A gripping manipulator for casting production

Abstract

The invention discloses a gripping robot for casting production, which relates to the field of casting, including a base plate, wherein the base plate is provided with two pieces, two roller mechanisms are provided at the bottom of the base plate, a deflection rod mechanism is provided on the base plate, the deflection rod mechanism is connected to a top frame, a lifting and rotating plate mechanism is provided on the top frame, the lifting and rotating plate mechanism is connected to a driving shaft, a clamping groove is provided in the axial direction of the driving shaft, a driving sleeve mechanism is provided on the top frame, a lifting plate is provided at the bottom of the driving shaft, a clamping driving mechanism is provided on the lower surface of the lifting plate, and a plurality of clamping claw mechanisms are provided between the lifting plate and the clamping driving mechanism. The invention can adjust the height and deflection position of the top frame by arranging the deflection rod mechanism, thereby facilitating the gripping of castings, can drive the clamping claw mechanism to lift and grip through the lifting and rotating plate mechanism, can drive the clamping claw mechanism to rotate and displace and grip through the driving sleeve mechanism, thereby improving the gripping stability of casting production.

Description

Technical Field

[0001] The invention relates to the field of casting, in particular to a grabbing manipulator for casting production. Background Art

[0002] Castings are metal shaped objects obtained by various casting methods, that is, the smelted liquid metal is poured into a pre-prepared mold by pouring, injection, suction or other casting methods, and then cooled and polished to obtain objects with a certain shape, size and performance.

[0003] In the prior art, gripping is usually achieved by applying pressure to the surface of the casting by a manipulator. However, the prior art easily causes damage to the casting and cannot ensure the stability of gripping the casting. Therefore, there is a large room for improvement in the prior art. Summary of the invention

[0004] The present invention provides a grasping robot for casting production, which solves the problems raised in the above-mentioned background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A gripping robot for casting production comprises a base plate, wherein the base plates are provided with two pieces, two roller mechanisms are provided at the bottom of the base plates, a deflection rod mechanism is provided on the base plates, the deflection rod mechanism is connected to a top frame, a lifting and rotating plate mechanism is provided on the top frame, the lifting and rotating plate mechanism is connected to a driving shaft, a clamping groove is provided in the axial direction of the driving shaft, a driving sleeve mechanism is provided on the top frame, a lifting plate is provided at the bottom of the driving shaft, a clamping driving mechanism is provided on the lower surface of the lifting plate, and a plurality of clamping claw mechanisms are provided between the lifting plate and the clamping driving mechanism; the deflection rod mechanism is used to adjust the state of the top frame, the lifting and rotating plate mechanism is used to drive the driving shaft to lift and lower, the driving sleeve mechanism is used to drive the driving shaft to rotate, the clamping driving mechanism is used to adjust the state of the clamping claw mechanism, and the clamping claw mechanism is used to grab and clamp the casting.

[0007] As a preferred technical solution of the present invention, the roller mechanism includes a roller shaft rotatably connected to the base plate, one end of the roller shaft away from the base plate is fixedly connected to a roller seat, and the roller seat is rotatably connected to the roller.

[0008] As a preferred technical solution of the present invention, the deflection rod mechanism includes a first displacement seat fixed on the base plate, two first displacement seats are provided, and the two first displacement seats are symmetrically arranged on the base plate, the first displacement seat is rotatably connected to the deflection rod, and the end of the deflection rod away from the first displacement seat is rotatably connected to the second displacement seat, the second displacement seat is fixedly connected to the top frame, the base plate is fixedly connected to the third displacement seat, the third displacement seat is rotatably connected to the first hydraulic telescopic rod, and the end of the first hydraulic telescopic rod away from the third displacement seat is rotatably connected to the fourth displacement seat, and the fourth displacement seat is fixed on one of the deflection rods.

[0009] As a preferred technical solution of the present invention, the lifting and rotating plate mechanism includes a moving block groove opened on the top frame, and there are two moving block grooves, which are symmetrically arranged on the top frame. The second hydraulic telescopic rod is fixedly connected to the moving block in the moving block groove on the top frame, and the second hydraulic telescopic rod is fixedly connected to the moving block. The moving block is located in the moving block groove, and the moving block and the top frame are slidingly connected. The moving block is fixedly connected to the fifth displacement seat, and the fifth displacement seat is rotatably connected to the lifting and adjusting rod, and the lifting and adjusting rod is rotatably connected to the sixth displacement seat, and the sixth displacement seat is fixedly connected to the circular plate clamping ring, which is rotatably connected to the circular plate in the circular plate clamping ring, and the circular plate and the driving shaft are fixedly connected.

[0010] As a preferred technical solution of the present invention, the driving sleeve mechanism includes a protective shell fixed on the top frame, the top frame is fixedly connected to a motor inside the protective shell, the output shaft of the motor is fixedly connected to a gear shaft, the gear shaft is fixedly connected to a first gear, the first gear meshes with a second gear, the second gear is fixedly connected to a driving sleeve, the driving sleeve is rotatably connected to the top frame and the protective shell, a clamping strip is provided in the driving sleeve, the clamping strip is located in a clamping groove, and the clamping strip and the driving shaft are slidably connected.

[0011] As a preferred technical solution of the present invention, the clamping drive mechanism includes a third hydraulic telescopic rod fixed to the bottom of the lifting plate, and the third hydraulic telescopic rod is fixedly connected to the drive plate.

[0012] As a preferred technical solution of the present invention, the clamping claw mechanism includes a slider groove opened at the bottom of the driving plate, a slider is provided in the slider groove, the slider and the driving plate are slidably connected, the slider is fixedly connected to the seventh displacement seat, the seventh displacement seat is rotatably connected to the clamping rod, a clamping rod groove is provided on the driving plate, a clamping rod shaft is fixedly connected in the clamping rod groove on the driving plate, the clamping rod shaft and the clamping rod are rotatably connected, the end of the clamping rod is fixedly connected to the clamping wheel seat, and the clamping wheel seat is rotatably connected to the clamping wheel mechanism.

[0013] As a preferred technical solution of the present invention, the clamping wheel mechanism includes a fixed shaft fixed in the clamping wheel seat, the fixed shaft is rotatably connected to the rotating sleeve, the inner side of the rotating sleeve is fixedly connected to a plurality of ratchets, the side of the fixed shaft is fixedly connected to a plurality of claw seats, the claw seat is rotatably connected to the claw, a first spring is fixedly connected between the claw and the fixed shaft, the end of the claw is located between the ratchets, the outer side of the rotating sleeve is fixedly connected to the clamping plate seat, the clamping plate seat is rotatably connected to the clamping plate, the rotating sleeve is fixedly connected to a limit plate located on the side of the clamping plate, a second spring is provided on the clamping plate, the second spring is fixedly connected to the pressure plate, the pressure plate is fixedly connected to the clamping rod, and the end of the clamping rod away from the pressure plate is hemispherical.

[0014] The present invention has the following benefits:

[0015] By setting up a deflection rod mechanism, the height and deflection position of the top frame can be adjusted to facilitate the grabbing of castings. The lifting and turning plate mechanism can drive the clamping claw mechanism to lift and lift for grabbing. The driving sleeve mechanism can drive the clamping claw mechanism to rotate and displace for grabbing. The clamping claw mechanism can stably clamp the casting, thereby improving the stability of grabbing in casting production. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the structure of a gripping robot for casting production.

[0017] Figure 2 A first-person structural diagram of the removal of the lifting baffle mechanism for a gripping robot used in casting production.

[0018] Figure 3 A second-perspective structural diagram of the gripping robot for casting production with the lifting and lowering baffle mechanism removed.

[0019] Figure 4 for Figure 3 Magnified view of area A.

[0020] Figure 5 This is a cross-sectional view of the gripping wheel mechanism in a gripping robot used in casting production.

[0021] Figure 6 This is a cross-sectional view of the drive sleeve mechanism in a gripping robot for casting production.

[0022] In the figure: 1, base plate; 2, roller mechanism; 201, roller shaft; 202, roller seat; 203, roller; 3, deflection rod mechanism; 301, first displacement seat; 302, deflection rod; 303, second displacement seat; 304, third displacement seat; 305, first hydraulic telescopic rod; 306, fourth displacement seat; 4, top frame; 5, lifting and rotating plate mechanism; 501, moving block groove; 502, second hydraulic telescopic rod; 503, moving block; 504, fifth displacement seat; 505, lifting and adjusting rod; 506, sixth displacement seat; 507, circular plate clamp; 508, circular plate; 6, driving shaft; 7, clamping groove; 8, driving sleeve mechanism; 801, protective shell; 802, motor; 803, gear shaft; 804, first gear; 805, second gear Wheel; 806, driving sleeve; 9, lifting plate; 10, clamping drive mechanism; 1001, the third hydraulic telescopic rod; 1002, driving plate; 11, clamping claw mechanism; 1101, slider groove; 1102, slider; 1103, the seventh displacement seat; 1104, clamping rod; 1105, clamping rod groove; 1106, clamping rod shaft; 1107, clamping wheel seat; 1108, clamping wheel mechanism; 11081, fixed shaft; 11082, rotating sleeve; 11083, ratchet; 11084, claw seat; 11085, claw; 11086, the first spring; 11087, the card plate seat; 11088, the card plate; 11089, the limit plate; 11090, the second spring; 11091, the pressure plate; 11092, the card rod. DETAILED DESCRIPTION

[0023] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0024] It should be noted that the directions or positional relationships indicated by terms such as “center”, “up”, “down”, “left”, “right”, “vertical”, “horizontal”, “inside” and “outside” are based on the directions or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they should not be understood as limitations on the present invention.

[0025] Example 1, please refer to Figure 1-Figure 6A gripping manipulator for casting production comprises a base plate 1, wherein the base plate 1 is provided with two pieces, two roller mechanisms 2 are provided at the bottom of the base plate 1, a deflection rod mechanism 3 is provided on the base plate 1, the deflection rod mechanism 3 is connected to a top frame 4, a lifting and rotating plate mechanism 5 is provided on the top frame 4, the lifting and rotating plate mechanism 5 is connected to a driving shaft 6, a card slot 7 is provided in the axial direction of the driving shaft 6, a driving sleeve mechanism 8 is provided on the top frame 4, a lifting plate 9 is provided at the bottom of the driving shaft 6, a clamping driving mechanism 10 is provided on the lower surface of the lifting plate 9, and a plurality of clamping claw mechanisms 11 are provided between the lifting plate 9 and the clamping driving mechanism 10; the deflection rod mechanism 3 is used to adjust the state of the top frame 4, the lifting and rotating plate mechanism 5 is used to drive the driving shaft 6 to lift and lower, the driving sleeve mechanism 8 is used to drive the driving shaft 6 to rotate, the clamping driving mechanism 10 is used to adjust the state of the clamping claw mechanism 11, and the clamping claw mechanism 11 is used to grab and clamp the casting.

[0026] The roller mechanism 2 includes a roller shaft 201 rotatably connected to the base plate 1 , one end of the roller shaft 201 away from the base plate 1 is fixedly connected to a roller seat 202 , and the roller seat 202 is rotatably connected to a roller 203 .

[0027] The deflection rod mechanism 3 includes a first displacement seat 301 fixed on the base plate 1. There are two first displacement seats 301, and the two first displacement seats 301 are symmetrically arranged on the base plate 1. The first displacement seat 301 is rotatably connected to the deflection rod 302, and the end of the deflection rod 302 away from the first displacement seat 301 is rotatably connected to the second displacement seat 303. The second displacement seat 303 is fixedly connected to the top frame 4. The base plate 1 is fixedly connected to the third displacement seat 304, and the third displacement seat 304 is rotatably connected to the first hydraulic telescopic rod 305. The end of the first hydraulic telescopic rod 305 away from the third displacement seat 304 is rotatably connected to the fourth displacement seat 306, and the fourth displacement seat 306 is fixed on one of the deflection rods 302.

[0028] Specifically, opening the first hydraulic telescopic rod 305 can drive the deflection rod 302 to rotate around the first displacement seat 301 , thereby adjusting the height and position of the top frame 4 .

[0029] The lifting and rotating plate mechanism 5 includes a moving block groove 501 opened on the top frame 4, and there are two moving block grooves 501, which are symmetrically arranged on the top frame 4. The second hydraulic telescopic rod 502 on the top frame 4 is fixedly connected in the moving block groove 501, and the second hydraulic telescopic rod 502 is fixedly connected to the moving block 503, and the moving block 503 is located in the moving block groove 501. The moving block 503 and the top frame 4 are slidingly connected, and the moving block 503 is fixedly connected to the fifth displacement seat 504, and the fifth displacement seat 504 is rotatably connected to the lifting and adjusting rod 505, and the lifting and adjusting rod 505 is rotatably connected to the sixth displacement seat 506, and the sixth displacement seat 506 is fixedly connected to the circular plate clamping ring 507, and the circular plate 508 is rotatably connected in the circular plate clamping ring 507, and the circular plate 508 is fixedly connected to the driving shaft 6.

[0030] Specifically, opening the second hydraulic telescopic rod 502 can drive the moving block 503 to move along the moving block groove 501. As the moving block 503 moves, the state of the lifting adjustment rod 505 can be adjusted, thereby driving the circular plate clamping ring 507 and the circular plate 508 to rise and fall, thereby driving the driving shaft 6 to rise and fall.

[0031] The clamping drive mechanism 10 includes a third hydraulic telescopic rod 1001 fixed to the bottom of the lifting plate 9, and the third hydraulic telescopic rod 1001 is fixedly connected to the driving plate 1002. The clamping claw mechanism 11 includes a slider groove 1101 opened at the bottom of the driving plate 1002, a slider 1102 is arranged in the slider groove 1101, the slider 1102 and the driving plate 1002 are slidably connected, the slider 1102 is fixedly connected to the seventh displacement seat 1103, the seventh displacement seat 1103 is rotatably connected to the clamping rod 1104, a clamping rod groove 1105 is arranged on the driving plate 1002, a clamping rod shaft 1106 is fixedly connected in the clamping rod groove 1105 on the driving plate 1002, the clamping rod shaft 1106 and the clamping rod 1104 are rotatably connected, the end of the clamping rod 1104 is fixedly connected to the clamping wheel seat 1107, and the clamping wheel seat 1107 is rotatably connected to the clamping wheel mechanism 1108. The clamping wheel mechanism 1108 includes a fixed shaft 11081 fixed in the clamping wheel seat 1107, the fixed shaft 11081 is rotatably connected to the rotating sleeve 11082, the inner side of the rotating sleeve 11082 is fixedly connected to a plurality of ratchet teeth 11083, the side of the fixed shaft 11081 is fixedly connected to a plurality of claw seats 11084, the claw seats 11084 are rotatably connected to the claw 11085, the first spring 11086 is fixedly connected between the claw 11085 and the fixed shaft 11081, and the end of the claw 11085 is fixedly connected to the first spring 11086. Between the ratchet teeth 11083, the outer side of the rotating sleeve 11082 is fixedly connected to the clamping plate seat 11087, the clamping plate seat 11087 is rotatably connected to the clamping plate 11088, the rotating sleeve 11082 is fixedly connected to the side of the clamping plate 11088 with a limiting plate 11089, the clamping plate 11088 is provided with a second spring 11090, the second spring 11090 is fixedly connected to the pressure plate 11091, the pressure plate 11091 is fixedly connected to the clamping rod 11092, and the end of the clamping rod 11092 away from the pressure plate 11091 is hemispherical.

[0032] Specifically, opening the third hydraulic telescopic rod 1001 can drive the driving plate 1002 to rise and fall, thereby adjusting the distance between the lifting plate 9 and the driving plate 1002. When the distance between the lifting plate 9 and the driving plate 1002 decreases, the slider 1102 will move along the slider groove 1101 toward the middle of the lifting plate 9. At this time, the clamping rod 1104 deflects outward around the clamping rod axis 1106, which can release the clamping of the casting. Conversely, when the distance between the lifting plate 9 and the driving plate 1002 increases, the clamping rod 1104 deflects inward around the clamping rod axis 1106, which can achieve clamping of the casting.

[0033] In addition, when the casting is placed directly below the driving plate 1002, as the clamping plate 11088 further descends, the rotating sleeve 11082 will rotate counterclockwise around the fixed axis 11081, and the clamping plate 11088 will also deflect counterclockwise around the clamping plate seat 11087. Under the action of the second spring 11090, the clamping rod 11092 can be clamped at the corner of the casting to prevent the casting from slipping, thereby ensuring the stable clamping of the casting.

[0034] Example 2, continue to refer to Figure 6 In the embodiment of the present invention, the driving sleeve mechanism 8 includes a protective shell 801 fixed on the top frame 4, and the top frame 4 is fixedly connected to the motor 802 in the protective shell 801, the output shaft of the motor 802 is fixedly connected to the gear shaft 803, the gear shaft 803 is fixedly connected to the first gear 804, the first gear 804 meshes with the second gear 805, and the second gear 805 is fixedly connected to the driving sleeve 806, the driving sleeve 806 is rotatably connected to the top frame 4 and the protective shell 801, and a card strip is provided in the driving sleeve 806, the card strip is located in the card slot 7, and the card strip and the driving shaft 6 are slidably connected.

[0035] Specifically, when the motor 802 is turned on, the rotation of the output shaft of the motor 802 will drive the gear shaft 803 to rotate, the rotation of the gear shaft 803 will drive the first gear 804 to rotate, the rotation of the first gear 804 will drive the second gear 805, the rotation of the second gear 805 will drive the drive sleeve 806 to rotate, the rotation of the drive sleeve 806 will drive the internal card strip to rotate, the card strip is located in the card slot 7, and the rotation of the card strip will drive the drive shaft 6 to rotate.

[0036] During the implementation of the present invention, the device is first moved to the specified position by the roller mechanism 2. At this time, the deflection rod mechanism 3 is turned on to adjust the top frame 4 to a suitable height and deflection angle, so as to facilitate the grabbing of the casting that the roller mechanism 2 cannot enter. If the workpiece needs to be grabbed, the clamping drive mechanism 10 is turned on to adjust the state of the clamping claw mechanism 11. When the clamping claw mechanism 11 is placed directly above the casting, the lifting and rotating plate mechanism 5 is turned on to drive the drive shaft 6 to descend, and then drive the clamping claw mechanism 11 to descend, so that the casting is placed in the clamping claw mechanism 11 for grabbing the casting. At this time, the lifting and rotating plate mechanism 5 is turned on to lift the casting, and the driving sleeve mechanism 8 is turned on to drive the drive shaft 6 to rotate and displace, so as to realize the rotation and displacement of the casting.

[0037] The present invention can adjust the height and deflection position of the top frame 4 by setting a deflection rod mechanism 3, thereby facilitating the grasping of the casting; the lifting and rotating plate mechanism 5 can drive the clamping claw mechanism 11 to lift and grasp; the driving sleeve mechanism 8 can drive the clamping claw mechanism 11 to rotate and displace for grasping; the clamping claw mechanism 11 can stably clamp the casting, thereby improving the stability of grasping in casting production.

[0038] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A gripping manipulator for casting production, comprising a base plate, characterized in that: The base plate is provided with two pieces, two roller mechanisms are provided at the bottom of the base plate, a deflection rod mechanism is provided on the base plate, the deflection rod mechanism is connected to the top frame, a lifting and rotating plate mechanism is provided on the top frame, the lifting and rotating plate mechanism is connected to the driving shaft, a slot is provided in the axial direction of the driving shaft, a driving sleeve mechanism is provided on the top frame, a lifting plate is provided at the bottom of the driving shaft, a clamping driving mechanism is provided on the lower surface of the lifting plate, and a plurality of clamping claw mechanisms are provided between the lifting plate and the clamping driving mechanism; the deflection rod mechanism is used to adjust the state of the top frame, the lifting and rotating plate mechanism is used to drive the driving shaft to lift and lower, the driving sleeve mechanism is used to drive the driving shaft to rotate, the clamping driving mechanism is used to adjust the state of the clamping claw mechanism, and the clamping claw mechanism is used to grab and clamp the casting; The deflection rod mechanism includes a first displacement seat fixed on the base plate, two first displacement seats are provided, and the two first displacement seats are symmetrically arranged on the base plate, the first displacement seat is rotatably connected to the deflection rod, one end of the deflection rod away from the first displacement seat is rotatably connected to the second displacement seat, the second displacement seat is fixedly connected to the top frame, the base plate is fixedly connected to the third displacement seat, the third displacement seat is rotatably connected to the first hydraulic telescopic rod, one end of the first hydraulic telescopic rod away from the third displacement seat is rotatably connected to the fourth displacement seat, and the fourth displacement seat is fixed to one of the deflection rods; The lifting and rotating plate mechanism includes a moving block groove opened on the top frame, two moving block grooves are provided, and the two moving block grooves are symmetrically arranged on the top frame. The second hydraulic telescopic rod on the top frame is fixedly connected in the moving block groove, and the second hydraulic telescopic rod is fixedly connected to the moving block. The moving block is located in the moving block groove, and the moving block and the top frame are slidably connected. The moving block is fixedly connected to the fifth displacement seat, and the fifth displacement seat is rotatably connected to the lifting adjustment rod, and the lifting adjustment rod is rotatably connected to the sixth displacement seat, and the sixth displacement seat is fixedly connected to the circular plate clamping ring, and the circular plate is rotatably connected in the circular plate clamping ring, and the circular plate and the driving shaft are fixedly connected; The driving sleeve mechanism comprises a protective shell fixed on the top frame, the top frame is fixedly connected to a motor in the protective shell, the output shaft of the motor is fixedly connected to a gear shaft, the gear shaft is fixedly connected to a first gear, the first gear meshes with a second gear, the second gear is fixedly connected to a driving sleeve, the driving sleeve is rotatably connected to the top frame and the protective shell, a clamping strip is provided in the driving sleeve, the clamping strip is located in a clamping slot, and the clamping strip is slidably connected to the driving shaft; The clamping drive mechanism comprises a third hydraulic telescopic rod fixed to the bottom of the lifting plate, and the third hydraulic telescopic rod is fixedly connected to the drive plate; The clamping claw mechanism includes a slider groove opened at the bottom of the driving plate, a slider is provided in the slider groove, the slider and the driving plate are slidably connected, the slider is fixedly connected to the seventh displacement seat, the seventh displacement seat is rotatably connected to the clamping rod, a clamping rod groove is provided on the driving plate, the driving plate is fixedly connected to the clamping rod shaft located in the clamping rod groove, the clamping rod shaft and the clamping rod are rotatably connected, the end of the clamping rod is fixedly connected to the clamping wheel seat, and the clamping wheel seat is rotatably connected to the clamping wheel mechanism; The clamping wheel mechanism includes a fixed shaft fixed in the clamping wheel seat, the fixed shaft is rotatably connected to the rotating sleeve, the inner side of the rotating sleeve is fixedly connected to a plurality of ratchets, the side of the fixed shaft is fixedly connected to a plurality of claw seats, the claw seat is rotatably connected to the claw, a first spring is fixedly connected between the claw and the fixed shaft, the end of the claw is located between the ratchets, the outer side of the rotating sleeve is fixedly connected to the clamping plate seat, the clamping plate seat is rotatably connected to the clamping plate, the rotating sleeve is fixedly connected to a limit plate located on the side of the clamping plate, a second spring is provided on the clamping plate, the second spring is fixedly connected to the pressure plate, the pressure plate is fixedly connected to the clamping rod, and the end of the clamping rod away from the pressure plate is hemispherical.

2. The gripping robot for casting production according to claim 1, characterized in that: The roller mechanism comprises a roller shaft rotatably connected to the base plate, one end of the roller shaft away from the base plate is fixedly connected to a roller seat, and the roller seat is rotatably connected to the roller.

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