Intelligent casting device based on robot-assisted enhanced cooling and control method thereof

Abstract

The intelligent casting device comprises a low-pressure anti-gravity casting machine, a heat preservation furnace is arranged in the low-pressure anti-gravity casting machine, the heat preservation furnace is filled with metal melt, and an air inlet channel is formed in the position, located above the heat preservation furnace, of the side wall of the low-pressure anti-gravity casting machine; a sprue base is arranged at the top of the low-pressure anti-gravity casting machine, the thin-shell casting mold is inversely arranged at the top of the sprue base in a rotatable mode, a liquid rising pipe is connected to the interior of the heat preservation furnace, one end of the liquid rising pipe is located in the heat preservation furnace and communicates with a metal melt, and the other end of the liquid rising pipe is located in the sprue base and communicates with an inner cavity of the thin-shell casting mold. The intelligent cooling nozzle robot and intelligent detection device combination is arranged outside the thin-shell casting mold, the applicability is high, operation is easy, the cooling mode and speed adjustability is high, the number of casting defects is small, the structure is fine and compact, the production cost is low, the efficiency is high, and digital, intelligent and high-performance manufacturing of high-end complex castings can be achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent casting, and in particular relates to an intelligent casting device based on robot-assisted enhanced cooling and a control method thereof. Background Art

[0002] Sand casting is a process of making a sand mold of a casting using molding sand with corresponding characteristics, combining a sand core of the corresponding casting shape with the sand mold, taking out the sand core to obtain a sand mold shell, and then pouring the prepared characteristic metal solution to obtain the casting after cooling. The characteristics of sand casting are that the molding materials used are cheap and easy to obtain, the mold is easy to manufacture, and it is suitable for mass production of castings. Since the sand mold shell can withstand extremely high melting points and the surface has a certain degree of air permeability, the metal liquid is easy to fill during pouring, and thin-walled components can be formed. It is suitable for the preparation process of most components in the aerospace field and has a wide range of applications.

[0003] Counter-gravity casting is a casting method that allows liquid metal to fill the mold cavity and solidify under a certain pressure. The process flow is as follows: first, dry compressed gas is introduced into a closed insulation furnace, and the molten metal in the insulation furnace rises along the riser under gas pressure and enters the mold cavity through the gate. The gas pressure in the insulation furnace is maintained until the molten metal in the cavity is completely solidified to form a casting, and then the pressure in the insulation furnace is released to allow the unsolidified molten metal in the riser to flow back to the insulation furnace, and then the pressure of the clamping device on the top of the mold is released to take out the casting. The characteristics of counter-gravity casting are that the molten metal fills the mold smoothly during casting, which can reduce defects such as oxidation slag inclusions, and can also solidify under pressure, so that the interdendritic filling is good, which can reduce casting defects such as shrinkage cavities and shrinkage, and obtain a dense solidification structure.

[0004] Traditional sand casting is done by manual pouring in a sand box under gravity. It has a low level of digitization and intelligence, uncontrollable cooling rate, and poor casting quality stability. At the same time, for castings with complex structures, the sand core manufacturing is complicated and the sand mold shell is difficult to form. In addition, the products obtained by pouring under gravity often have many internal defects and the mechanical properties do not meet the standards.

[0005] Therefore, a new solution needs to be proposed to solve the above-mentioned defects and problems in the prior art. Summary of the invention

[0006] In order to solve the defects and shortcomings in the above-mentioned prior art, the present invention proposes an intelligent casting device based on robot-assisted enhanced cooling and a control method thereof.

[0007] The technical solution provided by the present invention includes: The intelligent casting device based on robot-assisted enhanced cooling is characterized in that it includes a low-pressure anti-gravity casting machine, a holding furnace is arranged inside the low-pressure anti-gravity casting machine, the holding furnace is filled with molten metal, an air inlet channel is opened on the side wall of the low-pressure anti-gravity casting machine and located above the holding furnace, a gate base is arranged on the top of the low-pressure anti-gravity casting machine, a thin-shell mold is rotatably inverted on the top of the gate base, a riser pipe is connected to the inside of the holding furnace, one end of the riser pipe is located inside the holding furnace and connected to the molten metal, the other end of the riser pipe is located inside the gate base and connected to the internal cavity of the thin-shell mold, and a combination of an intelligent cooling nozzle robot and an intelligent detection device is arranged outside the thin-shell mold.

[0008] As a further preferred embodiment of the present invention, the thin shell mold is a sand casting mold or an investment casting mold, the surface of the thin shell mold is provided with a reinforcing rib structure, and the thin shell mold with the reinforcing rib structure on the surface is manufactured by a digital manufacturing method, and the digital manufacturing method at least includes a digital additive manufacturing method and a digital CNC cutting method.

[0009] As a further preferred embodiment of the present invention, the thin shell mold is inverted on the top of the gate base by a robot or a transport rail with a clamping device.

[0010] As a further preferred embodiment of the present invention, the cooling medium in the cooling nozzle of the intelligent cooling nozzle robot is selected from at least one of gas, liquid, gas-liquid mixture, gas-solid mixture or solid-liquid mixture; the gas medium is selected from a mixture of at least one or more of water vapor, compressed air, nitrogen, hydrogen, oxygen, carbon dioxide, argon, neon, helium, krypton, and xenon; the liquid medium is selected from a mixture of at least one or more of water, oil, coolant, and liquid nitrogen; the solid particles are selected from a mixture of at least one or more of carbon, graphite, diamond, aluminum nitride, silicon nitride, boron nitride, silicon carbide, carbon nanotubes, graphene, magnesium oxide, aluminum oxide, zinc oxide, silicon dioxide, gold, silver, copper, aluminum, magnesium, iron, and stainless steel.

[0011] As a further preferred embodiment of the present invention, the intelligent cooling nozzle robot is capable of performing real-time feedback adjustment on adjustable parameters according to the detection results of the intelligent detection device combination, and the adjustable parameters of the intelligent cooling nozzle robot include at least nozzle angle, nozzle position, medium injection amount and medium injection speed, and when the casting mold is locally cooled and solidified sequentially, the adjustment priority of the medium injection amount and the medium injection speed is higher than the adjustment priority of the nozzle position and the nozzle angle; and when the subsequent solidified layer before the casting mold is re-melted, the adjustment priority of the nozzle position and the nozzle angle is higher than the adjustment priority of the medium injection amount and the medium injection speed.

[0012] As a further preferred embodiment of the present invention, a plurality of intelligent cooling nozzle robots are evenly arranged on the periphery of the thin-shell casting, and after the thin-shell casting stops rotating, the plurality of intelligent cooling nozzle robots work synchronously to complete the enhanced cooling process of the casting.

[0013] As a further preferred embodiment of the present invention, the intelligent detection device combination includes at least a temperature detection module and a distance detection module; the intelligent detection device combination follows the intelligent cooling nozzle robot to perform horizontal and vertical movements synchronously to respectively detect the temperature of the metal melt in the preceding solidification layer, the intermediate real-time cooling and solidification layer, and the subsequent unsolidified layer.

[0014] As a further preferred embodiment of the present invention, the intelligent detection device combination and the intelligent cooling nozzle robot are clamped by a manipulator or installed on a guide rail to achieve synchronous horizontal and vertical movement of the intelligent detection device combination following the intelligent cooling nozzle robot.

[0015] As a further preferred embodiment of the present invention, the intelligent cooling nozzle robot can perform the following adjustment actions according to the real-time monitoring results of the intelligent detection device combination: First, the temperature and distance of the thin-shell mold are detected from top to bottom in real time through the combination of intelligent detection devices, and the operation of the cooling nozzle of the intelligent cooling nozzle robot is controlled at the same time. According to the three-dimensional shapes of the casting and the thin-shell mold and the real-time detection distance, the medium injection amount and medium injection speed of the intelligent cooling nozzle robot and the distance between the cooling nozzle and the real-time cooling and solidification layer are adjusted until the cooling medium can evenly and comprehensively cover the side of the middle real-time cooling and solidification layer, and finally move downward in coordination with the combination of intelligent detection devices to ensure that the metal melt in the thin-shell mold is cooled, enhanced and solidified sequentially layer by layer from top to bottom; Second, if the temperature of the preceding solidified layer of the thin shell casting mold is detected in real time by the combination of intelligent detection devices and is higher than the preset temperature, the abnormal result is fed back to the control system, and the intelligent cooling nozzle robot is controlled to move to the preceding solidified layer according to the real-time distance detection result of the intelligent detection device, and the nozzle position and nozzle angle of the intelligent cooling nozzle robot are adjusted so that the cooling nozzle can perform local secondary cooling enhancement on the re-melted part of the preceding solidified layer; Third, if the intelligent detection device combination detects in real time that the temperature of the molten metal inside the subsequent unsolidified layer drops below the preset temperature in advance, the abnormal result will be fed back to the control system, and the control system will send a signal to increase the gas pressure in the low-pressure anti-gravity device, driving the molten metal to rise to increase the temperature of this layer. At the same time, the medium injection amount and medium injection speed of the intelligent cooling nozzle robot are enhanced to speed up the cooling speed of the real-time cooling and solidification layer.

[0016] Furthermore, the present invention also provides a control method for an intelligent casting device based on robot-assisted enhanced cooling, which is characterized by comprising the following steps: Step S1: preparing a thin shell casting mold with a reinforcing rib structure, and placing a holding furnace filled with molten metal in a sealed and pressurized low-pressure anti-gravity casting machine, and inserting a liquid riser in the holding furnace; Step S2: Invert the thin shell casting mold in a rotatable manner on the top of the gate base of the low-pressure anti-gravity casting machine and seal it, so that the interior of the thin shell casting mold is connected to the riser pipe; install an intelligent cooling nozzle robot and an intelligent detection device combination around the thin shell casting mold; Step S3: introducing dry compressed gas into the low-pressure counter-gravity casting machine through the air inlet channel, and the air pressure causes the molten metal in the holding furnace to rise along the riser pipe into the cavity of the thin-shell casting mold until the molten metal fills the cavity; Step S4: rotating the thin shell mold, maintaining and increasing the gas pressure, detecting the temperature of the thin shell mold and the molten metal through the combination of intelligent detection devices, controlling the intelligent cooling nozzle robot and the combination of intelligent detection devices to move layer by layer from top to bottom and implement intelligent feedback adjustment, while the intelligent cooling nozzle robot sprays cooling medium to accelerate the cooling of the molten metal inside the thin shell mold, so that the molten metal inside the thin shell mold can be rapidly solidified from top to bottom; Step S5: After the molten metal inside the thin-shell casting mold is completely solidified, the rotation of the thin-shell casting mold is stopped, the intelligent cooling nozzle robot and the intelligent detection device combination are removed, and the air is released and the pressure is reduced at the same time, so that the molten metal inside the riser tube refluxes; Step S6: The thin shell mold containing the casting is removed to obtain the casting, the production cycle is completed, and the machine returns to the original position. Compared with the prior art, the present invention has the following beneficial effects: 1) The present invention provides an intelligent casting device based on robot-assisted enhanced cooling and a control method thereof. By designing a thin-shell mold with a reinforcing rib structure, the disadvantage that a traditional sand mold needs a sand box to ensure the integrity of the mold structure is overcome. The reinforcing rib structure is arranged on the outer surface of the thin-shell mold by a digital processing method, which can enhance the strength and rigidity of the thin-shell mold, maintain the structural integrity of the thin-shell mold during the casting process, and prevent the collapse of the thin-shell mold due to high casting pressure or loose structure. More importantly, the fast heat transfer characteristic of the thin-shell mold is utilized to realize real-time, rapid and intelligent regulation of the cooling and solidification speed of the molten metal in the mold, thereby overcoming the problems of the traditional thick and large sand box casting sand mold having excessive wall thickness, extremely slow heat transfer, and inability to realize real-time and rapid regulation of the cooling speed of the molten metal in the mold.

[0018] 2) The present invention provides an intelligent casting device based on robot-assisted enhanced cooling and a control method thereof, adopts a digital method to manufacture thin-shell molds, adopts digital cutting or digital additive manufacturing technology such as moldless CNC cutting technology or 3D printing sand mold technology to process thin-shell molds, and completes the manufacture of thin-shell molds without the need for sand boxes, sand cores, auxiliary tooling and materials, thereby simplifying the manufacturing process of traditional molds, reducing the impact of human factors on the mold manufacturing process, and realizing full digitization of the thin-shell mold manufacturing process.

[0019] 3) The present invention provides an intelligent casting device based on robot-assisted enhanced cooling and a control method thereof, which performs intelligent cooling of thin-shell castings by coordinating an intelligent detection device combination and an intelligent cooling nozzle robot. The intelligent detection device combination is set to respectively detect the temperature of the metal melt in the preceding solidification layer, the intermediate real-time cooling solidification layer and the subsequent unsolidified layer, and the intelligent cooling nozzle robot and the intelligent detection device combination are controlled to follow and move downward layer by layer, so as to realize intelligent gradient sequential cooling and solidification of the thin-shell casting. At the same time, according to the real-time detection of the intelligent detection device combination, the cooling position and cooling medium parameters of the intelligent cooling nozzle robot are adjusted by intelligent feedback to prevent unexpected conditions such as filling failure, blockage of the solidification and shrinkage feeding path, insufficient solidification and shrinkage feeding, increased defects, and scrapped castings caused by the re-melting of the preceding solidification layer or the first solidification of the metal melt in the subsequent unsolidified layer, so as to realize intelligent detection and adjustment of the metal melt inside the thin-shell casting and intelligent cooling rate enhanced solidification.

[0020] 4) The present invention provides an intelligent casting device based on robot-assisted enhanced cooling and a control method thereof. By rotating the mold, the molten metal inside the mold can be pressed tightly against the inner surface of the mold under the action of centrifugal force, thereby realizing cooling casting of thin-walled castings. At the same time, only one side needs to be provided with an intelligent cooling nozzle robot to realize overall cooling of the thin-shell mold, thereby achieving the effects of reducing production costs, facilitating installation and strong controllability. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. The accompanying drawings are only provided for reference and explanation and are not intended to limit the present invention.

[0022] Figure 1 A schematic diagram of the structure of the intelligent casting device provided by the present invention; Figure 2 A schematic structural diagram of a thin shell casting mold with a reinforcing rib structure provided by the present invention; Figure 3 A schematic diagram of the steps of the control method provided by the present invention; Figure 4 A schematic flow chart of step S1 of the control method provided by the present invention; Figure 5A schematic flow chart of step S2 of the control method provided by the present invention; Figure 6 A schematic flow chart of step S3 of the control method provided by the present invention; Figure 7 A schematic diagram of solidifying five workstations layer by layer from top to bottom in step S4 of the control method provided by the present invention; Figure 8 A schematic flow chart of step S5 of the control method provided by the present invention; Fig. 9 A schematic flow chart of step S6 of the control method provided by the present invention; In the figure: 1. low-pressure anti-gravity casting machine; 2. air inlet channel; 3. holding furnace; 4. molten metal; 5. riser; 6. gate base; 7. thin shell casting mold; 8. reinforcing rib structure; 9. intelligent cooling nozzle robot; 10. intelligent detection device combination; DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "two ends", "one end", "the other end" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0025] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0026] [Device Example] like Figure 1The figure shows an intelligent casting device based on robot-assisted enhanced cooling provided by an embodiment of the device of the present invention, including a low-pressure counter-gravity casting machine 1, a heat preservation furnace 3 is arranged inside the low-pressure counter-gravity casting machine 1, and a metal melt 4 is filled inside the heat preservation furnace 3. The metal melt 4 can select a mixed metal melt of corresponding proportion according to actual needs, and an air intake channel 2 is opened on the side wall of the low-pressure counter-gravity casting machine 1 and located above the heat preservation furnace 3. Compressed gas is introduced into the low-pressure counter-gravity casting machine 1 through the air intake channel 2 to drive the metal melt 4 to move upward. A gate base 6 is arranged on the top of the low-pressure counter-gravity casting machine 1, and a thin-shell casting mold 7 is rotatably inverted on the top of the gate base 6. The thin-shell casting mold 7 and the metal melt 4 inside the casting mold are evenly and quickly cooled by rotation, and at the same time, the metal melt 4 inside the casting mold can be closely filled on the inner surface position of the casting mold under the action of centrifugal force to achieve the formation. The distribution of products is accurate and uniform. As one of the preferred embodiments, the thin-shell mold 7 can be inverted on the top of the gate base 6 by a manipulator or a transport rail with a clamping device. The interior of the holding furnace 3 is connected to a riser pipe 5, one end of the riser pipe 5 is located inside the holding furnace 3 and is connected to the molten metal 4, and the other end of the riser pipe 5 is located inside the gate base 6 and is connected to the internal cavity of the thin-shell mold 7. The compressed gas introduced into the low-pressure anti-gravity casting machine 1 can drive the molten metal 4 to rise from the inside of the holding furnace 3 to the inside of the thin-shell mold 7. To ensure the internal sealing, high-temperature resistant dynamic sealing rings and other sealing parts can be added between the thin-shell mold 7 and the gate base 6; an intelligent cooling nozzle robot 9 and an intelligent detection device combination 10 are arranged on the outside of the thin-shell mold 7, and the intelligent detection device combination 10 and the intelligent cooling nozzle robot 9 are coordinated to realize intelligent cooling of the thin-shell mold 7.

[0027] like Figure 1 and Figure 2 As shown, the thin shell mold 7 in this embodiment is set in the form of a protrusion with a groove. The thin shell mold 7 in this embodiment uses a sand casting mold or an investment casting mold. The surface of the thin shell mold 7 is provided with a reinforcing rib structure 8, and the thin shell mold 7 with the reinforcing rib structure 8 on the surface is manufactured by a digital manufacturing method. The digital manufacturing method at least includes a digital additive manufacturing method and a digital CNC cutting method. Preferably, the thin shell mold 7 with the reinforcing rib structure 8 on the surface can be manufactured by moldless CNC cutting technology and / or 3D printing sand mold casting technology, wherein the 3D printing sand mold casting technology belongs to digital additive manufacturing, and the moldless CNC cutting belongs to the digital CNC cutting method, so as to realize the digitization of the thin shell mold processing and manufacturing process, complete the manufacture of the thin shell mold without the need for a sand box, a sand core, auxiliary tooling and materials, simplify the manufacturing process of the traditional mold, reduce the influence of human factors on the mold manufacturing process, and realize the full digitization of the thin shell mold manufacturing process.

[0028] In this embodiment, the cooling medium in the cooling nozzle of the intelligent cooling nozzle robot 9 is selected from at least one of gas, liquid, gas-liquid mixture, gas-solid mixture or solid-liquid mixture; wherein the gas medium is selected from a mixture of at least one or more of water vapor, compressed air, nitrogen, hydrogen, oxygen, carbon dioxide, argon, neon, helium, krypton, and xenon; the liquid medium is selected from a mixture of at least one or more of water, oil, coolant, and liquid nitrogen; the solid particles are selected from a mixture of at least one or more of carbon, graphite, diamond, aluminum nitride, silicon nitride, boron nitride, silicon carbide, carbon nanotubes, graphene, magnesium oxide, aluminum oxide, zinc oxide, silicon dioxide, gold, silver, copper, aluminum, magnesium, iron, and stainless steel to meet different cooling needs of users. And as a preference, the intelligent cooling nozzle robot 9 can perform real-time feedback adjustment on the adjustable parameters according to the detection results of the intelligent detection device combination 10, and the adjustable parameters of the intelligent cooling nozzle robot 9 at least include nozzle angle, nozzle position, medium injection amount, and medium injection speed, so as to adjust different cooling parameters to achieve different cooling rates.

[0029] As a further preferred implementation of the present embodiment, among the adjustable parameters of the intelligent cooling nozzle robot 9, when the casting is locally sequentially cooled and solidified, the adjustment priority of the medium injection amount and the medium injection speed is higher than the adjustment priority of the nozzle position and the nozzle angle. This is because at this time, only the metal melt 4 in the same layer of the casting needs to be cooled and enhanced. Therefore, the cooling effect of the medium injection amount and the medium injection speed on the metal melt 4 inside the thin-shell casting 7 is much greater than the cooling effect of the nozzle angle and the nozzle position on the metal melt 4 inside the thin-shell casting 7; and when the subsequent solidified layer before the casting is re-melted, the adjustment priority of the nozzle position and the nozzle angle should be higher than the adjustment priority of the medium injection amount and the medium injection speed. This is because at this time, the cooling of the metal melt 4 in different layers of the casting needs to be enhanced, that is, it is necessary to focus on adjusting the upper and lower layer positions of the cooling nozzle. Therefore, at this time, the cooling effect of the cooling nozzle position and the nozzle angle on the metal melt 4 inside the thin-shell casting 7 is greater than the cooling effect of the medium injection amount and the medium injection speed on the metal melt 4 inside the thin-shell casting 7.

[0030] Preferably, the intelligent cooling nozzle robot 9 in this embodiment can perform the following adjustment actions according to the real-time monitoring results of the intelligent detection device combination 10: First, the temperature and distance of the thin-shell mold 7 are detected in real time from top to bottom through the intelligent detection device combination 10, and the cooling nozzle of the intelligent cooling nozzle robot 9 is controlled to operate at the same time, and the medium injection amount and medium injection speed of the intelligent cooling nozzle robot 9 and the distance between the cooling nozzle and the real-time cooling and solidification layer are adjusted according to the three-dimensional shape of the casting and the thin-shell mold and the real-time detection distance, until the cooling medium can evenly and comprehensively cover the side of the middle real-time cooling and solidification layer, and finally move downward in coordination with the intelligent detection device combination 10 to ensure that the metal melt 4 in the thin-shell mold 7 is cooled, enhanced and solidified sequentially from top to bottom layer by layer; Second, if the temperature of the preceding solidified layer of the thin shell casting mold 7 is detected in real time by the intelligent detection device combination 10 to be increased and higher than the preset temperature, the abnormal result is fed back to the control system, and the intelligent cooling nozzle robot 9 is controlled to move to the preceding solidified layer according to the real-time distance detection result of the intelligent detection device 10, and the nozzle position and nozzle angle of the intelligent cooling nozzle robot 9 are adjusted so that the cooling nozzle can perform local secondary cooling enhancement on the re-melted part of the preceding solidified layer; Third, if the intelligent detection device combination 10 detects in real time that the temperature of the metal melt (4) inside the subsequent unsolidified layer drops below the preset temperature in advance, the abnormal result is fed back to the control system, and the control system sends a signal to increase the gas pressure in the low-pressure anti-gravity device 1, driving the metal melt 4 to rise to increase the temperature of the layer, while increasing the medium injection amount and medium injection speed of the intelligent cooling nozzle robot 9, thereby accelerating the cooling speed of the real-time cooling solidification layer.

[0031] In order to further achieve uniform and effective cooling process, multiple intelligent cooling nozzle robots 9 can be evenly arranged on the periphery of the thin-shell casting 7, and after the thin-shell casting 7 stops rotating, multiple intelligent cooling nozzle robots 9 work synchronously to complete the enhanced cooling process of the casting.

[0032] The intelligent detection device combination 10 in this embodiment includes at least a temperature detection module and a distance detection module. The temperature of the metal melt 4 inside the thin-shell casting mold 7 is detected in real time by the temperature detection module, and the current real-time distance of the temperature detection module relative to the thin-shell casting mold 7 is determined by the distance detection module.

[0033] The intelligent detection device combination 10 and the intelligent cooling nozzle robot 9 are clamped or installed on the guide rail by a manipulator to realize the synchronous horizontal and vertical movement of the intelligent detection device combination 10 following the intelligent cooling nozzle robot 9. The intelligent detection device combination 10 follows the intelligent cooling nozzle robot 9 to synchronously perform horizontal and vertical movements to respectively detect the temperature of the metal melt 4 in the previous solidification layer, the intermediate real-time cooling and solidification layer and the subsequent unsolidified layer, control the intelligent cooling nozzle robot and the intelligent detection device combination to follow and move downward layer by layer, so as to realize the intelligent gradient sequential cooling and solidification of the thin shell casting. At the same time, according to the real-time detection situation of the intelligent detection device combination, the cooling part and cooling medium parameters of the intelligent cooling nozzle robot are adjusted by intelligent feedback to prevent unexpected conditions such as filling failure, solidification and shrinkage path blockage, insufficient solidification and shrinkage increase, casting scrapping, etc. caused by the re-melting of the previous solidification layer or the first solidification of the metal melt inside the subsequent unsolidified layer, so as to realize the intelligent detection and adjustment of the metal melt inside the thin shell casting and the intelligent cooling rate enhanced solidification.

[0034] [Method Example] like Figure 3-9 The control method of the intelligent casting device based on robot-assisted enhanced cooling in the device embodiment provided by the method embodiment of the present invention is shown, and includes the following steps: Step S1: Prepare a thin shell mold 7 with a reinforcing rib structure 8, and place a holding furnace 3 filled with a metal melt 4 in a sealed and pressurized low-pressure counter-gravity casting machine 1, insert a liquid riser 5 in the holding furnace 3, as shown in FIG. Figure 4 As shown; Step S2: The thin shell mold 7 is rotatably inverted on the top of the gate base 6 of the low-pressure counter-gravity casting machine 1 and sealed, so that the interior of the thin shell mold 7 is connected to the riser pipe 5; an intelligent cooling nozzle robot 9 and an intelligent detection device combination 10 are installed around the thin shell mold 7, such as Figure 5 As shown; Step S3: Dry compressed gas is introduced into the low-pressure counter-gravity casting machine 1 through the air inlet channel 2. The air pressure causes the molten metal 4 in the holding furnace 3 to rise along the riser pipe 5 and enter the cavity of the thin shell casting mold 7 until the molten metal 4 fills the cavity. Figure 6 As shown; Step S4: Rotate the thin shell mold 7, maintain and increase the gas pressure, detect the temperature of the thin shell mold 7 and the metal melt 4 through the intelligent detection device combination 10, control the intelligent cooling nozzle robot 9 to work with the intelligent detection device combination 10, move layer by layer from top to bottom and implement intelligent feedback adjustment, and at the same time, the intelligent cooling nozzle robot 9 sprays cooling medium to accelerate the cooling of the metal melt 4 inside the thin shell mold 7, so that the metal melt 4 inside the thin shell mold 7 can be rapidly solidified from top to bottom, as shown in FIG. Figure 7As shown, the protruding parts and the concave parts of the thin shell casting mold 7 are sequentially recorded as the first layer to the fifth layer from top to bottom, that is, the first protruding part is the first layer, the first concave part is the second layer, and so on, including the following steps: Initially Figure 7 As shown in (a), the No. 1 intelligent detection device is placed on the top of the thin shell mold, the No. 2 intelligent detection device is placed next to the first layer of the thin shell mold, and the No. 3 intelligent detection device is placed next to the second layer of the thin shell mold; then the intelligent cooling nozzle robot 9 and the intelligent detection device combination 10 are controlled to cooperate and move to the lower layer; Then as Figure 7 As shown in (b), the No. 1 intelligent detection device is placed next to the first layer of the thin shell casting, the No. 2 intelligent detection device is placed next to the second layer of the thin shell casting, and the No. 3 intelligent detection device is placed next to the third layer of the thin shell casting; then the intelligent cooling nozzle robot 9 and the intelligent detection device combination 10 are controlled to cooperate and move to the lower layer; Then as Figure 7 As shown in (c), the No. 1 intelligent detection device is placed next to the second layer of the thin shell casting, the No. 2 intelligent detection device is placed next to the third layer of the thin shell casting, and the No. 3 intelligent detection device is placed next to the fourth layer of the thin shell casting; then the intelligent cooling nozzle robot 9 and the intelligent detection device combination 10 are controlled to cooperate and move to the lower layer; Again Figure 7 As shown in (d), the No. 1 intelligent detection device is placed next to the third layer of the thin shell casting, the No. 2 intelligent detection device is placed next to the fourth layer of the thin shell casting, and the No. 3 intelligent detection device is placed next to the fifth layer of the thin shell casting; then the intelligent cooling nozzle robot 9 and the intelligent detection device combination 10 are controlled to cooperate and move to the lower layer; Finally Figure 7 As shown in (e), the No. 1 intelligent detection device is placed beside the fourth layer of the thin shell casting, the No. 2 intelligent detection device is placed beside the fifth layer of the thin shell casting, and the No. 3 intelligent detection device is placed at the bottom of the thin shell casting; Step S5: After the molten metal 4 in the thin shell mold 7 is completely solidified, the rotation of the thin shell mold 7 is stopped, the intelligent cooling nozzle robot 9 and the intelligent detection device assembly 10 are removed, and the air is released and the pressure is reduced at the same time, so that the molten metal 4 in the riser tube 5 refluxes. Figure 8 As shown; Step S6: Remove the thin shell mold 7 containing the casting, obtain the casting, complete the production cycle, and return the machine to the original position. Fig. 9 shown.

[0035] The above-mentioned intelligent casting device and control method can also be applied to gravity casting, by applying intelligent cooling rate enhancement and step-by-step cooling to the gravity casting mold from bottom to top through a robot 9 with an intelligent cooling nozzle and an intelligent detection device combination 10.

[0036] The technical solution of the present invention is further introduced from Example 1, Example 2 and Comparative Example 1 below: [Example 1] 1. Preparation before casting: prepare a sand mold thin shell casting mold with a reinforcing rib structure. The required casting is a Mg-6.16Gd-3.12Y-0.33Zr (wt.%) magnesium alloy thin shell casting mold shell with a reinforcing rib structure. Use moldless CNC cutting or 3D printing sand mold casting technology to process the molding sand into a thin shell casting mold 7 with a reinforcing rib structure 8 according to the casting requirements. At the same time, metal elements with a ratio of 6.16wt.% Gd, 3.12wt.% Y, 0.33wt.% Zr, and the rest Mg are smelted to make a metal melt 4, and the metal melt 4 is transferred to a holding furnace 3 for standby use; 2. Equipment installation: Use a manipulator to invert the thin shell mold 7 onto the gate base 6 of the low-pressure counter-gravity casting machine 1, and use the pressure provided by the manipulator to ensure the sealing between the thin shell mold 7 and the gate base 6 of the low-pressure counter-gravity casting machine 1. Install an intelligent cooling nozzle robot 9 on one side of the thin shell mold 7, and align the front end nozzle of the robot with the top layer side of the inverted mold. At the same time, install three intelligent detection device combinations 10 with temperature and position detection functions on the other side of the thin shell mold 7, among which intelligent detection device No. 1 is placed on the top of the thin shell mold, intelligent detection device No. 2 is placed next to the first layer of the mold, and intelligent detection device No. 3 is placed next to the second layer of the mold. Ventilate the low-pressure counter-gravity casting machine 1 through the air inlet channel 2, and the molten metal 4 in the holding furnace 3 enters the thin shell mold 7 through the riser 5.

[0037] 3. Layer-by-layer cooling and local regulation. After the metal melt 4 in the thin shell casting mold 7 is filled, the air pressure is continued to be increased, and finally the air pressure is maintained at 1.2 bar. The intelligent detection device combination 10 detects the temperature cooling distribution of the metal melt 4 in the thin shell casting mold 7, and controls the intelligent cooling nozzle robot 9 to spray strong convection cooling gas. After the first layer solidifies, the intelligent cooling nozzle robot 9 and the intelligent detection device combination 10 are controlled to move to the lower layer layer by layer. At the same time, the intelligent detection device combination 10 monitors the front solidification layer, the middle real-time cooling solidification layer and the rear solidification layer in real time. The condition of the molten metal 4 in the unsolidified layer is monitored, and the movement of the intelligent cooling nozzle robot 9 is coordinated and controlled, so that the thin-shell mold 7 is finally cooled and solidified layer by layer from top to bottom as a whole; during the layer-by-layer cooling of the thin-shell mold 7, the air pressure applied to the molten metal 4 is always maintained at 1.2 bar until the molten metal 4 is completely solidified; the air is released and the pressure is reduced, so that the molten metal 4 in the riser pipe 5 flows back into the holding furnace 3, and the thin-shell mold 7 is removed from the low-pressure anti-gravity casting machine 1 by a manipulator, and then the casting is taken out of the thin-shell mold 7 for post-processing.

[0038] Among them, the specific parameters of the cooling nozzle on the intelligent cooling nozzle robot 9 are adjusted as follows: (1) When the wall thickness of the casting is 2 mm, adjust the cooling nozzle air pressure to 2.5 bar, adjust the single cooling nozzle flow rate to 2.2 L / Min, and make the cooling speed of the cooling nozzle 30 k / s; (2) When the wall thickness of the casting is 4 mm, adjust the cooling nozzle air pressure to 3.8 bar, adjust the single cooling nozzle flow rate to 4.3 L / Min, and make the cooling speed of the cooling nozzle 30 k / s; (3) When the wall thickness of the casting is 6 mm, adjust the cooling nozzle air pressure to 5.2 bar, adjust the single cooling nozzle flow rate to 7.5 L / Min, and make the cooling speed of the cooling nozzle 30 k / s; 4. Post-treatment is to apply T6 heat treatment to the casting, including 500 ℃ solution treatment for 12h, 70 ℃ hot water quenching, and 200 ℃ aging treatment for 120h, so as to obtain Mg-6.16Gd-3.12Y-0.33Zr (wt.%) high-performance magnesium alloy castings with a defect rate of 0.05%, a maximum defect of 26 um, a grain size of 15 um, a yield strength of 225MPa, a tensile strength of 352MPa, and an elongation of 14.7%.

[0039] [Example 2] 1. Preparation before casting: prepare a sand mold thin shell casting mold with a reinforcing rib structure. The required casting is a Mg-6.16Gd-3.12Y-0.33Zr (wt.%) magnesium alloy thin shell casting mold shell with a reinforcing rib structure. Use moldless CNC cutting or 3D printing sand mold casting technology to process the molding sand into a thin shell casting mold 7 with a reinforcing rib structure 8 according to the casting requirements. At the same time, metal elements with a ratio of 6.16wt.% Gd, 3.12wt.% Y, 0.33wt.% Zr, and the rest Mg are smelted to make a metal melt 4, and the metal melt 4 is transferred to a holding furnace 3 for standby use; 2. Equipment installation: Use a manipulator to invert the thin shell mold 7 onto the gate base 6 of the low-pressure counter-gravity casting machine 1, and use the pressure provided by the manipulator to ensure the sealing between the thin shell mold 7 and the gate base 6 of the low-pressure counter-gravity casting machine 1. Install an intelligent cooling nozzle robot 9 on one side of the thin shell mold 7, and align the front end nozzle of the robot with the top layer side of the inverted mold. At the same time, install three intelligent detection device combinations 10 with temperature and position detection functions on the other side of the thin shell mold 7, among which intelligent detection device No. 1 is placed on the top of the thin shell mold, intelligent detection device No. 2 is placed next to the first layer of the mold, and intelligent detection device No. 3 is placed next to the second layer of the mold. Ventilate the low-pressure counter-gravity casting machine 1 through the air inlet channel 2, and the molten metal 4 in the holding furnace 3 enters the thin shell mold 7 through the riser 5.

[0040] 3. Layer-by-layer cooling and local regulation. After the metal melt 4 in the thin shell casting mold 7 is filled, the air pressure is continued to be increased, and finally the air pressure is maintained at 1.2 bar. The intelligent detection device combination 10 detects the temperature cooling distribution of the metal melt 4 in the thin shell casting mold 7, and controls the intelligent cooling nozzle robot 9 to spray strong convection cooling gas. After the first layer solidifies, the intelligent cooling nozzle robot 9 and the intelligent detection device combination 10 are controlled to move to the lower layer layer by layer. At the same time, the intelligent detection device combination 10 monitors the previous solidification layer, the intermediate real-time cooling solidification layer and The condition of the molten metal 4 in the subsequent unsolidified layer is coordinated with the movement of the intelligent cooling nozzle robot 9 to eventually cool and solidify the thin-shell mold 7 layer by layer from top to bottom. During the layer-by-layer cooling of the thin-shell mold 7, the air pressure applied to the molten metal 4 is always maintained at 1.2 bar until the molten metal 4 is completely solidified. The air is released and the pressure is reduced to allow the molten metal 4 in the riser pipe 5 to flow back into the holding furnace 3. The thin-shell mold 7 is removed from the low-pressure anti-gravity casting machine 1 by a manipulator, and then the casting is taken out of the thin-shell mold 7 for post-processing.

[0041] Among them, the specific parameters of the cooling nozzle on the intelligent cooling nozzle robot are adjusted as follows: (1) When the wall thickness of the casting is 2 mm, adjust the cooling nozzle air pressure to 2 bar, adjust the single cooling nozzle flow rate to 1.2 L / Min, and make the cooling speed of the cooling nozzle 15 k / s; (2) When the wall thickness of the casting is 4 mm, adjust the cooling nozzle air pressure to 3.1 bar, adjust the single cooling nozzle flow rate to 3.2 L / Min, and make the cooling speed of the cooling nozzle 15 k / s; (3) When the wall thickness of the casting is 6 mm, adjust the cooling nozzle air pressure to 4.5 bar, adjust the single cooling nozzle flow rate to 6.2 L / Min, and make the cooling speed of the cooling nozzle 15 k / s; 4. Post-treatment is to apply T6 heat treatment to the casting, including 500 ° C solution treatment for 12 hours, 70 ° C hot water quenching, and 200 ° C aging treatment for 120 hours, so as to obtain Mg-6.16Gd-3.12Y-0.33Zr (wt.%) high-performance magnesium alloy castings with a defect rate of 0.08%, a maximum defect of 35 um, a grain size of 18 um, a yield strength of 219 MPa, a tensile strength of 342 MPa, and an elongation of 13.5%.

[0042] [Comparative Example 1] The required casting is still a Mg-6.16Gd-3.12Y-0.33Zr (wt.%) magnesium alloy casting with the same height and variable thickness. The sand core, sand mold and sand box are made by conventional sand casting method. After the molten metal melt 4 is poured into the sand mold, it is naturally cooled. The cooling rate of the metal melt 4 is 0.5 K / s. After the metal melt is cooled, the pouring system, riser, chiller, etc. on the casting are cut off, the surface of the casting is polished, the surface burrs and oxide layer are removed, and the sand inside the casting is removed by wind blowing, vibration and other methods. The casting is subjected to T6 heat treatment, including 500 ℃ solution treatment for 12h, 70 ℃ hot water quenching, and 200 ℃ aging treatment for 120h. Finally, the defect rate is 0.73%, the maximum defect is 1560 um, and the grain size is 130 um, yield strength 189MPa, tensile strength 282MPa, and elongation 3.8% Mg-6.16Gd-3.12Y-0.33Zr (wt.%) magnesium alloy castings.

[0043] Table 1 Casting process parameters used in Example 1, Example 2 and Comparative Example 1 Table 2 Defects, grain size and mechanical properties of castings obtained in Example 1, Example 2 and Comparative Example 1 It can be seen from Table 1 and Table 2 that, compared with the traditional sand casting method, the casting cast by the casting method of the present invention can significantly improve the cooling speed, and through multi-machine coordination and integrated control, the air pressure and flow rate of the cooling nozzle medium are intelligently regulated to achieve layer-by-layer solidification of the casting from top to bottom, so that the defect rate of the casting is significantly reduced, the maximum defect is smaller, the grain size is finer, and the mechanical properties are better.

[0044] The intelligent casting device based on robot-assisted enhanced cooling and its control method provided by the present invention adopt a new type of sand mold thin shell casting mold with a reinforcing rib structure, and adopt moldless CNC cutting processing technology or 3D printing sand casting technology to process the sand mold shell, and in the pouring process, it is combined with pressurized anti-gravity casting, and the multi-machine collaboration of the intelligent cooling nozzle robot and the intelligent detection device combination is used to realize the intelligent control of the sand casting cooling process. Different from traditional technology, the present invention can not only strengthen the surface strength of the sand mold shell, manufacture complex sand mold shells, make the metal liquid fill the mold smoothly during casting, reduce defects such as oxidation slag inclusions, but also increase the strong convection cooling nozzle to control the cooling rate, so as to reduce casting defects such as shrinkage cavities and shrinkage, obtain dense solidification structure, and at the same time improve the digitalization and intelligence level in the sand casting process, and finally obtain aerospace castings with superior performance.

[0045] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. Intelligent casting device based on robot-assisted enhanced cooling, characterized in that: The invention comprises a low-pressure counter-gravity casting machine (1), wherein a holding furnace (3) is arranged inside the low-pressure counter-gravity casting machine (1), wherein the holding furnace (3) is filled with a molten metal (4), an air inlet passage (2) is provided on the side wall of the low-pressure counter-gravity casting machine (1) and located above the holding furnace (3), a pouring gate base (6) is arranged on the top of the low-pressure counter-gravity casting machine (1), a thin shell casting mold (7) is rotatably inverted on the top of the pouring gate base (6), a liquid riser (5) is connected to the inside of the holding furnace (3), one end of the liquid riser (5) is located inside the holding furnace (3) and communicates with the molten metal (4), and the other end of the liquid riser (5) is located inside the pouring gate base (6) and communicates with the internal cavity of the thin shell casting mold (7), and an intelligent cooling nozzle robot (9) and an intelligent detection device combination (10) are arranged outside the thin shell casting mold (7).

2. The intelligent casting device based on robot-assisted enhanced cooling according to claim 1, characterized in that: The thin shell mold (7) is a sand casting mold or an investment casting mold, and a reinforcing rib structure (8) is provided on the surface of the thin shell mold (7). The thin shell mold (7) with the reinforcing rib structure (8) on the surface is manufactured using a digital manufacturing method, and the digital manufacturing method at least includes a digital additive manufacturing method and a digital CNC cutting method.

3. The intelligent casting device based on robot-assisted enhanced cooling according to claim 1 is characterized in that: The thin shell casting mold (7) is inverted on the top of the gate base (6) by a robot or a transport rail with a clamping device.

4. The intelligent casting device based on robot-assisted enhanced cooling according to claim 1, characterized in that: The cooling medium in the cooling nozzle of the intelligent cooling nozzle robot (9) is selected from at least one of gas, liquid, gas-liquid mixture, gas-solid mixture or solid-liquid mixture; wherein the gas medium is selected from a mixture of at least one or more of water vapor, compressed air, nitrogen, hydrogen, oxygen, carbon dioxide, argon, neon, helium, krypton and xenon; the liquid medium is selected from a mixture of at least one or more of water, oil, coolant and liquid nitrogen; and the solid particles are selected from a mixture of at least one or more of carbon, graphite, diamond, aluminum nitride, silicon nitride, boron nitride, silicon carbide, carbon nanotubes, graphene, magnesium oxide, aluminum oxide, zinc oxide, silicon dioxide, gold, silver, copper, aluminum, magnesium, iron and stainless steel.

5. The intelligent casting device based on robot-assisted enhanced cooling according to claim 1, characterized in that: The intelligent cooling nozzle robot (9) is capable of performing real-time feedback adjustment on adjustable parameters according to the detection results of the intelligent detection device combination (10), and the adjustable parameters of the intelligent cooling nozzle robot (9) include at least nozzle angle, nozzle position, medium injection amount and medium injection speed, and when the mold is partially cooled and solidified sequentially, the adjustment priority of the medium injection amount and the medium injection speed is higher than the adjustment priority of the nozzle position and the nozzle angle; and when the continuous solidification layer before the mold is re-melted, the adjustment priority of the nozzle position and the nozzle angle is higher than the adjustment priority of the medium injection amount and the medium injection speed.

6. The intelligent casting device based on robot-assisted enhanced cooling according to claim 1, characterized in that: A plurality of the intelligent cooling nozzle robots (9) are evenly arranged on the outer circumference of the thin-shell casting mold (7), and after the thin-shell casting mold (7) stops rotating, the plurality of intelligent cooling nozzle robots (9) work synchronously to complete the enhanced cooling process of the casting.

7. The intelligent casting device based on robot-assisted enhanced cooling according to claim 1 is characterized in that: The intelligent detection device assembly (10) includes at least a temperature detection module and a distance detection module; the intelligent detection device assembly (10) moves horizontally and vertically synchronously with the intelligent cooling nozzle robot (9) to respectively detect the temperatures of the metal melt (4) in the preceding solidification layer, the intermediate real-time cooling solidification layer, and the subsequent unsolidified layer.

8. The intelligent casting device based on robot-assisted enhanced cooling according to claim 1, characterized in that: The intelligent detection device assembly (10) and the intelligent cooling nozzle robot (9) are clamped by a manipulator or installed on a guide rail, so that the intelligent detection device assembly (10) can follow the intelligent cooling nozzle robot (9) to perform synchronous horizontal and vertical movements.

9. The intelligent casting device based on robot-assisted enhanced cooling according to claim 1, characterized in that: The intelligent cooling nozzle robot (9) can perform the following adjustment actions according to the real-time monitoring results of the intelligent detection device combination (10): First, the temperature and distance of the thin shell mold (7) are detected from top to bottom in real time by using the intelligent detection device combination (10), and the operation of the cooling nozzle of the intelligent cooling nozzle robot (9) is controlled at the same time. According to the three-dimensional shapes of the casting and the thin shell mold and the real-time detection distance, the medium injection amount and medium injection speed of the intelligent cooling nozzle robot (9) and the distance between the cooling nozzle and the real-time cooling solidification layer are adjusted until the cooling medium can evenly and comprehensively cover the side of the middle real-time cooling solidification layer, and finally the intelligent detection device combination (10) moves downward in coordination to ensure that the metal melt (4) in the thin shell mold (7) is cooled, enhanced and solidified sequentially from top to bottom layer by layer; Second, if the intelligent detection device combination (10) detects in real time that the temperature of the preceding solidification layer of the thin shell casting mold (7) rises and is higher than the preset temperature, the abnormal result is fed back to the control system, and based on the real-time distance detection result of the intelligent detection device (10), the intelligent cooling nozzle robot (9) is controlled to move to the preceding solidification layer, and the nozzle position and nozzle angle of the intelligent cooling nozzle robot (9) are adjusted so that the cooling nozzle can perform local secondary cooling enhancement on the re-melted portion of the preceding solidification layer; Third, if the temperature of the metal melt (4) inside the subsequent unsolidified layer is detected in real time by the intelligent detection device combination (10) to be lower than the preset temperature in advance, the abnormal result is fed back to the control system, and the control system sends a signal to increase the gas pressure in the low-pressure anti-gravity device (1), driving the metal melt (4) to rise to increase the temperature of the layer, while increasing the medium injection amount and medium injection speed of the intelligent cooling nozzle robot (9), thereby accelerating the cooling speed of the real-time cooling solidification layer.

10. The control method of the intelligent casting device based on robot-assisted enhanced cooling according to any one of claims 1 to 9, characterized in that: The following steps are involved: Step S1: preparing a thin shell casting mold (7) with a reinforcing rib structure (8), placing a holding furnace (3) filled with a metal melt (4) in a sealed and pressurized low-pressure counter-gravity casting machine (1), and inserting a liquid riser (5) in the holding furnace (3); Step S2: The thin shell mold (7) is rotatably placed upside down on the top of the gate base (6) of the low-pressure counter-gravity casting machine (1) and sealed, so that the interior of the thin shell mold (7) is connected to the riser pipe (5); an intelligent cooling nozzle robot (9) and an intelligent detection device combination (10) are installed around the thin shell mold (7); Step S3: dry compressed gas is introduced into the low-pressure counter-gravity casting machine (1) through the air inlet passage (2), and the gas pressure causes the molten metal (4) in the holding furnace (3) to rise along the riser pipe (5) and enter the cavity of the thin shell casting mold (7) until the molten metal (4) fills the cavity; Step S4: rotating the thin shell mold (7), maintaining and increasing the gas pressure, detecting the temperature of the thin shell mold (7) and the metal melt (4) through the intelligent detection device combination (10), controlling the intelligent cooling nozzle robot (9) and the intelligent detection device combination (10) to move layer by layer from top to bottom and implement intelligent feedback regulation, while the intelligent cooling nozzle robot (9) sprays cooling medium to accelerate the cooling of the metal melt (4) inside the thin shell mold (7), so that the metal melt (4) inside the thin shell mold (7) can be rapidly solidified from top to bottom; Step S5: After the molten metal (4) inside the thin shell casting mold (7) has completely solidified, the rotation of the thin shell casting mold (7) is stopped, the intelligent cooling nozzle robot (9) and the intelligent detection device assembly (10) are removed, and the air is released and the pressure is reduced, so that the molten metal (4) inside the riser tube (5) can flow back; Step S6: The thin shell mold (7) containing the casting is removed to obtain the casting, completing the production cycle, and the machine returns to the original position.

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