Sand mould clamp

Abstract

The application relates to the technical field of intelligent clamps, and discloses a sand mold clamp, which comprises a clamp body used for clamping and placing a workpiece; a mechanical arm connected with the clamp body and used for controlling the movement of the clamp body; and a control system connected with the mechanical arm and the clamp body respectively and used for obtaining a movement path according to position information of a workpiece to be installed in a mold and controlling the mechanical arm to drive the clamp body to move according to the movement path. The movement and pose of the mechanical arm and the clamp body are controlled by the control system, so that automatic installation of the workpiece can be realized; compared with manual installation of the workpiece, the work efficiency is improved, and the operator can be prevented from working in a high-temperature environment; compared with installation of the workpiece by using a robot, the cost is saved.

Description

Technical Field

[0001] This invention relates to the field of intelligent clamping technology, and more specifically, to a sand mold clamping device. Background Technology

[0002] The mold for making sand molds includes an upper mold and a lower mold. After the upper mold and the lower mold are closed, sand is poured into them to form the sand mold. After the sand mold is formed, the surface needs to be polished and deburred. Then, the finished sand mold can be filled with molten metal to form finished parts (such as engine cylinder heads, housings, etc.). Sand molds can be recycled.

[0003] In the sand mold manufacturing process, the product (workpiece) is adsorbed inside the mold. This allows the product to be pre-positioned within the mold during sand pouring for subsequent processes. Currently, the product is typically manually adsorbed into the mold, which involves enduring high temperatures (around 300℃) and presents a harsh working environment for operators. While advanced robots could replace manual labor, their high cost and short lifespan due to the high temperatures make them less cost-effective. Therefore, it is necessary to propose a sand mold fixture to at least partially address the problems existing in the current technology. Summary of the Invention

[0004] The summary section introduces a series of simplified concepts, which will be further explained in detail in the detailed description section. This summary section is not intended to limit the key features and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0005] To at least partially solve the above problems, the present invention provides a sand mold fixture, comprising:

[0006] The fixture body is used to clamp and place workpieces;

[0007] A robotic arm, connected to the gripper body, is used to control the movement of the gripper body;

[0008] The control system is connected to the robotic arm and the fixture body respectively. It is used to obtain the movement path based on the position information of the workpiece to be installed in the mold, and control the robotic arm to drive the fixture body to move according to the movement path.

[0009] Preferably, the clamp body includes:

[0010] The first connector connects to the robotic arm;

[0011] The second connector is connected to the first connector via multiple brackets;

[0012] An electromagnet, mounted on the second connector, is used to clamp and place workpieces; the electromagnet is connected to the control system.

[0013] Preferably, it also includes:

[0014] The heat sink, mounted on the bracket, is used to dissipate heat from the electromagnet.

[0015] Preferably, the control system includes:

[0016] The storage module is used to store the weights of multiple workpieces of different specifications, as well as the control parameters corresponding to the weight of each workpiece specification; the control parameters are used to control the operation of the electromagnet.

[0017] The acquisition module is used to acquire the specifications or weight of the workpiece to be clamped;

[0018] The electromagnet control module is used to retrieve the corresponding control parameters based on the specifications or weight of the workpiece to be clamped, and to control the electromagnet to work according to the retrieved control parameters.

[0019] The detection module is used to detect whether a workpiece is being held on the electromagnet.

[0020] Preferably, the control parameters include: the current, voltage, and adsorption time of the electromagnet.

[0021] Preferably, the workpiece has specification information corresponding to its weight, and the acquisition module obtains the weight of the workpiece to be clamped by recognizing the specification information on the workpiece.

[0022] Preferably, the connection between the electromagnet and the second connector is provided with a weighing module that is communicatively connected to the acquisition module. When the electromagnet attracts the workpiece to be clamped with preset control parameters, the weighing module simultaneously weighs the workpiece to be clamped, and the acquisition module obtains the weight of the workpiece to be clamped through the weighing module.

[0023] Preferably, the preset control parameters are control parameters that can adsorb workpieces of all sizes;

[0024] After the acquisition module obtains the weight of the workpiece to be clamped, the electromagnet control module switches the preset control parameters to control parameters corresponding to the weight of the workpiece to be clamped.

[0025] Preferably, the weighing module includes:

[0026] A mounting plate is connected to the top surface of the electromagnet, and at least two limiting plates are evenly arranged on the outer side of the mounting plate along its circumference.

[0027] The elastic element has a receiving groove on the bottom surface of the second connecting element corresponding to the electromagnet, and at least two first mounting grooves are evenly arranged circumferentially on the side wall of the receiving groove. The elastic element is disposed in the first mounting groove, and the limiting plate is connected to the elastic element.

[0028] A weighing unit is disposed on the bottom surface of the first mounting groove, and the top surface of the weighing unit is in contact with the elastic element.

[0029] Preferably, the elastic element includes:

[0030] Multiple support plates are arranged at intervals, and the number of support plates is even.

[0031] The first arc-shaped spring sheet connects the ends of two adjacent support plates on the same side, making the elastic element a continuous S-shaped arrangement.

[0032] The second arc-shaped spring is provided at the ends of the top and bottom support plates respectively;

[0033] A connecting block is provided on the side of the second arc-shaped spring sheet away from the support plate. A limiting groove is provided on the side wall of the first mounting groove away from the axis of the receiving groove, and the connecting block is provided in the limiting groove.

[0034] The support plate is provided with a connection hole, and the limiting plate is provided with a plug that can be inserted into the connection hole;

[0035] A second mounting groove is provided on one side of the first mounting groove, the second mounting groove is provided through the bottom surface of the second connector, and a communication port is provided on the partition between the first mounting groove and the second mounting groove.

[0036] Preferably, the control system further includes:

[0037] The positioning module is used to obtain the position information of the workpiece to be installed inside the mold;

[0038] The path module is used to generate the movement path of the fixture body based on the position information of the fixture body and the position information of the workpiece to be installed in the mold obtained by the positioning module.

[0039] Compared with the prior art, the present invention has at least the following beneficial effects:

[0040] The sand mold fixture of the present invention controls the movement and posture of the robotic arm and the fixture body through a control system, which can realize the automatic installation of workpieces. Compared with manual installation of workpieces, it improves work efficiency and avoids operators working in high-temperature environments. Compared with using robots to install workpieces, it saves costs.

[0041] The sand mold fixture of the present invention, other advantages, objectives and features of the present invention will be apparent in part from the following description, and in part will be understood by those skilled in the art through study and practice of the invention. Attached Figure Description

[0042] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0043] Figure 1 This is a schematic diagram of the structure of the clamp body in the sand mold clamp of the present invention;

[0044] Figure 2 This is a top view of the second connecting member in the sand mold fixture of the present invention.

[0045] Figure 3 These are schematic diagrams of the front and bottom views of the first connecting member in the sand mold fixture of the present invention;

[0046] Figure 4 These are schematic diagrams of the front and side views of the support structure in the sand mold fixture described in this invention;

[0047] Figure 5 This is a cross-sectional structural diagram of the weighing module in the sand mold fixture of the present invention;

[0048] Figure 6 This is a three-dimensional structural diagram of the weighing module in the sand mold fixture of the present invention;

[0049] Figure 7 This is a schematic diagram of the mounting plate in the sand mold fixture of the present invention;

[0050] Figure 8 This is a schematic diagram of the installation structure of the second connecting member and the elastic member in the sand mold fixture of the present invention;

[0051] Figure 9 This is a schematic diagram of the elastic element in the sand mold fixture of the present invention;

[0052] Figure 10 This is a schematic diagram of the structure of the second connecting member in the sand mold fixture of the present invention;

[0053] Figure 11 This is a schematic cross-sectional view of the second connecting member in the sand mold fixture of the present invention;

[0054] Figure 12 This is a schematic diagram of the bottom structure of the second connecting member in the sand mold fixture of the present invention. Detailed Implementation

[0055] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments, so that those skilled in the art can implement it based on the description.

[0056] It should be understood that terms such as “having,” “comprising,” and “including” as used herein do not exclude the presence or addition of one or more other elements or combinations thereof.

[0057] like Figure 1 As shown, the present invention provides a sand mold fixture, comprising:

[0058] The fixture body is used to clamp and place workpieces;

[0059] A robotic arm, connected to the gripper body, is used to control the movement of the gripper body;

[0060] The control system is connected to the robotic arm and the fixture body respectively. It is used to obtain the movement path based on the position information of the workpiece to be installed in the mold, and control the robotic arm to drive the fixture body to move according to the movement path.

[0061] The workpiece is either a chill or a movable block.

[0062] The control system can acquire the position information of the workpiece to be installed in the mold, the position information of the workpiece to be clamped, and the position information of the fixture body. The position information is represented by spatial coordinates. In this way, the movement path of the fixture body can be generated. The control system can then control the robotic arm to drive the fixture body to move according to the movement path to accurately place the workpiece in the mold. Furthermore, the clamping and placement of the workpiece by the fixture body is also controlled by the control system. The fixture body can be a robotic arm, a suction nozzle, or an electromagnet, etc., that can clamp the workpiece.

[0063] Through the above design, the movement and posture of the robotic arm and fixture body are controlled by the control system, which enables automatic installation of workpieces. Compared with manual installation, this improves work efficiency and avoids operators working in high-temperature environments. Compared with using robots for workpiece installation, it saves costs.

[0064] like Figures 1-4 As shown, in one embodiment, the clamp body includes:

[0065] The first connector 1 is connected to the robotic arm;

[0066] The second connector 2 is connected to the first connector 1 via multiple brackets 3;

[0067] Electromagnet 4 is mounted on the second connector 2 and is used to clamp and place workpieces; the electromagnet 4 is connected to the control system.

[0068] The clamping method involves magnetically adsorbing and clamping the workpiece.

[0069] The first connecting piece 1 is a flange, used to connect to the robotic arm by bolts. There are at least three supports 3, evenly arranged circumferentially. The two ends of the supports 3 are connected to the first connecting piece 1 and the second connecting piece 2 by bolts respectively. The electromagnet 4 is set on the second connecting piece 2, and the end of the electromagnet 4 protruding from the second connecting piece 2 is used to attract the workpiece. The electromagnet 4 controls the clamping and placement of the workpiece by the control system. After the electromagnet 4 attracts the workpiece to be clamped, the robotic arm drives the electromagnet 4 to move to the position where the workpiece needs to be installed in the mold. Then, the control system controls the electromagnet 4 to be de-energized, so the electromagnet 4 separates from the workpiece, the robotic arm returns to the initial position, and the entire execution action ends.

[0070] Furthermore, it also includes:

[0071] A heat sink, mounted on bracket 3, is used to dissipate heat from electromagnet 4.

[0072] The heat sink is installed on the bracket 3. When the electromagnet 4 is working, if the attraction time is too long, the internal temperature of the electromagnet 4 will rise, which will affect its performance and life. Therefore, a heat sink is installed on the bracket 3 to dissipate heat from the electromagnet 4 and reduce the working temperature of the electromagnet 4.

[0073] Because the operating environment temperature is high, a semiconductor cooling chip can be used as the heat sink. The fan directs the cold air generated by the cold end of the semiconductor cooling chip to the electromagnet 4 to achieve the purpose of cooling.

[0074] In one embodiment, the control system includes:

[0075] The storage module is used to store the weights of multiple workpieces of different specifications, as well as the control parameters corresponding to the weight of each workpiece specification; the control parameters are used to control the operation of the electromagnet 4.

[0076] The acquisition module is used to acquire the specifications or weight of the workpiece to be clamped;

[0077] The electromagnet control module is used to retrieve the corresponding control parameters based on the specifications or weight of the workpiece to be clamped, and to control the electromagnet 4 to work according to the retrieved control parameters.

[0078] The detection module is used to detect whether a workpiece is being gripped on the electromagnet 4.

[0079] The detection module can use sound and light sensing and infrared sensing to detect the presence or absence of a workpiece on the electromagnet 4. When clamping the workpiece, it can determine whether the workpiece is effectively clamped. When moving the workpiece, it can determine in real time whether there is a workpiece on the electromagnet 4, so as to prevent the workpiece from falling off during the movement and causing the workpiece placement failure, and to ensure the stability of workpiece clamping and placement.

[0080] Furthermore, the control parameters include: the current, voltage, and adsorption time of the electromagnet 4.

[0081] Since there is a certain relationship between the attraction force of electromagnet 4 and the attraction time, under normal circumstances, the attraction force of electromagnet 4 increases with the increase of attraction time until it reaches the maximum value. This is because at the beginning of attraction, the magnetic field generated by electromagnet 4 needs a certain amount of time to reach the maximum value. Therefore, the attraction force is small at the beginning. As time goes by, the magnetic field strength gradually increases, and the attraction force also gradually increases until it reaches the maximum value. If the attraction time is too long, it will cause the internal temperature of electromagnet 4 to rise, thereby affecting its performance and lifespan. Therefore, it is necessary to select an appropriate attraction time according to the specific situation to achieve the best clamping effect.

[0082] The attraction force of electromagnet 4 can be controlled by adjusting the current, voltage, and attraction time of electromagnet 4 through the control system. Larger current and voltage can generate a stronger magnetic field, thereby increasing the attraction force of electromagnet 4. The length of attraction time also affects the magnitude of the attraction force. Longer attraction time can produce a more stable attraction force.

[0083] Therefore, in order to reduce the operating temperature of electromagnet 4 and ensure its performance and service life, the control parameters of electromagnet 4 can be adjusted according to the weight of the workpiece. The optimal combination of current, voltage and adsorption time can be matched for each size of workpiece to adapt to workpieces of different weights and achieve the best clamping effect.

[0084] Furthermore, in order to facilitate the adjustment of the control parameters of electromagnet 4, the weight of the workpiece to be clamped needs to be determined before clamping the workpiece. The following two methods are provided to obtain the weight of the workpiece.

[0085] The first method involves the workpiece having specification information corresponding to its weight, and the acquisition module obtaining the weight of the workpiece to be clamped by recognizing the specification information on the workpiece.

[0086] Workpieces of different specifications are provided with specification information, which can be printed on the surface of the workpiece in the form of graphics, text or other forms. The corresponding workpiece weight is stored in the storage module for each specification. Therefore, the acquisition module can obtain the specification information of the workpiece through image recognition.

[0087] The second method is that a weighing module that is communicatively connected to the acquisition module is provided at the connection between the electromagnet 4 and the second connector 2. When the electromagnet 4 adsorbs the workpiece to be clamped with preset control parameters, the weighing module weighs the workpiece to be clamped at the same time, and the acquisition module obtains the weight of the workpiece to be clamped through the weighing module.

[0088] Of course, the two methods for obtaining workpiece weight can be used simultaneously to improve the accuracy of workpiece weight acquisition. For example, the workpiece's specifications can be identified before clamping to obtain the weight of the workpiece to be clamped. Then, when the workpiece is clamped, the actual weight of the workpiece is obtained through a weighing module. The actual weight is compared with the workpiece weight corresponding to the specifications obtained before clamping to determine if there is a difference in the workpiece weight acquisition. If there is a difference, the acquisition is repeated. If there is no difference, the next step is performed.

[0089] Furthermore, the preset control parameters are control parameters that can adsorb workpieces of all sizes;

[0090] After the acquisition module obtains the weight of the workpiece to be clamped, the electromagnet control module switches the preset control parameters to control parameters corresponding to the weight of the workpiece to be clamped.

[0091] Electromagnet 4 and the second connecting piece 2 are elastically connected in the vertical direction. When electromagnet 4 is not adsorbing a workpiece, the weight detected by the weighing module is the initial weight value. When electromagnet 4 adsorbs a workpiece, the weight detected by the load-bearing module is the detected weight value. The difference between the detected weight value and the initial weight value is the weight of the workpiece. Then the acquisition module can obtain the weight of the workpiece. The storage module stores the control parameters corresponding to the workpiece weight. The preset control parameters during load-bearing can be adjusted to the control parameters corresponding to the workpiece weight. This ensures that the voltage, current and adsorption time used by electromagnet 4 to clamp the workpiece are the optimal combination, ensuring the working performance of electromagnet 4, saving energy, and ensuring the clamping effect.

[0092] like Figure 5 and Figure 6 As shown, in one embodiment, the weighing module includes:

[0093] Mounting plate 5 is connected to the top surface of electromagnet 4, and at least two limiting plates 6 are evenly arranged on the outer side of mounting plate 5 along its circumference.

[0094] The elastic element 7, the bottom surface of the second connecting element 2 is provided with a receiving groove 210 corresponding to the electromagnet 4, at least two first mounting grooves 220 are evenly arranged along the circumference on the side wall of the receiving groove 210, the elastic element 7 is disposed in the first mounting groove 220, and the limiting plate 6 is connected to the elastic element 7.

[0095] The weighing unit 8 is disposed on the bottom surface of the first mounting groove 220, and the top surface of the weighing unit 8 is in contact with the elastic element 7.

[0096] Electromagnet 4 is fixedly connected to the bottom of mounting plate 5. Mounting plate 5 is connected by elastic element 7 in first mounting groove 220 of limiting plate 6. Electromagnet 4 is limited in receiving groove 210 of second connecting member 2, so that electromagnet 4 can move up and down in receiving groove 210. Weighing unit 8 is a pressure sensor or weighing sensor. Weighing unit 8 is set between elastic element 7 and bottom surface of first mounting groove 220. Thus, weighing unit 8 can detect the weight of electromagnet 4.

[0097] After the electromagnet 4 is positioned and moved to the clamping position (the electromagnet 4 is not in contact with the workpiece), before the electromagnet 4 attracts and clamps the workpiece, the initial weight of the electromagnet 4 when it is not clamping the workpiece is detected by the weighing unit 8. After the initial weight is obtained, the electromagnet 4 is controlled to move downward to the clamping position (the electromagnet 4 is in close contact with the workpiece).

[0098] At this time, the position of the electromagnet 4 can be detected by the pressure values ​​sensed by multiple weighing units 8. If the error between the pressure values ​​sensed by multiple weighing units 8 is within the preset range, it indicates that the electromagnet 4 has not tilted and is in complete contact with the upper surface of the workpiece. If the error between the pressure values ​​sensed by multiple weighing units 8 exceeds the preset range, it indicates that the electromagnet 4 has tilted, which means that the position needs to be adjusted. The position of the electromagnet 4 is adjusted according to the pressure values ​​sensed by multiple weighing units 8 to ensure that the electromagnet 4 can effectively attract the workpiece.

[0099] After ensuring that the electromagnet 4 is in the correct gripping position, the workpiece is attracted and gripped, and then moved to the gripping position. The bottom of the workpiece loses support, and the weighing unit 8 can detect the gripping weight of the workpiece after the electromagnet 4 attracts and grips it. The difference between the gripping weight and the initial weight is the obtained workpiece weight.

[0100] In this embodiment, the detection module can determine whether the electromagnet 4 is clamping a workpiece by measuring the weight. That is, the initial weight detected by the weighing unit 8 is transmitted to the detection module. After the weighing unit 8 detects the clamping weight, it first transmits the clamping weight to the detection module. The detection module determines whether the initial weight and the clamping weight are the same. If they are the same, it indicates that no workpiece is clamped on the electromagnet 4. If they are different, it is considered that the electromagnet 4 has effectively clamped the workpiece. Furthermore, during the movement of the fixture body, the detection module will acquire the clamping weight in real time to determine whether the workpiece has fallen during the movement, ensuring the accuracy and stability of workpiece clamping and movement.

[0101] like Figures 7-12 As shown, the elastic element 7 further includes:

[0102] Multiple support plates 710 are arranged at intervals, and the number of support plates 710 is even.

[0103] The first arc-shaped spring sheet 720 connects the ends of two adjacent support plates 710 on the same side, so that the elastic element 7 is arranged in a continuous S-shape.

[0104] The second arc-shaped spring piece 730 is provided at the ends of the top and bottom support plates 710 respectively;

[0105] A connecting block 740 is disposed on the side of the second arc-shaped spring sheet 730 away from the support plate 710. A limiting groove 230 is provided on the side wall of the first mounting groove 220 away from the axis of the receiving groove 210. The connecting block 740 is disposed in the limiting groove 230.

[0106] The support plate 710 is provided with a connection hole 711, and the limiting plate 6 is provided with a plug 9 that can be inserted into the connection hole 711.

[0107] A second mounting groove 240 is provided on one side of the first mounting groove 220. The second mounting groove 240 passes through the bottom surface of the second connector 2. A communication port 250 is provided on the partition between the first mounting groove 220 and the second mounting groove 240.

[0108] The first arc-shaped spring 720 is semi-circular, with mounting pieces extending from both ends. The mounting pieces are connected to the support plate 710 by bolts. The second arc-shaped spring 730 is quarter-circular, with mounting pieces also extending from both ends. One mounting piece is bolted to the support plate 710 located at the top or bottom, and the other mounting piece is bolted to the connecting block 740.

[0109] The elastic element 7 can be directly inserted into the first mounting groove 220, so that the outer side of the connecting block 740 contacts the side of the limiting groove 230. The two can be fixedly connected or movably connected. When movably connected, the two connecting blocks 740 are elastically squeezed by the top and bottom surfaces of the limiting groove 230, thereby limiting the elastic element 7. After the electromagnet 4 is installed, the opening of the first mounting groove 220 is sealed to prevent the elastic element 7 from coming out of the first mounting groove 220. Thus, the installation of the elastic element 7 is extremely convenient, and the elastic element 7 is easy to replace after long-term use. In addition, the elasticity of the elastic element 7 is also easy to adjust. Only the thickness of the first arc-shaped spring 720 and the second arc-shaped spring 730 needs to be changed. The two arc-shaped springs are connected to the support plate 710 by bolts, and disassembly is also relatively convenient.

[0110] The installation of electromagnet 4 and second connector 2 provides two installation methods:

[0111] In the first method, the limiting plate 6 is located between the inner top surface of the first mounting groove 220 and the top mounting plate 710, so the insert 9 is inserted into the connecting hole 711 of the top mounting plate 710. In this installation method, the top surface of the second connector 2 is provided with a threaded hole 260 communicating with the first mounting groove 220. At least the upper connecting block 740 is movable. During installation, a screw is screwed into the threaded hole 260, so that the bottom end of the screw abuts against the topmost support plate 710. As the screw is screwed in, the elastic element 7 is compressed. The installation space between the support plate 710 at the top 710 and the inner top surface of the first mounting groove 220 becomes larger. The limiting plate 6 can be inserted into the second mounting groove 240 accordingly, and then rotated to enter the installation space of the first mounting groove 220 from the connecting port 250 (located at the top of the partition). Then, the screws are removed, the elastic element 7 returns to its original state, and the insert 9 is inserted into the connecting hole 711 to complete the installation. The elastic element 7 rotates and limits the limiting plate 6, and the receiving groove 210 radially limits the electromagnet 4, thereby enabling the electromagnet 4 to be installed stably.

[0112] The second method involves a limiting plate 6 positioned in the middle of the elastic member 7. Taking four mounting plates 710 as an example, the limiting plate 6 is positioned between the second and third mounting plates 710. In this mounting method, the top and bottom surfaces of the second connecting member 2 are respectively provided with through holes communicating with the first mounting groove 220. The mounting plate 710 corresponding to the through hole position is provided with a threaded through hole. A screw is inserted into the through hole, and then the screw is screwed into the threaded through holes on the first and second (or third and fourth) mounting plates 710. As the screw is tightened, the first and second (or third and fourth) mounting plates 710 move closer to each other, thereby securing the first... Increase the distance between the second and third mounting plates 710, and then install the limiting plate 6 between the second and third mounting plates 710. In this installation method, the connecting port 250 is located in the middle of the partition. Similarly, remove the screws, and the elastic element 7 will be restored. The insert 9 is inserted into the connecting hole 711 to complete the installation, and the limiting plate 6 is limited in the middle of the elastic element 7. In addition, in this installation method, a pressure sensor can be set between the inner top surface of the first mounting groove 220 and the top mounting plate 710 to sense the contact between the electromagnet 4 and the workpiece when the electromagnet 4 adsorbs and clamps the workpiece, thereby further improving the clamping effect.

[0113] Both of the above installation methods facilitate the disassembly and installation of electromagnet 4. This makes it convenient to disassemble and install when electromagnet 4 is damaged and needs to be replaced or repaired. It does not require the use of other parts and has a simple structure. The elastic element 7 can limit the position of the limiting plate 6 and the mounting plate 5, thereby achieving stable installation of electromagnet 4.

[0114] In one embodiment, the control system further includes:

[0115] The positioning module is used to obtain the position information of the workpiece to be installed inside the mold;

[0116] The path module is used to generate the movement path of the fixture body based on the position information of the fixture body and the position information of the workpiece to be installed in the mold obtained by the positioning module.

[0117] The spatial coordinates of the workpiece to be installed in the mold, the workpiece to be clamped, and the fixture body can be obtained through visual positioning. Then, the path module can plan the path for the fixture body to clamp and place the workpiece based on the spatial coordinates of the workpiece to be installed in the mold, forming the movement path of the robotic arm. Then, the robotic arm is controlled to drive the fixture body to move according to the movement path to complete the workpiece clamping and placement.

[0118] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0119] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0120] Although embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and embodiments. They can be applied to various fields suitable for the present invention. Other modifications can be easily made by those skilled in the art. Therefore, without departing from the general concept defined by the claims and their equivalents, the present invention is not limited to the specific details and illustrations shown and described herein.

Claims

1. A sand mold clamp characterized by, The utility model relates to a kind of workpiece installation device, including: Clamp body is used to clamp and place workpiece; Mechanical arm is connected with clamp body, for controlling clamp body moves; Control system is connected with mechanical arm and clamp body respectively, for obtaining moving path according to the position information of the workpiece needed to be installed in mould, and control mechanical arm drives clamp body to move according to moving path; The clamp body includes: First connecting piece (1) is connected with mechanical arm; Second connecting piece (2) is connected with first connecting piece (1) by multiple supports (3); Electromagnet (4) is arranged on second connecting piece (2), for clamping and placing workpiece;The electromagnet (4) is connected with control system; The connecting place of the electromagnet (4) and second connecting piece (2) is equipped with weighing module, and the weighing module includes: Mounting plate (5) is connected with the top surface of electromagnet (4), and the outer side of mounting plate (5) is uniformly arranged with at least two limit plates (6) along its circumferential direction; Resilient member (7), the bottom surface of the second connecting piece (2) is equipped with accommodating groove (210) corresponding to electromagnet (4), and the sidewall of the accommodating groove (210) is uniformly arranged with at least two first installation grooves (220) along the circumferential direction, the resilient member (7) is arranged in first installation groove (220), and the limit plate (6) is connected with resilient member (7); Weighing unit (8) is arranged on the bottom surface of first installation groove (220), and the top surface of weighing unit (8) is in contact with resilient member (7); The resilient member (7) includes: Support plate (710) is spaced apart, and the number of support plate (710) is even; First arc spring (720), the end of the two adjacent support plates (710) on the same side is connected by first arc spring (720), so that resilient member (7) is continuously arranged in S type; Second arc spring (730) is arranged on the end of the support plate (710) at the top and the bottom respectively; Connecting block (740) is arranged on the side of second arc spring (730) away from support plate (710), and the sidewall of first installation groove (220) away from the axis of accommodating groove (210) is equipped with limiting groove (230), and the connecting block (740) is arranged in limiting groove (230); Connecting hole (711) is arranged on the support plate (710), and the plug (9) can be inserted into the connecting hole (711) on the limit plate (6); One side of the first installation groove (220) is equipped with second installation groove (240), and the second installation groove (240) is arranged through the bottom surface of the second connecting piece (2), and the partition plate between the first installation groove (220) and the second installation groove (240) is equipped with communicating port (250).

2. The sand mold clamp of claim 1, wherein Further including: Radiator is arranged on support (3), for electromagnetic iron (4) to carry out heat dissipation.

3. The sand mold clamp of claim 1, wherein, The control system includes: Storage module is used to store the weight of multiple different specifications of workpiece, and the control parameter corresponding to the weight of each specification of workpiece;Wherein control parameter is the parameter for controlling the work of electromagnet (4); Acquisition module is used to obtain the specification or weight of the workpiece to be clamped; The electromagnet control module is configured to retrieve the control parameter corresponding to the specification or weight of the workpiece to be clamped according to the obtained specification or weight of the workpiece to be clamped, and control the electromagnet (4) to work according to the retrieved control parameter. The detection module is configured to detect whether the workpiece is clamped on the electromagnet (4).

4. The sand mold clamp of claim 3, wherein, The control parameter includes the current, voltage and adsorption time of the electromagnet (4).

5. The sand mold clamp of claim 3, wherein, The workpiece is provided with specification information corresponding to the weight of the workpiece, and the acquisition module acquires the weight of the workpiece to be clamped by identifying the specification information on the workpiece.

6. The sand mold clamp of claim 3, wherein, The weighing module is in communication connection with the acquisition module, and when the electromagnet (4) adsorbs the workpiece to be clamped with the preset control parameter, the weighing module simultaneously weighs the workpiece to be clamped, and the acquisition module acquires the weight of the workpiece to be clamped through the weighing module. The preset control parameter is a control parameter capable of adsorbing all specifications of workpieces. After the acquisition module acquires the weight of the workpiece to be clamped, the preset control parameter is switched to the control parameter corresponding to the weight of the workpiece to be clamped through the electromagnet control module.

7. The sand mold clamp of claim 1, wherein, The control system further comprises: The positioning module is configured to acquire the position information of the workpiece to be installed in the mold; The path module is configured to generate the movement path of the clamp body according to the position information of the clamp body and the position information of the workpiece to be installed in the mold acquired by the positioning module.

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