Automatic sand core clamping and carrying equipment for nodular cast iron pipe machining

Abstract

The invention relates to the technical field of casting equipment, in particular to automatic sand core clamping and carrying equipment for nodular cast iron pipe machining. According to the technical scheme, the device comprises a sand core conveying line, a carrying robot and a sand core clamp; the sand core clamp comprises a rack, a first clamping jaw component, a second clamping jaw component and a driving air cylinder, the first clamping jaw component is in driving connection with the second clamping jaw component through a transmission component, a clamping force detection mechanism is arranged at the position of the transmission component, and when the first clamping jaw component moves outwards or inwards, the driving air cylinder drives the first clamping jaw component to rotate. And the second clamping jaw component is driven by the transmission component to synchronously move outwards or inwards. The sand core clamping device has the beneficial effects that the sand core clamp capable of detecting the clamping force is adopted, the pressure applied to a sand core by the clamp can be detected, the clamping force of the sand core can be adaptively adjusted by a carrying robot conveniently, and the sand core can be clamped and carried without auxiliary operation of an operator on site; and potential safety hazards to operators in the production process are effectively avoided.

Description

Technical Field

[0001] The invention relates to the technical field of casting equipment, and in particular to an automatic sand core clamping and transporting device for processing ductile iron pipes. Background Art

[0002] Ductile iron pipe refers to a pipe made by high-speed centrifugal casting in a centrifugal ductile iron casting machine (hereinafter referred to as "centrifuge") using molten iron above No. 18 after adding spheroidizing agent. Before using the centrifuge for centrifugal casting of ductile iron pipe, the cylindrical sand core needs to be installed on the core frame of the centrifuge, and then the core frame and the sand core are placed in the centrifuge for centrifugal casting. At present, the degree of automation of clamping the sand core and moving it to the core frame is not high. The main problem is that in the process of the robot-driven clamp to clamp the sand core, there is uncertainty about the contact point between the clamp's jaws and the sand core, and the clamp is directly driven by the cylinder, which makes it difficult to set a pressure sensor on the clamp to detect the clamping pressure applied by the clamp on the sand core, which is easy to cause the core to fall off or damage the sand core due to insufficient or excessive clamping force on the sand core. Therefore, manual auxiliary processing is required on site. Since the environment of the centrifuge is a high-temperature and highly corrosive environment, the operator not only needs to wear heat-insulating and flame-retardant clothing that is hot and inconvenient to move, but also faces the dangers caused by various emergencies. Therefore, the manual and fully automatic clamping and handling of sand cores plays a vital role in safe production. Summary of the invention

[0003] The purpose of the present invention is to provide an automatic sand core clamping and transporting device for ductile iron pipe processing, and specifically to provide an automatic sand core clamping and transporting device without manual assistance.

[0004] To achieve the above-mentioned purpose, the present invention adopts the following technical scheme: an automatic sand core clamping and handling device for ductile iron pipe processing, comprising a sand core conveying line, a handling robot and a sand core clamp, wherein the sand core conveying line is used to convey the sand core to the handling robot, the end of the handling robot is connected to the sand core clamp, and the handling robot uses the sand core clamp to clamp the sand core from the sand core conveying line and transfer it to the core frame of the centrifuge; the sand core clamp comprises a frame, a first clamping jaw component, a second clamping jaw component and a driving cylinder, wherein the first clamping jaw component and the second clamping jaw component are respectively arranged at both ends of the frame and are both slidably connected to the frame through a slide rail, the first clamping jaw component is drivingly connected to the second clamping jaw component through a transmission component, a clamping force detection mechanism is arranged at the transmission component, the driving cylinder is drivingly connected to the first clamping jaw component, and the driving cylinder is used to drive the first clamping jaw component to move outward or inward, and when the first clamping jaw component moves outward or inward, the second clamping jaw component is driven to move outward or inward synchronously through the transmission component.

[0005] Specifically, the transmission component includes a first rack, a transmission gear and a second rack. The first rack is fixedly connected to the first clamping jaw component, the second rack is fixedly connected to the second clamping jaw component, the transmission gear is rotatably connected to the frame, the first rack and the second rack are respectively arranged on the upper and lower sides of the transmission gear and are both meshed with the transmission gear; the clamping force detection mechanism is arranged on the rotating shaft of the transmission gear, and the clamping force detection mechanism adopts a torque sensor.

[0006] Specifically, the first clamping jaw component includes a first mounting seat and a first upper clamping jaw and a first lower clamping jaw detachably connected to the first mounting seat, and the second clamping jaw component includes a second mounting seat and a second upper clamping jaw and a second lower clamping jaw detachably connected to the second mounting seat.

[0007] Specifically, the first upper jaw, the first lower jaw, the second upper jaw and the second lower jaw each include a jaw body and an arc-shaped clamping portion arranged on the jaw body, and the arc-shaped clamping portions of the first upper jaw, the first lower jaw, the second upper jaw and the second lower jaw each protrude toward the outside of the sand core clamp.

[0008] Specifically, a core frame detection component is arranged on the first mounting seat of the first clamping jaw component, and the core frame detection component adopts a laser sensor.

[0009] Specifically, a sand core position recognition camera is arranged on the frame, and the sand core position recognition camera is connected to the controller of the transport robot.

[0010] Specifically, a retractable heat-insulating accordion cover is arranged between the first clamping jaw component and the second clamping jaw component.

[0011] The beneficial effects of the present invention are as follows: by adopting a sand core clamp with detectable clamping force, the pressure applied by the clamp on the sand core can be detected, which makes it convenient for the handling robot to adaptively adjust the clamping force of the sand core, so that the clamping and handling of the sand core does not require the assistance of operators on site; in conjunction with the identification camera and laser sensor provided on the sand core clamp, the position of the sand core and whether the sand core is installed in place can be detected, and the entire clamping and handling process does not require human participation, which not only improves the processing efficiency and quality, but also effectively avoids safety hazards to operators during the production process. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Attached Figure 1 It is a schematic diagram of the overall top view of the structure of the automatic sand core clamping and handling equipment used for processing ductile iron pipes in the embodiment; Attached Figure 2 It is a specific structural diagram of the sand core fixture in the embodiment; Attached Figure 3 This is a detailed structural diagram of the sand core fixture after the heat insulation accordion cover is removed in the embodiment; Attached Figure 4It is a specific structural diagram of the sand core clamp after the first upper clamp, the first lower clamp, the second upper clamp and the second lower clamp are removed in the embodiment. DETAILED DESCRIPTION

[0013] Example 1, reference Figure 1-4 , an automatic sand core clamping and handling device for ductile iron pipe processing, comprising a sand core conveying line 1, a handling robot 2 and a sand core clamp 3, wherein the sand core conveying line 1 is used to convey the sand core to the handling robot 2, the end of the handling robot 2 is connected to the sand core clamp 3, and the handling robot 2 uses the sand core clamp 3 to clamp the sand core 10 from the sand core conveying line 1 and transfer it to the core frame of the centrifuge; the sand core clamp 3 comprises a frame 30, a first clamping jaw component 31, a second clamping jaw component 32 and a driving cylinder 33, wherein the first clamping jaw component 31 and the second The clamping jaw components 32 are arranged at both ends of the frame 30 and are slidably connected to the frame 30 through slide rails 34. The first clamping jaw component 31 is driven and connected to the second clamping jaw component 32 through a transmission component 35. A clamping force detection mechanism 36 is provided at the transmission component 35. The driving cylinder 33 is driven and connected to the first clamping jaw component 31. The driving cylinder 33 is used to drive the first clamping jaw component 31 to move outward or inward. When the first clamping jaw component 31 moves outward or inward, the second clamping jaw component 32 is driven to move outward or inward synchronously through the transmission component 35.

[0014] In this embodiment, the sand core clamp 3 is fixedly connected to the driving end of the end of the handling robot 2 through the mounting flange 37 thereon. The handling robot 2 controls the sand core clamp 3 to clamp the sand core 10 on the sand core conveying line 1, transfers the clamped sand core 10 to the core frame, and installs the sand core 10 on the core frame, wherein the cylindrical sand core 10 is buckled on the sand core conveying line 1 for transmission, and the first clamping jaw component 31 and the second clamping jaw component 32 of the sand core clamp 3 need to extend into the sand core 10 from above the sand core 10, and then the first clamping jaw component 31 is driven by the driving cylinder 33, and the first clamping jaw component 31 then drives the second clamping jaw component 32 through the transmission component 35, and the first clamping jaw component 31 and the second clamping jaw component 32 are stretched outward to clamp the sand core 10. After the clamping is stable, the handling robot 2 drives the sand core clamp 3 together with the sand core 10 to the core frame. At this time, the opening of the sand core 10 is turned from vertical to horizontal and installed on the core frame, thereby completing the installation of the sand core 10. Among them, the first clamping jaw component 31 is connected to the second clamping jaw component 32 through the transmission component 35, and the clamping force detection mechanism 36 arranged at the transmission component 35 can detect the pressure of the sand core 10 fed back on the first clamping jaw component 31 and the second clamping jaw component 32, thereby detecting the clamping force of the first clamping jaw component 31 and the second clamping jaw component 32 on the sand core 10, which is convenient for the handling robot 2 to adjust the control signal to adjust the output thrust of the driving cylinder 33, so as to avoid the problem of insufficient or excessive clamping force. Among them, the above-mentioned transmission component 35 includes a first rack 351, a transmission gear 353 and a second rack 352, the first rack 351 is fixedly connected to the first clamping jaw component 31, the second rack 352 is fixedly connected to the second clamping jaw component 32, the transmission gear 353 is rotatably connected to the frame 30, the first rack 351 and the second rack 352 are respectively arranged on the upper and lower sides of the transmission gear 353 and are both meshed and connected with the transmission gear 353; the clamping force detection mechanism 36 is arranged on the rotating shaft of the transmission gear 353, and the clamping force detection mechanism 36 adopts a torque sensor.

[0015] Specifically, in this embodiment, the first clamping jaw component 31 includes a first mounting seat 311 and a first upper clamping jaw 312 and a first lower clamping jaw 313 detachably connected to the first mounting seat 311, and the second clamping jaw component 32 includes a second mounting seat 321 and a second upper clamping jaw 322 and a second lower clamping jaw 323 detachably connected to the second mounting seat 321; the first upper clamping jaw 312, the first lower clamping jaw 313, the second upper clamping jaw 322 and the second lower clamping jaw 323 all include a clamping jaw body 381 and an arc-shaped clamping portion 382 arranged on the clamping jaw body 381, and the arc-shaped clamping portions 382 of the first upper clamping jaw 312, the first lower clamping jaw 313, the second upper clamping jaw 322 and the second lower clamping jaw 323 all protrude toward the outside of the sand core clamp 3. Since the sand core 10 is cylindrical, in order to improve the stability of the sand core clamp 3 when clamping the sand core 10, the arc-shaped clamping parts 382 on the first upper clamping jaw 312, the first lower clamping jaw 313, the second upper clamping jaw 322 and the second lower clamping jaw 323 on the first clamping jaw component 31 and the second clamping jaw component 32 can effectively fit with the inside of the sand core 10, thereby improving the clamping stability. Different specifications of the sand core 10 require arc-shaped clamping parts 382 with different curvatures. The first upper clamping jaw 312 and the first lower clamping jaw 313 are detachably connected to the first mounting seat 311, and the second upper clamping jaw 322 and the second lower clamping jaw 323 are detachably connected to the second mounting seat 321. Therefore, the first upper clamping jaw 312, the first lower clamping jaw 313, the second upper clamping jaw 322 and the second lower clamping jaw 323 can be replaced according to the different specifications of the sand core 10 to improve the clamping stability.

[0016] Furthermore, a core frame detection component 4 is provided on the first mounting seat 311 of the first clamping jaw component 31, and the core frame detection component 4 uses a laser sensor. The core frame detection component 4 provided on the first mounting seat 311 can detect the position distance of the core frame, thereby determining whether the sand core 10 is installed in place on the core frame, and further improving the automation performance of the equipment.

[0017] In a further embodiment, a sand core position recognition camera 5 is provided on the frame 30, and the sand core position recognition camera 5 is connected to the controller of the handling robot 2. The sand core position recognition camera 5 provided on the frame 30 can recognize and detect the position of the sand core 10 on the sand core conveyor line 1, so that the handling robot 2 can drive the sand core clamp 3 to clamp the sand core 10 after determining the position of the sand core. The sand core position recognition camera 5 is preferably a 3D image recognition camera.

[0018] In a further preferred embodiment, a retractable heat-insulating accordion cover 39 is arranged between the first clamping jaw component 31 and the second clamping jaw component 32. The heat-insulating accordion cover 39 can provide heat insulation protection for the transmission component 35 arranged between the first clamping jaw component 31 and the second clamping jaw component 32, thereby preventing the transmission component 35 from being contaminated by smoke and dust or damaged by high temperature, and ensuring the normal operation of the clamping force detection mechanism 36 in the transmission component 35.

[0019] Of course, the above are only preferred embodiments of the present invention, and are not intended to limit the scope of use of the present invention. Therefore, any equivalent changes made to the principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An automatic sand core clamping and handling device for ductile iron pipe processing, characterized in that: The invention comprises a sand core conveying line, a handling robot and a sand core clamp. The sand core conveying line is used to convey the sand core to the handling robot. The end of the handling robot is connected to the sand core clamp. The handling robot uses the sand core clamp to clamp the sand core from the sand core conveying line and transfer it to the core frame of the centrifuge. The sand core clamp comprises a frame, a first clamping jaw component, a second clamping jaw component and a driving cylinder. The first clamping jaw component and the second clamping jaw component are respectively arranged at two ends of the frame and are both slidably connected to the frame through a slide rail. The first clamping jaw component is drivingly connected to the second clamping jaw component through a transmission component. A clamping force detection mechanism is arranged at the transmission component. The driving cylinder is drivingly connected to the first clamping jaw component. The driving cylinder is used to drive the first clamping jaw component to move outward or inward. When the first clamping jaw component moves outward or inward, the second clamping jaw component is driven to move outward or inward synchronously through the transmission component.

2. The automatic sand core clamping and handling equipment for ductile iron pipe processing according to claim 1 is characterized in that: The transmission component includes a first rack, a transmission gear and a second rack. The first rack is fixedly connected to the first clamping jaw component, the second rack is fixedly connected to the second clamping jaw component, the transmission gear is rotatably connected to the frame, the first rack and the second rack are respectively arranged on the upper and lower sides of the transmission gear and are both meshed with the transmission gear; the clamping force detection mechanism is arranged on the rotating shaft of the transmission gear, and the clamping force detection mechanism adopts a torque sensor.

3. The automatic sand core clamping and handling equipment for ductile iron pipe processing according to claim 1 is characterized in that: The first clamping jaw component comprises a first mounting seat and a first upper clamping jaw and a first lower clamping jaw detachably connected to the first mounting seat, and the second clamping jaw component comprises a second mounting seat and a second upper clamping jaw and a second lower clamping jaw detachably connected to the second mounting seat.

4. The automatic sand core clamping and handling device for ductile iron pipe processing according to claim 3 is characterized in that: The first upper jaw, the first lower jaw, the second upper jaw and the second lower jaw all include a jaw body and an arc-shaped clamping portion arranged on the jaw body, and the arc-shaped clamping portions of the first upper jaw, the first lower jaw, the second upper jaw and the second lower jaw all protrude toward the outside of the sand core clamp.

5. The automatic sand core clamping and handling device for ductile iron pipe processing according to claim 3 is characterized in that: A core frame detection component is arranged on the first mounting seat of the first clamping jaw component, and the core frame detection component adopts a laser sensor.

6. The automatic sand core clamping and handling equipment for ductile iron pipe processing according to claim 1 is characterized in that: A sand core position recognition camera is arranged on the frame, and the sand core position recognition camera is connected to a controller of the transport robot.

7. The automatic sand core clamping and handling equipment for ductile iron pipe processing according to claim 1 is characterized in that: A retractable heat-insulating accordion cover is arranged between the first clamping jaw component and the second clamping jaw component.

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