CN207807757U - Foundry robot's reversible refers to asynchronous handgrip more - Google Patents

Abstract

The utility model discloses a kind of foundry robot's reversibles to refer to asynchronous handgrip, including connecting seat, arc bracket, mounting base, longitudinal binding clasp, lateral adjustment device and lateral reversible clamper more.The utility model is installed to the end of foundry robot by connecting seat；Each longitudinal direction binding clasp independently can independently carry out casting or core longitudinal clamping, can adjust spacing by lateral adjustment device, adapt to differently contoured casting or core automatically, it can be achieved that adaptively being clamped to effective attaching type of special-shaped casts or core；Lateral reversible clamper is used to carry out horizontal clamping to casting or core, and can realize the overturning around horizontal axis.The utility model can meet the demand of the different works such as the coring of foundry robot's centering heavy castings, group core, lower core and carrying, have many advantages, such as that compact-sized, operating efficiency is high, safe, adaptivity is strong, simple and convenient operation and maintenance and a tractor serves several purposes, reduces the labor intensity and production cost of operating personnel.

Description

Foundry robot's reversible refers to asynchronous handgrip more

Technical field

The utility model belongs to industrial robot equipment technical field, more particularly to a kind of foundry robot's reversible Refer to asynchronous handgrip more.

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.Currently, using advanced and applicable casting technology, casting equipment automation, especially mobile robot technology are improved Application, be the key that foundry enterprise implement Green foundry production, realize sustainable development behave.Because there are high temperature, height for casting Dust, vibration, greasy dirt, noise and electromagnetic interference adverse circumstances, and casting weight is big, therefore general industry robot can not expire Foot production needs.Foundry robot will adapt to such working environment and normal operation, and there is also numerous key technologies urgent needs Research and breakthrough.The casting that foundry robot cannot be only used in die casting, essence casting production is carried and is transmitted, and sand mold casting is also used in In the processes such as moulding, coremaking, lower core, cast, cleaning and the inspection made.Especially in the production of medium-and-large-sized casting, sand core It is all bigger with size, the weight of casting, it is big to execute coring, group core, lower core and transport operation difficulty, it is desirable that high.There is an urgent need to It disclosure satisfy that high flexibility, the heavy-load foundry robot of the job requirements such as coring in castings production, group core, lower core and carrying. And when the job tasks such as foundry robot's execution coring, group core, lower core and carrying, in addition to robot body, executed as end The robot gripper of device becomes as important key equipment.

The casting of single specification or regular shape can only continuously be captured by being presently used for the robot gripper that casting or core capture Part or core are needed to shut down and be grabbed by being manually adjusted or replacing when casting or core dimensions or shape change Hand can not achieve adjust automatically, is adjusted due to needing operating personnel to enter robot work region, increases operator The security risk of member, reduces machine task efficiency.A robot can not be realized to different size workpiece simultaneously Continuous work cannot achieve the flexible working of a tractor serves several purposes.

The problem of being captured for casting, existing patent document also proposed some solutions.Application No. is 201210051811.5 Chinese patent discloses a kind of robot, including palm, multiple fingers, motor reducer and cotton rope Deng, it controls palm and finger section realizes the crawl of workpiece, but paw can only realize that angular adjustment, versatility are poor, work is empty Between it is smaller, cannot achieve the crawl of heavy castings and complex-shaped casting.Application No. is 201710029023.9 Chinese patents A kind of multi-purpose articulated robot arm paw structure, including pedestal, pawl arm, cylinder, overturning supporting plate, linkage board and controller are disclosed, Simple in structure, the length of pawl arm can not be realized according to the size of casting to be adjusted, and when casting captures, stability is poor, and works Space is relatively small, cannot be satisfied the crawl of casting of complicated structure.Application No. is 201510570943.2 Chinese patents to disclose A kind of more finger spindle gripper device human hand pawls, including connecting plate, more paws and multi cylinder, realize the simple workpiece of shape and structure Crawl, adaptability is poor, and the length of paw is fixed, and stability is poor, cannot be satisfied the job requirements of intricate casting.Shen Number a kind of multi-function robot paw please be disclosed for 201410281605.2 Chinese patent, be inhaled by motor driving part point, vacuum Disk and mechanical paw part are constituted, and vacuum cup is not suitable for the casting of large surfaces complexity, and mechanical paw working space is smaller, Working efficiency is relatively low.Application No. is 201110297466.9 Chinese patents to propose robot jaw arrangement, passes through skate machine Structure drives the position of grippers slidable adjustment crawl, and positioning accuracy is higher, but paw itself can not adjust and cause capturing The best gripping position can not be selected in journey, cannot achieve the job requirements of special-shaped casts.Application No. is 201010605168.7 Chinese patent discloses a kind of robot hand, including cylinder block, two-way cylinder, shop bolt and crawl nipper, this kind of paw into It is had the following disadvantages when row operation：1) flexibility is relatively low, and adaptability is limited；2) stability captured is poor；3) it cannot be satisfied different The job requirements of tee section intricate casting.Application No. is 201410689752.3 Chinese patents to disclose a kind of robot hand dress It sets, including gripper, sliding block, lifting member, mounting plate and draws high part, realize the crawl and promotion of workpiece, but the work of paw It is limited by very large as space, and the flexibility of paw is relatively low, working efficiency is low, cannot achieve casting of complicated structure Crawl task.Application No. is 201510792769.6 Chinese patents to propose a kind of adaptive robot both hands jaw arrangement, Including mounting flange, paw holder, paw component and paw regulating device, both hands pawl may be implemented the crawl of workpiece, but work It is small to make space, it is difficult to realize the crawl of heavy castings, the flexibility of both hands pawl is relatively low, and stability is poor, and it is multiple can not to complete surface The job requirements of miscellaneous casting.

With the continuous development and raising of foundry engieering level, the need of the production of medium-and-large-sized casting and casting crawl automation Ask higher and higher.Most of paws cannot achieve big weight, large volume and surface texture intricate casting in existing technical solution The job requirements of crawl.

Invention content

The purpose of this utility model is in view of the deficiencies of the prior art, to provide a kind of foundry robot's reversible and refer to more Asynchronous handgrip, can be used in foundry robot for medium-and-large-sized casting executed during casting and forming coring, group core, lower core and The job tasks such as carrying improve operating efficiency, stability and the safety of Foundry Production, reduce labor intensity and production cost, It can overcome the deficiencies of existing technologies.

Technical problem to be solved in the utility model is realized using following technical scheme.

A kind of foundry robot's reversible refers to asynchronous handgrip, including connecting seat, arc bracket, mounting base, longitudinal direction more Binding clasp, lateral adjustment device and lateral reversible clamper.Wherein, it is equipped with and is used for and casting machine on the connecting seat Connection ear mount, connection axis pin or pin shaft hole, the connection ear mount that device people's end-effector interfaces are connected are arranged symmetrically in The upper and lower ends of connecting seat；Two connection axis pins or pin shaft hole keep coaxial, and are arranged symmetrically in the left and right sides of connecting seat； The centre position of the connecting seat is equipped with round fabrication hole, the weight for mitigating connecting seat.The arc bracket is used for Mounting base and connecting seat are connected, the upper and lower ends of the arc bracket are connected with connecting seat, mounting base respectively.In the peace The front and rear sides of seat are filled equipped with the guide rail for installing longitudinal binding clasp, and are additionally provided with long waist shaped technique between two guide rails Hole is equipped with laterally steering hole, for installing lateral reversible clamper in the left and right ends of mounting base.Longitudinal folder Tight device is mounted in mounting base, for carrying out longitudinal clamping to casting or core；Between longitudinal binding clasp and mounting base It is connected by lateral adjustment device, the lateral adjustment device is mounted on the both ends of longitudinal binding clasp, for adjusting longitudinal direction Distance between position and two neighboring longitudinal binding clasp of the binding clasp in mounting base；The lateral reversible clamper The left and right ends of mounting base are symmetrically mounted on, are used for horizontal clamping casting or core, and realize the overturning of casting or core.

Longitudinal binding clasp includes longitudinal clamping cylinder, gripping sleeve, sliding block, longitudinal collet and collet telescoping cylinder.Its In, the both ends of longitudinal clamping cylinder are fixedly mounted on by lateral adjustment device in mounting base, for being longitudinal collet Longitudinal movement provides power, and the both ends of longitudinal clamping cylinder are connected by hinge with the top of gripping sleeve； The top of the sliding block is equipped with mounting hole, and vertically-guided hole is additionally provided in the upper end of sliding block, is equipped in the lower end of sliding block longitudinal Pilot hole is equipped with guide rail sliding chute in the inside of sliding block；The sliding block is sleeved on the piston of longitudinal clamping cylinder by its mounting hole On bar, the sliding block is also sleeved on by its guide rail sliding chute on the guide rail of mounting base, for installing and supporting longitudinal gripping sleeve Pipe, is connected between the sliding block and mounting base by lateral adjustment device；The section of the gripping sleeve is in rectangular-ambulatory-plane, Longitudinally guiding axis is equipped on the inside of the upper end of the gripping sleeve, the longitudinally guiding axis is mounted on the longitudinally guiding of sliding block It is connected in hole and by linear bearing or sliding bearing between sliding block；The section of the middle and upper part of longitudinal collet point is in Rectangle, longitudinal collet sleeve is equipped with anti-slip rubber layer in gripping sleeve, in the lower end of longitudinal collet, in institute The bottom for the longitudinal collet stated is additionally provided with mousing-hook, can prevent casting or core from being slipped in operation process；The collet What telescoping cylinder was used for as longitudinal collet in gripping sleeve flexible provides power, the upper end of the collet telescoping cylinder and gripping sleeve Pipe is connected by hinge, and the lower end of collet telescoping cylinder is connected with longitudinal collet by hinge.

The lateral adjustment device includes rack, anti-skidding check plate, bracelet and extension spring.Wherein, the rack There are two, and is arranged in parallel in the top of mounting base rear and front end.Stop is equipped with below one end of the anti-skidding check plate Tooth is equipped with round hook hole and vertical guide post in the other end of anti-skidding check plate, and the round hook hole is stretched for installing Spring, the vertical guide post are placed in the vertically-guided hole of sliding block, and anti-skidding check plate is engaged with rack holding, vertical for limiting To transverse shifting of the binding clasp in mounting base；It is drawn by two between the anti-skidding check plate and the sliding block of longitudinal binding clasp Spring is stretched to be connected.The bracelet is located at the side of anti-skidding check plate, and is connected with anti-skidding check plate, for adjusting anti-skidding stop Movable plate.Two extension springs are arranged symmetrically on the lateral surface of sliding block, for anti-skidding check plate to be pressed on rack；Described The upper end of extension spring is connected with anti-skidding check plate, and the lower end of extension spring is connected with sliding block.

The lateral reversible clamper includes lateral clamping plate, horizontal clamping cylinder, laterally steering axis, overturning cylinder, tooth Wheel carrier, driving gear, driven gear, horizontal clamping disk and torsion shaft.Wherein, peace is fixed in the inner end of the horizontal clamping cylinder Mounted in the lower section of mounting base, the outboard end of horizontal clamping cylinder is connected with lateral clamping plate by hinge, for being lateral clamping plate Transverse movement provides power.The laterally steering axis has two, and is arranged in parallel in the top of mounting base, laterally steering axis Inner end is placed in the laterally steering hole of mounting base, and is connected by linear bearing or sliding bearing with laterally steering hole, horizontal It is connected to the outboard end of guiding axis with lateral clamping plate.The upper end of the overturning cylinder is connected with the upper end of lateral clamping plate by hinge It connects, the lower end for overturning cylinder is connected by tooth rest with driving gear, for providing driving power for the rotation of driving gear； The lower end for overturning cylinder is equipped with overturning rack, and the overturning rack is engaged with driving gear holding.The tooth rest suit On driving gear, and it is connected by hinge between driving gear, driving gear is pressed on for rack will to be overturn.Institute The driving gear stated is mounted on by bearing block on lateral clamping plate, and the driving gear keeps external toothing with driven gear, Rotation for the straight-line displacement for overturning cylinder to be converted to driving gear, and rotation is passed into driven gear.The overturning Axis is connected by bearing with lateral clamping plate, and the outboard end of torsion shaft is connected with driven gear by flat key, torsion shaft it is interior Side is connected with horizontal clamping disk, for the rotation of driven gear to be passed to horizontal clamping disk, and then drives and is clamped in two Casting or core between horizontal clamping disk carry out flip-flop movement；It is equipped on the working surface of the horizontal clamping disk anti-skidding Protrusion.

The tooth rest includes U-shaped frame, spring lead and tensioning spring.Wherein, the U-shaped frame is mounted on actively On gear, for installation and support spring guide post, it is connected by hinge between the U-shaped frame and driving gear；It is described Spring lead have two, and be arranged in parallel in the outboard end of U-shaped frame；The inner end of the spring lead and U-shaped frame It is connected by cylindrical pair, and the inside end of spring lead and the overturning rack of overturning cylinder are kept in contact, for that will overturn Rack is pressed on driving gear；The tensioning spring is sleeved in spring lead, for being carried for the tensioning of overturning rack For pretightning force, one end of the tensioning spring is connected with U-shaped frame, the other end of tensioning spring and the outside of spring lead End is connected.

In use, first according to the task choosing of casting manipulations using longitudinal binding clasp or lateral reversible clamper, and According to the shape adjustment lateral adjustment device for being crawled casting or core, between so that longitudinal binding clasp in mounting base is kept rational Away from；According to the height dimension for being crawled casting or core, driving collet telescoping cylinder adjusts position of longitudinal collet in gripping sleeve It sets.When only needing using longitudinal binding clasp to being crawled casting or core progress longitudinal direction clamping, first by the defeated of longitudinal clamping cylinder Outlet extends, and the fore-and-aft clearance of longitudinal collet is made to expand；Then, longitudinal binding clasp is sleeved on and is crawled on casting or core, it will The output end of longitudinal clamping cylinder shortens, and longitudinal collet is made to clamp casting or core, you can executes crawl and carries task.Crawl and After the completion of carrying task, longitudinal clamping cylinder is extended, you can unclamp longitudinal collet.When needs use lateral reversible clamper When, the release or clamping of lateral clamping plate and horizontal clamping disk can be realized by elongating or shortening horizontal clamping cylinder.When needing reality When being now crawled the rotary movement of casting or core, the output end of longitudinal clamping cylinder need to be made to extend, avoid being crawled casting or type Core generates collision in switching process with longitudinal collet；Then, shorten horizontal clamping cylinder, make horizontal clamping chuck clamping casting or type Core；Then, driving overturning cylinder elongates or shortens, and then realizes horizontal clamping disk together with being crawled casting or core around torsion shaft Axis by being overturn clockwise or counterclockwise.When executing job task, camera is by the image collected information It is transferred to foundry robot, is identified, judged and decision by the controller of foundry robot.

The utility model has the beneficial effects that compared with prior art, longitudinal binding clasp of the utility model is being installed Position on seat is adjustable, and each longitudinal direction binding clasp independently executes longitudinal clamping task, adapts to differently contoured casting or core automatically, It can be achieved adaptively to clamp effective attaching type of special-shaped casts or core；Lateral reversible clamper can not only be realized to casting The horizontal clamping of part or core can also be achieved the overturning of casting or core, realizes the different attitude regulations of casting or core or puts Set, the demand of the different works such as the coring of medium-and-large-sized casting, group core, lower core and carrying can be met, improve group core in Foundry Production, Efficiency, quality and the safety of lower core and transport operation reduce the labor intensity and production cost of operating personnel.Especially may be used Meet special-shaped sand core, the job requirements that the attaching type of casting effectively captures, can avoid damaging during a group core, lower core sand core or Casting improves stability, safety and the adaptability of operation.By the camera below mounting base, it is automatically performed The identification of casting, core or sandbox, the crawl of sand core component and casting are placed, and the casting manipulations task such as carrying, automation Degree is high, and work efficiency is high, labor intensity is low；The utility model also has compact-sized, safe, adaptable, operation The advantages that easy maintenance and a tractor serves several purposes, can overcome the deficiencies of existing technologies.

Description of the drawings

Fig. 1 is the general structure schematic diagram of the utility model；

Fig. 2 is the bottom substance schematic diagram of the utility model；

Fig. 3 is the structural schematic diagram of the mounting base of the utility model；

Fig. 4 is that longitudinal binding clasp of the outboard end of the utility model and lateral reversible binding clasp configure in mounting base Relation schematic diagram；

Fig. 5 is the structural schematic diagram of anti-skidding check plate；

Fig. 6 is the structural schematic diagram of the lateral reversible binding clasp of the utility model；

Fig. 7 is the structural schematic diagram of the sliding block of the utility model.

Specific implementation mode

In order to which the technical means, creative features, achievable purpose and effectiveness for making the utility model be realized are easy to understand, With reference to specific embodiment and diagram, the utility model is expanded on further.

Specific implementation mode one：

As shown in Figure 1, Figure 2, Figure 3 and Figure 4, a kind of foundry robot's reversible refers to asynchronous handgrip, including connection more Seat 1, arc bracket 2, mounting base 3, longitudinal binding clasp 4, lateral adjustment device 5 and lateral reversible clamper 6.Wherein, exist The connecting seat 1 is equipped with the connection ear mount 11 for being connected with foundry robot's end-effector interfaces, connection axis pin 12, the connection ear mount 11 is arranged symmetrically in the upper and lower ends of connecting seat 1；Two connection axis pins 12 keep coaxial, and symmetrical It is arranged in the left and right sides of connecting seat 1；It is equipped with round fabrication hole 13 in the centre position of the connecting seat 1, is connected for mitigating The weight of joint chair 1.The arc bracket 2 is for connecting mounting base 3 and connecting seat 1, the upper and lower ends of the arc bracket 2 It is connected respectively with connecting seat 1, mounting base 3.It is equipped in the front and rear sides of the mounting base 3 for installing longitudinal binding clasp 4 Guide rail 31, and long waist shaped fabrication hole 32 is additionally provided between two guide rails 31, it is equipped in the left and right ends of mounting base 3 and laterally leads To hole 33, for installing lateral reversible clamper 6.Longitudinal binding clasp 4 is mounted in mounting base 3, for casting Part or core carry out longitudinal clamping；It is connected by lateral adjustment device 5 between longitudinal binding clasp 4 and mounting base 3, institute The lateral adjustment device 5 stated is mounted on the both ends of longitudinal binding clasp 4, for adjusting position of the longitudinal binding clasp 4 in mounting base 3 And the distance between two neighboring longitudinal binding clasp 4；The lateral reversible clamper 6 is symmetrically mounted on mounting base 3 Left and right ends are used for horizontal clamping casting or core, and realize the overturning of casting or core.

As shown in Figure 1, Figure 2, shown in Fig. 4 and Fig. 7, longitudinal binding clasp 4 include longitudinal clamping cylinder 41, gripping sleeve 42, Sliding block 43, longitudinal collet 44 and collet telescoping cylinder 45.Wherein, the both ends of longitudinal clamping cylinder 41 pass through lateral adjustment device 5 are fixedly mounted in mounting base 3, for providing power, and longitudinal clamping cylinder 41 for the longitudinal movement of longitudinal collet 44 Both ends be connected by hinge with the top of gripping sleeve 42；It is equipped with mounting hole 431 at the top of the sliding block 43, The upper end of sliding block 43 is additionally provided with vertically-guided hole 432, longitudinally guiding hole 433 is equipped in the lower end of sliding block 43, in sliding block 43 Side is equipped with guide rail sliding chute 434；The sliding block 43 is sleeved on by its mounting hole 431 on the piston rod of longitudinal clamping cylinder 41, institute The sliding block 43 stated also is sleeved on by its guide rail sliding chute 434 on the guide rail 31 of mounting base 3, for installing and supporting longitudinal gripping sleeve Pipe 42 is connected between the sliding block 43 and mounting base 3 by lateral adjustment device 5；The section of the gripping sleeve 42 In rectangular-ambulatory-plane, longitudinally guiding axis 421, the longitudinally guiding axis 421 peace are equipped on the inside of the upper end of the gripping sleeve 42 It is connected by linear bearing or sliding bearing in the longitudinally guiding hole 433 of sliding block 43 and between sliding block 43；Described The rectangular in cross-section of the middle and upper part of longitudinal collet 44 point, longitudinal collet 44 are sleeved in gripping sleeve 42；The folder Head telescoping cylinder 45 be used for as longitudinal collet 44 in gripping sleeve 42 it is flexible power is provided, the collet telescoping cylinder 45 it is upper End is connected with gripping sleeve 42 by hinge, and the lower end of collet telescoping cylinder 45 is connected with longitudinal collet 44 by hinge.

As shown in Fig. 1, Fig. 4, Fig. 5 and Fig. 7, the lateral adjustment device 5 includes rack 51, anti-skidding check plate 52, hand Ring 53 and extension spring 54.Wherein, the rack 51 has two, and is arranged in parallel in the top of 3 rear and front end of mounting base. It is equipped with stop tooth 521 below one end of the anti-skidding check plate 52, round link up with is equipped in the other end of anti-skidding check plate 52 Hole 522 and vertical guide post 523, the round hook hole 522 for installing extension spring 54, set by the vertical guide post 523 In in the vertically-guided hole of sliding block 43, anti-skidding check plate 52 is engaged with the holding of rack 51, is being installed for limiting longitudinal binding clasp 4 Transverse shifting on seat 3；Pass through two extension springs 54 between the anti-skidding check plate 52 and the sliding block 43 of longitudinal binding clasp 4 It is connected.The bracelet 53 is located at the side of anti-skidding check plate 52, and is connected with anti-skidding check plate 52, for adjusting anti-skidding stop Movable plate 52.Two extension springs 54 are arranged symmetrically on the lateral surface of sliding block 43, for anti-skidding check plate 52 to be pressed on rack On 51；The upper end of the extension spring 54 is connected with anti-skidding check plate 52, and the lower end of extension spring 54 is connected with sliding block 43 It connects.

As shown in Figure 1, Figure 2, shown in Fig. 4 and Fig. 6, the lateral reversible clamper 6 includes lateral clamping plate 61, laterally folder Tight cylinder 62, overturns cylinder 64, tooth rest 65, driving gear 66, driven gear 67, horizontal clamping disk 68 and turns over laterally steering axis 63 Shaft 69.Wherein, the inner end of the horizontal clamping cylinder 62 is fixedly mounted on the lower section of mounting base 3, horizontal clamping cylinder 62 Outboard end is connected with lateral clamping plate 61 by hinge, for providing power for the transverse movement of lateral clamping plate 61.The cross There are two to guiding axis 63, and be arranged in parallel in the top of mounting base 3, the inner end of laterally steering axis 63 is placed in mounting base 3 In laterally steering hole 33, and it is connected by linear bearing or sliding bearing with laterally steering hole 33, outside laterally steering axis 63 Side is connected with lateral clamping plate 61.The upper end of the overturning cylinder 64 is connected with the upper end of lateral clamping plate 61 by hinge, is turned over The lower end for turning cylinder 64 is connected by tooth rest 65 with driving gear 66, dynamic for providing driving for the rotation of driving gear 66 Power；It is equipped with overturning rack 641 in the lower end of overturning cylinder 64, and the overturning rack 641 is engaged with the holding of driving gear 66.Institute The tooth rest 65 stated is sleeved on driving gear 66, and is connected by hinge between driving gear 66, for that will overturn tooth Item 641 is pressed on driving gear 66.The driving gear 66 is mounted on by bearing block on lateral clamping plate 61, and described Driving gear 66 keeps external toothing with driven gear 67, the rotation for the straight-line displacement for overturning cylinder 64 to be converted to driving gear 66 Turn, and rotation is passed into driven gear 67.The torsion shaft 69 is connected by bearing with lateral clamping plate 61, torsion shaft 69 Outboard end be connected by flat key with driven gear 67, the inner end of torsion shaft 69 is connected with horizontal clamping disk 68, for will The rotation of driven gear 67 passes to horizontal clamping disk 68, so drive the casting being clamped between two horizontal clamping disks 68 or Core carries out flip-flop movement；Anti-skid bulge 681 is equipped on the working surface of the horizontal clamping disk 68.

As shown in Figure 1, Figure 2, shown in Fig. 4 and Fig. 6, the tooth rest 65 includes U-shaped frame 651, spring lead 652 and tensioning Spring 653.Wherein, the U-shaped frame 651 is mounted on driving gear 66, for installing and support spring guide post 652, institute It is connected by hinge between the U-shaped frame 651 stated and driving gear 66；The spring lead 652 has two, and parallel cloth Set the outboard end in U-shaped frame 651；The inner end of the spring lead 652 is connected with U-shaped frame 651 by cylindrical pair, and The inside end of spring lead 652 and the overturning rack 641 of overturning cylinder 64 are kept in contact, and are compressed for that will overturn rack 641 On driving gear 66；The tensioning spring 653 is sleeved in spring lead 652, for the tensioning for overturning rack 641 Pretightning force is provided, one end of the tensioning spring 653 is connected with U-shaped frame 651, the other end and spring of tensioning spring 653 The outboard end of guide post 652 is connected.

Specific implementation mode two：

As shown in Figure 1, Figure 2 and Figure 4, it is equipped with anti-slip rubber layer 441 in the lower end of longitudinal collet 44, described The bottom of longitudinal collet 44 is additionally provided with mousing-hook 442, and the working surface of the anti-slip rubber layer 441 is corrugated or anti- The working surface of sliding rubber layer 441 is equipped with cross-like non-slip groove.So design can prevent casting or core being clamped or carrying It is slipped in operation process in the process；Can to avoid longitudinal collet 44 in longitudinal binding clasp 4 at work with clamped casting or type Rigid contact between core prevents from causing to damage to the clamped position of casting or core in clamping process, can also be effectively Increase the frictional force between longitudinal collet 44 and clamped casting or core.Other compositions and connection relation and specific implementation mode One is identical.

Specific implementation mode three：

As shown in Figure 1, Figure 2 and Figure 4, longitudinal clamping cylinder 41, collet telescoping cylinder 45, horizontal clamping cylinder 62 and overturning Cylinder 64 is using double-acting cylinder or double acting hydraulic cylinder or electric pushrod.It is equipped with electromagnetic switch at the top of the mounting base 3 Valve and safety valve.So design can facilitate longitudinal collet 44 to be clamped with release and in vertical direction in the front-back direction Elongation and shortening operate, and facilitate the clamping of lateral clamping plate 61 in left and right directions and unclamp operation, facilitate the clamping of horizontal clamping disk 68 Casting or core carry out overturning clockwise or the operation of flip-flop movement counterclockwise.Other compositions and connection relation and specific embodiment party Formula one or specific implementation mode two are identical.

Specific implementation mode four：

As shown in Figure 1, Figure 2 and Figure 4, the quantity of longitudinal binding clasp 4 be 4-10, and longitudinally in each binding clasp 4 with Pass through two independent connection of lateral adjustment device 5 and control between mounting base 3.So design, the utility model is in crawl casting Or when core, longitudinally in each two of binding clasp 4 longitudinal collets 44 according to the actual profile size of clamped casting or core into Row clamps, it can be achieved that the effective self-adapting grasping of the attaching type of special-shaped casts or core, makes the clamping longitudinally in each in mounting base 3 Device 4 can realize holding action and load sharing, also improve the load capacity of the utility model.Other compositions and connection relation It is identical as specific implementation mode one or specific implementation mode two or specific implementation mode three.

Specific implementation mode five：

As shown in Fig. 2, it is additionally provided with camera 7 in the bottom of mounting base 3, and the camera 7 passes through two-freedom cloud Platform 8 is connected with mounting base 3.So design is in order to which before executing job task, operation field is obtained by camera 7 Image carries out effective identification to the casting or core and surrounding enviroment that are crawled and judges, convenient for foundry robot to operation Task carries out working path planning and operation pose refinement, adjustment.Further expand the use function of the utility model.It is other Composition and connection relation are identical as specific implementation mode one, two, three or four.

In use, longitudinal binding clasp 4 or lateral reversible clamper 6 are first used according to the task choosing of casting manipulations, And according to the shape adjustment lateral adjustment device 5 for being crawled casting or core, longitudinal binding clasp 4 in mounting base 3 is made to keep closing The spacing of reason；Lift bracelet 53 manually, anti-skidding check plate 52 is made to disengage rack 51 and moved left and right along rack 51, you can is adjusted Position of the longitudinal binding clasp 4 in mounting base 3.According to the height dimension for being crawled casting or core, driving collet telescoping cylinder 45 Adjust position of longitudinal collet 44 in gripping sleeve 42.When only needing using longitudinal binding clasp 4 to being crawled casting or core When carrying out longitudinal clamp, first the output end of longitudinal clamping cylinder 41 is extended, the fore-and-aft clearance of longitudinal collet 44 is made to expand；Then, Longitudinal binding clasp 4 is sleeved on and is crawled on casting or core, the output end of longitudinal clamping cylinder 41 is shortened, longitudinal collet 44 is made to press from both sides Tight casting or core, you can execute crawl and carry task.After the completion of crawl and carrying task, longitudinal clamping cylinder 41 is extended, Longitudinal collet 44 can be unclamped.When needing using lateral reversible clamper 6, by elongating or shortening horizontal clamping cylinder 62 The release or clamping of lateral clamping plate 61 and horizontal clamping disk 68 can be realized.When the overturning for needing realization to be crawled casting or core When action, the output end of longitudinal clamping cylinder 41 need to be made to extend, avoid being crawled casting or core in switching process with longitudinal folder First 44 generate collision；Then, shorten horizontal clamping cylinder 62, horizontal clamping disk 68 is made to clamp casting or core；Then, driving overturning Cylinder 64 elongates or shortens, so realize horizontal clamping disk 68 together be crawled casting or core around torsion shaft 69 axis by suitable Hour hands are counterclockwise overturn.When executing job task, the image collected information is transferred to casting by camera 7 Robot is identified by the controller of foundry robot, is judged and decision.

In the description of the present invention, it should be understood that term "upper", "lower", " vertical ", "top", "bottom", The orientation or positional relationship of the instructions such as "inner", "outside", "front", "rear", "left", "right" is orientation based on ... shown in the drawings or position Relationship is merely for convenience of describing the present invention and simplifying the description, and does not indicate or imply the indicated device or element must There must be specific orientation, with specific azimuth configuration and operation, therefore should not be understood as limiting the present invention.

The basic principles and main features and advantage of the utility model have been shown and described above.The technical staff of the industry It should be appreciated that the present utility model is not limited to the above embodiments, the above embodiments and description only describe this The principle of utility model, on the premise of not departing from the spirit and scope of the utility model, the utility model also has various change And improvement, these various changes and improvements fall within the scope of the claimed invention.The utility model requires protection scope It is defined by the appending claims and its equivalent thereof.

Claims (1)

1. a kind of foundry robot's reversible refers to asynchronous handgrip, including connecting seat, arc bracket, mounting base, longitudinal folder more Tight device, lateral adjustment device and lateral reversible clamper, it is characterised in that：It is equipped in the upper and lower ends of the connecting seat The connection ear mount being arranged symmetrically is equipped with connection axis pin or axis pin coaxial and be arranged symmetrically in the left and right sides of the connecting seat Hole is equipped with round fabrication hole in the centre position of the connecting seat；The upper end of the arc bracket is connected with connecting seat, institute The lower end for the arc bracket stated is connected with mounting base；It is equipped with guide rail in the front and rear sides of the mounting base, and in two guide rails Between be additionally provided with long waist shaped fabrication hole, be equipped with laterally steering hole in the left and right ends of mounting base；Longitudinal binding clasp peace In mounting base, and it is connected by lateral adjustment device between mounting base, the lateral adjustment device is mounted on vertical To the both ends of binding clasp；The lateral reversible clamper is symmetrically mounted on the left and right ends of mounting base；

Longitudinal binding clasp includes longitudinal clamping cylinder, gripping sleeve, sliding block, longitudinal collet and collet telescoping cylinder, described The both ends of longitudinal clamping cylinder are fixedly mounted on by lateral adjustment device in mounting base, and pass through hinge with the top of gripping sleeve Chain is connected；It is equipped with mounting hole at the top of the sliding block, vertically-guided hole is additionally provided in the upper end of sliding block, under sliding block End is equipped with longitudinally guiding hole, and guide rail sliding chute is equipped in the inside of sliding block；The sliding block is sleeved on longitudinal folder by its mounting hole On the piston rod of tight cylinder, the sliding block is also sleeved on by its guide rail sliding chute on the guide rail of mounting base, the sliding block and peace It is connected by lateral adjustment device between dress seat；The section of the gripping sleeve is in rectangular-ambulatory-plane, in the gripping sleeve Upper end on the inside of be equipped with longitudinally guiding axis, the longitudinally guiding axis be mounted on sliding block longitudinally guiding hole in and between sliding block It is connected by linear bearing or sliding bearing；The rectangular in cross-section of the middle and upper part of longitudinal collet point, the longitudinal direction Collet sleeve is equipped with anti-slip rubber layer in gripping sleeve, in the lower end of longitudinal collet, in longitudinal collet Bottom is additionally provided with mousing-hook；The upper end of the collet telescoping cylinder is connected with gripping sleeve by hinge, collet telescoping cylinder Lower end be connected by hinge with longitudinal collet；

The lateral adjustment device includes rack, anti-skidding check plate, bracelet and extension spring, and the rack has two, and It is arranged in parallel in the top of mounting base rear and front end；Stop tooth is equipped with below one end of the anti-skidding check plate, anti-skidding The other end of check plate is equipped with round hook hole and vertical guide post, the vertical guide post are placed in the vertically-guided hole of sliding block, Anti-skidding check plate is engaged with rack holding, passes through two stretching bullets between the anti-skidding check plate and the sliding block of longitudinal binding clasp Spring is connected；The bracelet is located at the side of anti-skidding check plate, and is connected with anti-skidding check plate；Two symmetrical cloth of extension spring It sets on the lateral surface of sliding block, the upper end of the extension spring is connected with anti-skidding check plate, the lower end of extension spring and cunning Block is connected；

The lateral reversible clamper include lateral clamping plate, horizontal clamping cylinder, laterally steering axis, overturning cylinder, tooth rest, The inner end of driving gear, driven gear, horizontal clamping disk and torsion shaft, the horizontal clamping cylinder is fixedly mounted on mounting base Lower section, the outboard end of horizontal clamping cylinder is connected with lateral clamping plate by hinge；The laterally steering axis has two, and flat Row is arranged in the top of mounting base, and the inner end of laterally steering axis is placed in the laterally steering hole of mounting base, and and laterally steering Hole is connected by linear bearing or sliding bearing, and the outboard end of laterally steering axis is connected with lateral clamping plate；The overturning cylinder Upper end be connected by hinge with the upper end of lateral clamping plate, the lower end for overturning cylinder is connected by tooth rest with driving gear, It is equipped with overturning rack in the lower end of overturning cylinder, and the overturning rack is engaged with driving gear holding；The tooth rest set On driving gear, and it is connected by hinge between driving gear；The driving gear is mounted on by bearing block On lateral clamping plate, and the driving gear keeps external toothing with driven gear；The torsion shaft passes through bearing and laterally folder Plate is connected, and the outboard end of torsion shaft is connected with driven gear by flat key, and the inner end of torsion shaft and horizontal clamping disk are solid Even；Anti-skid bulge is equipped on the working surface of the horizontal clamping disk；

Longitudinal clamping cylinder, collet telescoping cylinder, horizontal clamping cylinder and the overturning cylinder uses double-acting cylinder or double-action hydraulic Cylinder or electric pushrod；

It is equipped with solenoid directional control valve and safety valve at the top of the mounting base；

The tooth rest includes U-shaped frame, spring lead and tensioning spring, and the U-shaped frame is mounted on driving gear, and It is connected by hinge between driving gear；The spring lead has two, and is arranged in parallel in the outside of U-shaped frame End；The inner end of the spring lead is connected with U-shaped frame by cylindrical pair, and the inside end of spring lead with turn over The overturning rack for turning cylinder is kept in contact；The tensioning spring is sleeved in spring lead, one end of tensioning spring and U-shaped frame It is connected, the other end of tensioning spring is connected with the outboard end of spring lead；

The quantity of longitudinal binding clasp is 4-10, and passes through two lateral adjustments between binding clasp and mounting base longitudinally in each Device is independently connected and control；

The anti-slip rubber layer working surface is corrugated or is equipped with cross-like grip in the working surface of anti-slip rubber layer Slot；

Two cameras are additionally provided in the bottom of the mounting base, and the camera passes through two-degree-of-freedom cradle head and installation Seat is connected.