Sand core processing center with hybrid configuration
The hybrid sand core processing center solves the problems of sand core processing accuracy and efficiency through a hybrid robot with parallel and serial mechanisms and a multi-axis linkage system, achieving high-efficiency sand core processing and expanding application scenarios. It also solves the problem of sand dust protection and realizes painless industrial upgrading.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- SUZHOU MINGZHI TECH CO LTD
- Filing Date
- 2026-04-30
- Publication Date
- 2026-07-21
Smart Images
Figure CN122425163A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of subtractive manufacturing equipment for casting sand molds, and in particular to a hybrid sand core processing center. Background Technology
[0002] In the foundry industry, digital subtractive machining of sand molds or sand cores has become a key process for rapidly developing castings and shortening trial production cycles. Currently, the industry mainly uses two types of machining equipment. One type is general-purpose CNC machine tools, which have good rigidity and precision, but the spindle and feed system are designed for metal cutting, resulting in high torque and low feed speed. This cannot match the low-strength, high-feed cutting requirements of sand cores, leading to low machining efficiency and difficulty in meeting the requirements of rapid trial production. The other type is six-axis industrial robots, which have the advantages of good flexibility and large working space. However, their overall structure is a series open type, which lacks rigidity and results in large trajectory deviations under high-speed cutting, leading to unstable dimensional accuracy in sand core machining. Summary of the Invention
[0003] The purpose of this invention is to provide a hybrid sand core processing center to solve the problem that existing sand core processing centers cannot simultaneously achieve processing accuracy and efficiency.
[0004] This invention provides a hybrid sand core processing center, comprising: The hybrid robot includes a parallel mechanism and a serial mechanism. The serial mechanism is mounted on the moving platform of the parallel mechanism, and the end of the serial mechanism is equipped with a spindle for driving the cutting tool. Automatic tool changing system is used to automatically change tools for the spindle of a hybrid robot; The movable workbench, set in the processing area of the hybrid robot, is used to clamp, move, and rotate sand core workpieces; Fixed protective structure for providing sand and dust protection for mobile workbenches; The control system is used to control the hybrid robot, the movable worktable, and the automatic tool exchange system. The hybrid robot and the movable worktable work together to form a multi-axis linkage machining system.
[0005] In an optional implementation, the parallel mechanism is a three-degree-of-freedom parallel mechanism, and the series mechanism is a two-degree-of-freedom rotational series mechanism.
[0006] In an optional implementation, the parallel mechanism is a 3-PRS parallel mechanism, and the series mechanism is a series mechanism of A-axis oscillation and C-axis rotation.
[0007] In an optional implementation, the housings of the parallel and series mechanisms are made of lightweight materials.
[0008] In an optional implementation, the movable worktable includes a moving mechanism and a rotary worktable disposed on the moving mechanism.
[0009] In an optional implementation, the fixed protective structure includes a protective cover disposed on the moving mechanism.
[0010] In an optional implementation, the drive chain of the parallel mechanism of the hybrid robot includes an outer casing and an internal pressurization system.
[0011] In an optional implementation, the automatic tool changing system includes a tool magazine and a tool changing mechanism that moves between the tool magazine and the machining area of the hybrid robot.
[0012] In an optional implementation, a core clamp is provided on the movable worktable.
[0013] In an optional implementation, the maximum feed rate of the hybrid robot's spindle is configured to be no less than 90 m / min.
[0014] The hybrid sand core processing center provided by this invention has the following beneficial effects: 1. Traditionally, sand core machining centers mainly use general-purpose CNC machine tools to meet the high precision requirements of sand core machining, while hybrid robots are mainly used in metal cutting. This invention creatively applies hybrid robots to sand core machining, which is the first of its kind in the industry. Sand core machining requires high precision while also having the characteristics of low material compressive strength, low cutting force requirements, and low machining torque requirements. Hybrid robots can make full use of their own structural characteristics to significantly increase the cutting feed rate. Compared with the current mainstream metal cutting machining scenarios, hybrid robots can better leverage their advantages when applied to sand core machining, ensuring machining accuracy while significantly improving machining efficiency. This not only improves the machining efficiency of sand core machining centers but also broadens the industrial application scenarios of hybrid robots. 2. Compared with other process improvements such as 3D printing that can improve the efficiency of sand core processing, this invention has little impact on the existing structure of the production line, upstream and downstream equipment, and process flow. It can directly replace the existing sand core processing center using general CNC machine tools in practical applications, and can achieve painless industrial upgrading. 3. The hybrid robot and the movable worktable work together to form a multi-axis linkage machining system, which further improves the machining freedom of the sand core machining center and makes it easy to complete multiple machining operations in one clamping. 4. While improving processing efficiency, this invention also results in a greater amount of sand and dust during the sand core processing process compared to traditional processing centers. The traditionally used mobile dustproof structure cannot effectively cope with the increased amount of sand and dust, which can easily cause the moving mechanism to jam. The fixed protective structure can enhance the sand and dust protection effect and effectively solve the problem of a large amount of sand and dust generated by high processing efficiency. Attached Figure Description
[0015] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.
[0016] Figure 1 This is a schematic diagram of the overall structure of the hybrid sand core processing center provided in an embodiment of the present invention; Figure 2 This is a top view of the hybrid sand core processing center provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the hybrid robot in the hybrid sand core processing center provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of the movable worktable of the hybrid sand core processing center provided in an embodiment of the present invention.
[0017] Icons: 100-Hybrid robot; 110-Parallel mechanism; 111-Moving platform; 120-Serial mechanism; 130-Spindle; 200-Automatic tool exchange system; 300-Moving worktable; 400-Fixed protective structure; 210-Tool magazine; 220-Tool changing mechanism; 310-Rotary worktable; 320-Sand core clamp. Detailed Implementation
[0018] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.
[0019] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.
[0020] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.
[0021] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this invention is in use. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention. In addition, the terms "first," "second," "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.
[0022] Furthermore, terms such as "horizontal," "vertical," and "sag" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.
[0023] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.
[0024] The following detailed description of some embodiments of the present invention is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.
[0025] This invention provides a hybrid sand core processing center, such as... Figure 1 , Figure 2 and Figure 3 As shown, the system includes: a hybrid robot 100, comprising a parallel mechanism 110 and a serial mechanism 120, the serial mechanism 120 being mounted on the moving platform 111 of the parallel mechanism 110, and a spindle 130 for driving the cutting tool at the end of the serial mechanism 120; an automatic tool changing system 200 for automatically changing the cutting tool on the spindle 130 of the hybrid robot 100; a movable worktable 300, located in the processing area of the hybrid robot 100, for clamping, moving, and rotating the sand core workpiece 500; a fixed protective structure 400 for providing sand and dust protection for the movable worktable 300; and a control system (not shown) for controlling the hybrid robot 100, the movable worktable 300, and the automatic tool changing system 200. The hybrid robot 100 and the movable worktable 300 cooperate to form a multi-axis linkage processing system.
[0026] in, Figure 1 This is a schematic diagram of the overall structure of the hybrid sand core processing center provided in an embodiment of the present invention. Figure 2 This is a top view of the hybrid sand core processing center provided in an embodiment of the present invention. Figure 1 and Figure 2 Some structural components of the hybrid sand core processing center that are not related to this application have been selectively omitted, such as the outer shell, in order to fully illustrate the specific structural features of this application. Figure 3 This is a schematic diagram of the structure of the hybrid robot 100 in the hybrid sand core processing center provided in an embodiment of the present invention.
[0027] Traditionally, sand core machining centers mainly use general-purpose CNC machine tools to meet the high precision requirements of sand core machining. Hybrid robots 100 are primarily used in metal cutting. This invention creatively applies hybrid robots 100 to sand core machining, a first in the industry. Sand core machining requires high precision while also addressing the characteristics of low material compressive strength, low cutting force requirements, and low machining torque requirements. Hybrid robots 100 can fully utilize their structural features to significantly increase cutting feed speed. Compared to current mainstream metal cutting scenarios, hybrid robots 100 can better leverage their advantages when applied to sand core machining, ensuring machining accuracy while significantly improving machining efficiency. This not only enhances the machining efficiency of sand core machining centers but also broadens the industrial application scenarios of hybrid robots 100.
[0028] Compared to other process improvements that can enhance sand core processing efficiency, such as 3D printing, this invention has minimal impact on existing production line structures, upstream and downstream equipment, and process flows. It can directly replace existing sand core processing centers using general-purpose CNC machine tools in practical applications, enabling seamless industrial upgrading. Specifically, taking 3D printing as an example, while it boasts high processing efficiency, it also faces significant limitations, including its unsuitability for cold core processes and limitations on printing materials. The hybrid sand core processing center provided in this embodiment, however, only adjusts the sand core subtractive processing stage, without affecting other process stages. It exhibits high production adaptability, and in actual testing, the processing efficiency of the hybrid sand core processing center provided in this embodiment even surpasses that of 3D printing.
[0029] The hybrid robot 100 and the movable worktable 300 work together to form a multi-axis linkage machining system, which further improves the machining freedom of the sand core machining center and makes it easy to complete multiple machining operations in one clamping. After improving the machining efficiency, the amount of sand and dust in the sand core machining process is also greater than that of traditional machining centers. The dustproof structure used in the traditional movable process cannot effectively cope with the increased amount of sand and dust, which can easily cause the moving mechanism to jam. The fixed protective structure 400 can enhance the sand and dust protection effect and effectively solve the problem of a large amount of sand and dust generated by high machining efficiency.
[0030] In this embodiment, as Figure 3 As shown, in the hybrid robot 100, the parallel mechanism 110 is a three-degree-of-freedom parallel mechanism 110, and the serial mechanism 120 is a two-degree-of-freedom rotational serial mechanism 120. More specifically, the three-degree-of-freedom parallel mechanism 110 is a 3-PRS parallel mechanism 110, and the two-degree-of-freedom rotational serial mechanism 120 is a serial mechanism 120 with A-axis oscillation and C-axis rotation. The specific form of the hybrid robot 100 provided in this embodiment meets the processing requirements of sand core machining. The 3-PRS parallel mechanism 110 has high rigidity, high dynamic response, and trajectory accuracy. The serial A-axis oscillation and C-axis rotation can expand the attitude range and realize the machining of complex cavities.
[0031] In other embodiments provided by the present invention, the hybrid robot 100 may also employ a six-degree-of-freedom parallel mechanism 110, such as a 6-UPS or 6-SPS configuration, or a Delta parallel mechanism 110. The serial mechanism 120 may be a serial wrist with three rotational degrees of freedom, a single-degree-of-freedom swing head, a telescopic spindle 130 unit, etc. The three-degree-of-freedom parallel mechanism 110 may be a 3-RPS parallel mechanism 110, a Triaglide or Tricept mechanism, etc.
[0032] In this embodiment, the shells of the parallel mechanism 110 and the serial mechanism 120 in the hybrid robot 100 are made of lightweight materials to reduce their weight, adapt to their higher operating speed, and reduce operational losses due to weight. In the mainstream metal cutting processing scenarios of the hybrid robot 100, due to the high structural strength of metal, the hybrid robot 100 cannot use higher operating speeds. Therefore, its weight has a lower impact on processing efficiency than in this embodiment. The lightweight design of the hybrid robot 100 in this embodiment can bring greater improvements. Specifically, lightweight materials can be aluminum alloys, magnesium alloys, carbon fiber composites, titanium alloys, engineering plastics, etc.
[0033] In this embodiment, the movable worktable 300 includes a moving mechanism and a rotary worktable 310 disposed on the moving mechanism, and the fixed protective structure 400 includes a protective cover disposed on the moving mechanism. Preferably, the moving mechanism includes a fixed part and a moving part. The fixed part is fixedly disposed on the machine tool base of the hybrid sand core processing center, and the moving part is movable relative to the fixed part. The rotary worktable 310 is disposed on the moving part, and the protective cover is fixedly disposed on the fixed part and located between the moving part and the fixed part. The fixed part of the moving mechanism includes two guide rails, and the moving part of the moving mechanism includes a slider that cooperates with the guide rails. The moving part is also provided with a sliding groove. The fixed protective structure 400 includes a side plate that slidably passes into the sliding groove. The cooperation between the sliding groove and the side plate enables the fixed protective structure 400 to be located between the moving part and the fixed part, while the slider can cooperate normally with the guide rails, and the side plate can also prevent sand and dust from entering between the guide rails and the slider. Each guide rail mates with two sliders. The moving part includes a base and a slider mounting base. The sliders and slider mounting bases mate one-to-one, and a groove is formed between the slider mounting base and the base.
[0034] In this embodiment, the drive chain of the parallel mechanism 110 of the hybrid robot 100 includes an outer casing and an internal pressurization system. Specifically, the drive chain includes a fixed component, a moving component, and an outer casing. The outer casing is fixed to the fixed component and maintains a preset fitting gap with the moving component to form a closed inner cavity inside the drive chain. A pressurization pipe is provided inside the closed inner cavity. The pressurization pipe and its connected external pipeline constitute the internal pressurization system. The pressurization pipe is used to introduce air into the closed inner cavity so that the internal air pressure of the closed inner cavity is greater than the external air pressure of the drive chain.
[0035] The traditional application scenario for the hybrid robot 100 combined with a machining center is metal cutting. The metal chips generated during metal cutting are relatively large and intact, and have little impact on the drive chain structure of the hybrid robot 100. However, the sand dust generated during sand core processing is small and easily dispersed, which has a greater impact on the drive chain structure of the hybrid robot 100 and can easily intrude into the internal transmission and guiding structures. By setting a preset fit gap between the outer casing and the moving components, the movement of the moving components can be allowed, while a closed inner cavity can be formed. The internal air pressure of the closed inner cavity is greater than the external air pressure of the drive chain, which can effectively prevent sand dust from intruding into the drive chain and protect the hybrid robot 100 from sand dust.
[0036] In this embodiment, as Figure 1 and Figure 2 As shown, the automatic tool changing system 200 includes a tool magazine 210 and a tool changing mechanism 220, which moves between the tool magazine 210 and the machining area of the hybrid robot 100. Figure 1As shown, in this embodiment, the tool magazine 210 has a multi-layer structure, specifically a two-layer structure. In other embodiments, the tool magazine 210 may also have a single-layer, three-layer, or other specific structures. Figure 2 As shown, a partition structure with a protective door can also be set between the tool magazine 210 and the machining area. The partition structure is used to prevent sand and dust generated during machining from entering the tool magazine 210. When a tool change is required, the protective door is opened, and the tool changing mechanism 220 enters the machining area from the tool magazine 210 area through the protective door to change the tool. After the tool change is completed, the tool changing mechanism 220 retracts back to the tool magazine 210 area through the protective door. After the protective door is closed, the hybrid robot 100 can resume machining.
[0037] In this embodiment, as Figure 4 As shown, the movable workbench 300 is equipped with a sand core clamp 320. The sand core clamp 320 can adopt a multi-point flexible support design to avoid damage to the clamp during the clamping process.
[0038] In this embodiment, the maximum feed rate of the spindle 130 of the hybrid robot 100 is configured to be no less than 90 m / min. In practical applications, thanks to the compatibility of the hybrid robot 100 with sand core processing, the maximum cutting feed rate of the spindle 130 of the hybrid robot 100 can actually reach 90 m / min, and at this time, the processing accuracy can still meet the requirements of sand core processing, thus significantly improving cutting efficiency while ensuring processing quality.
[0039] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.
Claims
1. A hybrid sand core processing center, characterized in that, include: The hybrid robot (100) includes a parallel mechanism (110) and a serial mechanism (120). The serial mechanism (120) is mounted on the moving platform (111) of the parallel mechanism (110), and the end of the serial mechanism (120) is provided with a spindle (130) for driving the cutting tool. Automatic tool changing system (200) for automatically changing tools for the spindle (130) of hybrid robot (100); An active workbench (300) is set in the processing area of the hybrid robot (100) for clamping, moving, and rotating the sand core workpiece (500). A fixed protective structure (400) is provided for sand and dust protection for the movable workbench (300); The control system is used to control the hybrid robot (100), the movable worktable (300) and the automatic tool exchange system (200), wherein the hybrid robot (100) and the movable worktable (300) cooperate to form a multi-axis linkage machining system.
2. The hybrid sand core processing center according to claim 1, characterized in that, The parallel mechanism (110) is a three-degree-of-freedom parallel mechanism (110), and the series mechanism (120) is a two-degree-of-freedom rotational series mechanism (120).
3. The hybrid sand core processing center according to claim 2, characterized in that, The parallel mechanism (110) is a 3-PRS parallel mechanism (110), and the series mechanism (120) is a series mechanism (120) with A-axis swing and C-axis rotation.
4. The hybrid sand core processing center according to claim 2, characterized in that, The housings of the parallel mechanism (110) and the series mechanism (120) are made of lightweight materials.
5. The hybrid sand core processing center according to claim 1, characterized in that, The movable worktable (300) includes a moving mechanism and a rotary worktable (310) disposed on the moving mechanism.
6. The hybrid sand core processing center according to claim 5, characterized in that, The fixed protective structure (400) includes a protective cover disposed on the moving mechanism.
7. The hybrid sand core processing center according to claim 1, characterized in that, The drive chain of the parallel mechanism (110) of the hybrid robot (100) includes an outer casing and an internal pressurization system.
8. The hybrid sand core processing center according to claim 1, characterized in that, The automatic tool exchange system (200) includes a tool magazine (210) and a tool changing mechanism (220), which moves between the tool magazine (210) and the machining area of the hybrid robot (100).
9. The hybrid sand core processing center according to claim 1, characterized in that, The movable workbench (300) is equipped with a sand core clamp (320).
10. The hybrid sand core processing center according to claim 1, characterized in that, The maximum feed speed of the spindle (130) of the hybrid robot (100) is configured to be no less than 90 m / min.