Automatic core stripping device and method

Abstract

The present invention relates to an automatic core-removing mold device and method, wherein a positioning adjustment mechanism is provided with an angle adjustment plate that adjusts 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-lifting mechanism, the core-lifting 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 provided on both sides of the product fixing support, the lower end of the product is fixed to the product fixing support, the positioning adjustment mechanism is driven to move below the core-removing mechanism by a transfer mechanism, the core-removing mechanism is provided with a liftable Z-axis lifting column, the lower end of the Z-axis lifting column is connected to a self-locking hook that grabs the upper end of the product through a six-dimensional force sensor. The present invention can realize the automatic vertical demolding operation of the product core mold, and while ensuring the smooth removal of the core mold, it will not cause jamming or damage to the product.

Description

Technical Field

[0001] The present 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 core mold removal, but currently developed demolding mechanisms are mostly semi-automatic, requiring manual assistance. Existing demolding mechanisms suffer from the following drawbacks: First, most existing demolding mechanisms require manual assistance during the demolding process, preventing full automation. Second, most existing demolding mechanisms are unable to automatically adjust the product's angle during demolding, making it difficult to ensure the smooth removal of high-precision core molds.

[0003] Patent CN105479628B discloses a demolding machine and demolding method, which includes a fixing device, a movable demolding device, and a driving device. The movable demolding device is detachably connected to the outer wall of the tubular product. The driving device pulls the movable demolding device to move, and the movable demolding device drives the tubular product along the axial direction of the tubular product to achieve demolding. However, the device is designed for horizontally arranged products and requires a certain amount of demolding movement. The overall equipment occupies a relatively large area. In addition, some special products require the core mold to be loosened from the product before demolding. Directly removing the core mold can easily 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 for use 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 during the vertical core mold demoulding process. 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 object of the present invention is achieved through the following technical solutions:

[0007] An automatic core stripping mold device includes a positioning adjustment mechanism, a transfer mechanism and a core pulling mechanism, wherein the positioning adjustment mechanism is provided with an angle adjustment plate that adjusts 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 provided 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 the self-locking grabbing hook that grabs the upper end of the product through a six-dimensional force sensor.

[0008] The positioning adjustment mechanism includes an X-direction moving platform, and the X-direction moving platform is driven to move along the X-direction by a transfer mechanism. A first hinge seat is provided on the upper side of the X-direction moving platform, 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 includes a core jacking driving device for driving the lifting plate to rise and fall. In addition, a mounting block is provided on the lifting plate, and the lifting column is fixed on the corresponding mounting block.

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

[0012] The core pulling mechanism includes a core pulling frame, a Z-direction lifting column and a Z-direction drive 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 can be lifted and inserted into the Z-direction guide sleeve, and the Z-direction lifting column is provided with a Z-direction rack, the Z-direction drive assembly is provided on the Z-direction guide seat, and the power end of the Z-direction drive assembly is provided with a gear that cooperates 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 provided on the Z-direction mounting base, the Z-direction drive assembly is provided on the Z-direction mounting plate, the Z-direction guide seat includes a first connecting seat and a second connecting seat, wherein the first connecting seat is provided on the upper side of the Z-direction mounting plate and is fixedly connected to the Z-direction guide sleeve, the second connecting seat is provided 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 both 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 mounted 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 provided inside the base. The transfer mechanism is arranged in the transfer trough. A hoisting mechanism is provided 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-lifting mechanism is started and the lifting column is used to lift 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 utilizing 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 activated before the core pulling mechanism to loosen the product core mold. During the core pulling mechanism process, 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 is provided with 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, transfer mechanism, core pushing mechanism, core pulling mechanism, lifting 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 Schematic diagram of the structure of the middle top core mechanism,

[0031] Figure 6 for Figure 1 Schematic diagram of the structure 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] Figure 9 for Figure 6 Schematic diagram of the structure of the drag chain component.

[0035] Among them, 1 is a lifting mechanism, 2 is a positioning adjustment mechanism, 201 is an X-axis moving platform, 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 the X-direction motor, 303 is the X-direction reducer, 304 is the X-direction reducer mounting seat, 305 is the screw coupling, 306 is the first screw support, 307 is the second screw support, 308 is the X-direction screw, 309 is the X-direction slide rail, 310 is the X-direction limit block, 4 is the core-lifting mechanism, 401 is the core-lifting drive device, 402 is the lifting plate, 403 is the mounting block, 404 is the lifting column, 5 is the 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 includes 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 top core mechanism 4, and the top core mechanism 4 is provided with a liftable top 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, as shown in FIG. 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 ensures that the core mold can be pulled out smoothly without getting stuck and at the same time will not damage the product 6. 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. 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 mold pulling operation. 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. 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 to ensure that the upper end of the product 6 is evenly stressed so that the core mold can be pulled out smoothly. This process is automatic adjustment with high precision, so no human intervention 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 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-direction moving platform 201 and a telescopic adjustment device 205, wherein 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, a second hinge seat is provided on the lower side of the angle adjustment plate 210, and 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, and each telescopic adjustment device 205 is controlled to telescope by a 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 fixed to the middle of the angle adjustment plate 210, and the positioning cylinders 207 are provided on both sides of the product fixing support 206, 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 movable platform 201 at the lower end of the positioning and adjustment mechanism 2 is slidably connected to the mounting base 301. An X-axis nut 203 is provided on the underside of the X-axis movable platform 201 and is sleeved onto the X-axis lead screw 308. During operation of the present invention, the X-axis drive assembly transmits torque through the X-axis lead screw 308 and the X-axis nut 203 to drive the X-axis movable platform 201.

[0040] like Figures 3-4 As shown, in this embodiment, an X-direction slider 202 is provided on the lower side of the X-direction moving platform 201, and an X-direction slide rail 309 is provided on the mounting base 301. The X-direction slider 202 cooperates with the X-direction slide rail 309 on the corresponding side to achieve a 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 located 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 on 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-direction drive assembly includes an X-direction motor 302 and an X-direction reducer 303 connected in sequence, and the output shaft of the X-direction reducer 303 is fixedly connected to the X-direction lead screw 308 through 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 support 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 support 307.

[0044] like Figure 5 As shown, in this embodiment, the core-lifting mechanism 4 includes a core-lifting driving device 401, and the lifting plate 402 is driven to rise and fall by the core-lifting driving device 401. Figure 1As shown, the core driving device 401 is fixed to 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 fixed to the corresponding mounting block 403. In this embodiment, an adjustment slot is provided on the upper side of the lifting plate 402, and an adjustment slider is provided on the lower side of the mounting block 403 and placed in the adjustment slot, and a locking element, such as a locking bolt, is provided on the mounting block 403. When the locking bolt is loosened, the mounting block 403 can move along the adjustment 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, and the Z-direction guide seat 508 is provided with a Z-direction guide sleeve 5082, the Z-direction lifting column 502 can be lifted and 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 provided 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 mounted on the Z-direction mounting base 507. The Z-direction drive assembly 505 is mounted on the Z-direction mounting plate 5081. The Z-direction mounting plate 5081 can adopt a fixed connection structure as needed, or an adjustable structure to adjust the position of the entire Z-direction guide seat 508 according to actual needs. For example, multiple groups of screw holes can be provided on the Z-direction mounting base 507 along the X-direction. Once the position of the Z-direction mounting plate 5081 is determined, it is fixed to the corresponding group of screw holes by bolts, thereby achieving 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 gear 5056 side 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-direction rack 5023 provided on the Z-direction lifting column 502 without affecting the lifting torque transmission.

[0050] like Figure 6 and Figure 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 mounted on a base, and a transfer trough is provided inside the base. The transfer mechanism 3 is disposed in the transfer trough. A hoisting mechanism 1 is provided on the base for moving the product 6 to the angle adjustment plate 210 at the upper end of the positioning adjustment mechanism 2. The lower end of the product 6 is then secured by the positioning clamp 208 on the product fixing support 206. The hoisting mechanism 1 is well known 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 onto 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 the bottom of 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 the lifting column 404, so that the subsequent core mold can be pulled out smoothly without getting stuck and without damaging the product;

[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 hook 504 in real time. The control system controls the telescopic adjustment device 205 in the positioning adjustment mechanism 2 to adjust the angle of the angle adjustment plate 210 according to the force distribution, 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) for adjusting 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 liftable lifting plate (402), and the lifting plate (402) and the product fixing support (206) are arranged in a cross shape, and the lifting plate (402) is provided with two A lifting column (404) is provided, and two lifting columns (404) are respectively 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 to move to the bottom of the core pulling mechanism (5) through the transfer mechanism (3), and 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) that grabs the upper end of the product (6) through a six-dimensional force sensor (503).

2. The automatic core stripping device according to claim 1, characterized in that: The positioning adjustment mechanism (2) includes an X-direction moving platform (201), and the X-direction moving platform (201) is driven to move along the X-direction by a 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 fixed to the middle of the angle adjustment plate (210), and positioning cylinders (207) are provided on both sides of the product fixing support (206). The front end of the cylinder rod of the positioning cylinder (207) is provided with a positioning clamp (208), 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, characterized in that: The transfer mechanism (3) comprises 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, the X-direction movable platform (201) is slidably connected to the mounting base (301), and an X-direction nut (203) is provided on the lower side of the X-direction movable platform (201) and is sleeved on the X-direction 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, characterized in that: An adjusting slot is provided on the upper side of the lifting plate (402), an adjusting slider is provided on the lower side of the mounting block (403) and is placed in the adjusting 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 lifted and 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 provided on the Z-direction guide seat (508), and the power end of the Z-direction driving assembly (505) is provided with a gear (5056) that cooperates 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 provided on the Z-direction mounting base (507), the Z-direction drive assembly (505) is provided 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), and 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) on 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). The gear shaft (50561) is rotatably mounted in the gear shaft mounting sleeve (5054) through a bearing (5058), wherein the side of the bearing (5058) away from the gear (5056) is locked in position 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 provided inside the base. The transfer mechanism (3) is arranged in the transfer trough. A hoisting mechanism (1) is provided 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) through 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 hook (504) in real time. The control system controls the telescopic adjustment device (205) in the positioning adjustment mechanism (2) to telescope according to the force distribution to adjust the angle of the angle adjustment plate (210).

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