CN107553516A - The adaptive handgrip of dual-purpose type inside and outside foundry robot - Google Patents
The adaptive handgrip of dual-purpose type inside and outside foundry robot Download PDFInfo
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- CN107553516A CN107553516A CN201711003876.1A CN201711003876A CN107553516A CN 107553516 A CN107553516 A CN 107553516A CN 201711003876 A CN201711003876 A CN 201711003876A CN 107553516 A CN107553516 A CN 107553516A
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- expansion link
- clamping jaw
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- handgrip
- outer tube
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Abstract
The invention discloses the adaptive handgrip of dual-purpose type inside and outside a kind of foundry robot, including scalable central shaft, upper expansion link, lower expansion link and board-like clamping jaw.Scalable central shaft is installed to by adpting flange on the end flange of casting machine human hand, each pass through upper expansion link, lower expansion link independent connection and control between board-like clamping jaw and scalable central shaft, adjust the radial distance and angle of board-like clamping jaw, inner surface or the outer surface of workpiece can be adapted to be crawled automatically, can be achieved to clamp effective attaching type of workpiece.The present invention can meet crawl demand of the foundry robot to hollow work-piece, and there is inner bearing type to clamp simultaneously and clamp two kinds of clamping crawl functions with external-compression type, the self-adapting grasping job requirements of two kinds of surface pieces of cylinder and round platform can also be met simultaneously, have the advantages that simple in construction, in light weight, stability is good, safe, adaptivity is strong, simple and convenient operation and maintenance, reduce the labor intensity and production cost of operating personnel.
Description
Technical field
The invention belongs to industrial robot equipment technical field, dual-purpose type is adaptive inside and outside more particularly to a kind of foundry robot
Answer handgrip.
Background technology
The flexibility of industrial robot height disclosure satisfy that the various particular/special requirements in modernization Green foundry production, casting
Production uses robot, operator can not only be freed from heavy, dull manual labor, saves labour, and
And castings production efficiency, the accuracy of manufacture and quality are still improved, Foundry Production mechanization is realized, automates and civilise important
Means.The casting that foundry robot cannot be only used in die casting, essence casting production is carried and transmission, is also used in making for sand casting
In the processes such as type, coremaking, lower core, cast, cleaning and inspection.And foundry robot performs coring, group core, lower core and carrying etc.
During job task, in addition to robot body, the robot gripper as end effector is become as important key equipment.In
In the production of heavy castings, sprue cup, the size of core component and casting, weight are all bigger, perform coring, group core, lower core,
Cast and transport operation difficulty are big, it is desirable to high.At present, existing robot gripper is mostly external clamping, and it is mainly characterized in that from outside
Clamping workpiece, the size of handgrip compare larger.In particular for empty class workpiece in similar sprue cup etc., when performing crawl task
There is no suitable robot gripper, be especially the absence of that workpiece can be clamped from outside, can also be from inside workpiece stretching workpiece
Robot gripper；More without the adaptive robot handgrip for the workpiece grabbing that can meet cylinder and round platform surface simultaneously.
For problem present in casting crawl, existing patent document it is also proposed some solutions.Application No.
201621329359.4 Chinese patent discloses a kind of small-sized inner bearing type and starts manipulator, including sliding block, guide sleeve, pedestal and
The connecting rod and claw of even arrangement, moved up and down using the telescopic band movable slider and connecting rod of small cylinder telescoping cylinder, driving claw
It is tight and loosen, but three can only realize and a little contact that the contact area of claw and work piece inner surface is too small, appearance between claw and workpiece
Easily piece-holder point is caused to damage, be not suitable for crawl sprue cup or hollow core component or the softer casting of material.Application number
For 201520758016.9 Chinese patent, a kind of annular article catching robot, including grasping mechanism, crawl moving machine are disclosed
Structure and crawl drive mechanism, for crawl drive mechanism by driving multiple grabbing claws, make multiple grabbing claws struts end simultaneously
Outwards rotate and strutted in the inner ring of annular article so as to realize the crawl to annular article, grabbing claw belongs between workpiece
Rigid contact, the crawl of drum and tire is mainly suitable for, is not suitable for the crawl of the workpiece such as sprue cup, hollow core.
The content of the invention
The purpose of the present invention is in view of the shortcomings of the prior art, there is provided dual-purpose type is adaptively grabbed inside and outside a kind of foundry robot
Hand, it can be used in foundry robot and coring, group core, lower core and carrying etc. performed during casting for medium-and-large-sized casting
Workpiece is captured during operation, and there is inner bearing type to clamp simultaneously and clamp two kinds of clamping crawl functions with external-compression type, moreover it is possible to be same
When meet the self-adapting grasping job requirements of two kinds of surface pieces of cylinder and round platform, improve the operating efficiency, stably of Foundry Production
Property and security, reduce labor intensity and production cost, the defects of prior art can be overcome.
The technical problems to be solved by the invention are realized using following technical scheme.
The adaptive handgrip of dual-purpose type inside and outside a kind of foundry robot, including scalable central shaft, upper expansion link, lower expansion link
With board-like clamping jaw.Wherein, described scalable central shaft includes outer tube, telescoping tube, adpting flange, extension spring and compression bullet
Spring.Described outer tube is sleeved on telescoping tube, for installing and supporting upper expansion link, lower expansion link；Described adpting flange
It is connected positioned at the top of outer tube and with outer tube by the method for welding, for the end flange phase with casting machine human hand
Connection；Upper retainer ring is provided with the middle part of described outer tube, for upper expansion link to be fixedly mounted.During described telescoping tube uses
Hollow tube-like structure, the own wt of telescoping tube can be mitigated；Lower retainer ring is provided with the lower end of described telescoping tube, for fixing
The lower expansion link of installation；Suspension ring are provided with the top of described telescoping tube, for installing extension spring.Described compression spring suit
In the lower end of telescoping tube, for providing autonomous recovery power after being moved for telescoping tube with respect to outer tube generation compression, and it is described
Compression spring is located between outer tube and lower retainer ring.Described extension spring is placed in outer tube and positioned at the top of telescoping tube
Portion, for providing autonomous recovery power after producing extensional motion with respect to outer tube for telescoping tube；The upper end of described extension spring
It is connected by bearing pin with outer tube, the lower end of extension spring is buckled on the suspension ring at the top of telescoping tube.Described is upper flexible
The medial extremity of bar is fixedly mounted in retainer ring, and the outboard end of upper expansion link is connected with the upper end of board-like clamping jaw by hinge
Connect.The medial extremity of described lower expansion link is fixedly mounted in lower retainer ring, under the outboard end and board-like clamping jaw of lower expansion link
End is connected by hinge.Described upper expansion link, lower expansion link by pipeline and solenoid directional control valve, safety valve and source of the gas or
Hydraulic power source is connected.
Described board-like clamping jaw includes rigid support plate, outer skid resistant course and interior skid resistant course.Wherein, described rigid support plate
It is made of aluminum alloy materials, the weight of rigid support plate itself can be mitigated；Described outer skid resistant course passes through screw and bonding agent
It is fixed on the lateral surface of rigid support plate, and the anti-skid stupefied muscle in longitudinal direction is provided with the outer surface of described outer skid resistant course, can increases
Frictional force between outer skid resistant course and workpiece, avoids workpiece from being slipped during crawl；Described interior skid resistant course by screw and
Bonding agent is fixed on the medial surface of rigid support plate lower end, and anti-skid stupefied provided with transverse direction in the inner surface of described interior skid resistant course
Muscle, the frictional force between interior skid resistant course and workpiece can be increased, avoid workpiece from being slipped during crawl.
Bearing pin mounting hole is provided with the upper end of outer tube, described bearing pin is arranged in the bearing pin mounting hole of outer tube, and
Axis of the axis of bearing pin perpendicular to outer tube；Pass through the side of interference fits or interference fit between described bearing pin and outer tube
Formula is connected.Ring-shaped groove is additionally provided with the middle part of described bearing pin, for installing extension spring, and limits the peace of extension spring
Holding position, extension spring is avoided to produce horizontal sliding on bearing pin.
Described upper expansion link and lower expansion link use double-acting cylinder or double acting hydraulic cylinder, are ensureing to produce workpiece
On the premise of enough identical tensile forces, also there is buffering and the function of vibration damping, avoid causing to damage to being crawled workpiece surface.
The quantity of described board-like clamping jaw is 3-6, it can be ensured that to being crawled the enough supports of workpiece holding and tension points；
Each pass through upper expansion link, lower expansion link independent connection and control between board-like clamping jaw and scalable central shaft, it is possible to achieve right
It is crawled the automatic adjusument and effectively tensioning or clamping of work piece inner surface or outer surface.
Described outer skid resistant course and the material of interior skid resistant course use made of polyester fiber cloth and polyvinyl chloride glue PVC or
The abrasive rubber made of natural rubber and reinforcing fiber, it is ensured that the present invention is when performing grabbing workpiece, board-like clamping jaw and workpiece
Between have enough frictional force.
In use, upper expansion link, the motion mode of lower expansion link are first determined according to the shape for being crawled object.When being crawled
When workpiece is hollow cone cylinder body, upper expansion link and lower expansion link take asynchronous equal-pressure type of drive, drive board-like clamping jaw to being grabbed
Workpiece is taken to be clamped from outside or from internal stretching；When it is hollow circular cylinder to be crawled workpiece, upper expansion link and lower flexible
Bar takes synchronous isobaric type of drive, drives board-like clamping jaw to be clamped from outside to being crawled workpiece or from internal stretching.
When capturing round estrade workpiece, the angle of board-like clamping jaw changes with the change for being crawled workpiece bus and axis angle, to enter
One step adapts to be crawled the surfaces externally and internally shape of workpiece.To ensure the regulation of the angle of board-like clamping jaw, telescoping tube can be in outer tube
Inside elongate or shorten, original state can be independently returned in the presence of extension spring and compression spring after the completion of operation.
When performing job task, it is necessary to binocular vision system be installed in casting machine human hand end, for gathering quilt
Grabbing workpiece places the situation at scene and shape, size and position to being crawled workpiece are identified, judged and decision-making.
The invention has the advantages that compared with prior art, the present invention may be mounted at casting machine human hand
On end flange, each it is independently connected and controls by upper expansion link, lower expansion link between board-like clamping jaw and scalable central shaft,
The convenient radial distance and angle for adjusting board-like clamping jaw, it can adapt to be crawled inner surface or the outer surface of workpiece automatically, can be achieved
Effective attaching type of workpiece is clamped.The present invention can be used for laying during foundry robot's execution cast task and removal sprue cup is appointed
Business, and the casting manipulations tasks such as coring, group core, lower core and carrying are performed, it can meet that foundry robot grabs to hollow work-piece
Demand is taken, and there is inner bearing type to clamp simultaneously and clamp two kinds of clamping crawl functions with external-compression type, moreover it is possible to while meet cylinder and circle
The self-adapting grasping job requirements of two kinds of surface pieces of platform；, can be with automatic data collection workpiece under the support of binocular vision system
Image, it is automatically performed the identification to workpiece and crawl task.The present invention also have it is simple in construction, in light weight, stability is good, safety
Property it is high, adaptivity is strong, simple and convenient operation and maintenance the advantages that, reduce the labor intensity and production cost of operating personnel, can overcome
The defects of prior art.
Brief description of the drawings
Fig. 1 is the general structure schematic diagram of the present invention；
Fig. 2 is the internal structure schematic diagram of the scalable central shaft of the present invention；
Fig. 3 is the structural representation of the bearing pin of the present invention；
Fig. 4 is the working state schematic representation when present invention uses inner bearing type clamping mode grabbing workpiece；
Fig. 5 is the working state schematic representation when present invention uses external-compression type clamping mode grabbing workpiece.
Embodiment
In order that technological means, creation characteristic, reached purpose and effect that the present invention is realized are easy to understand, below
In conjunction with specific embodiments and illustrate, the present invention is expanded on further.
As shown in Figure 1, Figure 2, shown in Fig. 4 and Fig. 5, the adaptive handgrip of dual-purpose type inside and outside a kind of foundry robot, including it is scalable
Central shaft 1, upper expansion link 2, lower expansion link 3 and board-like clamping jaw 4.Wherein, described scalable central shaft 1 include outer tube 11,
Telescoping tube 12, adpting flange 13, extension spring 14 and compression spring 15.Described outer tube 11 is sleeved on telescoping tube 12, is used
In installation and the upper expansion link 2 of support, lower expansion link 3；Described adpting flange 13 is located at the top of outer tube 11 and and outer tube
11 are connected by the method for welding, for being connected with the end flange of casting machine human hand；In described outer tube 11
Middle part is provided with upper retainer ring 111, for upper expansion link 2 to be fixedly mounted.Described telescoping tube 12 uses hollow tubular structure, can be with
Mitigate the own wt of telescoping tube 12；Lower retainer ring 121 is provided with the lower end of described telescoping tube 12, for being stretched under fixed installation
Contracting bar 3；Suspension ring 122 are provided with the top of described telescoping tube 12, for installing extension spring 14.15 sets of described compression spring
Mounted in the lower end of telescoping tube 12, independently recover power for offer after producing compression motion for the relative outer tube 11 of telescoping tube 12,
And described compression spring 15 is located between outer tube 11 and lower retainer ring 121.Described extension spring 14 is placed in outer tube 11
Top interior and positioned at telescoping tube 12, independently recover dynamic for offer after producing extensional motion with respect to outer tube 11 for telescoping tube 12
Power；The upper end of described extension spring 14 is connected by bearing pin 16 with outer tube 11, and the lower end of extension spring 14, which buckles, is stretching
On the suspension ring 122 at the top of the draw 12.The medial extremity of described upper expansion link 2 is fixedly mounted in retainer ring 111, upper flexible
The outboard end of bar 2 is connected with the upper end of board-like clamping jaw 4 by hinge.The medial extremity of described lower expansion link 3 is fixedly mounted on
In lower retainer ring 121, the outboard end of lower expansion link 3 is connected with the lower end of board-like clamping jaw 4 by hinge.Described upper expansion link
2nd, lower expansion link 3 is connected by pipeline with solenoid directional control valve, safety valve and source of the gas or hydraulic power source.
As shown in Figure 1, Figure 4 and Figure 5, described board-like clamping jaw 4 includes rigid support plate 41, outer skid resistant course 42 and interior anti-skidding
Layer 43.Wherein, described rigid support plate 41 is made of aluminum alloy materials, can mitigate rigid support plate 41 weight of itself；
Described outer skid resistant course 42 is fixed on by screw and bonding agent on the lateral surface of rigid support plate 41, and described outer anti-skidding
The outer surface of layer 42 is provided with the anti-skid stupefied muscle in longitudinal direction, can increase the frictional force between outer skid resistant course 42 and workpiece 5, avoid workpiece from grabbing
Slipped during taking；Described interior skid resistant course 43 is fixed on the medial surface of the lower end of rigid support plate 41 by screw and bonding agent
On, and laterally anti-skid stupefied muscle is provided with the inner surface of described interior skid resistant course 43, it can increase between interior skid resistant course 43 and workpiece 5
Frictional force, workpiece is avoided to be slipped during crawl.
As shown in Figure 1, Figure 2 and Figure 3, bearing pin mounting hole is provided with the upper end of outer tube 11, described bearing pin 16 is arranged on
In the bearing pin mounting hole of outer tube 11, and the axis of bearing pin 16 is perpendicular to the axis of outer tube 11；Described bearing pin 16 and overcoat
It is connected between pipe 11 by way of interference fits or interference fit.Ring-shaped groove is additionally provided with the middle part of described bearing pin 16
161, for installing extension spring 14, and the installation site of extension spring 14 is limited, avoid extension spring 14 from being produced on bearing pin 16
Raw horizontal sliding.
As shown in Figure 1, Figure 4 and Figure 5, described upper expansion link 2 and lower expansion link 3 use double-acting cylinder or double acting liquid
Cylinder pressure, on the premise of ensureing to produce enough identical tensile forces to workpiece 5, also there is buffering and the function of vibration damping, avoid pair
The surface of workpiece 5 is crawled to cause to damage.
As shown in figure 1, the quantity of described board-like clamping jaw 4 is 3, it can be ensured that the branch for keeping enough to being crawled workpiece 5
Support and tension points；Each between board-like clamping jaw 4 and scalable central shaft 1 by upper expansion link 2, lower expansion link 3 independent connection with
Control, it is possible to achieve automatic adjusument and effectively tensioning or clamping to being crawled the inner surface of workpiece 5 or outer surface.
As shown in Figure 1, Figure 4 and Figure 5, the material of described outer skid resistant course 42 and interior skid resistant course 43 is used by polyester fiber cloth
With polyvinyl chloride glue made of PVC or the abrasive rubber made of natural rubber and reinforcing fiber, it is ensured that the present invention grabbed in execution
When taking workpiece 5, there is enough frictional force between board-like clamping jaw 4 and workpiece 5.
In use, upper expansion link 2, the motion mode of lower expansion link 3 are first determined according to the shape for being crawled object.When being grabbed
When to take workpiece 5 be hollow cone cylinder body, upper expansion link 2 and lower expansion link 3 take asynchronous equal-pressure type of drive, drive board-like clamping jaw 4
It is clamped to being crawled workpiece 5 from outside or from internal stretching；When it is hollow circular cylinder to be crawled workpiece 5, upper expansion link 2
Take synchronous isobaric type of drive with lower expansion link 3, drive board-like clamping jaw 4 be clamped from outside to being crawled workpiece 5 or from
Internal stretching.
When performing job task, it is necessary to binocular vision system be installed in casting machine human hand end, for gathering quilt
Grabbing workpiece places the situation at scene and shape, size and position to being crawled workpiece 5 are identified, judged and decision-making.
In the description of the invention, it is to be understood that term " on ", " under ", "left", "right", " level ", " top ",
The orientation or position relationship of the instruction such as " bottom ", " interior ", " outer ", "front", "rear" be based on orientation shown in the drawings or position relationship,
Be for only for ease of the description present invention and simplify description, rather than instruction or imply signified device or element must have it is specific
Orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.
The basic principles, principal features and advantages of the present invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, the original for simply illustrating the present invention described in above-described embodiment and specification
Reason, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these changes and improvements
It all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent circle
It is fixed.
Claims (6)
1. the adaptive handgrip of dual-purpose type inside and outside a kind of foundry robot, including scalable central shaft, upper expansion link, lower expansion link and
Board-like clamping jaw, it is characterised in that：Described scalable central shaft includes outer tube, telescoping tube, adpting flange, extension spring and pressure
Contracting spring, described outer tube are sleeved on telescoping tube, and described adpting flange is located at the top of outer tube and consolidated with outer tube
Even, upper retainer ring is provided with the middle part of described outer tube, lower retainer ring, described pressure are provided with the lower end of described telescoping tube
Mounted in the lower end of telescoping tube and between outer tube and lower retainer ring, described extension spring is placed in outer tube contracting spring housing
And be connected positioned at the top of telescoping tube, the upper end of extension spring by bearing pin with outer tube, the lower end of extension spring buckles
The top of telescoping tube；The medial extremity of described upper expansion link is fixedly mounted in retainer ring, the outboard end and plate of upper expansion link
The upper end of formula clamping jaw is connected by hinge；The medial extremity of described lower expansion link is fixedly mounted in lower retainer ring, lower flexible
The outboard end of bar is connected with the lower end of board-like clamping jaw by hinge.
2. the adaptive handgrip of dual-purpose type inside and outside a kind of foundry robot according to claim 1, it is characterised in that：Described
Board-like clamping jaw includes rigid support plate, outer skid resistant course and interior skid resistant course, and described outer skid resistant course is fixed by screw and bonding agent
On the lateral surface of rigid support plate, and the anti-skid stupefied muscle in longitudinal direction is provided with the outer surface of described outer skid resistant course；Described is interior anti-
Slip layer is fixed on by screw and bonding agent on the medial surface of rigid support plate lower end, and in the inner surface of described interior skid resistant course
Provided with laterally anti-skid stupefied muscle.
3. the adaptive handgrip of dual-purpose type inside and outside a kind of foundry robot according to claim 1, it is characterised in that：Described
Upper expansion link and lower expansion link use double-acting cylinder or double acting hydraulic cylinder.
4. the adaptive handgrip of dual-purpose type inside and outside a kind of foundry robot according to claim 1, it is characterised in that：Described
Upper expansion link, lower expansion link are connected by pipeline with solenoid directional control valve, safety valve and source of the gas or hydraulic power source.
5. the adaptive handgrip of dual-purpose type inside and outside a kind of foundry robot according to claim 1, it is characterised in that：Described
The quantity of board-like clamping jaw is 3-6, and each independent by upper expansion link, lower expansion link between board-like clamping jaw and scalable central shaft
Connection and control.
6. the adaptive handgrip of dual-purpose type inside and outside a kind of foundry robot according to claim 1, it is characterised in that：Described
The material of outer skid resistant course and interior skid resistant course is using the PVC made of polyester fiber cloth and polyvinyl chloride glue or by natural rubber and increasing
Abrasive rubber made of strong fiber.
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| CN201711003876.1A CN107553516B (en) | 2017-10-24 | 2017-10-24 | Internal and external dual-purpose self-adaptive gripper of casting robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711003876.1A CN107553516B (en) | 2017-10-24 | 2017-10-24 | Internal and external dual-purpose self-adaptive gripper of casting robot |
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| CN107553516B CN107553516B (en) | 2023-04-25 |
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