Abstract
The moulding machine includes a moulding chamber having at least one chamber end wall provided with a pattern plate adapted to form a pattern in a mould part and associated with a reference pattern block positioned in fixed relationship to a pattern of said pattern plate and adapted to form a reference pattern in an external face of a mould part. The reference pattern block includes a face having a tangent varying in a longitudinal direction of the moulding chamber and being adapted to form a corresponding reference pattern in the sand mould part. A non-contact detection system (87) detects the position of a number of different points (P.sub.1, P.sub.2) distributed over the pattern face of the reference pattern in the longitudinal direction of the sand mould part, and the tangent (T.sub.1, T.sub.2) in the longitudinal direction of the sand mould part is different between at least two of said points.
Claims
1-88. (canceled)
89. A sand moulding machine for the production of sand mould parts including a moulding chamber formed by a chamber top wall, a chamber bottom wall, two opposed chamber side walls and two opposed chamber end walls, wherein a chamber wall is provided with at least one sand filling opening, wherein at least one of the chamber end walls is provided with a pattern plate having a pattern adapted to form a pattern in a sand mould part, wherein at least one of the chamber end walls is displaceable in a longitudinal direction of the moulding chamber in order to compact sand fed into the moulding chamber, wherein at least one of the pattern plates is associated with at least one reference pattern block positioned in fixed relationship to the pattern of said pattern plate and adapted to form a reference pattern in an external face of a sand mould part, and wherein a non-contact detection system is arranged adjacent a path of travel of the compacted sand mould parts and is adapted to detect a position of a pattern face of the reference patterns of the sand mould parts, wherein the at least one reference pattern block includes a face having a tangent varying in the longitudinal direction of the moulding chamber and being adapted to form a corresponding reference pattern including a pattern face having a tangent varying in a corresponding longitudinal direction of the sand mould part, in that the non-contact detection system is adapted to detect the position of a number of different points distributed over the pattern face of the reference pattern in the longitudinal direction of the sand mould part, and in that the tangent in the longitudinal direction of the sand mould part is different between at least two of said points.
90. A sand moulding machine according to claim 89, wherein the at least one reference pattern block includes a face having a tangent varying in a height direction of the moulding chamber and being adapted to form a corresponding reference pattern including a pattern face having a tangent varying in a corresponding height direction of the sand mould part, in that the non-contact detection system is adapted to detect the position of a number of different points distributed over the pattern face of the reference pattern in the height direction of the sand mould parts, and in that the tangent in the height direction of the sand mould parts is different between at least two of said points.
91. A sand moulding machine according to claim 89, wherein the at least one reference pattern block includes a first face part having a first tangent at a first position in the longitudinal direction of the moulding chamber and a second face part having a second tangent at a second position in the longitudinal direction of the moulding chamber, wherein the second tangent is different from the first tangent, wherein the first and second face parts are adapted to form a corresponding reference pattern including a first pattern face part having a first pattern tangent at a first position in the longitudinal direction of the sand mould part and a second pattern face part having a second pattern tangent at a second position in the longitudinal direction of the sand mould part, wherein the second pattern tangent is different from the first pattern tangent, and in that the non-contact detection system is adapted to detect the position of a number of different points distributed at least substantially evenly over both the first and the second pattern face part of the reference pattern in the longitudinal direction of the sand mould part.
92. A sand moulding machine according to claim 89, wherein the at least one reference pattern block includes a third face part having a third tangent at a third position in the height direction of the moulding chamber and a fourth face part having a fourth tangent at a fourth position in the height direction of the moulding chamber, wherein the fourth tangent is different from the third tangent, wherein the third and fourth face parts are adapted to form a corresponding reference pattern including a third pattern face part having a third pattern tangent at a third position in the height direction of the sand mould part and a fourth pattern face part having a fourth pattern tangent at a fourth position in the height direction of the sand mould part, wherein the fourth pattern tangent is different from the third pattern tangent, and in that the non-contact detection system is adapted to detect the position of a number of different points distributed at least substantially evenly over both the third and the fourth pattern face part of the reference pattern in the height direction of the sand mould part.
93. A sand moulding machine according to claim 89, wherein the at least one reference pattern block includes a spherically symmetric face.
94. A sand moulding machine according to claim 89, wherein the at least one reference pattern block includes a set of at least two flat faces following one after the other in the longitudinal direction of the moulding chamber and being adapted to form a corresponding reference pattern including a set of at least two flat surfaces following one after the other in the corresponding longitudinal direction of the sand mould part, wherein each flat face is arranged at an oblique angle to another one of the flat faces.
95. A sand moulding machine according to claim 94, wherein each of said at least two flat faces forms an oblique angle with the longitudinal direction of the moulding chamber.
96. A sand moulding machine according to claim 94, wherein the oblique angle between two flat faces measured externally of the reference pattern block is in the range from 95 to 175 degrees or in the range from 185 to 265 degrees, preferably in the range from 115 to 155 degrees or in the range from 205 to 245 degrees, and most preferred in the range from 125 to 145 degrees or in the range from 215 to 235 degrees.
97. A sand moulding machine according to claim 89, wherein the non-contact detection system includes at least one 3D scanner.
98. A sand moulding machine according to claim 89, wherein the non-contact detection system includes a laser-based illumination system adapted to form an elongated light beam forming an illuminated line on the pattern face of the reference pattern.
99. A sand moulding machine according to claim 89, wherein a computer system is adapted to receive the detected positions of a number of points located on a pattern face of the reference pattern of the sand mould part, wherein the computer system is adapted to perform curve fitting on the basis of said received detected positions and thereby estimate the respective position of a curve in a coordinate system, the curve representing the pattern face of the reference pattern seen in cross-section, and wherein the computer system is adapted to calculate the position or positions of one or more reference points related to the curve.
100. A sand moulding machine according to claim 89, wherein at least one of the reference pattern blocks is arranged to form a reference pattern in a corner of a sand mould part, wherein said reference pattern includes a first set of at least two flat surfaces following one after the other in the longitudinal direction of the moulding chamber and being arranged at right angles to the chamber top wall, wherein each flat surface of the first set is arranged at an oblique angle to another one of the flat surfaces of the first set, wherein said reference pattern includes a second set of at least two flat surfaces following one after the other in the longitudinal direction of the moulding chamber and being arranged at right angles to the chamber side walls, wherein each flat surface of the second set is arranged at an oblique angle to another one of the flat surfaces of the second set, wherein a first non-contact distance measuring device is arranged to measure the varying distance to the reference pattern as a result of the at least two flat surfaces of the first set passing relatively the non-contact distance measuring device in succession during the relative displacement in the displacement direction between the compacted sand mould parts and the non-contact distance measuring device, and wherein a second non-contact distance measuring device is arranged to measure the varying distance to the reference pattern as a result of the at least two flat surfaces of the second set passing relatively the non-contact distance measuring device in succession during the relative displacement in the displacement direction between the compacted sand mould parts and the non-contact distance measuring device.
101. A sand moulding machine according to claim 89, wherein the reference pattern block has the form of a fourth of an element combined from at least two truncated square pyramids fitted on top of each other, wherein the top of a lower positioned truncated square pyramid matches the base of a higher positioned truncated square pyramid, and wherein said element has been parted along its centreline and through the symmetry lines of adjacent lateral surfaces of the truncated square pyramids in order to form said fourth.
102. A sand moulding machine according to claim 89, wherein a computer system is adapted to receive a number of distance measurements from the non-contact distance measuring device during the relative displacement in the displacement direction between the compacted sand mould parts and the non-contact distance measuring device, wherein the computer system is adapted to perform curve fitting on the basis of said received distance measurements and thereby estimate the respective positions of a number of straight lines in a coordinate system, each straight line representing a respective one of the at least two flat surfaces of the reference pattern seen in cross-section, and wherein the computer system is adapted to calculate the position or positions of one or more intersection points between such straight lines.
103. A sand moulding machine according to claim 89, wherein a set including a number of non-contact distance measuring devices is mounted on a measuring boom at least partially surrounding the path of travel of the compacted sand mould parts, and wherein the set includes at least a non-contact distance measuring device arranged to measure a distance in a first direction and a non-contact distance measuring device arranged to measure a distance in a second direction being different from the first direction.
104. A sand moulding machine according to claim 89, wherein each of the chamber end walls is provided with a pattern plate having a pattern adapted to form a pattern in a sand mould part, and wherein a conveyor is adapted to advance a number of compacted sand mould parts in aligned and mutually abutting configuration along a path of travel in a conveying direction corresponding to the longitudinal direction of the moulding chamber.
105. A sand moulding machine according to claim 104, wherein a non-contact distance measuring device is arranged stationarily, wherein a position sensor is adapted to perform the measurements of the relative position between the compacted sand mould parts and the non-contact distance measuring device in the form of the position in the conveying direction of the compacted sand mould parts, and wherein the position sensor is coupled to a so-called Automatic Mould Conveyor, a so-called Precision Mould Conveyor or a so-called Synchronized Belt Conveyor.
106. A sand moulding machine according to claim 104, wherein a set of non-contact distance measuring devices is arranged along the path of travel of the compacted sand mould parts, wherein the set includes two non-contact distance measuring devices arranged to measure a distance in an at least substantially vertical direction and a distance in an at least substantially horizontal direction, respectively, to a reference pattern in an upper left corner of a sand mould part, two non-contact distance measuring devices arranged to measure a distance in an at least substantially vertical direction and a distance in an at least substantially horizontal direction, respectively, to a reference pattern in an upper right corner of a sand mould part, one non-contact distance measuring device arranged to measure a distance in an at least substantially horizontal direction to a reference pattern at or above a lower left corner of a sand mould part, and one non-contact distance measuring device arranged to measure a distance in an at least substantially horizontal direction to a reference pattern at or above a lower right corner of a sand mould part.
107. A sand moulding machine according to claim 89, wherein two moulding chambers are separated by means of a match plate, wherein the sand moulding machine is adapted to simultaneously compress two sand mould parts in the respective two moulding chambers and subsequently remove the match plate and position said two sand mould parts on top of each other to form a complete sand mould, and wherein the non-contact distance measuring device is arranged to measure the varying distance to the reference patterns of said two sand mould parts positioned on top of each other.
108. A foundry production line including a sand moulding machine according to claim 89, wherein a melt pouring device is adapted for automatic positioning along the path of travel in the conveying direction, and wherein a computer system is adapted to control the position of the melt pouring device on the basis of a calculated position or positions of at least one reference point related to a curve associated with a sand mould part positioned between the sand moulding machine and the melt pouring device.
109. A foundry production line including a sand moulding machine according to claim 89, wherein a set including a number of non-contact distance measuring devices is arranged adjacent the path of travel of the compacted sand mould parts at one or more of the following positions: just after the sand moulding machine, just before a melt pouring device and just after a melt pouring device.
110. A foundry production line including a sand moulding machine according to claim 89, wherein a computer system is adapted to control a melt pouring device to stop the pouring of melt on the basis of calculated positions of at least two reference points related to a curve, and wherein said at least two reference points are associated with two respective sand mould parts positioned in mutually abutting configuration.
111. A method of producing sand mould parts, whereby a moulding chamber during a filling operation is filled with sand, and whereby the sand is subsequently compacted, the moulding chamber being formed by a chamber top wall, a chamber bottom wall, two opposed chamber side walls and two opposed chamber end walls, whereby the moulding chamber is filled with sand through at least one sand filling opening provided in a chamber wall, whereby a mould or mould part is provided with a pattern by means of at least one of the chamber end walls being provided with a pattern plate having a pattern, and whereby sand is compacted inside the moulding chamber by displacing at least one of the chamber end walls in a longitudinal direction of the moulding chamber, whereby a reference pattern is formed in an external face of a sand mould part by means of at least one reference pattern block associated with and positioned in fixed relationship to at least one of the pattern plates, and whereby a position of a pattern face of the reference patterns of the sand mould parts is detected by means of a non-contact detection system arranged adjacent a path of travel of the compacted sand mould parts, wherein the at least one reference pattern block forms a corresponding reference pattern including a pattern face having a tangent varying in a longitudinal direction of the sand mould part corresponding to the longitudinal direction of the moulding chamber, by that the non-contact detection system detects the position of a number of different points distributed over the pattern face of the reference pattern in the longitudinal direction of the sand mould part, and by that the tangent in the longitudinal direction of the sand mould part is different between at least two of said points.
112. A method of producing sand mould parts according to claim 111, whereby the at least one reference pattern block forms a reference pattern including at least two flat surfaces following one after the other in the longitudinal direction of the moulding chamber, and whereby each flat surface is arranged at an oblique angle to another one of the flat surfaces.
Description
[0113] The invention will now be explained in more detail below by means of examples of embodiments with reference to the very schematic drawing, in which
[0114] FIG. 1 is a perspective view illustrating a foundry line including a sand moulding machine according to the invention, operating according to the vertical flaskless sand moulding technique;
[0115] FIG. 2 is a vertical section through a sand moulding machine according to the invention;
[0116] FIG. 3A is a perspective view of a number of compacted sand mould parts in aligned and mutually abutting configuration and provided with reference patterns according to the invention;
[0117] FIG. 3B is a top view of the compacted sand mould parts illustrated in FIG. 3A;
[0118] FIG. 4 is a cross-section through an Automatic Mould Conveyor illustrated in FIG. 5, seen in the conveying direction and taken along the line IV-IV in FIG. 5;
[0119] FIG. 5 is a perspective view of the Automatic Mould Conveyor illustrated in FIG. 4 conveying a string of compacted sand mould parts, whereby the Automatic Mould Conveyor is provided with a measuring boom and an associated position sensor;
[0120] FIG. 6 is a perspective view of a corner reference pattern block arranged at the corner of a pattern plate in order to form a reference pattern in a corner of a sand mould part;
[0121] FIG. 7 is a perspective view of an element combined from three truncated square pyramids fitted on top of each other, which element may be parted in four pieces in order to obtain four corner reference pattern blocks as the one illustrated in FIG. 6;
[0122] FIG. 8 is a perspective view of a pattern plate provided with corner reference pattern blocks at upper corners and side reference pattern blocks slightly above lower corners;
[0123] FIG. 9 is a perspective view of a side reference pattern block as illustrated in FIG. 8;
[0124] FIG. 10 illustrates a top view of an upper corner of one of the compacted sand mould parts illustrated in FIG. 3A corresponding to the detail indicated in FIG. 3B;
[0125] FIG. 11 illustrates in a coordinate system curves representing distance measurements for a single sand mould part by laser-based distance sensor L1 and laser-based distance sensor L2 indicated in FIG. 3B;
[0126] FIG. 12 illustrates the detail XII of FIG. 11 of the curve representing distance measurements by laser-based distance sensor L1;
[0127] FIG. 13 illustrates in a bar chart mould thicknesses for 15 different sand mould parts measured by laser-based distance sensors L1-L2 indicated in FIG. 3A;
[0128] FIG. 14 illustrates in a coordinate system curves representing distance measurements for a number of sand mould parts by laser-based distance sensor L1 and laser-based distance sensor L2 indicated in FIGS. 3A and 3B;
[0129] FIG. 15 illustrates in a coordinate system curves representing calculated sand mould part openings between neighbouring sand mould parts in a string based on distance measurements for a number of sand mould parts by laser-based distance sensor L1 and laser-based distance sensor L2 indicated in FIGS. 3A and 3B;
[0130] FIG. 16 is a perspective view illustrating part of a foundry line including a sand moulding machine according to the invention, operating according to match plate technique;
[0131] FIG. 17 illustrates an isolated detail of FIG. 16 on a larger scale;
[0132] FIG. 18 illustrates a top view of an upper corner of another embodiment of a compacted sand mould part and a corresponding non-contact detection system; and
[0133] FIG. 19 illustrates an embodiment of a non-contact detection system including an electro-optical sensor unit.
[0134] FIG. 2 illustrates a sand moulding machine 1 according to the present invention for the production of sand mould parts 2 illustrated for instance in FIG. 3A and FIG. 5, adapted to operate according to the vertical flaskless sand moulding technique such as the DISAMATIC (Registered Trademark) technique. The illustrated sand moulding machine 1 includes a moulding chamber 3 formed by a chamber top wall 4, a chamber bottom wall 5, two opposed chamber side walls 6 of which only one is shown and two opposed chamber end walls 7, 8. The chamber top wall 4 is provided with a sand filling opening 9, typically in the form of an elongated opening or a slot extending in the direction between the two opposed chamber side walls 6. Both chamber end walls 7, 8 are provided with a pattern plate 10, 11 having a pattern 12, 13 adapted to form a pattern in a sand mould part 2. Mounting of the pattern plates 10, 11 on the respective chamber end walls 7, 8 may be ensured by not shown pattern plate locks well-known to the person skilled in the art, and accurate positioning of the pattern plates 10, 11 on the respective chamber end walls 7, 8 may in a well-known manner be ensured by means of not shown guide pins fitting in guide bushings 60 as illustrated in FIG. 8. One or both of the chamber end walls 7, 8 may in a well-known manner be arranged displaceably in a longitudinal direction of the moulding chamber 3 in the direction against each other in order to compact sand fed into the moulding chamber.
[0135] In the embodiment illustrated, the first chamber end wall 7 illustrated to the right in FIG. 2 is arranged swingable about a pivot axis 14 in order to open the moulding chamber 3 when a produced sand mould part 2 has to be expelled from the moulding chamber. The pivot axis 14 is furthermore in a well-known manner arranged displaceably in the longitudinal direction of the moulding chamber 3 so that the first chamber end wall 7 may be displaced to the right in the figure and subsequently tilted about the pivot axis 14 by means of a lifting arm 37 pivotally 38 connected to the end wall 7 so that the end wall 7 is located at a level above a produced sand mould part 2, so that the sand mould part 2 may be expelled from the moulding chamber. The sand mould parts 2 may be compacted and subsequently expelled from the moulding chamber 3 by means of a piston 15 arranged to displace the second chamber end wall 8 illustrated to the left in FIG. 2 in the longitudinal direction of the moulding chamber 3. Thereby, the produced sand mould parts 2 may in a well-known manner be arranged in a row in mutually abutting relationship on a conveyor 16 seen in FIG. 1. In this way, two adjacent sand mould parts 2 may form a complete sand mould for a casting. The conveyor 16 is adapted to advance the compacted sand mould parts 2 in aligned and mutually abutting configuration in the longitudinal direction of the moulding chamber 3 along a path of travel 17 shown in FIG. 1 in a conveying direction D as illustrated in FIG. 1.
[0136] The sand filling opening 9 of the moulding chamber 3 communicates with a sand feed system 18 including a sand container 19 also illustrated in FIG. 1. The lower part of the sand container 19 is via a sand conveyor 73 and a sand feed valve, not shown connected with a sand feed chamber, not shown directly connected to the sand filling opening 9 of the moulding chamber 3. The sand feed chamber 72 is internally funnel-formed and well-known to the person skilled in the art. During the sand filling operation, sand provided in the sand feed chamber 72 is so to say shot into the moulding chamber 3 through the sand filling opening 9 by closing the sand feed valve 20 and opening a not shown sand feed control valve so that compressed air enters the sand feed chamber 72 and presses the sand through the sand filling opening 9. When a produced sand mould part is expelled from the moulding chamber 2, an amount of compacted sand is still closing the sand filling opening 9 until the next shot of sand enters the moulding chamber through the sand filling opening 9.
[0137] FIG. 1 illustrates a foundry production line 21 including the sand moulding machine 1 illustrated in FIG. 2 and described above, the conveyor 16, a measuring boom 41 and a melt pouring device 22 adapted for automatic positioning along the path of travel 17 in the conveying direction D and for automatic pouring. A sand moulding machine control panel 71 is provided for the control of the sand moulding machine 1. Furthermore, a computer system 23 is connected to the measuring boom 41 and the melt pouring device 22 as will be further discussed below.
[0138] In the embodiment of the present invention illustrated in FIGS. 2 and 8, each pattern plate 10, 11 is associated with four reference pattern blocks 24, 25, 26, 27 being positioned in fixed relationship to the pattern 12, 13 of said pattern plate 10, 11 and being adapted to form a corresponding reference pattern 28, 29, 30, 31 in an external face 32, 33, 34, 35, 36 of a sand mould part 2, which is illustrated in FIG. 3A. The reference pattern blocks 24, 25, 26, 27 may be positioned on a respective pattern plate 10, 11 by means of bolts. Accurate positioning in said fixed relationship may be ensured by means of not shown guide pins fitting in not shown holes formed either in the reference pattern blocks 24, 25, 26, 27 or in the pattern plates 10, 11 and the guide pins may be mounted on the other corresponding part. Each reference pattern block 24, 25, 26, 27 includes at least one set of three flat faces L, M, N following one after the other in the conveying direction D (see FIG. 6) and being adapted to form a corresponding reference pattern 28, 29, 30, 31 including at least one set of three flat surfaces l, m, n following one after the other in the conveying direction D as illustrated in FIG. 10 and as explained in further detail below. According to the present invention, as seen in FIG. 10, each flat surface l, m, n is arranged at an oblique angle to another one of the flat surfaces l, m, n. This means that two of the flat surfaces l, m, n may be parallel, but of course not all of them.
[0139] In the embodiment illustrated in FIG. 4, six non-contact distance measuring devices 39 in the form of laser-based distance sensors L1, L2, L3, L4, L5, L6 are arranged stationarily on the measuring boom 41 adjacent the path of travel 17 of the compacted sand mould parts 2. The laser-based distance sensors L1, L2, L3, L4, L5, L6 are adapted to measure a varying distance to the reference patterns 28, 29, 30, 31 at a measuring position 40 along the conveying direction D as a result of the flat surfaces l, m, n passing the measuring position 40 in succession during the advancement in the conveying direction D of the compacted sand mould parts 2. Thereby, a relative displacement in a displacement direction 82 corresponding to the conveying direction D between the compacted sand mould parts and the non-contact distance measuring devices 39 is achieved. Alternatively, however, the measuring boom 41 with the non-contact distance measuring devices 39 may be arranged displaceably along the path of travel 17 in the conveying direction D in order to achieve relative displacement in the displacement direction 82 between the compacted sand mould parts 2 and the non-contact distance measuring devices 39. In that case, the compacted sand mould parts 2 do not need to be displaced along the path of travel 17 when distance measurements are performed by means of the non-contact distance measuring devices 39.
[0140] Non-contact distance measuring devices are preferred as high accuracy may not be obtained with mechanical measuring probes due to the strength properties of the compressed mould.
[0141] It should be noted that in FIG. 4 the laser-based distance sensors L1, L2, L3, L4, L5, L6 are illustrated as boxes, and the laser beams are indicated as broken lines pointing from said boxes in the respective measuring directions.
[0142] In accordance with the embodiment illustrated in FIG. 4, on each pattern plate 10, 11, two corner reference pattern blocks 24, 25 are arranged to form corresponding corner reference patterns 28, 29 in the upper corners of a sand mould part 2 as illustrated in FIG. 3A. Each corner reference pattern 28, 29 includes a first set 42 of three flat surfaces l.sub.1, m.sub.1, n.sub.1 following one after the other in the conveying direction D and being arranged at right angles to the chamber top wall 4. This is understood by comparing FIGS. 2, 3 and 10. Each flat surface l.sub.1, m.sub.1, n.sub.1 of the first set 42 is arranged at an oblique angle to another one of the flat surfaces of the first set. Each corner reference pattern 28, 29 furthermore includes a second set 43 of three flat surfaces l.sub.2, m.sub.2, n.sub.2 following one after the other in the conveying direction D and being arranged at right angles to the chamber side walls 6. This is also understood by comparing FIGS. 2, 3 and 10. Each flat surface l.sub.2, m.sub.2, n.sub.2 of the second set 43 is arranged at an oblique angle to another one of the flat surfaces of the second set.
[0143] The corner reference pattern block 24 used to form the corner reference pattern 28 is illustrated in FIG. 6. It is seen that the corner reference pattern block 24 has a first set 44 of three flat faces L.sub.1, M.sub.1, N.sub.1 arranged vertically, at right angles to the chamber top wall 4, and adapted to form the corresponding first set 42 of three flat surfaces l.sub.1, m.sub.1, n.sub.1 in the sand mould part 2 as illustrated in FIG. 10. Furthermore, it is seen that the corner reference pattern block 24 has a second set 45 of three flat faces L.sub.2, M.sub.2, N.sub.2 arranged at right angles to the chamber side walls 6 and adapted to form the corresponding second set 43 of three flat surfaces l.sub.2, m.sub.2, n.sub.2 in the sand mould part 2 similar to what is illustrated in FIG. 10. The size of the corner reference pattern block 24 may for instance be 404040 millimetres, 303030 millimetres or 202020 millimetres. A relatively smaller size may be advantageous, but may provide less accuracy than a relatively larger size.
[0144] Furthermore, on each pattern plate 10, 11, two side reference pattern blocks 26, 27 are arranged to form corresponding side reference patterns 30, 31 at or above the lower corners of the sand mould part 2 as illustrated in FIG. 3A. Each side reference pattern 30, 31 includes a set of three flat surfaces l, m, n following one after the other in the conveying direction D and being arranged at right angles to the chamber top wall 4. This is understood by comparing FIGS. 2, 3 and 8. Each flat surface l, m, n is arranged at an oblique angle to at least another one of the flat surfaces. The side reference pattern block 26 is illustrated in FIG. 9. As it is seen, the flat surfaces l, m, n of the side reference pattern 30, 31 corresponds to the flat surfaces l.sub.1, m.sub.1, n.sub.1 of the first set 42 of the corner reference patterns 28, 29.
[0145] For all embodiments of the reference pattern blocks 24, 25, 26, 27 according to the invention, it should be considered that although it has been illustrated that the three flat faces L, M, N are directly connected to each other, adjacent flat faces L, M, N may alternatively be connected for instance by a rounding or another flat face.
[0146] In accordance with the embodiment illustrated in FIG. 4, the laser-based distance sensor L1 is arranged to measure the varying distance in horizontal direction to the corner reference patterns 28, 29 formed in the top right side of the string of compacted sand mould parts 2, seen in the conveying direction D of the compacted sand mould parts 2, as a result of the three flat surfaces l.sub.1, m.sub.1, n.sub.1 of the first set 42 passing the measuring position 40 in succession during the advancement in the conveying direction D. Furthermore, the laser-based distance sensor L3 is arranged to measure the varying distance in vertical direction to the reference patterns 28, 29 formed in the top right side of the string of compacted sand mould parts 2, seen in the conveying direction D of the compacted sand mould parts 2, as a result of the three flat surfaces l.sub.2, m.sub.2, n.sub.2 of the second set 43 passing the measuring position 40 in succession during the advancement in the conveying direction D. Correspondingly, the laser-based distance sensor L2 is arranged to measure the varying distance in horizontal direction to the corner reference patterns 28, 29 formed in the top left side of the string of compacted sand mould parts 2, seen in the conveying direction D of the compacted sand mould parts 2, as a result of the three flat surfaces l.sub.1, m.sub.1, n.sub.1 of the first set 42 passing the measuring position 40. Correspondingly, the laser-based distance sensor L4 is arranged to measure the varying distance in vertical direction to the reference patterns 28, 29 formed in the top left side of the string of compacted sand mould parts 2, seen in the conveying direction D of the compacted sand mould parts 2, as a result of the three flat surfaces l.sub.2, m.sub.2, n.sub.2 of the second set 43 passing the measuring position 40.
[0147] Furthermore, the laser-based distance sensor L5 is arranged to measure the varying distance in horizontal direction to the side reference patterns 30, 31 formed in the right side of the string of compacted sand mould parts 2, seen in the conveying direction D of the compacted sand mould parts 2, as a result of the three flat surfaces l, m, n passing the measuring position 40. The laser-based distance sensor L6 is arranged to measure the varying distance in horizontal direction to the side reference patterns 30, 31 formed in the left side of the string of compacted sand mould parts 2, seen in the conveying direction D of the compacted sand mould parts 2, as a result of the three flat surfaces l, m, n passing the measuring position 40.
[0148] Although in the illustrated embodiment, the upper reference pattern blocks 24, 25 have been described as corner reference pattern blocks 24, 25 as the one illustrated in FIG. 6, and the lower reference pattern blocks 26, 27 have been described as side reference pattern blocks 26, 27 as the one illustrated in FIG. 9, other embodiments are possible. In fact, only one single reference pattern block on either pattern plate is necessary in order to detect a misalignment between sand mould parts. However, especially, it could be preferred to arrange additionally the lower reference pattern blocks 26, 27 as corner reference pattern blocks as the one illustrated in FIG. 6, but orientated to cooperate with non-contact distance measuring devices arranged below the string of sand mould parts 2 and directed in vertical upward direction, as well as to cooperate with non-contact distance measuring devices arranged sidewards of the string of sand mould parts and directed in horizontal direction. However, this arrangement may require some adaptation of the conveyor 16 in order to allow the non-contact distance measuring devices to detect the reference pattern from below the string of sand mould parts 2. Alternatively, the lower reference pattern blocks 26, 27 could be arranged as corner reference pattern blocks as the one illustrated in FIG. 6, but positioned as lower blocks at a distance from the chamber bottom wall 5, just like the lower reference pattern blocks 26, 27 illustrated in FIG. 8. In that case, depending on whether the second set 45 of three flat faces L.sub.2, M.sub.2, N.sub.2 of the lower corner reference pattern blocks are facing in downwards or upwards direction, a further non-contact distance measuring device 39 could be arranged to measure a distance obliquely in an upward or downward direction to the lower corner reference pattern at or above the lower left corner of the sand mould part 2, and a further non-contact distance measuring device 39 could be arranged to measure a distance obliquely in an upward or downward direction to the lower corner reference pattern at or above the lower right corner of the sand mould part 2.
[0149] Suitable non-contact distance measuring devices are available from the company SICK AG, Germany, in the form of short range distance sensors utilizing laser technology. Other suitable non-contact distance measuring devices based on other measuring technologies may also be employed according to the invention.
[0150] It is preferred that each of the three flat surfaces l, m, n of the reference patterns 28, 29, 30, 31 forms an oblique angle with the conveying direction. Thereby, the accuracy of the detected parameters may be improved, as the flat surfaces of the reference pattern may be better released from the reference pattern block and may therefore be formed more accurately in the sand mould part. In addition, the reference pattern block may be less worn during use which may also mean better accuracy in the long run. Furthermore, when using a laser-based distance sensor to measure the varying distance to the reference patterns, the distance measurements may be more precise, when the distance is gradually increasing or gradually decreasing as opposed to being constant. Although the applicant does not want to be bound by the following explanations, it is believed that the reason may have to do with the fact that the laser beam has a certain diameter, such as approximately 1 millimetre, and that the surface of the reference pattern has a certain grainy structure formed by sand grains. Furthermore, it may have to do with internal tolerances of the laser-based distance sensor.
[0151] It may be preferred that all faces of the reference pattern blocks intended to contact sand mould parts 2 are formed with a draft angle in relation to the longitudinal direction of the moulding chamber 3 in order to better release the reference pattern blocks from the sand mould parts 2.
[0152] In an embodiment, the oblique angle between two flat surfaces measured externally of the sand mould part is in the range from 95 to 175 degrees or in the range from 185 to 265 degrees, preferably in the range from 115 to 155 degrees or in the range from 205 to 245 degrees, and most preferred in the range from 125 to 145 degrees or in the range from 215 to 235 degrees. Thereby, according to experiments, the accuracy of the detected parameters may be even further improved. In the embodiment illustrated in FIG. 10, the angle is approximately 125 degrees, and the angle is approximately 215 degrees.
[0153] It is preferred that the non-contact distance measuring devices 39 are arranged to measure a distance in a direction at right angles to the conveying direction D. For instance, the laser-based distance sensor L1 could be arranged to measure a distance in horizontal direction, but at an oblique angle to the conveying direction D, and the measured distance could, for instance in a computer programme, be projected onto a direction at right angles to the conveying direction D. However, this would complicate the calculations in order to detect for instance misalignment of sand mould parts.
[0154] Likewise, it is preferred that the non-contact distance measuring devices 39 are arranged to measure a distance in an at least substantially horizontal direction or a distance in an at least substantially vertical direction. It is most practical to calculate and represent distances in a coordinate system having axes corresponding to the faces 32, 34, 35 of the sand mould parts 2 arranged on the conveyor 16. Although distances measured in other directions may be projected onto such axes, this may complicate calculations.
[0155] As illustrated in FIGS. 6 and 7, a corner reference pattern block 24, 25 may have the form of a fourth of an element 46 combined from three truncated square pyramids 47, 48, 49 fitted on top of each other. The top of a relatively lower positioned truncated square pyramid 47 matches the base of the relatively higher positioned truncated square pyramid 48, and the top of the relatively lower positioned truncated square pyramid 48 matches the base of the relatively higher positioned truncated square pyramid 49. By parting said element 46 along its centreline and through the symmetry lines 50 of adjacent lateral surfaces of the truncated square pyramids 47, 48, 49, four corner reference pattern blocks 24, 25 may be formed having side faces 53. For the sake of comparison, the corner reference pattern block 24 illustrated in FIG. 6 may be contemplated.
[0156] Comparing the corner reference pattern block 24 illustrated in FIG. 6 with the side reference pattern block 26 illustrated in FIG. 9, it may be seen that the latter may simply be regarded as a slice of the element 46 combined from three truncated square pyramids 47, 48, 49 fitted on top of each other as illustrated in FIG. 7. The slice may be formed by performing two parallel cuts forming parallel side faces 51 on either side of a symmetry line 50 of adjacent lateral surfaces of the truncated square pyramids 47, 48, 49 and by performing one cut through the centreline of the element 46 and at right angles to the parallel side faces 51 to form a face 52. However, it may be preferred to form the faces 51 with a draft angle, as discussed above. On the other hand, two side reference pattern blocks 26 as illustrated in FIG. 9, each being differently formed with differently angled flat faces L, M, N, may be combined to one corner reference pattern block 24 as illustrated in FIG. 6.
[0157] It may be preferred to position the side faces 53 of the corner reference pattern blocks 24, 25 at a small distance, for instance 1/10 or millimetre, from the adjacent chamber top wall 4 and the adjacent chamber side walls 6, respectively, in order to minimize wear. Likewise, it may be preferred to position the side faces 52 of the side reference pattern blocks 26, 27 at a small distance, for instance 1/10 or millimetre, from the adjacent chamber side walls 6 in order to minimize wear. As seen in FIGS. 3 and 8, the lower side face 51 of the side reference pattern blocks 26, 27 may typically be placed at a distance from the chamber bottom wall 5. Said distance may for instance correspond to the width of, or half the width of, a side reference pattern block 26, 27, between its side faces 51. Thereby, it may be avoided that the corresponding side reference pattern 30, 31 formed in a sand mould part 2 interferes with the chamber bottom wall 5 and/or bottom wear faces 69 of the conveyor 16, when the sand mould part is expelled from the moulding chamber 3.
[0158] According to the present invention, the computer system 23 illustrated in FIG. 1 is adapted to receive a number of distance measurements from the non-contact distance measuring devices 39 arranged on the measuring boom 41 during the advancement in the conveying direction D of a compacted sand mould part 2. On the basis of the distance measurements received, the computer system 23 is adapted to perform curve fitting on the basis of said received distance measurements and thereby estimate the respective positions of three straight lines in a coordinate system as illustrated in FIGS. 11 and 12, wherein each straight line represents a respective one of the three flat surfaces l, m, n of the reference pattern 28, 29, 30, 31 seen in cross-section. Furthermore, the computer system 23 is adapted to calculate the positions of two intersection points A, B between the straight lines representing the flat surfaces l, m, n. The position of the intersection points A, B may be compared to the ideal or theoretic position of the intersection points. Thereby, mutual misalignment of adjacent sand mould parts may be detected very accurately. By incorporating distance measurements relating to different reference patterns 28, 29, 30, 31, both vertical, lateral and rotational mutual misalignment of adjacent sand mould parts may be detected. Furthermore, among other parameters, the width of a possible gap between adjacent sand mould parts, mould expansion and mould dimensions may be detected by this arrangement.
[0159] Although in the illustrated embodiments, each reference pattern block 24, 25, 26, 27 includes at least one set of three flat faces (L, M, N) following one after the other in the conveying direction D, it should be understood that a set of two flat faces (may be enough, for instance if only sand mould misalignment should be detected. The determination of one intersection point A for each one of two abutting sand mould parts will be sufficient. On the other hand, if for instance a measure for local compaction of the sand mould part 2 should be determined, at least one set of three flat faces (L, M, N) following one after the other in the conveying direction D is necessary. This will be understood more clearly by the explanation further below.
[0160] FIG. 11 illustrates the measurements of the laser-based distance sensors L1, L2 as a sand mould part 2 passes the measuring position 40. The directions of the laser-based distance sensors L1, L2 are indicated in relation to the sand mould parts 2 in FIGS. 3A and 3B. The x coordinates on the curves are based on measurements done by a position sensor in displacement direction D illustrated in FIG. 5. The centre of the mould string in the traverse direction is zero point for the sensors L1 and L2 i.e. one is giving positive values and the other negative values. FIG. 12 illustrates a detail XII of FIG. 11 which detail illustrates the measurement of the laser-based distance sensor L1 as a corner reference pattern 28 passes the measuring position 40. Comparing FIG. 10 and FIG. 12, it is seen that each of the flat surfaces l.sub.1, m.sub.1, n.sub.1 of the first set 42 of the corner reference pattern 28 is represented by a straight line in the coordinate system. Furthermore, an end face 57 of the corner reference pattern 28 and an external face 32 of the sand mould part 2 are also represented by corresponding lines in the coordinate system. The straight lines representing the flat surfaces l.sub.1, m.sub.1, n.sub.1 have been positioned correctly in the coordinate system by the computer system 23 by curve fitting of a number of measuring points supplied to the computer system 23 from the laser-based distance sensor L1. The number of measuring points necessary to position a straight line with suitable accuracy may vary. For instance, the number of measuring points necessary to position one of the straight lines l.sub.1, m.sub.1, n.sub.1 could be between 5 and 50 or maybe even more, such as 100. However, it may be preferred to use between 10 and 30 or between 15 and 25 measuring points to position one of the straight lines l.sub.1, m.sub.1, n.sub.1. A relatively large number of measuring points may provide relatively high accuracy; however calculations may then slow down the process of curve fitting.
[0161] Having performed the curve fitting operations and calculations necessary to estimate or position the straight lines in the coordinate system, the computer system 23 has calculated the correct position of the intersection point A.sub.1 between the straight lines representing the flat surfaces l.sub.1, m.sub.1, m.sub.1 and the correct position of the intersection point B.sub.1 between the straight lines representing the flat surfaces m.sub.1, n.sub.1 in the coordinate system illustrated in FIG. 12. According to the illustrated embodiment of the invention, corresponding curve fitting operations and calculations are performed for the other laser-based distance sensors L2, L3, L4, L5, L6.
[0162] Provided that the sand mould part 2 passes the measuring position 40 with a constant velocity, the straight lines representing the flat surfaces may be correctly positioned in a coordinate system by the computer system by adapting the slopes of the straight lines to the known slopes of the corresponding flat surfaces of the reference pattern. Theoretically, the slopes of the corresponding flat surfaces of the reference pattern correspond to the slopes of the corresponding faces of reference pattern block. However, by using this procedure, inaccuracies may occur; for instance the velocity of the sand mould parts 2 may vary slightly, although assumed constant. On the other hand, it may often be preferred that the sand mould parts 2 do not pass the measuring position 40 with a constant velocity. On the contrary, the sand mould parts 2 may for instance accelerate as they are expelled from the moulding chamber 3.
[0163] Therefore, it is preferred that the computer system 23 is adapted to, by means of curve fitting, estimate the respective positions of the straight lines based additionally on measurements of the position in the conveying direction D of the compacted sand mould parts 2 during the advancement in the conveying direction of the compacted sand mould parts 2. Thereby, a number of points may be plotted in a coordinate system based on pairs of corresponding measured position in the conveying direction D and measured distance to a reference pattern. By curve fitting, a straight line may be estimated on the basis of these points.
[0164] The measurements of the position in the conveying direction D of the compacted sand mould parts 2 may be performed by means of a position sensor 55 coupled to the conveyor 16. The conveyor 16 may have the form of a so-called Automatic Mould Conveyor (AMC) which conveys the compacted sand mould parts 2 by means of pneumatically operated longitudinally extending gripping elements 54 (also called thrust bars) arranged on either side of the string of the aligned and mutually abutting compacted sand mould parts 2 as illustrated in FIGS. 4 and 5. The gripping elements 54 moves back and forth and grip on either side of the compacted sand mould parts 2 as these are advanced. Pairs of gripping elements 54 arranged on either side of the path of travel 17, respectively, are mutually connected by means a traverse 61. The traverse 61 is connected to each gripping element 54 by means of a connecting arrangement 62. At one side of the path of travel 17, a not shown pneumatic expansion element is arranged between the connecting arrangement 62 and the respective gripping element 54 in order to press the gripping elements at either side of the path of travel 17 against the compacted sand mould parts 2. Neighbouring gripping elements 54 in the conveying direction D are connected by means of a not shown flexible coupling. Each gripping element 54 may have a length of for instance 1 metre. The foremost gripping elements 54, seen in the conveying direction D, are actuated back and forth by means of an actuator, such as a hydraulic actuator. The conveyor 16 may alternatively have the form of a so-called Precision Mould Conveyor (PMC) which conveys the compacted sand mould parts 2 by means of sets of so-called walking beams moving back and forth below the compacted sand mould parts 2 or by means of any other suitable device for transporting the mould string.
[0165] The position sensor 55 may preferably be an absolute, non-contact position sensor working according to the magnetostrictive principle. Suitable position sensors of this type are marketed by the company MTS (registered trademark) under the trade name Temposonics (registered trademark). Other suitable position sensors may also be employed according to the invention. As illustrated in FIG. 5, the position sensor 55 may have a measuring bracket 56 adapted to be mounted on a longitudinally extending gripping element 54 of the conveyor 16. Because the gripping elements 54 are flexibly mounted in relation to the position sensor 55, a magnetic position giving element 63 is by means of a slide 65 arranged slidably on two adjacent fixed rods 64 so that it is fixed in transverse directions in relation to the sliding direction, and the slide 65 is flexibly connected with the gripping element 54 in order to allow transverse movements in relation to the conveying direction D. Said flexibly connection is achieved in that the measuring bracket 56 has a sliding element 66 slidably arranged in a downward open groove 67 formed in the slide 65 and extending in a transverse direction in relation to the sliding direction. The position of the magnetic position giving element 63 is detected by a measuring rod 68.
[0166] In FIG. 4 it is seen that a gripping element 54 on either side of the path of travel 17 at the measuring position 40 is provided with a through going groove 70 in order to allow the lowermost laser-based distance sensors L5, L6 to measure a distance to the respective side reference patterns 30, 31 of the compacted sand mould parts 2. The through going groove 70 has a length in the longitudinal direction of the gripping elements 54 of at least the stroke of the back and forth going movement of the gripping elements 54. The arrangement of the through going grooves 70 has been done in order to allow a relatively low positioning of the lowermost laser-based distance sensors L5, L6 which may allow for a more accurate detection of for instance misalignments. Alternatively, the lowermost laser-based distance sensors L5, L6 and the respective side reference patterns 30, 31 could be arranged above the upper edge of the gripping element 54 (or possibly below the lower edge of the gripper element 54 in the case it was mounted higher).
[0167] Alternatively, the position sensor 55 may be a laser-based distance sensor measuring the distance to an external end face 35 of the lastly expelled sand mould part 2.
[0168] When the correct positions of the respective intersection points A, B for the different reference patterns 28, 29, 30, 31 have been determined by the computer system 23, a number of important variables may be calculated on the basis thereof. For instance, by comparing the respective positions along the y axis as indicated in FIGS. 3 and 12 of two intersection points A.sub.1 for two respective mutually abutting compacted sand mould parts 2, a possible mutual horizontal misalignment of these adjacent sand mould parts 2 may be detected very accurately. On the other hand, by comparing the respective positions along the x axis as indicated in FIGS. 3 and 12 of the same two intersection points A.sub.1 for two respective mutually abutting compacted sand mould parts 2, a measure for the possible mould gap between external end faces 35, 36 of these adjacent sand mould parts 2 may be detected very accurately. In doing so, the distance in the direction of the x axis between the two intersection points A.sub.1 is calculated, and twice the nominal distance from an intersection point A.sub.1 to a corresponding external end face 35 is subtracted.
[0169] FIG. 15 shows an experimental result of calculations of mould gap based on respective measurements performed by the two laser-based distance sensors L1, L2 as indicated in FIGS. 3A and 3B for 43 different sand mould parts. The lines 58, 59 indicate calculated respective mean values for the mould gap based on measurements performed by the two laser-based distance sensors L1, L2. However, it is seen that among the respective calculated mould gap values are both positive and negative values. A positive value indicate an opening between external end faces 35, 36, whereas a negative value indicate that the external end faces 35, 36 may have been pressed too forcefully against each other. On the basis of this information, the close up force used when bringing the last produced sand mould part in contact with the mould string and during mould transport may be adjusted. As seen, the calculated values for the mould gap for the two laser-based distance sensors L1, L2 generally follow each other. However, for some sand mould parts, the values differ. This may be the result of noise during measurements, but it may also be the result of a misalignment of the pattern plates 10, 11 so that they are not parallel. The measurements may therefore be used to indicate that an adjustment of the alignment of the pattern plates 10, 11 may be necessary.
[0170] Furthermore, by calculating the distance along the x axis as indicated in FIGS. 3 and 12 between the different intersection points A.sub.1 and B.sub.1 for the same sand mould part 2 and comparing this distance with a nominal value, an accurate measure for the local compaction of the sand mould part 2 may be obtained.
[0171] Furthermore, by calculating the distance along the x axis as indicated in FIGS. 3 and 12 between for instance the intersection point A.sub.1 for the corner reference pattern 28 on the external face 35 and the intersection point A.sub.1 for the corner reference pattern 29 on the external face 36 for the same sand mould part 2 as indicated in FIG. 3A and adding twice a nominal distance from an intersection point A.sub.1 to a corresponding external end face 35, 36, an accurate measure for the sand mould part thickness may be obtained.
[0172] FIG. 13 shows an experimental result of calculations of sand mould thickness based on measurements by the respective laser-based distance sensors L1, L2 for a number of 40 different sand mould parts. The results document that good accuracy may be obtained by the sand moulding machine according to the invention, because as expected sand mould thickness is varying between different sand mould parts, but on the other hand, calculations of sand mould thickness based on measurements by the different laser-based distance sensors L1, L2 generally vary only little.
[0173] FIG. 14 shows an experimental result of calculations of positions along the y axis as indicated in FIGS. 3 and 12 of two respective intersection points A.sub.1 for respective corner reference patterns 28, 29 based on measurements performed by laser-based distance sensors L1, L2, respectively. As seen, the calculated values for the positions along the y axis based on measurements by the two laser-based distance sensors L1, L2 generally follow each other which is expected as the width of the sand mould parts should be close to constant and variations come basically only from the mould string moving a little forth and back in the sidewise direction on the transport system during a production run. Where said two values vary along the string of sand mould parts, but generally follow each other, this may indicate accumulations of minor misalignments between the individual sand mould parts. However, for some sand mould parts, said two values differ. This may be the result of noise during measurements or it could indicate other conditions that could be investigated.
[0174] In the embodiment illustrated in FIG. 1, a set including six non-contact distance measuring devices 39 in the form of laser-based distance sensors L1, L2, L3, L4, L5, L6 is arranged on the measuring boom 41 adjacent the path of travel 17 of the compacted sand mould parts 2 as illustrated in FIG. 4. The boom 41 with the set of non-contact distance measuring devices 39 may be arranged at different positions along the path of travel 17, and one or more such booms may be arranged at different positions along the path of travel 17. In the embodiment illustrated in FIG. 1, the boom 41 is arranged between the sand moulding machine 1 and the melt pouring device 22. It may be advantageous arranging the boom 41 just before, and possibly relatively near or next to, the melt pouring device 22. In this way, the melt pouring device 22 may be controlled by the computer system 23 to not pour melt into a mould cavity between sand mould parts being misaligned or in any other way not correctly produced. Thereby, it may be avoided that faulty castings are made.
[0175] However, as inaccuracies in the sand mould part alignment as well as in other parameters may also result from the casting process itself, that is during the melt pouring process, it may furthermore be advantageous arranging the boom 41 or an additional boom 41 after or just after, and possibly relatively near or next to, the melt pouring device 22. Thereby, said inaccuracies may be taken into consideration immediately. Although melt may have been poured into a mould cavity, the detection of a faulty casting at this stage may be advantageous in that the method of producing sand mould parts may be corrected immediately, for instance by adjusting the pattern plates 10, 11. Furthermore, a faulty casting may in this way be identified and be separated out at an earlier stage before it would otherwise be mixed up with acceptable castings, which would lead to larger effort needed for locating the faulty casting.
[0176] Naturally, it may furthermore be advantageous arranging the boom 41 or an additional boom 41 just after, and possibly relatively near or next to, the sand moulding machine 1 in order to be able to take inaccuracies into consideration as early as possible.
[0177] In any way, it may be very advantageous to accurately detect any inaccuracies at or before the melt pouring device 22. If such inaccuracies are not detected according to the invention, these may not be detected before the castings have cooled down and are removed from the sand moulds. As there may be a string of for instance 300 or more sand moulds located downstream, that is after, the melt pouring device 22, it could take a long time before any inaccuracies would be detected by inspection of the cooled down castings at the end of such string. Therefore, in that case, more than 300 castings would have to be scrapped if there were only one casting in each mould. Often patterns for sand moulds with several casting cavities are used; meaning for instance a pattern with four cavities would result in 1200 defective castings having to be scrapped.
[0178] In an embodiment, the foundry production line 21 illustrated in FIG. 1 including the sand moulding machine 1, the melt pouring device 22 is adapted for automatic positioning along the path of travel 17 in the conveying direction D. The computer system 23 is adapted to control the position of the melt pouring device 22 on the basis of calculated positions of at least one intersection point A, B between straight lines l, m, n associated with a sand mould part 2 positioned between the sand moulding machine 1 and the melt pouring device 22. If for instance a boom 41 is arranged just before the melt pouring device 22, the position of the melt pouring device 22 may be calculated on the basis of calculated positions of a single or two intersection points A, B relating to the sand mould part 2 positioned immediately before or just before the melt pouring device 22. If, however, a boom 41 is arranged for instance just after the sand moulding machine 1, the position of the melt pouring device 22 may be calculated and controlled on the basis of accumulated calculated mould thicknesses for the several produced sand mould parts 2 positioned on the conveyor 16 between the sand moulding machine 1 and the melt pouring device 22. For instance, a number of 10, 20 or even more produced sand mould parts 2 may be positioned between the sand moulding machine 1 and the melt pouring device 22.
[0179] It should be mentioned that although in the above, it has been mentioned that the foundry production line 21 illustrated in FIG. 1 includes the sand moulding machine 1, the conveyor 16, a measuring boom 41, a melt pouring device 22 and the computer system 23, for the sake of definitions used in the claims, it may also be considered so that the sand moulding machine 1 includes one or all of the conveyor 16, the measuring boom 41, the melt pouring device 22 and the computer system 23.
[0180] FIGS. 16 and 17 illustrate another embodiment of the sand moulding machine 75 according to the invention. According to this embodiment, the sand moulding machine 75 operates according to the horizontal flaskless match plate technique. The sand moulding machine 75 includes two not shown moulding chambers separated by means of a not shown match plate, and the sand moulding machine is adapted to simultaneously compress two sand mould parts 76, 77 in the respective two moulding chambers and subsequently remove the match plate and position said two sand mould parts 76, 77 on top of each other to form a complete sand mould as best seen in FIG. 17. The person skilled in the art will understand that the moulding chambers are so positioned that the match plate is oriented vertically when the moulding chambers are filled with sand and the sand is mechanically compacted by displacement of chamber end walls. Subsequently, the moulding chambers are rotated 90 degrees, the match plate is removed and the two sand mould parts 76, 77 are placed on top of each other. A sand moulding machine door 78 is opened, and the two sand mould parts 76, 77 are placed on a conveyor 74. Therefore, when the two sand mould parts 76, 77 are placed on the conveyor 74, they abut each other along a horizontal parting line 84. Later, when a casting is to be produced, melt may be poured into the complete sand mould through a mould inlet 83 in the upper sand mould part 77. For the sake of comparison, in the embodiment illustrated in FIG. 1, the sand mould parts 2 abut each other along vertical parting lines.
[0181] As illustrated in FIG. 17, non-contact distance measuring devices 39 in the form of laser-based distance sensors L1, L2, L3, L4, L5, L6, L7, L8 are arranged on a measuring boom 80 to measure the varying distance to reference patterns 81 of said two sand mould parts 76, 77 positioned on top of each other. In order to perform distance measurements when the two sand mould parts 76, 77 have been placed on the conveyor 74, the measuring boom 80 with the non-contact distance measuring devices 39 is displaced up or down in the displacement direction 82 which in this case is the vertical direction, as illustrated with an arrow in the figure. The measuring boom 80 is arranged vertically displaceable on a measuring pole 79.
[0182] As explained above, in the embodiment illustrated in FIGS. 16 and 17, distance measurement is performed by vertical displacement of the measuring boom 80, when the two sand mould parts 76, 77 have been placed on the conveyor 74. Thereby, a relative displacement in the displacement direction 82 between the compacted sand mould parts 76, 77 and the non-contact distance measuring devices 39 is achieved. However, in a not shown embodiment, the relative displacement in the displacement direction 82 between the compacted sand mould parts 76, 77 and the non-contact distance measuring devices 39 is achieved by displacement of the compacted sand mould parts 76, 77 vertically in relation to the measuring boom 80. This may be achieved before the compacted sand mould parts 76, 77 are positioned on the conveyor 74 in that the sand moulding machine 75 is adapted to position said two sand mould parts 76, 77 on top of each other and subsequently press the upper one of said two sand mould parts out from its respective moulding chamber. The measuring boom 80 with the non-contact distance measuring devices 39 is arranged to measure the varying distance to the reference patterns 81 of said two sand mould parts 76, 77 subsequently to pressing the upper one 77 of said two sand mould parts out from its respective moulding chamber, but before placing said two sand mould parts 2 on a conveying surface of the conveyor 74. The relative displacement in the displacement direction 82 between the compacted sand mould parts 76, 77 and the non-contact distance measuring devices 39 may thereby be achieved by displacement of the compacted sand mould parts 76, 77 vertically in relation to the measuring boom 80. Of course, the measuring boom 80 could in this case also be arranged vertically displaceable in order to provide at least part of the relative displacement.
[0183] In an embodiment, the sand moulding machine 75 includes a not shown frame positioning device for positioning a not shown holding frame, a so called jacket, around said two sand mould parts 76, 77 positioned on top of each other on a conveying surface of the conveyor 74. The positioning of said holding frame around said two sand mould parts 76, 77 is well-known to the person skilled in the art and is done in order to maintain the two sand mould parts 76, 77 in correct mutual position during casting. The measuring boom 80 with the non-contact distance measuring devices 39 is arranged to measure the varying distance to the reference patterns 81 of said two sand mould parts 76, 77 at a position along the path of travel 17 of the compacted sand mould parts 76, 77 before and/or after the frame positioning device. It may be of interest detecting whether the action of positioning a holding frame around said two sand mould parts positioned on top of each other may displace the sand mould parts mutually. In a slightly alternative embodiment, the holding frame has an opening through which the non-contact distance measuring device 39 is adapted to measure the varying distance to the reference patterns 81 of said two sand mould parts 76, 77. Thereby, it may be possible to perform distance measurement during or after positioning the holding frame around said two sand mould parts. If the distance measurement is performed during said positioning of the holding frame, the non-contact distance measuring device may even be mounted on and displaced by the frame positioning device.
[0184] Although in the illustrated embodiments, the non-contact distance measuring devices 39 are arranged on a measuring boom 41, 80, the arrangement of the non-contact distance measuring devices 39 may be in any suitable way, for instance each non-contact distance measuring device 39 may be arranged on a separate holding pole.
[0185] In an embodiment, a computer system 23 is adapted to control a melt pouring device 22 to stop the pouring of melt on the basis of calculated positions of at least two intersection points A, B between straight lines, and wherein said at least two intersection points A, B are associated with two respective sand mould parts 2, 76, 77 positioned in mutually abutting configuration. Thereby, it may be avoided that faulty castings are produced for instance as a result of mismatch between sand mould parts.
[0186] FIG. 18 illustrates a different embodiment, seen in a view corresponding to that of FIG. 10. In the embodiment illustrated in FIG. 18, a non-contact detection system 39 includes a camera 87 and is arranged adjacent a path of travel of the compacted sand mould parts 85. The camera 87 is adapted to detect a position of a pattern face of the reference pattern 86 of the sand mould parts 85. A not shown reference pattern block includes a face having a tangent varying in the longitudinal direction LD of the moulding chamber 3 and is adapted to form a corresponding reference pattern 86 including a pattern face having a tangent T.sub.1, T.sub.2 varying in a corresponding longitudinal direction Id of the sand mould part 85. The non-contact detection system 39 is adapted to detect the position of a number of different points P.sub.1, P.sub.2 distributed over the pattern face of the reference pattern 86 in the longitudinal direction Id of the sand mould part 85. As illustrated in FIG. 18, the tangent T.sub.1, T.sub.2 in the longitudinal direction Id of the sand mould part 85 is different between at least two of said points P.sub.1, P.sub.2. In this way, based on the detection of the position of a number of different points distributed over the pattern face of the reference pattern 86, the position and orientation of a known curve representing the pattern face may be determined or estimated, and on the basis thereof, the position or positions of one or more reference points for said known curve may be determined or estimated. In the embodiment illustrated in FIG. 18, said known curve is a circle corresponding to the pattern face of the reference pattern 86 in the illustrated horizontal cross-section of the reference pattern 86. The reference point for said known curve is the centre C of the circle formed by the cross-section of the reference pattern 86.
[0187] The position of such reference points may be compared to the ideal or theoretic position of the reference points. Thereby, mutual misalignment of adjacent sand mould parts may be detected very accurately. Furthermore, among other parameters, the width of a possible gap between adjacent sand mould parts, mould expansion and mould dimensions may be detected by this arrangement. It may thereby be assessed whether the actual situation is acceptable or not. The ideal or theoretic position of the reference points may depend on the parameter that is to be assessed and may be determined by calculations based on theory or empirically. For instance, if the parameter to be assessed is mutual misalignment of adjacent sand mould parts, and the known curve corresponding to the pattern face is a circle, then the theoretic and ideal position of the reference point, the centre of the circle, of either sand mould part is the same position in a coordinate system, i.e. the centres of the two circles coincide.
[0188] As in the embodiment illustrated in FIG. 1, a computer system 23 may be adapted to receive the detected positions of a number of points P.sub.1, P.sub.2 located on the pattern face of the reference pattern 86 of the sand mould part 85. The computer system may be adapted to perform curve fitting on the basis of said received detected positions and thereby estimate the respective position of a curve in a coordinate system, whereby the curve represents the pattern face of the reference pattern 85 seen in cross-section, and whereby the computer system is adapted to calculate the position or positions of one or more reference points related to the curve. Thereby, the position or positions of one or more reference points related to the curve may be automatically determined. The position of such reference points may be automatically compared to the ideal or theoretic position of the reference points.
[0189] Although in the embodiment illustrated in FIG. 18, said known curve corresponding to the pattern face of the reference pattern 86 in the illustrated horizontal cross-section of the reference pattern 86 is a circle, said known curve may be any kind of curve having a tangent varying in a corresponding longitudinal direction Id of the sand mould part 85. For instance, in the embodiment illustrated in FIG. 10, said known curve is composed of flat surfaces (l.sub.1, m.sub.1, n.sub.1) following one after the other in the longitudinal direction of the moulding chamber 3. Said known curve may have any suitable form as long as the non-contact detection system 39 is able to suitably detect the pattern face of the reference pattern 86. The computer system may perform curve fitting on the basis of said received detected positions and thereby estimate the respective position of any such curve in a coordinate system, and the computer system may calculate the position or positions of one or more reference points related to such curve.
[0190] In the embodiment illustrated in FIG. 18, the at least one (not shown) reference pattern block may include a face having also a tangent varying in a height direction of the moulding chamber 3 and being adapted to form a corresponding reference pattern 86 including a pattern face having a tangent varying in a corresponding height direction of the sand mould part 85. The non-contact detection system 39 may be adapted to detect the position of a number of different points distributed over the pattern face of the reference pattern in the height direction of the sand mould parts 85. The tangent in the height direction of the sand mould parts 85 is different between at least two of said points. Thereby, by means of a single reference pattern block 85, the actual three-dimensional position of a point C in a corner of a sand mould part 85 may be determined.
[0191] Furthermore, in the embodiment illustrated in FIG. 18, the at least one (not shown) reference pattern block includes a first face part having a first tangent at a first position in the longitudinal direction LD of the moulding chamber 3 and a second face part having a second tangent at a second position in the longitudinal direction of the moulding chamber 3. The second tangent is different from the first tangent. The first and second face parts are adapted to form a corresponding reference pattern 86 including a first pattern face part F.sub.1 having a first pattern tangent T.sub.1 in a first point P.sub.1 at a first position in the longitudinal direction Id of the sand mould part 85 and a second pattern face part F.sub.2 having a second pattern tangent T.sub.2 in a second point P.sub.2 at a second position in the longitudinal direction Id of the sand mould part 85. The second pattern tangent T.sub.2 is different from the first pattern tangent T.sub.1. The non-contact detection system 39 is adapted to detect the position of a number of different points distributed at least substantially evenly over both the first and the second pattern face part F.sub.1, F.sub.2 of the reference pattern 85 in the longitudinal direction Id of the sand mould part 85.
[0192] Furthermore, in the embodiment illustrated in FIG. 18, the at least one (not shown) reference pattern block includes a third face part having a third tangent at a third position in the longitudinal direction LD of the moulding chamber 3 and a fourth face part having a fourth tangent at a fourth position in the longitudinal direction of the moulding chamber 3. The fourth tangent is different from the third tangent. The third and fourth face parts are adapted to form a corresponding reference pattern 86 including a (not illustrated) third pattern face part having a third pattern tangent in a third point at a third position in the longitudinal direction Id of the sand mould part 85 and a (not illustrated) fourth pattern face part having a fourth pattern tangent in a fourth point at a fourth position in the longitudinal direction Id of the sand mould part 85. The fourth pattern tangent is different from the third pattern tangent. The non-contact detection system 39 is adapted to detect the position of a number of different points distributed at least substantially evenly over both the third and the fourth pattern face part of the reference pattern 85 in the longitudinal direction Id of the sand mould part 85. The first, second, third and fourth face parts may of course be at least partly coinciding or at least partly overlap each other.
[0193] In the embodiment illustrated in FIG. 19, the non-contact detection system 39 includes a not shown laser-based illumination system adapted to form an elongated light beam forming an illuminated line 89 on a pattern face of a reference pattern 90. The laser-based illumination system may be adapted to form the elongated light beam by means of a prism. The laser-based illumination system is arranged below a camera 88 also included by the non-contact detection system 39, and therefore the laser-based illumination system is not visible in the figure. As the camera 88 is arranged above the laser-based illumination system, the camera 88 may capture a photo in which the illuminated line 89 formed on the pattern face of the reference pattern 90 is not linear as seen in FIG. 19. On the basis of such a photo, a computer system 23 may perform curve fitting and thereby estimate the position of the illuminated line 89 in a coordinate system, and the computer system may calculate the position or positions of one or more reference points related to the curve in a two-dimensional coordinate system. In the illustrated embodiment in FIG. 19, said two-dimensional coordinate system extends in a horizontal plane.
[0194] Furthermore, in the embodiment illustrated in FIG. 19, the non-contact detection system may include a first laser-based illumination system adapted to form a first elongated light beam forming a first illuminated line on the pattern face of the reference pattern 90, and the non-contact detection system may include a second laser-based illumination system adapted to form a second elongated light beam forming a second illuminated line on the pattern face of the reference pattern 90, wherein said first and second lines extend in the longitudinal direction of the sand mould part 2, and wherein the second elongated light beam forms an angle of preferably 90 degrees with the first elongated light beam. Thereby, on the basis of a photo taken by the camera 88, a computer system 23 may perform curve fitting and thereby estimate the position of the illuminated lines in a three-dimensional coordinate system, and the computer system may calculate the position or positions of one or more reference points in a three-dimensional coordinate system.
[0195] Furthermore, in the embodiment illustrated in FIG. 19, alternatively, the non-contact detection system 39 may include a laser-based illumination system adapted to sweep a light beam along a line on the pattern face of the reference pattern 90. Thereby, the above-mentioned advantages of an elongated light beam forming an illuminated line on the pattern face of the reference pattern may be obtained without a prism.
[0196] Preferably, in the respective embodiments illustrated in FIGS. 18 and 19, the camera 87, 88 takes a photo when the sand mould parts 2, 85 are standing still, however the sand mould parts may also move, if the non-contact detection system 39 including the camera 87, 88 is sufficiently fast-acting.
[0197] Preferably, in the respective embodiments illustrated in FIGS. 18 and 19, a number of cameras 87, 88 or other suitable electro-optical sensor units are arranged in mutually fixed positions, preferably by means of a boom 41 or frame, corresponding to the mounting of the electro-optical sensor units in the form of laser-based distance sensors in the embodiment illustrated in FIG. 1. Thereby, an even higher accuracy may be obtained, because each electro-optical sensor unit may be accurately positioned in relation to the other electro-optical sensor units.
[0198] It should be noted that according to the present invention, a non-contact detection system 39 is any system that is able to detect the position of a number of different points distributed over the pattern face of the reference pattern without direct mechanical contact between the non-contact detection system and the pattern face. A non-contact detection system could for instance be a 3D scanner.
[0199] According to the present invention, the non-contact detection system 39 may include an electro-optical sensor unit, such as for instance a digital camera. Information delivered by electro-optical sensors are essentially of two types: either images or radiation levels (flux). Furthermore, the non-contact detection system 39 may include video, laser, radar, ultrasonic or infrared camera or the like.
[0200] A 3D scanner is an imaging device that collects distance point measurements from a real-world object and translates them into a virtual 3D object. Many different technologies can be used to build 3D-scanning devices; each technology comes with its own limitations, advantages and costs. Optical 3D scanners use photographic, stereoscopic cameras, lasers or structured or modulated light. Optical scanning often requires many angles or sweeps. Laser-based methods use a low-power, eye-safe pulsing laser working in conjunction with a camera. The laser illuminates a target, and associated software calculates the time it takes for the laser to reflect back from the target to yield a 3D image of the scanned item. Non-laser light-based scanners use either light that is structured into a pattern or a constantly modulated light and then record the formation the scanned object makes.
LIST OF REFERENCE NUMBERS
[0201] A, B intersection points between straight lines [0202] D conveying direction [0203] F.sub.1, F.sub.2 face [0204] LN laser-based distance sensor N [0205] LN laser-based distance sensor N [0206] l, m, n flat surfaces of reference pattern [0207] L, M, N faces of reference pattern block [0208] P.sub.1, P.sub.2 points [0209] T.sub.1, T.sub.2 tangents [0210] C centre of circle [0211] 1 sand moulding machine (vertical flaskless sand moulding type) [0212] 2 sand mould part [0213] 3 moulding chamber [0214] 4 chamber top wall [0215] 5 chamber bottom wall [0216] 6 chamber side wall [0217] 7, 8 chamber end wall [0218] 9 sand filling opening [0219] 10, 11 pattern plate [0220] 12, 13 pattern [0221] 14 pivot axis [0222] 15 piston [0223] 16 conveyor [0224] 17 path of travel [0225] 18 sand feed system [0226] 19 sand container [0227] 21 foundry production line [0228] 22 melt pouring device [0229] 23 computer system [0230] 24, 25 corner reference pattern block [0231] 26, 27 side reference pattern block [0232] 28, 29 corner reference pattern [0233] 30, 31 side reference pattern [0234] 32, 33, 34, 35, 36 external face of sand mould part [0235] 37 lifting arm [0236] 38 pivotal connection [0237] 39 non-contact distance measuring device [0238] 40 measuring position [0239] 41 measuring boom [0240] 42 first set of three flat surfaces [0241] 43 second set of three flat surfaces [0242] 44 first set of flat faces [0243] 45 second set of flat faces [0244] 46 element combined from three truncated square pyramids [0245] 47, 48, 49 truncated square pyramid [0246] 50 symmetry line [0247] 51 side face [0248] 52 side face [0249] 53 side face [0250] 54 longitudinally extending gripping element [0251] 55 position sensor [0252] 56 measuring bracket [0253] 57 end face [0254] 58, 59 estimated mean value [0255] 60 guide bushing [0256] 61 traverse [0257] 62 connecting arrangement [0258] 63 magnetic position giving element [0259] 64 fixed rod [0260] 65 slide [0261] 66 sliding element [0262] 67 downward open groove [0263] 68 measuring rod [0264] 69 bottom wear face of the conveyor [0265] 70 through going groove [0266] 71 sand moulding machine control panel [0267] 73 sand conveyor [0268] 74 conveyor [0269] 75 sand moulding machine (horizontal flaskless match plate) [0270] 76 lower sand mould part [0271] 77 upper sand mould part [0272] 78 sand moulding machine door [0273] 79 measuring pole [0274] 80 measuring boom [0275] 81 corner reference pattern [0276] 82 displacement direction [0277] 83 melt pouring opening [0278] 84 parting line [0279] 85 sand mould part [0280] 86 reference pattern [0281] 87 camera [0282] 88 camera [0283] 89 illuminated line [0284] 90 reference pattern
