Robot shell-making gripper

Abstract

The present invention relates to the field of gripper design, and particularly to a robot shell-making gripper, which includes a gripper unit. The gripper unit includes a housing. A hook for placing a workpiece is fixed outside the bottom end of the housing. A first cylinder is arranged inside the housing. The end of the piston rod of the first cylinder is connected to a pressing block through a guiding shaft. A bushing is fixed inside the bottom end of the housing. When the piston rod of the first cylinder makes a telescopic movement, it drives the guiding shaft to move inside the bushing and drives the pressing block to press on the workpiece. The workpiece is clamped between the pressing block and the hook. A flange is fixedly connected to the top end of the housing. The gripper is directly connected to the robot's mechanical hand. The robot is used to move the gripper below the workpiece, the workpiece is lifted by the hook, and then the first cylinder is started. The workpiece is clamped and fixed by the pressing block and the hook, and then the robot is used to control the movement of the workpiece for subsequent slurry dipping and sand spraying processes, realizing automatic operation, which can greatly improve work efficiency and ensure uniform slurry dipping and sand spraying.

Description

Technical Field

[0001] The present invention relates to the field of gripper design, and particularly to a robot shell-making gripper. Background Art

[0002] Currently, in the process of slurry dipping and sand spraying during shell making in the precision casting industry, workers usually hold the workpieces by hand, which has the following problems:

[0003] 1. A large number of workers are required, and at least two people are needed to complete each process, resulting in high production costs for enterprises;

[0004] 2. The workpieces are made of wax, so the smell in the workshop is quite unpleasant and harmful to people's sense of smell;

[0005] 3. During the sand spraying process, the sand spraying machine has to keep rotating to drive the sand to fall freely continuously. Even if dust collectors are arranged in the workshop, the dust near the sand spraying machine is still very large;

[0006] 4. Since dust collectors have to be arranged in the workshop, the noise generated is very loud and harmful to people's hearing;

[0007] 5. The self-weight of the workpieces is generally between 5 and 10 Kg. Holding the workpieces by hand for a long time will cause fatigue. Workers can only hold one workpiece at a time when working, resulting in too low productivity and uneven slurry dipping and sand spraying processes. Summary of the Invention

[0008] The object of the present invention is to overcome the defects of the above-mentioned existing technologies, and provide a robot shell-making gripper, which can greatly improve the production efficiency and make the slurry dipping and sand spraying uniform.

[0009] The technical solution adopted by the present invention to solve its technical problems is: a robot shell-making gripper, including a gripper unit. The gripper unit includes a housing. A hook claw for placing the workpiece is fixed outside the bottom end of the housing. A first cylinder is arranged inside the housing. The end of the piston rod of the first cylinder is connected to a pressure block through a guide shaft. A bushing is fixed inside the bottom end of the housing. When the piston rod of the first cylinder makes a telescopic movement, it drives the guide shaft to move inside the bushing and drives the pressure block to press on the workpiece. The workpiece is clamped between the pressure block and the hook claw. A flange is fixedly connected to the top end of the housing.

[0010] There are two gripper units. The connecting flanges in the gripper units are connected to a gear shaft through an adapter plate. The gear shaft is installed on a bearing block. The bearing block is fixed on a fixing plate. A second cylinder, a rack frame, a linear slide rail and a gear set are arranged on the fixing plate. The cylinder drives the rack frame to make a linear movement along the linear slide rail. One of the gears in the gear set meshes with the rack on the rack frame. Two of the gears in the gear set respectively mesh with the two gear shafts one by one. When the rack frame makes a linear movement, it drives the two gear shafts to rotate simultaneously through the gear set, thereby driving the two gripper units to rotate simultaneously.

[0011] The gripper unit and the bearing block are arranged on both sides of the plate surface of the fixed plate, and the shaft body of the gear shaft passes through the fixed plate.

[0012] The bearing block, the second cylinder, the rack frame, the linear slide rail and the gear set are together wrapped inside the enclosed chamber formed by the fixed plate and the surrounding plate, and a connecting plate for connecting with the robot is fixed on the upper plate surface of the surrounding plate.

[0013] There are two hook claws arranged at intervals, and both ends of the workpiece are respectively placed on the two hook claws, and the pressing block moves in the direction of the midline of the line connecting the two hook claws.

[0014] Baffles are respectively fixed on the outer sides of the two hook claws, the two baffles are arranged at intervals and are in a V shape, and both ends of the workpiece respectively abut against the two baffles.

[0015] Advantageous effects: The gripper of the present application is directly connected to the manipulator of the robot. The robot is used to move the gripper below the workpiece, the workpiece is lifted by the hook claws, then the first cylinder is started, the piston rod is controlled to move downward to drive the pressing block to press downward until it presses on the workpiece, and the workpiece is clamped and fixed by the pressing block and the hook claws. Then, the robot is used to control the movement of the workpiece to perform subsequent slurry dipping and sand spraying processes, realizing automated operation, eliminating manual labor, greatly improving work efficiency and ensuring uniform slurry dipping and sand spraying. Among them, the cooperation between the guide shaft and the shaft sleeve ensures the stable movement of the pressing block. Description of the Drawings

[0016] Figure 1 is the structural schematic diagram of the present invention;

[0017] Figure 2 is the partial structure diagram of the present invention;

[0018] Figure 3 is Figure 2 the top view of

[0019] Figure 4 is the structural diagram of the cooperation between the gripper unit and the workpiece;

[0020] Figure 5 is the cross-sectional view of the gripper unit. Detailed Embodiments

[0021] The following Figures 1-5 , is used to further describe the present invention.

[0022] A robotic shell-making gripper includes a gripper unit. The gripper unit includes a housing 10. A hook 20 for placing a workpiece 70 is fixed outside the bottom end of the housing 10. A first cylinder 30 is arranged inside the housing 10. The end of the piston rod 31 of the first cylinder 30 is connected to a pressure block 50 through a guide shaft 40. A bushing 60 is fixed inside the bottom end of the housing 10. When the piston rod 31 of the first cylinder 30 moves telescopically, it drives the guide shaft 40 to move inside the bushing 60 and drives the pressure block 50 to press on the workpiece 70. The workpiece 70 is clamped between the pressure block 50 and the hook 20. A flange 80 is fixedly connected to the top end of the housing 10. The gripper of this application is directly connected to the manipulator of the robot. The robot is used to move the gripper below the workpiece 70, and the hook 20 is used to lift the workpiece 70. Then, the first cylinder 30 is started, and the piston rod 31 is controlled to move downward to drive the pressure block 50 to press downward until it presses on the workpiece 70. The workpiece 70 is clamped and fixed by the pressure block 50 and the hook 20. Then, the robot is used to control the movement of the workpiece 70 for subsequent slurry dipping and sand spraying processes, realizing automated operation, eliminating manual labor, greatly improving work efficiency, and ensuring uniform slurry dipping and sand spraying. Among them, the cooperation between the guide shaft 40 and the bushing 60 ensures the smooth movement of the pressure block 50.

[0023] As a further preferred solution: There are two gripper units. The connecting flanges 80 in the gripper units are connected to a gear shaft through an adapter plate 90. The gear shaft is installed on a bearing block 100. The bearing block 100 is fixed on a fixing plate 110. A second cylinder 120, a rack frame 130, a linear slide rail 140, and a gear set 150 are arranged on the fixing plate 110. The cylinder 120 drives the rack frame 130 to move linearly along the linear slide rail 140. One of the gears in the gear set 150 meshes with the rack on the rack frame 130. Two of the gears in the gear set 150 respectively mesh with the two gear shafts in a one-to-one correspondence. When the rack frame 130 moves linearly, it drives the two gear shafts to rotate simultaneously through the gear set 150, thereby driving the two gripper units to rotate simultaneously. Among them, the gripper units are designed to be two, and two workpieces 70 can be grabbed simultaneously for slurry dipping and sand spraying, further improving work efficiency. During slurry dipping and sand spraying, the second cylinder 120 is used to drive the two gripper units to rotate simultaneously, that is, to drive the two workpieces 70 to rotate, which can further ensure the uniformity of slurry dipping and sand spraying. In addition, according to actual needs, several pairs of gripper units can be set, and each pair of gripper units is equipped with a second cylinder 120 for driving as described above to meet the actual production needs.

[0024] Furthermore, the gripper units and the bearing block 100 are arranged on both sides of the plate surface of the fixing plate 110, and the shaft body of the gear shaft passes through the fixing plate 110.

[0025] Preferably, the bearing seat 100, the second cylinder 120, the rack frame 130, the linear slide rail 140 and the gear set 150 are together enclosed inside the closed chamber formed by the fixed plate 100 and the surrounding plate 160, achieving the effects of aesthetics and protecting the internal structure. A connecting plate 170 for connecting to the robot is fixed on the upper plate surface of the surrounding plate 160.

[0026] To ensure the stability of the workpiece 70 during clamping and fixation, there are two hook claws 20 arranged at intervals. The two ends of the workpiece 70 are respectively placed on the two hook claws 20, and the pressing block 50 moves in the direction of the bisector of the line connecting the two hook claws 20.

[0027] To position the clamping of the workpiece 70 and further improve the stability of the clamping of the workpiece 70, baffles 180 are respectively fixed on the outer sides of the two hook claws 20. The two baffles 180 are arranged at intervals and are in a V shape, and the two ends of the workpiece 70 respectively abut against the two baffles 180.

[0028] It should be understood that the specific embodiments described above are only used to explain the present invention and are not used to limit the present invention. Obvious changes or variations derived from the spirit of the present invention are still within the protection scope of the present invention.

Claims

1. A robot shell-making gripper, characterized in that: It includes a gripper unit. The gripper unit includes a housing (10). A hook claw (20) for placing a workpiece (70) is fixed outside the bottom end of the housing (10). A first cylinder (30) is arranged inside the housing (10). The end of the piston rod (31) of the first cylinder (30) is connected to a pressing block (50) through a guide shaft (40). A bushing (60) is fixed inside the bottom end of the housing (10). When the piston rod (31) of the first cylinder (30) makes a telescopic movement, it drives the guide shaft (40) to move inside the bushing (60) and drives the pressing block (50) to press on the workpiece (70). The workpiece (70) is clamped between the pressing block (50) and the hook claw (20). A flange (80) is fixedly connected to the top end of the housing (10); There are two such gripper units. The connecting flanges (80) in the gripper units are connected to a gear shaft through an adapter plate (90). The gear shaft is installed on a bearing block (100). The bearing block (100) is fixed on a fixing plate (110). A second cylinder (120), a rack frame (130), a linear slide rail (140) and a gear set (150) are arranged on the fixing plate (110). The cylinder (120) drives the rack frame (130) to make a linear movement along the linear slide rail (140). One of the gears in the gear set (150) meshes with the rack on the rack frame (130). Two of the gears in the gear set (150) respectively mesh with the two gear shafts one by one. When the rack frame (130) makes a linear movement, it drives the two gear shafts to rotate simultaneously through the gear set (150), thereby driving the two gripper units to rotate simultaneously.

2. The robot shell-making gripper according to claim 1, characterized in that: The gripper unit and the bearing block (100) are arranged on both sides of the plate surface of the fixing plate (110), and the shaft body of the gear shaft passes through the fixing plate (110).

3. The robot shell-making gripper according to claim 1, characterized in that: The bearing block (100), the second cylinder (120), the rack frame (130), the linear slide rail (140) and the gear set (150) are together wrapped inside a closed chamber formed by the fixing plate (100) and an enclosing plate (160). A connecting plate (170) for connecting to a robot is fixed on the upper plate surface of the enclosing plate (160).

4. The robot shell-making gripper according to claim 1, characterized in that: There are two hook claws (20) arranged at intervals. The two ends of the workpiece (70) are respectively placed on the two hook claws (20). The pressing block (50) moves in the direction of the bisector of the line connecting the two hook claws (20).

5. The robot shell-making gripper according to claim 1, wherein: Baffles (180) are respectively fixed on the outer sides of the two hook claws (20). The two baffles (180) are arranged at intervals and are in a V shape. The two ends of the workpiece (70) respectively abut against the two baffles (180).

Images