CN212329626U

CN212329626U - Stripping and mould assembling manipulator structure

Info

Publication number: CN212329626U
Application number: CN202021692168.0U
Authority: CN
Inventors: 朱以松
Original assignee: Wuxi Xinan Foundry Machinery Co ltd
Current assignee: Wuxi Xinan Foundry Machinery Co ltd
Priority date: 2020-08-13
Filing date: 2020-08-13
Publication date: 2021-01-12
Anticipated expiration: 2030-08-13

Abstract

The utility model belongs to the technical field of the casting equipment, a drawing mould box closing manipulator structure is related to, including braced frame, the locomotive is portable to be set up on the track at braced frame top, the lower part installation lift guide of locomotive, the upper portion installation elevating gear of locomotive, and elevating gear's chain lower extreme suspends suspension type centre gripping arm in midair, clutch is paid to the both sides of centre gripping arm installation direction respectively, and the centre gripping arm is along lift guide elevating movement, the unsteady claw subassembly that holds in the palm of lower part installation of centre gripping arm under the elevating gear effect. The manipulator structure not only has X, Y axis horizontal direction position floating, but also can make parting surface close, the separation and combination movement is stable, and high-efficiency and high-quality mold stripping and combination is realized.

Description

Stripping and mould assembling manipulator structure

Technical Field

The utility model belongs to the technical field of the casting, the drawing and the type of closing that are applicable to the casting mould relate to a drawing and mould assembling manipulator structure.

Background

At present, the stripping and box-closing manipulators adopted on the molding line in China all need higher positioning requirements, and have higher manufacturing precision requirements on the sand box and the molding line, thereby invisibly increasing the production cost and reducing the production efficiency. In addition, in the mold opening and closing, the parting surface is not closely contacted with and separated from each other, and the box pin is bitten. For the above reasons, many manufacturers adopt various wrong applications such as improving the positioning accuracy, adding a lower floating platform, and the like, and have not achieved good effects.

Disclosure of Invention

The utility model aims at the above problem, a drawing and mould assembling manipulator structure is provided, and this manipulator structure not only has X, Y axle horizontal direction's position to float and enable the die joint subsides surely, and from, close the motion steady, realize high-efficient, high-quality drawing and mould assembling.

According to the technical scheme of the utility model: the utility model provides a drawing and mould assembling manipulator structure which characterized in that: the movable lifting device comprises a supporting frame, a movable vehicle is movably arranged on a track at the top of the supporting frame, a lifting guide rail is arranged at the lower part of the movable vehicle, a lifting device is arranged at the upper part of the movable vehicle, a synchronizing mechanism is suspended at the lower end of a chain of the lifting device, two groups of clamping arms are movably arranged on the synchronizing mechanism, a guiding pair clutch device is respectively arranged at two sides of each clamping arm, the synchronizing mechanism moves up and down along the lifting guide rail under the action of the lifting device, the two groups of clamping arms can be synchronously and relatively close to or synchronously far away under the action of the synchronizing mechanism, and a floating supporting claw.

As a further improvement, the lifting device comprises a bearing frame, two sets of driving oil cylinders and each set are mounted on the bearing frame, a set of double-row chain is connected to the end part of the piston rod of the driving oil cylinder respectively, and the double-row chain is connected with the beam of the synchronizing mechanism after being reversed through the reversing assembly.

As a further improvement of the utility model, a piston rod riding wheel is fixed on the bottom surface of the end part of the piston rod of the driving oil cylinder, and the piston rod riding wheel is arranged on a riding wheel roller way on the top surface of the bearing frame in a rolling way;

the top of the bearing frame is further rotatably provided with a synchronizing shaft, double-row chains are respectively meshed with gears mounted on the synchronizing shaft and are shifted in direction and extend towards one side of the driving oil cylinder, each group of double-row chains are respectively connected to the top of a cross beam of the synchronizing mechanism after being shifted in direction through corresponding direction-changing chain wheels on the bearing frame, and the bottom surfaces of the double-row chains are respectively provided with chain supporting wheels.

As a further improvement of the utility model, the synchronizing mechanism comprises a beam, two ends of the beam along the length direction are respectively provided with a synchronizing sprocket through a synchronizing sprocket shaft, chains are arranged on the two synchronizing sprockets in a tensioning manner, the chains are provided with tensioning parts, and the tensioning parts are simultaneously connected with the two clamping arms; two groups of clamping arms are respectively movably arranged on the cross beam, and the two groups of clamping arms are connected through an oil cylinder.

As the utility model discloses a further improvement, the top installation hydro-cylinder base of one of them centre gripping arm, the top installation hydro-cylinder ear seat of another centre gripping arm, the tailpiece of the piston rod of hydro-cylinder is connected with the hydro-cylinder ear seat, and the other end of hydro-cylinder is connected with the hydro-cylinder base.

As a further improvement, the tensioning part includes two chain connecting rods, every chain connecting rod one end is connected with the corresponding link of chain, and the other end is connected through adjusting nut with adjusting the seat, adjusts the seat and is connected with the corresponding link of chain.

As a further improvement of the utility model, the guiding pair clutch device comprises a V-shaped guide wheel, a guide wheel seat, a translation guide seat, a connecting rod assembly and a control oil cylinder;

the V-shaped guide wheel is mounted on a guide wheel seat, the guide wheel seat is embedded in a guide groove of the translation guide seat, the connecting rod assembly comprises a swinging rod and a connecting rod, a tail lug seat of the control oil cylinder is mounted on a mounting guide frame of the clamping arm, a piston rod lug seat of the control oil cylinder is rotatably connected with the swinging rod, the other end of the swinging rod is hinged with one end of the connecting rod, and the other end of the connecting rod is connected with the guide wheel seat; the V-shaped guide wheel is attached to or separated from the lifting guide rail under the action of the connecting rod assembly.

As a further improvement of the utility model, the floating supporting claw component is connected with the clamping arm through the turning arm, and the floating supporting claw component can be turned over under the driving of the turning arm;

the floating supporting claw assembly comprises supporting hands, hinged shafts, hinged seats and oil cylinders, the oil cylinders are installed at two ends of the overturning arm respectively in the vertical direction, the piston rod ends of the oil cylinders are hinged to the supporting hands respectively, the other ends of the supporting hands penetrate through the hinged shafts, the hinged shafts are fixedly connected with the hinged seats fixed on the overturning arm, and sand box lifting lug hole bolts are arranged at two ends of the overturning arm respectively.

The technical effects of the utility model reside in that: the utility model discloses the product is rational in infrastructure, ingenious, and in practice, to a great extent has reduced batch sand box and has made the required precision, and station location on the production line requires, can realize quick, high-quality drawing of patterns and close the type.

Drawings

Fig. 1 is a schematic structural diagram of the present invention.

Fig. 2 is a left side view of fig. 1.

Fig. 3 is a front view of the lifting device.

Fig. 4 is a left side view of fig. 3.

Fig. 5 is a top view of fig. 3.

Fig. 6 is a front view of the guiding pair clutch device.

Fig. 7 is a sectional view taken along line a-a in fig. 6.

Fig. 8 is a front view of the floating pawl assembly.

Fig. 9 is a top view of fig. 8.

Fig. 10 is a left side view of fig. 8.

Fig. 11 is a front view of the synchronizing mechanism.

Fig. 12 is a top view of fig. 11.

Detailed Description

The following description will further describe embodiments of the present invention with reference to the accompanying drawings.

In the drawings 1-12, the device comprises a moving vehicle 1, a lifting guide rail 2, a lifting device 3, a clamping arm 4, a turning arm 5, a sand box lifting lug hole bolt 6, a floating supporting claw assembly 7, a guide pair clutch device 8, a bearing frame 9, a driving oil cylinder 10, a synchronizing shaft 11, a redirection chain wheel 12, a double-row chain wheel 13, a piston rod supporting wheel 14, a chain supporting wheel 15, a V-shaped guide wheel 16, a guide wheel seat 17, a translation guide seat 18, a connecting rod assembly 19, a swinging rod 19-1, a connecting rod 19-2, a control oil cylinder 20, an oil cylinder 21, a supporting handle 22, a hinged shaft 23, a hinged seat 24, a synchronizing mechanism 25 and the like.

As shown in fig. 1-3, the utility model relates to a drawing and mould assembling manipulator structure, including braced frame, the portable setting in the track at braced frame top of locomotive 1, lower part installation lift guide 2 of locomotive 1, upper portion installation elevating gear 3 of locomotive 1, elevating gear 3's chain lower extreme suspends in midair lazy tongs 25, and the portable two sets of centre gripping arms 4 that set up on lazy tongs 25, clutch 8 is paid to the direction respectively installed to the both sides of centre gripping arm 4, and lazy tongs 25 is along lift guide 2 elevating movement under elevating gear 3 effect, and two sets of centre gripping arms 4 can be close to relatively in step or keep away from in step under the effect of lazy tongs 25, and the lower part installation of centre gripping arm 4 floats and holds in the palm claw subassembly 7.

As shown in fig. 11 and 12, it can be understood that, in order to realize the clamping and unclamping of the sand box when the clamping arms 4 on both sides can work, the lower end of the chain of the lifting device 3 is connected with a synchronizing mechanism 25, the synchronizing mechanism 25 comprises a cross beam, two ends of the cross beam in the length direction are respectively provided with a synchronizing chain wheel 25-4 through a synchronizing chain wheel shaft 25-5, the two synchronizing chain wheels 25-4 are respectively provided with a chain 25-3 in a tensioning way, the chain 25-3 is provided with a tensioning part, and the tensioning part is simultaneously connected with the two clamping arms 4; the two groups of clamping arms 4 are respectively movably arranged on the cross beam, and the two groups of clamping arms 4 are connected through oil cylinders 25-6.

An oil cylinder base 25-7 is installed at the top of one of the clamping arms 4, an oil cylinder lug seat 25-8 is installed at the top of the other clamping arm, a piston rod end of the oil cylinder 25-6 is connected with the oil cylinder lug seat 25-8, and the other end of the oil cylinder 25-6 is connected with the oil cylinder base 25-7.

The tensioning part comprises two chain connecting rods 25-2, one end of each chain connecting rod 25-2 is connected with the corresponding connecting end of the chain 25-3, the other end of each chain connecting rod is connected with the adjusting seat through an adjusting nut, and the adjusting seat is connected with the corresponding connecting end of the chain 25-3. After long-term operation, the chain 25-3 loosens, and the chain 25-3 can be tensioned again through the movement adjustment of the chain connecting rod 25-2 of the tensioning part and the adjusting seat.

As shown in fig. 3 to 5, the lifting device 3 includes a bearing frame 9, two sets of driving cylinders 10 are installed on the bearing frame 9, the end of a piston rod of each set of driving cylinders 10 is respectively connected with a set of double-row chains 13, and the double-row chains 13 are connected with a cross beam at the top of the clamping arm 4 after being reversed by the reversing assembly.

The bottom surface of the end part of the piston rod of the driving oil cylinder 10 is fixed with a piston rod riding wheel 14, and the piston rod riding wheel 14 is arranged on a riding wheel roller way on the top surface of the bearing frame 9 in a rolling way. Because the lifting stroke is long, the piston rod riding wheel 14 can prevent the problems of downward deflection of the piston rod and the chain, vibration during running and the like. The piston rod riding wheel 14 is specifically arranged to be of a 90-degree groove-shaped structure, and a triangular guide rail below the piston rod riding wheel 14 rolls and is used for supporting the weight of the overhanging piston rod and preventing torsion.

The top of the bearing frame 9 is further rotatably provided with a synchronizing shaft 11, double-row chains 13 are respectively meshed with gears mounted on the synchronizing shaft 11 and are shifted in direction and extend towards one side of the driving oil cylinder 10, each group of double-row chains 13 are respectively connected to the top of a cross beam of the clamping arm 4 after being shifted by corresponding shifting sprockets 12 on the bearing frame 9, and the bottom surfaces of the double-row chains 13 are respectively provided with chain supporting wheels 15.

As can be seen from the above description of the structure of the lifting device 3, the lifting device 3 uses two sets of driving cylinders 10, a synchronizing shaft 11, four chains and other auxiliary components to implement the lifting operation.

As shown in fig. 6 and 7, the guide pair clutch device 8 includes a V-shaped guide wheel 16, a guide wheel seat 17, a translation guide seat 18, a connecting rod assembly 19, and a control cylinder 20. The rolling surface of the V-shaped guide wheel 16 is a 90-degree V-shaped groove, and a bearing is arranged in the V-shaped groove.

The V-shaped guide wheel 16 is arranged on a guide wheel seat 17, the guide wheel seat 17 is embedded in a guide groove of a translation guide seat 18 and can only translate along the transverse direction of the clamping arm 4, and the horizontal coordinate is longitudinally limited by the translation guide seat 18 to be unchanged. The connecting rod assembly 19 comprises a swinging rod 19-1 and a connecting rod 19-2, a tail lug seat of the control oil cylinder 20 is arranged on an installation guide frame of the clamping arm 4, a piston rod lug seat of the control oil cylinder 20 is rotatably connected with the swinging rod 19-1, the other end of the swinging rod 19-1 is hinged with one end of the connecting rod 19-2, and the other end of the connecting rod 19-2 is connected with a guide wheel seat 17; the V-shaped guide wheel 16 is attached to or detached from the lifting guide rail 2 under the action of the connecting rod assembly 19.

When the device works, the V-shaped guide wheel 16 is controlled by the connecting rod and can synchronously contract and extend outwards, and the V-shaped guide wheel 16 leaves the clamping arm 4 during retraction and can freely float within a certain horizontal range; when the clamping arm extends out, the clamping arm 4 is tightly attached to the lifting guide rail 2, and is positioned horizontally stably without shaking.

When the clamping arm normally runs, the V-shaped guide wheel 16 is matched with a 90-degree triangular guide rail surface, and the clamping arm stably rises and falls without shaking. The short-time inner oil cylinder for stripping and mould assembling controls the guide wheel to retract and separate from the guide rail, and the clamping arm 4 realizes arbitrary floating of the X, Y shaft in two directions.

As shown in fig. 8-10, the floating supporting claw assembly 7 is connected with the clamping arm 4 through the turning arm 5, the floating supporting claw assembly 7 can be turned under the driving of the turning arm 5, and in practice, the turning angle is 180 degrees.

The floating supporting claw assembly 7 comprises supporting arms 22, hinged shafts 23, hinged seats 24 and oil cylinders 21, the two ends of the overturning arm 5 are respectively provided with the oil cylinders 21 in the vertical direction, the piston rod end of each oil cylinder 21 is hinged to the supporting arm 22, the other end of each supporting arm 22 penetrates through the hinged shaft 23, the hinged shafts 23 are fixedly connected with the hinged seats 24 fixed on the overturning arm 5, and the two ends of the overturning arm 5 are respectively provided with sand box lifting lug hole bolts 6. When the device works, the sand box lifting lug hole bolt 6 is inserted into a box lug hole to bear torsion and gravity, and during stripping, the supporting hand 22 of the floating structure supports the bottom of the sand box lug to keep the horizontal position of a parting surface unchanged and stably strip the mould.

The hand support 22 is a prying lever, the front end of the hand support is similar to a palm, the middle of the hand support is provided with a hinge shaft hole, and the rear part of the hand support is provided with a pin shaft hole connected with the oil cylinder 21. The holder 22 is mounted on the hinge shaft 23. The hinge shaft 23 passes through a hinge seat 24 fixed to the invert arm 5. The rear end of the supporting arm 22 is provided with a tail pin connected with the oil cylinder 21. When stripping, four round pins are inserted into the lug holes, and the supporting hand 22 extends to the lower part of the lifting lug of the sand box. The diameter of the round pin is designed to be 10mm smaller than the diameter of the lifting lug hole, and the round pin does not contact the lifting lug. The oil cylinder 21 enters low-pressure oil to push the supporting hands 22, the four supporting hands are respectively tilted to contact the lower parts of lifting lugs of the sand box, then the oil way is closed to support the sand box, the height error of the box lugs is avoided, and the mould is lifted stably and the horizontal shape of the parting surface is kept too flat

The utility model discloses can grab the knockout case and go up and down, translation, upset, accomplish the drawing, close a series of actions. The robot arm includes the following new technologies. 1 double cylinders pull a shaft four chain type suspension mechanical arm. 2 four groups of clutch type V-shaped guide auxiliary steel and clutch devices are controlled by connecting rods. And 3, four oil cylinders are respectively driven to form a contact type floating support hand. The application of the new technology enables the manipulator to be subjected to mold stripping or mold closing in a free state.

Claims

1. The utility model provides a drawing and mould assembling manipulator structure which characterized in that: including braced frame, locomotive (1) is portable to be set up on the track at braced frame top, and lower part installation lift guide (2) of locomotive (1), upper portion installation elevating gear (3) of locomotive (1), and lazytongs (25) are suspended in midair to the chain lower extreme of elevating gear (3), and lazytongs (25) are gone up portable two sets of centre gripping arms (4) that set up, clutch (8) are paid in the direction of installation respectively to the both sides of centre gripping arm (4), and lazytongs (25) are followed lift guide (2) elevating movement under elevating gear (3) effect, and two sets of centre gripping arms (4) can be close to relatively in step or keep away from in step under lazytongs (25) effect, and the lower part installation of centre gripping arm (4) floats and holds in the palm claw subassembly (7.

2. The lift-molding box-closing robot structure of claim 1, wherein: the lifting device (3) comprises a bearing frame (9), two groups of driving oil cylinders (10) are mounted on the bearing frame (9), each group of driving oil cylinders (10) is provided with a group of double-row chains (13) which are respectively connected to the end parts of piston rods of the driving oil cylinders (10), and the double-row chains (13) are connected with a cross beam of the synchronizing mechanism (25) after being reversed through a reversing assembly.

3. The drawing and box-closing manipulator structure according to claim 2, wherein: a piston rod riding wheel (14) is fixed on the bottom surface of the end part of a piston rod of the driving oil cylinder (10), and the piston rod riding wheel (14) is arranged on a riding wheel roller way on the top surface of the bearing frame (9) in a rolling manner;

the top of the bearing frame (9) is further rotated to be provided with a synchronizing shaft (11), the double-row chains (13) are respectively meshed with gears mounted on the synchronizing shaft (11) and are shifted backwards to extend towards one side of the driving oil cylinder (10), each group of double-row chains (13) are respectively connected to the top of a cross beam of the synchronizing mechanism (25) after being shifted by corresponding shifting sprockets (12) on the bearing frame (9), and each group of double-row chains (13) is further provided with chain supporting wheels (15) on the bottom surface.

4. The lift-molding box-closing robot structure of claim 1, wherein: the synchronous mechanism (25) comprises a cross beam, two ends of the cross beam in the length direction are respectively provided with a synchronous chain wheel (25-4) through a synchronous chain wheel shaft (25-5), chains (25-3) are arranged on the two synchronous chain wheels (25-4) in a tensioning mode, the chains (25-3) are provided with tensioning parts, and the tensioning parts are connected with the two clamping arms (4) at the same time; the two groups of clamping arms (4) are respectively movably arranged on the cross beam, and the two groups of clamping arms (4) are connected through oil cylinders (25-6).

5. The drawing and box-closing manipulator structure according to claim 4, wherein: an oil cylinder base (25-7) is installed at the top of one of the clamping arms (4), an oil cylinder lug seat (25-8) is installed at the top of the other clamping arm, a piston rod end of the oil cylinder (25-6) is connected with the oil cylinder lug seat (25-8), and the other end of the oil cylinder (25-6) is connected with the oil cylinder base (25-7).

6. The drawing and box-closing manipulator structure according to claim 4, wherein: the tensioning part comprises two chain connecting rods (25-2), one end of each chain connecting rod (25-2) is connected with the corresponding connecting end of the chain (25-3), the other end of each chain connecting rod is connected with the adjusting seat through an adjusting nut, and the adjusting seat is connected with the corresponding connecting end of the chain (25-3).

7. The lift-molding box-closing robot structure of claim 1, wherein: the guide pair clutch device (8) comprises a V-shaped guide wheel (16), a guide wheel seat (17), a translation guide seat (18), a connecting rod assembly (19) and a control oil cylinder (20);

the V-shaped guide wheel (16) is installed on a guide wheel seat (17), the guide wheel seat (17) is embedded in a guide groove of a translation guide seat (18), the connecting rod assembly (19) comprises a swinging rod (19-1) and a connecting rod (19-2), a tail lug seat of the control oil cylinder (20) is installed on an installation guide frame of the clamping arm (4), a piston rod lug seat of the control oil cylinder (20) is rotatably connected with the swinging rod (19-1), the other end of the swinging rod (19-1) is hinged and connected with one end of the connecting rod (19-2), and the other end of the connecting rod (19-2) is connected with the guide wheel seat (17); the V-shaped guide wheel (16) is attached to or separated from the lifting guide rail (2) under the action of the connecting rod assembly (19).

8. The lift-molding box-closing robot structure of claim 1, wherein: the floating supporting claw assembly (7) is connected with the clamping arm (4) through the overturning arm (5), and the floating supporting claw assembly (7) can be overturned under the driving of the overturning arm (5);

the floating supporting claw assembly (7) comprises supporting arms (22), hinged shafts (23), hinged seats (24) and oil cylinders (21), the oil cylinders (21) are installed at two ends of the overturning arm (5) in the vertical direction respectively, the piston rod ends of all the oil cylinders (21) are hinged to the supporting arms (22) respectively, the other ends of the supporting arms (22) are provided with the hinged shafts (23) in a penetrating mode, the hinged shafts (23) are fixedly connected with the hinged seats (24) fixed on the overturning arms (5), and sand box lifting lug hole bolts (6) are arranged at two ends of the overturning arms (5) respectively.