Intelligent cleaning device for sand box

Abstract

The utility model relates to an intelligent cleaning device for a sand box, and belongs to the field of industrial automation and intelligent manufacturing. According to the scheme, the rail type RGV is adopted to automatically convey the sand box to the closed intelligent cleaning work station, and the information of the sand box is read through the RFID tag and synchronized to the information system. The cleaning robot scans the position of the sand box through the visual recognition device, and the tool changing robot grabs the adaptive drill bit from the drill bit tool library according to a system instruction and assembles the adaptive drill bit to the electric hammer chuck. And the cleaning robot drills and dredges the sand guide hole of the sand box, returns to the quick change frame to replace the electric pick, and performs multi-angle shoveling and scraping operation on the cavity of the sand box. And after cleaning is completed, the cleaning robot is switched to the sand blasting gun, and fine sand cleaning on the surface of the sand box is completed. The scheme aims at solving the problems that traditional manual cleaning is low in efficiency, severe in environment and large in potential safety hazard.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the field of industrial automation and intelligent manufacturing, and relates to a sand box intelligent cleaning device. BACKGROUND

[0002] With the vigorous development of modern foundry industry, advanced technologies such as intelligent flexible workstations and industrial robots have gradually been popularized in the foundry field, which is profoundly changing the appearance of the foundry industry. The introduction of these technologies not only improves production efficiency, but also significantly improves the working environment and reduces the labor intensity of workers. However, in the aspect of sand box cleaning, the existing technology still has many problems.

[0003] Firstly, the existing sand box cleaning technology mainly relies on manual operation, which has the problem of low efficiency. Because cleaning work requires a lot of manpower and time, production efficiency is limited. Secondly, manual cleaning has high labor intensity, and workers need to bear a large physical burden during the cleaning process. In addition, the cleaning environment is poor, with dust flying around, which poses a threat to the health of workers. Long-term exposure to a dusty environment may cause workers to develop occupational diseases such as pneumoconiosis.

[0004] Secondly, the cleaning process requires frequent use of a crane to lift, and additional impact is often needed to clean completely, which poses a safety hazard. The crane lifting operation needs to be precisely controlled, and if it is not handled properly, it may cause damage to the sand box or injury to personnel. While additional impact on the sand box can improve cleaning effectiveness, it also increases the risk of operation.

[0005] In addition, the accumulation of waste sand in the cleaning pit is complicated to transport, occupies workshop space, and affects overall logistics and aesthetics. The accumulation of waste sand not only occupies space, but also may pollute the workshop environment. Transporting waste sand requires a lot of manpower and time, increasing production costs. At the same time, the complexity of waste sand accumulation and transportation also affects the overall logistics and aesthetics of the workshop. TECHNICAL FIELD

[0006] Therefore, the purpose of the utility model is to provide a sand box intelligent cleaning device, which establishes a digital intelligent spraying workstation, is equipped with cleaning robots, tool changing robots, robot end special integrated systems, intelligent tool holder devices, non-standard movable bearing platforms and other innovative technologies, and cooperates with automatic code scanning and visual scanning identification methods to realize unmanned and flexible sand box cleaning full-automatic operation.

[0007] To achieve the above purpose, the utility model provides the following technical scheme:

[0008] A sand box intelligent cleaning device, comprising:

[0009] The closed workstation body comprises a closed chamber body, the side wall of which is provided with an RGV access door, a toughened glass observation window and a telescopic roof on the top;

[0010] The cleaning robot is installed in the workstation and comprises a 7th-axis moving mechanism, an end effector and an integrated laser scanner.

[0011] The tool changing robot comprises a 6-axis light load robot, a drill tool library and a double-station quick change rack, and the quick change rack is provided with a dustproof mechanism.

[0012] The sand blasting system comprises a sand storage bin, a pressurized pipeline, a robot end sand blasting gun and a pneumatic conveying pipeline.

[0013] The workbench is connected with a waste sand collecting cover and a conveying device below.

[0014] The cleaning robot moves laterally through the 7th-axis moving mechanism, and the end effector is detachably connected with the quick change rack and the sand blasting gun.

[0015] Optionally, the 7th-axis moving mechanism is a linear guide rail structure, which drives the cleaning robot to move along the length direction of the workstation.

[0016] Optionally, the end effector is integrated with a floating buffer device, which comprises a hydraulic cylinder and a pressure sensor.

[0017] Optionally, the dustproof mechanism of the quick change rack is an electric sliding cover structure, which is opened and closed in linkage with a tool access action.

[0018] Optionally, the sand blasting gun is connected with a flexible hose through a quick release joint, and the hose is wound on a take-up reel on the arm of the robot.

[0019] Optionally, the sand storage bin is internally provided with a sand adjusting valve, an air adjusting valve and an exhaust valve, and the bin body is fixedly connected with the pressurized pipeline through a flange.

[0020] Optionally, the waste sand collecting cover is in a funnel shape, and the bottom is connected with an external sand storage bin in the workshop through a screw conveyor.

[0021] Optionally, the drill tool library comprises a matrix type storage rack, and each storage position is provided with an RFID reader / writer and a positioning pin.

[0022] Optionally, the telescopic roof is composed of multiple sliding rails and a driving motor, and the maximum opening area covers 80% of the workbench.

[0023] Optionally, the RGV access door is provided with a photoelectric sensor and a mechanical interlocking device, which are signal connected with the workstation control system.

[0024] The beneficial effects of the utility model lie in:

[0025] Improving production efficiency: By automatically transporting the sand box and bracket to the closed intelligent cleaning workstation through the track type RGV car, the sand box cleaning process is automated, significantly improving production efficiency and reducing production cycle.

[0026] Reducing labor intensity: Automation equipment replaces manual operation, greatly reducing the labor intensity of workers and improving the working conditions of workers.

[0027] Improving the working environment: The fully enclosed workstation design effectively avoids dust flying and reduces environmental pollution, providing a healthier and safer working environment for workers.

[0028] Reducing safety hazards: Automation reduces errors and accidents that may occur during manual operation, reducing safety risks during the work process.

[0029] Optimizing workshop logistics: The automatic collection and transportation system of waste sand reduces the complexity of waste sand accumulation and transportation, optimizes the overall logistics of the workshop, and improves space utilization.

[0030] Improving cleaning quality: Through precise visual recognition and automatic deviation correction technology, the sand box cleaning process is more accurate and consistent, improving cleaning quality.

[0031] Reducing production costs: The application of automation and intelligent technology reduces labor costs while improving production efficiency, thereby reducing overall production costs.

[0032] Improving adaptability: The intelligent system can adaptively adjust according to different sand box specifications and cleaning requirements, and has good adaptability to different types of sand boxes.

[0033] Enhancing user experience: Automation and intelligent operation reduce direct worker involvement, improving work comfort and satisfaction.

[0034] Easy to maintain and manage: The intelligent system can monitor equipment status in real time, record drill bit usage time, and timely remind maintenance and replacement, facilitating equipment maintenance and management.

[0035] Other advantages, objectives and features of the present application will be described to some extent in the following description, and to some extent, it will be obvious to those skilled in the art based on the study of the following text or can be taught from the practice of the present application. The objectives and other advantages of the present application can be achieved and obtained through the following description. BRIEF DESCRIPTION OF DRAWINGS

[0036] In order to make the purpose, technical scheme and advantages of the present application more clear, the preferred detailed description of the present application will be described below in conjunction with the drawings, in which:

[0037] Fig. 1 Part structure diagram of one embodiment of the present application;

[0038] Fig. 2 Another part structure diagram of one embodiment of the present application.

[0039] Fig. 1 is a closed chamber body, 11 is an RGV access door, 12 is an observation window, 13 is a retractable roof, 2 is a cleaning robot, 21 is a 7th axis moving mechanism, 22 is an end effector, 221 is a floating buffer device, 23 is a visual recognition device, 3 is a tool changer robot, 31 is a drill bit tool library, 32 is a quick change rack, 321 is a dustproof mechanism, 4 is a sand blasting system, 41 is a sand storage bin, 42 is a pressurized pipeline, 43 is a sand blasting gun, 44 is a pneumatic conveying pipeline, 45 is a hose, 46 is a fixed hard pipe, 5 is a workbench, 51 is a waste sand collection cover. DETAILED DESCRIPTION

[0040] The embodiments of the present application will be described in detail with specific examples, and other advantages and effects of the present application can be easily understood by those skilled in the art from the disclosure. The present application can also be implemented or applied in other different specific embodiments, and various modifications or changes can be made to the details in the specification without departing from the spirit of the present application. It should be noted that the drawings provided in the following embodiments only illustrate the basic concept of the present application in a schematic manner, and the features in the following embodiments and examples can be combined with each other without conflict.

[0041] Wherein, the drawings are only used for exemplary illustration, and the representation is only a schematic diagram, not a physical diagram, and cannot be understood as a limitation on the present application; in order to better illustrate the embodiments of the present application, some components in the drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product; for those skilled in the art, it is understandable that some known structures and their descriptions in the drawings may be omitted.

[0042] The same or similar reference numerals in the drawings of the embodiments of the present application correspond to the same or similar components; in the description of the present application, it should be understood that if the terms "upper", "lower", "left", "right", "front", "back" and the like indicate the orientation or positional relationship shown in the drawings, only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore the positional relationship described in the drawings is only used for exemplary illustration, and cannot be understood as a limitation on the present application, for those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0043] Please refer to Figs. 1-2An intelligent sand box cleaning device is described in detail as follows in combination with the drawings:

[0044] Enclosed workstation body

[0045] The core of the device is the enclosed chamber body 1, which is provided with an RGV access door 11 and a tempered glass observation window 12 on the side wall, and a telescopic roof 13 on the top. The RGV access door 11 is connected with the external track for the RGV to transport the sand box in and out; the observation window 12 facilitates real-time monitoring of the operation; the telescopic roof 13 is composed of a sliding rail and a driving motor, which is opened in an emergency lifting state.

[0046] Cleaning robot system

[0047] The cleaning robot 2 is installed in the enclosed chamber body 1, and the seventh axis moving mechanism 21 is a linear guide rail structure, which drives the robot to move transversely along the length direction of the workstation. The end effector 22 is detachably connected with an electric hammer, an electric grab or a sand blasting gun 43, and integrates a floating buffer device 221 for absorbing the drilling impact vibration; the visual identification device 23 is installed on the robot arm, which obtains the sand box positioning data through laser scanning.

[0048] Tool changing robot system

[0049] The tool changing robot 3 includes a drill tool library 31 and a double-station quick-change rack 32. The drill tool library 31 adopts a matrix storage rack, and each drill bit is provided with an RFID tag; the dustproof mechanism 321 is arranged on the top of the quick-change rack 32, which is an electric sliding cover structure, and is automatically opened and closed during tool access to prevent dust pollution of the interface. The tool changing robot 3 grabs the drill bit according to the instruction and assembles it to the electric hammer of the cleaning robot 2.

[0050] Sand blasting system

[0051] The sand blasting system 4 includes a sand storage bin 41, a pressurized pipeline 42 and a sand blasting gun 43. The sand storage bin 41 is connected with an external sand supply device through a pneumatic conveying pipeline 44; the sand blasting gun 43 is combined with a fixed hard pipe 46 for feeding through a hose 45, and the hose 45 is wound on the robot arm, and the fixed hard pipe 46 is arranged along the side wall of the workstation.

[0052] Waste sand treatment and workstation

[0053] The workstation 5 is a hollow structure, and is connected with a funnel-shaped waste sand collecting cover 51 below, and the waste sand is transferred to the workshop outside through a screw conveyor.

[0054] The cleaning robot 2, the tool changing robot 3 and the sand blasting system 4 are cooperatively controlled through an information system:

[0055] The visual identification device 23 generates a deviation correction track after scanning the sand box;

[0056] The tool changing robot 3 changes the tool according to the drill bit life warning;

[0057] The sand blasting system 4 adjusts the sand blasting amount in real time.

[0058] Safety and dust removal design

[0059] The floating buffer device 221 is provided with a pressure sensor, and the drill cutting force is triggered to trigger the drill protection when the drill cutting force is out of limit; the negative pressure dust collection device is installed on the top of the closed chamber body 1, and is connected with the conveying pipeline of the waste sand collecting cover 51 in parallel, so that the dust is concentrated and treated.

[0060] Typical operation process

[0061] The RGV vehicle transports the sand box to the workbench 5 through the RGV access door 11;

[0062] The visual recognition device 23 scans the sand box to generate a track, and the cleaning robot 2 adjusts the position through the seventh shaft moving mechanism 21;

[0063] The tool changing robot 3 grabs the drill bit from the drill bit tool library 31 and assembles the drill bit to the electric hammer, and the cleaning robot 2 completes the drilling of the sand guide hole;

[0064] The end effector 22 switches the electric grab shovel scraping cavity, and the sand blasting gun 43 completes the fine sand cleaning;

[0065] The waste sand is transported outside through the waste sand collecting cover 51, and the telescopic roof 13 is opened when hoisting is required.

[0066] Finally, it should be pointed out that the above embodiments are only used to illustrate the technical solutions of the present application and are not limiting. Although the present application has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solutions of the present application can be modified or replaced equivalently without departing from the purpose and scope of the present application, and all should be covered in the scope of the claims of the present application.

Claims

1. A sand box intelligent cleaning device, characterized in that, The application relates to a closed work station body, a cleaning robot, a tool changing robot, a sand blasting system and a workbench. The closed work station body comprises a closed chamber body, the side wall of which is provided with an RGV access door (11), a toughened glass observation window (12) and a telescopic roof (13) on the top. The cleaning robot (2) is installed in the work station and comprises a 7th-axis moving mechanism (21), an end effector (22) and an integrated laser scanner. The tool changing robot (3) comprises a 6-axis light load robot, a drill tool library (31) and a double-station quick changing frame (32), and the quick changing frame (32) is provided with a dustproof mechanism (321). The sand blasting system (4) comprises a sand storage bin (41), a pressurizing pipeline (42), a robot end sand blasting gun (43) and a pneumatic conveying pipeline (44). The workbench (5) is connected with a waste sand collecting cover (51) and a conveying device below. The cleaning robot (2) moves transversely through the 7th-axis moving mechanism (21), and the end effector (22) is detachably connected with the quick changing frame (32) and the sand blasting gun (43).

2. The apparatus of claim 1, wherein, The 7th-axis moving mechanism (21) is a linear guide structure and drives the cleaning robot (2) to move along the length direction of the work station.

3. The apparatus of claim 1, wherein, The end effector (22) is integrated with a floating buffer device (221) comprising a hydraulic cylinder and a pressure sensor.

4. The apparatus of claim 1, wherein, The dustproof mechanism (321) of the quick changing frame (32) is an electric sliding cover structure and is opened and closed in linkage with a tool access action.

5. The apparatus of claim 1, wherein, The sand blasting gun (43) is connected with a flexible hose (45) through a quick release joint, and the hose (45) is wound on a take-up reel of a robot arm.

6. The apparatus of claim 1, wherein, The sand storage bin (41) is internally provided with a sand adjusting valve, an air adjusting valve and an exhaust valve, and the bin body is fixedly connected with the pressurizing pipeline (42) through flanges.

7. The apparatus of claim 1, wherein, The waste sand collecting cover (51) is in a funnel shape, and the bottom is connected with a workshop external sand storage bin through a screw conveyor.

8. The apparatus of claim 1, wherein, The drill tool library (31) comprises a matrix type storage rack, and each storage position is provided with an RFID reader and a positioning pin.

9. The apparatus of claim 1, wherein, The telescopic roof (13) is composed of multiple sliding rails and a driving motor, and the maximum opening area covers 80% of the workbench (5).

10. The apparatus of claim 1, wherein, The RGV access door (11) is provided with a photoelectric sensor and a mechanical interlocking device and is signal-connected with a work station control system.

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