Mould opening and closing robot structure

Abstract

The present invention belongs to the technical field of casting equipment and relates to a mold-lifting and mold-closing manipulator structure, comprising a support frame, a mobile carriage movably mounted on a track at the top of the support frame, a lifting guide rail mounted below the mobile carriage, a lifting device mounted above the mobile carriage, a suspended clamping arm suspended from the lower end of a chain of the lifting device, guide-pair clutch devices mounted on either side of the clamping arm, the clamping arm moving up and down along the lifting guide rail under the action of the lifting device, and a floating claw assembly mounted below the clamping arm. This manipulator structure not only allows for horizontal positional floating in the X and Y axes but also ensures a close fit between the parting surfaces and smooth closing and closing movements, thereby achieving efficient and high-quality mold-lifting and mold-closing.

Description

Technical Field

[0001] The invention belongs to the technical field of casting, is suitable for demoulding and closing a casting mold, and relates to a demoulding and closing box manipulator structure. Background Art

[0002] The mold-lifting and closing robots currently used in domestic molding lines require high positioning requirements and high manufacturing precision for the flask and on-line equipment, which inadvertently increases production costs and reduces efficiency. Furthermore, during mold-lifting and closing, the parting surfaces often do not separate properly, causing the flask pins to bite. For these reasons, many manufacturers have adopted various measures, such as improving positioning accuracy and adding a lower floating platform, but none have yielded satisfactory results. Summary of the Invention

[0003] In view of the above problems, the present invention provides a mold-lifting and closing robot structure, which not only has the position floating in the horizontal direction of the X and Y axes but also can make the parting surface close and the separation and closing movements smooth, thereby achieving efficient and high-quality mold-lifting and closing.

[0004] According to the technical solution of the present invention: a mold-lifting and box-closing robot structure, characterized in that: it includes a support frame, a mobile car movably set on the track at the top of the support frame, a lifting guide rail is installed at the lower part of the mobile car, a lifting device is installed at the upper part of the mobile car, a synchronization mechanism is suspended at the lower end of the chain of the lifting device, two groups of clamping arms are movably set on the synchronization mechanism, and guide clutch devices are respectively installed on both sides of the clamping arm. The synchronization mechanism moves up and down along the lifting guide rail under the action of the lifting device. The two groups of clamping arms can be synchronously approached or synchronously moved away from each other under the action of the synchronization mechanism, and a floating claw assembly is installed at the lower part of the clamping arm.

[0005] As a further improvement of the present invention, the lifting device includes a load-bearing frame, on which two groups of driving cylinders are installed. The piston rod ends of each group of driving cylinders are respectively connected to a group of double-row chains, and the double-row chains are connected to the crossbeam of the synchronization mechanism after being reversed by a reversing assembly.

[0006] As a further improvement of the present invention, a piston rod supporting wheel is fixed to the bottom surface of the piston rod end of the driving oil cylinder, and the piston rod supporting wheel is rollingly arranged on a supporting wheel roller on the top surface of the load-bearing frame;

[0007] A synchronous shaft is also rotatably set on the top of the load-bearing frame. The double-row chains are respectively engaged with the gears installed on the synchronous shaft and reversed, and then extend toward one side of the driving cylinder. Each group of double-row chains is respectively connected to the top of the beam of the synchronous mechanism after being reversed through the corresponding redirecting sprocket on the load-bearing frame. A chain support wheel is also provided on the bottom surface of each group of double-row chains.

[0008] As a further improvement of the present invention, the synchronization mechanism includes a crossbeam, and a synchronization sprocket is installed at both ends of the crossbeam along the length direction through a synchronization sprocket shaft. A chain is tensioned on the two synchronization sprockets, and the chain is provided with a tensioning component, which is connected to two clamping arms at the same time; two groups of clamping arms are movably arranged on the crossbeam, and the two groups of clamping arms are connected by an oil cylinder.

[0009] As a further improvement of the present invention, a cylinder base is installed on the top of one clamping arm, and a cylinder ear seat is installed on the top of the other clamping arm. The piston rod end of the cylinder is connected to the cylinder ear seat, and the other end of the cylinder is connected to the cylinder base.

[0010] As a further improvement of the present invention, the tensioning component includes two chain links, one end of each chain link is connected to the corresponding connecting end of the chain, and the other end is connected to the adjustment seat through an adjusting nut, and the adjustment seat is connected to the corresponding connecting end of the chain.

[0011] As a further improvement of the present invention, the guide clutch device includes a V-shaped guide wheel, a guide wheel seat, a translation guide seat, a connecting rod assembly, and a control cylinder;

[0012] The V-shaped guide wheel is installed on the guide wheel seat, and the guide wheel seat is embedded in the guide groove of the translation guide seat. The connecting rod assembly includes a swing rod and a connecting rod. The tail ear seat of the control oil cylinder is installed on the mounting guide frame of the clamping arm. The piston rod ear seat of the control oil cylinder is rotatably connected to the swing rod. The other end of the swing rod is hingedly connected to one end of the connecting rod, and the other end of the connecting rod is connected to the guide wheel seat; the V-shaped guide wheel fits into or leaves the lifting guide rail under the action of the connecting rod assembly.

[0013] As a further improvement of the present invention, the floating claw assembly is connected to the clamping arm through a flip arm, and the floating claw assembly can be flipped under the drive of the flip arm;

[0014] The floating claw assembly includes a support hand, an articulated shaft, an articulated seat, and a support hand cylinder. A support hand cylinder is installed at each end of the flip arm in the vertical direction. The piston rod end of each support hand cylinder is articulated to the support hand. The other end of the support hand is penetrated by a articulated shaft, which is fixedly connected to the articulated seat fixed on the flip arm. Sand box lifting ear hole pins are also provided at both ends of the flip arm.

[0015] The technical effect of the present invention is that the product structure of the present invention is reasonable and ingenious. In practice, it greatly reduces the precision requirements for batch sand box manufacturing and the work station positioning requirements on the production line, and can achieve fast and high-quality demoulding and closing. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural schematic diagram of the present invention.

[0017] Figure 2 for Figure 1 Left view of .

[0018] Figure 3 This is the main view of the lifting device.

[0019] Figure 4 for Figure 3 Left view of .

[0020] Figure 5 for Figure 3 Top view of .

[0021] Figure 6 This is the front view of the pilot clutch device.

[0022] Figure 7 for Figure 6 Middle AA section view.

[0023] Figure 8 This is the front view of the floating claw assembly.

[0024] Figure 9 for Figure 8 Top view of .

[0025] Figure 10 for Figure 8 Left view of .

[0026] Figure 11 This is the main view of the synchronization mechanism.

[0027] Figure 12 for Figure 11 Top view of . DETAILED DESCRIPTION

[0028] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0029] Figures 1 to 12 It includes a moving vehicle 1, a lifting guide rail 2, a lifting device 3, a clamping arm 4, a turning arm 5, a sand box ear hole pin 6, a floating claw assembly 7, a guide pair clutch device 8, a load-bearing frame 9, a driving cylinder 10, a synchronous shaft 11, a redirecting sprocket 12, a double-row sprocket 13, a piston rod supporting wheel 14, a chain supporting wheel 15, a V-shaped guide wheel 16, a guide wheel seat 17, a translation guide seat 18, a connecting rod assembly 19, a swing rod 19-1, a connecting rod 19-2, a control cylinder 20, a support hand cylinder 21, a support hand 22, an articulated shaft 23, an articulated seat 24, a synchronization mechanism 25, etc.

[0030] like Figures 1-3As shown, the present invention is a mold-lifting and box-closing robot structure, including a supporting frame, a mobile car 1 movably set on a track on the top of the supporting frame, a lifting guide rail 2 is installed at the lower part of the mobile car 1, a lifting device 3 is installed at the upper part of the mobile car 1, a synchronization mechanism 25 is suspended at the lower end of the chain of the lifting device 3, two groups of clamping arms 4 are movably set on the synchronization mechanism 25, and guide clutch devices 8 are respectively installed on both sides of the clamping arm 4. The synchronization mechanism 25 moves up and down along the lifting guide rail 2 under the action of the lifting device 3. The two groups of clamping arms 4 can be synchronously approached or synchronously moved away from each other under the action of the synchronization mechanism 25, and a floating claw assembly 7 is installed at the lower part of the clamping arm 4.

[0031] like Figure 11 、 12 As shown, it can be understood that in order to achieve the clamping and loosening of the sand box by the clamping arms 4 on both sides when working, the lower end of the chain of the lifting device 3 is connected to the synchronization mechanism 25, and the synchronization mechanism 25 includes a crossbeam, and a synchronization sprocket 25-4 is installed at both ends of the crossbeam along the length direction through a synchronization sprocket shaft 25-5. A chain 25-3 is tensioned on the two synchronization sprockets 25-4, and the chain 25-3 is provided with a tensioning component, which is connected to the two clamping arms 4 at the same time; the two groups of clamping arms 4 are movably arranged on the crossbeam, and the two groups of clamping arms 4 are connected by an oil cylinder 25-6.

[0032] A cylinder base 25-7 is installed on the top of one of the clamping arms 4, and a cylinder ear seat 25-8 is installed on the top of the other clamping arm. The piston rod end of the cylinder 25-6 is connected to the cylinder ear seat 25-8, and the other end of the cylinder 25-6 is connected to the cylinder base 25-7.

[0033] The tensioning component includes two chain links 25-2. Each of the chain links 25-2 is connected to the corresponding connection end of the chain 25-3 at one end and to the adjustment base via an adjustment nut at the other end. The adjustment base is connected to the corresponding connection end of the chain 25-3. After long-term operation, the chain 25-3 may become loose. This can be re-tensioned by moving the chain links 25-2 and the adjustment base of the tensioning component.

[0034] like Figures 3-5 As shown, the lifting device 3 includes a load-bearing frame 9, on which two groups of driving cylinders 10 are installed. The piston rod ends of each group of driving cylinders 10 are respectively connected to a group of double-row chains 13, and the double-row chains 13 are connected to the crossbeam at the top of the clamping arm 4 after being reversed by a reversing assembly.

[0035] A piston rod support roller 14 is fixed to the bottom of the piston rod end of the drive cylinder 10. This roller rolls on a roller track mounted atop the load-bearing frame 9. Due to the long lifting stroke, this roller prevents the piston rod and chain from sag and trembling during operation. Specifically, the roller 14 features a 90° grooved structure, rolling on a triangular guide rail beneath it to support the weight of the overhanging piston rod and prevent twisting.

[0036] A synchronous shaft 11 is also rotatably set on the top of the load-bearing frame 9. The double-row chains 13 are respectively engaged with the gears installed on the synchronous shaft 11 and reversed, and then extend toward the side of the driving cylinder 10. Each group of the double-row chains 13 is respectively connected to the top of the beam of the clamping arm 4 after being reversed through the corresponding redirecting sprocket 12 on the load-bearing frame 9. A chain support wheel 15 is also provided on the bottom surface of each group of the double-row chains 13.

[0037] As can be seen from the above structural description of the lifting device 3 , the lifting device 3 uses two sets of driving cylinders 10 , a synchronous shaft 11 , four chains and other auxiliary components to achieve lifting operations.

[0038] like Figure 6 、 7 As shown, the guide clutch device 8 includes a V-shaped guide wheel 16, a guide wheel seat 17, a translation guide seat 18, a connecting rod assembly 19, and a control cylinder 20. The rolling surface of the V-shaped guide wheel 16 is a 90° V-shaped groove with a bearing inside.

[0039] The V-shaped guide wheel 16 is mounted on a guide wheel seat 17, which is embedded in the guide groove of a translation guide seat 18. It can only translate horizontally along the clamping arm 4, while the translation guide seat 18 constrains its longitudinal coordinates to remain unchanged. The connecting rod assembly 19 includes a swing rod 19-1 and a connecting rod 19-2. The tail lug of the control cylinder 20 is mounted on the mounting guide frame of the clamping arm 4. The piston rod lug of the control cylinder 20 is rotatably connected to the swing rod 19-1. The other end of the swing rod 19-1 is hingedly connected to one end of the connecting rod 19-2, and the other end of the connecting rod 19-2 is connected to the guide wheel seat 17. The V-shaped guide wheel 16 is moved into or out of contact with the lifting guide rail 2 under the action of the connecting rod assembly 19.

[0040] During operation, the V-shaped guide wheel 16 is controlled by a connecting rod and can retract and extend synchronously. When retracting, the V-shaped guide wheel 16 leaves the clamping arm 4 and can float freely within a certain horizontal range; when extending, it is close to the lifting guide rail 2, and the clamping arm 4 is horizontally positioned and stable without shaking.

[0041] During normal operation, the V-shaped guide wheel 16 cooperates with the 90° triangular guide surface, and the clamping arm rises and falls smoothly without shaking. During mold opening and closing, the internal oil cylinder controls the guide wheel to retract and disengage from the guide rail, allowing the clamping arm 4 to float freely in both the X and Y axes.

[0042] like Figures 8-10As shown, the floating claw assembly 7 is connected to the clamping arm 4 via the flip arm 5. The floating claw assembly 7 can be flipped under the drive of the flip arm 5. In practice, the flip angle is 180°.

[0043] The floating claw assembly 7 includes a support hand 22, an articulated shaft 23, an articulated seat 24, and a support hand cylinder 21. A support hand cylinder 21 is vertically mounted on each end of the flip arm 5. The piston rod end of each support hand cylinder 21 is articulated to a support hand 22. The other end of the support hand 22 is penetrated by an articulated shaft 23, which is fixedly connected to an articulated seat 24 fixed on the flip arm 5. Both ends of the flip arm 5 are also provided with a sand box lifting ear hole pin 6. During operation, the sand box lifting ear hole pin 6 is inserted into the sand box ear hole to bear torque and gravity. During demolding, the support hand 22 of the floating structure supports the bottom of the sand box ear, keeping the horizontal position of the parting surface unchanged, and ensuring smooth demolding.

[0044] The support hand 22 is a prying lever with a palm-like front end, a twisted shaft hole in the middle, and a pin shaft hole connected to the support hand cylinder 21 at the rear. The support hand 22 is mounted on the articulated shaft 23. The articulated shaft 23 passes through the articulated seat 24 fixed on the flip arm 5. The rear end of the support hand 22 has a tail pin connected to the support hand cylinder 21. When demolding, four round pins are inserted into the box ear holes, and the support hand 22 is extended to the bottom of the sand box ear at the same time. The round pin diameter is designed to be about 10mm smaller than the ear hole diameter. At this time, the round pin does not touch the ear. Low-pressure oil enters the support hand cylinder 21 to push the support hand 22, and the four support hands are respectively tilted up to contact the lower part of the sand box ear, and then the oil circuit is closed to support the sand box without being affected by the height error of the box ear, keeping the parting surface horizontal and smooth demolding.

[0045] This invention can lift the sand box and perform lifting, translation, and flipping operations to complete a series of operations, including mold removal and closing. The robot incorporates the following new technologies: 1. A dual-cylinder-driven, single-axis, four-chain suspension arm. 2. Connecting rods control four sets of clutched V-shaped guide rails and clutch devices. 3. Four hydraulic cylinders independently drive the form-following floating support arms. The application of these new technologies enables the robot to follow the form in mold removal and closing while in a free state.

Claims

1. A mold-opening and box-closing robot structure, characterized by: The invention comprises a supporting frame, a mobile car (1) movably arranged on a track at the top of the supporting frame, a lifting guide rail (2) being installed at the lower part of the mobile car (1), a lifting device (3) being installed at the upper part of the mobile car (1), a synchronous mechanism (25) being suspended at the lower end of the chain of the lifting device (3), two groups of clamping arms (4) being movably arranged on the synchronous mechanism (25), guide clutch devices (8) being installed on both sides of the clamping arms (4), the synchronous mechanism (25) being lifted and lowered along the lifting guide rail (2) under the action of the lifting device (3), the two groups of clamping arms (4) being able to synchronously approach or move away from each other under the action of the synchronous mechanism (25), a floating claw assembly (7) being installed at the lower part of the clamping arm (4), the floating claw assembly (7) being connected to the clamping arm (4) through a flip arm (5), and the floating claw assembly (7) being able to flip 180 degrees under the drive of the flip arm (5); The lifting device (3) includes a load-bearing frame (9), on which two groups of driving cylinders (10) are installed, and the piston rod ends of each group of the driving cylinders (10) are respectively connected to a group of double-row chains (13), and the double-row chains (13) are connected to the crossbeam of the synchronization mechanism (25) after being reversed by a reversing assembly; A piston rod supporting wheel (14) is fixed to the bottom surface of the piston rod end of the driving oil cylinder (10), and the piston rod supporting wheel (14) is rotatably arranged on a supporting wheel roller on the top surface of the load-bearing frame (9); A synchronous shaft (11) is also rotatably provided on the top of the load-bearing frame (9), and the double-row chains (13) are respectively engaged with the gears installed on the synchronous shaft (11) and then extended toward one side of the driving cylinder (10). Each set of the double-row chains (13) is respectively connected to the top of the beam of the synchronous mechanism (25) after being reversed through the corresponding redirecting sprocket (12) on the load-bearing frame (9), and a chain supporting wheel (15) is also provided on the bottom surface of each set of the double-row chains (13); The synchronization mechanism (25) includes a crossbeam, and a synchronization sprocket (25-4) is installed at each end of the crossbeam along the length direction through a synchronization sprocket shaft (25-5). A chain (25-3) is tensioned on the two synchronization sprockets (25-4). The chain (25-3) is provided with a tensioning component, and the tensioning component is simultaneously connected to two clamping arms (4); two groups of clamping arms (4) are movably arranged on the crossbeam, and the two groups of clamping arms (4) are connected via an oil cylinder (25-6); A cylinder base (25-7) is installed on the top of one clamping arm (4), and a cylinder ear seat (25-8) is installed on the top of the other clamping arm. The piston rod end of the cylinder (25-6) is connected to the cylinder ear seat (25-8), and the other end of the cylinder (25-6) is connected to the cylinder base (25-7). The tensioning component comprises two chain links (25-2), one end of each chain link (25-2) being connected to a corresponding connecting end of a chain (25-3), and the other end being connected to an adjustment seat via an adjustment nut, and the adjustment seat being connected to a corresponding connecting end of the chain (25-3).

2. The mold-opening and box-closing robot structure according to claim 1, characterized in that: The guide clutch device (8) includes a V-shaped guide wheel (16), a guide wheel seat (17), a translation guide seat (18), a connecting rod assembly (19), and a control cylinder (20); The V-shaped guide wheel (16) is mounted on the guide wheel seat (17), and the guide wheel seat (17) is embedded in the guide groove of the translation guide seat (18). The connecting rod assembly (19) includes a swing rod (19-1) and a connecting rod (19-2). The tail ear seat of the control oil cylinder (20) is mounted on the mounting guide frame of the clamping arm (4). The piston rod ear seat of the control oil cylinder (20) is rotatably connected to the swing rod (19-1). The other end of the swing rod (19-1) is hingedly connected to one end of the connecting rod (19-2), and the other end of the connecting rod (19-2) is connected to the guide wheel seat (17). The V-shaped guide wheel (16) is attached to or leaves the lifting guide rail (2) under the action of the connecting rod assembly (19).

3. The mold-opening and box-closing robot structure according to claim 1, characterized in that: The floating claw assembly (7) is connected to the clamping arm (4) through the flip arm (5), and the floating claw assembly (7) can be flipped under the drive of the flip arm (5); the floating claw assembly (7) includes a support hand (22), a hinge shaft (23), a hinge seat (24), and a support hand oil cylinder (21), and a support hand oil cylinder (21) is installed at each end of the flip arm (5) in the vertical direction. The piston rod end of each support hand oil cylinder (21) is hinged to the support hand (22), and the other end of the support hand (22) is penetrated by a hinge shaft (23), and the hinge shaft (23) is fixedly connected to the hinge seat (24) fixed on the flip arm (5). The two ends of the flip arm (5) are also provided with a sand box lifting ear hole pin (6).

Images