CN115780784A - Multistage floating box closing method and floating box closing machine - Google Patents

Abstract

The application discloses a multi-stage floating box closing method and a floating box closing machine, so that clamping claws can grab a sand box in a rigid state, and the operations of grabbing, lifting, transferring and the like of the sand box can be efficiently realized; when the box is closed, the clamping jaws have floatability so that the pin shafts can be aligned to the pin holes, and the problem of pin gnawing caused by tool positioning errors can be avoided; in addition, in a semi-floating state, the floating range of the clamping jaws is small, so that the clamping jaws can be prevented from shaking in a large range to influence the stability of the whole machine, and the phenomenon that the cope box moves excessively to cause the corresponding pin shafts and pin holes to be completely staggered can be avoided; after part of the pin shafts are inserted into the corresponding pin holes, the clamping jaws enter a full floating state; through the floating range of increase jack catch, can increase the flexibility of jack catch to the round pin axle deepens the pinhole.

Description

Multistage floating box closing method and floating box closing machine

Technical Field

The application relates to the technical field of casting production lines, in particular to a floating box closer.

Background

In recent years, china has become a large country in the machine manufacturing industry, and the application of industrial manipulators is increased year by year.

The stripping and box-closing manipulator adopted on the current domestic automatic casting production line not only needs higher positioning requirements, but also has higher manufacturing precision requirements on a sand box and on-line equipment, thereby invisibly increasing the production cost and reducing the production efficiency. Moreover, in the mold opening and closing process, the traditional manipulator is easy to work to cause the parting surface of the sand mold to be separated from and not closed to be contacted, and further the box pin is bitten.

Disclosure of Invention

The application aims to overcome the defects in the prior art and provide a multistage floating box closing method and a floating box closing machine.

In order to achieve the technical purpose, the application provides a multi-stage floating box closing method, which comprises the following steps:

so that the clamping jaws are in a rigid state;

the jack catch descends and grabs the cope flask;

the jack catch ascends and lifts the cope flask;

turning over the cope flask to enable the cope flask to be positioned above the drag flask in an inverted state;

so that the clamping jaws are in a semi-floating state;

the claw descends, and the cope flask is close to the drag flask;

one of the upper sand box and the lower sand box is provided with a pin shaft, the other one is provided with a pin hole, and after part of the pin shaft is inserted into the corresponding pin hole, the clamping jaw is in a full floating state;

the claw is continuously descended until the cope flask is buckled on the drag flask;

when the clamping jaws are in a rigid state, the clamping jaws cannot float;

when the clamping jaw is in a semi-floating state or a full-floating state, the clamping jaw can float;

the floating range of the clamping jaw in the full floating state is larger than that of the clamping jaw in the half floating state.

Furthermore, before the claw grabs the cope flask or the drag flask, the first detection device detects the cope flask or the drag flask so as to obtain the position of the trunnion of the cope flask or the drag flask; the clamping jaw descends until the clamping part of the clamping jaw is over against the trunnion; after the clamping part acts on the trunnion, the claw realizes grabbing the cope flask or the drag flask.

Further, when one drag flask arrives at a working station, the first detection device detects the drag flask to know that the height of the drag flask is A1 and the trunnion height of the drag flask is A2= though A1; when the clamping jaw is positioned at the first height position, the height of the clamping part of the clamping jaw is H1; the descending amount of the clamping jaws when the clamping jaws grab the drag flask is H2= H1-A2;

or when one cope flask arrives at the working station, the first detection device detects the cope flask to know that the height of the cope flask is B1 and the trunnion height of the cope flask is B2= though B1; when the clamping jaw is positioned at the first height position, the height of the clamping part of the clamping jaw is H1; the descent amount when the claws grab the cope flask is H3= H1-B2.

Furthermore, the upper sand box and the lower sand box are both loaded with sand molds; after the jack catch the cope flask or the drag flask, the second detection device detects the sand mold, thereby knowing the position of the parting surface of the sand mold.

Furthermore, a second detection device is arranged on the clamping jaw, and the distance between the second detection device and the clamping part of the clamping jaw is G1; after the jaw grabs the drag flask, the second detection device detects a sand mold in the drag flask, so that the distance between the parting surface of the lower sand mold and the second detection device is G2, and the height of the lower sand mold formed by the drag flask and the sand mold is A3= A2+ (G1-G2);

or after the clamping jaw grabs the cope flask, the second detection device detects the sand mold in the cope flask, the distance between the parting surface of the upper sand mold and the second detection device is G3, and the distance between the parting surface of the upper sand mold formed by the sand mold in the cope flask and the clamping part is B3= G1-G3.

Further, when the clamping jaw is located at the first height position and the upper sand box is located above the lower sand box in an inverted state, the distance between the upper sand mould parting surface and the lower sand mould parting surface is H4= H1-A3-B3.

Further, the claw carries the cope flask to move towards the drag flask by a distance H5 in a rigid state; the claw is converted into a semi-floating state from a rigid state, and the claw is continuously carried with the cope flask to move for a distance H6 towards the drag flask until part of the pin shaft is inserted into the corresponding pin hole; h5+ H6 < H4.

Furthermore, one clamp of the clamping jaws is provided with a first detection device, and the other clamp of the clamping jaws is provided with a second detection device; a drag flask or a cope flask arrives at the working station; the clamping jaw is positioned at a first height position and suspended above the working station; the two clamps of the clamping jaws move relatively until the first detection device detects a P point of the drag flask or the cope flask, so that the position of a trunnion of the cope flask or the drag flask can be known; after the jack catch snatched drag flask or cope flask, the sand mould in the drag flask or the cope flask can be detected to second detection device to in knowing the position of sand mould parting surface.

Further, the working stations comprise a lifting station and a box closing station; and the cope flask is transported to a lifting station, and after the claw grabs the cope flask positioned at the lifting station, the cope flask is transferred to the position above the drag flask positioned at the mould assembling station.

The application also provides a floating box closing machine, which is used for realizing the multi-stage floating box closing method and comprises the following steps: the jack catch is used for extracting the sand box; the lifting device comprises a shoulder beam and a lifting driving piece, the clamping jaw is arranged on the shoulder beam, and the lifting driving piece is used for driving the shoulder beam to move along the vertical direction; a float device, the float device comprising: the rigid part can only move in the vertical direction under the driving of the lifting driving part; the floating piece is connected with the shoulder beam; a fastening assembly having a fastened state and a released state; when the fastening component is in a fastening state, the shoulder beam is fixedly connected with the rigid part, so that the shoulder beam can only move along the vertical direction; when the fastening assembly is in a release state, the shoulder beam is not fixedly connected with the rigid part any more, and the shoulder beam is only connected with the floating part, so that the shoulder beam can move along the vertical direction and can float; the floating box closer still includes: the first detection device is used for detecting the sand box so as to conveniently acquire the trunnion position of the sand box; and the second detection device is used for detecting the sand mold in the sand box so as to conveniently know the parting surface position of the sand mold.

The application provides a multistage floating box assembling method, which comprises the following steps: so that the clamping jaws are in a rigid state; the jack catch descends and grabs the cope flask; the jack catch ascends and lifts the cope flask; turning over the cope flask to enable the cope flask to be positioned above the drag flask in an inverted state; so that the clamping jaws are in a semi-floating state; the claw descends, and the cope flask is close to the drag flask; one of the upper sand box and the lower sand box is provided with a pin shaft, the other one is provided with a pin hole, and after part of the pin shaft is inserted into the corresponding pin hole, the clamping jaw is in a full floating state; the jaws continue to descend until the cope flask snaps onto the drag flask. The clamping jaws can grab the sand box in a rigid state, and the operations of grabbing, lifting, transferring and the like of the sand box can be efficiently realized; when the box is closed, the clamping jaws have floatability so that the pin shafts can be aligned to the pin holes, and the problem of pin gnawing caused by tool positioning errors can be avoided; in addition, in a semi-floating state, the floating range of the clamping jaws is small, so that the clamping jaws can be prevented from shaking in a large range to influence the stability of the whole machine, and the phenomenon that the cope flask moves excessively to cause the corresponding pin shafts and pin holes to be completely staggered can be avoided; after part of the pin shafts are inserted into the corresponding pin holes, the clamping jaws enter a full floating state; through the floating range of increase jack catch, can increase the flexibility of jack catch to the round pin axle deepens the pinhole.

The application also provides a floating box closing machine which comprises clamping jaws, a lifting device, a floating device, a first detection device and a second detection device, wherein the lifting device comprises a shoulder beam and a lifting driving piece, and the floating device comprises a rigid piece, a floating piece and a fastening assembly; the lifting device is used for driving the clamping jaw to move along the vertical direction; the rigid part can only approach or leave the working station along the vertical direction and cannot shake or swing relative to the working station; the floating piece can be close to or far away from the working station along the vertical direction, and the shoulder beam and the clamping jaw can rock or swing relative to the working station; when the fastening assembly is in a fastening state, the rigid piece is fixedly connected with the shoulder beam; when the fastening assembly is in a release state, the rigid piece is separated from the shoulder beam, and the shoulder beam can float through the floating piece; when the mould is closed, the clamping jaws are in a floating state, so that the rigid contact between the upper sand box and the lower sand box can be avoided, and the accuracy and the safety of mould closing are facilitated; the first detection device and the second detection device are matched, so that the applicability of the box closing machine can be improved.

Drawings

FIG. 1 is a view showing a method for manufacturing a sand mold according to the present invention;

fig. 2 to 9 illustrate a multi-stage floating box assembling method according to the present application;

FIGS. 10-14 illustrate another multi-stage floating box assembly method provided herein;

fig. 15 is a schematic structural view of a floating box closing machine provided by the present application;

fig. 16 is an enlarged view of the structure enclosed in the circle in fig. 15.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present application more comprehensible, embodiments accompanying figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. This application is capable of embodiments in many different forms than those described herein and that modifications may be made by one skilled in the art without departing from the spirit and scope of the application and it is therefore not intended to be limited to the specific embodiments disclosed below.

First, the mold closing is explained.

In order to prepare a casting, a sand mold 3 is required to be constructed firstly, and the sand mold 3 is utilized to form the appearance and the inner cavity of the casting; and then pouring a metal solution into the sand mould 3, and cooling the metal solution to form the required casting.

In order to construct the sand mold 3, sand boxes are prepared, wherein each sand box comprises an upper sand box 1 and a lower sand box 2, and the upper sand box and the lower sand box are respectively filled with material sand which can form a half-mold sand mold in the sand boxes; the upper sand box is combined with the lower sand box, and the two half moulds can be assembled into a plastic sand mould.

Wherein the process of combining the cope flask to the drag flask is the process of combining the flasks.

Next, the flask will be explained.

One of a group of cope flask 1 and drag flask 2 for mould assembling is provided with a pin 1a, the other is provided with a pin hole 1b, when the cope flask and the drag flask are matched, the pin 1a can be inserted into the corresponding pin hole 1b; the pin shaft 1a is matched with the pin hole 1b, so that the mould assembling position of the upper sand box and the lower sand box can be limited, the stability of mould assembling is facilitated, and the accuracy of combination of the two half-mould sand moulds 3 is also facilitated.

Wherein, a group of the cope flask 1 and the drag flask 2 for the mold assembling can be arranged in the same configuration (the pin shaft 1 is detachable relative to the flasks) or in different configurations.

The pin shaft 1a and the pin hole 1b may be formed in the sand box or the sand mold 3.

In one embodiment, referring to FIG. 1, a manner of preparing sand molds 3 in a cope flask 1 is illustrated. Firstly, preparing a wood pattern 4 to enable the wood pattern 4 to have the shape of the upper half of a casting, and constructing a pin block 4a on the wood pattern 4; fixing the prepared wood pattern 4 on a base plate 5; next, the cope flask 1 is fixed on the base plate 5 with the wooden mold 4 in the cope flask 1; injecting sand material into the cope flask 1, wherein the sand material is filled between the wood pattern 4 and the cope flask 1; finally, the cope flask 1 is taken down, the sand mold 3 is solidified in the cope flask 1, the wood mold forms a groove having the shape of the upper half of the casting in the sand mold 3, and the pin block 4a forms a mounting hole in the sand mold 3; the pin shaft 1a is arranged in the mounting hole, and the sand mould 3 is provided with the pin shaft 1a; the sand mold 3 has a pin hole 1b by leaving the mounting hole empty.

For convenience of description, the sand mold 3 in the cope flask 1 is referred to as a cope mold, and the cope mold and the cope flask 1 constitute a cope mold; the sand mold 3 in the drag flask 2 is referred to as a drag mold, and the drag mold and the drag flask 2 are referred to as a drag sand mold.

The application provides a multistage floating box closing method which comprises the following steps:

so that the jaws 10 are in a rigid state;

the jack catch 10 descends and grabs the cope flask 1;

the jack catch 10 ascends and lifts the cope flask 1;

turning over the cope flask 1 to enable the cope flask 1 to be located above the drag flask 2 in an inverted state;

so that the jaw 10 is in a semi-floating state;

the claw 10 descends, and the cope flask 1 is close to the drag flask 2;

one of the upper sand box 1 and the lower sand box 2 is provided with a pin shaft 1a, the other one is provided with a pin hole 1b, and after part of the pin shaft 1a is inserted into the corresponding pin hole 1b, the clamping jaws 10 are in a full floating state;

the claw 10 continues to descend until the cope flask 1 is buckled on the drag flask 2;

when the claw 10 is in a rigid state, the claw 10 cannot float;

when the jaw 10 is in a semi-floating state or a full-floating state, the jaw 1 can float;

the floating range of the finger 10 in the full floating state is larger than that of the finger 10 in the half floating state.

Specifically, when the claws 10 are used to grab the cope flask 1 or the drag flask 2, the claws 10 are made to be in a rigid state. At this moment, the jaw 10 can not swing or rock relative to the work station, and the jaw 10 can move along the preset path fast and steadily, so that the operations of grabbing, lifting, transferring and the like of the sand box can be realized efficiently.

When the flask is closed, the claws 10 firstly transfer the cope flask 1 to the position right above the drag flask 2 in a rigid state, and then the claws 10 carry the cope flask 1 to be close to the drag flask 2 in a semi-floating state; at this moment, the clamping jaw 10 has floatability, and in the falling process, the clamping jaw 10 and the cope flask 1 grabbed by the clamping jaw can float relative to the drag flask 2, so that the pin shaft 1a is aligned with the pin hole 1b, and the pin gnawing problem caused by tool positioning errors is avoided. In addition, under the semi-floating state, the floating range of the clamping jaws 10 is small, so that the clamping jaws 10 can be prevented from shaking in a large range to influence the stability of the whole machine, and the phenomenon that the cope flask 1 moves excessively to enable the corresponding pin shaft 1a and the corresponding pin hole 1b to be completely staggered can be avoided. After part of the pin shafts 1a are inserted into the corresponding pin holes 1b, the clamping jaws 10 enter a full floating state; the flexibility of the jaw 10 can be increased by increasing the floating range of the jaw 10, so that the pin shaft 1a can be inserted into the pin hole 1b conveniently; in the deep process, if the pin shaft 1a is bitten by the pin hole 1b, the sand box 1 is subjected to reaction force and can realize fine adjustment of the position through self floating, so that the pin shaft 1a is smoothly inserted into the corresponding pin hole 1b, and finally, the accurate mould closing of the upper sand box and the lower sand box is realized.

In order to facilitate the grabbing of the sand box by the claw 10, in one embodiment, before the grabbing of the cope flask 1 or the drag flask 2 by the claw 10, the first detection device 51 detects the cope flask 1 or the drag flask 2, so as to obtain the position of the trunnion 1c of the cope flask 1 or the drag flask 2; the claw 10 descends until the clamping part 11b of the claw 10 is opposite to the trunnion 1c; after the clamp 11b acts on the trunnion 1c, the gripper 10 grips the cope flask 1 or the drag flask 2.

The trunnion 1c may be protruded from the surface of the sand box, or may be a hole or a groove formed by recessing the surface of the sand box. The present application does not limit the specific configuration and the specific position of the trunnion 1c.

Specifically, the jaw 10 includes a first clamp 11, a second clamp 12, and a jaw driver 13, the jaw driver 13 being configured to drive the first clamp 11 and the second clamp 12 to move relative to each other. The first clamp 11 and the second clamp 12 are capable of moving towards and away from each other under the urging of the jaw drives 13 to clamp or unclamp the flask. Either clamp (the first clamp 11 or the second clamp 12) includes a clamp portion 11b; two groups of trunnions 1c are arranged on the sand box; when the jaws 10 grab the flask, either clamp portion 11b acts on one set of trunnions 1c.

Wherein, the trunnion 1c and the clamping part 11b can realize interaction through modes such as assembly, adsorption, splicing, buckle, splicing and the like. The present application does not limit the specific configuration of the clip 11 b.

In one embodiment, referring to fig. 2 to 9, or 10 to 14, the trunnions 1c are insertion holes provided at opposite sides of the flask, and the clamp 11b is an insertion shaft capable of being inserted into the insertion holes; after the jaw 10 descends until the clamping part 11b faces the trunnion 1c, the jaw driving part 13 drives the first clamp 11 and the second clamp 12 to approach each other, and the insertion shaft can be inserted into the corresponding insertion hole, so that the clamping part 11b acts on the trunnion 1c. In this case, the first clamp 11 and the second clamp 12 can clamp the flask by fitting, and the clamp portion 11b is restricted by the trunnion 1c, so that the jaws 10 and the flask have stable relative positions, and the flask is not easily displaced relative to the jaws 10 regardless of the transfer or the turning.

The first detection device 51 is arranged, so that the jack catch 10 can conveniently and accurately grab sand boxes with different specifications, and a control system can conveniently calibrate the working process of the whole box closing machine.

The present application does not limit the specific configuration of the first detecting means 51.

In one embodiment, the first detection device 51 is a CCD camera (charged coupled device), when the sand box reaches the working station, the first detection device 51 shoots the sand box and transmits shooting information to the control system, the control system can know the position of the trunnion 1c on the sand box by interpreting the shooting information, and then the control system controls the jaw 10 to move towards the working station until the clamping part 11b of the jaw 10 is opposite to the trunnion 1c.

In another embodiment, the first detection device 51 is a photoelectric sensor, and when the sand box arrives at the work station, the first detection device 51 sends a signal to the sand box, and when the signal contacts the trunnion 1c, the control system can determine the position of the trunnion 1c.

In another embodiment, the first detecting device 51 is a grating height indicator, and after the sand box arrives at the work station, the first detecting device 51 can detect the height of the position of the trunnion 1c, or can detect the height of the sand box to obtain the height of the trunnion 1c.

Referring specifically to fig. 2, in the illustrated embodiment, a standardized flask is used for which the axis of the trunnion 1c is at one-half the height of the flask, and therefore, the height of the trunnion 1c of the flask can be easily determined by detecting the height of the flask. Furthermore, the first detection device 51 adopts a grating height indicator, the first detection device 51 is arranged on one side of the working station, and after the sand box reaches the working station, the detection end of the first detection device 51 is over against the sand box at the working station.

With continued reference to fig. 2, when one drag flask 2 arrives at the work station, the first detection device 51 detects the drag flask 2, and knows that the height of the drag flask 2 is A1 and the height of the trunnion 1c of the drag flask 2 is A2= drained A1; when the claw 10 is at the first height position, the height of the clamping part 11b of the claw 10 is H1; so that the claws 10 are suspended right above the drag flask 2, and the amount of descent when the claws 10 grab the drag flask 2 is H2= H1-A2.

Alternatively, referring to fig. 5, when one cope flask 1 arrives at the work station, the first detection device 51 detects the cope flask 1, and it is known that the height of the cope flask 1 is B1 and the height of the trunnion 1c of the cope flask 1 is B2= drained B1; when the claw 10 is at the first height position, the height of the clamping part 11b of the claw 10 is H1; so that the claws 10 are suspended right above the cope flask 1 and the descent amount of the claws 10 when gripping the cope flask 1 is H3= H1-B2.

In conclusion, after a sand box reaches the work station, the first detection device 51 measures the height of the sand box, and the actual height of the sand box is obtained, so that the height of the trunnion 1c is obtained, and the descending amount of the jaw 10 is further obtained, so that the jaw 10 can accurately descend to a proper position.

Particularly, when the jaws 10 grab flasks of different specifications, the positions of the trunnions 1c of the flasks are different, so that the jaws 10 are required to be lowered by different amounts, and if the first detection device 51 is not arranged for detection, the jaws 10 are required to be adjusted in advance to cope with the flasks of different specifications, which is time-consuming and labor-consuming.

With the first detecting device 51, even if a set of the cope flask 1 and the drag flask 2 for mold assembling has different heights and/or positions of the trunnions 1c, the claws 10 can accurately grasp the two flasks, respectively.

The parting plane refers to the top surface of the sand mold 3. In some embodiments, the sand mold 3 protrudes out of the sand box, and the parting plane is higher than the sand box; it will be readily appreciated that the distance that the jaws 10 move with the cope flask 1 towards the drag flask 2 during mould assembly is related to the distance between the parting surfaces of the upper and lower sand moulds when the cope flask 1 is inverted above the drag flask 2.

In order to accurately know the height of the parting surface, in one embodiment, after the jaws 10 grab the cope flask 1 or the drag flask 2, the second detecting device 52 detects the sand mold 3, so as to know the position of the parting surface of the sand mold 3.

The specific configuration of the second detecting device 52 is similar to that of the first detecting device 51, and is not described in detail.

In one embodiment, when the cope flask 1 is upside down and is above the drag flask 2, the second detecting device 52 can detect the parting surface position of the drag mold and the parting surface position of the cope mold, so that the control system can conveniently know the distance between the parting surfaces of the cope mold and the drag mold, and then the jaw 10 is controlled to descend to a proper height to change the state and realize the mold assembling.

In another embodiment, after a sand box arrives at the station, the second detecting device 52 detects the parting surface of the sand mold 3 in the sand box, so as to know the height of the parting surface of the sand mold 3, and further know the distance between the parting surface and the clamp part 11b after the clamping jaws 10 grab the sand box; and finally, calculating the distance between the parting surfaces of the upper sand mold and the lower sand mold when the upper sand mold 1 is in an inverted state and is positioned above the lower sand mold 2.

Referring to fig. 3 or fig. 4, in the illustrated embodiment, the second detecting device 52 is disposed on the jaw 10, and the distance between the second detecting device 52 and the clamping portion 11b of the jaw 10 is G1 (G1 is a preset fixed value); after the jaws 10 grab the drag flask 2, the second detecting device 52 detects the sand mold 3 in the drag flask 2, and it is known that the distance between the parting surface of the sand mold 3 and the second detecting device 52 is G2 (G2 is a measured value), and the height of the drag mold formed by the drag flask 2 and the sand mold 3 is A3= A2+ G1-G2 (A1 is a measured value, A2 is a calculated value obtainable by A1, and A3 is a calculated value).

With continued reference to fig. 6, after the jaws 10 grab the cope flask 1, the second detecting device 52 detects the sand mold 3 in the cope flask 1, and it is known that the distance between the parting surface of the cope mold and the second detecting device 52 is G3 (G3 is a measured value), and the distance between the parting surface of the cope mold and the nip 11B is B3= G1-G3 (B1 is a measured value, B2 is a calculated value obtainable by B1, and B3 is a calculated value).

With continued reference to fig. 7, when the jaws 10 are at the first elevation position and the cope flask 1 is upside down above the drag flask 2, the distance between the parting plane of the upper sand mold and the parting plane of the lower sand mold is H4= H1-A3-B3 (H1 is a preset fixed value, and H4 is a calculated value).

When the sand mold is closed, the claw 10 carries the sand mold 1 to move to the lower sand mold 2 by a distance H4, and parting surfaces of the upper sand mold and the lower sand mold can be attached to each other.

Through the position that detects 3 die joints of sand mould, can learn the moving distance H4 of jack catch 10 at the mould assembling in-process to accurate control jack catch 10 motion, improvement mould assembling precision, existing suitability that is favorable to promoting the mould assembling machine can also avoid upper and lower sand mould excessively to be close to the harm sand mould, perhaps upper and lower sand mould fails to paste mutually.

As can be easily imagined, when the mould assembling method provided by the application is adopted, the operation parameters of the clamping jaws 10 do not need to be adjusted to cope with sand moulds with different specifications. In actual use, the control system can receive the detection information of the first detection device 51 and the second detection device 52 and calculate the operation amount of the jaws 10, so that the applicability and the working efficiency of the box closing machine are improved.

After the cope flask 1 is positioned above the drag flask 2 in an inverted state, the claw 10 carries the cope flask 1 to move towards the drag flask 2 by a distance H5 in a rigid state; h5 is more than or equal to 0.

Specifically, the claws 10 grasp the cope flask 1 in a rigid state and carry the cope flask 1 to above the drag flask 2; at this time, the claw 10 can directly enter a semi-floating state, i.e., H5=0; the jaws 10 carry the cope flask 1 close to the drag flask 2 in a semi-floating state until a portion of the pin shaft 1a is inserted into the corresponding pin hole 1b.

Or, the jack 10 grabs the cope flask 1 in a rigid state and carries the cope flask 1 to above the drag flask 2; at this time, the jack catch 10 keeps the rigid state and moves a certain distance to the drag flask 2 with the cope flask 1, and after the cope flask 1 approaches the drag flask 2, the jack catch 10 enters the semi-floating state again.

The jaws 10 are brought into a semi-floating state before the pin 1a contacts another flask, and the cope flask 1 can be adjusted in position by swinging or shaking relative to the drag flask 2 so that the pin 1a is aligned with the pin hole 1b.

Further, after the claws 10 are converted from the rigid state to the semi-floating state, the claws continue to move toward the drag flask 2 with the cope flask 1 by a distance H6 until part of the pin shafts 1a are inserted into the corresponding pin holes 1b; h5+ H6 < H4.

When a part of the pin shaft 1a is inserted into the corresponding pin hole 1b, the parting surfaces of the upper sand mold and the lower sand mold are not contacted. The claw 10 enters a full floating state after part of the pin shaft 1a is inserted into the corresponding pin hole 1b, and even if the claw 10 is greatly shaken or swung under the influence of the outside, the pin shaft 1a is not easy to be separated from the pin hole 1b. The jaw 10 has a large moving range and good flexibility in a full floating state, and is beneficial to the pin shaft 1a to go deep into the pin hole 1b and finally realize box closing.

In one embodiment, referring to FIGS. 5 to 9, the jack 10 holds the cope flask 1 in a rigid state and then returns the cope flask 1 to the first elevation position; so that the cope flask 1 is suspended above the drag flask 2, and the height of the clamping part 11b of the clamping jaw 10 is H1; through the first detection device 51 and the second detection device 52, the height of the lower sand mold is A3= A2+ G1-G2, and the distance between the parting surface of the upper sand mold and the clamping part 11B is B3= G1-G3; after the cope flask 1 is turned over and is in an inverted state, the distance between the upper sand mold parting surface and the lower sand mold parting surface is H4= H1-A3-B3.

As can be easily understood, when the container is closed, if the latch 10 directly enters the semi-floating state at the first height position, the latch 10 needs to move a longer distance in the semi-floating state; under the semi-floating state and the full-floating state, the jack catch 10 can carry the cope flask 1 to rock or swing relative to the drag flask 2; especially when the claw 10 moves at high speed, the claw 10 is extremely easy to move excessively and even damage equipment; if the moving speed of the claw 10 is reduced, the box combining efficiency is influenced under the condition of long moving distance.

For this purpose, a second height position can be preset, and when the flask is closed, the jack 10 first moves the cope flask 1 in a rigid state toward the drag flask 2 to the second height position, and after the second height position is reached, the jack 10 enters a semi-floating state.

Alternatively, referring to fig. 7, when the clamping jaws 10 carry the cope flask 1 in the inverted state to the second height position, the distance between the parting plane of the cope mold and the parting plane of the drag mold is H7 (H7 is a preset fixed value); it was found that H5= H4-H7 (H5 is the calculated value).

In order to better control the claw 10 to be converted from a semi-floating state to a full-floating state, a third height position can be preset, and when the flask is closed, the claw 10 firstly carries the cope flask 1 to move to the second height position in a rigid state towards the drag flask 2; in the second height position, the jaws 10 enter a semi-floating condition; the jaws 10 are then moved in a semi-floating state to a third height position with the cope flask 1 moving toward the drag flask 2, and after the third height position, the jaws 10 are then brought into a fully floating state.

Alternatively, referring to fig. 8, when the jaws 10 are brought to the third height position with the cope flask 1 in the inverted state, the length of the pin shaft 1a extending into the pin hole 1b is H8 (H8 is a preset fixed value); the height of the pin shaft 1a protruding out of the sand box is known as C in advance (C is a preset fixed value); after the pin shaft 1a is inserted into the pin hole 1b by the depth H8, the distance between the top surfaces of the upper sand box and the lower sand box is C-H8; it was found that H6= H1-H5-A1-B2- (C-H8) (H6 is calculated).

In one embodiment, referring to fig. 2, the jaws 10 are in the first height position, with the height of the clamping portion 11b H1=1800mm; the first detection device 51 is arranged on one side of the working station; the specifications of the upper and lower flasks are the same, and the first detection device 51 determines that the height of the flask is A1= B1=600mm; the trunnion 1c is at one-half the height of the flask, and the height of the trunnion 1c is A2= B2=300mm.

With combined reference to fig. 3, a second detection device 52 is provided on one of the jaws 10, the second detection device 52 being at a vertical distance G1=820mm from the grip 11 b.

Referring to fig. 2 to 4, the claws 10 descend H2=1500mm (H1-A2 =1800-300= 1500) from the first height position while gripping the drag flask 1; the second detection device 52 knows that the distance between the second detection device and the parting surface of the lower sand mold is G2=500mm; the height of the lower sand mold is A3=620mm (G1-G2 + A2=820-500+300= 620).

With combined reference to fig. 5 and 6, when the jaws 10 grab the cope flask 1, the distance between the jaws and the parting surface of the cope mold is known as G3=500mm by the second detecting device 52; with reference to fig. 7, when the cope flask 1 is in an inverted state, the distance between the parting plane of the cope mold and the clamp 11B is B3=320mm (G1-G3 =820-500= 320); the distance between the parting surfaces of the upper sand mold and the lower sand mold is H4=860mm (H1-B3-A3 = 1800-320-620).

With continued reference to fig. 7, when the distance between the parting surfaces of the upper sand mold and the lower sand mold is preset to be H7=400mm, the jaw 10 enters a semi-floating state. Therefore, when the flask is assembled, the claws 10 move from the first height position to the drag flask 2 in a rigid state by H5=460mm (H4-H7 =860-400= 460) and reach the second height position, and the claws 10 enter a semi-floating state at the second height position.

Referring to fig. 8, when the height of the pin 1a protruding from the flask is C =90mm, and the depth H8=30mm of the pin 1a inserted into the corresponding pin hole 1b (after the pin 1a is inserted into the depth H8 of the pin hole 1b, the distance between the top surfaces of the upper and lower flasks is C-H8= 60), the jaws 10 enter the full floating state. Therefore, when the flask is closed, the jaws 10 move H6=380mm (H1-H5-A1-B2-60 =1800-460-600-300-60= 380) from the second height position to the drag flask 2 in a half-floating state, and the jaws 10 enter a full-floating state at the third height position.

In another embodiment, one of the clamps of the jaws 10 is provided with a first detection device 51, and the other clamp is provided with a second detection device 52; a drag flask 2 or a cope flask 1 arrives at the working station; the claw 10 is positioned at a first height position and is suspended above the working station; the two clamps of the jaws 10 are relatively moved until the first detecting device 51 detects the P point of the drag flask 2 or the cope flask 1, so as to know the position of the trunnion 1c of the cope flask 1 or the drag flask 2; after the jaws 10 grab the drag flask 2 or the cope flask 1, the second detecting device 52 can detect the sand mold 3 in the drag flask 2 or the cope flask 1 so as to know the position of the parting plane of the sand mold 3.

Referring specifically to fig. 10, in the illustrated embodiment, the first clamp 11 of the clamping jaw 10 is provided with a first detecting device 51, and the second clamp 12 is provided with a second detecting device 52. When the claw 10 is at a first height position and is suspended above the working station, the first clamp 11 and the second clamp 12 are in an open state; at this time, the height of the clamping portion 11b of the claw 10 is H1 (H1 is a preset fixed value), and the distance between the first detecting device 51 and the clamping portion 11b of the first clamp 11 is D1 (D1 is a preset fixed value); the height of the first detection device 51 is D2= D1+ H1.

With continued reference to FIG. 10, a drag flask 2 reaches the work station, and the jaw actuation member 13 urges the first clamp 11 and the second clamp 12 toward each other until the first sensing device 51 senses a point P of the drag flask 2 (in the illustrated embodiment, point P is a flange face of the flask, and the first sensing device 51 employs a laser rangefinder); it is found that the first detecting device 51 is spaced from the point P by D3 (D3 is a detected value), and the height of the drag flask 2 is A1= D2-D3 (A1 is a calculated value).

With reference to FIG. 12, once the cope flask 1 reaches the work station, the jaw actuation member 13 urges the first clamp 11 and the second clamp 12 toward each other until the first sensing device 51 senses the point P of the cope flask 1; it is found that the first detecting device 51 is spaced from the point P by D4 (D4 is a detected value), and the height of the cope flask 1 is B1= D2-D4 (B1 is a calculated value).

When the cope and drag flasks are standardized flasks, the axial center of the trunnion 1c is at one-half of the flask height, and therefore, it is known that the height of the trunnion 1c of the drag flask 2 is A2= A1= As (D2-D3) (A2 is a calculated value), and the height of the trunnion 1c of the cope flask 1 is B2= As B1= As (D2-D4) (B2 is a calculated value).

In other embodiments, when the jaws 10 are in the first height position and suspended above the work station, the first clamp 11 and the second clamp 12 may be in the closed state; after the sand box reaches the working station, the jaw driving piece 13 drives the first clamp 11 and the second clamp 12 to be away from each other, and the detection of the point P by the first detection device 51 can also be realized.

Referring to fig. 10 to 12 in combination, the jaws 10 descend in a rigid state, and the descent amount of the jaws 10 when gripping the drag flask 2 is H2= H1-A2= H1-magnetically arbo (D2-D3) (H2 is a calculated value); similarly, the amount of descent when the claws 10 grab the cope flask 1 is H3= H1-B2= H1-magnetically attractor (D2-D4) (H3 is a calculated value).

With continued reference to FIG. 11, after the jaws 10 have grasped the drag flask 2, the sensing end of the second sensing device 52 faces the parting surface of the drag mold; the second detecting device 52 is a laser distance meter, and the distance between the second detecting device 52 and the clamping part 11b of the second clamp 12 is G1 (G1 is a preset fixed value). The second detection device 52 works to know that the distance between the second detection device 52 and the parting surface of the lower sand mold is G2 (G2 is a detection value); the height of the lower sand mold was A3= A2+ (G1-G2) (A3 is calculated).

With continued reference to fig. 13, after the jaws 10 grab the cope flask 1, the second detection device 52 acts on the parting surface of the cope mold, and the distance between the second detection device 52 and the parting surface of the cope mold is known as G3 (G3 is a detection value); the distance between the parting surface of the upper sand mold and the nip 11B is B3= G1-G3 (B3 is a calculated value).

With continued reference to fig. 14, the jaws 10 convey the cope flask 1 above the drag flask 2, and when the cope flask 1 is in the inverted state at the first height position, the distance between the parting surfaces of the upper and lower sand molds is H4= H1-A3-B3 (H4 is a calculated value). The claws 10 move to the lower sand box 2 by a distance H4, and the upper sand mould and the lower sand mould can be attached together to realize mould assembling.

Further, referring to fig. 14, when the distance between the parting surfaces of the upper and lower sand molds is set to H7 (H7 is a preset fixed value), the jaw 10 reaches the second height position and enters the semi-floating state.

Therefore, when the flask is closed, the jaws 10 move from the first height position to the drag flask 2 in a rigid state H5= H4-H7 (H5 is a calculated value) to the second height position, and the jaws 10 enter the semi-floating state at the second height position.

Further, with reference to fig. 14, after the height of the pin 1a protruding from the flask is set to C (C is a preset fixed value), and the depth of the pin 1a inserted into the corresponding pin hole 1b is set to H8 (H8 is a preset fixed value), the jaw 10 reaches the third height position and enters the full floating state. It can be seen that the distance between the top surfaces of the upper and lower flasks is C-H8 after the pin shaft 1a is inserted into the pin hole 1b by the depth H8.

Therefore, when the flask is closed, the jaws 10 move from the second height position to the drag flask 2 in a half-floating state by H6= H1-H5-A3-B3- (C-H8) (H6 is a calculated value), and reach the third height position, and the jaws 10 are brought into a full-floating state at the third height position.

It should be added that, unlike the embodiment shown in fig. 2 to 9, the sand mold 3 has a mounting hole in the embodiment shown in fig. 10 to 14; before the two sand boxes are combined, the pin shaft 1a is arranged in the mounting hole of the lower sand mould, and the mounting hole of the upper sand box 1 is vacant, so that the requirement of combining the boxes can be met.

It is also necessary to supplement that the mould assembling method provided by the application can be provided with only one working station. At the moment, in the process of assembling the upper sand box and the lower sand box, the upper sand box 1 firstly reaches a working station, and after the claw 10 grabs and lifts the upper sand box 1, the lower sand box 2 then reaches the working station; after the cope and drag flasks are brought into opposition, the jaws 10 move the cope flask 1 toward the drag flask 2.

Or the mould assembling method provided by the application can be provided with two working stations. For example, the work stations include a lifting station and a box closing station; the cope flask 1 is transported to the lift station, and after the jack catch 10 catches the cope flask 1 at the lift station, the cope flask 1 is transferred to above the drag flask 2 at the mold assembling station.

Referring specifically to fig. 2-9 or 10-14, in the illustrated embodiment, the lifting station and the mould assembling station are arranged side by side and the jaws 10 can be moved horizontally to and fro between the two stations.

In one embodiment, the lower sand box 2 reaches a lifting station first, and the claw 10 grabs and lifts the lower sand box 2 and then moves horizontally to the position above the mould assembling station; the claw 10 returns to the position above the lifting station after the lower sand box 2 is lowered to the box closing station. After the drag flask 2 leaves the lifting station, the cope flask 1 enters the lifting station; the returning jaws 10 grab and lift the cope flask 1 and then move horizontally above the mold closing station so that the cope flask 1 is above the drag flask 2.

In another embodiment, the drag flask 2 may be transported directly to the mold closing station; and the cope flask 1 is transported to the lifting station, the claw 10 first grabs and transfers the cope flask 1, so that the cope flask 1 reaches above the drag flask 2, and then the flask is closed.

It needs to be supplemented that the jack catch 10 grabs and lifts the cope flask 1, and after the cope flask 1 is far away from the working station and has a turning space, the cope flask 1 can be turned, and the application does not limit the specific node of the turning of the cope flask 1. For example, the cope flask 1 may be turned during lifting; as another example, the cope flask 1 may be turned during the movement toward the drag flask 2. In the embodiment shown in fig. 2 to 9, or fig. 10 to 14, the grippers 10 grab and lift the cope flask 1, and after returning to the first elevation position, the cope flask 1 is turned upside down.

The application also provides a floating box closing machine, which is used for realizing the multi-stage floating box closing method and comprises the following steps: a jaw 10 for extracting the flask; the lifting device 20 comprises a shoulder beam 21 and a lifting driving piece 22, the claw 10 is arranged on the shoulder beam 21, and the lifting driving piece 22 is used for driving the shoulder beam 21 to move in the vertical direction; floating device 30, floating device 30 includes: a rigid member 31, wherein the rigid member 31 can only move in the vertical direction under the driving of the lifting driving member 22; a floating member 32, the floating member 32 being connected to the shoulder beam 21; a fastening assembly having a fastened state and a released state; when the fastening assembly is in the fastened state, the shoulder beam 21 is fixedly connected with the rigid piece 31, so that the shoulder beam 21 can only move in the vertical direction; when the fastening assembly is in the released state, the shoulder beam 21 is no longer fixedly connected to the rigid part 31, and the shoulder beam 21 is only connected to the floating part 32, so that the shoulder beam 21 can move in the vertical direction and float.

Specifically, when the lifting device 20 works, the rigid member 31 and the floating member 32 can be driven to approach or depart from the working station along the vertical direction; the rigid part 31 cannot rock or swing relative to the working station, and the rigid part 31 does not have floatability; the shoulder beam 21 can have floatability through the floating piece 32, for example, the floating piece 32 can rock or swing relative to the working station, or the shoulder beam 21 is movably connected with the floating piece 32, and the shoulder beam 21 can rock or swing relative to the floating piece 32.

Thus, when the fastening assembly is in the fastened state, the shoulder beam 21 is fixedly connected with the rigid member 31; at this time, the shoulder beam 21 is connected to both the floating member 32 and the rigid member 31, and since the rigid member 31 does not have floating property, the shoulder beam 21 can move only in the vertical direction and cannot rock or swing due to the limitation of the rigid member 31.

When the fastening assembly is in the released condition, the shoulder beam 21 is disengaged from the rigid part 31 and is no longer fixedly connected to the rigid part 31; at this time, the shoulder beam 21 is connected only to the floating member 32, and the shoulder beam 21 can move in the vertical direction and can rock or swing due to the floating property of the shoulder beam 21.

In one embodiment, the jaws 10 are drawn up of the sand box such that the fastening assembly is in a fastened state to facilitate the jaws 10 quickly and accurately contacting and holding the sand box. When the upper and lower sand boxes need to be combined, the fastening assembly is in a release state; in the process that the upper sand box and the lower sand box are close to each other, the upper sand box 1 can float relative to the lower sand box 2, the upper sand box 1 is convenient to align to the lower sand box 2, and rigid collision of the upper sand box and the lower sand box can be avoided.

Optionally, the float 32 is of a flexible construction.

For example, the float 32 may be a rope, one end of which is tied over the jaw 10 (e.g. to the rigid member 31) and the other end of which is tied to the shoulder 21; when the fastening assembly is in the released state, the shoulder beam 21 is completely hoisted by the rope above the working station. Since the line is a non-rigid connection, the shoulder beam 21 can only carry the pawl 10 when connected to the line.

Also for example, the float 32 may be a chain with one end tied over the jaws 10 and the other end tied to the shoulder beam 21. With particular reference to fig. 15 and 16, in the illustrated embodiment, the float member 32 is a circular chain, and the rigid member 31 is a cylinder; the upper end of the round-link chain is connected with the movable frame 41, the round-link chain passes through the cylinder, and the lower end of the round-link chain is connected with the shoulder beam 21; when the fastener assembly is in the released condition, the shoulder beam 21 can float relative to the work station by means of the endless chain.

Alternatively, the float member 32 is of a rigid construction, with at least one end of the float member 32 being mounted by means of a hinge.

For example, the float 32 can be a rod hinged at one end above the jaws 10 (for example hinged to the rigid element 31) and at the other end to the shoulder 21; when the fastening assembly is in the released state, the shoulder beam 21 is completely hoisted by the rods above the work station. Because both ends of the rod piece can move, the rod piece can float relative to the working station, and the shoulder beam 2 and the clamping jaws 10 can also float relative to the working station.

The present application does not limit the specific configuration of the floating member 32, as long as the shoulder beam 21 can float relative to the floating member 32 when the fastening assembly is in the release state, or the floating member 32 can float relative to the work station with the shoulder beam 21.

Optionally, a fastening assembly is provided on the shoulder beam 21 for connecting the rigid member 31.

For example, the fastening assembly may be a jaw. When the clamping jaw 10 needs rigid movement, the clamping jaw clamps the rigid piece 31, and the rigid piece 31 can be fixedly connected with the shoulder beam 21 through the clamping jaw; when the jaws 10 require a flexible movement, they enable the rigid member 31 to disengage the shoulder beam 21 from the rigid member 31 and connect only the floating member 32.

For another example, the fastening assembly may be an electromagnet, and at least a portion of the rigid member 31 is made of a metal material. When the claw 10 needs rigid motion, the electromagnet is electrified and has magnetism to adsorb the rigid part 31, and the rigid part 31 is fixedly connected with the shoulder beam 21 through the electromagnet; when the claw 10 needs flexible movement, the electromagnet is powered off, and after the magnetism disappears, the rigid part 31 can be released, so that the shoulder beam 21 is separated from the rigid part 31 and only connected with the floating part 32.

Optionally, the fastening assembly comprises: a first fastening member 33 provided on the shoulder beam 21; a second fastening member 34 provided on the rigid member 31; when the fastening assembly is in a fastening state, the first fastening piece 33 is connected with the second fastening piece 34, so that the shoulder beam 21 is fixedly connected with the rigid piece 31; when the fastening assembly is in the released state, the first fastening member 33 and the second fastening member 34 are separated, so that the shoulder beam 21 is no longer fixedly connected with the rigid member 31.

In order to ensure that the shoulder beam 21 is restrained by the rigid member 31 and cannot float after the shoulder beam 21 is connected to the rigid member 31, it is necessary to ensure that the first fastening member 33 and the second fastening member 34 cannot be displaced relative to each other when the fastening assembly is in the fastened state.

Similarly, in order to ensure that the shoulder beam 21 is connected only to the floating member 32 and can float relative to the working position after the fastening assembly is in the release state, it is necessary to ensure that when the fastening assembly is in the release state, a gap is formed between the first fastening member 33 and the second fastening member 34, and when the claw 10 floats, the first fastening member 33 and the second fastening member 34 can be displaced relative to each other.

For this purpose, the first fastening member 33 and the second fastening member 34 may be configured to be engaged or inserted.

For example, one of the first fastener 33 and the second fastener 34 is provided with a hole, and the other is provided with a pin; the pin is inserted into the hole, that is, the first fastening member 33 and the second fastening member 34 are brought into a fastened state; disengaging the pin from the hole allows the first fastener 33 and the second fastener 34 to be brought into a released state.

For another example, one of the first fastener 33 and the second fastener 34 is a snap and the other is a hook; the first fastening member 33 and the second fastening member 34 can be brought into a fastening state by fastening the snap; the first fastening member 33 and the second fastening member 34 are brought into a released state by disengaging the catch from the catch.

Alternatively, the first fastening member 33 and the second fastening member 34 adopt an expansion structure.

For example, one of the first fastener 33 and the second fastener 34 is an air bag provided in the other; inflating the air bag, and expanding the air bag, so that the first fastening piece 33 and the second fastening piece 34 are in a fastening state; the balloon is deflated and deflated, i.e. the first fastening member 33 and the second fastening member 34 are brought into a released state.

For another example, one of the first fastener 33 and the second fastener 34 is an umbrella rib structure, and the umbrella rib structure is provided in the other; the umbrella rib structure is unfolded, and the umbrella rib structure is pressed against the inner wall of the other one, so that the first fastening piece 33 and the second fastening piece 34 can be in a fastening state; the retraction of the rib structure, which is away from the inner wall of the other, allows the first and second fasteners 33, 34 to be brought into a released state.

In one embodiment, one of the first fastener 33 and the second fastener 34 is a cone sleeve and the other is a cone disk. The floating device 30 further includes a floating drive 36, the floating drive 36 for driving the first and second fasteners 33, 34 toward or away from each other.

In this embodiment, when the floating driver 36 drives the first fastener 33 and the second fastener 34 to approach each other, the cone disc can be inserted into the cone sleeve, thereby bringing the fastening assembly into a fastening state; when the floating drive 36 drives the first fastener 33 and the second fastener 34 away from each other, the cone disc can be disengaged from the cone sleeve, thereby bringing the fastening assembly into a released state.

Referring specifically to fig. 15, in the illustrated embodiment, the first fastener 33 is a drogue and the second fastener 34 is a conical disk. The first fastener 33 includes a connecting portion 33a and a nesting portion 33b, and the floating driving member 36 is connected to the connecting portion 33 a; the connecting part 33a is provided with a through hole, the sleeving part 33b is provided with a taper hole, and the aperture of the taper hole is gradually increased from top to bottom; the through hole is communicated with the taper hole, and the rigid part 31 passes through the through hole and the taper hole; the second fastening piece 34 is fixedly arranged on the rigid piece 31, and the outer diameter of the conical disc is gradually increased from top to bottom; the second fastener 34 is opposite to the taper hole; the floating drive 36 is operative to drive the first fastener 33 in a vertical direction; when the first fastening piece 33 is close to the second fastening piece 34, the conical disc can enter the conical hole, and as the conical disc continuously goes deep into the conical hole, the first fastening piece 33 can clamp the second fastening piece 34, so that the fastening assembly enters a fastening state; when the first fastening member 33 is far away from the second fastening member 34, the conical disc can be loosened from the conical hole, so that the fastening assembly enters a releasing state.

In one embodiment, when one of the first fastener 33 and the second fastener 34 is a drogue and the other is a cone, such that the fastening assembly is in a released state, the drogue and the cone have a first position and a second position; when the taper sleeve and the taper disc are located at the first position, the taper sleeve and the taper disc are separated by a first distance; when the taper sleeve and the taper disc are at the second position, the taper sleeve and the taper disc are separated by a second distance; the first distance is greater than the second distance.

Referring specifically to fig. 15, in the illustrated embodiment, the first fastener 33 is a drogue and the second fastener 34 is a conical disk; from top to bottom, the aperture of the taper hole on the taper sleeve is gradually increased, and the outer diameter of the taper disc is also gradually increased; the taper sleeve and the taper disc are far away from each other, and the shoulder beam 21 can enter a floating state; moreover, the farther the distance between the taper sleeve and the taper disk is, the larger the gap between the taper sleeve and the taper disk is, so that the floating range of the shoulder beam 21 is larger.

Therefore, the taper sleeve and the taper disc are in the first position, and the shoulder beam 21 has a larger floating range; so that the cone sleeve and the cone disk are in the second position and the shoulder beam 21 has a smaller floating range.

The floating range of the shoulder beam 21 can be adjusted, on one hand, the applicability of the floating box closing machine can be further improved, so that the box closing requirements of different specifications or the floating requirements of the shoulder beam 21 in different steps can be met; on the other hand, be favorable to improving automatic reliability and the accuracy of mould assembling.

Of course, if necessary, the taper sleeve and the taper disk may have a third position, a fourth position, etc., so as to further regulate the floating range of the shoulder beam 21.

To facilitate the adjustment of the relative position of the cone sleeve and the cone pulley in the release state, the floating device 30 may alternatively include only one floating driving member 36, and the floating driving member 36 may have at least two strokes, so that the relative position of the cone pulley and the cone sleeve and thus the floating range of the shoulder beam 21 may be controlled by controlling the output stroke of the floating driving member 36.

Optionally, the float device 30 includes two sets of float drives 36, wherein one set of float drives 36 is used to drive the cone or the cone sleeve to a first distance, and wherein the other set of float drives 36 is used to drive the cone or the cone sleeve to a second distance.

In one embodiment, the floating device 30 includes two sets of floating actuators 36, wherein the movable ends of one set of floating actuators 36 are connected to the shoulder beam 21, the movable ends of the other set of floating actuators 36 are connected to the first fastening member 33, and the fixed ends of the two sets of floating actuators 36 are connected.

With particular reference to fig. 16, the float assembly 30 is shown in the illustrated embodiment as including two sets of float actuators 36a and 36b, a first set of float actuators 36a having their free ends directed downwardly and connected to the shoulder beam 21, and a second set of float actuators 36b having their free ends directed upwardly and connected to the first fastener 33; the fixed end of the first group of floating drivers 36a is connected to the fixed end of the second group of floating drivers 36b, and the two groups of the second group of floating drivers 36a and 36b are disposed opposite to each other in the vertical direction. Thus, when one of the floating driving members 36a or 36b is operated, the taper sleeve is far away from the taper disc and reaches a first position; further actuation of the other set of floating drives 36b or 36a causes the drogue to continue away from the cone disc to a second position.

The application does not limit the specific configuration of the fastening assembly.

Further, the floating box closer still includes: a first detecting device 51 for detecting the flask so as to know the position of the trunnion 1c of the flask; and the second detection device 52 is used for detecting the sand mold 3 in the sand box so as to know the parting surface position of the sand mold 3.

The installation manner and specific configuration of the first detection device 51 and the second detection device 52 can refer to the above, and detailed description is omitted.

To facilitate the gripper 10 in taking the flask, the gripper 10 includes a first gripper 11, a second gripper 12 and a gripper driver 13, the gripper driver 13 being adapted to drive the first gripper 11 and the second gripper 12 in a relative movement.

The first clamp 11 and the second clamp 12 can be urged towards and away from each other by the jaw actuators 13 to clamp or unclamp the flask.

The jaw driving member 13 may include two driving members (e.g., an air cylinder and an electric cylinder) for driving the first clamp 11 and the second clamp 12 to move toward or away from each other. Or, the claw driving piece 13 can adopt structures such as a pneumatic claw, a motor and a double-screw rod to realize synchronous driving of two claw parts by one driving component. The application does not limit the specific configuration of the pawl driver 13.

Further, after the jack catch 10 extracts the cope flask 1 and makes the cope flask 1 hang, the cope flask 1 needs to be turned 180 degrees so as to be convenient for buckling the cope flask and the drag flask, and then a complete sand mold is obtained.

For this purpose, the first clamp 11 and the second clamp 12 each comprise: a link 11a connected to the shoulder beam 21; a clamp 11b rotatably provided on the connecting frame 11 a; wherein the jaw 10 further comprises a turnover driving member 14, and at least one clamping part 11b is connected with the turnover driving member 14; after the first clamp 11 and the second clamp 12 cooperate to extract the cope flask 1, the turning drive member 14 can drive the clamp 11b to rotate, so that the cope flask 1 is turned.

In one embodiment, the clamping portion 11b of the first clamp 11 or the second clamp 12 is connected to the turnover driving member 14, the clamping portion 11b connected to the turnover driving member 14 is a driving claw, and the other clamping portion 11b is a driven claw; after the two clamping parts 11b tightly hold the cope flask 1, the lifting device 20 drives the jaws 10 to lift the cope flask 1 so as to suspend the cope flask 1; after the cope flask 1 has the overturning space, the overturning driving part 14 drives the driving claw to rotate, and the driven claw can be matched with the driving claw to overturn the cope flask 1 under the action of the interaction force.

In another embodiment, the clamp portions 11b of the first and second clamps 11 and 12 are connected to one turning drive 14, respectively, and the two turning drives 14 are operated in synchronization, so that the first and second clamps 11 and 12 can turn the cope flask 1 in synchronization.

The turning driving member 14 can be a rack-type turning cylinder, a motor, or other driving members.

The above examples only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the claims. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent application shall be subject to the appended claims.

Claims (10)

1. A multi-stage floating box assembling method is characterized by comprising the following steps:

so that the claw (10) is in a rigid state;

the clamping jaws (10) descend to grab the cope flask (1);

the claw (10) ascends to lift the cope flask (1);

turning the cope flask (1) to enable the cope flask (1) to be located above the drag flask (2) in an inverted state;

so that the jaws (10) are in a semi-floating condition;

the claws (10) descend, and the cope flask (1) is close to the drag flask (2);

one of the upper sand box (1) and the lower sand box (2) is provided with a pin shaft (1 a), the other one of the upper sand box and the lower sand box is provided with a pin hole (1 b), and after part of the pin shaft (1 a) is inserted into the corresponding pin hole (1 b), the clamping jaws (10) are in a full floating state;

the claw (10) continues to descend until the cope flask (1) is buckled on the drag flask (2);

wherein, when the claw (10) is in the rigid state, the claw (10) can not float;

when the clamping jaw (10) is in the semi-floating state or the full-floating state, the clamping jaw (10) can float;

the floating range of the clamping jaw (10) in the full floating state is larger than that of the clamping jaw (10) in the semi-floating state.

2. The multi-stage floating mould assembling method according to claim 1, wherein before the claw (10) grabs the cope flask (1) or the drag flask (2), the first detecting device (51) detects the cope flask (1) or the drag flask (2) so as to know the position of the trunnion (1 c) of the cope flask (1) or the drag flask (2);

the claw (10) descends until the clamping part (11 b) of the claw (10) is opposite to the trunnion (1 c);

after the clamping part (11 b) acts on the trunnion (1 c), the claw (10) realizes the grabbing of the cope flask (1) or the drag flask (2).

3. A multi-stage floating mould assembling method according to claim 2, characterized in that a drag flask (2) arrives at a working station, the first detecting device (51) detects the drag flask (2) to know that the height of the drag flask (2) is A1, the height of the trunnion (1 c) of the drag flask (2) is A2= given as A1;

when the clamping jaw (10) is located at the first height position, the height of the clamping part (11 b) of the clamping jaw (10) is H1;

the descending amount of the clamping jaws (10) when the clamping jaws grab the drag flask (2) is H2= H1-A2;

or,

when a cope flask (1) arrives at a work station, the first detection device (51) detects the cope flask (1) and knows that the height of the cope flask (1) is B1, and the height of a trunnion (1 c) of the cope flask (1) is B2= and B1;

when the clamping jaw (10) is located at the first height position, the height of the clamping part (11 b) of the clamping jaw (10) is H1;

the descending amount of the clamping jaws (10) when the clamping jaws grab the cope flask (1) is H3= H1-B2.

4. A multi-stage floating mould assembling method according to claim 3, characterized in that the cope flask (1) and the drag flask (2) are loaded with sand molds (3);

after the clamping jaws (10) grab the cope flask (1) or the drag flask (2), the sand mold (3) is detected by a second detection device (52), so that the position of the parting surface of the sand mold (3) is obtained.

5. The multi-stage floating box closing method according to claim 4, wherein the second detection device (52) is arranged on the claw (10), and the distance between the second detection device (52) and the clamping part (11 b) of the claw (10) is G1;

after the clamping jaws (10) grab the drag flask (2), the second detection device (52) detects the sand mold (3) in the drag flask (2), so that the distance between the parting surface of the lower sand mold and the second detection device (52) is G2, and the height of the lower sand mold formed by the drag flask (2) and the sand mold (3) is A3= A2+ (G1-G2);

or,

after the clamping jaws (10) grab the cope flask (1), the second detection device (52) detects the sand mold (3) in the cope flask (1), so that the distance between the parting surface of the upper sand mold and the second detection device (52) is G3, and the distance between the parting surface of the upper sand mold formed by the sand mold (3) in the cope flask (1) and the clamping part (11B) is B3= G1-G3.

6. A multi-stage floating mould assembling method according to claim 5, characterized in that when the jaws (10) are at the first height position and the cope flask (1) is upside down above the drag flask (2), the distance between the parting plane of the upper sand mould and the parting plane of the lower sand mould is H4= H1-A3-B3.

7. The multi-stage floating mould assembling method according to claim 6, wherein the jaws (10) move a distance H5 in the rigid state with the cope flask (1) toward the drag flask (2);

the clamping jaws (10) are converted from the rigid state to the semi-floating state and continue to move towards the drag flask (2) by a distance H6 with the cope flask (1) until part of the pin shafts (1 a) are inserted into the corresponding pin holes (1 b);

H5+H6＜H4。

8. the multi-stage floating box closing method according to claim 1, wherein one clamp of the jaws (10) is provided with a first detection device (51), and the other clamp is provided with a second detection device (52);

a drag flask (2) or a cope flask (1) arrives at the working station;

the clamping jaw (10) is located at a first height position and is suspended above the working station;

the two clamps of the claw (10) move relatively until the first detection device (51) detects the P point of the drag flask (2) or the cope flask (1), so as to know the position of the trunnion (1 c) of the cope flask (1) or the drag flask (2);

after the clamping jaws (10) grab the drag flask (2) or the cope flask (1), the second detection device (52) can detect the sand mold (3) in the drag flask (2) or the cope flask (1) so as to know the position of the parting surface of the sand mold (3).

9. The multi-stage floating box closing method according to any one of claims 1 to 8, wherein the working stations comprise a lifting station and a box closing station;

and (3) transporting the cope flask (1) to the lifting station, and transferring the cope flask (1) to the upper part of the drag flask (2) at the mould assembling station after the claws (10) grab the cope flask (1) at the lifting station.

10. A floating box closer for realizing the multi-stage floating box closing method of any one of claims 1 to 9, comprising:

a jack catch (10) for extracting the sand box;

the lifting device (20) comprises a shoulder beam (21) and a lifting driving piece (22), the claw (10) is arranged on the shoulder beam (21), and the lifting driving piece (22) is used for driving the shoulder beam (21) to move in the vertical direction;

a float device (30), the float device (30) comprising:

a rigid member (31), wherein the rigid member (31) can only move along the vertical direction under the driving of the lifting driving member (22);

a float member (32), said float member (32) being connected to said shoulder beam (21);

a fastening assembly having a fastened state and a released state;

when the fastening assembly is in the fastening state, the shoulder beam (21) is fixedly connected with the rigid piece (31), so that the shoulder beam (21) can move only in the vertical direction;

when the fastening assembly is in the release state, the shoulder beam (21) is not fixedly connected with the rigid part (31) any more, and the shoulder beam (21) is only connected with the floating part (32), so that the shoulder beam (21) can move along the vertical direction and float;

the floating box closer further comprises:

the first detection device (51) is used for detecting the sand box so as to obtain the position of a trunnion (1 c) of the sand box;

and the second detection device (52) is used for detecting the sand mould (3) in the sand box so as to know the position of the parting surface of the sand mould (3).

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