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Reversible multi-finger asynchronous gripper for foundry robot

A flip-type, robotic technology, applied in the direction of manipulators, manufacturing tools, chucks, etc., can solve the problems of small working space, inability to adjust the grippers, and low flexibility of the robotic grippers, so as to reduce labor intensity and production costs, and integrate operation and maintenance. The effect of multi-purpose machine and easy operation and maintenance

Active Publication Date: 2018-05-25
ANHUI UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The Chinese patent with the application number 201210051811.5 discloses a robot hand, which includes a palm, multiple fingers, a motor reducer, and wires, etc., and controls the palm and fingers to grasp the workpiece, but the claw can only achieve angle adjustment, which is universal Poor, small working space, unable to grasp large castings and castings with complex shapes
The Chinese patent with the application number 201710029023.9 ​​discloses a multi-purpose robot arm claw structure, including a base, a claw arm, a cylinder, a turning 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 is poor when grabbing castings, and the working space is relatively small, which cannot meet the grabbing of castings with complex structures
The Chinese patent with the application number 201510570943.2 discloses a multi-finger spindle grabbing robot gripper, including connecting plates, multi-hand grippers and multi-cylinders, which realizes the gripping of workpieces with simple shape and structure, and has poor adaptability. The length of the gripper is Fixed, poor stability, unable to meet the operation requirements of complex castings
The Chinese patent with the application number 201410281605.2 discloses a multifunctional robot gripper, which is composed of a motor drive part, a vacuum suction cup and a mechanical gripper part. The vacuum suction cup is not suitable for large castings with complex surfaces. The working space of the robotic gripper is relatively small, and the working efficiency is relatively Low
The Chinese patent with the application number 201110297466.9 proposes a robot gripper device, which drives the gripper to slide and adjust the gripping position through a sliding mechanism. The positioning accuracy is high, but the gripper itself cannot be adjusted so that the best gripping cannot be selected during the gripping process. position, unable to meet the operation requirements of special-shaped castings
The Chinese patent with the application number 201010605168.7 discloses a robot gripper, which includes a cylinder body, a bidirectional cylinder, positioning pins and a grabbing nipper. This type of gripper has the following disadvantages when performing operations: 1) low flexibility and limited adaptability ; 2) The stability of grabbing is poor; 3) It cannot meet the operation requirements of complex castings with special-shaped cross-sections
Most of the grippers in the existing technical solutions cannot meet the operation requirements of grabbing castings with large weight, large volume and complex surface structure

Method used

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  • Reversible multi-finger asynchronous gripper for foundry robot
  • Reversible multi-finger asynchronous gripper for foundry robot
  • Reversible multi-finger asynchronous gripper for foundry robot

Examples

Experimental program
Comparison scheme
Effect test

specific Embodiment approach 1

[0023] Such as figure 1 , figure 2 , image 3 and Figure 4 As shown, a reversible multi-finger asynchronous gripper for a casting robot includes a connecting seat 1, an arc bracket 2, a mounting seat 3, a longitudinal clamp 4, a lateral adjustment device 5 and a lateral reversible clamp 6 . Wherein, the connection seat 1 is provided with connection lugs 11 and connection pins 12 for connecting with the end effector interface of the casting robot, and the connection lugs 11 are symmetrically arranged at the upper and lower ends of the connection seat 1 The two connecting pin shafts 12 are kept coaxial and symmetrically arranged 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 to reduce the weight of the connecting seat 1. The arc-shaped bracket 2 is used to connect the mounting base 3 and the connecting base 1 , and the upper and lower ends of the arc-shaped bracket 2 are fixedly connected ...

specific Embodiment approach 2

[0028] Such as figure 1 , figure 2 and Figure 4As shown, an anti-slip rubber layer 441 is provided at the lower end of the longitudinal clamp 44, and an anti-detachment hook 442 is also provided at the lowermost end of the longitudinal clamp 44. The working surface of the anti-slip rubber layer 441 is corrugated Shaped or on the working surface of the anti-slip rubber layer 441 is provided with cross-shaped anti-slip grooves. This design can prevent the casting or core from slipping during the clamping or handling process; it can avoid the rigid contact between the longitudinal chuck 44 in the longitudinal clamp 4 and the clamped casting or core during work, Prevent damage to the clamped part of the casting or core during the clamping process, and can also effectively increase the friction between the longitudinal chuck 44 and the clamped casting or core. Other components and connections are the same as those in the first embodiment.

specific Embodiment approach 3

[0029] Such as figure 1 , figure 2 and Figure 4 As shown, the longitudinal clamping cylinder 41, collet telescopic cylinder 45, lateral clamping cylinder 62 and turning cylinder 64 adopt double-acting air cylinders or double-acting hydraulic cylinders or electric push rods. An electromagnetic reversing valve and a safety valve are arranged on the top of the mounting seat 3 . Such a design can facilitate the clamping and loosening of the longitudinal chuck 44 in the front and rear directions, as well as the elongation and shortening operations in the vertical direction, facilitate the clamping and loosening operations of the horizontal splint 61 in the left and right directions, and facilitate the horizontal clamping of the disk. 68 The operation of clamping castings or cores for clockwise or counterclockwise turning movements. The other components and connections are the same as those in Embodiment 1 or Embodiment 2.

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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

technical field [0001] The invention belongs to the technical field of industrial robot equipment, in particular to a reversible multi-finger asynchronous gripper for a casting robot. Background technique [0002] The high flexibility of industrial robots can meet various special requirements in modern green casting production. The use of robots in casting production can not only liberate operators from heavy and monotonous physical labor, save labor, but also improve casting production efficiency, It is an important means of manufacturing precision and quality, and realizing the mechanization, automation and civilization of casting production. At present, the adoption of advanced and applicable new foundry technologies to improve the automation of foundry equipment, especially the application of mobile robot technology, is a key measure for foundry enterprises to implement green foundry production and achieve sustainable development. Due to the harsh environment of high te...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J15/00B25J15/02
CPCB25J15/0028B25J15/0052B25J15/0253B25J15/0004B25J15/10
Inventor 郭永存王成军王鹏邾志伟沈豫浙任润润徐成克
Owner ANHUI UNIV OF SCI & TECH