A multi-finger multi-functional casting manipulator

Abstract

The present invention relates to a multi-finger multifunctional casting manipulator, comprising a shoulder beam, a clamping arm slidably mounted on the shoulder beam, a clamping flipping mechanism provided on the clamping arm, a synchronous jacking and demoulding structure provided on one side of the clamping flipping mechanism, a lifting lug on the upper part of the shoulder beam, cross arms provided on both sides of the shoulder beam, guide rails provided on both sides of the cross arms, the clamping arm comprising a clamping arm body, a guide member installed on the upper part of the clamping arm body, and the guide member located in the guide rail. The present invention has a simple structure and occupies a small space; the shoulder beam adopts a special type II structure to meet the requirements of heavy load and large tonnage. The two end plates of the shoulder beam are connected by bolts, and the clamping arm is detachable, which is convenient for transportation, installation, maintenance and overhaul.

Description

Technical Field

[0001] The invention belongs to the technical field of casting equipment and relates to a multi-finger multifunctional casting manipulator. Background Art

[0002] In recent years, my country has become a major casting production country, and the output of castings has increased significantly. In particular, the output of large and super-large castings has increased day by day. Medium and large sand molds range from 50-60 tons to 200-300 tons. There is uncertainty in stability and safety when only using a crane to open the mold and turn over to complete multiple processes. So far, there is no ideal machine with multiple functions. The development of suitable mechanical equipment has become the focus of many foundry companies and foundry workers. Summary of the invention

[0003] The purpose of the present invention is to provide a multi-finger multi-functional casting manipulator to fill the above shortcomings, thereby providing a convenient multi-process operation device with strong applicability for the casting industry. It is convenient, stable, safe and efficient to use.

[0004] According to the technical solution provided by the present invention: a multi-finger multifunctional casting manipulator includes a shoulder beam, a clamping arm is slidably installed on the shoulder beam, a clamping flipping mechanism is provided on the clamping arm, and a synchronous jacking and demoulding structure is provided on one side of the clamping flipping mechanism.

[0005] As a further improvement of the present invention, the upper portion of the shoulder beam is a lifting lug, cross arms are provided on both sides of the shoulder beam, and guide rails are provided on both sides of the cross arms.

[0006] As a further improvement of the present invention, the clamping arm comprises a clamping arm body, a guide member is installed on the upper part of the clamping arm body, and the guide member is located in the guide rail.

[0007] As a further improvement of the present invention, the clamping and flipping mechanism includes a clamping and flipping arm, and the clamping and flipping arm is driven by a clamping and flipping arm driving mechanism; the clamping and flipping arm includes a flipping main shaft at one end rotatably installed on the lower part of the clamping arm, and a flipping elbow is installed at the other end of the flipping main shaft, and a finger-shaped claw is installed on the flipping elbow, and the finger-shaped claw is provided with a clamping inclined surface.

[0008] As a further improvement of the present invention, the clamping and flipping arm driving mechanism includes a clamping and flipping arm rotation driving device, which is installed at the lower part of the clamping arm, and the output end of the flipping arm rotation driving device is connected to the flipping spindle through a transmission structure.

[0009] As a further improvement of the present invention, the transmission structure includes a driving gear and a driven gear, the driving gear is installed at the output end of the flip arm rotation drive device, and the driven gear is installed in the middle of the flip main shaft.

[0010] As a further improvement of the present invention, a clamping arm locking mechanism is provided on the clamping arm, and the clamping arm locking mechanism includes a locking cylinder, which is horizontally installed at the lower part of the clamping arm, and a square bevel locking pin is installed on the output shaft of the locking cylinder. A locking hole is opened on the same side of the flip elbow, and a positioning bevel block is installed in the locking hole.

[0011] As a further improvement of the present invention, the synchronous jacking and demolding structure includes a demolding jacking cylinder, the demolding jacking cylinder is installed at the bottom of the clamping arm, and a combined equal height block is installed at the piston end of the demolding jacking cylinder.

[0012] The positive effects of this application are:

[0013] 1. The present invention has a simple structure and occupies little space. The shoulder beam adopts a special type II structure to meet the requirements of heavy load and large tonnage. The two end plates of the shoulder beam are connected by bolts, and the clamping arm is detachable, which is convenient for transportation, installation, maintenance and overhaul.

[0014] 2. The present invention has a load-bearing mechanism with compression-change conversion. The compression-change load-bearing mechanism is a running wheel with an elastic layer and a rigid load-bearing block arranged alternately. The empty deadweight of the clamping arm is borne by the elastic wheel. When the sand box is lifted and loaded, the elasticity is compressed, and the rigid load-bearing block contacts the guide rail to bear the gravity.

[0015] 3. The present invention has a multi-finger flip elbow arm. It is installed on the flip spindle, and the arm is equipped with a horizontal locking block and a gripper in-position sensing element. There is a set of square 4×2 finger clamping blocks at each end of the arm. The finger clamping block has a good tactile device, which can send out the clamping in place and carry out the process operation.

[0016] 4. The star-shaped multi-point drive flipping device of the present invention is composed of a large gear and a plurality of hydraulic rotary devices. The output gear of the rotary device meshes with the large gear and drives the flip main shaft at the same time, which not only disperses the stress state of a single tooth but also obtains a larger flipping torque.

[0017] 5. The accompanying synchronous ejection box demoulding device of the present invention is composed of 4 oil cylinders, several combined equal height blocks (which can be combined according to the height of the sand box) and a servo system. The 4 oil cylinders are installed in the clamp arm wing plate. The oil cylinders and the combined blocks are moved by the manipulator to any molding station. When demoulding, the equal height blocks are first placed on the mold bottom plate, and the 4 oil cylinders pre-press the equal height blocks and then synchronously lift the mold.

[0018] 6. The function expansion module manipulator adapted to multi-finger gripping of the present invention can be equipped with a function expansion module adapted to multi-finger gripping to realize automatic or semi-automatic mechanical operation of multiple processes. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a structural schematic diagram of the present invention.

[0020] Figure 2-3It is a structural schematic diagram of the shoulder beam of the present invention.

[0021] Figure 4 It is a schematic structural diagram of the clamping arm of the present invention.

[0022] Figure 5 It is a side view of the clamping arm of the present invention.

[0023] Figure 6 It is a schematic structural diagram of the clamping and flipping arm of the present invention.

[0024] Figure 7 It is a schematic structural diagram of the clamping and flipping arm driving mechanism of the present invention.

[0025] Figure 8 It is a structural schematic diagram of the clamping arm locking mechanism of the present invention.

[0026] Fig. 9 for Figure 8 Schematic diagram of the enlarged structure of region II.

[0027] Fig.10 It is a structural schematic diagram of the synchronous jacking and demoulding structure of the present invention. DETAILED DESCRIPTION

[0028] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0029] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is only a part of the embodiment of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work should fall within the scope of protection of the present invention.

[0030] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so as to describe the embodiments of the present invention described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover his inclusion, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0031] Figure 1-10In the embodiment, the shoulder beam 1, the clamping arm 2, the lifting lug 10, the guide rail 13, the clamping arm body 17, the guide wheel 18 and the like are included.

[0032] like Figure 1 As shown, the present invention is a multi-finger multifunctional casting manipulator, comprising a shoulder beam 1, a clamping arm 2 is slidably mounted on the shoulder beam 1, a clamping and flipping mechanism is provided on the clamping arm 2, and a synchronous jacking and demoulding structure is provided on one side of the clamping and flipping mechanism.

[0033] like Figure 2-3 As shown, the upper part of the shoulder beam 1 is a lifting ear 10, and two parallel H-shaped cross arms 12 are horizontally arranged on both sides of the shoulder beam 1, and C-shaped guide rails 13 are arranged on both sides of the H-shaped cross arms 12.

[0034] The lifting lug 10 is used to connect to the overhead crane on the top of the workshop to realize the movement of the manipulator.

[0035] like Figure 4-5 As shown, the clamping arm 2 includes a clamping arm body 17 , a guide member is installed on the upper part of the clamping arm body 17 , and the guide member is located in the guide rail 13 .

[0036] The guide member is a guide wheel 18 , which is rotatably mounted on the upper portion of the clamp arm body 17 , and the guide wheel 18 rolls in the C-shaped guide rail 13 .

[0037] The outer periphery of the guide wheel 18 is an elastic layer, which can buffer the vibration generated during movement.

[0038] A rigid load-bearing block 19 is provided between the guide wheels 18, and the unloaded deadweight of the clamping arm is borne by the guide wheels 18. When the sand box is lifted and loaded, the elasticity is compressed, and the rigid load-bearing block 19 contacts the guide rail 13 to bear the gravity.

[0039] The clamping arm 2 is driven by a clamping arm driving device. In the present embodiment, the clamping arm driving device is a clamping arm driving cylinder. The cylinder body of the clamping arm driving cylinder is installed on the shoulder beam 1. The piston end of the clamping arm driving cylinder is horizontally arranged and connected to the clamping arm 2. The movement of the clamping arm 2 on the shoulder beam 1 can be realized by extending and retracting the piston end of the cylinder body of the clamping arm driving cylinder.

[0040] The clamping and flipping mechanism includes a clamping and flipping arm, which is driven by a clamping and flipping arm driving mechanism. The clamping and flipping arm is mirror-imaged on the shoulder beam 1. Figure 6 As shown, the clamping flip arm includes a flip spindle 31, one end of the flip spindle 31 is rotatably mounted on the lower part of the clamp arm body 17 through a bearing, and the other end of the flip spindle 31 is mounted on a flip elbow 30 through a keyway structure, and a finger-shaped claw 29 is mirror-mounted on the flip elbow 30, and a clamping bevel 29-1 is provided on the opposite side of the finger-shaped claw 29, and the mirror-mounted clamping bevel 29-1 constitutes a clamping bayonet.

[0041] The gripping finger 29 is tactile and has a clamping sensor and a compressive force sensor built therein, which can send out a clamping signal and a lifting signal to control the mold-lifting state.

[0042] like Figure 7 As shown, the clamping and flipping arm driving mechanism includes a clamping and flipping arm rotation driving device, which is installed at the lower part of the clamping arm body 17, and the output end of the flipping arm rotation driving device is connected to the flip main shaft 31 through a transmission structure.

[0043] The turning arm rotation driving device can be a motor or a hydraulic rotation device.

[0044] The transmission structure includes a driving gear 36 and a driven gear 37 . The driving gear 36 is installed at the output end of the flip arm rotation drive device, and the driven gear 37 is installed in the middle of the flip main shaft 31 through a keyway structure. The driving gear 36 is meshed with the driven gear 37 .

[0045] The outside of the transmission gear structure is tightly covered by a cover, which provides good safety and maintenance environment.

[0046] The turning arm rotation driving device drives the turning main shaft 31 to rotate through the transmission gear structure.

[0047] The torque of the flip spindle 31 can be increased by using multiple sets of clamping flip arm driving mechanisms.

[0048] In order to keep the elbow arm locked stable during operation, a clamping arm locking mechanism is provided on the clamping arm 2, such as Figure 8-9 As shown, the clamping arm locking mechanism includes a locking cylinder 40, which is horizontally installed at the lower part of the clamping arm body 17. The output shaft of the locking cylinder 40 is directed toward the flip elbow 30, and a square bevel locking pin 44 is installed through a square guide seat. A square locking hole is opened on the same side of the flip elbow 30, and a positioning bevel block 45 is installed in the square locking hole.

[0049] When the mold is removed and the sand box is lifted and translated, the locking cylinder 40 pushes the inclined square pin 44 to extend, and the inclined square pin 44 and the inclined surface of the positioning inclined block 45 fit together, locking the flip elbow 30 in a horizontal position to prevent shaking and skewing caused by tooth gap or eccentric weight of the sand box.

[0050] like Fig.10 As shown, the synchronous jacking and demolding structure includes a demolding jacking cylinder 41, and several demolding jacking cylinders 41 are installed at the bottom of the clamping arm 2. The piston end of the demolding jacking cylinder 41 is vertically downward, and a combined equal height block 42 is installed. The length of the combined equal height block 42 is adjusted according to the actual working conditions.

[0051] The working process of the present invention is as follows:

[0052] The sand box is provided with clamping flanges on both sides. The clamping arm 2 moves on the shoulder beam 1 until the clamping bayonet is engaged with the clamping flange, completing the fixing of the clamping arm 2 and the sand box. The piston rod of the mold lifting cylinder 41 is pushed downward, and the combined equal height block 42 separates the sand box from the model.

[0053] The tilting elbow 30 is tilted and locked.

[0054] It is to be understood that the above embodiments are merely exemplary embodiments used to illustrate the principles of the present invention, but the present invention is not limited thereto. For those of ordinary skill in the art, various modifications and improvements can be made without departing from the spirit and essence of the present invention, and these modifications and improvements are also considered to be within the scope of protection of the present invention.

Claims

1. A multi-finger multi-functional casting manipulator, characterized in that: The manipulator comprises a shoulder beam (1), a clamping arm (2) is slidably mounted on the shoulder beam (1), a clamping flipping mechanism is provided on the clamping arm (2), and a synchronous jacking and demoulding structure is provided on one side of the clamping and flipping mechanism; the upper part of the shoulder beam (1) is a lifting ear (10), and cross arms (12) are provided on both sides of the shoulder beam (1), and guide rails (13) are provided on both sides of the cross arms (12); the clamping arm (2) comprises a clamping arm body (17), and a guide member is installed on the upper part of the clamping arm body (17), and the guide member is located in the guide rail (13); the guide member is a guide wheel (18), the outer periphery of the guide wheel (18) is an elastic layer, and a rigid load-bearing block (19) is provided between the guide wheels (18); the synchronous jacking and demoulding structure comprises a demoulding jacking oil cylinder (41), the demoulding jacking oil cylinder (41) is installed at the bottom of the clamping arm (2), and a combined equal height block (42) is installed at the piston end of the demoulding jacking oil cylinder (41).

2. The multi-finger multi-functional casting robot according to claim 1, characterized in that: The clamping and flipping mechanism comprises a clamping and flipping arm, and the clamping and flipping arm is driven by a clamping and flipping arm driving mechanism; the clamping and flipping arm comprises a flipping main shaft (31) with one end rotatably mounted on the lower part of the clamping arm (2), and a flipping elbow (30) is mounted on the other end of the flipping main shaft (31), and a finger-shaped claw (29) is mounted on the flipping elbow (30), and the finger-shaped claw (29) is provided with a clamping inclined surface (29-1).

3. The multi-finger multi-functional casting robot according to claim 2, characterized in that: The clamping and flipping arm driving mechanism comprises a clamping and flipping arm rotation driving device, the flipping arm rotation driving device is installed at the lower part of the clamping arm (2), and the output end of the flipping arm rotation driving device is connected to the flipping main shaft (31) through a transmission structure.

4. The multi-finger multi-functional casting robot according to claim 3, characterized in that: The transmission structure comprises a driving gear (36) and a driven gear (37), wherein the driving gear (36) is mounted on the output end of the turning arm rotation driving device, and the driven gear (37) is mounted on the middle of the turning main shaft (31).

5. The multi-finger multi-functional casting robot according to claim 2, characterized in that: The clamping arm (2) is provided with a clamping arm locking mechanism, which comprises a locking cylinder (40). The locking cylinder (40) is horizontally mounted at the lower part of the clamping arm (2). The output shaft of the locking cylinder (40) is mounted with a square bevel locking pin (44). A locking hole is opened on the same side of the flip elbow (30), and a positioning bevel block (45) is mounted in the locking hole.

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