Sand cleaning method and sand cleaning device for sand core lifting handle

Abstract

The invention discloses a sand cleaning method and a sand cleaning device for a sand core lifting handle, belongs to the technical field of casting sand cleaning, and aims to solve the problems of low automation degree, low efficiency and serious environmental dust pollution of sand core lifting handle sand cleaning in a core discharging station. The method comprises the following steps: S01, automatically positioning a lifting handle of a sand core to be cleaned by the sand cleaning device according to received information; s02, the sand cleaning device starts a negative pressure sand suction mechanism to clean floating sand at a sand core hanging handle; s03, the floating sand cleaning condition is judged through a visual recognition mechanism arranged on the sand cleaning device, and if floating sand is cleaned up, the negative pressure absorption mechanism is closed; otherwise, continuously cleaning; and S04, the sand cleaning device is reset to the standby position to wait for next sand cleaning. The sand cleaning device is used for cleaning the sand core hanging handle of the core outlet station, automatic cleaning of the position of the hanging handle before the sand core is transferred is achieved, the automation degree of the core manufacturing procedure is improved, and the labor cost of arranging a specially-assigned person for manual cleaning and possible human errors are reduced.

Description

Technical Field

[0001] The invention relates to the technical field of casting, in particular to a sand cleaning device for casting sand cores. Background Art

[0002] With the continuous maturity of sand core 3D printing technology, more and more sand cores are produced by 3D printing equipment in smart casting factories. Under this sand core production method, the sand core production process generally includes printing, sand cleaning, dipping, drying, etc. In the sand cleaning process, the lifting device needs to transfer the sand core pushed out of the working box to the next process, and the sand core pushed out of the working box has not been sand cleaned, and there is unbonded floating sand attached to its hanging handle. At present, the operation of cleaning the floating sand on the sand core hanging handle is manually cleaned by the operator using cleaning tools. This sand cleaning process has a low degree of automation and low sand cleaning efficiency, and the floating dust in the environment is not good for the health of the operators. Summary of the invention

[0003] In view of the low automation and low efficiency of the above sand core hanging handle cleaning operation before transferring the sand core out of the working box after printing, it is necessary to propose a sand cleaning method and a sand cleaning device for the sand core hanging handle to realize efficient and automatic sand cleaning of the sand core hanging handle.

[0004] A sand cleaning method for a sand core hanger, comprising:

[0005] S01, the sand cleaning device automatically locates the handle of the sand core to be cleaned according to the received information;

[0006] S02, the sand cleaning device starts the negative pressure sand suction mechanism to clean the floating sand at the sand core hanging handle;

[0007] S03, judging the floating sand cleaning condition by a visual recognition mechanism provided on the sand cleaning device, and if the floating sand is cleaned, closing the negative pressure absorption mechanism; otherwise, continuing cleaning;

[0008] S04, the sand cleaning device is reset to the standby position, waiting for the next sand cleaning.

[0009] A sand cleaning device for a sand core hanger comprises a manipulator, a negative pressure sand suction mechanism, and a visual recognition mechanism. One end of the manipulator is arranged on the ground of a core outlet station, and the other end is suspended in the air. The negative pressure sand suction mechanism and the visual recognition mechanism are both arranged at the suspended end of the manipulator. Driven by the manipulator, the negative pressure sand suction mechanism and the visual recognition mechanism realize sand cleaning of the sand core hanger and recognition of the sand cleaning effect, thereby realizing automatic cleaning of the sand core hanger.

[0010] Furthermore, the negative pressure sand suction mechanism includes a sand passing pipeline and a sand suction pump, one end of the sand passing pipeline is connected to the sand suction pump, and the other end of the sand passing pipeline is connected to a sand storage tank, so that the floating sand on the sand core hanger is sucked into the sand storage tank through the sand passing pipeline, thereby cleaning the sand core hanger and collecting the floating sand, avoiding the pollution problem of floating dust entering the environment caused by cleaning the sand core hanger by blowing sand.

[0011] Furthermore, the visual recognition mechanism is electrically connected to the control system, and the actual sampled photos are transmitted to the control system. The control system compares the actual photos with the standard photos. If the comparison results of the two are within a set range, it is determined that the sand cleaning is completed, otherwise, negative pressure sand cleaning is continued.

[0012] Furthermore, the sand cleaning method for cleaning the sand core hanger by using the sand cleaning device is as follows:

[0013] S11, the control system sends the lifting handle information of the sand core in the working box to the manipulator;

[0014] S12, the working box is transferred to the core-out station, and the lifting mechanism of the core-out station lifts the sand core out of the working box, that is, the sand core buried in the working box is exposed;

[0015] S13, the manipulator aligns the negative pressure sand suction mechanism with the hanging handle of the sand core according to the received position information;

[0016] S14, starting the negative pressure sand suction mechanism to clean the sand core hanger and the floating sand around it, and the absorbed floating sand is sucked into the sand storage tank through the sand pipeline;

[0017] S15, the visual recognition mechanism takes actual photos of the sand core hanger at regular intervals, and transmits the actual photos to the control system, and the control system compares the actual photos with the standard photos. If the difference between the two is within a set range, it is determined that the sand cleaning is completed and the negative pressure absorption mechanism is stopped; otherwise, the negative pressure sand cleaning is continued;

[0018] S16, after the sand cleaning is completed, the robot returns to the standby position according to the setting and sends a sand core grabbing signal.

[0019] A sand cleaning device for a sand core hanger comprises a truss mechanical arm, a negative pressure sand suction mechanism, and a visual recognition mechanism. The truss mechanical arm is arranged on a crossbeam of the truss and can realize three-coordinate movement on the crossbeam; the negative pressure sand suction mechanism and the visual recognition mechanism are both arranged at the end of the truss mechanical arm away from the crossbeam, the negative pressure sand suction mechanism is used to clean the sand core lifting ear and the floating sand around it, and the visual recognition mechanism is used to sample the actual pattern or actual photo of the sand core lifting ear and the surrounding area for comparison with the standard pattern or standard photo to determine whether the sand cleaning is completed, thereby realizing the automation of sand cleaning of the sand core lifting ear.

[0020] Furthermore, the negative pressure sand suction mechanism includes a sand passage pipeline and a sand suction pump, one end of the sand passage pipeline is connected to the sand suction pump, and the other end of the sand passage pipeline is connected to a temporary sand storage bin, and the sand core hanger and the floating sand around it are collected in the temporary sand storage bin; further, the temporary sand storage bin is also provided with a sand release device, which is used to discharge the floating sand stored in the temporary sand storage bin for reuse.

[0021] Furthermore, in order to conveniently and timely collect the cleaned floating sand, the temporary sand storage is arranged on the truss mechanical arm to facilitate the temporary sand storage and the truss mechanical arm to move to the same position.

[0022] Furthermore, the sand cleaning method for cleaning the sand core hanger by using the sand cleaning device is as follows:

[0023] S21, the control system sends the lifting handle information of the sand core in the working box to the truss robot arm;

[0024] S22, the working box is transferred to the core-out station, and the lifting mechanism of the core-out station lifts the sand core out of the working box, that is, the sand core buried in the working box is exposed;

[0025] S23, the truss robot arm aligns the negative pressure sand suction mechanism with the sand core hanger according to the received position information of the sand core hanger;

[0026] S24, starting the negative pressure sand suction mechanism to clean the sand core hanger and the floating sand around it, and the absorbed floating sand is sucked into the temporary sand storage through the sand pipeline;

[0027] S25, the visual recognition mechanism regularly photographs the actual pattern of the sand core hanger, and transmits the actual pattern to the control system, and the control system compares the actual pattern with the standard pattern. If the difference between the two is within the set range, it is determined that the sand cleaning is completed and the negative pressure absorption mechanism is stopped; otherwise, the negative pressure sand cleaning is continued;

[0028] S26, after the sand cleaning is completed, the robot arm returns to the standby position according to the setting and sends a sand core grabbing signal.

[0029] The beneficial effects of the technical solution of the present invention are as follows: a sand cleaning device is used to clean the sand core handles of the core-out station, thereby realizing automatic cleaning of the handle position before the sand core is transported, improving the degree of automation of the core-making process, and reducing the labor cost of setting up special personnel for manual cleaning and possible human errors; at the same time, the sand cleaning efficiency is improved, and negative pressure sand cleaning is used instead of sand blowing and brush cleaning, thereby reducing dust pollution to the environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a schematic diagram of the sand cleaning device of the floor-standing manipulator;

[0031] Figure 2 It is a schematic diagram of a sand cleaning device based on a truss;

[0032] Among them, 1-manipulator; 2-negative pressure sand suction mechanism; 201-sand pipeline; 202-sand suction pump; 3-visual recognition mechanism; 4-truss robot arm; 5-temporary sand storage; 6-sand core; 7-hanging handle; 8-crossbeam. DETAILED DESCRIPTION

[0033] In order to more clearly illustrate the technical solution of the present invention, the technical solution of the invention content is described in detail in conjunction with the accompanying drawings. Obviously, the following descriptions are some typical embodiments of the present invention. For ordinary technicians in this field, other solutions can be obtained based on these embodiments without paying creative work.

[0034] Taking the core making process provided with a sand mold additive manufacturing device as an example, the sand cleaning method and sand cleaning device for cleaning the sand core hanger of the present invention are explained.

[0035] In one embodiment, the sand cleaning method of the sand core hanger 7 comprises:

[0036] S01, the sand cleaning device automatically locates to the hanger 7 of the sand core 6 to be cleaned according to the position information of the sand core hanger 7 received from the control system, thereby realizing automatic positioning of the cleaning position;

[0037] S02, after receiving the positioning signal, the control system sends a sand cleaning instruction to the sand cleaning device, and the sand cleaning device starts the negative pressure sand suction mechanism 2 to clean the floating sand at the sand core hanger 7, thereby realizing automatic cleaning of the floating sand at the hanger 7 and its surrounding areas;

[0038] S03, during the sand cleaning process, the visual recognition mechanism 3 provided on the sand cleaning device periodically judges the cleaning status of the floating sand. If the floating sand is cleaned, the negative pressure absorption mechanism is closed; otherwise, the cleaning is continued, so as to realize the automatic judgment of the cleaning status;

[0039] S04, the sand cleaning device is reset to the standby position, waiting for the next sand cleaning.

[0040] Through the implementation of this sand cleaning method, the sand cleaning of the core outlet station is fully automated, which saves labor costs and avoids subsequent problems caused by human errors.

[0041] Another embodiment, a sand cleaning device for a sand core hanger 7, includes a manipulator 1, a negative pressure sand suction mechanism 2, and a visual recognition mechanism 3, wherein one end of the manipulator 1 is set on the ground of a core outlet station through a base, and the other end is suspended in the air, and the negative pressure sand suction mechanism 2 and the visual recognition mechanism 3 are both set at the suspended end of the manipulator 1. Driven by the manipulator 1, the negative pressure sand suction mechanism 2 and the visual recognition mechanism 3 realize the sand cleaning of the sand core hanger 7 and the recognition of the sand cleaning effect, thereby realizing automatic cleaning of the sand core hanger 7.

[0042] As a supplement to the present embodiment, the negative pressure sand suction mechanism 2 includes a sand-passing pipeline 201 and a sand suction pump 202. One end of the sand-passing pipeline 201 is connected to the sand suction pump 202, and the other end of the sand-passing pipeline 201 is connected to a sand storage tank, so that the floating sand on the sand core hanger 7 can be sucked into the sand storage tank through the sand-passing pipeline 201, so as to clean the sand core hanger 7 and collect the floating sand, thereby avoiding the pollution problem of floating dust entering the environment caused by cleaning the sand core hanger 7 by blowing sand. Specifically, the sand-passing pipeline 201 is a corrugated hose, which is fixed to the manipulator 1 by a U-shaped buckle, so as to achieve direct follow-up with the manipulator 1; further, the inner wall of the corrugated hose is provided with a smooth and wear-resistant lining, so as to effectively avoid the floating sand from sticking to the inside of the corrugated hose, causing the problem of poor collection of floating sand.

[0043] As a supplement to this embodiment, the visual recognition mechanism 3 is electrically connected to the control system, and the actual sampled photos are transmitted to the control system. The control system compares the actual photos with the standard photos. If the comparison results of the two are within the set range, it is judged that the sand cleaning is completed, otherwise, negative pressure sand cleaning is continued. Specifically, the recognition mechanism is a high-definition camera set at the suspended end of the manipulator 1. The camera takes actual photos or actual drawings of the sand core hanger 7 and its surroundings according to the set time as actual data for comparison, thereby realizing the automatic collection and uploading of on-site data.

[0044] As a further supplement to the present embodiment, in order to improve the sand cleaning efficiency of the sand core hangers 7 , two sets of the sand cleaning devices may be provided at the core discharge station, thereby achieving sand cleaning of two sand core hangers 7 at the same time.

[0045] Furthermore, the sand cleaning method using the sand cleaning device with the manipulator 1 to clean the sand core hanger 7 includes the following contents:

[0046] S11, the control system sends the information of the hanger 7 of the sand core 6 in the working box to the manipulator 1; specifically, the control system extracts the position information of the sand core hanger 7 according to the design data information of the sand core 6, converts the position information into the absolute position coordinates of the core output station, and transmits the absolute position coordinates to the manipulator 1, so that the manipulator 1 can automatically locate the sand core hanger 7;

[0047] S12, the work box is transferred to the core-out station, and the lifting mechanism of the core-out station lifts the sand core 6 out of the work box, that is, the sand core 6 buried in the work box is exposed; specifically, the printed sand core 6 is carried by the work box and transferred to the core-out station, and is lifted up and exposed out of the work box at the core-out station, so as to facilitate the cleaning of the sand core hanger 7 and the grabbing and transportation of the sand core 6;

[0048] S13, the manipulator 1 aligns the negative pressure sand suction mechanism 2 with the hanger 7 of the sand core 6 according to the received position information; specifically, the manipulator 1 moves the suspended end of the manipulator 1 to the absolute position coordinates of the hanger 7 of the sand core 6 based on the received absolute position coordinates and takes the coordinates of the manipulator 1 as the starting point, and sends a positioning signal to the control system to realize automatic positioning of the sand cleaning position;

[0049] S14, start the negative pressure sand suction mechanism 2 to clean the sand core hanger 7 and the floating sand around it, and the absorbed floating sand is sucked into the sand storage tank through the sand pipe 201; specifically, after receiving the positioning signal, the control system sends a cleaning start signal, and the cleaning start signal is used to start the negative pressure sand suction mechanism 2 to realize automatic sand cleaning of the sand core hanger 7;

[0050] S15, the visual recognition mechanism 3 takes actual photos of the sand core hanger 7 at regular intervals, and transmits the actual photos to the control system, the control system compares the actual photos with the standard photos, if the difference between the two is within the set range, it is judged that the sand cleaning is completed, and the negative pressure absorption mechanism is stopped; otherwise, the negative pressure sand cleaning is continued; specifically, after the control system sets the sand cleaning for 1 minute, the actual pattern or photo of the sand core hanger 7 is sampled every 20 seconds, and the sampled actual pattern is sent to the control system, the control system compares the actual pattern with the standard pattern / photo, if the difference between the two is within the set range, it is judged that the sand cleaning is completed, and the sand cleaning end information is sent to the control system, the control system sends a stop sand cleaning instruction to the negative pressure sand suction mechanism 2, and the negative pressure sand suction mechanism 2 is shut down; if the comparison difference between the actual pattern and the standard pattern exceeds the set range, the control system issues a continue sand cleaning instruction; thereby achieving the purpose of automatically determining the sand cleaning effect and avoiding unnecessary mistakes caused by human judgment;

[0051] S16, after the sand cleaning is completed, the manipulator 1 returns to the standby position according to the setting and sends a sand core grabbing signal; specifically, the negative pressure sand suction mechanism 2 sends a return message to the control system after stopping, and the control system sends a standby instruction to the manipulator 1 according to the received return information, and the manipulator 1 returns to the standby position according to the standby instruction, waiting for the next sand cleaning task, thereby realizing the full automation of the sand cleaning of the sand core hanger 7 of the core outlet station.

[0052] Another implementation method, in order to reduce the construction cost of the production line and make more effective use of the working space and working equipment, the existing truss robot of the core making process is used to clean the sand core hanger 7. The sand cleaning device of the sand core hanger 7 includes a truss robot arm 4, a negative pressure sand suction mechanism 2, and a visual recognition mechanism 3. The truss robot arm 4 is arranged on the crossbeam 8 of the truss, and can realize movement in three coordinate directions on the crossbeam 8; the negative pressure sand suction mechanism 2 and the visual recognition mechanism 3 are both arranged at the end of the truss robot arm 4 away from the crossbeam 8, the negative pressure sand suction mechanism 2 is used to clean the sand core hanger and the floating sand around it, and the visual recognition mechanism 3 is used to sample the actual pattern or actual photo of the sand core hanger and the surrounding area, for comparison with the standard pattern or standard photo to determine whether the sand cleaning is completed, thereby realizing the automation of sand core hanger cleaning.

[0053] As a supplement to this embodiment, the negative pressure sand suction mechanism 2 includes a sand-passing pipeline 201 and a sand suction pump 202. One end of the sand-passing pipeline 201 is connected to the sand suction pump 202, and the other end of the sand-passing pipeline 201 is connected to the temporary sand storage 5. The sand core hanger 7 and the floating sand around it are collected in the temporary sand storage 5. Furthermore, the temporary sand storage 5 is also provided with a sand discharge device, which is used to discharge the floating sand stored in the temporary sand storage 5 for reuse. Specifically, in this embodiment, the sand-passing pipeline 201 is a sand suction hard pipe, which is conveniently buckled on the truss mechanical arm 4 to achieve the purpose of serving as a sand suction pipeline.

[0054] As a further supplement to the present embodiment, in order to facilitate the timely collection of the cleaned floating sand, the temporary sand storage bin 5 is arranged on the truss robot arm 4 to facilitate movement at the same position as the manipulator 1, thereby avoiding the need to set up connectors between the movable truss robot arm 4 and the fixed temporary sand storage bin 5, simplifying the difficulty of setting up the sand cleaning device, and realizing the timely collection of the cleaned floating sand. After a certain amount of floating sand is collected in the accompanying temporary sand storage bin 5, the floating sand in the temporary sand storage bin 5 is output to the recovery sand bin at the standby position, thereby realizing the recycling and reuse of the cleaned floating sand.

[0055] As a further supplement to the present embodiment, the temporary sand storage warehouse 5 is clamped to the side arm of the truss robot arm 4 through a U-shaped buckle, and the U-shaped buckle is connected to the side arm through bolts; more preferably, in order to ensure the stability of the temporary sand storage warehouse 5, a fixed clamping seat is provided on the side arm of the truss robot arm 4, and the temporary sand storage warehouse 5 is seated on the fixed clamping seat to ensure the stability of the temporary sand storage warehouse 5 during the operation of the truss robot arm 4.

[0056] As a further supplement to the present embodiment, the sand release device includes a sand release cylinder arranged on the base of the temporary sand storage bin 5, a sand release outlet arranged at the bottom of the temporary sand storage bin 5, and a sand release plug arranged on the sand release outlet, the sand release plug is connected to the sand release cylinder through a piston, and the sand release plug realizes the opening and closing of the sand release outlet with the reciprocating motion of the piston; this technical solution realizes the automatic clearing of floating sand in the temporary sand storage bin 5.

[0057] As a further supplement to the present embodiment, two truss robotic arms 4 are symmetrically arranged, each of the truss robotic arms 4 is provided with the temporary sand storage 5, and each robotic arm is provided with the negative pressure sand suction mechanism 2 and the visual recognition mechanism 3, so as to realize the cleaning of the two lifting handles 7 at the same time, thereby improving the cleaning efficiency of the sand core lifting handles.

[0058] As a supplement to this embodiment, the sand cleaning method of the sand core hanger 7 using the sand cleaning device of the truss mechanical arm 4 arranged on the truss cross beam 8 is as follows:

[0059] S21, the control system sends the information of the hanger 7 of the sand core 6 in the working box to the truss robot arm 4;

[0060] S22, the working box is transferred to the core-out station, and the lifting mechanism of the core-out station lifts the sand core 6 out of the working box, that is, the sand core 6 buried in the working box is exposed;

[0061] S23, the truss robot arm 4 makes the negative pressure sand suction mechanism 2 align with the hanger 7 of the sand core 6 according to the received position information of the hanger 7 of the sand core;

[0062] S24, start the negative pressure sand suction mechanism 2 to clean the sand core hanger and the floating sand around it, and the absorbed floating sand is sucked into the temporary sand storage 5 through the sand pipe 201;

[0063] S25, the visual recognition mechanism 3 regularly captures the actual pattern of the sand core hanger 7, and transmits the actual pattern to the control system, and the control system compares the actual pattern with the standard pattern. If the difference between the two is within the set range, it is determined that the sand cleaning is completed and the negative pressure absorption mechanism is stopped; otherwise, the negative pressure sand cleaning is continued;

[0064] S26, after the sand cleaning is completed, the robot arm returns to the standby position according to the setting and sends a sand core grabbing signal.

[0065] Through the implementation of this technical solution, the automation level of the core making process is improved, and two different solutions are provided for the automatic cleaning of the sand core hanger. During the specific implementation, the sand cleaning device can be configured according to the space and cost of the production line, so as to achieve the shortest operation cycle of the core making process, the highest utilization rate of the operating space and the highest cost performance of the process construction cost.

[0066] The closed recovery of floating sand is achieved through the sand-passing pipeline and the negative pressure sand suction mechanism, which greatly reduces the problem of excessive environmental floating dust content caused by the diffusion of floating sand into the environment during the sand cleaning process.

[0067] By integrating or replacing the truss manipulator arm onto the terminal of the truss robot, the multi-purpose use of one device is achieved, and the utilization rate of the equipment and the utilization rate of the working space are improved.

[0068] The above embodiments are merely descriptions of a typical application of the technical solution of the present invention, and reasonable expansion can be carried out on a reasonable basis without requiring creative work.

Claims

1. A sand cleaning method for a sand core hanger, characterized in that: include, S01, the sand cleaning device automatically locates the handle of the sand core to be cleaned according to the received information; S02, the sand cleaning device starts the negative pressure sand suction mechanism to clean the floating sand at the sand core hanging handle; S03, judging the cleaning status of floating sand by a visual recognition mechanism provided on the sand cleaning device, and if the floating sand is cleaned, closing the negative pressure absorption mechanism; otherwise, continuing cleaning; S04, the sand cleaning device is reset to the standby position, waiting for the next sand cleaning.

2. A sand cleaning device for a sand core hanger, characterized in that: The invention comprises a mechanical arm, a negative pressure sand suction mechanism and a visual recognition mechanism. One end of the mechanical arm is arranged on the ground of the core outlet station and the other end is suspended in the air. The negative pressure sand suction mechanism and the visual recognition mechanism are both arranged at the suspended end of the mechanical arm. Driven by the mechanical arm, the negative pressure sand suction mechanism and the visual recognition mechanism realize the sand cleaning of the sand core hanger and the recognition of the sand cleaning effect.

3. The sand cleaning device for the sand core hanger according to claim 2, characterized in that: The negative pressure sand suction mechanism comprises a sand passing pipeline and a sand suction pump, one end of the sand passing pipeline is connected to the sand suction pump, and the other end of the sand passing pipeline is connected to a sand storage tank, so that floating sand on the sand core hanger is sucked into the sand storage tank through the sand passing pipeline, thereby cleaning the sand core hanger and collecting floating sand.

4. The sand cleaning device for the sand core hanger according to claim 2, characterized in that: The visual recognition mechanism is electrically connected to the control system, and transmits the sampled actual photo to the control system. The control system compares the actual photo with the standard photo. If the comparison result of the two is within the set range, it is determined that the sand cleaning is completed, otherwise, negative pressure sand cleaning is continued.

5. The sand cleaning device for a sand core hanger as claimed in claim 2, characterized in that: The method for cleaning the sand core hanger using the sand cleaning device comprises: S11, the control system sends the lifting handle information of the sand core in the working box to the robotic arm; S12, the working box is transferred to the core-out station, and the lifting mechanism of the core-out station lifts the sand core out of the working box, that is, the sand core buried in the working box is exposed; S13, the robot arm aligns the negative pressure sand suction mechanism with the hanging handle of the sand core according to the received position information; S14, starting the negative pressure sand suction mechanism to clean the sand core hanger and the floating sand around it, and the absorbed floating sand is sucked into the sand storage tank through the sand pipeline; S15, the visual recognition mechanism takes actual photos of the sand core hanger at regular intervals, and transmits the actual photos to the control system, and the control system compares the actual photos with the standard photos. If the difference between the two is within a set range, it is determined that the sand cleaning is completed and the negative pressure absorption mechanism is stopped; otherwise, the negative pressure sand cleaning is continued; S16, after the sand cleaning is completed, the robot arm returns to the standby position according to the setting and sends a sand core grabbing signal.

6. A sand cleaning device for a sand core hanger, characterized in that: It includes a truss robot arm, a negative pressure sand suction mechanism, and a visual recognition mechanism. The truss robot arm is arranged on the crossbeam of the truss and can realize three-coordinate movement on the crossbeam; the negative pressure sand suction mechanism and the visual recognition mechanism are both arranged at the end of the truss robot arm away from the crossbeam, the negative pressure sand suction mechanism is used to clean the sand core lifting ear and the floating sand around it, and the visual recognition mechanism is used to sample the actual pattern of the sand core lifting ear and the surrounding area.

7. The sand cleaning device for a sand core hanger according to claim 6, characterized in that: The negative pressure sand suction mechanism comprises a sand passage pipeline and a sand suction pump. One end of the sand passage pipeline is connected to the sand suction pump, and the other end of the sand passage pipeline is connected to a temporary sand storage bin. The sand core hanger and the floating sand around it are collected in the temporary sand storage bin.

8. The sand cleaning device for a sand core hanger according to claim 7, characterized in that: The temporary sand storage is also provided with a sand releasing device, which is used to discharge the floating sand stored in the temporary sand storage for reuse.

9. The sand cleaning device for a sand core hanger according to claim 8, characterized in that: The sand release device includes a sand release cylinder arranged on the base of the temporary sand storage bin 5, a sand release outlet arranged at the bottom of the temporary sand storage bin 5, and a sand release plug plate arranged on the sand release outlet. The sand release plug plate is connected to the sand release cylinder through a piston, and the sand release plug plate realizes the opening and closing of the sand release outlet with the reciprocating motion of the piston.

10. The sand cleaning device for a sand core hanger according to claim 9, characterized in that: The method for cleaning the sand core hanger using the sand cleaning device comprises: S21, the control system sends the lifting handle information of the sand core in the working box to the truss robot arm; S22, the working box is transferred to the core-out station, and the lifting mechanism of the core-out station lifts the sand core out of the working box, that is, the sand core buried in the working box is exposed; S23, the truss robot arm aligns the negative pressure sand suction mechanism with the sand core hanger according to the received position information of the sand core hanger; S24, starting the negative pressure sand suction mechanism to clean the sand core hanger and the floating sand around it, and the absorbed floating sand is sucked into the temporary sand storage through the sand pipeline; S25, the visual recognition mechanism regularly photographs the actual pattern of the sand core hanger, and transmits the actual pattern to the control system, and the control system compares the actual pattern with the standard pattern. If the difference between the two is within the set range, it is determined that the sand cleaning is completed and the negative pressure absorption mechanism is stopped; otherwise, the negative pressure sand cleaning is continued; S26, after the sand cleaning is completed, the robot arm returns to the standby position according to the setting and sends a sand core grabbing signal.

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