demand to remove operators from harsh and dangerous environments. Modern continuous casting machines often utilize rotary tables or transverse trolleys to achieve continuous production. Typically, large bales are moved to the rotary table or transverse trolley by a crane. Positioning accuracy is primarily determined by the operator's habits and skill level, and errors are inevitable. Therefore, it's necessary to further improve operator casting accuracy. Summary of the Invention

[0003] The Summary of the Invention introduces a series of simplified concepts that will be further described in the Detailed Description of the Invention. The Summary of the Invention is not intended to limit the key features and essential features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0004] In order to at least partially solve the above problems, one aspect of the present invention provides an auxiliary positioning system and method for a casting robot, including: an auxiliary positioning device, the auxiliary positioning device including a vertical arm, a flipping mechanism, and a fork-fixing mechanism, the vertical arm is arranged on the casting robot body, the flipping mechanism is arranged at the lower end of the vertical arm, the fork-fixing mechanism is arranged on one side of the flipping mechanism and is rotatably connected to the flipping mechanism, the vertical arm is also provided with an auxiliary armrest mechanism and a visual module, the visual module is located above the flipping mechanism and faces the casting ladle, the auxiliary armrest mechanism is electrically connected to the flipping mechanism, and the fork-fixing mechanism is used to fix the casting ladle.

[0005] According to the auxiliary positioning system of the casting robot according to an embodiment of the present invention, the flip mechanism includes a flip seat, a flip motor, and a flip reducer. The flip seat is arranged at the lower end of the vertical arm, and an inner rotating shaft is arranged in the flip seat. The fork fixing mechanism is arranged on one side of the flip seat and connected to one end of the inner rotating shaft. The flip reducer is arranged on the other side of the flip seat and connected to the other end of the inner rotating shaft. The flip motor is arranged on the flip reducer and connected to the flip reducer.

[0006] According to the auxiliary positioning system of the casting robot according to an embodiment of the present invention, the fork fixing mechanism includes a transverse fork fixing rod and two side fork fixing rods. The transverse fork fixing rod is arranged at one end of the inner rotating shaft, and the two side fork fixing rods are detachably arranged at intervals on the transverse fork fixing rod. Two fork fixing seats are arranged on the outer wall of the casting part, and the fork fixing seats correspond to the side fork fixing rods.

[0007] According to the auxiliary positioning system of the casting robot according to an embodiment of the present invention, a vertical fixing plate is configured at one end of the inner rotating shaft, the transverse fork fixing rod is configured on the vertical fixing plate, and the vertical fixing plate is also configured with multiple reinforcement plates, and the multiple reinforcement plates are distributed on the upper and lower sides of the transverse fork fixing rod.

[0008] According to the auxiliary positioning system of the pouring robot according to an embodiment of the present invention, a pouring nozzle is arranged on one side of the upper end of the pouring ladle, and an upper end ring is also arranged inside the upper end of the pouring ladle, and the upper end ring has a notch on the side facing the pouring nozzle.

[0009] According to the auxiliary positioning system of the casting robot according to an embodiment of the present invention, a visual module is also configured on the vertical arm, and the visual module includes a battery mechanism, a visual camera, and a shielding assembly. The battery mechanism is configured on the vertical arm, the visual camera is configured on the battery mechanism, and the shielding assembly is configured on the intake end of the visual camera. The battery mechanism is electrically connected to the visual camera.

[0010] According to the auxiliary positioning system of the pouring robot according to an embodiment of the present invention, the pouring robot body includes a main shaft part and a robotic arm part, the main shaft part includes a base plate, an axle seat, and a robotic arm frame, the axle seat is arranged on the base plate, the robotic arm frame is rotatably arranged on the axle seat, the robotic arm part is movably arranged on the robotic arm frame, a lifting member is arranged on one side of the robotic arm frame, the lifting member is connected to the robotic arm part, and the vertical arm is rotatably arranged at one end of the robotic arm part.

[0011] According to the auxiliary positioning system of the casting robot according to an embodiment of the present invention, the lifting component includes a lifting motor, a lifting reducer, and a lifting reciprocating rod. The lifting reducer is arranged on one side of the robot arm frame, the lifting motor is arranged on the lifting reducer and is connected to the input shaft of the lifting reducer. The lifting reciprocating rod is movably arranged in the lifting reducer, and the upper end of the lifting reducer is connected to the robot arm.

[0012] According to the auxiliary positioning system of the casting robot according to an embodiment of the present invention, the robot arm part includes a first robot arm body and a second robot arm body, one end of the first robot arm body is movably configured on the main shaft part, the other end of the first robot arm body is configured with a first locking mechanism, one end of the second robot arm body is connected to the first locking mechanism, the other end of the second robot arm body is configured with a second locking mechanism, the upper end of the vertical arm is connected to the second locking mechanism, and the first locking mechanism and the second locking mechanism are respectively electrically connected to the auxiliary armrest mechanism.

[0013] Another aspect of the present invention provides an auxiliary positioning method for a casting robot, comprising the following steps:

[0014] Step 1: The operator starts the auxiliary armrest mechanism, rotates the pouring robot body to the ladle, and forks the ladle through the auxiliary positioning device;

[0015] Step 2: The operator operates the auxiliary armrest mechanism so that the auxiliary positioning device drives the ladle to rotate to the front of the furnace, and the ladle catches the molten aluminum;

[0016] Step 3: The operator operates the auxiliary armrest mechanism to rotate the main body of the casting robot to the casting shell position, and then locates the casting shell through the visual module, and then starts the flipping mechanism to adjust the casting part, so that the casting part is flipped and poured into the casting shell to complete the casting.

[0017] Compared with the prior art, the present invention has at least the following beneficial effects:

[0018] The present invention provides an auxiliary positioning system for a pouring robot. The auxiliary positioning system includes an auxiliary positioning device, comprising a vertical arm, a flip mechanism, and a fork-fixing mechanism. The vertical arm is disposed on the main body of the pouring robot, the flip mechanism is mounted at the lower end of the vertical arm, and the fork-fixing mechanism is mounted on one side of the flip mechanism and rotatably connected to the flip mechanism. An auxiliary handrail mechanism and a vision module are also mounted on the vertical arm. The vision module is located above the flip mechanism and faces the casting ladle. During use, an operator can use the auxiliary handrail mechanism to rotate the main body of the pouring robot, thereby moving the auxiliary positioning device to the vicinity of the furnace, allowing the casting ladle to receive molten aluminum. The operator then pushes the auxiliary positioning device to the casting shell position, and then activates the flip mechanism via the auxiliary handrail mechanism. The flip mechanism causes the casting ladle to flip sideways from a vertical position until it is directly poured into the casting shell on a tray, completing the pouring. The fork-fixing mechanism and the casting ladle are designed separately. The vision module can capture the position of the casting ladle, and the flip mechanism ensures high stability during the flipping and pouring process, improving casting accuracy.

[0019] The auxiliary positioning system and method of the casting robot described in the present invention, and other advantages, objectives and features of the present invention will be reflected in part through the following description, and in part will be understood by technical personnel in this field through research and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0021] Figure 1 It is a structural schematic diagram of the present invention.

[0022] Figure 2 It is a partial structural diagram of the turning mechanism in the present invention.

[0023] Figure 3 It is a structural schematic diagram of the casting bag in the present invention.

[0024] Figure 4 It is a structural schematic diagram of the casting robot body in the present invention.

[0025] Figure 5 It is a structural schematic diagram of the auxiliary armrest mechanism in the present invention.

[0026] Figure 6 It is a structural schematic diagram of the fork fixing mechanism in the present invention.

[0027] Figure 7 It is a structural schematic diagram of the main shaft part in the present invention.

[0028] Figure 8 It is a structural schematic diagram of the counterweight in the present invention.

[0029] Figure 9 It is a structural schematic diagram of the first locking mechanism in the present invention.

[0030] Figure 10 Schematic diagram of the structure of the visual module in the present invention.

[0031] Figure 11 Schematic diagram of the internal structure of the visual module in the present invention.

[0032] Figure 12 Schematic diagram of the exploded structure of the shielding component in the present invention.

[0033] Figure 13 It is a structural schematic diagram of the outer shielding member in the present invention.

[0034] Figure 14 For the present invention Figure 11 Schematic diagram of the enlarged structure of the part A in the middle.

[0035] Figure 15 It is a structural schematic diagram of the outer shielding member in the present invention.

[0036] Figure 16 This is a schematic diagram of the internal structure of the first outer locking seat and the second outer locking seat in the present invention. DETAILED DESCRIPTION

[0037] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments so that those skilled in the art can implement the invention with reference to the description.

[0038] It should be understood that terms such as “having”, “including” and “comprising” used herein do not preclude the existence or addition of one or more other elements or combinations thereof.

[0039] like Figure 1-Figure 4As shown, the present invention provides an auxiliary positioning system for a pouring robot, comprising an auxiliary positioning device 3, which includes a vertical arm 31, a flipping mechanism 32, and a fork-fixing mechanism 33. The vertical arm 31 is disposed on the pouring robot body 100, the flipping mechanism 32 is mounted at the lower end of the vertical arm 31, and the fork-fixing mechanism 33 is mounted on one side of the flipping mechanism 32 and is rotatably connected to the flipping mechanism 32. An auxiliary handrail mechanism 34 and a vision module 35 are also mounted on the vertical arm 31. The vision module 35 is located above the flipping mechanism 32 and faces the casting ladle 5. During use, the operator can rotate the pouring robot body 100 using the auxiliary handrail mechanism 34, thereby moving the auxiliary positioning device 3 to the vicinity of the furnace, allowing the casting ladle 5 to receive the molten aluminum. The operator then pushes the auxiliary positioning device 3 to the casting shell position, and then activates the flipping mechanism 32 using the auxiliary handrail mechanism 34. The flipping mechanism 32 causes the casting ladle 5 to flip from its vertical position to the side, directly into the casting shell on the tray, completing the pouring. Among them, the fork fixing mechanism 33 and the casting ladle 5 are designed separately, and the visual module 35 can take pictures of the casting ladle 5, so that the flipping mechanism 32 can be very stable during the flipping casting process, thereby improving the casting accuracy.

[0040] Exemplary flipping mechanism

[0041] like Figure 5 As shown, further, some embodiments of the present invention provide a specific structure of the above-mentioned flipping mechanism 32, wherein the flipping mechanism 32 of this structure includes a flipping seat 321, a flipping motor 322, and a flipping reducer 323, wherein the flipping seat 321 is installed at the lower end of the vertical arm 31, and an inner rotating shaft 324 is installed in the flipping seat 321, wherein the fork fixing mechanism 33 is installed on one side of the flipping seat 321 and connected to one end of the inner rotating shaft 324, and the flipping reducer 323 is installed on the other side of the flipping seat 321 and connected to the other end of the inner rotating shaft 324, and the flipping motor 322 is installed on the flipping reducer 323 and connected to the input shaft of the flipping reducer 323; so when the flipping motor 322 is started, the inner rotating shaft 324 is driven to rotate by the flipping reducer 323 to reduce the speed, and then the inner rotating shaft 324 drives the fork fixing mechanism 33 to flip the vertical plane, thereby realizing the flipping of the casting ladle 5, improving the casting efficiency, and the process is highly stable.

[0042] Exemplary fork securing mechanism

[0043] like Figure 6As shown, further, some embodiments of the present invention provide a specific structure of the above-mentioned fork fixing mechanism 33, and the fork fixing mechanism 33 of this structure includes a transverse fork fixing rod 331 and two side fork fixing rods 332. The transverse fork fixing rod 331 is arranged at one end of the inner rotating shaft 324, and the two side fork fixing rods 332 are detachably arranged at intervals on the transverse fork fixing rod 331. Two fork fixing seats 51 are arranged on the outer wall of the casting ladle 5, and the fork fixing seats 51 correspond to the side fork fixing rods 332.

[0044] Furthermore, some embodiments of the present invention provide a specific structure of the above-mentioned fork fixing mechanism 33, in which the fork fixing mechanism 33 includes a transverse fork fixing rod 331 and two side fork fixing rods 332, wherein the transverse fork fixing rod 331 is installed at one end of the inner rotating shaft 324, and the two side fork fixing rods 332 are detachably installed at intervals on the transverse fork fixing rod 331, so that the distance between the two side fork fixing rods 332 can be conditioned according to the size of the different sizes of the ladle 5, and correspondingly, two fork fixing seats 51 are installed on the outer wall of the ladle 5, so that the two side fork fixing rods 332 can enter the corresponding fork fixing seats 51, thereby achieving the fixation of the ladle 5 and facilitating the flipping casting.

[0045] Furthermore, a vertical fixing plate 325 is mounted on one end of the inner rotating shaft 324, and a transverse fork fixing rod 331 is mounted on the vertical fixing plate 325. Since the ladle 5 is very heavy after being filled with molten aluminum, a plurality of reinforcing plates 326 are also mounted on the vertical fixing plate 325. The plurality of reinforcing plates 326 are distributed on both sides of the transverse fork fixing rod 331, thereby increasing the load-bearing capacity of the fork fixing mechanism 33.

[0046] like Figure 3 As shown, further, the fork fixing seat 51 includes a fork fixing sleeve 511 and a fork fixing reinforcement plate 512. Specifically, the fork fixing reinforcement plate 512 is installed on the outer wall of the ladle 5, and the fork fixing sleeve 511 is installed on the upper end of the fork fixing reinforcement plate 512. The fork fixing reinforcement plate 512 allows the fork fixing sleeve 511 to be firmly installed on the outer wall of the ladle 5 to avoid accidents during pouring.

[0047] like Figure 1 As shown, further, the upper end side of the above-mentioned casting ladle 5 has a pouring nozzle 50, and an upper end ring 501 is also installed in the upper end of the casting ladle 5, and the upper end ring 501 has a notch 502 on the side facing the pouring nozzle 50. In this way, when the casting ladle 5 is turned over for pouring, the upper end ring 501 allows the molten aluminum to only flow along the middle of the pouring nozzle 50, preventing the molten aluminum from flowing out along the outer edge of the pouring nozzle 50, thereby increasing safety.

[0048] Exemplary pouring robot body

[0049] like Figure 4As shown, further, some embodiments of the present invention provide a specific structure of the above-mentioned casting robot body 100, wherein the casting robot body 100 of this structure includes a main shaft portion 1 and a robot arm portion 2, wherein the robot arm portion 2 is rotatably mounted on the main shaft portion 1, and the vertical arm 31 is rotatably mounted on one end of the robot arm portion 2, so when the operator uses the auxiliary armrest mechanism 34 on the vertical arm 31, the robot arm portion 2 can be pushed to rotate with the main shaft portion 1 as the axis, and then the flipping mechanism 32 and the fork fixing mechanism 33 in the auxiliary positioning device 3 can fix the casting ladle 5 and perform flip pouring.

[0050] Exemplary spindle portion

[0051] like Figure 7 As shown, further, some embodiments of the present invention provide a specific structure of the main shaft portion 1. The main shaft portion 1 of this structure includes a base plate 11, an axle seat 12, and a robotic arm frame 13. The axle seat 12 is mounted on the base plate 11, and the base plate 11 provides support for the casting robot body 100. The robotic arm frame 13 is rotatably mounted on the axle seat 12. The robotic arm portion 2 is mounted on the robotic arm frame 13, and the robotic arm portion 2 is connected to the auxiliary positioning device 3.

[0052] Here, the mechanical arm 2 is movably connected to the mechanical arm frame 13. A lifting member 14 is installed on one side of the mechanical arm frame 13. The mechanical arm 2 can be raised and lowered on the mechanical arm frame 13 by the lifting member 14 to adjust the height of the casting ladle 5.

[0053] like Figure 8 As shown, there is a counterweight 20 on the robot arm 2, and the counterweight 20 includes a configuration frame 201, and a plurality of counterweight blocks 202 are installed on the counterweight frame 201 to maintain the balance of the entire casting robot body 100.

[0054] Furthermore, the above-mentioned lifting component 14 includes a lifting motor 141, a lifting reducer 142, and a lifting reciprocating rod 143. Here, the lifting reducer 142 is installed on one side of the robotic arm frame 13, and the lifting motor 141 is installed on the lifting reducer 142 and connected to the input shaft of the lifting reducer 142. Therefore, after the lifting motor 141 is started, it can drive the lifting reducer 142 to rotate, and then the lifting reciprocating rod 143 installed inside the lifting reducer 142 can move back and forth up and down, so that the lifting reciprocating rod 143 can drive the robotic arm part 2 to move up and down, thereby facilitating the ladle 5 to move into the mold shell on the tray to complete the pouring.

[0055] Exemplary robotic arm section

[0056] like Figure 1As shown, further, some embodiments of the present invention provide a specific structure of the above-mentioned robotic arm portion 2. The robotic arm portion 2 of this structure includes a first robotic arm body 21 and a second robotic arm body 22. One end of the first robotic arm body 21 is movably mounted on the robotic arm frame 13 of the main shaft portion 1. Here, the first robotic arm body 21 includes two robotic arm rods 211. Here, the two robotic arm rods 211 form a parallelogram structure on the robotic arm frame 13, which can stably support the second robotic arm body 22.

[0057] Furthermore, a first locking mechanism 24 is installed at the other end of the first mechanical arm body 21, and one end of the second mechanical arm body 22 is connected to the first locking mechanism 24. A second locking mechanism 25 is installed at the other end of the second mechanical arm body 22. The upper end of the vertical arm 31 is connected to the second locking mechanism 25, and the lower end is installed with the flip mechanism 3. The above-mentioned first locking mechanism 24 and second locking mechanism 25 can respectively fix the second mechanical arm body 22 and the vertical arm 31, and the first locking mechanism 24 and second locking mechanism 25 are respectively electrically connected to the auxiliary armrest mechanism 34. The auxiliary armrest mechanism 34 can control the opening or closing of the first locking mechanism 24 and the second locking mechanism 25.

[0058] In this way, when the flip mechanism 32 drives the casting ladle 5 to cast, the vertical arm 31 is prevented from rotating relative to the second robotic arm body 22, or the second robotic arm body 22 is prevented from rotating relative to the first robotic arm body 21, thereby avoiding affecting the casting quality and causing safety accidents.

[0059] Exemplary First Locking Mechanism

[0060] like Figure 9 As shown, further, some embodiments of the present invention provide a specific structure of the above-mentioned first locking mechanism 24, wherein the first locking mechanism 24 of the structure includes a locking seat 241, a locking sleeve 242, a locking shaft 243, and a first locking buckle 244, wherein the locking seat 241 is installed at the other end of the first mechanical arm body 21, and the locking sleeve 242 is fixedly installed in the locking seat 241, and the locking shaft 243 is vertically penetrated in the locking sleeve 242, and the locking shaft 243 can lock the sleeve 242 from rotating. One end of the second robotic arm body 22 is connected to the locking shaft 243, and the first locking buckle 244 is installed at one end of the second robotic arm body 22 and is movably connected to the flange 2421 at the lower end of the locking shaft sleeve 242. Therefore, when the first locking buckle 244 is in an unlocked state, the second robotic arm body 22 can be rotated relative to the first robotic arm body 21 through the locking shaft 243, and when the first locking buckle 244 is in a closed state, the second robotic arm body 22 can no longer rotate, which facilitates the casting operation after the robotic arm part 2 is fixed.

[0061] Exemplary first locking buckle

[0062] like Figure 4 As shown, further, some embodiments of the present invention provide a specific structure of the above-mentioned first locking buckle 244, wherein the first locking buckle 244 of the structure includes a side fixing seat 245 and a telescopic power unit 246, wherein the side fixing seat 245 is installed at one end of the second mechanical arm body 22, and the telescopic power unit 246 is installed on the side fixing seat 245, and an inverted L-shaped rod 247 is installed on the telescopic power unit 246, and the upper end of the inverted L-shaped rod 247 is located above the flange 2421 and is in rotational contact with the flange 2421, and a movable rod 248 is also installed on the inverted L-shaped rod 247, and the movable rod 248 is located above the telescopic power unit 246, so When the telescopic power unit 246 is activated, the working end of the telescopic power unit 246 extends upward, contacts the movable rod 248, and pushes the movable rod 248 upward, so that the movable rod 248 abuts the lower surface of the flange 2421. In this way, the first locking buckle 244 is closed under the joint clamping action of the inverted L-shaped rod 247 and the movable rod 248, so that the first locking buckle 244 fixes the first mechanical arm body 21. When the movable rod 248 moves away from the flange 2421, the first locking buckle 244 is in the unlocked state, and the second mechanical arm body 22 can no longer rotate, facilitating the pouring operation after the mechanical arm 2 is fixed. The telescopic power unit 246 can be an electric telescopic rod.

[0063] Exemplary Vision Module

[0064] like Figures 10-16 As shown, further, some embodiments of the present invention provide a specific structure of a vision module 35. This vision module 35 is mounted on the vertical arm 31. The vision module 35 includes a battery mechanism 36, a vision camera 37, and a shielding assembly 38. The battery mechanism 36 is mounted on the vertical arm 31, the vision camera 37 is mounted on the battery mechanism 36, and the shielding assembly 38 is mounted on the inlet end of the vision camera 37. The shielding assembly 38 is electrically connected to the vision camera 37 via the battery mechanism 36 to facilitate the use of the vision camera 37. With the above-described structural arrangement, the vision module 35 is located above the ladle 5. Because the upper end and side surfaces of the ladle 5 have different areas, the vision module 35 can identify and determine the temperature profiles presented by the upper end and side surfaces of the ladle 5. This allows the rotation angle of the ladle 5 to be determined, thereby enabling the flipping mechanism 3 to stably flip the ladle 5 during pouring. Furthermore, the shielding assembly 38 prevents the molten aluminum in the ladle 5 from splashing onto the inlet end of the vision camera 37 due to its high temperature before flipping, thereby increasing its service life.

[0065] Exemplary Battery Mechanisms

[0066] like Figure 10-11As shown, further, some embodiments of the present invention provide a specific structure of the above-mentioned battery mechanism 36, and the battery mechanism 36 of this structure includes a transverse battery rod 361 and a battery pack 362. Specifically, the transverse battery rod 361 is installed on the vertical arm 31, and the battery pack 362 is installed on the transverse battery rod 361 through a clamp 363. A visual camera 37 is installed on one side of the battery pack 362, and the visual camera 37 is electrically connected to the battery pack 362, and the visual camera 37 is electrically connected to the control module 232. Therefore, the temperature surface values ​​of the upper end face and the side face of the casting part 5 are obtained by the visual camera 37 and sent to the control module 232. The control module 232 can also control the action of the flipping motor 32, so that the flipping casting process is more stable.

[0067] Exemplary shading assembly

[0068] like Figure 11 As shown, further, some embodiments of the present invention provide a specific structure of the above-mentioned shielding component 38, and the shielding component 38 of this structure includes a heat dissipation pipe 39, a filter mechanism 40, and an external shielding member 41, wherein the heat dissipation pipe 39 is installed on the intake end of the visual camera 37, and the heat near the visual camera 37 can be dissipated through the heat dissipation pipe 39. In addition, it can be understood that the outside of the visual camera 37 has an insulating camera shell, so the high temperature of the aluminum liquid can be prevented from affecting the visual camera 37.

[0069] Furthermore, a locking cap 42 is installed at the lower end of the heat dissipation tube 39, and the filter mechanism 40 is installed in the locking cap 42. An external shielding member 41 is also installed at the lower end of the heat dissipation tube 39. The external shielding member 41 further prevents the aluminum liquid from splashing onto the filter mechanism 40. Here, the high-temperature aluminum liquid is filtered by the filter mechanism 40 to prevent damage to the imaging component parts in the visual camera 37.

[0070] Exemplary filter mechanism

[0071] like Figure 12-13As shown, further, some embodiments of the present invention provide a specific structure of the above-mentioned filter mechanism 40, which includes a filter ring seat 401 and a filter body 402. Here, a circumferential groove 403 corresponding to the filter body 402 is opened on the inner wall of the filter ring seat 401, and an inner pad 404 is provided between the circumferential groove 403 and the filter body 402, so that the filter body 402 can be more stably installed in the filter ring seat 401; a plurality of guide strips 405 are installed on the outer wall of the filter ring seat 401, and a plurality of guide strips 405 are opened. An outer trough body 406, multiple guide bar bodies 405, and multiple outer trough bodies 406 are arranged in an alternating manner, and an inner spacer 407 corresponding to the filter body 402 is installed on the filter ring seat 401, and a plurality of guide bar notches 391 are opened on the inner wall of the lower end of the heat dissipation tube 39, and the guide bar notches 391 correspond to the guide bar bodies 405, so that the filter ring seat 401 can enter the lower end of the heat dissipation tube 39 through the guide bar bodies 405, and the locking cap part 42 can also be connected to the outer trough body 406, thereby fixing the filter mechanism 40 and facilitating subsequent disassembly.

[0072] Exemplary locking cap

[0073] like Figure 12-14 As shown, further, some embodiments of the present invention provide a specific structure of the above-mentioned locking cap member 42, wherein the locking cap member 42 of this structure includes an outer rotating cap 421 and an outer cap seat 422, wherein the outer rotating cap 421 can be rotatably screwed onto the heat dissipation tube 39, and the outer cap seat 422 is installed at the lower end of the heat dissipation tube 39, and an inner locking groove 423 for accommodating the outer rotating cap 421 is provided between the outer cap seat 422 and the heat dissipation tube 39, further, a plurality of lock core parts 44 are also installed in the inner locking groove 423, and then the outer rotating cap 421 is rotated to enter the inner locking groove 423, and then the lock core part 44 is pressed against, so that the lock core part 44 partially enters the outer groove body 406, thereby fixing the above-mentioned filter mechanism 40.

[0074] Exemplary lock cylinder

[0075] like Figure 12-14As shown, further, some embodiments of the present invention provide a specific structure of the above-mentioned lock core part 44, wherein the lock core part 44 of the structure includes a lock core swing piece 441, a first inner spring 442, and an inner moving block 443, and a plurality of first inner lock grooves 392 are opened on the outer wall of the lower end of the heat dissipation tube 39, and the lock core swing piece 441 is movably inserted into the first inner lock groove 392, and the first inner spring 442 is installed between the lock core swing piece 441 and the outer cap seat 422, and the lock core swing piece 441 is installed in the first inner lock groove 392 through the inner hinge rod 4431, and the inner moving block 443 is also installed in the first inner lock groove 392 and is movably connected to the lock core swing piece 441, wherein a T-shaped swing head 444 is installed on the lock core swing piece 441, The movable block 443 is provided with a T-shaped guide groove 445 corresponding to the T-shaped swing head 444, so when the outer rotating cap 421 enters the inner locking groove 423, the lock core swing piece 441 is squeezed. Here, the first inner spring 442 is in a compressed state, so after squeezing the lock core swing piece 441, the first inner spring 442 is also squeezed, so that the length of the first inner spring 442 is further contracted, and then the lock core swing piece 441 swings from an inclined state to a straight state. In this process, the T-shaped swing head 444 moves in the T-shaped guide groove 445, and then pushes the inner movable block 443 to move in the first inner lock groove 392, and then the inner movable block 443 enters the above-mentioned outer groove body 406, thereby fixing the filter mechanism 40 and facilitating subsequent disassembly.

[0076] Exemplary outer shield

[0077] like Figure 15-16 As shown, further, some embodiments of the present invention provide that the above-mentioned outer shielding member 41 includes an outer shielding ring seat 411 and an outer shielding sheet 412. Here, the outer shielding sheet 412 is installed in the outer shielding ring seat 411, and two first outer locking seats 413 are installed on the outer wall of the outer shielding ring seat 411. Correspondingly, a second outer locking seat 393 corresponding to the first outer locking seat 413 is installed at the lower end of the heat dissipation pipe 39. Therefore, through the connection between the above-mentioned first outer locking seat 413 and the second outer locking seat 393, the outer shielding member 41 can be conveniently installed to the lower end of the heat dissipation pipe 39, thereby improving the installation efficiency.

[0078] Furthermore, in some embodiments of the present invention, an inner lock chamber 414 is defined within the first outer lock seat 413 , a first lock rod 415 is mounted within the first outer lock seat 413 , the first lock rod 415 is passed through the inner lock chamber 414 , a second inner spring 416 is mounted on the first lock rod 415 , and a first L-shaped hook 417 is mounted on the inner end of the first lock rod 415 ;

[0079] Correspondingly, a second inner lock groove 394 is provided in the second outer lock seat 393, and a second lock rod 395 is installed in the second outer lock seat 393. The second lock rod 395 is inserted into the second inner lock groove 394, and a third inner spring 396 is installed on the second lock rod 395. A second L-shaped hook 397 is installed at the inner end of the second lock rod 395. It can be understood that the second inner spring 416 and the third inner spring 396 are both tension springs. Therefore, when the first outer lock seat 413 corresponds to the second outer lock seat 393, the operator squeezes the first lock rod 415, and then the first The L-shaped hook body 417 moves to the inner end of the inner locking chamber 414, and then presses the second locking rod 395 to make the second L-shaped hook body 397 enter the inner locking chamber 414, and then releases the first locking rod 415, and then under the action of the second inner spring 416 and the third inner spring 396, the second inner spring 416 pulls the first locking rod 415, and the third inner spring 396 pulls the second locking rod 395, so that the second L-shaped hook body 397 and the first L-shaped hook body 417 can be hooked with each other, so that the outer shielding part 41 can be fixed at the lower end of the heat dissipation pipe 39, and the subsequent disassembly is also convenient.

[0080] The present invention also provides an auxiliary positioning method for a casting robot, comprising the following steps:

[0081] Step 1: The operator activates the auxiliary armrest mechanism 34, rotates the pouring robot body 100 to the pouring ladle 5, and forks the pouring ladle 5 through the auxiliary positioning device 3;

[0082] Step 2: The operator operates the auxiliary armrest mechanism 34, so that the auxiliary positioning device 3 drives the ladle 5 to rotate to the front of the furnace, and the ladle 5 receives the molten aluminum;

[0083] Step 3: The operator operates the auxiliary armrest mechanism 34 to rotate the casting robot body 100 to the casting shell position, and then positions the casting shell through the visual module 35, and then starts the flipping mechanism 32 to adjust the casting ladle 5, so that the casting ladle 5 is flipped and poured into the casting shell to complete the casting.

[0084] The above method can better enable the operator to operate the pouring robot body 100 to flip and pour the pouring ladle 5, and the process is more stable.

[0085] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0086] In the present invention, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection, or communication; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0087] Although the embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the description and implementation methods. They can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and illustrations shown and described herein.

Claims

1. An auxiliary positioning system for a casting robot, characterized in that: include: An auxiliary positioning device (3), the auxiliary positioning device (3) comprising a vertical arm (31), a flip mechanism (32), and a fork fixing mechanism (33), wherein the vertical arm (31) is arranged on the casting robot body (100), the flip mechanism (32) is arranged at the lower end of the vertical arm (31), the fork fixing mechanism (33) is arranged on one side of the flip mechanism (32) and is rotatably connected to the flip mechanism (32), the vertical arm (31) is further provided with an auxiliary handrail mechanism (34) and a visual module (35), the visual module (35) is located above the flip mechanism (32) and faces the casting ladle (5), the auxiliary handrail mechanism (34) is electrically connected to the flip mechanism (32), and the fork fixing mechanism (33) is used to fix the casting ladle (5); The visual module (35) includes a battery mechanism (36), a visual camera (37), and a shielding assembly (38); the battery mechanism (36) is configured on the vertical arm (31); the visual camera (37) is configured on the battery mechanism (36); the shielding assembly (38) is configured on the intake end of the visual camera (37); the battery mechanism (36) is electrically connected to the visual camera (37); the casting robot body (100) includes a main shaft portion (1) and a robot arm portion (2); The mechanical arm portion (2) includes a first mechanical arm body (21) and a second mechanical arm body (22), one end of the first mechanical arm body (21) is movably arranged on the main shaft portion (1), the other end of the first mechanical arm body (21) is provided with a first locking mechanism (24), one end of the second mechanical arm body (22) is connected to the first locking mechanism (24), the other end of the second mechanical arm body (22) is provided with a second locking mechanism (25), the upper end of the vertical arm (31) is connected to the second locking mechanism (25), and the first locking mechanism (24) and the second locking mechanism (25) are respectively electrically connected to the auxiliary armrest mechanism (34); The first locking mechanism includes a locking seat, a locking sleeve, a locking shaft, and a first locking buckle, wherein the locking seat is mounted on the other end of the first mechanical arm body, the locking sleeve is fixed in the locking seat, the locking shaft is vertically passed through the locking sleeve, one end of the second mechanical arm body is connected to the locking shaft, the first locking buckle is mounted on one end of the second mechanical arm body, and is movably connected to the flange at the lower end of the locking sleeve. When the first locking buckle is in an unlocked state, the second mechanical arm body rotates relative to the first mechanical arm body through the locking shaft, and when the first locking buckle is in a closed state, the second mechanical arm body cannot rotate; The shielding assembly includes a heat dissipation tube, a filter mechanism, and an external shielding member; the filter mechanism includes a filter ring seat and a filter body, the inner wall of the filter ring seat is provided with a circumferential groove corresponding to the filter body, and an inner pad is provided between the circumferential groove and the filter body; a plurality of guide bar bodies are installed on the outer wall of the filter ring seat, and a plurality of outer groove bodies are provided, the plurality of guide bar bodies and the plurality of outer groove bodies are arranged alternately, the filter ring seat is provided with an inner spacer corresponding to the filter body, a plurality of guide bar notches are provided on the inner wall of the lower end of the heat dissipation tube, and the guide bar notches correspond to the guide bar bodies.

2. The auxiliary positioning system of a pouring robot according to claim 1, characterized in that: The flip mechanism (32) comprises a flip seat (321), a flip motor (322), and a flip reducer (323); the flip seat (321) is arranged at the lower end of the vertical arm (31); an inner rotating shaft (324) is arranged in the flip seat (321); the fork fixing mechanism (33) is arranged on one side of the flip seat (321) and connected to one end of the inner rotating shaft (324); the flip reducer (323) is arranged on the other side of the flip seat (321) and connected to the other end of the inner rotating shaft (324); and the flip motor (322) is arranged on the flip reducer (323) and connected to the flip reducer (323).

3. The auxiliary positioning system of a pouring robot according to claim 2, characterized in that: The fork fixing mechanism (33) comprises a transverse fork fixing rod (331) and two side fork fixing rods (332). The transverse fork fixing rod (331) is arranged at one end of the inner rotating shaft (324). The two side fork fixing rods (332) are detachably arranged at intervals on the transverse fork fixing rod (331). Two fork fixing seats (51) are arranged on the outer wall of the casting ladle (5). The fork fixing seats (51) correspond to the side fork fixing rods (332).

4. The auxiliary positioning system for a pouring robot according to claim 3, characterized in that: One end of the inner rotating shaft (324) is provided with a vertical fixing plate (325), the transverse fork fixing rod (331) is provided on the vertical fixing plate (325), and the vertical fixing plate (325) is further provided with a plurality of reinforcing plates (326), the plurality of reinforcing plates (326) being distributed on the upper and lower sides of the transverse fork fixing rod (331).

5. The auxiliary positioning system for a pouring robot according to claim 1, characterized in that: A pouring nozzle (50) is provided on one side of the upper end of the ladle (5), and an upper end ring (501) is further provided inside the upper end of the ladle (5), wherein the upper end ring (501) has a notch (502) on the side facing the pouring nozzle (50).

6. The auxiliary positioning system for a pouring robot according to claim 1, characterized in that: The main shaft portion (1) includes a base plate (11), an axle seat (12), and a robotic arm frame (13), wherein the axle seat (12) is arranged on the base plate (11), the robotic arm frame (13) is rotatably arranged on the axle seat (12), the robotic arm portion (2) is movably arranged on the robotic arm frame (13), a lifting member (14) is arranged on one side of the robotic arm frame (13), the lifting member (14) is connected to the robotic arm portion (2), and the vertical arm (31) is rotatably arranged at one end of the robotic arm portion (2).

7. The auxiliary positioning system for a pouring robot according to claim 6, characterized in that: The lifting member (14) includes a lifting motor (141), a lifting reducer (142), and a lifting reciprocating rod (143). The lifting reducer (142) is arranged on one side of the mechanical arm frame (13). The lifting motor (141) is arranged on the lifting reducer (142) and is connected to the input shaft of the lifting reducer (142). The lifting reciprocating rod (143) is movably inserted into the lifting reducer (142), and the upper end of the lifting reducer (142) is connected to the mechanical arm part (2).

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