WO2021212544A1

WO2021212544A1 - Automatic clamping device for high-temperature casting robot

Info

Publication number: WO2021212544A1
Application number: PCT/CN2020/088607
Authority: WO
Inventors: 王立广; 何武
Original assignee: 奥普迪姆机器人自动化(苏州)有限公司
Priority date: 2020-04-21
Filing date: 2020-05-06
Publication date: 2021-10-28
Also published as: DE202020104767U1; CN211971557U

Abstract

An automatic clamping device for a high-temperature casting robot, comprising a moving base (1) of which upper and lower ends are respectively connected to a support frame (3) and universal wheels (2); a first electric push rod (4) is fixedly connected to the center of the lower end of the support frame (3); the power output end of the first electric push rod (4) is connected to an adjusting gantry (9) by means of a steering adjusting mechanism; the steering adjusting mechanism comprises a fixing plate (5), an electric motor (6), a driven gear (7) and a driving gear (8); the lower end of the adjusting gantry (9) is connected to a second electric push rod (11); the output end of the second electric push rod (11) is fixedly connected to a mounting plate (12); the end face of the mounting plate (12) away from the second electric push rod (11) is connected to a clamping head (10); and the upper end of the moving base (1) is slidably connected to a protective mechanism. The device has high degree of automation, is stable in clipping, saves labor, and has good safety performance.

Description

Automatic clamping device for high temperature casting robot

Technical field

The utility model relates to the technical field of tooling fixtures, in particular to an automatic clamping device for a high-temperature casting robot.

Background technique

The container support foot castings in the prior art have a temperature of up to 500 degrees Celsius and a weight of more than 80 kg after being molded. They need to be allowed to stand for a long time after they are completely cooled to normal temperature, and then they are manually hoisted. Transporting for the next process not only requires a lot of waiting time, but also is very inconvenient to operate. Therefore, this problem needs to be solved urgently.

Utility model content

The purpose of the utility model is to solve the shortcomings in the prior art, and proposes a high-temperature casting robot automatic clamping device.

In order to achieve the above purpose, the present utility model adopts the following technical solutions:

An automatic clamping device for a high-temperature casting robot, comprising a movable base with a support frame and a universal wheel connected to the upper and lower ends, respectively,

A first electric push rod is fixedly connected to the center of the lower end of the support frame. The power output end of the first electric push rod can move up and down in a vertical direction, and the power output end of the first electric push rod is adjusted by a steering The mechanism is connected with an adjusting gantry, which can perform circumferential positioning and rotation in a horizontal direction under the driving of the steering adjusting mechanism;

The lower end of the adjusting gantry is connected with a pair of oppositely arranged second electric push rods. The power output ends of the pair of second electric push rods can move along the opposite positioning, and the power of the pair of second electric push rods A mounting plate is fixedly connected to the output ends, and a clamping head is connected to the end surface of the mounting plate away from the second electric push rod;

A protection mechanism is slidably connected to the upper end of the mobile base.

Its further technical solutions are:

The steering adjustment mechanism includes a fixed plate, an electric motor, a driven gear, and a driving gear. The fixed plate is fixedly sleeved on the power output end of the first electric push rod, the electric motor is fixedly connected to the upper end of the fixed plate, and the output of the motor is The shaft penetrates the fixed plate and is fixedly connected with the driving gear and drives the driving gear to rotate. The driven gear bearing is connected to the lower end of the fixed plate, and the driven gear meshes with the driving gear for transmission, and the lower end of the driven gear is fixedly connected with the adjusting gantry.

Its further technical solutions are:

The clamping head includes a clamping box, an air pump, and an elastic inflation bag. A bolt part is connected between the clamping box and the mounting plate and the two are fixedly connected by the bolt part. The clamping box is connected to the mounting plate through the bolt part. The power output end of the second electric push rod is fixedly connected; the elastic inflatable bag is glued to the inner wall of the clamping box, the air pump is fixedly connected to the upper end of the clamping box, and the air outlet pipe of the air pump penetrates the clamping box and is connected to the elastic inflatable bag The internal connection is fixed.

Its further technical solutions are:

The protection mechanism includes a protection sliding seat and a driving device, the protection sliding seat is located inside the support frame, and the lower end of the protection sliding seat is fixedly connected with a pair of T-shaped sliding blocks, and a pair of T-shaped sliding blocks are arranged on the upper end of the movable base With matching sliding grooves, the protective sliding seat can slide on the mobile base under the driving of the driving device.

Its further technical solutions are:

The driving device includes a forward and reverse motor and a drive gear, and a fixed seat is connected between the forward and reverse motor and the side end of the mobile base, and the forward and reverse motor is located on the fixed seat; the output of the forward and reverse motor The shaft is fixedly connected with a drive gear, and the lower end surface of the protective sliding seat is provided with a tooth groove for meshing transmission with the driving gear, and the driving gear moves along the tooth groove under the drive of the forward and reverse motor and drives the protective sliding seat on the moving base slide.

Its further technical solutions are:

A cooling fan is fixedly connected to the lower surface of the gantry beam of the adjusting gantry.

Compared with the prior art, the present invention provides an automatic clamping device for a high-temperature casting robot, which has the following beneficial effects:

1. Through the set of the first electric push rod, the adjusting gantry, the second electric push rod and the clamping head, the second electric push rod is used to drive a pair of clamping boxes on the clamping head to clamp the part body casting , High degree of automation, more stable gripping, and good safety performance;

2. After the elastic inflatable bag is glued to the inner wall of the clamping box, the part body casting is clamped by a pair of clamping boxes, and then the air pump is used to inflate the elastic inflatable bag to inflate the elastic inflatable bag and the part body The surface of the casting is in full contact; for the uneven surface of the casting of the part body, the deformability of the elastic inflatable bag itself is used to bulge to form a bulge, so that the elastic inflatable bag is in full contact with the surface of the part body casting, making the clamping more stable;

3. A protective mechanism is slidably connected to the upper end of the movable base. After clamping the casting of the part body, the forward and reverse motor can be used to rotate the driving gear, and the driving gear drives the protective slide to slide to the right side of the part body casting to prevent the part body The casting accidentally falls to the ground during movement;

4. The cooling fan is fixedly connected to the lower end of the adjusting gantry. Before clamping the part body casting, the cooling fan can be used to blow down the cold air to cool the part body casting; when clamping the part body casting, the cooling fan can be used to continue Blow down the cold air to further cool down the part body castings that may have residual heat.

The parts not involved in the device are the same as the prior art or can be realized by using the prior art. The utility model has a high degree of automation, a more stable clamping, and greatly saves labor and has good safety performance.

Description of the drawings

Figure 1 is a schematic structural diagram of a high-temperature casting robot automatic clamping device proposed by the utility model with the cooling fan removed;

Figure 2 is a schematic diagram of the bottom structure of a high-temperature casting robot automatic clamping device proposed by the utility model;

Figure 3 is a schematic diagram of the structure of a high-temperature casting robot automatic clamping device proposed by the utility model in a state where the part body casting is clamped;

Figure 4 is a schematic diagram of the structure of a high-temperature casting robot automatic clamping device proposed by the utility model when the protective sliding seat is opened;

Figure 5 is a schematic diagram of the structure of the clamping head of a high-temperature casting robot automatic clamping device proposed by the utility model;

6 is a schematic diagram of the structure of a high-temperature casting robot automatic clamping device proposed by the utility model when the air pump is inflated into the elastic inflatable bag;

in:

1-Mobile base; 2-Universal wheel;

3-Support frame; 4-The first electric push rod;

5-Fixed plate; 6-Motor;

7-Driven gear; 8-Drive gear;

9-Adjust the gantry;

10- Clamping head; 101- Clamping box; 102- Air pump; 103- Elastic inflatable bag; 104- Protrusion;

11-Second electric push rod; 12-Mounting plate;

13-Bolt parts; 14-Protective sliding seat;

15-forward and reverse motor; 16-drive gear;

17-T type slider; 18-tooth groove;

19-Cooling fan.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present utility model with reference to the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, not all implementations. example.

In the description of this patent, it should be noted that the terms "installation", "connection", "connection" and "setting" should be understood in a broad sense, unless otherwise clearly specified and limited. For example, they can be fixed connection, setting It can also be detachably connected and arranged, or integrally connected and arranged. For those of ordinary skill in the art, the specific meanings of the above-mentioned terms in this patent can be understood according to specific circumstances.

In the description of the present utility model, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", The orientation or positional relationship indicated by “outside” is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the specific embodiments of the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must be It has a specific orientation, and is constructed and operated in a specific orientation, so it cannot be understood as a limitation of the present invention.

Specific Example 1

Referring to Figures 1-6, the high-temperature casting robot automatic clamping device described in this specific embodiment includes a mobile base 1 with a support frame 3 and a universal wheel 2 connected to the upper and lower ends, respectively, and the center of the lower end of the support frame 3 is fixedly connected with The first electric push rod 4, the power output end of the first electric push rod 4 can move up and down in a vertical direction. The movement of the power output end of the first electric push rod is a conventional technical field in the art. For example, the first electric push rod includes a set of rods and a push rod positioned and sleeved in the set of rods and capable of positioning and moving along the set of rods. , The positioning movement of the push rod can be positioned and driven by a small drive motor, and other electric pushing methods may also be used to realize the movement of the electric push rod, which will not be described in detail in this application.

The power output end of the first electric push rod 4 is connected to an adjusting gantry 9 through a steering adjusting mechanism, and the adjusting gantry can perform circumferential positioning and rotation in a horizontal direction under the driving of the steering adjusting mechanism. The lower end of the adjusting gantry 9 is connected with a pair of oppositely arranged second electric push rods 11, the power output ends of the pair of second electric push rods can move along the opposite positioning, and the pair of second electric push rods 11 A mounting plate 12 is fixedly connected to the power output end. The mounting plate 12 is made of heat-insulating material. The end surface of the mounting plate 12 away from the second electric push rod 11 is connected to a clamping head 10; in addition, the upper end of the mobile base 1 is slidingly connected There are protective mechanisms.

In the utility model, the steering adjustment mechanism includes a fixed plate 5, an electric motor 6, a driven gear 7, and a driving gear 8. The fixed plate 5 is fixedly sleeved on the power output end of the first electric push rod 4, and the electric motor 6 is fixedly connected to the fixed plate 5 upper end, and the output shaft of the motor 6 penetrates the fixed plate 5 and is fixedly connected with the driving gear 8 and drives the driving gear to rotate, the driven gear 7 is bearing-connected to the lower end of the fixed plate 5, and the driven gear 7 meshes with the driving gear 8 for transmission, The lower end of the driven gear 7 is fixedly connected with the adjusting gantry 9. The universal wheel 2 is used to move the device to the part body casting, the first electric push rod pushes the adjusting steering structure and the adjusting gantry to move downward, and then the motor 6 drives the driving gear 8 rotates, the driving gear 8 drives the driven gear 7 to rotate with the adjusting gantry 9 to adjust the clamping direction of the pair of clamping heads 10.

Referring to Figures 5-6, the clamping head 10 includes a clamping box 101, an air pump 102, and an elastic inflation bag 103. A bolt part 13 is connected between the clamping box 101 and the mounting plate 12, and the bolt part is used to clamp The box is fixedly connected to the mounting plate, and at this time, the clamping box 101 is fixedly connected to the power output end of the second electric push rod 11 through the mounting plate. The elastic inflation bag 103 is glued to the inner wall of the clamping box 101, the air pump 102 is fixedly connected to the upper end of the clamping box 101, and the air outlet pipe of the air pump 102 penetrates the clamping box 101 and is fixedly communicated with the inside of the elastic inflation bag 103. When clamping the part body casting, first use the second electric push rod 11 to drive a pair of clamping boxes 101 to clamp the part body casting, and then use the air pump 102 to inflate the inside of the elastic inflatable bag 103, so that the elastic inflatable bag 103 is inflated and elastic. The inflatable bladder 103 is in full contact with the surface of the part body casting; the elastic inflatable bladder 103 is made of high temperature resistant elastic material to avoid the residual heat of the part body casting from scorching the elastic inflatable bladder 103; in addition, in order to prevent the elastic inflatable bladder 103 from being adversely affected by high temperature , The part body casting can be pre-cooled to make the temperature as low as 350 degrees Celsius and can be clamped by the elastic inflatable bladder 103; for the uneven surface of the part body casting, the elastic inflatable bladder 103 itself can be used to bulge to form a convex In this way, the elastic inflatable bladder 103 is in full contact with the surface of the part body casting, so that the clamping is more stable.

Among them, the protective mechanism includes a protective sliding seat 14 and a driving device. The protective sliding seat 14 is located inside the support frame 3, and the lower end of the protective sliding seat 14 is fixedly connected with a pair of T-shaped sliding blocks 17, and the upper end of the mobile base 1 is provided with a pair of sliding grooves matching the T-shaped sliding blocks 17, and the protective sliding seat can It slides on the mobile base under the drive of the driving device. The driving device includes a forward and reverse motor 15 and a drive gear 16, and a fixed seat is connected between the forward and reverse motor 15 and the side end of the mobile base 1, and the forward and reverse motor is located on the fixed seat. The output shaft of the forward and reverse motor 15 is fixedly connected to the drive gear 16, and the lower end of the protective slide 14 is provided with a tooth slot 18 that meshes with the drive gear 16, and the drive gear moves along the slot under the drive of the forward and reverse motor. And drive the protective sliding seat to slide on the mobile base. After clamping the part body casting, the forward and reverse motor 15 can be used to drive the driving gear 16 to rotate. The driving gear 16 uses its mesh with the cogging to drive the protective slide 14 to slide to the right side of the part body casting to prevent the part body casting from moving In the process, it accidentally fell to the ground.

Working principle: The operator uses the universal wheel 2 to move the device to the part body casting, uses the motor 6 to drive the driving gear 8 to rotate, and the driving gear 8 drives the driven gear 7 to rotate with the adjusting gantry 9 to adjust a pair of clamping The clamping direction of the head 10; the second electric push rod 11 is used to drive a pair of clamping boxes 101 to clamp the part body castings, and then the air pump 102 is used to inflate the inside of the elastic inflatable bag 103 to make the elastic inflatable bag 103 inflated and elastic The inflatable bladder 103 is in full contact with the surface of the part body casting; the elastic inflatable bladder 103 is made of high temperature resistant elastic material to avoid the residual heat of the part body casting from scorching the elastic inflatable bladder 103; for the uneven surface of the part body casting, use the elastic inflatable bladder The deformation performance of 103 itself bulges to form a protrusion 104 so that the elastic inflatable bladder 103 is in full contact with the surface of the part body casting, making the clamping more stable; after clamping the part body casting, the forward and reverse motor 15 can be used to carry the driving gear 16 When rotating, the driving gear 16 drives the protective sliding seat 14 to slide to the right side of the part body casting to prevent the part body casting from accidentally falling to the ground during the movement.

Specific Example 2

Referring to Figures 2-4, the high-temperature casting robot automatic clamping device described in this specific embodiment has the same structure as the specific embodiment 1. Fan 19. Before clamping the part body casting, the cooling fan 19 can be used to blow down the cold air to cool down the part body casting; when the part body casting is clamped, the cooling fan 19 can be used to continue to blow the cold air downward to prevent residual heat. The part body casting is further cooled down.

It should be further explained that the electrical control method used in this application is automatically controlled by a controller and powered by an external power supply. The control circuit of the controller can be realized by simple programming by a person skilled in the art. Common knowledge in the field, and this application is mainly used to protect mechanical devices, so this application will not explain the control method and circuit connection in detail.

The above are only the preferred specific embodiments of the present utility model, but the protection scope of the present utility model is not limited to this. Anyone familiar with the technical field within the technical scope disclosed by the present utility model, according to the present utility model The technical solution of the new type and its utility model concept with equivalent replacements or changes shall be covered by the scope of protection of the present utility model.

Claims

An automatic clamping device for a high-temperature casting robot, comprising a movable base (1) connected with a support frame (3) and a universal wheel (2) at the upper and lower ends, and is characterized in that:

A first electric push rod (4) is fixedly connected to the center of the lower end of the support frame (3). The power output end of the first electric push rod (4) can move up and down in the vertical direction, and the first electric push rod (4) The power output end of the rod is connected to an adjusting gantry (9) through a steering adjusting mechanism, and the adjusting gantry can perform circumferential positioning and rotation in a horizontal direction under the driving of the steering adjusting mechanism;

The lower end of the adjusting gantry (9) is connected with a pair of second electric push rods (11) arranged in opposite directions. A mounting plate (12) is fixedly connected to the power output ends of the two electric push rods (11), and a clamping head (10) is connected to the end surface of the mounting plate (12) far away from the second electric push rod (11). );

The upper end of the mobile base (1) is slidably connected with a protection mechanism.
The high-temperature casting robot automatic clamping device according to claim 1, characterized in that: the steering adjustment mechanism includes a fixed plate (5), a motor (6), a driven gear (7) and a driving gear (8), so The fixed plate (5) is fixedly sleeved on the power output end of the first electric push rod (4), the motor (6) is fixedly connected to the upper end of the fixed plate (5), and the output shaft of the motor (6) penetrates the fixed plate (5) It is fixedly connected with the driving gear (8) and drives the driving gear to rotate, the driven gear (7) bearing is connected to the lower end of the fixed plate (5), and the driven gear (7) meshes with the driving gear (8) For transmission, the lower end of the driven gear (7) is fixedly connected with the adjusting gantry (9).
The automatic clamping device for a high-temperature casting robot according to claim 1, characterized in that: the clamping head (10) comprises a clamping box (101), an air pump (102) and an elastic inflatable bag (103). A bolt component (13) is connected between the clamping box (101) and the mounting plate (12), and the two are fixedly connected by the bolt component. The clamping box (101) is connected to the second electric push rod (11) through the mounting plate. ) Is fixedly connected to the power output end; the elastic inflatable bag (103) is glued to the inner wall of the clamping box (101), the air pump (102) is fixedly connected to the upper end of the clamping box (101), and the air pump (102) The air outlet tube penetrates the clamping box (101) and is fixedly communicated with the inside of the elastic inflatable bag (103).
The automatic clamping device for a high-temperature casting robot according to claim 1, characterized in that: the protection mechanism includes a protection sliding seat (14) and a driving device, the protection sliding seat (14) is located inside the support frame (3), A pair of T-shaped sliding blocks (17) are fixedly connected to the lower end of the protective sliding seat (14), and a pair of sliding grooves matching the T-shaped sliding blocks (17) are provided on the upper end of the movable base (1). The protective sliding seat can It slides on the mobile base under the drive of the driving device.
The automatic clamping device for a high temperature casting robot according to claim 4, characterized in that: the driving device includes a forward and reverse motor (15) and a drive gear (16), and the forward and reverse motor (15) and the mobile base ( 1) A fixed seat is connected between the side ends, and the forward and reverse motor is located on the fixed seat; the output shaft of the forward and reverse motor (15) is fixedly connected with a drive gear (16), and the protective sliding seat ( 14) The lower end surface is provided with a tooth groove (18) for meshing transmission with the driving gear (16), and the driving gear moves along the tooth groove under the drive of the forward and reverse motor and drives the protective sliding seat to slide on the moving base.
The high-temperature casting robot automatic clamping device according to any one of claims 1 to 5, characterized in that: a cooling fan (19) is fixedly connected to the lower surface of the gantry beam of the adjusting gantry (9).