WO2019061669A1 - 铸造机器人用全向多指异步抓手 - Google Patents

铸造机器人用全向多指异步抓手 Download PDF

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Publication number
WO2019061669A1
WO2019061669A1 PCT/CN2017/108822 CN2017108822W WO2019061669A1 WO 2019061669 A1 WO2019061669 A1 WO 2019061669A1 CN 2017108822 W CN2017108822 W CN 2017108822W WO 2019061669 A1 WO2019061669 A1 WO 2019061669A1
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WO
WIPO (PCT)
Prior art keywords
longitudinal
transverse
collet
cylinder
slider
Prior art date
Application number
PCT/CN2017/108822
Other languages
English (en)
French (fr)
Inventor
郭永存
王成军
任润润
邾志伟
沈豫浙
王鹏
徐成克
Original Assignee
安徽理工大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 安徽理工大学 filed Critical 安徽理工大学
Priority to US15/774,274 priority Critical patent/US10668628B2/en
Publication of WO2019061669A1 publication Critical patent/WO2019061669A1/zh

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Classifications

    • 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
    • B25J15/0061—Gripping heads and other end effectors multiple gripper units or multiple end effectors mounted on a modular gripping structure
    • 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
    • B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
    • 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
    • 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
    • B25J15/0266—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by articulated links
    • B25J15/0273—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by articulated links comprising linear guide means
    • 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
    • B25J15/0293—Gripping heads and other end effectors servo-actuated comprising parallel grippers having fingers directly connected to actuator
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
    • B22D31/00—Cutting-off surplus material, e.g. gates; Cleaning and working on castings
    • B22D31/002—Cleaning, working on castings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means

Definitions

  • the invention belongs to the technical field of industrial robot equipment, and particularly relates to an omnidirectional multi-finger asynchronous gripper for a casting robot.
  • 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.
  • robotic grippers used for casting or core grabbing can only continuously capture single-size or regular-shaped castings or cores.
  • 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.
  • 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.
  • the Chinese patent application No. 201510570943.2 discloses a multi-finger spindle grabbing robot gripper, including a connecting plate, a multi-handed claw and a multi-cylinder, which realizes the grasping of a simple shape and shape workpiece, and the adaptability is poor, and the length of the gripper is Fixed, poor stability, can not meet the operational requirements of complex castings.
  • Application number is The Chinese patent of 201410281605.2 discloses a multi-functional 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-scale complex casting, the working space of the mechanical claw is small, and the working efficiency is relatively 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.
  • 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. 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.
  • 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.
  • the object of the present invention is to provide an omnidirectional 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.
  • the tasks such as handling can improve the efficiency, stability and safety of casting production, reduce labor intensity and production cost, and overcome the defects of the prior art.
  • An omnidirectional multi-finger asynchronous gripper for a casting robot comprising a connecting seat, a curved bracket, a mounting seat, a longitudinal clamp, a lateral adjustment device and a transverse clamp.
  • 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 arranged on the front and rear sides of the mounting seat, and a long waist-shaped process hole is further arranged between the two guide rails, and a chevron chute is arranged on both the left and right ends of the mounting seat. .
  • 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 at both ends of the longitudinal clamp for adjusting the position of the longitudinal clamp on the mount and the distance between two adjacent longitudinal clamps; the transverse clamp is symmetrically mounted on the mount Left and right ends for lateral clamping of the casting or core.
  • the mount There are also two cameras at the bottom, and the camera is connected to the mount through a two-degree-of-freedom pan/tilt.
  • the longitudinal clamp comprises a longitudinal clamping cylinder, a longitudinal clamping sleeve, a slider, a longitudinal collet and a longitudinal collet telescopic cylinder.
  • both ends of the longitudinal clamping cylinder are fixedly mounted on the mounting seat by a lateral adjusting device for powering longitudinal movement of the longitudinal collet, and both ends of the longitudinal clamping cylinder are longitudinally clamped
  • the tops of the sleeves are connected by a hinge; a mounting hole is arranged at the top of the slider, a vertical guiding hole is further arranged at the upper end of the slider, and a longitudinal guiding hole is arranged at the lower end of the slider, at the slider a guide groove is arranged on the inner side;
  • 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 Supporting a longitudinal clamping sleeve, wherein the slider is connected to the mounting seat by a lateral adjustment
  • the lateral adjustment device includes a rack, a non-slip stop plate, a bracelet, and a tension spring.
  • the rack has two racks and is arranged in parallel at the top of the front and rear ends of the mount.
  • the top of the anti-skid stopper plate is disposed at two ends of the longitudinal clamping cylinder, and is connected with the piston rod of the longitudinal clamping cylinder through a cylindrical pair, and is disposed below one end of the anti-slip stopper plate.
  • the movable tooth is provided with a circular hook hole and a vertical guide post at the other end of the anti-slip stop plate, the circular hook hole is used for mounting a tension spring, and the vertical guide post is placed in the vertical guide hole of the slider
  • the anti-slip stop plate is in meshing engagement with the rack for defining lateral movement of the longitudinal clamp on the mount; the anti-slip stop plate and the slider of the longitudinal clamp pass two tension springs Connected.
  • 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 transverse clamp comprises a transverse clamping cylinder, a swing angle adjuster, a transverse clamping sleeve, a transverse collet, and a transverse collet telescopic cylinder.
  • the lateral clamping cylinder is mounted below the mounting seat for powering the lateral movement of the transverse clamping sleeve and the transverse clamping jaw, and the middle portion of the transverse clamping cylinder is connected to the mounting seat by a hinge.
  • the inner end of the transverse clamping cylinder is connected to the swing angle adjuster by a hinge, and a guide sliding pin is further disposed at the top of the inner end of the transverse clamping cylinder, and the guiding sliding pin is placed on the mounting seat.
  • the chevron chute is slidable along the chevron chute; the outer end of the transverse clamping cylinder is fixed to the top of the transverse clamping sleeve.
  • the swing angle adjuster is fixedly mounted on the bottom of the mount and connected to the mount by a hinge.
  • the transverse collet is disposed in the transverse clamping sleeve for lateral clamping of the casting or the core, and the transverse collet is slidable along the transverse collet sleeve to adjust the length of the clamping portion Providing a second non-slip rubber layer at a lower end of the transverse collet for increasing the friction between the transverse collet and the clamped casting or core
  • the second anti-decoupling hook is also disposed at the lowermost end of the transverse collet to prevent the casting or the core from slipping during the clamping or handling process.
  • the upper end of the transverse collet telescopic cylinder is connected to the transverse clamping sleeve by a hinge, and the lower end of the transverse collet telescopic cylinder is connected with the transverse collet through a hinge for providing power for the telescopic movement of the transverse collet;
  • the guide slide pin is connected to the transverse clamping cylinder by a thread, and a pin cap is arranged on the top of the guide slip pin.
  • the swing angle adjuster includes a swing angle adjusting cylinder, a left link and a right link for adjusting the swing angle of the two lateral clamps.
  • the swing angle adjusting cylinder is installed at the bottom of the mounting seat for powering the swing of the transverse clamp, and the middle portion of the swing angle adjusting cylinder is connected with the mounting seat by a hinge,
  • the outer end of the swing angle adjusting cylinder is connected with the left link and the right link through a coaxial hinge;
  • the left link is located on the left side of the swing angle adjusting cylinder, and the left end and the left side horizontal clamping cylinder of the left link Connected by a hinge;
  • the right end of the right link is connected to the right lateral clamping cylinder by a hinge.
  • the longitudinal clamp or the transverse clamp In use, first select the longitudinal clamp or the transverse clamp according to the task of the casting operation, and adjust the lateral adjustment device according to the shape of the captured casting or core to maintain a reasonable spacing of the longitudinal clamps on the mounting seat.
  • the swing angle of the lateral clamps at the left and right ends of the mounting seat is adjusted by driving the swing angle adjusting cylinder in the swing angle adjuster.
  • the longitudinal collet telescopic cylinder and the transverse collet telescopic cylinder are respectively driven to adjust the positions of the longitudinal collet and the transverse collet in the longitudinal clamping sleeve and the transverse clamping sleeve, respectively.
  • 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.
  • the lateral collet can be loosened or clamped by elongating or shortening the transverse clamping cylinder.
  • 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 effective fit clamping of the profiled casting or core; the transverse clamp can not only realize the lateral clamping of the casting or the core, but also adjust the swing angle of the transverse clamp and the transverse chuck
  • the length of the clamping part is used for casting robot to realize the adaptive clamping of the casting or core in the transverse direction, which can meet the requirements of different operations such as core, core, core and handling of medium and large castings, and improve the group in casting production.
  • the efficiency, quality and safety of the core, core and handling operations reduce the labor and production costs of the operator.
  • the invention can meet the working requirements of the omnidirectional fitting of the shaped sand core and the casting, and can avoid damage to the sand core or casting in the process of assembling the core and the lower core, thereby improving the stability, safety and adaptability of the operation.
  • 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, high work efficiency and low labor intensity.
  • the invention also has the advantages of compact structure, high safety, strong adaptability, simple operation and maintenance, and multi-purpose of one machine, and can overcome the defects of the prior art.
  • Figure 1 is a schematic view of the overall structure of the present invention
  • Figure 2 is a schematic structural view of a lateral clamp of the present invention
  • FIG. 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 clamp of the outer end and the lateral clamp on the mounting seat of the present invention
  • Figure 5 is a schematic structural view of the anti-skid stopper plate of the present invention.
  • Fig. 6 is a schematic structural view of a slider of the present invention.
  • an omnidirectional multi-finger asynchronous gripper for a casting robot includes a joint 1, a curved bracket 2, a mount 3, a longitudinal clamp 4, and lateral adjustment.
  • 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.
  • Each has a herringbone chute 33.
  • 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 transverse clamps 6 are symmetrically mounted at the left and right ends of the mount 3 for lateral clamping of the casting or core.
  • Two cameras 7 are 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 longitudinal clamp 4 comprises a longitudinal clamping cylinder 41, a longitudinal clamping sleeve 42, a slider 43, a longitudinal collet 44 and a longitudinal collet telescopic Cylinder 45.
  • 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 top end of the longitudinal clamping sleeve 42 is 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 slider 43
  • the lower end is provided with a longitudinal guiding hole 433, 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, the slider 43 Also mounted on the guide rail 31 of the mount 3 by its guide rail 434 for mounting and supporting the longitudinal clamping sleeve 42, the slider 43 and the mount 3 being connected by the lateral adjustment device 5;
  • the longitudinal clamping sleeve 42 has a cross-shaped cross section, and
  • the longitudinal clamp 433 and connected to the slider 43 by a linear bearing or a sliding bearing; the longitudinal clamp The upper portion of the cross section 44 is rectangular, the longitudinal cartridge 44 set in the longitudinal direction within the clamping sleeve 42; the longitudinal The collet telescopic cylinder 45 is used to power the telescoping of the longitudinal collet 44 within the longitudinal clamping sleeve 42.
  • the upper end of the longitudinal collet telescopic cylinder 45 is connected to the longitudinal clamping sleeve 42 by a hinge, longitudinally The lower end of the collet telescopic cylinder 45 is connected to the longitudinal collet 44 by a hinge.
  • the lateral adjustment device 5 includes a rack 51, an anti-slip stop plate 52, a bracelet 53 and a tension spring 54.
  • 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 432 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 at the mount 3
  • the upper 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.
  • the transverse clamp 6 comprises a transverse clamping cylinder 61, a swing angle adjuster 62, a transverse clamping sleeve 63, a transverse collet 64, and a transverse collet telescopic cylinder. 65.
  • the transverse clamping cylinder 61 is mounted below the mounting seat 3 for powering the lateral movement of the transverse clamping sleeve 63 and the transverse collet 64, and the middle portion of the transverse clamping cylinder 61 and the mounting seat 3
  • the inner end of the lateral clamping cylinder 61 is connected to the swing angle adjuster 62 by a hinge, and the guide slip pin 611 is further provided at the top of the inner end of the transverse clamping cylinder 61.
  • the guide slip pin 611 is placed in the chevron chute 33 of the mount 3 and is slidable along the chevron chute 33; the outer end of the transverse clamping cylinder 61 and the top of the lateral clamping sleeve 63 Solid.
  • the swing angle adjuster 62 is fixedly mounted on the bottom of the mount 3 and connected to the mount 3 by a hinge.
  • the transverse collet 64 is nested within the transverse clamping sleeve 63 for lateral clamping of the casting or core, and the transverse collet 64 is slidable along the transverse collet sleeve 63 for adjustment The length of the clamping portion.
  • the upper end of the transverse collet telescopic cylinder 65 is connected to the transverse clamping sleeve 63 by a hinge.
  • the lower end of the transverse collet telescopic cylinder 65 is connected to the transverse collet 64 by a hinge for the expansion and contraction of the transverse collet 64.
  • the movement provides power; the guide slide pin 611 is connected to the transverse clamping cylinder 61 by a thread, and a pin cap is provided on the top of the guide slip pin 611.
  • the swing angle adjuster 62 includes a swing angle adjusting cylinder 621, a left link 622, and a right link 623 for adjusting the swing angles of the two lateral clamps 6.
  • the swing angle adjusting cylinder 621 is installed at the bottom of the mounting seat 3 for powering the swing of the transverse clamp 6, and the middle portion of the swing angle adjusting cylinder 621 and the mounting seat 3 are hinged.
  • the outer end of the swing angle adjusting cylinder 621 is connected to the left link 622 and the right link 623 by a coaxial hinge; the left link 622 is located on the left side of the swing angle adjusting cylinder 621, and the left link The left end of the 622 is connected to the left lateral clamping cylinder 61 by a hinge; the right end of the right link 623 is connected to the right lateral clamping cylinder 61 by a hinge.
  • a first anti-slip rubber layer 441 is disposed at a lower end of the longitudinal collet 44 , and a first anti-detachment hook 442 is further disposed at a lowermost end of the longitudinal collet. Prevents the casting or core from slipping during operation;
  • a second non-slip rubber layer 641 is provided to the lower end of the collet 64 for increasing the friction between the cross collet 64 and the clamped casting or core; at the lowermost end of the transverse collet 64 There is a second anti-uncoupling 642 to prevent the casting or core from slipping during clamping or handling.
  • the working surfaces of the first non-slip rubber layer 441 and the second non-slip rubber layer 641 are corrugated or have intersecting anti-slip grooves on the working surface thereof.
  • the design prevents the casting or the core from slipping during the clamping or handling process; the rigid contact between the longitudinal chuck 44 and the transverse collet 64 during operation and the clamped casting or core can be prevented from being prevented. Damage to the clamped portion of the casting or core during the clamping process can also effectively increase the friction between the longitudinal collet 44, the transverse collet 64 and the clamped casting or core.
  • Other compositions and connection relationships are the same as in the first embodiment.
  • Embodiment 3 is a diagrammatic representation of Embodiment 3
  • the longitudinal clamping cylinder 41, the longitudinal collet telescopic cylinder 45, the transverse clamping cylinder 61, the transverse collet telescopic cylinder 65 and the swing angle adjusting cylinder 621 are double-acting cylinders. Or double acting hydraulic cylinder or 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 chuck 44 in the front-rear direction and the elongation and shortening operations in the vertical direction, facilitating the clamping and releasing operation of the lateral chuck 64 in the left-right direction, and in the vertical direction. Elongation and shortening operations.
  • Other components and connection relationships are the same as those of the first embodiment or the second embodiment.
  • Embodiment 4 is a diagrammatic representation of Embodiment 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 grasped, so that each of the longitudinal clamps 4 on the mount 3 can perform the clamping action and the load sharing, thereby improving the load capacity of the present invention.
  • Other components and connection relationships are the same as those of the first embodiment or the second embodiment or the third embodiment.
  • Embodiment 5 is a diagrammatic representation of Embodiment 5:
  • 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 compositions and connection relationships are the same as those of the specific embodiment one, two, three, or four.
  • the longitudinal clamp 4 or the transverse clamp 6 is selected according to the task of the casting operation, and the lateral adjustment device 5 is adjusted according to the shape of the captured casting or core, so that the longitudinal clamp on the mounting seat 3 is used.
  • 4 Maintaining a reasonable spacing; manually lifting the handrail 53 to disengage the anti-slip stop plate 52 from the rack 51 and moving it along the rack 51 to adjust the position of the longitudinal clamp 4 on the mount 3.
  • the swing angle of the lateral clamps 6 at the left and right ends of the mount 3 is adjusted by driving the swing angle adjusting cylinder 621 in the swing angle adjuster 62.
  • the longitudinal collet telescopic cylinder 45 and the transverse collet telescopic cylinder 65 are respectively driven to respectively adjust the longitudinal collet 44, the transverse collet 64 in the longitudinal clamping sleeve 42 and the lateral clamping. The position within the sleeve 63.
  • the output end of the longitudinal clamping cylinder 41 is first elongated to enlarge the front-rear spacing of the longitudinal chuck 44;
  • the gripper 4 is placed over the captured 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.
  • the longitudinal clamping cylinder 41 is extended to release the longitudinal collet 44.
  • the loosening or clamping of the transverse collet 64 can be achieved by elongating or shortening the transverse clamping cylinder 61.

Abstract

一种铸造机器人用全向多指异步抓手，包括连接座（1）、弧形支架（2）、安装座（3）、纵向夹紧器（4）、横向调节装置（5）和横向夹紧器（6）。抓手通过连接座（1）安装到铸造机器人的末端；各纵向夹紧器（4）可独立对铸件或型芯进行纵向夹紧，可通过横向调节装置（5）调节间距，自动适应不同轮廓的铸件或型芯，可实现对异形铸件或型芯的有效贴合式自适应夹紧；横向夹紧器（6）用于对铸件或型芯进行横向独立夹紧，并可通过摆角调节器（62）调节夹紧的位置或角度。本申请能满足铸造机器人对中大型铸件的取芯、组芯、下芯和搬运等不同作业的需求，具有结构紧凑、作业效率高、安全性高、自适应性强、操作维护简便和一机多用等优点，降低了操作人员的劳动强度和生产成本。

Description

铸造机器人用全向多指异步抓手 技术领域
本发明属于工业机器人设备技术领域，特别涉及一种铸造机器人用全向多指异步抓手。
背景技术
工业机器人高度的柔性化能够满足现代化绿色铸造生产中的各种特殊要求，铸造生产采用机器人，不仅可把操作工人从繁重、单调的体力劳动中解放出来，节约劳动力，而且还是提高铸件生产效率、制造精度和质量、实现铸造生产机械化、自动化及文明化的重要手段。目前，采用先进适用的铸造新技术，提高铸造装备自动化，特别是可移动机器人技术的应用，是铸造企业实施绿色铸造生产、实现可持续发展的关键举措。因铸造存在高温、高粉尘、振动、油污、噪声及电磁干扰的恶劣环境，且铸件重量大，因此一般工业机器人无法满足生产需要。铸造机器人要能适应这样的工作环境并正常运行，还存在众多关键技术急需研究与突破。铸造机器人不仅可用于压铸、精铸生产中的铸件搬运和传送，还可用在砂型铸造的造型、制芯、下芯、浇注、清理以及检验等工序中。尤其是在中大型铸件的生产中，砂芯和铸件的尺寸、重量都比较大，执行取芯、组芯、下芯和搬运作业难度大，要求高。迫切需要能够满足铸件生产中取芯、组芯、下芯和搬运等作业需求的高柔性、重负载型铸造机器人。而铸造机器人执行取芯、组芯、下芯和搬运等作业任务时，除机器人本体外，作为末端执行器的机器人抓手便成为重要的关键设备。
目前，用于铸件或型芯抓取的机器人抓手只能连续抓取单一规格或规整形状的铸件或型芯，当铸件或型芯尺寸规格或形状发生变化时需要停机由人工进行调整或更换抓手，不能实现自动调整，由于需要操作人员进入到机器人工作区域进行调整，增加了操作人员的安全隐患，降低了机器人的工作效率。同时也不能实现一台机器人对不同规格工件的连续工作，即无法实现一机多用的柔性工作。
针对铸件抓取中存在的问题，现有专利文献也提出了一些解决方案。申请号为201210051811.5的中国专利公开一种机器人手，包括手掌、多个手指、电机减速器和线绳等，控制手掌和手指段实现工件的抓取，但是手爪只能实现角度调节，通用性较差，工作空间较小，无法实现大型铸件和形状复杂铸件的抓取。申请号为201710029023.9的中国专利公开一种多用型机器人手臂手爪结构，包括基座、爪臂、气缸、翻转托板、联动板和控制器，结构简单，爪臂的长度无法根据铸件的大小实现调节，在铸件抓取时稳定性较差，而且工作空间相对较小，无法满足结构复杂铸件的抓取。申请号为201510570943.2的中国专利公开一种多手指纱锭抓取机器人手爪，包括连接板、多手爪和多气缸，实现了形状结构简单工件的抓取，适应性较差，手爪的长度是固定的，稳定性较差，无法满足复杂铸件的作业要求。申请号为 201410281605.2的中国专利公开一种多功能机器人手爪，由电机驱动部分、真空吸盘和机械手爪部分构成，真空吸盘不适用于大型表面复杂的铸件，机械手爪工作空间较小，工作效率比较低。申请号为201110297466.9的中国专利提出机器人手爪装置，通过滑动机构带动抓取件滑动调节抓取的位置，定位精度较高，但是手爪本身无法调节导致在抓取过程中无法选择最佳抓取位置，无法实现异形铸件的作业要求。申请号为201010605168.7的中国专利公开一种机器人手爪，包括气缸体、双向气缸、定位销钉和抓取钳板，这类手爪进行作业时存在以下缺点：1)灵活性较低，适应性有限；2)抓取的稳定性较差；3)无法满足异形截面复杂铸件的作业要求。申请号为201410689752.3的中国专利公开一种机器人手爪装置，包括机械爪、滑块、提升件、安装板和拉升件，实现了工件的抓取和提升，但是手爪的工作空间受到了很大的限制，而且手爪的灵活性比较低，工作效率低，无法实现结构复杂铸件的抓取任务。申请号为201510792769.6的中国专利提出了一种自适应机器人双手爪装置，包括安装法兰、手爪支架、手爪组件和手爪调节装置，双手爪可以实现工件的抓取，但是工作空间小，难以实现大型铸件的抓取，双手爪的灵活性较低，稳定性较差，无法完成表面复杂铸件的作业要求。
随着铸造技术水平的不断发展与提高，中大型铸件的生产和铸件抓取自动化的需求越来越高。现有的技术方案中大多数手爪无法实现大重量、大体积和表面结构复杂铸件抓取的作业需求。
发明内容
本发明的目的是针对现有技术的不足，提供一种铸造机器人用全向多指异步抓手，能够用于铸造机器人针对中大型铸件在铸造成型过程中执行取芯、组芯、下芯和搬运等作业任务，提高铸造生产的作业效率、稳定性和安全性，降低劳动强度和生产成本，可克服现有技术的缺陷。
本发明所要解决的技术问题采用以下技术方案来实现。
一种铸造机器人用全向多指异步抓手，包括连接座、弧形支架、安装座、纵向夹紧器、横向调节装置和横向夹紧器。其中，在所述的连接座上设有用于与铸造机器人末端执行器接口相连接的连接耳座、连接销轴或销轴孔，所述的连接耳座对称布置在连接座的上下两端；两个连接销轴或销轴孔保持同轴，且对称布置在连接座的左右两侧；在所述的连接座的中间位置设有圆形工艺孔，用于减轻连接座的重量。所述的弧形支架用于连接安装座与连接座，所述的弧形支架的上下两端分别与连接座、安装座固连。在所述的安装座的前后两侧设有用于安装纵向夹紧器的导轨，且在两条导轨之间还设有长腰形工艺孔，在安装座的左右两端均设有人字形滑槽。所述的纵向夹紧器安装在安装座上，用于对铸件或型芯进行纵向夹紧；所述的纵向夹紧器与安装座之间通过横向调节装置相连接，所述的横向调节装置安装在纵向夹紧器的两端，用于调节纵向夹紧器在安装座上的位置及相邻两个纵向夹紧器之间的距离；所述的横向夹紧器对称安装在安装座的左右两端，用于横向夹紧铸件或型芯。在所述的安装座 的底部还设有两个摄像头，且所述的摄像头通过两自由度云台与安装座相连接。
所述的纵向夹紧器包括纵向夹紧缸、纵向夹紧套管、滑块、纵向夹头和纵向夹头伸缩缸。其中，所述的纵向夹紧缸的两端通过横向调节装置固定安装在安装座上，用于为纵向夹头的纵向运动提供动力，且所述的纵向夹紧缸的两端与纵向夹紧套管的顶部均通过铰链相连接；在所述的滑块的顶部设有安装孔，在滑块的上端还设有垂直导向孔，在滑块的下端设有纵向导向孔，在滑块的内侧设有导轨滑槽；所述的滑块通过其安装孔套装在纵向夹紧缸的活塞杆上，所述的滑块还通过其导轨滑槽套装在安装座的导轨上，用于安装和支撑纵向夹紧套管，所述的滑块与安装座之间通过横向调节装置相连接；所述的纵向夹紧套管的截面呈回字形，在所述的纵向夹紧套管的上端内侧设有纵向导向轴，所述的纵向导向轴安装在滑块的纵向导向孔内且与滑块之间通过直线轴承或滑动轴承相连接；所述的纵向夹头的中上部分的截面呈矩形，所述的纵向夹头套装在纵向夹紧套管内，在所述的纵向夹头的下端设有第一防滑橡胶层，在所述的纵向夹头的最下端还设有第一防脱钩，可防止铸件或型芯在作业过程中滑脱；所述的纵向夹头伸缩缸用于为纵向夹头在纵向夹紧套管内的伸缩提供动力，所述的纵向夹头伸缩缸的上端与纵向夹紧套管通过铰链相连接，纵向夹头伸缩缸的下端与纵向夹头通过铰链相连接。
所述的横向调节装置包括齿条、防滑止动板、手环和拉伸弹簧。其中，所述的齿条有两根，且平行布置在安装座前后两端的顶部。所述的防滑止动板的顶部套装在纵向夹紧缸的两端，且与纵向夹紧缸的活塞杆之间通过圆柱副相连接，在所述的防滑止动板的一端下方设有止动齿，在防滑止动板的另一端设有圆形挂钩孔和垂直导柱，所述的圆形挂钩孔用于安装拉伸弹簧，所述的垂直导柱置于滑块的垂直导向孔内，防滑止动板与齿条保持啮合，用于限定纵向夹紧器在安装座上的横向移动；所述的防滑止动板与纵向夹紧器的滑块之间通过两根拉伸弹簧相连接。所述的手环位于防滑止动板的一侧，且与防滑止动板固连，用于调节防滑止动板。两根拉伸弹簧对称布置在滑块的外侧面上，用于将防滑止动板压紧在齿条上；所述的拉伸弹簧的上端与防滑止动板相连接，拉伸弹簧的下端与滑块相连接。
所述的横向夹紧器包括横向夹紧缸、摆角调节器、横向夹紧套管、横向夹头、横向夹头伸缩缸。其中，所述的横向夹紧缸安装在安装座的下方，用于为横向夹紧套管与横向夹头的横向运动提供动力，且横向夹紧缸的中部与安装座通过铰链相连接，所述的横向夹紧缸的内侧端与摆角调节器通过铰链相连接，在所述的横向夹紧缸内侧端的顶部还设有导向滑移销，所述的导向滑移销置于安装座的人字形滑槽内并可沿着人字形滑槽滑移；所述的横向夹紧缸的外侧端与横向夹紧套管的顶部固连。所述的摆角调节器固定安装在安装座的底部，且与安装座之间通过铰链相连接。所述的横向夹头套装在横向夹紧套管内，用于对铸件或型芯进行横向夹紧，所述的横向夹头可沿着横向夹头套管上下滑移，以调节夹持部分的长度；在所述的横向夹头的下端设有第二防滑橡胶层，用于增加横向夹头与被夹持的铸件或型芯之间的摩 擦力；在所述的横向夹头的最下端还设有第二防脱钩，可以避免铸件或型芯在夹持或搬运过程中滑脱。所述的横向夹头伸缩缸的上端与横向夹紧套管通过铰链相连接，横向夹头伸缩缸的下端与横向夹头通过铰链相连接，用于为横向夹头的伸缩运动提供动力；所述的导向滑移销通过螺纹与横向夹紧缸相连接，在所述的导向滑移销的顶部设有销钉帽。
所述的摆角调节器包括摆角调节缸、左连杆和右连杆，用于调节两个横向夹紧器的摆角。其中，所述的摆角调节缸安装在安装座的底部，用于为横向夹紧器的摆动提供动力，所述的摆角调节缸的中部与安装座之间通过铰链相连接，所述的摆角调节缸的外侧端与左连杆、右连杆通过同轴铰链相连接；所述的左连杆位于摆角调节缸的左侧，左连杆的左端与左侧的横向夹紧缸通过铰链相连接；所述的右连杆的右端与右侧的横向夹紧缸通过铰链相连接。
使用时，先根据铸造作业的任务选择使用纵向夹紧器或横向夹紧器，并根据被抓取铸件或型芯的形状调节横向调节装置，使安装座上的纵向夹紧器保持合理的间距；同时，通过驱动摆角调节器中的摆角调节缸调节安装座左右两端横向夹紧器的摆角。根据被抓取铸件或型芯的高度尺寸，分别驱动纵向夹头伸缩缸、横向夹头伸缩缸，分别调节纵向夹头、横向夹头在纵向夹紧套管和横向夹紧套管内的位置。当只需要使用纵向夹紧器对被抓取铸件或型芯进行纵向夹紧时，先将纵向夹紧缸的输出端伸长，使纵向夹头的前后间距扩大；接着，将纵向夹紧器套在被抓取铸件或型芯上，将纵向夹紧缸的输出端缩短，使纵向夹头夹紧铸件或型芯，即可执行抓取和搬运任务。抓取和搬运任务完成后，将纵向夹紧缸伸长，即可松开纵向夹头。当需要使用横向夹紧器时，通过伸长或缩短横向夹紧缸即可实现横向夹头的松开或夹紧。在执行作业任务时，摄像头将采集到的图像信息传输给铸造机器人，由铸造机器人的控制器进行识别、判断和决策。
本发明的有益效果是，与现有的技术相比，本发明的纵向夹紧器在安装座上的位置可调，各纵向夹紧器独立执行纵向夹紧任务，自动适应不同轮廓的铸件或型芯，可实现对异形铸件或型芯的有效贴合式夹紧；横向夹紧器不仅可实现对铸件或型芯的横向夹紧，还可调节横向夹紧器的摆角和横向夹头夹持部分的长度，用于铸造机器人实现对铸件或型芯在横向自适应夹紧，可满足中大型铸件的取芯、组芯、下芯和搬运等不同作业的需求，提高铸造生产中组芯、下芯和搬运作业的效率、质量和安全性，降低了操作人员的劳动强度和生产成本。尤其是可满足异形砂芯、铸件的全向贴合式有效抓取的作业需求，可避免在组芯、下芯过程中损伤砂芯或铸件，提高了作业的稳定性、安全性和适应性。通过安装在安装座下面的摄像头，自动完成铸件、型芯或砂箱的识别，砂芯组件和铸件的抓取、安放，以及搬运等铸造作业任务，自动化程度高，工作效率高、劳动强度低；本发明还具有结构紧凑、安全性高、适应性强、操作维护简便和一机多用等优点，可克服现有技术的缺陷。
附图说明
图1为本发明的总体结构示意图；
图2为本发明的横向夹紧器的结构示意图；
图3为本发明的安装座的结构示意图；
图4为本发明的外侧端的纵向夹紧器与横向夹紧器在安装座上配置关系示意图；
图5为本发明的防滑止动板的结构示意图；
图6为本发明的滑块的结构示意图。
具体实施方式
为了使本发明所实现的技术手段、创作特征、达成目的与功效易于明白了解，下面结合具体实施例和图示，进一步阐述本发明。
具体实施方式一：
如图1、图2、图3和图4所示，一种铸造机器人用全向多指异步抓手，包括连接座1、弧形支架2、安装座3、纵向夹紧器4、横向调节装置5和横向夹紧器6。其中，在所述的连接座1上设有用于与铸造机器人末端执行器接口相连接的连接耳座11、连接销轴12，所述的连接耳座11对称布置在连接座1的上下两端；两个连接销轴12保持同轴，且对称布置在连接座1的左右两侧；在所述的连接座1的中间位置设有圆形工艺孔13，用于减轻连接座1的重量。所述的弧形支架2用于连接安装座3与连接座1，所述的弧形支架2的上下两端分别与连接座1、安装座3固连。在所述的安装座3的前后两侧设有用于安装纵向夹紧器4的导轨31，且在两条导轨31之间还设有长腰形工艺孔32，在安装座3的左右两端均设有人字形滑槽33。所述的纵向夹紧器4安装在安装座3上，用于对铸件或型芯进行纵向夹紧；所述的纵向夹紧器4与安装座3之间通过横向调节装置5相连接，所述的横向调节装置5安装在纵向夹紧器4的两端，用于调节纵向夹紧器4在安装座3上的位置及相邻两个纵向夹紧器4之间的距离；所述的横向夹紧器6对称安装在安装座3的左右两端，用于横向夹紧铸件或型芯。在所述的安装座3的底部还设有两个摄像头7，且所述的摄像头7通过两自由度云台8与安装座3相连接。
如图1、图2、图4和图6所示，所述的纵向夹紧器4包括纵向夹紧缸41、纵向夹紧套管42、滑块43、纵向夹头44和纵向夹头伸缩缸45。其中，所述的纵向夹紧缸41的两端通过横向调节装置5固定安装在安装座3上，用于为纵向夹头44的纵向运动提供动力，且所述的纵向夹紧缸41的两端与纵向夹紧套管42的顶部均通过铰链相连接；在所述的滑块43的顶部设有安装孔431，在滑块43的上端还设有垂直导向孔432，在滑块43的下端设有纵向导向孔433，在滑块43的内侧设有导轨滑槽434；所述的滑块43通过其安装孔431套装在纵向夹紧缸41的活塞杆上，所述的滑块43还通过其导轨滑槽434套装在安装座3的导轨31上，用于安装和支撑纵向夹紧套管42，所述的滑块43与安装座3之间通过横向调节装置5相连接；所述的纵向夹紧套管42的截面呈回字形，在所述的纵向夹紧套管42的上端内侧设有纵向导向轴421，所述的纵向导向轴421安装在滑块43的纵向导向孔433内且与滑块43之间通过直线轴承或滑动轴承相连接；所述的纵向夹头44的中上部分的截面呈矩形，所述的纵向夹头44套装在纵向夹紧套管42内；所述的纵 向夹头伸缩缸45用于为纵向夹头44在纵向夹紧套管42内的伸缩提供动力，所述的纵向夹头伸缩缸45的上端与纵向夹紧套管42通过铰链相连接，纵向夹头伸缩缸45的下端与纵向夹头44通过铰链相连接。
如图1、图4、图5和图6所示，所述的横向调节装置5包括齿条51、防滑止动板52、手环53和拉伸弹簧54。其中，所述的齿条51有两根，且平行布置在安装座3前后两端的顶部。在所述的防滑止动板52的一端下方设有止动齿521，在防滑止动板52的另一端设有圆形挂钩孔522和垂直导柱523，所述的圆形挂钩孔522用于安装拉伸弹簧54，所述的垂直导柱523置于滑块43的垂直导向孔432内，防滑止动板52与齿条51保持啮合，用于限定纵向夹紧器4在安装座3上的横向移动；所述的防滑止动板52与纵向夹紧器4的滑块43之间通过两根拉伸弹簧54相连接。所述的手环53位于防滑止动板52的一侧，且与防滑止动板52固连，用于调节防滑止动板52。两根拉伸弹簧54对称布置在滑块43的外侧面上，用于将防滑止动板52压紧在齿条51上；所述的拉伸弹簧54的上端与防滑止动板52相连接，拉伸弹簧54的下端与滑块43相连接。
如图1、图2和图4所示，所述的横向夹紧器6包括横向夹紧缸61、摆角调节器62、横向夹紧套管63、横向夹头64、横向夹头伸缩缸65。其中，所述的横向夹紧缸61安装在安装座3的下方，用于为横向夹紧套管63与横向夹头64的横向运动提供动力，且横向夹紧缸61的中部与安装座3通过铰链相连接，所述的横向夹紧缸61的内侧端与摆角调节器62通过铰链相连接，在所述的横向夹紧缸61内侧端的顶部还设有导向滑移销611，所述的导向滑移销611置于安装座3的人字形滑槽33内并可沿着人字形滑槽33滑移；所述的横向夹紧缸61的外侧端与横向夹紧套管63的顶部固连。所述的摆角调节器62固定安装在安装座3的底部，且与安装座3之间通过铰链相连接。所述的横向夹头64套装在横向夹紧套管63内，用于对铸件或型芯进行横向夹紧，所述的横向夹头64可沿着横向夹头套管63上下滑移，以调节夹持部分的长度。所述的横向夹头伸缩缸65的上端与横向夹紧套管63通过铰链相连接，横向夹头伸缩缸65的下端与横向夹头64通过铰链相连接，用于为横向夹头64的伸缩运动提供动力；所述的导向滑移销611通过螺纹与横向夹紧缸61相连接，在所述的导向滑移销611的顶部设有销钉帽。
如图2所示，所述的摆角调节器62包括摆角调节缸621、左连杆622和右连杆623，用于调节两个横向夹紧器6的摆角。其中，所述的摆角调节缸621安装在安装座3的底部，用于为横向夹紧器6的摆动提供动力，所述的摆角调节缸621的中部与安装座3之间通过铰链相连接，所述的摆角调节缸621的外侧端与左连杆622、右连杆623通过同轴铰链相连接；所述的左连杆622位于摆角调节缸621的左侧，左连杆622的左端与左侧的横向夹紧缸61通过铰链相连接；所述的右连杆623的右端与右侧的横向夹紧缸61通过铰链相连接。
具体实施方式二：
如图1、图2和图4所示，在所述的纵向夹头44的下端设有第一防滑橡胶层441，在所述的纵向夹头的最下端还设有第一防脱钩442，可防止铸件或型芯在作业过程中滑脱；在所述的横 向夹头64的下端设有第二防滑橡胶层641，用于增加横向夹头64与被夹持的铸件或型芯之间的摩擦力；在所述的横向夹头64的最下端还设有第二防脱钩642，可以避免铸件或型芯在夹持或搬运过程中滑脱。所述的第一防滑橡胶层441和第二防滑橡胶层641的工作表面为波纹形或在其工作表面设有交叉状防滑沟槽。如此设计，可防止铸件或型芯在夹持或搬运过程中作业过程中滑脱；可以避免纵向夹头44、横向夹头64在工作时与被夹持铸件或型芯之间的刚性接触，防止在夹持过程中对铸件或型芯的被夹紧部位造成损伤，还可以有效增加纵向夹头44、横向夹头64与被夹持铸件或型芯之间的摩擦力。其它组成及连接关系与具体实施方式一相同。
具体实施方式三：
如图1、图2和图4所示，所述的纵向夹紧缸41、纵向夹头伸缩缸45、横向夹紧缸61、横向夹头伸缩缸65和摆角调节缸621采用双作用气缸或双作用液压缸或电动推杆。在所述的安装座3的顶部设有电磁换向阀和安全阀。如此设计，可方便纵向夹头44在前后方向的夹紧与松开以及在垂直方向上的伸长与缩短操作，方便横向夹头64在左右方向的夹紧与松开操作，以及在垂直方向上的伸长与缩短操作。其它组成及连接关系与具体实施方式一或具体实施方式二相同。
具体实施方式四：
如图1、图2和图4所示，所述的纵向夹紧器4的数量为4-10，且每个纵向夹紧器4与安装座3之间通过两个横向调节装置5独立连接与控制。如此设计，本发明在抓取铸件或型芯时，每个纵向夹紧器4的两个纵向夹头44根据被夹持铸件或型芯的实际轮廓尺寸进行夹紧，可实现对异形铸件或型芯的贴合式有效抓取，使安装座3上的每个纵向夹紧器4都能实现夹持动作和分担负载，提高了本发明的负载能力。其它组成及连接关系与具体实施方式一或具体实施方式二或具体实施方式三相同。
具体实施方式五：
如图2所示，在安装座3的底部还设有摄像头7，且所述的摄像头7通过两自由度云台8与安装座3相连接。如此设计，是为了在执行作业任务之前，通过摄像头7获取作业现场图像，对被抓取的铸件或型芯及周边环境进行有效的识别与判断，便于铸造机器人对作业任务进行作业路径规划和作业姿态优化、调整。进一步扩大了本发明的使用功能。其它组成及连接关系与具体实施方式一、二、三、或四相同。
使用时，先根据铸造作业的任务选择使用纵向夹紧器4或横向夹紧器6，并根据被抓取铸件或型芯的形状调节横向调节装置5，使安装座3上的纵向夹紧器4保持合理的间距；手动提起手环53，使防滑止动板52脱开齿条51并沿着齿条51左右移动，即可调节纵向夹紧器4在安装座3上的位置。同时，通过驱动摆角调节器62中的摆角调节缸621调节安装座3左右两端横向夹紧器6的摆角。根据被抓取铸件或型芯的高度尺寸，分别驱动纵向夹头伸缩缸45、横向夹头伸缩缸65，分别调节纵向夹头44、横向夹头64在纵向夹紧套管42和横向夹紧套管63内的位置。当 只需要使用纵向夹紧器4对被抓取铸件或型芯进行纵向夹紧时，先将纵向夹紧缸41的输出端伸长，使纵向夹头44的前后间距扩大；接着，将纵向夹紧器4套在被抓取铸件或型芯上，将纵向夹紧缸41的输出端缩短，使纵向夹头44夹紧铸件或型芯，即可执行抓取和搬运任务。抓取和搬运任务完成后，将纵向夹紧缸41伸长，即可松开纵向夹头44。当需要使用横向夹紧器6时，通过伸长或缩短横向夹紧缸61即可实现横向夹头64的松开或夹紧。在执行作业任务时，摄像头7将采集到的图像信息传输给铸造机器人，由铸造机器人的控制器进行识别、判断和决策。
在本发明的描述中，需要理解的是，术语“上”、“下”、“垂直”、“顶”、“底”、“内”、“外”、“前”、“后”、“左”、“右”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。
以上显示和描述了本发明的基本原理、主要特征和优点。本行业的技术人员应该了解，本发明不受上述实施例的限制，上述实施例和说明书中描述的只是说明本发明的原理，在不脱离本发明精神和范围的前提下，本发明还会有各种变化和改进，这些变化和改进都落入要求保护的本发明范围内。本发明要求保护范围由所附的权利要求书及其等效物界定。

Claims (8)

  1. 一种铸造机器人用全向多指异步抓手，包括连接座、弧形支架、安装座、纵向夹紧器、横向调节装置和横向夹紧器，其特征在于：在所述的连接座的上下两端设有对称布置的连接耳座，在所述的连接座的左右两侧设有同轴且对称布置的连接销轴或销轴孔，在所述的连接座的中间位置设有圆形工艺孔；所述的弧形支架的上端与连接座固连，所述的弧形支架的下端与安装座固连；在所述的安装座的前后两侧设有导轨，且在两条导轨之间还设有长腰形工艺孔，在安装座的左右两端均设有人字形滑槽；所述的纵向夹紧器安装在安装座上，且与安装座之间通过横向调节装置相连接，所述的横向调节装置安装在纵向夹紧器的两端；所述的横向夹紧器对称安装在安装座的左右两端；
    所述的纵向夹紧器包括纵向夹紧缸、纵向夹紧套管、滑块、纵向夹头和纵向夹头伸缩缸，所述的纵向夹紧缸的两端通过横向调节装置固定安装在安装座上，且与纵向夹紧套管的顶部均通过铰链相连接；在所述的滑块的顶部设有安装孔，在滑块的上端还设有垂直导向孔，在滑块的下端设有纵向导向孔，在滑块的内侧设有导轨滑槽，所述的滑块通过其安装孔套装在纵向夹紧缸的活塞杆上，所述的滑块还通过其导轨滑槽套装在安装座的导轨上，且与安装座之间通过横向调节装置相连接；所述的纵向夹紧套管的截面呈回字形，在所述的纵向夹紧套管的上端内侧设有纵向导向轴，所述的纵向导向轴安装在滑块的纵向导向孔内且与滑块之间通过直线轴承或滑动轴承相连接；所述的纵向夹头的中上部分的截面呈矩形，所述的纵向夹头套装在纵向夹紧套管内，在所述的纵向夹头的下端设有第一防滑橡胶层，在所述的纵向夹头的最下端还设有第一防脱钩；所述的纵向夹头伸缩缸的上端与纵向夹紧套管通过铰链相连接，纵向夹头伸缩缸的下端与纵向夹头通过铰链相连接；
    所述的横向调节装置包括齿条、防滑止动板、手环和拉伸弹簧，所述的齿条有两根，且平行布置在安装座前后两端的顶部；在所述的防滑止动板的一端下方设有止动齿，在防滑止动板的另一端设有圆形挂钩孔和垂直导柱，所述的垂直导柱置于滑块的垂直导向孔内，且防滑止动板与纵向夹紧器的滑块之间通过两根拉伸弹簧相连接,防滑止动板与齿条保持啮合；所述的手环位于防滑止动板的一侧，且与防滑止动板固连；两根拉伸弹簧对称布置在滑块的外侧面上，所述的拉伸弹簧的上端与防滑止动板相连接，拉伸弹簧的下端与滑块相连接。
  2. 根据权利要求1所述的一种铸造机器人用全向多指异步抓手，其特征在于：所述的横向夹紧器包括横向夹紧缸、摆角调节器、横向夹紧套管、横向夹头、横向夹头伸缩缸，所述的横向夹紧缸安装在安装座的下方，且其中部与安装座通过铰链相连接，所述的横向夹紧缸的内侧端与摆角调节器通过铰链相连接，在所述的横向夹紧缸内侧端的顶部还设有导向滑移销，所述的导向滑移销置于安装座的人字形滑槽内并可沿着人字形滑槽滑移；所述的横向夹紧缸的外侧端与横向夹紧套管的顶部固连；所述的摆角调节器固定安装在安装座的底部，且与安装座之间通过铰链相连接；所述的横向夹头套装在横向夹紧套管内，并可沿着横向夹头套管上下滑移，在所述的横向夹头的下端设有第二防滑橡胶层，在所述的横向夹头的最下端 还设有第二防脱钩；所述的横向夹头伸缩缸的上端与横向夹紧套管通过铰链相连接，横向夹头伸缩缸的下端与横向夹头通过铰链相连接；所述的导向滑移销通过螺纹与横向夹紧缸相连接，在所述的导向滑移销的顶部设有销钉帽。
  3. 根据权利要求2所述的一种铸造机器人用全向多指异步抓手，其特征在于：所述的摆角调节器包括摆角调节缸、左连杆和右连杆，所述的摆角调节缸安装在安装座的底部，且其中部与安装座之间通过铰链相连接，所述的摆角调节缸的外侧端与左连杆、右连杆通过同轴铰链相连接；所述的左连杆位于摆角调节缸的左侧，左连杆的左端与左侧的横向夹紧缸通过铰链相连接；所述的右连杆的右端与右侧的横向夹紧缸通过铰链相连接。
  4. 根据权利要求1所述的一种铸造机器人用全向多指异步抓手，其特征在于：在所述的安装座的顶部设有电磁换向阀和安全阀。
  5. 根据权利要求1所述的一种铸造机器人用全向多指异步抓手，其特征在于：所述的纵向夹紧缸、纵向夹头伸缩缸、横向夹紧缸、横向夹头伸缩缸和摆角调节缸采用双作用气缸或双作用液压缸或电动推杆。
  6. 根据权利要求1所述的一种铸造机器人用全向多指异步抓手，其特征在于：所述的纵向夹紧器的数量为4-10，且每个纵向夹紧器与安装座之间通过两个横向调节装置独立连接与控制。
  7. 根据权利要求1所述的一种铸造机器人用全向多指异步抓手，其特征在于：所述的第一防滑橡胶层和第二防滑橡胶层的工作表面为波纹形或在其工作表面设有交叉状防滑沟槽。
  8. 根据权利要求1所述的一种铸造机器人用全向多指异步抓手，其特征在于：在所述的安装座的底部还设有两个摄像头，且所述的摄像头通过两自由度云台与安装座相连接。
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