Automatic core mold stripping device and method

Abstract

The invention relates to an automatic core mold removing device and method, a positioning adjusting mechanism is provided with an angle adjusting plate for adjusting the angle through the telescopic action of a plurality of telescopic adjusting devices, the angle adjusting plate is provided with a product fixing support and a core ejecting mechanism, the core ejecting mechanism is provided with a lifting jacking plate, and the lifting jacking plate is provided with a lifting device. The jacking plate and the product fixing support are arranged in a cross shape, the jacking plate is provided with two jacking columns, the two jacking columns are arranged on the two sides of the product fixing support respectively, the lower end of a product is fixed to the product fixing support, and the positioning adjusting mechanism is driven by the transfer mechanism to move to the position below the core pulling mechanism. The core pulling mechanism is provided with a Z-direction lifting column capable of ascending and descending, and the lower end of the Z-direction lifting column is connected with a self-locking grabbing hook at the upper end of a grabbing product through a six-dimensional force sensor. According to the invention, the automatic vertical demolding operation of the product core mold can be realized, and the conditions of blockage or product damage and the like are avoided while the core mold is ensured to be smoothly pulled out.

Description

Technical Field

[0001] The invention relates to the field of product demoulding equipment, in particular to an automatic core demoulding device and method. Background Art

[0002] Many products require demoulding operations, but most demoulding mechanisms currently developed are semi-automatic mechanisms that require manual assistance to achieve demoulding operations. The demoulding mechanisms in the prior art have the following disadvantages: First, most existing demoulding mechanisms require manual assistance during the demoulding process and cannot achieve full automation of the process; second, most existing demoulding mechanisms cannot automatically adjust the angle of the product during the demoulding process, making it difficult to ensure that the core mold with high precision is pulled out smoothly.

[0003] Patent CN105479628B discloses a demoulding machine and demoulding method, which includes a fixing device, a mobile demoulding device and a driving device, wherein the mobile demoulding device is detachably connected to the outer wall of the tubular product, the driving device pulls the mobile demoulding device to move, and the mobile demoulding device drives the tubular product to move along the axial direction of the tubular product to realize the demoulding operation. However, the product targeted by the device is horizontally arranged, and a certain demoulding movement amount is required. The overall equipment occupies a relatively large area. In addition, some special products need to loosen the core mold and the product before demoulding. Directly pulling out the core mold is easy to damage the product.

[0004] Patent CN117207584A discloses an automatic core mold demoulding device and method, which includes a demoulding component and a demoulding tool installed on the inner mold and used in conjunction with the demoulding component. However, the device is aimed at pyrotechnic products with an upper mold, an inner mold and a lower mold. When demoulding the inner mold, the product needs to be flipped to a vertical state first, and then the inner mold is hung and the demoulding platform carries the product downward to complete the separation of the inner mold and the product. However, the core mold of some special products is closely combined with the product. Directly using the demoulding platform to drive the relative movement of the product and the core mold is also likely to damage the product. In addition, the force and angle problems need to be considered in the process of vertically demoulding the core mold. Once the core mold swings, it is easy for the core mold to get stuck. Summary of the invention

[0005] The object of the present invention is to provide an automatic core mold demoulding device and method, which can realize the automatic vertical demoulding operation of the product core mold, and at the same time ensure that the core mold is smoothly pulled out without causing jamming or damage to the product.

[0006] The objective of the present invention is achieved through the following technical solutions:

[0007] An automatic core stripping mold device comprises a positioning adjustment mechanism, a transfer mechanism and a core pulling mechanism, wherein the positioning adjustment mechanism is provided with an angle adjustment plate which can adjust the angle through the telescopic action of multiple telescopic adjustment devices, the angle adjustment plate is provided with a product fixing support and a core pushing mechanism, the core pushing mechanism is provided with a liftable lifting plate, and the lifting plate and the product fixing support are arranged in a cross, the lifting plate is provided with two lifting columns, and the two lifting columns are respectively arranged on both sides of the product fixing support, the lower end of the product is fixed on the product fixing support, and then the positioning adjustment mechanism is driven by the transfer mechanism to move to the bottom of the core pulling mechanism, the core pulling mechanism is provided with a liftable Z-direction lifting column, and the lower end of the Z-direction lifting column is connected to a self-locking hook for grabbing the upper end of the product through a six-dimensional force sensor.

[0008] The positioning adjustment mechanism includes an X-axis moving table, and the X-axis moving table is driven to move along the X-axis by a transfer mechanism. A first hinge seat is provided on the upper side of the X-axis moving table, and a second hinge seat is provided on the lower side of the angle adjustment plate. The lower end of each telescopic adjustment device is hinged to the corresponding first hinge seat, and the upper end is hinged to the corresponding second hinge seat. The product fixing support is fixed in the middle of the angle adjustment plate, and positioning cylinders are provided on both sides of the product fixing support. A positioning clamp is provided at the front end of the cylinder rod of the positioning cylinder, and a positioning column is provided in the middle of the upper side of the product fixing support.

[0009] The transfer mechanism includes a mounting base, an X-axis drive assembly and an X-axis lead screw, wherein the X-axis drive assembly and the X-axis lead screw are both arranged on the mounting base, and the X-axis lead screw is driven to rotate by the X-axis drive assembly, the X-axis movable platform is slidingly connected to the mounting base, and an X-axis nut is provided on the lower side of the X-axis movable platform and is sleeved on the X-axis lead screw.

[0010] The core jacking mechanism comprises a core jacking driving device for driving the lifting plate to rise and fall. In addition, a mounting block is arranged on the lifting plate, and the lifting column is fixed on the corresponding mounting block.

[0011] An adjusting slot is arranged on the upper side of the lifting plate, an adjusting slider is arranged on the lower side of the mounting block and is placed in the adjusting slot, a locking element is arranged on the mounting block, and the lifting column is threadedly connected to the mounting block.

[0012] The core pulling mechanism comprises a core pulling frame, a Z-direction lifting column and a Z-direction driving assembly, wherein the core pulling frame is provided with a Z-direction guide seat, the Z-direction guide seat is provided with a Z-direction guide sleeve, the Z-direction lifting column is liftably inserted into the Z-direction guide sleeve, and the Z-direction lifting column is provided with a Z-direction rack, the Z-direction driving assembly is arranged on the Z-direction guide seat, and a gear is provided at the power end of the Z-direction driving assembly to cooperate with the Z-direction rack.

[0013] A Z-direction mounting plate is provided at the lower end of the Z-direction guide seat, a Z-direction mounting base is provided at the upper end of the core pulling frame, and the Z-direction mounting plate is arranged on the Z-direction mounting base, and the Z-direction driving assembly is arranged on the Z-direction mounting plate, and the Z-direction guide seat comprises a first connecting seat and a second connecting seat, wherein the first connecting seat is arranged on the upper side of the Z-direction mounting plate and is fixedly connected to the Z-direction guide sleeve, and the second connecting seat is arranged on the lower side of the Z-direction mounting plate, a Z-direction slide rail is provided on the Z-direction lifting column, and a Z-direction slider is provided on the Z-direction guide sleeve and the second connecting seat to cooperate with the Z-direction slide rail.

[0014] The Z-direction drive assembly includes a Z-direction motor and a Z-direction reducer connected in sequence, and the power output end of the Z-direction reducer is fixedly connected to the gear shaft on the rear side of the gear through a gear shaft coupling, the power output end of the Z-direction reducer is provided with a reducer connecting sleeve, and the other end of the reducer connecting sleeve is fixedly connected to the gear shaft mounting sleeve, the gear shaft coupling is arranged in the reducer connecting sleeve, and the gear shaft is rotatably installed in the gear shaft mounting sleeve through a bearing support, wherein the bearing is locked in position away from the gear side by a locking nut mounted on the gear shaft.

[0015] The core pulling mechanism is arranged on a base, and a transfer trough is arranged inside the base, the transfer mechanism is arranged in the transfer trough, a hoisting mechanism is arranged on the base, and the product is hoisted to the angle adjustment plate at the upper end of the positioning adjustment mechanism through the hoisting mechanism.

[0016] A method for automatically stripping a core mold device comprises the following steps:

[0017] Step 1: The product falls on the product fixing support and is fixed;

[0018] Step 2: The transfer mechanism transfers the positioning adjustment mechanism and the product to the bottom of the core pulling mechanism;

[0019] Step 3: The core-pushing mechanism is started and the lifting column is used to lift up and loosen the core mold of the product;

[0020] Step 4: The Z-axis lifting column in the core pulling mechanism descends to the set height, and then the self-locking hook grabs the upper end of the product;

[0021] Step 5: The Z-axis lifting column rises at a set speed to lift the product, and during the lifting process, the six-dimensional force sensor senses the force conditions in six directions of the self-locking grab hook in real time. The control system controls the telescopic adjustment device in the positioning adjustment mechanism to adjust the angle of the angle adjustment plate according to the force distribution.

[0022] The advantages and positive effects of the present invention are:

[0023] 1. The present invention realizes the automatic demoulding operation of the product core mold by the cooperation of the positioning adjustment mechanism, the transfer mechanism, the core pushing mechanism, the core pulling mechanism and the like. The core pushing mechanism is started before the core pulling mechanism to loosen the product core mold. During the core pulling mechanism, a six-dimensional force sensor is provided at the lower end of the Z-direction lifting column in the core pulling mechanism for real-time detection of the force conditions of the self-locking hook in six directions. The control system adjusts the angle adjustment plate at the upper end of the positioning adjustment mechanism according to the detected force value to ensure uniform force on the upper end of the product, so that the core mold can be pulled out smoothly without damaging the product.

[0024] 2. The present invention provides a product fixing support and a core pushing mechanism on the angle adjustment plate at the upper end of the positioning adjustment mechanism, and the lifting plate in the core pushing mechanism and the product fixing support are arranged in a cross shape, so that the lifting columns on the lifting plate can be lifted from both sides of the product fixing support to loosen the core mold without affecting the fixation of the lower end of the product. At the same time, the overall structural layout is also very compact and can be integrated in the middle of the angle adjustment plate without affecting the angle adjustment.

[0025] 3. The present invention can integrate the positioning adjustment mechanism, the transfer mechanism, the core pushing mechanism, the core pulling mechanism, the hoisting mechanism, etc. on one base, which occupies a small area as a whole and can be moved as a whole as needed. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a structural schematic diagram of the present invention,

[0027] Figure 2 for Figure 1 A top view of the present invention,

[0028] Figure 3 for Figure 2 Schematic diagram of the structure of the transfer mechanism.

[0029] Figure 4 for Figure 1 Structural diagram of the positioning adjustment mechanism.

[0030] Figure 5 for Figure 1 The structural diagram of the middle top core mechanism.

[0031] Figure 6 for Figure 1 The structural diagram of the core pulling mechanism.

[0032] Figure 7 for Figure 6 Schematic diagram of the structure of the Z-axis lifting column.

[0033] Figure 8 for Figure 6 Schematic diagram of the structure of the Z-axis drive component.

[0034] Fig. 9 for Figure 6 Schematic diagram of the structure of the drag chain assembly.

[0035] Among them, 1 is a lifting mechanism, 2 is a positioning adjustment mechanism, 201 is an X-axis moving table, 202 is an X-axis slider, 203 is an X-axis nut, 204 is an X-axis nut seat, 205 is a telescopic adjustment device, 206 is a product fixing support, 207 is a positioning cylinder, 208 is a positioning clamp, 209 is a cylinder mounting plate, 210 is an angle adjustment plate, 211 is a positioning column, 3 is a transfer mechanism, 301 is a mounting base, 30 2 is an X-axis motor, 303 is an X-axis reducer, 304 is an X-axis reducer mounting seat, 305 is a screw coupling, 306 is a first screw support, 307 is a second screw support, 308 is an X-axis screw, 309 is an X-axis slide rail, 310 is an X-axis limit block, 4 is a core-pushing mechanism, 401 is a core-pushing driving device, 402 is a lifting plate, 403 is a mounting block, 404 is a lifting column, 5 is a core-pulling mechanism, 501 is Core pulling frame, 502 is Z-axis lifting column, 5021 is Z-axis slide rail, 5022 is rack mounting seat, 5023 is Z-axis rack, 503 is six-dimensional force sensor, 504 is self-locking grab hook, 505 is Z-axis drive assembly, 5051 is Z-axis motor, 5052 is Z-axis reducer, 5053 is reducer connecting sleeve, 5054 is gear shaft mounting sleeve, 5055 is gear shaft coupling, 5056 is gear, 5 0561 is the gear shaft, 5057 is the locking nut, 5058 is the bearing, 506 is the drag chain assembly, 5061 is the drag chain, 5062 is the upper drag chain box, 5063 is the lower drag chain box, 507 is the Z-direction mounting base, 508 is the Z-direction guide seat, 5081 is the Z-direction mounting plate, 5082 is the Z-direction guide sleeve, 5083 is the first connecting seat, 5084 is the second connecting seat, 5085 is the Z-direction slider, and 6 is the product. DETAILED DESCRIPTION

[0036] The present invention will be further described below in conjunction with the accompanying drawings.

[0037] like Figures 1 to 9 As shown, the present invention comprises a positioning adjustment mechanism 2, a transfer mechanism 3 and a core pulling mechanism 5, wherein Figures 1-2 and Figures 4-5 As shown, the upper end of the positioning adjustment mechanism 2 is provided with an angle adjustment plate 210, and the angle adjustment plate 210 is provided with a product fixing support 206 and a core-lifting mechanism 4, and the core-lifting mechanism 4 is provided with a liftable lifting plate 402, and as shown Figure 2 As shown, the lifting plate 402 and the product fixing support 206 are arranged in a cross shape. Figure 5As shown, the jacking plate 402 is provided with two jacking columns 404, and the two jacking columns 404 are respectively arranged on both sides of the product fixing support 206. When the present invention is working, the lower end of the product 6 is fixed on the product fixing support 206, and before the core mold is pulled out, the jacking plate 402 drives the jacking columns 404 to rise a set distance to support the core mold so that the core mold and the product are loosened, and then the core mold is pulled out. This can ensure that the core mold can be pulled out smoothly without getting stuck, and at the same time, the product 6 will not be damaged. The jacking columns 404 are raised from both sides of the product fixing support 206, as shown in FIG. Figures 1-2 As shown, the positioning adjustment mechanism 2 is driven by the transfer mechanism 3 to move to the bottom of the core pulling mechanism 5, and the core pulling mechanism 5 is provided with a liftable Z-axis lifting column 502, and the lower end of the Z-axis lifting column 502 is connected to the self-locking hook 504 through a six-dimensional force sensor 503, wherein the self-locking hook 504 grabs the upper end of the product 6 to realize the core pulling operation, and the six-dimensional force sensor 503 is used to sense the force conditions of the self-locking hook 504 in six directions in real time, and then the control system determines how to adjust the angle adjustment plate 210 at the upper end of the positioning adjustment mechanism 2 according to the detected force value conditions to ensure that the upper end of the product 6 is evenly stressed and the core mold is pulled out smoothly. This process is automatic adjustment with high precision, so no manual participation is required, and the entire demolding process can be completed automatically. The six-dimensional force sensor 503 and the self-locking hook 504 are well-known technologies in the art and are commercially available products.

[0038] like Figures 1-2 and Figure 4 As shown, in this embodiment, the positioning adjustment mechanism 2 includes an X-axis moving platform 201 and a telescopic adjustment device 205, wherein the X-axis moving platform 201 is driven by the transfer mechanism 3 to move along the X-axis, a first hinge seat is provided on the upper side of the X-axis moving platform 201, a second hinge seat is provided on the lower side of the angle adjustment plate 210, and each telescopic adjustment device 205 is hinged to the corresponding first hinge seat at the lower end and hinged to the corresponding second hinge seat at the upper end, and each telescopic adjustment device 205 is controlled to telescope through the control system to achieve the angle adjustment. The angle adjustment of the section plate 210, the telescopic adjustment device 205 can be a cylinder or other device, the product fixing support 206 is fixedly arranged in the middle of the angle adjustment plate 210, and the positioning cylinders 207 are arranged on both sides of the product fixing support 206, and the front end of the cylinder rod of the positioning cylinder 207 is provided with a positioning clamp 208, and the middle part of the upper side of the product fixing support 206 is provided with a positioning column 211. When the present invention is used, the lower end of the product 6 is accurately positioned by the positioning column 211 and clamped and fixed by the positioning clamps 208 on both sides. Figure 4 As shown, in this embodiment, cylinder mounting plates 209 are provided on both sides of the product fixing support 206 for mounting the positioning cylinders 207 on the corresponding sides.

[0039] like Figure 3As shown, in this embodiment, the transfer mechanism 3 includes a mounting base 301, an X-direction drive assembly and an X-direction lead screw 308, wherein the X-direction drive assembly and the X-direction lead screw 308 are both arranged on the mounting base 301, and the X-direction lead screw 308 is driven to rotate by the X-direction drive assembly, as shown in FIG. Figure 4 As shown, the X-axis moving platform 201 at the lower end of the positioning adjustment mechanism 2 is slidably connected to the mounting base 301, and an X-axis nut 203 is provided at the lower side of the X-axis moving platform 201 and is sleeved on the X-axis lead screw 308. When the present invention is working, the X-axis driving assembly transmits torque through the X-axis lead screw 308 and the X-axis nut 203 to drive the X-axis moving platform 201 to move.

[0040] like Figures 3-4 As shown, in this embodiment, an X-direction slider 202 is provided at the lower side of the X-direction moving platform 201, an X-direction slide rail 309 is provided on the mounting base 301, and the X-direction slider 202 cooperates with the X-direction slide rail 309 on the corresponding side to realize the sliding connection between the X-direction moving platform 201 and the mounting base 301. An X-direction limit block 310 is provided on the mounting base 301, and the X-direction limit block 310 is arranged at the end of the X-direction slide rail 309 away from the X-direction drive assembly.

[0041] like Figure 4 As shown, in this embodiment, an X-direction nut seat 204 is provided at the lower side of the X-direction moving platform 201 , and the X-direction nut 203 is installed on the X-direction nut seat 204 .

[0042] like Figure 3 As shown, in this embodiment, the X-axis driving assembly includes an X-axis motor 302 and an X-axis reducer 303 which are connected in sequence, and the output shaft of the X-axis reducer 303 is fixedly connected to the X-axis lead screw 308 via a lead screw coupling 305 .

[0043] like Figure 3 As shown, in this embodiment, an X-direction reducer mounting seat 304, a first screw seat 306 and a second screw seat 307 are provided on the mounting base 301, wherein the X-direction reducer 303 is fixed on the X-direction reducer mounting seat 304, and one end of the X-direction screw 308 is mounted on the first screw seat 306, and the other end is mounted on the second screw seat 307.

[0044] like Figure 5 As shown, in this embodiment, the core-pushing mechanism 4 includes a core-pushing driving device 401, and the lifting plate 402 is driven to rise and fall by the core-pushing driving device 401. Figure 1As shown, the core driving device 401 is fixedly arranged on the lower side of the angle adjustment plate 210, the lifting plate 402 is provided with an adjustable mounting block 403, and the lifting column 404 is fixedly arranged on the corresponding mounting block 403. In this embodiment, an adjusting slot is arranged on the upper side of the lifting plate 402, an adjusting slider is arranged on the lower side of the mounting block 403 and is placed in the adjusting slot, and a locking element, such as a locking bolt, is arranged on the mounting block 403. When the locking bolt is loosened, the mounting block 403 can move along the adjusting slot to adjust the position. After the position is determined, the locking bolt is tightened to fix the mounting block 403. In this way, the present invention can flexibly adjust the positions of the lifting columns 404 on both sides according to the actual specifications of the product, thereby ensuring that the lifting columns 404 can support the core mold. In addition, the lifting column 404 is threadedly connected to the mounting block 403, so that the height of the lifting column 404 can be adjusted according to actual needs by screwing it, thereby further ensuring that the lifting column 404 can loosen the core mold and the tightening force will not damage the product 6.

[0045] like Figures 6 to 9 As shown, in this embodiment, the core pulling mechanism 5 includes a core pulling frame 501, a Z-direction lifting column 502 and a Z-direction driving assembly 505, wherein the core pulling frame 501 is provided with a Z-direction guide seat 508, the Z-direction guide seat 508 is provided with a Z-direction guide sleeve 5082, the Z-direction lifting column 502 is liftably inserted into the Z-direction guide sleeve 5082, and the Z-direction lifting column 502 is provided with a Z-direction rack 5023, the Z-direction driving assembly 505 is arranged on the Z-direction guide seat 508, and the power end of the Z-direction driving assembly 505 is provided with a gear 5056 to cooperate with the Z-direction rack 5023, thereby driving the Z-direction lifting column 502 to move up and down.

[0046] like Figures 6-7 As shown, in this embodiment, a Z-direction mounting plate 5081 is provided at the lower end of the Z-direction guide seat 508, a Z-direction mounting base 507 is provided at the upper end of the core pulling frame 501, and the Z-direction mounting plate 5081 is arranged on the Z-direction mounting base 507, and the Z-direction driving assembly 505 is arranged on the Z-direction mounting plate 5081. The Z-direction mounting plate 5081 can adopt a fixed connection structure as required, or an adjustable structure to adjust the position of the entire Z-direction guide seat 508 according to actual needs, for example, a plurality of groups of screw holes can be provided on the Z-direction mounting base 507 along the X direction, and when the position of the Z-direction mounting plate 5081 is determined, it is fixed to a corresponding group of screw holes by bolts, thereby realizing fine adjustment of the position of the Z-direction mounting plate 5081 along the X direction.

[0047] like Figures 6-7As shown, in this embodiment, the Z-direction guide seat 508 includes a first connecting seat 5083 and a second connecting seat 5084, wherein the first connecting seat 5083 is arranged on the upper side of the Z-direction mounting plate 5081 and is fixedly connected to the Z-direction guide sleeve 5082, and the second connecting seat 5084 is arranged on the lower side of the Z-direction mounting plate 5081, and the Z-direction lifting column 502 is provided with a Z-direction slide rail 5021, and the Z-direction guide sleeve 5082 and the second connecting seat 5084 are both provided with a Z-direction slider 5085 to cooperate with the Z-direction slide rail 5021, wherein the second connecting seat 5084 can extend the sliding distance of cooperation with the Z-direction lifting column 502, thereby further ensuring the vertical lifting of the Z-direction lifting column 502.

[0048] like Figure 7 As shown, in this embodiment, a rack mounting seat 5022 is provided on the Z-direction lifting column 502 , and the Z-direction rack 5023 is provided on the rack mounting seat 5022 .

[0049] like Figure 6 and Figure 8 As shown, in this embodiment, the Z-direction drive assembly 505 includes a Z-direction motor 5051 and a Z-direction reducer 5052 connected in sequence, wherein the Z-direction reducer 5052 is a right-angle reducer, and its power output end is fixedly connected to the gear shaft 50561 on the rear side of the gear 5056 through a gear shaft coupling 5055. In addition, the power output end of the Z-direction reducer 5052 is provided with a reducer connecting sleeve 5053, and the other end of the reducer connecting sleeve 5053 is fixedly connected to the gear shaft mounting sleeve 5054, the gear shaft coupling 5055 is arranged in the reducer connecting sleeve 5053, and the gear shaft 50561 is rotatably mounted in the gear shaft mounting sleeve 5054 through a bearing 5058, wherein the bearing 5058 is locked in position away from the side of the gear 5056 by a locking nut 5057 mounted on the gear shaft 50561. The present invention extends the installation distance of the gear 5056 through the above-mentioned reducer connecting sleeve 5053, gear shaft mounting sleeve 5054 and other structures, thereby ensuring that it can accurately mesh with the Z-axis rack 5023 provided on the Z-axis lifting column 502 without affecting the lifting torque transmission.

[0050] like Figure 6 and Fig. 9 As shown, in this embodiment, the Z-direction mounting plate 5081 is connected to the upper end of the Z-direction lifting column 502 through a drag chain assembly 506, and the drag chain assembly 506 includes a drag chain 5061 for accommodating equipment pipelines, and one end of the drag chain 5061 is connected to the upper end of the Z-direction lifting column 502 through an upper drag chain box 5062, and the other end is connected to the Z-direction mounting plate 5081 through a lower drag chain box 5063.

[0051] like Figure 1As shown, in this embodiment, the core pulling mechanism 5 is arranged on a base, and a transfer groove is arranged inside the base, and the transfer mechanism 3 is arranged in the transfer groove. The base is provided with a hoisting mechanism 1 for moving the product 6 to the angle adjustment plate 210 at the upper end of the positioning adjustment mechanism 2, and then the lower end of the product 6 is fixed by the positioning clamp 208 on the product fixing support 206. The hoisting mechanism 1 is a well-known technology in the art.

[0052] The working principle of the present invention is:

[0053] The present invention comprises the following steps when working:

[0054] Step 1: The product 6 falls on the product fixing support 206 and is fixed by the positioning clamps 208 on both sides;

[0055] Step 2: The transfer mechanism 3 transfers the positioning adjustment mechanism 2 and the product 6 to below the core pulling mechanism 5;

[0056] Step 3: The core-pushing mechanism 4 is started and the core mold of the product 6 is loosened by using the lifting column 404, so that the subsequent core mold can be pulled out smoothly without getting stuck and the product will not be damaged;

[0057] Step 4: The Z-direction lifting column 502 in the core pulling mechanism 5 descends to a set height, and then the self-locking hook 504 grabs the upper end of the product 6;

[0058] Step 5: The Z-axis lifting column 502 slowly rises at a set speed to lift the product 6, and during the lifting process, the six-dimensional force sensor 503 senses the force conditions in six directions of the self-locking grab hook 504 in real time. The control system controls the telescopic action of the telescopic adjustment device 205 in the positioning adjustment mechanism 2 according to the force distribution to adjust the angle of the angle adjustment plate 210, thereby ensuring uniform force during the core mold extraction process and allowing the core mold to be extracted smoothly. This process is automatic adjustment with high precision, so no manual participation is required and the entire demolding process can be completed automatically.

Claims

1. An automatic core stripping device, characterized in that: The invention comprises a positioning adjustment mechanism (2), a transfer mechanism (3) and a core pulling mechanism (5), wherein the positioning adjustment mechanism (2) is provided with an angle adjustment plate (210) which can adjust the angle by telescopic action of a plurality of telescopic adjustment devices (205), the angle adjustment plate (210) is provided with a product fixing support (206) and a core pushing mechanism (4), the core pushing mechanism (4) is provided with a lift plate (402) which can be raised and lowered, and the lift plate (402) and the product fixing support (206) are arranged in a cross shape, and the lift plate (402) is provided with two A lifting column (404) is provided, and two lifting columns (404) are arranged on both sides of the product fixing support (206), the lower end of the product (6) is fixed on the product fixing support (206), and then the positioning adjustment mechanism (2) is driven by the transfer mechanism (3) to move to the bottom of the core pulling mechanism (5), the core pulling mechanism (5) is provided with a liftable Z-direction lifting column (502), and the lower end of the Z-direction lifting column (502) is connected to the self-locking hook (504) at the upper end of the product (6) through a six-dimensional force sensor (503).

2. The automatic core stripping device according to claim 1 is characterized in that: The positioning adjustment mechanism (2) comprises an X-direction moving platform (201), and the X-direction moving platform (201) is driven to move along the X-direction by the transfer mechanism (3). A first hinge seat is provided on the upper side of the X-direction moving platform (201), and a second hinge seat is provided on the lower side of the angle adjustment plate (210). The lower end of each telescopic adjustment device (205) is hinged to the corresponding first hinge seat, and the upper end is hinged to the corresponding second hinge seat. The product fixing support (206) is fixedly arranged in the middle of the angle adjustment plate (210), and positioning cylinders (207) are provided on both sides of the product fixing support (206). A positioning clamping block (208) is provided at the front end of the cylinder rod of the positioning cylinder (207), and a positioning column (211) is provided in the middle of the upper side of the product fixing support (206).

3. The automatic core stripping device according to claim 2 is characterized in that: The transfer mechanism (3) comprises a mounting base (301), an X-axis driving assembly and an X-axis lead screw (308), wherein the X-axis driving assembly and the X-axis lead screw (308) are both arranged on the mounting base (301), and the X-axis lead screw (308) is driven to rotate by the X-axis driving assembly, the X-axis moving platform (201) is slidably connected to the mounting base (301), and an X-axis nut (203) is provided on the lower side of the X-axis moving platform (201) and is sleeved on the X-axis lead screw (308).

4. The automatic core stripping device according to claim 1, characterized in that: The core jacking mechanism (4) comprises a core jacking driving device (401) for driving the lifting plate (402) to rise and fall. In addition, a mounting block (403) is provided on the lifting plate (402), and the lifting column (404) is fixed on the corresponding mounting block (403).

5. The automatic core stripping device according to claim 4 is characterized in that: An adjustment slot is provided on the upper side of the lifting plate (402), an adjustment slider is provided on the lower side of the mounting block (403) and is placed in the adjustment slot, and a locking element is provided on the mounting block (403), and the lifting column (404) is threadedly connected to the mounting block (403).

6. The automatic core stripping device according to claim 1, characterized in that: The core pulling mechanism (5) comprises a core pulling frame (501), a Z-direction lifting column (502) and a Z-direction driving assembly (505), wherein the core pulling frame (501) is provided with a Z-direction guide seat (508), the Z-direction guide seat (508) is provided with a Z-direction guide sleeve (5082), the Z-direction lifting column (502) can be inserted into the Z-direction guide sleeve (5082) in a liftable manner, and the Z-direction lifting column (502) is provided with a Z-direction rack (5023), the Z-direction driving assembly (505) is arranged on the Z-direction guide seat (508), and the power end of the Z-direction driving assembly (505) is provided with a gear (5056) cooperating with the Z-direction rack (5023).

7. The automatic core stripping device according to claim 6, characterized in that: The lower end of the Z-direction guide seat (508) is provided with a Z-direction mounting plate (5081), the upper end of the core pulling frame (501) is provided with a Z-direction mounting base (507), and the Z-direction mounting plate (5081) is arranged on the Z-direction mounting base (507), the Z-direction driving assembly (505) is arranged on the Z-direction mounting plate (5081), and the Z-direction guide seat (508) includes a first connecting seat (5083) and a second connecting seat (5084), wherein The first connecting seat (5083) is arranged on the upper side of the Z-direction mounting plate (5081) and is fixedly connected to the Z-direction guide sleeve (5082), the second connecting seat (5084) is arranged on the lower side of the Z-direction mounting plate (5081), the Z-direction lifting column (502) is provided with a Z-direction slide rail (5021), and the Z-direction guide sleeve (5082) and the second connecting seat (5084) are both provided with a Z-direction slider (5085) that cooperates with the Z-direction slide rail (5021).

8. The automatic core stripping device according to claim 6, characterized in that: The Z-direction drive assembly (505) comprises a Z-direction motor (5051) and a Z-direction reducer (5052) connected in sequence, and the power output end of the Z-direction reducer (5052) is fixedly connected to the gear shaft (50561) at the rear side of the gear (5056) through a gear shaft coupling (5055), the power output end of the Z-direction reducer (5052) is provided with a reducer connecting sleeve (5053), and the other end of the reducer connecting sleeve (5053) is fixedly connected to the gear shaft mounting sleeve (5054), the gear shaft coupling (5055) is arranged in the reducer connecting sleeve (5053), and the gear shaft (50561) is rotatably mounted in the gear shaft mounting sleeve (5054) by supporting a bearing (5058), wherein the bearing (5058) is locked in position on the side away from the gear (5056) by a locking nut (5057) sleeved on the gear shaft (50561).

9. The automatic core stripping device according to claim 1, characterized in that: The core pulling mechanism (5) is arranged on a base, and a transfer trough is arranged inside the base. The transfer mechanism (3) is arranged in the transfer trough. A hoisting mechanism (1) is arranged on the base, and the product (6) is hoisted to the angle adjustment plate (210) at the upper end of the positioning adjustment mechanism (2) by the hoisting mechanism (1).

10. A method for automatically stripping a core mold according to claim 1, characterized in that: The steps include: Step 1: The product (6) falls onto the product fixing support (206) and is fixed; Step 2: The transfer mechanism (3) transfers the positioning adjustment mechanism (2) and the product (6) to the bottom of the core pulling mechanism (5); Step 3: The core-pushing mechanism (4) is started and the lifting column (404) is raised to loosen the core mold of the product (6); Step 4: The Z-direction lifting column (502) in the core pulling mechanism (5) is lowered to a set height, and then the self-locking hook (504) grabs the upper end of the product (6); Step 5: The Z-axis lifting column (502) rises at a set speed to lift the product (6), and during the lifting process, the six-dimensional force sensor (503) senses the force conditions in six directions of the self-locking grab hook (504) in real time. The control system controls the telescopic adjustment device (205) in the positioning adjustment mechanism (2) to extend and retract according to the force distribution to adjust the angle of the angle adjustment plate (210).

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