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Omnidirectional multi-finger asynchronous gripper for foundry robot

A robot and asynchronous technology, applied in manipulators, manufacturing tools, chucks, etc., can solve problems such as low work efficiency, small work space, and limited adaptability, and achieve the effects of reducing labor intensity, high degree of automation, and reducing production costs

Active Publication Date: 2018-05-15
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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  • Omnidirectional multi-finger asynchronous gripper for foundry robot
  • Omnidirectional multi-finger asynchronous gripper for foundry robot
  • Omnidirectional multi-finger asynchronous gripper for foundry robot

Examples

Experimental program
Comparison scheme
Effect test

specific Embodiment approach 1

[0022] Such as figure 1 , figure 2 , image 3 and Figure 4 As shown, an omnidirectional multi-finger asynchronous gripper for a casting robot includes a connecting base 1 , an arc bracket 2 , a mounting base 3 , a longitudinal clamp 4 , a lateral adjustment device 5 and a lateral 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 wi...

specific Embodiment approach 2

[0027] Such as figure 1 , figure 2 and Figure 4 As shown, a first anti-slip rubber layer 441 is provided at the lower end of the longitudinal clamp 44, and a first anti-detachment hook 442 is also provided at the lowermost end of the longitudinal clamp, which can prevent castings or cores from middle slippage; the lower end of the transverse clamp 64 is provided with a second anti-skid rubber layer 641, which is used to increase the friction between the transverse clamp 64 and the clamped casting or core; The lowermost end of the head 64 is also provided with a second detachment hook 642, which can prevent castings or cores from slipping during clamping or handling. The working surfaces of the first anti-slip rubber layer 441 and the second anti-slip rubber layer 641 are corrugated or provided with cross-shaped anti-slip grooves on the working surfaces. This design can prevent the casting or core from slipping during the clamping or handling process; it can avoid the rigi...

specific Embodiment approach 3

[0028] Such as figure 1 , figure 2 and Figure 4As shown, 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 adjustment cylinder 621 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 design can facilitate the clamping and loosening of the longitudinal chuck 44 in the front and rear direction and the elongation and shortening operation in the vertical direction, and facilitate the clamping and loosening operation of the horizontal chuck 64 in the left and right directions, as well as in the vertical direction. lengthening and shortening operations. The other components and connections are the same as those in Embodiment 1 or Embodiment 2.

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Abstract

The invention discloses an omnidirectional multi-finger asynchronous gripper for a casting robot, which comprises a connecting seat, an arc-shaped support, a mounting seat, a longitudinal clamp, a transverse adjustment device and a transverse clamp. The invention is installed on the end of the casting robot through the connecting seat; each longitudinal clamp can independently clamp the casting or core independently, and the distance can be adjusted by the horizontal adjustment device, and it can automatically adapt to castings or cores with different contours, which can realize Effective fitting self-adaptive clamping for special-shaped castings or cores; the lateral clamp is used for laterally independent clamping of castings or cores, and the clamping position or angle can be adjusted through the swing angle adjuster. The invention can meet the needs of casting robots for different operations such as core removal, core assembly, core setting and transportation of medium and large castings, and has the advantages of compact structure, high operation efficiency, high safety, strong adaptability, easy operation and maintenance and one machine The advantages of multiple uses reduce the labor intensity and production costs of operators.

Description

technical field [0001] The invention belongs to the technical field of industrial robot equipment, and in particular relates to an omnidirectional 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 envi...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J15/00
CPCB25J15/0033B22D31/002B25J15/0061B25J15/0273B25J15/0293B25J15/10B25J15/02B25J19/023
Inventor 郭永存王成军任润润邾志伟沈豫浙王鹏徐成克
Owner ANHUI UNIV OF SCI & TECH