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

Abstract

The application discloses an intelligent casting device based on robot-assisted enhanced cooling and a control method thereof, and relates to the technical field of casting devices, in particular to an intelligent casting device based on robot-assisted enhanced cooling and a control method thereof. The intelligent casting device based on robot-assisted enhanced cooling comprises a low-pressure anti-gravity casting machine, a holding furnace is arranged in the low-pressure anti-gravity casting machine, the holding furnace is filled with a metal melt, an air inlet channel is arranged in the side wall of the low-pressure anti-gravity casting machine and above the holding furnace, a sprue base is arranged at the top of the low-pressure anti-gravity casting machine, a thin shell casting mold is inverted on the top of the sprue base in a rotatable manner, a riser pipe is connected to the inside of the holding furnace, one end of the riser pipe is located in the holding furnace and communicates with the metal melt, the other end of the riser pipe is located in the sprue base and communicates with the internal cavity of the thin shell casting mold, and the outside of the thin shell casting mold is provided with a combination of an intelligent cooling nozzle robot and an intelligent detection device. The intelligent casting device based on robot-assisted enhanced cooling has the advantages of high applicability, simple operation, strong controllability of cooling mode and speed, few casting defects, small and compact organization, low production cost, high efficiency, and the like, and can realize digitalization, intelligentization and high-performance manufacturing of high-end complex castings.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of intelligent casting, and particularly relates to an intelligent casting device based on robot-assisted enhanced cooling and a control method thereof. BACKGROUND

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

[0003] Counter-gravity casting is a casting method in which liquid metal fills a casting mold cavity under the action of a certain pressure. The process flow is as follows: first, dry compressed gas is introduced into a closed holding furnace, the metal liquid in the holding furnace rises along the riser pipe under the gas pressure, enters the casting mold cavity through the sprue, the pressure of the gas in the holding furnace is maintained until the metal liquid in the cavity completely solidifies to form a casting, then the pressure in the holding furnace is released, the un-solidified metal liquid in the riser pipe flows back to the holding furnace, and then the pressure of the pressing device at the top of the casting mold is released to take out the casting. The counter-gravity casting has the characteristics that the metal liquid fills the mold smoothly during casting, which can reduce defects such as oxidation and inclusion, and can also solidify under pressure, which can reduce casting defects such as shrinkage and porosity, and obtain dense solidification structure.

[0004] Traditional sand casting is manually poured in a sand box under gravity, which has low digitalization and intelligence level, uncontrollable cooling rate, poor casting quality stability, complex sand core manufacturing for complex structure castings, and great difficulty in forming sand mold shells, and the products obtained by pouring under gravity often have many internal defects and do not meet the mechanical performance standards.

[0005] Therefore, a new scheme needs to be proposed to solve the above-mentioned defects and problems in the prior art. SUMMARY

[0006] In order to solve the defects and deficiencies in the prior art, the application provides an intelligent casting device based on robot-assisted enhanced cooling and a control method thereof.

[0007] The technical scheme provided by the application includes:

[0008] The application discloses an intelligent casting device based on robot-assisted enhanced cooling, which is characterized by comprising a low-pressure counter-gravity casting machine, an internal heat preservation furnace of the low-pressure counter-gravity casting machine, metal melt filled in the internal heat preservation furnace, an air inlet channel formed in the side wall of the low-pressure counter-gravity casting machine and located above the heat preservation furnace, a pouring basin arranged at the top of the low-pressure counter-gravity casting machine, a thin shell casting mold rotatably inverted on the top of the pouring basin, an ascending liquid pipe connected to the internal heat preservation furnace, one end of the ascending liquid pipe located in the internal heat preservation furnace and communicated with the metal melt, the other end of the ascending liquid pipe located in the internal pouring basin and communicated with the internal cavity of the thin shell casting mold, and an intelligent cooling nozzle robot and an intelligent detection device combination arranged outside the thin shell casting mold.

[0009] As a further preferred embodiment of the application, the thin shell casting mold is selected from a sand mold casting mold or a investment casting mold, the surface of the thin shell casting mold is provided with a reinforcing rib structure, and the thin shell casting mold with the surface provided with the reinforcing rib structure is manufactured by a digital manufacturing method, which at least comprises a digital additive manufacturing method and a digital numerical control cutting method.

[0010] As a further preferred embodiment of the application, the thin shell casting mold is inverted on the top of the pouring basin by a mechanical hand or a conveying guide rail provided with a clamping device.

[0011] As a further preferred embodiment of the application, the cooling medium in the cooling nozzle of the intelligent cooling nozzle robot is at least one selected from a gas, a liquid, a gas-liquid mixture, a gas-solid mixture or a solid-liquid mixture; wherein the gas medium is at least one or a mixture of multiple selected from water vapor, compressed air, nitrogen, hydrogen, oxygen, carbon dioxide, argon, neon, helium, krypton and xenon; the liquid medium is at least one or a mixture of multiple selected from water, oil, cooling liquid and liquid nitrogen; and the solid particles are at least one or a mixture of multiple selected from carbon, graphite, diamond, aluminum nitride, silicon nitride, boron nitride, silicon carbide, carbon nanotube, graphene, magnesium oxide, aluminum oxide, zinc oxide, silicon dioxide, gold, silver, copper, aluminum, magnesium, iron and stainless steel.

[0012] As a further preferred embodiment of the application, the intelligent cooling nozzle robot can perform real-time feedback adjustment on adjustable parameters according to the detection result of the intelligent detection device combination, the adjustable parameters of the intelligent cooling nozzle robot at least include a nozzle angle, a nozzle position, a medium spraying amount and a medium spraying speed, and when the casting mold is sequentially cooled and solidified, the adjustment priority of the medium spraying amount and the medium spraying speed is higher than that of the nozzle position and the nozzle angle; and when the front solidified layer of the casting mold is remelted, the adjustment priority of the nozzle position and the nozzle angle is higher than that of the medium spraying amount and the medium spraying speed.

[0013] As a further preferred embodiment of the present application, the intelligent cooling nozzle robots are uniformly arranged on the periphery of the thin shell mold, and after the thin shell mold stops rotating, the intelligent cooling nozzle robots work synchronously to complete the enhanced cooling process of the casting.

[0014] As a further preferred embodiment of the present application, the intelligent detection device combination at least includes a temperature detection module and a distance detection module; the intelligent detection device combination moves horizontally and vertically synchronously with the intelligent cooling nozzle robots to detect the temperature of the metal melt in the front solidified layer, the middle real-time cooling solidified layer and the rear non-solidified layer, respectively.

[0015] As a further preferred embodiment of the present application, the intelligent detection device combination and the intelligent cooling nozzle robots are clamped by a mechanical hand or installed on a guide rail to realize the synchronous horizontal and vertical movement of the intelligent detection device combination with the intelligent cooling nozzle robots.

[0016] As a further preferred embodiment of the present application, the intelligent cooling nozzle robots can perform the following adjustment actions according to the real-time monitoring results of the intelligent detection device combination:

[0017] First, the intelligent detection device combination detects the temperature and distance of the thin shell mold from top to bottom in real time, controls the operation of the cooling nozzle of the intelligent cooling nozzle robot at the same time, adjusts the medium spraying amount, medium spraying speed and the distance between the cooling nozzle and the real-time cooling solidified layer of the intelligent cooling nozzle robot 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 uniformly and comprehensively cover the side of the middle real-time cooling solidified layer, and finally moves downward cooperatively with the intelligent detection device combination to ensure the layer-by-layer cooling enhancement and sequential solidification of the metal melt in the thin shell mold from top to bottom;

[0018] Second, if the temperature of the front solidified layer of the thin shell mold is detected to be higher than the preset temperature by the intelligent detection device combination in real time, the abnormal result is fed back to the control system, the intelligent cooling nozzle robot is moved to the front 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 front solidified layer.

[0019] Third, if the temperature of the metal melt inside the rear non-solidified layer is detected to be lower than the preset temperature in advance by the intelligent detection device combination, the abnormal result is fed back to the control system, the control system sends a signal to increase the gas pressure in the low-pressure counter-gravity device to drive the metal melt to rise to increase the temperature of the layer, and at the same time, the medium spraying amount and medium spraying speed of the intelligent cooling nozzle robot are increased to accelerate the cooling speed of the real-time cooling solidified layer.

[0020] Further, the application also provides a control method of the intelligent casting device based on robot-assisted enhanced cooling, characterized in that the method comprises the following steps:

[0021] Step S1: prepare the thin-shell mold with the reinforcing rib structure, and set the holding furnace filled with the metal melt inside in the low-pressure counter-gravity casting machine which is sealed and can be pressurized, and insert the riser pipe inside the holding furnace;

[0022] Step S2: rotatably invert the thin-shell mold on the top of the sprue base of the low-pressure counter-gravity casting machine and seal it, so that the inside of the thin-shell mold is communicated with the riser pipe; install the intelligent cooling nozzle robot and the intelligent detection device combination around the thin-shell mold;

[0023] Step S3: pass the dry compressed gas into the inside of the low-pressure counter-gravity casting machine through the air inlet channel, and the gas pressure makes the metal melt in the holding furnace rise along the riser pipe into the inside of the mold cavity of the thin-shell mold until the metal melt fills the mold cavity;

[0024] Step S4: rotate the thin-shell mold, keep and increase the gas pressure, detect the temperature of the thin-shell mold and the metal melt through the intelligent detection device combination, control the intelligent cooling nozzle robot and the intelligent detection device combination to move and implement intelligent feedback adjustment layer by layer from top to bottom, and at the same time, the intelligent cooling nozzle robot sprays the cooling medium to accelerate the cooling of the metal melt in the inside of the thin-shell mold, so that the metal melt in the inside of the thin-shell mold realizes rapid solidification from top to bottom;

[0025] Step S5: after the metal melt in the inside of the thin-shell mold is solidified, stop the rotation of the thin-shell mold, remove the intelligent cooling nozzle robot and the intelligent detection device combination, and at the same time, release the gas and reduce the pressure, so that the metal melt in the inside of the riser pipe flows back;

[0026] Step S6: remove the thin-shell mold containing the castings, obtain the castings, complete the production cycle, and the machine returns to the original position.

[0027] Compared with the prior art, the application has the following beneficial effects:

[0028] 1) The present application provides an intelligent casting device based on robot-assisted enhanced cooling and its control method. By designing a thin-shell casting mold with a reinforcing rib structure, the disadvantages of traditional sand mold casting, which requires a sand box to ensure the integrity of the casting mold structure, are overcome. The reinforcing rib structure is set on the outer surface of the thin-shell casting mold through digital processing method, which can enhance the strength and stiffness of the thin-shell casting mold, maintain the structural integrity of the thin-shell casting mold during casting, prevent the collapse of the thin-shell casting mold due to large casting pressure or loose structure, and more importantly, realize real-time rapid intelligent regulation of the cooling and solidification speed of the metal melt in the casting mold by taking advantage of the fast heat transfer characteristics of the thin-shell casting mold, overcoming the problems of traditional thick sand box casting, such as excessive thickness of the sand mold casting wall, extremely slow heat transfer, and inability to realize real-time rapid regulation of the cooling speed of the metal melt in the casting mold.

[0029] 2) The present application provides an intelligent casting device based on robot-assisted enhanced cooling and its control method. Digital methods are used for thin-shell casting mold manufacturing, and digital cutting or digital additive manufacturing technologies such as moldless numerical control cutting technology or 3D printing sand mold technology are used to process thin-shell casting molds. The manufacturing of thin-shell casting molds is completed without the need for sand boxes, sand cores, auxiliary tooling, and materials, simplifying the manufacturing process of traditional casting molds, reducing the influence of human factors on the casting mold manufacturing process, and realizing the full digitalization of the thin-shell casting mold manufacturing process.

[0030] 3) The present application provides an intelligent casting device based on robot-assisted enhanced cooling and its control method. The intelligent cooling of the thin-shell casting mold is carried out by combining intelligent detection device assemblies and intelligent cooling nozzle robots. The intelligent detection device assemblies are set to detect the temperature of the metal melt in the front and subsequent solidification layers, the middle real-time cooling and solidification layer, and the subsequent un-solidified layer. The intelligent cooling nozzle robot and the intelligent detection device assembly are controlled to move down layer by layer, realizing the intelligent gradient sequential cooling and solidification of the thin-shell casting mold. According to the real-time detection of the intelligent detection device assembly, the intelligent feedback adjusts the cooling position and cooling medium parameters of the intelligent cooling nozzle robot, preventing the re-melting of the front and subsequent solidification layers or the premature solidification of the metal melt in the subsequent un-solidified layer, which may lead to casting failure, solidification shrinkage path blockage, insufficient solidification shrinkage, defect increase, and casting scrap. The intelligent detection and adjustment of the metal melt inside the thin-shell casting mold and the intelligent cooling rate enhancement and solidification are realized.

[0031] 4) The present application provides an intelligent casting device based on robot-assisted enhanced cooling and its control method. By rotating the casting mold, the metal melt inside the casting mold is tightly attached to the inner surface of the casting mold under the action of centrifugal force, realizing the cooling and casting of thin-wall castings. Only one side of the intelligent cooling nozzle robot needs to be set to realize the overall cooling of the thin-shell casting mold, achieving the effects of reducing production cost, easy installation, and strong controllability. BRIEF DESCRIPTION OF DRAWINGS

[0032] The application will be further described in detail below with reference to the accompanying drawings and specific embodiments, the accompanying drawings are provided for reference and illustration only, and do not limit the application.

[0033] Figure 1 A structural schematic diagram of the intelligent casting device provided by the application is shown in the figure.

[0034] Figure 2 A structural schematic diagram of the thin-shell casting with the reinforcing rib structure provided by the application is shown in the figure.

[0035] Figure 3 A step flow schematic diagram of the control method provided by the application is shown in the figure.

[0036] Figure 4 A flow schematic diagram of step S1 of the control method provided by the application is shown in the figure.

[0037] Figure 5 A flow schematic diagram of step S2 of the control method provided by the application is shown in the figure.

[0038] Figure 6 A flow schematic diagram of step S3 of the control method provided by the application is shown in the figure.

[0039] Figure 7 A schematic diagram of five workstations from top to bottom in step S4 of the control method provided by the application is shown in the figure.

[0040] Figure 8 A flow schematic diagram of step S5 of the control method provided by the application is shown in the figure.

[0041] Figure 9 A flow schematic diagram of step S6 of the control method provided by the application is shown in the figure.

[0042] In the figure: 1, low-pressure counter-gravity casting machine; 2, air inlet channel; 3, holding furnace; 4, metal melt; 5, liquid lifting pipe; 6, sprue base; 7, thin-shell casting; 8, reinforcing rib structure; 9, intelligent cooling nozzle robot; 10, intelligent detection device combination. DETAILED DESCRIPTION

[0043] The technical solutions in the embodiments of the application will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the application. Obviously, the described embodiments are only part of the embodiments of the application, rather than all the embodiments of the application. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the application.

[0044] In the description of the present application, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "both ends", "one end", "the other end" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second" are only for the purpose of description and cannot be understood as indicating or implying relative importance.

[0045] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "provided with", "connected" and the like should be broadly understood, for example, "connected" can be fixedly connected, can also be detachably connected, or integrally connected; can be mechanically connected, can also be electrically connected; can be directly connected, can also be indirectly connected through an intermediate medium, can be the communication inside two elements. For those of ordinary skill in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0046] [Device embodiment]

[0047] As Figure 1As shown in the figure, the intelligent casting device based on robot-assisted enhanced cooling provided by the device embodiment of the application comprises a low-pressure counter-gravity casting machine 1, the inside of the low-pressure counter-gravity casting machine 1 is provided with a holding furnace 3, the inside of the holding furnace 3 is filled with a metal melt 4, the metal melt 4 can be selected according to actual needs, a mixed metal melt with a corresponding ratio is selected, an air inlet channel 2 is formed in the side wall of the low-pressure counter-gravity casting machine 1 and above the holding furnace 3, compressed gas is introduced into the inside of the low-pressure counter-gravity casting machine 1 through the air inlet channel 2 to drive the upward movement of the metal melt 4, a sprue base 6 is arranged at the top of the low-pressure counter-gravity casting machine 1, a thin shell casting mold 7 is inverted in a rotatable manner on the top of the sprue base 6, the uniform and rapid cooling of the thin shell casting mold 7 and the metal melt 4 inside the thin shell casting mold 7 is realized through the rotating manner, and at the same time, the metal melt 4 inside the casting mold can be tightly filled in the inner surface position of the casting mold under the action of centrifugal force, so that the distribution of the finished product is accurate and uniform, as one of the preferred embodiments, the thin shell casting mold 7 can be inverted on the top of the sprue base 6 through a mechanical hand or a transportation guide rail with a clamping device, the inside of the holding furnace 3 is connected with a liquid lifting pipe 5, one end of the liquid lifting pipe 5 is located in the inside of the holding furnace 3 and communicates with the metal melt 4, the other end of the liquid lifting pipe 5 is located in the inside of the sprue base 6 and communicates with the cavity inside the thin shell casting mold 7, the compressed gas introduced into the inside of the low-pressure counter-gravity casting machine 1 can drive the upward movement of the metal melt 4 to rise from the inside of the holding furnace 3 to the inside of the thin shell casting mold 7, in order to ensure the internal sealing, a high-temperature-resistant dynamic sealing ring and other sealing elements can be additionally arranged between the thin shell casting mold 7 and the sprue base 6; the outside of the thin shell casting mold 7 is provided with an intelligent cooling nozzle robot 9 and an intelligent detection device combination 10, the intelligent cooling nozzle robot 9 and the intelligent detection device combination 10 are cooperated to realize the intelligent cooling of the thin shell casting mold 7.

[0048] As shown in Figure 1 and Figure 2 , the thin shell casting mold 7 in the embodiment is provided in a form of a convex strip with grooves, the thin shell casting mold 7 in the embodiment selects a sand mold casting mold or a investment casting mold, the surface of the thin shell casting mold 7 is provided with a reinforcing rib structure 8, and the thin shell casting mold 7 with the surface provided with the reinforcing rib structure 8 is manufactured by a digital manufacturing method, the digital manufacturing method at least includes a digital additive manufacturing method and a digital numerical control cutting method, as preferred, the thin shell casting mold 7 with the surface provided with the reinforcing rib structure 8 can be processed and manufactured by a moldless numerical control cutting technology and / or a 3D printing sand mold casting technology, wherein the 3D printing sand mold casting technology belongs to the digital additive manufacturing, and the moldless numerical control cutting belongs to the digital numerical control cutting method, so as to realize the digitization of the thin shell casting mold processing and manufacturing process, complete the manufacturing of the thin shell casting mold without a sand box, a sand core, an auxiliary tooling and materials, simplify the manufacturing process of the traditional casting mold, reduce the influence of the artificial factors on the casting mold manufacturing process, and realize the full digitization of the thin shell casting mold manufacturing process.

[0049] In the present embodiment, the cooling medium in the cooling nozzle of the intelligent cooling nozzle robot 9 is at least one of a gas, a liquid, a gas-liquid mixture, a gas-solid mixture, or a solid-liquid mixture; wherein the gas medium is at least one or a mixture of multiple of water vapor, compressed air, nitrogen, hydrogen, oxygen, carbon dioxide, argon, neon, helium, krypton, xenon; the liquid medium is at least one or a mixture of multiple of water, oil, coolant, liquid nitrogen; the solid particles are at least one or a mixture of multiple 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, stainless steel, to meet the different cooling needs of users. And as a preferred, the intelligent cooling nozzle robot 9 can make 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 realize the adjustment of different cooling rates by adjusting different cooling parameters.

[0050] As a further preferred embodiment of the present embodiment, among the adjustable parameters of the intelligent cooling nozzle robot 9, when the casting local sequence cooling solidifies, the adjustment priority of the medium injection amount and the medium injection speed is higher than that of the nozzle position and the nozzle angle, because at this time only the metal melt 4 in the same layer of the casting needs to be cooled and enhanced, so the influence of the medium injection amount and the medium injection speed on the cooling of the metal melt 4 in the thin shell mold 7 is much greater than that of the nozzle angle and the nozzle position. When the previous solidified layer of the mold is remelted, the adjustment priority of the nozzle position and the nozzle angle should be higher than that of the medium injection amount and the medium injection speed, because at this time the metal melt 4 in different layers of the casting needs to be cooled and enhanced, that is, the upper and lower positions of the cooling nozzle need to be adjusted, so at this time the influence of the cooling nozzle position and the nozzle angle on the cooling of the metal melt 4 in the thin shell mold 7 is greater than that of the medium injection amount and the medium injection speed.

[0051] As a preferred, the intelligent cooling nozzle robot 9 in the present embodiment can make the following adjustment actions according to the real-time monitoring results of the intelligent detection device combination 10:

[0052] First, the temperature and distance of the thin shell mold 7 are detected from top to bottom in real time by the intelligent detection device combination 10, while the cooling nozzle of the intelligent cooling nozzle robot 9 is controlled to operate, 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 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 uniformly and comprehensively cover the side of the intermediate real-time cooling solidification layer, and finally move downward cooperatively with the intelligent detection device combination 10 to ensure that the metal melt 4 in the thin shell mold 7 is cooled layer by layer from top to bottom to enhance and sequentially solidify.

[0053] Second, if the temperature of the previous solidification layer of the thin shell mold 7 is detected to be higher than the preset temperature in real time by the intelligent detection device combination 10, the abnormal result is fed back to the control system, the intelligent cooling nozzle robot 9 is controlled to move to the previous solidification 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 previous solidification layer.

[0054] Third, if the temperature of the internal metal melt (4) of the subsequent un-solidified layer is detected to be lower than the preset temperature in advance by the intelligent detection device combination 10, 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 counter-gravity device 1 to drive the metal melt 4 to rise to increase the temperature of the layer, while the medium injection amount and medium injection speed of the intelligent cooling nozzle robot 9 are increased to speed up the cooling speed of the real-time cooling solidification layer.

[0055] To further realize uniform and effective cooling process, the intelligent cooling nozzle robot 9 can be uniformly provided with multiple intelligent cooling nozzle robots 9 around the periphery of the thin shell mold 7, and the multiple intelligent cooling nozzle robots 9 work synchronously to complete the strengthening cooling process of the casting after the thin shell mold 7 stops rotating.

[0056] The intelligent detection device combination 10 in the embodiment at least includes a temperature detection module and a distance detection module, the temperature of the metal melt 4 in the thin shell mold 7 is detected in real time by the temperature detection module, and the real-time distance of the temperature detection module relative to the thin shell mold 7 is determined by the distance detection module.

[0057] The intelligent detection device combination 10 and the intelligent cooling nozzle robot 9 are clamped by a mechanical hand or installed on a guide rail to realize the synchronous horizontal and vertical movement of the intelligent detection device combination 10 following the intelligent cooling nozzle robot 9, and the intelligent detection device combination 10 synchronously moves horizontally and vertically following the intelligent cooling nozzle robot 9 to detect the temperature of the metal melt 4 in the previous solidified layer, the intermediate real-time cooling solidified layer and the subsequent un-solidified layer respectively, and the intelligent cooling nozzle robot and the intelligent detection device combination are controlled to move downward layer by layer, realizing the intelligent gradient sequential cooling solidification of the thin shell mold, and according to the real-time detection of the intelligent detection device combination, the intelligent feedback adjusts the cooling position and the cooling medium parameters of the intelligent cooling nozzle robot, preventing the non-expected conditions such as filling failure, solidification shrinkage path blockage, solidification shrinkage deficiency, defect increase and casting scrap caused by the re-melting of the previous solidified layer or the solidification of the internal metal melt of the subsequent un-solidified layer, realizing the intelligent detection adjustment and intelligent cooling rate enhancement solidification of the internal metal melt of the thin shell mold.

[0058] [Method embodiment]

[0059] As Figures 3-9 The control method of the intelligent casting device based on robot-assisted enhanced cooling provided by the method embodiment of the present application is shown, including the following steps:

[0060] Step S1: Prepare the thin shell mold 7 with the reinforcing rib structure 8, and set the holding furnace 3 filled with the metal melt 4 in the sealed and pressurizable low-pressure counter-gravity casting machine 1, and insert the riser pipe 5 in the holding furnace 3, as shown in Figure 4

[0061] Step S2: The thin shell mold 7 is inverted on the top of the sprue base 6 of the low-pressure counter-gravity casting machine 1 in a rotatable manner and is sealed, so that the inside of the thin shell mold 7 is in communication with the riser pipe 5; the intelligent cooling nozzle robot 9 and the intelligent detection device combination 10 are installed around the thin shell mold 7, as shown in Figure 5

[0062] Step S3: Dry compressed gas is introduced into the low-pressure counter-gravity casting machine 1 through the air inlet channel 2, and the gas pressure makes the metal melt 4 in the holding furnace 3 rise along the riser pipe 5 and enter the cavity of the thin shell mold 7, until the metal melt 4 fills the cavity, as shown in Figure 6

[0063] ​​​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 by the intelligent detection device combination 10, controlling the intelligent cooling nozzle robot 9 to move layer by layer from top to bottom and implement intelligent feedback adjustment in cooperation with the intelligent detection device combination 10, 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 realizes rapid solidification from top to bottom, as shown in Figure 7 The convex part and the concave part of the thin shell mold 7 are sequentially numbered from top to bottom as the first layer to the fifth layer, that is, the first convex part is the first layer, the first concave part is the second layer, and so on, including the following steps:

[0064] As shown in Figure 7 (a), the No. 1 intelligent detection device is placed at the top end of the thin shell mold, the No. 2 intelligent detection device is placed beside the first layer of the thin shell mold, and the No. 3 intelligent detection device is placed beside the second layer of the thin shell mold; then control the intelligent cooling nozzle robot 9 to move to the lower layer in cooperation with the intelligent detection device combination 10;

[0065] Then as shown in Figure 7 (b), the No. 1 intelligent detection device is placed beside the first layer of the thin shell mold, the No. 2 intelligent detection device is placed beside the second layer of the thin shell mold, and the No. 3 intelligent detection device is placed beside the third layer of the thin shell mold; then control the intelligent cooling nozzle robot 9 to move to the lower layer in cooperation with the intelligent detection device combination 10;

[0066] Then as shown in Figure 7 (c), the No. 1 intelligent detection device is placed beside the second layer of the thin shell mold, the No. 2 intelligent detection device is placed beside the third layer of the thin shell mold, and the No. 3 intelligent detection device is placed beside the fourth layer of the thin shell mold; then control the intelligent cooling nozzle robot 9 to move to the lower layer in cooperation with the intelligent detection device combination 10;

[0067] Again as shown in Figure 7 (d), the No. 1 intelligent detection device is placed beside the third layer of the thin shell mold, the No. 2 intelligent detection device is placed beside the fourth layer of the thin shell mold, and the No. 3 intelligent detection device is placed beside the fifth layer of the thin shell mold; then control the intelligent cooling nozzle robot 9 to move to the lower layer in cooperation with the intelligent detection device combination 10;

[0068] Finally as shown in Figure 7 (e), the No. 1 intelligent detection device is placed beside the fourth layer of the thin shell mold, the No. 2 intelligent detection device is placed beside the fifth layer of the thin shell mold, and the No. 3 intelligent detection device is placed at the bottom end of the thin shell mold;

[0069] Step S5: After the metal melt 4 inside the thin shell casting mold 7 is solidified, stop the rotation of the thin shell casting mold 7, remove the intelligent cooling nozzle robot 9 and the intelligent detection device combination 10, and simultaneously release the pressure to make the metal melt 4 inside the riser tube 5 backflow, as shown in Figure 8

[0070] Step S6: Remove the thin shell casting mold 7 containing the casting, obtain the casting, complete the production cycle, and return the machine to the original position, as shown in Figure 9

[0071] The above intelligent casting device and control method can also be applied to gravity casting, and the intelligent cooling rate enhancement and step-by-step cooling are applied to the gravity casting mold from bottom to top by the intelligent cooling nozzle robot 9 and the intelligent detection device combination 10.

[0072] The technical solutions of the present application are further introduced from Example 1, Example 2 and Comparative Example 1:

[0073] [Example 1]

[0074] I. 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 shell with a reinforcing rib structure, and the sand is processed into a thin shell casting mold 7 with a reinforcing rib structure 8 according to the requirements of the casting by using moldless numerical control cutting or 3D printing sand mold casting technology, and the metal elements with a ratio of 6.16wt.% Gd, 3.12wt.% Y, 0.33wt.% Zr, and the rest of Mg are smelted to form a metal melt 4, and the metal melt 4 is transferred to the holding furnace 3 for standby;

[0075] II. Equipment installation, the thin shell casting mold 7 is inverted on the sprue base 6 of the low-pressure counter-gravity casting machine 1 by the manipulator, and the pressure provided by the manipulator ensures the sealing between the thin shell casting mold 7 and the sprue base 6 of the low-pressure counter-gravity casting machine 1, the intelligent cooling nozzle robot 9 is installed on one side of the thin shell casting mold 7, and the nozzle at the front end of the robot is aligned with the top layer side of the inverted casting mold, and three intelligent detection device combinations 10 with temperature and position detection functions are installed on the other side of the thin shell casting mold 7, wherein the No. 1 intelligent detection device is placed at the top end of the thin shell casting mold, the No. 2 intelligent detection device is placed beside the first layer of the casting mold, and the No. 3 intelligent detection device is placed beside the second layer of the casting mold, the low-pressure counter-gravity casting machine 1 is ventilated through the air inlet channel 2, and the metal melt 4 in the holding furnace 3 enters the inside of the thin shell casting mold 7 through the riser tube 5.

[0076] ​​III. Layer-by-layer cooling and local regulation, after the metal melt 4 in the thin shell mold 7 is filled, the gas pressure is continuously increased, and finally the gas 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 mold 7, and controls the intelligent cooling nozzle robot 9 to spray strong convection cooling gas. After the first layer is solidified, the intelligent cooling nozzle robot 9 and the intelligent detection device combination 10 are controlled to move layer by layer downward, while the intelligent detection device combination 10 monitors the metal melt 4 in the front solidified layer, the intermediate real-time cooling solidified layer and the subsequent un-solidified layer in real time, and cooperates with the intelligent cooling nozzle robot 9 to move, so that the whole thin shell mold 7 realizes layer-by-layer cooling and solidification from top to bottom; During the layer-by-layer cooling of the thin shell mold 7, the gas pressure applied to the metal melt 4 is always maintained at 1.2 bar until the metal melt 4 is completely solidified; The gas is released to reduce the pressure, so that the metal melt 4 in the riser tube 5 flows back to the holding furnace 3, the thin shell mold 7 is removed from the low-pressure counter-gravity casting machine 1 by using a mechanical hand, and then the casting is taken out from the thin shell mold 7 for post-processing.

[0077] Specifically, the parameters of the cooling nozzle on the intelligent cooling nozzle robot 9 are adjusted as follows:

[0078] (1) When the wall thickness of the casting is 2 mm, the cooling nozzle gas pressure is adjusted to 2.5 bar, the flow rate of a single cooling nozzle is adjusted to 2.2 L / Min, and the cooling speed of the cooling nozzle is 30 k / s;

[0079] (2) When the wall thickness of the casting is 4 mm, the cooling nozzle gas pressure is adjusted to 3.8 bar, the flow rate of a single cooling nozzle is adjusted to 4.3 L / Min, and the cooling speed of the cooling nozzle is 30 k / s;

[0080] (3) When the wall thickness of the casting is 6 mm, the cooling nozzle gas pressure is adjusted to 5.2 bar, the flow rate of a single cooling nozzle is adjusted to 7.5 L / Min, and the cooling speed of the cooling nozzle is 30 k / s;

[0081] IV. The post-processing is to apply T6 heat treatment to the casting, including 500 ℃ solid solution treatment for 12 h, 70 ℃ hot water quenching, and 200 ℃ aging treatment for 120 h, so as to obtain a Mg-6.16Gd-3.12Y-0.33Zr(wt.%) high-performance magnesium alloy casting with a defect rate of 0.05%, a maximum defect of 26 um, a grain size of 15 um, a yield strength of 225 MPa, a tensile strength of 352 MPa, and an elongation of 14.7%.

[0082] [Example 2]

[0083] I. Preparation before casting, prepare the sand thin shell casting with reinforcement structure, the required casting is Mg-6.16Gd-3.12Y-0.33Zr(wt.%) magnesium alloy thin shell casting with reinforcement structure, use moldless numerical control cutting or 3D printing sand casting technology to process the sand into thin shell casting with reinforcement structure 8 according to the requirements of the casting, at the same time, melt the metal elements with a proportion of 6.16wt.% Gd, 3.12wt.% Y, 0.33wt.% Zr and the rest of Mg into metal melt 4, and transfer the metal melt 4 to the holding furnace 3 for standby;

[0084] II. Equipment installation, use the manipulator to invert the thin shell casting 7 on the sprue 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 casting 7 and the sprue base 6 of the low-pressure counter-gravity casting machine 1, install the intelligent cooling nozzle robot 9 on one side of the thin shell casting 7, and align the front nozzle of the robot with the top layer side of the inverted casting, 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 casting 7, wherein, the No.1 intelligent detection device is placed at the top of the thin shell casting, the No.2 intelligent detection device is placed beside the first layer of the casting, and the No.3 intelligent detection device is placed beside the second layer of the casting, ventilate the inside of the low-pressure counter-gravity casting machine 1 through the air inlet channel 2, and the metal melt 4 in the holding furnace 3 enters the inside of the thin shell casting 7 through the riser pipe 5.

[0085] III. Layer-by-layer cooling and local regulation, after the metal melt 4 in the thin shell casting 7 is filled, continue to increase the air pressure, and finally keep the air pressure at 1.2bar, the intelligent detection device combination 10 detects the temperature cooling distribution of the metal melt 4 in the thin shell casting 7, controls the intelligent cooling nozzle robot 9 to spray strong convection cooling gas, after the first layer is solidified, controls the intelligent cooling nozzle robot 9 and the intelligent detection device combination 10 to move layer by layer downward, at the same time, the intelligent detection device combination 10 monitors the metal melt 4 in the previous solidified layer, the intermediate real-time cooling solidified layer and the subsequent un-solidified layer in real time, cooperates with the intelligent cooling nozzle robot 9 to move, and finally makes the whole thin shell casting 7 cool and solidify layer by layer from top to bottom; During the process of layer-by-layer cooling of the thin shell casting 7, the air pressure applied to the metal melt 4 is always kept at 1.2bar until the metal melt 4 is completely solidified; release the air pressure to make the metal melt 4 in the riser pipe 5 flow back to the holding furnace 3, use the manipulator to move the thin shell casting 7 from the low-pressure counter-gravity casting machine 1, and then take out the casting from the thin shell casting 7 for post-processing.

[0086] Among them, the specific parameter adjustment of the cooling nozzle on the intelligent cooling nozzle robot is as follows:

[0087] (1) When the wall thickness of the casting is 2 mm, the cooling nozzle air pressure is adjusted to 2 bar, the flow rate of a single cooling nozzle is adjusted to 1.2 L / Min, and the cooling speed of the cooling nozzle is 15 k / s;

[0088] (2) When the wall thickness of the casting is 4 mm, the cooling nozzle air pressure is adjusted to 3.1 bar, the flow rate of a single cooling nozzle is adjusted to 3.2 L / Min, and the cooling speed of the cooling nozzle is 15 k / s;

[0089] (3) When the wall thickness of the casting is 6 mm, the cooling nozzle air pressure is adjusted to 4.5 bar, the flow rate of a single cooling nozzle is adjusted to 6.2 L / Min, and the cooling speed of the cooling nozzle is 15 k / s;

[0090] Four, the post-treatment is to apply T6 heat treatment to the casting, including 500 ℃ solid solution treatment for 12 h, 70 ℃ hot water quenching, and 200 ℃ aging treatment for 120 h, so that the Mg-6.16Gd-3.12Y-0.33Zr (wt.%) high-performance magnesium alloy casting 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% is obtained.

[0091] [Comparative Example 1]

[0092] The required casting is still the Mg-6.16Gd-3.12Y-0.33Zr (wt.%) magnesium alloy casting with the same height and thickness, a sand core, a sand mold and a sand box are made by a conventional sand casting method, the molten metal 4 is poured into the sand mold, and then naturally cooled, the cooling speed of the molten metal 4 is 0.5 K / s, after the molten metal is cooled, the pouring system, the riser, the cold iron and the like on the casting are cut off, the surface of the casting is polished to remove surface burrs and oxide layers and the like, the sand particles in the casting are removed by wind blowing, vibration and the like, T6 heat treatment is applied to the casting, including 500 ℃ solid solution treatment for 12 h, 70 ℃ hot water quenching, and 200 ℃ aging treatment for 120 h, finally the Mg-6.16Gd-3.12Y-0.33Zr (wt.%) magnesium alloy casting with a defect rate of 0.73%, a maximum defect of 1560 um, a grain size of 130 um, a yield strength of 189 MPa, a tensile strength of 282 MPa, and an elongation of 3.8% is obtained.

[0093] Table 1 Casting forming process parameters used in Example 1, Example 2 and Comparative Example 1

[0094]

[0095] Table 2 Casting defects, grain size and mechanical properties obtained in Example 1, Example 2 and Comparative Example 1

[0096]

[0097] From table 1 and table 2, compared with the traditional sand casting method, the cooling speed of the casting formed by the casting method of the application can be obviously improved, and through the multi-machine cooperation and integrated control, the air pressure and flow of the cooling nozzle medium are intelligently controlled, the casting is layer-by-layer solidified from top to bottom, the casting defect rate is obviously reduced, the maximum defect is smaller, the grain size is finer, and the mechanical performance is better.

[0098] The intelligent casting device based on robot-assisted enhanced cooling and the control method thereof provided by the application, by adopting a new type of sand shell casting with a reinforcing rib structure, and adopting a moldless numerical control cutting processing technology or a 3D printing sand casting technology to process the sand shell, and combining with the pressurized counter-gravity casting in the pouring process, the intelligent controllability of the sand casting cooling process is realized by the multi-machine cooperation of the intelligent cooling nozzle robot and the intelligent detection device combination. Unlike traditional technology, the application can not only strengthen the surface strength of the sand shell, manufacture complex sand shell, make the metal liquid fill the mold smoothly during casting, reduce defects such as oxidation and slag inclusion, but also increase the control cooling speed of the strong convection cooling nozzle to reduce casting defects such as shrinkage and porosity, obtain dense solidification structure, and improve the digitalization and intelligentization degree in the sand casting process, and finally obtain the aerospace casting with excellent performance.

[0099] The above shows and describes the basic principles, main features and advantages of the application. Those skilled in the art should understand that the application is not limited to the above examples, and the above examples and descriptions in the specification are only to illustrate the principles of the application, and various changes and improvements can be made without departing from the spirit and scope of the application, and these changes and improvements all fall within the scope of the claimed application. The scope of protection of the application is defined by the appended claims and their equivalents.

Claims

1. A smart casting device based on robot-assisted enhanced cooling, comprising a low-pressure anti-gravity casting machine (1), wherein a heat-holding furnace (3) is provided inside the low-pressure anti-gravity casting machine (1), the heat-holding furnace (3) is filled with molten metal (4), an air inlet channel (2) is provided on the side wall of the low-pressure anti-gravity casting machine (1) and above the heat-holding furnace (3), a gating base (6) is provided on the top of the low-pressure anti-gravity casting machine (1), a thin-shell mold (7) is rotatably placed on top of the gating base (6), a riser pipe (5) is connected inside the heat-holding furnace (3), one end of the riser pipe (5) is located inside the heat-holding furnace (3) and communicates with the molten metal (4), the other end of the riser pipe (5) is located inside the gating base (6) and communicates with the cavity inside the thin-shell mold (7), and a combination of a smart cooling nozzle robot (9) and a smart detection device (10) is provided outside the thin-shell mold (7). Its features are: The intelligent cooling nozzle robot (9) can adjust the adjustable parameters in real time according to the detection results of the intelligent detection device combination (10). The adjustable parameters of the intelligent cooling nozzle robot (9) include at least the nozzle angle, nozzle position, medium injection volume and medium injection speed. When the mold is locally cooled and solidified, the adjustment priority of the medium injection volume and medium injection speed is higher than the adjustment priority of the nozzle position and nozzle angle. When the solidified layer before the mold is remelted, the adjustment priority of the nozzle position and nozzle angle is higher than the adjustment priority of the medium injection volume and medium injection speed. The intelligent cooling nozzle robot (9) is evenly arranged in multiple ways on the outer periphery of the thin shell mold (7), and after the thin shell mold (7) stops rotating, the multiple intelligent cooling nozzle robots (9) work synchronously to complete the casting enhanced cooling process. 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 in sync with the intelligent cooling nozzle robot (9) to detect the temperature of the molten metal (4) in the preceding solidified layer, the intermediate real-time cooling solidified layer and the subsequent unsolidified layer respectively. The intelligent detection device assembly (10) and the intelligent cooling nozzle robot (9) are held or mounted on the guide rail by a robotic arm to achieve synchronous horizontal and vertical movement of the intelligent detection device assembly (10) following the intelligent cooling nozzle robot (9); The intelligent cooling nozzle robot (9) can perform the following adjustment actions based on the real-time monitoring results of the intelligent detection device assembly (10): First, the temperature and distance of the thin-shell mold (7) are detected from top to bottom in real time by the intelligent detection device combination (10). At the same time, the operation of the cooling nozzle of the intelligent cooling nozzle robot (9) is controlled. Based on the three-dimensional shape of the casting and the thin-shell mold and the real-time detection distance, the medium injection volume 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 uniformly and comprehensively cover the side of the middle real-time cooling solidification layer. Finally, it moves 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 and strengthened layer by layer from top to bottom and solidified sequentially. Second, if the temperature of the solidified layer preceding the thin-shell mold (7) rises and exceeds the preset temperature by the intelligent detection device combination (10) in real time, the abnormal result is fed back to the control system. Based on the real-time distance detection result of the intelligent detection device combination (10), the intelligent cooling nozzle robot (9) is controlled to move to the solidified 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 remelted part of the solidified layer. Third, if the intelligent detection device combination (10) detects in real time that the temperature of the molten metal (4) inside the subsequent unsolidified layer drops below the preset temperature in advance, the abnormal result is fed back to the control system. The control system sends a signal to increase the gas pressure inside the low-pressure anti-gravity casting machine (1), driving the molten metal (4) to rise to increase the temperature of the layer. At the same time, it enhances the medium injection volume and medium injection speed of the intelligent cooling nozzle robot (9) to accelerate the cooling speed of the solidified layer in real time.

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

3. The intelligent casting device based on robot-assisted enhanced cooling according to claim 1, characterized in that: The thin-shell mold (7) is placed upside down on top of the gating 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 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 at least one or more of water, oil, coolant and liquid nitrogen; the solid particles are selected from 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 control method for the intelligent casting device based on robot-assisted enhanced cooling according to any one of claims 1-4, characterized in that, Includes the following steps: Step S1: Prepare a thin-shell mold (7) with a reinforcing rib structure (8), and place a heat-holding furnace (3) filled with molten metal (4) inside a sealed and pressurized low-pressure anti-gravity casting machine (1), and insert a liquid riser (5) inside the heat-holding furnace (3). Step S2: Place the thin-shell mold (7) in a rotatable manner on top of the gating base (6) of the low-pressure anti-gravity casting machine (1) and seal it so that the inside of the thin-shell mold (7) is connected to the riser pipe (5); install a combination of intelligent cooling nozzle robot (9) and intelligent detection device (10) around the thin-shell mold (7). Step S3: Dry compressed gas is introduced into the low-pressure anti-gravity casting machine (1) through the air inlet channel (2). The gas pressure causes the molten metal (4) inside the heat preservation furnace (3) to rise along the riser pipe (5) and enter the cavity of the thin-shell mold (7) until the molten metal (4) fills the cavity. 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 molten metal (4) through the intelligent detection device combination (10), control the intelligent cooling nozzle robot (9) and the intelligent detection device combination (10) to work together, move from top to bottom layer by layer and implement intelligent feedback adjustment, and at the same time, the intelligent cooling nozzle robot (9) sprays out cooling medium to accelerate the cooling of the molten metal (4) inside the thin-shell mold (7), so that the molten metal (4) inside the thin-shell mold (7) can achieve rapid solidification from top to bottom; Step S5: After the molten metal (4) inside the thin-shell mold (7) has solidified, stop the rotation of the thin-shell mold (7), remove the intelligent cooling nozzle robot (9) and intelligent detection device combination (10), and at the same time release the gas and reduce the pressure, so that the molten metal (4) inside the riser pipe (5) flows back. Step S6: Remove the thin-shell mold (7) containing the casting to obtain the casting, complete the production cycle, and return the machine to its original position.

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