An automatic sizing system for precision casting molds and a mold preparation system

Abstract

To solve the problems in the prior art, the application provides a precision casting mold automatic sizing system and a mold preparation system, wherein the precision casting mold automatic sizing system comprises a sizing mechanism, a first mechanical arm, a sand covering mechanism, a detection and molding mechanism and a control system; after the first mechanical arm picks up a wax film or a shell film from a first transfer mechanism, the first mechanical arm is sequentially inserted into the sizing mechanism, the sand covering mechanism and the detection and molding mechanism to sequentially perform sizing, sand covering, detection and molding on the wax film or the shell film. The precision casting mold automatic sizing system can realize automatic sizing from the wax film to the shell film, and the detection and molding mechanism can detect and automatically mold the sized wax film or shell film, thereby significantly improving the preparation efficiency of the shell film for precision casting.

Description

Technical Field

[0001] This invention belongs to the field of precision casting technology, specifically relating to an automatic slurry application system and a mold preparation system for precision casting molds. Background Technology

[0002] A mold is a casting mold prepared by gradually coating a wax film with a ceramic slurry and sand. Precision casting has high requirements for casting accuracy, so the manufacturing accuracy of the mold is also very high. The mold needs to not only have sufficient support, but also be easy to break and remove parts.

[0003] To accurately prepare the shell coating, especially for irregularly shaped parts, current technology generally employs manual sizing due to the high operational difficulty and precision requirements. After sizing, manual re-inspection is performed to eliminate defects. Since manual sizing and re-inspection are not only inefficient but also heavily reliant on the operator's experience, the casting efficiency of the precision casting industry is limited by the shell coating preparation process. Summary of the Invention

[0004] To address the problems existing in the prior art, this invention provides an automatic slurry application system for precision casting molds and a precision casting mold preparation system utilizing this automatic slurry application system, wherein: An automatic slurry coating system for precision casting molds includes: a slurry coating mechanism, a first robotic arm, a sand coating mechanism, a molding and inspection mechanism, and a control system. Specifically, the first robotic arm picks up the wax film or shell film to be processed from the first transfer mechanism and inserts it into the slurry coating mechanism to apply slurry to the target wax film or shell film. The slurry coating mechanism contains the ceramic shell coating slurry required for this process.

[0005] After the slurry coating process is completed, the first robotic arm inserts the wax film or shell film to be treated into the sand coating mechanism to perform sand coating treatment on the wax film or shell film coated with the ceramic shell slurry of this process.

[0006] After the sand coating process is completed, the first robotic arm inserts the wax film or shell film to be processed into the inspection and shaping mechanism to inspect the sand-coated wax film or shell film and perform shaping processing based on the inspection results.

[0007] After the shaping process is completed, the first robotic arm places the wax film or shell film to be processed into the second transfer mechanism for transfer to the next process.

[0008] Furthermore, the sand covering mechanism includes: a sand covering treatment chamber with an open top, an electrically controlled sandblaster at the top of the sand covering treatment chamber, the sand outlet of the sandblaster facing the inside of the sand covering treatment chamber, and the sand inlet connected to the sand outlet of the sand storage device through a connecting pipe.

[0009] Furthermore, the sand-coating mechanism includes: a first lifting mechanism disposed outside the sand-coating chamber, the lifting end of the first lifting mechanism being connected to a sandblaster via a connecting plate, and driving the sandblaster to move up and down along the longitudinal axis of the sand-coating chamber. The connecting pipe is a flexible hose.

[0010] Furthermore, the sand covering mechanism includes a sand floating machine disposed at the bottom of the sand covering treatment chamber.

[0011] Furthermore, the detection molding mechanism includes: a hollow supporting shell with an open top, the hollow portion of which is provided with at least one annular guide rail in the horizontal direction, the annular guide rail being connected to the supporting shell via a supporting connecting mechanism. At least one displacement mechanism, driven by a driving mechanism, is provided on the annular guide rail, and a scanning mechanism is provided on the displacement mechanism. The scanning end of the scanning mechanism faces the wax film or shell film to be detected.

[0012] The driving mechanism, scanning mechanism, and control system are signal-connected. The control system receives scanning information from the scanning mechanism, performs displacement control analysis, and constructs an external contour model of the wax film or shell to be inspected based on the continuously acquired scanning information, then performs shape analysis of the target. Based on the displacement control analysis results, the control system controls the driving mechanism to move the displacement mechanism along the annular guide rail, and outputs the shape analysis results of the target to be inspected to determine if there are defective areas. If no defective areas are found, the shaping process is considered complete; if defective areas exist, the defective areas are output, and the shaping process is considered complete after the defective areas are corrected.

[0013] Furthermore, the annular guide rail includes: a toothed strip arranged annularly along the top or bottom surface of the guide rail; a positioning groove arranged annularly along the bottom or top surface of the guide rail on the opposite side of the toothed strip; and a conductive groove formed on the side facing the displacement mechanism. An annular conductive wire is provided along the guide rail within the conductive groove, and a portion of the annular conductive wire is located within the conductive groove, with the portion within the conductive groove having a conductive connection portion.

[0014] The displacement mechanism is fixed to the drive mechanism on the side corresponding to the toothed belt. The drive output end of the drive mechanism is fixed to a first rotating shaft, on which a toothed roller is fixed, and the toothed roller meshes with the toothed belt. The displacement mechanism has a second rotating shaft on the side corresponding to the positioning groove. A positioning wheel, with one end inserted into and matching the positioning groove, is rotatably connected to the second rotating shaft at a position corresponding to the positioning groove. The displacement mechanism has a conductive plate inserted into the conductive groove at a position corresponding to the conductive groove. A brush, electrically connected to the conductive connection portion of the annular conductive wire, is provided on the conductive plate. A current stabilizer electrically connected to the conductive plate is provided within the displacement mechanism, and the output end of the current stabilizer is electrically connected to a battery. The battery powers the first signal transmission module and the first microprocessor module located within the displacement mechanism, as well as the scanning mechanism. The first microprocessor module is signal-connected to the first signal transmission module and the scanning mechanism, and the first signal transmission module is wirelessly signal-connected to the control system.

[0015] Furthermore, the scanning mechanism includes a fixed base fixed to the displacement mechanism. The top of the fixed base is connected to a first transition plate via a gimbal mechanism or a rotation mechanism. A first scanning device is provided at the end of the first transition plate facing away from the gimbal mechanism or rotation mechanism. The scanning end of the first scanning device faces the wax film or shell film to be detected. The drive control end of the gimbal mechanism or rotation mechanism and the signal transmission end of the first scanning device are respectively connected to the first microprocessor module.

[0016] Furthermore, the supporting connection mechanism is a fixed connection block, in which case the annular guide rail is fixedly connected to the supporting shell.

[0017] The displacement control analysis includes: Step 1.1 After receiving the start command from the control system, start the scanning mechanism and obtain the background information B inside the current support shell.

[0018] Step 1.2 When the scanning mechanism detects other targets in the background information B and the appearance time of the target exceeds the preset start threshold, the target is determined to be the target to be scanned.

[0019] Step 1.3 After the target to be scanned is determined, the drive mechanism is controlled to move the displacement mechanism along the circular guide rail according to the preset speed and direction.

[0020] Furthermore, the analysis of the shape of the target to be detected includes: Step 2.1 After the target to be scanned is determined, the outer contour scanning information At of the target to be scanned is continuously acquired, where t is the scanning time sorted according to the scanning frequency.

[0021] Step 2.2 Obtain the first motion vector Y1 based on the preset speed and direction of the displacement mechanism, and obtain the second motion vector Y2 based on the speed and direction of the target to be scanned relative to the annular guide rail. Summate Y1 and Y2 into a vector sum Yt based on t.

[0022] Step 2.3 After sequentially concatenating the scanning information At according to the vector and Yt and eliminating the overlapping parts, the real-time scanning outer contour model Mt of the scanning target is obtained.

[0023] Step 2.4 After the scanning is completed, the overall outer contour model M of the target to be scanned is obtained. Based on the preset anchor point position of model M, model M is rotated to the standard position and compared with the standard model N of the target to be scanned. The part of model M that differs from the standard model N by more than a preset accuracy threshold is marked as a defect area and the marked defect area is output.

[0024] Furthermore, the supporting connection mechanism includes: a second driving device, the drive output end of which is connected to a vertically arranged screw via a reducer to drive the screw to rotate. The top of the screw is rotatably connected to the supporting housing via a bearing. A guide rail connecting block is screwed onto the screw, and one end of the guide rail connecting block facing the annular guide rail is fixedly connected to the annular guide rail.

[0025] The displacement control analysis includes: Step 3.1 After receiving the start command from the control system, start the second drive device to drive the screw to rotate so that the guide rail connecting block drives the ring guide rail to a height Hn, where n is the sequence number of the preset height position.

[0026] Step 3.2 After the circular guide rail reaches height Hn, the drive mechanism is controlled according to the preset speed and direction to drive the displacement mechanism to move one revolution along the circular guide rail.

[0027] Step 3.3 Repeat steps 1.1 and 1.2 until the circumferential motion of step 3.2 is completed at each preset height Hn.

[0028] Furthermore, the analysis of the shape of the target to be detected includes: Step 4.1 After the annular guide rail reaches height Hn, start the scanning mechanism and acquire scanning information At-n, where t is the scanning timing.

[0029] Step 4.2 Obtain the first motion vector Y1 according to the preset speed and direction of the displacement mechanism. Then, stitch the scanning information At-n sequentially according to the vector Yt and eliminate the overlapping parts to obtain the scanning outer contour model Mn of the scanning target at that height position.

[0030] Step 4.3 After scanning all preset heights Hn, the obtained model Mn is stitched together according to the height difference of Hn, and the overlapping parts are eliminated to obtain the overall outer contour model M of the target to be scanned.

[0031] Step 4.4 Based on the preset anchor point position of model M, rotate model M to the standard position and compare it with the standard model N of the target to be scanned. Mark the part of model M that exceeds the preset accuracy threshold relative to the standard model N as the defect area and output the marked defect area.

[0032] Furthermore, the annular guide rail is provided with at least one displacement mechanism equipped with a shaping mechanism.

[0033] The molding mechanism includes: a first fixed plate fixed to a displacement mechanism; a multi-degree-of-freedom robotic arm fixed to one side of the first fixed plate; a high-pressure nozzle mounted at the end of the robotic arm; and the nozzle of the high-pressure nozzle facing the wax film or shell film to be tested. A high-pressure air cylinder sleeve fixed to the other side of the first fixed plate is provided, and a high-pressure air cylinder is installed inside the high-pressure air cylinder sleeve. The outlet of the high-pressure air cylinder is connected to the inlet of the high-pressure nozzle via a second flexible hose.

[0034] The drive control end of the multi-degree-of-freedom robotic arm and the control signal input end of the high-pressure nozzle are respectively connected to the first microprocessor module.

[0035] Furthermore, the shaping process includes: Step 5.1 Obtain the position information W1-m of the defect area relative to the annular guide rail where the shaping mechanism is located, where m is the sequential number of the defect area, and the current position information W2 of the displacement mechanism where the shaping mechanism is located relative to the annular guide rail.

[0036] Step 5.2 The control system generates displacement control information KWm based on the preset directional position information W1-m and position information W2, which controls the displacement mechanism where the molding mechanism is located to move to the position corresponding to the position information W1-m.

[0037] Step 5.3 Simulate the vector Y representing the spatial position and orientation information of the nozzle on the molding mechanism when the displacement mechanism of the molding mechanism is displaced to the position corresponding to the position information W1-m in the virtual space.

[0038] Step 5.4 Simulate and adjust the vector Y to the nozzle's outlet direction position information W1-m corresponding to the defect area, and ensure the distance from the defect area conforms to the preset nozzle distance. Based on the adjustment process and the preset controllable link information of the multi-degree-of-freedom robotic arm, obtain the multi-degree-of-freedom robotic arm motion control information KDm in the molding mechanism.

[0039] Based on the shape of the defect area corresponding to the location information W1-m and the pre-set nozzle's processing area per unit time, the nozzle shaping motion path control information KSm is obtained.

[0040] Step 5.5 The control system outputs motion control information KDm and shaping motion path control information KSm to the multi-degree-of-freedom robotic arm. After the multi-degree-of-freedom robotic arm completes the execution of motion control information KDm, it executes shaping motion path control information KSm and opens the nozzle to spray high-pressure airflow.

[0041] Step 5.6 Repeat steps 5.2 to 5.5 until all m defect areas have been processed, thus completing the shaping process.

[0042] Furthermore, the high-pressure nozzle is provided with a second scanning device or camera device on the same side of the nozzle, facing the same direction as the nozzle. The second scanning device or camera device is signal-connected to the first microprocessor module.

[0043] The shaping process includes a pre-shaping correction process, which includes: Step 6.1 Obtain the scanning or imaging information of the target area by the second scanning device or camera device, and convert it into model data information corresponding to the external contour model of the wax film or shell to be detected.

[0044] Step 6.2 Compare and determine whether the model data information obtained from the transformation of the target area is the target defect area. If so, the pre-molding correction process is completed.

[0045] If not, proceed to step 6.3.

[0046] Step 6.3 Adjust the model data information obtained from the target area transformation to coincide with the target defect area, and obtain the target adjustment control information KTm of the multi-degree-of-freedom robotic arm in the molding mechanism according to the adjustment process and the preset controllable link information of the multi-degree-of-freedom robotic arm, where m is the sequential number of the defect area.

[0047] Step 6.4 Adjust the control information KTm to the target of the multi-degree-of-freedom robotic arm, and return to step 6.2 after the multi-degree-of-freedom robotic arm has completed its movement.

[0048] Furthermore, the present invention also provides an automated precision casting mold preparation system, comprising: a slurry application system, a vacuum rapid drying system, a transfer system, and a control system. The slurry application system is the aforementioned automated precision casting mold slurry application system.

[0049] The vacuum rapid drying system includes: a second robotic arm, a trailer, a trailer guide rail, and a vacuum rapid dryer. The second robotic arm acquires the wax film or shell film to be processed from the second transfer mechanism and hangs them sequentially on the hooks of the trailer according to a preset order. The trailer then moves along the trailer guide rail to the vacuum rapid dryer, where the vacuum rapid dryer performs vacuum rapid drying on the wax film or shell film processed by the sizing system hanging on the trailer.

[0050] The second robotic arm, the trailer, the vacuum rapid dryer, and the control system are connected by signals.

[0051] The transfer system includes a third robotic arm and a third transfer mechanism. The third robotic arm sequentially removes the wax film or shell film hanging on the trailer after vacuum rapid drying and transfers it to the next process by the fourth transfer mechanism. The third robotic arm is signal-connected to the control system.

[0052] Furthermore, the trailer includes a bracket with several hooks for attaching wax film or shell film. A battery is housed within the bracket's base plate, and a wheel assembly is located below the base plate. The wheel assembly includes a drive wheel that moves along the trailer's guide rail, and may also include a driven wheel. The drive wheel is driven to rotate by a drive wheel drive mechanism to move the trailer along the guide rail; the drive wheel drive mechanism is signal-connected to the control system.

[0053] Furthermore, the vacuum rapid dryer includes an automatically opening and closing first closed door, and the trailer rail extends into the drying chamber of the vacuum rapid dryer.

[0054] The trailer guide rail includes a moving rail covering the opening and closing movement area of ​​the first closed door and a fixed rail close to the moving rail. The bottom of the moving rail is fixedly connected to the top of at least two synchronously operating moving rods of the electrically controlled lifting mechanism. The electrically controlled lifting mechanism is signal-connected to the control system.

[0055] Furthermore, the drying chamber of the vacuum rapid dryer is arranged in a through-type configuration, with a first sealing door and a second sealing door respectively located at the front and rear ends of the drying chamber. The trailer guide rail is generally elongated in shape, running through the drying chamber, and includes a moving rail covering the opening and closing movement areas of the first and second sealing doors, as well as a fixed rail close to the moving rail. The bottom of the moving rail is fixedly connected to the top of at least two synchronously operating moving rods of the electrically controlled lifting mechanism. The electrically controlled lifting mechanism is signal-connected to the control system.

[0056] The base plate of the hanger is rotatably connected to the wheel assembly via a rotating shaft.

[0057] The second robotic arm is located near the first closed door, and the third robotic arm and the third transfer mechanism are located near the second closed door.

[0058] The advantages of this invention are: 1. This invention provides an automatic sizing system that can automatically sizing from wax film to shell film, and automatically sizing the sizing wax film or shell film through a detection and molding mechanism, which significantly improves the preparation efficiency of shell films for precision casting.

[0059] 2. This invention provides a mold preparation system for precision casting, which can realize the fully automated preparation process from wax film to shell film to final molding, further improving the preparation efficiency of shell films for precision casting. Attached Figure Description

[0060] 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.

[0061] Figure 1 This is a schematic diagram of the configuration of one process device in the automatic precision casting mold preparation system of the present invention. Figure 2 This is a schematic diagram of the sand-covering mechanism structure of the present invention; Figure 3 This is a top view schematic diagram of the detection and molding mechanism of the present invention; Figure 4 This is a schematic diagram of a detection molding mechanism according to an example of the present invention; Figure 5 This is a schematic diagram of another detection molding mechanism structure according to an example of the present invention; Figure 6 This is a schematic diagram of the displacement mechanism structure of an example of the present invention; Figure 7 yes Figure 6 Enlarged structural diagram of section A in the middle; Figure 8 This is a schematic diagram of the scanning mechanism structure of an example of the present invention; Figure 9 This is a schematic diagram of the molding mechanism structure of an example of the present invention; Figure 10 This is a schematic diagram of the trailer structure of the present invention; Figure 11 This is a schematic diagram of the moving track structure of an example of the present invention; Figure 12 This is a schematic diagram of a trailer guide rail structure according to an example of the present invention; Figure 13 This is a schematic diagram of a wax film structure according to an example of the present invention. Detailed Implementation

[0062] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions 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, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0063] The precision casting mold described in this invention is generally prepared through the following process: 1. Preparation of wax film; 2. Apply a first layer of ceramic shell slurry to the outside of the wax film, and then dry it to obtain a shell film A containing a ceramic shell structure; 3. Apply a second layer of ceramic shell slurry to the outside of shell membrane A, and then dry it to obtain shell membrane B containing a two-layer ceramic shell structure; 4. Repeat this process until a ceramic shell N with a predetermined number of layers (usually 5 or 7 layers) is obtained; 5. The shell membrane N is heated to a certain temperature so that the wax film melts and evaporates or flows out. After the wax film is processed, a precision casting mold (multi-layer structure, hollow shell membrane) is obtained.

[0064] This invention provides, by way of example, an automatic slurry application system for precision casting molds, such as... Figure 1 As shown, it includes: a sizing mechanism 2, a first robotic arm 3, a sand coating mechanism 4, a detection and molding mechanism 5, and a control system. Specifically, the first robotic arm 3 picks up the wax film or shell film to be processed from the first transfer mechanism 1 and inserts into the sizing mechanism 2 to perform sizing treatment on the target wax film or shell film. The sizing mechanism 2 contains the ceramic shell coating sizing material required for this process.

[0065] After the slurry treatment is completed, the first robotic arm 3 inserts the wax film or shell film to be treated into the sand covering mechanism 4 to perform sand covering treatment on the wax film or shell film coated with the ceramic shell slurry of this process.

[0066] After the sand coating process is completed, the first robotic arm 3 inserts the wax film or shell film to be processed into the inspection and shaping mechanism 5 to inspect the wax film or shell film after sand coating and to perform shaping processing based on the inspection results.

[0067] After the shaping process is completed, the first robotic arm 3 places the wax film or shell film to be processed onto the second transfer mechanism 6 for transfer to the next process.

[0068] This automatic sizing system for precision casting molds can automatically sizing the wax film to the shell film, and automatically mold the sizing wax film or shell film through a detection and molding mechanism, which significantly improves the preparation efficiency of shell films for precision casting.

[0069] The present invention provides an exemplary sand covering mechanism 4, such as Figure 2 As shown, it includes: a sand-covering treatment chamber 401 with an open top, an electrically controlled sandblaster 402 on the top of the sand-covering treatment chamber 401, the sand outlet of the sandblaster 402 facing the inside of the sand-covering treatment chamber 401, and the sand inlet connected to the sand outlet of the sand storage device 403 through a connecting pipe 404.

[0070] When sand covering is required, the control system activates the electronically controlled sandblaster 402, causing the sand stored in the sand reservoir 403 to be sprayed from the nozzle of the electronically controlled sandblaster 402, thus applying sand to the coated membrane or wax film inserted into the sand covering chamber 401. During sand application, the control system controls the end gripper of the first robotic arm 3 to rotate the membrane or wax film along the longitudinal axis, ensuring that the entire area of ​​the membrane or wax film passes through the sand application zone sprayed from the nozzle of the electronically controlled sandblaster 402, thereby completing the sand application process.

[0071] The present invention provides an exemplary sand covering mechanism 4, such as Figure 2 As shown, based on the above example, it also includes: a first lifting mechanism 406 disposed outside the sand covering treatment chamber 401. The lifting end of the first lifting mechanism 406 is connected to the sandblaster 402 through a connecting plate 405, and drives the sandblaster 402 to move up and down along the longitudinal axis of the sand covering treatment chamber 401. The connecting pipe 404 is a flexible hose.

[0072] At this time, the control system drives the sandblaster 402 to move up and down along the longitudinal axis of the sand-covering treatment chamber 401 by controlling the first lifting mechanism 406, so that the sand sprayed by the sandblaster 402 reaches a preset distance from the shell film or wax film.

[0073] For example: First, the shell or wax film is subjected to a first sand-wetting treatment at a height of 10-30cm from the shell or wax film.

[0074] After that, the second to Nth sand leaching treatments are carried out, with the sand leaching height increasing by 3-5cm each time compared to the previous sand leaching treatment, until the sand leaching treatment is completed.

[0075] This setup allows for an initial sand-laden application height that penetrates to a certain depth into the ceramic shell, rather than the strict limitations of existing technologies. The sand-laden application height is then gradually increased, resulting in subsequent applications having a stronger impact than the previous ones. This forces the sand that previously penetrated the ceramic shell to continue seeping deeper into the shell, thus minimizing both sand penetration and uneven sand distribution during the application process.

[0076] The present invention provides an exemplary sand covering mechanism 4, such as Figure 2As shown, based on the above example, it also includes: a sand-floating machine 407 disposed at the bottom of the sand-covering treatment chamber 401.

[0077] At this time, the control system can start the sand floating machine 407 as needed, so that the sand in the sand covering treatment chamber 401 floats and covers the surface of the shell membrane or wax membrane.

[0078] Afterwards, stop the sand blower, allowing the sand inside the sand blower to settle and accumulate around the shell or wax film, and let it stand for a period of time.

[0079] Repeat the above two steps until the loose sand is completely removed.

[0080] The existing method for treating loose sand involves placing a shell or wax film into a loose sand machine and activating a loose sand blower to float the sand and cover the surface of the shell or wax film. However, the depth to which the sand penetrates the ceramic shell during loose sand treatment depends primarily on the power provided by the blower. Firstly, because the power is indirectly provided, the depth to which the loose sand penetrates the interior of the ceramic shell is difficult to control and tends to be uneven. Secondly, it is almost impossible to cover the sand on the leeward side where wind is difficult to reach or inside complex components (such as deep holes).

[0081] This invention improves the method of sand removal. After sand removal is completed, the sand removal fan is stopped, allowing the sand in the sand removal machine to settle and accumulate around the shell or wax film for a period of time. During this time, due to the fluidity of the sand, it flows into the leeward side of the component and into the interior of complex components, and is gradually pressed into the interior of the ceramic shell under the static pressure of the sand pile, thus covering areas that were previously impossible with sand. Furthermore, this improved method mainly relies on the static pressure of the sand pile; therefore, sand is more easily pressed into areas of the ceramic shell with less sand, and more difficult to press into areas with more sand, thereby balancing the uniformity of the sand in different parts of the final ceramic shell.

[0082] This invention provides, by way of example, a molding detection mechanism 5, such as... Figure 3-7 As shown, the device includes: a hollow, open-top support housing 501. The hollow portion of the support housing 501 is provided with at least one annular guide rail 502 along a horizontal direction. The annular guide rail 502 is connected to the support housing 501 via a support connecting mechanism 503. At least one displacement mechanism 504, driven by a driving mechanism 5044, is provided on the annular guide rail 502 to move along the annular guide rail 502. A scanning mechanism 507 is provided on the displacement mechanism 504. The scanning end of the scanning mechanism 507 faces the wax film or shell film to be detected.

[0083] The driving mechanism 5044 and scanning mechanism 507 are signal-connected to the control system. The control system receives scanning information from the scanning mechanism 507, performs displacement control analysis, and constructs an external contour model of the wax film or shell film to be detected based on the continuously acquired scanning information from the scanning mechanism 507, then performs shape analysis of the target to be detected. Based on the displacement control analysis results, the control system controls the driving mechanism 5044 to drive the displacement mechanism 504 to move along the annular guide rail 502, and outputs whether there are defect areas in the shape of the wax film or shell film to be detected based on the shape analysis results. If no defect areas are found, the shaping process is considered complete; if defect areas are found, the defect areas are output, and the shaping process is considered complete after the defect areas are corrected.

[0084] This invention provides an exemplary ring-shaped guide rail 502, such as... Figure 6 and Figure 7 As shown, it includes: a toothed belt 5021 arranged annularly along the top or bottom surface of the guide rail; a positioning groove 5022 arranged annularly along the bottom or top surface of the guide rail on the opposite side of the toothed belt 5021; and a conductive groove 5023 formed on the side facing the displacement mechanism 504. An annular conductive wire 5024 is provided along the guide rail within the conductive groove 5023, and a portion of the annular conductive wire 5024 is located within the conductive groove 5023, with the portion within the conductive groove 5023 having a conductive connection portion.

[0085] The displacement mechanism 504 is fixed to the drive mechanism 5044 on the side corresponding to the toothed belt 5021. The drive output end of the drive mechanism 5044 is fixed to the first rotating shaft 5042. A toothed roller 5045 is fixed on the first rotating shaft 5042, and the toothed roller 5045 meshes with the toothed belt 5021. The displacement mechanism 504 has a second rotating shaft 5043 on the side corresponding to the positioning groove 5022. The second rotating shaft 5043 is rotatably connected to a positioning wheel 5046 at a position corresponding to the positioning groove 5022, one end of which is inserted into and matches the positioning groove 5022. The displacement mechanism 504 has a conductive plate 5047 inserted into the conductive groove 5023 at a position corresponding to the conductive groove 5023. The conductive plate 5047 has a brush 5048 electrically connected to the conductive connection portion of the annular conductive wire 5024. The displacement mechanism 504 includes a current regulator 50415 electrically connected to a conductive plate 5047. The output of the current regulator 50415 is electrically connected to a battery 50414. The battery 50414 supplies power to the first signal transmission module 50416 and the first microprocessor module 50417, both housed within the displacement mechanism 504, as well as to the scanning mechanism 507. The first microprocessor module 50417 is signal-connected to the first signal transmission module 50416 and the scanning mechanism 507. The first signal transmission module 50416 is wirelessly connected to the control system.

[0086] At this time, after receiving the control command from the control information, the drive mechanism 5044 drives the toothed roller 5045 to move along the toothed belt 5021 at a certain output speed and direction, thereby driving the displacement mechanism fixing housing 5041 to move. The positioning wheel 5046, inserted into the positioning groove 5022, serves to clamp and stabilize the displacement mechanism fixing housing 5041. The brush 5048 continuously contacts the annular conductive wire 5024 and forms an electrical connection. The annular conductive wire 5024 supplies stable electrical energy to the battery 50414 through the brush 5048 and the current stabilizer 50415. The battery 50414 continuously supplies power to other electrical-consuming mechanisms.

[0087] The present invention provides, by way of example, a second rotating shaft 5043, such as Figure 6 As shown, the cross-section near the fixed housing 5041 of the displacement mechanism gradually increases in size. This arrangement provides sufficient support for the positioning wheel 5046.

[0088] This invention provides an exemplary positioning wheel 5046, such as... Figure 6 As shown, the positioning wheel 5046 has a ball bearing 50461 at a position corresponding to the inner wall of the positioning groove 5022, which fits against the inner wall of the positioning groove 5022. This arrangement allows the ball bearing 50461 to form a stable support with the positioning groove 5022, preventing the positioning wheel 5046 from sliding laterally along the positioning groove 5022, thereby avoiding unstable contact between the brush 5048 and the annular conductive wire 5024.

[0089] The present invention provides, by way of example, a scanning mechanism 507, such as... Figure 8 As shown, the device includes a fixed base 5071 fixed to a displacement mechanism 504. The top of the fixed base 5071 is connected to a first transition plate 5073 via a gimbal mechanism or a rotation mechanism. A first scanning device 5074 is provided at the end of the first transition plate 5073 facing away from the gimbal mechanism or rotation mechanism. The scanning end of the first scanning device 5074 faces the wax film or shell film to be detected. The drive control end of the gimbal mechanism or rotation mechanism and the signal transmission end of the first scanning device 5074 are respectively connected to the first microprocessor module 50417.

[0090] After receiving the control signal from the control system, the gimbal mechanism or rotation mechanism drives the first transition plate 5073 to rotate relative to the fixed base 5071, thereby changing the orientation of the scanning end of the first scanning device 5074 to obtain more comprehensive scanning information on the target wax film or shell film.

[0091] The present invention provides an exemplary support connection mechanism 503, such as... Figure 4 As shown, the support connection mechanism 503 is a fixed connection block, and at this time the annular guide rail 502 is fixedly connected to the support housing 501.

[0092] The displacement control analysis includes: Step 1.1 After receiving the start command from the control system, start the scanning mechanism 507 and obtain the background information B inside the current supporting shell 501.

[0093] Step 1.2 When the scanning mechanism 507 detects other targets in the background information B and the appearance time of the target exceeds the preset start threshold, it determines that the target is the target to be scanned.

[0094] Step 1.3 After the target to be scanned is determined, the drive mechanism 5044 is controlled to move the displacement mechanism 504 along the annular guide rail 502 according to the preset speed and direction.

[0095] The analysis of the shape of the target to be detected includes: Step 2.1 After the target to be scanned is determined, the outer contour scanning information At of the target to be scanned is continuously acquired, where t is the scanning time sorted according to the scanning frequency.

[0096] Step 2.2 Obtain the first motion vector Y1 based on the preset speed and direction of the displacement mechanism 504, and obtain the second motion vector Y2 based on the motion speed and direction of the target to be scanned relative to the annular guide rail 502. Summate Y1 and Y2 into a vector sum Yt based on t.

[0097] Step 2.3 After sequentially concatenating the scanning information At according to the vector and Yt and eliminating the overlapping parts, the real-time scanning outer contour model Mt of the scanning target is obtained.

[0098] Step 2.4 After the scanning is completed, the overall outer contour model M of the target to be scanned is obtained. Based on the preset anchor point position of model M, model M is rotated to the standard position and compared with the standard model N of the target to be scanned. The part of model M that differs from the standard model N by more than a preset accuracy threshold is marked as a defect area and the marked defect area is output.

[0099] The overall structure of the fixed support connection mechanism 503 is relatively simple, but its scanning process is accompanied by a motion vector of the rotation stroke of the displacement mechanism 504 and a motion vector of the target to be scanned relative to the annular guide rail 502. The amount of data to be processed when stitching the model is relatively large, and its scanning path is spiral around the target to be scanned. It is more suitable for simple components, but may have critical scanning blind spots for complex components.

[0100] This invention provides, by way of example, a molding detection mechanism 5, such as... Figure 4 As shown, the support connection mechanism 503 is a fixed connection block, in which at least two parallel annular guide rails 502 are fixedly connected relative to the support housing 501. At this time: Step 2.3 includes stitching together the real-time scanned outer contour model Mt obtained by the scanning mechanism 507 on each annular guide rail 502 and eliminating duplicate parts to obtain the real-time scanned outer contour model Mt`.

[0101] Step 2.4 includes obtaining the overall outer contour model M' of the target to be scanned after scanning is completed, rotating the model M' to a standard position based on the preset anchor point position of the model M', and comparing it with the standard model N of the target to be scanned. The part of the model M' that differs from the standard model N by more than a preset accuracy threshold is marked as a defect area, and the marked defect area is output.

[0102] Compared to single-track scanning, this setting can reduce the scanning blind zone to some extent by using multi-track scanning, making the scanning model more accurate.

[0103] The present invention provides an exemplary support connection mechanism 503, such as... Figure 5 As shown, it includes: a second driving device 5031, the drive output end of which is connected to a vertically arranged screw 5033 via a reducer 5032 to drive the screw 5033 to rotate. The top of the screw 5033 is rotatably connected to a support housing 501 via a bearing 5034. A guide rail connecting block 5035 is screwed onto the screw 5033, and one end of the guide rail connecting block 5035 facing the annular guide rail 502 is fixedly connected to the annular guide rail 502.

[0104] The displacement control analysis includes: Step 3.1 After receiving the start command from the control system, the second drive device 5031 is started to drive the screw 5033 to rotate so that the guide rail connecting block 5035 drives the annular guide rail 502 to a height Hn, where n is the sequence number of the preset height position.

[0105] Step 3.2 After the annular guide rail 502 reaches the height Hn, the drive mechanism 5044 is controlled to drive the displacement mechanism 504 to move one revolution along the annular guide rail 502 according to the preset speed and direction.

[0106] Step 3.3 Repeat steps 1.1 and 1.2 until the circumferential motion of step 3.2 is completed at each preset height Hn.

[0107] The analysis of the shape of the target to be detected includes: Step 4.1 After the annular guide rail 502 reaches the height Hn, start the scanning mechanism 507 and acquire the scanning information At-n, where t is the scanning timing.

[0108] Step 4.2 Obtain the first motion vector Y1 according to the preset speed and direction of the displacement mechanism 504. Then, stitch the scanning information At-n sequentially according to the vector Yt and eliminate the overlapping parts to obtain the scanning outer contour model Mn of the scanning target at that height position.

[0109] Step 4.3 After scanning all preset heights Hn, the obtained model Mn is stitched together according to the height difference of Hn, and the overlapping parts are eliminated to obtain the overall outer contour model M of the target to be scanned.

[0110] Step 4.4 Based on the preset anchor point position of model M, rotate model M to the standard position and compare it with the standard model N of the target to be scanned. Mark the part of model M that exceeds the preset accuracy threshold relative to the standard model N as the defect area and output the marked defect area.

[0111] This setup allows the second drive device 5031 to move the annular guide rail 502 up and down after the target to be scanned has been displaced, completing one scan at each preset height. Although the structure is relatively complex, the motion vector of the scanning mechanism 507 during scanning is only the annular motion of the scanning mechanism 507. This significantly reduces the amount of data processing during data stitching and allows for full-position scanning of the target from top to bottom or bottom to top, obtaining complete scanning information of the target.

[0112] The present invention provides an example of an annular guide rail 502, wherein the annular guide rail 502 is provided with at least one displacement mechanism 504 having a molding mechanism 508.

[0113] like Figure 9 As shown, the molding mechanism 508 includes: a first fixing plate 5081 fixed to the displacement mechanism 504; a multi-degree-of-freedom robotic arm 5084 fixed to one side of the first fixing plate 5081; a high-pressure nozzle 5085 installed at the end of the robotic arm 5084; and the nozzle 50851 of the high-pressure nozzle 5085 facing the wax film or shell film to be tested. A high-pressure air cylinder sleeve 5082 fixed to the other side of the first fixing plate 5081 by a second fixing plate 5086 is provided; a high-pressure air cylinder is installed inside the high-pressure air cylinder sleeve 5082; and the outlet of the high-pressure air cylinder is connected to the inlet 50853 of the high-pressure nozzle 5085 via a second hose 5083.

[0114] The drive control terminal of the multi-degree-of-freedom robotic arm 5084 and the control signal input terminal of the high-pressure nozzle 5085 are respectively connected to the first microprocessor module 50417.

[0115] The shaping process includes: Step 5.1 Obtain the position information W1-m of the defect area relative to the annular guide rail 502 where the molding mechanism 508 is located, where m is the sequential number of the defect area, and the current position information W2 of the displacement mechanism 504 where the molding mechanism 508 is located relative to the annular guide rail 502.

[0116] Step 5.2 The control system generates displacement control information KWm based on the preset directional position information W1-m and position information W2, which controls the displacement mechanism 504, where the molding mechanism 508 is located, to move to the position corresponding to the position information W1-m.

[0117] Step 5.3 Simulate in the virtual space the vector Y representing the spatial position and orientation information of the nozzle 50851 on the molding mechanism 508 when the displacement mechanism 504, where the molding mechanism 508 is located, is displaced to the position corresponding to the position information W1-m.

[0118] Step 5.4 Simulate and adjust the vector Y to the outlet direction of nozzle 50851, corresponding to the defect area, and ensure that the distance from the defect area meets the preset nozzle distance. Based on the adjustment process and the preset controllable link information of the multi-degree-of-freedom robotic arm 5084, obtain the motion control information KDm of the multi-degree-of-freedom robotic arm 5084 in the molding mechanism 508.

[0119] Based on the shape of the defect area corresponding to the location information W1-m and the pre-set processing area per unit time of the nozzle 50851, the shaping motion path control information KSm of the nozzle 50851 is obtained.

[0120] Step 5.5 The control system outputs motion control information KDm and shaping motion path control information KSm to the multi-degree-of-freedom robotic arm 5084. After the multi-degree-of-freedom robotic arm 5084 completes the execution of motion control information KDm, it executes shaping motion path control information KSm and opens nozzle 50851 to spray out high-pressure airflow.

[0121] Step 5.6 Repeat steps 5.2 to 5.5 until all m defect areas have been processed, thus completing the shaping process.

[0122] The sizing process for wax films or shell films generally results in relatively uniform sizing and a high yield rate due to the good fluidity of the sizing material. However, during sand coating, the unpredictable flow of the sand can easily lead to sand accumulation in certain areas of the wax film or shell film, causing varying degrees of protrusions. The core purpose of the shaping process is to address these protrusions, ensuring that the shape of the wax film or shell film conforms to the pre-designed specifications and improving the precision of mold fabrication.

[0123] Compared with the prior art, the present invention controls the main position of the high-pressure nozzle 5085 through the displacement mechanism 504 and the precise position and nozzle orientation of the high-pressure nozzle 5085 through the multi-degree-of-freedom robotic arm 5084. Thus, according to the position and shape of the defect area, the protruding part can be gradually blown away by spraying high-pressure airflow, thereby achieving the purpose of automatic shaping of the defect area.

[0124] This invention provides an exemplary high-pressure nozzle 5085, such as... Figure 9 As shown, the high-pressure nozzle 5085 has a second scanning device or camera device 50852 on the same side as the nozzle 50851, and the second scanning device or camera device 50852 is signal-connected to the first microprocessor module 50417.

[0125] The shaping process includes a pre-shaping correction process, which includes: Step 6.1 Obtain the scanning or imaging information of the target area by the second scanning device or camera device 50852, and convert it into model data information corresponding to the external contour model of the wax film or shell film to be detected.

[0126] Step 6.2 Compare and determine whether the model data information obtained from the transformation of the target area is the target defect area. If so, the pre-molding correction process is completed.

[0127] If not, proceed to step 6.3.

[0128] Step 6.3 Adjust the model data information obtained from the target area conversion to coincide with the target defect area, and according to the adjustment process and the preset controllable link information of the multi-degree-of-freedom robotic arm 5084, obtain the target adjustment control information KTm of the multi-degree-of-freedom robotic arm 5084 in the molding mechanism 508, where m is the sequential number of the defect area.

[0129] Step 6.4 Adjust the control information KTm to the target of the multi-degree-of-freedom robotic arm 5084. After the multi-degree-of-freedom robotic arm 5084 has completed its movement, return to step 6.2.

[0130] By adding a second scanning device or camera device 50852 in conjunction with pre-molding correction treatment, the area facing the nozzle 50851 can be checked and corrected a second time to prevent the sand material in the non-defect area from being blown away, which would lead to difficult-to-handle defects (concave, missing material defects).

[0131] This invention provides an exemplary automated precision casting mold preparation system, comprising: a slurry application system, a vacuum rapid drying system, a transfer system, and a control system. The slurry application system is the automated slurry application system for precision casting molds described above.

[0132] like Figure 1 As shown, the vacuum rapid drying system includes: a second robotic arm 7, a hanging trolley 8, a hanging trolley guide rail 9, and a vacuum rapid dryer 10. After the second robotic arm 8 obtains the wax film or shell film to be processed from the second transfer mechanism 6, it sequentially hangs the wax film or shell film on the hooks of the hanging trolley 8 according to a preset sequence. Then, the hanging trolley 8 moves along the hanging trolley guide rail 9 to the vacuum rapid dryer 10, where the vacuum rapid dryer 10 performs vacuum rapid drying on the wax film or shell film processed by the sizing system hanging on the hanging trolley 8.

[0133] The second robotic arm 7, the trailer 8, and the vacuum rapid dryer 10 are connected to the control system via signals.

[0134] The transfer system includes a third robotic arm 11 and a third transfer mechanism 12. The third robotic arm 11 sequentially removes the wax film or shell film hanging on the trailer 8 after vacuum rapid drying and transfers it to the next process by the fourth transfer mechanism 12. The third robotic arm 11 is connected to the control system.

[0135] At this time, the structure of the wax film or shell film is as follows: Figure 13 As shown, it includes a main structure 13, on which a clamping part 1302 for gripping with a robotic arm and a hanging ring 1301 for hanging on a hook on a trailer 8 are provided.

[0136] This precision casting mold preparation system significantly improves preparation efficiency through rapid, batch-scale vacuum drying via the trolley 8. Furthermore, this invention enables fully automated preparation from wax film to shell film to final molding, further enhancing the preparation efficiency of shell films for precision casting.

[0137] This invention provides an exemplary trailer 8, such as... Figure 10 As shown, the device includes: a mounting bracket 801, which has several hooks for attaching wax film or shell film. A battery 805 is housed within the base plate of the mounting bracket 801, and a wheel assembly 803 is located below the base plate. The wheel assembly 803 has a drive wheel that moves along the trailer guide rail 9, or may also have a driven wheel. The drive wheel is driven to rotate by a drive wheel drive mechanism to move the trailer 8 along the trailer guide rail 9. The drive wheel drive mechanism is signal-connected to the control system.

[0138] At this time, according to the operation information of the second robotic arm 7, after the second robotic arm 7 hangs a preset number of wax films or shell films on the trailer 8, the control system controls the start of the active wheel drive mechanism, which drives the trailer 8 to move along the trailer guide rail 9 to the vacuum rapid dryer 10, and transfers the trailer 8 into the vacuum rapid dryer 10 for vacuum rapid drying.

[0139] After vacuum rapid drying is completed, the control system activates the drive mechanism, moving the carriage 8 along the carriage guide rail 9 to the working position of the third robotic arm 11. The third robotic arm 11 then transfers the wax film or shell film mounted on the carriage 8 to the third transfer mechanism 12 for further processing. This achieves an automated sizing-drying process for the wax film or shell film. Repeating this process allows for the application of a preset number of sizing layers to the wax film to construct the corresponding shell layers, ultimately resulting in a shell film with a preset number of ceramic shell layers. After dewaxing, a precision casting mold is obtained.

[0140] This invention provides, by way of example, a vacuum rapid dryer 10, such as... Figure 1 As shown, it includes an automatically opening and closing first closed door 1001, and the trailer rail 9 extends into the drying chamber 1002 of the vacuum rapid dryer 10.

[0141] like Figure 11 As shown, the trailer guide rail 9 includes a moving rail 902 covering the opening and closing movement area of ​​the first closed door 1001 and a fixed rail 901 close to the moving rail 902. The bottom of the moving rail 902 is fixedly connected to the top of at least two synchronously operating moving rods 903 of the electrically controlled lifting mechanism 904. The electrically controlled lifting mechanism 904 is signal-connected to the control system.

[0142] At this time, when the trailer 8 needs to move to the drying chamber 1002, the control system controls the retraction of the moving rod 903 of the electrically controlled lifting mechanism 904, thereby causing the moving rail 902 to descend. When the moving rail 902 descends to the preset position, the control system controls the opening of the first sealing door 1001. Since the moving rail 902 has descended, it will not obstruct the movement path of the first sealing door 1001. After the first sealing door 1001 is fully opened, the control system controls the retraction of the moving rod 903 of the electrically controlled lifting mechanism 904, thereby causing the moving rail 902 to rise and reset, connecting the moving rail 902 and the fixed rail 901 of the trailer guide rail 9, allowing the trailer 8 to move into the drying chamber 1002. After moving into the drying chamber 1002, the control system controls the retraction of the moving rod 903 of the electrically controlled lifting mechanism 904, thereby causing the moving rail 902 to descend. When the moving rail 902 descends to the preset position, the control system controls the closing of the first sealing door 1001 and initiates the vacuum rapid drying operation. After the vacuum drying is completed, the control system controls the first sealing door 1001 to open. After the first sealing door 1001 is fully opened, the control system controls the moving rod 903 of the electric lifting mechanism 904 to rise, thereby causing the moving rail 902 to rise and reset, so that the moving rail 902 and the fixed rail 901 of the trailer guide rail 9 are connected, so that the trailer 8 can move from inside and outside the drying chamber 1002 to the working position of the third robotic arm 11.

[0143] This setup enables automatic vacuum rapid drying of the wax film or shell film after sizing, further enhancing the system's automation level. Furthermore, the entire production line is integrated into the unified management of the control system, allowing for more effective adjustment of the entire production line's operating efficiency.

[0144] This invention provides, by way of example, a vacuum rapid dryer 10, such as... Figure 12 As shown, the drying chamber 1002 of the vacuum rapid dryer 10 is arranged in a through-type configuration, with a first sealing door 1001 and a second sealing door 1003 respectively located at the front and rear ends of the front drying chamber 1002. The trailer guide rail 9 is generally elongated in shape, running through the drying chamber 1002, and includes a moving rail 902 that covers the opening and closing movement areas of the first sealing door 1001 and the second sealing door 1003, as well as a fixed rail 901 close to the moving rail 902. The bottom of the moving rail 902 is fixedly connected to the top of at least two synchronously operating moving rods 903 of the electrically controlled lifting mechanism 904. The electrically controlled lifting mechanism 904 is signal-connected to the control system.

[0145] The base plate of the bracket 801 is rotatably connected to the wheel set 803 via a rotating shaft 802.

[0146] The second robotic arm 7 is located near the first closed door 1001, and the third robotic arm 11 and the third transfer mechanism 12 are located near the second closed door 1003.

[0147] At this time, when the trailer 8 needs to move to the drying chamber 1002, the control system controls the movement rod 903 of the electrically controlled lifting mechanism 904 near the first sealing door 1001 to retract, thereby causing the moving rail 902 to descend. When the moving rail 902 descends to the preset position, the control system controls the first sealing door 1001 to open. At this time, because the moving rail 902 has descended, it will not obstruct the movement path of the first sealing door 1001. After the first sealing door 1001 has been fully opened, the control system controls the movement rod 903 of the electrically controlled lifting mechanism 904 to rise back, thereby causing the moving rail 902 to rise and reset, connecting the moving rail 902 and the fixed rail 901 of the trailer guide rail 9, thus allowing the trailer 8 to move into the drying chamber 1002.

[0148] After the movement has completed into the drying chamber 1002, the control system controls the movement rod 903 of the electrically controlled lifting mechanism 904 near the first sealing door 1001 to retract, thereby causing the moving rail 902 to descend. When the moving rail 902 descends to the preset position, the control system controls the first sealing door 1001 to close and initiates the vacuum rapid drying action.

[0149] After the vacuum rapid drying is completed, the control system controls the retraction of the moving rod 903 of the electrically controlled lifting mechanism 904 near the second closed door 1003, thereby causing the moving rail 902 to descend. When the moving rail 902 descends to the preset position, the control system controls the second closed door 1003 to open. At this time, because the moving rail 902 has descended, it will not obstruct the movement path of the second closed door 1003. After the second closed door 1003 is fully opened, the control system controls the moving rod 903 of the electrically controlled lifting mechanism 904 to rise, thereby causing the moving rail 902 to rise and reset. At the same time, the control system controls the opening of the first closed door 1001, and after the second closed door 1003 is fully opened, the control system controls the retraction of the moving rod 903 of the electrically controlled lifting mechanism 904 near the first closed door 1001 to rise, thereby causing the moving rail 902 to rise and reset. At this time, the moving rail 902 and the fixed rail 901 are connected to form a connection as shown in the figure. Figure 12 The route.

[0150] The control system controls the currently dried trailer 8 to leave the drying chamber 1002 through the second closed door 1003 and move to the working position of the third robotic arm 11. At the same time, it controls the new trailer 8 with the wax film or shell film to be dried to enter the drying chamber 1002 through the first closed door 1001.

[0151] The control system simultaneously controls the retraction of the moving rod 903 of the electrically controlled lifting mechanism 904 near the first closed door 1001 and the second closed door 1003, thereby causing the moving rail 902 to descend. Then, it controls the first closed door 1001 and the second closed door 1003 to close, allowing for rapid vacuum drying of the wax film or shell film on the new trailer 8. After the dried wax film or shell film on the previous trailer 8 has been removed, the control system controls all trailers 8 to move forward until one of them reaches the working position of the second robotic arm 7 to receive the wax film or shell film.

[0152] This setup allows wax coating or shelling, drying, and wax coating or shelling removal to be performed in different operating areas, thereby enabling multiple processes to be carried out simultaneously without interference or reducing the intervals between processes, significantly reducing the total process time.

[0153] This invention provides an exemplary wheel set 803, such as... Figure 10 As shown, a stop button 806 is provided on the left side of the leftmost wheel set 803 and on the right side of the rightmost wheel set 803, and a baffle is provided at the corresponding working area position on the trailer guide rail 9. When the stop button 806 presses against the baffle and triggers, all wheel sets 803 of the trailer 8 are de-energized, thus stopping the trailer 8 and preventing it from failing to stop accurately in the working position, which could cause deviations in the robotic arm's attachment or removal of wax film / shell film.

[0154] Based on the above-described preferred embodiments of the present invention, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the inventive concept. The technical scope of this invention is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. An automatic slurry application system for precision casting molds, characterized in that, include: The components include: a sizing mechanism (2), a first robotic arm (3), a sand covering mechanism (4), a detection and shaping mechanism (5), and a control system; wherein: the first robotic arm (3) grabs the wax film or shell film to be processed from the first transfer mechanism (1) and inserts it into the sizing mechanism (2) to perform sizing treatment on the target wax film or shell film; the sizing mechanism (2) contains the ceramic shell sizing material required for this process. After the slurry treatment is completed, the first robotic arm (3) inserts the wax film or shell film to be treated into the sand covering mechanism (4) to perform sand covering treatment on the wax film or shell film coated with the ceramic shell slurry of this process. After the sand covering process is completed, the first robotic arm (3) inserts the wax film or shell film to be treated into the detection and shaping mechanism (5), detects the wax film or shell film after the sand covering process, and performs shaping process according to the detection results. After the shaping process is completed, the first robotic arm (3) places the wax film or shell film to be processed into the second transfer mechanism (6) for transfer to the next process.

2. The automatic slurry application system for precision casting molds according to claim 1, characterized in that, The sand covering mechanism (4) includes: a sand covering treatment chamber (401) with an open top, an electrically controlled sandblaster (402) on the top of the sand covering treatment chamber (401), the sand outlet of the sandblaster (402) facing the inside of the sand covering treatment chamber (401), and the sand inlet connected to the sand outlet of the sand storage device (403) through a connecting pipe (404).

3. The automatic slurry application system for precision casting molds according to claim 2, characterized in that, The sand covering mechanism (4) includes: a first lifting mechanism (406) disposed outside the sand covering treatment chamber (401), the lifting end of the first lifting mechanism (406) is connected to the sandblaster (402) through the connecting plate (405), and drives the sandblaster (402) to move up and down along the longitudinal axis of the sand covering treatment chamber (401); the connecting pipe (404) is a flexible hose.

4. The automatic slurry application system for precision casting molds according to claim 2, characterized in that, The sand covering mechanism (4) includes a sand floating machine (407) installed at the bottom of the sand covering treatment chamber (401).

5. The automatic slurry application system for precision casting molds according to claim 1, characterized in that, The detection molding mechanism (5) includes: a hollow support shell (501) with an open top; the hollow part of the support shell (501) is provided with at least one annular guide rail (502) in the horizontal direction; the annular guide rail (502) is connected to the support shell (501) through a support connection mechanism (503); at least one displacement mechanism (504) is provided on the annular guide rail (502) and is driven by a drive mechanism (5044) to move along the annular guide rail (502); the displacement mechanism (504) is provided with a scanning mechanism (507); the scanning end of the scanning mechanism (507) faces the wax film or shell film to be detected. The driving mechanism (5044) and scanning mechanism (507) are connected to the control system. The control system receives the scanning information from the scanning mechanism (507) for displacement control analysis, and constructs the external contour model of the wax film or shell film to be detected based on the continuously obtained scanning information from the scanning mechanism (507) before performing the shape analysis of the target to be detected. The control system controls the driving mechanism (5044) to drive the displacement mechanism (504) to move along the annular guide rail (502) according to the displacement control analysis results. Based on the shape analysis results of the target to be detected, the control system outputs whether there is a defect area in the shape of the wax film or shell film to be detected. If there is no defect area, the shaping process is completed. If there is a defect area, the defect area is output and the shaping process is completed after the defect area is corrected.

6. The automatic slurry application system for precision casting molds according to claim 5, characterized in that, The annular guide rail (502) includes: a toothed strip (5021) arranged annularly along the top or bottom surface of the guide rail; a positioning groove (5022) arranged annularly along the bottom or top surface of the guide rail on the opposite side of the toothed strip (5021); and a conductive groove (5023) opened on one side facing the displacement mechanism (504); an annular conductive wire (5024) is provided along the guide rail inside the conductive groove (5023), and a portion of the annular conductive wire (5024) is located inside the conductive groove (5023), and the portion located inside the conductive groove (5023) is provided with a conductive connection portion. The displacement mechanism (504) is fixed to the drive mechanism (5044) on the side corresponding to the toothed belt (5021). The drive output end of the drive mechanism (5044) is fixed to the first rotating shaft (5042). A toothed roller (5045) is fixed on the first rotating shaft (5042), and the toothed roller (5045) meshes with the toothed belt (5021). The displacement mechanism (504) has a second rotating shaft (5043) on the side corresponding to the positioning groove (5022). The second rotating shaft (5043) is rotatably connected to a positioning wheel (5046) at a position corresponding to the positioning groove (5022), one end of which is inserted into the positioning groove (5022) and matches the positioning groove (5022). The displacement mechanism (504) has a guide wheel inserted into the conductive groove (5023) at a position corresponding to the conductive groove (5023). The conductive plate (5047) is provided with a brush (5048) electrically connected to the conductive connection portion of the annular conductive wire (5024); the displacement mechanism (504) is provided with a current stabilizer (50415) electrically connected to the conductive plate (5047), and the output end of the current stabilizer (50415) is electrically connected to the storage battery (50414); the storage battery (50414) supplies power to the first signal transmission module (50416) and the first microprocessor module (50417) disposed in the displacement mechanism (504), and supplies power to the scanning mechanism (507); the first microprocessor module (50417) is signal connected to the first signal transmission module (50416) and the scanning mechanism (507), and the first signal transmission module (50416) is wirelessly connected to the control system.

7. The automatic slurry application system for precision casting molds according to claim 5, characterized in that, The scanning mechanism (507) includes a fixed base (5071) fixed to the displacement mechanism (504). The top of the fixed base (5071) is connected to the first transition plate (5073) through a gimbal mechanism or a rotation mechanism. The first transition plate (5073) is provided with a first scanning device (5074) at the end facing away from the gimbal mechanism or the rotation mechanism. The scanning end of the first scanning device (5074) faces the wax film or shell film to be detected. The drive control end of the gimbal mechanism or the rotation mechanism and the signal transmission end of the first scanning device (5074) are respectively connected to the first microprocessor module (50417).

8. The automatic slurry application system for precision casting molds according to claim 5, characterized in that, The support connection mechanism (503) is a fixed connection block, at which time the annular guide rail (502) is fixedly connected to the support shell (501); The displacement control analysis includes: Step 1.1 After receiving the start command from the control system, start the scanning mechanism (507) and obtain the background information B inside the current supporting shell (501); Step 1.2 When the scanning mechanism (507) detects other targets in the background information B and the appearance time of the target exceeds the preset start threshold, it determines that the target is the target to be scanned; Step 1.3 After the target to be scanned is determined, the drive mechanism (5044) is controlled according to the preset speed and direction to drive the displacement mechanism (504) to move along the annular guide rail (502).

9. The automatic slurry application system for precision casting molds according to claim 8, characterized in that, The analysis of the shape of the target to be detected includes: Step 2.1 After the target to be scanned is determined, the outer contour scanning information At of the target to be scanned is continuously acquired, where t is the scanning time sorted according to the scanning frequency. Step 2.2 Obtain the first motion vector Y1 according to the preset speed and direction of the displacement mechanism (504), and obtain the second motion vector Y2 according to the motion speed and direction of the target to be scanned relative to the annular guide rail (502); sum Y1 and Y2 into a vector Yt according to t; Step 2.3 After concatenating the scanned information At according to the vector and Yt and eliminating the overlapping parts, the real-time scanned outer contour model Mt of the scanned target is obtained; Step 2.4 After the scanning is completed, the overall outer contour model M of the target to be scanned is obtained. Based on the preset anchor point position of model M, model M is rotated to the standard position and compared with the standard model N of the target to be scanned. The part of model M that differs from the standard model N by more than a preset accuracy threshold is marked as a defect area and the marked defect area is output.

10. The automatic slurry application system for precision casting molds according to claim 5, characterized in that, The supporting connection mechanism (503) includes: a second driving device (5031), the driving output end of the second driving device (5031) is connected to a vertically arranged screw (5033) through a reducer (5032) to drive the screw (5033) to rotate; the top of the screw (5033) is rotatably connected to the supporting shell (501) through a bearing (5034); a guide rail connecting block (5035) is screwed onto the screw (5033), and one end of the guide rail connecting block (5035) facing the annular guide rail (502) is fixedly connected to the annular guide rail (502); The displacement control analysis includes: Step 3.1 After receiving the start command from the control system, start the second drive device (5031) to drive the screw (5033) to rotate so that the guide rail connecting block (5035) drives the ring guide rail (502) to move to a height Hn, where n is the sequence number of the preset height position; Step 3.2 After the annular guide rail (502) reaches the height Hn, the drive mechanism (5044) is controlled according to the preset speed and direction to drive the displacement mechanism (504) to move one revolution along the annular guide rail (502); Step 3.3 Repeat steps 1.1 and 1.2 until the circumferential motion of step 3.2 is completed at each preset height Hn.

11. The automatic slurry application system for precision casting molds according to claim 10, characterized in that, The analysis of the shape of the target to be detected includes: Step 4.1 After the annular guide rail (502) reaches the height Hn, start the scanning mechanism (507) and acquire the scanning information At-n, where t is the scanning timing; Step 4.2 Obtain the first motion vector Y1 according to the preset speed and direction of the displacement mechanism (504), and then stitch the scanning information At-n sequentially according to the vector Yt and eliminate the overlapping parts to obtain the scanning outer contour model Mn of the scanning target at this height position; Step 4.3 After scanning all preset heights Hn, the obtained model Mn is stitched together according to the height difference of Hn, and the overlapping parts are eliminated to obtain the overall outer contour model M of the target to be scanned. Step 4.4 Based on the preset anchor point position of model M, rotate model M to the standard position and compare it with the standard model N of the target to be scanned. Mark the part of model M that exceeds the preset accuracy threshold relative to the standard model N as the defect area and output the marked defect area.

12. The automatic slurry application system for precision casting molds according to claim 5, characterized in that, The annular guide rail (502) is provided with at least one displacement mechanism (504) having a molding mechanism (508). The molding mechanism (508) includes: a first fixing plate (5081) fixed to the displacement mechanism (504), a multi-degree-of-freedom robotic arm (5084) fixed on one side of the first fixing plate (5081), a high-pressure nozzle (5085) installed at the end of the robotic arm (5084), and the nozzle (50851) of the high-pressure nozzle (5085) facing the wax film or shell film to be tested; a high-pressure air cylinder sleeve (5082) fixed by a second fixing plate (5086) is provided on the other side of the first fixing plate (5081), a high-pressure air cylinder is installed inside the high-pressure air cylinder sleeve (5082), and the outlet end of the high-pressure air cylinder is connected to the inlet end (50853) of the high-pressure nozzle (5085) through a second hose (5083). The drive control end of the multi-degree-of-freedom robotic arm (5084) and the control signal input end of the high-pressure nozzle (5085) are respectively connected to the first microprocessor module (50417).

13. The automatic slurry application system for precision casting molds according to claim 12, characterized in that, The molding process includes: Step 5.1 Obtain the position information W of the defect area relative to the annular guide rail (502) where the molding mechanism (508) is located. 1-m m is the sequential number of the defect area, and W2 is the current position information of the displacement mechanism (504) where the molding mechanism (508) is located relative to the annular guide rail (502). Step 5.2 The control system determines the position based on the preset direction information W. 1-m The position information W2 forms the control shaping mechanism (508) and the displacement mechanism (504) to move to the position information W. 1-m Displacement control information (KWm) at the corresponding position; Step 5.3 Simulate the displacement mechanism (504) where the molding mechanism (508) is located in the virtual space to move to the position information W. 1-m The vector Y on the molding mechanism (508) at the corresponding position represents the spatial position and orientation information of the nozzle (50851); Step 5.4 Simulate and adjust the vector Y to the outlet direction of the nozzle (50851) and the position information W. 1-m The corresponding defect area is located at a distance from the defect area that meets the preset nozzle distance. Based on the adjustment process and the preset controllable link information of the multi-degree-of-freedom robotic arm (5084), the motion control information KDm of the multi-degree-of-freedom robotic arm (5084) in the molding mechanism (508) is obtained. According to location information W 1-m Based on the shape of the defect area and the unit time processing area of ​​the preset nozzle (50851), the shaping motion path control information KSm of the nozzle (50851) is obtained; Step 5.5 The control system outputs motion control information KDm and shaping motion path control information KSm to the multi-degree-of-freedom robotic arm (5084). After the multi-degree-of-freedom robotic arm (5084) completes the execution of motion control information KDm, it executes shaping motion path control information KSm and opens nozzle (50851) to spray out high-pressure airflow. Step 5.6 Repeat steps 5.2 to 5.5 until all m defect areas have been processed, thus completing the shaping process.

14. The automatic slurry application system for precision casting molds according to claim 12, characterized in that, The high-pressure nozzle (5085) has a second scanning device or camera device (50852) on the same side as the nozzle (50851) and in the same direction as the nozzle (50851); the second scanning device or camera device (50852) is connected to the first microprocessor module (50417) by signal. The shaping process includes a pre-shaping correction process, which includes: Step 6.1 Obtain the scanning or imaging information of the target area by the second scanning device or camera device (50852), and convert it into model data information corresponding to the external contour model of the wax film or shell film to be detected; Step 6.2 Compare and determine whether the model data information obtained from the transformation of the target area is the target defect area. If so, the pre-molding correction process is completed. If not, proceed to step 6.3; Step 6.3 Adjust the model data information obtained from the target area transformation to coincide with the target defect area, and according to the adjustment process and the preset controllable link information of the multi-degree-of-freedom robotic arm (5084), obtain the target adjustment control information KTm of the multi-degree-of-freedom robotic arm (5084) in the molding mechanism (508), where m is the sequential number of the defect area; Step 6.4 Adjust the control information KTm to the target of the multi-degree-of-freedom robotic arm (5084). After the multi-degree-of-freedom robotic arm (5084) has completed its movement, return to step 6.

2.

15. An automated precision casting mold preparation system, characterized in that, include: Sizing system, vacuum rapid drying system, transfer system, control system; The slurry application system is the automatic slurry application system for precision casting molds as described in any one of claims 1-14; The vacuum rapid drying system includes: a second robotic arm (7), a trailer (8), a trailer guide rail (9), and a vacuum rapid dryer (10); the second robotic arm (8) obtains the wax film or shell film to be processed from the second transfer mechanism (6) and hangs the wax film or shell film to be processed on the hook of the trailer (8) in a preset order; then the trailer (8) moves along the trailer guide rail (9) to the vacuum rapid dryer (10), and the vacuum rapid dryer (10) performs vacuum rapid drying on the wax film or shell film processed by the sizing system hanging on the trailer (8); The second robotic arm (7), the trailer (8), the vacuum rapid dryer (10) are connected to the control system via signals; The transfer system includes: a third robotic arm (11) and a third transfer mechanism (12); the third robotic arm (11) sequentially removes the wax film or shell film hanging on the trailer (8) after vacuum rapid drying and transfers it to the next process by the fourth transfer mechanism (12); the third robotic arm (11) is connected to the control system signal.

16. The automatic precision casting mold preparation system according to claim 15, characterized in that, The trailer (8) includes: a trailer (801), which has several hooks for hanging wax film or shell film; a battery (805) is provided in the bottom plate of the trailer (801), and a wheel set (803) is provided below the bottom plate; the wheel set (803) has a drive wheel that moves along the trailer guide rail (9), or a driven wheel; the drive wheel is driven to rotate by a drive wheel drive mechanism to drive the trailer (8) to move along the trailer guide rail (9), and the drive wheel drive mechanism is connected to the control system signal.

17. The automatic precision casting mold preparation system according to claim 15, characterized in that, The vacuum rapid dryer (10) includes an automatically opening and closing first closed door (1001), and the trailer rail (9) extends into the drying chamber (1002) of the vacuum rapid dryer (10). The trailer guide rail (9) includes a moving rail (902) covering the opening and closing movement area of ​​the first closed door (1001) and a fixed rail (901) close to the moving rail (902); the bottom of the moving rail (902) is fixedly connected to the top of at least two synchronously running moving rods (903) of the electric lifting mechanism (904); the electric lifting mechanism (904) is signal connected to the control system.

18. The automatic slurry application system for precision casting molds according to claim 16, characterized in that, The drying chamber (1002) of the vacuum rapid dryer (10) is arranged in a through manner, and the front and rear ends of the front drying chamber (1002) are respectively provided with a first closed door (1001) and a second closed door (1003). The trailer guide rail (9) is generally elongated through the drying chamber (1002) and includes a moving rail (902) that covers the opening and closing movement area of ​​the first closed door (1001) and the opening and closing movement area of ​​the second closed door (1003), and a fixed rail (901) close to the moving rail (902). The bottom of the moving rail (902) is fixedly connected to the top of at least two synchronously running moving rods (903) of the electric lifting mechanism (904). The electric lifting mechanism (904) is connected to the control system signal. The base plate of the bracket (801) is rotatably connected to the wheel assembly (803) via a pivot (802); The second robotic arm (7) is located near the first closed door (1001), and the third robotic arm (11) and the third transfer mechanism (12) are located near the second closed door (1003).

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