A casting machine clamping manipulator

Abstract

The present invention provides a casting machine clamping manipulator, belonging to the field of mechanical technology. It solves the technical problems that the existing casting machine clamping manipulator cannot adapt to high-temperature environments and the like. This casting machine clamping manipulator includes a fixed frame and a telescopic rod. A gripper mounting frame is fixed on the telescopic rod. A swing seat connected to two grippers is provided on the gripper mounting frame. A swing drive frame and a grasping drive frame are provided on the telescopic rod at the rear side of the gripper mounting frame. The swing drive frame and the swing seat are connected by a swing link that can push the swing seat to swing downward or upward; the grasping drive frame and the two grippers are connected by a pulling rope. After the telescopic rod extends, the grasping drive frame approaches the gripper mounting frame so that the pulling rope pulls the two grippers to make a grasping action and hold. After the telescopic rod retracts backward to reset, the grasping drive frame moves away from the gripper mounting frame so that the pulling rope releases the two grippers to make an opening action. The present invention has the advantage of being applicable to high-temperature environments.

Description

Technical Field

[0001] The present invention belongs to the technical field of machinery and relates to a clamping manipulator for a casting machine. Background Art

[0002] With the progress of technology, manipulators can replace humans in doing a lot of work, especially for tasks with a poor production environment. When casting wheels, there will be certain impurities in the molten aluminum. In order to improve the quality of the wheels after casting, the impurities need to be filtered during casting. Currently, a conical filter screen is mainly used for filtering. During use, the filter screen is first placed into the casting port, and then the lower port of the pouring cup is aligned with the filter screen. The molten aluminum flows into the mold cavity of the casting machine after passing through the pouring cup and the filter screen.

[0003] After the molten aluminum contacts the filter screen, part of it will cool and condense on the filter screen, blocking the mesh holes of the filter screen. Therefore, the filter screen is disposable, and it needs to be removed after casting. In order to solve the above problems, the applicant proposed a filter screen removal mechanism for a casting machine [CN202222971141.0], which includes a fixed frame, a sliding rod, and a mechanical gripper that can clamp the filter screen. The fixed frame is installed on one side of the casting machine. A fixed seat is fixed at the end of the sliding rod. The sliding rod is slidably connected to the fixed frame in the horizontal direction, and the back-and-forth movement of the sliding rod can drive the fixed seat to approach or move away from the casting port. The mechanical gripper is installed on the fixed seat and can swing up and down relative to the fixed seat. The mechanical gripper includes a pneumatic gripper and two clamping hands. The two clamping hands are respectively fixed on the two jaws of the pneumatic gripper. The filter screen removal mechanism also includes an angle adjustment component that can drive the mechanical gripper to swing up and down when the fixed seat is close to the casting port. The removal of the filter screen is realized by a manipulator that can perform actions such as forward extension, downward swing, grasping, upward swing and reset, backward movement and reset, and release. The manipulator uses two independent drive sources to achieve the above actions, and the electric control structure is relatively complex and the cost is relatively high. At the same time, in this patent, the mechanical gripper uses a conventional pneumatic gripper to realize the clamping and release of the clamping hands. In actual use, when the filter screen is removed, the pneumatic gripper needs to be close to the mold. At this time, the mold is filled with molten aluminum and the surrounding temperature is extremely high, that is, the working environment of the pneumatic gripper is extremely stable. The high temperature causes great damage to the sealing structure of the pneumatic gripper, greatly shortening its service life, and the pneumatic gripper needs to be frequently maintained, resulting in a relatively high use cost. Summary of the Invention

[0004] The purpose of the present invention is to provide a clamping manipulator for a casting machine in view of the above problems existing in the prior art. The technical problem solved by the present invention is to be applicable to clamping in a high-temperature environment.

[0005] The purpose of the present invention can be achieved by the following technical solutions:

[0006] A clamping manipulator for a casting machine, comprising a fixed frame and a telescopic rod slidably connected to the fixed frame. It is characterized in that a gripper mounting frame is fixed at the front end of the telescopic rod, a swing seat capable of swinging up and down is provided on the gripper mounting frame, and two grippers are connected to the swing seat; a swing driving frame and a grasping driving frame are sequentially slidably connected to the telescopic rod at the rear side of the gripper mounting frame, and when the telescopic rod extends forward, the positions among the gripper mounting frame, the swing driving frame and the grasping driving frame are fixed; the swing driving frame and the swing seat are connected by a swing connecting rod, and after the telescopic rod extends out, the swing driving frame approaches or moves away from the gripper mounting frame so that the swing connecting rod pushes the swing seat to swing downward or upward; the grasping driving frame and the two grippers are connected by a pulling rope, and after the telescopic rod extends out, the grasping driving frame approaches the gripper mounting frame so that the pulling rope pulls the two grippers to make a grasping action and hold, and after the telescopic rod retracts backward to reset, the grasping driving frame moves away from the gripper mounting frame so that the pulling rope loosens the two grippers to make an opening action.

[0007] During use, the extension action of the gripper is realized by the forward movement of the telescopic rod; after the telescopic rod extends out, the swing connecting rod is pushed by the swing driving frame approaching the gripper mounting frame to swing the swing seat downward, realizing the downward swing action of the gripper; the two grippers are kept in a grasping state by the grasping driving frame approaching the gripper mounting frame, realizing the grasping action of the gripper; the swing connecting rod is pushed by the swing driving frame moving away from the gripper mounting frame to swing the swing seat upward, realizing the upward swing action of the gripper; the backward reset action of the gripper in the grasping state is realized by the backward retraction and reset of the telescopic rod, and after the telescopic rod retracts backward to reset, the grasping driving frame moves away from the gripper mounting frame so that the pulling rope loosens the two grippers to make an opening action, realizing the release of the workpiece clamped by the gripper; the above structure realizes the extension, downward swing, grasping, upward swing reset, backward reset and release actions of the gripper by controlling the telescopic movement of the telescopic rod and the relative positions among the gripper mounting frame, the swing driving frame and the grasping driving frame. The grasping and release actions of the gripper are controlled by the pulling rope, with lower cost, no need to worry about the influence of high-temperature environment, and longer service life.

[0008] In the above clamping manipulator for a casting machine, a fixed rod is screwed on the grasping driving frame, one end of the pulling rope is fixed on the fixed rod, a mounting column facing the grasping driving frame is provided on the gripper mounting frame, a steering wheel is rotatably connected to the end of the mounting column, the steering wheel is located behind the fixed position of the fixed rod and the pulling rope, and the pulling rope bypasses the rear side of the steering wheel. By converting the direction of the pulling rope through the steering wheel, the pulling rope can be pulled backward when the grasping driving frame moves forward, realizing the control of the grasping action of the gripper.

[0009] In the above-mentioned casting machine clamping manipulator, a guide sleeve is further provided on the gripper mounting bracket. A tension spring is provided inside the guide sleeve, and the mounting post is inserted into the guide sleeve and abuts against the tension spring. The length of the pull rope is fixed. When the swing seat swings downward, the pull rope will be slackened. At this time, the position of the mounting post is adjusted by the expansion and contraction of the tension spring, so as to adjust the position of the steering wheel, so that the pull rope remains taut. When the grasping drive frame moves relative to the gripper mounting bracket, the pull rope can respond quickly to pull or release the gripper.

[0010] In the above-mentioned casting machine clamping manipulator, a transition wheel is rotatably connected to the lower side of the guide sleeve and the lower side of the gripper mounting bracket, and the pull rope passes through the above-mentioned transition wheel. The pull rope can be smoothly pulled or released through the transition wheel, and at the same time, the wear of the pull rope is avoided.

[0011] In the above-mentioned casting machine clamping manipulator, the pull rope is made of steel wire rope. The steel wire rope is heat-resistant.

[0012] In the above-mentioned casting machine clamping manipulator, the end of the gripper is bent to be provided with a rotating section. The end of the gripper is rotatably connected to the swing seat through a rotating shaft. A pull rod is connected to the rotating section, and one end of the pull rope is connected to the pull rod. The rotating section is pulled by the pull rope to make the gripper rotate around the rotating shaft.

[0013] In the above-mentioned casting machine clamping manipulator, a connecting hole is formed in the rotating section. The connecting hole is strip-shaped. The rotating sections of the two grippers are stacked up and down, and the connecting holes on the two rotating sections are aligned. The above-mentioned pull rod passes through the connecting holes of the two rotating sections. When the pull rope pulls the pull rod, the two grippers can rotate synchronously to realize the grasping action of the two grippers moving relatively close; the strip-shaped connecting hole can realize the relative movement of the pull rod relative to the rotating section when the rotating section rotates.

[0014] In the above-mentioned casting machine clamping manipulator, an opening spring is provided inside the swing seat. The pull rod extends into the swing seat and can move relative to the swing seat along the axial direction of the opening spring. One end of the opening spring abuts against the pull rod. When the pull rod is subjected to the pulling force of the pull rope, the opening spring is compressed. The opening spring acts on the pull rod to make the two grippers in a state of being away from each other and opening. When the pull rope pulls the pull rod, the pull rod will move and compress the opening spring. Under the action of the pull rod, the two grippers rotate and approach to make a grasping action. When the pull rope is released, the pull rod resets under the action of the opening spring, and the two grippers rotate in the opposite direction and move away to make an opening action; the opening action of the gripper is realized through the opening spring, which can adapt to harsh environments such as high temperature and ensure the service life.

[0015] In the above-mentioned casting machine gripper robot, an adjusting bolt is further provided on the swing seat. The pull rod is located between the adjusting bolt and the opening spring, and the end of the adjusting bolt abuts against the pull rod. The adjusting bolt can adjust the initial position of the pull rod and the opening spring, that is, can adjust the opening amplitude of the two grippers, and can adapt to workpieces of different sizes.

[0016] As another case, in the above-mentioned casting machine gripper robot, a slide rail is provided on the swing seat. The two grippers are slidably connected to the slide rail, and an opening spring is provided between the two grippers. The end of the pull rope is divided into two strands, and the two strands of the pull rope are respectively connected to the two grippers. The opening spring acts on the two grippers to keep the two grippers in a state of being away from each other and opening. When the pull rope is pulled, the two grippers will move relatively closer to make a grasping action. When the pull rope is released, under the action of the opening spring, the two grippers will move relatively away to make an opening action.

[0017] In the above-mentioned casting machine gripper robot, a driving cylinder is fixed on the fixed frame. The cylinder rod of the driving cylinder is fixedly connected to the grasping driving frame and can drive the grasping driving frame to move back and forth. A first spring is provided between the swing driving frame and the gripper mounting frame, and a second spring is provided between the grasping driving frame and the swing driving frame. A first limiting rod is rotatably connected to the grasping driving frame. The first limiting rod can abut against the rear side of the swing driving frame when the grasping driving frame and the swing driving frame move relatively away from each other, and the first limiting rod can disengage from the swing driving frame after the first spring is compressed. A second limiting rod is rotatably connected to the swing driving frame. The second limiting rod can hook on the rear side of the grasping driving frame after the second spring is compressed, and the second limiting rod can disengage from the grasping driving frame after the telescopic rod retracts backward to return to its original position.

[0018] When the telescopic rod is in the initial position, the swing driving frame is relatively away from both the grasping driving frame and the gripper mounting frame; through the cooperation of the first limiting rod, the second limiting rod, the first spring and the second spring, the distance between the swing driving frame and the grasping driving frame and the distance between the swing driving frame and the gripper mounting frame are adjusted during the process of the driving cylinder pushing the gripper mounting frame forward and pulling the gripper mounting frame backward, so as to realize the control of the up-and-down swing and grasping and releasing actions of the gripper; this structure can complete the continuous and precise control of six actions when the gripper grasps the workpiece only through one driving source, the driving cylinder. The structure design is compact and delicate, the use stability is high, the cost is lower, and the driving cylinder is located on the fixed frame, far away from the high-temperature working environment such as after the gripper extends, which improves the service life.

[0019] In the above-mentioned casting machine gripper robot, a first abutting step is provided in the middle section of the first limiting rod. The first abutting step can abut against the rear side of the swing driving frame. The front end of the first limiting rod extends to the front of the swing driving frame. A first guiding inclined surface is provided at the front end of the first limiting rod. When the swing driving frame and the gripper mounting frame approach each other relatively, the first guiding inclined surface acts on the gripper mounting frame and lifts the first limiting rod so that the first abutting step disengages from the swing driving frame. When the swing driving frame approaches the gripper mounting frame, the front end of the first guiding inclined surface will first contact the gripper mounting frame. During the continuous approaching process, under the action of the first guiding inclined surface, the first limiting rod will be gradually lifted relative to the swing driving frame until the first abutting step disengages from the swing driving frame. At this time, the swing driving frame moves to the position closest to the gripper mounting frame without being abutted by the first limiting rod. At this time, the gripper swings downward to the clamping working position.

[0020] In the above-mentioned casting machine gripper robot, a first lifting wheel is rotatably connected to the gripper mounting frame, and the first guiding inclined surface can act on the first lifting wheel. By the rotating first lifting wheel rolling relative to the first guiding inclined surface, the friction during relative movement is reduced.

[0021] In the above-mentioned casting machine gripper robot, a second abutting step is provided in the middle section of the second limiting rod. The second abutting step can hook on the rear side of the grasping driving frame. The rear end of the second limiting rod extends to the rear of the grasping driving frame. A second guiding inclined surface is provided at the rear end of the second limiting rod. After the telescopic rod retracts backward to reset, the second guiding inclined surface acts on the fixed frame and lifts the second limiting rod so that the second abutting step disengages from the grasping driving frame.

[0022] After the telescopic rod retracts backward to reset, the grasping driving frame will approach the fixed frame. The rear end of the second guiding inclined surface will first contact the fixed frame. During the continuous approaching process, under the action of the second guiding inclined surface, the second limiting rod will be gradually lifted relative to the grasping driving frame until the second abutting step disengages from the grasping driving frame. At this time, under the action of the second spring, the grasping driving frame moves relatively away from the swing driving frame, and the pulling rope loosens and the two grippers make an opening action.

[0023] In the above-mentioned casting machine gripper robot, a second lifting wheel is rotatably connected to the fixed frame, and the second guiding inclined surface can act on the second lifting wheel. By the rotating second lifting wheel rolling relative to the second guiding inclined surface, the friction during relative movement is reduced.

[0024] In the above-mentioned casting machine clamping manipulator, the first limiting rod and the second limiting rod are arranged vertically, and the first limiting rod and the second limiting rod are connected by a tension spring. Due to the pulling force of the tension spring, when the swing driving frame and the grasping driving frame move relatively away from each other, the first limiting rod will reset and abut against the swing driving frame, and when the swing driving frame and the grasping driving frame move relatively closer to each other, the second limiting rod will hook on the rear side of the grasping driving frame, realizing the automatic reset of the first limiting rod and the second limiting rod.

[0025] In the above-mentioned casting machine clamping manipulator, a limiting stop block is fixed at the rear end of the telescopic rod, and the limiting stop block can abut against the fixed frame after the telescopic rod extends forward. The length of the telescopic rod extending out is limited by the limiting stop block.

[0026] As another case, in the above-mentioned casting machine clamping manipulator, a cylinder one and a cylinder two are fixed on the fixed frame. The telescopic rod of the cylinder one is fixedly connected with the grasping driving frame and can drive the grasping driving frame to move back and forth. The telescopic rod of the cylinder two is fixedly connected with the swing driving frame and can drive the grasping driving frame to move back and forth. A spring one is fixed on the swing driving frame. By independently driving the grasping driving frame and the swing driving frame to move by the cylinder one and the cylinder two respectively, that is, the distance between the swing driving frame and the grasping driving frame and between the swing driving frame and the gripper mounting frame can be adjusted by adjusting the cylinder one and the cylinder two, so as to realize the control of the up and down swing and the grasping and releasing actions of the gripper. The continuous and precise control of six actions when the gripper grasps the workpiece can be completed by two driving sources, with high use stability, and the cylinder one and the cylinder two are both far away from the high-temperature working environment, improving the service life.

[0027] Compared with the prior art, the casting machine clamping manipulator of the present invention has the following advantages:

[0028] 1. The gripper is tightened and released by means of rope transmission, which is applicable to high-temperature environments and ensures the service life;

[0029] 2. By controlling the positional relationship among the gripper mounting frame, the swing driving frame and the grasping driving frame, the control of the up and down swing action and the opening and tightening action of the gripper is realized. Without electric control components, it has higher use stability, more reliable structure and lower cost in high-temperature environments. Description of the Drawings

[0030] Figure 1 It is a schematic side view structure diagram of the casting machine clamping manipulator when the telescopic rod is not extended.

[0031] Figure 2 It is a schematic side view structure diagram of the casting machine clamping manipulator after the telescopic rod is extended.

[0032] Figure 3 It is a schematic three-dimensional structure diagram of the casting machine clamping manipulator when the gripper swings downward.

[0033] Figure 4 is Figure 3 A partial enlarged structural schematic diagram of part A in

[0034] Figure 5 is a cross-sectional structural schematic diagram of the front end of the telescopic rod after the clamping hand swings downward.

[0035] Figure 6 is a three-dimensional structural schematic diagram of the clamping manipulator of this casting machine when it is grasping.

[0036] Figure 7 is Figure 6 A partial enlarged structural schematic diagram of part B in

[0037] Figure 8 is a side view structural schematic diagram of the clamping hand of this casting machine after it swings upward after the clamping manipulator grasps.

[0038] Figure 9 is a side view structural schematic diagram of the telescopic rod of the clamping manipulator of this casting machine when it retracts and the clamping hand opens.

[0039] Figure 10 is a three-dimensional structural schematic diagram when the two clamping hands are open.

[0040] Figure 11 is a three-dimensional structural schematic diagram when the two clamping hands are grasping.

[0041] In the figure, 1. fixed frame; 11. driving cylinder; 12. second lifting wheel; 2. telescopic rod; 21. limit stop; 3. clamping hand mounting frame; 31. first lifting wheel; 32. mounting frame; 4. swing seat; 41. opening spring; 42. clamping hand; 421. rotating section; 422. connecting hole; 43. pull rod; 44. adjusting bolt; 5. swing driving frame; 51. swing connecting rod; 52. spring one; 53. first limiting rod; 531. abutting step one; 532. guiding inclined plane one; 54. approaching positioning rod one; 55. departing positioning rod one; 6. grasping driving frame; 61. spring two; 62. second limiting rod; 621. abutting step two; 622. guiding inclined plane two; 63. approaching positioning rod two; 64. departing positioning rod two; 7. pulling rope; 71. fixed rod; 72. guide sleeve; 73. mounting column; 74. steering wheel; 75. idler wheel; 76. tension spring; 8. tensioning spring. Detailed implementation manners

[0042] The following are specific embodiments of the present invention and in combination with the accompanying drawings, the technical solutions of the present invention are further described, but the present invention is not limited to these embodiments.

[0043] Embodiment 1

[0044] As Figures 1 to 11As shown in the figure, the clamping manipulator of the casting machine includes a fixed frame 1 and a telescopic rod 2 slidably connected to the fixed frame 1. The fixed frame 1 can be fixedly installed on one side of the casting mold. In this embodiment, the telescopic rod 2 is in the shape of an equal-diameter long rod and there are two of them. The two telescopic rods 2 are arranged horizontally and parallel to each other. A limit stop 21 is fixed to the rear end of the telescopic rod 2. After the telescopic rod 2 extends forward, the limit stop 21 can abut against the fixed frame 1, and the maximum forward extension stroke of the telescopic rod 2 is limited by the limit stop 21; the telescopic rod 2 can also adopt a multi-section structure.

[0045] A driving cylinder 11 is fixed on the fixed frame 1. The cylinder rod of the driving cylinder 11 is parallel to the telescopic rod 2. A gripper mounting frame 3 is fixed to the front end of the telescopic rod 2. A swing seat 4 that can swing up and down is provided on the gripper mounting frame 3. Two grippers 42 are connected to the swing seat 4; on the telescopic rod 2, a swing driving frame 5 and a grasping driving frame 6 are sequentially slidably connected behind the gripper mounting frame 3. The cylinder rod of the driving cylinder 11 is fixedly connected to the grasping driving frame 6 and can drive the grasping driving frame 6 to move back and forth.

[0046] A first spring 52 is provided between the swing driving frame 5 and the gripper mounting frame 3, and a second spring 61 is provided between the grasping driving frame 6 and the swing driving frame 5. A first limiting rod 53 is rotatably connected to the grasping driving frame 6. When the telescopic rod 2 is in the initial state, the grasping driving frame 6 and the swing driving frame 5 are relatively far apart, and the first limiting rod 53 abuts against the rear side of the swing driving frame 5. When the telescopic rod 2 extends forward, the positions of the gripper mounting frame 3, the swing driving frame 5, and the grasping driving frame 6 are fixed through the cooperation of the first spring 52 and the first limiting rod 53; when the limit stop 21 of the telescopic rod 2 abuts against the fixed frame 1, the swing driving frame 5 moves toward the gripper mounting frame 3. After the first spring 52 is compressed, the first limiting rod 53 can be disengaged from the swing driving frame 5; the swing driving frame 5 and the swing seat 4 are connected by a swing link 51. After the telescopic rod 2 extends, the swing driving frame 5 approaches or moves away from the gripper mounting frame 3, so that the swing link 51 pushes the swing seat 4 to swing downward or upward.

[0047] A second limiting rod 62 is rotatably connected to the swing driving frame 5. When the first limiting rod 53 disengages from the swing driving frame 5, the grasping driving frame 6 moves toward the swing driving frame 5. After the second spring 61 is compressed, the second limiting rod 62 can hook on the rear side of the grasping driving frame 6. After the telescopic rod 2 retracts and returns to its original position, the second limiting rod 62 can be disengaged from the grasping driving frame 6; the grasping driving frame 6 and the two grippers 42 are connected by a pull rope 7. After the telescopic rod 2 extends, the grasping driving frame 6 approaches the gripper mounting frame 3, so that the pull rope 7 pulls the two grippers 42 to make a grasping action and hold. After the telescopic rod 2 retracts and returns to its original position, the grasping driving frame 6 moves away from the gripper mounting frame 3, so that the pull rope 7 releases the two grippers 42 to make an opening action.

[0048] The first limiting rod 53 and the second limiting rod 62 are arranged vertically. The first limiting rod 53 and the second limiting rod 62 are connected by a tension spring 8. The tension spring 8 makes the first limiting rod 53 always tend to move downward and the second limiting rod 62 always tend to move upward. A first abutting step 531 is provided downward in the middle section of the first limiting rod 53. The first abutting step 531 can abut against the rear side of the swing driving frame 5. The front end of the first limiting rod 53 extends to the front of the swing driving frame 5. A first guiding inclined surface 532 is provided at the front end of the first limiting rod 53. A first lifting wheel 31 is rotatably connected to the gripper mounting frame 3. When the swing driving frame 5 and the gripper mounting frame 3 approach each other relatively, the first guiding inclined surface 532 acts on the first lifting wheel 31 and lifts the first limiting rod 53 so that the first abutting step 531 disengages from the swing driving frame 5. When the swing driving frame 5 approaches the gripper mounting frame 3, the front end of the first guiding inclined surface 532 will first contact the gripper mounting frame 3. During the continuous approaching process, under the action of the first guiding inclined surface 532, the first limiting rod 53 will be gradually lifted relative to the swing driving frame 5 until the first abutting step 531 disengages from the swing driving frame 5. At this time, the swing driving frame 5 moves to the position closest to the gripper mounting frame 3 without the top support of the first limiting rod 53.

[0049] A second abutting step 621 is provided upward in the middle section of the second limiting rod 62. The second abutting step 621 can hook on the rear side of the grasping driving frame 6. The rear end of the second limiting rod 62 extends to the rear of the grasping driving frame 6. A second guiding inclined surface 622 is provided at the rear end of the second limiting rod 62. A second lifting wheel 12 is rotatably connected to the fixed frame 1. After the telescopic rod 2 retracts backward and returns to its original position, the second guiding inclined surface 622 acts on the second lifting wheel 12 and lifts the second limiting rod 62 downward so that the second abutting step 621 disengages from the grasping driving frame 6. After the telescopic rod 2 retracts backward and returns to its original position, the grasping driving frame 6 will approach the fixed frame 1. The rear end of the second guiding inclined surface 622 will first contact the fixed frame 1. During the continuous approaching process, under the action of the second guiding inclined surface 622, the second limiting rod 62 will be gradually lifted relative to the grasping driving frame 6 until the second abutting step 621 disengages from the grasping driving frame 6. At this time, under the action of the second spring 61, the grasping driving frame 6 moves relatively away from the swing driving frame 5.

[0050] The first lifting wheel 31 and the second lifting wheel 12 are respectively fixed on the mounting frame 32. The mounting frame 32 is provided with a long strip-shaped fixing hole in the vertical direction. The mounting frame 32 is fixed on the fixed frame 1 or the gripper mounting frame 3 by bolts passing through the fixing hole. The vertical height of the first lifting wheel 31 or the second lifting wheel 12 can be adjusted through the mounting frame 32, and thus the lifting height of the first limiting rod 53 or the second limiting rod 62 can be adjusted.

[0051] There are a first proximity positioning rod 54 and a first remote positioning rod 55 provided between the gripper mounting bracket 3 and the swing drive bracket 5. The first proximity positioning rod 54 is screwed onto the gripper 42 positioning bracket. The end of the first proximity positioning rod 54 faces the swing drive bracket 5. When the first spring 52 is compressed, the end of the first proximity positioning rod 54 can abut against the swing drive bracket 5. One end of the first remote positioning rod 55 is fixed to the swing drive bracket 5, and the other end of the first remote positioning rod 55 passes through the gripper mounting bracket 3. A limit nut is fixed to the other end of the first remote positioning rod 55. When the gripper mounting bracket 3 and the swing drive bracket 5 move relatively away from each other, the limit nut abuts against the gripper mounting bracket 3. The cooperation of the first proximity positioning rod 54 and the first remote positioning rod 55 defines the positions of the gripper mounting bracket 3 and the swing drive bracket 5 when they move relatively away from or close to each other.

[0052] There are a second proximity positioning rod 63 and a second remote positioning rod 64 provided between the swing drive bracket 5 and the grasping drive bracket 6. The second proximity positioning rod 63 is screwed onto the grasping drive bracket 6. The end of the first proximity positioning rod 54 faces the swing drive bracket 5. When the second spring 61 is compressed, the end of the second proximity positioning rod 63 can abut against the swing drive bracket 5. One end of the second remote positioning rod 64 is fixed to the swing drive bracket 5, and the other end of the first remote positioning rod 55 passes through the grasping drive bracket 6. A limit nut is fixed to the other end of the second remote positioning rod 64. When the grasping drive bracket 6 and the swing drive bracket 5 move relatively away from each other, the limit nut abuts against the grasping drive bracket 6. The cooperation of the second proximity positioning rod 63 and the second remote positioning rod 64 defines the positions of the swing drive bracket 5 and the grasping drive bracket 6 when they move relatively away from or close to each other.

[0053] A fixing rod 71 is screwed onto the grasping drive bracket 6. One end of the pull rope 7 is fixed to the fixing rod 71. A guide sleeve 72 is further provided on the gripper mounting bracket 3. An installation post 73 facing the grasping drive bracket 6 is provided inside the guide sleeve 72. A tension spring 76 is provided between the inner end of the installation post 73 and the guide sleeve 72. A steering wheel 74 is rotatably connected to the end of the installation post 73. The steering wheel 74 is located behind the fixed position of the fixing rod 71 and the pull rope 7. The pull rope 7 bypasses the rear side of the steering wheel 74. The pull rope 7 is made of a steel wire rope or a steel chain. By converting the direction of the pull rope 7 through the steering wheel 74, the pull rope 7 can be pulled backward when the grasping drive bracket 6 moves forward, realizing the control of the grasping action of the gripper 42. The length of the pull rope 7 is fixed. When the swing seat 4 swings downward, the pull rope 7 will be slackened. At this time, the position of the installation post 73 is adjusted by the expansion and contraction of the tension spring 76, thereby adjusting the position of the steering wheel 74 to keep the pull rope 7 in a taut state.

[0054] The end of the clamping hand 42 is bent to form a rotating section 421. The end of the clamping hand 42 is rotatably connected to the swing seat 4 through a rotating shaft. A connecting hole 422 is formed in the rotating section 421. The connecting hole 422 is strip-shaped. The rotating sections 421 of the two clamping hands 42 are stacked up and down, and the connecting holes 422 on the two rotating sections 421 are aligned. The pull rod 43 passes through the connecting holes 422 of the two rotating sections 421 at the same time. The strip-shaped connecting hole 422 can realize the relative movement of the pull rod 43 relative to the rotating section 421 when the rotating section 421 rotates. One end of the pull rope 7 is connected to the pull rod 43; an opening spring 41 is arranged in the swing seat 4. The pull rod 43 extends into the swing seat 4 and can move relative to the swing seat 4 along the axial direction of the opening spring 41. One end of the opening spring 41 abuts against the pull rod 43. When the pull rod 43 is pulled by the pull rope 7, the opening spring 41 is compressed; an adjusting bolt 44 is further arranged on the swing seat 4. The pull rod 43 is located between the adjusting bolt 44 and the opening spring 41. The end of the adjusting bolt 44 abuts against the pull rod 43. The pull rope 7 pulls the pull rod 43 and simultaneously drives the rotating sections 421 of the two clamping hands 42 to rotate synchronously, realizing the grasping action of the two clamping hands 42 approaching each other. During this process, the opening spring 41 is compressed. When the pull rope 7 is released, the pull rod 43 is reset under the action of the opening spring 41, and the two clamping hands 42 rotate in the reverse direction and move away to make an opening action.

[0055] Preferably, the elastic force of the tension spring 76 is greater than the elastic force of the opening spring 41. When the pull rope 7 is pulled, the opening spring 41 is preferentially compressed; the elastic force of the second spring 61 is greater than the elastic force of the first spring 52. When the second limiting rod 62 disengages from the grasping driving frame 6, the second spring 61 can push the swing driving frame 5 forward. At this time, the grasping driving frame 6 is fixed by the position of the cylinder rod of the driving cylinder 11. The second spring 61 can overcome the elastic force of the first spring 52 and will push the telescopic rod 2 forward to the initial position through the first spring 52 during this process.

[0056] The specific working process of the casting machine clamping manipulator in this embodiment is as follows:

[0057] As shown in Figure 1 and Figure 2 When the cylinder rod of the driving cylinder 11 extends forward, it pushes the clamping hand mounting frame 3 forward. At this time, the first limiting rod 53 abuts against the swing driving frame 5. The clamping hand mounting frame 3 pushes the swing driving frame 5 forward through the first limiting rod 53. The swing driving frame 5 will act on the clamping hand mounting frame 3 through the second spring 61. The elastic force of the second spring 61 is balanced with the friction force received when the telescopic rod 2 extends during this process. That is, the second spring 61 pushes the telescopic rod 2 fixed to the clamping hand mounting frame 3 forward in the uncompressed state, realizing the extending action of the clamping hand 42;

[0058] As shown in Figures 3 to 5As shown, when the telescopic rod 2 extends forward and reaches its maximum extended position, the driving cylinder 11 continues to push the grasping driving frame 6 forward. At this time, the swinging driving frame 5 will compress the first spring 52 and approach the gripper mounting frame 3. During this process, the swinging driving frame 5 causes the swinging seat 4 to swing downward through the swinging link 51. After the first spring 52 is compressed in place and the swinging seat 4 causes the gripper 42 to swing in place, at this time, the first limiting rod 53 disengages from the swinging driving frame 5, and the distance between the swinging driving frame 5 and the gripper mounting frame 3 is minimized, realizing the downward swinging action of the gripper 42;

[0059] As Figure 6 and Figure 7 shown, when the gripper 42 completes the downward swinging, the driving cylinder 11 continues to push the grasping driving frame 6 forward. At this time, the grasping driving frame 6 will compress the second spring 61 and approach the swinging driving frame 5. The movement of the grasping driving frame 6 will cause the pull rope 7 to pull the two grippers 42 to make a grasping action at the position after the downward swing. After the second spring 61 is compressed in place, the two grippers 42 are in a grasping state, completing the grasping action. At this time, the second limiting rod 62 hooks on the rear side of the grasping driving frame 6, and the second limiting rod 62 makes the distance between the grasping driving frame 6 and the swinging driving frame 5 fixed, which also makes the two grippers 42 maintain the grasping state, realizing the grasping action of the gripper 42;

[0060] As Figure 8 shown, after completing the grasping action, the driving cylinder 11 pulls the grasping driving frame 6 in the reverse direction. Under the action of the second limiting rod 62, the grasping driving frame 6 and the swinging driving frame 5 retreat synchronously. Under the action of the first spring 52, the telescopic rod 2 remains fixed at this time. The swinging driving frame 5 moves away from and retreats relative to the gripper mounting frame 3. The swinging driving frame 5 causes the swinging seat 4 to swing upward and reset through the swinging link 51, realizing the upward swinging and reset action of the gripper 42. During this process, when the gripper 42 swings upward, it will pull the pull rope 7 forward, while the grasping driving frame 6 will loosen the pull rope 7 relative to the gripper mounting frame 3, and the two just balance, realizing that the pull rope 7 always remains taut during this process, realizing the action of clamping and lifting the workpiece with the gripper 42;

[0061] As Figure 9 shown, after completing the upward swinging and reset action of the gripper 42, the driving cylinder 11 continues to pull the driving frame in the reverse direction. The backward movement of the swinging driving frame 5 will continue to pull the swinging link 51. Under the action of the swinging link 51, the gripper mounting frame 3 moves backward, causing the telescopic rod 2 to move backward and reset, realizing the backward reset action of the gripper 42 in the grasping state;

[0062] As Figure 9As shown in the figure, when the telescopic rod 2 retracts backward to reset, that is, when the telescopic rod 2 moves backward to the maximum position, the second limiting rod 62 can disengage from the grasping drive frame 6. At this time, under the action of the second spring 61, the swinging drive frame 5 and the telescopic rod 2 will be pushed forward, causing the relative distance between the swinging drive frame 5 and the grasping drive frame 6 to increase and return to the initial position. During this process, the pulling rope 7 will loosen, and the two clamping hands 42 will make an opening movement, realizing the release of the workpiece clamped by the clamping hands 42. After completion, under the action of the second spring 61, the telescopic rod 2 will move forward a short distance to reset to the initial position.

[0063] Through the cooperation of the first limiting rod 53, the second limiting rod 62, the first spring 52 and the second spring 61, the distance between the swinging drive frame 5 and the grasping drive frame 6 and between the swinging drive frame 5 and the clamping hand mounting frame 3 is adjusted during the process of the driving cylinder 11 pushing the clamping hand mounting frame 3 forward and pulling it back, so as to realize the control of the up-and-down swinging and grasping and releasing actions of the clamping hands 42. This structure can complete the continuous and precise control of six actions when the clamping hands 42 grasp the workpiece only through one driving source, the structure design is compact and delicate, the use stability is high, the cost is lower, and the driving cylinder 11 is located on the fixed frame 1, far away from the high-temperature working environment such as when the clamping hands 42 extend, which improves the service life.

[0064] Embodiment 2

[0065] The structure and principle of this embodiment are basically the same as those of Embodiment 1. The difference is that: a first cylinder and a second cylinder are fixed on the fixed frame. The telescopic rod of the first cylinder is fixedly connected to the grasping drive frame and can drive the grasping drive frame to move back and forth. The telescopic rod of the second cylinder is fixedly connected to the swinging drive frame and can drive the grasping drive frame to move back and forth. A first spring is fixed on the swinging drive frame. In this embodiment, two driving sources are used to realize the operation. The grasping drive frame and the swinging drive frame are respectively and independently driven to move by the first cylinder and the second cylinder, that is, the distance between the swinging drive frame and the grasping drive frame and between the swinging drive frame and the clamping hand mounting frame can be adjusted by adjusting the first cylinder and the second cylinder, so as to realize the control of the up-and-down swinging and grasping and releasing actions of the clamping hands. The continuous and precise control of six actions when the clamping hands grasp the workpiece can be completed through two driving sources, the use stability is high, and both the first cylinder and the second cylinder are far away from the high-temperature working environment, which improves the service life.

[0066] Embodiment 3

[0067] The structure and principle of this embodiment are basically the same as those of the first embodiment. The differences are as follows: There is a slide rail on the swing seat, two clamping hands are slidably connected to the slide rail, an opening spring is arranged between the two clamping hands, the end of the pull rope is divided into two strands, and the two strands of the pull rope are respectively connected to the two clamping hands. The opening spring acts on the two clamping hands to make the two clamping hands in a state of being far apart and open. When the pull rope is pulled, the two clamping hands will move relatively closer to make a grasping action. When the pull rope is released, under the action of the opening spring, the two clamping hands will move relatively farther apart to make an opening action.

[0068] Embodiment Four

[0069] The structure and principle of this embodiment are basically the same as those of the first embodiment. The differences are as follows: A protruding positioning convex part one is provided in the middle section of the first limiting rod, a positioning groove one is formed on the swing driving frame, and the positioning convex part one of the first limiting rod can be clamped into the positioning groove one. When the swing driving frame and the clamping hand mounting frame move relatively closer, the guiding inclined surface one acts on the first lifting wheel to make the positioning convex part one disengage from the positioning groove one; A protruding positioning convex part two is provided in the middle section of the second limiting rod, a positioning groove two is formed at the lower end of the grasping driving frame, and the positioning convex part two can be clamped into the positioning groove two. After the telescopic rod retracts and returns to its original position, the guiding inclined surface two acts on the second lifting wheel to make the positioning convex part two disengage from the positioning groove two.

[0070] The specific embodiments described herein are merely illustrative of the spirit of the present invention. Those skilled in the art to which the present invention pertains can make various modifications or supplements to the described specific embodiments or use similar ways to replace them, but will not deviate from the spirit of the present invention or exceed the scope defined by the appended claims.

Claims

1. A casting machine clamping manipulator, comprising a fixed frame (1) and a telescopic rod (2) slidably connected to the fixed frame (1), characterized in that, A clamping hand mounting bracket (3) is fixed to the front end of the telescopic rod (2). A swing seat (4) capable of swinging up and down is provided on the clamping hand mounting bracket (3), and two clamping hands (42) are connected to the swing seat (4). A swing driving bracket (5) and a grasping driving bracket (6) are sequentially and slidably connected to the telescopic rod (2) at the rear side of the clamping hand mounting bracket (3). When the telescopic rod (2) extends forward, the positions among the clamping hand mounting bracket (3), the swing driving bracket (5) and the grasping driving bracket (6) are fixed. The swing driving bracket (5) and the swing seat (4) are connected by a swing connecting rod (51). After the telescopic rod (2) extends out, the swing driving bracket (5) approaches or moves away from the clamping hand mounting bracket (3) so that the swing connecting rod (51) pushes the swing seat (4) to swing downward or upward. The grasping driving bracket (6) and the two clamping hands (42) are connected by a pull rope (7). After the telescopic rod (2) extends out, the grasping driving bracket (6) approaches the clamping hand mounting bracket (3) so that the pull rope (7) pulls the two clamping hands (42) to make a grasping action and hold. After the telescopic rod (2) retracts backward to reset, the grasping driving bracket (6) moves away from the clamping hand mounting bracket (3) so that the pull rope (7) releases the two clamping hands (42) to make an opening action.

2. The clamping manipulator of the casting machine according to claim 1, wherein A driving cylinder (11) is fixed to the fixing bracket (1). The cylinder rod of the driving cylinder (11) is fixedly connected to the grasping driving bracket (6) and can drive the grasping driving bracket (6) to move back and forth. A first spring (52) is provided between the swing driving bracket (5) and the clamping hand mounting bracket (3). A second spring (61) is provided between the grasping driving bracket (6) and the swing driving bracket (5). A first limiting rod (53) is rotatably connected to the grasping driving bracket (6). The first limiting rod (53) can abut against the rear side of the swing driving bracket (5) when the grasping driving bracket (6) and the swing driving bracket (5) move relatively away from each other, and the first limiting rod (53) can disengage from the swing driving bracket (5) after the first spring (52) is compressed. A second limiting rod (62) is rotatably connected to the swing driving bracket (5). The second limiting rod (62) can hook on the rear side of the grasping driving bracket (6) after the second spring (61) is compressed, and the second limiting rod (62) can disengage from the grasping driving bracket (6) after the telescopic rod (2) retracts backward to reset.

3. The clamping manipulator of the casting machine according to claim 2, characterized in that, A first abutting step (531) is provided in the middle section of the first limiting rod (53). The first abutting step (531) can abut against the rear side of the swing driving bracket (5). The front end of the first limiting rod (53) extends to the front of the swing driving bracket (5). A first guiding inclined surface (532) is provided at the front end of the first limiting rod (53). When the swing driving bracket (5) and the clamping hand mounting bracket (3) approach each other relatively, the first guiding inclined surface (532) acts on the clamping hand mounting bracket (3) and lifts the first limiting rod (53) so that the first abutting step (531) disengages from the swing driving bracket (5).

4. The clamping manipulator of the casting machine according to claim 2, characterized in that, The middle section of the second limiting rod (62) is provided with a second abutting step (621). The second abutting step (621) can be hooked on the rear side of the grasping driving frame (6). The rear end of the second limiting rod (62) extends to the rear of the grasping driving frame (6). A second guiding inclined surface (622) is formed at the rear end of the second limiting rod (62). After the telescopic rod (2) retracts and returns to its original position, the second guiding inclined surface (622) acts on the fixed frame (1) and lifts the second limiting rod (62) so that the second abutting step (621) disengages from the grasping driving frame (6).

5. The clamping manipulator of the casting machine according to claim 2, wherein The first limiting rod (53) and the second limiting rod (62) are arranged vertically. The first limiting rod (53) and the second limiting rod (62) are connected by a tension spring (8).

6. The clamping manipulator of the casting machine according to any one of claims 1 to 5, characterized in that, A fixing rod (71) is screwed on the grasping driving frame (6). One end of the pulling rope (7) is fixed on the fixing rod (71). An installation column (73) facing the grasping driving frame (6) is provided on the gripper mounting frame (3). A steering wheel (74) is rotatably connected to the end of the installation column (73). The steering wheel (74) is located behind the fixing position of the fixing rod (71) and the pulling rope (7). The pulling rope (7) bypasses the rear side of the steering wheel (74).

7. The clamping manipulator of the casting machine according to claim 6, characterized in that, A guiding sleeve (72) is further provided on the gripper mounting frame (3). A tension spring (76) is arranged in the guiding sleeve (72). The installation column (73) passes through the guiding sleeve (72) and abuts against the tension spring (76).

8. The clamping manipulator of the casting machine according to claim 6, wherein, The end of the gripper (42) is bent to form a rotating section (421). The end of the gripper (42) is rotatably connected to the swinging seat (4) through a rotating shaft. A pull rod (43) is connected to the rotating section (421). One end of the pulling rope (7) is connected to the pull rod (43).

9. The clamping manipulator of the casting machine according to claim 8, characterized in that, A connecting hole (422) is formed in the rotating section (421). The connecting hole (422) is elongated. The rotating sections (421) of the two grippers (42) are stacked up and down, and the connecting holes (422) on the two rotating sections (421) are aligned. The above-mentioned pull rod (43) passes through the connecting holes (422) of the two rotating sections (421).

10. The clamping manipulator of the casting machine according to claim 8, characterized in that, An opening spring (41) is arranged in the swinging seat (4). The pull rod (43) extends into the swinging seat (4) and can move relative to the swinging seat (4) along the axial direction of the opening spring (41). One end of the opening spring (41) abuts against the pull rod (43). When the pull rod (43) is pulled by the pulling rope (7), the opening spring (41) is compressed.

Images