Mechanical arm core transfer device

Abstract

The application provides a mechanical arm sand core transfer device, which comprises a sand core mold and a core clamping device. The sand core mold comprises a bottom plate, an adjustable end supporting and positioning mechanism and a fixed end supporting and positioning mechanism, and the core clamping device comprises a top plate, an adjustable end clamping mechanism, an expansion mechanism and a fixed end clamping mechanism. The right side of the sand core mold adopts a fixed structure, and the left side adopts an adjustable structure. The transposition structure is simple and stable, and precise positioning of two kinds of mechanical arm sand cores can be ensured. The left side of the core clamping device adopts an adjustable structure, and the right end adopts a quick-change jaw form. The structure is simple and stable, the quick transposition can be realized conveniently, and precise transfer and core clamping of the first mechanical arm sand core and the second mechanical arm sand core can be realized. The mold and the clamping device used for the core clamping of the first mechanical arm sand core and the second mechanical arm sand core can be shared, the occupied space of a tool warehouse is reduced, online switching on a production line can be realized, and the production efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of sand casting technology, specifically to a robotic arm sand core transfer device. Background Technology

[0002] The robotic arm is a crucial component of an industrial robot. To ensure high structural strength, robotic arms are typically manufactured using casting. Industrial robots often include multiple robotic arms, and even within the same robot, robotic arms of varying sizes and specifications may exist. Due to the considerable length of industrial robot robotic arms, some are around 2 meters long. (See attached image) Figure 1-4 A first robotic arm sand core, approximately 1.6 meters in length, is shown in the attached image. Figure 5-8 The diagram shows a second robotic arm sand core approximately 1.8 meters long. While the two sand cores differ in length and are structurally similar, their ends are not identical; only the outer diameter of the convex annular ring at one end is the same. Currently, the two sand cores are typically equipped with separate jigs for placing the cores and lower core clamps for moving them to the sand box. This results in significant space being occupied in the jig warehouse. When switching products on the casting production line, the corresponding jigs and clamps need to be replaced, leading to lengthy line changeover times. Summary of the Invention

[0003] In order to overcome the shortcomings of the prior art, the purpose of this invention is to provide a robotic arm sand core transfer device.

[0004] To achieve the above objectives, the technical solution adopted by the present invention to solve its technical problem is as follows: a robotic arm sand core transfer device for transferring a first robotic arm sand core or a second robotic arm sand core. The length of the first robotic arm sand core is less than the length of the second robotic arm sand core. The bottom right end of both the first and second robotic arm sand cores has an annular body with the same outer diameter. The left end of both the first and second robotic arm sand cores has a left end block portion. The right end of both the first and second robotic arm sand cores has a right end block portion. An air expansion shaft hole is provided in the middle of both the first and second robotic arm sand cores. A right positioning shaft hole is provided on the right end block portion of both the first and second robotic arm sand cores. A left positioning shaft hole is provided on the left end block portion of both the first and second robotic arm sand cores.

[0005] The transfer device includes:

[0006] A sand core fixture is used to hold a robotic arm sand core. The sand core fixture includes a base plate, an adjustable end support and positioning mechanism, and a fixed end support and positioning mechanism. The adjustable end support and positioning mechanism is installed on the left end of the base plate surface, and the fixed end support and positioning mechanism is fixedly installed on the right end of the base plate surface. The adjustable end support and positioning mechanism includes a fixture translation plate, a fixture positioning pin, and a fixture locking bolt. A fixture guide rail is installed on the left end of the base plate along the length direction. The fixture translation plate is slidably installed on the slider of the fixture guide rail. The fixture translation plate is provided with a fixture positioning hole, a fixture bolt through hole, and a left end positioning structure for the sand core. The base plate is provided with a first position limiting block, a second position limiting block, a first position positioning hole, a first position threaded hole, a second position positioning hole, and a second position threaded hole. The fixed end support and positioning mechanism cooperates with the right end ring of the first robotic arm sand core or the right end ring of the second robotic arm sand core.

[0007] A lower core clamp is used to clamp a sand core for a robotic arm. The lower core clamp includes a top plate, an adjustable end clamping mechanism, a tightening mechanism, and a fixed end clamping mechanism. The adjustable end clamping mechanism is installed at the left end of the top plate, the tightening mechanism is installed at the middle of the top plate, and the fixed end clamping mechanism is installed at the right end of the top plate. The adjustable end clamping mechanism includes a clamping translation plate, a clamping positioning pin, and a clamping locking bolt. A clamping guide rail is installed at the left end of the top plate along the length direction. The clamping translation plate is slidably installed on the slider of the clamping guide rail. The clamping translation plate is provided with a clamping positioning hole, a clamping threaded hole, a left-end gripper mechanism, and a left-end positioning shaft. The top plate is provided with a clamping first position limiting block, a clamping second position limiting block, a clamping first position positioning hole, a clamping second position positioning hole, a clamping first position bolt through hole, and a clamping second position bolt through hole. The tensioning mechanism includes an intermediate cylinder and an air shaft. The intermediate cylinder is vertically mounted downwards in the middle of the top plate. The air shaft is connected to the telescopic rod of the intermediate cylinder. The air shaft matches the air shaft hole of the first or second robotic arm sand core. The fixed-end clamping mechanism includes a right-end gripper mechanism and a right-end positioning shaft. The right-end positioning shaft matches the right positioning shaft hole of the first or second robotic arm sand core. The right-end gripper mechanism includes a front gripper, a front clamping plate, a rear gripper, a rear clamping plate, and a forward-backward drive mechanism. The front clamping plate has a first front gripper position and a second front gripper position for mounting the front gripper. The rear clamping plate has a first rear gripper position and a second rear gripper position for mounting the rear gripper. The forward-backward drive mechanism drives the front and rear clamping plates to open and close synchronously in the forward-backward direction.

[0008] This invention precisely identifies the similarities and differences between the main components of the first and second robotic arm sand cores. Using a circular ring of the same size as both as a reference, the sand core fixture has a fixed right side and an adjustable left side. This simple and stable repositioning structure ensures accurate positioning for both types of robotic arm sand cores. The core-lowering fixture has an adjustable left side and a quick-change gripper on the right, a simple and stable structure that facilitates rapid repositioning and allows for precise transfer and lowering of both the first and second robotic arm sand cores. The fixtures and jigs used for lowering both the first and second robotic arm sand cores can be shared, reducing the space occupied in the jig warehouse and enabling online switching on the production line, thus improving production efficiency.

[0009] Furthermore, in the left and right directions,

[0010] Let L1 be the distance from the left edge of the left end block of the first robotic arm's sand core to the center of its annular shape, and L2 be the distance from the left edge of the left end block of the second robotic arm's sand core to the center of its annular shape. Then L1 <L2;

[0011] Let L3 be the distance from the right edge of the right end block of the first robotic arm's sand core to the center of its annular body, and L4 be the distance from the right edge of the right end block of the second robotic arm's sand core to the center of its annular body. Then L3 <L4;

[0012] Let L5 be the distance from the center of the air expansion shaft hole of the first robotic arm sand core to the center of its annulus, and L6 be the distance from the center of the air expansion shaft hole of the second robotic arm sand core to the center of its annulus. Then L5 = L6.

[0013] Let L7 be the distance between the right positioning shaft hole of the first robotic arm sand core and the center of its annulus, and L8 be the distance between the right positioning shaft hole of the second robotic arm sand core and the center of its annulus. Then L7 = L8.

[0014] Let L9 be the distance between the left positioning shaft hole of the first robotic arm sand core and the left edge of its left end block, and L10 be the distance between the left positioning shaft hole of the second robotic arm sand core and the left edge of its left end block. Then L9 = L10.

[0015] Using the above-mentioned preferred scheme, both the first and second robotic arm sand cores are based on a circular ring and have the same fixed spacing between the air expansion shaft hole, the right positioning shaft hole, and the left positioning shaft hole. This helps to ensure high-precision positioning and transfer of the two robotic arm sand cores, improve the positional accuracy of the lower core in the sand box, and ensure the casting quality.

[0016] Furthermore, when the jig translation plate abuts against the jig first position limiting block, the jig positioning pin can be inserted into the jig positioning hole and the jig first position positioning hole, the jig locking bolt can pass through the jig bolt through hole and connect with the jig first position threaded hole, and the left end block of the first robotic arm sand core cooperates with the left end positioning structure of the sand core.

[0017] When the jig translation plate abuts against the jig second position limiting block, the jig positioning pin can be inserted into the jig positioning hole and the jig second position positioning hole, the jig locking bolt can pass through the jig bolt through hole and connect with the jig second position threaded hole, and the left end block of the second robotic arm sand core cooperates with the left end positioning structure of the sand core.

[0018] The stroke of the translation plate in the left-right direction from the position abutting the first position limiting block of the fixture to the position abutting the second position limiting block of the fixture is L2-L1.

[0019] By adopting the above-mentioned preferred scheme, the convenience of jig translation plate repositioning and the reliability of positioning after repositioning are ensured.

[0020] Furthermore, when the clamp translation plate abuts against the clamp first position limiting block, the clamp positioning pin can be inserted into the clamp first position positioning hole and the clamp positioning hole, the clamp locking bolt can pass through the clamp first position bolt through hole and connect with the clamp threaded hole, the left end gripper mechanism is engaged with the left end block of the first robotic arm sand core, and the left end positioning shaft is engaged with the left positioning shaft hole of the first robotic arm sand core; when the front gripper is installed in the first front gripper position of the front clamping plate, and the rear gripper is installed in the first rear gripper position of the rear clamping plate, the front gripper and the rear gripper are engaged with the right end block of the first robotic arm sand core;

[0021] When the clamp translation plate abuts against the clamp second position limiting block, the clamp positioning pin can be inserted into the clamp second position positioning hole and the clamp positioning hole, the clamp locking bolt can pass through the clamp second position bolt through hole and connect with the clamp threaded hole, the left end gripper mechanism is engaged with the left end block of the second robotic arm sand core, and the left end positioning shaft is engaged with the left positioning shaft hole of the second robotic arm sand core; when the front gripper is installed in the second front gripper position of the front clamping plate, and the rear gripper is installed in the second rear gripper position of the rear clamping plate, the front gripper and the rear gripper are engaged with the right end block of the second robotic arm sand core;

[0022] The travel distance of the clamp translation plate from the position abutting against the first position limit block of the clamp to the position abutting against the second position limit block of the clamp in the left and right direction is L2-L1;

[0023] The distance between the first front gripper position and the second front gripper position in the left-right direction is L4-L3.

[0024] By adopting the above-mentioned preferred scheme, the ease of changing the position of the clamp translation plate and the front and rear grippers is ensured, as well as the reliability of the positioning after the change.

[0025] Furthermore, the positioning structure of the left end of the sand core of the jig translation plate includes a first positioning block group and a first supporting block group. The first positioning block group is used to position the outer contour of the left end block of the robotic arm sand core, and the first supporting block group is used to support the bottom surface of the left end of the robotic arm sand core.

[0026] Furthermore, the first positioning block group includes at least two first positioning blocks that position the front and rear left sides of the left end block of the robotic arm sand core, one first positioning block that positions the front side of the left end block of the robotic arm sand core, and one first positioning block that positions the front side of the left end block of the robotic arm sand core; the first supporting block group includes at least one first supporting block located at the front, rear, left, and right sides of the bottom of the left end block of the robotic arm sand core.

[0027] Furthermore, the fixed end support and positioning mechanism includes a second positioning block group and a second support block group. The second positioning block group is used to position the annular body at the right end of the robotic arm sand core, and the second support block group is used to support the bottom surface of the block portion at the right end of the robotic arm sand core.

[0028] Furthermore, the second positioning block group includes at least one second positioning block located on the front, rear, left and right sides of the right end ring of the robotic arm sand core, the second positioning block being L-shaped, the L-shaped vertical wall being positioned with the outer periphery of the ring, and the L-shaped horizontal wall being supported and positioned with the bottom surface of the ring; the second support block group includes at least one second support block located on the front and rear of the bottom part of the right end block of the robotic arm sand core.

[0029] The above-mentioned preferred scheme can be used to accurately position the sand core of the first robotic arm and the sand core of the second robotic arm.

[0030] Furthermore, the left-end gripper mechanism includes a left guide shaft assembly, a left clamping plate, a left gripper, and a left cylinder. The left guide shaft assembly, which is arranged in the left-right direction, is installed on the front and rear sides of the lower surface of the clamping translation plate. The front and rear parts of the left clamping plate are slidably installed on the guide shaft of the left guide shaft assembly. The left clamping plate is connected to the telescopic shaft of the left cylinder. One left gripper is installed on the lower front and rear sides of the left clamping plate, and the two left grippers are located in front of and behind the left side of the left-end positioning shaft, respectively.

[0031] The above-mentioned preferred solution can stably clamp the left end block of the robotic arm sand core.

[0032] Furthermore, the forward and backward driving mechanism of the right-end gripper mechanism includes a right cylinder, a spacer connecting sleeve, and a right guide shaft assembly. A front clearance groove for the front clamping plate to pass through is opened at the front part of the right end of the top plate, and a rear clearance groove for the rear clamping plate to pass through is opened at the rear part. Right guide shaft assemblies arranged in the forward and backward direction are respectively installed on the left and right ends of the front clearance groove and the rear clearance groove on the top plate. The upper left and right ends of the front clamping plate and the rear clamping plate are slidably installed on the guide shaft of the right guide shaft assembly. The spacer connecting sleeve is connected to the telescopic rod of the right cylinder. The cylinder body of the right cylinder is connected to the rear clamping plate. The end of the spacer connecting sleeve is connected to the front clamping plate.

[0033] The above-mentioned preferred scheme can stably clamp the right end block of the robotic arm sand core. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0035] Figure 1 This is a schematic diagram of the three-dimensional structure of the upper surface of the sand core of the first robotic arm.

[0036] Figure 2 This is a schematic diagram of the three-dimensional structure of the lower surface of the sand core of the first robotic arm.

[0037] Figure 3 This is a bottom view of the sand core of the first robotic arm.

[0038] Figure 4 This is a top view of the sand core of the first robotic arm.

[0039] Figure 5 This is a schematic diagram of the three-dimensional structure of the upper surface of the sand core of the second robotic arm.

[0040] Figure 6 This is a schematic diagram of the three-dimensional structure of the lower surface of the sand core of the second robotic arm.

[0041] Figure 7 This is a bottom view of the sand core of the second robotic arm.

[0042] Figure 8 This is a top view of the sand core of the second robotic arm.

[0043] Figure 9 This is a schematic diagram of the structure of the present invention.

[0044] Figure 10 This is a schematic diagram of the structure of the sand core fixture of the present invention, on which the first robotic arm sand core is placed.

[0045] Figure 11 This is a schematic diagram of the structure of the sand core fixture of the present invention.

[0046] Figure 12 This is a schematic diagram of the structure of the sand core jig of the present invention, which conceals the jig translation plate.

[0047] Figure 13 This is a schematic diagram of the structure of the tire translation plate of the present invention.

[0048] Figure 14 This is a schematic diagram of the structure of the first robotic arm sand core held in the lower part of the core clamp of the present invention.

[0049] Figure 15 This is a schematic diagram of the structure of the core clamp of the present invention.

[0050] Figure 16 This is a schematic diagram of the bottom surface of the lower core clamp of the present invention.

[0051] Figure 17 This is a schematic diagram of the structure of the clamp translation plate of the present invention.

[0052] Figure 18 This is a schematic diagram of the bottom surface of the clamp translation plate of the present invention.

[0053] The numbers and letters in the diagram represent the names of the corresponding components:

[0054] 10-First robotic arm sand core; 11-Ring body; 12-Left end block part; 13-Right end block part; 14-Air expansion shaft hole; 15-Right positioning shaft hole; 16-Left positioning shaft hole; 20-Second robotic arm sand core; 21-Ring body; 22-Left end block part; 23-Right end block part; 24-Air expansion shaft hole; 25-Right positioning shaft hole; 26-Left positioning shaft hole; 30-Sand core fixture; 31-Base plate; 311-First position positioning hole of fixture; 312-First position threaded hole of fixture; 313-Second position positioning hole of fixture; 314-Second position threaded hole of fixture 40 - Adjustable end support and positioning mechanism; 41 - Fixture translation plate; 411 - Fixture positioning hole; 412 - Fixture bolt through hole; 42 - Fixture positioning pin; 43 - Fixture locking bolt; 44 - Fixture guide rail; 45 - Fixture first position limit block; 46 - Fixture second position limit block; 47 - Sand core left end positioning structure; 471 - First positioning block group; 472 - First support block group; 50 - Fixed end support and positioning mechanism; 51 - Second positioning block group; 52 - Second support block group; 60 - Lower core clamp; 61 - Top plate; 611 - Clamp 612-Second position positioning hole of the clamp; 613-First position bolt through hole of the clamp; 614-Second position bolt through hole of the clamp; 70-Adjustable end clamping mechanism; 71-Clamping translation plate; 711-Clamping positioning hole; 712-Clamping threaded hole; 72-Clamping positioning pin; 73-Clamping locking bolt; 74-Clamping guide rail; 75-Left end gripper mechanism; 751-Left guide shaft assembly; 752-Left clamping plate; 753-Left gripper; 754-Left cylinder; 76-Left end positioning shaft; 77-First position limit block of the clamp; 7 8-Second position limiting block of the clamp; 80-Tightening mechanism; 81-Intermediate cylinder; 82-Air shaft; 90-Fixed end clamping mechanism; 91-Right end gripper mechanism; 911-Front gripper; 912-Front clamping plate; 9121-First front gripper position; 9122-Second front gripper position; 913-Rear gripper; 914-Rear clamping plate; 9141-First rear gripper position; 9142-Second rear gripper position; 915-Forward and backward drive mechanism; 9151-Right cylinder; 9152-Spacer connecting sleeve; 9153-Right guide shaft assembly; 92-Right end positioning shaft. Detailed Implementation

[0055] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0056] like Figure 1-18As shown, one embodiment of the present invention is as follows: a robotic arm sand core transfer device for transferring a first robotic arm sand core 10 or a second robotic arm sand core 20. The length of the first robotic arm sand core 10 is less than the length of the second robotic arm sand core 20. The annular body 11 on the bottom right end of the first robotic arm sand core 10 and the annular body 21 on the bottom right end of the second robotic arm sand core 20 both have the same outer diameter. The left end of the first robotic arm sand core 10 has a left end block portion 12, and the left end of the second robotic arm sand core 20 has a left end block portion 22. The right end of the first robotic arm sand core 10 has a right end block portion 13, and the right end of the second robotic arm sand core 20 has a right end block portion 23. An air expansion shaft hole 14 is provided in the middle of the first robotic arm sand core 10, and an air expansion shaft hole 24 is provided in the middle of the second robotic arm sand core 20; a right positioning shaft hole 15 is provided on the right end block portion 13 of the first robotic arm sand core, and a right positioning shaft hole 25 is provided on the right end block portion 23 of the second robotic arm sand core; a left positioning shaft hole 16 is provided on the left end block portion 12 of the first robotic arm sand core, and a left positioning shaft hole 26 is provided on the left end block portion 22 of the second robotic arm sand core;

[0057] The transfer device includes:

[0058] A sand core fixture 30 is used to hold the sand core of a robotic arm. The sand core fixture 30 includes a base plate 31, an adjustable end support and positioning mechanism 40, and a fixed end support and positioning mechanism 50. The adjustable end support and positioning mechanism 40 is installed on the left end of the surface of the base plate 31, and the fixed end support and positioning mechanism 50 is fixedly installed on the right end of the surface of the base plate 31. The adjustable end support and positioning mechanism 40 includes a fixture translation plate 41, a fixture positioning pin 42, and a fixture locking bolt 43. A fixture guide rail 44 arranged along the length direction is installed on the left end of the base plate 31. The fixture translation plate 41 can be translated. The slider mounted on the jig guide rail 44 has a jig positioning hole 411, a jig bolt through hole 412 and a sand core left end positioning structure 47 on the jig translation plate 41. The base plate 31 has a jig first position limiting block 45, a jig second position limiting block 46, a jig first position positioning hole 311, a jig first position threaded hole 312, a jig second position positioning hole 313 and a jig second position threaded hole 314. The fixed end support positioning mechanism 50 cooperates with the right end ring 11 of the first robotic arm sand core or the right end ring 21 of the second robotic arm sand core.

[0059] The lower core clamp 60 is used to clamp the sand core of the robotic arm. The lower core clamp 60 includes a top plate 61, an adjustable end clamping mechanism 70, a tensioning mechanism 80, and a fixed end clamping mechanism 90. The adjustable end clamping mechanism 70 is installed at the left end of the top plate 61, the tensioning mechanism 80 is installed at the middle of the top plate 61, and the fixed end clamping mechanism 90 is installed at the right end of the top plate 61. The adjustable end clamping mechanism 70 includes a clamping translation plate 71, a clamping positioning pin 72, and a clamping locking bolt 73. A clamping mechanism 70 is installed at the left end of the top plate 61 along the length direction. The clamp guide rail 74 and the clamp translation plate 71 are slidably mounted on the slider of the clamp guide rail 74. The clamp translation plate 71 is provided with a clamp positioning hole 711, a clamp threaded hole 712, a left-end gripper mechanism 75, and a left-end positioning shaft 76. The top plate 61 is provided with a clamp first position limiting block 77, a clamp second position limiting block 78, a clamp first position positioning hole 611, a clamp second position positioning hole 612, a clamp first position bolt through hole 613, and a clamp second position bolt through hole 614. The tightening mechanism 80 includes a middle The intermediate cylinder 81 is vertically mounted downwards in the middle of the top plate 61. The air expansion shaft 82 is connected to the telescopic rod of the intermediate cylinder 81. The air expansion shaft 82 matches the air expansion shaft hole 14 of the first robotic arm sand core 10 or the air expansion shaft hole 24 of the second robotic arm sand core 20. The fixed end clamping mechanism 90 includes a right end gripper mechanism 91 and a right end positioning shaft 92. The right end positioning shaft 92 matches the right positioning shaft hole 15 of the first robotic arm sand core 10 or the right positioning shaft hole 25 of the second robotic arm sand core 20. The end gripper mechanism 91 includes a front gripper 911, a front clamping plate 912, a rear gripper 913, a rear clamping plate 914, and a forward and backward drive mechanism 915. The front clamping plate 912 is provided with a first front gripper position 9121 and a second front gripper position 9122 for mounting the front gripper 911. The rear clamping plate 914 is provided with a first rear gripper position 9141 and a second rear gripper position 9142 for mounting the rear gripper 913. The forward and backward drive mechanism 915 is used to drive the front clamping plate 912 and the rear clamping plate 913 to open and close synchronously in the forward and backward direction.

[0060] The beneficial effects of adopting the above technical solution are as follows: It accurately identifies the similarities and differences between the main body parts of the first and second robotic arm sand cores. Using a circular ring of the same size as both as a reference, the sand core fixture has a fixed right side and an adjustable left side. The repositioning structure is simple and stable, ensuring accurate positioning for both types of robotic arm sand cores. The core-lowering fixture has an adjustable left side and a quick-change gripper on the right side. This simple and stable structure facilitates rapid repositioning and enables precise transfer and lowering of the first and second robotic arm sand cores. The fixtures and jigs used for lowering the first and second robotic arm sand cores can be shared, reducing the space occupied in the jig warehouse and enabling online switching on the production line, thus improving production efficiency.

[0061] like Figure 3 , 4As shown in Figures 7 and 8, in some other embodiments of the present invention, in the left-right direction,

[0062] Let L1 be the distance from the left edge of the left end block of the first robotic arm's sand core to the center of its annular shape, and L2 be the distance from the left edge of the left end block of the second robotic arm's sand core to the center of its annular shape. Then L1 <L2;

[0063] Let L3 be the distance from the right edge of the right end block of the first robotic arm's sand core to the center of its annular body, and L4 be the distance from the right edge of the right end block of the second robotic arm's sand core to the center of its annular body. Then L3 <L4;

[0064] Let L5 be the distance from the center of the air expansion shaft hole of the first robotic arm sand core to the center of its annulus, and L6 be the distance from the center of the air expansion shaft hole of the second robotic arm sand core to the center of its annulus. Then L5 = L6.

[0065] Let L7 be the distance between the right positioning shaft hole of the first robotic arm sand core and the center of its annulus, and L8 be the distance between the right positioning shaft hole of the second robotic arm sand core and the center of its annulus. Then L7 = L8.

[0066] Let L9 be the distance between the left positioning shaft hole of the first robotic arm sand core and the left edge of its left end block, and L10 be the distance between the left positioning shaft hole of the second robotic arm sand core and the left edge of its left end block. Then L9 = L10.

[0067] exist Figure 3 , 4 Tables 7 and 8 only indicate the spacing in the left-right direction. It should be noted that in the front-back direction, the distance from the center of the air expansion shaft hole of the first robotic arm sand core to the center of its annulus is also equal to the distance from the center of the air expansion shaft hole of the second robotic arm sand core to its annulus. Similarly, the distance from the right positioning shaft hole of the first robotic arm sand core to its annulus is also equal to the distance from the right positioning shaft hole of the second robotic arm sand core to its annulus.

[0068] The beneficial effects of adopting the above technical solution are as follows: the first and second robotic arm sand cores are both based on a circular ring and have the same fixed spacing of air expansion shaft holes, right positioning shaft holes and left positioning shaft holes. This helps to ensure high-precision positioning and transfer of the two robotic arm sand cores, improve the positional accuracy of the lower core in the sand box, and ensure the casting quality.

[0069] In some other embodiments of the present invention, when the first robotic arm sand core 10 needs to be placed, the fixture translation plate 41 abuts against the fixture first position limiting block 45, the fixture positioning pin 42 can be inserted into the fixture positioning hole 411 and the fixture first position positioning hole 311, the fixture locking bolt 43 can pass through the fixture bolt through hole 412 and connect with the fixture first position threaded hole 312, and the left end block part 12 of the first robotic arm sand core 10 cooperates with the sand core left end positioning structure 47;

[0070] When the second robotic arm sand core 20 needs to be placed, the jig translation plate 41 abuts against the jig second position limiting block 46, the jig positioning pin 42 can be inserted into the jig positioning hole 411 and the jig second position positioning hole 313, the jig locking bolt 43 can pass through the jig bolt through hole 412 and connect with the jig second position threaded hole 314, and the left end block part 12 of the second robotic arm sand core 20 cooperates with the sand core left end positioning structure 47;

[0071] The stroke of the jig translation plate 41 from the position abutting against the jig first position limiting block 45 to the position abutting against the jig second position limiting block 46 in the left and right direction is L2-L1.

[0072] The beneficial effects of adopting the above technical solution are: ensuring the convenience of jig translation plate repositioning and the reliability of positioning after repositioning.

[0073] In other embodiments of the present invention, when it is necessary to clamp and lift the first robotic arm sand core 10, the clamp translation plate 71 abuts against the clamp first position limiting block 77, the clamp positioning pin 72 can be inserted into the clamp first position positioning hole 611 and the clamp positioning hole 711, the clamp locking bolt 73 can pass through the clamp first position bolt through hole 613 and connect with the clamp threaded hole 712, the left end gripper mechanism 75 is engaged with the left end block part 12 of the first robotic arm sand core 10, the left end positioning shaft 76 is engaged with the left positioning shaft hole 16 of the first robotic arm sand core; the front gripper 911 is installed in the first front gripper position 9121 of the front clamping plate 912, the rear gripper 913 is installed in the first rear gripper position 9141 of the rear clamping plate 914, and the front gripper 911 and the rear gripper 913 are engaged with the right end block part 13 of the first robotic arm sand core;

[0074] When it is necessary to clamp and lift the second robotic arm sand core 20, the clamp translation plate 71 abuts against the clamp second position limit block 78, the clamp positioning pin 72 can be inserted into the clamp second position positioning hole 612 and the clamp positioning hole 711, the clamp locking bolt 73 can pass through the clamp second position bolt through hole 614 and connect with the clamp threaded hole 712, the left end gripper mechanism 75 is engaged with the left end block part 22 of the second robotic arm sand core, the left end positioning shaft 76 is engaged with the left positioning shaft hole 26 of the second robotic arm sand core; the front gripper 911 is installed in the second front gripper position 9122 of the front clamping plate 912, the rear gripper 913 is installed in the second rear gripper position 9142 of the rear clamping plate 914, and the front gripper 911 and the rear gripper 913 are engaged with the right end block part 23 of the second robotic arm sand core;

[0075] The travel distance of the clamp translation plate 71 from the position abutting against the clamp first position limiting block 77 to the position abutting against the clamp second position limiting block 78 in the left and right direction is L2-L1;

[0076] The distance between the first front gripper position 9121 and the second front gripper position 9122 in the left-right direction is L4-L3. The distance between the first rear gripper position 9141 and the second rear gripper position 9142 in the left-right direction is L4-L3.

[0077] The beneficial effects of adopting the above technical solution are: ensuring the convenience of changing the position of the fixture translation plate and the front and rear grippers, and the reliability of the positioning after the change.

[0078] like Figure 13 As shown, in some other embodiments of the present invention, the positioning structure 47 of the left end of the sand core on the jig translation plate 41 includes a first positioning block group 471 and a first supporting block group 472. The first positioning block group 471 is used to position the outer contour of the left end block of the robotic arm sand core, and the first supporting block group 472 is used to support the bottom surface of the left end of the robotic arm sand core. The first positioning block group 471 includes at least two first positioning blocks that position the front and rear left sides of the left end block of the robotic arm sand core, one first positioning block that positions the front side of the left end block of the robotic arm sand core, and one first positioning block that positions the front side of the left end block of the robotic arm sand core. The first supporting block group includes at least one first supporting block located at the front, rear, left, and right sides of the bottom surface of the left end block of the robotic arm sand core.

[0079] like Figure 11As shown, the fixed-end support and positioning mechanism 50 includes a second positioning block group 51 and a second support block group 52. The second positioning block group 51 is used to position the annular body at the right end of the robotic arm sand core, and the second support block group 52 is used to support the bottom surface of the block portion at the right end of the robotic arm sand core. The second positioning block group 51 includes at least one second positioning block located on the front, rear, left, and right sides of the annular body at the right end of the robotic arm sand core. The second positioning block is L-shaped, with the vertical wall of the L-shape positioned around the outer periphery of the annular body and the horizontal wall of the L-shape supporting and positioning the bottom surface of the annular body. The second support block group 52 includes at least one second support block located on the front and rear sides of the bottom surface of the block portion at the right end of the robotic arm sand core.

[0080] The beneficial effect of adopting the above technical solution is that it can accurately position the sand core of the first robotic arm and the sand core of the second robotic arm.

[0081] like Figure 18 As shown, in some embodiments of the present invention, the left-end gripper mechanism 75 includes a left guide shaft assembly 751, a left clamping plate 752, a left gripper 753, and a left cylinder 754. The left guide shaft assembly 751, arranged in the left-right direction, is respectively mounted on the front and rear sides of the lower surface of the clamping translation plate 71. The front and rear parts of the left clamping plate 752 are slidably mounted on the guide shaft of the left guide shaft assembly 751. The left clamping plate 752 is connected to the telescopic shaft of the left cylinder 754. One left gripper 753 is respectively mounted on the lower front and rear sides of the left clamping plate 752. The two left grippers 753 are located in front of and behind the left side of the left-end positioning shaft 76. The beneficial effect of adopting the above technical solution is that it can stably clamp the left end block of the robotic arm sand core.

[0082] like Figure 15 , 16 As shown, in some embodiments of the present invention, the forward and backward driving mechanism of the right-end gripper mechanism 91 includes a right cylinder 9151, a spacer connecting sleeve 9152, and a right guide shaft assembly 9153. A front clearance groove for the front clamping plate 912 to pass through is opened at the front of the right end of the top plate 61, and a rear clearance groove for the rear clamping plate 914 to pass through is opened at the rear. Right guide shaft assemblies 9153, arranged in the forward and backward direction, are respectively installed on the left and right ends of the front and rear clearance grooves on the top plate. The upper left and right ends of the front clamping plate 912 and the rear clamping plate 914 are slidably mounted on the guide shaft of the right guide shaft assembly 9153. The spacer connecting sleeve 9152 is connected to the telescopic rod of the right cylinder 9151, the cylinder body of the right cylinder 9151 is connected to the rear clamping plate 914, and the end of the spacer connecting sleeve 9152 is connected to the front clamping plate 912. The beneficial effect of adopting the above technical solution is that it can stably clamp the right end block portion of the robotic arm sand core.

[0083] In other embodiments of the present invention, in order to achieve a high degree of automation, a jig positioning mechanism for positioning the sand core jig is provided at the bottom of the core lowering station. A base plate positioning hole is provided on the base plate of the sand core jig. The jig positioning mechanism uses a telescopic positioning shaft mechanism to match and position with the base plate positioning hole. It also includes an image acquisition device for acquiring the moving position of the jig translation plate of the sand core jig, a lower displacement mechanism for moving the jig translation plate left and right, a pin insertion mechanism for grabbing and inserting the jig positioning pin, and a bolt locking mechanism for grabbing and locking the jig locking bolt. At the top of the core-laying station, a truss-type XYZ-axis shifting mechanism for transferring the core-laying fixture is provided. On the top left side of the core-laying station, there is also an image acquisition device for capturing the position of the fixture translation plate, an upper shifting mechanism for moving the fixture translation plate left and right, a pin-fitting mechanism for gripping and inserting the fixture positioning pin, and a bolt-locking mechanism for gripping and securing the fixture locking bolt. Additionally, on the top right side of the core-laying station, there is an image acquisition device for capturing the positions of the front and rear grippers on the right-end gripper mechanism, a gripper-changing mechanism for shifting the front and rear grippers left and right, and a front and rear electric screwdriver locking mechanism for locking the front gripper to the front clamping plate and the rear gripper to the rear clamping plate from the front and rear sides. This achieves automated repositioning of the core-laying device during the changeover between the first and second robotic arms. The aforementioned lower and upper shifting mechanisms can be implemented using a translation drive mechanism with a retractable lever. The aforementioned pin insertion mechanism can be implemented using an XYZ three-axis shifting mechanism with electrically driven grippers. The aforementioned bolt tightening mechanism can be implemented using an XYZ three-axis shifting mechanism with an electric screwdriver. The aforementioned gripper repositioning mechanism can be implemented using an XY-axis shifting mechanism with electrically driven grippers. The aforementioned front and rear electric screwdriver locking mechanism can be implemented using an XY-axis shifting mechanism with an electric screwdriver.

[0084] The above embodiments are only for illustrating the technical concept and features of the present invention, and are intended to enable those skilled in the art to understand the content of the present invention and implement it. They should not be used to limit the scope of protection of the present invention. All equivalent changes or modifications made in accordance with the spirit and essence of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A robotic arm sand core transfer device, characterized in that, Used for transferring the first or second robotic arm sand core, the length of the first robotic arm sand core is less than the length of the second robotic arm sand core, the bottom right end of the first robotic arm sand core and the bottom right end of the second robotic arm sand core both have annular bodies with the same outer diameter, the left end of the first robotic arm sand core and the left end of the second robotic arm sand core both have left end block portions; the right end of the first robotic arm sand core and the right end of the second robotic arm sand core both have right end block portions. An air expansion shaft hole is provided in the middle of the first robotic arm sand core and the middle of the second robotic arm sand core; a right positioning shaft hole is provided in the right end block of the first robotic arm sand core and the right end block of the second robotic arm sand core; a left positioning shaft hole is provided in the left end block of the first robotic arm sand core and the left end block of the second robotic arm sand core. The transfer device includes: A sand core fixture is used to hold a robotic arm sand core. The sand core fixture includes a base plate, an adjustable end support and positioning mechanism, and a fixed end support and positioning mechanism. The adjustable end support and positioning mechanism is installed on the left end of the base plate surface, and the fixed end support and positioning mechanism is fixedly installed on the right end of the base plate surface. The adjustable end support and positioning mechanism includes a fixture translation plate, a fixture positioning pin, and a fixture locking bolt. A fixture guide rail is installed on the left end of the base plate along the length direction. The fixture translation plate is slidably installed on the slider of the fixture guide rail. The fixture translation plate is provided with a fixture positioning hole, a fixture bolt through hole, and a left end positioning structure for the sand core. The base plate is provided with a first position limiting block, a second position limiting block, a first position positioning hole, a first position threaded hole, a second position positioning hole, and a second position threaded hole. The fixed end support and positioning mechanism cooperates with the right end ring of the first robotic arm sand core or the right end ring of the second robotic arm sand core. A lower core clamp is used to clamp a sand core for a robotic arm. The lower core clamp includes a top plate, an adjustable end clamping mechanism, a tightening mechanism, and a fixed end clamping mechanism. The adjustable end clamping mechanism is installed at the left end of the top plate, the tightening mechanism is installed at the middle of the top plate, and the fixed end clamping mechanism is installed at the right end of the top plate. The adjustable end clamping mechanism includes a clamping translation plate, a clamping positioning pin, and a clamping locking bolt. A clamping guide rail is installed at the left end of the top plate along the length direction. The clamping translation plate is slidably installed on the slider of the clamping guide rail. The clamping translation plate is provided with a clamping positioning hole, a clamping threaded hole, a left-end gripper mechanism, and a left-end positioning shaft. The top plate is provided with a clamping first position limiting block, a clamping second position limiting block, a clamping first position positioning hole, a clamping second position positioning hole, a clamping first position bolt through hole, and a clamping second position bolt through hole. The tensioning mechanism includes an intermediate cylinder and an air shaft. The intermediate cylinder is vertically mounted downwards in the middle of the top plate. The air shaft is connected to the telescopic rod of the intermediate cylinder. The air shaft matches the air shaft hole of the first or second robotic arm sand core. The fixed-end clamping mechanism includes a right-end gripper mechanism and a right-end positioning shaft. The right-end positioning shaft matches the right positioning shaft hole of the first or second robotic arm sand core. The right-end gripper mechanism includes a front gripper, a front clamping plate, a rear gripper, a rear clamping plate, and a forward-backward drive mechanism. The front clamping plate has a first front gripper position and a second front gripper position for mounting the front gripper. The rear clamping plate has a first rear gripper position and a second rear gripper position for mounting the rear gripper. The forward-backward drive mechanism drives the front and rear clamping plates to open and close synchronously in the forward-backward direction.

2. The robotic arm sand core transfer device according to claim 1, characterized in that, In the left and right directions, Let L1 be the distance from the left edge of the left end block of the first robotic arm's sand core to the center of its annular shape, and L2 be the distance from the left edge of the left end block of the second robotic arm's sand core to the center of its annular shape. Then L1 <L2; Let L3 be the distance from the right edge of the right end block of the first robotic arm's sand core to the center of its annular body, and L4 be the distance from the right edge of the right end block of the second robotic arm's sand core to the center of its annular body. Then L3 <L4; Let L5 be the distance from the center of the air expansion shaft hole of the first robotic arm sand core to the center of its annulus, and L6 be the distance from the center of the air expansion shaft hole of the second robotic arm sand core to the center of its annulus. Then L5 = L6. Let L7 be the distance between the right positioning shaft hole of the first robotic arm sand core and the center of its annulus, and L8 be the distance between the right positioning shaft hole of the second robotic arm sand core and the center of its annulus. Then L7 = L8. Let L9 be the distance between the left positioning shaft hole of the first robotic arm sand core and the left edge of its left end block, and L10 be the distance between the left positioning shaft hole of the second robotic arm sand core and the left edge of its left end block. Then L9 = L10.

3. The robotic arm sand core transfer device according to claim 2, characterized in that, When the jig translation plate abuts against the jig first position limiting block, the jig positioning pin can be inserted into the jig positioning hole and the jig first position positioning hole, the jig locking bolt can pass through the jig bolt through hole and connect with the jig first position threaded hole, and the left end block of the first robotic arm sand core cooperates with the left end positioning structure of the sand core. When the jig translation plate abuts against the jig second position limiting block, the jig positioning pin can be inserted into the jig positioning hole and the jig second position positioning hole, the jig locking bolt can pass through the jig bolt through hole and connect with the jig second position threaded hole, and the left end block of the second robotic arm sand core cooperates with the left end positioning structure of the sand core. The stroke of the translation plate in the left-right direction from the position abutting the first position limiting block of the fixture to the position abutting the second position limiting block of the fixture is L2-L1.

4. The robotic arm sand core transfer device according to claim 2, characterized in that, When the clamp translation plate abuts against the clamp first position limiting block, the clamp positioning pin can be inserted into the clamp first position positioning hole and the clamp positioning hole, the clamp locking bolt can pass through the clamp first position bolt through hole and connect with the clamp threaded hole, the left end gripper mechanism is engaged with the left end block of the first robotic arm sand core, and the left end positioning shaft is engaged with the left positioning shaft hole of the first robotic arm sand core; when the front gripper is installed in the first front gripper position of the front clamping plate, and the rear gripper is installed in the first rear gripper position of the rear clamping plate, the front gripper and the rear gripper are engaged with the right end block of the first robotic arm sand core; When the clamp translation plate abuts against the clamp second position limiting block, the clamp positioning pin can be inserted into the clamp second position positioning hole and the clamp positioning hole, the clamp locking bolt can pass through the clamp second position bolt through hole and connect with the clamp threaded hole, the left end gripper mechanism is engaged with the left end block of the second robotic arm sand core, and the left end positioning shaft is engaged with the left positioning shaft hole of the second robotic arm sand core; when the front gripper is installed in the second front gripper position of the front clamping plate, and the rear gripper is installed in the second rear gripper position of the rear clamping plate, the front gripper and the rear gripper are engaged with the right end block of the second robotic arm sand core; The travel distance of the clamp translation plate from the position abutting against the first position limit block of the clamp to the position abutting against the second position limit block of the clamp in the left and right direction is L2-L1; The distance between the first front gripper position and the second front gripper position in the left-right direction is L4-L3.

5. The robotic arm sand core transfer device according to claim 1, characterized in that, The positioning structure of the left end of the sand core of the jig translation plate includes a first positioning block group and a first supporting block group. The first positioning block group is used to position the outer contour of the left end block of the robotic arm sand core, and the first supporting block group is used to support the bottom surface of the left end of the robotic arm sand core.

6. The robotic arm sand core transfer device according to claim 5, characterized in that, The first positioning block group includes at least two first positioning blocks that position the front and rear left sides of the left end block of the robotic arm sand core, one first positioning block that positions the front side of the left end block of the robotic arm sand core, and one first positioning block that positions the rear side of the left end block of the robotic arm sand core; the first supporting block group includes at least one first supporting block located at the front, rear, left, and right sides of the bottom of the left end block of the robotic arm sand core.

7. The robotic arm sand core transfer device according to claim 1, characterized in that, The fixed-end support and positioning mechanism includes a second positioning block group and a second support block group. The second positioning block group is used to position the annular body at the right end of the robotic arm sand core, and the second support block group is used to support the bottom surface of the block part at the right end of the robotic arm sand core.

8. The robotic arm sand core transfer device according to claim 7, characterized in that, The second positioning block group includes at least one second positioning block located on the front, rear, left and right sides of the right end ring of the robotic arm sand core. The second positioning block is L-shaped, with the L-shaped vertical wall positioned on the outer periphery of the ring and the L-shaped horizontal wall supported and positioned on the bottom surface of the ring. The second support block group includes at least one second support block located on the front and rear of the bottom part of the right end block of the robotic arm sand core.

9. The robotic arm sand core transfer device according to claim 1, characterized in that, The left-end gripper mechanism includes a left guide shaft assembly, a left clamping plate, a left gripper, and a left cylinder. The left guide shaft assembly, which is arranged in the left-right direction, is installed on the front and rear sides of the lower surface of the clamping translation plate. The front and rear parts of the left clamping plate are slidably installed on the guide shaft of the left guide shaft assembly. The left clamping plate is connected to the telescopic shaft of the left cylinder. One left gripper is installed on the front and rear sides of the lower part of the left clamping plate. The two left grippers are located in front of and behind the left side of the left-end positioning shaft, respectively.

10. The robotic arm sand core transfer device according to claim 1, characterized in that, The forward and backward driving mechanism of the right-end gripper mechanism includes a right cylinder, a spacer connecting sleeve, and a right guide shaft assembly. A front clearance groove for the front clamping plate to pass through is opened at the front part of the right end of the top plate, and a rear clearance groove for the rear clamping plate to pass through is opened at the rear part. Right guide shaft assemblies arranged in the forward and backward direction are respectively installed on the left and right ends of the front clearance groove and the rear clearance groove on the top plate. The upper left and right ends of the front clamping plate and the rear clamping plate are slidably installed on the guide shaft of the right guide shaft assembly. The spacer connecting sleeve is connected to the telescopic rod of the right cylinder. The cylinder body of the right cylinder is connected to the rear clamping plate. The end of the spacer connecting sleeve is connected to the front clamping plate.

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