LU100822B1 - Turnover multi-finger asynchronous gripper for casting robot - Google Patents
Turnover multi-finger asynchronous gripper for casting robot Download PDFInfo
- Publication number
- LU100822B1 LU100822B1 LU100822A LU100822A LU100822B1 LU 100822 B1 LU100822 B1 LU 100822B1 LU 100822 A LU100822 A LU 100822A LU 100822 A LU100822 A LU 100822A LU 100822 B1 LU100822 B1 LU 100822B1
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- transverse
- turnover
- longitudinal
- mounting seat
- clamping
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0028—Gripping heads and other end effectors with movable, e.g. pivoting gripping jaw surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0004—Gripping heads and other end effectors with provision for adjusting the gripped object in the hand
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Molds, Cores, And Manufacturing Methods Thereof (AREA)
Abstract
The present invention discloses a turnover multi-finger asynchronous gripper for a casting robot, which comprises a connecting seat, an arc support, a mounting seat, longitudinal clamps, transverse adjusting devices and transverse turnover clamps. The turnover multi-finger asynchronous gripper is mounted at the tail end of the casting robot through the connecting seat; each longitudinal clamp can independently and longitudinally clamp a casting or mold core, the spacing can be adjusted through the transverse adjusting devices to automatically adapt to castings or mold cores with different outlines, and can realize effective fitting-type adaptive clamping of a special-shaped casting or mold core; and the transverse turnover clamps are used for transversely clamping the casting or mold core, and can realize the overturning around a horizontal axis. The turnover multi-finger asynchronous gripper can meet the demands of different operations such as core picking, core assembling, core setting and handling of medium-size and large-size castings by the casting robot, has the advantages such as of compact structure, high operating efficiency, high safety, strong adaptability, simplicity and convenience in operation and maintenance, and one machine for multi-purpose use, and the labor intensity of operators and the production costs are reduced.
Description
TURNOVER MULTI-FINGER ASYNCHRONOUS GRIPPER FOR CASTING ROBOT
Field of the Invention
The present invention belongs to the technical field of industrial robot equipment, and in particular relates to a turnover multi-finger asynchronous gripper for a casting robot.
Background of the Invention
High flexibility of industrial robots can satisfy various special requirements in modem environmental-friendly casting production. By adopting robots in casting production, not only can operation workers be liberated from heavy and dull manual labor and the manpower be saved, but also it is an important means to improve the casting production efficiency, manufacturing accuracy and quality and realize casting production mechanization, automation and civilization. At present, adopting advanced applicable new casting technologies, improving automation of casting equipment and especially realizing application of mobile robot technologies are key measures which are taken by casting enterprises to implement environmental-friendly casting production and realize sustainable development. Since casting is performed under severe environments of high temperature, high dust, vibration, oil contamination, noise and electromagnetic interference and the weight of castings is heavy, general industrial robots cannot satisfy production needs. In order to enable the casting robots to be applicable to such working environments and normally work, there are numerous key techniques which need to be urgently studied and broken through. Casting robots not only can be used for casting handling and conveying in die casting and precision casting, but also can be used for processes such as modeling, core making, core setting, pouring, cleaning and inspection of sand mold casting. Especially in production of medium-size and large-size castings, the size and weight of the sand core and the casting both are large, it is greatly difficult to execute core picking, core assembling, core setting and handling operations, and the requirements are high. It is an urgent need to provide a high-flexibility and high-loading-capacity casting robot which can satisfy operation demands such as core picking, core assembling, core setting and handling in casting production. When the casting robot executes operation tasks such as core picking, core assembling, core setting and handling, in addition to a robot body, a robot gripper as an end effector becomes important key equipment.
At present, a robot gripper for gripping castings or mold cores can only continuously grip castings or mold cores of a single specification or regular shape, the robot needs to be stopped to manually adjust or replace the gripper when the specification or shape of the castings or mold cores, and automatic adjustment cannot be realized. Since an operator needs to enter the working area of the robot for adjustment, the potential safety hazard of the operator is increased and the working efficiency of the robot is reduced. At the same time, continuous working of one robot for different specifications of workpieces cannot be realized, i.e., flexible working that one machine is used for multiple purposes cannot be realized.
Aiming at the problems existing in casting gripping, current patent literatures also provide some solutions. Chinese patent application No.201210051811.5 discloses a robot hand, comprising a palm, a plurality of fingers, motor reducers, ropes and the like. The palm and the fingers are controlled to realize gripping of workpieces. However, the gripper can only realize angle adjustment, the generality is poor, the working space is small and the gripping of large-size castings and complexly-shaped castings cannot be realized. Chinese patent application No.201710029023.9 discloses a multi-purpose robot arm gripper structure, comprising a base, a gripper arm, a cylinder, a turnover supporting plate, a link plate and a controller. The structure is simple, the length of the gripper arm cannot be adjusted according to the size of the castings, the stability is poor during casting gripping, the working space is relatively small and the gripping of castings having complex structures cannot be realized. Chinese patent application No.201510570943.2 discloses a multi-finger spindle gripping robot gripper, comprising a connecting plate, a plurality of gripper and a plurality of cylinders. Although it realizes gripping of workpieces having simple shapes and structures, the adaptability is poor, the length of the gripper is fixed, the stability is poor and the operation requirements of complex castings cannot be satisfied. Chinese patent application No.201410281605.2 discloses a multifunctional robot gripper, consisting of a motor driving part, a vacuum suction disc and a mechanical gripper part. However, the vacuum suction disc is not applicable to large-size castings with complex surfaces, the working space of the mechanical gripper is small and the working efficiency is low. Chinese patent application No.201110297466.9 discloses a robot gripper device, which drives a gripped piece through a sliding mechanism to slide to adjust a gripping position and has high positioning accuracy. However, the gripper itself cannot be adjusted, consequently the optimum gripping position cannot be selected in the gripping process and the operation requirements of special-shaped castings cannot be satisfied. Chinese patent application No.201010605168.7 discloses a robot gripper, comprising a cylinder body, a bidirectional cylinder, a positioning pin and a gripping nipper. However, this type of gripper has the following disadvantages during operation: 1) the flexibility is low and the adaptability is limited; 2) the gripping stability is poor; and 3) the operation requirements of complex castings with special-shaped sections cannot be satisfied. Chinese patent application No.201410689752.3 discloses a robot gripper device, comprising a mechanical gripper, a sliding block, a lifting piece, a mounting plate and a pulling piece. Although it realizes gripping and lifting of workpieces, the working space of the gripper is very greatly limited, the flexibility of the gripper is low, the working efficiency is low and the gripping tasks of castings having complex structures cannot be realized. Chinese patent application No.201510792769.6 discloses an adaptive robot dual-gripper device, comprising a mounting flange, a gripper support, a gripper assembly and a gripper adjustment device. Although dual grippers can realize gripping of workpieces, but the working space is small, it is difficult to realize gripping of large-size castings, the flexibility of the dual grippers is low, the stability is poor and the operation requirements of castings with complex surfaces cannot be satisfied.
With the continuous development and improvement of casting technical level, the demands of production of medium-size and large-size castings and automation of casting gripping are increasingly great. In the existing technical solutions, most grippers cannot satisfy operation demands of gripping of heavy-weight and large-size castings having complex surface structures.
Summary of the Invention
Aiming at the defects of the prior art, the purpose of the present invention is to provide a turnover multi-finger asynchronous gripper for a casting robot, which can be used for the casting robot to execute operation tasks such as core picking, core assembly, core setting and handling of medium-size and large-size castings in a casting molding process, can improve the operation efficiency, stability and safety of casting production, can reduce the labor intensity and the production cost and can overcome the defects of the prior art.
The present invention solves the technical problem by adopting the following technical solution. A turnover multi-finger asynchronous gripper for a casting robot comprises a connecting seat, an arc support, a mounting seat, longitudinal clamps, transverse adjusting devices and transverse turnover clamps, wherein connecting lugs, connecting pins or pin holes for connecting with end effector interfaces of the casting robot are provided on the connecting seat, and the connecting lugs are symmetrically disposed at upper and lower ends of the connecting seat; the two connecting pins or pin holes are kept coaxial and are symmetrically disposed on left and right sides of the connecting seat; and a circular process hole is provided in a middle position of the connecting seat and is used for reducing the weight of the connecting seat. The arc support is used for connecting the mounting seat with the connecting seat, and an upper end and a lower end of the arc support are respectively fixedly connected with the connecting seat and the mounting seat. Guide rails for mounting the longitudinal clamps are provided on front and rear sides of the mounting seat, long elliptic process holes are provided between two guide rails, and transverse guide holes are provided in left and right ends of the mounting seat and are used for mounting the transverse turnover clamps. The longitudinal clamps are mounted on the mounting seat and are used for longitudinally clamping a casting or mold core; the longitudinal clamps are connected with the mounting seat through the transverse adjusting devices, and the transverse adjusting devices are mounted at two ends of the longitudinal clamps and are used for adjusting the positions of the longitudinal clamps on the mounting seat and the distance between two adjacent longitudinal clamps; and the transverse turnover clamps are symmetrically mounted at the left and right ends of the mounting seat, and are used for transversely clamping the casting or mold core and realizing the turnover of the casting or mold core.
The longitudinal clamp comprises a longitudinal clamping cylinder, clamping sleeves, sliding blocks, longitudinal chucks and chuck telescoping cylinders, wherein two ends of the longitudinal clamping cylinder are fixedly mounted on the mounting seat through the transverse adjusting devices and are used for providing power for the longitudinal movement of the longitudinal chucks, and the two ends of the longitudinal clamping cylinder are connected with tops of the clamping sleeves through hinges; mounting holes are provided in tops of the sliding blocks, vertical guide holes are further provided in upper ends of the sliding blocks, longitudinal guide holes are provided in lower ends of the sliding blocks and guide rail sliding grooves are provided on inner sides of the sliding blocks; the sliding blocks are sleeve-mounted on a piston rod of the longitudinal clamping cylinder through the mounting holes, the sliding blocks are further sleeve-mounted on the guide rails of the mounting seat through the guide rail sliding grooves and are used for mounting and supporting the longitudinal clamping sleeves, and the sliding blocks are connected with the mounting seat through the transverse adjusting devices; sections of the clamping sleeves are in a homocentric-square shape, longitudinal guide shafts are provided on inner sides of upper ends of the clamping sleeves, and the longitudinal guide shafts are mounted in the longitudinal guide holes of the sliding blocks and are connected with the sliding blocks through linear bearings or sliding bearings; sections of middle-upper portions of the longitudinal chucks are rectangular, the longitudinal chucks are sleeve-mounted in the clamping sleeves, anti-slipping rubber layers are provided at lower ends of the longitudinal chucks and anti-falling hooks are further provided at the bottommost ends of the longitudinal chucks and can prevent the casting or mold core from falling in an operation process; and the chuck telescoping cylinders are used for providing power for the telescoping of the longitudinal chucks in the clamping sleeves, upper ends of the chuck telescoping cylinders are connected with the clamping sleeves through hinges, and lower ends of the chuck telescoping cylinders are connected with the longitudinal chucks through hinges.
The transverse adjusting device comprises gear racks, anti-slipping stop plates, hand rings and tension springs, wherein the number of the gear racks is two and the two gear racks are disposed in parallel at tops of front and rear ends of the mounting seat. Stop teeth are provided below one ends of the anti-slipping stop plates, circular hook holes and vertical guide pillars are provided at the other ends of the anti-slipping stop plates, the circular hook holes are used for mounting the tension springs, the vertical guide pillars are placed into the vertical guide holes of the sliding blocks, and the anti-slipping stop plates are engaged with the gear racks and are used for limiting the transverse movement of the longitudinal clamps on the mounting seat; and the anti-slipping stop plates are connected with the sliding blocks of the longitudinal clamp through two tension springs. The hand rings are located on one side of the anti-slipping stop plates, are fixedly connected with the anti-slipping stop plates and are used for adjusting the anti-slipping stop plates. The two tension springs are symmetrically disposed on outer side surfaces of the sliding blocks and are used for pressing the anti-slipping stop plates against the gear racks; and upper ends of the tension springs are connected with the anti-slipping stop plates and lower ends of the tension springs are connected with the sliding blocks.
The transverse turnover clamp comprises a transverse clamping plate, a transverse clamping cylinder, transverse guide shafts, a turnover cylinder, a gear carrier, a driving gear, a driven gear, a transverse clamping disc and a turnover shaft, wherein an inner side end of the transverse clamping cylinder is fixedly mounted below the mounting seat, an outer side end of the transverse clamping cylinder is connected with the transverse clamping plate through a hinge, and the transverse clamping cylinder is used for providing power for the transverse movement of the transverse clamping plate. The number of the transverse guide shafts is two, the two transverse guide shafts are disposed in parallel at the top of the mounting seat, inner side ends of the transverse guide shafts are placed in the transverse guide holes of the mounting seat and are connected with the transverse guide holes through linear bearings or sliding bearings, and outer side ends of the transverse guide shafts are fixedly connected with the transverse clamping plate. An upper end of the turnover cylinder is connected with an upper end of the transverse clamping plate through a hinge, a lower end of the turnover cylinder is connected with the driving gear through the gear carrier, and the turnover cylinder is used for providing driving power for the rotation of the driving gear; and a turnover gear rack is provided at the lower end of the turnover cylinder and the turnover gear rack is engaged with the driving gear. The gear carrier is sleeve-mounted on the driving gear, is connected with the driving gear through a hinge and is used for pressing the turnover gear rack against the driving gear. The driving gear is mounted on the transverse clamping plate through a bearing seat, and the driving gear is externally engaged with the driven gear and is sued for converting the linear displacement of the turnover cylinder into rotation of the driving gear and transmitting the rotation to the driven gear. The turnover shaft is connected with the transverse clamping plate through a bearing, an outer side end of the turnover shaft is connected with the driven gear through a flat key, an inner side end of the turnover shaft is fixedly connected with the transverse clamping disc, and the turnover shaft is used for transmitting the rotation of the driven gear to the transverse clamping disc and further driving the casting or mold core clamped between the two transverse clamping discs to be turned over; and anti-slipping protrusions are provided on a working surface of the transverse clamping disc.
The gear carrier comprises a U-shaped bracket, spring guide pillars and tensioning springs, wherein the U-shaped bracket is mounted on the driving gear and is used for mounting and supporting the spring guide pillars, and the U-shaped bracket is connected with the driving gear through a hinge; the number of the spring guide pillars is two and the two spring guide pillars are disposed in parallel at outer side ends of the U-shaped bracket; inner side ends of the spring guide pillars are connected with the U-shaped bracket through a cylindrical pair, and inner side tail ends of the spring guide pillars are in contact with the turnover gear rack of the turnover cylinder and the spring guide pillars are used for pressing the turnover gear rack against the driving gear; and the tensioning springs are sleeve-mounted on the spring guide pillars and are used for providing tensioning force for the tensioning of the turnover gear rack, one ends of the tensioning springs are connected with the U-shaped bracket and the other ends of the tensioning springs are connected with outer side ends of the spring guide pillars.
During use, firstly the longitudinal clamps or the transverse turnover clamps are selected and used according to the task of casting operation, and the transverse adjusting devices are adjusted according to the shape of a gripped casting or mold core such that the longitudinal clamps on the mounting seat have a reasonable distance; and the chuck telescoping cylinders are driven to adjust the positions of the longitudinal chucks in the clamping sleeves according to the height of the gripped casting or mold core. When the longitudinal clamps need to be used for longitudinally clamping the gripped casting or mold core, firstly output ends of the longitudinal clamping cylinders are elongated to expand the front-rear distance between the longitudinal chucks; and then, the longitudinal clamps are enabled to sleeve the gripped casting or mold core, and the output shafts of the longitudinal clamping cylinders are shortened to enable the longitudinal chucks to clamp the casting or mold core, such that the gripping and handling tasks can be executed. After the gripping and handling tasks are completed, the longitudinal clamping cylinders are elongated, such that the longitudinal chucks can be loosened. When the transverse turnover clamps need to be used, the loosening or clamping of the transverse clamping plates and the transverse clamping discs can be realized by elongating or shortening the transverse clamping cylinders. When the turnover action of the gripped casting or mold core needs to be realized, the output ends of the longitudinal clamping cylinders need to be elongated to prevent the gripped casting or mold core from colliding with the longitudinal chucks in the turnover process; then the transverse clamping cylinders are shortened to enable the transverse clamping discs to clamp the casting or mold core; and then, the turnover cylinders are driven to be elongated or shortened to realize the clockwise or anticlockwise turnover of the transverse clamping discs together with the gripped casting or mold core around the axes of the turnover shafts. During execution of the operation tasks, the cameras transmit acquired image information to the casting robot and the controller of the casting robot performs recognition, judgment and decision-making.
The present invention has the following beneficial effects: as compared with the prior art, the positions of the longitudinal clamps on the mounting seat in the present invention are adjustable, each longitudinal clamp independently executes longitudinal clamping tasks and automatically adapts to castings or mold cores with different outlines, and effective fitting-type adaptive clamping of special-shaped castings or mold cores can be realized; and the transverse turnover clamps not only can realize the transverse clamping of the castings or mold cores, but also can realize the turnover of the castings or mold cores, the adjustment of different postures or placement of the castings or mold cores can be realized, he demands of different operations such as core picking, core assembling, core setting and handling of medium-size and large-size castings can be satisfied, the efficiency, quality and safety of core assembling, core setting and handling operations in casting production can be improved, and the labor intensity of the operators and the production cost can be reduced. Especially, the effective fitting-type gripping operation demands of special-shaped sand cores and castings can be satisfied, the sand cores or castings can be prevented from being damaged in the core assembling and core setting processes, and the operation stability, safety and adaptability can be improved. Casting operation tasks such as recognition of castings, mold cores or sand boxes and gripping, placement and handling of sand core assemblies and castings can be automatically completed through the cameras mounted below the mounting seat, the automation level is high, the working efficiency is high and the labor intensity is low; and the present invention further has the advantages such as of compact structure, high safety, strong adaptability, simplicity and convenience in operation and maintenance, and one machine for multipurpose use, and can overcome the defects of the prior art. Description of the Drawings FIG. 1 illustrates an overall structural schematic view of the present invention. FIG. 2 illustrates a bottom structural schematic view of the present invention. FIG. 3 illustrates a structural schematic view of a mounting seat of the present invention. FIG. 4 illustrates a configuration relationship schematic view of a longitudinal clamp and a transverse turnover clamp on a mounting seat on an outer side end of the present invention. FIG. 5 illustrates a structural schematic view of an anti-slipping stop plate. FIG. 6 illustrates a structural schematic view of a transverse turnover clamp of the present invention. FIG. 7 illustrates a structural schematic view of a sliding block of the present invention.
Description of the Embodiments
In order to enable the technical means, innovative features, achieved purposes and effects realized by the present invention to be easy to understand, the present invention will be further described below in combination with the embodiments with reference to the drawings.
Embodiment 1
As illustrated in FIG. 1, FIG. 2, FIG. 3 and FIG. 4, a turnover multi-finger asynchronous gripper for a casting robot comprises a connecting seat 1, an arc support 2, a mounting seat 3, longitudinal clamps 4, transverse adjusting devices 5 and transverse turnover clamps 6, wherein connecting lugs 11 and connecting pins 12 for connecting with end effector interfaces of the casting robot are provided on the connecting seat 1, and the connecting lugs 11 are symmetrically disposed at upper and lower ends of the connecting seat 1; the two connecting pins 12 are kept coaxial and are symmetrically disposed on left and right sides of the connecting seat 1; and a circular process hole 13 is provided in a middle position of the connecting seat 1 and is used for reducing the weight of the connecting seat 1. The arc support 2 is used for connecting the mounting seat 3 with the connecting seat 1, and an upper end and a lower end of the arc support 3 are respectively fixedly connected with the connecting seat 1 and the mounting seat 3. Guide rails 31 for mounting the longitudinal clamps 4 are provided on front and rear sides of the mounting seat 3, long elliptic process holes 32 are provided between two guide rails 31, and transverse guide holes 33 are provided in left and right ends of the mounting seat 3 and are used for mounting the transverse turnover clamps 6. The longitudinal clamps 4 are mounted on the mounting seat 3 and are used for longitudinally clamping a casting or mold core; the longitudinal clamps 4 are connected with the mounting seat 3 through the transverse adjusting devices 5, and the transverse adjusting devices 5 are mounted at two ends of the longitudinal clamps 4 and are used for adjusting the positions of the longitudinal clamps 4 on the mounting seat 3 and the distance between two adjacent longitudinal clamps 4; and the transverse turnover clamps 6 are symmetrically mounted at the left and right ends of the mounting seat 3, and are used for transversely clamping the casting or mold core and realizing the turnover of the casting or mold core.
As illustrated in FIG. 1, FIG. 2, FIG. 4 and FIG. 7, the longitudinal clamp 4 comprises a longitudinal clamping cylinder 41, clamping sleeves 42, sliding blocks 43, longitudinal chucks 44 and chuck telescoping cylinders 45, wherein two ends of the longitudinal clamping cylinder 41 are fixedly mounted on the mounting seat 3 through the transverse adjusting devices 5 and are used for providing power for the longitudinal movement of the longitudinal chucks 44, and the two ends of the longitudinal clamping cylinder 41 are connected with tops of the clamping sleeves 42 through hinges; mounting holes 431 are provided in tops of the sliding blocks 43, vertical guide holes 432 are further provided in upper ends of the sliding blocks 43, longitudinal guide holes 433 are provided in lower ends of the sliding blocks 43 and guide rail sliding grooves 434 are provided on inner sides of the sliding blocks 43; the sliding blocks 43 are sleeve-mounted on a piston rod of the longitudinal clamping cylinder 41 through the mounting holes 431, the sliding blocks 43 are further sleeve-mounted on the guide rails 31 of the mounting seat 3 through the guide rail sliding grooves 434 and are used for mounting and supporting the longitudinal clamping sleeves 42, and the sliding blocks 43 are connected with the mounting seat 3 through the transverse adjusting devices 5; sections of the clamping sleeves 42 are in a homocentric-square shape, longitudinal guide shafts 421 are provided on inner sides of upper ends of the clamping sleeves 42, and the longitudinal guide shafts 421 are mounted in the longitudinal guide holes 433 of the sliding blocks 43 and are connected with the sliding blocks 43 through linear bearings or sliding bearings; sections of middle-upper portions of the longitudinal chucks 44 are rectangular, and the longitudinal chucks 44 are sleeve-mounted in the clamping sleeves 42; and the chuck telescoping cylinders 45 are used for providing power for the telescoping of the longitudinal chucks 44 in the clamping sleeves 42, upper ends of the chuck telescoping cylinders 45 are connected with the clamping sleeves 42 through hinges, and lower ends of the chuck telescoping cylinders 45 are connected with the longitudinal chucks 44 through hinges.
As illustrated in FIG. 1, FIG. 4, FIG. 5 and FIG. 7, the transverse adjusting device 5 comprises gear racks 51, anti-slipping stop plates 52, hand rings 53 and tension springs 54, wherein the number of the gear racks 51 is two and the two gear racks 51 are disposed in parallel at tops of front and rear ends of the mounting seat 3. Stop teeth 521 are provided below one ends of the anti-slipping stop plates 52, circular hook holes 522 and vertical guide pillars 523 are provided at the other ends of the anti-slipping stop plates 52, the circular hook holes 522 are used for mounting the tension springs 51, the vertical guide pillars 523 are placed into the vertical guide holes of the sliding blocks 43, and the anti-slipping stop plates 52 are engaged with the gear racks 51 and are used for limiting the transverse movement of the longitudinal clamps 4 on the mounting seat 3; and the anti-slipping stop plates 52 are connected with the sliding blocks 43 of the longitudinal clamp 4 through two tension springs 54. The hand rings 53 are located on one side of the anti-slipping stop plates 52, are fixedly connected with the anti-slipping stop plates 52 and are used for adjusting the anti-slipping stop plates 52. The two tension springs 54 are symmetrically disposed on outer side surfaces of the sliding blocks 43 and are used for pressing the anti-slipping stop plates 52 against the gear racks 51 ; and upper ends of the tension springs 54 are connected with the anti-slipping stop plates 52 and lower ends of the tension springs 54 are connected with the sliding blocks 43.
As illustrated in FIG. 1, FIG. 2, FIG. 4 and FIG. 6, the transverse turnover clamp 6 comprises a transverse clamping plate 61, a transverse clamping cylinder 62, transverse guide shafts 63, a turnover cylinder 64, a gear carrier 65, a driving gear 66, a driven gear 67, a transverse clamping disc 68 and a turnover shaft 69, wherein an inner side end of the transverse clamping cylinder 62 is fixedly mounted below the mounting seat 3, an outer side end of the transverse clamping cylinder 62 is connected with the transverse clamping plate 61 through a hinge, and the transverse clamping cylinder 62 is used for providing power for the transverse movement of the transverse clamping plate 61. The number of the transverse guide shafts 63 is two, the two transverse guide shafts 63 are disposed in parallel at the top of the mounting seat 3, inner side ends of the transverse guide shafts 63 are placed in the transverse guide holes 33 of the mounting seat 3 and are connected with the transverse guide holes 33 through linear bearings or sliding bearings, and outer side ends of the transverse guide shafts 63 are fixedly connected with the transverse clamping plate 61. An upper end of the turnover cylinder 64 is connected with an upper end of the transverse clamping plate 61 through a hinge, a lower end of the turnover cylinder 64 is connected with the driving gear 66 through the gear carrier 65, and the turnover cylinder 66 is used for providing driving power for the rotation of the driving gear 66; and a turnover gear rack 641 is provided at the lower end of the turnover cylinder 64 and the turnover gear rack 641 is engaged with the driving gear 66. The gear carrier 65 is sleeve-mounted on the driving gear 66, is connected with the driving gear 66 through a hinge and is used for pressing the turnover gear rack 641 against the driving gear 66. The driving gear 66 is mounted on the transverse clamping plate 61 through a bearing seat, and the driving gear 66 is externally engaged with the driven gear 67 and is sued for converting the linear displacement of the turnover cylinder 64 into rotation of the driving gear 66 and transmitting the rotation to the driven gear 67. The turnover shaft 69 is connected with the transverse clamping plate 61 through a bearing, an outer side end of the turnover shaft 69 is connected with the driven gear 67 through a flat key, an inner side end of the turnover shaft 69 is fixedly connected with the transverse clamping disc 68, and the turnover shaft 69 is used for transmitting the rotation of the driven gear 67 to the transverse clamping disc 68 and further driving the casting or mold core clamped between the two transverse clamping discs 68 to be turned over; and anti-slipping protrusions 681 are provided on a working surface of the transverse clamping disc 68.
As illustrated in FIG. 1, FIG. 2, FIG. 4 and FIG. 6, the gear carrier 65 comprises a U-shaped bracket 651, spring guide pillars 652 and tensioning springs 653, wherein the U-shaped bracket 651 is mounted on the driving gear 66 and is used for mounting and supporting the spring guide pillars 652, and the U-shaped bracket 651 is connected with the driving gear 66 through a hinge; the number of the spring guide pillars 652 is two and the two spring guide pillars 652 are disposed in parallel at outer side ends of the U-shaped bracket 651; inner side ends of the spring guide pillars 652 are connected with the U-shaped bracket 651 through a cylindrical pair, and inner side tail ends of the spring guide pillars 652 are in contact with the turnover gear rack 641 of the turnover cylinder 64 and the spring guide pillars 652 are used for pressing the turnover gear rack 641 against the driving gear 66; and the tensioning springs 653 are sleeve-mounted on the spring guide pillars 652 and are used for providing tensioning force for the tensioning of the turnover gear rack 641, one ends of the tensioning springs 653 are connected with the U-shaped bracket 651 and the other ends of the tensioning springs 653 are connected with outer side ends of the spring guide pillars 652.
Embodiment 2
As illustrated in FIG. 1, FIG. 2 and FIG. 4, anti-slipping rubber layers 441 are provided at lower ends of the longitudinal chucks 44, anti-falling hooks 442 are further provided at the bottommost ends of the longitudinal chucks 44, and working surfaces of the anti-slipping rubber layers 441 are corrugated or intersected anti-slipping grooves are provided on working surfaces of the anti-slipping rubber layers 441. By adopting this design, the casting or the mold core can be prevented from falling in a clamping or handling process; and the longitudinal chucks 44 in the longitudinal clamps 4 can be prevented from being in rigid contact with the clamped casting or mold core during working, the clamped position of the casting or mold core can be prevented from being damaged in a clamping process, and friction force between the longitudinal chucks 44 and the clamped casting or mold core can also be effectively increased. Other components and connection relationships are the same as that in embodiment 1.
Embodiment 3
As illustrated in FIG. 1, FIG. 2 and FIG. 4, the longitudinal clamping cylinders 41, the chuck telescoping cylinders 45, the transverse clamping cylinders 62 and the turnover cylinders 64 are double-acting cylinders, double-acting hydraulic cylinders or linear actuators. An electromagnetic reversing valve and a safety valve are provided at the top of the mounting seat 3. By adopting this design, the clamping and loosening operations of the longitudinal chucks 44 in a front-rear direction and the elongation and shortening operations in a vertical direction can be facilitated, the clamping and loosening operations of the transverse clamping plates 61 in a left-right direction can be facilitated, and the operations performed by the transverse clamping discs 68 to clamp the casting or mold core to perform clockwise turnover or anticlockwise turnover can be facilitated. Other components and connection relationships are the same as that in embodiment 1 or embodiment 2.
Embodiment 4
As illustrated in FIG. 1, FIG. 2 and FIG. 4, the number of the longitudinal clamps 4 is 4-10, and each longitudinal clamp 4 and the mounting seat 3 are independently connected and controlled through two transverse adjusting devices 5. By adopting this design, when a casting or mold core is gripped, two longitudinal chucks 44 of each longitudinal clamp 4 perform clamping according to the actual outline size of the clamped casting or mold core, effective fitting-type adaptive gripping of special-shaped castings or mold cores can be realized, thus each longitudinal clamp 4 on the mounting 3 can realize clamping actions and share loads, and the loading capacity of the present invention is also improved. Other components and connection relationships are the same as that in embodiment 1, embodiment 2 or embodiment 3. Embodiment 5
As illustrated in FIG. 2, cameras 7 are further provided at a bottom of the mounting seat 3 and the cameras 7 are connected with the mounting seat 3 through two-degree-of-freedom holders 8. By adopting this design, before the operation tasks are executed, operation field images are acquired through the cameras 7, the gripped casting or mold core and the surrounding environment are effectively recognized and judged, and the operation route planning and the operation posture optimization and adjustment performed by the casting robot with respect to the operation tasks are facilitated. The use function of the present invention is further expanded. Other components and connection relationships are the same as that in embodiment 1, embodiment 2, embodiment 3 or embodiment 4.
During use, firstly the longitudinal clamps 4 or the transverse turnover clamps 6 are selected and used according to the task of casting operation, and the transverse adjusting devices 5 are adjusted according to the shape of a gripped casting or mold core such that the longitudinal clamps 4 on the mounting seat 3 have a reasonable distance; and the hand rings 53 are manually lifted up to enable the anti-slipping stop
In the description of the present invention, it needs to be understood that orientation and position relationships indicated by terms “above”, “below”, “vertical”, “top”, “bottom”, “inner”, “outer”, “front”, “rear”, “left”, “right” and the like are orientation or position relationships based on the drawings, are only used for facilitating the description of the present invention and the simplification of the description, instead of indicating or implying that the designated devices or elements must have specific orientations and be constructed and operated at specific orientations, and thus shall not be understood as limitations to the present invention.
The basic principle, major features and advantages of the present invention are shown and described above. One skilled in the art shall understand that the present invention is not limited by the above-mentioned embodiments, what are described in the above-mentioned embodiments and description are just used for describing the principle of the present invention, the present invention may have various variations and improvements without departing from the spirit and scope of the present invention, and these variations and improvements shall be all included in the protective scope of the present invention. The protective scope of the present invention is defined by the attached claims and equivalents thereof.
Claims (8)
1. A turnover multi-finger asynchronous gripper for a casting robot, comprising a connecting seat, an arc support, a mounting seat, longitudinal clamps, transverse adjusting devices and transverse turnover clamps, wherein symmetrically disposed connecting lugs are provided at upper and lower ends of the connecting seat, coaxially or symmetrically disposed connecting pins or pin holes are provided on left and right sides of the connecting seat, and a circular process hole is provided in a middle position of the connecting seat; an upper end of the arc support is fixedly connected with the connecting seat and a lower end of the arc support is fixedly connected with the mounting seat; guide rails are provided on front and rear sides of the mounting seat, long elliptic process holes are provided between two guide rails, and transverse guide holes are provided in left and right ends of the mounting seat; the longitudinal clamps are mounted on the mounting seat and are connected with the mounting seat through the transverse adjusting devices, and the transverse adjusting devices are mounted at two ends of the longitudinal clamps; the transverse turnover clamps are symmetrically mounted at the left and right ends of the mounting seat; the longitudinal clamp comprises a longitudinal clamping cylinder, clamping sleeves, sliding blocks, longitudinal chucks and chuck telescoping cylinders; two ends of the longitudinal clamping cylinder are fixedly mounted on the mounting seat through the transverse adjusting devices and are connected with tops of the clamping sleeves through hinges; mounting holes are provided in tops of the sliding blocks, vertical guide holes are further provided in upper ends of the sliding blocks, longitudinal guide holes are provided in lower ends of the sliding blocks and guide rail sliding grooves are provided on inner sides of the sliding blocks; the sliding blocks are sleeve-mounted on a piston rod of the longitudinal clamping cylinder through the mounting holes, the sliding blocks are further sleeve-mounted on the guide rails of the mounting seat through the guide rail sliding grooves, and the sliding blocks are connected with the mounting seat through the transverse adjusting devices; sections of the clamping sleeves are in a homocentric-square shape, longitudinal guide shafts are provided on inner sides of upper ends of the clamping sleeves, and the longitudinal guide shafts are mounted in the longitudinal guide holes of the sliding blocks and are connected with the sliding blocks through linear bearings or sliding bearings; sections of middle-upper portions of the longitudinal chucks are rectangular, the longitudinal chucks are sleeve-mounted in the clamping sleeves, anti-slipping rubber layers are provided at lower ends of the longitudinal chucks and anti-falling hooks are further provided at the bottommost ends of the longitudinal chucks; upper ends of the chuck telescoping cylinders are connected with the clamping sleeves through hinges, and lower ends of the chuck telescoping cylinders are connected with the longitudinal chucks through hinges; the transverse adjusting device comprises gear racks, anti-slipping stop plates, hand rings and tension springs, the number of the gear racks is two and the two gear racks are disposed in parallel at tops of front and rear ends of the mounting seat; stop teeth are provided below one ends of the anti-slipping stop plates, circular hook holes and vertical guide pillars are provided at the other ends of the anti-slipping stop plates, the vertical guide pillars are placed into the vertical guide holes of the sliding blocks, the anti-slipping stop plates are engaged with the gear racks, and the anti-slipping stop plates are connected with the sliding blocks of the longitudinal clamp through two tension springs; the hand rings are located on one side of the anti-slipping stop plates and are fixedly connected with the anti-slipping stop plates; and the two tension springs are symmetrically disposed on outer side surfaces of the sliding blocks, upper ends of the tension springs are connected with the anti-slipping stop plates and lower ends of the tension springs are connected with the sliding blocks.
2. The turnover multi-finger asynchronous gripper for a casting robot according to claim 1, wherein the transverse turnover clamp comprises a transverse clamping plate, a transverse clamping cylinder, transverse guide shafts, a turnover cylinder, a gear carrier, a driving gear, a driven gear, a transverse clamping disc and a turnover shaft, an inner side end of the transverse clamping cylinder is fixedly mounted below the mounting seat and an outer side end of the transverse clamping cylinder is connected with the transverse clamping plate through a hinge; the number of the transverse guide shafts is two, the two transverse guide shafts are disposed in parallel at the top of the mounting seat, inner side ends of the transverse guide shafts are placed in the transverse guide holes of the mounting seat and are connected with the transverse guide holes through linear bearings or sliding bearings, and outer side ends of the transverse guide shafts are fixedly connected with the transverse clamping plate; an upper end of the turnover cylinder is connected with an upper end of the transverse clamping plate through a hinge, a lower end of the turnover cylinder is connected with the driving gear through the gear carrier, a turnover gear rack is provided at the lower end of the turnover cylinder and the turnover gear rack is engaged with the driving gear; the gear carrier is sleeve-mounted on the driving gear and is connected with the driving gear through a hinge; the driving gear is mounted on the transverse clamping plate through a bearing seat and the driving gear is externally engaged with the driven gear; the turnover shaft is connected with the transverse clamping plate through a bearing, an outer side end of the turnover shaft is connected with the driven gear through a flat key and an inner side end of the turnover shaft is fixedly connected with the transverse clamping disc; and anti-slipping protrusions are provided on a working surface of the transverse clamping disc.
3. The turnover multi-finger asynchronous gripper for a casting robot according to claim 1, wherein the longitudinal clamping cylinders, the chuck telescoping cylinders, the transverse clamping cylinders and the turnover cylinders are double-acting cylinders, double-acting hydraulic cylinders or linear actuators.
4. The turnover multi-finger asynchronous gripper for a casting robot according to claim 1, wherein an electromagnetic reversing valve and a safety valve are provided at the top of the mounting seat.
5. The turnover multi-finger asynchronous gripper for a casting robot according to claim 2, wherein the gear carrier comprises a U-shaped bracket, spring guide pillars and tensioning springs, and the U-shaped bracket is mounted on the driving gear and is connected with the driving gear through a hinge; the number of the spring guide pillars is two and the two spring guide pillars are disposed in parallel at outer side ends of the U-shaped bracket; inner side ends of the spring guide pillars are connected with the U-shaped bracket through a cylindrical pair, and inner side tail ends of the spring guide pillars are in contact with the turnover gear rack of the turnover cylinder; and the tensioning springs are sleeve-mounted on the spring guide pillars, one ends of the tensioning springs are connected with the U-shaped bracket and the other ends of the tensioning springs are connected with outer side ends of the spring guide pillars.
6. The turnover multi-finger asynchronous gripper for a casting robot according to claim 1, wherein the number of the longitudinal clamps is 4-10, and each longitudinal clamp and the mounting seat are independently connected and controlled through two transverse adjusting devices.
7. The turnover multi-finger asynchronous gripper for a casting robot according to claim 1, wherein working surfaces of the anti-slipping rubber layers are corrugated or intersected anti-slipping grooves are provided on working surfaces of the anti-slipping rubber layers.
8. The turnover multi-finger asynchronous gripper for a casting robot according to claim 1, wherein two cameras are further provided at a bottom of the mounting seat and the cameras are connected with the mounting seat through two-degree-of-freedom holders.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710903260.3A CN107443407B (en) | 2017-09-29 | 2017-09-29 | Foundry robot's reversible refers to asynchronous handgrip more |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| LU100822B1 true LU100822B1 (en) | 2019-03-29 |
Family
ID=60498562
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| LU100822A LU100822B1 (en) | 2017-09-29 | 2017-10-31 | Turnover multi-finger asynchronous gripper for casting robot |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JP6603417B1 (en) |
| CN (1) | CN107443407B (en) |
| LU (1) | LU100822B1 (en) |
| WO (1) | WO2019061668A1 (en) |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN107443407B (en) | 2018-05-25 |
| WO2019061668A1 (en) | 2019-04-04 |
| JP2019534793A (en) | 2019-12-05 |
| JP6603417B1 (en) | 2019-11-06 |
| CN107443407A (en) | 2017-12-08 |
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|---|---|---|---|
| FG | Patent granted |
Effective date: 20190329 |