CN214291779U - Robot mold assembling and disassembling mechanism - Google Patents
Robot mold assembling and disassembling mechanism Download PDFInfo
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- CN214291779U CN214291779U CN202120218721.5U CN202120218721U CN214291779U CN 214291779 U CN214291779 U CN 214291779U CN 202120218721 U CN202120218721 U CN 202120218721U CN 214291779 U CN214291779 U CN 214291779U
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Abstract
The utility model relates to a hard die casting technical field discloses a robot group mould stripping mechanism, including six robots with connect in the arm of six robots, and be used for control the electrical control cabinet of six robots and arm, a serial communication port, the arm front end is equipped with machine vision device, hydraulic chuck and special modular fixture in proper order, special modular fixture includes the mounting panel, is fixed in driving piece and centering pinion rack on the mounting panel construct, still includes the clamping jaw, the clamping jaw pass through linear slide rail with centering pinion rack constructs the connection, the mounting panel passes through the flange piece and is connected with the arm for accomplish automatic group mould stripping technology in the hard die casting technology, compare in the manual installation mode have efficient, advantage that the precision is high.
Description
Technical Field
The utility model relates to a metal pouring equipment technical field especially relates to a robot die assembly form removal mechanism.
Background
Permanent mold casting, also known as hard mold casting, is a casting method in which liquid metal is poured into a metal mold to obtain a cast product. The casting mold is made of metal and can be repeatedly used for many times (hundreds of times to thousands of times). At present, in metal casting production enterprises in China, due to equipment and technical reasons, the assembly and disassembly of metal casting modules are realized by assembling casting molds one by one through a crown block matched manually, then dust is pumped and removed manually, then a splitter disc made of refractory mortar is carried on the casting molds manually, a pouring opening of each mold pipe is aligned, then a fixed connecting pressing plate is carried manually, and the casting mold pipes, the splitter disc, the pressing plate and the like are connected and fixed. And finishing the assembly of the metal pouring module. When the module is dismantled, the connecting bolt of fixed connection clamp plate is relieved to the manual work at first, dismantles flow distribution plate and each casting mould pipe respectively by the manual work again, accomplishes the module and dismantles. Because the weight of the empty mold pipe is about 50kg, the weight of the mold pipe after pouring is about 100kg, the weight of the splitter plate is about 60kg, the weight of the fixed connection pressing plate is about 60kg, 4-5 sets of casting modules need to be assembled or disassembled in each shift, and 32 casting mold pipes need to be assembled in each set of modules at most according to the size, the labor intensity of workers is very high, personnel safety accidents are easily caused, the production efficiency of the pouring process is greatly influenced, and the efficiency of the whole pouring production line is further adversely affected. The metal pouring enterprise urgently needs an automatic complete production line which has the working procedures of assembling and disassembling the module, can greatly reduce the labor intensity and greatly improve the safety performance. Therefore, the applicant invented a robot mold assembling and disassembling mechanism.
SUMMERY OF THE UTILITY MODEL
Technical problem to be solved
The embodiment of the utility model provides a robot die assembling and removing mechanism for accomplish the automatic die assembling and removing technology in the die casting process.
(II) contents of utility model
The embodiment of the utility model provides a robot mold assembly and removal mechanism, include six robots and connect in the arm of six robots, and be used for control the electrical control cabinet of six robots and arm, the arm front end is equipped with machine vision device, hydraulic chuck and special modular fixture in proper order, and special modular fixture includes the mounting panel, is fixed in driving piece and centering pinion rack on the mounting panel and constructs, still includes the clamping jaw, and the clamping jaw passes through linear slide and is connected with centering pinion rack and pinion rack mechanism, and the mounting panel passes through the flange piece and is connected with the arm.
Furthermore, a dead head positioning mechanism is arranged on the mounting plate and is arranged beside the flange plate.
Furthermore, the hydraulic chuck comprises a chuck body and a chuck disc, wherein a T-shaped groove is formed in the chuck body, the T-shaped groove divides the chuck body into four equal parts, the hydraulic chuck further comprises four clamping claws which are movably arranged in the T-shaped groove respectively, linkage pins are further arranged at the upper ends of the clamping claws, the chuck disc is provided with linkage grooves corresponding to the T-shaped groove, and the linkage pins are clamped in the linkage grooves, so that the chuck body and the chuck disc are linked.
Furthermore, the six-axis robot also comprises a robot mounting seat fixed on the ground, and the six-axis robot is mounted on the six-axis robot.
Furthermore, the hydraulic chuck and the special combined clamp are staggered by 90 degrees.
(III) advantageous effects
The embodiment of the utility model provides a pair of robot die assembly form stripping mechanism, include six robots and connect in the arm of six robots, the arm front end is equipped with machine vision device in proper order, hydraulic chuck and special modular fixture, special modular fixture includes the mounting panel, be fixed in driving piece and centering gear rack mechanism on the mounting panel, still include the clamping jaw, the clamping jaw passes through linear slide and is connected with centering gear rack mechanism, the mounting panel passes through the flange piece and is connected with the arm, shoot the empty formwork of accurate positioning through machine vision device, hydraulic chuck gets the material and shifts to empty formwork and insert to the mould pipe centre gripping, fix a position by special modular fixture at last to reposition of redundant personnel dish and clamp plate and snatch and place, accomplish the automatic equipment of casting mould, otherwise then can realize automatic dismantlement casting mould, it is efficient to have in manual installation mode, the clamping is connected to the arm of six robots, The precision is high.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or 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 an isometric view of a robotic form assembly and removal mechanism in an embodiment of the invention;
fig. 2 is a schematic structural diagram of a part of a robot form assembling and disassembling mechanism in an embodiment of the present invention, which does not include a six-axis robot;
fig. 3 is a schematic structural diagram of a first view angle of a hydraulic chuck of a robot form assembling and disassembling mechanism according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a second view angle of a hydraulic chuck of a robot form assembling and disassembling mechanism according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a special combined clamp of a robot form assembling and disassembling mechanism in an embodiment of the present invention;
description of reference numerals:
1: a six-axis robot; 2: a mechanical arm; 3: a robot mounting base;
4: a machine vision device; 5: a hydraulic chuck; 6: a special combined clamp;
61: mounting a plate; 62: a drive member; 63: a centering rack and pinion mechanism;
64: a clamping jaw; 65: a flange sheet; 51: a chuck body;
52: a flower disc; 53: a clamping claw; 54: a linkage pin;
55: a linkage groove;
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that 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 embodiments of the present invention, it should be noted that the terms "first", "second" and "third" are used for the sake of clarity in describing the numbering of the product parts and do not represent any substantial difference, unless explicitly stated or limited otherwise. The directions of "up", "down", "left" and "right" are all based on the directions shown in the attached drawings. The specific meaning of the above terms in the embodiments of the present invention can be understood by those skilled in the art according to specific situations.
It is to be understood that, unless otherwise expressly specified or limited, the term "coupled" is used broadly, and may, for example, refer to directly coupled devices or indirectly coupled devices through intervening media. The specific meaning of the above terms in the embodiments of the present invention can be understood in specific cases by those skilled in the art.
Fig. 1 is an isometric view of robot group's mould stripping mechanism in the embodiment of the utility model, including six robots 1 with connect in six robots 1's arm 2, arm 2 front end is equipped with machine vision device 4, hydraulic chuck 5 and special modular fixture 6 in proper order, special modular fixture 6 includes mounting panel 61, is fixed in driving piece 62 and centering pinion rack mechanism 63 on the mounting panel 61, still includes clamping jaw 64, clamping jaw 64 is connected with centering pinion rack mechanism 63 through linear slide, mounting panel 61 is connected with arm 2 through flange piece 65. Furthermore, a casting head positioning mechanism is further arranged on the mounting plate 61 and is arranged beside the flange plate 65, and the casting head refers to a supplementary part which is added above or on the side of the casting to avoid the casting from generating defects. The working principle of the combined clamp is as follows: when the special combined clamp 6 grabs the diverter plate, firstly, the six-axis industrial robot drives the mounting plate 61 to transfer the current clamp to the diverter plate fixed point material taking position through the flange sheet 65, the driving cylinder withdraws, the two clamping jaws 64 synchronously move centripetally under the action of the centering gear rack mechanism 63, clamping and grabbing of the diverter plate or the pressing plate are completed, meanwhile, the cylinder of the casting head positioning mechanism extends out to position the diverter plate, and then the six-axis industrial robot transfers the diverter plate to a die carrier of a casting die assembly die to be positioned and placed. The module assembling operation of the process is completed. And when the casting mould is disassembled, the reverse is carried out.
As shown in fig. 3 and 4, the hydraulic chuck 5 includes a chuck body 51 and a faceplate 52, the chuck body 51 is provided with a "T" shaped groove, the "T" shaped groove divides the chuck body 51 into four equal parts, the hydraulic chuck further includes four clamping claws 53, the clamping claws are respectively movably mounted in the "T" shaped groove, the upper end of the clamping claw 53 is further provided with a linkage pin 54, the faceplate 52 is provided with a linkage groove 55 corresponding to the "T" shaped groove, the linkage pin 54 is clamped in the linkage groove 55, so that the chuck body 51 and the faceplate 52 are linked, and the hydraulic chuck has the working principle that: the hydraulic chuck body 51 is quartered by the T-shaped groove, four clamping claws 53 can flexibly slide in the T-shaped groove, and four driving pieces (in this embodiment, hydraulic cylinders are adopted) are distributed on the periphery of the chuck body 51 and face the T-shaped groove. The clamping claws 53 are respectively provided with a linkage pin 54, and the linkage pins 54 are respectively clamped in the linkage grooves 55 of the chuck disc 52. When the hydraulic chuck 5 needs to be clamped, the piston rods of the hydraulic cylinders fixed on the periphery of the chuck body 51 extend under the action of a hydraulic system to push the clamping claws 53 to move towards the center, and the linkage pins 54 of the clamping claws 53 stir the linkage grooves 55 to drive the disc chuck 52 to rotate, so that synchronous linkage clamping of four claws is realized. When the four-jaw hydraulic chuck needs to be released, the whole action is reversed.
As shown in fig. 5, the special combined clamp 6 is used for completing automatic centering and grabbing of the diverter tray and the pressure plate assembly, and the working principle thereof is as follows: the four clamping claws 53 are connected with a centering gear rack mechanism 63 through linear slide rails, and the centering gear rack mechanism 63 is fixedly installed on the installation plate 61. The casting head positioning mechanism is fixedly arranged on the mounting plate 61, and the mounting plate 61 is connected with the mechanical arm 2 through a flange piece 63. The two-piece snap pawl 53 is connected by a drive cylinder. When the special combined clamp 6 grabs the diverter disc, firstly, the six-axis robot drives the mounting plate 61 to transfer the current clamp to the diverter disc fixed-point material taking position through the flange plate 63, the driving cylinder is retracted, the two clamping claws 53 synchronously and centripetally move under the action of the centering gear rack mechanism 63 to finish clamping and grabbing of the diverter disc or the pressing plate, meanwhile, the cylinder of the casting head positioning mechanism extends out to position the diverter disc, and then the six-axis robot 1 moves to a mold frame of a mold assembly to be positioned and placed. When the mold assembling operation is completed and the mold is disassembled, the reverse is true.
The working principle of the whole robot die assembling and disassembling mechanism is as follows: six axis robot 1 installs on robot mount pad 11, and robot mount pad 11 is fixed subaerial, and four-jaw hydraulic chuck 5, special modular fixture 6, machine vision device 4 are installed respectively on arm 2, and in order to prevent mutual interference, hydraulic chuck 5 and special modular fixture 6 stagger 90 setting each other. When assembling the casting mould, firstly, the six-axis industrial robot arranged on the robot mounting seat 1 drives the mechanical arm 2, the machine vision device 4 is selected to photograph the precisely positioned hollow mould frame, the calculation is carried out by matching with the electric control system, and then the coordinates of each mould pipe position of the hollow mould frame are obtained, recorded and stored. Six industrial robot drive robot arm linking bridge, select visual system to shoot the empty mould pipe terminal surface of accurate positioning, record and store the mould pipe serial number, the later stage of being convenient for is traceed back. Then six industrial robots drive robot arm linking bridge, select four-jaw hydraulic chuck 5, carry out the centre gripping to the die tube and accomplish and get the material, shift to the die carrier vacancy again to insert, four-jaw hydraulic chuck 5 releases and accomplishes the location of empty mould pipe and place. And finishing the taking and placing of the mould pipes one by one, generating a matched placing graph of the mould frame and the mould pipes in the electric control system, and recording and storing the graph. Then each mould pipe is dedusted. And then the six-axis industrial robot drives the robot arm connecting support, and the automatic centering grabbing clamp for the splitter plate and the pressing plate component is selected to respectively carry out positioning grabbing and positioning placing on the splitter plate and the pressing plate. And completing the automatic process section of the mold combination. When the casting mould is disassembled, the reverse is true.
Further, six robots 1 still include robot mount pad 3, and 3 one ends of robot mount pad articulate in six robots 1, and arm 2 is articulated to the other end.
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 it; 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 technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention in its corresponding aspects.
Claims (5)
1. The utility model provides a robot group's mould stripping mechanism, include six robots with connect in the arm of six robots, and be used for control the electrical control cabinet of six robots and arm, its characterized in that, the arm front end is equipped with machine vision device, hydraulic chuck and special modular fixture in proper order, special modular fixture includes the mounting panel, is fixed in driving piece and centering pinion rack on the mounting panel constructs, still includes the clamping jaw, the clamping jaw pass through linear slide rail with centering pinion rack constructs and connects, the mounting panel pass through the flange piece with the arm is connected.
2. The mechanism of claim 1, wherein the mounting plate further comprises a sprue positioning mechanism disposed adjacent to the flange plate.
3. The robot form assembling and disassembling mechanism according to claim 1, wherein the hydraulic chuck includes a chuck body and a faceplate, a "T" shaped groove is formed in the chuck body, the chuck body is divided into four equal parts by the "T" shaped groove, four clamping claws are movably mounted in the "T" shaped groove respectively, a linkage pin is further arranged at the upper end of each clamping claw, the faceplate is provided with a linkage groove corresponding to the "T" shaped groove, and the linkage pin is clamped in the linkage groove, so that the chuck body and the faceplate are linked.
4. The mechanism of claim 1, wherein the six-axis robot further comprises a robot mounting base, one end of the robot mounting base is hinged to the six-axis robot, and the other end of the robot mounting base is hinged to the mechanical arm.
5. The robot form assembling and disassembling mechanism of claim 1, wherein said hydraulic chuck and said special modular fixture are disposed at 90 ° offset from each other.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120218721.5U CN214291779U (en) | 2021-01-26 | 2021-01-26 | Robot mold assembling and disassembling mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120218721.5U CN214291779U (en) | 2021-01-26 | 2021-01-26 | Robot mold assembling and disassembling mechanism |
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| Publication Number | Publication Date |
|---|---|
| CN214291779U true CN214291779U (en) | 2021-09-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120218721.5U Active CN214291779U (en) | 2021-01-26 | 2021-01-26 | Robot mold assembling and disassembling mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114147849A (en) * | 2021-11-02 | 2022-03-08 | 湖南华好智能装备有限责任公司 | Method for recognizing side forms based on 2D plane vision and form removal equipment |
-
2021
- 2021-01-26 CN CN202120218721.5U patent/CN214291779U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114147849A (en) * | 2021-11-02 | 2022-03-08 | 湖南华好智能装备有限责任公司 | Method for recognizing side forms based on 2D plane vision and form removal equipment |
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