Automatic net placing device and method for a differential pressure casting machine and differential pressure casting machine

Abstract

An automatic web-feeding device and method for a differential pressure casting machine, and the differential pressure casting machine itself, are disclosed. The automatic web-feeding device includes a web-feeding gripper and an automatic web-feeding mechanism. The web-feeding mechanism's fiber web supply mechanism includes: a guide rod through which a fiber web tray is freely inserted, and a first drive cylinder for driving a fork-shaped plate to rise and fall. The fiber web gripper mechanism includes: a first pneumatic gripper with V-shaped fingers for aligning and centering the fiber web relative to the guide rod; a second pneumatic gripper with toothed fingers for clamping the fiber web; a second drive cylinder for driving the second pneumatic gripper to rise, fall, and rotate; and a third drive cylinder for vibrating the toothed fingers to separate and detach excess overlapping fiber web. The rotation and centering mechanism includes: a swing frame capable of rotating between a predetermined web-receiving position and a predetermined web-retrieving position, and a centering plate for receiving the fiber web from the second pneumatic gripper and centering it. This allows for automated web-feeding using a robot.

Description

Technical Field

[0001] This invention relates to the field of differential pressure casting technology, and more specifically to an automatic screen feeding device and method for a differential pressure casting machine, as well as the differential pressure casting machine itself. Background Technology

[0002] Automotive steering knuckles and other components are typically manufactured using differential pressure casting. However, molten aluminum often contains impurities, affecting the quality of the parts. Therefore, a fiber mesh needs to be placed at the injection port of the mold during each casting process to filter impurities from the molten aluminum and ensure the quality of the parts.

[0003] However, existing automatic net-laying devices have certain limitations in use. For example, existing automatic net-laying devices have complex structures, and there are problems with the placement effect of the filter screen during the net-laying process. In addition, the net feeding part of the automatic net-laying device has poor stability, and the net-laying process cannot be visually inspected. Summary of the Invention

[0004] The purpose of this invention is to provide an automatic net-feeding device for a differential pressure casting machine, which may include a robot and gripper assembly, an automatic net-feeding mechanism, robot mounting accessories, and a safety fence.

[0005] According to one aspect of the present invention, an automatic web feeding device for a differential pressure casting machine is provided, comprising: an automatic web feeding mechanism having a web feeding mechanism, a web gripper mechanism, and a rotary centering mechanism, and at least one web feeding gripper for picking up the web from the rotary centering mechanism and placing it into the mold of the differential pressure casting machine.

[0006] The fiber web supply mechanism includes: a guide rod for passing through the fiber web to stack the fiber web on a fiber web tray, and a first drive cylinder for driving the lifting and lowering of a fork plate to drive the lifting and lowering of the fiber web tray that cooperates with the fork plate, wherein the fiber web tray is passed through the guide rod in a manner that allows it to move freely up and down.

[0007] The fiber web gripper mechanism includes: a first pneumatic gripper having V-shaped fingers for aligning the fiber web relative to the guide rod; a second pneumatic gripper having toothed fingers for gripping the fiber web; a second drive cylinder for driving the second pneumatic gripper to lift, lower, and rotate; and a third drive cylinder for vibrating the toothed fingers to separate and detach excess overlapping fiber web.

[0008] The rotary centering mechanism includes: a swing frame capable of rotating between a predetermined receiving position and a predetermined taking position, and a centering disc for receiving the fiber web from the second pneumatic gripper and centering it.

[0009] According to another aspect of the present invention, an automatic screen-laying method for a differential pressure casting machine is provided, which is implemented using the above-mentioned automatic screen-laying device, comprising the following steps: rotating a guide rod fitted with a fiber mesh to the lifting position of a first drive cylinder; the first drive cylinder working drives the fiber mesh tray and the fiber mesh to move upwards to the correct position and stop; the first pneumatic gripper actuates to drive the V-shaped fingers to swing and close, aligning the fiber mesh; the V-shaped fingers swing and open; the second pneumatic gripper actuates to drive the toothed fingers to close and clamp the fiber mesh; the fork-shaped plate moves the fiber mesh tray and the fiber mesh downwards a predetermined distance; and the third drive cylinder strikes the toothed fingers. The finger seats separate the overlapping fiber webs through vibration. The second drive cylinder lifts the toothed fingers that grasp the fiber web to the upper position. The swing frame rotates to the designated position for receiving the web. The second drive cylinder descends to the corresponding designated position for receiving the web. The toothed fingers open and place the fiber web on the centering plate. The fiber web is centered on the centering plate. The swing frame rotates and moves the fiber web to the designated position for picking up the web. The robot drives the web-laying gripper to the designated position for picking up the fiber web on the centering plate. During the opening of the upper and lower mold plates of the differential pressure machine, the robot drives the web-laying gripper to place the fiber web into the mold of the differential pressure machine in sequence.

[0010] According to the present invention, a differential pressure casting machine is provided, including the above-described automatic screen feeding device.

[0011] Thus, this invention proposes a novel net feeding mechanism that can solve the above-mentioned drawbacks by automatically feeding the net with a robot. In particular, it relates to a robot equipped with 6 net feeding operators on an automatic production line for aluminum alloy casting differential pressure machines, which grabs the fiber net from the automatic net feeding machine and puts it into the mold of the differential pressure machine. Attached Figure Description

[0012] Figure 1 This is a top view of the overall installation of the automatic screen feeding device of the differential pressure casting machine according to an embodiment of the present invention.

[0013] Figure 2 This is a front view of the robot and net-laying gripper assembly of the automatic net-laying device.

[0014] Figure 3 The structure of the automatic net-laying device's net-laying gripper assembly without its protective cover is shown in A as a front view and B as a top view.

[0015] Figure 4 The structure of the net-laying gripper of the automatic net-laying device is shown, where C is the front view, D is the right view, E is the sectional view, F is the front view, and G is the sectional view.

[0016] Figure 5 The main view of the automatic net feeding mechanism of the automatic net laying device is shown.

[0017] Figure 6The structure of the fiber web supply mechanism of the automatic web feeding mechanism of the automatic web feeding device is shown, where J is the front view, K is the top view, and L is the left view.

[0018] Figure 7 The structure of the fiber web gripper mechanism of the automatic web feeding mechanism of the automatic web feeding device is shown, where M is the front view, N is the left view, and O is the bottom view.

[0019] Figure 8 The structure of the rotating centering mechanism of the automatic net feeding mechanism of the automatic net feeding device is shown, where P is the front view, Q is the top view, and AA and BB are the corresponding sectional views.

[0020] Figure 9 A top view of the automatic net feeding mechanism of the automatic net-laying device is shown.

[0021] Figure 10 An individual perspective view of a fiber web is shown. Detailed Implementation

[0022] Exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. The exemplary embodiments described below and illustrated in the drawings are intended to teach the principles of the invention, enabling those skilled in the art to implement and use the invention in various environments and for various applications. Therefore, the scope of protection of the present invention is defined by the appended claims, and the exemplary embodiments are not intended, and should not be considered, a limiting description of the scope of protection of the present invention. Furthermore, for ease of description, the dimensions of the various parts shown in the drawings are not necessarily drawn to actual scale; the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions; and descriptions of orientation, such as the longitudinal direction corresponding to the length of the main body, and orientations or positional relationships indicated by up, down, left, right, top, bottom, etc., are based on the orientations or positional relationships shown in the drawings and are only for the convenience of describing the present invention and simplifying the description, and are not intended to 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 the present invention. Unless otherwise specifically stated, the order and numerical values ​​of the components and assembly steps set forth in the embodiments do not limit the scope of the present invention. Furthermore, any numerical range stated herein is intended to include all subranges contained therein, and a numerical range expressed as "value A to value B" refers to the range including endpoint values ​​A and B. Those skilled in the art will understand that terms such as "the nth" and "Sn" in this invention are used only to distinguish different steps, devices, or modules, and do not represent any specific technical meaning, nor do they indicate a necessary logical order between them. For example, steps two and three can be interchanged or performed in parallel.

[0023] like Figure 1As shown, an automatic screen feeding device for a differential pressure casting machine according to an exemplary embodiment of the present invention mainly consists of two parts: a robot and screen feeding gripper assembly 1, and an automatic screen feeding mechanism 2. It can be used to automatically feed screens to a differential pressure machine 3 on an automatic production line for aluminum alloy casting differential pressure machines. The robot, with 6 grippers, picks up 6 fiber screens 114 for filtering on the automatic screen feeding mechanism 2, and places the fiber screens 114 into the differential pressure machine mold in sequence. The state of screen feeding is detected by visual tracking, thereby realizing a fast and stable process of supplying and placing fiber screens.

[0024] In short, the robot disclosed in this invention is equipped with six (or fewer or more) grippers that can grasp fiber webs 114 from the automatic web feeding mechanism 2 and automatically place them into the mold of the differential pressure machine 3. First, the fiber webs 114 can be manually placed onto the guide rods 204 of the pneumatic indexing plate 201 for preparation. Then, the drive cylinder 205 moves the fiber web tray 203 upward to a predetermined position. The V-shaped fingers 219 swing and close, straightening and centering the fiber webs 114, while the toothed fingers 214 close to clamp the fiber webs 114 to be grasped. The feeding cylinder 212 taps the finger seats 213 to separate overlapping fiber webs 114, i.e., using vibration and gravity to separate and throw excess fiber webs 114 onto the fiber web tray 203. The three-axis cylinder 210 lifts to the upper position. The swing frame 227 of the rotation centering mechanism 2C rotates counterclockwise to the predetermined web receiving position. The three-axis cylinder 210 descends to the predetermined position corresponding to the web receiving, the toothed fingers 214 open, and place the fiber web 114 onto the centering plate 229 of the rotating centering mechanism 2C, centering the fiber web 114 on the centering plate 29. The swing frame 227 rotates clockwise to the predetermined position for web retrieval. The robot 102 drives the six web-laying grippers 105 to retrieve the web sequentially. When the upper and lower mold plates of the differential pressure machine open, the robot 102 drives the web-laying grippers 105 to place the fiber web 114 into the differential pressure machine mold sequentially, as detailed later.

[0025] <Robot and Net-Laying Grappling Hand Components>

[0026] like Figure 2 As shown, the robot and net-laying gripper assembly 1 mainly consists of a net-laying gripper assembly 100, a robot base 101, a robot 102, and a camera unit 112.

[0027] like Figure 3 As shown in Figure A, in the net-casting gripper assembly 100, the net-casting gripper base plate 103 is connected to the robot 102. The net-casting gripper fixing seat 104 is connected to the net-casting gripper base plate 103, and six net-casting grippers 105 are fixed on the net-casting gripper fixing seat 104. Figure 3 As shown in B, two net-laying grippers 105 are arranged opposite each other on opposite sides along the transverse direction of the net-laying gripper fixing seat 104, and two net-laying grippers 105 are arranged side by side on the end side.

[0028] like Figure 4 As shown, each net-releasing gripper 105 is composed of, for example, a circular cylinder 106 and a fulcrum gripper 107 to perform the actions of gripping the fiber net 114 and releasing the fiber net 114.

[0029] For example, in a circular cylinder 106, the piston rod, fixed seat 109, and hollow guide rod 110 are interconnected. A stroke detection plate 117 is fixed to the hollow guide rod 110, and two microswitches 119 are fixed to the cylinder barrel of the circular cylinder 106. The hollow guide rod 110 can move upwards with the cylinder's movement. Therefore, the movement of the cylinder can drive the stroke detection plate 117 to move up and down, contacting the microswitches 119 to detect the extended and retracted positions of the circular cylinder 106.

[0030] A fiber mesh outer sleeve 113 for embedding in the fiber mesh 114 is fixed on the fixing base 109. The diameter of the fiber mesh outer sleeve 113 is the same as the diameter of the fiber mesh 114.

[0031] The fulcrum gripper 107, the fixed base 109, and the micro switch 111 are interconnected. A finger 108 is fixed to the fulcrum gripper 107. The outer surface of the finger 108 has serrations to ensure tight contact between the upper edge of the fiber web 114 and the finger 108, eliminating the possibility of the fiber web 114 falling off during movement. The fulcrum gripper 107 can be a normally open single-acting cylinder. A finger detection plate 116 is fixed to the finger 108, and the micro switch 111 detects the open and closed position of the fulcrum gripper 107.

[0032] Here, the robot gripper uses a normally open single-acting fulcrum gripper. The position detection of both the cylinder and the fulcrum gripper uses microswitches instead of magnetic switches. Both the cylinder and the fulcrum gripper of the robot gripper are made of high-temperature resistant cylinders to meet the high requirements of the working environment.

[0033] The air duct of the fulcrum gripper 107 and the control line of the micro switch 111 pass through the center hole of the hollow guide rod 110. Thus, when the circular cylinder 106 is activated to release the net, the air duct and control line without any exposed parts move up and down, which can improve the stability of the net release.

[0034] During operation, the pneumatic gripper 107 is in the closed state, and the two fingers 108 are inserted into the upper opening of the fiber web 114. The pneumatically controlled gripper 107 opens, and the two fingers 108 open to grip the fiber web 114. The piston rod of the pneumatically controlled cylinder 106 extends, causing the gripper 107 to extend to the predetermined position. The pneumatically controlled gripper 107 closes, and the fiber web 114 falls vertically. The piston rod of the cylinder 106 causes the gripper 107 to retract, and the gripper 107 closes, completing one work cycle.

[0035] <Automatic Net Delivery Mechanism>

[0036] like Figure 5 , 9 As shown, the automatic net feeding mechanism 2 of the automatic net feeding device mainly consists of three parts: a fiber net supply mechanism 2A, a fiber net gripper mechanism 2B, and a rotating centering mechanism 2C.

[0037] like Figure 6 As shown, the fiber web supply mechanism 2A is designed with four automatically indexing storage bins to store as much fiber web as possible within a limited space. Specifically, the pneumatic indexing plate 201 of the fiber web supply mechanism 2A, and the drive cylinder 205, such as a servo electric cylinder, are fixed on the frame 207. The guide rod 204 is fixed on the turntable 202. The fiber web tray 203 is threaded through the guide rod 204 so that it can move freely up and down. The fiber web 114 is placed on the fiber web tray 203.

[0038] One end of the fork plate 206 has a slot, the width of which is larger than the diameter of the protrusion under the fiber mesh tray 203. The other end of the fork plate 206 is connected to the slider of the drive cylinder 205. The up and down movement of the slider of the drive cylinder 205 drives the fork plate 206 to move up and down. The fork plate 206 drives the fiber mesh tray 203 to move through the slot and its upper side.

[0039] Fiber optic sensor A208 detects the upper position of the moving fiber web 114, and fiber optic sensor B209 detects whether the fiber web 114 has overlapped with more than one fiber web on the guide rod 204.

[0040] like Figure 7 As shown, the gripper fixing plate 211 of the fiber web gripper mechanism 2B is fixed to the piston rod of the three-axis cylinder 210. A thin-type pneumatic gripper B216 is fixed to the top of the other end of the gripper fixing plate 211, and a thin-type pneumatic gripper A215 is fixed to the bottom. The slider of the thin-type pneumatic gripper A215 is connected to the left finger seat 213 and the right-angle connecting plate 221, respectively. The left finger seat 213 and the left toothed finger 214 are connected to the slider of the thin-type pneumatic gripper A215. A miniature threaded cylinder 212 is fixed to the left finger seat 213.

[0041] The fiber web gripper mechanism 2B is designed with a dedicated toothed gripper to stably grip the fiber web on the storage bin, and a V-shaped centering gripper to adapt to various fiber webs and achieve stable gripping. The left toothed finger 214 and the right toothed finger 220 have a serrated structure; during gripping, the serrations of the toothed fingers embed into the outer surface of the fiber web 114, ensuring gripping. The movement of the thin pneumatic gripper B216 drives the left and right swing of the V-shaped finger 219. Specifically, the upper side of the hinge 223 is connected to the right-angle connecting plate 221, and the lower side of the hinge 223 is connected to the right-side finger seat 222. The right-side toothed finger 220 is fixed to the right-side finger seat 222, and the spring plate 224 is fixed to the right-angle connecting plate 221. The movement of the thin pneumatic gripper A215 drives the opening and closing of the left toothed finger 214 and the right toothed finger 220. The push rod 217 is fixed on the slider of the thin pneumatic gripper B216, and the push rod 217, the swing rod 218, and the V-shaped finger 219 are connected to each other.

[0042] The fiber web gripper mechanism 2B is designed with a feeding cylinder 212 to ensure that the fiber web gripper picks up the fiber web 114 and ensures that there is no overlap of the web. Specifically, the miniature threaded cylinder 212 is controlled by a solenoid valve to move up and down intermittently, striking the left finger seat 213 to make it vibrate, which vibrates the fiber web 114 stuck to the bottom of the fiber web 114 clamped on the finger and shakes it down.

[0043] like Figure 8 The rotating centering mechanism 2C of the fiber web shown ensures that the fiber web 114 is centered on the centering disk 229, thereby ensuring stable gripping of the fiber web 114 by the robot gripper. Specifically, the servo motor 225, servo motor mount 226, and swing frame 227 of the rotating centering mechanism 2C of the web feeding mechanism are interconnected. The center positioning shaft 233 is fixed on the swing frame 227, the bearing 234 is mounted on the center positioning shaft 233, the center sleeve 235 is mounted on the bearing 234, and the upper part of the center sleeve 235 is connected to the centering disk 229, allowing the centering disk 229 to rotate around the center positioning shaft 233. The cylinder 228 is fixed on the swing frame 227, and the piston rod of the cylinder 228 is connected to the centering disk 229. The action of the cylinder 228 drives the centering disk 229 to swing back and forth. The centering plate 229 is equipped with six roller bearings 231. A swing arm 232 is fitted onto the roller bearings 231, and a circular finger 230 is mounted on the swing arm 232. The centering plate 229 has six arc-shaped slots through which the circular finger 230 passes. The swinging motion of the centering plate 229 pushes the circular finger 230 along the arc-shaped slots towards the center of the centering plate 229, thus pushing the fiber web 114 to the center of the centering plate 229. The action of the servo motor 225 drives the swing frame 227 to swing, delivering the aligned fiber web 114 to the predetermined position.

[0044] <Visual Inspection>

[0045] The robotic gripper is designed with a visual inspection function, using camera unit 112 to track and detect the state of the fiber web.

[0046] While the net is being laid, the camera unit 112 operates to visually detect the state of the fiber net 203 placed in the differential pressure mold, facilitating the traceability of the quality of the differential pressure casting.

[0047] <Operation example>

[0048] During operation, 1000 fiber webs 114 are manually loaded onto four guide rods 204. The pneumatic indexing plate 201 rotates, moving the guide rods 204 filled with fiber webs 114 to the lifting position of the drive cylinder 205. The drive cylinder 205 moves the fiber web tray 203 and the fiber webs 114 upwards until the fiber optic sensor A208 receives a signal. The movement of the thin gripper B216 causes the V-shaped fingers 219 to swing and close, straightening and centering the fiber webs 114. The V-shaped fingers 219 swing open, and the movement of the thin gripper A215 causes the left toothed fingers 214 and the right toothed fingers 220 to close and clamp the fiber webs 114. The fork plate 206 moves the fiber web tray 203 and the fiber webs 114 downwards by 5mm. The miniature threaded cylinder 212 strikes the left finger seat 213, separating the overlapping fiber webs 114 through vibration. At this time, the left finger seat 213 is positioned 5mm above the bottom surface of the fiber web.

[0049] The three-axis cylinder 210 lifts the left toothed finger 214 and right toothed finger 220, which grip the fiber web 114, to their upper positions. The servo motor 225 drives the swing frame 227 to rotate counterclockwise to the predetermined web-receiving position. The three-axis cylinder 210 descends to the corresponding predetermined web-receiving position, the left toothed finger 214 and right toothed finger 220 open, placing the fiber web 114 onto the centering plate 229. The cylinder 228 drives the centering plate 229 to swing and drives the six circular fingers 230 to close, centering the fiber web 114 on the centering plate 229.

[0050] Fiber optic sensor B209 detects whether the fiber web tray 203 on the centering plate 229 is stacked. After detection, servo motor 225 drives the swing frame 227 and the fiber web 114 to rotate clockwise to the predetermined position for web retrieval.

[0051] Robot 102 moves the net-laying gripper 105 to the predetermined net-retrieving position to pick up the fiber net 114 on the centering plate 229. If the picked-up fiber net 114 is a single fiber net, the net-laying gripper 105 stores the fiber net 114 on its own, ready to put the fiber net 114 into the differential pressure machine. If the fiber net is overlapping, the robot also moves the net-laying gripper 105 to pick up the overlapping fiber net 114 on the centering plate 229 and moves it laterally to the predetermined position for discharge.

[0052] Robot 102 drives the net-laying gripper 105 to perform the net-collecting action 6 times. This ensures that all 6 robot net-laying grippers 105 pick up the fiber net 114.

[0053] When the upper and lower mold plates of the differential pressure machine open, the robot 102 drives the wire mesh feeding gripper 105 to place the fiber mesh 114 into the differential pressure machine mold in sequence. At the same time as the wire mesh is being fed, the camera unit 112 works to detect the state of the fiber mesh 114 placed in the differential pressure mold through vision, which facilitates the traceability of the quality of the differential pressure casting.

[0054] In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified. Unless otherwise explicitly specified and limited, the terms "installed," "connected," "linked," "fixed," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; 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; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances. For example, the three-axis cylinder 210, the threaded cylinder 212, and the cylinder 228 are shown as examples of the first, second, and third drive cylinders, respectively. Although the invention has been described with reference to various specific embodiments, it should be understood that modifications can be made within the spirit and scope of the described inventive concept. Therefore, it is intended that the invention be limited to the described embodiments but will have the full scope defined by the language of the appended claims.

Claims

1. An automatic screen feeding device for a differential pressure casting machine, characterized in that, include: An automatic web feeding mechanism (2) has a web feeding mechanism (2A), a web gripper mechanism (2B), a rotary centering mechanism (2C), and at least one web release gripper (105) for picking up the web (114) from the rotary centering mechanism (2C) and placing it in the mold of the differential pressure casting machine. The fiber web supply mechanism (2A) includes: a guide rod (204) for passing through the fiber web (114) to stack the fiber web (114) on the fiber web tray (203); and a first drive cylinder (205) for driving the fork plate (206) to lift and lower to drive the fiber web tray (203) cooperating with the fork plate (206) to lift and lower. The fiber web tray (203) is mounted on the guide rod (204) in a manner that allows it to move freely up and down. The fiber web gripper mechanism (2B) includes: a first pneumatic gripper (B216) having a V-shaped finger (219) for aligning the fiber web (114) relative to the guide rod (204); a second pneumatic gripper (A215) having a toothed finger for gripping the fiber web (114); a second drive cylinder (210) for driving the second pneumatic gripper (A215) to lift, lower and rotate; and a third drive cylinder (212) for vibrating the toothed finger to separate and detach excess overlapping fiber web (114). The rotating centering mechanism (2C) includes: a swing frame (227) capable of rotating between a predetermined receiving position and a predetermined taking position, and a centering disc (229) for receiving the fiber web (114) from the second pneumatic gripper (A215) and centering it.

2. The automatic net-laying device according to claim 1, characterized in that, It also includes a robot (102) for driving the net-laying gripper (105) to pick up the fiber net (114) from the centering plate (229) and place it in the mold of the differential pressure casting machine.

3. The automatic net-laying device according to claim 1, characterized in that, The fiber web supply mechanism (2A) includes: multiple guide rods (204), a pneumatic indexing plate (201) for rotating the guide rods (204) to the lifting position of the first drive cylinder (205), a first sensor (A208) for detecting the upward movement of the fiber web tray (203) and the fiber web (114) driven by the first drive cylinder (205), and a second sensor (B209) for detecting whether the fiber web tray (203) on the centering plate (229) is stacked.

4. The automatic net-laying device according to claim 1, characterized in that, The second pneumatic gripper (A215) is used to drive the opening and closing of the left toothed finger (214) and the right toothed finger (220). The third drive cylinder (212) is fixed on the left finger seat (213) of the left toothed finger (214) by means of intermittent up and down movement controlled by a solenoid valve.

5. The automatic net-laying device according to claim 1, characterized in that, A camera unit (112) is provided for the net-laying gripper (105) to track and detect the state of the net-laying (114).

6. The automatic net-laying device according to claim 1, characterized in that, The net-laying gripper (105) includes: a fiber web cover (113) fixed on a fixed base (109) for being embedded in the fiber web (114), a fulcrum pneumatic gripper (107) connected to gripping fingers (108) for gripping the fiber web (114) in an opening and closing drive manner, and a micro switch (111) for detecting the opening and closing position of the fulcrum pneumatic gripper (107).

7. The automatic net-laying device according to claim 1, characterized in that, The slider of the second pneumatic gripper (A215) is connected to the left finger seat (213) and the right-angle connecting plate (221) respectively. The right-angle connecting plate (221) is connected to the right finger seat (222) via the hinge (223). A spring plate (224) is fixedly installed on the right-angle connecting plate (221). A push rod connected to the V-shaped finger (219) is fixedly installed on the slider of the first pneumatic gripper (B216).

8. The automatic net-laying device according to claim 7, characterized in that, The rotary centering mechanism (2C) also includes: a center positioning shaft (233) fixed on the swing frame (227), a bearing (234) and a center sleeve (235) mounted on the center positioning shaft (233), a fourth cylinder (228) for pushing the centering plate (229) to swing back and forth, and a centering finger (230) mounted on the swing arm (232) and passing through the arc-shaped groove of the centering plate (229). The upper part of the center sleeve (235) is connected to the centering plate (229), the centering plate (229) can rotate around the center positioning shaft (233), and the swing of the centering plate (229) pushes the centering finger (230) to move along the arc-shaped groove of the centering plate (229) toward the center of the centering plate (229).

9. An automatic screen feeding method for a differential pressure casting machine, characterized in that, The automatic net-laying device according to any one of claims 1 to 8 is used to achieve the following steps: The guide rod (204) fitted with the fiber web (114) is rotated to the lifting position of the first drive cylinder (205). The first drive cylinder (205) drives the fiber web tray (203) and the fiber web (114) to move upward and stop. Then, the first pneumatic gripper (B216) moves and drives the V-shaped fingers (219) to swing and close, aligning the fiber web (114). The V-shaped fingers (219) swing and open. The second pneumatic gripper (A215) moves and drives the toothed fingers to close and clamp the fiber web (114). The fork plate (206) moves the fiber web tray (203) and the fiber web (114) downward a predetermined distance. The third drive cylinder (212) taps the finger seat of the toothed fingers, separating the overlapping fiber webs (114) through vibration. The cylinder (210) lifts the toothed finger that grips the fiber web (114) to the upper position, the swing frame (227) rotates to the designated position for receiving the web, the second drive cylinder (210) descends to the corresponding designated position for receiving the web, the toothed finger opens, and the fiber web (114) is placed on the centering plate (229). The fiber web (114) is centered on the centering plate (229). The swing frame (227) rotates and drives the fiber web (114) to the designated position for taking the web. The robot (102) drives the web release gripper (105) to the designated position for taking the web to pick up the fiber web (114) on the centering plate (229). During the opening of the upper and lower molds of the differential pressure machine, the robot (102) drives the web release gripper (105) to place the fiber web (114) into the mold of the differential pressure machine in sequence.

10. A differential pressure casting machine, characterized in that, The automatic net-laying device includes any one of claims 1 to 8.

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