Self-recognition automatic casting device

Abstract

The utility model relates to the technical field of casting equipment, in particular to a self-recognition automatic casting device. The device comprises a mold, a recognition mechanism and a casting mechanism, the recognition mechanism comprises an image collection part and a driving assembly used for driving the image collection part to move in the space, and the image collection part is used for obtaining coordinate information of a casting opening of the mold; the casting mechanism comprises a casting ladle and a robot, and the robot can move the casting ladle according to the coordinate information of the casting gate. According to the casting device, the position of the casting opening can be automatically recognized, so that the working time for manually adjusting the moving track of a robot is saved, and the automation degree and the production efficiency of equipment are improved; in addition, the device drives the image collecting part to move in the space through the driving assembly, visual recognition scanning of a large area can be achieved, and meanwhile the image collecting part can be prevented from being blocked on the moving path of the robot in the casting process.

Description

Technical Field

[0001] This utility model relates to the field of casting equipment technology, and in particular to a self-identifying automatic casting device. Background Technology

[0002] Gravity casting generally falls into two categories: manual casting and automated casting. Automated casting typically employs robots. Traditional automated gravity casting can only achieve fixed-position, fixed-height pouring, realizing point-to-point automated pouring, but it cannot quickly achieve random automatic switching between multiple workstations and multiple products. When it is necessary to change the casting mold or change the casting position, a significant amount of manual labor is required to readjust the electrical control program and mechanical positions. Therefore, existing automated gravity casting equipment is still in a semi-automated production stage and has not yet achieved fully automated production. Utility Model Content

[0003] The purpose of this invention is to provide a self-identifying automatic casting device to solve the technical problem that existing technologies require a large amount of manual labor to readjust the electrical control program and mechanical positions when it is necessary to change the casting mold or change the casting position, thus failing to achieve automated production.

[0004] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0005] A self-identifying automatic casting device includes a mold, an identification mechanism, and a casting mechanism, wherein:

[0006] The identification mechanism includes an image acquisition component and a driving component for moving the image acquisition component in space. The image acquisition component is used to acquire the coordinate information of the casting port of the mold.

[0007] The casting mechanism includes a ladle and a robot, and the robot can move the ladle according to the coordinate information of the casting port.

[0008] Furthermore, the identification mechanism also includes a protective cover, and the image acquisition device is disposed inside the protective cover;

[0009] The protective cover includes a protective cover body and a cover plate, wherein: the protective cover body has a notch on the side near the mold; the cover plate is slidably disposed on the protective cover body and can open or close the notch.

[0010] Furthermore, the identification mechanism also includes an opening and closing drive source, which is installed on the protective cover body and its power output end is connected to the cover plate.

[0011] Furthermore, an air blowing port is provided on the side wall of the protective cover body, and the air blowing port is connected to an air source.

[0012] Furthermore, the driving assembly includes a camera driving source, a drive gear, a rack, and a guide rail. The power output end of the camera driving source is connected to the drive gear, the drive gear meshes with the rack, the rack and the guide rail are parallel in length direction and are both mounted above the mold, and the image acquisition component is slidably mounted on the guide rail and connected to the camera driving source.

[0013] Furthermore, the mold includes a mold body and a pouring cup detachably mounted on the mold body; the pouring cup includes a first part and a second part detachably connected.

[0014] Furthermore, the pouring cup is provided with an identification plate, and the identification plate is provided with visual identification holes and / or visual identification protrusions.

[0015] Furthermore, the casting mechanism also includes a liquid level detection probe, which is mounted on the robotic arm of the robot and is used to control the amount of liquid taken from the ladle.

[0016] Furthermore, the casting mechanism also includes a level gauge, which is mounted on the robot's robotic arm and is used to detect the level of the casting liquid in the casting port.

[0017] Furthermore, the casting mechanism also includes a tilting drive source and an air blowing nozzle, which are mounted on the robotic arm of the robot, wherein: the power output end of the tilting drive source is connected to the ladle; and the air blowing nozzle is located around the tilting drive source and connected to an air source.

[0018] The beneficial effects of this utility model are:

[0019] This utility model provides a self-identifying automatic casting device, which includes a mold, an identification mechanism, and a casting mechanism. The identification mechanism includes an image acquisition component and a driving component for moving the image acquisition component in space. The image acquisition component is used to acquire the coordinate information of the casting port of the mold. The casting mechanism includes a ladle and a robot. The robot can move the ladle according to the coordinate information of the casting port.

[0020] The casting device provided in this application can automatically identify the position of the casting gate, thereby saving the time of manually adjusting the robot's movement trajectory and improving the automation level and production efficiency of the equipment. In addition, the device drives the image acquisition component to move in space through the drive component, which can realize visual recognition scanning of a large area, while avoiding the image acquisition component from blocking the robot's movement trajectory during the casting process. Attached Figure Description

[0021] To more clearly illustrate the specific embodiments of this utility model 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 this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0022] Figure 1 A three-dimensional schematic diagram of the self-identifying automatic casting device provided in the embodiments of this utility model;

[0023] Figure 2 for Figure 1 Enlarged view at point A;

[0024] Figure 3 A three-dimensional schematic diagram of the protective cover provided in an embodiment of this utility model;

[0025] Figure 4 A frontal view of the protective cover provided in an embodiment of this utility model;

[0026] Figure 5 A schematic diagram showing the positional relationship between the mold and the casting mechanism provided in this embodiment of the utility model;

[0027] Figure 6 A three-dimensional schematic diagram of the pouring cup provided in an embodiment of this utility model;

[0028] Figure 7 A three-dimensional schematic diagram of the first or second part of the pouring cup provided in an embodiment of this utility model;

[0029] Figure 8 A three-dimensional schematic diagram of the identification plate provided in an embodiment of this utility model;

[0030] Figure 9 A three-dimensional schematic diagram of the mold body provided for an embodiment of this utility model;

[0031] Figure 10 A three-dimensional schematic diagram of a portion of the casting mechanism provided for an embodiment of this utility model;

[0032] Figure 11 A side view of a portion of the casting mechanism provided in an embodiment of this utility model;

[0033] Figure 12 for Figure 10 Enlarged view at point B.

[0034] icon:

[0035] 1-Mold; 11-Mold body; 111-Positioning reference plate; 12-Pour cup; 121-First part; 122-Second part; 13-Identification plate; 131-Visual identification hole; 132-Visual identification ridge; 14-Clamping device;

[0036] 2-Identification mechanism; 21-Image acquisition component; 22-Drive assembly; 221-Camera drive source; 222-Drive gear; 223-Rack; 224-Guide rail; 225-Slide carriage; 23-Protective cover; 231-Protective cover body; 232-Cover plate; 233-Air blowing interface; 24-Opening and closing drive source;

[0037] 3-Casting mechanism; 31-Ladle; 32-Robot; 321-Robotic arm; 33-Liquid level detection probe; 34-Level gauge; 35-Tilting drive source; 36-Air blowing nozzle; 37-Protective partition; 38-Crucible;

[0038] 4-Rack. Detailed Implementation

[0039] The technical solution of this utility model will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0040] It should be noted that in the description of this utility model, the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used solely for the convenience of describing this utility model and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0041] It should be noted that in the description of this utility model, the terms "connection" and "installation" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or a connection through an intermediate medium; they can refer to a mechanical connection or an electrical connection. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0042] Traditional casting equipment can only perform casting at a fixed position and height. When it is necessary to change the casting mold or change the casting position, a lot of manpower is required to readjust the electrical control program and mechanical points, which does not achieve automated production.

[0043] Based on this, the present invention provides a self-identifying automatic casting device, referring to... Figure 1 The device includes a mold 1, an identification mechanism 2, and a casting mechanism 3, wherein:

[0044] The identification mechanism 2 includes an image acquisition component 21 and a drive component 22 for driving the image acquisition component 21 to move in space. The image acquisition component 21 is used to acquire the coordinate information of the casting port of the mold 1.

[0045] The casting mechanism 3 includes a ladle 31 and a robot 32. The robot 32 can move the ladle 31 according to the coordinate information of the casting port.

[0046] In this embodiment, the image acquisition device 21 is specifically a 3D camera. The image acquisition device 21 can acquire an image of the casting port of the mold 1 and upload the image to the control and recognition system. The control and recognition system can identify and analyze the image of the casting port to obtain the three-dimensional coordinate information of the casting port.

[0047] The working principle of the device is as follows: after confirming the position of the mold 1 to be cast, the drive component 22 is controlled to work, and the image acquisition component 21 moves and scans the mold 1 to be cast under the drive of the drive component 22 to obtain the coordinate information of the casting port; the control recognition system plans the movement path of the robot 32 through the casting port coordinate information, so that the casting liquid in the ladle 31 can be smoothly poured into the mold 1.

[0048] As described above, the casting device provided in this application can automatically identify the position of the casting gate. When the casting position needs to be changed, there is no need for manual readjustment of the electrical control program and mechanical points, thereby saving the time spent manually adjusting the robot's movement path and improving the automation level and production efficiency of the equipment. In addition, the device drives the image acquisition component 21 to move in space through the drive component 22, which can realize visual recognition scanning of a large area, while avoiding the image acquisition component 21 from blocking the robot's movement path during the casting process.

[0049] Furthermore, the casting device also includes a frame 4, which is installed on one side of the mold 1, and the identification mechanism 2 is mounted above the mold 1 via the frame 4.

[0050] As an optional embodiment, the drive assembly 22 is capable of driving the image acquisition element 21 to reciprocate horizontally above the mold 1. Further reference... Figure 2The drive assembly 22 includes a camera drive source 221, a drive gear 222, a rack 223, and a guide rail 224. The power output end of the camera drive source 221 is connected to the drive gear 222. The drive gear 222 meshes with the rack 223. The rack 223 and the guide rail 224 are parallel in length and are both mounted above the mold 1. The image acquisition component 21 is slidably mounted on the guide rail 224 and connected to the camera drive source 221.

[0051] Specifically, there are two guide rails 224, and a rack 223 is disposed between the two guide rails 224. The rack 223 and the guide rails 224 are mounted on the top of the frame 4. The drive assembly 22 also includes a carriage 225, one end of which is slidably connected to the guide rail 224, and the other end of which is equipped with an image acquisition unit 21. The camera drive source 221 is a motor, which is mounted on the carriage 225 and its output shaft is connected to the drive gear 222. The drive gear 222 meshes with the rack 223. When the camera drive source 221 is started, it drives the drive gear 222 to rotate. The drive gear 222 moves along the length of the rack 223, thereby driving the image acquisition unit 21 to move along the length of the rack 223, thus enabling the moving scan of the mold 1.

[0052] Reference Figure 3 The identification mechanism 2 also includes a protective cover 23, and the image acquisition component 21 is disposed inside the protective cover 23. Since there are floating objects such as fumes and dust in the casting environment, this embodiment uses a protective cover 23 to protect the vision camera, so as to improve the recognition accuracy of the camera and reduce the workload of manually cleaning the camera.

[0053] Based on the above structure, the protective cover 23 includes a protective cover body 231 and a cover plate 232, wherein: the protective cover body 231 has a notch on the side near the mold 1; the cover plate 232 is slidably disposed on the protective cover body 231 and can open or close the notch. When the image acquisition unit 21 is working, the cover plate 232 opens the notch on the protective cover body 231, and the image acquisition unit 21 acquires the image of the mold 1 through the notch; when the image acquisition unit 21 is not working, the cover plate 232 closes the notch on the protective cover body 231, so that the image acquisition unit 21 is in a closed space, preventing dust and other floating objects from adhering to the camera.

[0054] Furthermore, the identification mechanism 2 also includes an opening / closing drive source 24, which is mounted on the protective cover body 231, and its power output end is connected to the cover plate 232. In this embodiment, the opening / closing drive source 24 is specifically a cylinder, the cylinder body of which is mounted on the protective cover body 231, and the piston rod end of which is connected to the cover plate 232. This achieves the purpose of automatically opening or closing the notch on the protective cover body 231, further improving the automation level of the device.

[0055] Reference Figure 4 An air blowing port 233 is provided on the side wall of the protective cover body 231, and the air blowing port 233 is connected to an air source. During the moving scanning process of the image acquisition unit 21, the air source blows positive pressure air into the protective cover 23 through the air blowing port 233, so that smoke, dust and other floating objects cannot adhere to the image acquisition unit 21.

[0056] Reference Figure 5 The mold 1 includes a mold body 11 and a pouring cup 12 detachably mounted on the mold body 11, with the pouring cup 12 forming the casting gate of the mold 1. The detachable mounting method allows the pouring cup 12 to be used in multiple locations, improving ease of use and facilitating the handling of castings. The height of the pouring cup 12 can be adaptively adjusted according to the recognition height range of the image acquisition unit 21.

[0057] Continue to refer to Figure 6 and Figure 7 The pouring cup 12 includes a first part 121 and a second part 122 that are detachably connected. Optionally, the joint between the first part 121 and the second part 122 is positioned by staggered stepped surfaces; the first part 121 and the second part 122 are locked by a clamp 14, which can be a fastener such as a screw or a purchased part, and is not limited here.

[0058] In the above structure, the pouring cup 12 adopts a split-type assembly structure. This design allows for easy removal of the casting after the molten casting has solidified within the pouring cup 12, as the first part 121 and the second part 122 can be manually disassembled. The joint between the first part 121 and the second part 122 utilizes a stepped, staggered positioning system and a clamping device 14 for locking, ensuring no aluminum molten material seeps out during the pouring process. The first part 121 and the second part 122 are made of heat-resistant metal to reduce thermal deformation during the pouring process, ensuring the reusability of the split-type pouring cup and saving costs.

[0059] Reference Figure 8 An identification plate 13 is provided on the pouring cup 12, and the identification plate 13 is provided with visual identification holes 131 and / or visual identification protrusions 132. Since the switching of the casting station may cause inconsistencies between the camera coordinates and the workpiece coordinates, this embodiment configures the identification plate 13 on the pouring cup 12. The identification plate 13 is surrounded by visual identification holes 131 and / or visual identification protrusions 132. The effectiveness of the casting area can be ensured by identifying the casting area through the visual identification holes 131 and / or visual identification protrusions 132. At the same time, the casting safety area can be set through the visual identification holes 131 and / or visual identification protrusions 132 to limit the casting range of the casting robot.

[0060] In this embodiment, mold 1 is designed to be movable to allow switching between the casting / picking station and the casting station. (Refer to...) Figure 9 The mold body 11 is provided with several positioning reference plates 111, and the positioning reference plates 111 are provided with positioning reference holes. The positioning reference holes can be used for mechanical point-to-point positioning with the robot's position coordinates to ensure the consistency of the final robot coordinates, mold coordinates and recognition mechanism coordinates.

[0061] Reference Figure 10 and Figure 11 The casting mechanism 3 also includes a liquid level detection probe 33, which is mounted on the robotic arm 321 of the robot 32 and is used to control the amount of liquid taken from the ladle 31.

[0062] Specifically, the liquid level detection probe 33 is located around the periphery of the ladle 31. During the process of the robot 32 driving the ladle 31 to extend into the crucible 38 to take casting liquid, when the liquid level detection probe 33 detects the casting liquid in the crucible 38, the ladle 31 stops descending and takes liquid. Through the above process, the amount of liquid taken by the ladle 31 each time can be controlled.

[0063] In addition, the liquid level detection probe 33 can also be used for position calibration. Specifically, when position calibration is required, the robot 32 moves the liquid level detection probe 33 to the positioning reference hole on the mold body 11, and achieves position calibration through mechanical point positioning.

[0064] Continue to refer to Figure 10 The casting mechanism 3 also includes a level gauge 34, which is mounted on the robotic arm 321 of the robot 32. The level gauge 34 is used to detect the level of the casting liquid in the pouring gate. During the pouring process from the ladle 31 into the pouring cup 12, the level gauge 34 detects the level of the casting liquid in the pouring cup 12 in real time, thereby controlling the amount of casting liquid poured into the pouring cup 12 each time, ensuring the consistency of the finished product, and preventing overflow.

[0065] Optionally, the level gauge 34 is an infrared rangefinder, which can detect the liquid level height in the pouring cup 12 during the casting process.

[0066] Reference Figure 12 The casting mechanism 3 also includes a tilting drive source 35 and an air blowing nozzle 36. The tilting drive source 35 and the air blowing nozzle 36 are mounted on the robotic arm 321 of the robot 32. The power output end of the tilting drive source 35 is connected to the ladle 31. The air blowing nozzle 36 is located around the tilting drive source 35 and is connected to an air source.

[0067] In this embodiment, the flipping drive source 35 is specifically a motor. The output shaft of the flipping drive source 35 is connected to the ladle 31 and is used to drive the ladle 31 to flip and scoop up the casting liquid. The flipping drive source 35 will reduce its frequency when heated, affecting its performance. Therefore, in this embodiment, several air blowing nozzles 36 are arranged around the periphery of the flipping drive source 35. The flipping drive source 35 is cooled by blowing air towards it through the air blowing nozzles 36, ensuring that the flipping drive source 35 is not affected by high temperature during operation.

[0068] Optionally, multiple air nozzles 36 are provided on both sides of the circumference of the flip drive source 35, so that the entire flip drive source 35 is within the air blowing range, thereby improving the cooling effect on the flip drive source 35.

[0069] Continue to refer to Figure 12 The casting mechanism 3 also includes a protective partition 37, with the tilting drive source 35 located above the protective partition 37. The protective partition 37 can isolate the tilting drive source 35 from the heat source, further protecting the tilting drive source 35 from the effects of high temperature.

[0070] The working process of the casting device provided in this embodiment is as follows:

[0071] First, the split-type pouring cup 12 is manually installed above the casting liquid inlet of the mold body 11;

[0072] Next, the drive component 22 drives the image acquisition component 21 to move and scan the mold 1, and obtains the coordinate information of the pouring cup 12 (that is, the coordinate information of the pouring gate of the mold 1) through the visual recognition hole 131 and visual recognition protrusion 132 on the recognition plate 13.

[0073] Subsequently, the control and recognition system plans the movement path of the robot 32 based on the coordinate information of the pouring cup 12 and controls the robot 32 to start. The robot 32 controls the ladle 31 to move to the crucible 38 and scoop up the casting liquid. Then, the robot 32 controls the ladle 31 to move to the pouring cup 12 and pour the casting liquid into the pouring cup 12.

[0074] After casting is completed and the casting liquid solidifies, the first part 121 and the second part 122 of the pouring cup 12 are separated manually and the casting is removed.

[0075] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A self-identifying automatic casting device, characterized in that, It includes a mold (1), an identification mechanism (2), and a casting mechanism (3), wherein: The identification mechanism (2) includes an image acquisition component (21) and a drive component (22) for driving the image acquisition component (21) to move in space. The image acquisition component (21) is used to acquire the coordinate information of the casting port of the mold (1). The casting mechanism (3) includes a ladle (31) and a robot (32), and the robot (32) can move the ladle (31) according to the coordinate information of the casting port. The identification mechanism (2) also includes a protective cover (23), and the image acquisition component (21) is disposed inside the protective cover (23); The protective cover (23) includes a protective cover body (231) and a cover plate (232), wherein: the protective cover body (231) has a notch on the side close to the mold (1); the cover plate (232) is slidably disposed on the protective cover body (231) and can open or close the notch; An air blowing port (233) is provided on the side wall of the protective cover body (231), and the air blowing port (233) is connected to an air source; during the moving scanning process of the image acquisition device (21), the air source blows positive pressure air into the interior of the protective cover (23) through the air blowing port (233).

2. The self-identifying automatic casting device according to claim 1, characterized in that, The identification mechanism (2) also includes an opening and closing drive source (24), which is installed on the protective cover body (231) and its power output end is connected to the cover plate (232).

3. The self-identifying automatic casting device according to claim 1, characterized in that, The drive assembly (22) includes a camera drive source (221), a drive gear (222), a rack (223), and a guide rail (224). The power output end of the camera drive source (221) is connected to the drive gear (222). The drive gear (222) meshes with the rack (223). The rack (223) and the guide rail (224) are parallel in length and are both mounted above the mold (1). The image acquisition component (21) is slidably mounted on the guide rail (224) and connected to the camera drive source (221).

4. The self-identifying automatic casting device according to claim 1, characterized in that, The mold (1) includes a mold body (11) and a pouring cup (12) detachably mounted on the mold body (11); the pouring cup (12) includes a first part (121) and a second part (122) detachably connected.

5. The self-identifying automatic casting device according to claim 4, characterized in that, The pouring cup (12) is provided with an identification plate (13), and the identification plate (13) is provided with a visual identification hole (131) and / or a visual identification protrusion (132).

6. The self-identifying automatic casting device according to any one of claims 1 to 5, characterized in that, The casting mechanism (3) also includes a liquid level detection probe (33), which is mounted on the robotic arm (321) of the robot (32) and is used to control the amount of liquid taken from the ladle (31).

7. The self-identifying automatic casting device according to any one of claims 1 to 5, characterized in that, The casting mechanism (3) also includes a level gauge (34), which is mounted on the robotic arm (321) of the robot (32) and is used to detect the level of the casting liquid in the casting port.

8. The self-identifying automatic casting device according to any one of claims 1 to 5, characterized in that, The casting mechanism (3) further includes a flipping drive source (35) and an air blowing nozzle (36). The flipping drive source (35) and the air blowing nozzle (36) are both mounted on the robotic arm (321) of the robot (32). The power output end of the flipping drive source (35) is connected to the ladle (31). The air blowing nozzle (36) is located around the flipping drive source (35) and is connected to an air source.

Images