An automatic core dressing device, system and method

Abstract

The application discloses a kind of automatic adjustment repair core device, system and method, it is connected to mechanical arm in mechanical engineering technical field, including base, is connected to mechanical arm;Electric control mechanism, including drive assembly and telescopic part;Drive assembly is connected to base;Telescopic part can be telescopic movement relative to the base by drive assembly;Rotary mechanism, including guide column and rotating disc;Guide column is rotatably connected to base;Rotating disc has with guide column connection guide portion, and with telescopic part hinged connection hinged portion;Drive assembly drives the linear reciprocating movement of the telescopic part, to drive the rotating disc relative to the base rotation;Repair core mechanism, including repair core rod connected to rotating disc, repair core rod is rotated under the driving of the rotating disc to remove the joint of sand core by preset angle;It can realize driving repair core rod rotation preset angle, can remove the joint of different positions.

Description

Technical Field

[0001] This application belongs to the field of mechanical engineering technology, specifically relating to an automatic adjustment and repair device, system and method. Background Technology

[0002] In the manufacturing of large castings, such as engine blocks, sand cores are required to form the internal structure of the casting. The more complex the internal structure of the casting, the more complex the structure of the sand core. During the sand core preparation process, improper left and right mold closing of the core-making fixture can lead to excessive material in the sand core through gaps. If these gaps are not addressed, they can result in insufficient material in the casting. If the gaps are too large, they can be washed away by the molten iron during pouring and become fixed in the casting as the iron solidifies, causing sand hole defects and, in severe cases, rendering the casting unusable.

[0003] In existing technologies, the seams are typically scraped manually. However, due to variations in operating force and speed, the thickness of the seam removed during manual scraping varies, leading to over-scraping of the sand core. Furthermore, manual scraping is labor-intensive and inefficient, easily resulting in defective products. For example, application number CN201810605820.1, entitled "A Convenient and Reliable Forming Scraping Die for Scraping Sand Core Seams," discloses placing the sand core into a guide post and pressing it downwards from the cutting edge of the scraping die to scrape away excess seams. This scraping structure is only suitable for small castings with smooth surfaces. For example, engine cylinder blocks are large, have uneven surfaces, and irregular shapes, making them unsuitable for such forming scrapping dies. Using them could damage or even render the engine cylinder block unusable. Summary of the Invention

[0004] This application provides an automatic adjustment core-repairing device, system, and method to solve the above-mentioned technical problems, which are not applicable to the treatment of burrs on large castings, and avoid the problems of inconsistent correction amounts, low pass rates, and low work efficiency caused by manual scraping.

[0005] The technical solution adopted in this application is as follows:

[0006] An automatic adjustment and core-repairing device, connected to a robotic arm, includes:

[0007] The base is connected to the robotic arm;

[0008] The electronic control mechanism includes a drive assembly and a telescopic component; the drive assembly is connected to the base; the telescopic component can extend or retract relative to the base via the drive assembly;

[0009] A rotating mechanism includes a guide column and a rotating disk; the guide column is rotatably connected to a base; the rotating disk has a guide portion connected to the guide column and a hinge portion hinged to a telescopic member; the telescopic member is driven to reciprocate linearly by a drive assembly to drive the rotating disk to rotate relative to the base.

[0010] The core-repairing mechanism includes a core-repairing rod connected to a rotating disk. The core-repairing rod rotates at a preset angle under the drive of the rotating disk to scrape off the seams of the sand core.

[0011] The automatic adjustment and core-repairing device of this application also has the following additional technical features:

[0012] The rotating disk includes a disk body and an extension connected to each other. The disk body has a connection hole for connecting with a guide post. The extension extends toward the telescopic member and has a first positioning hole. The telescopic member has a second positioning hole corresponding to the extension. The telescopic member is hinged to the rotating disk by means of a hinged member inserted into the first positioning hole and the second positioning hole.

[0013] The extension also has a mounting groove, the hinge can be inserted into the mounting groove and the first positioning hole, and the telescopic member can be embedded in the mounting groove and hinged to the hinge.

[0014] The automatic adjustment and core-repairing device also includes a limiting mechanism, which includes a baffle and a limiting member. The baffle is connected to the base through a connector, and the limiting member is connected to the middle of the baffle corresponding to the telescopic member, for limiting the distance the telescopic member moves in a straight line.

[0015] The base includes a base, and a first connecting plate and a second connecting plate are connected to the side of the base facing the rotating mechanism. The telescopic member is connected in parallel between the first connecting plate and the second connecting plate. The baffle is connected vertically between the first connecting plate and the second connecting plate through a connector.

[0016] The first connecting plate has a first mounting hole, the second connecting plate has a second mounting hole, and the guide post is rotatably connected to the first mounting hole and the second mounting hole; the rotating disk is rotatably connected to the guide post and is disposed between the first connecting plate and the second connecting plate.

[0017] The driving assembly includes a driving component, a lead screw, and a slider; the driving component is connected to the base, the lead screw is connected to the driving component, the slider is threadedly connected to the lead screw, and one end of the slider is connected to a telescopic component. The driving component drives the lead screw to rotate, thereby causing the slider to move along the lead screw, and also causing the telescopic component to move linearly reciprocally; or...

[0018] The drive assembly includes a hydraulic cylinder and a motor. The hydraulic cylinder is driven by the motor. The motor and the hydraulic cylinder are connected to the base. The piston rod of the hydraulic cylinder is connected to the telescopic component to drive the telescopic component to move linearly back and forth.

[0019] This application also relates to an automatic adjustment and repair system, based on an automatic adjustment and repair device according to any one of the above, comprising:

[0020] PLC controller;

[0021] Displacement sensors are used to detect whether the sand core is installed in place;

[0022] A vision system is used to photograph the formed sand core and identify the sand core seams, and measure the seam thickness and deformation.

[0023] An automatic adjustment and core-repairing device is connected to a PLC controller. The PLC controller controls the extension and retraction of the telescopic component in the automatic adjustment and core-repairing device to scrape away the seams.

[0024] The robotic arm is connected to the automatic adjustment and core-repairing device and can move along a preset trajectory to drive the automatic adjustment and core-repairing device to scrape away the burrs on the sand core.

[0025] This application also relates to an automatic adjustment and repair method, based on the aforementioned automatic adjustment and repair system, the specific steps of which include:

[0026] The displacement sensor is used to detect whether the sand core is in place.

[0027] Once the sand core is installed in place, the vision system controlled by the PLC takes pictures of the sand core and identifies the seams in the sand core, measuring the seam thickness and deformation.

[0028] The obtained seam thickness and deformation are uploaded to the PLC controller, which calculates the expansion and contraction of the expansion component so that the expansion component can scrape seams of different thicknesses.

[0029] The telescopic component is extended or retracted into place by an electronic control mechanism, and the rotating mechanism is driven to rotate, so that the core-repairing mechanism moves to the position of the seam.

[0030] The PLC controller controls the robotic arm to move along the trajectory and drive the automatic adjustment and core-repairing device to scrape off the seams at different locations.

[0031] The process of taking pictures of the sand core and identifying the seams in the sand core using a PLC-controlled vision system, and measuring the seam thickness and deformation, specifically includes: taking pictures of the sand core using a PLC-controlled vision system, comparing the vision system with a standard template, and identifying the thickness and deformation of the sand core seams through calculation.

[0032] Due to the adoption of the above technical solution, the beneficial effects achieved by this application are as follows:

[0033] 1. This application relates to an automatic adjusting core-repairing device connected to a robotic arm, comprising a base, an electrical control mechanism, a rotating mechanism, and a core-repairing mechanism; the electrical control mechanism includes a drive assembly and a telescopic component; the drive assembly is connected to the base; the telescopic component can extend and retract relative to the base via the drive assembly; the rotating mechanism includes a guide post and a rotating disk; the guide post is rotatably connected to the base; the rotating disk has a guide portion connected to the guide post and a hinge portion hinged to the telescopic component; the drive assembly drives the telescopic component to move linearly reciprocally, thereby causing the rotating disk to rotate relative to the base; thus, the rotation angle of the rotating disk can be controlled by the electrical control mechanism; since the core-repairing rod of the core-repairing mechanism is connected to the rotating disk, it can be driven to rotate at a preset angle, enabling the removal of burrs at different positions; simultaneously, by connecting the core-repairing device to the robotic arm, and through cooperation with the robotic arm, the robotic arm control can control the rotation position of the rotating disk and its position relative to the sand core, thereby enabling the removal of burrs of different thicknesses. The trimming amount is automatically adjusted according to the location and thickness of the seam. The trimming amount is increased for thicker seams and relatively reduced for thinner seams, so as to provide customized trimming for seams of different locations and thicknesses.

[0034] 2. In a preferred embodiment of this application, the rotating disk includes a disk body and an extension connected to each other. The disk body has a connection hole for connecting with a guide post. The extension extends toward the telescopic member and has a first positioning hole. The telescopic member has a second positioning hole corresponding to the extension. A hinge is inserted into the first and second positioning holes, so that the telescopic member is hingedly connected to the rotating disk. The disk body is used to connect with the guide post, which is rotatably connected to the base, thereby enabling the disk body to rotate relative to the machine body. The extension is connected to the disk body and extends toward the telescopic member, so that it can be hingedly connected to the telescopic member. This allows the telescopic member to reciprocate linearly, driving the disk body to rotate relative to the base, thus providing a driving force for the rotation of the disk body.

[0035] 3. In a preferred embodiment of this application, the extension portion further includes a mounting groove, through which the hinge member can be inserted and fitted into the mounting groove and the first positioning hole, and the telescopic member can be fitted into the mounting groove and hingedly connected to the hinge member. By providing a mounting groove in the extension portion, fitting the hinge member into the mounting groove and the first positioning hole, and fitting the telescopic member into the mounting groove and hingedly connected to the hinge member, a hinged connection between the extension portion and the telescopic member is achieved, enabling the disk body to rotate when the telescopic member reciprocates linearly.

[0036] 4. In a preferred embodiment of this application, the automatic adjusting core-repairing device further includes a limiting mechanism, which comprises a baffle and a limiting member. The baffle is connected to the base via a connector, and the limiting member is connected to the middle of the baffle corresponding to the telescopic member, used to limit the distance of the telescopic member's linear movement. The baffle is connected to the base to block the rotating disk in the circumferential direction when the telescopic member drives it to rotate, preventing the rotating disk from rotating too much and thus limiting the rotation of the rotating disk. The limiting member is connected to the middle of the baffle and corresponds to the position of the telescopic member, aiming to limit the telescopic member's linear reciprocating motion direction and prevent the telescopic member from colliding with the baffle due to excessive linear movement.

[0037] 5. In a preferred embodiment of this application, the base includes a base plate, with a first connecting plate and a second connecting plate connected to the side of the base facing the rotating mechanism. A telescopic member is connected parallel to the first and second connecting plates. A baffle is vertically connected between the first and second connecting plates via a connecting member. The first and second connecting plates of the base provide support for the guide column, thereby supporting the rotating disk. The telescopic member, connected parallel to the first and second connecting plates, allows for linear reciprocating movement along the parallel direction of the first and second connecting plates, driving the rotating disk to rotate relative to the base plate under the rotation of the guide column. The baffle, vertically connected between the first and second connecting plates, is perpendicularly distributed relative to the telescopic member. Since the limiting member connected to the baffle corresponds to the telescopic member, it limits the movement distance of the telescopic member, preventing the telescopic member from exceeding the baffle. Attached Figure Description

[0038] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0039] Figure 1 This is a schematic diagram of the first angle of an automatic core-repairing device according to one embodiment of this application;

[0040] Figure 2 This is a structural schematic diagram of the second angle of an automatic core-repairing device according to one embodiment of this application;

[0041] Figure 3 This is a schematic diagram of the third angle of an automatic adjusting core-repairing device according to one embodiment of this application;

[0042] Figure 4 This is a flowchart illustrating an automatic adjustment and core-repairing method according to one embodiment of this application;

[0043] In the picture,

[0044] 1. Base; 2. Telescopic component; 3. Guide column; 4. Rotating disk; 5. Core trimming rod; 6. Baffle; 7. Limiting component; 8. First connecting plate; 9. Second connecting plate. Detailed Implementation

[0045] To more clearly illustrate the overall concept of this application, a detailed explanation is provided below with reference to the accompanying drawings.

[0046] Many specific details are set forth in the following description in order to provide a full understanding of this application. However, this application may also be implemented in other ways different from those described herein. Therefore, the scope of protection of this application is not limited to the specific embodiments disclosed below.

[0047] Furthermore, it should be understood in the description of this application that the terms "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0048] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a communication connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0049] In this application, unless otherwise expressly specified and limited, the "above" or "below" of the second feature can mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. In the description of this specification, references to terms such as "implementation," "example," "a particular embodiment," "example," or "specific example," etc., indicate that the specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described can be combined in any suitable manner in one or more embodiments or examples.

[0050] Example 1

[0051] This application relates to an automatic adjustment and core-repairing device, such as... Figure 1-3 As shown, connected to the robotic arm, it includes:

[0052] Base 1, connected to the robotic arm;

[0053] The electronic control mechanism includes a drive assembly and a telescopic component 2; the drive assembly is connected to the base 1; the telescopic component 2 can extend and retract relative to the base 1 through the drive assembly.

[0054] The rotating mechanism includes a guide post 3 and a rotating disk 4; the guide post 3 is rotatably connected to the base 1; the rotating disk 4 has a guide portion connected to the guide post 3 and a hinge portion hinged to the telescopic member 2; the telescopic member 2 is driven to move linearly reciprocally by a drive assembly to drive the rotating disk 4 to rotate relative to the base 1.

[0055] The core-repairing mechanism includes a core-repairing rod 5 connected to the rotating disk 4. The core-repairing rod 5 rotates at a preset angle under the drive of the rotating disk 4 to scrape off the seams of the sand core.

[0056] like Figure 1-3 As shown, the base 1 is used to connect with the robotic arm. Through cooperation with the robotic arm, the movement trajectory of the base 1 can be adjusted and multi-angled, thereby positioning the automatic core-repairing device at the location of the placed sand core, facilitating the crimping treatment of the sand core. The base 1 is connected to an electrical control mechanism, a rotation mechanism, and a core-repairing mechanism. The drive component of the electrical control mechanism is connected to the base 1, and the telescopic component 2 can be connected to the drive component and is controlled by the drive component to move relative to the base 1 along the... Figure 3 The indicated orientation moves back and forth in a straight line along the horizontal direction. When the telescopic component 2 moves along... Figure 3 When the indicated direction moves horizontally to the right, the telescopic component 2 is hinged to the rotating disk 4, and the rotating disk 4 is rotatably connected to the base 1 via the guide post 3. Therefore, when the telescopic component 2, which is hinged to one side of the rotating disk 4, moves linearly, the other side of the rotating disk 4 can rotate relative to the base 1 under the rotation of the guide post 3. The rotation angle is controlled by the displacement of the telescopic component 2 of the electronic control mechanism, thereby achieving the adjustment of the preset angle, allowing the rotating disk 4 to rotate relative to the base 1 at a certain angle, thus achieving the scraping of the burrs on the sand core at different locations. Of course, the core-repairing rod 5 connected to the rotating disk 4 is responsible for scraping the burrs. Since the core-repairing rod 5 has a certain range of rotation under the rotation of the rotating disk 4, for example, when burrs appear on the outer circumference of the engine block from top to bottom, the movement of the robotic arm is needed to process the entire burr. Therefore, through the cooperation with the robotic arm, the automatic adjustment core-repairing device of this application can process burrs of different locations and thicknesses.

[0057] In this application, the rotation angle of the rotating disk 4 can be controlled by an electronic control mechanism. Since the core-repairing rod 5 of the core-repairing mechanism is connected to the rotating disk 4, it can rotate the core-repairing rod 5 to a preset angle, thus scraping away seams at different locations. Simultaneously, by connecting the core-repairing device to a robotic arm, and through cooperation with the robotic arm, the robotic arm can control the rotation position of the rotating disk 4 and its position relative to the sand core, thereby scraping away seams of different thicknesses. The trimming amount is automatically adjusted according to the location and thickness of the seam; the trimming amount is increased for thicker seams and relatively decreased for thinner seams, allowing for customized trimming of seams at different locations and with different thicknesses.

[0058] In a preferred embodiment, the rotating disk 4 includes a disk body and an extension connected to each other. The disk body has a connection hole for connecting with the guide post 3. The extension extends toward the telescopic member 2 and has a first positioning hole. The telescopic member 2 has a second positioning hole corresponding to the extension. The telescopic member 2 is hinged to the rotating disk 4 by means of a hinged member inserted into the first positioning hole and the second positioning hole.

[0059] The disc body is used to connect with the guide post 3. The guide post 3 can be rotatably connected to the base 1, so that the disc body can rotate relative to the body. The extension is connected to the disc body and extends towards the telescopic member 2. The purpose is to be hinged to the telescopic member 2, so that when the telescopic member 2 moves back and forth in a straight line, it drives the disc body to rotate relative to the base 1, providing driving force for the rotation of the disc body.

[0060] Furthermore, the extension has a mounting groove, and the telescopic member 2 can be fitted into the mounting groove and hinged to the hinge member.

[0061] By opening a mounting groove in the extension, and installing a hinge in the mounting groove and the first positioning hole, the telescopic member 2 can be fitted into the mounting groove and hinged to the hinge, thereby realizing the hinged connection between the extension and the telescopic member 2, so that when the telescopic member 2 moves back and forth in a straight line, it can drive the disc to rotate.

[0062] In a preferred embodiment, the automatic adjustment and core-repairing device further includes a limiting mechanism, which includes a baffle 6 and a limiting member 7. The baffle 6 is connected to the base 1 via a connector, and the limiting member 7 is connected to the middle of the baffle 6 corresponding to the telescopic member 2, for limiting the distance the telescopic member 2 moves in a straight line.

[0063] The baffle 6 is connected to the base 1. Its purpose is to block the rotating disk 4 in the circumferential direction when the telescopic member 2 drives the rotating disk 4 to rotate, so as to prevent the rotating disk 4 from rotating too much and thus limit the rotation of the rotating disk 4. The limiting member 7 is connected to the middle of the baffle 6 and corresponds to the position of the telescopic member 2. Its purpose is to limit the telescopic member 2 in the direction of linear reciprocating motion, so as to prevent the telescopic member 2 from moving too far in a straight line and colliding with the baffle 6.

[0064] In a preferred embodiment, the base 1 includes a base, a first connecting plate 8 and a second connecting plate 9 are connected to the side of the base facing the rotating mechanism, and a telescopic member 2 is connected in parallel between the first connecting plate 8 and the second connecting plate 9; the baffle 6 is vertically connected between the first connecting plate 8 and the second connecting plate 9 through a connector.

[0065] like Figure 1-3 As shown, the base 1 includes a base plate and a base. The base plate is used to connect to the robotic arm, and the base is connected to the right side of the base plate for connecting the rotating disk 4. The base has a first connecting plate 8 and a second connecting plate 9 that are spaced at a preset distance and are parallel to each other. The function of the first connecting plate 8 and the second connecting plate 9 is to provide support for the guide post 3, thereby supporting the rotating disk 4. The telescopic member 2 is connected in parallel between the first connecting plate 8 and the second connecting plate 9, so that the telescopic member 2 can move linearly back and forth in the parallel direction of the first connecting plate 8 and the second connecting plate 9, pushing the rotating disk 4 to rotate relative to the base 1 under the rotation of the guide post 3. The baffle 6 is vertically connected between the first connecting plate 8 and the second connecting plate 9 and can be vertically distributed relative to the telescopic member 2. Since the limiting member 7 connected to the baffle 6 corresponds to the telescopic member 2, the movement distance of the telescopic member 2 is limited, preventing the telescopic member 2 from going beyond the baffle 6.

[0066] Furthermore, the first connecting plate 8 has a first mounting hole, the second connecting plate 9 has a second mounting hole, and the guide post 3 is rotatably connected in the first mounting hole and the second mounting hole; the rotating disk 4 is rotatably connected to the guide post 3 and is disposed between the first connecting plate 8 and the second connecting plate 9.

[0067] A first connecting plate 8 is positioned above a second connecting plate 9. A first mounting hole is formed on the first connecting plate 8, and a second mounting hole corresponding to the first mounting hole is formed on the second connecting plate 9. The guide post 3 is rotatably connected to both the first and second mounting holes via a bearing assembly. The top section of the guide post 3 is rotatably connected to the first mounting hole, and the bottom section is rotatably connected to the second mounting hole. In use, the guide post 3 is first fixedly inserted into the rotating disk 4. Then, the top of the guide post 3 is inserted into the first mounting hole, and the bottom of the guide post 3 is inserted into the second mounting hole, thereby enabling the rotating disk 4 to rotate relative to the base 1 under the connecting action of the guide post 3.

[0068] The structure of the driver component is not limited to that of this application, and any of the following implementation methods can be adopted:

[0069] Implementation method 1: The drive assembly includes a drive component, a lead screw, and a slider; the drive component is connected to the base 1, the lead screw is connected to the drive component, the slider is threaded to the lead screw, and one end of the slider is connected to a telescopic component 2. The drive component drives the lead screw to rotate so as to move the slider along the lead screw, and can drive the telescopic component 2 to move linearly back and forth.

[0070] The driving component can be a motor, which drives the lead screw to rotate. Since the two ends of the lead screw are rotatably connected to the base 1, the lead screw can only rotate along the base 1. The slider, which is threaded onto the lead screw, can move relative to the axis of the lead screw under the action of the lead screw's rotation. Since the slider is connected to the telescopic component 2, the telescopic component 2 can generate linear motion along the axis of the lead screw. By adjusting the forward and reverse motion of the lead screw with the motor, the telescopic component 2 can be adjusted to achieve reciprocating linear motion.

[0071] Implementation method 2: The drive component includes a hydraulic cylinder and a motor. The hydraulic cylinder is driven by the motor. The motor and the hydraulic cylinder are connected to the base 1. The piston rod of the hydraulic cylinder is connected to the telescopic member 2 to drive the telescopic member 2 to move linearly back and forth.

[0072] The piston rod of the hydraulic cylinder can move linearly back and forth, thereby driving the telescopic component 2 to move linearly, which in turn drives the rotating disk 4 to rotate relative to the base 1, so that the core-repairing rod 5 can rotate to scrape off the seams.

[0073] Furthermore, the automatic adjustment and core-repairing device of this application also includes a collection device, which includes a base, a suction pump, a suction pipe, and a carrier box. The base is connected to the seat of the robotic arm. The suction pipe is connected to the lower part of the robotic arm through a support column and can move with the robotic arm to facilitate the absorption of the powder remaining after the scraping of the core. The carrier box is connected to the base and is used to connect to the output pipe. The output pipe is connected to the outlet of the suction pump, and the suction pipe is connected to the inlet of the suction pump. The suction pipe has a tapered inlet that is inclined downward toward the core. The motor drives the suction pump to start running and sucks the scraped powder through the tapered inlet of the suction pipe and inputs it into the carrier box through the output pipe, thereby realizing the simultaneous scraping of the core and recovery of the powder.

[0074] Example 2

[0075] This application also relates to an automatic adjustment and repair system, and an automatic adjustment and repair device based on any one of the above, comprising:

[0076] PLC controller;

[0077] Displacement sensors are used to detect whether the sand core is installed in place;

[0078] A vision system is used to photograph the formed sand core and identify the sand core seams, and measure the seam thickness and deformation.

[0079] An automatic adjustment and core-repairing device is connected to a PLC controller. The PLC controller controls the extension and retraction of the telescopic component 2 in the automatic adjustment and core-repairing device to scrape off the seams.

[0080] The robotic arm is connected to the automatic adjustment and core-repairing device and can move along a preset trajectory to drive the automatic adjustment and core-repairing device to scrape away the burrs on the sand core.

[0081] The PLC controller is used to determine whether the sand core is installed in place based on the position data of the sand core uploaded by the displacement sensor. When it is determined that the sand core is installed in place, the PLC controller controls the vision system to take pictures of the formed sand core and identify the burrs on the sand core. After the vision system calculates the thickness and deformation of the burrs, the PLC controller controls the electrical control mechanism of the automatic core-repairing device to adjust the extension and retraction of the telescopic component 2. By adjusting the extension and retraction of the telescopic component 2, the rotation range of the core-repairing rod 5 is controlled to scrape off the burrs within a certain range. Furthermore, the robotic arm is used to plan a reasonable path to scrape off the burrs at different locations. By controlling the displacement distance of the robotic arm relative to the sand core, the scraping of burrs of different thicknesses can be achieved.

[0082] In a preferred embodiment, the robotic arm is also connected to a rotating disk, which is connected to a first gripper and a second gripper. The first gripper and the second gripper can slide relative to each other along the rotating disk, so that the distance between the first gripper and the second gripper is adjustable. The first gripper and the second gripper connect to the substrate of the base body, so as to realize the installation of core-repairing devices of different sizes. The rotating disk drives the base body to rotate, so as to adjust the rotation angle of the core-repairing device.

[0083] In addition to using PLC controllers, industrial PCs can also be used, and cloud computing platforms can be introduced for remote monitoring and management. This not only facilitates data maintenance but also allows for optimization of process parameters through big data analysis. Furthermore, human-machine interface (HMI) machines can be added. These HMI machines have displays with voice input options and enhance virtual reality (VR) or augmented reality (AR) technologies. This allows operators to directly control the core repair device or robotic arm through the display screen, improving operational convenience and user experience.

[0084] Furthermore, by developing adaptive path planning algorithms through strategies such as straight-line reciprocating, spiral scanning, and contour following, the robotic arm can dynamically adjust the path according to the actual state of the sand core, thereby improving efficiency and core repair quality.

[0085] Example 3

[0086] This application also relates to an automatic adjustment and core-repairing method, such as... Figure 4 As shown, the specific steps of the automatic adjustment and repair system based on the above include:

[0087] The displacement sensor is used to detect whether the sand core is in place.

[0088] Once the sand core is installed in place, the vision system controlled by the PLC takes pictures of the sand core and identifies the seams in the sand core, measuring the seam thickness and deformation.

[0089] If the sand core is not installed in place, re-check the position of the sand core;

[0090] The obtained seam thickness and deformation are uploaded to the PLC controller, which calculates the expansion and contraction of the expansion member 2 so that the expansion member 2 can scrape seams of different thicknesses.

[0091] The telescopic component 2 is extended and retracted into place by the electronic control mechanism, and the rotating mechanism is driven to rotate, so that the core-repairing mechanism moves to the position of the seam.

[0092] The PLC controller controls the robot to drive its robotic arm to set a predetermined route based on the model and size of the sand core and the location of the seam, thereby formulating a corresponding trajectory program. The PLC controller calls the trajectory program to control the robotic arm to drive the automatic adjustment core repair device to move according to the predetermined trajectory. Preferably, the predetermined trajectory is the distribution path of the seam, and the seam is scraped off along the distribution path of the seam to achieve the scraping of seams at different locations.

[0093] After the robot drives the robotic arm to complete the core-repairing work of scraping away the seams, the sand core is released to the next process;

[0094] After scraping, the robot moves its robotic arm back to its original position, waiting for the scraping of the sand core seams in the next cycle.

[0095] Specifically, the process of taking pictures of the sand core and identifying the seams in the sand core using a PLC-controlled vision system, and measuring the seam thickness and deformation, includes: taking pictures of the sand core using a PLC-controlled vision system, comparing the vision system with a standard template, and identifying the thickness and deformation of the sand core seams through calculation.

[0096] Furthermore, the position coordinates of the sand core are detected by a displacement sensor and uploaded to the PLC controller. The PLC controller determines whether the sand core is installed correctly. Once the sand core is installed correctly, the PLC controls a vision system to take pictures of the sand core. The vision system includes a first facing camera, a second facing camera, and a third facing camera. The first facing camera is positioned above the robotic arm and faces the Z-axis direction, enabling it to take pictures of the Z-axis edge of the large casting. Based on the acquired image information, it calculates the offset data of the seam along the Z-axis on the large casting and uploads it to the PLC controller. The second facing camera is positioned above the robotic arm... The robotic arm, positioned at the front and facing the X-axis, can photograph the edge of the large casting along the X-axis. Based on the acquired photographic information, it calculates the offset data of the seam along the X-axis and uploads it to the PLC controller. A third opposing camera, positioned on the side of the robotic arm and facing the Y-axis, can photograph the edge of the large casting along the Y-axis. Based on the acquired photographic information, it calculates the offset data of the seam along the Y-axis and uploads it to the PLC controller. The PLC compares this data with the standard data of the large casting contained in the standard template to determine the thickness and deformation of the seam.

[0097] After obtaining the thickness and deformation of the seam, the PLC controller can control the robotic arm to drive the core-repairing device to follow a predetermined path along the seam based on the location of the sand core and the seam. By controlling the extension and retraction of the telescopic component 2 through the control mechanism, the device can adaptively scrape seams of different thicknesses along the predetermined path. This allows for adaptive scraping of seams with uneven thickness while walking along the seam path, thus automatically adjusting the scraping amount and correction amount according to the different thicknesses of the seam, preventing over- or under-scraping and achieving a uniform removal of the seam.

[0098] For any parts not mentioned in this application, existing technologies may be used or referenced.

[0099] The various embodiments in this specification are described in a progressive manner. The same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on describing the differences from other embodiments.

[0100] The above description is merely an embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of this application should be included within the scope of the claims of this application.

Claims

1. An automatic adjusting and core-repairing device, connected to a robotic arm, characterized in that, include: The base (1) is connected to the robotic arm; The electronic control mechanism includes a drive assembly and a telescopic component (2); the drive assembly is connected to the base (1); the telescopic component (2) can extend or retract relative to the base (1) through the drive assembly; The rotating mechanism includes a guide post (3) and a rotating disk (4); the guide post (3) is rotatably connected to the base (1); the rotating disk (4) has a guide portion connected to the guide post (3) and a hinge portion hinged to the telescopic member (2); the rotating disk (4) includes a disk body portion and an extension portion connected to each other; the extension portion is connected to the disk body portion and extends toward the telescopic member, and can be hinged to the telescopic member; the telescopic member (2) is driven to move linearly reciprocally by a drive assembly, so as to drive the rotating disk (4) to rotate relative to the base (1); The core-repairing mechanism includes a core-repairing rod (5) connected to the rotating disk (4). The core-repairing rod (5) rotates at a preset angle under the drive of the rotating disk (4) to scrape off the seams of the sand core.

2. The automatic adjusting and repairing device as described in claim 1, characterized in that, The disc body is provided with a connection hole for connecting with the guide post (3); the extension is provided with a first positioning hole, and the telescopic member (2) is provided with a second positioning hole corresponding to the extension; the telescopic member (2) is hinged to the rotating disc (4) by means of a hinged member inserted into the first positioning hole and the second positioning hole.

3. The automatic adjusting and repairing device as described in claim 2, characterized in that, The extension also has an installation groove, and the hinge can be inserted into the installation groove and the first positioning hole. The telescopic member (2) can be embedded in the installation groove and hinged to the hinge.

4. The automatic adjusting and repairing device as described in claim 1, characterized in that, It also includes a limiting mechanism, which includes a baffle (6) and a limiting member (7); the baffle (6) is connected to the base (1) through a connector, and the limiting member (7) is connected to the middle part of the baffle (6) corresponding to the telescopic member (2) to limit the distance of the telescopic member (2) moving in a straight line.

5. The automatic adjusting and repairing device as described in claim 4, characterized in that, The base (1) includes a base, and a first connecting plate (8) and a second connecting plate (9) are connected to the side of the base facing the rotating mechanism. The telescopic member (2) is connected in parallel between the first connecting plate (8) and the second connecting plate (9). The baffle (6) is vertically connected between the first connecting plate (8) and the second connecting plate (9) through a connector.

6. The automatic adjusting and repairing device as described in claim 5, characterized in that, The first connecting plate (8) has a first mounting hole, and the second connecting plate (9) has a second mounting hole. The guide post (3) is rotatably connected to the first mounting hole and the second mounting hole. The rotating disk (4) is rotatably connected to the guide post (3) and is located between the first connecting plate (8) and the second connecting plate (9).

7. The automatic adjusting and repairing device as described in claim 1, characterized in that, The driving assembly includes a driving component, a lead screw, and a slider; the driving component is connected to the base (1), the lead screw is connected to the driving component, the slider is threadedly connected to the lead screw, and one end of the slider is connected to a telescopic component (2). The driving component drives the lead screw to rotate, thereby causing the slider to move along the lead screw, and can also cause the telescopic component (2) to move linearly back and forth; or... The drive assembly includes a hydraulic cylinder and a motor. The hydraulic cylinder is driven by the motor. The motor and the hydraulic cylinder are connected to the base (1). The piston rod of the hydraulic cylinder is connected to the telescopic member (2) to drive the telescopic member (2) to move linearly back and forth.

8. An automatic adjustment and core-repairing system, characterized in that, include: PLC controller; Displacement sensors are used to detect whether the sand core is installed in place; A vision system is used to photograph the formed sand core and identify the sand core seams, and measure the seam thickness and deformation. An automatic adjustment and core-repairing device as described in any one of claims 1-7 is connected to a PLC controller, and the PLC controller controls the extension and retraction of the telescopic component (2) in the automatic adjustment and core-repairing device to scrape off the seams. The robotic arm is connected to the automatic adjustment and core-repairing device and can move along a preset trajectory to drive the automatic adjustment and core-repairing device to scrape away the burrs on the sand core.

9. An automatic adjustment and core-repairing method based on the automatic adjustment and core-repairing system according to claim 8, comprising the following steps: The PLC controller determines whether the sand core is installed in place based on the position data of the sand core uploaded by the displacement sensor; Once the sand core is installed in place, the vision system will take a picture of the formed sand core and identify the seams on the sand core. After the vision system calculates the thickness and deformation of the seams, the PLC controller will control the electrical control mechanism of the automatic core-repairing device to adjust the extension of the telescopic component (2). By adjusting the extension of the telescopic component (2), the rotation range of the core-repairing rod (5) will be controlled to scrape off the seams within a certain range. The PLC controller controls the robotic arm to plan a reasonable path to scrape off the seams at different locations, and the robotic arm can scrape off seams of different thicknesses by controlling the displacement distance of the robotic arm relative to the sand core.

10. The automatic adjustment and core-repairing method as described in claim 9, characterized in that, The vision system is controlled to take pictures of the formed sand core and identify the seams on the sand core. The thickness and deformation of the seams are calculated by the vision system. Specifically, the PLC controls the vision system to take pictures of the sand core, the vision system compares the pictures with a standard template, and the thickness and deformation of the sand core seams are identified through calculation.

Images