CN216991947U - A tongs and robot arm for automatic thick liquid that soaks of robot - Google Patents
A tongs and robot arm for automatic thick liquid that soaks of robot Download PDFInfo
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- CN216991947U CN216991947U CN202220550002.8U CN202220550002U CN216991947U CN 216991947 U CN216991947 U CN 216991947U CN 202220550002 U CN202220550002 U CN 202220550002U CN 216991947 U CN216991947 U CN 216991947U
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- 239000007788 liquid Substances 0.000 title description 3
- 239000002002 slurry Substances 0.000 claims abstract description 43
- 230000000087 stabilizing effect Effects 0.000 claims abstract description 29
- 238000007598 dipping method Methods 0.000 claims abstract description 22
- 238000002791 soaking Methods 0.000 claims abstract description 18
- 239000000284 extract Substances 0.000 claims description 9
- 238000003825 pressing Methods 0.000 claims description 7
- 230000000712 assembly Effects 0.000 claims 1
- 238000000429 assembly Methods 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 15
- 238000005495 investment casting Methods 0.000 abstract description 7
- 239000004576 sand Substances 0.000 abstract description 7
- 238000007791 dehumidification Methods 0.000 abstract description 6
- 238000005266 casting Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000003381 stabilizer Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
The utility model discloses a gripper and a robot arm for automatic slurry dipping of a robot, which comprise a gripper body connected with the robot arm, a limiting structure arranged on the gripper body and used for picking or placing a workpiece, a fixing device arranged on the gripper body and a clamping and stabilizing device. The utility model clamps the workpiece through the matching of the limiting structure and the fixing device when processing the workpiece, and clamps and stabilizes the workpiece through the clamping and stabilizing device when taking and placing the workpiece, thereby not only improving the working strength, but also meeting the requirements of fine process quality, and further improving the efficiency of the steps of slurry soaking, sand floating, slurry returning, dehumidification and the like in the investment casting process of the golf club head. The utility model further provides a robot arm, and the gripper for automatically dipping the pulp by the robot is arranged on the robot arm and is matched with the robot arm for use, so that the working efficiency is further improved.
Description
[ technical field ] A
The utility model relates to the technical field of robots, in particular to a gripper and a robot arm for automatic slurry soaking of a robot.
[ background ] A method for producing a semiconductor device
In the existing metal investment casting process, particularly in the casting process of a golf club head, the weight of a casting is gradually increased along with the gradual increase of the volume of the casting, the manual operation cannot meet the existing requirements on efficiency or process quality, and meanwhile, the fatigue strength is also increased.
In the investment casting process of the golf club head, the steps of slurry soaking, sand floating, slurry returning, dehumidification and the like need to be carried out manually, the weight of a single shell is increased along with the increase of production requirements, so that the efficiency of manual operation is reduced more and more, the quality of the shell is not uniform, the loss cost is increased, the time cost and the labor cost are increased.
[ Utility model ] content
In order to solve the problem of low manual efficiency of the steps of slurry soaking, sand floating, slurry returning, dehumidification and the like in the investment casting process of the golf club head, the utility model provides a gripper and a robot arm for automatically soaking slurry by a robot.
The utility model is realized by the following technical scheme:
a gripper for automatic slurry dipping of a robot comprises a gripper body, a limiting structure, a fixing device and a clamping and stabilizing device, wherein the gripper body is used for being connected with a robot arm;
the clamping and stabilizing device is used for clamping the workpiece after the limiting structure extracts the workpiece or before the workpiece is placed so as to stabilize the position of the workpiece;
the fixing device is used for clamping the workpiece after the workpiece is stabilized by the clamping and stabilizing device so as to fix the relative position of the workpiece and the limiting structure.
According to the gripper for the automatic slurry soaking of the robot, the workpiece is released from being clamped after the workpiece is stabilized by the clamping and stabilizing device, so that the workpiece can move to the clamping position of the fixing device relative to the limiting structure.
According to the gripper for the automatic slurry dipping of the robot, the gripper body is provided with the gripper base, the limiting structure is located on the gripper base and comprises the limiting hook used for extracting the workpiece, and the workpiece is suspended on the limiting hook after the limiting hook extracts the workpiece.
According to the gripper for the automatic slurry dipping of the robot, the fixing device comprises the jacking part and the power device for driving the jacking part to move towards the direction close to or away from the workpiece, and when the jacking part jacks on the workpiece, the workpiece moves along with the gripper body.
According to the gripper for automatic slurry dipping of the robot, one end of the jacking part is connected with the power device, the other end of the jacking part is provided with a jacking groove body used for limiting a workpiece, a limiting column matched with the workpiece is arranged in the jacking groove body, when the jacking part jacks on the workpiece, the workpiece is embedded into the jacking groove body, and the limiting column is inserted into the workpiece so as to fix the relative position of the workpiece and the limiting structure.
The gripper for the automatic slurry soaking of the robot comprises a gripping fixing seat, a gripping part and a driving assembly, wherein the gripping fixing seat is arranged on a gripper body, the gripping part is hinged with the gripping fixing seat, and the driving assembly is used for driving the gripping part;
the driving assembly drives the clamping piece to clamp the workpiece hung on the limiting hook so as to fix the relative position of the workpiece and the limiting structure.
The gripper for the automatic slurry soaking of the robot comprises a driving assembly, a clamping piece, a power device and a linkage piece, wherein the driving assembly comprises an adapter piece arranged between the power device and the jacking piece, a power piece connected with the adapter piece and a linkage piece with one end hinged with the power piece, and the other end of the linkage piece is hinged with the clamping piece;
the power device pushes the adapter piece, the adapter piece drives the power piece, and the power piece pushes the clamping piece to clamp the workpiece through the linkage piece.
According to the gripper for the automatic slurry soaking of the robot, the clamping piece comprises a hinged arm and a clamping arm, wherein one end of the hinged arm is hinged to the linkage piece, the other end of the hinged arm is hinged to the clamping fixing seat, and the clamping arm is used for clamping a workpiece.
According to the gripper for automatic slurry dipping of the robot, the fixing device is located between the two limiting hooks, the workpiece is located between the two limiting hooks when the two limiting hooks extract the workpiece, and the limiting hooks are provided with fixing pieces used for being connected with the clamping fixing seats.
A robot arm comprises the gripper for automatic slurry soaking of the robot.
Compared with the prior art, the utility model has the following advantages:
1. the utility model provides a gripper for automatic slurry dipping of a robot, which comprises a gripper body, a limiting structure, a fixing device and a clamping and stabilizing device, wherein the gripper body is used for being connected with a robot arm; the clamping and stabilizing device is used for clamping the workpiece after the limiting structure extracts the workpiece or before the workpiece is placed so as to stabilize the position of the workpiece; the fixing device is used for clamping the workpiece after the workpiece is stabilized by the clamping and stabilizing device so as to fix the relative position of the workpiece and the limiting structure. The limiting structure is matched with the fixing device to clamp the workpiece when the workpiece is machined, and the clamping stabilizing device is used for clamping and stabilizing the workpiece when the workpiece is taken and placed, so that the working strength can be improved, the requirement on fine process quality can be met, and the efficiency of steps such as slurry dipping, sand floating, slurry returning, dehumidification and the like in the investment casting process of the golf club head is improved.
2. The utility model further provides a robot arm which comprises the gripper for automatically soaking the slurry by the robot. The gripper for the automatic slurry soaking of the robot is arranged on the robot arm and is matched with the robot arm for use, so that the working efficiency is further improved.
[ description of the drawings ]
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below.
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of another embodiment of the present invention;
FIG. 3 is an exploded view of the present invention;
FIG. 4 is an exploded view from another perspective of the present invention;
FIG. 5 is a schematic view of the release position of the clamping stabilizer of the present invention;
FIG. 6 is a view showing the clamping state of the clamping stabilizer in the pick-and-place position according to the present invention.
[ detailed description ] embodiments
In order to make the technical problems, technical solutions and advantageous effects solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the utility model and do not limit the utility model.
When embodiments of the present invention refer to the ordinal numbers "first", "second", etc., it should be understood that the words are used for distinguishing between them unless the context clearly dictates otherwise.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed 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 meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the specific embodiment, as shown in figures 1 to 6, the gripper for automatic slurry dipping of a robot,
the gripper comprises a gripper body 1 used for being connected with a robot arm, a limiting structure 2 arranged on the gripper body 1 and used for picking or placing a workpiece, a fixing device 3 arranged on the gripper body 1 and a clamping and stabilizing device 5;
the clamping and stabilizing device 5 is used for clamping the workpiece after the limiting structure 2 extracts the workpiece or before the workpiece is placed so as to stabilize the position of the workpiece;
the fixing device 3 is used for clamping the workpiece after the clamping and stabilizing device 5 stabilizes the position of the workpiece, so as to fix the relative position of the workpiece and the limiting structure 2.
According to the utility model, when a workpiece is processed, the workpiece is clamped through the matching of the limiting structure 2 and the fixing device 3, and when the workpiece is taken and placed, the workpiece is clamped and stabilized through the clamping and stabilizing device 5, so that the working strength can be improved, the requirement of fine process quality can be met, and further, the efficiency of steps such as slurry soaking, sand floating, slurry returning, dehumidification and the like in the investment casting process of the golf club head is improved.
Further, the clamping stabilizing device 5 releases the clamping of the workpiece after stabilizing the position of the workpiece, so that the workpiece can move to the clamping position of the fixing device 3 relative to the limiting structure 2. After the workpiece is clamped by the fixing device 3, the workpiece is transferred to a processing station to process the workpiece.
The workpiece further comprises a workpiece fixing seat 6, wherein the workpiece fixing seat 6 comprises a vertical rod 61 and a transverse rod 62 which is arranged transversely relative to the vertical rod 61. The vertical rods 61 and the cross rods 62 are arranged in a cross shape, so that the workpiece is more stable during fixing.
Furthermore, the gripper body 1 is provided with a gripper base 11, the limiting structure 2 is located on the gripper base 11, the limiting structure 2 comprises a limiting hook 21 for extracting a workpiece, and after the workpiece is extracted by the limiting hook 21, the workpiece is suspended on the limiting hook 21. When a workpiece is taken, the workpiece fixing seat 6 is placed on the hand grip body 1, the cross rod 62 is transversely arranged on the limiting hook 21, and the hand grip body 1 is relatively vertical to the vertical rod 61.
Specifically, the fixing device 3 includes a pressing member 4 and a power device 31 for driving the pressing member 4 to move toward or away from the workpiece, and when the pressing member 4 presses the workpiece, the workpiece moves along with the gripper body 1. The power device 31 is preferably a cylinder and controls the top pressure piece 4 to move towards or away from the vertical rod 61.
More specifically, one end of the jacking member 4 is connected with the power device 31, the other end of the jacking member 4 is provided with a jacking groove body 41 used for limiting the workpiece, a limiting column 42 matched with the workpiece is arranged in the jacking groove body 41, when the jacking member 4 jacks the workpiece, the workpiece is embedded into the jacking groove body 41, and the limiting column 42 is inserted into the workpiece to fix the relative position of the workpiece and the limiting structure 2. The other end of the vertical rod 61 is further provided with a limiting hole 63 matched and fixed with the jacking piece 4, and when a workpiece is embedded into the jacking groove body 41, the limiting column 42 is inserted into the limiting hole 63 to fix the relative position of the workpiece fixing seat 6 and the limiting structure 2. The top pressure groove body 41 and the limiting column 42 are matched, so that the limiting structure 2 and the fixing device 3 can be prevented from sliding when clamping the workpiece fixing seat 6, and position deviation is generated.
In addition, the clamping and stabilizing device 5 comprises a clamping and fixing seat 53 arranged on the gripper body 1, a clamping piece 54 hinged with the clamping and fixing seat 53, and a driving assembly 56 for driving the clamping piece 54;
the driving component 56 drives the clamping piece 54 to clamp the workpiece hung on the limiting hook 21 so as to fix the relative position of the workpiece and the limiting structure 2. The driving component 56 drives the clamping component 54 to clamp the vertical rod 61, so as to fix the relative position of the workpiece fixing seat 6 and the limiting structure 2. The workpiece can be prevented from shaking due to too fast movement in the taking and placing process, and the working efficiency is prevented from being influenced.
The driving assembly 56 comprises an adapter 51 arranged between the power device 31 and the top pressure member 4, a power member 52 connected with the adapter 51, and a linkage member 55 with one end hinged to the power member 52, and the other end of the linkage member 55 is hinged to the clamping member 54;
the power device 31 pushes the adaptor 51, the adaptor 51 drives the power piece 52, and the power piece 52 pushes the clamping piece 54 to clamp the workpiece through the linkage piece 55. The clamping member 54 is specifically configured to clamp the vertical rod 61. The driving assembly 56 has a simple structure, is convenient to disassemble and assemble, and is easy to operate.
Further, the clamping member 54 includes a hinge arm 541 hinged to the link member 55 at one end and hinged to the clamping fixing base 53 at the other end, and a clamping arm 542 for clamping a workpiece. The clamping piece 54 is preferably V-shaped in structure, simple in structure and easy to produce and replace.
Furthermore, the fixing device 3 is located between the two limiting hooks 21, the workpiece is located between the two limiting hooks 21 when the two limiting hooks 21 extract the workpiece, and the limiting hooks 21 are provided with fixing parts 22 for connecting with the clamping fixing seats 53. The position of the limiting hook 21 corresponds to the position of the clamping piece 54, so that the relative positions of the workpiece fixing seat 6 and the fixing device 3 can be switched conveniently.
The utility model also discloses a robot arm which comprises the gripper for automatically soaking the slurry by the robot. The gripper for the automatic slurry soaking of the robot is arranged on the robot arm and works in a matched mode, and therefore working efficiency is further improved.
The utility model also comprises a rotary joint connecting piece 7 arranged between the gripper base 11 and the robot arm. The gripper body 1 is connected with the robot arm.
The working principle of the embodiment is as follows:
when the gripper body 1 is in a position to be taken and placed, the cross rod 62 is clamped into the limiting hook 21, the vertical rod 61 slides into the clamping and stabilizing device 5, the power device 31 pushes the clamping piece 54 to clamp the vertical rod 61, the workpiece is stabilized, after the workpiece is conveyed to a station, the clamping piece 54 releases the vertical rod 61, then the robot arm moves, when the jacking piece 4 and the vertical rod 61 are located on the same axis, the power device 31 pushes the jacking piece 4 to jack the vertical rod 61, the cross rod 62 is limited in the limiting hook 21 to fix the relative position of the workpiece fixing seat 6 and the limiting structure 2, the steps of slurry soaking, sand floating, slurry returning and the like are repeated, and after the steps are finished, the gripper body 1 returns the workpiece to be dehumidified.
The utility model discloses a gripper for automatic slurry dipping of a robot, which comprises a gripper body 1 connected with the robot arm, a limiting structure 2 arranged on the gripper body 1 and used for picking or placing a workpiece, a fixing device 3 arranged on the gripper body 1 and a clamping and stabilizing device 5; the clamping and stabilizing device 5 is used for clamping the workpiece after the limiting structure 2 extracts the workpiece or before the workpiece is placed so as to stabilize the position of the workpiece; the fixing device 3 is used for clamping the workpiece after the clamping and stabilizing device 5 stabilizes the position of the workpiece, so as to fix the relative position of the workpiece and the limiting structure 2. According to the utility model, when a workpiece is processed, the workpiece is clamped through the matching of the limiting structure 2 and the fixing device 3, and when the workpiece is taken and placed, the workpiece is clamped and stabilized through the clamping and stabilizing device 5, so that the working strength can be improved, the requirement of fine process quality can be met, and further, the efficiency of steps such as slurry soaking, sand floating, slurry returning, dehumidification and the like in the investment casting process of the golf club head is improved.
The utility model further provides a robot arm which comprises the gripper for automatically dipping the slurry by the robot. A tongs setting that is used for automatic dipping of robot to be in the thick liquid is in on the robot arm, the cooperation is used and has further improved work efficiency.
The above description is provided for one embodiment of the present invention, and the embodiments of the present invention are not limited to these descriptions, and the present invention is not limited to the above nomenclature and the English nomenclature since the trade nomenclature is different. Similar or identical methods, structures and the like as those of the present invention or several technical deductions or substitutions made on the premise of the conception of the present invention should be considered as the protection scope of the present invention.
Claims (10)
1. The gripper for the automatic slurry soaking of the robot is characterized by comprising a gripper body (1) connected with a robot arm, a limiting structure (2) arranged on the gripper body (1) and used for picking or placing a workpiece, a fixing device (3) arranged on the gripper body (1) and a clamping and stabilizing device (5);
the clamping and stabilizing device (5) is used for clamping the workpiece after the limiting structure (2) extracts the workpiece or before the workpiece is placed so as to stabilize the position of the workpiece;
the fixing device (3) is used for clamping the workpiece after the workpiece is stabilized by the clamping and stabilizing device (5) so as to fix the relative position of the workpiece and the limiting structure (2).
2. The gripper for robotic automatic dipping according to claim 1 characterized in that the gripping and stabilizing means (5) release the grip of the workpiece after stabilizing the position of the workpiece, for the movement of the workpiece with respect to the stop structure (2) to the gripping position of the fixing means (3).
3. The gripper for automatic robot slurry dipping according to claim 1, wherein a gripper base (11) is arranged on the gripper body (1), the limiting structure (2) is located on the gripper base (11), the limiting structure (2) comprises a limiting hook (21) for extracting a workpiece, and the workpiece is suspended on the limiting hook (21) after the limiting hook (21) extracts the workpiece.
4. The gripper for robot automatic slurry dipping according to claim 3, wherein the fixing device (3) comprises a pressing member (4) and a power device (31) for driving the pressing member (4) to move towards or away from the workpiece, and when the pressing member (4) presses on the workpiece, the workpiece moves along with the gripper body (1).
5. The gripper for the automatic slurry dipping of the robot as claimed in claim 4, wherein one end of the jacking member (4) is connected with the power device (31), the other end of the jacking member (4) is provided with a jacking groove body (41) used for limiting a workpiece, a limiting column (42) matched with the workpiece is arranged in the jacking groove body (41), when the jacking member (4) jacks on the workpiece, the workpiece is embedded into the jacking groove body (41), and the limiting column (42) is inserted into the workpiece so as to fix the relative position of the workpiece and the limiting structure (2).
6. The gripper for robotic automatic slurry dipping according to claim 4, characterized in that the gripping and stabilizing means (5) comprise gripping and fixing seats (53) provided on the gripper body (1), gripping members (54) hinged with the gripping and fixing seats (53), and driving assemblies (56) for driving the gripping members (54);
the driving component (56) drives the clamping piece (54) to clamp the workpiece hung on the limiting hook (21) so as to fix the relative position of the workpiece and the limiting structure (2).
7. The gripper for robot automatic slurry dipping according to claim 6, wherein the driving assembly (56) comprises an adapter (51) arranged between the power device (31) and the top pressing member (4), a power member (52) connected with the adapter (51), and a linkage member (55) with one end hinged with the power member (52), and the other end of the linkage member (55) is hinged with the clamping member (54);
the power device (31) pushes the adapter piece (51), the adapter piece (51) drives the power piece (52), and the power piece (52) pushes the clamping piece (54) to clamp a workpiece through the linkage piece (55).
8. The gripper for robotic automatic slurry dipping according to claim 7, characterized in that said gripping member (54) comprises an articulated arm (541) hinged at one end to said link member (55) and at the other end to said gripping fixed seat (53), and a gripping arm (542) for gripping the workpiece.
9. The gripper for robot automatic dipping according to claim 6, characterized in that the fixing device (3) is located between the two limit hooks (21), the workpiece is located between the two limit hooks (21) when the two limit hooks (21) pick up the workpiece, and the limit hooks (21) are provided with fixing members (22) for connecting with the clamping fixing seats (53).
10. A robot arm comprising a gripper for robotic automatic slurry dipping according to any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220550002.8U CN216991947U (en) | 2022-03-14 | 2022-03-14 | A tongs and robot arm for automatic thick liquid that soaks of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220550002.8U CN216991947U (en) | 2022-03-14 | 2022-03-14 | A tongs and robot arm for automatic thick liquid that soaks of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216991947U true CN216991947U (en) | 2022-07-19 |
Family
ID=82367729
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202220550002.8U Active CN216991947U (en) | 2022-03-14 | 2022-03-14 | A tongs and robot arm for automatic thick liquid that soaks of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216991947U (en) |
-
2022
- 2022-03-14 CN CN202220550002.8U patent/CN216991947U/en active Active
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|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20240514 Address after: Building 17, Taishan Intelligent Equipment Industrial Park, No.1 Fu'an West Road, Dajiang Town, Taishan City, Jiangmen City, Guangdong Province, 529200 Patentee after: Illuminating intelligent equipment (Jiangmen) Co.,Ltd. Country or region after: China Address before: 523713 D2, 142 Tangqing East Road, Hengtang, Tangxia Town, Dongguan City, Guangdong Province Patentee before: DONGGUAN ZHAOLIANG INTELLIGENT EQUIPMENT TECHNOLOGY CO.,LTD. Country or region before: China |