Casting core pulling device and casting core pulling method

Abstract

The invention discloses a casting core-pulling device and a casting core-pulling method. The casting core-pulling device comprises a bearing base, a core-pulling execution module and a control module, and the bearing base is provided with a casting positioning mechanism; the core-pulling execution module comprises a multi-axis moving mechanism and a plurality of groups of pulling units mounted on the multi-axis moving mechanism, the multi-axis moving mechanism is mounted on one side of the casting positioning mechanism, each pulling unit comprises a pipe body clamping mechanism and a driving mechanism which are connected with each other, and each pipe body clamping mechanism comprises a variable-diameter clamping jaw and a pressure sensor arranged in the variable-diameter clamping jaw; the control module comprises a controller and a visual positioning module used for positioning the position of a pipe body on a casting, and the controller is connected with the variable-diameter clamping jaw, the pressure sensor, the driving mechanism and the visual positioning module. According to the casting core pulling device and the casting core pulling method, a pipe body of a casting can be stably and safely pulled out, and the core pulling efficiency is improved.

Description

Technical Field

[0001] The present application relates to the technical field of casting technology, and in particular to a casting core pulling device and a casting core pulling method. Background Art

[0002] At present, when making some castings with holes, the core pulling tube body is pre-embedded in the sand box mold. After the sand box mold is compacted and hardened, the core pulling tube body is pulled out of the sand box mold, and then the core pulling tube body-shaped sand core is pushed into it to complete the molding of the hole. However, there are still many inconveniences in the implementation of the above process. For example, in the process of pulling the core pulling tube body out of the mold, it is usually manually knocked out or pulled out with the help of a forklift, but the above process requires a lot of effort, and the pulling and pulling process is not smooth enough, which may cause the mold to tip over or damage the mold, the safety is insufficient, and the quality of the mold is unstable. Therefore, there is still a lack of a solution that can smoothly and safely pull out the core pulling tube body, so it needs to be improved. Summary of the invention

[0003] The present application aims to solve at least one of the technical problems existing in the prior art. To this end, the present application proposes a casting core pulling device and a casting core pulling method, which can smoothly and safely pull out the tube body of the casting and improve the core pulling efficiency.

[0004] In a first aspect, an embodiment of the present application provides a casting core pulling device, comprising: The bearing base is provided with a casting positioning mechanism; The core pulling execution module includes a multi-axis moving mechanism and a plurality of pulling units installed on the multi-axis moving mechanism, wherein the multi-axis moving mechanism is installed on one side of the casting positioning mechanism, and the pulling unit includes a tube body clamping mechanism and a driving mechanism connected to each other, wherein the tube body clamping mechanism includes a variable diameter clamping jaw and a pressure sensor arranged inside the variable diameter clamping jaw; The control module comprises a controller and a visual positioning module for positioning the tube body on the casting, wherein the controller is respectively connected to the variable diameter clamping jaw, the pressure sensor, the driving mechanism and the visual positioning module.

[0005] In the casting core pulling device provided in the embodiment of the present application, the supporting base also includes horizontal adjustment legs, the casting positioning mechanism includes a rotating platform and a casting fixing clamp, the horizontal adjustment legs are installed at the bottom of the rotating platform, and the casting fixing clamp is arranged on the edge of the rotating platform.

[0006] In the casting core pulling device provided in the embodiment of the present application, a vacuum adsorption plate for supporting the casting is provided on the surface of the casting positioning mechanism, and a plurality of negative pressure holes are opened on the vacuum adsorption plate.

[0007] In the core-pulling device for castings provided by the embodiments of the present application, the variable-diameter clamping jaws include a plurality of arc-shaped flaps, and pressure sensors are provided on the inner walls of the arc-shaped flaps. Among them, when the plurality of arc-shaped flaps are closed, the plurality of arc-shaped flaps form a conical sleeve with an axially varying inner cavity diameter.

[0008] In the core-pulling device for castings provided by the embodiments of the present application, a plurality of anti-retreat protrusions distributed along the axis are provided on the inner wall of the arc-shaped flap.

[0009] In the core-pulling device for castings provided by the embodiments of the present application, the extraction unit further includes a disc spring group and a hydraulic piston rod. The disc spring group is sleeved on the rear end of the arc-shaped flap, and the disc spring group is installed at the front end of the hydraulic piston rod.

[0010] In the core-pulling device for castings provided by the embodiments of the present application, the pipe clamping mechanism is further provided with an acceleration sensor, and the acceleration sensor is connected to the controller.

[0011] In a second aspect, the embodiments of the present application provide a method for core-pulling of castings, which is applied to the core-pulling device for castings described in any one of the above first aspects. The method includes: hoisting the casting to be core-pulled to the casting positioning mechanism for fixing; Obtain the pipe position of the casting to be core-pulled determined by the visual positioning module, and drive the variable-diameter clamping jaws to move to the pipe position; Obtain the clamping pressure measured by the pressure sensor; When the clamping pressure meets the first extraction condition, drive the variable-diameter clamping jaws to extract the pipe; During the process of driving the variable-diameter clamping jaws to extract the pipe, if the clamping pressure meets the second extraction condition, stop driving the variable-diameter clamping jaws to extract the pipe.

[0012] In the method for core-pulling of castings provided by the embodiments of the present application, the first extraction condition is that the clamping pressures fed back by all the pressure sensors are greater than a first pressure threshold, and the second extraction condition is that the clamping pressure fed back by any one of the pressure sensors is less than a second pressure threshold or the pressure difference between the clamping pressures fed back by any two of the pressure sensors is greater than a deviation pressure difference, where the first pressure threshold is greater than the second pressure threshold.

[0013] In the method for core-pulling of castings provided by the embodiments of the present application, driving the variable-diameter clamping jaws to extract the pipe includes: Obtain the moving distance of the variable-diameter clamping jaws to extract the pipe; When the moving distance is less than a first target distance, control the driving mechanism to drive the variable-diameter clamping jaws to extract the pipe to move at a first moving speed; When the moving distance is less than the second target distance and greater than the first target distance, control the driving mechanism to drive the variable-diameter clamping jaw to extract and move the pipe body at a second moving speed, where the second moving speed is greater than the first moving speed; When the moving distance is less than the third target distance, control the driving mechanism to drive the variable-diameter clamping jaw to extract and move the pipe body at a first acceleration, so as to slow down the moving speed of the variable-diameter clamping jaw until the variable-diameter clamping jaw stops.

[0014] According to the core-pulling device and core-pulling method for castings provided by the embodiments of the present application, at least the following beneficial effects are achieved: The bearing base integrates a casting positioning mechanism, and forms a rigid support system through mechanical clamping and spatial positioning functions. The core-pulling execution module adopts a multi-axis moving mechanism to achieve precise positioning of the extraction unit in multiple directions and simultaneous extraction of multiple casting pipe bodies. The multi-axis layout ensures independent path planning for each extraction unit, avoids motion interference during multi-pipe extraction, and improves the core-pulling efficiency of castings. Among them, a variable-diameter clamping jaw is provided in the extraction unit, and the radial contraction range of the variable-diameter clamping jaw can cover pipe bodies of various specifications and sizes, improving applicability. At the same time, a pressure sensor is built into the variable-diameter clamping jaw to form a closed-loop feedback of the clamping force, which can monitor the pressure distribution on the clamping surface in real time, helps to automatically adjust the contraction amount of the variable-diameter clamping jaw, ensures uniform clamping pressure on the pipe body surface, improves the stability of the core-pulling process, and reduces indentation or slippage caused by manual operation. The controller combines with the vision positioning module to realize the position recognition and motion control of the pipe body, and can adjust the extraction process according to the real-time clamping pressure, reducing the casting breakage rate. Therefore, the core-pulling device for castings proposed by the embodiments of the present application realizes a multi-dimensional collaborative control mechanism by reconstructing the spatial layout, mechanical transmission chain and control logic of the device, and systematically solves the problems of high operation risk and low core-pulling efficiency in the traditional core-pulling process.

[0015] Other features and advantages of the present application will be described in the following specification, and, in part, will become apparent from the specification, or will be understood by implementing the present application. The objectives and other advantages of the present application can be achieved and obtained by the structures specifically pointed out in the specification and the drawings. Description of the Drawings

[0016] The following further illustrates the present application with reference to the drawings and embodiments; Figure 1 is a schematic structural diagram of the core-pulling device for castings provided by the embodiments of the present application; Figure 2 is a schematic structural diagram of the casting and the pipe body provided by the embodiments of the present application. Detailed Embodiments

[0017] This section will describe in detail the specific embodiments of the present application. The preferred embodiments of the present application are shown in the accompanying drawings. The function of the accompanying drawings is to supplement the description of the text part of the specification, enabling people to intuitively and vividly understand each technical feature and the overall technical solution of the present application. However, it should not be construed as a limitation on the protection scope of the present application.

[0018] It should be understood that in the description of the embodiments of the present application, if there is a description of "first", "second", etc., it is only for the purpose of distinguishing technical features and cannot be construed as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or implicitly indicating the sequence of the indicated technical features. "At least one" means one or more, and "a plurality" means two or more. "At least one of the following" and its similar expressions refer to any combination of these items, including any combination of single items or plural items.

[0019] In addition, unless otherwise clearly specified and limited, the term "connected / linked" should be understood in a broad sense. For example, it can be a fixed connection or a movable connection, or a detachable connection or an inseparable connection, or an integral connection; it can be a mechanical connection, an electrical connection or a connection that can communicate with each other; it can be directly connected, or indirectly connected through an intermediate medium.

[0020] In the description of the embodiments of the present application, the description with reference to terms such as "one embodiment / embodiment", "another embodiment / embodiment" or "certain embodiments / embodiments", "in the above embodiments / embodiments", etc. means that the specific features, structures, materials or characteristics described in connection with the embodiments or examples are included in at least two embodiments or embodiments disclosed in the present application. In the disclosure of the present application, the schematic expressions of the above terms do not necessarily refer to the same embodiments or embodiments. It should be noted that although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order from that in the flowchart.

[0021] When making some castings with hole positions, a core-pulling pipe body is pre-embedded at the sand box mold. After the sand box mold is compacted and hardened, the core-pulling pipe body is pulled out from the sand box mold, and then the core-pulling pipe body-shaped sand core is pushed into it to complete the forming of the hole position. However, at present, there are still many inconveniences in the implementation of the above process. For example, in the process of pulling the core-pulling pipe body out of the mold, usually manual knocking or the method of pulling it out with a forklift is used. However, the above process requires a lot of effort, and the pulling process is not stable enough, which may cause the mold to tip over or damage the mold, resulting in insufficient safety and unstable mold quality. Therefore, there is still a lack of a solution that can smoothly and safely pull out the core-pulling pipe body, so improvement is needed.

[0022] To at least solve the technical problems existing in the above-mentioned prior art, the present application proposes a core-pulling device and a core-pulling method for castings. By reconstructing the spatial layout, mechanical transmission chain and control logic of the device, a multi-dimensional collaborative control mechanism is realized, which can smoothly and safely extract the pipe body in the casting, and systematically solves the problems of high operation risk and low core-pulling efficiency in the traditional core-pulling process.

[0023] It should be noted that the technical features involved in the various embodiments of the present application described below can be combined with each other as long as they do not conflict with each other.

[0024] The following further elaborates on the embodiments of the present application with reference to the accompanying drawings.

[0025] Refer to Figure 1 and Figure 2 , Figure 1 is a schematic structural diagram of the core-pulling device for castings provided by the embodiment of the present application, Figure 2 is a schematic structural diagram of the casting and the pipe body provided by the embodiment of the present application. The core-pulling device for castings includes a bearing base 100, a core-pulling execution module and a control module. Among them, the bearing base 100 includes a casting positioning mechanism 110, and the casting positioning mechanism 110 is used to carry the casting 200 to be core-pulled and fix the casting 200 to prevent the casting 200 from shifting during the core-pulling process, resulting in the casting 200 tipping over or being damaged. Multiple-stage grooves are formed on the casting positioning mechanism 110, the longitudinal depth of the grooves increases step by step, and the perimeter of the groove edges also decreases step by step. The grooves can be used to position the casting 200, and the multiple-stage grooves with different depths and widths can adapt to castings 200 of different sizes. Specifically, the casting 200 to be core-pulled can be hoisted to the casting positioning mechanism 110 and placed in the grooves on the casting positioning mechanism 110, and the casting 200 is limited by the multiple-stage grooves to improve the stability of the casting 200 during the core-pulling process.

[0026] The core-pulling execution module includes a multi-axis moving mechanism 120 and multiple sets of extraction units 130. The multi-axis moving mechanism 120 is installed on one side of the casting positioning mechanism 110, and multiple sets of extraction units 130 are slidably installed on the multi-axis moving mechanism 120. Thus, multiple sets of extraction units 130 can freely slide on the multi-axis moving mechanism 120 to adjust the position of the extraction units 130 in three-dimensional space. Among them, the multi-axis moving mechanism 120 can be a three-axis orthogonal guide rail frame. Therefore, multiple sets of extraction units 130 can independently slide on the X / Y / Z three axes, with strong flexibility. The position of the extraction unit 130 can be aligned with the position of the pipe body 210 on the casting 200, and the pipe body 210 can be smoothly and safely extracted from the casting 200 along the planned path. It should be noted that multiple sets of extraction units 130 are provided and independently move relying on the multi-axis moving mechanism 120 without affecting each other. Therefore, each extraction unit 130 can perform independent core-pulling work, enabling the casting core-pulling device to simultaneously perform core-pulling on multiple pipe bodies 210 on the casting 200 and improving the core-pulling work efficiency.

[0027] It is worth noting that the extraction unit 130 includes a pipe body clamping mechanism and a driving mechanism. The pipe body clamping mechanism includes variable-diameter jaws and a pressure sensor. The variable-diameter jaws can open or contract to adjust the radial clamping range, so as to adapt to the pipe bodies 210 of castings 200 with different specifications and sizes. The pressure sensor arranged on the inner wall of the variable-diameter jaws can measure the contact pressure between the inner wall of the variable-diameter jaws and the outer wall of the pipe body 210. For example, when aligning the variable-diameter jaws with the pipe body 210 of the casting 200, it can be judged whether the variable-diameter jaws contact the pipe body 210 of the casting 200 through the pressure. Or when pre-clamping the variable-diameter jaws with the pipe body 210 of the casting 200, it can be judged whether the variable-diameter jaws successfully clamp the pipe body 210 of the casting 200 through the pressure. And during the core-pulling process, it can be judged whether the variable-diameter jaws apply a stable and consistent clamping force to each direction of the outer wall of the pipe body 210 of the casting 200 through the pressure, avoiding the variable-diameter jaws losing force in a certain direction, resulting in the fracture of the pipe body 210 or damage to the casting 200.

[0028] It should be noted that the driving mechanism is connected to the pipe body clamping mechanism. The driving mechanism is used to drive the pipe body clamping mechanism to move along the axial direction of the pipe body 210. The driving mechanism can also drive the pipe body clamping mechanism, that is, the variable-diameter jaws, to move on the multi-axis moving mechanism 120. For example, the driving mechanism can drive the variable-diameter jaws to move on the multi-axis moving mechanism 120 so that the variable-diameter jaws are aligned with the pipe body 210, then drive the variable-diameter jaws to adjust the clamping range, wrap and clamp the pipe body 210 of the casting 200, and then drive the variable-diameter jaws to move in the opposite direction of the axial direction of the pipe body 210 to drive the pipe body 210 to be extracted from the casting 200.

[0029] It can be understood that the control module includes a controller and a visual positioning module. The visual positioning module can be used to locate the position of the pipe body on the casting 200. For example, the visual positioning module can be a visual imaging unit. The visual imaging unit can face the casting positioning mechanism 110, take pictures of the casting 200 on the casting positioning mechanism 110, and perform image recognition on the captured images to locate the position of the pipe body on the casting 200. Therefore, the controller can control the driving mechanism to drive the variable-diameter jaw to move to the corresponding pipe body position according to the pipe body position, and then extract the corresponding pipe body 210. Among them, the visual positioning module can also include a laser ranging unit. The laser ranging unit can measure the distance between the pipe body 210 and the variable-diameter jaw, which is convenient for driving the variable-diameter jaw to clamp the pipe body 210; the laser ranging unit can also measure the distance between the pipe body 210 exceeding the casting 200, which is convenient for determining the extraction length of the pipe body 210, so as to achieve more accurate extraction control. The controller is respectively connected to the variable-diameter jaw, the pressure sensor, the driving mechanism and the visual positioning module. Therefore, the controller controls the driving mechanism to drive the variable-diameter jaw to move to the corresponding pipe body position through the pipe body position feedback by the visual positioning module, and then controls the variable-diameter jaw to open and approach the pipe body 210. When the pressure feedback by the pressure sensor is the contact between the variable-diameter jaw and the pipe body 210, the controller controls the variable-diameter jaw to contract, so that the inner wall of the variable-diameter jaw is in close contact with the outer wall of the pipe body 210; when the pressure feedback by the pressure sensor increases, the controller can control the driving mechanism to drive the variable-diameter jaw to extract the pipe body 210 from the casting 200. At the same time, during the extraction process of the pipe body 210, the pressure feedback by the pressure sensor can be detected. If the pressure becomes smaller, it means that the pipe body 210 is loose in the variable-diameter jaw, and the pipe body 210 may not be smoothly extracted, resulting in the risk of damaging the casting 200. At this time, the extraction can be stopped and the clamping state of the variable-diameter jaw and the pipe body 210 can be adjusted in time.

[0030] It can be understood that the bearing base 100 includes horizontal adjusting legs 111. The casting positioning mechanism 110 includes a rotating platform 150 and casting fixing jaws 140. The rotating platform 150 is used to support the casting 200, and the rotating platform 150 can drive the casting 200 to rotate, so as to adjust the orientation of the pipe body 210 of the casting 200, facilitating the core pulling execution module to perform core pulling on the pipe body 210. The horizontal adjusting legs 111 are installed at the bottom of the rotating platform 150. The horizontal adjusting legs 111 can be telescoped, that is, the height of the horizontal adjusting legs 111 is changed, thereby changing the horizontal offset angle of the rotating platform 150, and further changing the orientation of the pipe body 210 of the casting 200. At the same time, the contact surface between the multi-stage groove and the casting 200 can be changed, improving the stability of the multi-stage groove to fix the casting 200. The casting fixing jaws 140 are installed at the edge of the rotating platform 150, that is, at the edge of the multi-stage groove. The casting fixing jaws 140 are pushed towards the center of the rotating platform 150 by a cylinder, so that the casting fixing jaws 140 can clamp and position the casting 200 from the four corners of the casting 200, ensuring the stability of the casting 200.

[0031] It can be understood that a vacuum adsorption plate can be provided on the surface of the casting positioning mechanism 110, that is, on the surface of the rotating platform 150. The vacuum hole adsorption plate is provided with a plurality of negative pressure holes 160. After the vacuum adsorption plate is started, when the casting 200 is placed on the vacuum adsorption plate, the casting 200 can be adsorbed and fixed on the surface of the vacuum adsorption plate, assisting in fixing the casting 200, and avoiding the casting 200 from being displaced and falling off the rotating platform 150 and being damaged when the casting fixing jaws 140 fail to clamp the casting 200 after the casting 200 is placed on the surface of the rotating platform 150.

[0032] It can be understood that the variable diameter jaws can include a plurality of arc-shaped petals 131. Pressure sensors are installed on the inner walls of the arc-shaped petals 131. There is a telescopic gap between each arc-shaped petal 131, allowing the arc-shaped petals 131 to elastically deform radially. A silicon carbide-based ceramic coating, that is, a wear-resistant coating, can be sprayed on the inner walls of the arc-shaped petals 131. The arc-shaped petals 131 can open or contract radially to adapt to pipes 210 of different sizes to enter the variable diameter jaws. When the plurality of arc-shaped petals 131 contract, the variable diameter jaws can form a conical sleeve, and the diameter of the inner cavity of the sleeve changes along the axial length. For example, the pipe body 210 enters from the top opening of the sleeve, and the diameter of the inner cavity of the sleeve continuously increases in the direction from the top opening to the bottom opening. At this time, when the pipe body 210 is inserted into the variable diameter jaws, the taper fit causes the arc-shaped petals 131 to be radially extruded, generating a uniformly distributed clamping force to realize the clamping of the pipe body 210. By driving the arc-shaped petals 131 to open, the contact between the variable diameter jaws and the pipe body 210 can be quickly released, realizing rapid demolding.

[0033] It should be noted that, in order to prevent the pipe body 210 from slipping out of the variable-diameter clamping jaws, a plurality of anti-retreat bumps distributed axially are provided on the inner wall of the arc-shaped valve body 131. The anti-retreat bumps can effectively prevent the axial slip of the pipe body 210 during the core-pulling process. Among them, the pressure sensors of each arc-shaped valve body 131 can measure the clamping force of the arc-shaped valve body 131 on the pipe body 210 in real time. When the clamping force of a certain arc-shaped valve body 131 fluctuates greatly, it means that the arc-shaped valve body 131 fails to stably fix the pipe body 210 and needs to be adjusted in time to avoid loosening of the pipe body 210.

[0034] It can be understood that the extraction unit 130 further includes a disc spring group and a hydraulic piston rod. The disc spring group is sleeved on the rear end of the arc-shaped valve body 131, and the disc spring group is installed at the front end of the hydraulic piston rod. The disc spring group can provide an initial clamping force for the arc-shaped valve body 131, that is, it can provide a basic clamping force when there is no hydraulic intervention in the hydraulic piston rod, ensuring that the pipe body 210 can be quickly fixed after contacting the variable-diameter clamping jaws. At the same time, the disc spring group can absorb the instantaneous impact force between the pipe body 210 and the casting 200 during the extraction process. In addition, when the hydraulic system fails, the disc spring group can still maintain the lowest safe clamping force to avoid the variable-diameter clamping jaws losing the clamping force on the pipe body 210, resulting in loosening of the pipe body 210 and damage to the casting 200. The hydraulic piston rod is used to push the disc spring group to move relative to the outer surface of the arc-shaped valve body 131, changing the contact area between the arc-shaped valve body 131 and the disc spring group, thereby changing the clamping force provided by the arc-shaped valve body 131. When the contact pressure between the arc-shaped valve body 131 and the pipe body 210 is small, the disc spring group can be pushed to move, increasing the contact area between the arc-shaped valve body 131 and the disc spring group, causing the arc-shaped valve body 131 to contract and increasing the clamping force of the arc-shaped valve body 131. When the clamping force exceeds the set threshold, the pressure is automatically relieved to avoid crushing the pipe body 210.

[0035] In one embodiment, when the pipe body 210 is inserted into the conical sleeve formed by the variable-diameter clamping jaws, the arc-shaped flap 131 is radially contracted under the guidance of the conical surface, and the disc spring group is compressed to generate an initial clamping force. At this time, the pressure sensor on the inner wall of the arc-shaped flap 131 detects the contact between the pipe body 210 and the arc-shaped flap 131, so that the hydraulic cylinder can be started to drive the hydraulic piston rod to drive the disc spring group to move, increasing the clamping force of the arc-shaped flap 131. During the extraction process, the arc-shaped flap 131 can drive the pipe body 210 to axially move out of the casting 200, and the anti-retreat protrusions provided on the inner wall of the arc-shaped flap 131 can position the pipe body 210 to prevent the pipe body 210 from axially moving within the arc-shaped flap 131 and disengaging from the variable-diameter clamping jaws. After the core extraction of the pipe body 210 is completed, the hydraulic piston rod is depressurized. At this time, the clamping force provided by the disc spring group only remains at the pre-tightening force level, and drives the disc spring group to retreat to the initial state, causing the disc spring group to return to the rear end of the arc-shaped flap 131, releasing the locking of the variable-diameter clamping jaws and avoiding the bouncing of the pipe body 210 caused by sudden release. Therefore, by adjusting the position of the disc spring group, the clamping force can be changed, and at the same time, the arc-shaped flap 131 can be radially opened to adapt to pipe bodies 210 of different sizes.

[0036] It can be understood that an acceleration sensor connected to the controller is also provided in the pipe body clamping mechanism. The acceleration sensor can measure the acceleration of the driving mechanism during the extraction process of the pipe body 210, that is, the acceleration of the movement of the pipe body 210. In the initial stage of the extraction process of the pipe body 210, a slower speed is required to overcome the static friction force. The speed can be increased in the middle stage to improve the extraction efficiency, and deceleration is performed in the final stage to prevent impact.

[0037] In one embodiment, the bearing base 100 can be made of welded steel structure, equipped with 4 groups of electrically liftable horizontal adjusting legs 111. The rotating platform 150 can be driven by a servo motor, and 6 groups of casting fixing clamping jaws 140 driven by pneumatic means are arranged at the edge. The surface of the rotating platform 150 is covered with a vacuum adsorption plate, and the negative pressure holes 160 are evenly distributed on the vacuum adsorption plate. After the casting 200 is hoisted onto the rotating platform 150, the vacuum adsorption plate is started to adsorb the casting 200. After the casting 200 is preliminarily fixed, the casting fixing clamping jaws 140 are driven to clamp from the four corners of the casting 200 to complete the fixation of the casting 200 on the rotating platform 150. Then, by adjusting the rotating platform 150 and the horizontal adjusting legs 111, the orientation of the pipe body 210 on the casting 200 is changed so that the axis of the pipe body 210 can be aligned with the variable-diameter clamping jaws of the core extraction execution module.

[0038] The multi-axis moving mechanism 120 in the core-pulling execution module can be set as a three-axis orthogonal guide rail frame. 8 sets of pulling units 130 are configured on the guide rail frame, and the pulling resistance and pulling speed are adjustable. Among them, the variable-diameter gripper can be composed of 8 high-carbon steel arc-shaped petals 131, with a tungsten carbide coating sprayed on the inner wall. When the arc-shaped petals 131 contract, a tapered sleeve with a taper of 1:8 can be formed. A disc spring group is sleeved at the rear end of the arc-shaped petals 131, and the disc spring group is installed at the front end of the hydraulic piston rod. The controller uses the vision positioning module to determine the position of the pipe body 210. For example, the casting 200 and the pipe body 210 are scanned to generate a three-dimensional point cloud of the casting 200, the center coordinates of the exposed end face of the pipe body 210 are identified, and coordinate system conversion is performed to obtain the position of the pipe body. The controller generates a path plan for 8 sets of pulling units 130 according to the position of the pipe body, so that the variable-diameter gripper of the pulling unit 130 is axially aligned with the pipe body 210. Specifically, the pulling unit 130 can move to the front of the target pipe body 210 through the guide rail frame, and then move along the X-axis or Y-axis to make the variable-diameter gripper sleeve onto the pipe body 210, and the arc-shaped petals 131 are in close contact with the pipe body 210, and the initial clamping force provided by the disc spring group is used to fix the pipe body 210. At this time, when the pressure change feedback by the pressure sensor in the variable-diameter gripper is detected and it is determined that the contact pressure between the variable-diameter gripper and the pipe body 210 is uniform on each surface, the hydraulic piston rod is started to move forward, pushing the disc spring group and causing the disc spring group to contract, providing a clamping force for the arc-shaped petals 131. If during the pre-clamping process, the contact pressure feedback by the pressure sensor is small in a certain area, the position of the variable-diameter gripper needs to be adjusted for secondary calibration.

[0039] Among them, during the pulling process, the hydraulic piston rod can gradually move forward to increase the clamping force of the variable-diameter gripper. During the pulling process, the controller can control the pulling speed of the driving mechanism in stages. In the initial stage, a slower speed can be provided to overcome the static friction force. In the middle stage, when the pulling state is considered stable, the pulling speed can be increased to quickly complete the main stroke. In the end stage, the driving mechanism can be controlled to decelerate to prevent the pipe body 210 from shaking and causing impact. In addition, during the pulling process, the pressure feedback by the pressure sensor can be detected in real time. When the pressure fluctuation feedback by a certain pressure sensor is too large, the speed of the driving mechanism can be reduced and the hydraulic piston rod can be driven to move forward to increase the clamping pressure.

[0040] Second aspect, an embodiment of the present application provides a core-pulling method for a casting 200. This method is applied to the casting core-pulling device provided in the first aspect embodiment above. The casting 200 to be core-pulled is hoisted to the casting positioning mechanism 110 for fixation; then the visual positioning module is used to determine the position of the pipe body of the casting 200 to be core-pulled, and the variable-diameter jaw is driven to move to the pipe body position; the clamping pressure measured by the pressure sensor is obtained; when the clamping pressure meets the first core-pulling condition, the variable-diameter jaw is driven to core-pull the pipe body 210; during the process of driving the variable-diameter jaw to core-pull the pipe body 210, if the clamping pressure meets the second core-pulling condition, the driving of the variable-diameter jaw to core-pull the pipe body 210 is stopped.

[0041] It should be noted that the first core-pulling condition is that the clamping pressure fed back by all pressure sensors is greater than the first pressure threshold, and the second core-pulling condition is that the clamping pressure fed back by any one pressure sensor is less than the second pressure threshold or the pressure difference between the clamping pressures fed back by any two pressure sensors is greater than the deviation pressure difference, where the first pressure threshold is greater than the second pressure threshold.

[0042] In one embodiment, a crane can be used to lift the casting 200 to be cored out to the center of the rotating platform 150 of the bearing base 100. At the same time, the vacuum adsorption plate is started to adsorb the bottom surface of the casting 200 through the negative pressure holes 160 on the surface. In addition, multiple groups of casting fixing jaws 140 synchronously clamp the edge of the casting 200 to prevent the casting 200 from moving. The three-dimensional point cloud data of the surface of the casting 200 is scanned and obtained through the vision positioning module, the end face center coordinates of the pipe body 210 to be cored out are identified, the position of the pipe body is converted from the world coordinate system to the mechanical coordinate system of the multi-axis moving mechanism 120, and the moving path trajectories of multiple groups of extraction units 130 and the extraction path of the extraction unit 130 are generated. At the same time, the orientation of the pipe body 210 can also be changed by adjusting the rotating platform 150 and the horizontal adjusting leg 111, which helps the extraction unit 130 to align with the pipe body 210. The controller drives the extraction unit 130 to move along the planned path on the multi-axis moving mechanism 120, so that the variable-diameter jaw sleeve is put on the pipe body 210, and the coaxiality deviation between the variable-diameter jaw and the pipe body 210 can be detected by using the laser ranging unit. When the deviation exceeds the tolerance, the variable-diameter jaw is finely adjusted. Then, the hydraulic piston rod is driven to push the disc spring group, and the disc spring group is compressed to generate an initial clamping force. Then, the contact pressure feedback by each pressure sensor is received. When the clamping pressures feedback by all pressure sensors are greater than the first pressure threshold and the difference between the clamping pressures is less than the deviation pressure difference, it can be considered that the variable-diameter jaw is in close contact with the pipe body 210. At this time, the first extraction condition is met, and the variable-diameter jaw is driven to extract the pipe body 210. If the clamping pressure of a certain arc-shaped flap 131 is less than the first pressure threshold, the position of the variable-diameter jaw needs to be readjusted. During the process of driving the variable-diameter jaw to extract the pipe body 210, the clamping pressures of each arc-shaped flap 131 still need to be detected in real time. If the clamping pressure feedback by any pressure sensor is less than the second pressure threshold, or the pressure difference between the clamping pressures of any two arc-shaped flaps 131 is greater than the deviation pressure difference, it can be considered that the pipe body 210 has slipped, and emergency braking and re-clamping are required.

[0043] It can be understood that during the process of driving the variable-diameter jaw to extract the pipe body 210, the moving distance of the variable-diameter jaw extracting the pipe body 210 can be obtained, and the acceleration data feedback by the acceleration sensor can be obtained. When the moving distance is less than the first target distance, the driving mechanism is controlled to drive the variable-diameter jaw to extract the pipe body 210 to move at the first moving speed; when the moving distance is less than the second target distance and greater than the first target distance, the driving mechanism is controlled to drive the variable-diameter jaw to extract the pipe body 210 to move at the second moving speed, where the second moving speed is greater than the first moving speed; when the moving distance is less than the third target distance, the driving mechanism is controlled to drive the variable-diameter jaw to extract the pipe body 210 to move at the first acceleration to slow down the moving speed of the variable-diameter jaw until the variable-diameter jaw stops.

[0044] Among them, multiple stages are set according to the length of the pipe body 210 input externally. For example, the pipe body 210 is segmented according to its length. For example, the total distance of 1 / 4 of the length of the moving pipe body 210 is used as the first target distance, and the total distance of 3 / 4 of the length of the moving pipe body 210 is used as the second target distance. Specifically, when the moving distance is less than the first target distance, it can be considered that it is in the initial stage of the drawing process, and the driving mechanism can draw at a lower first moving speed. When the moving distance exceeds the first target distance, the acceleration is increased so that the drawing speed is increased to the second moving speed for drawing. When the moving distance exceeds the second target distance, the first acceleration drive is performed, and the moving speed of the driving mechanism is gradually reduced. Since the pipe body 210 is basically drawn out of the casting 200, the supportability of the pipe body 210 is weak at this time and it is easy to shake and damage the hole positions inside the casting 200. Therefore, reducing the drawing speed of the pipe body 210 helps to smoothly draw out the pipe body 210.

[0045] The embodiments of the present application have been described in detail above with reference to the accompanying drawings. However, the present application is not limited to the above embodiments. Within the scope of knowledge possessed by those of ordinary skill in the art, various changes can be made without departing from the purpose of the present application.

Claims

1. A casting core pulling device, characterized in that: include: The bearing base is provided with a casting positioning mechanism; The core pulling execution module includes a multi-axis moving mechanism and a plurality of pulling units installed on the multi-axis moving mechanism, wherein the multi-axis moving mechanism is installed on one side of the casting positioning mechanism, and the pulling unit includes a tube body clamping mechanism and a driving mechanism connected to each other, wherein the tube body clamping mechanism includes a variable diameter clamping jaw and a pressure sensor arranged inside the variable diameter clamping jaw; The control module comprises a controller and a visual positioning module for positioning the tube body on the casting, wherein the controller is respectively connected to the variable diameter clamping jaw, the pressure sensor, the driving mechanism and the visual positioning module.

2. The casting core pulling device according to claim 1, characterized in that: The bearing base also includes a horizontal adjustment leg, and the casting positioning mechanism includes a rotating platform and a casting fixing clamp. The horizontal adjustment leg is installed at the bottom of the rotating platform, and the casting fixing clamp is arranged at the edge of the rotating platform.

3. The casting core pulling device according to claim 1, characterized in that: A vacuum adsorption plate for supporting the casting is arranged on the surface of the casting positioning mechanism, and the vacuum adsorption plate is provided with a plurality of negative pressure holes.

4. The casting core pulling device according to claim 1, characterized in that: The variable diameter clamp includes a plurality of arc-shaped petals, and the inner wall of each of the arc-shaped petals is provided with the pressure sensor, wherein when the plurality of arc-shaped petals are folded together, the plurality of arc-shaped petals form a conical sleeve whose inner cavity diameter changes along the axial direction.

5. The casting core pulling device according to claim 4, characterized in that: The inner wall of the arc-shaped petal body is provided with a plurality of anti-retraction protrusions distributed along the axial direction.

6. The casting core pulling device according to claim 4, characterized in that: The extraction unit further comprises a disc spring group and a hydraulic piston rod. The disc spring group is sleeved on the rear end of the arc-shaped petal body, and the disc spring group is installed on the front end of the hydraulic piston rod.

7. The casting core pulling device according to claim 1, characterized in that: The tube body clamping mechanism is also provided with an acceleration sensor, and the acceleration sensor is connected to the controller.

8. A casting core pulling method, characterized in that: Applicable to the casting core pulling device according to any one of claims 1 to 7, the method comprising: The casting to be cored is hoisted to the casting positioning mechanism for fixing; Obtain the visual positioning module to determine the tube body position of the casting to be cored, and drive the variable diameter clamp to move to the tube body position; Obtaining the clamping pressure measured by the pressure sensor; When the clamping pressure satisfies the first extraction condition, driving the variable diameter clamping jaw to extract the tube body; In the process of driving the reducing clamping jaw to extract the tube body, if the clamping pressure satisfies the second extraction condition, the reducing clamping jaw is stopped from being driven to extract the tube body.

9. The method according to claim 8, characterized in that Applicable to the casting core pulling device as described in claim 4, the first extraction condition is that the clamping pressure fed back by all the pressure sensors is greater than the first pressure threshold, and the second extraction condition is that the clamping pressure fed back by any one of the pressure sensors is less than the second pressure threshold or the pressure difference between the clamping pressures fed back by any two of the pressure sensors is greater than the deviation pressure difference, wherein the first pressure threshold is greater than the second pressure threshold.

10. The method according to claim 8, characterized in that The step of driving the variable diameter clamp to extract the tube body comprises: Obtaining the moving distance of the reducing jaws in pulling out the tube body; When the moving distance is less than the first target distance, controlling the driving mechanism to drive the variable diameter clamping jaw to extract the tube body and move at a first moving speed; When the moving distance is less than the second target distance and greater than the first target distance, the driving mechanism is controlled to drive the variable diameter clamping jaw to extract the tube body and move at a second moving speed, wherein the second moving speed is greater than the first moving speed; When the moving distance is less than the third target distance, the driving mechanism is controlled to drive the variable diameter clamp to draw out the tube body and move at a first acceleration, so as to slow down the moving speed of the variable diameter clamp until the variable diameter clamp is stationary.

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