Slurry performance automatic measuring device for robot automatic shell making line

Abstract

The utility model provides an automatic slurry performance measuring device for a robot automatic shell making line. The automatic slurry performance measuring device comprises a sensing detection device (2), an automatic cleaning device (10) and a control system, the control system is used for setting automatic detection time, the viscosity sensor (2-3) is used for reading viscosity, density and temperature during automatic detection, and after detection is completed, the robot (7) controls the sensing detection device (2) to be inserted into the cleaning container (10-1). The automatic cleaning device (10) is controlled to suck a cleaning solution through negative pressure suction of compressed air to form high pressure to spray and clean the viscosity sensor (2-3), and after cleaning is completed, a compressed air valve is automatically opened to introduce gas to blow-dry the surface of the viscosity sensor (2-3). And automatic detection and automatic cleaning of the viscosity and the density of the slurry can be realized.

Description

TECHNICAL FIELD

[0001] The utility model belongs to ceramic slurry technical field, more particularly in a kind of slurry performance automatic measuring device for robot automatic shell production line. BACKGROUND

[0002] Slurry is one of the most key factors to influence shell quality in precision investment casting, so in the robot automatic shell production, the viscosity, density and other key indicators of slurry are often detected to confirm whether the slurry performance is within the quality standard required in process specification. When unqualified, slurry needs to be adjusted to achieve the required reasonable index range. At present, slurry performance detection is carried out by manually sampling from slurry barrel to detect viscosity and density, and the measurement data recording accuracy and timeliness are often affected by human factors, which leads to difficulty in tracing shell quality problem data. In addition, since slurry is a viscous flow material, it is easy to solidify on sampling device and detection instrument ware if not stirred or cleaned in time, which seriously affects the accuracy of next measurement result if not cleaned in time after measurement. Currently, sampling device and measurement sensor device need to be cleaned manually, which occupies certain labor and time.

[0003] In precision investment casting, robot automatic production shell is prepared by robot grabbing module, slurry coating + sand material spraying + drying→slurry coating + sand material spraying + drying......, and so on. It is necessary to master the slurry performance at a specific time and bind the detection data result with each layer of shell for quality traceability.

[0004] At present, there is no public introduction of automatic detection device and method or device with automatic cleaning function for slurry viscosity, density and other indicators in robot automatic shell production equipment. UTILITY MODEL CONTENT

[0005] The utility model provides a kind of slurry performance automatic measuring device for robot automatic shell production line, can realize the automatic detection of slurry viscosity, density and automatic cleaning.

[0006] The utility model provides a kind of slurry performance automatic measuring device for robot automatic shell production line, including: sensing detection device 2, automatic cleaning device 10 and control system;

[0007] Sensing detection device 2 includes: detection device base 2-1, viscosity sensor 2-3 and liquid level detection sensor 2-4;

[0008] The viscosity sensor 2-3 and the liquid level detection sensor 2-4 are installed on the detection device base 2-1; the detection device base 2-1 cooperates with the robot end clamp, and the detection device base 2-1 is moved together with the sensor by the robot manipulator;

[0009] The viscosity sensor 2-3 is used for measuring the viscosity, density and temperature of the slurry;

[0010] The liquid level detection sensor 2-4 is used for measuring the slurry height;

[0011] The automatic cleaning device 10 comprises a cleaning container 10-1, a cleaning recovery pipeline 10-2, a compressed air negative pressure cleaning gas path 10-3, a water outlet path 10-4, a nozzle 10-5, a filtering device 10-6, a water storage device 10-7 and a bottom support 10-8.

[0012] The nozzle 10-5, the water outlet path 10-4 and the water storage device 10-7 are arranged below the cleaning container 10-1; the filtering device 10-6 is installed on the upper part of the water storage device 10-7, and the bottom support 10-8 is arranged on the bottom part of the water storage device 10-7.

[0013] The nozzle 10-5 is connected with the compressed air negative pressure cleaning gas path 10-3 and the water outlet path 10-4; the water outlet path 10-4 and the cleaning recovery pipeline 10-2 are inserted into the water storage device 10-7.

[0014] The control system is used for setting an automatic detection time, and when the automatic detection is performed, the detection device base 2-1 provided with the viscosity sensor 2-3 is automatically grabbed by the robot clamp, and is moved to the slurry barrel 1; according to the liquid level detection sensor 2-4, the liquid level height in the current slurry barrel 1 is recognized, and the robot 7 automatically makes the viscosity sensor 2-3 contact with the slurry 1-1 in the slurry barrel 1 according to the system program; the viscosity, density and temperature are read under the instruction of the control system, and are automatically input into the control system; the measurement result is compared with the set value, when the threshold value is exceeded, an abnormal alarm is given, and the slurry composition is timely adjusted; when the threshold value is within the range, the measurement result is automatically recorded according to the current shell preparation information, so as to facilitate quality tracing; after the detection is completed, the robot 7 controls the sensing detection device 2 to be inserted into the cleaning container 10-1, the automatic cleaning device 10 sucks the cleaning solution to form high pressure to spray and clean the viscosity sensor 2-3 through the compressed air negative pressure suction, and after the cleaning is completed, the compressed air valve is automatically opened to blow dry the surface of the viscosity sensor 2-3.

[0015] Optionally, the viscosity sensor 2-3 is installed on the detection device base 2-1 through flange connection.

[0016] Optionally, the detection device base 2-1 is provided with a rubber sealing ring 2-2 around the periphery, which is used to keep close contact with the cleaning container to prevent overflow of cleaning liquid during spray washing.

[0017] Optionally, the detection device base 2-1 is installed on the cleaning container 10-1 in a plug-in manner.

[0018] Optionally, the cleaning container 10-1 is made of smooth inner wall stainless steel or organic glass.

[0019] Optionally, the water storage device 10-7 is provided with a minimum liquid level sensor, which alarms when the liquid level reaches the minimum and reminds to supplement the cleaning liquid.

[0020] The utility model provides a kind of slurry performance automatic measuring device for robot automatic shell making line, realize the automatic detection and record of key index such as slurry viscosity, density, temperature in automatic shell making process, reduce artificial intervention or influence, the data of collection timely collection, accurate, reliable, it is convenient for quality traceability, realize the automatic cleaning of sensor in detection device, reduce artificial cleaning operation, increase digital detection device, automatic cleaning device on the basis of original robot automatic shell making, small footprint, do not affect overall layout, simple structure. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 It is robot automatic shell making production line schematic diagram;

[0022] Figure 2 It is structure schematic diagram when measuring;

[0023] Figure 3 It is assembly schematic when cleaning Figure 1 ;

[0024] Figure 4 It is assembly schematic when cleaning Figure 2 ;

[0025] Figure 5 It is sensor detection device structure schematic diagram;

[0026] Figure 6 It is automatic cleaning device structure schematic Figure 1 ;

[0027] Figure 7 It is automatic cleaning device structure schematic Figure 2 ;

[0028] BRIEF DESCRIPTION OF DRAWINGS:

[0029] Slurry barrel 1, sensing detection device 2, electrical control system 3, robot control system 4, computer control system 5, slurry barrel 6, robot 7, other supporting equipment 8, other supporting equipment 9, automatic cleaning device 10, slurry 1-1, detection device base 2-1, rubber sealing ring 2-2, viscosity sensor 2-3, liquid level detection sensor 2-4, robot end 7-1, clamp 7-2, cleaning container 10-1, compressed air negative pressure cleaning gas circuit 10-3, cleaning and recycling pipeline 10-2, water outlet circuit 10-4, nozzle 10-5, filtering device 10-6, water storage device 10-7 and bottom support 10-8. DETAILED DESCRIPTION

[0030] To make the objects, technical solutions, and advantages of the embodiments of the present application clearer, the following will be combined with the drawings of the embodiments of the present application to make a clear and complete description of the technical solutions in the embodiments of the present application. Obviously, the described embodiments are some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, any other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0031] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In the following detailed description, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, it will be apparent to those skilled in the art that the present application can be practiced without some of these specific details. The following description of the embodiments is merely provided to give a better understanding of the present application by showing examples of the present application. The present application is in no way limited to any specific arrangements and methods set forth below, but covers any improvements, replacements, and modifications of structures, methods, and devices without departing from the spirit of the present application. In the drawings and the following description, well-known structures and techniques are not shown to avoid unnecessary obscuring of the present application.

[0032] It should be noted that the features in the embodiments of the present application and the embodiments can be combined with each other without conflict, and each embodiment can be mutually referenced and quoted. The present application will be described in detail below with reference to the drawings and in combination with the embodiments.

[0033] The present application will be described in further detail below in combination with the embodiments and the drawings, but the implementation manner of the present application is not limited thereto.

[0034] The present application provides a slurry performance automatic measurement device for a robot automatic shell manufacturing line, which aims to solve the following technical problems in automatic shell manufacturing:

[0035] 1. The slurry viscosity, density performance indicators are automatically detected on the production line.

[0036] 2. The slurry viscosity, density and other key performance indicators of the slurry are automatically measured and recorded, and when deviation occurs from the set threshold range, automatic alarm is reminded.

[0037] 3. The surface attachments of the detection sensor are automatically cleaned to avoid affecting the next automatic measurement.

[0038] 4. The cost and the upper area of the slurry barrel are limited, and there is no sufficient space for fixing the detection device and adding additional automatic execution mechanism.

[0039] 5. The automatic detection device and the automatic cleaning device of the sensor are simple in structure.

[0040] The utility model provides a kind of slurry performance automatic measuring device for robot automatic shell making line, on the basis of robot, fixture, slurry barrel of robot automatic shell production basic matching equipment, still propose slurry performance testing device and automatic cleaning device.The specific implementation method is as follows:

[0041] 1) The automatic measurement device is mainly composed of shell making robot system, slurry barrel, slurry performance automatic detection device and control system.The slurry performance automatic detection device is mainly composed of shell making robot system, sensing detection device and automatic cleaning device, support and control system.

[0042] 2) The shell making robot system is mainly 6-axis articulated robot or other automatic execution mechanism, which can realize shell making and sensing detection device grabbing, and the robot end is provided with clamp, which can smoothly grab sensing detection device for measurement.The detection device base cooperates with the robot end clamp, and the detection sensor is moved together with the base by mechanical hand clamping.

[0043] 3) The detection device is provided with viscosity sensor, which is SRD viscosity sensor of Renishaw brand, and can measure slurry viscosity, density, temperature and the like.The density and viscosity are calculated from damping and resonance frequency by internal calculation after the micro torsional resonator is immersed in test fluid, and real-time measurement and continuous response (less than 1 second) are realized.It is installed on the detection device base by flange connection.

[0044] 4) The detection device base is provided with rubber sealing ring around, for closely adhering with cleaning container, to prevent cleaning liquid from overflowing when being washed by spraying.

[0045] 5) The detection device base is installed on the automatic cleaning device, and plug assembly is adopted.

[0046] 6) The automatic cleaning device mainly consists of a cleaning container, a cleaning and drying system, and a control system. The cleaning container is made of stainless steel or organic glass with smooth inner walls to reduce the mixing and residual hanging of slurry and cleaning solution on the inner wall of the container. The upper part is connected with the base of the detection device, and the bottom of the container is provided with two cleaning and drying nozzles and a discharge port for discharging the cleaning solution.

[0047] 7) The automatic cleaning device is equipped with a high-pressure spray circulating cleaning system, including a spray washing device and a water storage device. The upper part of the water storage device is provided with a non-woven fabric filter layer, and the user recovers the slurry particles on the surface of the filter sensor. The water storage tank is provided with a minimum liquid level sensor, which alarms when the liquid level reaches the minimum.

[0048] 8) The automatic cleaning device is equipped with a compressed air negative pressure cleaning gas path, mainly composed of a gas pipe and a control valve. It is used to dry the residual cleaning agent on the surface of the sensor.

[0049] For the robot automatic shell production line as shown in Figure 1 A robot automatic slurry performance measuring device is proposed, which includes a slurry barrel 1, a sensing detection device 2, an electrical control system 3, a robot control system 4, a computer control system 5, a slurry barrel 6, a robot 7, other supporting equipment 8, other supporting equipment 9, and an automatic cleaning device 10.

[0050] The shell making robot 7 is mainly a 6-axis articulated robot or other automatic execution mechanism, which can realize shell making and grabbing of the sensing detection device. The robot end 7-1 is provided with a clamp 7-2, which can smoothly grab the sensing detection device for measurement. The sensing detection device base cooperates with the robot end clamp, and moves together with the detection sensor through the mechanical hand clamp.

[0051] The sensing detection device 2 mainly consists of a detection device base 2-1, a rubber sealing ring 2-2, a viscosity sensor 2-3, and a liquid level detection sensor 2-4. The viscosity sensor 2-3 is a RENEX brand SRD viscosity sensor, which can measure the viscosity, density, and temperature of the slurry at the same time. After the micro-torsional resonator is immersed in the test fluid, the density and viscosity are calculated from the damping and resonance frequency through internal calculation, and the real-time measurement and continuous response are less than 1 second. It is installed on the detection device base 2-1. The liquid level detection sensor is used to detect the immersion depth when the slurry performance is detected.

[0052] The other supporting equipment 8 and the other supporting equipment 9 can be raw material boxes, etc.

[0053] The detection device base 2-1 is installed on the automatic cleaning device 10.

[0054] The detection device base 2-1 is provided with a rubber sealing ring 2-2 around the periphery, which is used to keep close contact with the cleaning container 10-1 to prevent overflow of cleaning liquid during spray washing.

[0055] The automatic cleaning device 10 mainly comprises a cleaning container 10-1, a compressed air negative pressure cleaning gas path 10-3, a cleaning and recycling path 10-2, a water outlet path 10-4, a nozzle 10-5, a filter device 10-6, a water storage device 10-7, a bottom support 10-8, and an electrical control system 3. The cleaning container 10-1 is made of stainless steel or organic glass with smooth inner wall to reduce the mixing and residual hanging of slurry and cleaning liquid on the inner wall of the container. The upper opening is connected with the detection device base 2-1, and the bottom of the container is provided with four cleaning and drying nozzles 10-5 and water outlet paths 10-4 distributed in the periphery. The water outlet path 10-4 is used as a discharge port for discharging cleaning solution.

[0056] The automatic cleaning device 10 is provided with a high-pressure spray and circulation cleaning system, which has the functions of spray washing, drying and filtering and storing water. The upper part of the water storage device is provided with a non-woven fabric filter layer as the filter device 10-6, which is used to recover and filter the slurry particles on the surface of the sensor.

[0057] The automatic cleaning device is provided with a compressed air negative pressure cleaning gas path 10-3 as a drying system, which mainly comprises a gas pipe and an electromagnetic control valve. It is used for negative pressure suction of cleaning liquid and drying of residual cleaning agent on the surface of the sensor.

[0058] The detection method is as follows:

[0059] 1) The electrical control system 3 and the computer control system 5 set the automatic detection time: according to the production requirements, the slurry performance automatic detection program is set in the control system program, such as specific detection time or detection program before each layer of shell making.

[0060] 2) Execute automatic detection and system record: under the instruction of the control system, the robot 7 automatically grabs the measurement viscosity sensor device base 2-1 installed on the end 7-1 through the clamp 7-2 used for shell making, moves to the slurry barrel 1, identifies the liquid level height of the current slurry barrel according to the liquid level detection sensor 2-4, and automatically makes the viscosity sensor 2-3 contact with the slurry 1-1 according to the system program. Read the key slurry performance data such as viscosity and density under the instruction of the control system, and automatically input into the electrical control system 3.

[0061] 3) Result comparison and abnormal feedback: compare the measurement result with the set value, and perform abnormal alarm when the threshold value is exceeded, so as to adjust the slurry composition in time to avoid affecting the shell quality. If the measurement result is within the current qualified range, the measurement result is automatically recorded corresponding to the current shell preparation information, which is convenient for quality traceability and also provides a basis for digital planning and implementation of the workshop.

[0062] 4) Measurement sensor cleaning: auxiliary automatic cleaning device 10 is sucked into the cleaning solution by compressed air negative pressure suction to form high pressure to spray and clean the viscosity sensor 2-3, and automatically open the compressed air valve to blow dry the sensor surface after cleaning, so as to be used next time. The discharged cleaning solution can continue to be used for cleaning after being filtered in circulation, which is green and environmentally friendly.

[0063] The above is only further embodiments of the present application, but the protection scope of the present application is not limited thereto, any skilled in the art within the scope disclosed by the present application, according to the technical scheme and concept of the present application, equivalent replacement or change, all belong to the protection scope of the present application.

Claims

1. A slurry performance automatic measuring device for a robot automatic shell making line, characterized by, The application relates to a kind of automatic detection and cleaning system of slurry viscosity sensor. It comprises: Sensing detection device (2), automatic cleaning device (10) and control system; Sensing detection device (2) comprises: detection device base (2-1), viscosity sensor (2-3) and liquid level detection sensor (2-4); Viscosity sensor (2-3) and liquid level detection sensor (2-4) are installed on detection device base (2-1); Detection device base (2-1) cooperates with robot end clamp, moves detection device base (2-1) together with sensor by robot manipulator clamping; Viscosity sensor (2-3) is used for measuring slurry viscosity, density, temperature; Liquid level detection sensor (2-4) is used for measuring slurry height; Automatic cleaning device (10) comprises: cleaning container (10-1), cleaning recovery pipeline (10-2), compressed air negative pressure cleaning gas path (10-3), leading-out water path (10-4), nozzle (10-5) and filtering device (10-6), water storage device (10-7) and bottom support (10-8); Cleaning container (10-1) is provided with nozzle (10-5), leading-out water path (10-4) and water storage device (10-7) below; Water storage device (10-7) is provided with filtering device (10-6) on the upper part, and bottom support (10-8) is arranged on the bottom; Nozzle (10-5) is connected with compressed air negative pressure cleaning gas path (10-3) and leading-out water path (10-4), and leading-out water path (10-4) and cleaning recovery pipeline (10-2) are inserted into water storage device (10-7); 2. The robotic automatic slip performance measurement device for robotic automatic slipforming line according to claim 1, wherein, Control system is used for setting automatic detection time, and when automatic detection, detection device base (2-1) provided with viscosity sensor (2-3) is automatically grabbed by robot clamp, moves to slurry barrel (1), liquid level height in current slurry barrel (1) is recognized according to liquid level detection sensor (2-4), viscosity sensor (2-3) is contacted with slurry (1-1) in slurry barrel (1) according to system program, viscosity, density and temperature are read under the instruction of control system, and are automatically input into control system; The measurement result is compared with the set value, when exceeding the set threshold range, abnormal alarm is given, slurry composition is adjusted in time; If in the threshold range, the measurement result is automatically recorded corresponding to the current shell preparation information, which is convenient for quality tracing; After detection, robot (7) controls sensing detection device (2) to be inserted into cleaning container (10-1), and controls automatic cleaning device (10) to suck cleaning solution into high pressure to spray and clean viscosity sensor (2-3) through compressed air negative pressure suction, and after cleaning, compressed air valve is automatically opened to blow dry the surface of viscosity sensor (2-3).

3. The robotic automatic slip performance measurement device for robotic automatic slipforming line according to claim 1, wherein, Viscosity sensor (2-3) is installed on detection device base (2-1) through flange connection.

4. The robotic, automatic slip performance measurement device for use in a robotic, automatic slip forming line of claim 1, wherein, Rubber sealing ring (2-2) is installed around detection device base (2-1), which is used for closely adhering with cleaning container, preventing cleaning liquid from overflowing during spray flushing. Detection device base (2-1) is installed on cleaning container (10-1) in plug-in assembly mode.

5. The robotic, automatic slip performance measurement device for use in an automatic slip casting line according to claim 1, wherein, The cleaning container (10-1) is made of stainless steel or organic glass with smooth inner wall.

6. The robotic, automatic slip performance measurement device for use in a robotic, automatic slip forming line of claim 1, wherein, The water storage device (10-7) is provided with a minimum liquid level sensor, which alarms when the liquid level reaches the minimum and reminds to supplement the cleaning liquid.

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