A frozen sand mold intelligent carrying device with environment sensing function and applicable to a freeze casting production line

Abstract

This invention discloses an intelligent handling device for frozen sand molds with environmental sensing capabilities, suitable for frozen casting production lines. The device includes a walking mechanism, a support and lifting mechanism, a sand mold clamping and tilting mechanism, an environmental sensing module, and a central control module. The walking mechanism is the power source for the entire machine's movement and consists of a frame chassis, drive wheels, and casters. The support and lifting mechanism consists of an electric cylinder, a pressure sensor, and a crossbeam. The sand mold clamping and tilting mechanism consists of a linear module, clamping arms, clamping plates, a load-bearing shaft, a copper sleeve, a mounting bracket, strain gauges, a hollow rotating platform, and a drive motor. The environmental sensing module is mounted on the frame of the handling device. The block consists of a 3D dot matrix scanning sensor, a machine vision camera, and a thermal imager. The central control module collects data from pressure sensors, strain gauges, and environmental sensing modules in real time for analysis and decision-making. It generates the current optimal working parameters and adjustment parameters through methods such as coupling mapping and digital twins, and feeds them back to each mechanism for real-time control to optimize the handling process. This invention solves the problem of large-scale frozen sand handling and turning in the molding process in a cryogenic casting production line, improves the molding efficiency and accuracy of sand molds, greatly reduces manpower, and plays a role in cost reduction and efficiency improvement for the entire cryogenic casting production line, which is in line with the national trend of developing green casting.

Description

Technical Field

[0001] This invention pertains to auxiliary handling and flipping devices for frozen sand molds in a frozen casting production line, specifically relating to an intelligent handling device for frozen sand molds with environmental sensing capabilities suitable for frozen casting production lines. Background Technology

[0002] Cryogenic casting is an innovative casting process that uses freezing technology to manufacture molds, achieving green, efficient, and high-quality casting production, aligning with the national trend of developing green casting. The advantages of this process include the use of low-cost, reusable molds and the ability to produce high-quality castings in a short time. Furthermore, due to the use of freezing technology, this process effectively reduces waste and energy consumption, making it a sustainable manufacturing technology. Casting, with its advantages of low production cost, wide applicability, and ease of operation, has been widely used in aerospace, shipbuilding, rail transportation, and automotive industries. Cryogenic sand mold forming technology often employs digital technologies such as 3D modeling and simulation optimization to achieve rapid design and forming of cryogenic sand molds through processes such as turning, milling, negative pressure forming, and 3D printing of sand mold blanks. However, for large cryogenic sand molds, such as those measuring 500mm × 500mm × 200mm, manual handling and flipping without any tools is difficult. Therefore, designing a cryogenic sand mold handling and flipping device to assist in the sand mold forming process is a pressing problem that needs to be solved in today's cryogenic casting production lines. Summary of the Invention

[0003] To address the aforementioned issues, this invention discloses an intelligent handling device for frozen sand molds with environmental sensing capabilities, suitable for cryogenic casting production lines. This device solves the problems of handling large frozen sand molds and flipping them during the molding process in cryogenic casting production lines, improving the molding efficiency and accuracy of sand molds, greatly reducing manpower, and playing a role in cost reduction and efficiency improvement for the entire cryogenic casting production line.

[0004] An intelligent handling device for frozen sand molds in a frozen casting production line, equipped with environmental sensing capabilities, includes a traveling mechanism, a support and lifting mechanism, a sand mold clamping and flipping mechanism, an environmental sensing module, and a central control module. The traveling mechanism serves as the chassis of the entire machine, responsible for its movement in all directions on the ground or a specific working plane. The support and lifting mechanism is mounted on the traveling mechanism and secured with bolts or screws. The support and lifting mechanism adjusts the clamping height of the device and provides the necessary space for sand mold flipping. The sand mold clamping and flipping mechanism is mounted on the crossbeam of the support and lifting mechanism and secured with bolts or screws; it performs the clamping and flipping actions of the sand mold. The environmental sensing module provides the central control module with information including, but not limited to, the environment in which the device is located. The device acquires environmental and sand mold parameters such as three-dimensional spatial data, ambient temperature, sand mold location, sand mold 3D model, sand mold temperature, sand mold shape, sand mold dimensional accuracy, and sand mold material, providing environmental perception capabilities. The central control module, the central processor of the entire machine, is installed on the frame of the walking mechanism. It is used to collect various sand mold parameters, environmental perception parameters, and overall machine action parameters collected in real time from various mechanisms, perform real-time analysis and decision-making, and generate the current optimal working parameters and adjustment parameters through methods such as coupling mapping and digital twins. These parameters are then fed back to each mechanism for real-time control, enabling the device to automatically identify and move to the sand mold location, complete the fixed-point handling and flipping of the sand mold without damaging its shape accuracy, and achieve non-destructive gripping, handling, and flipping of frozen sand molds.

[0005] Furthermore, the walking mechanism is the power source for the movement of the entire machine. This mechanism consists of a frame chassis, drive wheels, and casters. The frame has corresponding threaded holes or through holes for fastening and installation of the drive wheels, casters, and other components. The power for the linear motion and steering of the walking mechanism is provided by the drive wheels. The two drive wheels rotate in the same direction and at the same speed, enabling the walking mechanism to achieve linear motion. The differential motion of the two drive wheels enables the walking mechanism to achieve steering. During the movement of the entire machine, the curved motion of the entire machine, i.e., steering during movement, is achieved by finely adjusting the speed difference between the two drive wheels.

[0006] Furthermore, the supporting lifting mechanism consists of an electric cylinder, a pressure sensor, and a crossbeam. The electric cylinder is the load-bearing support leg of the mechanism and also the power device that provides height variation for the sand mold clamping and turning mechanism. The electric cylinder and the crossbeam are connected by bolts or screws. The connection surface between the electric cylinder and the crossbeam is equipped with a pressure sensor. The pressure sensor is used to monitor the load on the crossbeam and the mass of the sand mold being transported in real time. The data from the four pressure sensors are transmitted back to the central control module in real time for data analysis, thereby obtaining the appropriate clamping force.

[0007] Furthermore, the sand mold clamping and flipping mechanism consists of a linear module, clamping arms, clamping plates, a load-bearing shaft, a copper sleeve, a mounting bracket, strain gauges, a hollow rotating platform 37, and a drive motor. The clamping arms are tightly connected to the linear module via bolts or screws. The linear motion of the linear module controls the distance between the two clamping plates and the sand mold. When clamping 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 clamping force. The load-bearing shaft connects the clamping plates and the output end of the hollow rotating platform 37 via bolts or screws, respectively. It is responsible for outputting the flipping torque, after deceleration and torque amplification, from the drive motor to the hollow rotating platform 37, to the clamping plates, completing the sand mold flipping action. The load-bearing shaft is coaxially connected to the clamping arms via a bushing. The mounting bracket is installed on the clamping arm, providing a fastening position for the bolts or screws of the hollow rotating platform, and working with the clamping plate to provide axial positioning for the load-bearing shaft. The contact surface between the clamping plate and the sand mold is designed with a boss, which cooperates with the corresponding slots in the sand mold to reduce the dependence on clamping force when handling and flipping the sand mold. The contact surface between the clamping plate and the sand mold can be designed to conform to the shape of the sand mold to accommodate different shapes. Since the clamping plate and the load-bearing shaft are connected by bolts or screws, when it is necessary to replace the clamping plate with a different shape, the clamping plate can be quickly replaced by removing the fixing screws or bolts. Strain gauges are attached to the surface of the clamping arm, and the central control module calculates the clamping force on the surface of the sand mold by collecting the data output by the strain gauges in real time.

[0008] Furthermore, the environmental perception module is installed on the frame of the handling device. This module consists of a 3D dot matrix scanning sensor, a machine vision camera, and a thermal imager. The 3D dot matrix 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 machine vision camera is used to identify the position of the sand mold relative to the handling device, the shape of the sand mold, and the material of the sand mold. The thermal imager is used to detect the ambient temperature of the device and the temperature of the sand mold surface. This module provides the handling device with the ability to perceive the shape, material, volume, weight, surface temperature, dimensional accuracy, and environment of the sand mold.

[0009] Furthermore, the central control module collects data from pressure sensors, strain gauges, and environmental sensing modules in real time for analysis and decision-making. It also generates the current optimal working parameters and adjustment parameters through methods such as coupling mapping and digital twins, and feeds them back to each mechanism for real-time control to optimize the handling process.

[0010] The beneficial effects of this invention are as follows: This invention has a simple structure, solves the problem of large-scale frozen sand handling and turning in the molding process in the frozen casting production line, improves the molding efficiency and molding accuracy of sand molds, greatly frees up manpower, and plays a role in reducing costs and increasing efficiency for the entire frozen casting production line, which is in line with the national trend of developing green casting. Attached Figure Description

[0011] Figure 1 This is an axonometric view of the present invention; Figure 2 This is a schematic diagram of the frontal motion limit position of the present invention; Figure 3 This is a side view of the present invention; Figure 4 This is an axonometric view of the walking mechanism of the present invention; Figure 5 This is a schematic diagram of the support lifting mechanism of the present invention; Figure 6 This is a front view of the sand mold clamping and flipping mechanism of the present invention; Figure 7 This is an isometric view of the sand mold clamping and flipping mechanism of the present invention; Figure 8 This is a partial cross-sectional view of the sand mold clamping and flipping mechanism of the present invention; Figure 9 This is a flowchart of the process of the present invention; Figure 10 This is a flowchart of the data processing of the overall control module of the present invention. In the diagram: 1. Walking mechanism; 2. Support lifting mechanism; 3. Sand mold clamping and flipping mechanism; 4. Environmental sensing module; 5. Overall control module; 11. Casters; 12. Frame chassis; 13. Drive wheel; 21. Electric cylinder; 22. Pressure sensor; 23. Crossbeam; 31. Load-bearing shaft; 32. Copper sleeve; 33. Mounting bracket; 34. Clamping plate; 35. Strain gauge; 36. Clamping arm; 37. Hollow rotating platform; 38. Drive motor; 39. Linear module. Detailed Implementation

[0012] To make the technical means, creative features, and achieved objectives and effects of the present invention readily understood, 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 for illustrative purposes only and are not intended to limit the scope of the present invention. It should be noted that the terms "front," "rear," "left," "right," "upper," and "lower" used in the following description refer to directions in the accompanying drawings, and the terms "inner" and "outer" refer to directions toward or away from the geometric center of a specific component, respectively. Unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can be mechanical connections or electrical connections; they can be direct connections or indirect connections through an intermediate medium; and they can refer to the internal communication of two components. Example

[0013] like Figure 1As shown, an intelligent handling device for frozen sand molds with environmental sensing capabilities, suitable for frozen casting production lines, includes a traveling mechanism 1, a supporting lifting mechanism 2, a sand mold clamping and flipping mechanism 3, an environmental sensing module 4, and a central control module 5. The traveling mechanism 1 serves as the chassis of the entire machine, responsible for its movement in all directions on the ground or a working plane. The supporting lifting mechanism 2 is mounted on the traveling mechanism 1 and secured with bolts or screws. The supporting lifting mechanism 2 is responsible for adjusting the clamping height of the device and providing the necessary flipping space for the sand mold. The sand mold clamping and flipping mechanism 3 is mounted on the crossbeam 23 of the supporting lifting mechanism 2 and secured with bolts or screws. This mechanism is responsible for performing the clamping and flipping actions of the sand mold. The environmental sensing module 4 provides the central control module 5 with, but not limited to, the following functions: The device is equipped with environmental and sand mold parameters, including three-dimensional spatial data of the environment, ambient temperature, location of the sand mold, three-dimensional model of the sand mold, sand mold temperature, sand mold shape, sand mold dimensional accuracy, and sand mold material, which provide environmental perception capabilities. The central control module is the central processor of the whole machine, installed on the frame of the walking mechanism 1. It is used to collect various sand mold parameters, environmental perception parameters, and whole machine action parameters collected in real time from various mechanisms, perform real-time analysis and decision-making, and generate the current optimal working parameters and adjustment parameters through methods such as coupling mapping and digital twin. These parameters are fed back to each mechanism in real time for real-time control, enabling the device to automatically identify and go to the sand mold location, complete the fixed-point transportation and flipping of the sand mold without damaging the shape accuracy of the sand mold, and realize the non-destructive gripping, transportation, and flipping of frozen sand molds.

[0014] The walking mechanism 1 is the power source for the movement of the entire machine. This mechanism consists of a frame chassis 12, drive wheels 13, and casters 11. The frame, drive wheels 13, casters 11, and other components of the device have corresponding threaded holes or through holes for fastening and installation. The power for the linear motion and steering of the walking mechanism is provided by the drive wheels 13. The two drive wheels 13 rotate in the same direction and at the same speed, enabling the walking mechanism 1 to achieve linear motion. The steering of the walking mechanism 1 is achieved through the differential motion of the two drive wheels 13. During the movement of the entire machine, the curved motion of the entire machine, i.e., the steering during movement, is achieved by finely adjusting the speed difference between the two drive wheels 13.

[0015] The supporting lifting mechanism 2 consists of an electric cylinder 21, a pressure sensor 22, and a crossbeam 23. The electric cylinder 21 is the load-bearing support leg of the mechanism and also the power device that provides height change for the sand mold clamping and turning mechanism 3. The electric cylinder 21 and the crossbeam 23 are connected by bolts or screws. The connection surface between 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 on the crossbeam 23 and the mass of the sand mold being transported in real time. The data from the four pressure sensors 22 are transmitted back to the central control module 5 in real time for data analysis, thereby obtaining the appropriate clamping force.

[0016] The sand mold clamping and flipping mechanism 3 consists of a linear module 39, clamping arms 36, clamping plates 34, a load-bearing shaft 31, a copper sleeve 32, a mounting bracket 33, strain gauges 35, a hollow rotating platform 37, and a drive motor 38. The clamping arms 36 are 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 clamping 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 clamping force. The load-bearing shaft 31 is connected at both ends to the output ends of the clamping plates 34 and the hollow rotating platform 37 by bolts or screws. It is responsible for outputting the flipping torque, after deceleration and torque amplification, from the drive motor 38 to the hollow rotating platform 37, to the clamping plates 34, completing the flipping action of the sand mold. The load-bearing shaft 31 is connected to the clamping arms via a bushing. Coaxial connection; the mounting bracket 33 is mounted on the clamping arm 36, providing a fastening position for the bolts or screws of the hollow rotating platform, and cooperating with the clamping plate 34 to provide axial positioning for the load-bearing shaft 31; the contact surface between the clamping plate 34 and the sand mold is designed with a boss, which cooperates with the corresponding slot of the sand mold to reduce the dependence on clamping force when handling and flipping the sand mold; the contact surface between the clamping plate 34 and the sand mold can be designed to conform to the shape of the sand mold to adapt to the corresponding shape of the sand mold. Since the clamping plate 34 and the load-bearing shaft 31 are connected by bolts or screws, when it is necessary to replace the clamping plate 34 with a different shape, the clamping plate 34 can be quickly replaced by removing the fixing screws or bolts; strain gauges 35 are attached to the surface of the clamping arm 36, and the central control module 5 calculates the clamping force on the surface of the sand mold by collecting the data output by the strain gauges 35 in real time.

[0017] The environmental perception module 4 is installed on the frame of the handling device. This module consists of a 3D dot matrix scanning sensor, a machine vision camera, and a thermal imager. The 3D dot matrix 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 machine vision camera is used to identify the position of the sand mold relative to the handling device, the shape of the sand mold, and the material of the sand mold. The thermal imager is used to detect the ambient temperature of the device and the temperature of the sand mold surface. This module provides the handling device with the ability to perceive the shape, material, volume, weight, surface temperature, dimensional accuracy, and environment of the sand mold.

[0018] The central control module 5 collects data from the pressure sensor 22, strain gauge 35, and environmental sensing module 4 in real time, performs 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. These parameters are then fed back to each mechanism for real-time control to optimize the handling process.

Claims

1. A cryogenic sand mold intelligent handling device with environmental sensing capabilities suitable for cryogenic casting production lines, characterized in that: The system includes a walking mechanism, a support and lifting mechanism, a sand mold clamping and flipping mechanism, an environmental sensing module, and a central control module. The walking mechanism serves as the chassis of the entire machine, responsible for its movement in all directions on the ground or a specific working plane. The support and lifting mechanism is mounted on the walking mechanism and secured with bolts or screws. The support and lifting mechanism adjusts the clamping height of the device and provides the necessary space for sand mold flipping. The sand mold clamping and flipping mechanism is mounted on the crossbeam of the support and lifting mechanism and secured with bolts or screws. This mechanism is responsible for performing the clamping and flipping actions of the sand mold. The environmental sensing module provides the central control module with three-dimensional spatial data, including but not limited to the environment in which the device is located, ambient temperature, and the location of the sand mold. The device is equipped with environmental and sand mold parameters such as location, 3D model of the sand mold, sand mold temperature, sand mold shape, sand mold dimensional accuracy, and sand mold material, providing environmental perception capabilities. The central control module is the central processor of the entire machine, installed on the frame of the walking mechanism. It is used to collect various sand mold parameters, environmental perception parameters, and overall machine action parameters collected in real time from various mechanisms, perform real-time analysis and decision-making, and generate the current optimal working parameters and adjustment parameters through methods such as coupling mapping and digital twin. These parameters are fed back to each mechanism in real time for real-time control, enabling the device to automatically identify and move to the sand mold location, complete the fixed-point transportation and flipping of the sand mold without damaging the shape accuracy of the sand mold, and achieve non-destructive gripping, transportation, and flipping of frozen sand molds.

2. The intelligent handling device for frozen sand molds with environmental sensing function suitable for frozen casting production lines according to claim 1, characterized in that, The walking mechanism is the power source for the movement of the entire machine. This mechanism consists of a frame chassis, drive wheels, and casters. The frame has corresponding threaded holes or through holes for fastening and installation of the drive wheels, casters, and other components. The linear motion and steering of the walking mechanism are powered by the drive wheels. The two drive wheels rotate in the same direction and at the same speed, enabling the walking mechanism to achieve linear motion. The differential motion of the two drive wheels enables the walking mechanism to achieve steering. During the movement of the entire machine, the curved motion of the entire machine, i.e., steering during movement, is achieved by finely adjusting the speed difference between the two drive wheels.

3. The intelligent handling device for frozen sand molds with environmental sensing function suitable for frozen casting production lines according to claim 1, characterized in that, The supporting lifting mechanism consists of an electric cylinder, a pressure sensor, and a crossbeam. The electric cylinder is the load-bearing support leg of the mechanism and also the power device that provides height variation for the sand mold clamping and turning mechanism. The electric cylinder and the crossbeam are connected by bolts or screws. The connection surface between the electric cylinder and the crossbeam is equipped with a pressure sensor. The pressure sensor is used to monitor the load on the crossbeam and the quality of the sand mold being transported in real time. The data from the four pressure sensors are transmitted back to the central control module in real time for data analysis, thereby determining the appropriate clamping force.

4. The intelligent handling device for frozen sand molds with environmental sensing function suitable for frozen casting production lines according to claim 1, characterized in that, The sand mold clamping and flipping mechanism consists of a linear module, clamping arms, clamping plates, a load-bearing shaft, a copper sleeve, a mounting bracket, strain gauges, a hollow rotating platform, and a drive motor. The clamping arms are tightly connected to the linear module via bolts or screws. The linear motion of the linear module controls the distance between the two clamping plates and the sand mold. When clamping 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 clamping force. The load-bearing shaft is connected to the output ends of the clamping plates and the hollow rotating platform via bolts or screws, respectively. It outputs the flipping torque, after deceleration and torque amplification, from the drive motor to the hollow rotating platform, to the clamping plates, completing the sand mold flipping action. The load-bearing shaft is coaxially connected to the clamping arms via a bushing. The mounting bracket is installed... The clamping arm provides bolt or screw fastening positions for the hollow rotating platform, and works with the clamping plate to provide axial positioning for the load-bearing shaft. The contact surface between the clamping plate and the sand mold is designed with a boss, which engages with the corresponding slot in the sand mold to reduce the dependence on clamping force when handling and flipping the sand mold. The contact surface between the clamping plate and the sand mold can be designed to conform to the shape of the sand mold to accommodate different shapes. Since the clamping plate and the load-bearing shaft are connected by bolts or screws, the clamping plate can be quickly replaced by removing the fixing screws or bolts when it is necessary to replace the clamping plate with a different shape. Strain gauges are attached to the surface of the clamping arm, and the central control module calculates the clamping force on the surface of the sand mold by collecting the data output by the strain gauges in real time.

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

6. The intelligent handling device for frozen sand molds with environmental sensing function suitable for frozen casting production lines according to claim 1, characterized in that, The central control module collects data from pressure sensors, strain gauges, and environmental sensing modules in real time for analysis and decision-making. It also generates the current optimal working parameters and adjustment parameters through methods such as coupling mapping and digital twins, and feeds them back to each mechanism for real-time control to optimize the handling process.

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