Method and system capable of achieving automatic pouring of aero-engine equiaxed crystal blade

Abstract

The invention relates to the technical field of precision casting of aero-engine blades, and particularly discloses a method and system capable of achieving automatic pouring of aero-engine equiaxed crystal blades. The method comprises the steps that after mold shells are fed, the mold shells are clamped by a mold shell transfer robot, information verification is conducted, and then the mold shells are fed into a mold shell preheating furnace to be preheated; after preheating is completed, the robot transfers the mold shell into a casting mold chamber of a vacuum melting furnace for vacuum casting; after pouring is completed, the robot takes out the die set and sends the die set into a die shell heat preservation unloading station for heat preservation and slow cooling; and finally, discharging is conducted through an AGV forklift. The mold shell loading station, the preheating furnace, the smelting furnace, the heat preservation unloading station, the transfer robot and the AGV are integrated and are dispatched in a unified mode through the automatic control system, automation of the whole process from mold shell feeding, preheating, pouring to slow cooling discharging is achieved, the influence of human factors is effectively eliminated, and the product quality consistency, the production efficiency and the field safety are remarkably improved.

Description

Technical Field

[0001] This invention relates to precision casting technology for aero-engine blades, specifically to a method and system for automated casting of equiaxed crystal blades for aero-engines. Background Technology

[0002] In the casting production of equiaxed blades for aero-engines, process parameters such as mold shell preheating temperature, transfer time from the preheating furnace to the pouring station, and pouring techniques have a decisive impact on the internal quality and performance of the final product. Theoretically, higher mold shell preheating temperatures and shorter transfer times are more conducive to obtaining high-quality castings. However, existing production technologies generally face the following bottlenecks: First, the preheating process often uses traditional medium-frequency furnaces, and the preheating temperature usually does not exceed 1100℃, which limits the further optimization of the metallurgical quality of the castings.

[0003] Secondly, the core smelting and casting process relies heavily on manual operation. From feeding, melting, refining to casting and unloading, the entire process is controlled by the operator based on experience, resulting in large quality fluctuations and poor consistency between different batches and even within the same batch of products.

[0004] Furthermore, as the amount of refractory elements in alloy materials increases, higher refining temperatures are required, which exacerbates crucible wear. However, existing equipment cannot replace crucibles under vacuum conditions. Each replacement requires a lengthy process of "cooling the furnace - breaking the vacuum - replacing - vacuuming - reheating," which severely reduces the team's output efficiency.

[0005] Finally, the transfer of the high-temperature mold shell, which reaches temperatures of over 1100°C, between the preheating furnace and the melting furnace relies entirely on manual handling. Not only is the transfer time difficult to control due to fluctuations in the operator's physical condition, affecting the casting quality, but there is also a significant risk of burns from high temperatures.

[0006] Therefore, there is an urgent need for a casting method and system that can achieve full-process automation, stability and controllability, in order to eliminate human factors and improve product consistency, production efficiency and operational safety. Summary of the Invention

[0007] The technical problem to be solved by the present invention is to overcome the defects of existing equiaxed crystal blade casting production for aero engines, such as large quality fluctuations, low production efficiency, and safety hazards caused by reliance on manual operation. The invention provides a method and system that can automate the entire process of mold shell loading, preheating, transfer, pouring, slow cooling, and unloading.

[0008] The technical solution of the present invention to solve the above-mentioned technical problems is as follows: A method for automating the casting of equiaxed crystal blades for aero-engines includes the following steps: S1. Mold loading: Place the mold to be poured at the loading position of the mold loading station; S2, Mold Shell Grabbing and Identification: The mold shell transfer robot goes to the shell retrieval position of the mold shell loading station to grab the mold shell, and after the shell is retrieved, the presence or absence of the mold shell is checked and the mold shell information is identified and compared; S3. Mold shell preheating: The mold shell that has completed information comparison is transferred by the mold shell transfer robot and placed in the mold shell preheating furnace for preheating. S4. Mold shell transfer and casting: After preheating, the mold shell transfer robot takes the mold shell out of the mold shell preheating furnace and transfers it to the casting chamber of the vacuum melting furnace for vacuum casting. S5. Mold shell removal and heat preservation: After the casting is completed, the mold shell transfer robot removes the mold shell with the casting from the vacuum melting furnace and transfers it to the transfer mechanism of the mold shell heat preservation unloading station. The transfer mechanism then sends the mold shell into the corresponding heat preservation warehouse for heat preservation and slow cooling. S6. Mold shell transfer and unloading: After the insulation is completed, the cooling mold shell is transferred to the AGV forklift by the transfer mechanism of the mold shell insulation unloading station, and the AGV forklift transports the mold shell to the next process.

[0009] The beneficial effects of this invention are as follows: By constructing an automated casting system integrating a mold shell loading station, a mold shell preheating furnace group, a vacuum melting furnace, a mold shell heat preservation unloading station, a mold shell transfer robot, and an AGV forklift, and using the above-mentioned method for full-process control, traditional manual operation is completely replaced. This method achieves standardization and stabilization of the production process, greatly eliminates human error, and ensures that the process conditions experienced by each mold shell are highly consistent, thereby significantly improving the product quality consistency and pass rate of equiaxed crystal blades. At the same time, automated operation greatly reduces the labor intensity and high-temperature exposure risk of operators, improves the safety of the production site, and also significantly improves overall production efficiency.

[0010] During mold loading, the AGV forklift automatically transports the pallet carrying the mold to be cast to the designated loading position at mold loading station 1 according to instructions, and automatically uploads the mold information (such as batch number and part number) to the production management module of the control system. Alternatively, operators can manually place the mold and scan the barcode to enter the information, realizing the synchronous start and binding of production information flow and material flow, providing a data foundation for full-process traceability, and further improving the level of intelligent production management.

[0011] A system for automating the casting of equiaxed crystal blades for aero-engines, used to implement the above-mentioned method, includes a mold shell loading station, a mold shell transfer robot, a mold shell preheating furnace, a mold shell insulation unloading station, and a transfer mechanism. The mold shell loading station includes a feeding platform, on which a feeding tray for carrying the mold shell is provided. The feeding tray is placed on a feeding slider that slides in cooperation with a feeding slide rail on the feeding platform. A feeding drive cylinder is also fixedly provided on the feeding platform, and the telescopic shaft of the feeding drive cylinder is fixedly connected to the feeding tray.

[0012] The beneficial effects of this invention are as follows: During the clamping and identification of the mold shell, the loading platform of the mold shell loading station drives the loading slider, which carries the loading pallet placed above it, to slide along the loading rail on the loading platform via the loading drive cylinder. This delivers the loading pallet carrying the mold shell to the shell removal position, facilitating accurate clamping by the mold shell transfer robot. This structural design achieves smooth conveying and precise positioning during the loading process, reduces mechanical impact, improves operational stability and response speed, and provides a reliable positional reference for subsequent automated processes, ensuring accurate matching of information acquisition and physical operation. Furthermore, the structure is simple, easy to maintain, and adaptable to the demands of high-paced production.

[0013] Furthermore, the feeding tray is provided with "V"-shaped guide grooves on both sides, and the feeding platform is provided with centering mechanisms at positions opposite to the "V"-shaped guide grooves in the feeding tray. The centering mechanism includes a centering plate, which slides with the centering slide rail on the feeding platform via a centering slider. The feeding platform is also provided with a centering drive cylinder, the telescopic shaft of which is fixedly connected to the centering plate. The contour shape of the side of the centering plate opposite to the "V"-shaped guide groove matches the contour shape of the "V"-shaped guide groove.

[0014] The beneficial effects of adopting the above-mentioned further solution are as follows: When material loading is required, the loading slider is driven by the loading drive cylinder and extends outward along the slide rail to the waiting position. After the AGV forklift or manual operation pushes the loading pallet carrying the mold shell into this position, the telescopic shaft of the loading drive cylinder retracts, bringing the loading pallet to the internal robot picking waiting position. When the loading pallet carrying the mold shell reaches the shell picking position, the centering drive motors in the two centering mechanisms start simultaneously and drive the centering plates to move towards the loading pallet, so that the sides of the centering plates fit into the "V"-shaped guide grooves on both sides of the loading pallet, forcibly correcting and fixing the pallet in the center position, thereby achieving precise positioning of the loading pallet at the shell picking position, ensuring that the loading pallet is accurately centered. This contour-following centering structure, in which the two pairs of centering plates fit into the "V"-shaped guide grooves on both sides of the pallet, effectively ensures that no matter what the initial placement position of the pallet is, it can eventually stop at the same position with extremely high repeatability, ensuring the consistency of each picking action of the robot.

[0015] Furthermore, the mold shell transfer robot includes an articulated robotic arm and an end effector. The end effector includes a clamping mounting base fixedly connected to the articulated robotic arm and a clamping mechanism disposed on the clamping mounting base. The clamping mechanism includes two symmetrically arranged clamping arms. One end of each of the two clamping arms is fixedly provided with a mold shell clamp, and the other end of each of the two clamping arms is connected to the clamping mounting base through a clamping drive mechanism.

[0016] The advantages of adopting the above-mentioned further solution are: this design provides an actuator for stable clamping of the mold shell, wherein the articulated robotic arm provides flexible movement capabilities, while the dedicated end effector can adapt to the shape of the mold shell and high-temperature environment. The two symmetrical clamping arms and the mold shell clamp can apply force evenly, avoiding local stress damage to the brittle ceramic mold shell.

[0017] Furthermore, the clamping drive mechanism includes a clamping drive motor and two "L"-shaped drive components. The clamping drive motor is fixed on the clamping mounting base, and a drive gear is fixedly connected to its output shaft. The drive gear meshes with a drive rack. A clamping drive slide rail is fixed on the clamping mounting base, and a clamping drive slider is slidably mounted on the clamping drive slide rail. The drive rack is fixedly connected to the clamping drive slider. A clamping drive shaft is fixedly provided at one end of the clamping drive slider. One end of each of the two "L"-shaped drive components is movably hinged to one end of the clamping drive shaft. The other ends of each of the two "L"-shaped drive components are fixedly connected to two clamping arms, respectively. The turning points of the two "L"-shaped drive components are respectively hinged to the clamping mounting base.

[0018] The advantages of adopting the above-mentioned further solution are: the clamping drive mechanism converts the rotational motion of the clamping drive motor into the linear opening and closing motion of the clamping arms, resulting in a compact structure and high force transmission efficiency. The linkage mechanism composed of the "L"-shaped drive component can achieve good force amplification and motion synchronization, ensuring that the two clamping arms open and close synchronously and smoothly.

[0019] Furthermore, the end effector also includes a pressure plate mechanism, which includes a pressure plate and a pressure plate mounting base. The pressure plate is disposed on the pressure plate mounting base, and the pressure plate mounting base is connected to a clamping mounting base via a pressure plate lifting mechanism. The pressure plate lifting mechanism includes lifting support plates disposed on both sides of the pressure plate mounting base, and the lifting support plates are fixedly connected to the clamping mounting base. The lifting support plates are provided with lifting grooves, and the pressure plate mounting base slides in cooperation with the lifting grooves. The lifting support plates are also provided with lifting rails parallel to the lifting grooves, and the pressure plate mounting base slides in cooperation with the lifting rails via lifting sliders. The lifting support plates are provided with a lifting drive mechanism for driving the lifting sliders to move along the lifting rails.

[0020] The beneficial effects of adopting the above-mentioned further solution are as follows: the pressure plate mechanism, in conjunction with the clamping mechanism, forms a double safety mechanism of "side clamping and bottom support," greatly enhancing the safety and reliability when handling high-temperature mold shells. The transfer mechanism, guided by slide rails and grooves, ensures the smooth and precise lifting movement of the pressure plate. The pressure plate lifts the mold shell from the bottom, effectively preventing the mold shell from slipping out of the grippers during high-speed movement or in case of accidents, making it particularly suitable for handling heavy, high-temperature, and irregularly shaped mold shells.

[0021] Furthermore, the mold shell insulation unloading station is a high-temperature resistant three-dimensional warehouse, including multiple independent insulation workstations and a transfer mechanism for placing or removing mold shells from each insulation workstation. The transfer mechanism is a stacker crane that can move in four degrees of freedom: X, Y, Z, and R. Each insulation workstation is a closed high-temperature resistant chamber, and each of them is equipped with an openable and closable high-temperature resistant gate on the side opposite to the stacker crane. One side of the gate is connected to the insulation workstation by a hinge, and the other side is driven by an electric push rod to open and close. The stacker crane includes an X-axis guide rail, which is mounted on a fixed frame. It also includes an X-axis slide block that slides with the X-axis guide rail. A Y-axis guide rail is fixedly mounted on the X-axis slide block. A Y-axis slide block is mounted on the Y-axis guide rail. A Z-axis column is rotatable on the Y-axis slide block. A Z-axis slide table is mounted on the Z-axis column that can move up and down along the Z-axis slide rail on the Z-axis column. A fork plate for carrying the pallet is mounted on the Z-axis slide table. An X-axis rack parallel to the X-axis guide rail is fixedly mounted on the fixed frame, and an X-axis traveling gear driven by a servo motor is mounted on the X-axis slide, the X-axis traveling gear meshing with the X-axis rack. The X-axis slide block is fixedly provided with a Y-axis rack parallel to the Y-axis guide rail. The Y-axis guide rail is equipped with a Y-axis traveling gear driven by a servo motor, and the Y-axis traveling gear meshes with the Y-axis rack. The Z-axis column is rotatably connected to the Y-axis slide. A first rotary drive gear is fixed on the Z-axis column. The first rotary drive gear meshes with a second rotary drive gear fixed at the end of the output shaft of the rotary drive motor mounted on the Y-axis slide. The Z-axis column is fixedly provided with a Z-axis guide rail that slides with the Z-axis slide table and a Z-axis rack parallel to the Z-axis guide rail. The Z-axis slide table is equipped with a Z-axis traveling gear driven by a servo motor, and the Z-axis traveling gear meshes with the Z-axis rack.

[0022] The beneficial effects of adopting the above-mentioned further solutions are as follows: multiple independent insulated workstations can effectively achieve automated buffering and programmed slow cooling of the high-temperature modules after casting. The high-temperature resistant automated storage and retrieval system can withstand heat radiation of ≥1000℃, and its enclosed insulated workstations and openable / closable gates can provide a precise slow cooling environment for the modules according to process requirements, preventing cracks or deformation of the castings due to sudden cooling. Furthermore, the four-degree-of-freedom stacker crane can efficiently and accurately store and retrieve mold shells in dense storage locations, greatly improving space utilization and the level of logistics automation, and ensuring the continuity of production cycle.

[0023] Furthermore, the mold shell insulation unloading station also includes a material tray support platform for receiving the high-temperature mold shells unloaded from the insulation station and taken out from each insulation station. The material tray support platform is provided with multiple trays for fixing the material trays. Multiple material tray positioning pins are fixed on the material tray support platform, and each material tray positioning pin is matched with the positioning groove on the edge of the tray.

[0024] The beneficial effects of adopting the above-mentioned further solution are as follows: the material tray support platform serves as a buffer and handover station for the mold shell from the insulated automated warehouse to the AGV forklift. The matching design of the positioning pin and positioning groove ensures that the material tray can be positioned quickly and accurately each time it is placed, which facilitates the automatic docking and picking up of the AGV forklift and ensures the smoothness and accuracy of the transfer between processes.

[0025] Furthermore, the casting chamber of the vacuum melting furnace is equipped with a mold shell positioning adaptive fixture, which includes a mold shell receiving plate and a limiting shaft that slides with the mold shell receiving plate. The bottom of the limiting shaft is fixedly connected to the bottom of the casting chamber of the vacuum melting furnace. The mold shell receiving plate is connected to a rotating lifting shaft inside the vacuum melting furnace. A mold shell positioning clamp is also placed on the mold shell receiving plate, and the mold shell positioning clamp is connected to the mold shell receiving plate through an adaptive adjustment mechanism.

[0026] The beneficial effects of adopting the above-mentioned further solution are as follows: the adaptive mold positioning fixture is key to achieving a unified casting position for molds of different heights. Its working principle of "suspension initial positioning, bottom support, and height self-adaptation" allows the robot to simply hang molds of different heights onto positioning fixtures of the same height. Subsequently, the height difference is automatically compensated through the raising of the steel receiving plate and adjustment by the adaptive mechanism, ultimately ensuring that the upper surface of the pouring cup of all molds is at the same ideal casting plane. This fundamentally solves the problem of casting quality fluctuations caused by inconsistent mold heights.

[0027] Furthermore, the adaptive adjustment mechanism includes fixed brackets symmetrically arranged on both sides of the limiting shaft. The bottom of each fixed bracket is fixedly connected to the mold shell receiving plate. Each fixed bracket is also provided with a V-shaped guide rail extending vertically. A guide wheel mounting block is provided between the two V-shaped guide rails. The guide wheel mounting block is fixedly connected to the mold shell positioning fixture. Each side of the guide wheel mounting block is provided with a guide wheel that rolls with the two V-shaped guide rails. A limiting block is also fixedly provided on the guide wheel mounting block. The limiting block is provided with two limiting pins that can move horizontally relative to each other. The two limiting pins slide with the limiting grooves on the limiting block. The ends of the two limiting pins that are close to each other are connected by a spring. The ends of the limiting pins that are far apart from each other are respectively locked in the tooth gaps of two racks fixedly provided on the two fixed brackets. The bottom of the limiting block is directly opposite the top of the limiting shaft.

[0028] The advantages of adopting the above-mentioned further solution are as follows: This adaptive adjustment mechanism cleverly integrates height compensation with mechanical locking function. The V-shaped guide rail and guide wheel provide smooth, low-friction vertical guidance. The rack and pinion with spring preload constitute a unidirectional (upward) sliding, reverse-locking mechanism. When the receiving plate lifts the mold shell, this mechanism allows the positioning fixture to be fixed relative to the receiving plate, achieving rigid connection and precise positioning; when the receiving plate descends and resets, this mechanism allows the positioning fixture to remain at the top, facilitating the robot's next shell attachment. The entire process is purely mechanically automated, with fast response, high reliability, and no need for additional sensors or power, making it particularly suitable for harsh environments such as vacuum and high temperatures. Attached Figure Description

[0029] Figure 1 This is a schematic diagram showing the distribution of structures such as the mold shell loading station, mold shell preheating furnace, vacuum melting furnace, mold shell heat preservation unloading station, mold shell transfer robot, and transfer mechanism in the method and system for automated casting of equiaxed crystal blades for aero-engines according to the present invention. Figure 2 This is a partial structural diagram of the clamping mechanism in the end effector of the mold shell transfer robot in the method and system for automated casting of equiaxed crystal blades for aero engines according to the present invention. Figure 3 This is a partial structural diagram of the telescopic drive mechanism in the end effector of the mold shell transfer robot in the method and system for automated casting of equiaxed crystal blades for aero engines according to the present invention. Figure 4 This is a partial structural diagram of the pressure plate mechanism in the end effector of the mold shell transfer robot in the method and system for automated casting of equiaxed crystal blades for aero engines according to the present invention.

[0030] Figure 5 This is a schematic diagram of the structure of the mold loading station in the method and system for automated casting of equiaxed crystal blades for aero engines according to the present invention. Figure 6 yes Figure 5 A magnified view of part A in the diagram; Figure 7 This is a schematic diagram of the structure of the mold shell insulation and unloading station in the method and system for automated casting of equiaxed crystal blades for aero engines according to the present invention. Figure 8 for Figure 7 A magnified view of part of C; Figure 9 This is a partial structural diagram of the stacker crane in the mold shell insulation unloading station of the present invention, which is a method for automated casting of equiaxed crystal blades for aero engines. Figure 10 This is a partial structural schematic diagram of a method and system for automated casting of equiaxed crystal blades for aero-engines according to the present invention. Figure 11 This is a schematic diagram of the overall structure of the adaptive tooling for positioning the inner mold shell of the vacuum melting furnace in the system of the present invention, which enables automated casting of equiaxed crystal blades for aero engines. Figure 12 This is a partial structural diagram of the adaptive tooling for positioning the inner mold shell of the vacuum melting furnace in the method and system for automated casting of equiaxed crystal blades for aero engines, as described in this invention. Figure 13 for Figure 12 A magnified view of part B in the diagram.

[0031] The attached diagram lists the components represented by each number as follows: 10. Mold shell loading station; 101. Feeding platform; 102. Feeding pallet; 103. Feeding slide rail; 104. Feeding slider; 105. Feeding drive cylinder; 106. "V" shaped guide groove; 20. Mold shell transfer robot; 201. Articulated robotic arm; 203. Clamping mounting base; 204. Clamping arm; 205. Mold shell fixture; 206. Clamping drive motor; 207. "L" shaped drive component; 208. Drive gear; 209. Drive rack; 210. Clamping drive slide rail; 211. Clamping drive slider; 212. Clamping drive shaft; 213. Pressure plate; 214. Pressure plate mounting base; 30. Mold shell preheating furnace; 40. Vacuum Smelting furnace; 401. Mold shell receiving tray; 402. Limiting shaft; 403. Mold shell positioning fixture; 404. Fixed bracket; 405. V-shaped guide rail; 406. Guide wheel mounting block; 407. Limiting block; 408. Limiting pin; 409. Limiting groove; 410. Spring; 411. Rack; 412. Guide wheel; 50. Mold shell insulation unloading station; 501. Independent insulation station; 502. High-temperature resistant gate; 503. Electric push rod; 504. Material tray support platform; 505. Pallet; 506. Material tray positioning pin; 507. Positioning groove; 508. Material tray; 60. Transfer mechanism; 70. Centering mechanism; 701. Centering plate; 702. Centering slide Block; 703, Centering slide rail; 704, Centering drive cylinder; 80, Pressure plate lifting mechanism; 801, Lifting support plate; 802, Lifting slide groove; 803, Lifting slide rail; 804, Lifting slider; 90, Lifting drive mechanism; 901, Lifting drive chain; 902, Connecting block; 903, Lifting drive sprocket; 904, Lifting driven sprocket; 905, Lifting drive motor; 11, Pressure plate telescopic mechanism; 111, Telescopic rod; 12, Telescopic drive mechanism; 121, Telescopic drive chain; 122, Telescopic drive sprocket; 123, Telescopic driven sprocket; 124, Telescopic drive motor; 125, Connecting piece; 13, Stacker; 130 1. X-axis guide rail; 1302. Fixed frame; 1303. X-axis slide; 1304. Y-axis guide rail; 1305. Y-axis slide; 1306. Z-axis column; 1307. Z-axis slide table; 1308. Fork plate; 1309. X-axis rack; 1310. Servo motor one; 1311. X-axis travel gear; 1312. Y-axis rack; 1313. Servo motor two; 1314. Y-axis travel gear; 1315. Rotary drive gear one; 1316. Rotary drive motor; 1317. Rotary drive gear two; 1318. Z-axis guide rail; 1319. Z-axis rack; 1320. Servo motor three; 1321. Z-axis travel gear. Detailed Implementation

[0032] The principles and features of the present invention are described below. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0033] Example 1 This embodiment provides a method for automated casting of equiaxed crystal blades for aero-engines, including the following steps: S1. Mold loading: Place the mold to be poured at the loading position of the mold loading station 10; S2, Mold Shell Grabbing and Identification: The mold shell transfer robot 20 goes to the shell retrieval position of the mold shell loading station 10 to grab the mold shell, and after the shell is retrieved, the presence or absence of the mold shell is checked and the mold shell information is identified and compared; S3. Mold shell preheating: The mold shell that has completed information comparison is transferred by the mold shell transfer robot 20 and placed in the mold shell preheating furnace 30 for preheating. S4. Mold shell transfer and casting: After preheating, the mold shell is taken out from the mold shell preheating furnace 30 by the mold shell transfer robot 20 and transferred to the casting chamber of the vacuum melting furnace 40 for vacuum casting. S5. Mold shell removal and heat preservation: After the casting is completed, the mold shell transfer robot 20 removes the mold shell with the casting from the vacuum melting furnace 40 and transfers it to the transfer mechanism 60 of the mold shell heat preservation unloading station 50. The transfer mechanism 60 then sends the mold shell into the corresponding heat preservation warehouse for heat preservation and slow cooling. S6. Mold shell transfer and unloading: After the insulation is completed, the cooling mold shell is transferred to the AGV forklift by the transfer mechanism 60 of the mold shell insulation unloading station 50, and the AGV forklift transports the mold shell to the next process.

[0034] This embodiment constructs an automated casting system integrating a mold shell loading station 10, a group of mold shell preheating furnaces 30, a vacuum melting furnace 40, a mold shell heat preservation unloading station 50, a mold shell transfer robot 20, and an AGV forklift (e.g., Figure 1 As shown in the figure, the above method is used for full-process control, completely replacing traditional manual operation. Figure 1 As shown, the entire system layout centers on a vacuum melting furnace 40, surrounded by a mold loading station 10, multiple mold preheating furnaces 30, a mold transfer robot 20, a mold insulation unloading station 50, and AGV forklifts (not shown in the figure). The automated control system is not shown in the figure; it typically consists of a PLC and a host computer connected to all devices via a network for unified scheduling and monitoring.

[0035] During mold loading, the AGV forklift automatically transports the pallet carrying the mold to be poured to the designated loading position at the mold loading station 10 according to instructions, and automatically uploads mold information such as batch number and part number to the production management module of the automated control system. Alternatively, operators can manually place the mold and scan barcodes to enter information, realizing the synchronous start and binding of production information flow and material flow, providing a data foundation for full-process traceability, and further improving the level of intelligent production management.

[0036] Subsequently, the mold shell transfer robot 20 moves to this position. After the information verification is successful, the mold shell transfer robot 20 transfers the mold shell to an idle mold shell preheating furnace 30. Upon receiving the signal, the preheating furnace automatically opens its door, the robot places the mold shell into the designated position inside the furnace and then exits. The furnace door automatically closes, and heating and heat preservation begin according to the preset process curve.

[0037] When the mold shell preheating reaches the process requirements and the molten alloy in the vacuum melting furnace 40 is ready, the control system issues a command. The preheating furnace automatically opens, and the robot enters the furnace to remove the high-temperature mold shell. During the transfer process, the mold shell transfer robot 20 rotates the mold shell 180° so that the pouring cup is facing upwards. At the same time, the casting chamber door of the vacuum melting furnace 40 automatically opens. The mold shell transfer robot 20 delivers the mold shell into the casting chamber of the vacuum melting furnace 40 and precisely hangs its pouring cup on the mold shell positioning fixture 403 of the mold shell positioning adaptive tooling (e.g., Figure 11 (As shown).

[0038] Subsequently, the rotating lifting shaft located below the receiving platen is activated, driving the mold shell receiving platen 401 to rise along the limiting shaft 402 until the mold shell receiving platen 401 contacts the bottom of the mold shell and is firmly supported. After the furnace door is closed, the casting chamber is evacuated. Once the required vacuum is achieved, the isolation valve is opened, controlling the receiving platen to continue rising with the mold shell to the pouring position. The tilting mechanism of the smelting furnace automatically completes the pouring according to the set curve.

[0039] After pouring, the receiving tray quickly descends and resets, and the isolation valve closes. The furnace door opens after the mold chamber is emptied. The mold shell transfer robot 20 re-enters, removes the solidified high-temperature mold (temperature ≥1000℃), and quickly transfers it to the handover position of the mold shell insulation unloading station 50, i.e., the location of the transfer mechanism 60. After receiving the mold shell, the transfer mechanism 60 sends it to the mold shell insulation unloading station 50 for slow cooling and insulation, preventing sudden cooling from causing cracks or deformation in the casting.

[0040] Subsequently, AGV forklifts automatically arrive, carrying the cooled modules to the next process, such as shell removal, cutting, and polishing. This entire process standardizes and stabilizes the production process, greatly eliminating human error and ensuring highly consistent process conditions for each mold shell, thereby significantly improving the product quality consistency and pass rate of equiaxed crystal blades. At the same time, automated operations significantly reduce the labor intensity and high-temperature exposure risk for operators, improving safety on the production floor. The system's continuous cyclical production capability also significantly improves overall production efficiency.

[0041] In this embodiment, after the vacuum melting furnace 40 completes one pour and the mold is removed, its feeding mechanism automatically adds the master alloy required for the next batch into the crucible and automatically begins melting and refining according to the set remelting curve, preparing the alloy liquid for the next pour. This process runs in parallel with the robot's steps of preheating and transferring the mold shell for the next time, thereby achieving a cyclical overlap between melting and pouring preparation, enabling the production line to operate continuously at a near-theoretical pace and maximizing production efficiency.

[0042] In this embodiment, the automated control system is the core of the entire method. It is not merely a simple sequential controller, but an intelligent platform integrating equipment control, production scheduling (MES), and data acquisition (SCADA) functions. It features multiple operating modes, including manual jogging, automatic single-run execution, single-cycle completion of one product, and continuous uninterrupted production, adapting to different production needs. Its production management module establishes an electronic history for each mold shell, binding and recording its process parameters such as preheating temperature curves, pouring temperature, and vacuum degree throughout the entire process, achieving digitalization and traceability of the entire production process.

[0043] Example 2 like Figure 5 As shown, based on Embodiment 1, this embodiment also provides a system for automated casting of equiaxed crystal blades for aero-engines, used to implement the method described in Embodiment 1. The system includes a mold shell loading station 10, a mold shell transfer robot 20, a mold shell preheating furnace 30, a mold shell insulation and unloading station 50, and a transfer mechanism 60. In this embodiment, the mold shell loading station 10 is typically equipped with two independent feeding units. Each feeding unit has a double-layer design, with each layer accommodating four feeding trays 102, for a total capacity of up to 16 mold shells, meeting the buffering requirements for a certain period. Its core function is to receive and precisely position the mold shells, awaiting robot pickup.

[0044] In this embodiment, each loading unit in the mold loading station 10 includes a loading platform 101. The loading platform 101 is provided with a loading tray 102 for carrying the mold shell. The loading tray 102 is placed on a loading slider 104 that slides with the loading slide rail 103 on the loading platform 101. A loading drive cylinder 105 is also fixedly provided on the loading platform 101. The telescopic shaft of the loading drive cylinder 105 is fixedly connected to the loading tray 102.

[0045] During the clamping and identification of the mold shell, the loading platform 101 of the mold shell loading station 10 drives the loading slider 104, which carries the loading pallet 102 placed above it, to slide along the loading slide rail 103 on the loading platform 101 via the loading drive cylinder 105. This delivers the loading pallet 102 carrying the mold shell to the shell removal position, facilitating accurate clamping by the mold shell transfer robot 20. This structural design achieves smooth conveying and precise positioning during the loading process, reduces mechanical impact, improves operational stability and response speed, and provides a reliable positional reference for subsequent automated processes, ensuring accurate matching of information acquisition and physical operation. Furthermore, the structure is simple, easy to maintain, and adaptable to the demands of high-paced production.

[0046] Furthermore, each of the aforementioned loading pallets 102 is provided with a "V"-shaped guide groove 106 on both sides, and the loading platform 101 and the loading pallet 102 are respectively provided with a centering mechanism 70 (e.g., ...) at the positions opposite to the "V"-shaped guide groove 106 in the loading pallet 102. Figure 6 As shown), the centering mechanism 70 includes a centering plate 701, which is slidably engaged with the centering slide rail 703 on the loading platform 101 via a centering slider 702. The loading platform 101 is also provided with a centering drive cylinder 704, the telescopic shaft of which is fixedly connected to the centering plate 701. The contour shape of the side of the centering plate 701 opposite to the "V"-shaped guide groove 106 matches the contour shape of the "V"-shaped guide groove 106.

[0047] During loading, the loading drive cylinder 105 drives the loading slider 104 to move along the loading slide rail 103 to the waiting position. After the AGV forklift 9 or a person places the loading pallet 102 carrying the mold shell on the loading slider 104, the telescopic shaft of the loading drive cylinder 105 retracts, bringing the loading pallet 102 to the waiting position of the mold shell transfer robot 20. When the loading pallet 102 carrying the mold shell arrives at the shell removal position, the centering drive motors in the two centering mechanisms 70 start simultaneously and drive the centering plate 701 to move closer to the loading pallet 102, so that the side of the centering plate 701 fits into the "V"-shaped guide grooves 106 on both sides of the loading pallet 102, forcibly correcting and fixing the pallet in the center position, thereby achieving precise positioning of the loading pallet 102 at the shell removal position, ensuring that the loading pallet 102 is precisely centered. This contour-following centering structure, in which the two pairs of centering plates 701 fit into the "V"-shaped guide grooves 106 on both sides of the pallet, effectively ensures that no matter what the initial placement position of the pallet is, it can eventually stop at the same position with extremely high repeatability, ensuring the consistency of each shell removal action of the mold shell transfer robot 20.

[0048] Example 3 like Figure 2As shown, based on Embodiment 1, the mold shell transfer robot 20 in this embodiment includes an articulated robotic arm 201 and an end effector. The end effector includes a clamping mounting base 203 fixedly connected to the articulated robotic arm 201 and a clamping mechanism disposed on the clamping mounting base 203. The clamping mechanism includes two symmetrically arranged clamping arms 204. One end of each clamping arm 204 is fixedly provided with a mold shell clamp 205, and the other end of each clamping arm 204 is connected to the clamping mounting base 203 through a clamping drive mechanism.

[0049] The clamping drive mechanism in this embodiment includes a clamping drive motor 206 and two "L"-shaped drive members 207. The clamping drive motor 206 is fixed on the clamping mounting base 203, and a drive gear 208 is fixedly connected to its output shaft. The drive gear 208 meshes with a drive rack 209. A clamping drive slide rail 210 is fixed on the clamping mounting base 203, and a clamping drive slider 211 is slidably mounted on the clamping drive slide rail 210. The drive rack 209 is fixedly connected to the clamping drive slider 211. A clamping drive shaft 212 is fixedly provided at one end of the clamping drive slider 211. One end of the two "L"-shaped drive members 207 is movably hinged to one end of the clamping drive shaft 212. The other end of the two "L"-shaped drive members 207 is fixedly connected to two clamping arms 204 respectively. The turning points of the two "L"-shaped drive members 207 are respectively hinged to the clamping mounting base 203.

[0050] like Figure 3 and Figure 4 As shown, the end effector also includes a pressure plate mechanism, which includes a pressure plate 213 and a pressure plate mounting base 214. The pressure plate 213 is disposed on the pressure plate mounting base 214. The pressure plate mounting base 214 is connected to the clamping mounting base 203 through a pressure plate lifting mechanism 80. The pressure plate lifting mechanism 80 includes lifting support plates 801 disposed on both sides of the pressure plate mounting base 214. The lifting support plates are fixedly connected to the clamping mounting base 203. The lifting support plates 801 are provided with lifting grooves 802. The pressure plate mounting base 214 is slidably engaged with the lifting grooves 802. The lifting support plates 801 are also provided with lifting rails 803 parallel to the lifting grooves 802. The pressure plate mounting base 214 is slidably engaged with the lifting rails 803 through a lifting slider 804. The lifting support plates 801 are provided with a lifting drive mechanism 90 for driving the lifting slider 804 to move along the lifting rails 803.

[0051] The lifting drive mechanism 90 includes a lifting drive chain 901. The lifting slider 804 is fixedly connected to the lifting drive chain 901 via a connecting block 902. The two ends of the lifting drive chain 901 are respectively wound around a lifting drive sprocket 903 and a lifting driven sprocket 904. The lifting drive sprocket 903 is drively connected to the output shaft of the lifting drive motor 905. The lifting driven sprocket 904 is rotatably mounted on the lifting support plate 801. The pressure plate 213 is connected to the pressure plate mounting base 214 via a pressure plate telescopic mechanism 11. The pressure plate telescopic mechanism 11 includes one end fixedly connected to the pressure plate 213. The telescopic rod 111 is slidably engaged with the pressure plate mounting base 214, and its other end is connected to the telescopic drive mechanism 12 fixedly mounted on the pressure plate mounting base 214. The telescopic drive mechanism 12 includes a telescopic drive chain 121, the two ends of which are respectively wound around the telescopic drive sprocket 122 and the telescopic driven sprocket 123. The telescopic drive sprocket 122 is drively connected to the output shaft of the telescopic drive motor 124, and the telescopic driven sprocket 123 is rotatably mounted on the pressure plate mounting base 214. The telescopic drive chain 121 is fixedly connected to the other end of the telescopic rod 111 through a connector 125.

[0052] In this embodiment, when the clamping drive motor 206 is started, the drive gear 208 drives the drive rack 209 to move linearly along the slide rail, and then pushes the two "L"-shaped drive members 207 to swing synchronously around their hinge point with the clamping mounting base 203 through the clamping drive shaft 212, realizing the opening and closing action of the mold housing clamp 205 on the two clamping arms 204; at the same time, the lifting drive motor 905 is started, and drives the lifting slider 804 to move smoothly on the lifting slide rail 803 through the lifting drive chain 901, so that the pressure plate mounting base 214 together with the pressure plate 213 is raised and lowered as a whole; the telescopic drive motor 124 pulls the telescopic rod 111 through the telescopic drive chain 121, driving the pressure plate 213 to extend or retract, thereby completing the flexible clamping and release of the workpiece, ensuring the stable and reliable operation process.

[0053] The clamping drive motor 206 and the telescopic drive motor 124 are both servo motors, which ensures that the mold shell clamp 205 can gently and firmly clamp the side of the mold shell in torque control mode, while the pressure plate 213 rises in torque control mode to adaptively support the bottom of the mold shell, forming a double insurance of "side clamping and bottom support".

[0054] Example 4 like Figure 7As shown, based on Embodiment 1, the mold shell insulation unloading station 50 in this embodiment is a high-temperature resistant three-dimensional warehouse, including multiple independent insulation workstations 501 and a transfer mechanism 60 for placing the mold shell into or taking it out of each insulation workstation 51. The transfer mechanism 60 is a stacker crane 13 that can move in four degrees of freedom: X, Y, Z, and R. Each insulation workstation 501 is a closed high-temperature resistant chamber, and each of them is provided with an openable and closable high-temperature resistant gate 502 on the side opposite to the stacker crane 13. One side of the gate 502 is connected to the insulation workstation 501 by a hinge, and the other side is driven by an electric push rod 503 to achieve opening and closing.

[0055] In this embodiment, the stacker 13 is used to store the cast mold shell into the designated insulation station 501 or to remove the mold shell from the designated insulation station 501. The stacker 13 includes an X-axis guide rail 1301, which is mounted on a fixed frame 1302. It also includes an X-axis slide block 1303 that slides with the X-axis guide rail 1301. A Y-axis guide rail 1304 is fixedly mounted on the X-axis slide block 1303. A Y-axis slide block 1305 is mounted on the Y-axis guide rail 1304. A Z-axis column 1306 that can rotate circumferentially is mounted on the Y-axis slide block 1305. A Z-axis slide table 1307 that can move up and down along the Z-axis slide rail 1322 on the Z-axis column 1306 is mounted on the Z-axis slide table 1307. A fork plate 1308 for carrying the material tray is mounted on the Z-axis slide table 1307. The fixed frame 1302 is fixed with an X-axis rack 1309 parallel to the X-axis guide rail 1301. The X-axis slide 1303 is equipped with an X-axis traveling gear 1311 driven by a servo motor 1310. The X-axis traveling gear 1311 meshes with the X-axis rack 1309. The X-axis slide block 1303 is fixedly provided with a Y-axis rack 1312 parallel to the Y-axis guide rail 1304. The Y-axis guide rail 1304 is equipped with a Y-axis traveling gear 1314 driven by a servo motor 1313. The Y-axis traveling gear 1314 meshes with the Y-axis rack 1312. The Z-axis column 1306 is rotatably connected to the Y-axis slide 1305. A rotary drive gear 1315 is fixedly provided on the Z-axis column 1306. The rotary drive gear 1315 meshes with a rotary drive gear 1317 fixed at the end of the output shaft of the rotary drive motor 1316 mounted on the Y-axis slide 1305. The Z-axis column 1306 is fixedly provided with a Z-axis guide rail 1318 that slides with the Z-axis slide table 1307 and a Z-axis rack 1319 parallel to the Z-axis guide rail 1318. The Z-axis slide table 1307 is equipped with a Z-axis traveling gear 1321 driven by a servo motor 1320. The Z-axis traveling gear 1321 meshes with the Z-axis rack 1319.

[0056] Servo motor 1310 drives the X-axis travel gear 1311 to rotate via a reducer, thereby moving the X-axis slide 1303 along the X-axis guide rail 1301 to achieve precise positioning of the stacker crane 13 in the X direction. Servo motor 1313 drives the Y-axis travel gear 1314 to rotate via a reducer, thereby moving the Y-axis slide 1305 along the Y-axis guide rail 1304 to achieve precise positioning of the stacker crane 13 in the Y direction. Servo motor 1320 drives the Z-axis travel gear 1321 to rotate, causing the Z-axis slide 1307 to move up and down along the Z-axis guide rail 1318 to complete Z-axis positioning. Rotary drive motor 1316 controls the circumferential rotation of the Z-axis column 1306 through gear transmission to achieve posture adjustment of the fork plate 1308. The four-axis coordinated operation ensures that the high-temperature module is accurately stored or retrieved at the designated heat preservation station 501, ensuring the slow cooling quality of the castings and the continuity of the production cycle.

[0057] Example 5 like Figure 8 As shown, based on Embodiment 4, the mold shell insulation unloading station 50 in this embodiment further includes a material tray support platform 504 for receiving the high-temperature mold shells unloaded from the insulation station and taken out from each insulation station 501. The material tray support platform 504 is provided with a plurality of support plates 505 for fixing the material trays 508. A plurality of material tray positioning pins 506 are fixedly provided on the material tray support platform 504, and each material tray positioning pin 506 is matched with the positioning groove 507 on the edge of the support plate 505.

[0058] In this embodiment, the stacker crane 13 uses a fork plate 1308 to remove the mold shell from the designated insulation station 501. The mold shell, along with the material tray, is lifted by the fork plate 1308 of the stacker crane 13. After precise positioning and rotation adjustment in the X, Y, and Z directions, it is smoothly moved to the material tray support platform 504. The fork plate 1308 descends and accurately places the mold shell on the support plate 505, ensuring that the groove on the edge of the material tray and the positioning pin are precisely engaged, realizing the reliable positioning of the material tray on the support platform, and ensuring that the position of the mold shell is fixed during the unloading process. After unloading is completed, the system automatically records the flow information of the mold shell, providing data support for subsequent cooling, demolding and quality traceability.

[0059] Example 6 like Figures 11-13 As shown, based on Embodiment 5, the vacuum melting furnace 40 in this embodiment is provided with a mold shell positioning adaptive tooling. The mold shell positioning adaptive tooling includes a mold shell receiving plate 401 and a limiting shaft 402 that slides with the mold shell receiving plate 401. The bottom of the limiting shaft 402 is fixedly connected to the bottom of the casting chamber of the vacuum melting furnace 40. The mold shell receiving plate 401 is connected to a rotating lifting shaft inside the vacuum melting furnace 40. A mold shell positioning clamp 403 is also provided on the mold shell receiving plate 401. The mold shell positioning clamp 403 is connected to the mold shell receiving plate 401 through an adaptive adjustment mechanism. The adaptive adjustment mechanism includes fixed supports 404 symmetrically arranged on both sides of the limiting shaft 402. The bottom of each fixed support 404 is fixedly connected to the mold shell receiving plate 401. Each fixed support 404 is also provided with a V-shaped guide rail 405 extending vertically. A guide wheel mounting block 406 is provided between the two V-shaped guide rails 405. The guide wheel mounting block 406 is fixedly connected to the mold shell positioning fixture 403. Guide wheels 412 are provided on both sides of the guide wheel mounting block 406, which roll in cooperation with the two V-shaped guide rails 405. A limiting block 407 is also fixedly provided on the guide wheel mounting block 406. The limiting block 407 is provided with two limiting pins 408 that can move horizontally relative to each other. The two limiting pins 408 are slidably engaged with the limiting grooves 409 on the limiting block 407. The ends of the two limiting pins 408 that are close to each other are connected by a spring 410. The ends of the limiting pins 408 that are far from each other are respectively locked in the tooth gaps of two racks 411 fixedly provided on two fixed brackets 404. The bottom of the limiting block 407 is directly opposite the top of the limiting shaft 402.

[0060] The adaptive mold shell positioning fixture in this embodiment is mainly used to adapt to the needs of mold shells of different heights, ensuring that the pouring port of mold shells of different heights is always in the optimal alignment position after entering the vacuum melting furnace 40, thereby ensuring smooth filling of molten metal. When the mold shell is hung on the mold shell positioning fixture 403, there is a certain gap between its bottom and the mold shell receiving plate 401. This gap is used to meet the mold shell positioning operation within a certain size range. Then, the rotating lifting shaft is controlled to drive the mold shell receiving plate 401 to slide upward along the limiting shaft 402. Due to the weight of the mold shell, it and the guide wheel mounting block 406 will not move upward synchronously with the receiving plate. At this point, the receiving steel plate and the fixed bracket 404 on it move upwards, while the guide wheel mounting block 406 remains stationary due to the gravity of the mold shell. The guide wheels on both sides move relative to the V-shaped guide rail 405, and the racks 411 on both sides overcome the friction caused by the preload of the springs 410 of the limiting pins 408 and move upwards synchronously until the top of the receiving steel plate contacts the bottom of the mold shell. At this point, the receiving steel plate lifts the mold shell, and the entire weight of the mold shell is borne by the receiving steel plate. The positioning unit at the pouring cup only serves to prevent lateral displacement. Under the force of the springs 410, the two limiting pins 408 re-engage into the adjacent tooth gaps of the racks 411, achieving positioning. Locking is engaged, at which point the mold housing positioning clamp 403 and the receiving plate form a rigid connection. As the receiving plate continues to move upward, it drives the mold housing to rise synchronously until the mold housing pouring port is completely aligned with the pouring channel of the vacuum melting furnace 40. After the pouring operation is completed, the rotating lifting shaft drives the mold housing receiving plate 401 downward. The mold housing moves downward synchronously with the receiving plate. When the receiving plate descends to the point where the guide wheel mounting block 406 contacts the top of the limiting shaft 402, the guide wheel mounting block 406 stops descending, causing the mold housing positioning clamp 403 connected to it and the attached mold housing to stop descending simultaneously. Meanwhile, the receiving plate continues to descend under the drive of the rotating lifting shaft. At this time, the fixed bracket 40... 4. As the receiving plate moves downwards synchronously, the V-shaped guide rail 405 slides relative to the guide wheel. The two racks 411 overcome the friction caused by the preload of the spring 410 of the limiting pins 408 and move downwards synchronously until the receiving plate reaches its initial position. At this point, the two limiting pins 408, under the force of the spring 410, re-engage in the adjacent tooth gaps of the racks 411, achieving positioning and locking again. This ensures the mold shell remains stable during disassembly or replacement. The entire adaptive adjustment process requires no manual intervention. Although the starting height of the bottom is different for mold shells of different heights, it effectively ensures that the suspension point of the pouring cup of all mold shells is at the same height. After obtaining the current mold shell identification information, the control system retrieves its height data H from the database and automatically calculates the additional compensation stroke Δh required to lift the receiving plate (where Δh = H). 标准行程 - H 实际行程This can be determined through calibration, ensuring that the final stopping position of the receiving plate guarantees that the upper surface of the pouring cups of all mold shells is on the same pouring plane as required by the process. This design cleverly transforms the compensation for height differences into program control, with a simple and reliable mechanical structure, achieving high-precision pouring positioning. The positioning error can be reduced by more than 80% compared to traditional fixed fixtures.

[0061] The adaptive adjustment mechanism in this embodiment cleverly integrates height compensation with mechanical locking. The V-shaped guide rail 405 and guide wheel provide smooth, low-friction vertical guidance. The rack 411 and the spring 410 preloaded limit pin 408 form a unidirectional upward sliding, reverse-locking mechanism. When the receiving plate lifts the mold shell, this mechanism allows the positioning fixture to be fixed relative to the receiving plate, achieving rigid connection and precise positioning; when the receiving plate descends and resets, the mechanism allows the positioning fixture to remain at the top, facilitating the robot's next shell attachment. The entire process is purely mechanical and automatic, with fast response, high reliability, and no need for additional sensors or power, making it particularly suitable for harsh environments such as vacuum and high temperatures.

[0062] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0063] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A method for enabling automated casting of an aeroengine equiaxed blade, the method comprising: The method comprises the following steps: ​ S1, mold loading: placing the to-be-poured mold shell at the loading position of the mold loading station (10); S2, mold shell clamping and identification: the mold shell transfer robot (20) goes to the mold shell taking position of the mold loading station (10) to clamp the mold shell, and performs mold shell presence check and mold shell information identification comparison after taking the mold shell; S3, mold shell preheating: the mold shell transfer robot (20) transfers the mold shell that has completed information comparison and places it in the mold shell preheating furnace (30) for preheating; S4, mold shell transfer and pouring: after preheating is completed, the mold shell transfer robot (20) takes the mold shell from the mold shell preheating furnace (30) and transfers it to be placed in the casting chamber of the vacuum melting furnace (40) for vacuum pouring; S5, mold shell taking out and heat preservation: after pouring is completed, the mold shell transfer robot (20) takes the mold shell with the casting from the vacuum melting furnace (40) and transfers it to be placed at the transfer mechanism (60) position of the mold shell heat preservation unloading station (50), and the transfer mechanism (60) sends the mold shell into the corresponding heat preservation warehouse position for heat preservation and slow cooling; S6, mold shell transfer unloading: after heat preservation is completed, the mold shell transfer robot (60) of the mold shell heat preservation unloading station (50) transfers the cooled mold shell to the AGV forklift, and the AGV forklift transports the mold shell to the next process.

2. A system for enabling automated casting of an aeroengine equiaxed blade, the system comprising: The method for realizing the automatic pouring of eutectic blades such as aero-engine blades as claimed in claim 1 comprises a mold loading station (10), a mold transfer robot (20), a mold preheating furnace (30), a vacuum melting furnace (40), and a mold heat preservation unloading station (50). The mold transfer robot (20) is used to transfer the mold shell to the mold loading station (10), the mold preheating furnace (30), the vacuum melting furnace (40), or the transfer mechanism (60) of the mold heat preservation unloading station (50). The mold loading station (10) comprises a loading platform (101) provided with a loading tray (102) for bearing the mold shell. The loading tray (102) is placed on a loading sliding block (104) in sliding cooperation with a loading sliding rail (103) on the loading platform (101). An upper loading driving cylinder (105) is fixedly arranged on the loading platform (101), and the extension shaft of the upper loading driving cylinder (105) is fixedly connected with the loading tray (102).

3. The system of claim 2, wherein, The upper feeding tray (102) is provided with a "V"-shaped guide groove (106) on each side, the upper feeding platform (101) is provided with a centering mechanism (70) at a position opposite to the "V"-shaped guide groove (106) in the upper feeding tray (102), the centering mechanism (70) comprises a centering plate (701), the centering plate (701) is slidably connected with a centering slide rail (703) on the upper feeding platform (101) through a centering slide block (702), the upper feeding platform (101) is further provided with a centering driving cylinder (704), a telescopic shaft of the centering driving cylinder (704) is fixedly connected with the centering plate (701), and a profile shape of the centering plate (701) on a side opposite to the "V"-shaped guide groove (106) is matched with a profile shape of the "V"-shaped guide groove (106).

4. The system of claim 2, wherein, The formwork transfer robot (20) comprises an articulated mechanical arm (201) and an end effector, the end effector comprises a clamping mounting base (203) fixedly connected with the articulated mechanical arm (201) and a clamping mechanism arranged on the clamping mounting base (203), the clamping mechanism comprises two symmetrically arranged clamping arms (204), one end of each of the two clamping arms (204) is fixedly provided with a formwork clamp (205), and the other end of each of the two clamping arms (204) is connected with the clamping mounting base (203) through a clamping driving mechanism.

5. The system of claim 4, wherein: The clamping driving mechanism comprises a clamping driving motor (206) and two "L"-shaped driving members (207), the clamping driving motor (206) is fixed on the clamping mounting base (203), a driving gear (208) is fixedly connected to an output shaft of the clamping driving motor (206), the driving gear (208) is meshed with a driving rack (209), the clamping mounting base (203) is fixedly provided with a clamping driving slide rail (210), the clamping driving slide rail (210) is slidably provided with a clamping driving slide block (211), the driving rack (209) is fixedly connected with the clamping driving slide block (211), one end of the clamping driving slide block (211) is fixedly provided with a clamping driving shaft (212), one end of each of the two "L"-shaped driving members (207) is movably hinged to one end of the clamping driving shaft (212), the other end of each of the two "L"-shaped driving members (207) is fixedly connected with the two clamping arms (204), respectively, and the turning portions of the two "L"-shaped driving members (207) are hinged to the clamping mounting base (203), respectively.

6. The system of claim 5, wherein: The end effector further comprises a pressing plate mechanism, the pressing plate mechanism comprises a pressing plate (213) and a pressing plate mounting seat (214), the pressing plate (213) is arranged on the pressing plate mounting seat (214), the pressing plate mounting seat (214) is connected with the clamping mounting seat (203) through a pressing plate lifting mechanism (80), the pressing plate lifting mechanism (80) comprises lifting support plates (801) arranged on both sides of the pressing plate mounting seat (214), the lifting support plates (801) are fixedly connected with the clamping mounting seat (203), lifting sliding grooves (802) are arranged on the lifting support plates (801), the pressing plate mounting seat (214) is in sliding fit with the lifting sliding grooves (802), lifting sliding rails (803) parallel to the lifting sliding grooves (802) are further arranged on the lifting support plates (801), the pressing plate mounting seat (214) is in sliding fit with the lifting sliding rails (803) through lifting sliding blocks (804), and lifting driving mechanisms (90) for driving the lifting sliding blocks (804) to move along the lifting sliding rails (803) are arranged on the lifting support plates (801).

7. The system of claim 2, wherein, The formwork heat preservation unloading station (50) is a high-temperature-resistant stereoscopic warehouse, comprising a plurality of independent heat preservation stations (501) and a transfer mechanism (60) for storing the poured formwork into a specified heat preservation station (501) or taking out the formwork from the specified heat preservation station (501), the transfer mechanism (60) is a stacker (13) capable of moving in four degrees of freedom X, Y, Z and R, each heat preservation station (501) is a closed high-temperature-resistant chamber, and a high-temperature-resistant gate (502) capable of being opened and closed is arranged on the side opposite to the stacker (13), one side of the gate (502) is connected with the heat preservation station (501) through a hinge, and the other side is driven to open and close through an electric push rod (503); The stacker (13) comprises an X-direction guide rail (1301) mounted on a fixed frame (1302), an X-direction sliding seat (1303) in sliding fit with the X-direction guide rail (1301), a Y-direction guide rail (1304) fixedly arranged on the X-direction sliding seat (1303), a Y-direction sliding seat (1305) arranged on the Y-direction guide rail (1304), a Z-direction column (1306) rotatable in a circumferential direction on the Y-direction sliding seat (1305), a Z-direction sliding table (1307) capable of moving up and down along a Z-direction sliding rail (1322) on the Z-direction column (1306) arranged on the Z-direction column (1306), and a fork plate (1308) for carrying a tray mounted on the Z-direction sliding table (1307); The fixed frame (1302) is fixedly provided with an X-direction rack (1309) parallel to the X-direction guide rail (1301), and the X-direction sliding seat (1303) is provided with an X-direction walking gear (1311) driven by a servo motor (1310); and the X-direction walking gear (1311) is in meshing fit with the X-direction rack (1309). A Y rack (1312) parallel to the Y guide rail (1304) is fixed on the X slide (1303), and a Y walking gear (1314) driven by a servo motor two (1313) is installed on the Y guide rail (1304), and the Y walking gear (1314) is engaged with the Y rack (1312); The Z column (1306) is rotatably connected with the Y slide (1305), a rotating drive gear one (1315) is fixed on the Z column (1306), and the rotating drive gear one (1315) is engaged with a rotating drive gear two (1317) fixed on the output shaft end of a rotating drive motor (1316) installed on the Y slide (1305); A Z guide rail (1318) and a Z rack (1319) parallel to the Z guide rail (1318) are fixed on the Z column (1306) and are in sliding cooperation with the Z slide (1307), a Z walking gear (1321) driven by a servo motor three (1320) is installed on the Z slide (1307), and the Z walking gear (1321) is engaged with the Z rack (1319).

8. The system of claim 7, wherein, The formwork heat preservation unloading station (50) further comprises a tray carrying table (504) for receiving the high-temperature formwork unloaded from the heat preservation station, a plurality of supporting plates (505) for fixing the trays (508) are arranged on the tray carrying table (504), and a plurality of tray positioning pins (506) are fixed on the tray carrying table (504), and each tray positioning pin (506) is matched with a positioning groove (507) at the edge of the supporting plate (505).

9. The system of claim 2, wherein, A formwork positioning self-adaptive tool is arranged in the casting chamber of the vacuum melting furnace (40), the formwork positioning self-adaptive tool comprises a formwork steel receiving disc (401) and a limiting shaft (402) in sliding cooperation with the formwork steel receiving disc (401), the bottom of the limiting shaft (402) is fixedly connected with the bottom of the casting chamber of the vacuum melting furnace (40), the formwork steel receiving disc (401) is connected with a rotating lifting shaft in the vacuum melting furnace (40), a formwork positioning clamp (403) is arranged on the formwork steel receiving disc (401), and the formwork positioning clamp (403) is connected with the formwork steel receiving disc (401) through a self-adaptive adjusting mechanism.

10. The system of claim 9, wherein, The self-adapting adjusting mechanism comprises fixed supports (404) symmetrically arranged on both sides of the limiting shaft (402), the bottom of the fixed support (404) is fixedly connected with the formwork steel disc (401) respectively, V-shaped guide rails (405) extending along the vertical direction are further arranged on the fixed support (404) respectively, a guide wheel mounting block (406) is further arranged between the two V-shaped guide rails (405), the guide wheel mounting block (406) is fixedly connected with the formwork positioning clamp (403), guide wheels (412) rolling matched with the two V-shaped guide rails (405) are arranged on the two side edges of the guide wheel mounting block (406) respectively, a limiting block (407) is further fixedly arranged on the guide wheel mounting block (406), two limiting pins (408) capable of moving relative to the horizontal direction are arranged on the limiting block (407), the two limiting pins (408) are slidingly matched with limiting grooves (409) on the limiting block (407) respectively, one end of the two limiting pins (408) close to each other is connected through a spring (410), the other end of the limiting pins (408) away from each other is clamped in the tooth gap of two fixedly arranged gear racks (411) on the two fixed supports (404) respectively, and the bottom of the limiting block (407) is opposite to the top of the limiting shaft (402).

Images