CN217200746U

CN217200746U - Automatic carrying device for casting sand cores

Info

Publication number: CN217200746U
Application number: CN202221042334.1U
Authority: CN
Inventors: 张晶; 庞中华; 史春雷; 李海涛
Original assignee: Anyang Haorui Robot Co ltd
Current assignee: Anyang Woaina Intelligent Technology Co ltd
Priority date: 2022-05-05
Filing date: 2022-05-05
Publication date: 2022-08-16
Anticipated expiration: 2032-05-05

Abstract

The utility model discloses an automatic handling device for casting sand cores, which comprises a cross beam, wherein a handling robot is arranged on the cross beam and can horizontally move left and right along the cross beam; the carrying robot comprises a driving assembly and a manipulator assembly, wherein the manipulator assembly is positioned below the driving assembly and can vertically move up and down relative to the driving assembly; the manipulator assembly comprises a left hand claw and a right hand claw, and the left hand claw and the right hand claw can grab or put down the sand core workpiece by approaching to or separating from each other. This handling device can accomplish a series of automated actions such as snatching, promotion, translation, descending, unclamping not unidimensional heavy load husky core work piece, realizes showing promotion work efficiency to the automated handling of husky core.

Description

Automatic carrying device for casting sand cores

Technical Field

The utility model particularly relates to a husky core automatic handling device of casting belongs to casting trade automation equipment technical field.

Background

The centrifugal nodular cast iron pipe refers to a pipe material formed by carrying out high-speed centrifugal casting on cast molten iron by a centrifugal nodular cast iron machine, and is called a spherical pipe, a nodular cast iron pipe, a centrifugal cast pipe, a nodular cast iron pipe and the like for short. The novel steel plate has the characteristics of iron and steel, excellent corrosion resistance, good extensibility, good sealing effect and simple installation, and is mainly used for water supply, gas transmission, oil transmission and the like of municipal and industrial enterprises. In the production process of the centrifugal cast pipe, molten iron is poured into the inner wall of a pipe die rotating at a high speed through a chute, cooling water is sprayed on the outer wall of the pipe die, so that the pipe die is cooled rapidly, and the pipe die is solidified and formed into the cast pipe under the action of centrifugal force and high-strength cooling. The shape and size of the internal cavity at the socket of the centrifugal cast tube are formed by the sand core of the socket. The size of the sand core has various specifications according to different pipe diameters, such as DN350, DN400, DN500-800, DN1000 and the like, and the weight of the sand core is heavy. Existing foundries typically have sand core preparation plants to prepare sand cores, which are stored individually or in stacks, and foundries to cast using sand cores. In the prior art, the sand core is transported to a foundry from a preparation workshop by a manual transporting method or a forklift transporting method, the sand core is heavy, the diameter of the sand core is various, the existing sand core transporting mode is time-consuming and labor-consuming, and the efficiency is low.

Disclosure of Invention

Problem to prior art existence, the utility model provides a husky core automatic handling device of casting, the husky core transport wastes time and energy among the aim at solution prior art, the problem of inefficiency.

The technical scheme of the utility model is that: an automatic conveying device for a casting sand core comprises a cross beam, wherein a conveying robot is arranged on the cross beam and can horizontally move left and right along the cross beam; the carrying robot comprises a driving assembly and a manipulator assembly, wherein the manipulator assembly is positioned below the driving assembly and can vertically move up and down relative to the driving assembly; the manipulator assembly comprises a left hand claw and a right hand claw, and the left hand claw and the right hand claw can grab or put down the sand core workpiece by approaching to or separating from each other.

Furthermore, the driving assembly comprises a vertically arranged mounting plate, a left guide plate and a right guide plate are arranged on one side of the mounting plate at intervals, first vertical sliding blocks are fixedly arranged on the inner sides of the left guide plate and the right guide plate, an outer vertical pipe is vertically arranged between the left guide plate and the right guide plate, first vertical guide rails are fixedly arranged on two opposite side surfaces of the outer vertical pipe, and the first vertical sliding blocks are installed with the first vertical guide rails in a matched mode; the vertical driving motor is fixedly mounted on the left guide plate or the right guide plate, the output end of the vertical driving motor is connected with a vertical driving gear, a vertical rack is fixedly mounted on one side face of the outer vertical pipe, which is provided with the first vertical guide rail, the vertical rack is parallel to the first vertical guide rail, and the vertical driving gear is meshed with the vertical rack.

Further, an inner vertical pipe is vertically sleeved inside the outer vertical pipe, the lower end of the inner vertical pipe is connected with the manipulator assembly, the upper end of the inner vertical pipe is connected with a first adjusting rod, two opposite side surfaces of the inner vertical pipe are fixedly provided with second vertical guide rails, the other pair of opposite side surfaces of the outer vertical pipe are fixedly provided with slider fixing seats, the slider fixing seats are provided with second vertical sliders, and the second vertical sliders are installed in a matched manner with the second vertical guide rails; the pulley is arranged at the top of the outer vertical pipe, the adjusting rod mounting seat is fixedly arranged on the mounting plate, the second adjusting rod is arranged on the adjusting rod mounting seat, the second adjusting rod and the first adjusting rod are connected with each other through a steel wire rope, and the pulley is penetrated through the middle of the steel wire rope.

Furthermore, the manipulator assembly further comprises a rectangular frame, transverse guide rails are fixedly arranged on two long sides of the rectangular frame, a left screw rod and a right screw rod are arranged between two short sides of the rectangular frame, threads of the left screw rod and the right screw rod are opposite, the left screw rod and the right screw rod are connected through a coupler, one end of the left screw rod is connected with the rectangular frame through a bearing seat, and one end of the right screw rod is connected with an output end of an opening and closing motor arranged on the rectangular frame; the left claw comprises a transverse supporting column and a plurality of vertical supporting columns, transverse sliding blocks are fixedly connected to two ends of the transverse supporting column and are in matched connection with transverse guide rails, a shovel plate is fixedly connected to the tail end of each vertical supporting column, a lead screw nut is fixedly connected to each vertical supporting column, and a left lead screw penetrates through the lead screw nut and is in matched connection with the lead screw nut; the right hand claw and the left hand claw are symmetrically arranged, and the right screw rod penetrates through a screw rod nut on the right hand claw and is connected with the screw rod nut in a matched mode.

Further, a transverse driving motor is fixedly mounted on the mounting plate, the transverse driving motor and the vertical driving motor are positioned on the same side of the mounting plate, the output end of the transverse driving motor is connected with a transverse driving gear, and an upper row of guide wheels and a lower row of guide wheels are arranged on the other side of the mounting plate; an upper guide rail, a lower guide rail and a beam rack are fixedly arranged on the side surface of the beam, a transverse driving gear is meshed with the beam rack, and an upper row of guide wheels and a lower row of guide wheels are respectively matched with the upper guide rail and the lower guide rail.

Has the advantages that: the manipulator component of the utility model synchronously drives the left screw rod and the right screw rod with opposite threads to rotate by using an opening and closing motor, the screw rod rotates to push the screw rod nut to drive the left hand claw and the right hand claw to synchronously approach or keep away from each other along the transverse guide rail on the rectangular frame, thereby realizing the grabbing or putting down of sand core workpieces with different diameters; vertical up-and-down motion is done for the mounting panel to outer standpipe through vertical driving motor can drive, in outer standpipe up-and-down motion, utilize wire rope to drive interior standpipe and be synchronous up-and-down motion, and interior standpipe lower extreme is connected with manipulator assembly again, thus, manipulator assembly's displacement is exactly the twice of outer standpipe's displacement, longer manipulator assembly's displacement has been realized with the displacement of shorter outer standpipe, single outer standpipe's length has been reduced, transfer robot's structural stability has been increased, transfer robot's upper portion space has been saved. Finally, the carrying robot can horizontally move left and right along the cross beam through the transverse driving motor, so that the carrying device can complete a series of automatic actions of grabbing, lifting, translating, descending, loosening and the like on sand core workpieces, automatic carrying of sand cores of different sizes is realized, and the working efficiency is obviously improved.

Drawings

Fig. 1 is a schematic structural view of the carrying device of the present invention.

Fig. 2 is a perspective view of the transfer robot.

Fig. 3 is a schematic view of a driving assembly.

Fig. 4 is a rear view of fig. 3.

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

Fig. 6 is another view of the driving assembly with the mounting plate hidden.

FIG. 7 is a rear view of the assembly of an outer standpipe with an inner standpipe.

Fig. 8 is a sectional view B-B of fig. 7.

Fig. 9 is an enlarged view of region C in fig. 8.

Fig. 10 is an enlarged view of region D in fig. 8.

Fig. 11 is a schematic structural view of a robot assembly.

Fig. 12 is a schematic view of the left-hand claw structure.

The labels in the figure are: 1, 2, a transfer robot, 11, an upper guide rail, 12, a lower guide rail, 13 cross beam racks, 21, a driving assembly, 22, a manipulator assembly, 23, a sand core workpiece, 24, an outer vertical pipe, 25, an inner vertical pipe and 26 rectangular frames;

210, 211, an electric cabinet, 212, an upper protection cover, 213, a left guide plate, 214, a right guide plate, 220, a lower protection cover, 221, a tow chain, 222, a left claw, 223, a right claw, 241, a first vertical guide rail, 242, a vertical rack, 243, a vertical driving motor, 244, a first vertical slider, 245 slider fixing seats, 246 pulleys, 247, a second vertical slider, 251, a first adjusting rod, 252, a second vertical guide rail, 261, an opening and closing motor, 262, a left screw rod, 263, 264, a first connecting plate, 265, a transverse slider and 266 transverse guide rails;

2101 last row of guide pulleys, 2102 horizontal drive gear, 2103 horizontal driving motor, 2104 lower row of guide pulleys, 2105 adjusts pole mount pad, 2106 second adjustment pole, 2221 horizontal support column, 2222 vertical support column, 2223 second connecting plate, 2224 shovel board, 2225 screw nut.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is to be understood that the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

It should be noted that all the directional indicators (such as upper, lower, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture, if the specific posture is changed, the directional indicator is changed accordingly.

It will also be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.

In addition, the descriptions related to "first", "second", etc. in the present invention are only for the purpose of distinguishing the descriptions, and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated.

As shown in fig. 1, the automatic conveying device for the casting sand core comprises a cross beam 1, wherein a conveying robot 2 is arranged on the cross beam 1, and can horizontally move left and right along the cross beam after grabbing a sand core workpiece; an upper guide rail 11, a lower guide rail 12 and a beam rack 13 are horizontally and fixedly arranged on one vertical side surface of the beam 1, and the upper guide rail and the lower guide rail are both V-shaped guide rails.

As shown in fig. 2, the transfer robot 2 includes a driving assembly 21 and a robot assembly 22, the robot assembly 22 is located below the driving assembly 21, the driving assembly 21 and the robot assembly 22 are connected by an external vertical tube 24, and the robot assembly 22 can vertically move up and down relative to the driving assembly 21. As shown in fig. 3-5, the driving assembly 21 includes a vertically disposed mounting plate 210, a transverse driving motor 2103 and an electric control box 211 are fixedly mounted on the mounting plate 210, an output end of the transverse driving motor 2103 is connected with a transverse driving wheel 2102, the transverse driving wheel 2102 and the transverse driving motor 2103 are respectively located at two sides of the mounting plate 210, an upper row of guide wheels 2101 and a lower row of guide wheels 2104, which are upper and lower rows of guide wheels, are further disposed on the mounting plate at the side of the transverse driving wheel, the upper row of guide wheels and the lower row of guide wheels are V-shaped guide wheels, the transverse driving wheel 2102 is located between the upper and lower rows of guide wheels, the transverse driving wheel 2102 is engaged with the cross beam rack 13, and the upper and lower rows of guide wheels are respectively mounted in cooperation with the upper guide rail 11 and the lower guide rail 12 on the cross beam. Therefore, when the transverse driving motor rotates, the mounting plate can be driven to enable the transfer robot to move horizontally left and right along the cross beam through the gear and rack matched driving.

As shown in fig. 3 to 6, a left guide plate 213 and a right guide plate 214 are further installed on the installation plate on the side of the horizontal driving motor at intervals, four first vertical sliders 244 are respectively and fixedly installed on the inner sides of the left guide plate 213 and the right guide plate 214, an outer vertical pipe 24 is vertically arranged between the left guide plate 213 and the right guide plate 214, the outer vertical pipe is a square pipe, two first vertical guide rails 241 are respectively and fixedly installed on the left and right opposite side surfaces of the outer vertical pipe 24, and the first vertical sliders 244 are installed in a matching manner with the first vertical guide rails 241; a vertical driving motor 243 is fixedly mounted on the right guide plate 214, an output end of the vertical driving motor is connected with a vertical driving gear (the vertical driving gear is shielded and not shown in fig. 3), a vertical rack 242 is also fixedly mounted on the right side surface of the outer vertical pipe, the vertical rack 242 is parallel to the first vertical guide rail 241, and the vertical driving gear is meshed with the vertical rack 242. Thus, when the vertical drive motor rotates, the left and right guide plates are stationary and the vertical drive gear drives the outer standpipe 24 to slide up and down relative to the left and right guide plates.

As shown in fig. 3-4 and 7-10, an inner vertical tube 25 is vertically sleeved inside the outer vertical tube 24, the inner vertical tube is also a square tube, the lower end of the inner vertical tube is connected with the manipulator assembly, the upper end of the inner vertical tube 25 is connected with a first adjusting rod 251, two second vertical guide rails 252 are fixedly installed on the front and rear opposite side surfaces of the inner vertical tube 25, two slider fixing seats 245 are fixedly installed on the front and rear opposite side surfaces of the outer vertical tube 24, a second vertical slider 247 is installed on each slider fixing seat 245, the second vertical slider 247 is located inside the outer vertical tube, and the second vertical slider 247 is installed in cooperation with the second vertical guide rails 252; a pulley 246 is disposed on the top of the outer vertical pipe 24, an adjusting rod mounting base 2105 is fixedly disposed on the lower portion of the mounting plate, a second adjusting rod 2106 is mounted on the adjusting rod mounting base 2105 (see fig. 6, in fig. 6, the second adjusting rod is hidden for showing the second adjusting rod), the second adjusting rod 2106 on the mounting plate and the first adjusting rod 251 on the top of the inner vertical pipe are connected with each other through a steel wire rope with a fixed length, the middle portion of the steel wire rope passes through the pulley 246 on the upper end of the outer vertical pipe, and the steel wire rope is not shown in the figure. Vertical up-and-down motion is done for the mounting panel to the outer standpipe through vertical driving motor like this, in outer standpipe up-and-down motion, utilize fixed length wire rope to drive interior standpipe and be synchronous up-and-down motion, and interior standpipe lower extreme is connected with manipulator component again, thus, manipulator component's displacement is exactly the twice of the displacement of outer standpipe, longer manipulator component's displacement has been realized with the displacement of shorter outer standpipe, single length of outer standpipe has been reduced, transfer robot's structural stability has been increased, transfer robot's upper portion space has been saved.

As shown in fig. 11, the robot assembly 22 further comprises a rectangular frame 26, a left hand claw 222 and a right hand claw 223, and the middle portion of the rectangular frame is fixedly connected with the bottom portion of the inner vertical tube. Lateral guide rails 266 are fixedly provided on both long sides of the rectangular frame 26, and the left-hand claw 222 and the right-hand claw 223 are provided on the lateral guide rails on both long sides of the rectangular frame. The right hand claw and the left hand claw are same in structure and are symmetrically arranged. Referring now to the left-hand claw, as shown in fig. 12, the left-hand claw includes a horizontal support column 2221 and four vertical support columns 2222, the middle portions of which are connected together by two second connecting plates 2223 for stabilization. The end of each vertical supporting column is fixedly connected with a shovel plate 2224 for shoveling the sand core workpiece. And a screw nut 2225 is fixedly connected to the two middle vertical supporting columns. The two ends of the transverse supporting column 2221 are fixedly connected with first connecting plates 264 respectively, two transverse sliding blocks 265 are fixedly installed below each first connecting plate 264, and the transverse sliding blocks 265 are connected with transverse guide rails 266 on the rectangular frame in a matching manner. A left screw 262 and a right screw 263 are arranged between two short edges of the rectangular frame, the threads of the left screw 262 and the right screw are opposite, the left screw 262 and the right screw are connected through a coupler, the left end of the left screw 262 is connected with the rectangular frame through a bearing seat, the right end of the right screw is connected with the output end of an opening and closing motor 261 arranged on the short edge of the right side of the rectangular frame, the left screw 262 penetrates through a screw nut 2225 on the left paw 222 and is connected in a matched mode, and the right screw 263 penetrates through a screw nut on the right paw 223 and is connected in a matched mode. Therefore, the manipulator assembly synchronously drives the left screw rod and the right screw rod with opposite threads to rotate by using an opening and closing motor, the screw rods rotationally push the screw rod nuts to respectively drive the left hand claw and the right hand claw to synchronously approach or keep away from each other along the transverse guide rail on the rectangular frame, the distance between the left hand claw and the right hand claw is adjusted, and the sand core workpieces with different sizes are shoveled or put down.

Further, an upper protection cover 212 is further disposed on the mounting plate 210 to cover and protect the horizontal driving motor, the vertical driving motor, the left and right guide plates, and the like, a lower protection cover 220 and a drag chain 221 are further disposed on the rectangular frame, the lower protection cover 220 is used to cover and protect the horizontal guide rail, the lead screw, and the like on the rectangular frame, and the drag chain 221 is used to provide cable guidance for the opening and closing motor.

The utility model discloses pass through when using, at first make transfer robot be horizontal side-to-side motion along the crossbeam through horizontal driving motor, make manipulator assembly move to treat the husky core work piece of transport directly over, then the motor action that opens and shuts, open a left side, right hand claw, vertical driving motor action after that, drive outer standpipe, interior standpipe and manipulator assembly fall in step, the motor antiport that opens and shuts after that, the hand claw is shoveled husky core work piece and is embraced about the messenger, vertical driving motor promotes the work piece on next step, horizontal driving motor drives the work piece translation and fixes a position after, then make manipulator assembly whereabouts, a left side, right hand claw loosens the work piece, the transport work of this far complete husky core work piece. It should be understood that, in order to accurately complete each action, a plurality of sensors and the motor are required to be matched with each other under the control of the PLC, which belongs to the conventional configuration in the automation field and is not described in detail herein. Therefore, the carrying device can complete a series of automatic actions such as grabbing, lifting, translating, descending and loosening of heavy-load sand core workpieces of different sizes, realizes automatic carrying of sand cores, and obviously improves the sand core carrying work efficiency.

Claims

1. The utility model provides a sand core automatic handling device casts which characterized in that: the device comprises a cross beam, wherein a carrying robot is arranged on the cross beam and can horizontally move left and right along the cross beam; the carrying robot comprises a driving assembly and a manipulator assembly, wherein the manipulator assembly is positioned below the driving assembly and can vertically move up and down relative to the driving assembly; the manipulator assembly comprises a left paw and a right paw, and the left paw and the right paw can grab or put down the sand core workpiece by approaching or separating from each other;

the driving assembly comprises a vertically arranged mounting plate, a left guide plate and a right guide plate are arranged on one side of the mounting plate at intervals, first vertical sliding blocks are fixedly arranged on the inner sides of the left guide plate and the right guide plate, an outer vertical pipe is vertically arranged between the left guide plate and the right guide plate, first vertical guide rails are fixedly arranged on two opposite side surfaces of the outer vertical pipe, and the first vertical sliding blocks are installed with the first vertical guide rails in a matched mode; a vertical driving motor is fixedly mounted on the left guide plate or the right guide plate, the output end of the vertical driving motor is connected with a vertical driving gear, a vertical rack is also fixedly mounted on one side surface of the outer vertical pipe, which is provided with a first vertical guide rail, the vertical rack is parallel to the first vertical guide rail, and the vertical driving gear is meshed with the vertical rack;

an inner vertical pipe is vertically sleeved inside the outer vertical pipe, the lower end of the inner vertical pipe is connected with the manipulator assembly, the upper end of the inner vertical pipe is connected with a first adjusting rod, two opposite side surfaces of the inner vertical pipe are fixedly provided with second vertical guide rails, the other pair of opposite side surfaces of the outer vertical pipe are fixedly provided with slider fixing seats, the slider fixing seats are provided with second vertical sliders, and the second vertical sliders are installed with the second vertical guide rails in a matched mode; the pulley is arranged at the top of the outer vertical pipe, the adjusting rod mounting seat is fixedly arranged on the mounting plate, the second adjusting rod is arranged on the adjusting rod mounting seat, the second adjusting rod and the first adjusting rod are connected with each other through a steel wire rope, and the pulley is penetrated through the middle of the steel wire rope.

2. An automatic handling device for foundry sand cores according to claim 1, characterized in that: the manipulator assembly further comprises a rectangular frame, transverse guide rails are fixedly arranged on two long sides of the rectangular frame, a left screw rod and a right screw rod are arranged between two short sides of the rectangular frame, threads of the left screw rod and the right screw rod are opposite, the left screw rod and the right screw rod are connected through a coupler, one end of the left screw rod is connected with the rectangular frame through a bearing seat, and one end of the right screw rod is connected with an output end of an opening and closing motor arranged on the rectangular frame; the left claw comprises a transverse supporting column and a plurality of vertical supporting columns, transverse sliding blocks are fixedly connected to two ends of the transverse supporting column and are in matched connection with transverse guide rails, a shovel plate is fixedly connected to the tail end of each vertical supporting column, a lead screw nut is fixedly connected to each vertical supporting column, and a left lead screw penetrates through the lead screw nut and is in matched connection with the lead screw nut; the right hand claw and the left hand claw are symmetrically arranged, and the right screw rod penetrates through a screw rod nut on the right hand claw and is connected with the screw rod nut in a matched mode.

3. An automatic handling device for foundry sand cores according to claim 1, characterized in that: a transverse driving motor is fixedly arranged on the mounting plate, the transverse driving motor and the vertical driving motor are positioned on the same side of the mounting plate, the output end of the transverse driving motor is connected with a transverse driving gear, and the other side of the mounting plate is provided with an upper row of guide wheels and a lower row of guide wheels; an upper guide rail, a lower guide rail and a beam rack are fixedly arranged on the side surface of the beam, a transverse driving gear is meshed with the beam rack, and an upper row of guide wheels and a lower row of guide wheels are respectively matched with the upper guide rail and the lower guide rail.