Intelligent sand box cleaning method

Abstract

The present application relates to a sand box intelligent cleaning method, belonging to the field of industrial automation and intelligent manufacturing. The scheme adopts a track type RGV car to automatically transport the sand box to a closed type intelligent cleaning workstation, reads the sand box information through an RFID label and synchronizes it to an information system. The cleaning robot scans the sand box position by using a visual identification device, and the tool changing robot grasps the suitable drill bit from the drill bit tool library according to the system instruction and assembles it to the electric hammer chuck. The cleaning robot drills and dredges the sand box sand guide hole, returns to the quick change frame to replace the electric grab, and performs multi-angle scraping work on the sand box cavity. After the cleaning is completed, the cleaning robot switches to the sand blasting gun to complete the fine sand cleaning of the surface of the sand box. The present application aims to solve the problems of low efficiency, poor environment and large safety hazards in traditional manual cleaning.

Description

Technical Field

[0001] This invention belongs to the field of industrial automation and intelligent manufacturing, and relates to an intelligent cleaning method for sand boxes. Background Technology

[0002] With the booming development of the modern foundry industry, advanced technologies such as intelligent flexible workstations and industrial robots are gradually becoming more widespread in the foundry field, profoundly changing the previously dirty and chaotic appearance of the industry. The introduction of these technologies has not only improved production efficiency but also significantly improved the working environment and reduced the labor intensity of workers. However, in the sand box cleaning process, existing technologies still have many problems.

[0003] First, existing sandbox cleaning technology relies primarily on manual operation, which is inefficient. The cleaning work requires a significant amount of manpower and time, thus limiting production efficiency. Second, manual cleaning is physically demanding, requiring workers to endure considerable physical strain. Furthermore, the cleaning environment is harsh, with dust posing a threat to workers' health. Prolonged exposure to dust can lead to occupational diseases such as pneumoconiosis.

[0004] Secondly, the cleaning process requires frequent use of overhead cranes, and often necessitates additional impacts to achieve thorough cleaning, posing safety hazards. Overhead crane operations require precise control; improper operation could damage the sandbox or injure personnel. While additional impacts to the sandbox may improve cleaning efficiency, they also increase operational risks.

[0005] Furthermore, clearing and transporting the accumulated waste sand from the pit is cumbersome, occupies workshop space, and affects overall logistics and appearance. The accumulated waste sand not only takes up space but may also pollute the workshop environment. Transporting the waste sand requires significant manpower and time, increasing production costs. At the same time, the cumbersome process of accumulating and transporting waste sand also negatively impacts the overall logistics and appearance of the workshop. Summary of the Invention

[0006] In view of this, the purpose of this invention is to provide a method for intelligent cleaning of sand boxes. By establishing a digital intelligent spraying workstation, equipped with innovative technologies such as a cleaning robot, a tool changing robot, a dedicated integrated system for the robot's end effector, an intelligent tool rack device, and a non-standard movable support platform, and combined with automatic barcode scanning and visual scanning recognition methods, fully automated, unmanned, and flexible sand box cleaning operations are achieved.

[0007] To achieve the above objectives, the present invention provides the following technical solution:

[0008] A method for intelligent cleaning of sandboxes includes the following steps:

[0009] S1: The sand box and bracket are transported to the enclosed intelligent cleaning workstation by a rail-mounted RGV vehicle. The workstation's barcode scanning device reads the RFID tag information of the sand box and synchronizes it to the workstation's information system.

[0010] S2: The cleaning robot scans the actual position and key points of the sandbox using a visual recognition device. The workstation system combines the pre-stored 3D digital model to generate the initial running trajectory and automatically corrects the deviation by scanning the point cloud data with laser.

[0011] S3: The cleaning robot grabs the electric hammer from the quick-change stand, and the tool changing robot grabs the matching drill bit from the drill tool library and assembles it into the electric hammer chuck according to the system instructions.

[0012] S4: The cleaning robot drills and clears the sand guide holes of the sand box, and monitors the drilling force in real time. When the load exceeds the limit, it triggers the safety protection unloading system and starts the floating buffer device.

[0013] S5: The cleaning robot returns to the quick-change frame to replace the electric pick and performs multi-angle scraping operations on the sand box cavity;

[0014] S6: The cleaning robot switches to the sandblasting gun, and the sandblasting system starts pressurized sand delivery to complete the fine sand cleaning of the sand box surface;

[0015] S7: The tool changing robot records the drill bit usage time and issues a replacement reminder when the preset threshold is reached;

[0016] S8: The dust removal system operates synchronously, and waste sand falls into the collection hood through the workbench and is automatically transported out by the conveying device;

[0017] S9: After the cleaning robot is reset, the RGV vehicle will transfer the cleaned sand box to the next process;

[0018] S10: The retractable roof on top of the workstation can be opened when needed to cooperate with the crane to complete emergency hoisting operations.

[0019] Optionally, the enclosed intelligent cleaning workstation includes: an enclosed chamber with a steel frame, an RGV access door and an observation window on the side wall; a retractable roof that is linked to the overhead crane hoisting system; and a waste sand collection cover and conveying device below the workbench.

[0020] Optionally, the cleaning robot includes: a 7th axis moving mechanism for adjusting the robot's lateral position to adapt to sandboxes of different sizes; an end effector for quickly switching between an electric hammer, an electric pick, and a sandblasting gun; and a laser scanner and a floating buffer device integrated at the end.

[0021] Optionally, the tool changing robot is connected to the drill bit tool library and operates collaboratively with the quick-change frame through a workstation information system; the quick-change frame is equipped with a dustproof mechanism and stores the electric hammer and electric pick respectively.

[0022] Optionally, the sandblasting system includes: a sand storage bin, a pressurized pipeline, and a sandblasting gun at the end of a robot; the sand storage bin is connected to an external sand supply device via a pneumatic conveying pipeline, and the sandblasting gun is supplied with sand via a combination of a flexible hose and a fixed rigid pipe.

[0023] Optionally, the safety protection unloading system includes: a sensor for real-time detection of drilling force; control software for instructing the robot to retract the tool and triggering an alarm when the load exceeds the limit; and a floating buffer device that uses a hydraulic damping structure to absorb impact vibration.

[0024] Optionally, the dust removal system includes: a negative pressure dust collection device arranged on the top and side walls of the workstation; and a dust filter chamber connected in parallel with the conveying device of the waste sand collection hood to the discharge outlet outside the workshop.

[0025] Optionally, the RGV vehicle's track extends outside the workstation, seamlessly connecting with the workshop logistics system.

[0026] Optionally, the workstation information system includes: a sandbox process database, which stores three-dimensional digital models and cleaning parameters of different sandboxes; and a collaborative control module, which synchronously manages the action sequence of the cleaning robot, the tool changing robot, and the sandblasting system.

[0027] Optionally, each drill bit in the drill bit tool library is equipped with an RFID tag, and the drill bit tool library has a built-in reader to record the number of times the drill bit is used and its lifespan.

[0028] The beneficial effects of this invention are as follows:

[0029] Improved production efficiency: The sand box and bracket are automatically transported to the enclosed intelligent cleaning workstation by a rail-mounted RGV vehicle, which automates the sand box cleaning process, significantly improves production efficiency and reduces the production cycle.

[0030] Reduced labor intensity: Automated equipment replaces manual operation, greatly reducing the labor intensity of workers and improving their working conditions.

[0031] Improved working environment: The fully enclosed workstation design effectively avoids dust and reduces environmental pollution, providing workers with a healthier and safer working environment.

[0032] Reduce safety hazards: Automated operation reduces the errors and accidents that may occur in manual operation, and lowers the safety risks in the work process.

[0033] Optimize workshop logistics: The automatic collection and conveying system for waste sand reduces the cumbersome process of waste sand accumulation and transfer, optimizes the overall logistics of the workshop, and improves space utilization.

[0034] Improved cleaning quality: Through precise visual recognition and automatic correction technology, the sandbox cleaning process is more accurate and consistent, thus improving the cleaning quality.

[0035] Reduced production costs: The application of automation and intelligent technologies reduces labor costs while improving production efficiency, thereby reducing overall production costs.

[0036] Improved adaptability: The intelligent system can adaptively adjust to different sandbox specifications and cleaning needs, and has excellent adaptability to different types of sandboxes.

[0037] Enhancing user experience: Automated and intelligent operations reduce direct worker involvement and improve job comfort and satisfaction.

[0038] Easy to maintain and manage: The intelligent system can monitor the equipment status in real time, record the usage time of the drill bit, and promptly remind you of maintenance and replacement, which facilitates the maintenance and management of the equipment.

[0039] Other advantages, objectives, and features of the invention will be set forth in part in the description which follows, and in part will be apparent to those skilled in the art from the following examination, or may be learned from practice of the invention. The objectives and other advantages of the invention can be realized and obtained through the following description. Attached Figure Description

[0040] To make the objectives, technical solutions, and advantages of the present invention clearer, the preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, wherein:

[0041] Figure 1 This is a partial structural diagram of one embodiment of the present solution;

[0042] Figure 2 This is a schematic diagram of another part of the structure of one embodiment of the present solution.

[0043] Attached reference numerals: 1 Enclosed chamber, 11 RGV entrance / exit door, 12 Observation window, 13 Retractable roof, 2 Cleaning robot, 21 7th axis moving mechanism, 22 End effector, 221 Floating buffer device, 23 Vision recognition device, 3 Tool changing robot, 31 Drill bit tool magazine, 32 Quick changer, 321 Dustproof mechanism, 4 Sandblasting system, 41 Sand storage bin, 42 Pressurized pipeline, 43 Sandblasting gun, 44 Pneumatic conveying pipeline, 45 Hose, 46 Fixed rigid pipe, 5 Workbench, 51 Waste sand collection cover. Detailed Implementation

[0044] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0045] The accompanying drawings are for illustrative purposes only and are schematic diagrams, not actual pictures. They should not be construed as limiting the invention. To better illustrate the embodiments of the invention, some parts in the drawings may be omitted, enlarged, or reduced, and do not represent the actual product dimensions. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0046] In the accompanying drawings of the embodiments of the present invention, the same or similar reference numerals correspond to the same or similar components. In the description of the present invention, it should be understood that if terms such as "upper," "lower," "left," "right," "front," and "rear" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting the present invention. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0047] Please see Figures 1-2 This solution discloses an intelligent cleaning method for sand boxes. In the specific implementation process, this solution involves an intelligent cleaning device for sand boxes.

[0048] (1) Overall structure

[0049] The core of the intelligent sand box cleaning device is a closed chamber 1, with an RGV access door 11 and a tempered glass observation window 12 on its side walls, and a retractable roof 13 installed on the top. Inside the closed chamber 1 are a cleaning robot 2, a tool-changing robot 3, a sandblasting system 4, and a perforated workbench 5. The RGV access door 11 connects to an external track for RGV vehicles to transport sand boxes in and out of the workstation; the observation window 12 allows external personnel to monitor the operation status; the retractable roof 13 is driven by multiple sections of sliding rails and can be opened in emergencies to assist in hoisting sand boxes using a crane.

[0050] (2) Cleaning robot system

[0051] The cleaning robot 2 moves laterally along the length of the workstation via the 7th axis moving mechanism 21. The end effector 22 is equipped with a quick-switch interface for the electric hammer, electric pick, and sandblasting gun 43. The end effector 22 integrates a floating buffer device 221 to absorb the impact vibration during drilling operations. The vision recognition device 23 is installed on the robot arm and uses laser scanning technology to obtain real-time positioning data of the sand box.

[0052] (3) Tool Changer Robot System

[0053] The tool changing robot 3 works collaboratively with the drill bit storage 31 and quick-change rack 32. The drill bit storage 31 uses a matrix-style storage rack, with each drill bit slot equipped with an RFID tag. The quick-change rack 32 has two workstations, storing electric hammers and electric picks respectively. Its top is equipped with a dustproof mechanism 321, which is an electrically operated sliding cover that automatically opens and closes during tool storage and retrieval to prevent dust contamination of the tool interface. The tool changing robot 3, according to workstation instructions, grabs the appropriate drill bit and assembles it into the electric hammer chuck of the cleaning robot 2.

[0054] (4) Sandblasting system

[0055] The sandblasting system 4 includes a sand storage bin 41, a pressurized pipeline 42, and a sandblasting gun 43 at the end of the robot. The sand storage bin 41 is connected to an external sand supply device via a pneumatic conveying pipeline 44, and is equipped with a sand regulating valve and an air regulating valve to control the sand flow rate. The sandblasting gun 43 is supplied with sand through a combination of a flexible hose 45 and a fixed rigid pipe 46. The flexible hose 45 is wound around the take-up frame on the robot arm, and the fixed rigid pipe 46 is arranged along the side wall of the workstation to ensure the flexibility of the sandblasting operation.

[0056] (5) Waste sand treatment and linkage control

[0057] A funnel-shaped waste sand collection hood 51 is installed below the hollow workbench 5. The waste sand is transferred to the sand storage silo outside the workshop by a screw conveyor. The cleaning robot 2, the tool changing robot 3, and the sandblasting system 4 are controlled collaboratively through the workstation information system.

[0058] After the visual recognition device 23 of the cleaning robot 2 scans the sand box, the system automatically generates a correction trajectory;

[0059] Tool Changer 3 prompts the tool changer to replace the tool based on the drill bit usage time threshold.

[0060] The sand replenishment and pressure adjustment of the sandblasting system 4 are monitored in real time by the system.

[0061] (6) Safety and dust removal design

[0062] The floating buffer device 221 has a built-in hydraulic cylinder and pressure sensor, which triggers the tool retraction protection when the drilling force exceeds the limit; the top of the enclosed chamber 1 is equipped with a negative pressure dust collection device, which is connected in parallel with the conveying pipeline of the waste sand collection hood 51 to ensure that dust is centrally treated during operation and to maintain a clean workshop environment.

[0063] Implementation process example

[0064] The RGV vehicle transports the sand box through the RGV entrance / exit gate 11 to the hollow workbench 5;

[0065] The visual recognition device 23 scans the sand box positioning data and generates a cleaning trajectory;

[0066] Cleaning robot 2 adjusts its position via the 7th axis moving mechanism 21, end effector 22 grabs electric hammer, and tool changing robot 3 assembles drill bit;

[0067] After drilling is completed, the cleaning robot 2 switches to an electric pick to scrape the cavity, and finally uses a sandblasting gun 43 to clean the sand.

[0068] The waste sand is transported out through the waste sand collection hood 51, and the dust removal system operates simultaneously.

[0069] The retractable roof 13 can be opened when hoisting is required, in coordination with external overhead crane operations.

[0070] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A method for intelligent cleaning of a sandbox, characterized in that, Includes the following steps: S1: The sand box and bracket are transported to the enclosed intelligent cleaning workstation by a rail-mounted RGV vehicle. The workstation's barcode scanning device reads the RFID tag information of the sand box and synchronizes it to the workstation's information system. S2: The cleaning robot (2) scans the actual position and key points of the sand box through the visual recognition device (23). The workstation system generates the initial running trajectory by combining the pre-stored three-dimensional digital model and automatically corrects the deviation by scanning the point cloud data with laser. S3: The cleaning robot (2) grabs the electric hammer from the quick changer (32), and the tool changing robot (3) grabs the matching drill bit from the drill bit tool library (31) and assembles it into the electric hammer chuck according to the system instructions; S4: Cleaning robot (2) drills and cleans the sand box guide hole, and detects the drilling force in real time. When the load exceeds the limit, it triggers the safety protection unloading system and starts the floating buffer device (221). S5: Cleaning robot (2) returns to quick-change frame (32) to replace electric pick and perform multi-angle scraping operation on sand box cavity; S6: The cleaning robot (2) switches to the sandblasting gun (43), and the sandblasting system (4) starts pressurized sand conveying to complete the fine sand cleaning of the sand box surface; S7: The tool changing robot (3) records the drill bit usage time and issues a replacement reminder when the preset threshold is reached; S8: The dust removal system operates synchronously, and waste sand falls into the collection hood through the workbench and is automatically transported out by the conveying device; S9: After the cleaning robot (2) is reset, the RGV vehicle will transfer the cleaned sand box to the next process; S10: The retractable roof (13) on the top of the workstation can be opened when needed to cooperate with the crane to complete emergency hoisting operations.

2. The method according to claim 1, characterized in that, The enclosed intelligent cleaning workstation includes: The enclosed chamber (1) of the steel frame has an RGV vehicle entrance and exit door (11) and an observation window (12) on the side wall. The retractable roof (13) is linked to the overhead crane hoisting system; The workbench (5) is equipped with a waste sand collection cover (51) and a conveying device.

3. The method according to claim 1, characterized in that, The cleaning robot (2) includes: The 7th axis moving mechanism (21) is used to adjust the robot's lateral position to accommodate sandboxes of different sizes; The end effector (22) can quickly switch between electric hammer, electric pick and sandblasting gun; A laser scanner and floating buffer device integrated at the end. (221) 4. The method according to claim 1, characterized in that, The tool changing robot (3) is connected to the drill bit tool library (31) and operates in coordination with the quick change frame (32) through the workstation information system; the quick change frame (32) is equipped with a dustproof mechanism (321) and stores the electric hammer and electric pick respectively.

5. The method according to claim 1, characterized in that, The sandblasting system (4) includes: Sand storage bin (41), pressurized pipeline (42) and robot end-of-line sandblasting gun (43); The sand storage bin (41) is connected to an external sand supply device through a pneumatic conveying pipe (44), and the sandblasting gun (43) is supplied with material through a combination of a flexible hose (45) and a fixed rigid pipe (46).

6. The method according to claim 1, characterized in that, The security protection unloading system includes: A sensor for real-time detection of drilling force; The control software is used to instruct the robot to retract its tool and issue an alarm when the load exceeds the limit; The floating buffer device (221) adopts a hydraulic damping structure to absorb impact vibration.

7. The method according to claim 1, characterized in that, The dust removal system includes: Negative pressure dust collection devices are installed on the top and side walls of the workstation; The dust filter chamber is connected in parallel with the conveying device of the waste sand collection hood (51) to the discharge outlet outside the workshop.

8. The method according to claim 1, characterized in that, The RGV vehicle's track extends outside the workstation, seamlessly connecting with the workshop's logistics system.

9. The method according to claim 1, characterized in that, The workstation information system includes: Sandbox process database, storing 3D digital models and cleaning parameters of different sandboxes; The collaborative control module synchronously manages the timing of actions of the cleaning robot, the tool changing robot, and the sandblasting system.

10. The method according to claim 1, characterized in that, Each drill bit in the drill bit tool library (31) is equipped with an RFID tag, and the drill bit tool library (31) has a built-in reader to record the number of times the drill bit is used and its lifespan.

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