WO2019061668A1

WO2019061668A1 - Rotatable non-simultaneous multi-finger gripper for casting robot

Info

Publication number: WO2019061668A1
Application number: PCT/CN2017/108821
Authority: WO
Inventors: 郭永存; 王成军; 王鹏; 邾志伟; 沈豫浙; 任润润; 徐成克
Original assignee: 安徽理工大学
Priority date: 2017-09-29
Filing date: 2017-10-31
Publication date: 2019-04-04
Also published as: LU100822B1; CN107443407A; JP2019534793A; JP6603417B1; CN107443407B

Abstract

A rotatable non-simultaneous multi-finger gripper for a casting robot comprises: a connection base (1); a curved support (2); an installation base (3); longitudinal clamping devices (4); a lateral adjustment device (5); and a laterally rotatable clamping device (6). The rotatable non-simultaneous multi-finger gripper is installed at a distal end of a casting robot via the connection base. The respective longitudinal clamping devices (4) can independently clamp a cast or a mold core in a longitudinal direction. The lateral adjustment device can adjust a distance between the longitudinal clamping devices to automatically adapt to casts or mold cores having different profiles, thereby adaptively fitting to and clamping irregular casts or mold cores. The laterally rotatable clamping device (6) is used to laterally clamp a cast or a mold core, and is rotatable around a horizontal axis. The rotatable non-simultaneous multi-finger gripper for a casting robot can meet requirements of a casting robot with respect to various operations such as core removal, core assembly, core setting, and transfer for medium and large casts.

Description

Reversible multi-finger asynchronous gripper for casting robot

Technical field

The invention belongs to the technical field of industrial robot equipment, and particularly relates to a reversible multi-finger asynchronous gripper for a casting robot.

Background technique

The high flexibility of industrial robots can meet various special requirements in modern green casting production. The use of robots in casting production not only frees the operators from heavy and monotonous manual labor, saves labor, but also improves the efficiency of casting production. Manufacturing precision and quality, an important means to achieve mechanization, automation and civilization of casting production. At present, the use of advanced and applicable new casting technology to improve the automation of casting equipment, especially the application of mobile robot technology, is a key measure for foundry enterprises to implement green casting production and achieve sustainable development. Due to the harsh environment of casting high temperature, high dust, vibration, oil pollution, noise and electromagnetic interference, and the weight of the casting is large, the general industrial robot cannot meet the production needs. Casting robots must be able to adapt to such a working environment and operate normally. There are still many key technologies that are urgently needed for research and breakthrough. The casting robot can be used not only for the casting and conveying of castings in die casting and precision casting, but also for the molding, core making, lower core, pouring, cleaning and inspection processes of sand casting. Especially in the production of medium and large-sized castings, the size and weight of the sand core and the casting are relatively large, and it is difficult and high to perform the core-setting, core-forming, lower-core and handling operations. There is an urgent need for highly flexible, heavy-duty casting robots that can meet the needs of core making, core forming, lower core and handling operations in casting production. When the casting robot performs tasks such as coring, core assembly, lower core and handling, in addition to the robot body, the robot gripper as the end effector becomes an important key device.

At present, robotic grippers used for casting or core grabbing can only continuously capture single-size or regular-shaped castings or cores. When the size or shape of the casting or core changes, it needs to be shut down and manually adjusted or replaced. Hand grasping, can not achieve automatic adjustment, because the operator needs to enter the robot working area for adjustment, which increases the safety hazard of the operator and reduces the working efficiency of the robot. At the same time, it is impossible to realize the continuous work of one robot on different specifications of the workpiece, that is, the flexible work of one machine can not be realized.

In view of the problems in castings, the existing patent documents also propose some solutions. Chinese Patent Application No. 201210051811.5 discloses a robot hand including a palm, a plurality of fingers, a motor reducer and a wire rope, etc., which controls the palm and the finger segment to grasp the workpiece, but the hand can only achieve angle adjustment and versatility. Poor, small work space, unable to achieve large castings and complex shape castings. The Chinese patent application No. 201710029023.9 discloses a multi-purpose robot arm claw structure, including a base, a claw arm, a cylinder, a flip plate, a linkage plate and a controller. The structure is simple, and the length of the claw arm cannot be realized according to the size of the casting. Adjustment, the stability of the casting is poor, and the working space is relatively small, unable to meet the grasp of the structurally complex castings. The Chinese Patent Application No. 201510570943.2 discloses a multi-finger yarn ingot gripping robotic claw, including a connecting plate, a multi-handed claw and a multi-cylinder, thereby realizing the grasping of a simple shape and shape workpiece. The adaptability is poor, the length of the claw is fixed, and the stability is poor, which cannot meet the operation requirements of complex castings. The Chinese patent application No. 201410281605.2 discloses a multifunctional robot hand grip composed of a motor driving part, a vacuum suction cup and a mechanical hand claw part. The vacuum suction cup is not suitable for a large surface complex casting, the working space of the mechanical claw is small, and the working efficiency is compared. low. The Chinese patent application No. 201110297466.9 proposes a robotic gripper device, which slides the gripping member to adjust the gripping position by the sliding mechanism, and the positioning accuracy is high, but the gripper itself cannot be adjusted, so that the optimal grip cannot be selected during the gripping process. The position, the operation requirements of the profiled casting cannot be realized. Chinese Patent Application No. 201010605168.7 discloses a robotic hand grip including a cylinder block, a two-way cylinder, a locating pin and a grab nipper. The following disadvantages are encountered in the operation of the gripper: 1) low flexibility and limited adaptability 2) The stability of the grab is poor; 3) The operation requirements of complex castings with different shaped sections cannot be met. Chinese Patent Application No. 201410689752.3 discloses a robotic hand grip device comprising a mechanical claw, a slider, a lifting member, a mounting plate and a lifting member, which realizes the grasping and lifting of the workpiece, but the working space of the claw is very Large restrictions, and the flexibility of the claws is relatively low, the work efficiency is low, and the task of grasping structurally complex castings cannot be achieved. The Chinese patent application No. 201510792769.6 proposes an adaptive robotic two-handed jaw device, including a mounting flange, a claw bracket, a gripper assembly and a claw adjusting device, and the two-handed claw can realize the grasping of the workpiece, but the working space is small. It is difficult to achieve the grasping of large castings, the flexibility of the two-handed claws is low, the stability is poor, and the operation requirements of complex castings on the surface cannot be completed.

With the continuous development and improvement of the level of casting technology, the demand for the production of medium and large-sized castings and the automation of castings is getting higher and higher. Most of the grips in the prior art solutions are unable to achieve the work of grasping large castings with large weight, large volume and surface structure.

Summary of the invention

The object of the present invention is to provide a reversible multi-finger asynchronous gripper for a casting robot, which can be used for a casting robot to perform coring, core, and core in a casting process for a medium and large casting. And the tasks such as handling, improve the efficiency, stability and safety of casting production, reduce labor intensity and production cost, and overcome the defects of the prior art.

The technical problem to be solved by the present invention is achieved by the following technical solutions.

A reversible multi-finger asynchronous gripper for a casting robot includes a coupling seat, a curved bracket, a mount, a longitudinal clamp, a lateral adjustment device, and a laterally reversible gripper. Wherein, the connecting seat is provided with a connecting lug, a connecting pin or a pin hole for connecting with the end effector interface of the casting robot, and the connecting lugs are symmetrically arranged at the upper and lower ends of the connecting seat; The two connecting pin shafts or pin shaft holes are coaxially arranged and symmetrically arranged on the left and right sides of the connecting seat; a circular process hole is provided at an intermediate position of the connecting seat for reducing the weight of the connecting seat. The curved bracket is used for connecting the mounting seat and the connecting seat, and the upper and lower ends of the curved bracket are respectively fixedly connected with the connecting seat and the mounting seat. A guide rail for mounting the longitudinal clamp is disposed on the front and rear sides of the mounting seat, and a long waist-shaped process hole is further disposed between the two guide rails, and a horizontal guiding hole is disposed at the left and right ends of the mounting seat. For mounting a horizontally reversible gripper. The longitudinal clamp is mounted on the mount for longitudinal clamping of the casting or the core; the longitudinal clamp is connected to the mount by a lateral adjustment device, the lateral adjustment device Mounted on both ends of the longitudinal clamp for adjusting the longitudinal clamp on the mount The position and the distance between two adjacent longitudinal clamps; the transversely reversible holders are symmetrically mounted at the left and right ends of the mount for lateral clamping of the casting or core and for casting or The flip of the core.

The longitudinal clamp includes a longitudinal clamping cylinder, a clamping sleeve, a slider, a longitudinal collet, and a collet telescopic cylinder. Wherein, both ends of the longitudinal clamping cylinder are fixedly mounted on the mounting seat by a lateral adjusting device for powering the longitudinal movement of the longitudinal chuck, and the two ends of the longitudinal clamping cylinder and the clamping sleeve The tops of the tubes are connected by a hinge; a mounting hole is arranged at the top of the slider, a vertical guiding hole is further provided at the upper end of the slider, and a longitudinal guiding hole is arranged at the lower end of the slider, on the inner side of the slider a guide rail chute is provided; the slider is fitted on the piston rod of the longitudinal clamping cylinder through its mounting hole, and the slider is also fitted on the guide rail of the mounting bracket through its guide rail for installation and support Longitudinally clamping the sleeve, the slider is connected with the mounting seat by a lateral adjusting device; the clamping sleeve has a cross-shaped cross section, and a longitudinal direction is arranged on the inner side of the upper end of the clamping sleeve a guide shaft, the longitudinal guide shaft is mounted in the longitudinal guide hole of the slider and connected to the slider by a linear bearing or a sliding bearing; the upper middle portion of the longitudinal chuck has a rectangular cross section, The longitudinal collet is placed in the clamping sleeve, The lower end of the longitudinal chuck is provided with a non-slip rubber layer, and at the lowermost end of the longitudinal chuck, an anti-decoupling is further provided to prevent the casting or the core from slipping during operation; the collet expansion cylinder is used for The upper end of the collet telescopic cylinder is connected to the clamping sleeve by a hinge, and the lower end of the collet telescopic cylinder is connected to the longitudinal collet by a hinge.

The lateral adjustment device includes a rack, a non-slip stop plate, a bracelet, and a tension spring. Wherein, the rack has two racks and is arranged in parallel at the top of the front and rear ends of the mount. A stop tooth is disposed below one end of the anti-slip stop plate, and a circular hook hole and a vertical guide post are disposed at the other end of the anti-slip stop plate, and the circular hook hole is used for mounting a tension spring. The vertical guide post is disposed in the vertical guide hole of the slider, and the anti-slip stop plate is kept engaged with the rack for defining lateral movement of the longitudinal clamp on the mount; the anti-slip stop plate and the longitudinal direction The sliders of the clamp are connected by two tension springs. The hand ring is located on one side of the anti-slip stop plate and is fixedly connected with the anti-slip stop plate for adjusting the anti-slip stop plate. Two tension springs are symmetrically arranged on the outer side of the slider for pressing the anti-slip stop plate against the rack; the upper end of the tension spring is connected to the anti-slip stop plate, and the lower end of the tension spring Connected to the slider.

The laterally reversible gripper comprises a transverse splint, a transverse clamping cylinder, a transverse guiding shaft, a turning cylinder, a carrier, a driving gear, a driven gear, a transverse clamping disk and a flip shaft. Wherein, the inner end of the transverse clamping cylinder is fixedly mounted below the mounting seat, and the outer end of the transverse clamping cylinder is connected to the transverse clamping plate by a hinge for providing power for lateral movement of the transverse clamping plate. The transverse guiding shaft has two and is arranged in parallel on the top of the mounting seat, and the inner end of the transverse guiding shaft is placed in the lateral guiding hole of the mounting seat, and is connected with the lateral guiding hole through a linear bearing or a sliding bearing, transversely The outer end of the guide shaft is fixed to the transverse clamp. The upper end of the inverting cylinder and the upper end of the transverse clamping plate are connected by a hinge, and the lower end of the inverting cylinder is connected with the driving gear through a carrier to provide driving power for the rotation of the driving gear; and the rotating tooth is provided at the lower end of the inverting cylinder And the inverted rack remains in mesh with the drive gear. The carrier is sleeved on the driving gear and connected to the driving gear through a hinge for pressing the inverted rack on the driving gear. The driving gear is mounted on the transverse clamping plate through the bearing seat, and the driving gear and the driven gear are externally engaged for straightening the turning cylinder The line displacement is converted to the rotation of the driving gear and the rotation is transmitted to the driven gear. The inverting shaft is connected to the transverse clamping plate through a bearing, and the outer end of the inverting shaft is connected with the driven gear through a flat key, and the inner end of the inverting shaft is fixedly connected with the transverse clamping plate for transmitting the rotation of the driven gear The transverse clamping disk is driven to drive a casting or core held between the two transverse clamping disks for inversion movement; on the working surface of the transverse clamping disk, a non-slip projection is provided.

The carrier includes a U-shaped frame, a spring guiding column and a tensioning spring. Wherein, the U-shaped frame is mounted on the driving gear for mounting and supporting the spring guiding column, and the U-shaped frame and the driving gear are connected by a hinge; the spring guiding column has two, and Arranged in parallel at the outer end of the U-shaped frame; the inner end of the spring guiding column is connected with the U-shaped frame through the cylindrical pair, and the inner end of the spring guiding column is kept in contact with the inverted rack of the turning cylinder for turning The rack is pressed against the driving gear; the tensioning spring is sleeved on the spring guiding column for providing a preloading force for tensioning the flipping rack, and one end of the tensioning spring is connected with the U-shaped bracket The other end of the tension spring is coupled to the outer end of the spring guide post.

In use, the longitudinal clamp or the lateral reversible gripper is selected according to the task of the casting operation, and the lateral adjustment device is adjusted according to the shape of the grasped casting or the core, so that the longitudinal clamp on the mount is maintained. Reasonable spacing; depending on the height dimension of the captured casting or core, the collet telescopic cylinder is driven to adjust the position of the longitudinal collet within the clamping sleeve. When it is only necessary to use the longitudinal clamp to longitudinally clamp the gripped casting or core, the output end of the longitudinal clamping cylinder is first extended to expand the front and rear spacing of the longitudinal chuck; then, the longitudinal clamp is The gripping and handling tasks can be performed by tightening the output of the longitudinal clamping cylinder on the captured casting or core, so that the longitudinal chuck clamps the casting or core. After the grab and handling tasks are completed, the longitudinal clamping cylinder is extended to release the longitudinal chuck. When it is desired to use a laterally reversible gripper, the loosening or clamping of the transverse and transverse clamping discs can be achieved by elongating or shortening the transverse clamping cylinder. When it is required to realize the flipping action of the captured casting or the core, the output end of the longitudinal clamping cylinder needs to be elongated to avoid collision of the captured casting or core with the longitudinal collet during the turning; then, shortening the lateral direction Clamping the cylinder so that the transverse clamping disc clamps the casting or core; then, the drive inverting cylinder is extended or shortened, thereby enabling the transverse clamping disc to be clockwise or along the axis of the tilting shaft with the gripped casting or core being grasped Turn it counterclockwise. When performing the task, the camera transmits the acquired image information to the casting robot, which is identified, judged, and determined by the controller of the casting robot.

The invention has the beneficial effects that the position of the longitudinal clamp of the invention on the mounting seat is adjustable compared to the prior art, and each longitudinal clamp independently performs a longitudinal clamping task, automatically adapting to different contour castings or The core can realize the effective fitting and adaptive clamping of the profiled casting or the core; the laterally reversible holder can not only realize the lateral clamping of the casting or the core, but also realize the turning of the casting or the core. To achieve different posture adjustment or placement of castings or cores, which can meet the needs of different operations such as core, core, core and handling of medium and large castings, and improve the efficiency of core, core and handling operations in casting production. Quality and safety reduce the labor and production costs of operators. In particular, it can meet the working requirements of the conformal effective grasping of the shaped sand core and the casting, and can avoid damage to the sand core or the casting in the process of assembling the core and the lower core, thereby improving the stability, safety and adaptability of the operation. Through the camera mounted under the mount, the identification of castings, cores or flasks is automatically completed, and the casting tasks of sand core components and castings are grasped, placed, and transported, with high automation and high work efficiency. The dynamic strength is low; the invention also has the advantages of compact structure, high safety, strong adaptability, simple operation and maintenance, and multi-purpose use of one machine, and can overcome the defects of the prior art.

DRAWINGS

Figure 1 is a schematic view of the overall structure of the present invention;

Figure 2 is a schematic view of the bottom structure of the present invention;

3 is a schematic structural view of a mount of the present invention;

Figure 4 is a schematic view showing the arrangement relationship between the longitudinal end of the outer end of the present invention and the lateral reversible clamp on the mounting seat;

Figure 5 is a schematic structural view of an anti-skid stopper plate;

Figure 6 is a schematic structural view of a laterally reversible clamp of the present invention;

Fig. 7 is a schematic structural view of a slider of the present invention.

Detailed ways

In order to facilitate the understanding of the technical means, the inventive features, the objects and the effects achieved by the present invention, the present invention will be further described below in conjunction with the specific embodiments and the drawings.

Embodiment 1

As shown in FIG. 1, FIG. 2, FIG. 3 and FIG. 4, a reversible multi-finger asynchronous gripper for a casting robot includes a connecting seat 1, a curved bracket 2, a mounting seat 3, a longitudinal clamp 4, and a lateral direction. The adjustment device 5 and the laterally reversible holder 6 are provided. Wherein, the connecting seat 1 is provided with a connecting lug 11 and a connecting pin 12 for connecting with the end effector interface of the casting robot, and the connecting lugs 11 are symmetrically arranged at the upper and lower ends of the connecting base 1 The two connecting pins 12 are coaxial and arranged symmetrically on the left and right sides of the connecting seat 1; a circular process hole 13 is provided in the middle of the connecting seat 1 for reducing the weight of the connecting seat 1. The curved bracket 2 is used for connecting the mounting base 3 and the connecting base 1. The upper and lower ends of the curved bracket 2 are respectively fixedly connected to the connecting base 1 and the mounting base 3. A guide rail 31 for mounting the longitudinal clamp 4 is disposed on the front and rear sides of the mounting seat 3, and a long waist-shaped process hole 32 is further disposed between the two guide rails 31 at the left and right ends of the mounting seat 3. Both are provided with lateral guiding holes 33 for mounting the laterally reversible holder 6. The longitudinal clamp 4 is mounted on the mounting seat 3 for longitudinal clamping of the casting or the core; the longitudinal clamp 4 and the mounting seat 3 are connected by a lateral adjustment device 5, The lateral adjustment device 5 is mounted on both ends of the longitudinal clamp 4 for adjusting the position of the longitudinal clamp 4 on the mounting seat 3 and the distance between the adjacent two longitudinal clamps 4; The laterally reversible grippers 6 are symmetrically mounted at the left and right ends of the mount 3 for laterally clamping the casting or core and effecting the flipping of the casting or core.

As shown in Figures 1, 2, 4 and 7, the longitudinal clamp 4 comprises a longitudinal clamping cylinder 41, a clamping sleeve 42, a slider 43, a longitudinal collet 44 and a collet telescopic cylinder 45. . Wherein, both ends of the longitudinal clamping cylinder 41 are fixedly mounted on the mounting seat 3 by the lateral adjusting device 5 for powering the longitudinal movement of the longitudinal collet 44, and the two longitudinal clamping cylinders 41 are The end and the top of the clamping sleeve 42 are connected by a hinge; a mounting hole 431 is arranged at the top of the slider 43 , and a vertical guiding hole 432 is further provided at the upper end of the slider 43 at the lower end of the slider 43 A longitudinal guide hole 433 is provided, and a guide rail 434 is disposed on the inner side of the slider 43; the slider 43 is fitted on the piston rod of the longitudinal clamping cylinder 41 through the mounting hole 431 thereof, and the slider 43 is further Pass The guide rail chute 434 is fitted on the guide rail 31 of the mount 3 for mounting and supporting the longitudinal clamping sleeve 42 , and the slider 43 is connected to the mount 3 by the lateral adjustment device 5; The clamping sleeve 42 has a cross-shaped cross section, and a longitudinal guiding shaft 421 is disposed inside the upper end of the clamping sleeve 42, and the longitudinal guiding shaft 421 is mounted in the longitudinal guiding hole 433 of the slider 43 and Connected to the slider 43 by a linear bearing or a sliding bearing; the upper middle portion of the longitudinal chuck 44 has a rectangular cross section, and the longitudinal collet 44 is fitted in the clamping sleeve 42; The collet telescopic cylinder 45 is used to power the telescopic expansion of the longitudinal collet 44 in the clamping sleeve 42. The upper end of the collet telescopic cylinder 45 is connected to the clamping sleeve 42 by a hinge, and the collet telescopic cylinder 45 The lower end is connected to the longitudinal collet 44 by a hinge.

As shown in FIGS. 1, 4, 5 and 7, the lateral adjustment device 5 includes a rack 51, an anti-slip stop plate 52, a bracelet 53 and a tension spring 54. Wherein, the rack 51 has two pieces and is arranged in parallel at the top of the front and rear ends of the mounting seat 3. A stop tooth 521 is disposed below one end of the anti-slip stop plate 52, and a circular hook hole 522 and a vertical guide post 523 are disposed at the other end of the anti-slip stop plate 52. The circular hook hole 522 is used. The tension spring 54 is mounted, the vertical guide post 523 is placed in the vertical guide hole of the slider 43, and the anti-slip stop plate 52 is kept in mesh with the rack 51 for defining the longitudinal clamp 4 on the mount 3. Lateral movement; the anti-slip stop plate 52 and the slider 43 of the longitudinal clamp 4 are connected by two tension springs 54. The hand ring 53 is located on one side of the anti-slip stop plate 52 and is fixedly coupled to the anti-slip stop plate 52 for adjusting the anti-slip stop plate 52. Two tension springs 54 are symmetrically arranged on the outer side surface of the slider 43 for pressing the anti-slip stop plate 52 against the rack 51; the upper end of the tension spring 54 is connected to the anti-slip stop plate 52. The lower end of the tension spring 54 is coupled to the slider 43.

As shown in FIG. 1 , FIG. 2 , FIG. 4 and FIG. 6 , the laterally reversible gripper 6 includes a transverse clamping plate 61 , a transverse clamping cylinder 62 , a transverse guiding shaft 63 , a turning cylinder 64 , a carrier 65 , The drive gear 66, the driven gear 67, the transverse clamping disk 68, and the flip shaft 69. Wherein, the inner end of the transverse clamping cylinder 62 is fixedly mounted below the mounting seat 3, and the outer end of the transverse clamping cylinder 62 is connected to the transverse clamping plate 61 by a hinge for powering the lateral movement of the transverse clamping plate 61. . The transverse guiding shaft 63 has two and is arranged in parallel on the top of the mounting seat 3. The inner end of the lateral guiding shaft 63 is placed in the lateral guiding hole 33 of the mounting seat 3, and the transverse guiding hole 33 is passed through a linear bearing or The sliding bearings are connected, and the outer ends of the lateral guiding shafts 63 are fixed to the lateral clamping plates 61. The upper end of the inverting cylinder 64 is connected to the upper end of the transverse clamping plate 61 by a hinge, and the lower end of the inverting cylinder 64 is connected to the driving gear 66 through the carrier 65 for providing driving power for the rotation of the driving gear 66; The lower end of the 64 is provided with an inverted rack 641, and the inverted rack 641 is held in mesh with the drive gear 66. The carrier 65 is fitted on the driving gear 66 and is connected to the driving gear 66 by a hinge for pressing the inverted rack 641 against the driving gear 66. The driving gear 66 is mounted on the transverse clamping plate 61 through a bearing housing, and the driving gear 66 is externally engaged with the driven gear 67 for converting the linear displacement of the turning cylinder 64 into the rotation of the driving gear 66, and The rotation is transmitted to the driven gear 67. The inverting shaft 69 is connected to the transverse clamping plate 61 via a bearing, and the outer end of the inverting shaft 69 is connected to the driven gear 67 via a flat key, and the inner end of the inverting shaft 69 is fixedly connected to the transverse clamping plate 68 for The rotation of the driven gear 67 is transmitted to the transverse clamping disc 68, thereby driving the casting or core held between the two transverse clamping discs 68 for a flipping motion; on the working surface of the transverse clamping disc 68 A non-slip projection 681 is provided.

As shown in FIG. 1, FIG. 2, FIG. 4 and FIG. 6, the carrier 65 includes a U-shaped frame 651, a spring guiding column 652 and a tension spring. 653. Wherein, the U-shaped frame 651 is mounted on the driving gear 66 for mounting and supporting the spring guiding column 652, and the U-shaped frame 651 and the driving gear 66 are connected by a hinge; the spring guiding column There are two 652, and are arranged in parallel at the outer end of the U-shaped frame 651. The inner end of the spring guiding post 652 is connected to the U-shaped frame 651 through a cylindrical pair, and the inner end of the spring guiding post 652 and the inverting cylinder 64 The flip rack 641 is in contact for pressing the flip rack 641 against the drive gear 66; the tension spring 653 is fitted over the spring guide post 652 for providing a pretension for the flip rack 641 For the tightening force, one end of the tension spring 653 is connected to the U-shaped bracket 651, and the other end of the tension spring 653 is connected to the outer end of the spring guiding post 652.

Specific implementation method 2:

As shown in FIG. 1, FIG. 2 and FIG. 4, a non-slip rubber layer 441 is disposed at a lower end of the longitudinal chuck 44, and an anti-detachment hook 442 is further disposed at a lowermost end of the longitudinal chuck 44. The working surface of the non-slip rubber layer 441 is corrugated or has a cross-shaped anti-slip groove on the working surface of the non-slip rubber layer 441. The design prevents the casting or the core from slipping during the clamping or handling process; the rigid contact between the longitudinal chuck 44 in the longitudinal clamp 4 and the clamped casting or core during operation can be avoided. Preventing damage to the clamped portion of the casting or core during the clamping process, and effectively increasing the friction between the longitudinal chuck 44 and the clamped casting or core. Other compositions and connection relationships are the same as in the first embodiment.

Embodiment 3:

As shown in FIGS. 1, 2 and 4, the longitudinal clamping cylinder 41, the collet telescopic cylinder 45, the transverse clamping cylinder 62 and the inverting cylinder 64 employ a double acting cylinder or a double acting hydraulic cylinder or an electric push rod. An electromagnetic reversing valve and a safety valve are provided at the top of the mount 3. The design facilitates the clamping and loosening of the longitudinal collet 44 in the front-rear direction and the elongation and shortening operations in the vertical direction, facilitating the clamping and loosening operation of the transverse splint 61 in the left-right direction, facilitating the lateral clamping disc. 68 Holds the casting or core for clockwise or counterclockwise flip motion. Other components and connection relationships are the same as those of the first embodiment or the second embodiment.

Embodiment 4:

As shown in Figures 1, 2 and 4, the number of longitudinal clamps 4 is 4-10, and each longitudinal clamp 4 and the mount 3 are independently connected by two lateral adjustment means 5 With control. So designed, when the present invention grasps the casting or the core, the two longitudinal collets 44 of each longitudinal clamp 4 are clamped according to the actual contour size of the clamped casting or core, and the profiled casting or The fit of the core is effectively adaptively grasped, so that each longitudinal clamp 4 on the mount 3 can perform the clamping action and the load sharing, and the load capacity of the present invention is also improved. Other components and connection relationships are the same as those of the first embodiment or the second embodiment or the third embodiment.

Embodiment 5:

As shown in FIG. 2, a camera 7 is further provided at the bottom of the mount 3, and the camera 7 is connected to the mount 3 via a two-degree-of-freedom pan/tilt 8. The design is to obtain the job site image through the camera 7 before the task is performed, and to effectively identify and judge the captured casting or core and the surrounding environment, so that the casting robot can perform the working path planning and operation for the work task. Attitude optimization and adjustment. The use function of the present invention is further expanded. Other components and connections It is the same as the specific embodiment one, two, three, or four.

In use, firstly, according to the task of the casting operation, the longitudinal clamp 4 or the lateral reversible gripper 6 is selected, and the lateral adjustment device 5 is adjusted according to the shape of the grasped casting or the core, so that the longitudinal direction on the mount 3 The clamp 4 maintains a reasonable spacing; the hand grip 53 is manually lifted, the anti-slip stop plate 52 is disengaged from the rack 51 and moved to the left and right along the rack 51, and the position of the longitudinal clamp 4 on the mount 3 can be adjusted. . The drive collet telescopic cylinder 45 adjusts the position of the longitudinal collet 44 within the clamping sleeve 42 depending on the height dimension of the gripped casting or core. When it is only necessary to longitudinally clamp the gripped casting or core using the longitudinal clamp 4, the output end of the longitudinal clamping cylinder 41 is first elongated to enlarge the front-rear spacing of the longitudinal collet 44; The gripper 4 is placed over the gripped casting or core to shorten the output end of the longitudinal clamping cylinder 41 so that the longitudinal collet 44 clamps the casting or core to perform the gripping and handling tasks. After the gripping and handling tasks are completed, the longitudinal clamping cylinder 41 is extended to release the longitudinal collet 44. When it is desired to use the laterally reversible gripper 6, the loosening or clamping of the transverse jaws 61 and the transverse clamping discs 68 can be achieved by elongating or shortening the transverse clamping cylinders 62. When it is desired to achieve the flipping action of the captured casting or core, the output end of the longitudinal clamping cylinder 41 needs to be elongated to avoid collision of the captured casting or core with the longitudinal collet 44 during the turning; Shortening the transverse clamping cylinder 62 to cause the transverse clamping disc 68 to clamp the casting or core; then, the drive inverting cylinder 64 is extended or shortened, thereby effecting the transverse clamping disc 68 together with the gripped casting or core around the flip shaft The axis of 69 is flipped clockwise or counterclockwise. When performing the work task, the camera 7 transmits the acquired image information to the casting robot, and the controller of the casting robot performs identification, judgment, and decision.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "vertical", "top", "bottom", "inside", "outside", "front", "back", " The orientation or positional relationship of the left, the right, and the like is based on the orientation or positional relationship shown in the drawings, and is merely for convenience of description of the present invention and a simplified description, and does not indicate or imply that the device or component referred to must have a specific The orientation, construction and operation in a particular orientation are not to be construed as limiting the invention.

The basic principles, main features and advantages of the present invention have been shown and described above. It should be understood by those skilled in the art that the present invention is not limited by the foregoing embodiments, and that the present invention is only described in the foregoing description and the description of the present invention, without departing from the spirit and scope of the invention. Various changes and modifications are intended to be included within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and their equivalents.

Claims

A reversible multi-finger asynchronous gripper for a casting robot, comprising a connecting seat, a curved bracket, a mounting seat, a longitudinal clamp, a lateral adjusting device and a laterally reversible gripper, characterized in that: The upper and lower ends of the connecting seat are provided with symmetrically arranged connecting lugs, and coaxial and symmetrically arranged connecting pins or pin holes are arranged on the left and right sides of the connecting seat, in the middle position of the connecting seat a circular process hole is provided; the upper end of the curved bracket is fixedly connected to the connecting seat, the lower end of the curved bracket is fixedly connected with the mounting seat; and the guide rail is disposed on the front and rear sides of the mounting seat, and There is also a long waist-shaped process hole between the two guide rails, and lateral guide holes are arranged at the left and right ends of the mount; the longitudinal clamp is mounted on the mount and passes through the lateral direction with the mount The adjusting device is connected, the lateral adjusting device is installed at two ends of the longitudinal clamp; the horizontal reversible gripper is symmetrically mounted at the left and right ends of the mounting seat;

The longitudinal clamp comprises a longitudinal clamping cylinder, a clamping sleeve, a sliding block, a longitudinal clamping head and a collet telescopic cylinder, and the two ends of the longitudinal clamping cylinder are fixedly mounted on the mounting seat by a lateral adjusting device. And the top of the clamping sleeve is connected by a hinge; a mounting hole is arranged at the top of the slider, a vertical guiding hole is further provided at the upper end of the slider, and a longitudinal guiding hole is arranged at the lower end of the slider a guide rail slot is arranged on the inner side of the slider; the slider is fitted on the piston rod of the longitudinal clamping cylinder through the mounting hole thereof, and the slider is also set on the guide rail of the mounting bracket through the rail sliding slot thereof The sliding block and the mounting seat are connected by a lateral adjusting device; the clamping sleeve has a cross-shaped cross section, and a longitudinal guiding shaft is disposed inside the upper end of the clamping sleeve. The longitudinal guide shaft is mounted in the longitudinal guide hole of the slider and is connected with the slider through a linear bearing or a sliding bearing; the upper middle portion of the longitudinal chuck has a rectangular cross section, and the longitudinal collet set In the clamping sleeve, under the longitudinal collet a non-slip rubber layer is provided, and an anti-decoupling hook is further disposed at a lowermost end of the longitudinal chuck; the upper end of the collet telescopic cylinder is connected with the clamping sleeve through a hinge, and the lower end of the collet telescopic cylinder is longitudinally clamped The heads are connected by a hinge;

The lateral adjustment device comprises a rack, a non-slip stop plate, a bracelet and a tension spring, the rack has two, and is arranged in parallel at the top of the front and rear ends of the mount; the anti-slip stop plate There is a stop tooth below one end, a circular hook hole and a vertical guide post are arranged at the other end of the anti-skid stop plate, and the vertical guide post is placed in the vertical guide hole of the slider, and the anti-skid stopper plate and the tooth The strip remains engaged, and the anti-slip stop plate and the slider of the longitudinal clamp are connected by two tension springs; the hand ring is located on one side of the anti-skid stop plate, and the anti-slip stop plate The two extension springs are symmetrically arranged on the outer side surface of the slider, the upper end of the tension spring is connected with the anti-skid stopper plate, and the lower end of the tension spring is connected with the slider.
A reversible multi-finger asynchronous gripper for a casting robot according to claim 1, wherein said laterally reversible gripper comprises a transverse splint, a transverse clamping cylinder, a lateral guiding shaft, and a turning cylinder , the carrier, the driving gear, the driven gear, the transverse clamping disk and the turning shaft, the inner end of the transverse clamping cylinder is fixedly mounted below the mounting seat, and the outer end of the transverse clamping cylinder and the transverse clamping plate are hinged Connecting; the transverse guiding shaft has two, and is arranged in parallel at the top of the mounting seat, the inner end of the transverse guiding shaft is placed in the lateral guiding hole of the mounting seat, and is connected with the transverse guiding hole through the linear bearing or the sliding bearing The outer end of the transverse guiding shaft is fixedly connected with the transverse clamping plate; the upper end of the rotating cylinder is connected with the upper end of the transverse clamping plate by a hinge, and the lower end of the rotating cylinder is connected with the driving gear through the carrier, and the lower end of the turning cylinder is provided Flip the rack, and the flip rack is kept in mesh with the driving gear; the rack is set on the driving gear, And the driving gear is connected by a hinge; the driving gear is mounted on the transverse clamping plate through the bearing seat, and the driving gear and the driven gear are externally engaged; the inverted shaft passes through the bearing and the transverse clamping plate The outer end of the inverting shaft is connected with the driven gear through a flat key, and the inner end of the inverting shaft is fixedly connected to the transverse clamping disc; and the working surface of the transverse clamping disc is provided with a non-slip projection.
A reversible multi-finger asynchronous gripper for a casting robot according to claim 1, wherein said longitudinal clamping cylinder, collet telescopic cylinder, transverse clamping cylinder and turning cylinder are double-acting cylinders or Double acting hydraulic cylinder or electric push rod.
A reversible 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.
A reversible multi-finger asynchronous gripper for a casting robot according to claim 2, wherein said carrier comprises a U-shaped frame, a spring guiding column and a tensioning spring, said U-shaped frame mounting On the driving gear, and connected to the driving gear through a hinge; the spring guiding column has two, and is arranged in parallel at the outer end of the U-shaped frame; the inner end of the spring guiding column and the U-shaped frame The cylindrical inner pair is connected, and the inner end of the spring guiding column is kept in contact with the inverted rack of the turning cylinder; the tension spring is set on the spring guiding column, and one end of the tension spring is connected with the U-shaped frame, and the tension is tight The other end of the spring is coupled to the outer end of the spring guide post.
A reversible multi-finger asynchronous gripper for a casting robot according to claim 1, wherein said longitudinal clamps are 4-10, and each longitudinal clamp and mounting seat Independently connected and controlled by two lateral adjustment devices.
The reversible multi-finger asynchronous gripper for a casting robot according to claim 1, wherein the non-slip rubber layer working surface is corrugated or has a cross-shaped anti-slip groove on the working surface of the non-slip rubber layer. groove.
A reversible multi-finger asynchronous gripper for a casting robot according to claim 1, wherein two cameras are provided at the bottom of the mount, and the camera passes through two degrees of freedom clouds. The table is connected to the mount.