CN213010688U - Sand core transfer system - Google Patents
Sand core transfer system Download PDFInfo
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- CN213010688U CN213010688U CN202021815660.2U CN202021815660U CN213010688U CN 213010688 U CN213010688 U CN 213010688U CN 202021815660 U CN202021815660 U CN 202021815660U CN 213010688 U CN213010688 U CN 213010688U
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Abstract
The utility model relates to a psammitolite field of transporting particularly, relates to a psammitolite transfer system. The sand core transfer system comprises a first robot clamp, a second robot clamp and a controller; the first robot clamp and the second robot clamp can grab and loosen the sand core; the first robot clamp and the second robot clamp are electrically connected with the controller, the controller is used for controlling the working end of the first robot clamp to reciprocate between the equipment moving trolley and the butt joint area, and the controller is also used for controlling the working end of the second robot clamp to reciprocate between the butt joint area and a bracket on the subsequent conveying track. The sand core transfer system provided by the utility model not only saves manpower, but also has higher efficiency; and the occupied space is small, and the cost is low.
Description
Technical Field
The utility model relates to a psammitolite field of transporting particularly, relates to a psammitolite transfer system.
Background
In the existing sand core transfer system, in the process of transferring a sand core from a first transport track to a second transport track, a robot is required to transfer the sand core on the first transport track to a transfer workbench, and then manual intervention is performed to transfer the sand core on the transfer workbench to the second transport track by using a clamp, so that on one hand, more process flows are required, the manual participation degree is high, and the efficiency is low; on the other hand, the arrangement of the transfer workbench not only enables the whole sand core transfer system to occupy larger space, but also has higher cost.
In summary, how to overcome the above-mentioned defects of the existing sand core transportation system is a technical problem to be solved urgently by those skilled in the art.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a psammitolite transfer system to alleviate the technical problem that the psammitolite transfer system among the prior art exists inefficiency, extravagant manpower and cost are higher.
The utility model provides a psammitolite transfer system, including first robot anchor clamps, second robot anchor clamps and controller.
The first robot clamp and the second robot clamp can grab and loosen the sand core; the first robot clamp and the second robot clamp are electrically connected with the controller, the controller is used for controlling the working end of the first robot clamp to reciprocate between the equipment moving trolley and the butt joint area, and the controller is also used for controlling the working end of the second robot clamp to reciprocate between the butt joint area and a bracket on the subsequent conveying track.
Preferably, as an implementation, a first sensor is mounted on the first robotic gripper, the first sensor being electrically connected to the controller, the first sensor being configured to sense a sand core on the first robotic gripper.
Preferably, as an implementation, a second sensor is mounted on the second robotic gripper, the second sensor being electrically connected to the controller, the second sensor being configured to sense a sand core on the second robotic gripper.
Preferably, as an implementation manner, a first encoder is installed on the first robot clamp, the first encoder is used for detecting the displacement of the first robot clamp, and the first encoder is electrically connected with the controller;
and/or, a second encoder is installed on the second robot clamp and used for detecting the displacement of the second robot clamp, and the second encoder is electrically connected with the controller.
Preferably, as an implementable mode, the first and second robotic grippers each have pneumatic fingers for gripping a sand core.
Preferably, as an implementation mode, the clamping surfaces of the first robot clamp and the second robot clamp are made of flexible materials.
Preferably, as an implementation mode, a first force sensor is mounted on the first robot clamp and used for sensing the tension applied to the first robot clamp; and a second force sensor is arranged on the second robot clamp and used for sensing the pulling force applied to the second robot clamp, and the first force sensor and the second force sensor are electrically connected with the controller.
Preferably, as an implementation mode, the sand core transfer system further comprises a first alarm, the first alarm is electrically connected with the controller, and the controller is used for controlling the first alarm to alarm when the tension value sensed by the first force sensor and/or the second force sensor is greater than a preset tension value.
Preferably, as an embodiment, the sand core transportation system further comprises an electronic fence, and the controller is used for controlling the first robot clamp to stop working after the first robot clamp exceeds an area in the electronic fence; the controller is used for controlling the second robot clamp to stop working after the second robot clamp exceeds the area in the electronic fence.
Preferably, as an implementation mode, the sand core transfer system further comprises a second alarm, and the controller is used for controlling the second alarm to alarm after the first robot clamp or the second robot clamp exceeds the area of the electronic fence.
The utility model provides a psammitolite transfer system's beneficial effect is:
two robot fixtures are arranged in the sand core transfer system and respectively comprise a first robot fixture and a second robot fixture, and the first robot fixture and the second robot fixture are electrically connected with a controller, so that the controller can control the automatic actions of the first robot fixture and the second robot fixture.
After receiving the sand core transfer signal, the controller controls the working end of the first robot clamp to move towards the equipment moving trolley, and when the working end of the first robot clamp reaches the equipment moving trolley, the controller controls the first robot clamp to clamp the sand core on the equipment moving trolley and controls the first robot clamp to convey the clamped sand core to the butt joint area; then, the controller can control the working end of the second robot to move to the docking area, so that the second robot clamp is used for clamping the sand core sent to the docking area by the first robot clamp, and the transfer action of the first robot clamp and the second robot clamp to the sand core in the docking area is realized; and then, the controller controls the second robot clamp which clamps the sand core to convey the sand core to a bracket on a subsequent conveying track, and controls the second robot clamp to place the sand core on the bracket to finish the transfer of the sand core.
Therefore, in the butt joint area, the first robot clamp directly transfers the sand core to the second robot clamp, namely, the intervention of a transfer workbench is not needed, so that on one hand, one process flow is omitted, the whole process is automatically controlled by the controller, manual participation is not needed, the labor is saved, and the efficiency is higher; on the other hand, a transfer workbench is omitted, the space occupied by the sand core transfer system can be reduced, and the cost can be reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the technical solutions in the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is the utility model provides a psammitolite transfer system's overlook schematic structure diagram.
Icon: 1-a first robotic gripper; 2-a second robotic gripper; 3, moving the trolley by equipment; 4-a subsequent conveying track; 5-a bracket; 6-sand core.
Detailed Description
The technical solution of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, the described embodiments are some, but not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted" and "connected" are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The present invention will be described in further detail below with reference to specific embodiments and with reference to the attached drawings.
Referring to fig. 1, the present embodiment provides a sand core transportation system, in which two robot clamps are arranged, namely a first robot clamp 1 and a second robot clamp 2, and the first robot clamp 1 and the second robot clamp 2 are both electrically connected to a controller, so that the controller can control the automatic actions of the first robot clamp 1 and the second robot clamp 2.
After receiving the sand core transfer signal, the controller controls the working end of the first robot clamp 1 to move towards the equipment moving trolley 3, and when the first robot clamp 1 reaches the equipment moving trolley 3, the controller controls the first robot clamp 1 to clamp the sand core 6 on the equipment moving trolley 3 and controls the first robot clamp 1 to convey the clamped sand core 6 to the butt joint area; then, the controller can control the working end of the second robot to move to the docking area, so that the second robot clamp 2 is used for clamping the sand core 6 sent to the docking area by the first robot clamp 1, and the transfer action of the first robot clamp 1 and the second robot clamp 2 on the sand core 6 in the docking area is realized; then, the controller controls the second robot clamp 2 holding the sand core 6 to convey the sand core 6 to the bracket 5 on the subsequent conveying track 4, and controls the second robot clamp 2 to place the sand core 6 on the bracket 5, thereby completing the transfer of one sand core 6.
Therefore, in the butt joint area, the first robot clamp 1 directly transfers the sand core 6 to the second robot clamp 2, namely, the intervention of a transfer workbench is not needed, so that on one hand, one process flow is omitted, the whole process is automatically controlled by a controller, manual participation is not needed, the labor is saved, and the efficiency is higher; on the other hand, a transfer workbench is omitted, the space occupied by the sand core transfer system can be reduced, and the cost can be reduced.
Specifically, the positions of the first robot clamp 1 and the second robot clamp 2 for clamping the sand core 6 are staggered, so that the first robot clamp 1 and the second robot clamp 2 can smoothly transfer the sand core 6 to a docking area.
The first robot clamp 1 and the second robot clamp 2 clamp non-shaped surfaces of the sand core 6, so that the shape of the sand core 6 is prevented from being affected.
Preferably, a first sensor can be installed on the first robot clamp 1 and electrically connected with the controller, the first sensor can sense the sand core 6 on the first robot clamp 1, and when the first robot clamp 1 clamps the sand core 6, the first sensor can be triggered, so that after the controller receives a trigger signal of the first sensor, the controller can judge that the first robot clamp 1 finishes the clamping action of the sand core 6 and control the working end of the first robot clamp 1 to move towards the butt joint area, and thus, the situation that the first robot clamp 1 moves away from the equipment moving trolley 3 without clamping the sand core 6 can be prevented, and the reliability is better.
Similarly, a second sensor can be mounted on the second robot clamp 2 and electrically connected with the controller, the second sensor can sense the sand core 6 on the second robot clamp 2, when the second robot clamp 2 clamps the sand core 6, the second sensor can be triggered, so that after the controller receives a trigger signal of the second sensor, the controller can judge that the second robot clamp 2 finishes the clamping action of the sand core 6 and control the working end of the second robot clamp 2 to move towards the bracket 5, and therefore the situation that the second robot clamp 2 moves away from the butt joint area without clamping the sand core 6 can be prevented, and the reliability is better.
Specifically, a first encoder may be installed on the first robot gripper 1, and the first encoder is electrically connected to the controller, so that the controller can control whether the first robot gripper 1 stops or not according to a detection signal of the first encoder; specifically, in the moving process of the first robot clamp 1, the first encoder can detect the displacement (linear displacement or angular displacement) of the first robot clamp 1 and convert the displacement into an electric signal, so that the first encoder can transmit the electric signal representing the displacement of the first robot clamp 1 to the controller, when the controller judges that the displacement detected by the first encoder reaches a first preset value, the controller judges that the working end of the first robot clamp 1 reaches the equipment moving trolley 3, and at the moment, the controller can control the first robot clamp 1 to clamp the sand core 6 on the equipment moving trolley 3; when the controller judges that the electric signal indicates that the displacement detected by the first encoder reaches the second preset value, the controller judges that the working end of the first robot clamp 1 reaches the butt joint area, controls the working end of the second robot clamp 2 to move towards the butt joint area, and prepares for transferring the sand core 6 between the first robot clamp 1 and the second robot clamp 2 at the butt joint area, so that full automation of the first robot clamp 1 in the sand core 6 transferring process is realized.
Similarly, a second encoder may be mounted on the second robot gripper 2, and the second encoder may be electrically connected to the controller, so that the controller may control whether the second robot gripper 2 is stopped or not according to a detection signal of the second encoder; specifically, in the moving process of the second robot clamp 2, the second encoder can detect the displacement (linear displacement or angular displacement) of the second robot clamp 2 and convert the displacement into an electric signal, so that the second encoder can transmit the electric signal representing the displacement of the second robot clamp 2 to the controller, when the controller judges that the displacement detected by the second encoder reaches a third preset value, the controller judges that the working end of the second robot clamp 2 reaches the butt joint area, and at the moment, the controller can control the second robot clamp 2 to transfer the sand core 6 to the second robot clamp 2; when the controller judges that the electric signal indicates that the displacement detected by the second encoder reaches the fourth preset value, the controller judges that the working end of the second robot clamp 2 reaches the bracket 5 and controls the second robot clamp 2 to place the sand core 6 on the bracket 5, so that the full automation of the second robot clamp 2 in the sand core 6 transferring process is realized.
Preferably, pneumatic fingers can be arranged on the first robot clamp 1 and the second robot clamp 2 respectively to grab the sand core 6 by the aid of the pneumatic fingers, the pneumatic fingers can adapt to deviation existing in the grabbing or butt joint process of the sand core 6, practicability is higher, and damage of grabbing force to the sand core 6 can be reduced.
Furthermore, the clamping surfaces of the first robot clamp 1 and the second robot clamp 2 are made of flexible materials, so that damage to the sand core 6 when the first robot clamp 1 and the second robot clamp 2 grab the sand core 6 can be reduced.
Preferably, a first force sensor may be mounted on the first robotic gripper 1 to sense a pulling force to which the first robotic gripper 1 is subjected with the first force sensor; meanwhile, a second force sensor is installed on the second force sensor to sense a tensile force applied to the second robot clamp 2 using the second force sensor, the first force sensor and the second force sensor are electrically connected to the controller, whereby, when the tension value sensed by either or both of the first and second force sensors is greater than the preset tension value, the controller controls the first robot clamp 1 and the second robot clamp 2 to stop moving, or the controller controls the first robot clamp 1 and the second robot clamp 2 to loosen the sand core 6, thus, the pulling phenomenon caused by the fact that the first robot clamp 1 does not loosen the sand core 6 and the second robot clamp 2 starts to move can be relieved, further, the damage of the first robot gripper 1, the second robot gripper 2, or the core 6 due to an excessive tensile force applied thereto is alleviated.
Further, can add the alarm in psammitolite transfer system to be connected this alarm and controller electricity, when the pulling force value that any one or two sensing in first force sensor and the second force sensor were greater than preset pulling force value, the alarm warning can also be controlled to the controller, thereby, if first robot clamp 1 has not loosened psammitolite 6 yet, but second robot clamp 2 has begun to remove, the pulling phenomenon that causes, the staff can in time handle after the alarm reports to the police.
In the sand core transfer system provided by this embodiment, an electronic fence may be further added, and when the first robot clamp 1 exceeds an area in the electronic fence, the controller may control the first robot clamp 1 to stop working; when the second robot clamp 2 exceeds the area in the electronic fence, the controller can control the second robot clamp 2 to stop working, and safety can be improved.
Furthermore, an alarm can be additionally arranged in the sand core transfer system, when the first robot clamp 1 or the second robot clamp 2 exceeds the area in the electronic fence, the controller controls the alarm to give an alarm, and therefore a worker can timely handle the alarm after the alarm gives an alarm.
The embodiment also provides a control method of the sand core transfer system, which comprises the following steps:
step a, after receiving a sand core transfer signal, a controller controls the working end of a first robot clamp 1 to move towards an equipment moving trolley 3;
b, after the working end of the first robot clamp 1 reaches the equipment moving trolley 3, controlling the first robot clamp 1 to clamp the sand core 6 on the equipment moving trolley 3 by a controller;
c, after the first robot clamp 1 finishes clamping the sand core 6, the controller controls the working end of the first robot clamp 1 to move towards the butt joint area;
step d, after the working end of the first robot clamp 1 reaches the butt joint area, the controller controls the working end of the second robot clamp 2 to move towards the butt joint area;
step e, after the working end of the second robot clamp 2 reaches the butt joint area, the controller controls the first robot clamp 1 to transfer the sand core 6 to the second robot clamp 2;
step f, after the second robot clamp 2 clamps the sand core 6, the controller controls the working end of the second robot clamp 2 to move towards the bracket 5 on the subsequent conveying track 4;
and g, after the working end of the second robot clamp 2 reaches the bracket 5, the controller controls the second robot clamp 2 to place the sand core 6 on the bracket 5, and the transportation of one sand core 6 is completed.
For a preferred solution of mounting the first sensor on the first robot clamp 1, the step c may be specifically: when the first sensor on the first robot clamp 1 is triggered, the controller judges that the first robot clamp 1 finishes the clamping action of the sand core 6 and controls the working end of the first robot clamp 1 to move towards the butt joint area.
For a preferred solution of mounting the second sensor on the second robot gripper 2, the step f may be specifically: when the second sensor on the second robotic gripper 2 is triggered, the controller determines that the second robotic gripper 2 has completed the pick up of the sand core 6 and controls the working end of the second robotic gripper 2 to move towards the carriage 5.
For the specific solution of arranging the first encoder on the first robot clamp 1, the step b may specifically be: when the displacement detected by the first encoder on the first robot clamp 1 reaches a first preset value, the controller judges that the working end of the first robot clamp 1 reaches the equipment moving trolley 3, and controls the first robot clamp 1 to clamp the sand core 6 on the equipment moving trolley 3. The step d may specifically be: when the displacement detected by the first encoder on the first robot clamp 1 reaches the second preset value, the controller judges that the working end of the first robot clamp 1 reaches the docking area, and controls the working end of the second robot clamp 2 to move towards the docking area.
For the specific solution of disposing the second encoder on the second robot clamp 2, the step e may specifically be: when the displacement detected by the second encoder on the second robot clamp 2 reaches a third preset value, the controller judges that the working end of the second robot clamp 2 reaches the butt joint area, and controls the first robot clamp 1 to transfer the sand core 6 to the second robot clamp 2. The step g may specifically be: when the displacement detected by the second encoder on the second robot clamp 2 reaches the fourth preset value, the controller judges that the working end of the second robot clamp 2 reaches the bracket 5, and controls the second robot clamp 2 to place the sand core 6 on the bracket 5, so that the transportation of the sand core 6 is completed.
Preferably, in the step of moving the second robot gripper 2 toward the bracket 5 on the subsequent conveying track 4, if the tensile force applied to the first robot gripper 1 or the second robot gripper 2 is greater than or equal to the preset tensile force value, the controller controls the first robot gripper 1 and the second robot gripper 2 to stop moving, or the controller controls both the first robot gripper 1 and the second robot gripper 2 to loosen the sand core 6.
For the preferred scheme that a first alarm is additionally arranged in the sand core transfer system, in the step that the second robot clamp 2 moves towards the bracket 5 on the subsequent conveying track 4, if the pulling force applied to the first robot clamp 1 or the second robot clamp 2 is greater than or equal to a preset pulling force value, the controller controls the first alarm to alarm, and therefore if the sand core 6 is not loosened by the first robot clamp 1, the working end of the second robot clamp 2 already starts to move, the pulling phenomenon is caused, a worker can timely handle the sand core after the alarm is alarmed, and the damage condition of the equipment or the sand core 6 due to the fact that the pulling force applied to the sand core is too large is relieved.
For the preferred scheme of adding the electronic fence in the sand core transportation system, when the sand core transportation system performs any step of the control method provided by the embodiment, if any one of the first robot clamp 1 and the second robot clamp 2 exceeds the area of the electronic fence, the controller can control the first robot clamp 1 and/or the second robot clamp 2 exceeding the electronic fence to stop working, so that the safety can be improved.
For the preferable scheme that the second alarm is additionally arranged on the basis that the electronic fence is arranged in the sand core transportation system, when the sand core transportation system carries out any step of the control method provided by the embodiment, if any one of the first robot clamp 1 and the second robot clamp 2 exceeds the area of the electronic fence, the controller can control the second alarm to give an alarm so as to provide timely treatment for workers.
To sum up, the utility model discloses a psammitolite transfer system, it has overcome a great deal of technical defect of traditional psammitolite transfer system. The sand core transfer system provided by the embodiment does not need the intervention of a transfer workbench, so that on one hand, one process flow is omitted, the whole process is automatically controlled by a controller, manual participation is not needed, the manpower is saved, and the efficiency is higher; on the other hand, a transfer workbench is omitted, the space occupied by the sand core transfer system can be reduced, and the cost can be reduced.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention.
Claims (10)
1. A sand core transfer system is characterized by comprising a first robot clamp (1), a second robot clamp (2) and a controller;
the first robot clamp (1) and the second robot clamp (2) can grab and release the sand core (6); first robot clamp (1) with second robot clamp (2) all with the controller electricity is connected, the controller is used for controlling the work end of first robot clamp (1) is in equipment removes between dolly (3) and the butt joint region reciprocating motion, the controller still is used for controlling the work end of second robot clamp (2) is in reciprocating motion between bracket (5) on butt joint region and subsequent transfer orbit (4).
2. A sand core handling system as claimed in claim 1, wherein a first sensor is mounted on the first robotic gripper (1), the first sensor being electrically connected to the controller, the first sensor being for sensing a sand core (6) on the first robotic gripper (1).
3. A sand core handling system as claimed in claim 1, wherein a second sensor is mounted on the second robotic gripper (2), the second sensor being electrically connected to the controller, the second sensor being adapted to sense a sand core (6) on the second robotic gripper (2).
4. A sand core transfer system as claimed in claim 1, wherein the first robotic gripper (1) has a first encoder mounted thereon for detecting displacement of the first robotic gripper (1), the first encoder being electrically connected to the controller;
and/or a second encoder is installed on the second robot clamp (2), and is used for detecting the displacement of the second robot clamp (2), and the second encoder is electrically connected with the controller.
5. A sand core handling system as claimed in claim 1, wherein the first robotic gripper (1) and the second robotic gripper (2) each have pneumatic fingers for gripping a sand core (6).
6. A sand core transfer system as claimed in claim 1, wherein the clamping surfaces of the first (1) and second (2) robotic clamps are made of a flexible material.
7. A sand core handling system as claimed in claim 1, wherein said first robotic clamp (1) has mounted thereon a first force sensor for sensing tension experienced by said first robotic clamp (1); and a second force sensor is arranged on the second robot clamp (2), the second force sensor is used for sensing the pulling force applied to the second robot clamp (2), and the first force sensor and the second force sensor are both electrically connected with the controller.
8. The sand core transfer system of claim 7, further comprising a first alarm electrically connected to the controller, the controller being configured to control the first alarm to alarm when the tension value sensed by the first force sensor and/or the second force sensor is greater than a predetermined tension value.
9. The sand core transport system as claimed in any one of claims 1 to 8, further comprising an electronic fence, the controller for controlling the first robotic gripper (1) to stop after the first robotic gripper (1) has exceeded an area within the electronic fence; the controller is used for controlling the second robot clamp (2) to stop working after the second robot clamp (2) exceeds the area in the electronic fence.
10. A sand core handling system as claimed in claim 9, further comprising a second alarm, wherein the controller is configured to control the second alarm to alarm after the first robotic gripper (1) or the second robotic gripper (2) has exceeded the area of the electronic fence.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021815660.2U CN213010688U (en) | 2020-08-26 | 2020-08-26 | Sand core transfer system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021815660.2U CN213010688U (en) | 2020-08-26 | 2020-08-26 | Sand core transfer system |
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| Publication Number | Publication Date |
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| CN213010688U true CN213010688U (en) | 2021-04-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202021815660.2U Active CN213010688U (en) | 2020-08-26 | 2020-08-26 | Sand core transfer system |
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| CN (1) | CN213010688U (en) |
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- 2020-08-26 CN CN202021815660.2U patent/CN213010688U/en active Active
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