A shell making robot grasping fixture and grasping method

Abstract

The present invention relates to the field of robot technology, and in particular to a shell-making robot grasping fixture and grasping method, comprising an electric turntable, and also comprising a finger cylinder, a clamping finger, a rubber roller and a driving mechanism, wherein one end of the electric turntable is used to connect to the execution end of the robot, and a pair of finger cylinders are arranged on the output end of the electric turntable, and a clamping finger is fixed on the output end of the finger cylinder; a rubber roller is arranged inside the clamping finger, and a driving mechanism is fixed outside the clamping finger, and the driving mechanism is used to drive the rubber roller to selectively rotate; a notch is arranged on the side of the clamping finger, and the side of the rubber roller passes through the notch, and the clamping finger elastically clamps the lost foam through the rubber roller; the present invention elastically supports the lost foam through the rubber roller, so that the fixture is not easy to cause the lost foam to deform when grasping the lost foam, and at the same time, the lost foam surface can be coated with paint by alternately clamping the lost foam by two fixtures, which is beneficial to improving the casting quality of the intelligent casting island.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a shell making robot grasping fixture and a grasping method. Background Art

[0002] In the traditional lost foam casting process, as described in patent CN102744369B, the shell making process of the lost foam usually includes the following steps: first, fix the lost foam by a fixture; then, spray the coating evenly on the surface of the lost foam by flow coating; then, sprinkle a layer of fine sand on the surface of the lost foam sprayed with the coating to form a preliminary shell layer. This process needs to be repeated several times until the shell formed on the surface of the lost foam reaches the predetermined thickness requirement. Finally, the lost foam and its external shell are removed from the shell making tooling and calcined to melt and disappear the lost foam and its remaining connecting parts, leaving only the shell to complete the shell making. The entire shell making process requires a lot of manual intervention and is inefficient.

[0003] With the continuous improvement of industrial automation and intelligence, intelligent casting technology has developed rapidly. As a key component of intelligent manufacturing, the intelligent casting island is gradually changing the traditional lost foam casting production model mentioned above. The intelligent casting island integrates multiple processes such as lost foam manufacturing, shell making, slurry dipping, and quicksand, and combines highly automated equipment and advanced control software to achieve efficient and intelligent casting production. For example, patent CN109676093B discloses a lost foam robot dipping and leveling workstation and its working method. This workstation belongs to a structural form of the intelligent casting island, which can realize the automated shell making process of the lost foam.

[0004] The fixture is the gripping component of the robot. In the application of the intelligent casting island, the fixture is installed at the execution end of the shell-making robot for casting, and is mainly used to grab and remove the lost mold. For example, in the dipping and sanding station, the robot grabs the lost mold through the fixture, and then immerses the lost mold in the paint pool so that the surface of the lost mold is stained with paint, and then the lost mold with paint is moved to the sanding station, which uses flowing sand to sprinkle sand on the surface of the lost mold.

[0005] However, during the shell making process, the fixture is usually rigidly clamped when clamping the lost foam, which is easy to leave indentations on the surface of the lost foam and cause deformation of the lost foam. In addition, the fixture is prone to adhere to sand at the sand spreading station. If this sand adheres to the clamping surface of the fixture during the subsequent movement of the fixture, then in the subsequent rigid clamping process, this sand is likely to cause surface damage to the lost foam. These problems will have an adverse effect on the shell making quality of the lost foam, and then affect the casting quality of the smart casting island. Summary of the invention

[0006] In view of this, the present invention proposes a shell-making robot grasping fixture and grasping method, which uses a rubber roller to elastically support the lost foam, so that the fixture is not likely to cause deformation of the lost foam when grasping the lost foam, thereby improving the subsequent shell making quality. At the same time, the fixture can change the clamping surface to keep the clamping surface clean, thereby making the lost foam less likely to be damaged by foreign matter, improving the subsequent shell making quality, thereby improving the casting quality of the intelligent casting island.

[0007] The technical solution of the present invention is achieved in this way:

[0008] On the one hand, the present invention provides a shell-making robot grasping fixture, including an electric turntable, a finger cylinder, a clamping finger, a rubber roller and a driving mechanism, wherein:

[0009] One end of the electric turntable is used to connect to the execution end of the robot, a pair of finger cylinders are arranged on the output end of the electric turntable, and the clamping fingers are fixed on the output ends of the finger cylinders;

[0010] The rubber roller is arranged inside the clamping finger, and the driving mechanism is fixed outside the clamping finger, and the driving mechanism is used to drive the rubber roller to rotate selectively;

[0011] The side of the clamping finger is provided with a notch, the side of the rubber roller passes through the notch, and the clamping finger elastically clamps the lost foam through the rubber roller.

[0012] On the basis of the above technical solution, preferably, the clamping finger includes a connecting seat and a steel pipe, wherein:

[0013] One end of the connecting seat is fixedly connected to the output end of the finger cylinder, and the other end is fixedly connected to the steel pipe and the driving mechanism respectively;

[0014] The rubber roller is coaxially arranged on the inner side of the steel pipe, and the outer diameter of the rubber roller is equal to the inner diameter of the steel pipe. The interior of the rubber roller is wrapped with a plate-shaped support portion, and the support portion is arranged in a circumferential annular array around the rubber roller.

[0015] The notch is provided on the side of the steel pipe, and the vertical distance between the midpoint of the notch and the central axis of the rubber roller is smaller than the vertical distance between the support portion and the central axis of the rubber roller;

[0016] The inner wall of the steel pipe is provided with a friction-reducing coating.

[0017] On the basis of the above technical solution, preferably, a wedge-shaped blade is provided on the tube wall of the steel tube near the notch, wherein:

[0018] One end of the wedge-shaped blade extends along the axial direction of the rubber roller to the connecting seat, and the other end extends in the opposite direction to the end of the steel pipe away from the connecting seat;

[0019] The side of the rubber roller abuts against the cutting edge of the wedge-shaped blade.

[0020] On the basis of the above technical solution, preferably, the end of the steel pipe away from the connecting seat is closed, and the driving mechanism includes a central shaft and a position-changing motor, wherein:

[0021] The central shaft passes through the connecting seat and is rotatably connected, one end of the central shaft is transmission-connected to the output end of the position-changing motor, and the other end is fixedly connected to the rubber roller;

[0022] The position changing motor is fixed on the connecting seat.

[0023] On the basis of the above technical solution, preferably, the central axis is coaxially arranged with the rubber roller, wherein:

[0024] One end of the central shaft away from the position changing motor passes through the rubber roller, and the central shaft is fixedly connected to the rubber roller;

[0025] One end of the central axis away from the position changing motor is rotatably connected to one end of the steel pipe away from the connecting seat.

[0026] On the basis of the above technical solution, preferably, it also includes a plastic bag, wherein:

[0027] One end of the bag opening of the plastic bag is fixed to the output end of the electric turntable;

[0028] The finger cylinder and the driving mechanism are arranged inside the plastic bag;

[0029] The clamping fingers penetrate through the plastic bag.

[0030] On the basis of the above technical solution, preferably, it also includes a cleaning sleeve and a linear cylinder, wherein:

[0031] The cleaning sleeve is coaxially sleeved on the outside of the electric turntable;

[0032] The linear cylinder is fixed on one end of the electric turntable away from the clamping finger, and the linear cylinder is used to drive the cleaning sleeve to move to the outside of the clamping finger;

[0033] A plurality of jet holes are arranged on the inner side of the cleaning sleeve, and the jet holes are used to spray water or air to clean the clamping fingers and the plastic bag.

[0034] On the basis of the above technical solution, preferably, it also includes an annular air knife, wherein:

[0035] The annular air knife is coaxially fixed on an end of the cleaning sleeve away from the linear cylinder;

[0036] A cavity is provided in the wall of the cleaning sleeve;

[0037] A medium input port is provided on the outer wall of the cleaning sleeve, and the medium input port is connected with the jet hole through the cavity;

[0038] A collecting groove is provided on the side of the cleaning sleeve, and a sewage outlet is provided on the outer side of the collecting groove.

[0039] On the other hand, the present invention also provides a shell making robot grasping method, using the grasping fixture as described above, comprising the following steps:

[0040] S1, the electric turntable drives the finger cylinder, the clamping finger, the rubber roller and the driving mechanism to rotate simultaneously, throws off the attachments attached to the finger cylinder, the clamping finger, the rubber roller and the driving mechanism, and then drives the rubber roller to rotate through the driving mechanism, so that the clean part of the rubber roller originally inside the clamping finger moves to the inside of the notch;

[0041] S2, the finger cylinder drives the clamping fingers to open, and the robot drives the finger cylinder to move, so that the lost foam enters the gap between the clamping fingers;

[0042] S3, the finger cylinder drives the clamping fingers to close. During the process, the clamping fingers elastically clamp the lost foam through the rubber roller to complete the grasping action.

[0043] On the basis of the above technical solution, preferably, the robot includes an articulated robot, a mounting plate, an electric linear slide and an articulated mechanical arm, wherein:

[0044] The mounting plate is fixed on the execution end of the articulated robot;

[0045] Two electric linear slides are fixed on the mounting plate, the two electric linear slides are arranged in parallel, and the two electric linear slides are mirror-symmetrical on both sides of the articulated robot;

[0046] One articulated robotic arm is fixed on the output end of each electric linear slide, and a grabbing fixture as described in any one of claims 1 to 8 is fixed on the execution end of each articulated robotic arm.

[0047] The shell making robot grasping fixture and grasping method of the present invention have the following beneficial effects compared with the prior art:

[0048] (1) By arranging a rubber roller on the clamping finger, it is convenient to elastically support the lost foam through the rubber roller, so that the clamp is not easy to cause the lost foam to deform when grasping the lost foam, which is beneficial to improving the shell quality and further improving the casting quality of the intelligent casting island.

[0049] (2) The inside of the rubber roller is wrapped with a plate-shaped support part, and the support part is arranged in a circumferential annular array around the rubber roller. When clamping, the support part can realize the planar support inside the rubber roller, thereby increasing the clamping stability. Moreover, the vertical distance between the midpoint of the notch and the center axis of the rubber roller is smaller than the vertical distance between the support part and the center axis of the rubber roller. Therefore, when clamping, the steel pipe will not contact the lost foam, and thus no rigid clamping will occur, making the lost foam less likely to be clamped, further improving the casting quality of the intelligent casting island.

[0050] (3) By setting up a driving mechanism to drive the rubber roller to rotate selectively, it is convenient to change the clamping surface of the rubber roller so that the clamping surface can maintain a good cleanliness, thereby making the lost foam less likely to be damaged by foreign matter, and improving the casting quality of the intelligent casting island.

[0051] (4) By setting up an articulated robot, a mounting plate, two electric linear slides and two articulated robotic arms, and each articulated robotic arm is provided with a grabbing fixture on its execution end, it is convenient to alternately grab the lost foam by the two grabbing fixtures, so that the clamped part of the lost foam can also be stained with paint and sand, which is beneficial to improving the casting quality of the intelligent casting island.

[0052] (5) By setting a wedge-shaped blade at the notch and the side of the rubber roller abutting against the edge of the wedge-shaped blade, the rubber roller rotates, so that the side of the rubber roller can be scraped by the wedge-shaped blade to achieve automatic cleaning of the surface of the rubber roller, which can not only improve the cleanliness of the side of the rubber roller, but also facilitate subsequent maintenance work.

[0053] (6) An electric turntable and a cleaning sleeve are provided, and a plurality of jet holes are provided on the inner side of the cleaning sleeve. The jet holes are used to spray water or air to clean the clamping fingers and the rubber bag, so as to facilitate automatic cleaning of the paint, sand and other attachments attached to the clamp, further improve the cleanliness of the side of the rubber roller, and make subsequent maintenance work more convenient.

[0054] (7) By providing a friction-reducing coating on the inner wall of the steel pipe, the friction between the rubber roller and the steel pipe can be reduced, thereby facilitating the smooth rotation of the rubber roller. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0056] Figure 1 A three-dimensional diagram of a grabbing fixture of a shell-making robot according to the present invention;

[0057] Figure 2 A partial exploded view of a grabbing fixture of a shell-making robot according to the present invention;

[0058] Figure 3 A three-dimensional diagram of the clamping fingers of the present invention;

[0059] Figure 4 A three-dimensional diagram of the central axis of the present invention;

[0060] Figure 5 A three-dimensional diagram of the rubber roller of the present invention;

[0061] Figure 6 It is a schematic diagram of the structure of the robot of the present invention;

[0062] Figure 7 A three-dimensional view of the cleaning sleeve of the present invention;

[0063] In the figure: 1. electric turntable; 2. finger cylinder; 3. clamping finger; 4. rubber roller; 5. driving mechanism; 6. rubber bag; 7. cleaning sleeve; 8. linear cylinder; 9. annular air knife; 31. connecting seat; 32. steel pipe; 51. central axis; 52. position shifting motor; 100. robot; 301. notch; 302. wedge-shaped blade; 401. supporting part; 701. jet hole; 1001. articulated robot; 1002. mounting plate; 1003. electric linear slide; 1004. articulated robot arm; 7101. cavity; 7102. medium input port; 7103. collecting trough; 7104. sewage outlet. DETAILED DESCRIPTION

[0064] The following will be combined with the specific implementation of the present invention to clearly and completely describe the technical solution in the present invention. Obviously, the described implementation is only a part of the implementation of the present invention, not all of the implementation. Based on the implementation of the present invention, all other implementations obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0065] like Figure 1-7As shown, a shell-making robot grasping fixture of the present invention comprises an electric turntable 1, a finger cylinder 2, a clamping finger 3, a rubber roller 4 and a driving mechanism 5.

[0066] Among them, one end of the electric turntable 1 is used to connect to the execution end of the robot 100, and a pair of finger cylinders 2 are fixedly arranged on the output end of the electric turntable 1, and a clamping finger 3 is fixed on the output end of the finger cylinder 2, wherein the two finger cylinders 2 are arranged in parallel and have the same clamping direction. Figure 2 The clamping direction of the two finger cylinders 2 shown in the figure is horizontal clamping. When clamping, the two finger cylinders 2 drive the two clamping fingers 3 on their output ends to clamp the lost foam synchronously to ensure stable clamping.

[0067] like Figure 2 As shown, a rubber roller 4 is provided inside the clamping finger 3. Figure 3 A notch 301 is provided on the side of the clamping finger 3, wherein the length direction of the notch 301 is parallel to the axial direction of the rubber roller 4. Figure 2 As shown, the side of the rubber roller 4 passes through the notch 301, and the clamping fingers 3 elastically clamp the lost foam through the rubber roller 4. Therefore, when clamping, the clamping fingers 3 do not directly contact the lost foam, but indirectly contact the lost foam through the rubber roller 4. Among them, the rubber roller 4 is made of elastic rubber, so the rubber roller 4 has good elasticity. When clamping, the lost foam is clamped and protected by elastic clamping.

[0068] In addition, a driving mechanism 5 is fixed to the outside of the clamping finger 3. When clamping, the driving mechanism 5 drives the rubber roller 4 to rotate, and moves the part of the rubber roller 4 that was originally exposed to the outside into the inside of the clamping finger 3. Correspondingly, the part of the rubber roller 4 that was originally inside the clamping finger 3 moves to the inside of the notch 301, so that the clamping surface has a higher degree of cleanliness. Figure 5 As shown, the interior of the rubber roller 4 is wrapped with a plate-shaped support portion 401, and the support portion 401 is arranged in a circumferential annular array around the rubber roller 4. Specifically, as Figure 5 As shown, the width of the support portion 401 is smaller than the width of the notch 301, and multiple support portions 401 are arranged along a regular polygonal path, wherein the vertical distance between the midpoint of the notch 301 and the central axis of the rubber roller 4 is smaller than the vertical distance between the support portion 401 and the central axis of the rubber roller 4, and two adjacent support portions 401 are spaced apart.

[0069] In the structural design of the grabbing fixture of the shell-making robot, the gripping finger 3 includes a connecting seat 31 and a steel pipe 32 , and the driving mechanism 5 includes a central shaft 51 and a position changing motor 52 .

[0070] Among them, Figure 3As shown, the connection seat 31 is an L-shaped plate, one end of which is fixedly connected to the output end of the finger cylinder 2. The other end and one side close to the finger cylinder 2 is fixedly installed with the displacement motor 52, and at the same time, the other side of the end is fixedly installed with the steel pipe 32. Figure 2 The notch 301 is provided on the side of the steel pipe 32, and the side of the rubber roller 4 is exposed to the steel pipe 32 through the notch 301. At the same time, the finger cylinder 2 is fixed to the rear end of the horizontal section of the connecting seat 31, the installation steel pipe 32 is fixed to the front end of the horizontal section of the connecting seat 31, and the position shifting motor 52 is fixed to the rear end of the vertical section of the connecting seat 31. Figure 4 The rubber roller 4 is coaxially arranged inside the steel tube 32, and the central axis 51 is coaxially arranged inside the rubber roller 4. Among them, the end of the steel tube 32 away from the connecting seat 31 is closed, and the outer diameter of the rubber roller 4 is equal to the inner diameter of the steel tube 32.

[0071] Combination Figure 5 The central shaft 51 penetrates the connection seat 31 and is rotatably connected. One end of the central shaft 51 is drivingly connected to the output end of the position-shifting motor 52. The other end penetrates the rubber roller 4 and is fixedly connected. At the same time, the end is rotatably connected to the end of the steel pipe 32 away from the connection seat 31. Specifically, the position-shifting motor 52 is staggered with the mounting steel pipe 32, such as Figure 4 As shown, the vertical section of the connecting seat 31 is hollow inside, one end of the rubber roller 4 and the output end of the position shifting motor 52 extend into the interior of the vertical section, and are respectively fixed with a synchronous pulley, and the two synchronous pulleys are connected by a synchronous belt transmission, thereby realizing the transmission connection between the central shaft 51 and the position shifting motor 52.

[0072] like Figure 3 As shown, the vertical sections of the two connecting seats 31 on the same finger cylinder 2 extend outward, so that the structure can clamp narrower products.

[0073] In the above structure, since the outer diameter of the rubber roller 4 is equal to the inner diameter of the steel pipe 32, in order to allow the rubber roller 4 to rotate smoothly, a friction-reducing coating is provided on the inner wall of the steel pipe 32. Specifically, a layer of PTFE coating is formed on the inner surface of the steel pipe 32 by spraying or dipping. The PTFE coating has an extremely low friction coefficient and good self-lubricating properties. The PTFE coating is the friction-reducing coating, and the friction is reduced by the friction-reducing coating so that the rubber roller 4 can rotate smoothly.

[0074] Before clamping, the driving mechanism 5 drives the rubber roller 4 to rotate so that one of the support parts 401 rotates to the position of the notch 301. After it is in place, the above-mentioned clamping action is performed. During clamping, the side of the rubber roller 4 can adapt to the surface shape of the lost foam. At the same time, the internal plane support can be achieved through the support part 401, thereby increasing the clamping stability.

[0075] In the above structure, since the vertical distance between the midpoint of the notch 301 and the central axis of the rubber roller 4 is smaller than the vertical distance between the support portion 401 and the central axis of the rubber roller 4, the support portion 401 for cooperating with the clamping is located outside the notch 301 after being in place. During clamping, the distance between the lost mold and the notch 301 can be limited by the support portion 401, so that the lost mold does not contact the notch 301, and the lost mold is not rigidly clamped, so it is not easy to be damaged. At the same time, since two adjacent support portions 401 are arranged at intervals, during clamping, the support portion 401 at the clamping surface will not interfere with the support portions 401 at other positions, so it will not affect normal clamping.

[0076] Figure 5 In the embodiment, six support parts 401 are provided. Therefore, when the clamping surface is replaced, the position shifting motor 52 drives the roller 4 to rotate at an angle of 60 degrees so that the support part 401 is shifted to the notch 301. When other numbers of support parts 401 are provided, the position shifting motor 52 drives the roller 4 to rotate at a desired angle. It should be noted that the position shifting motor 52 can rotate 360 ​​degrees or can rotate in increments. This rotation method is a prior art, especially in the fields of precision machinery and automation, such as controlling the joint movement of a robot arm by a motor. Therefore, its principle and specific structure are not described in detail in this embodiment.

[0077] In addition, in order to make full use of the rotatable structure of the rubber roller 4, as Figure 5 As shown, a wedge-shaped blade 302 is provided on the wall of the steel tube 32 near the notch 301. One end of the wedge-shaped blade 302 extends to the connecting seat 31 along the axial direction of the rubber roller 4, and the other end extends in the opposite direction to the end of the steel tube 32 away from the connecting seat 31. Figure 5 As shown, the cross section of the steel pipe 32 is C-shaped. In addition, the side of the rubber roller 4 abuts against the edge of the wedge-shaped blade 302. In this structure, when the rubber roller 4 rotates, the side wall of the rubber roller 4 can be scraped by the wedge-shaped blade 302 to remove the attachments, thereby realizing automatic cleaning of the surface of the rubber roller 4, which can not only improve the cleanliness of the side of the rubber roller 4, but also facilitate subsequent maintenance work.

[0078] During the process of dipping and flowing sand, paint and sand will adhere to the finger cylinder 2. For this reason, a plastic bag 6 is set on the outside of the finger cylinder 2. The plastic bag 6 is made of elastic rubber, and one end of the bag mouth is fixed on the output end of the electric turntable 1. After the setting, the finger cylinder 2 and the driving mechanism 5 are both inside the plastic bag 6, and the clamping finger 3 passes through the plastic bag 6 to the outside. This structure is used to protect the finger cylinder 2 and the driving mechanism 5. At the same time, the plastic bag 6 is elastic, so it can be stretched, and then it can cooperate well with the clamping action of the finger cylinder 2.

[0079] During the casting process, after each dipping and sand flowing work is completed, the grabbing fixture needs to be cleaned to prevent sand, paint and other debris from adhering to the clamping surface, and also to facilitate subsequent maintenance work. For this purpose, the grabbing fixture also includes a cleaning sleeve 7, a linear cylinder 8 and an annular air knife 9.

[0080] The cleaning sleeve 7 is coaxially sleeved on the outside of the electric turntable 1, and a sealing ring is provided between the two to prevent paint and cleaning from contaminating the electric turntable 1. At the same time, the linear cylinder 8 is fixed on the end of the electric turntable 1 away from the clamping finger 3. The annular air knife 9 is coaxially fixed on the end of the cleaning sleeve 7 away from the linear cylinder 8.

[0081] like Figure 7 As shown, a cavity 7101 is provided in the cylinder wall of the cleaning sleeve 7, and a medium input port 7102 is provided on the outer cylinder wall of the cleaning sleeve 7, and the medium input port 7102 is connected with the jet hole 701 through the cavity 7101. Among them, a plurality of jet holes 701 are provided on the inner side of the cleaning sleeve 7, and the jet holes 701 are used to spray water or air to clean the clamping fingers 3 and the plastic bag 6. In addition, a collecting groove 7103 is provided on the side of the cleaning sleeve 7, and a sewage outlet 7104 is provided on the outer side of the collecting groove 7103. Among them, the collecting groove 7103 is used to collect waste water during cleaning and discharge it through the sewage outlet 7104, and the sewage outlet 7104 is connected to the wastewater collection pipeline through a pipeline.

[0082] When cleaning is required, the annular air knife 9 blows air at the end of the cleaning sleeve 7 to form an air curtain, which prevents the cleaning liquid from splashing out of the cleaning sleeve 7, which is beneficial to the protection of the external environment of the cleaning sleeve 7. At the same time, the linear cylinder 8 drives the cleaning sleeve 7 to move to the outside of the clamping finger 3, wraps the clamping finger 3 and the plastic bag 6, and then sprays the cleaning liquid through the jet hole 701 to rinse the clamping finger 3 and the plastic bag 6. During the rinsing process, the electric turntable 1 rotates slowly to achieve all-round rinsing, and at the same time, it rotates intermittently and quickly to achieve centrifugation to throw away the debris on the clamp. This state is also suitable for throwing away the paint or sand on the clamping finger 3 before rinsing. After rinsing, compressed air is sprayed through the jet hole 701 to blow away the cleaning liquid on the surface of the clamping finger 3 and the plastic bag 6, so that the clamping finger 3 and the plastic bag 6 are dry, which is beneficial to the protection of the external environment of the cleaning sleeve 7.

[0083] It should be noted that the electric turntable 1 is any electric turntable with a cylindrical appearance in the prior art, or Figure 2As shown, the electric turntable 1 has a cylindrical overall appearance. The electric turntable 1 includes a connecting plate, the top of which is connected to the execution end of the robot 100, and the rear end of the connecting plate is fixed with a linear cylinder 8. In the figure, two linear cylinders 8 are provided, and a spin-drying motor is provided between the two linear cylinders 8, wherein the spin-drying motor is fixed on the connecting plate, and the output end of the spin-drying motor passes through the connecting plate forward and is fixedly connected to a cylinder mounting seat. In the figure, a sealing ring is provided on the side of the front end of the cylinder mounting seat, and two sinking grooves are provided on the cylinder mounting seat, and a finger cylinder 2 is fixed in each sinking groove. Combined with Figure 1 In the initial state, the cleaning sleeve 7 is sleeved on the outside of the cylinder mounting seat, and the inner surface of the cleaning sleeve 7 is slidably matched with the sealing ring and sealedly connected. At the same time, the rear end of the cleaning sleeve 7 abuts against the front end surface of the connecting plate. Furthermore, a sealing ring is also provided on the rear end of the cleaning sleeve 7. The initial state refers to the static state of the cleaning sleeve 7 when it is idle.

[0084] In the intelligent casting island, the above-mentioned grabbing fixture is installed on the execution end of the lost foam shell making robot 100, specifically, as Figure 6 As shown, the robot 100 includes an articulated robot 1001, a mounting plate 1002, an electric linear slide 1003 and an articulated mechanical arm 1004, wherein the mounting plate 1002 is fixed on the execution end of the articulated robot 1001; two electric linear slides 1003 are fixed on the mounting plate 1002, the two electric linear slides 1003 are arranged in parallel, and the two electric linear slides 1003 are mirror-symmetrical on both sides of the articulated robot 1001; one articulated mechanical arm 1004 is fixed on the output end of each electric linear slide 1003, and one of the above-mentioned grabbing fixtures is fixed on the execution end of each articulated mechanical arm 1004. When grabbing and cancelling the mold loss, the following steps are included:

[0085] S1, the electric turntable 1 drives the finger cylinder 2, the clamping finger 3, the rubber roller 4 and the driving mechanism 5 to rotate simultaneously, and the attached objects attached to the finger cylinder 2, the clamping finger 3, the rubber roller 4 and the driving mechanism 5 are thrown off, and then the driving mechanism 5 drives the rubber roller 4 to rotate, so that the clean part of the rubber roller 4 originally inside the clamping finger 3 moves to the inside of the notch 301;

[0086] S2, the finger cylinder 2 drives the clamping finger 3 to open, and the robot 100 drives the grasping fixture to move, thereby moving the finger cylinder 2 so that the lost foam enters the gap between the clamping fingers 3;

[0087] S3, the finger cylinder 2 drives the clamping finger 3 to close. During the process, the clamping finger 3 clamps the lost foam through the elastic characteristics of the rubber roller 4 to complete the grasping action.

[0088] In addition to the above grabbing actions, each electric linear slide 1003 drives a joint robot arm 1004 to move horizontally, which is used to cooperate with the lost foam conveyor line to realize independent loading or unloading, meeting the automation requirements of the intelligent casting island.

[0089] At the same time, one of the above-mentioned grabbing fixtures is set on the execution end of each articulated robot arm 1004. When making the shell, the two grabbing fixtures are used to alternately grasp the lost foam, so that the clamped part of the lost foam can also be stained with paint and sand, which is beneficial to improving the casting quality of the intelligent casting island.

[0090] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A robot gripping fixture for shell making, comprising an electric turntable (1), characterized in that: It also includes a finger cylinder (2), a clamping finger (3), a rubber roller (4) and a driving mechanism (5), wherein: One end of the electric turntable (1) is used to connect to the execution end of the robot (100), a pair of finger cylinders (2) are arranged on the output end of the electric turntable (1), and the clamping fingers (3) are fixed on the output end of the finger cylinders (2); The rubber roller (4) is arranged inside the clamping finger (3), and the driving mechanism (5) is fixed outside, and the driving mechanism (5) is used to drive the rubber roller (4) to rotate selectively; The side of the clamping finger (3) is provided with a notch (301), the side of the rubber roller (4) passes through the notch (301), and the clamping finger (3) elastically clamps the lost foam through the rubber roller (4).

2. A shell-making robot grasping fixture as claimed in claim 1, characterized in that: The clamping finger (3) comprises a connecting seat (31) and a steel pipe (32), wherein: One end of the connecting seat (31) is fixedly connected to the output end of the finger cylinder (2), and the other end is fixedly connected to the steel pipe (32) and the driving mechanism (5) respectively; The rubber roller (4) is coaxially arranged on the inner side of the steel pipe (32), and the outer diameter of the rubber roller (4) is equal to the inner diameter of the steel pipe (32). The interior of the rubber roller (4) is wrapped with a plate-shaped support portion (401), and a plurality of the support portions (401) are arranged in a circumferential annular array around the rubber roller (4); The notch (301) is provided on the side of the steel pipe (32), and the vertical distance between the midpoint of the notch (301) and the central axis of the rubber roller (4) is smaller than the vertical distance between the support portion (401) and the central axis of the rubber roller (4); The inner wall of the steel pipe (32) is provided with a friction-reducing coating.

3. A shell-making robot grasping fixture as claimed in claim 2, characterized in that: A wedge-shaped blade (302) is provided on the wall of the steel pipe (32) near the notch (301), wherein: One end of the wedge-shaped blade (302) extends along the axial direction of the rubber roller (4) to the connecting seat (31), and the other end extends in the opposite direction to an end of the steel pipe (32) away from the connecting seat (31); The side of the rubber roller (4) abuts against the cutting edge of the wedge-shaped blade (302).

4. A shell-making robot grasping fixture as claimed in claim 2, characterized in that: The end of the steel pipe (32) away from the connecting seat (31) is in a closed shape, and the driving mechanism (5) comprises a central shaft (51) and a position changing motor (52), wherein: The central shaft (51) passes through the connecting seat (31) and is rotatably connected thereto; one end of the central shaft (51) is transmission-connected to the output end of the position-changing motor (52), and the other end is fixedly connected to the rubber roller (4); The position changing motor (52) is fixed on the connecting seat (31).

5. A shell-making robot grasping fixture as claimed in claim 4, characterized in that: The central axis (51) is coaxially arranged with the rubber roller (4), wherein: One end of the central shaft (51) away from the position changing motor (52) passes through the rubber roller (4), and the central shaft (51) is fixedly connected to the rubber roller (4); One end of the central shaft (51) away from the position changing motor (52) is rotatably connected to one end of the steel pipe (32) away from the connecting seat (31).

6. A shell-making robot grasping fixture as claimed in claim 1, characterized in that: Also included is a plastic bag (6), wherein: One end of the bag opening of the plastic bag (6) is fixed to the output end of the electric turntable (1); The finger cylinder (2) and the driving mechanism (5) are arranged inside the plastic bag (6); The clamping fingers (3) penetrate the plastic bag (6).

7. A shell-making robot grasping fixture as claimed in claim 6, characterized in that: It also includes a cleaning sleeve (7) and a linear cylinder (8), wherein: The cleaning sleeve (7) is coaxially sleeved on the outside of the electric turntable (1); The linear cylinder (8) is fixed on one end of the electric turntable (1) away from the clamping finger (3), and the linear cylinder (8) is used to drive the cleaning sleeve (7) to move to the outside of the clamping finger (3); The inner side of the cleaning sleeve (7) is provided with a plurality of jet holes (701), and the jet holes (701) are used to spray water or air to clean the clamping fingers (3) and the plastic bag (6).

8. A shell-making robot grasping fixture as claimed in claim 7, characterized in that: Also included is an annular air knife (9), wherein: The annular air knife (9) is coaxially fixed on an end of the cleaning sleeve (7) away from the linear cylinder (8); A cavity (7101) is provided in the wall of the cleaning sleeve (7); The outer wall of the cleaning sleeve (7) is provided with a medium input port (7102), and the medium input port (7102) is connected to the jet hole (701) through the cavity (7101); A collecting groove (7103) is provided on the side of the cleaning sleeve (7), and a sewage outlet (7104) is provided on the outer side of the collecting groove (7103).

9. A shell-making robot grasping method, using the grasping fixture according to any one of claims 1 to 8, characterized in that: The following steps are involved: S1, the electric turntable (1) drives the finger cylinder (2), the clamping finger (3), the rubber roller (4) and the driving mechanism (5) to rotate simultaneously, so as to throw away the attachments attached to the finger cylinder (2), the clamping finger (3), the rubber roller (4) and the driving mechanism (5), and then drives the rubber roller (4) to rotate through the driving mechanism (5), so that the clean part of the rubber roller (4) originally inside the clamping finger (3) moves to the inside of the notch (301); S2, the finger cylinder (2) drives the clamping finger (3) to open, and the robot (100) drives the finger cylinder (2) to move, so that the lost foam enters the gap opened by the clamping finger (3); S3, the finger cylinder (2) drives the clamping finger (3) to close. During the process, the clamping finger (3) elastically clamps the lost foam through the rubber roller (4) to complete the grasping action.

10. A shell making robot grasping method as claimed in claim 9, characterized in that: The robot (100) comprises an articulated robot (1001), a mounting plate (1002), an electric linear slide (1003) and an articulated mechanical arm (1004), wherein: The mounting plate (1002) is fixed on the execution end of the articulated robot (1001); Two electric linear slides (1003) are fixed on the mounting plate (1002), the two electric linear slides (1003) are arranged in parallel, and the two electric linear slides (1003) are mirror-symmetrical on both sides of the articulated robot (1001); One articulated robotic arm (1004) is fixed on the output end of each of the electric linear slides (1003), and a grabbing fixture as described in any one of claims 1 to 8 is fixed on the execution end of each of the articulated robotic arms (1004).

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