High-temperature automatic die changing device and method

Abstract

The invention relates to a high-temperature automatic die changing device and method which are used for solving the problems of low die changing efficiency and poor positioning precision in a high-temperature environment. The device comprises a cart walking unit (X-axis movement), a lifting unit (Z-axis lifting), a telescopic unit (Y-axis movement) and a clamping unit (self-adaptive clamping), and precise positioning is achieved through cooperative control of multiple servo motors. The method is based on the thermal expansion compensation technology, a linear thermal expansion coefficient database is established, cold state teaching coordinates and real-time temperature data are combined, the mold deformation quantity is dynamically calculated, positioning deviation is compensated, and the high-temperature mold changing precision reaches + / -0.5 mm. The device is suitable for the working condition below 1000 DEG C and supports replacement of a 3T heavy-load mold, the clamping arms are designed in a heat insulation mode, and heat conduction is reduced. Compared with traditional manual die changing, the efficiency is improved to 10 minutes per time, the equipment utilization rate is improved, and energy is saved by 40%-50%. The system has the characteristics of modularization, high expansibility and the like, can adapt to a plurality of high-temperature equipment, and remarkably improves the production continuity and safety.

Description

Technical Field

[0001] The present invention relates to the technical field of die replacement, and more specifically, it relates to a high-temperature automatic die-changing device and method. Background Art

[0002] In industrial production, die replacement is a common and crucial process. Die replacement in a high-temperature environment is particularly complex, and it is necessary to consider the effects of temperature on the structural stability of the die, the safety of operators, as well as the efficiency and operational reliability of the replacement process. Currently, traditional high-temperature die replacement mainly relies on manual operation, which has problems such as low operation efficiency, high labor intensity of personnel, prominent safety hazards, and insufficient die reset accuracy.

[0003] According to the master's thesis "Research and Design of a High-temperature Die Automatic Disassembly and Assembly Vehicle for Sheet Metal Hot Forming System" by Hou Bo of Shenyang Aerospace University in 2013 and the master's thesis "Research and Design of a Hot Forming High-temperature Die-changing Manipulator Based on Tracks" by Chen Yunpeng of Shenyang Aerospace University in 2018, the literature shows that manual replacement of high-temperature dies has low efficiency, resulting in equipment utilization rate of less than 15%.

[0004] Existing automatic die-changing devices are based on the clamping positions determined by teaching in the cold state. The thermal expansion differences between the die and the heating platform at high temperatures can cause positioning deviations of up to ±5 mm, resulting in significant deviations between the actual mating positions of the end effector of the die-changing device and the die, seriously affecting the die loading and unloading accuracy. Therefore, developing a high-temperature automatic die-changing device and method with thermal expansion compensation function has important industrial application value for improving the continuous operation ability of high-temperature forming equipment. Summary of the Invention

[0005] The present invention overcomes the problems in the prior art that high-temperature die replacement mainly relies on manual operation, such as low operation efficiency, high labor intensity of personnel, prominent safety hazards, and insufficient die reset accuracy; provides a high-temperature automatic die-changing device, which can automatically realize die replacement, and can automatically compensate according to thermal expansion, improve the accuracy of die replacement, can significantly improve work efficiency, reduce work intensity, and is safer to use.

[0006] To solve the above technical problems, the present invention adopts the following technical solutions: A high-temperature automatic die-changing device, comprising: A large vehicle walking unit, including a large vehicle walking platform and a large vehicle walking servo motor arranged on the large vehicle walking platform; A transmission gear is arranged at the output end of the large vehicle walking servo motor, and the transmission gear drives the walking wheels to rotate, so that the large vehicle walking platform moves along the X direction; A lifting unit, including a plurality of elevators arranged on the large vehicle walking platform, and a lifting platform is arranged at the output end of the elevator, and the elevator drives the lifting platform to lift along the Z direction; The telescopic unit includes a telescopic platform, a driving block fixedly arranged on the telescopic platform, and a telescopic transmission lead screw cooperating with the driving block. The telescopic transmission lead screw is connected to the output end of a telescopic servo motor; the telescopic servo motor drives the telescopic platform to move along the Y direction; the clamping unit includes a plurality of clamping arm guiding devices arranged in parallel on the telescopic platform, two clamping arms, and a clamping transmission lead screw. Two threaded sections with opposite thread directions are arranged on the clamping transmission lead screw; the two clamping arms respectively cooperate with the two threaded sections; the end of the clamping transmission lead screw is connected to the output end of a clamping servo motor; the clamping servo motor controls the forward and reverse rotation of the clamping transmission lead screw to realize the separation or approach of the two clamping arms.

[0007] In the present invention, through the rotation of the trolley traveling servo motor, the lifting servo motor, the telescopic servo motor, and the clamping servo motor, the clamping arm is controlled to move to the high-temperature forming equipment for mold changing and mold taking. Automatic mold changing under high-temperature environment can be realized. Compared with the traditional method, the mold changing time is shortened from 24 hours of cooling to room temperature and manual operation to about 10 minutes, significantly improving the equipment utilization rate. By adopting the combination method of mechanical positioning and thermal expansion compensation, precise mold positioning is realized. The mechanical guiding device at the front end of the clamping arm is quickly and automatically docked with the mold bottom plate, and the mold temperature is obtained by combining real-time measurement or communication to predict the position deviation caused by thermal expansion. Based on the three-coordinate motion compensation algorithm, the deviation is automatically compensated to the cold-state teaching coordinate, realizing the mold placement precision error ≤ ±0.5 mm. The high-temperature automatic mold changing device is applicable to working conditions within 1000 °C, and no manual participation is required, avoiding the energy consumption waste of cooling and heating of the high-temperature forming equipment, and the energy-saving effect can reach 40%-50%.

[0008] Preferably, a positioning device is arranged on the trolley traveling platform. The positioning device is a positioning cylinder, and a telescopic rod is arranged in the positioning cylinder, and the end of the telescopic rod is spherical.

[0009] Preferably, anti-collision protection devices are arranged at both ends of the trolley traveling platform in the X direction.

[0010] Preferably, there are four elevators. The four elevators are connected to the output end of a lifting servo motor through a transmission device; a lifting servo motor drives the four elevators to lift simultaneously.

[0011] Preferably, four lifting guiding devices are arranged on the lifting platform. The guiding device includes a guiding sleeve arranged on the trolley traveling platform and a guiding column arranged on the lifting platform.

[0012] Preferably, two linear guide rails arranged along the Y direction are arranged in parallel on the lifting platform, and sliders cooperating with the linear guide rails are arranged on the telescopic platform.

[0013] The present application also provides a high-temperature automatic die-changing method, which adopts the above-mentioned high-temperature automatic die-changing device and further includes the following steps: Step 1: Establish a linear thermal expansion coefficient database; write the linear thermal expansion coefficient α corresponding to different temperatures into the database. If the detected die temperature does not directly match the temperature points in the database, the linear interpolation method is used to calculate the linear thermal expansion coefficient. Step 2: Take the die in the cold state, control the high-temperature automatic die-changing device, and record the die-taking coordinate position (X1, Y1, Z1), where X1 is the coordinate of the clamping unit for die-taking in the cold state, Y1 is the coordinate of the telescopic unit for die-taking in the cold state, and Z1 is the coordinate of the lifting unit for die-taking in the cold state.

[0014] Step 3: Install the die in the cold state, control the high-temperature automatic die-changing device, and record the die-installing coordinate position (X2, Y2, Z2), where X2 is the coordinate of the clamping unit for die-installing in the cold state, Y2 is the coordinate of the telescopic unit for die-installing in the cold state, and Z2 is the coordinate of the lifting unit for die-installing in the cold state; Step 4: Take the die at high temperature. The control system queries the internally integrated thermal expansion coefficient database according to the actual temperature of the die in the high-temperature forming equipment, and can directly calculate the length, width, and height change coordinates (ΔL, ΔW, ΔH) of the die; ΔL is the length change value of the die at high temperature, ΔW is the width change value of the die at high temperature, and ΔH is the height change value of the die at high temperature. According to the change coordinates, the new compensated coordinates (X1 + ΔL, Y1 + ΔW, Z1 + ΔH) are obtained to complete the clamping of the die. Step 5: Install the die at high temperature. The control system queries the internally integrated thermal expansion coefficient database according to the actual temperature of the die in the die preheating furnace, and can directly calculate the length, width, and height change coordinates (ΔL, ΔW, ΔH) of the die; ΔL is the length change value of the die at high temperature, ΔW is the width change value of the die at high temperature, and ΔH is the height change value of the die at high temperature. According to the change coordinates, the new compensated coordinates (X2 + ΔL, Y2 + ΔW, Z2 + ΔH) are obtained to complete the clamping of the die; place the grabbed high-temperature die into the high-temperature forming equipment.

[0015] Preferably, in Step 1, the linear thermal expansion coefficient The temperature T is between T1 and T2.

[0016] Preferably, in Steps 4 and 5, the length change ΔL = α × L0 × ΔT; the width change ΔW = α × W0 × ΔT; the height change ΔH = α × H0 × ΔT; α is the linear thermal expansion coefficient.

[0017] Preferably, when the clamping arm approaches the high-temperature die, the convex guiding device of the inner positioning device thereof automatically matches the shape of the card slot on the die bottom plate.

[0018] Compared with the prior art, the beneficial effects of the present invention are: Efficient Die Change: An automatic high-temperature die change device is adopted, enabling the automatic replacement of dies in a high-temperature environment. Compared with the traditional method, the die change time is shortened from 24 hours of cooling to room temperature and manual operation to about 10 minutes, significantly improving the equipment utilization rate.

[0019] Flexible Die Replacement: A die removal and installation process suitable for high-temperature working conditions has been developed, supporting the flexible transfer of dies between high-temperature forming equipment, preheating furnaces, and die tables, and can adapt to the operation requirements of multiple scenarios.

[0020] Precise Die Positioning: By combining mechanical positioning with thermal expansion compensation, precise die positioning is achieved. The mechanical guiding device at the front end of the clamping arm is quickly and automatically docked with the die bottom plate, and the die temperature is obtained through real-time measurement or communication to predict the position deviation caused by thermal expansion. Based on the three-coordinate motion compensation algorithm, the deviation is automatically compensated to the cold-state teaching coordinates, achieving a die placement accuracy error of ≤±0.5mm.

[0021] Strong Adaptability: The automatic die removal and installation control process is developed using modular design, supporting the dynamic adjustment of the positions of the walking unit and the lifting unit, which can adapt to the die change requirements of different models of high-temperature forming equipment, and realizes data interaction through multi-device communication protocols.

[0022] Energy Saving and Consumption Reduction: The high-temperature automatic die change device is applicable to working conditions within 1000°C, and does not require manual participation, with safer operation, avoiding energy consumption waste caused by the cooling and heating of high-temperature forming equipment, and the energy-saving effect can reach 40%-50%.

[0023] Strong Expandability: The track of the high-temperature automatic die change device can be extended horizontally to meet the die change requirements of multiple high-temperature forming equipment and is applicable to production environments of different scales.

[0024] Strong Adaptability to High Temperature and Heavy Load: The die clamping arm is designed to adapt to high-temperature and heavy-load environments, and can achieve automatic replacement under the conditions of within 1000°C and a 3T load. Its front-end surface is covered with a heat-insulating coating and extends into the high-temperature equipment to effectively prevent heat conduction. A clamping arm support shaft is provided on the lifting platform to ensure the die removal and installation requirements of heavy-load dies are met. Description of the Drawings

[0025] Figure 1 This is the front view in this application.

[0026] Figure 2 This is the top view in this application.

[0027] Figure 3 This is the right view in this application.

[0028] Figure 4 This is the structure diagram of the walking unit in this application.

[0029] Figure 5 Three views of the clamping arm and mold mechanical positioning device in this application.

[0030] Figure 6 For the mold taking in this application - positioning to the high temperature forming equipment process.

[0031] Figure 7 This is the mold taking-mold grabbing process in this application.

[0032] Figure 8 This is the process of taking out the mold and placing the mold in the cooling area in this application.

[0033] Figure 9 This is the process of mold loading-positioning to mold preheating furnace in this application.

[0034] Figure 10 This is the mold loading-removing mold preheating furnace mold process in this application.

[0035] Figure 11 The mold loading process in this application is to place the mold into the high-temperature forming equipment.

[0036] Figure 12 is the linear thermal expansion coefficient of 06Gr25Ni20 at different temperatures in this application. DETAILED DESCRIPTION

[0037] The technical solution of the present invention is further described in detail below through specific embodiments and in conjunction with the accompanying drawings: Embodiment 1: Referring to Figures 1 to 4 As shown, a high-temperature automatic mold changing device comprises: a trolley travel unit 1, a telescopic unit 2, a clamping unit 3 and a lifting unit 4. The mold changing device is particularly suitable for precise mold changing scenarios with 06Gr25Ni20 material molds and heating platforms below 1000°C.

[0038] like Figure 1 As shown, the trolley travel unit 1 includes a trolley travel platform 1.1 and a trolley travel servo motor 1.2 disposed on the trolley travel platform 1.1; a transmission gear is disposed at the output end of the trolley travel servo motor 1.2, and the transmission gear drives the travel wheel 1.5 to rotate, so that the trolley travel platform 1.1 moves along the X direction; wherein the trolley travel position is detected by the encoder provided by the trolley travel servo motor 1.2. In the present application, a guide rail 12 is disposed below the trolley travel platform 1.1, and the travel wheel 1.5 moves on the guide rail 12.

[0039] refer to Figure 1This is a schematic diagram of the assembled trolley travel unit 1. The position of the trolley travel platform 1.1 is detected by the encoder provided by the trolley travel servo motor 1.2. Four travel wheels 1.5 are installed at the bottom of the trolley travel platform 1.1 to enable movement between high-temperature heating equipment. An anti-collision device 1.6 is installed on each side of the trolley travel platform 1.1 to achieve protection against collision with foreign objects during movement.

[0040] A positioning device is installed on the trolley walking platform 1.1. The positioning device is a positioning cylinder 1.4. A telescopic rod is arranged inside the positioning cylinder 1.4. The end of the telescopic rod adopts a spherical design and is equipped with an extension guide device, which can automatically position with the ground positioning hole. After the positioning of the trolley walking platform 1.1 is completed, the positioning cylinder 1.4 extends out, and the spherical surface of the head automatically and accurately positions with the positioning hole on the ground and realizes the locking function to prevent the position of the trolley walking platform 1.1 from changing during the mold loading and unloading process; the trolley walking unit 1 is driven by the trolley walking servo motor 1.2, realizing the X-direction movement of the high-temperature automatic mold changing device, and cooperates with the positioning cylinder 1.4 to realize the precise positioning and locking function.

[0041] The lifting unit 4 includes a plurality of lifts 4.1 arranged on the trolley walking platform 1.1, and a lifting platform 4.5 is arranged at the output end of the lifts 4.1, and the lifts 4.1 drive the lifting platform 4.5 to move up and down along the Z direction; The lifting position of the lifting platform 4.5 is detected by the encoder provided by the lifting servo motor 4.2. Figure 4 and Figure 3 As shown, a lift 4.1 is installed at each of the four corners of the trolley walking platform 1.1, a lift servo motor 4.2 and three commutators 4.3 are installed on the trolley walking platform 1.1, and drive shafts of different specifications are used to connect the lift 4.1, the lift servo motor 4.2 and the commutator 4.3, so that one lift servo motor 4.2 drives four lifts 4.1 and a lift platform 4.5 to move at the same time. The lift platform 4.5 is connected to the output end of the lift 4.1, thereby realizing the synchronization of the vertical movement of the lift servo motor 4.2 and the lifting position of the lift platform 4.5; the lift servo motor 4.2 drives the high-temperature automatic mold changing device to move in the Z direction, and the lift platform 4.5 is guided by four lift guide devices 4.4 when lifting and lowering. The lift guide device 4.4 includes a guide column arranged on the lift platform 4.5 and a guide sleeve fixedly arranged on the trolley walking platform 1.1, which ensures the synchronization of the lift platform 4.5 during the lifting process and the anti-overturning performance of the mold removal and mold installation process. The inner wall of the guide sleeve is equipped with a self-lubricating graphite copper sleeve to further reduce the friction coefficient and ensure that the lifting platform can slide smoothly during the lifting process. At the same time, the outer wall of the guide sleeve is equipped with reinforcing ribs to enhance its structural strength and prevent deformation when subjected to greater pressure.

[0042] The telescopic unit 2 comprises a telescopic platform 2.5, a driving block 2.4 fixedly arranged on the telescopic platform 2.5 and a telescopic transmission screw 2.3 matched with the driving block 2.4. The telescopic transmission screw 2.3 is connected to the output end of the telescopic servo motor 2.2; the telescopic servo motor 2.2 drives the telescopic platform 2.5 to move along the Y direction.

[0043] The telescopic position of the telescopic platform 2.5 is detected by the encoder provided by the telescopic servo motor. Figure 2 and Figure 3 As shown, a set of telescopic linear guide rails 2.1 are installed on the left and right sides of the upper end surface of the lifting platform 4.5, and the linear guide rails 2.1 are arranged along the Y direction. A slider matching the linear guide rails 2.1 is arranged on the telescopic platform 2.5. A telescopic servo motor 2.2 and a telescopic transmission screw 2.3 are installed on the lower end surface of the lifting platform 4.5. The telescopic transmission screw 2.3 is connected to the telescopic platform 2.5 through the driving block 2.4, so that the relative movement of the telescopic platform 2.5 in the Y direction of the lifting platform 4.5 can be realized by rotating the telescopic servo motor 2.2. The main function of the telescopic unit 2 is to realize the movement of the high-temperature automatic mold changing device in the Y direction.

[0044] The clamping unit 3 includes a plurality of clamping arm guide devices 3.1 arranged in parallel on the telescopic platform 2.5, two clamping arms 3.3 and a clamping transmission screw 3.4. The clamping transmission screw 3.4 is provided with two threaded sections with opposite thread rotation directions, and the two threaded sections with opposite thread rotation directions are formed by two independent screws connected by a rigid coupling; the two clamping arms 3.3 are respectively matched with the two threaded sections; the end of the clamping transmission screw 3.4 is connected to the output end of the clamping servo motor 3.2; the clamping servo motor 3.2 controls the forward and reverse rotation of the clamping transmission screw 3.4 to realize the distance or approach of the two clamping arms 3.3.

[0045] The clamping position is detected by the clamping servo motor's built-in encoder. Figure 1 and Figure 2As shown, a clamping servo motor 3.2 is installed on the telescopic platform 2.5. The clamping servo motor 3.2 drives two sets of clamping arms 3.3 through a clamping transmission lead screw 3.4 to achieve clamping and relaxing actions. The two sets of clamping transmission lead screws 3.4 are mechanically connected and run relatively under the drive of the clamping servo motor 3.2 to ensure the synchronous clamping and relaxing of the clamping arms 3.3. One set of clamping arm guiding devices 3.1 is installed at the front and rear positions of the telescopic platform 2.5 respectively. The clamping arm guiding devices 3.1 adopt two parallel guiding columns, and guiding sleeves matched with the guiding columns are arranged on the clamping arms 3.3. The mechanical structure ensures the synchronism of the clamping arms 3.3 during clamping and relaxing. The guiding columns and the clamping arms 3.3 are matched with self-lubricating graphite copper guiding sleeves, reducing the friction force during the movement process and ensuring the smoothness and stability of the clamping and relaxing actions. To enhance the load capacity of mold removal / mold installation and prevent the telescopic unit from tipping over when moving after clamping the mold, one set of clamping arm support shafts 3.6 is added to the lifting platform 4.5 and is in contact with the clamping arms 3.3 in a sliding manner. During the mold removal extension process, the support shaft 3.6 can provide stable support for the clamping arms 3.3 and also reduce the friction force during the telescopic process. The inner side of the clamping arm 3.3 integrates a clamping mold positioning device 3.5. When the clamping arm 3.3 of the mold removal device approaches the high-temperature mold, the convex conical surface guiding device of the inner positioning device 3.5 automatically matches the shape of the mold bottom plate slot, and then it accurately fits into the mold bottom plate. The rear part uses conical surface contact to achieve rapid and precise positioning at high temperature. During the positioning process, since the positioning device is made of high-temperature resistant materials, it can maintain its structural accuracy and stability in a high-temperature environment, ensuring the accuracy of positioning. This mechanical positioning method avoids the position deviation problem during the mold clamping and relaxing process. After positioning is completed, the mold removal device can accurately clamp the mold according to the compensated coordinates to complete the mold removal operation. At the same time, the positioning device 3.5 can also play a role in stabilizing the mold during the operation of the large vehicle.

[0046] The clamping arm 3.3 adopts a unique method of unequal thickness in the front and rear in its structural design. Specifically, the thickness of the clamping arm 3.3 gradually thins towards the high-temperature area. Specifically, the thickness thins from 80 mm to 50 mm. Its front end part is specifically designed to have a smaller contact area with the mold base. According to the heat conduction principle, the smaller the contact area, the lower the heat conduction efficiency. This design can effectively reduce the heat conduction rate from the high temperature of the mold base to the equipment, greatly reducing the thermal impact of the high temperature on other components of the equipment and improving the economy and stability of the equipment operation.

[0047] The positioning device 3.5 will automatically detect the guiding holes on the mold and guide the clamping arm 3.3 to be accurately docked with the mold through a precise mechanical structure. This design of automatic guiding holes can ensure the precise positioning of the mold during the clamping process, reduce manual intervention, and improve the clamping efficiency and accuracy.

[0048] Therefore, during use, by rotating the trolley traveling servo motor 1.1, the lifting servo motor 4.2, the telescopic servo motor 2.2, and the clamping servo motor 3.2, the clamping arm 3.3 is controlled to move to the high-temperature forming equipment for die change and mold removal.

[0049] In addition, this application is also provided with a control unit 6 to achieve the functions of automatic control and automatic die change. The control unit 6 includes: a PLC control unit, a human-machine operation interface, an operating console, and the lines connecting to the outside.

[0050] This application has the following technical effects: Efficient die change: By adopting a high-temperature automatic die change device, the automatic replacement of the mold under high-temperature environment can be realized. Compared with the traditional method, the die change time is shortened from 24 hours of cooling to room temperature and manual operation to about 10 minutes, significantly improving the equipment utilization rate.

[0051] Flexible die change: The processes of mold removal and mold installation suitable for high-temperature working conditions are developed, which support the flexible transfer of the mold between the high-temperature forming equipment, the preheating furnace, and the mold table, and can adapt to the operation requirements of multiple scenarios.

[0052] Precise mold positioning: By combining mechanical positioning with thermal expansion compensation, precise mold positioning is achieved. The mechanical guiding device at the front end of the clamping arm is quickly and automatically docked with the mold bottom plate, and the mold temperature is obtained by real-time measurement or communication to predict the position deviation caused by thermal expansion. Based on the three-coordinate motion compensation algorithm, the deviation is automatically compensated to the cold-state teaching coordinate, realizing the mold placement accuracy error ≤ ±0.5mm.

[0053] Strong adaptability: By adopting a modular design to develop the control processes of automatic mold removal and mold installation, it supports the dynamic adjustment of the positions of the traveling unit and the lifting unit, can adapt to the die change requirements of different models of high-temperature forming equipment, and realizes data interaction through a multi-device communication protocol.

[0054] Energy saving and consumption reduction: The high-temperature automatic die change device is applicable to working conditions within 1000°C, and no manual participation is required, avoiding the energy consumption waste of cooling and heating the high-temperature forming equipment. The energy-saving effect can reach 40% - 50%.

[0055] Strong expandability: The track of the high-temperature automatic die change device can be extended in the horizontal direction to meet the die change requirements of multiple high-temperature forming equipment and is applicable to production environments of different scales.

[0056] Strong adaptability to high temperature and heavy load: The design of the mold clamping arm adapts to the high-temperature and heavy-load environment and can realize automatic replacement under the conditions of within 1000°C and 3T load. Its front-end surface is covered with a heat-insulating coating and extends into the high-temperature equipment to effectively prevent heat conduction. The clamping arm support shaft 3.6 is provided on the lifting platform 4.5 to ensure meeting the requirements of mold installation and removal of heavy-load molds.

[0057] Embodiment 2: Refer to Figures 1 to 12 As shown, a high-temperature automatic mold changing method uses the above high-temperature automatic mold changing device and further includes the following steps: Step 1: In the automatic mold changing control system, establish a linear thermal expansion coefficient database; write the linear thermal expansion coefficient α corresponding to different temperatures into the database. If the detected mold temperature does not directly match the temperature points in the database, use linear interpolation to calculate the linear thermal expansion coefficient. Taking the material of 06Gr25Ni20 as an example, establish a linear thermal expansion coefficient database of 06Gr25Ni20 material at different temperatures, as Figure 12 shown. Write the linear thermal expansion coefficient α corresponding to different temperatures into the database. If the detected mold temperature does not directly match the temperature points in the database, use linear interpolation to calculate the linear thermal expansion coefficient for subsequent calculation of the shape change of the mold at high temperatures. For example, when the temperature T is between T1 and T2, use linear interpolation to calculate the actual linear thermal expansion coefficient

[0058] Step 2: Take the mold in the cold state, and the control process completes the mold taking teaching work of the high-temperature automatic mold changing device, as Figure 6 、 Figure 7 、 Figure 8 shown, and record the mold taking coordinate position (X1, Y1, Z1). Among them, X1 is the coordinate of the cold state mold taking clamping unit, Y1 is the coordinate of the cold state mold taking telescopic unit, and Z1 is the coordinate of the cold state mold taking lifting unit.

[0059] Step 3: Install the mold in the cold state, and the control process completes the mold installation teaching work of the high-temperature automatic mold changing device, as Figure 9 、 Figure 10 、 Figure 11 shown, and record the mold installation coordinate position (X2, Y2, Z2). Among them, X2 is the coordinate of the cold state mold installation clamping unit, Y2 is the coordinate of the cold state mold installation telescopic unit, and Z2 is the coordinate of the cold state mold installation lifting unit.

[0060] Step 4: Take the mold at high temperature, the high-temperature automatic mold changing device moves to the position of the high-temperature forming equipment, and the control flow is as Figure 6 shown.

[0061] Step 5: Take the mold at high temperature. After the furnace door of the high-temperature forming equipment is opened, directly detect or obtain the actual temperature of the mold through communication by the infrared temperature measuring device.

[0062] Step 6: Take the mold at high temperature. The control system queries the internally integrated thermal expansion coefficient database according to the actual temperature of the mold in the high-temperature forming equipment, and can directly calculate the length, width, and height change coordinates (ΔL, ΔW, ΔH) of the mold. The length change ΔL = α × L0 × ΔT; the width change ΔW = α × W0 × ΔT; the height change ΔH = α × H0 × ΔT. Among them, α is the linear thermal expansion coefficient, and the unit is (10-6 / °C); L0, W0, and H0 are the initial length, width, and height of the mold, with the unit (mm).

[0063] Step 7: Take the mold at high temperature. Compensate the thermal expansion transformation coordinates (ΔL, ΔW, ΔH) of the mold to the mold-taking coordinates (X1, Y1, Z1) taught at the cold state. Complete the clamping of the mold according to the compensated new coordinates (X1 + ΔL, Y1 + ΔW, Z1 + ΔH), as Figure 7 shown. Where X1 is the coordinate of the cold-state mold-taking clamping unit, Y1 is the coordinate of the cold-state mold-taking telescopic unit, Z1 is the coordinate of the cold-state mold-taking lifting unit, ΔL is the length change value of the mold at high temperature, ΔW is the width change value of the mold at high temperature, and ΔH is the height change value of the mold at high temperature. When the clamping arm 3.3 of the mold-taking device approaches the high-temperature mold, the convex guiding device of the inner positioning device 3.5 automatically matches the shape of the mold bottom plate slot, and then it accurately fits into the mold bottom plate to achieve rapid positioning at high temperature. During the positioning process, since the positioning device uses high-temperature-resistant materials, it can maintain its structural accuracy and stability in a high-temperature environment to ensure the accuracy of positioning. This mechanical positioning method avoids the position deviation problem during the mold clamping and relaxation process. After the positioning is completed, the mold-taking device can accurately clamp the mold according to the compensated coordinates to complete the mold-taking operation.

[0064] Step 8: Take the mold at high temperature. Place the grabbed high-temperature mold in the cooling area, as Figure 8 shown.

[0065] Step 9: Install the mold at high temperature. The high-temperature automatic mold-changing device moves to the position of the high-temperature preheating furnace, as Figure 9 shown.

[0066] Step 10: Install the mold at high temperature. After the furnace door of the mold preheating furnace is opened, directly detect or obtain the actual temperature of the mold through a communication method by an infrared temperature measuring device.

[0067] Step 11: Install the mold at high temperature. The control system queries the internally integrated thermal expansion coefficient database according to the actual temperature of the mold in the mold preheating furnace, and can directly calculate the length, width, and height change coordinates (ΔL, ΔW, ΔH) of the mold. The length change ΔL = α × L0 × ΔT; the width change ΔW = α × W0 × ΔT; the height change ΔH = α × H0 × ΔT. Among them, α is the linear thermal expansion coefficient, with the unit (10 -6 / °C); L0, W0, and H0 are the initial length, width, and height of the mold, with the unit (mm).

[0068] Step 12: When the clamping arm (3.3) of the mold taking device approaches the high-temperature mold, the convex guiding device of the inner positioning device (3.5) automatically matches the shape of the mold base slot, and then it is accurately sleeved onto the mold base, achieving rapid positioning at high temperatures. During the positioning process, since the positioning device is made of high-temperature resistant materials, it can maintain its structural accuracy and stability in a high-temperature environment, ensuring the accuracy of positioning. After mechanical positioning is completed, the mold taking device can precisely install the mold according to the compensated coordinates. When installing the mold at high temperatures, the thermal expansion transformation coordinates (ΔL, ΔW, ΔH) of the mold are compensated to the mold installation coordinates (X2, Y2, Z2) taught at room temperature, and the mold is clamped according to the new compensated coordinates (X2 + ΔL, Y2 + ΔW, Z2 + ΔH), as Figure 10 shown. Where X2 is the coordinate of the clamping unit for mold installation at room temperature, Y2 is the coordinate of the telescopic unit for mold installation at room temperature, Z2 is the coordinate of the lifting unit for mold installation at room temperature, ΔL is the value of the length change of the mold at high temperatures, ΔW is the value of the width change of the mold at high temperatures, and ΔH is the value of the height change of the mold at high temperatures.

[0069] Step 13: At high temperatures, place the grabbed high-temperature mold into the high-temperature forming equipment, as Figure 11 shown.

[0070] The present application has the following beneficial effects: Efficient mold change: By adopting a high-temperature automatic mold change device, the automatic replacement of molds in a high-temperature environment can be realized. Compared with the traditional method, the mold change time is shortened from 24 hours of cooling to room temperature and manual operation to about 10 minutes, significantly improving the equipment utilization rate.

[0071] Flexible mold replacement: The mold taking and installing processes suitable for high-temperature working conditions are developed, supporting the flexible transfer of molds between high-temperature forming equipment, preheating furnaces, and mold tables, and can adapt to the operation requirements of multiple scenarios.

[0072] Precise mold positioning: By combining mechanical positioning and thermal expansion compensation, precise mold positioning is achieved. The mechanical guiding device at the front end of the clamping arm quickly and automatically docks with the mold base, and the mold temperature is obtained by real-time measurement or communication to predict the position deviation caused by thermal expansion. Based on the three-coordinate motion compensation algorithm, the deviation is automatically compensated to the room-temperature taught coordinates, realizing a mold placement accuracy error of ≤±0.5 mm.

[0073] Strong adaptability: The automatic mold taking and installing control process is developed using modular design, supporting the dynamic adjustment of the positions of the walking unit and the lifting unit, which can adapt to the mold change requirements of different models of high-temperature forming equipment, and realizes data interaction through multi-device communication protocols.

[0074] Energy conservation and consumption reduction: The high-temperature automatic die-changing device is applicable to working conditions within 1000°C and does not require manual participation, avoiding the energy consumption waste of temperature reduction and increase of high-temperature forming equipment. The energy-saving effect can reach 40%-50%.

[0075] Strong expandability: The track of the high-temperature automatic die-changing device can be extended in the horizontal direction to meet the die-changing needs of multiple high-temperature forming equipment and is applicable to production environments of different scales.

[0076] Strong adaptability to high temperature and heavy load: The die clamping arm is designed to adapt to high-temperature and heavy-load environments and can achieve automatic replacement under the conditions of within 1000°C and 3T load. Its front-end surface is covered with a heat-insulating coating and extends into the high-temperature equipment to effectively prevent heat conduction. A clamping arm support shaft 3.6 is provided on the lifting platform 4.5 to ensure that the requirements for loading and unloading heavy dies are met.

[0077] The above-described embodiments are only preferred solutions of the present invention and do not impose any form of limitation on the present invention. There are other variations and modifications without exceeding the technical solutions recorded in the claims.

Claims

1. A high-temperature automatic die-changing device, characterized in that Including: The cart traveling unit includes a cart traveling platform and a cart traveling servo motor disposed on the cart traveling platform; A transmission gear is provided at the output end of the cart traveling servo motor, and the transmission gear drives the traveling wheels to rotate, so that the cart traveling platform moves along the X direction; The lifting unit includes a plurality of elevators disposed on the cart traveling platform, and a lifting platform is provided at the output end of the elevator, and the elevator drives the lifting platform to lift along the Z direction; The telescopic unit includes a telescopic platform, a driving block fixedly disposed on the telescopic platform, and a telescopic transmission lead screw cooperating with the driving block. The telescopic transmission lead screw is connected to the output end of the telescopic servo motor; the telescopic servo motor drives the telescopic platform to move along the Y direction; The clamping unit includes a plurality of clamping arm guiding devices arranged in parallel on the telescopic platform, two clamping arms and a clamping transmission lead screw. Two threaded segments with opposite thread directions are provided on the clamping transmission lead screw; the two clamping arms are respectively matched with the two threaded segments; the end of the clamping transmission lead screw is connected to the output end of the clamping servo motor; the clamping servo motor controls the forward and reverse rotation of the clamping transmission lead screw to realize the separation or approach of the two clamping arms.

2. The high-temperature automatic die-changing device according to claim 1, wherein A positioning device is provided on the cart traveling platform. The positioning device is a positioning cylinder, and a telescopic rod is provided in the positioning cylinder, and the end of the telescopic rod is spherical.

3. The high-temperature automatic die-changing device according to claim 1 or 2, characterized in that, Anti-collision protection devices are provided at both ends of the cart traveling platform in the X direction.

4. The high-temperature automatic die-changing device according to claim 1, characterized in that, There are four elevators, and the four elevators are connected to the output end of a lifting servo motor through a transmission device; a lifting servo motor drives the four elevators to lift simultaneously.

5. The high-temperature automatic die-changing device according to claim 1 or 4, characterized in that, Four lifting guiding devices are provided on the lifting platform. The guiding device includes a guiding sleeve provided on the cart traveling platform and a guiding column provided on the lifting platform.

6. The high-temperature automatic die-changing device according to claim 1, wherein Two linear guide rails arranged along the Y direction are provided in parallel on the lifting platform, and sliders cooperating with the linear guide rails are provided on the telescopic platform.

7. A high-temperature automatic die-changing method, characterized in that Adopting the high-temperature automatic mold changing device described in any one of claims 1 to 6, the following steps are further included: Step 1: Establish a linear thermal expansion coefficient database; write the linear thermal expansion coefficient α corresponding to different temperatures into the database. If the detected mold temperature does not directly match the temperature points in the database, the linear interpolation method is used to calculate the linear thermal expansion coefficient; Step 2: Take the mold in the cold state, control the high-temperature automatic mold changing device, and record the mold-taking coordinate position (X1, Y1, Z1), where X1 is the coordinate of the clamping unit for mold-taking in the cold state, Y1 is the coordinate of the telescopic unit for mold-taking in the cold state, and Z1 is the coordinate of the lifting unit for mold-taking in the cold state; Step 3: Install the mold in the cold state, control the high-temperature automatic mold changing device, and record the mold-installing coordinate position (X2, Y2, Z2), where X2 is the coordinate of the clamping unit for mold-installing in the cold state, Y2 is the coordinate of the telescopic unit for mold-installing in the cold state, and Z2 is the coordinate of the lifting unit for mold-installing in the cold state; Step 4: Taking the mold at high temperature. The control system queries the internally integrated thermal expansion coefficient database according to the actual temperature of the mold in the high-temperature forming equipment, and can directly calculate the coordinate changes in the length, width, and height of the mold (ΔL, ΔW, ΔH); ΔL is the length change value of the mold at high temperature, ΔW is the width change value of the mold at high temperature, and ΔH is the height change value of the mold at high temperature. According to the changed coordinates, the new coordinates after compensation (X1 + ΔL, Y1 + ΔW, Z1 + ΔH) are obtained, and the clamping of the mold is completed. Step 5: Installing the mold at high temperature. The control system queries the internally integrated thermal expansion coefficient database according to the actual temperature of the mold in the mold preheating furnace, and can directly calculate the coordinate changes in the length, width, and height of the mold (ΔL, ΔW, ΔH); ΔL is the length change value of the mold at high temperature, ΔW is the width change value of the mold at high temperature, and ΔH is the height change value of the mold at high temperature. According to the changed coordinates, the new coordinates after compensation (X2 + ΔL, Y2 + ΔW, Z2 + ΔH) are obtained, and the clamping of the mold is completed; the grabbed high-temperature mold is placed into the high-temperature forming equipment.

8. The high-temperature automatic die changing method according to claim 7, characterized in that, in In Step 1, the linear thermal expansion coefficient The temperature T is between T1 and T2.

9. The high-temperature automatic die-changing method according to claim 7, wherein, in In Step 4 and Step 5, the length change ΔL = α × L0 × ΔT; the width change ΔW = α × W0 × ΔT; the height change ΔH = α × H0 × ΔT; α is the linear thermal expansion coefficient.

10. The high-temperature automatic die change method according to claim 7, characterized in that, When the clamping arm approaches the high-temperature mold, the convex guiding device of the inner positioning device thereof automatically matches the shape of the mold bottom plate slot.

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