Flexible automatic sand cleaning manipulator equipment

Abstract

The utility model discloses flexible automatic sand cleaning manipulator equipment, which relates to the technical field of sand cleaning equipment, and is characterized in that the flexible automatic sand cleaning manipulator equipment comprises a platform base, a mechanical arm assembly is mounted at the upper end of the platform base, and the mechanical arm assembly comprises a closed linear guide rail module mounted at the upper end of the platform base; a mechanical arm mounting seat is fixedly connected to the moving end of the closed linear guide rail module, a flexible mechanical arm is mounted at the upper end of the mechanical arm mounting seat, a cross beam is fixedly connected to the moving end of the flexible mechanical arm, and a sand cleaning drilling machine is mounted on the left side of the cross beam. The device is high in automation degree, manual intervention is avoided, and the labor intensity of operators is reduced; and in the sand cleaning process, sand cleaning operation and flushing action are combined, the surface, holes and the like of the cavity can be comprehensively cleaned, and attached residual sand grains are effectively removed.

Description

Technical Field

[0001] This utility model relates to the field of sand cleaning equipment technology, and in particular to a flexible automatic sand cleaning robot. Background Technology

[0002] Sand casting, a metal forming process that produces castings in sand molds, requires pouring molten metal into the mold cavity and allowing it to cool and solidify to obtain a metal part blank. A crucial step in this process is cleaning the sand mold holes and cavity surfaces to remove clogged sand. Currently, the mainstream methods for this task in the industry are manual cleaning and semi-automated equipment operation. However, both methods have significant drawbacks and cannot meet the requirements for efficient and high-quality sand cleaning. Furthermore, the mold temperature is high immediately after the casting is removed. If cleaning is delayed until the mold has completely cooled, not only does the cleaning become more difficult, but if sand particles re-adhere to the mold, it needs to be reheated, increasing operational difficulty, wasting production costs, and posing safety hazards to operators.

[0003] Manual sand cleaning relies on operators using hand tools to manually remove sand through shoveling, drilling, and scraping. This method is primarily characterized by high labor intensity, requiring operators to maintain specific working postures for extended periods, resulting in significant physical exertion. While semi-automatic sand cleaning equipment reduces manual intervention and labor costs to some extent, it still has significant drawbacks: the equipment lacks effective auxiliary cleaning methods during the sand cleaning process, relying solely on a single drilling action. It struggles to thoroughly remove residual sand particles adhering to the inner wall of the mold opening, leading to incomplete sand cleaning. Residual sand particles may affect the integrity of the sand mold cavity, ultimately impacting the quality of the casting.

[0004] Therefore, it is necessary to design a flexible automatic sand-cleaning robot to solve the above problems. Utility Model Content

[0005] The purpose of this invention is to address the shortcomings of existing technologies by proposing a flexible automatic sand-removing robot. This device has a high degree of automation, avoids manual intervention, and reduces the labor intensity of operators. During the sand-removal process, it combines sand-removal operations with rinsing actions to thoroughly clean the surface of the cavity, holes, etc., effectively removing attached residual sand particles.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A flexible automatic sand-removing robot includes a platform base, a robot arm assembly mounted on the upper end of the platform base, the robot arm assembly including a closed linear guide rail module mounted on the upper end of the platform base, a robot arm mounting seat fixedly connected to the moving end of the closed linear guide rail module, a flexible robot arm mounted on the upper end of the robot arm mounting seat, a crossbeam fixedly connected to the movable end of the flexible robot arm, and a sand-removing drill mounted on the left side of the crossbeam.

[0008] The control platform is used to control the operation of the flexible robotic arm and the enclosed linear guide module;

[0009] An integrated ice maker, wherein the upper end of the integrated ice maker is connected to a first connecting pipe and a second connecting pipe. The first connecting pipe is used to introduce liquid carbon dioxide into the integrated ice maker, and the second connecting pipe outputs the crushed dry ice produced by the integrated ice maker.

[0010] Preferably, the enclosed linear guide module includes an enclosed base, which contains two guide rails. A first slider is slidably connected to each of the two guide rails. The enclosed base has strip-shaped openings on both the front and rear sides. The two ends of the first slider pass through the strip-shaped openings. The robotic arm mounting base is mounted on the first slider. A lead screw and a moving motor are installed inside the enclosed base. The output shaft of the moving motor is fixedly connected to the lead screw. The first slider is threadedly connected to the lead screw.

[0011] Preferably, the platform base is provided with a placement rack on the front side, and the placement rack holds spare drill rods, spray guns and sandblasting guns.

[0012] Preferably, the left end of the crossbeam, the sand-cleaning drill, the spare drill rod, the spray gun, and the sandblasting gun are all fixedly connected to connecting flanges. The flexible manipulator can replace the sand-cleaning drill, the spare drill rod, the spray gun, or the sandblasting gun as needed through the connecting flanges.

[0013] Preferably, the other end of the second connecting pipe is connected to the spray gun, through which crushed dry ice is sprayed out.

[0014] Preferably, a CCD vision sensor is installed on the left side of the crossbeam. The CCD vision sensor obtains the three-dimensional coordinates of the cavity and the blockage opening through laser scanning, and transmits the data to the control platform in real time. The control platform drives the flexible manipulator to adjust the working posture of the sand-cleaning drill according to the coordinates.

[0015] Preferably, a fixed seat is installed at the upper end of the connecting flange, a first motor is installed at the upper end of the fixed seat, a rotating rod is fixedly connected to the left side of the connecting flange, a disc is fixedly connected to the left side of the rotating rod, the sand-cleaning drill, the spray gun and the sandblasting gun array are distributed on the left side of the disc, and multiple rotating lifting components are provided on the left side of the disc. The output shaft of the first motor is connected to the rotating rod through a transmission component.

[0016] Preferably, the rotating lifting assembly includes two slide rails, on which a second slider is slidably connected. A cylinder is mounted on the left side of the disc, and the telescopic end of the cylinder is fixedly connected to the second slider. Two mounting plates are fixedly connected to the left side of the second slider, and a rotating shaft is rotatably connected to the adjacent sides of the two mounting plates. A commutator and a second motor are mounted on the second slider. The output shaft of the second motor is fixedly connected to the input shaft of the commutator, and the rotating shaft is fixedly connected to the output shaft of the commutator. The sand-cleaning drill, spray gun, and sandblasting gun are fixedly connected to the corresponding rotating shafts.

[0017] Compared with existing technologies, the advantages of this device are:

[0018] 1. Compared with existing technologies, by setting up robotic arm components, the working position can be flexibly adjusted, breaking the limitation of the fixed working range of traditional equipment and greatly improving the applicability of the equipment;

[0019] 2. Compared with existing technologies, combining sand cleaning with dry ice cleaning during the sand cleaning process can thoroughly clean the inner wall of the opening, effectively removing the attached residual sand particles. This solves the problem of incomplete cleaning caused by existing equipment relying solely on a single sand cleaning action, ensuring the cleanliness and consistency of the inner wall of the opening.

[0020] 3. Compared with existing technologies, a storage structure for spare parts is set up, which can be replaced in time when the core working parts are worn or when different operations are performed, further improving the overall work efficiency;

[0021] 4. Compared with existing technologies, integrating the sand-cleaning drill, spray gun, and sandblasting gun onto a disc allows for quick switching according to different tasks. Furthermore, through the design of the cylinder and rotating shaft, it can be folded and stored when not in use, reducing the overall space occupied.

[0022] The above description is merely an overview of the technical solution of this utility model. In order to better understand the technical means of this utility model and to implement it according to the contents of the specification, the preferred embodiments of this utility model are described in detail below with reference to the accompanying drawings. The specific implementation methods of this utility model are given in detail in the following embodiments and their accompanying drawings. Attached Figure Description

[0023] The accompanying drawings, which are included to provide a further understanding of the present invention and form part of this application, illustrate exemplary embodiments of the present invention and, together with the description thereof, serve to explain the present invention and do not constitute an undue limitation thereof. In the drawings:

[0024] Figure 1 This is a schematic diagram of the structure of a flexible automatic sand-cleaning robot proposed in this utility model;

[0025] Figure 2 for Figure 1 A structural diagram from another perspective;

[0026] Figure 3 This is a partial structural diagram of a flexible automatic sand-cleaning robot proposed in this utility model;

[0027] Figure 4 This is a schematic diagram of the robotic arm assembly.

[0028] Figure 5 This is a schematic diagram of the structure of the spray gun of this utility model;

[0029] Figure 6 This is a schematic diagram of the sandblasting gun in this utility model;

[0030] Figure 7 This is a schematic diagram of the structure of Embodiment 2 of the present invention;

[0031] Figure 8 for Figure 7 A structural diagram from another perspective.

[0032] In the diagram: 1 Platform base, 2 Sliding plate, 3 Robotic arm mounting base, 4 Flexible robotic arm, 5 Sand cleaning drill, 6 First connecting pipe, 7 Ice making machine, 8 Second connecting pipe, 9 CCD vision sensor, 10 Control platform, 11 Placement rack, 12 Spare drill rod, 13 Enclosed linear guide rail module, 14 Cylinder, 15 Connecting flange, 16 Spray gun, 17 Sandblasting gun, 18 Fixed base, 19 First motor, 20 Transmission assembly, 21 Disc, 22 Slide rail, 23 Second slider, 24 Commutator, 25 Second motor, 26 Mounting plate, 27 Rotary shaft. Detailed Implementation

[0033] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0034] In the description of the embodiments of this utility model, it should be noted that if terms such as "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," or "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the utility model product is in use, they are only for the convenience of describing this utility model and 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, and therefore should not be construed as a limitation of this utility model. Furthermore, terms such as "first," "second," and "third" are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0035] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0036] Reference Figures 1-6 A flexible automatic sand-removing robot device includes a platform base 1, a robot arm assembly installed on the upper end of the platform base 1, the robot arm assembly including a closed linear guide rail module 13 installed on the upper end of the platform base 1, a robot arm mounting seat 3 fixedly connected to the moving end of the closed linear guide rail module 13, the robot arm mounting seat 3 is used to fix and support the flexible robot 4 to ensure its stable operation, the flexible robot 4 is installed on the upper end of the robot arm mounting seat 3, the flexible robot 4 can realize multi-degree-of-freedom movement and flexibly adjust the working posture of the sand-removing drill 5, the movable end of the flexible robot 4 is fixedly connected to a crossbeam, and the sand-removing drill 5 is installed on the left side of the crossbeam;

[0037] Control platform 10 is used to control the operation of flexible manipulator 4 and enclosed linear guide module 13;

[0038] The ice-making machine 7 uses liquid carbon dioxide to produce dry ice, and then sprays high-pressure dry ice through the ice-making machine 7 to clean the equipment. The upper end of the ice-making machine 7 is connected to a first connecting pipe 6 and a second connecting pipe 8. The first connecting pipe 6 is used to introduce liquid carbon dioxide into the ice-making machine 7, and the second connecting pipe 8 outputs the crushed dry ice produced by the ice-making machine 7. Both the first connecting pipe 6 and the second connecting pipe 8 are telescopic hoses, which can be adjusted in length with the movement of the flexible robotic arm 4 to avoid the pipeline being restricted and affecting the operation.

[0039] The enclosed linear guide module 13 includes an enclosed seat, which contains two guide rails. Each guide rail is slidably connected to a first slider. The front and rear sides of the enclosed seat have strip-shaped openings. The two ends of the first slider pass through the strip-shaped openings. The robotic arm mounting seat 3 is mounted on the first slider. The enclosed seat contains a lead screw and a moving motor. The output shaft of the moving motor is fixedly connected to the lead screw. The first slider is threadedly connected to the lead screw.

[0040] The platform base 1 has a placement rack 11 on the front side, which holds a spare drill rod 12, a spray gun 16, and a sandblasting gun 17. Both the spray gun 16 and the sandblasting gun 17 can be automatically assembled with the flexible robot 4. The left end of the crossbeam, the sand cleaning drill 5, the spare drill rod 12, the spray gun 16, and the sandblasting gun 17 are all fixedly connected to a connecting flange 15. The flexible robot can replace the sand cleaning drill 5, the spare drill rod 12, the spray gun 16, or the sandblasting gun 17 as needed through the connecting flange 15. The other end of the second connecting pipe 8 is connected to the spray gun 16, through which crushed dry ice is sprayed out.

[0041] A CCD vision sensor 9 is installed on the left side of the crossbeam. The CCD vision sensor 9 obtains the three-dimensional coordinates of the cavity and the blockage opening through laser scanning and transmits the data to the control platform 10 in real time. The control platform 10 drives the flexible manipulator 4 to adjust the working posture of the sand cleaning drill 5 according to the coordinates.

[0042] The functional principle of this utility model can be explained through the following operation: When it is necessary to clean the sand from the blocked opening on the object, the flexible manipulator 4 is activated, which drives the sand-cleaning drill 5 to move into the blocked opening. The drill rod on the sand-cleaning drill 5 rotates to automatically clean the blocked opening. After the sand-cleaning drill 5 is removed, the sandblasting gun 17 is attached to the flexible manipulator 4, and sandblasting is used to remove burrs. Finally, the sandblasting gun 17 is replaced with the spray gun 16, and the spray gun 16 is automatically attached to the flexible manipulator 4. The ice-making machine 7 is then activated, and external liquid carbon dioxide can be introduced into the equipment through the first connecting pipe 6 and then transported to the spray gun 16 through the second connecting pipe 8. The spray gun 16 sprays dry ice to rinse the blocked sand mold hole and cavity surface. The closed linear guide module 13 can drive the manipulator mounting base 3, the flexible manipulator 4, and the sand-cleaning drill 5 to move, expanding the working range of the manipulator and meeting different usage needs.

[0043] Reference Figures 7-8The difference between this embodiment and embodiment 1 is that a fixed seat 18 is installed on the upper end of the connecting flange 15, and a first motor 19 is installed on the upper end of the fixed seat 18. A rotating rod is fixedly connected to the left side of the connecting flange 15, and a disc 21 is fixedly connected to the left side of the rotating rod. The sand-cleaning drill 5, the spray gun 16, and the sandblasting gun 17 are arrayed on the left side of the disc 21. Multiple rotating lifting components are provided on the left side of the disc 21. The output shaft of the first motor 19 is connected to the rotating rod through a transmission component 20. The transmission component 20 consists of two sprockets and a chain. The rotating lifting component includes two slide rails 22, and a second slider 23 is slidably connected to both slide rails 22. A cylinder is installed on the left side of the disc 21. 14. The telescopic end of cylinder 14 is fixedly connected to the second slider 23. Two mounting plates 26 are fixedly connected to the left side of the second slider 23. The adjacent sides of the two mounting plates 26 are rotatably connected to a rotating shaft 27. A commutator 24 and a second motor 25 are installed on the second slider 23. The output shaft of the second motor 25 is fixedly connected to the input shaft of the commutator 24. The rotating shaft 27 is fixedly connected to the output shaft of the commutator 24. The sand cleaning drill 5, the spray gun 16, and the sandblasting gun 17 are fixedly connected to the corresponding rotating shaft 27. Through the cooperative design of cylinder 14 and the second motor 25, the sand cleaning drill 5, the spray gun 16, or the sandblasting gun 17 can be stored away when not in use, reducing the overall space occupied by the device.

[0044] In this embodiment, the connecting flange 15 is installed at the front end of the crossbeam. According to the work requirements, the corresponding working parts are rotated to the top. For example, when the sand cleaning drill 5 needs to be used, the first motor 19 is controlled to run, and the disk 21 is driven to rotate through the transmission component 20, thereby rotating the sand cleaning drill 5 to the top. Then, the second motor 25 is controlled to run, and the rotating shaft 27 is driven to rotate through the commutator 24, thereby rotating the sand cleaning drill 5 to a horizontal state. Then, the cylinder 14 is controlled to extend, and the sand cleaning drill 5 is moved to the designated position through the second slider 23.

[0045] When it is necessary to switch working parts, first control the output shaft of the second motor 25 to rotate in the opposite direction, and drive the rotating shaft 27 through the commutator 24 to rotate the sand cleaning drill 5 to the vertical position, and then control the cylinder 14 to retract and reset; then start the first motor 19, and rotate the disc 21 to rotate the required working part to the designated position. The drive part can be aligned with the working position by following the above operation.

[0046] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A flexible automatic sand cleaning robot apparatus, characterized by, The utility model relates to a sand cleaning drilling machine with flexible manipulator, including: Platform base (1), the upper end of platform base (1) is equipped with mechanical arm assembly, the mechanical arm assembly includes the closed linear guide rail module (13) installed in the upper end of platform base (1), the mobile end of closed linear guide rail module (13) is fixedly connected with mechanical arm mounting seat (3), the upper end of mechanical arm mounting seat (3) is installed with flexible manipulator (4), the movable end of flexible manipulator (4) is fixedly connected with crossbeam, the left side of crossbeam is installed with sand cleaning drilling machine (5); Control platform (10) is used for controlling flexible manipulator (4) and closed linear guide rail module (13) operation; Ice making all -in -one (7), the upper end of ice making all -in -one (7) is connected with first connecting pipe (6) and second connecting pipe (8), first connecting pipe (6) is used to introduce liquid carbon dioxide into ice making all -in -one (7), and second connecting pipe (8) exports the dry ice produced by ice making all -in -one (7).

2. The flexible automatic sand cleaning robot apparatus according to claim 1, wherein: The closed linear guide rail module (13) includes a closed seat, two guide rails are arranged in the closed seat, first sliders are slidably connected to the two guide rails, strip-shaped openings are formed on the front and back sides of the closed seat, the two ends of the first sliders penetrate the strip-shaped openings, the mechanical arm mounting seat (3) is mounted on the first sliders, a lead screw and a moving motor are mounted in the closed seat, the output shaft of the moving motor is fixedly connected to the lead screw, and the first sliders are threadedly connected to the lead screw.

3. The flexible automatic sand cleaning robot apparatus according to claim 1, wherein: The front side of the platform base (1) is provided with a placing rack (11), and the placing rack (11) is placed with a spare drill rod (12), a spray gun (16), and a sand blasting gun (17).

4. The flexible automatic sand cleaning robot apparatus according to claim 3, wherein: The left end of the crossbeam, the sand cleaning drilling machine (5), the spare drill rod (12), the spray gun (16), and the sand blasting gun (17) are fixedly connected with connecting flanges (15), and the flexible manipulator can replace the sand cleaning drilling machine (5), the spare drill rod (12), the spray gun (16), or the sand blasting gun (17) as required through the connecting flanges (15).

5. The flexible automatic sand cleaning robot apparatus according to claim 4, wherein: The other end of the second connecting pipe (8) is communicated with the spray gun (16), and the dry ice is sprayed out through the spray gun (16).

6. The flexible automatic sand cleaning robot apparatus of claim 1, wherein: A CCD vision sensor (9) is mounted on the left side of the crossbeam, the CCD vision sensor (9) obtains the three-dimensional coordinates of the cavity and the blocked port through laser scanning, and transmits the data to the control platform (10) in real time, the control platform (10) drives the flexible manipulator (4) to adjust the working posture of the sand cleaning drilling machine (5) according to the coordinates.

7. The flexible automatic sand cleaning robot apparatus of claim 4, wherein: A fixing seat (18) is mounted on the upper end of the connecting flange (15), a first motor (19) is mounted on the upper end of the fixing seat (18), a rotating rod is fixedly connected to the left side of the connecting flange (15), a disc (21) is fixedly connected to the left side of the rotating rod, the sand cleaning drilling machine (5), the spray gun (16), and the sand blasting gun (17) are arrayed on the left side of the disc (21), a plurality of rotating and lifting assemblies are arranged on the left side of the disc (21), and the output shaft of the first motor (19) is drivingly connected to the rotating rod through a transmission assembly (20).

8. The flexible automatic sand cleaning robot apparatus according to claim 7, wherein: The rotating and lifting assembly comprises two slide rails (22), a second sliding block (23) is connected to the two slide rails (22) in a sliding manner, a cylinder (14) is installed on the left side of the disc (21), the telescopic end of the cylinder (14) is fixedly connected with the second sliding block (23), two mounting plates (26) are fixedly connected to the left side of the second sliding block (23), two adjacent sides of the two mounting plates (26) are rotatably connected with a rotating shaft (27), a commutator (24) and a second motor (25) are installed on the second sliding block (23), the output shaft of the second motor (25) is fixedly connected with the input shaft of the commutator (24), the rotating shaft (27) is fixedly connected with the output shaft of the commutator (24), the sand cleaning drilling machine (5), the spray gun (16) and the sand blasting gun (17) are fixedly connected with the corresponding rotating shaft (27).

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