Multi-process composite clamp jaw structure and stacking process

Abstract

This invention discloses a multi-process composite gripper structure and stacking process. The composite gripper structure includes multiple clamping parts, each used in different processes to clamp die-cast parts. This invention can meet the clamping requirements of different parts of the die-cast parts, realize continuous flow between multiple processes, and improve the production efficiency and stability of the die-casting process.

Description

Technical Field

[0001] This invention relates to the field of parts processing technology, and in particular to a multi-process composite gripper structure and palletizing process. Background Technology

[0002] Continuous and stable production in high-pressure casting is a key indicator of a die-casting company's productivity, impacting not only efficiency and capacity but also the quality of the cast products. Robotic grippers are crucial structures in the continuous and stable production processes of high-pressure casting. However, existing gripper mechanisms can only perform single-stage clamping, such as holding only the die-casting blank, failing to meet the multi-stage clamping requirements of complex parts at different locations. Therefore, a multi-stage composite gripper structure is designed to meet the clamping needs of different parts of the die-casting, enabling continuous transfer of the die-casting parts between various stages, thereby improving production efficiency and process stability. Summary of the Invention

[0003] In view of the above-mentioned defects or deficiencies in the existing technology, it is desirable to provide a multi-process composite gripper structure and stacking process that can meet the clamping requirements of different parts of the die casting, realize continuous flow between multiple processes, and improve the production efficiency and stability of the die casting process.

[0004] The present invention provides a multi-process composite gripper structure, comprising multiple gripping parts, each of which is used in different processes to grip die-cast parts; The multi-process composite gripper structure includes a first gripping part and a second gripping part; the first gripping part grips the die-casting part using die-casting residue; the second gripping part directly grips the die-casting part. The multi-process composite gripper structure includes a first three-jaw mechanism; the first three-jaw mechanism includes a first three-jaw cylinder, the bottom end of the first three-jaw cylinder is connected to three first bases, the bottom end of the first base away from the a-axis is fixedly provided with a gripping block, the a-axis is the axis of the first three-jaw cylinder, the end of the gripping block near the a-axis is provided with the first gripping part, and the three first gripping parts are located on the same circumference with the a-axis as the axis; The second clamping part is fixedly provided at the bottom of the clamping block away from the a-axis, and the second clamping part is provided at the end near the a-axis with a contoured clamping surface that matches the outer contour of the top of the die-casting part.

[0005] Furthermore, the first clamping portion is a cone shape with an outer diameter that gradually decreases along the direction close to axis a.

[0006] Furthermore, the first clamping part is composed of several parallel protruding teeth.

[0007] Furthermore, the multi-process composite gripper structure also includes a support, which has a first end and a second end facing each other; the first end is fixedly connected to a mounting flange; and the first three-jaw mechanism is located at the bottom of the second end.

[0008] Furthermore, a second three-jaw mechanism is provided at the top of the second end for clamping the insert.

[0009] Furthermore, the second three-jaw mechanism includes a support column fixedly disposed at the top of the second end, a second three-jaw cylinder fixedly disposed at the top of the support column, three second bases being drivenly connected to the top of the second three-jaw cylinder, and an arc-shaped clamping plate fixedly disposed at the top of the second base away from the b-axis, the b-axis being the axis of the second three-jaw cylinder, and several parallel anti-slip grooves being formed on the side of the clamping plate near the b-axis.

[0010] Furthermore, the second three-jaw mechanism includes a support frame fixedly disposed at the top of the second end, a support column fixedly disposed at the top of the support frame, a second three-jaw cylinder fixedly disposed at the top of the support column, three second bases being drivenly connected to the top of the second three-jaw cylinder, a tensioning block being fixedly disposed at the top of the second base near the b-axis, the b-axis being the axis of the second three-jaw cylinder, a top ring being disposed on the outer periphery of the three second bases, an ejector cylinder being fixedly disposed inside the support frame, the piston rod of the ejector cylinder being vertically downward and fixedly connected to an ejector plate, the ejector plate being fixedly connected to the top ring through a plurality of push rods penetrating the support frame.

[0011] In addition, the present invention also provides a palletizing process using the above-mentioned multi-process composite gripper structure, comprising the following steps: 1) Insert removal: After the insert is preheated in the heat preservation furnace, it is placed in the designated area and fixed and clamped by the second and third jaw mechanisms to complete the insert removal action; 2) Insert placement: The six-axis robot uses a composite gripper structure to move the insert and place it in the corresponding position of the mold; 3) Die casting part removal: After the mold is closed and the die casting is completed, the mold is opened. The six-axis robot uses the first clamping component of the first three-jaw mechanism to fix and clamp the die casting residue of the die casting part. As the die casting machine pushes out the die casting part, the part is removed in sync. Then the die casting part is placed in the placement area, and the worker removes the inserts from the die casting part. 4) Residual material removal: The six-axis robot uses the first clamping part to fix and clamp the residual die casting material of the die casting part placed in the placement area, and transfers it to the cutting process to complete the removal of the residual die casting material. 5) The die-cast part with the excess material removed is sent to the subsequent process. The six-axis robot uses the second clamping component of the first three-jaw mechanism to fix and clamp the die-cast part and transfer it to the parts transfer area to wait for quality inspection and packing.

[0012] Compared with the prior art, the beneficial effects of the present invention are: This invention uses a first clamping component of a first three-jaw mechanism to clamp the die-casting residue before it is cut, and a second clamping component of the same mechanism to clamp the die-casting part after the residue has been cut. This satisfies the clamping requirements of different parts of the die-casting part, provides high clamping stability, and enables continuous transfer of the die-casting part between various processes, thereby improving the production efficiency and stability of the die-casting process.

[0013] It should be understood that the description in the Summary of the Invention is not intended to limit the key or essential features of the embodiments of the present invention, nor is it intended to restrict the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0014] Other features, objects, and advantages of the invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 A schematic diagram of the structure before cutting the slag pocket and gating system of a die-cast part; Figure 2 A schematic diagram of one embodiment of the composite gripper structure; Figure 3 A schematic diagram of another embodiment of the composite gripper structure; Figure 4 A schematic diagram of one embodiment of the first three-jaw mechanism; Figure 5 This is a schematic diagram of another embodiment of the first three-jaw mechanism; Figure 6 A schematic diagram of one embodiment of the second three-jaw mechanism; Figure 7 This is a schematic diagram of another embodiment of the second three-jaw mechanism; Figure 8 This is a schematic diagram of the expansion block. Figure 9 A schematic diagram of a composite gripper structure for holding a material cake; Figure 10 This is a schematic diagram of a composite gripper structure for holding die-cast parts.

[0015] The diagram labels are: 1. Support; 2. First three-jaw mechanism; 3. Second three-jaw mechanism; 5. Die-cast part; 11. First end; 12. Second end; 13. Mounting flange; 21. First three-jaw cylinder; 22. First base; 23. Clamping block; 24. First clamping part; 25. Second clamping part; 26. Contouring clamping surface; 31. Support frame; 32. Support column; 33. Second three-jaw cylinder; 34. Second base; 35. Clamping plate; 36. Anti-slip groove; 37. Tensioning block; 38. Top ring; 39. Ejection cylinder; 310. Ejection plate; 311. Ejection rod; 51. Material cake; 52. Gating channel; 53. Slag bag; 54. Venting channel. Detailed Implementation

[0016] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings.

[0017] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0018] Please refer to Figures 1-10 The embodiments of the present invention provide a multi-process composite gripper structure, including multiple gripping parts, each of which is used in different processes to grip the die-cast part 5.

[0019] In this embodiment, the composite gripper structure of this application enables the continuous transfer of the die-cast part 5 between various processes, thereby improving the production efficiency and stability of the die-casting process.

[0020] In a preferred embodiment, such as Figure 2 and Figure 3 As shown, the multi-process composite gripper structure includes a first gripping part 24 and a second gripping part 25; the first gripping part 24 grips the die-casting part 5 through the die-casting residue; the second gripping part 25 directly grips the die-casting part 5.

[0021] In this embodiment, during the production of the die-cast part 5, after the mold is opened, the die-casting residue is clamped by the first clamping part 24 of the first three-jaw mechanism 2, and the die-cast part 5 is removed. Then, the die-cast part 5 is transferred to the cutting process to remove the die-casting residue such as the sprue 51, the sprue 52, the slag bag 53, and the venting channel 54. Then, the die-cast part 5 is clamped by the second clamping part 25 of the first three-jaw mechanism 2 and transferred to the parts transfer area to await quality inspection and packaging. The composite jaw structure of this application meets the clamping requirements of different parts of the die-cast part 5 and has high clamping stability.

[0022] In a preferred embodiment, such as Figure 2 and Figure 3As shown, the multi-process composite gripper structure includes a first three-jaw mechanism 2; the first three-jaw mechanism 2 includes a first three-jaw cylinder 21, the bottom end of the first three-jaw cylinder 21 is connected to three first bases 22, the bottom end of the first base 22 away from the a-axis is fixedly provided with a gripping block 23, the a-axis is the axis of the first three-jaw cylinder 21, the gripping block 23 is provided with a first gripping part 24 at the end close to the a-axis, and the three first gripping parts 24 are located on the same circumference with the a-axis as the axis; A second clamping part 25 is fixedly provided at the bottom of the clamping block 23 away from the a-axis. The end of the second clamping part 25 near the a-axis is provided with a contoured clamping surface 26 that matches the outer contour of the top of the die-cast part 5.

[0023] In this embodiment, after the die-casting part 5 is die-cast, the blank 51 is clamped and fixed by the first clamping part 24. After the die-casting residue of the die-casting part 5 is cut off, the die-casting part 5 is clamped and fixed by the second clamping part 25 and transferred to the parts transfer area to await quality inspection and packaging. The clamping is convenient and the fixing is stable, ensuring the stability of the die-casting part 5 during the transfer process.

[0024] In a preferred embodiment, such as Figure 2 and Figure 4 As shown, the first clamping part 24 is a cone shape with an outer diameter that gradually decreases along the direction close to axis a. The first clamping part 24 of the cone shape has a deeper clamping depth and a firm clamping. The clamping feature is simple to process and manufacture and has a low cost.

[0025] In a preferred embodiment, such as Figure 3 and Figure 5 As shown, the first clamping part 24 is composed of several parallel protruding teeth. The first clamping part 24 adopts a tooth-shaped clamping surface composed of multiple transverse tooth-shaped structures, which has a larger clamping area, a firm clamping, and simple processing and manufacturing of the clamping feature, resulting in low cost.

[0026] In a preferred embodiment, such as Figure 2 and Figure 3 As shown, the multi-process composite gripper structure also includes a support 1, which has a first end 11 and a second end 12. The first end 11 is fixedly connected to a mounting flange 13. The first three-jaw mechanism 2 is located at the bottom of the second end 12. The gripper structure can be connected to the six-axis robot through the mounting flange 13, which is convenient to install and has a firm connection.

[0027] In a preferred embodiment, such as Figure 2 and Figure 3 As shown, a second three-jaw mechanism 3 is provided on the top of the second end 12 for clamping and fixing the insert.

[0028] In this embodiment, the production of some die-cast parts 5 requires inserts. The second three-jaw mechanism 3 can clamp and fix the inserts and realize their installation, which improves the applicability of the composite jaw structure.

[0029] In a preferred embodiment, such as Figure 3 and Figure 6 As shown, the second three-jaw mechanism 3 includes a support column 32 fixedly mounted on the top of the second end 12. A second three-jaw cylinder 33 is fixedly mounted on the top of the support column 32. Three second bases 34 are connected to the top of the second three-jaw cylinder 33. An arc-shaped clamping plate 35 is fixedly mounted on the top of the second base 34 away from the b-axis. The b-axis is the axis of the second three-jaw cylinder 3. Several parallel anti-slip grooves 36 are opened on the side of the clamping plate 36 near the b-axis.

[0030] In this embodiment, the three clamping plates 35 are located on the same circumference. The second three-jaw mechanism 3 drives the three clamping plates 35 to retract synchronously through the second base 34, thereby clamping and fixing one end of the insert. The anti-slip groove 36 ensures the stability of the insert clamping.

[0031] In a preferred embodiment, such as Figure 7 and Figure 8 As shown, the second three-jaw mechanism 3 includes a support frame 31 fixedly mounted on the top of the second end 12. A support column 32 is fixedly mounted on the top of the support frame 31. A second three-jaw cylinder 33 is fixedly mounted on the top of the support column 32. Three second bases 34 are drivenly connected to the top of the second three-jaw cylinder 33. An expansion block 37 is fixedly mounted on the top of the second base 34 near the b-axis. The b-axis is the axis of the second three-jaw cylinder 33. A top ring 38 is provided on the outer periphery of the three second bases 34. An ejector cylinder 39 is fixedly mounted inside the support frame 31. The piston rod of the ejector cylinder 39 is vertically downward and fixedly connected to an ejector plate 310. The ejector plate 310 is fixedly connected to the top ring 38 through several push rods 311 penetrating the support frame 31.

[0032] In this embodiment, the second three-jaw mechanism 3 inserts the expansion block 37 into the inner hole of the insert, and the second three-jaw cylinder 33 drives the three expansion blocks 37 to expand synchronously through the second base 34, thereby gripping the insert. After the six-axis robot aligns the insert with the corresponding position of the mold, the second three-jaw cylinder 33 drives the expansion block 37 to retract slightly, and then the ejector cylinder 39 retracts, placing the insert in the corresponding position through the top ring 38, thus improving the convenience of insert placement.

[0033] Furthermore, embodiments of the present invention also provide a palletizing process employing the above-described multi-process composite gripper structure, comprising the following steps: 1) Insert removal: After the insert is preheated in the heat preservation furnace, it is placed in the designated area and the insert is fixed and clamped by the second three-jaw mechanism 3 to complete the insert removal action; 2) Insert placement: The six-axis robot uses a composite gripper structure to move the insert and place it in the corresponding position of the mold; 3) After the die casting 5 is removed, the mold is closed and the die casting 5 is completed. The mold is then opened. The six-axis robot uses the first clamping component of the first three-jaw mechanism 2 to fix and clamp the die casting residue of the die casting. The removal of the die casting is completed synchronously with the action of the die casting machine pushing out the die casting 5. Then the die casting 5 is placed in the placement area and the worker removes the inserts from the die casting 5. 4) Residual material removal: The six-axis robot uses the first clamping part 24 to hold the residual die casting material of the die casting part 5 placed in the placement area and transfers it to the cutting process to complete the removal of the residual die casting material. 5) The die-cast part 5 with the excess material removed is fixed and clamped by the second clamping component of the first three-jaw mechanism 2 and transferred to the parts transfer area to wait for quality inspection and packing.

[0034] In the description of this specification, terms such as "first clamping part" and "second clamping part" are used for descriptive purposes and should not be considered as technical limitations. Terms such as "connection," "installation," and "fixation" should be interpreted broadly. For example, "connection" can mean a fixed connection, a detachable connection, or an integral connection; it can mean a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0035] In the description of this specification, the terms "one embodiment," "some embodiments," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0036] The above are merely preferred embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A multi-process composite gripper structure, characterized in that, It includes multiple clamping parts, each of which is used in different processes to clamp the die-casting part (5); The multi-process composite gripper structure includes a first gripping part (24) and a second gripping part (25); the first gripping part (24) grips the die casting (5) through the die casting residue; the second gripping part (25) directly grips the die casting (5); The multi-process composite gripper structure includes a first three-jaw mechanism (2); the first three-jaw mechanism (2) includes a first three-jaw cylinder (21), the bottom end of the first three-jaw cylinder (21) is connected to three first bases (22), the bottom end of the first base (22) away from the a-axis is fixedly provided with a clamping block (23), the a-axis is the axis of the first three-jaw cylinder (21), the clamping block (23) is provided with a first clamping part (24) at the end near the a-axis, and the three first clamping parts (24) are located on the same circumference with the a-axis as the axis; The bottom of the clamping block (23) is fixedly provided with the second clamping part (25) at the end away from the a-axis, and the end of the second clamping part (25) near the a-axis is provided with a contoured clamping surface (26) that matches the outer contour of the top of the die-cast part (5).

2. The multi-process composite gripper structure according to claim 1, characterized in that, The first clamping part (24) is a cone shape with an outer diameter that gradually decreases along the direction close to the a axis.

3. The multi-process composite gripper structure according to claim 1, characterized in that, The first clamping part (24) is composed of several parallel protruding teeth.

4. The multi-process composite gripper structure according to claim 1, characterized in that, It also includes a bracket (1), which has a first end (11) and a second end (12) opposite to each other; the first end (11) is fixedly connected to a mounting flange (13); and the first three-jaw mechanism (2) is located at the bottom of the second end (12).

5. The multi-process composite gripper structure according to claim 4, characterized in that, The top of the second end (12) is provided with a second three-jaw mechanism (3) for clamping the insert.

6. The multi-process composite gripper structure according to claim 5, characterized in that, The second three-jaw mechanism (3) includes a support column (32) fixedly installed on the top of the second end (12). A second three-jaw cylinder (33) is fixedly installed on the top of the support column (32). Three second bases (34) are connected to the top of the second three-jaw cylinder (33). An arc-shaped clamping plate (35) is fixedly installed on the top of the second base (34) away from the b-axis. The b-axis is the axis of the second three-jaw cylinder (33). Several parallel anti-slip grooves (36) are opened on the side of the clamping plate (35) near the b-axis.

7. The multi-process composite gripper structure according to claim 5, characterized in that, The second three-jaw mechanism (3) includes a support frame (31) fixedly installed on the top of the second end (12). A support column (32) is fixedly installed on the top of the support frame (31). A second three-jaw cylinder (33) is fixedly installed on the top of the support column (32). Three second bases (34) are connected to the top of the second three-jaw cylinder (33). An expansion block (37) is fixedly installed on the top of the second base (34) near the b-axis. The b-axis is the axis of the second three-jaw cylinder (33). A top ring (38) is provided on the outer periphery of the three second bases (34). An ejector cylinder (39) is fixedly installed inside the support frame (31). The piston rod of the ejector cylinder (39) is vertically downward and fixedly connected to an ejector plate (310). The ejector plate (310) is fixedly connected to the top ring (38) through several push rods (311) that penetrate the support frame (31).

8. A palletizing process employing the multi-process composite gripper structure as described in any one of claims 5-7, characterized in that, Includes the following steps: 1) Insert removal: After preheating the insert in the heat preservation furnace, place it in the designated area and fix and clamp the insert through the second three-jaw mechanism (3) to complete the insert removal action; 2) Insert placement: The six-axis robot uses a composite gripper structure to move the insert and place it in the corresponding position of the mold; 3) Take out the die casting (5), after the mold is closed and the die casting (5) is completed, the mold is opened. The six-axis robot fixes the die casting residue of the die casting part through the first clamping component of the first three-jaw mechanism (2). The part is taken out in sync with the action of the die casting machine pushing out the die casting (5). Then the die casting (5) is placed in the placement area and the worker takes out the insert in the die casting (5). 4) Residual material removal: The six-axis robot uses the first clamping part (24) to fix and clamp the residual material of the die casting part (5) placed in the placement area, and transfers it to the cutting process to complete the removal of the residual material. 5) The die-cast part (5) with the excess material removed is fixed and clamped by the second clamping component of the first three-jaw mechanism (2) and transferred to the parts transfer area to wait for quality inspection and packing.

Images