Propeller sand mold automatic scraping device based on industrial robot

Abstract

The utility model provides a propeller sand mold automatic scraping device based on an industrial robot, which comprises a sand scraping actuating mechanism connected to the output end of the industrial robot; the sand scraping executing mechanism comprises a driving part and a sand scraping head connected to the driving part, and the driving part can rotate to drive the sand scraping head to rotate. A mechanism combining the industrial robot with the driving piece and the sand scraping head is adopted, the characteristics of high precision and high automation degree of the industrial robot are utilized to be matched with the driving piece and the sand scraping head to scrape a sand mold, and a mold manufacturing link is omitted; the driving part is matched with the industrial robot to realize full-automatic operation; based on the actions of the industrial robot and the sand scraping head, personal errors can be eliminated, so that the scraping precision is remarkably improved; and different blade sizes and screw pitches are adapted through a program, and the measurement point density does not need to be adjusted or tools do not need to be replaced, so that the whole equipment is high in universality.

Description

Technical Field

[0001] This utility model relates to the field of ship propeller sand casting technology, and in particular to an automated scraping device for propeller sand molds based on an industrial robot. Background Technology

[0002] Traditional marine propeller sand casting mainly uses the following two methods:

[0003] 1. Wooden mold sand casting method

[0004] Process: Cutting layered wooden boards according to the outline of the paddle blank → gluing them together to form a wooden mold blank → CNC machining of the wooden mold blank → manual mold repair → scanning to determine the processing dimensions.

[0005] Sand mold making: A sand mold base and casting system are made in sand → the upper and lower molds are separated and compacted → CO2 hardening → the mold is removed, baked, and set → the molds are assembled and cast. The drawbacks of this method are: the wooden mold making cycle is long, and maintenance of the wooden mold is required later. Over time, the wooden mold may deform.

[0006] 2. Manual sand scraping method for fixed-distance propeller measuring points

[0007] Process flow: Mandrel positioning → Measure the height difference of each cross-section point of the lower box (pitch surface) with a pitch gauge → Embed positioning nails according to the data provided by the technical team → Manual sand piling transition → CO2 hardening → Upper box (false leaf) embeds paper cut at each cross-section → Manual sand piling transition → CO2 hardening → Remove box, bake and set → Close box and cast.

[0008] Defects include: the accuracy of measuring points is affected by human factors (such as nail height adjustment errors); the upper box paper cutting template is prone to deformation, leading to cross-sectional distortion. It also requires a high level of operator skill. Utility Model Content

[0009] This utility model provides an automated scraping device for propeller sand molds based on industrial robots, which at least solves the defects of traditional propeller sand mold making in the above-mentioned prior art, such as strong dependence on wooden molds, low precision of manual scraping, and insufficient efficiency.

[0010] To achieve the above objectives, the technical solution of this utility model is: an automated propeller-driven sand mold scraping device based on an industrial robot, comprising:

[0011] A sand-scraping actuator is connected to the output end of the industrial robot;

[0012] The sand-scraping actuator includes a drive component and a sand-scraping head connected to the drive component. The drive component can rotate to drive the sand-scraping head to rotate.

[0013] Furthermore, the scraping head includes a mounting bracket and a cutting head, the cutting head is mounted below the mounting bracket, the mounting bracket is connected to the drive component, and the cutting head includes at least two cutting edges, which are distributed clockwise relative to the circumference of the cutting head.

[0014] Furthermore, the scraping actuator also includes a chuck and a lock head. The chuck is detachably connected to the drive component, and the lock head is disposed inside the chuck and threadedly connected to the cutter head.

[0015] Furthermore, the driving component is an electric spindle, and the chuck is inserted into the output end of the electric spindle.

[0016] Furthermore, the scraping actuator also includes an electric spindle fixture, one end of which is connected to the output end of the industrial robot, and the other end of which is connected to the electric spindle.

[0017] Furthermore, it also includes:

[0018] A support is attached to the bottom of the industrial robot and is used to support the industrial robot.

[0019] Furthermore, the support includes a connecting fixture and a mandrel, the mandrel being disposed below the industrial robot, and the connecting fixture being used to connect the industrial robot and the mandrel.

[0020] Furthermore, the connecting fixture includes a fixture plate and a chuck. The fixture plate is fixedly connected to the bottom end of the industrial robot, and the chuck is used to clamp the mandrel. The chuck is fixedly connected to the bottom end of the fixture plate.

[0021] Furthermore, the mandrel is provided with cross-distributed support rods, the ends of the support rods are provided with lifting lugs, and the lifting lugs and the tooling plate are provided with screws, the screws being threadedly connected to the lifting lugs and the tooling plate respectively.

[0022] Furthermore, a base is provided at the bottom of the mandrel, and an outer cover is provided on the outside of the base.

[0023] Compared with the prior art, the beneficial effects of this utility model are as follows: It adopts a mechanism combining an industrial robot, a drive unit, and a scraping head. Utilizing the high precision and automation of the industrial robot, it works in conjunction with the drive unit and the scraping head to scrape sand molds, eliminating the mold-making process; the drive unit and the industrial robot work together to achieve fully automated operation; based on the movements of the industrial robot and the scraping head, human error can be eliminated, significantly improving scraping accuracy; and by adapting the program to different blade sizes and pitches, there is no need to adjust the measuring point density or change tools, making the entire device highly versatile. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in this utility model or the prior art, the drawings used in the description of the 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.

[0025] Figure 1 This is a schematic diagram of the structure of the propeller-driven automated scraping device for sand molds based on industrial robots provided by this utility model;

[0026] Figure 2 This is an exploded structural diagram of the propeller-driven automated scraping device for sand molds based on industrial robots provided by this utility model;

[0027] Figure 3 This is a schematic diagram of the structure of the sand scraper head provided by this utility model.

[0028] Figure label:

[0029] 10. Industrial robot; 20. Drive unit; 30. Scraper head; 31. Mounting bracket; 311. Top ring; 312. Connecting strip; 313. Baffle plate; 314. Bottom ring; 32. Cutting head; 33. Cutting blade; 40. Chuck; 50. Lock head; 60. Electric spindle tooling; 61. Connecting plate; 62. Mounting base; 70. Tooling plate; 80. Chuck; 90. Support rod; 100. Lifting lug; 110. Screw; 120. Base; 130. Outer cover; 140. Outer cover seat; 150. Mandrel; 160. Screw sleeve. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model will be clearly and completely described below with reference to the accompanying drawings. 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 scope of protection of this utility model.

[0031] like Figure 1 As shown, this application embodiment provides an automated propeller sand mold scraping device based on an industrial robot, including a sand scraping actuator connected to the output end of an industrial robot 10; the sand scraping actuator includes a drive member 20 and a sand scraping head 30 connected to the drive member 20, and the drive member 20 can rotate to drive the sand scraping head 30 to rotate.

[0032] In this application, the industrial robot 10 is a KUKA robotic arm, which has the advantages of high automation and simple operation. When the drive unit 20 and the sand scraping head 30 are connected to the KUKA robotic arm, the following advantages can be achieved: the movement of the robotic arm, drive unit 20, and sand scraping head 30 can be directly controlled by the program to scrape the sand mold, eliminating the mold making process; the drive unit 20 and the KUKA robotic arm work together to achieve fully automated operation; based on the rotation of the KUKA robotic arm and the sand scraping head 30, human error can be eliminated, resulting in a significant improvement in scraping accuracy; by adapting the program to different blade sizes and pitches, there is no need to adjust the measuring point density or change tools, making the entire device highly versatile; operators only need basic training to get started, without relying on highly skilled technicians, thus reducing labor costs.

[0033] Combination Figure 1 and Figure 3 As shown, the scraping head 30 includes a mounting bracket 31 and a blade 32. The mounting bracket 31 is connected to the drive component 20. It should be understood that the mounting bracket 31 does not rotate with the drive component 20. The mounting bracket 31 includes, from top to bottom, a top ring 311, a connecting strip 312, a baffle 313, and a bottom ring 314. The top ring 311 is used to connect to the drive component 20. One end of the connecting strip 312 is connected to the top ring 311, and the other end is connected to the baffle 313. The baffle 313 is an arc-shaped panel. Multiple baffles 313 are provided and arranged circumferentially along the bottom ring 314. The blade 32 is mounted on... The blade is mounted below the mounting bracket 31, and the bottom ring 314 of the mounting bracket 31 can abut against the blade head 32 to prevent the blade head 32 from shifting position. The blade head 32 is connected to the output end of the drive unit 20. The blade head 32 includes at least two cutting edges 33, which are distributed clockwise relative to the circumference of the blade head 32. In this application, four cutting edges 33 are provided on the blade head 32. When scraping is required, the drive unit 20 rotates, causing the blade head 32 to rotate in a clockwise direction. It should be understood that the number of cutting edges 33 is not limited here and can be three or five, depending on the requirements.

[0034] Combination Figure 2 In this application, the drive component 20 is an electric spindle. The electric spindle is a new technology that integrates the machine tool spindle and the spindle motor in the field of CNC machine tools. The electric spindle has the advantages of compact structure, light weight, low inertia, low noise, and fast response. Moreover, it has high speed and high power, simplifies machine tool design, and makes it easy to achieve spindle positioning. The electric spindle and the tool head 32 are connected by a collet 40 and a locking head 50. The collet 40 is inserted into the output end of the electric spindle. One end of the locking head 50 is inserted into the collet 40, and the other end is threaded to the tool head 32 to lock the tool head 32. The collet 40 and the electric spindle, and the locking head 50 and the collet 40 are connected by a plug-in method, which allows for quick replacement of the tool head 32 to adapt to the scraping requirements of different propellers, making the product more versatile.

[0035] To facilitate the installation of the electric spindle onto the KUKA robot, an electric spindle fixture 60 is provided between the electric spindle and the KUKA robot. One end of the electric spindle fixture 60 is connected to the output end of the industrial robot 10, and the other end is connected to the electric spindle. Specifically, the electric spindle fixture 60 includes a connecting plate 61 and a mounting base 62. The mounting base 62 is disposed on the connecting plate 61, and the connecting plate 61 is fixedly connected to the KUKA robot by screws. The electric spindle is fixedly mounted on the mounting base 62.

[0036] In one embodiment, the bottom of the KUKA robot is also provided with a support for supporting the KUKA robot.

[0037] like Figure 2 As shown, the support includes a connecting fixture and a mandrel 150. The mandrel 150 is located below the industrial robot 10. The connecting fixture is used to connect the KUKA robot to the mandrel 150. The mandrel 150 is used for center positioning. In use, the mandrel 150 is locked to the ground platform. Wooden tow heads and wooden hubs with corresponding blades are fitted onto the mandrel 150. The mandrel 150 is located below the KUKA robot. The connecting fixture is used to connect the KUKA robot to the mandrel 150.

[0038] Furthermore, the connecting fixture includes a fixture plate 70 and a chuck 80. The fixture plate 70 is fixedly connected to the bottom end of the KUKA robot, and the chuck 80 is used to clamp the mandrel 150. The chuck 80 is fixedly connected to the bottom end of the fixture plate 70.

[0039] To prevent the connection between the chuck 80 and the spindle 150 from loosening due to a shift in the center of gravity during the movement of the KUKA robot, two support rods 90 are used, passing through the spindle 150 in a cross shape. The ends of the support rods 90 are equipped with lugs 100, and screws 110 are connected to the lugs 100 and the tooling plate 70, respectively. Screw sleeves 160 are also provided on the screws 110. The two ends of the support rods 90 are connected to the lugs 100 via threads, and the cooperation of the screws 160 and 110 tightens the lugs 100 and the tooling plate 70, thereby enhancing the overall rigidity.

[0040] The bottom of the mandrel 150 is connected to the base 120 through a threaded hole to ensure the stable installation of the mandrel 150. An outer cover 130 is provided on the outside of the base 120. Specifically, the outer cover 130 is made of acrylic and is locked to the base 120 with screws. An outer cover 130 seat is screwed on the top of the outer cover 130. The outer cover 130 seat is assembled around the mandrel 150 to form a closed protective structure, which can prevent sand from entering.

[0041] The processing steps of the automatic scraping device in this application are as follows:

[0042] Step 1: Sand mold 3D modeling and programming

[0043] (1) Use UG / NX to create a three-dimensional model of the sand mold and program a one-way toolpath.

[0044] (2) Output NC code and convert it into KRL (KUKA Robot Language) program that can be recognized by KUKA robot through self-developed post-processing program, and perform simulation using KUKA Sim Pro software.

[0045] Step 2: On-site preparation

[0046] (1) Installation:

[0047] Lock the mandrel 150 to the ground platform, and fit the wooden tractor head and wooden hub corresponding to the propeller blades. The KUKA robot arm is hoisted above the mandrel 150 to install the chuck 80, and the cross support rod 90 is adjusted and locked.

[0048] (2) Artificial sand foundation: After the shape of the foundation is built according to the movement trajectory of the KUKA operation program, sand is introduced and lightly compacted to ensure that the sand layer is uniform.

[0049] Step 3: Automated sanding process

[0050] The program is started, and the KUKA robotic arm scrapes sand according to the preset trajectory.

[0051] Step 4: Manual post-processing

[0052] Inspect the surface of the sand mold and manually trim any loose areas (such as edges and curved transition areas) using a scraper.

[0053] If necessary, spray a small amount of water mist to enhance the compactness of the sand mold surface.

[0054] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and not to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. An automated propeller-driven sand mold scraping device based on an industrial robot, characterized in that, include: A sand-scraping actuator is connected to the output end of the industrial robot; The sand-scraping actuator includes a drive component and a sand-scraping head connected to the drive component. The drive component can rotate to drive the sand-scraping head to rotate.

2. The automated propeller-driven sand mold scraping device based on an industrial robot according to claim 1, characterized in that, The scraping head includes a mounting bracket and a cutting head. The cutting head is mounted below the mounting bracket, which is connected to the drive component. The cutting head includes at least two cutting edges that are distributed clockwise relative to the circumference of the cutting head.

3. The automated propeller-driven sand mold scraping device based on an industrial robot according to claim 2, characterized in that, The scraping actuator also includes a chuck and a lock head. The chuck is detachably connected to the drive component, and the lock head is disposed inside the chuck and threadedly connected to the cutter head.

4. The automated propeller-driven sand mold scraping device based on an industrial robot according to claim 3, characterized in that, The drive component is an electric spindle, and the chuck is inserted into the output end of the electric spindle.

5. The automated propeller-driven sand mold scraping device based on an industrial robot according to claim 4, characterized in that, The scraping actuator also includes an electric spindle fixture, one end of which is connected to the output end of the industrial robot, and the other end of which is connected to the electric spindle.

6. The automated propeller-driven sand-forming device based on an industrial robot according to any one of claims 1 to 3, characterized in that, Also includes: A support is attached to the bottom of the industrial robot and is used to support the industrial robot.

7. The automated propeller-driven sand mold scraping device based on an industrial robot according to claim 6, characterized in that, The support includes a connecting fixture and a mandrel. The mandrel is disposed below the industrial robot, and the connecting fixture is used to connect the industrial robot and the mandrel.

8. The automated propeller-driven sand mold scraping device based on an industrial robot according to claim 7, characterized in that, The connecting fixture includes a fixture plate and a chuck. The fixture plate is fixedly connected to the bottom end of the industrial robot, and the chuck is used to clamp the mandrel. The chuck is fixedly connected to the bottom end of the fixture plate.

9. The automated propeller-driven sand mold scraping device based on an industrial robot according to claim 8, characterized in that, The mandrel is provided with cross-distributed support rods, and the ends of the support rods are provided with lifting lugs. The lifting lugs and the tooling plate are provided with screws, and the screws are threaded to the lifting lugs and the tooling plate respectively.

10. The automated propeller-driven sand mold scraping device based on an industrial robot according to claim 7, characterized in that, The mandrel has a base at its bottom, and the base has an outer cover.

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