Frozen sand mold intelligent carrying device with environment sensing function and suitable for frozen casting production line

Abstract

The invention discloses an intelligent frozen sand mold carrying device with an environment sensing function and suitable for a frozen casting production line. The intelligent frozen sand mold carrying device comprises a walking mechanism, a supporting and lifting mechanism, a sand mold clamping and overturning mechanism, an environment sensing module and a master control module. The walking mechanism is a power source for walking and moving of the whole machine and is composed of a rack chassis, driving wheels and universal wheels. The supporting lifting mechanism is composed of an electric cylinder, a pressure sensor and a cross beam. The sand mold clamping and overturning mechanism consists of a linear module, a clamping arm, a clamping plate, a bearing shaft, a copper sleeve, a mounting frame, a strain gauge, a hollow rotating platform and a driving motor; the environment sensing module is installed on a rack of the carrying device and is composed of a 3D dot matrix scanning sensor, a machine vision camera and a thermal imager. The master control module collects data of the pressure sensor, the strain gauge and the environment sensing module in real time, carries out real-time analysis and decision making, generates current optimal working parameters and adjustment parameters through methods such as coupling mapping and digital twinning, feeds back the current optimal working parameters and adjustment parameters to all mechanisms in real time to carry out real-time regulation and control, and optimizes the carrying process. According to the invention, the problem of turning over in a large frozen sand carrying and forming process in a frozen casting production line is solved, the forming efficiency and the forming precision of a sand mold are improved, the manpower is greatly liberated, the effects of reducing cost and increasing efficiency are achieved for the whole frozen casting production line, and the trend of green casting development in China is met.

Description

Technical Field

[0001] The present invention belongs to an auxiliary transport and turning device for frozen sand molds in a frozen casting production line, and specifically relates to an intelligent transport device for frozen sand molds with an environmental sensing function and suitable for a frozen casting production line. Background Art

[0002] Freeze casting is an innovative casting process that uses freezing technology to make molds, thereby achieving green, efficient, and high-quality casting production, which is in line with the national trend of developing green casting. The advantage of this process is that it uses low-cost, reusable molds and can produce high-quality castings in a short time. In addition, due to the use of freezing technology, this process can also effectively reduce waste and energy waste, and is a sustainable manufacturing technology. Due to the advantages of casting such as low production cost, wide application range, and easy operation, it has been widely used in aerospace, shipbuilding, rail transportation, automobiles and ships, etc.

[0003] Among them, frozen sand mold forming technology often uses digital technologies such as 3D modeling and simulation optimization, and realizes the rapid design and forming of frozen sand molds through processes such as turning, milling, negative pressure forming and 3D printing of sand mold blanks. However, for large frozen sand molds with sizes such as 500mm×500mm×200mm, it is difficult to carry and turn the sand mold manually without any tools. Therefore, how to design a frozen sand mold handling and turning device to assist the sand mold forming process is an urgent problem to be solved in today's frozen casting production line. Summary of the invention

[0004] In order to solve the above problems, the present invention discloses an intelligent frozen sand mold handling device with environmental perception function suitable for a frozen casting production line, which solves the problem of handling large frozen sand in the frozen casting production line and turning over in the molding process, improves the molding efficiency and molding accuracy of the sand mold, greatly liberates manpower, and plays a role in reducing costs and increasing efficiency for the entire frozen casting production line.

[0005] A frozen sand mold intelligent handling device with an environmental perception function suitable for a frozen casting production line includes a walking mechanism, a supporting and lifting mechanism, a sand mold clamping and flipping mechanism, an environmental perception module, and a master control module; wherein the walking mechanism is the chassis of the whole machine, responsible for the movement of the whole machine in various directions on the ground or in a certain working plane, the supporting and lifting mechanism is placed on the walking mechanism and is fastened and connected by bolts or screws; the supporting and lifting mechanism is responsible for adjusting the clamping height of the device and providing the necessary flipping space when the sand mold is turned over; the sand mold clamping and flipping mechanism is installed on the crossbeam of the supporting and lifting mechanism and is fastened and connected by bolts or screws, and the sand mold clamping mechanism is responsible for executing the clamping action and flipping action of the sand mold; the environmental perception module provides the master control module with information including but not limited to the environment in which the device is located. Three-dimensional spatial data, ambient temperature, sand mold position, sand mold three-dimensional model, sand mold temperature, sand mold shape, sand mold size accuracy, sand mold material and other environmental and sand mold parameters provide the device with environmental perception capabilities; the general control mechanism is the central processor of the whole machine, which is installed on the frame of the walking mechanism. It is used to process the various sand mold parameters, environmental perception parameters and whole machine action parameters collected from various mechanisms in real time for real-time analysis and decision-making, and generate the current optimal working parameters and adjustment parameters through coupling mapping and digital twin methods, and feed back to each mechanism in real time for real-time regulation, so that the device can automatically identify and go to the sand mold position, complete the fixed-point transportation of the sand mold and the turning over of the sand mold without destroying the shape accuracy of the sand mold, and realize the non-destructive grabbing, transportation and flipping of the frozen sand mold.

[0006] Furthermore, the walking mechanism is the power source for the whole machine to walk and move, and the mechanism is composed of a frame chassis, drive wheels, and universal wheels; wherein the frame is provided with corresponding threaded holes or through holes for fastening and installation of the drive wheels, universal wheels and other mechanisms of the device, and the power for linear motion and steering of the drive mechanism is provided by the drive wheels. The two drive wheels rotate in the same direction and at the same speed to enable the walking mechanism to achieve linear motion, and the steering of the walking mechanism is achieved through the differential motion of the two drive wheels. During the movement of the whole machine, the speed difference of the two drive wheels is fine-tuned to achieve curved motion of the whole machine, that is, steering during movement.

[0007] Furthermore, the supporting lifting mechanism is composed of an electric cylinder, a pressure sensor, and a crossbeam. The electric cylinder is the load-bearing leg of the mechanism and is also a power device that provides height changes for the sand mold clamping and flipping mechanism. The electric cylinder and the crossbeam are connected by bolts or screws. The connecting surface of the electric cylinder and the crossbeam is equipped with a pressure sensor. The pressure sensor is used to monitor the load of the crossbeam and the quality of the sand mold being transported in real time. The data of the four pressure sensors are transmitted back to the master control module in real time for data analysis, and then the appropriate clamping force is obtained.

[0008] Furthermore, the sand mold clamping and flipping mechanism is composed of a linear module, a clamping arm, a clamping plate, a load-bearing shaft, a copper sleeve, a mounting frame, a strain gauge, a central control rotating platform 37, and a driving motor, wherein the clamping arm is tightly connected to the linear module by bolts or screws, and the linear motion of the linear module controls the distance between the two clamping plates relative to the sand mold. When a clamping action is required, the two linear modules drive the two clamping arms to move in opposite directions until the clamping plates contact the sand mold and generate a clamping force; the two ends of the load-bearing shaft are respectively connected to the output ends of the clamping plate and the central control rotating platform 37 by bolts or screws, which are responsible for outputting the flipping torque output by the driving motor to the clamping plate after deceleration and torque increase of the central control rotating platform 37, thereby completing the flipping action of the sand mold; the load-bearing shaft is coaxially connected to the supporting arm through a bushing ; The mounting frame is installed on the clamping arm, providing a fastening installation position for the bolts or screws of the central control rotating platform, and cooperating with the clamping plate to provide axial positioning for the load-bearing shaft; a boss is designed on the contact surface between the clamping plate and the sand mold, and the boss cooperates with the corresponding slots of the sand mold to reduce the dependence of the handling and flipping of the sand mold on the clamping force; in order to adapt to sand molds of different shapes, the contact surface between the clamping plate and the sand mold can be designed to be a contoured surface that adapts to the surface of the corresponding sand mold. Since the clamping plate and the load-bearing shaft are connected by bolts or screws, when it is necessary to replace a clamping plate of a different shape, the clamping plate can be quickly replaced by removing the fixing screws or bolts; a strain gauge is attached to the surface of the clamping arm, and the master control module calculates the clamping force on the current sand mold surface by collecting the data output by the strain gauge in real time.

[0009] Furthermore, the environmental perception module is installed on the frame of the handling device, and the module consists of a 3D dot scanning sensor, a machine vision camera, and a thermal imager. The 3D dot scanning sensor is used to identify and reconstruct the 3D workspace of the handling device, and measure the geometric parameters and dimensional accuracy of the sand mold. The vision camera is used to identify the position, shape, and material of the sand mold relative to the handling device. The thermal imager is used to detect the ambient temperature of the device and the temperature of the sand mold surface. The module provides the handling device with the ability to perceive the sand mold shape, material, volume, weight, surface temperature, dimensional accuracy and environment.

[0010] Furthermore, the master control module collects data from pressure sensors, strain gauges, and environmental perception modules in real time for real-time analysis and decision-making, and generates the current optimal working parameters and adjustment parameters through coupling mapping and digital twin methods, and provides real-time feedback to each mechanism for real-time regulation to optimize the handling process.

[0011] The beneficial effects of the invention are as follows: the invention has a simple structure, solves the problem of handling large frozen sand in a freezing casting production line and turning over in the molding process, improves the molding efficiency and molding accuracy of the sand mold, greatly liberates manpower, and plays a role in reducing costs and increasing efficiency for the entire freezing casting production line, which is in line with the national trend of developing green casting. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is an axonometric view of the present invention.

[0013] Figure 2 It is a schematic diagram of the front view action limit position of the present invention.

[0014] Figure 3 It is a side view of the present invention.

[0015] Figure 4 It is an axonometric view of the walking mechanism of the present invention.

[0016] Figure 5 It is a schematic diagram of the support lifting mechanism of the present invention.

[0017] Figure 6 It is a front view of the sand mold clamping and turning mechanism of the present invention.

[0018] Figure 7 It is an axonometric view of the sand mold clamping and turning mechanism of the present invention.

[0019] Figure 8 It is a partial cross-sectional view of the sand mold clamping and turning mechanism of the present invention.

[0020] Fig. 9 It is the work flow chart of the present invention.

[0021] Fig.10 This is a data processing flow chart of the master control module of the present invention.

[0022] In the figure: 1. walking mechanism; 2. supporting lifting mechanism; 3. sand mold clamping and turning mechanism; 4. environmental perception module; 5. master control module; 11. universal wheel; 12. frame chassis; 13 driving wheel; 21. electric cylinder; 22. pressure sensor; 23. crossbeam; 31. load-bearing shaft; 32. copper sleeve; 33. mounting frame; 34. splint; 35. strain gauge; 36. clamping arm; 37. central control rotating platform 37; 38. driving motor; 39. linear module. DETAILED DESCRIPTION

[0023] In order to make the technical means, creative features, objectives and effects of the present invention easy to understand, the present invention is further described below in conjunction with the accompanying drawings and specific embodiments. In the description of the present invention, it should be understood that the following specific embodiments are only used to illustrate the present invention and are not used to limit the scope of the present invention. It should be noted that the words "front", "rear", "left", "right", "up" and "down" used in the following description refer to the directions in the accompanying drawings, and the words "inside" and "outside" refer to the directions toward or away from the geometric center of a specific component, respectively. Unless otherwise clearly specified and limited, the terms "install", "connect" and "connect" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection can be a mechanical connection or an electrical connection: it can be directly connected, or it can be indirectly connected through an intermediate medium, and it can be the internal communication of two components.

[0024] like Figure 1 As shown, a frozen sand mold intelligent handling device with an environmental perception function suitable for a frozen casting production line includes a walking mechanism 1, a supporting and lifting mechanism 2, a sand mold clamping and turning mechanism 3, an environmental perception module 4, and a master control module 5; wherein the walking mechanism 1 is the chassis of the whole machine, responsible for the movement of the whole machine in various directions on the ground or in a certain working plane, the supporting and lifting mechanism 2 is placed on the walking mechanism 1 and is fastened and connected by bolts or screws; the supporting and lifting mechanism 2 is responsible for adjusting the clamping height of the device and providing the necessary turning space when the sand mold is turned over; the sand mold clamping and turning mechanism 3 is installed on the crossbeam 23 of the supporting and lifting mechanism 2 and is fastened and connected by bolts or screws, and the sand mold clamping mechanism is responsible for executing the clamping action and turning action of the sand mold; the environmental perception module 4 provides the master control module 5 with functions including but not limited to The three-dimensional spatial data of the environment in which the device is located, the ambient temperature, the position of the sand mold, the three-dimensional model of the sand mold, the temperature of the sand mold, the shape of the sand mold, the dimensional accuracy of the sand mold, the material of the sand mold and other environmental and sand mold parameters provide the device with environmental perception capabilities; the general control mechanism is the central processor of the whole machine, which is installed on the frame of the walking mechanism 1, and is used to process the various sand mold parameters, environmental perception parameters and whole machine action parameters collected from various mechanisms in real time for real-time analysis and decision-making, and generate the current optimal working parameters and adjustment parameters through coupling mapping and digital twins and other methods, and feed back to each mechanism in real time for real-time regulation, so that the device can automatically identify and go to the sand mold position, complete the fixed-point transportation of the sand mold and the turning over of the sand mold without destroying the shape accuracy of the sand mold, and realize the non-destructive grabbing, transportation and turning over of the frozen sand mold.

[0025] The walking mechanism 1 is the power source for the whole machine to walk and move, and the mechanism is composed of a frame chassis 12, a driving wheel 13, and a universal wheel 11; wherein the frame is provided with corresponding threaded holes or through holes for fastening and installation for the driving wheel 13, the universal wheel 11 and other mechanisms of the device, and the power for the linear motion and steering of the driving mechanism is provided by the driving wheel 13. The two driving wheels 13 rotate in the same direction and at the same speed to enable the walking mechanism 1 to achieve linear motion, and the steering of the walking mechanism 1 is achieved by the differential motion of the two driving wheels 13. During the movement of the whole machine, the speed difference of the two driving wheels 13 is fine-tuned to achieve the curved motion of the whole machine, that is, the steering during travel.

[0026] The supporting lifting mechanism 2 is composed of an electric cylinder 21, a pressure sensor 22, and a crossbeam 23. The electric cylinder 21 is the load-bearing leg of the mechanism and is also a power device that provides height changes for the sand mold clamping and turning mechanism 3. The electric cylinder 21 and the crossbeam 23 are connected by bolts or screws. The connecting surface of the electric cylinder 21 and the crossbeam 23 is equipped with a pressure sensor 22. The pressure sensor 22 is used to monitor the load of the crossbeam 23 and the quality of the sand mold being transported in real time. The data of the four pressure sensors 22 are transmitted back to the master control module 5 in real time for data analysis, and then the appropriate clamping force is obtained.

[0027] The sand mold clamping and flipping mechanism 3 is composed of a linear module 39, a clamping arm 36, a clamping plate 34, a load-bearing shaft 31, a copper sleeve 32, a mounting frame 33, a strain gauge 35, a central control rotating platform 37, and a driving motor 38. The clamping arm 36 is tightly connected to the linear module 39 by bolts or screws. The linear motion of the linear module 39 controls the distance between the two clamping plates 34 and the sand mold. When the clamping action is required, the two linear modules 39 drive the two clamping arms 36 to move in opposite directions until the clamping plates 34 contact the sand mold and generate a clamping force; the two ends of the load-bearing shaft 31 are respectively connected to the output ends of the clamping plate 34 and the central control rotating platform 37 by bolts or screws, which are responsible for outputting the flipping torque output by the driving motor 38 to the clamping plate 34 after deceleration and torque increase of the central control rotating platform 37, thereby completing the flipping action of the sand mold; the load-bearing shaft 31 is connected to the supporting plate 37 through the shaft sleeve. The arms are coaxially connected; the mounting frame 33 is installed on the clamping arm 36, providing a fastening installation position for the bolts or screws of the central control rotating platform, and cooperating with the clamping plate 34 to provide axial positioning for the load-bearing shaft 31; a boss is designed on the contact surface between the clamping plate 34 and the sand mold, and the boss cooperates with the corresponding slots of the sand mold to reduce the dependence of the sand mold on the clamping force when transporting and flipping the sand mold; the contact surface between the clamping plate 34 and the sand mold can be designed to be a contoured surface that adapts to the appearance of the corresponding sand mold in order to adapt to sand molds of different shapes. Since the clamping plate 34 is connected to the load-bearing shaft 31 by bolts or screws, when it is necessary to replace a clamping plate 34 of a different shape, the clamping plate 34 can be quickly replaced by removing the fixing screws or bolts; a strain gauge 35 is attached to the surface of the clamping arm 36, and the master control module 5 calculates the clamping force on the current sand mold surface by collecting the data output by the strain gauge 35 in real time.

[0028] The environmental perception module 4 is installed on the frame of the handling device. The module consists of a 3D dot scanning sensor, a machine vision camera, and a thermal imager. The 3D dot scanning sensor is used to identify and reconstruct the 3D workspace of the handling device and measure the geometric parameters and dimensional accuracy of the sand mold. The vision camera is used to identify the position, shape, and material of the sand mold relative to the handling device. The thermal imager is used to detect the ambient temperature of the device and the temperature of the sand mold surface. The module provides the handling device with the ability to perceive the sand mold shape, material, volume, weight, surface temperature, dimensional accuracy, and environment.

[0029] The master control module 5 collects data from the pressure sensor 22, the strain gauge 35, and the environmental perception module 4 in real time for real-time analysis and decision-making, and generates the current optimal working parameters and adjustment parameters through methods such as coupling mapping and digital twins, and feeds back to each mechanism in real time for real-time regulation to optimize the handling process.

Claims

1. An intelligent frozen sand mold handling device with environmental perception function suitable for a frozen casting production line, characterized in that: It includes a walking mechanism, a supporting lifting mechanism, a sand mold clamping and turning mechanism, an environmental perception module, and a master control module; the walking mechanism is the chassis of the whole machine, which is responsible for the movement of the whole machine in all directions on the ground or in a certain working plane. The supporting lifting mechanism is placed on the walking mechanism and is fastened with bolts or screws; the supporting lifting mechanism is responsible for adjusting the clamping height of the device and providing the necessary turning space when the sand mold is turned over; the sand mold clamping and turning mechanism is installed on the crossbeam of the supporting lifting mechanism and is fastened with bolts or screws, and the sand mold clamping mechanism is responsible for executing the clamping and turning actions of the sand mold; the environmental perception module provides the master control module with three-dimensional spatial data including but not limited to the ambient temperature, the location of the sand mold, and the location of the device. The position, sand mold three-dimensional model, sand mold temperature, sand mold shape, sand mold dimensional accuracy, sand mold material and other environmental and sand mold parameters provide the device with environmental perception capabilities; the general control mechanism is the central processor of the whole machine, which is installed on the frame of the walking mechanism. It is used to process the various sand mold parameters, environmental perception parameters and whole machine action parameters collected from various mechanisms in real time for real-time analysis and decision-making, and generate the current optimal working parameters and adjustment parameters through coupling mapping and digital twin methods, and feed back to each mechanism in real time for real-time regulation, so that the device can automatically identify and go to the sand mold position, complete the fixed-point transportation of the sand mold and the turning over of the sand mold without destroying the shape accuracy of the sand mold, and realize the non-destructive grabbing, transportation and turning over of the frozen sand mold.

2. According to claim 1, a frozen sand mold intelligent handling device with environmental perception function suitable for a frozen casting production line is characterized in that: The walking mechanism is the power source for the whole machine to walk and move. The mechanism is composed of a frame chassis, a driving wheel, and a universal wheel. The frame is provided with corresponding threaded holes or through holes for fastening and installation of the driving wheel, the universal wheel and other mechanisms of the device. The power for the linear motion and steering of the driving mechanism is provided by the driving wheel. The two driving wheels rotate in the same direction and at the same speed to enable the walking mechanism to achieve linear motion. The steering of the walking mechanism is achieved through the differential motion of the two driving wheels. During the movement of the whole machine, the speed difference of the two driving wheels is fine-tuned to achieve the curved motion of the whole machine, that is, the steering during movement.

3. According to claim 1, a frozen sand mold intelligent handling device with environmental perception function suitable for a frozen casting production line is characterized in that: The supporting lifting mechanism is composed of an electric cylinder, a pressure sensor, and a crossbeam. The electric cylinder is the load-bearing leg of the mechanism and is also a power device that provides height changes for the sand mold clamping and flipping mechanism. The electric cylinder and the crossbeam are connected by bolts or screws. The connecting surface of the electric cylinder and the crossbeam is equipped with a pressure sensor. The pressure sensor is used to monitor the load of the crossbeam and the quality of the sand mold being transported in real time. The data of the four pressure sensors are transmitted back to the master control module in real time for data analysis, and then the appropriate clamping force is obtained.

4. According to claim 1, a frozen sand mold intelligent handling device with environmental perception function suitable for a frozen casting production line is characterized in that: The sand mold clamping and flipping mechanism is composed of a linear module, a clamping arm, a clamping plate, a load-bearing shaft, a copper sleeve, a mounting frame, a strain gauge, a hollow rotating platform, and a driving motor, wherein the clamping arm is tightly connected to the linear module by bolts or screws, and the linear motion of the linear module controls the distance between the two clamping plates and the sand mold. When the clamping action is required, the two linear modules drive the two clamping arms to move in opposite directions until the clamping plates contact the sand mold and generate a clamping force; the two ends of the load-bearing shaft are respectively connected to the clamping plate and the output end of the hollow rotating platform by bolts or screws, which are responsible for outputting the flipping torque output by the driving motor to the clamping plate after the hollow rotating platform is decelerated and torqued, thereby completing the flipping action of the sand mold; the load-bearing shaft is coaxially connected to the supporting arm through a bushing; the mounting frame is installed It is installed on the clamping arm to provide a fastening installation position for the bolts or screws of the central control rotating platform, and cooperates with the clamping plate to provide axial positioning for the load-bearing shaft; a boss is designed on the contact surface between the clamping plate and the sand mold, and the boss cooperates with the corresponding slot of the sand mold to reduce the dependence of the sand mold on the clamping force when carrying and flipping the sand mold; the contact surface between the clamping plate and the sand mold can be designed to be a contoured surface that adapts to the surface of the corresponding sand mold in order to adapt to sand molds of different shapes. Since the clamping plate and the load-bearing shaft are connected by bolts or screws, when it is necessary to replace a clamping plate of a different shape, the clamping plate can be quickly replaced by removing the fixing screws or bolts; a strain gauge is attached to the surface of the clamping arm, and the master control module calculates the clamping force on the current sand mold surface by collecting the data output by the strain gauge in real time.

5. According to claim 1, a frozen sand mold intelligent handling device with environmental perception function suitable for a frozen casting production line is characterized in that: The environmental perception module is installed on the frame of the handling device. The module consists of a 3D dot scanning sensor, a machine vision camera, and a thermal imager. The 3D dot scanning sensor is used to identify and reconstruct the 3D workspace of the handling device and measure the geometric parameters and dimensional accuracy of the sand mold. The vision camera is used to identify the position, shape, and material of the sand mold relative to the handling device. The thermal imager is used to detect the ambient temperature of the device and the temperature of the sand mold surface. The module provides the handling device with the ability to perceive the sand mold shape, material, volume, weight, surface temperature, dimensional accuracy, and environment.

6. The intelligent frozen sand mold handling device with environmental perception function suitable for a frozen casting production line according to claim 1 is characterized in that: The master control module collects data from pressure sensors, strain gauges, and environmental perception modules in real time for real-time analysis and decision-making, and generates the current optimal working parameters and adjustment parameters through coupling mapping and digital twin methods, and provides real-time feedback to each mechanism for real-time regulation to optimize the handling process.

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