CN219986149U - Robot clamp and robot for formwork slurry-hanging sand-blasting procedure - Google Patents
Robot clamp and robot for formwork slurry-hanging sand-blasting procedure Download PDFInfo
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- CN219986149U CN219986149U CN202321707446.9U CN202321707446U CN219986149U CN 219986149 U CN219986149 U CN 219986149U CN 202321707446 U CN202321707446 U CN 202321707446U CN 219986149 U CN219986149 U CN 219986149U
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- hanging
- abutting cylinder
- fixedly connected
- robot
- formwork
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- 238000000034 method Methods 0.000 title claims abstract description 26
- 238000009415 formwork Methods 0.000 title claims abstract description 25
- 238000005488 sandblasting Methods 0.000 title claims abstract description 12
- 238000004891 communication Methods 0.000 claims abstract description 23
- 230000000149 penetrating effect Effects 0.000 claims abstract description 7
- 238000001514 detection method Methods 0.000 claims description 24
- 238000005422 blasting Methods 0.000 claims description 10
- 230000008569 process Effects 0.000 claims description 9
- 239000002002 slurry Substances 0.000 claims description 8
- 238000007789 sealing Methods 0.000 claims description 5
- 238000005266 casting Methods 0.000 abstract description 3
- 238000000926 separation method Methods 0.000 abstract description 3
- 239000007921 spray Substances 0.000 description 6
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000009416 shuttering Methods 0.000 description 4
- 238000002360 preparation method Methods 0.000 description 3
- 239000000956 alloy Substances 0.000 description 2
- 229910045601 alloy Inorganic materials 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000007569 slipcasting Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 238000012797 qualification Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
The utility model discloses a robot clamp and a robot for a formwork slurry-hanging sand-blasting procedure, relates to the technical field of formwork casting, and can reduce the probability of separation of a formwork and a connecting part of a mechanical arm to a certain extent. The robot clamp includes: the support flange is provided with a sliding hole which is arranged in a penetrating way; the shell of the abutting cylinder is fixedly connected with the support flange, and a piston rod of the abutting cylinder penetrates through the sliding hole; the gripper comprises a connecting seat and at least two hanging racks, wherein the connecting seat is fixedly connected with the support flange, and the connecting seat is provided with a communication hole which is arranged in a penetrating manner; the hanging frames are fixedly connected with the connecting seats, grooves for fixing the mold bars are formed in the hanging frames, and the two hanging frames are arranged on the periphery of the communication hole at intervals; the piston rod of the abutting cylinder is arranged towards the communication hole, and the size of the piston rod of the abutting cylinder is smaller than the inner diameter of the communication hole.
Description
Technical Field
The utility model relates to the technical field of formwork casting, in particular to a robot clamp and a robot for a formwork slurry-hanging sand-blasting procedure.
Background
The traditional manual manufacturing mode adopted by the mould shell preparation is low in manufacturing efficiency, and the quality of a plurality of manufactured mould shells is not uniform, so that the production efficiency of alloy cast products and the product qualification rate of the alloy cast products are reduced, meanwhile, the mould shells are not in accordance with the use requirements of casting standards, and need to be trimmed or destroyed for remanufacturing, so that the time is consumed, and the cost loss investment is increased. With advances in science and technology, the foundry industry has investigated automated production, which has been introduced into the preparation of forms.
The preparation method of the formwork disclosed in the prior art is to configure a spray gun through an industrial robot, spray slurry onto the formwork and then spray sand, and the formwork is required to be suspended in the air in a mechanical arm lifting mode in order to uniformly spray slurry on the formwork because the angle of the spray gun is limited by a pipe carried by the spray gun.
In the prior art, the shuttering is suspended by lifting the mechanical arm, and the mechanical arm needs to change the posture to adjust the angle of the shuttering, so that the connection part of the shuttering connecting the shuttering and the mechanical arm is separated.
Disclosure of Invention
The embodiment of the utility model provides the robot clamp and the robot for the formwork slurry-hanging sand-blasting procedure, which can reduce the probability of separation of the joint of the formwork and the mechanical arm to a certain extent.
In a first aspect, an embodiment of the present utility model provides a robot fixture for a formwork hanging slurry blasting procedure, including:
the support flange is provided with a sliding hole which is arranged in a penetrating way;
the shell of the abutting cylinder is fixedly connected with the support flange, and a piston rod of the abutting cylinder penetrates through the sliding hole;
the gripper comprises a connecting seat and at least two hanging racks, wherein the connecting seat is fixedly connected with the support flange, and the connecting seat is provided with a communication hole which is arranged in a penetrating manner; the hanging frames are fixedly connected with the connecting seats, grooves for fixing the mold bars are formed in the hanging frames, and the two hanging frames are arranged on the periphery of the communication hole at intervals;
the piston rod of the abutting cylinder is arranged towards the communication hole, and the size of the piston rod of the abutting cylinder is smaller than the inner diameter of the communication hole.
In some embodiments, the robotic clamp further comprises:
the touch block is movably connected with the groove;
the trigger end of the detection switch is attached to the touch block, and the output end of the detection switch is electrically connected with the control end of the abutting cylinder;
the hanging frame is provided with a mounting groove for accommodating the touch block and the detection switch, the touch block is hinged in the mounting groove, one end of the touch block protrudes out of the inner wall of the groove, and the other end of the touch block is attached to the triggering end of the detection switch; the shell of the detection switch is fixedly connected in the mounting groove.
In some embodiments, the robotic clamp further comprises:
and the sealing cover is detachably connected to the mounting groove and is configured to be used for sealing the detection switch in the mounting groove.
In some embodiments, the inner wall of the groove is configured as an arc surface for conforming to the outer wall of the mold bar.
In some embodiments, the robotic clamp comprises:
the connecting flange is fixedly connected to one end, far away from the supporting flange, of the abutting cylinder;
the connecting flange is connected with a plurality of support rods between the support flanges, the support rods are distributed along the circumference of the abutting cylinder at intervals, one end of each support rod is detachably connected with the corresponding connecting flange, and the other end of each support rod is detachably connected with the corresponding support flange.
In some embodiments, the connecting seat is fixedly connected with the support flange through a bolt connection mode.
In a second aspect, the embodiment of the utility model also provides a robot, which comprises a six-axis mechanical arm and the robot clamp for the formwork hanging slurry sand blasting procedure;
the shell of the abutting cylinder is fixedly connected to the working end of the six-axis mechanical arm, and a piston rod of the abutting cylinder is arranged towards one side far away from the six-axis mechanical arm.
One or more technical solutions provided in the embodiments of the present utility model at least have the following technical effects or advantages:
according to the embodiment of the utility model, the abutting air cylinder is connected to the operation tail end of the robot, the mould rod fixedly connected with the mould shell is placed to the groove, and then the piston rod of the abutting air cylinder extends out of the communication hole to be attached to the mould rod, so that the aim of reliably connecting the mould rod with the mechanical arm of the industrial robot is fulfilled, the convenience of lifting the mould rod is improved, and the probability of separating the joint of the mechanical arm and the mould shell in the process of changing the gesture is reduced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings that are needed in the description of the embodiments of the present utility model will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present utility model, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural view of a robot fixture for a formwork hanging slurry sand blasting procedure according to an embodiment of the present utility model;
FIG. 2 is an exploded view of a robotic jig for a form slip casting blasting procedure according to an embodiment of the present utility model;
FIG. 3 is an exploded view of a robotic clamp for use in a form slip casting process for displaying a gripper according to an embodiment of the present utility model;
fig. 4 is a schematic structural view of a use state of a robot for a slurry-hanging and sand-blasting procedure of a formwork according to an embodiment of the present utility model.
Reference numerals: 1. a support flange; 11. a sliding hole; 2. abutting the cylinder; 3. a grip; 31. a connecting seat; 311. a communication hole; 32. a hanging rack; 321. a groove; 322. a mounting groove; 4. a touch block; 5. a detection switch; 6. a cover; 7. a mounting flange; 8. a support rod; 9. six-axis mechanical arm.
Detailed Description
The following description of the embodiments of the present utility model will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
In the description of the embodiments of the present utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the embodiments of the present utility model and simplify description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model. The terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Furthermore, the terms "mounted," "connected," "coupled," 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; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the embodiments of the present utility model will be understood by those of ordinary skill in the art according to specific circumstances.
Referring to fig. 1 and 2, fig. 1 is a schematic structural diagram of a robot fixture for a slurry-hanging and sand-blasting procedure of a formwork according to an embodiment of the present utility model; fig. 2 is an exploded view of a robot fixture for a form-in-place blasting process according to an embodiment of the present utility model.
The embodiment of the utility model provides a robot clamp for a formwork slurry-hanging sand-blasting procedure, which comprises a support flange 1, a tight-supporting cylinder 2 and a gripper 3. The support flange 1 is provided with a sliding hole 11, and the sliding hole 11 penetrates through the end wall of the support flange 1; the shell of the abutting cylinder 2 and the supporting flange 1 are connected into a whole through a bolt fixing mode, and a piston rod of the abutting cylinder 2 penetrates through a sliding hole 11 of the supporting flange 1.
The gripper 3 comprises a connecting seat 31 and at least two hanging frames 32, the connecting seat 31 is provided with a communication hole 311 which is arranged in a penetrating way, and the connecting seat 31 and the support flange 1 are connected into a whole in a bolt fixing way; the hanging frames 32 are fixedly connected with the connecting seat 31 in an integrated forming mode, the two hanging frames 32 are connected to the same side wall of the connecting seat 31, the length direction of each hanging frame 32 is perpendicular to the plane where the side wall of the connecting seat 31 is located, grooves 321 for fixing the mould rods are formed in the hanging frames 32, and the two hanging frames 32 are arranged on the periphery of the communication hole 311 at intervals.
Wherein, the piston rod of the abutting cylinder 2 is arranged towards the communication hole 311, and the piston rod of the abutting cylinder 2 is coaxially arranged with the communication hole 311, and the size of the piston rod of the abutting cylinder 2 is smaller than the size of the communication hole 311.
The mold rod fixedly connected with the mold shell is placed at the groove 321 through connecting the abutting air cylinder 2 to the operation tail end of the robot, and then the piston rod of the abutting air cylinder 2 extends out of the communication hole 311 to be attached to the mold rod, so that the purpose of reliably connecting the mold rod with the mechanical arm of the industrial robot is achieved, the convenience of lifting the mold rod is improved, and the probability of separation of the joint of the mechanical arm and the mold shell in the process of changing the posture is reduced.
Referring to fig. 3, fig. 3 is an exploded view of a robot fixture for a formwork hanging slurry blasting procedure for displaying a gripper according to an embodiment of the present utility model.
In some embodiments, in order to improve the convenience of abutting the piston rod of the abutting cylinder 2 against the mold rod, the robot fixture provided by the utility model further comprises a touch block 4 and a detection switch 5, wherein the touch block 4 is movably connected to the groove 321, and one end of the touch block 4 protrudes out of the inner wall of the groove 321; the trigger end of the detection switch 5 is attached to the touch block 4, and the output end of the detection switch 5 is electrically connected with the control end of the abutting cylinder 2.
Wherein, the hanging rack 32 is provided with a mounting groove 322 for accommodating the touch block 4 and the detection switch 5, the touch block 4 is hinged in the mounting groove 322, the hinge shaft of the touch block 4 and the hanging rack 32 is positioned in the middle of the touch block 4, one end of the touch block 4 protrudes out of the inner wall of the groove 321, the other end of the touch block 4 is attached to the triggering end of the detection switch 5, and the shell of the detection switch 5 is fixedly connected in the mounting groove 322.
When the die rod is placed in the groove 321, the die rod is attached to the detection switch 5 and triggers the detection switch 5, the detection switch 5 transmits control current for ejecting the piston rod to the control end of the abutting cylinder 2, the control end of the abutting cylinder 2 receives the control current and drives the piston rod of the abutting cylinder to extend out of the communication hole 311, and then the die rod is fixed with the inner wall of the groove 321, so that the probability that the die rod slides in the groove 321 is reduced.
In some embodiments, the robotic clamp provided by the present utility model further comprises a cover 6, the cover 6 being detachably connected to the mounting groove 322 by bolts, and the cover 6 being configured for plugging the detection switch 5 within the mounting groove 322.
Through setting up closing cap 6, closing cap 6 will detect switch 5 and fix in mounting groove 322, can enough make things convenient for operating personnel to examine and repair detection switch 5, also can reduce simultaneously and detect switch 5 and take place the gliding probability in mounting groove 322.
In some embodiments, to reduce the probability of slippage of the die rod connection when it is in groove 321, the inner wall of groove 321 is implemented as an arcuate surface for conforming to the outer wall of the die rod.
Through setting up recess 321 inner wall to the arcwall face, can increase the area size of mould stick outer wall and recess 321 inner wall faying surface, and then improve the reliability that stores pylon 32 connects the mould stick.
In some embodiments, the robot clamp provided by the utility model further comprises a connecting flange 7, wherein the connecting flange 7 is fixedly connected to one end of the abutting cylinder 2 far away from the supporting flange 1; wherein be connected with a plurality of bracing pieces 8 between flange 7 and the support flange 1, a plurality of bracing pieces 8 are along supporting the week side interval distribution of tight cylinder 2, and bracing piece 8 one end and flange 7 pass through coupling nut's mode and can dismantle the connection, bracing piece 8 the other end and support flange 1 pass through coupling nut's mode and can dismantle the connection.
Referring to fig. 4, fig. 4 is a schematic structural view of a use state of a robot for a slurry-hanging and sand-blasting procedure of a formwork according to an embodiment of the present utility model.
In some embodiments, based on the robot clamp disclosed in the above technical solution, the utility model also provides a robot, which comprises a six-axis mechanical arm 9 and the robot clamp as described in the above technical solution; the abutting cylinder 2 is connected to the working end of the six-axis mechanical arm 9 in a bolt fixing mode, and the gripper 3 is arranged towards one side far away from the six-axis mechanical arm 9.
According to the embodiment of the utility model, the abutting air cylinder 2 is connected to the operation tail end of the robot, the mould rod fixedly connected with the mould shell is placed at the groove 321, and then the piston rod of the abutting air cylinder 2 extends out of the communication hole 311 to be attached to the mould rod, so that the aim of reliably connecting the mould rod with the mechanical arm of the industrial robot is fulfilled, the convenience of lifting the mould rod is improved, and the probability of separating the joint of the mechanical arm and the mould shell in the process of changing the gesture is reduced.
In this specification, each embodiment is described in a progressive manner, and the same or similar parts of each embodiment are referred to each other, and each embodiment is mainly described as a difference from other embodiments.
The above embodiments are only for illustrating the technical solution of the present utility model, and not for limiting the present utility model; although the utility model has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced with equivalents; such modifications and substitutions do not depart from the spirit of the utility model.
Claims (7)
1. A robotic clamp for a form-in-place blasting procedure, the robotic clamp comprising:
the support flange (1) is provided with a sliding hole (11) which is arranged in a penetrating way;
the shell of the abutting cylinder (2) is fixedly connected with the supporting flange (1), and a piston rod of the abutting cylinder (2) penetrates through the sliding hole (11);
the gripper (3) comprises a connecting seat (31) and at least two hanging frames (32), wherein the connecting seat (31) is fixedly connected with the support flange (1), and the connecting seat (31) is provided with a communication hole (311) which is arranged in a penetrating manner; the hanging frames (32) are fixedly connected with the connecting seats (31), grooves (321) for fixing the mold bars are formed in the hanging frames (32), and the two hanging frames (32) are arranged on the periphery of the communication holes (311) at intervals;
the piston rod of the abutting cylinder (2) is arranged towards the communication hole (311), and the size of the piston rod of the abutting cylinder (2) is smaller than the inner diameter of the communication hole (311).
2. The robotic clamp for a form hanging blasting process of claim 1, further comprising:
the touch block (4) is movably connected to the groove (321);
the trigger end of the detection switch (5) is attached to the touch block (4), and the output end of the detection switch is electrically connected with the control end of the abutting cylinder (2);
the hanging rack (32) is provided with a mounting groove (322) for accommodating the touch block (4) and the detection switch (5), the touch block (4) is hinged in the mounting groove (322), one end of the touch block (4) protrudes out of the inner wall of the groove (321), and the other end of the touch block (4) is attached to the triggering end of the detection switch (5); the shell of the detection switch (5) is fixedly connected in the mounting groove (322).
3. The robotic clamp for a form hanging blasting process of claim 2, further comprising:
and the sealing cover (6) is detachably connected to the mounting groove (322), and the sealing cover (6) is configured to be used for sealing the detection switch (5) in the mounting groove (322).
4. The robotic clamp for a formwork hanging slurry blasting process according to claim 1, wherein the inner wall of the groove (321) is provided as an arc surface for fitting with the outer wall of the formwork rod.
5. The robotic clamp for a form hanging blasting process of claim 1, wherein the robotic clamp comprises:
the connecting flange (7) is fixedly connected to one end, far away from the supporting flange (1), of the abutting cylinder (2);
the connecting flange (7) is connected with a plurality of support rods (8) between the support flanges (1), the support rods (8) are distributed along the circumference of the abutting cylinder (2) at intervals, one end of each support rod (8) is detachably connected with the corresponding connecting flange (7), and the other end of each support rod (8) is detachably connected with the corresponding support flange (1).
6. The robotic clamp for a formwork hanging and sand blasting procedure according to claim 1, characterized in that the connection seat (31) is fixedly connected with the support flange (1) by means of a bolt connection.
7. A robot comprising a six-axis mechanical arm (9) and a robot clamp for a formwork hanging slurry blasting procedure according to any of claims 1-6;
the shell of the abutting cylinder (2) is fixedly connected to the working end of the six-axis mechanical arm (9), and a piston rod of the abutting cylinder (2) is arranged towards one side far away from the six-axis mechanical arm (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321707446.9U CN219986149U (en) | 2023-06-30 | 2023-06-30 | Robot clamp and robot for formwork slurry-hanging sand-blasting procedure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321707446.9U CN219986149U (en) | 2023-06-30 | 2023-06-30 | Robot clamp and robot for formwork slurry-hanging sand-blasting procedure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219986149U true CN219986149U (en) | 2023-11-10 |
Family
ID=88617706
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321707446.9U Active CN219986149U (en) | 2023-06-30 | 2023-06-30 | Robot clamp and robot for formwork slurry-hanging sand-blasting procedure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219986149U (en) |
-
2023
- 2023-06-30 CN CN202321707446.9U patent/CN219986149U/en active Active
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