CN113997274B - Manipulator is disassembled to supplementary sand box of no mould casting - Google Patents
Manipulator is disassembled to supplementary sand box of no mould casting Download PDFInfo
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- CN113997274B CN113997274B CN202111434900.3A CN202111434900A CN113997274B CN 113997274 B CN113997274 B CN 113997274B CN 202111434900 A CN202111434900 A CN 202111434900A CN 113997274 B CN113997274 B CN 113997274B
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- clamping jaw
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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Abstract
The invention discloses a mould-free casting auxiliary sand box disassembling mechanical arm which comprises a clamping jaw disassembling mechanism, a stop pin disassembling mechanism, a large pressing plate, a small pressing plate, a lifting mechanism, a supporting frame and a linear moving mechanism, wherein the clamping jaw disassembling mechanism is arranged on the clamping jaw disassembling mechanism; the lifting mechanism is respectively connected with the clamping jaw disassembling mechanism, the large pressing plate and the small pressing plate; the linear moving mechanism is arranged on the supporting frame and is connected with the lifting mechanism. During operation, the lifting mechanism is driven by the linear moving mechanism to move to an upper station, the lifting mechanism moves to drive the clamping jaw disassembling mechanism to descend to clamp the auxiliary sand box, the linear moving mechanism moves back to the turnover platform, the stop pin is disassembled by the stop pin disassembling mechanism, the large pressing plate and/or the small pressing plate descends to press the sand mould, the auxiliary sand box is driven by the clamping jaw disassembling mechanism to move upwards to separate the auxiliary sand box from the sand mould, and the stop pin is installed in the auxiliary sand box after the sand mould is transported away. Therefore, the invention can replace manual operation, can automatically transfer, clamp, disassemble and reset and reassemble, and improves the disassembling efficiency.
Description
Technical Field
The invention relates to the technical field of sand casting, in particular to a manipulator for disassembling an auxiliary sand box for dieless casting.
Background
In the 21 st century, with the development of the industry and the advancement of science and technology, the casting industry is developed rapidly, but the following problems still exist in the sand box dismantling process in the die-free casting process: the auxiliary sand box comprises an auxiliary large sand box and an auxiliary small sand box, and in the dieless casting process, the auxiliary sand box and the sand mould are mostly disassembled manually, and sometimes, auxiliary equipment such as a crane and a forklift is used for disassembling. The auxiliary sand box is disassembled manually, the proportion of the auxiliary sand box is high depending on human resources, the disassembling time is long, the efficiency is low, the labor cost is high, and potential safety hazards exist in manual disassembling. When the auxiliary equipment is disassembled, the equipment is not completely matched, and the problems of low efficiency and long disassembling time still exist.
Aiming at the technical problems, the technical personnel in the field are urgently needed to design the efficient, safe and reliable manipulator for disassembling the auxiliary sand box for the dieless casting, which can replace manual operation.
Disclosure of Invention
Aiming at the defects, the technical problems to be solved by the invention are as follows: the manipulator for disassembling the auxiliary sand box for the dieless casting replaces manual operation and can automatically transfer, clamp, disassemble and reset for reloading.
In order to solve the technical problems, the technical scheme of the invention is as follows:
a manipulator for disassembling an auxiliary sand box for dieless casting comprises: the clamping jaw detaching mechanism comprises two clamping jaws and a clamping jaw driving mechanism for driving the two clamping jaws to open and close; the stop pin dismounting mechanism comprises a positioning block for dismounting the stop pin and positioning block driving power for driving the positioning block to move, and the positioning block driving power is fixed on the clamping jaw; the large pressing plate is used for pressing the large sand mold; the small pressing plate is used for pressing the small sand mold; the lifting mechanism is respectively connected with the clamping jaw disassembling mechanism, the large pressing plate and the small pressing plate so as to drive the clamping jaw disassembling mechanism, the large pressing plate and the small pressing plate to lift; a support frame; the linear moving mechanism is arranged on the supporting frame and connected with the lifting mechanism so as to drive the lifting mechanism to move linearly.
Preferably, the clamping jaw disassembling mechanism comprises a clamping jaw frame, two clamping jaw driving oil cylinders are arranged in the clamping jaw frame, piston rods of the two clamping jaw driving oil cylinders horizontally stretch, and the clamping jaw frame is connected with the lifting mechanism; the clamping jaw frame comprises a first side plate and a second side plate which are arranged oppositely, the extending direction of the first side plate and the extending direction of the second side plate are the moving direction of the linear moving mechanism, one clamping jaw is arranged on the outer side of the first side plate, and the other clamping jaw is arranged on the outer side of the second side plate; one of them the piston rod of clamping jaw drive hydro-cylinder pierces through first curb plate with the clamping jaw is connected, another the piston rod of clamping jaw drive hydro-cylinder pierces through the second curb plate with the clamping jaw is connected.
Preferably, the positioning block driving power comprises a telescopic driving cylinder and an opening and closing driving cylinder, the telescopic driving cylinder is fixed on the clamping jaw, the end part of a piston rod of the telescopic driving cylinder is fixed with the opening and closing driving cylinder, the opening and closing driving cylinder comprises two sliding blocks, a positioning block is fixed on each sliding block, and a positioning column is fixed at the outer end part of the positioning block and used for clamping a stop pin; and the telescopic direction of the piston rod of the opening and closing driving cylinder is the moving direction of the linear moving mechanism, and the telescopic direction of the piston rod of the telescopic driving cylinder is vertical to the moving direction of the linear moving mechanism.
Preferably, the linear moving mechanism comprises a moving seat, and the lifting mechanism is arranged on the moving seat; the linear moving mechanism also comprises two racks, gears meshed with the racks in a one-to-one manner, and moving motors connected with the gears, and the moving motors are fixedly arranged on the moving seat; the two racks are respectively arranged on the inner side of the supporting frame; the linear moving mechanism and the supporting frame are provided with a guide supporting structure between, the guide supporting structure comprises guide rails arranged on two sides above the supporting frame and guide rail wheels arranged on the guide rails, and the guide rail wheels are fixed on two sides of the moving seat.
Preferably, the lifting mechanism comprises a clamping jaw lifting mechanism, the clamping jaw lifting mechanism comprises a clamping jaw lifting oil cylinder fixed on the moving seat, and a piston rod of the clamping jaw lifting oil cylinder is connected with the clamping jaw frame.
Preferably, the lifting mechanism further comprises a large pressing plate lifting mechanism, the large pressing plate lifting mechanism comprises a large pressing plate driving oil cylinder fixed on the moving seat, and a piston rod of the large pressing plate driving oil cylinder is connected with the large pressing plate.
The optimized mode is that the bottom surface of big clamp plate is provided with the holding tank of indent, set up in the holding tank little clamp plate.
Preferably, the lifting mechanism further comprises a small pressing plate lifting mechanism, the small pressing plate lifting mechanism comprises a small pressing plate driving oil cylinder fixed on the moving seat, and a piston rod of the small pressing plate driving oil cylinder penetrates through the large pressing plate and is connected with the small pressing plate.
Preferably, the device further comprises a guide mechanism, wherein the guide mechanism comprises a clamping jaw guide assembly, a large pressing plate guide assembly and/or a small pressing plate guide assembly; the clamping jaw guide assembly comprises at least one clamping jaw guide column linear bearing, a clamping jaw guide column is arranged in each clamping jaw guide column linear bearing, the clamping jaw guide column is connected with the clamping jaw frame, and each clamping jaw guide column linear bearing is fixed on the moving seat; the large pressing plate guide assembly comprises at least one large pressing plate guide post linear bearing, a large pressing plate guide post is arranged in each large pressing plate guide post linear bearing, the large pressing plate guide post is connected with the large pressing plate, and each large pressing plate guide post linear bearing is fixed on the moving seat; the small pressing plate guide assembly comprises at least one small pressing plate guide post linear bearing, a small pressing plate guide post is arranged in each small pressing plate guide post linear bearing, the small pressing plate guide post penetrates through the large pressing plate and is connected with the small pressing plate, and each small pressing plate guide post linear bearing is fixed on the moving seat.
Preferably, each clamping jaw comprises a portal frame and a connecting plate fixed at the bottom of the portal frame, inserting plates are respectively fixed at two ends of the connecting plate and are matched with inserting ports on the auxiliary sand box, and the top end of the portal frame is connected with the clamping jaw driving oil cylinder; and/or at least one horizontal guide column is arranged between the clamping jaw frame and the door-shaped frame, one end of each horizontal guide column is fixed on the clamping jaw frame, and the other end of each horizontal guide column is fixed at the top end of the door-shaped frame through a horizontal guide column linear bearing.
After the technical scheme is adopted, the invention has the beneficial effects that:
the manipulator for disassembling the auxiliary sand box for the dieless casting comprises a clamping jaw disassembling mechanism, a stop pin disassembling mechanism, a large pressing plate, a small pressing plate, a lifting mechanism, a supporting frame and a linear moving mechanism; the clamping jaw disassembling mechanism comprises two clamping jaws and a clamping jaw driving mechanism for driving the two clamping jaws to open and close; the stop pin dismounting mechanism comprises a positioning block for dismounting the stop pin and a positioning block driving power for driving the positioning block to move, and the positioning block driving power is fixed on the clamping jaw; wherein the large pressing plate is used for pressing the large sand mold; wherein the small pressing plate is used for pressing the small sand mold; the lifting mechanism is respectively connected with the clamping jaw disassembling mechanism, the large pressing plate and the small pressing plate so as to drive the clamping jaw disassembling mechanism, the large pressing plate and the small pressing plate to lift; the linear moving mechanism is arranged on the supporting frame and connected with the lifting mechanism so as to drive the lifting mechanism to move linearly. When the disassembling mechanical arm works, the linear moving mechanism drives the lifting mechanism to move to an upper station, the lifting mechanism drives the clamping jaw disassembling mechanism, the stop pin disassembling mechanism, the large pressing plate and the small pressing plate to move simultaneously, the lifting mechanism moves at the upper station to drive the clamping jaw disassembling mechanism to descend, two clamping jaws clamp the auxiliary sand box, the clamped linear moving mechanism moves back to drive the auxiliary sand box and sand molds to move to the turnover platform, the stop pin disassembling mechanism moves to clamp the stop pins through the positioning blocks, the lifting mechanism drives the large pressing plate and/or the small pressing plate to descend to press the sand molds, finally the lifting mechanism drives the clamping jaw disassembling mechanism to ascend, the auxiliary sand box and the sand molds are separated, the large pressing plate and the small pressing plate ascend, the turnover platform transports the sand molds away, the clamping jaw disassembling mechanism and the stop pin disassembling mechanism descend again to push the stop pins back to the original positions, and resetting is achieved. Therefore, the invention can replace manual operation, can automatically transfer, clamp, disassemble and reset and reassemble, and improves the disassembling efficiency.
The clamping jaw disassembling mechanism comprises a clamping jaw frame, two clamping jaw driving oil cylinders are arranged in the clamping jaw frame, piston rods of the two clamping jaw driving oil cylinders stretch horizontally, and the clamping jaw frame is connected with the lifting mechanism; the clamping jaw frame comprises a first side plate and a second side plate which are arranged oppositely, the extending direction of the first side plate and the extending direction of the second side plate are the moving direction of the linear moving mechanism, one clamping jaw is arranged on the outer side of the first side plate, and the other clamping jaw is arranged on the outer side of the second side plate; a piston rod of one clamping jaw driving oil cylinder penetrates through the first side plate to be connected with the clamping jaw, and a piston rod of the other clamping jaw driving oil cylinder penetrates through the second side plate to be connected with the clamping jaw; the clamping jaws are opened and closed under the action of the clamping jaw driving oil cylinder, so that the auxiliary sand box is loosened or clamped.
The positioning block driving power comprises a telescopic driving cylinder and an opening-closing driving cylinder, the telescopic driving cylinder is fixed on the clamping jaw, the end part of a piston rod of the telescopic driving cylinder is fixed with the opening-closing driving cylinder, the opening-closing driving cylinder comprises two sliding blocks, each sliding block is fixed with a positioning block, the outer end part of the positioning block is fixed with a positioning column, and the positioning column is used for clamping the stop pin; and the telescopic direction of the piston rod of the opening-closing driving cylinder is the moving direction of the linear moving mechanism, the telescopic direction of the piston rod of the telescopic driving cylinder is perpendicular to the moving direction of the linear moving mechanism, and under the combined action of the telescopic driving cylinder and the opening-closing driving cylinder, the positioning block moves to clamp and detach the stop pin.
The linear moving mechanism comprises a moving seat, and a lifting mechanism is arranged on the moving seat; the linear moving mechanism also comprises two racks, gears meshed with the racks in a one-to-one manner, and moving motors connected with the gears, and the moving motors are fixedly arranged on the moving seat; the two racks are respectively arranged on the inner side of the supporting frame; a guide supporting structure is arranged between the linear moving mechanism and the supporting frame, the guide supporting structure comprises guide rails arranged on two sides above the supporting frame and guide rail wheels arranged on the guide rails, the guide rail wheels are fixed on two sides of the moving seat, and under the action of the guide supporting structure, the gear reliably moves along the corresponding rack.
Because the bottom surface of big clamp plate is provided with the holding tank of indent, sets up little clamp plate in the holding tank, rational configuration structure optimizes the space utilization.
Each clamping jaw comprises a door-shaped frame and a connecting plate fixed at the bottom of the door-shaped frame, inserting plates are respectively fixed at two ends of the connecting plate, each inserting plate is matched with a socket on the auxiliary sand box, and the top end of the door-shaped frame is connected with a clamping jaw driving oil cylinder; and/or at least one horizontal guide post is arranged between the clamping jaw frame and the door-shaped frame, one end of each horizontal guide post is fixed on the clamping jaw frame, the other end of each horizontal guide post is fixed at the top end of the door-shaped frame through a horizontal guide post linear bearing, and the clamping jaw is reliably opened and closed under the guide of the horizontal guide post.
In conclusion, the manipulator for disassembling the auxiliary sand box for the dieless casting solves the technical problems of low efficiency, safety and the like caused by manual disassembly of the auxiliary sand box and the sand mold in the prior art; the auxiliary large sand box and the auxiliary small sand box can be disassembled by a reasonable mechanism, manual operation is not needed in the whole process, transferring, clamping, disassembling and resetting re-assembling are automatically realized, and the disassembling efficiency is improved.
Drawings
FIG. 1 is a schematic structural diagram of a disassembly manipulator of an auxiliary sand box for the dieless casting in cooperation with a turnover platform;
FIG. 2 is a schematic structural view of a disassembling robot of the auxiliary flask for the dieless casting;
FIG. 3 is a schematic view of another angle of the disassembling robot of the auxiliary flask for the dieless casting;
FIG. 4 is a schematic view of the construction of the support frame of the present invention;
FIG. 5 is a schematic structural view of the lifting mechanism and the linear moving mechanism of the present invention;
FIG. 6 is a plan view of the lifting mechanism and the linear moving mechanism of the present invention;
FIG. 7 is a schematic view of another angle structure of the lifting mechanism and the linear moving mechanism of the present invention;
FIG. 8 is a schematic view of the construction of a large platen according to the present invention;
FIG. 9 is a schematic view of the construction of the small platen of the present invention;
FIG. 10 is a schematic structural view of the jaw release mechanism;
FIG. 11 is a schematic structural view of the latch release mechanism;
FIG. 12 is a schematic view of the construction of an auxiliary flask disassembled according to the present invention;
FIG. 13 is a partial cross-sectional view of the auxiliary large flask;
FIG. 14 isbase:Sub>A sectional view taken along the line A-A;
FIG. 15 is a schematic view showing the construction of an auxiliary drag flask disassembled according to the present invention;
FIG. 16 is a partial cross-sectional view of an auxiliary drag flask;
FIG. 17 is a cross-sectional view taken along line B-B of FIG. 16;
in the figure: 1-lifting mechanism, 100-large platen drive cylinder, 101-small platen drive cylinder, 103-jaw lift cylinder, 2-upper station, 3-turnover platform, 4-auxiliary small flask, 5-auxiliary large flask, 6-stop pin, 7-small sand mold, 8-large sand mold, 11-support frame, 111-support vertical beam, 112-support side beam, 113-support cross beam, 114-support lower beam, 115-support oblique beam, 116-rack fixing seat, 12-linear moving mechanism, 120-rack, 121-gear, 122-moving motor, 123-moving seat, 13-large platen, 131-holding groove, 14-small platen, 15-jaw dismounting mechanism, 150-jaw, 1500-portal frame, 1501-connecting plate, 1502-inserting plate, 151-clamping jaw frame, 1510-first side plate, 1511-second side plate, 154-clamping jaw driving oil cylinder, 156-horizontal guiding column, 157-horizontal guiding column linear bearing, 16-stop pin dismounting mechanism, 161-air cylinder fixing plate, 162-telescopic driving air cylinder, 163-opening and closing air cylinder mounting plate, 164-opening and closing driving air cylinder, 165-positioning block, 166-positioning column, 170-guide rail, 171-guide rail wheel, 180-piston rod fixing seat, 181-guiding column fixing seat, 190-clamping jaw guiding column linear bearing, 191-large pressing plate guiding column, 192-small pressing plate guiding column, 193-clamping jaw guiding column, 195-large pressing plate guiding column linear bearing and 196-small pressing plate guiding column linear bearing.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1 to 11, the manipulator for disassembling the auxiliary flask for the dieless casting comprises a clamping jaw disassembling mechanism 15, a stop pin disassembling mechanism 16, a large pressure plate 13, a small pressure plate 14, a lifting mechanism 1, a support frame 11 and a linear moving mechanism 12. The invention also comprises a guide mechanism, wherein the guide mechanism comprises a clamping jaw guide assembly, a large pressing plate guide assembly and/or a small pressing plate guide assembly.
The clamping jaw detaching mechanism 15 comprises two clamping jaws 150 and a clamping jaw driving mechanism for driving the two clamping jaws 150 to open and close; the stop pin dismounting mechanism 16 comprises a positioning block 165 for dismounting the stop pin 6 and a positioning block driving power for driving the positioning block 165 to move, and the positioning block driving power is fixed on the clamping jaw 150; the large pressing plate 13 is used for pressing the large sand mold 8, and the small pressing plate 14 is used for pressing the small sand mold 7; the lifting mechanism 1 is respectively connected with the clamping jaw disassembling mechanism 15, the large pressing plate 13 and the small pressing plate 14 so as to drive the clamping jaw disassembling mechanism 15, the large pressing plate 13 and the small pressing plate 14 to lift; the linear moving mechanism 12 is arranged on the supporting frame 11, and the linear moving mechanism 12 is connected with the lifting mechanism 1 to drive the lifting mechanism 1 to move linearly.
The invention can be used for disassembling an auxiliary large sand box 5 and an auxiliary small sand box 4, when the sand box is in work, the linear moving mechanism 12 drives the lifting mechanism 1 to move to the upper station 2, the lifting mechanism 1 drives the clamping jaw disassembling mechanism 15, the stop pin disassembling mechanism 16, the large pressing plate 13 and the small pressing plate 14 to move to the upper station 2 together while moving, the lifting mechanism 1 acts after the sand box is in place to drive the clamping jaw disassembling mechanism 15 to descend, and the clamping jaw disassembling mechanism 15 acts after the sand box is descended in place to enable the two clamping jaws 150 to clamp the auxiliary sand box. And the clamped back linear moving mechanism 12 moves back to drive the auxiliary sand box and the sand mould to move to the turnover platform 3, the stop pin dismounting mechanism 16 acts after the auxiliary sand box and the sand mould are in place, the positioning block 165 clamps and demounts the stop pin 6, the stop pin 6 is separated from the sand mould, and the dismounted lifting mechanism 1 drives the large pressing plate 13 and/or the small pressing plate 14 to descend to press the sand mould. At this time, the lifting mechanism 1 drives the clamping jaw dismounting mechanism 15 to ascend, drives the auxiliary sand box to move upwards, separates the auxiliary sand box from the sand mold, lifts the large pressing plate 13 and/or the small pressing plate 14 by the lifting mechanism 1, and then transports the sand mold away by the turnover platform 3. The jaw detaching mechanism 15 and the catch pin detaching mechanism 16 are lowered again to push the catch pin 6 back to the original position, thereby realizing the reset. Therefore, the automatic disassembling device can replace manual operation, realizes automatic transferring, clamping, disassembling and resetting and re-assembling, and improves disassembling efficiency.
As shown in fig. 1 to 4, the linear motion mechanism 12 includes a motion base 123, and the lifting mechanism 1 is disposed on the motion base 123. The linear moving mechanism 12 further includes two racks 120, gears 121 engaged with the racks 120 one-to-one, and moving motors 122 connected to the gears 121, wherein the moving motors 122 are fixedly disposed on the moving base 123; the two racks 120 are respectively arranged at the inner side of the supporting frame 11; a guide support structure is provided between the linear moving mechanism 12 and the support frame 11, the guide support structure includes guide rails 170 provided on both sides above the support frame 11, and guide rail wheels 171 provided on the guide rails 170, and the guide rail wheels 171 are fixed on both sides of the moving base 123.
In this embodiment, the supporting frame 11 includes supporting vertical beams 111, supporting side beams 112, supporting cross beams 113, supporting lower beams 114 and supporting oblique beams 115, the supporting vertical beams 111 are fastened to the ground through ground feet, the supporting side beams 112 are fastened above the supporting vertical beams 111, the supporting cross beams 113 are fastened to both ends of the supporting side beams 112, the supporting lower beams 114 are fastened between the two supporting vertical beams 111, and the supporting oblique beams 115 are fastened to the crossing positions of the supporting vertical beams 111 and the supporting side beams 112. The moving seat 123 is located between the two supporting side beams 112, the two guide rails 170 are respectively disposed at the top ends of the two supporting side beams 112, and the two racks 120 are respectively disposed at the inner sides of the two supporting side beams 112 through the rack fixing seats 116.
When the two moving motors 122 are started, the gears 121 connected to them are driven to rotate respectively, so that the gears 121 move along the racks 120 on the corresponding sides. The moving motor 122 performs forward and backward movement by forward and reverse rotation. During the movement of the gear 121 along the rack gear 120, the gear carries the movable base 123 to move, and simultaneously the guide wheels 171 on both sides of the movable base 123 slide along the guide rails 170 on the corresponding sides to function as a guide support.
As shown in fig. 1, 7 and 10, the jaw detaching mechanism 15 includes a jaw frame 151, two jaw driving cylinders 154 are provided in the jaw frame 151, piston rods of the two jaw driving cylinders 154 are horizontally extended and contracted, and the jaw frame 151 is connected to the lifting mechanism 1.
As shown in fig. 10, the jaw frame 151 includes a first side plate 1510 and a second side plate 1511 which are oppositely disposed, the extending direction of the first side plate 1510 and the second side plate 1511 is the moving direction of the linear moving mechanism 12, one jaw 150 is disposed outside the first side plate 1510, and the other jaw 150 is disposed outside the second side plate 1511; the piston rod of one of the jaw drive cylinders 154 penetrates through the first side plate 1510 to be connected to the jaws 150, and the piston rod of the other jaw drive cylinder 154 penetrates through the second side plate 1511 to be connected to the jaws 150.
In this embodiment, each clamping jaw 150 includes a gate frame 1500 and a connecting plate 1501 fixed at the bottom of the gate frame 1500, the two ends of the connecting plate 1501 are respectively fixed with an insert plate 1502, each insert plate 1502 is matched with a spigot on the auxiliary sand box, and each insert plate 1502 is arranged at the inner side of the gate frame 1500. In a preferred embodiment, the insert plate 1502 includes a bottom plate and two vertical plates disposed on the bottom plate. Wherein, the piston rod of the clamping jaw driving oil cylinder 154 is fastened at the top end of the portal frame 1500 through a nut.
As shown in fig. 10, at least one horizontal guiding column 156 is disposed between the clamping jaw frame 151 and the door frame 1500, in this embodiment, four horizontal guiding columns 156 are disposed, and the four horizontal guiding columns 156 are disposed at two sides of the clamping jaw frame 151, and are uniformly and symmetrically disposed; each horizontal guide column 156 is fixed on the jaw frame 151 through a guide column fixing seat 181, and each horizontal guide column 156 is fixed on the top end of the gantry 1500 through a horizontal guide column linear bearing 157.
As shown in fig. 1, 2, 3, 7 and 10, the two clamping jaw driving cylinders 154 simultaneously operate to drive the two clamping jaws 150 to move towards each other, and the insert plates 1502 on the two clamping jaws 150 are respectively inserted into the insertion openings of the auxiliary flasks to clamp the auxiliary flasks; the jaws 150 are moved away from each other and the insert plate 1502 on the jaws 150 is withdrawn from the insert opening of the drag flask to release the drag flask. When the jaws 150 move, the horizontal guide posts 156 move in the horizontal guide post linear bearings 157, so that the two jaws 150 can be opened and closed reliably.
As shown in fig. 5, 6 and 7, the lifting mechanism 1 includes a jaw lifting mechanism including a jaw lifting cylinder 103 fixed to the moving base 123, and a piston rod of the jaw lifting cylinder 103 is connected to the jaw frame 151. The clamping jaw lifting mechanism in the embodiment comprises two clamping jaw lifting oil cylinders 103, the two clamping jaw lifting oil cylinders 103 are symmetrically arranged about the clamping jaw frame 151, the lifting reliability is guaranteed through the symmetrical arrangement, and piston rods of the clamping jaw lifting oil cylinders 103 are connected with piston rod fixing seats 180 arranged on the clamping jaw frame 151.
In order to further ensure that the clamping jaw 150 can reliably lift, a clamping jaw guide assembly is arranged. The clamping jaw guide assembly comprises at least one clamping jaw guide column linear bearing 190, four clamping jaw guide column linear bearings 190 which are uniformly distributed are arranged in the clamping jaw guide column linear bearing 190, a clamping jaw guide column 193 is arranged in each clamping jaw guide column linear bearing 190, the clamping jaw guide column 193 is connected with a guide column fixing seat 181 on the clamping jaw frame 151, and each clamping jaw guide column linear bearing 190 is fixed on the moving seat 123.
When the two jaw lift cylinders 103 are simultaneously actuated, the jaw lift cylinder 103 pulls the jaw frame 151 to move up and down through the piston rod, and each jaw guide post 193 moves in the corresponding jaw guide post linear bearing 190 to perform a guiding function.
As shown in fig. 1, 7 and 11, the positioning block driving power of the latch pin detaching mechanism 16 includes a telescopic driving cylinder 162 and an opening/closing driving cylinder 164, the telescopic driving cylinder 162 is fixed on the clamping jaw 150, and in this embodiment, the telescopic driving cylinder 162 is fixed on the connecting plate 1501 of the clamping jaw 150 through a cylinder fixing plate 161; an opening and closing cylinder mounting plate 163 is fixed at the end of a piston rod of the telescopic driving cylinder 162, an opening and closing driving cylinder 164 is fixed on the positioning cylinder fixing plate 163, the opening and closing driving cylinder 164 comprises two sliding blocks, a positioning block 165 is fixed on each sliding block, according to a preferred scheme, the positioning block 165 is an L-shaped block, and the positioning blocks 165 on the two sliding blocks are oppositely arranged; a positioning column 166 is fixed at the outer end of the positioning block 165, the positioning column 166 is used for clamping the stop pin 6, namely the positioning column 166 is inserted into a positioning hole on the stop pin 6; the opening and closing direction in which the opening and closing driving cylinder 164 drives the two positioning blocks 165 is the moving direction of the linear movement mechanism 12, and the moving direction of the telescopic driving cylinder 162 is perpendicular to the moving direction of the linear movement mechanism 12.
As shown in fig. 1 and 11, in the present embodiment, the stop pin removing mechanism 16 includes four positioning blocks 165, two telescopic driving cylinders 162 and two opening and closing driving cylinders 164, the two telescopic driving cylinders 162 are respectively fixed on the two jaws 150, and the two opening and closing driving cylinders 164 are respectively fixed on the two telescopic driving cylinders 162. When the two telescopic driving cylinders 162 extend inwards at the same time, the two opening and closing driving cylinders 164 move inwards respectively, and after the two opening and closing driving cylinders 164 move in place, the two sliding blocks on the opening and closing driving cylinders 164 move outwards respectively, the positioning blocks 165 move outwards, and after the two opening and closing driving cylinders move in place, the positioning columns 166 are inserted into the positioning holes in the stop pins 6, so that clamping is realized; then, the telescopic driving cylinder 162 moves outward, the positioning block 165 moves outward with the stopper pin 6 interposed therebetween, and finally the stopper pin 6 is separated from the sand mold.
After the auxiliary sand box and the sand mold are disassembled, the operation process is performed reversely, and the stop pin 6 of the stop pin 6 can be pushed back to the original position of the sand box, so that the reset is realized. Of course, the stop pin removing mechanism 16 is not limited to the telescopic driving cylinder 162 and the opening/closing driving cylinder 164 listed above, as long as the positioning blocks 165 can be driven to extend, retract, and open/close, and similarly, the number and shape of the positioning blocks 165 are adapted to the stop pins 6 on the auxiliary sand box.
As shown in fig. 3, 7, 8 and 9, in the present embodiment, the bottom surface of the large pressing plate 13 is provided with a concave accommodating groove 131, and the small pressing plate 14 is arranged in the accommodating groove 131; the structure is reasonably configured, and the space is optimally utilized.
As shown in fig. 5 to 8, the lifting mechanism 1 includes a large pressing plate lifting mechanism, the large pressing plate lifting mechanism includes a large pressing plate driving cylinder 100 fixed on the moving base 123, and a piston rod of the large pressing plate driving cylinder 100 is connected to the large pressing plate 13. In this embodiment, the large pressing plate lifting mechanism includes two large pressing plate driving cylinders 100, the two large pressing plate driving cylinders 100 are respectively fixed on the moving base 123 and respectively disposed on two sides of the accommodating groove 131, two piston rod fixing bases 180 are disposed on the corresponding large pressing plate 13, and a piston rod of each large pressing plate driving cylinder 100 is fixedly connected to the corresponding piston rod fixing base 180.
In order to improve the lifting reliability of the large pressing plate 13, the two large pressing plate driving oil cylinders 100 are symmetrically arranged about the large pressing plate 13, and in order to further improve the reliable lifting, a large pressing plate guiding assembly is arranged. The large pressure plate guide assembly comprises at least one large pressure plate guide post linear bearing 195, four large pressure plate guide post linear bearings 195 which are uniformly distributed are arranged in the embodiment, a large pressure plate guide post 191 is arranged in each large pressure plate guide post linear bearing 195, the large pressure plate guide post 191 is connected with a guide post fixing seat 181 arranged on the large pressure plate 13, and each large pressure plate guide post linear bearing 195 is fixed on the moving seat 123.
When the two large press plate driving cylinders 100 act simultaneously, the two piston rods pull the large press plate 13 to lift and lower so as to press or loosen the sand mold, and simultaneously, each large press plate guide column 191 moves in the corresponding large press plate guide column linear bearing 195 to play a role in guiding. Of course, the large platen lifting mechanism is not limited to the above-mentioned structure, and a lifting motor, a cell stack pusher, an air cylinder, or the like may be used.
As shown in fig. 5, 6, 7 and 9, the lifting mechanism 1 includes a small pressing plate lifting mechanism, the small pressing plate lifting mechanism includes a small pressing plate driving cylinder 101 fixed on the moving base 123, and a piston rod of the small pressing plate driving cylinder 101 penetrates through the large pressing plate 13 and is connected with the small pressing plate 14. In this embodiment, the small pressing plate lifting mechanism includes a small pressing plate driving oil cylinder 101, the small pressing plate driving oil cylinder 101 is arranged on the moving base 123, a piston rod fixing base 180 is arranged on the small pressing plate 14, the piston rod fixing base 180 is arranged in the middle of the small pressing plate 14, and a piston rod of the small pressing plate driving oil cylinder 101 penetrates through the large pressing plate 13 and is fixedly connected with the piston rod fixing base 180.
In order to ensure the reliable lifting of the small pressure plate 14, a small pressure plate guide assembly is arranged. The small pressing plate guide assembly comprises at least one small pressing plate guide post linear bearing 196, four small pressing plate guide post linear bearings 196 which are uniformly distributed are arranged in the embodiment, a small pressing plate guide post 192 is arranged in each small pressing plate guide post linear bearing 196, the small pressing plate guide post 192 is connected with a guide post fixing seat 181 on the small pressing plate 14, and each small pressing plate guide post linear bearing 196 is fixed on the moving seat 123.
When the large pressing plate lifting mechanism acts, the small pressing plate driving oil cylinder 101 acts simultaneously, after the small pressing plate driving oil cylinder 101 acts, the piston rod pulls the small pressing plate 14 to lift so as to press or loosen the sand mold, and meanwhile, each small pressing plate guide column 192 moves in the corresponding small pressing plate guide column linear bearing 196 to play a role in guiding. When only the small sand mold 7 is disassembled, the large pressure plate lifting mechanism does not act, and when the large sand mold 8 is disassembled, the small pressure plate lifting mechanism acts simultaneously along with the large pressure plate lifting mechanism.
As shown in fig. 1 to 17, the concrete working principle of assisting the disassembly of the large sand box is as follows:
the clamping jaw detaching mechanism 15 moves to the upper station 2 under the driving of the linear moving mechanism 12, the clamping jaw driving oil cylinder 154 drives the two clamping jaws 150 to be closed to clamp the auxiliary large sand box 5, and then the clamping jaw detaching mechanism 15 moves to the turnover platform 3 under the driving of the linear moving mechanism 12 to realize automatic clamping.
The positioning block 165 moves inwards under the action of the telescopic driving cylinder 162, and simultaneously the positioning block 165 is opened under the action of the opening and closing driving cylinder 164, so that the positioning column 166 at the end part of the positioning block 165 enters the positioning hole of the stop pin 6, and the stop pin 6 is positioned and clamped; the positioning block 165 moves outwards under the action of the telescopic driving cylinder 162, and the stop pin 6 is taken out of the large sand mold 8, so that the stop pin 6 is automatically detached.
The large pressing plate 13 moves downwards under the driving of the large pressing plate driving oil cylinder 100, the small pressing plate 14 moves downwards synchronously under the driving of the small pressing plate driving oil cylinder 101, and the large pressing plate 13 and the small pressing plate 14 synchronously press the upper surface of the large sand mold 8.
Under the drive of the clamping jaw lifting oil cylinder 103, the clamping jaws clamp the auxiliary large sand box 5 to move upwards and separate from the large sand mold 8, the large sand mold 8 is conveyed away from the turnover platform 3, the auxiliary large sand box 5 and the sand box are separated, and automatic transfer and separation are realized.
Under the driving of the clamping jaw lifting oil cylinder 103, the clamping jaws clamp the auxiliary large sand box 5 to move downwards to the original position, the positioning blocks 165 clamp the stop pin 6 to move inwards under the action of the telescopic driving air cylinder 162, and the stop pin 6 is assembled to the original position; all parts of the mechanical arm are disassembled to return to the original position; thus, the disassembly, reset and reloading of the auxiliary large sand box 5 are completed.
The specific working principle of assisting the small sand box to disassemble is as follows:
the clamping jaw dismounting mechanism 15 moves to the upper station 2 under the action of the linear moving mechanism 12; the clamping jaws 150 are closed under the driving of the clamping jaw driving oil cylinders 154 to clamp the auxiliary small sand box 4; the linear moving mechanism 12 drives the clamping jaw to move to the turnover platform 3, and automatic clamping is achieved.
The positioning block 165 moves inwards under the action of the telescopic driving cylinder 162, opens under the action of the opening and closing driving cylinder 164, and a positioning column 166 at the end part of the positioning block 165 enters a positioning hole of the stop pin 6 for positioning so as to clamp the stop pin 6; the positioning block 165 moves outward under the action of the telescopic driving cylinder 162, and the stop pin 6 is taken out of the small sand mold 7. The automatic disassembly of the stop pin is realized;
the small pressing plate 14 moves downwards under the driving of the small pressing plate driving oil cylinder 101, and the small pressing plate 14 presses the upper surface of the small sand mold 7.
Under the drive of the clamping jaw lifting oil cylinder 103, the clamping jaws clamp the auxiliary small sand box 4 to move upwards and separate from the small sand mould 7, and the small sand mould 7 is conveyed away from the turnover platform 3, so that automatic transfer and separation are realized.
Driven by a clamping jaw lifting oil cylinder 103, the clamping jaws clamp the auxiliary small sand box 4 to move downwards to the original position; the positioning block 165 moves inwards under the action of the telescopic driving cylinder 162, so that the stop pin 6 is assembled to the original position; and each part of the manipulator returns to the original position, so that the auxiliary small sand box 4 is disassembled, reset and reinstalled.
The invention can realize the automatic transfer, clamping, disassembly, reset and reloading of the large and small two kinds of the auxiliary sand boxes for the dieless casting by matching the mechanisms of the disassembling manipulator.
The above-described preferred embodiments of the present invention are not intended to limit the present invention, and any modifications, equivalent improvements of the disassembling robot for the auxiliary flask for dieless casting, etc., within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (4)
1. The utility model provides a manipulator is disassembled to supplementary sand box of no mould casting which characterized in that includes:
the clamping jaw detaching mechanism comprises two clamping jaws and a clamping jaw driving mechanism for driving the two clamping jaws to open and close;
the stop pin dismounting mechanism comprises a positioning block for dismounting the stop pin and positioning block driving power for driving the positioning block to move, and the positioning block driving power is fixed on the clamping jaw;
the large pressing plate is used for pressing the large sand mold;
the small pressing plate is used for pressing the small sand mold;
the lifting mechanism is respectively connected with the clamping jaw disassembling mechanism, the large pressing plate and the small pressing plate so as to drive the clamping jaw disassembling mechanism, the large pressing plate and the small pressing plate to lift;
a support frame;
the linear moving mechanism is arranged on the supporting frame and is connected with the lifting mechanism so as to drive the lifting mechanism to move linearly; the linear moving mechanism comprises a moving seat, and the lifting mechanism is arranged on the moving seat;
the clamping jaw disassembling mechanism comprises a clamping jaw frame, two clamping jaw driving oil cylinders are arranged in the clamping jaw frame, piston rods of the two clamping jaw driving oil cylinders stretch horizontally, and the clamping jaw frame is connected with the lifting mechanism;
the clamping jaw frame comprises a first side plate and a second side plate which are arranged oppositely, the extending direction of the first side plate and the extending direction of the second side plate are the moving direction of the linear moving mechanism, one clamping jaw is arranged on the outer side of the first side plate, and the other clamping jaw is arranged on the outer side of the second side plate; a piston rod of one clamping jaw driving oil cylinder penetrates through the first side plate to be connected with the clamping jaw, and a piston rod of the other clamping jaw driving oil cylinder penetrates through the second side plate to be connected with the clamping jaw;
the positioning block driving power comprises a telescopic driving cylinder and an opening and closing driving cylinder, the telescopic driving cylinder is fixed on the clamping jaw, the end part of a piston rod of the telescopic driving cylinder is fixed with the opening and closing driving cylinder, the opening and closing driving cylinder comprises two sliding blocks, a positioning block is fixed on each sliding block, and a positioning column is fixed at the outer end part of each positioning block and used for clamping a stop pin; the telescopic direction of the piston rod of the opening and closing driving cylinder is the moving direction of the linear moving mechanism, and the telescopic direction of the piston rod of the telescopic driving cylinder is vertical to the moving direction of the linear moving mechanism;
the lifting mechanism further comprises a large pressing plate lifting mechanism, the large pressing plate lifting mechanism comprises a large pressing plate driving oil cylinder fixed on the moving seat, and a piston rod of the large pressing plate driving oil cylinder is connected with the large pressing plate;
the bottom surface of the large pressing plate is provided with an inwards concave accommodating groove, and the small pressing plate is arranged in the accommodating groove;
the lifting mechanism further comprises a small pressing plate lifting mechanism, the small pressing plate lifting mechanism comprises a small pressing plate driving oil cylinder fixed on the moving seat, and a piston rod of the small pressing plate driving oil cylinder penetrates through the large pressing plate and is connected with the small pressing plate.
2. The manipulator for disassembling the molding-less casting auxiliary sand box according to claim 1, wherein the linear moving mechanism further comprises two racks, gears engaged with the racks in a one-to-one manner, and moving motors connected to the gears, the moving motors being fixed to the moving base; the two racks are respectively arranged on the inner side of the supporting frame;
the linear moving mechanism and the supporting frame are provided with a guide supporting structure between, the guide supporting structure comprises guide rails arranged on two sides above the supporting frame and guide rail wheels arranged on the guide rails, and the guide rail wheels are fixed on two sides of the moving seat.
3. The manipulator for disassembling the drag flask for the moldless casting of claim 1, further comprising a guide mechanism including a jaw guide assembly, a large platen guide assembly and/or a small platen guide assembly;
the clamping jaw guide assembly comprises at least one clamping jaw guide column linear bearing, a clamping jaw guide column is arranged in each clamping jaw guide column linear bearing, the clamping jaw guide column is connected with the clamping jaw frame, and each clamping jaw guide column linear bearing is fixed on the moving seat;
the large pressing plate guide assembly comprises at least one large pressing plate guide column linear bearing, a large pressing plate guide column is arranged in each large pressing plate guide column linear bearing, the large pressing plate guide column is connected with the large pressing plate, and each large pressing plate guide column linear bearing is fixed on the moving seat;
the small pressing plate guide assembly comprises at least one small pressing plate guide post linear bearing, a small pressing plate guide post is arranged in each small pressing plate guide post linear bearing, the small pressing plate guide post penetrates through the large pressing plate and is connected with the small pressing plate, and each small pressing plate guide post linear bearing is fixed on the moving seat.
4. The manipulator for disassembling the drag flask for the moldless casting according to claim 1, wherein each of the clamping jaws comprises a gate frame and a connecting plate fixed to the bottom of the gate frame, inserting plates are respectively fixed to both ends of the connecting plate, the inserting plates are adapted to inserting ports of the drag flask, and the top end of the gate frame is connected to the clamping jaw driving cylinder; and/or the presence of a gas in the gas,
at least one horizontal guide column is arranged between the clamping jaw frame and the door-shaped frame, one end of each horizontal guide column is fixed on the clamping jaw frame, and the other end of each horizontal guide column is fixed at the top end of the door-shaped frame through a horizontal guide column linear bearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111434900.3A CN113997274B (en) | 2021-11-29 | 2021-11-29 | Manipulator is disassembled to supplementary sand box of no mould casting |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111434900.3A CN113997274B (en) | 2021-11-29 | 2021-11-29 | Manipulator is disassembled to supplementary sand box of no mould casting |
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| CN113997274A CN113997274A (en) | 2022-02-01 |
| CN113997274B true CN113997274B (en) | 2022-12-27 |
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| CN113601462A (en) * | 2021-08-11 | 2021-11-05 | 北京机科国创轻量化科学研究院有限公司 | Sand mold assembly workbench suitable for non-mold composite forming process |
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| JP2001071123A (en) * | 1999-09-08 | 2001-03-21 | Sintokogio Ltd | Taking-out system of as-cast product from green sand mold with flask |
| JP2006212643A (en) * | 2005-02-01 | 2006-08-17 | Sintokogio Ltd | Taking out apparatus for as-cast material |
| CN102019411A (en) * | 2009-09-14 | 2011-04-20 | 苏州苏铸成套装备制造有限公司 | Molding box slip device |
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| CN113997274A (en) | 2022-02-01 |
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