Manipulator for casting production

Abstract

The invention belongs to the related technical field of mechanical arms, and particularly discloses a casting production mechanical arm which comprises an assembly frame, a first conveying mechanism and a second conveying mechanism, a sliding table is connected to the upper portion of the assembly frame through an arranged guide rail mechanism, and the first conveying mechanism is arranged below the assembly frame and is parallel to the assembly frame; the second conveying mechanism is arranged below the assembling frame and is perpendicular to the assembling frame, the second conveying mechanism is close to one end of the first conveying mechanism, the sliding table is connected with a loading table through a lifting mechanism arranged above the sliding table, and second guide rails are arranged on the two sides of the top wall of the sliding table correspondingly; according to the automatic casting machine, a laser position scanner is arranged at the front end of the conveying belt, it is ensured that the casting is aligned with the center of the mechanical arm, deviation is avoided, the clamping precision is improved, the single-side overload risk of the mechanical arm is avoided, and the service life of equipment is prolonged.

Description

Technical Field

[0001] The invention belongs to the technical field related to robots, and specifically discloses a robot for casting production. Background Art

[0002] Castings are metal shaped objects obtained by various casting methods, that is, the smelted liquid metal is poured into a pre-prepared mold by pouring, injection, suction or other casting methods, and after cooling and subsequent processing such as grinding, the resulting object has a certain shape, size and performance; When producing castings such as bases, a robot is needed to transport the castings. The existing robot has poor stability because the castings are not placed in a uniform position during transportation. As a result, the robot is subjected to uneven force when clamping, which causes the robot to overload and reduce its service life. Therefore, we need to improve it. Summary of the invention

[0003] The purpose of the present invention is to solve the problems existing in the background technology, and a robot for casting production is proposed, including an assembly frame, a first conveying mechanism and a second conveying mechanism. The assembly frame is connected to a slide through a guide rail mechanism above the assembly frame, the first conveying mechanism is arranged below the assembly frame and parallel to the assembly frame, the second conveying mechanism is arranged below the assembly frame and perpendicular to the assembly frame, and the second conveying mechanism is close to one end of the first conveying mechanism, the slide is connected to a loading platform through a lifting mechanism arranged above, second guide rails are arranged on both sides of the top wall of the loading platform, mechanical clamping mechanisms are arranged at both ends of the outer sides of two groups of the second guide rails, and a position scanning mechanism is arranged on the outer wall of one end of the assembly frame.

[0004] Preferably, the guide rail mechanism includes first guide rails respectively installed on both sides above the assembly frame, two groups of the first guide rails are slidably matched with the slide, a mounting block is fixedly provided on the lower surface of one side of the slide, a second hydraulic cylinder is provided on one side of the mounting block, and the second hydraulic cylinder is fixedly provided on the outside of one group of the first guide rails.

[0005] Preferably, the lifting mechanism includes a first hydraulic cylinder fixedly arranged in the middle above the slide, the telescopic end of the first hydraulic cylinder is connected to the outer side of the loading platform, guide rods are symmetrically arranged on both sides of the upper surface of the loading platform, and the guide rods are slidably matched with the slide.

[0006] Preferably, the mechanical clamping mechanism includes clamping arms that slide respectively on one end of the outer side of the second guide rail, and fourth hydraulic cylinders are fixedly arranged on both sides of the outer wall of the loading platform. The two groups of clamping arms on the same side are connected by a commonly arranged mounting seat, and the telescopic end of the fourth hydraulic cylinder is connected to the outer side of the mounting seat, and the outer surfaces of the two groups of clamping arms on the same side are provided with clamping members.

[0007] Preferably, the clamping member includes a movable platform which is slidably mounted on the outer surfaces of two groups of clamp arms on the same side, a clamp plate is fixedly provided at the lower end of the movable platform, a sliding member is provided inside the clamp plate, and a frame plate is commonly connected to the outer surfaces of the two groups of clamp arms on the same side near the top, and the lower end of the frame plate is connected to the upper surface of the movable platform through an electric push cylinder.

[0008] Preferably, the sliding member includes a third hydraulic cylinder fixedly arranged on one side of the clamping plate, a clamping rod is fixedly arranged at the telescopic end of the third hydraulic cylinder, positioning platforms are respectively installed at both ends of the clamping rod, sliding rods are extended from the rear ends of the two groups of positioning platforms, and the sliding rods are slidably matched with the clamping plate.

[0009] Preferably, the position scanning mechanism comprises a bracket fixedly arranged on an outer wall of one side of the assembly frame, and laser scanners are arranged at both ends of the bracket.

[0010] Preferably, a mounting rod is provided on the inner top wall of the loading platform, a telescopic cylinder is fixedly provided at the lower part of the mounting rod, clamping rods are slidably installed at both ends of the telescopic cylinder, the ends of the two clamping rods away from each other are respectively connected to the outer surfaces of the clamping arms at the corresponding ends, and support arms are obliquely provided on the outer sides of the two clamping rods, and cylinders are rotatably installed on the upper edges of the two groups of support arms close to each other, the telescopic end of the cylinder is connected to a sliding frame via a rotatably installed connecting seat, a clamping block is slidably installed inside the sliding frame, a frame is provided at the lower end of the clamping block, the frame and the support arm are rotatably connected via a bracket set on the upper edge of the support arm, and a plurality of guide cylinders are installed inside the frame.

[0011] Preferably, the first conveying mechanism is provided with fixed blocks on both sides of one end away from the support arm, and a rolling cylinder is rotatably connected between the two groups of fixed blocks. A motor is provided at one end of the rolling cylinder, and the motor is fixedly connected to the outer wall of one group of fixed blocks.

[0012] Compared with the prior art, the present invention has the following beneficial effects: 1. By setting up the first conveying mechanism and the second conveying mechanism, efficient conveying of castings in different directions is achieved, and the close design of the second conveying mechanism and the first conveying mechanism facilitates the rapid transfer and positioning of castings.

[0013] 2. Through the position scanning mechanism, when the workpiece is placed above the first conveying mechanism after casting, the position can be quickly scanned, and the position of the casting can be centered through the guide tubes at the front ends of the two sets of arms, so that the clamping arms on both sides of the slide can be evenly stressed and more stable when clamping the workpiece.

[0014] 3. Through the setting of the rolling and rubbing drum, when the casting is clamped with the symmetrically set clamping arms, the clamping plate can be lifted to cause the workpiece to be separated from the first conveying mechanism, and then pass over the rolling and rubbing drum. The motor drives the rolling and rubbing drum to rotate. The rolling and rubbing drum can roll and clean the friction area just guided, and then transport it to the second conveying mechanism through the guide rail mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic diagram of the overall connection structure of the present invention from another angle; Figure 3 It is a schematic diagram of the connection structure between the loading platform and the clamping arm of the present invention; Figure 4 It is a schematic diagram of the connection structure between the loading platform and the clamping arm of the present invention from another angle; Figure 5 It is a schematic diagram of the partial structural connection between the support arm and the frame of the present invention; Figure 6 For the present invention Figure 1 Enlarged structural diagram at A in the middle.

[0016] In the figure: 1, assembly frame; 2, first conveying mechanism; 3, second conveying mechanism; 4, first guide rail; 5, loading platform; 6, slide; 7, first hydraulic cylinder; 8, second hydraulic cylinder; 9, bracket; 10, support arm; 11, third hydraulic cylinder; 12, laser scanner; 13, mounting block; 14, frame; 15, movable table; 16, electric push cylinder; 17, clamping plate; 18, clamping rod; 19, positioning table; 20, guide rod; 21, clamping rod; 22, telescopic cylinder; 23, second guide rail; 24, clamping arm; 25, fourth hydraulic cylinder; 26, mounting rod; 27, cylinder; 28, slide frame; 29, connecting seat; 30, clamping block; 31, frame; 32, guide cylinder; 33, frame; 34, rolling cylinder; 35, motor; 36, mounting seat. DETAILED DESCRIPTION

[0017] In order to more clearly understand the above-mentioned objects, features and advantages of the present invention, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0018] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0019] like Figure 1-Figure 6A casting production robot shown in the figure comprises an assembly frame 1, a first conveying mechanism 2 and a second conveying mechanism 3, a slide 6 is connected to the assembly frame 1 via a guide rail mechanism, the first conveying mechanism 2 is arranged below the assembly frame 1 and is arranged parallel to the assembly frame 1, the second conveying mechanism 3 is arranged below the assembly frame 1 and is arranged vertically to the assembly frame 1, and the second conveying mechanism 3 is close to one end of the first conveying mechanism 2, the slide 6 is connected to the loading platform 5 via a lifting mechanism arranged above, second guide rails 23 are arranged on both sides of the top wall of the loading platform 5, mechanical clamping mechanisms are arranged at both ends of the outer sides of the two sets of second guide rails 23, and a position scanning mechanism is arranged on the outer wall of one end of the assembly frame 1; The first conveying mechanism 2 and the second conveying mechanism 3 are both constituted by electric rotary roller conveying devices, which can transport workpieces independently.

[0020] The guide rail mechanism includes first guide rails 4 respectively installed on both sides above the assembly frame 1, and the two groups of first guide rails 4 are slidably matched with the slide 6. A mounting block 13 is fixedly provided on the lower surface of one side of the slide 6, and a second hydraulic cylinder 8 is provided on one side of the mounting block 13. The second hydraulic cylinder 8 is fixedly provided on the outside of one group of first guide rails 4; The second hydraulic cylinder 8 drives the mounting block 13 to move horizontally, which can drive the slide 6 to move horizontally on the two sets of first guide rails 4, so as to facilitate transportation.

[0021] The lifting mechanism includes a first hydraulic cylinder 7 fixedly arranged in the middle above the slide 6. The telescopic end of the first hydraulic cylinder 7 is connected to the outside of the loading platform 5. Guide rods 20 are symmetrically arranged on both sides of the upper surface of the loading platform 5. The guide rods 20 are slidably matched with the slide 6. Under the lifting drive of the first hydraulic cylinder 7, the loading platform 5 can slide inside the slide 6, thereby facilitating the subsequent lifting and transfer of the casting.

[0022] The mechanical clamping mechanism includes clamping arms 24 that slide on one end of the outer side of the second guide rail 23, and fourth hydraulic cylinders 25 are fixedly arranged on both sides of the outer wall of the loading platform 5. The two groups of clamping arms 24 on the same side are connected through a commonly arranged mounting seat 36. The telescopic end of the fourth hydraulic cylinder 25 is connected to the outer side of the mounting seat 36, and the outer surfaces of the two groups of clamping arms 24 on the same side are both provided with clamping members. Under the telescopic drive of the fourth hydraulic cylinder 25, the mounting seat 36 is driven to move, so that the two groups of clamping arms 24 are close to each other, which can facilitate the subsequent clamping of the casting.

[0023] The clamping member includes a movable platform 15 slidably mounted on the outer surface of two groups of clamping arms 24 on the same side. A clamping plate 17 is fixedly arranged at the lower end of the movable platform 15. A sliding member is arranged inside the clamping plate 17. The outer surface of the two groups of clamping arms 24 on the same side and near the upper part are commonly connected with a frame plate 14. The lower end of the frame plate 14 is connected to the upper surface of the movable platform 15 through an electric push cylinder 16. An electric push cylinder 16 is provided at the upper end of the movable platform 15. When clamping and lifting smaller castings, it can be completed only by the electric push cylinder 16, and there is no need to drive the entire structure of the loading platform 5 to move up by lifting the first hydraulic cylinder 7, which increases the flexibility of the traditional machinery when used.

[0024] The sliding member includes a third hydraulic cylinder 11 fixedly arranged on one side of the clamping plate 17, a clamping rod 18 is fixedly arranged at the telescopic end of the third hydraulic cylinder 11, and positioning platforms 19 are respectively installed at both ends of the clamping rod 18. The rear ends of the two sets of positioning platforms 19 are extended with sliding rods, and the sliding rods are slidably matched with the clamping plate 17; Driven by the third hydraulic cylinder 11, the clamping rod 18 drives the positioning platform 19 and the sliding rod to approach the casting until the positioning platform 19 abuts against the outer surface of the casting to clamp it and ensure the stability of subsequent movement.

[0025] The position scanning mechanism comprises a bracket 9 fixedly arranged on the outer wall of one side of the assembly frame 1, and laser scanners 12 are arranged at both ends of the bracket 9; The laser scanner 12 is an existing device commonly used in the industrial field, including a measuring platform, a laser system, a GPS, a small-format digital camera and other accessories, which will not be described in detail.

[0026] A mounting rod 26 is provided on the inner top wall of the loading platform 5, a telescopic cylinder 22 is fixedly provided at the lower part of the mounting rod 26, clamping rods 21 are slidably installed at both ends of the telescopic cylinder 22, and the ends of the two clamping rods 21 that are far away from each other are respectively connected to the outer surfaces of the clamping arms 24 at the corresponding ends, and the outer sides of the two clamping rods 21 are inclinedly provided with support arms 10, and the upper edges of the two groups of support arms 10 that are close to each other are rotatably installed with cylinders 27, and the telescopic ends of the cylinders 27 are connected to the sliding frames 28 through the rotatably installed connecting seats 29, and a clamping block 30 is slidably installed inside the sliding frame 28, and a frame 33 is provided at the lower end of the clamping block 30, and the frame 33 is rotatably connected to the support arms 10 through the bracket seat 31 provided on the upper edge of the support arms 10, and multiple groups of guide cylinders 32 are installed inside the frame 33; The telescopic cylinder 22 can be stably mounted to the lower end of the loading platform 5 by means of the mounting rod 26, so that the two clamping rods 21 can cooperate to slide and telescope when the guiding casting is centered; The slide frame 28 at the front end can be adjusted by the cylinder 27, and the slide frame 28 is telescopically driven on one side, so that the block 30 can drive the frame 33 at the lower end to adjust the angle, thereby changing the opening degree of the frame 33, so that the guide tube 32 can contact the outer surface of the casting; When the casting is transported to the laser scanner 12 area through the first conveying mechanism 2, the two clamping rods 21 and the clamping arms 24 can move away from and towards each other under the drive of the fourth hydraulic cylinder 25, and the clamping rod 21 drives the front end support arm 10 to move, so that the guide cylinder 32 at the support arm 10 can contact the workpiece, and a bend is provided at the end of the support arm 10 away from the clamping rod 21, and the main structure of the frame 33 is arranged at the bend. Therefore, when the workpiece moves to the clamping plate 17 after passing through the frame 33, the two sets of adjacent clamping plates 17 will not hinder the entry of the casting.

[0027] The first conveying mechanism 2 is provided with fixed blocks on both sides of one end away from the support arm 10, and a rolling cylinder 34 is rotatably connected between the two sets of fixed blocks. A motor 35 is provided at one end of the rolling cylinder 34, and the motor 35 is fixedly connected to the outer wall of one set of fixed blocks; The fixing block is used to install the middle rolling cylinder 34 to one side edge of the first conveying mechanism 2. When the casting passes by, the casting is lifted to clean its lower surface to ensure the quality of the casting during transportation.

[0028] Working principle: When in use, the casting is transported to the inside of the assembly frame 1 through the first conveying mechanism 2. After being scanned by the laser scanner 12 at the front end of the assembly frame 1, the fourth hydraulic cylinder 25 adjusts the two groups of clamping arms 24 to be close to each other, so that the frames 33 at the support arms 10 are close to each other, and the guide cylinder 32 inside the frame 33 is in rolling contact with the outer surface of the casting. Under the position adjustment of the clamping arms 24 and the clamping rod 21, the position of the casting can be changed in direction by the guide cylinder 32 during the movement, ensuring that the workpiece can be set close to the center. The purpose is to facilitate the subsequent two groups of clamping arms 24 to pass through the positioning table 19 when clamping the casting. The clamping arms 24 on both sides are subjected to the same force, and then the casting is transported to the center between the two groups of clamping plates 17, and the corresponding third hydraulic cylinder 11 drives the clamping rods 18 to be close to each other. Until the outer surface of the positioning platform 19 abuts against the outer side of the casting and the casting is fixed, the first hydraulic cylinder 7 drives the entire structure of the loading platform 5 to move upward, so that the casting can pass over the top of the rolling drum 34 and be transported to the side of the second conveying mechanism 3. At this time, the second hydraulic cylinder 8 drives the mounting block 13 and the slide 6 to move to the rear end, causing the loading platform 5 and the slide 6 to move toward the second conveying mechanism 3. During the movement, when the casting passes the area above the rolling drum 34, the motor 35 drives the rolling drum 34 to rotate rapidly, so that the rolling drum 34 rolls the lower surface of the casting to process the bottom scratches that were previously moved, and then moves the loading platform 5 downward to place the casting on the second conveying mechanism 3. Finally, the casting is transported to another direction through the second conveying mechanism 3 for subsequent processing.

[0029] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments, and the above embodiments and descriptions only describe the principles of the present invention. The present invention may be subject to various changes and improvements without departing from the spirit and scope of the present invention, and these changes and improvements fall within the scope of the present invention claimed.

Claims

1. A robot for casting production, comprising an assembly frame (1), a first conveying mechanism (2) and a second conveying mechanism (3), characterized in that: The assembly frame (1) is connected to a slide table (6) via a guide rail mechanism disposed above the assembly frame (1); the first conveying mechanism (2) is disposed below the assembly frame (1) and is disposed parallel to the assembly frame (1); the second conveying mechanism (3) is disposed below the assembly frame (1) and is disposed perpendicular to the assembly frame (1); the second conveying mechanism (3) is close to one end of the first conveying mechanism (2); the slide table (6) is connected to a loading platform (5) via a lifting mechanism disposed above; second guide rails (23) are disposed on both sides of the top wall of the loading platform (5); mechanical clamping mechanisms are disposed at both ends of the outer sides of the two sets of the second guide rails (23); and a position scanning mechanism is disposed on the outer wall of one end of the assembly frame (1).

2. A casting production robot according to claim 1, characterized in that: The guide rail mechanism comprises first guide rails (4) respectively mounted on both sides above the assembly frame (1); two groups of the first guide rails (4) are slidably matched with the slide table (6); a mounting block (13) is fixedly arranged on the lower surface of one side of the slide table (6); a second hydraulic cylinder (8) is arranged on one side of the mounting block (13); and the second hydraulic cylinder (8) is fixedly arranged outside one group of the first guide rails (4).

3. A casting production robot according to claim 1, characterized in that: The lifting mechanism comprises a first hydraulic cylinder (7) fixedly arranged in the middle above the slide (6); the telescopic end of the first hydraulic cylinder (7) is connected to the outer side of the loading platform (5); guide rods (20) are symmetrically arranged on both sides of the upper surface of the loading platform (5); the guide rods (20) are slidably matched with the slide (6).

4. A casting production robot according to claim 1, characterized in that: The mechanical clamping mechanism comprises clamping arms (24) respectively sliding on one end of the outer side of the second guide rail (23), fourth hydraulic cylinders (25) are fixedly arranged on both sides of the outer wall of the loading platform (5), two groups of the clamping arms (24) on the same side are connected via a commonly arranged mounting seat (36), the telescopic end of the fourth hydraulic cylinder (25) is connected to the outer side of the mounting seat (36), and the outer surfaces of the two groups of the clamping arms (24) on the same side are both provided with clamping members.

5. A casting production robot according to claim 4, characterized in that: The clamping member comprises a movable platform (15) slidably mounted on the outer surfaces of two groups of clamping arms (24) on the same side, a clamping plate (17) is fixedly arranged at the lower end of the movable platform (15), a sliding member is arranged inside the clamping plate (17), and a frame plate (14) is commonly connected to the outer surfaces of the two groups of clamping arms (24) on the same side and near the upper part, and the lower end of the frame plate (14) is connected to the upper surface of the movable platform (15) through an electric push cylinder (16).

6. A casting production robot according to claim 5, characterized in that: The sliding member comprises a third hydraulic cylinder (11) fixedly arranged on one side of the clamping plate (17); a clamping rod (18) is fixedly arranged at the telescopic end of the third hydraulic cylinder (11); positioning platforms (19) are respectively installed at both ends of the clamping rod (18); sliding rods are extended from the rear ends of the two groups of positioning platforms (19), and the sliding rods are slidably matched with the clamping plate (17).

7. A casting production robot according to claim 1, characterized in that: The position scanning mechanism comprises a bracket (9) fixedly arranged on an outer wall of one side of the assembly frame (1), and laser scanners (12) are arranged at both ends inside the bracket (9).

8. A casting production robot according to claim 7, characterized in that: The inner top wall of the loading platform (5) is provided with a mounting rod (26), a telescopic cylinder (22) is fixedly provided at the lower part of the mounting rod (26), clamping rods (21) are slidably installed at both ends of the telescopic cylinder (22), the ends of the two clamping rods (21) that are away from each other are respectively connected to the outer surfaces of the clamping arms (24) at the two ends, and the outer sides of the two clamping rods (21) are obliquely provided with support arms (10), and cylinders (27) are rotatably installed on the upper edges of the two groups of support arms (10) that are close to each other, and the telescopic ends of the cylinders (27) are connected to the sliding frame (28) through a rotatably installed connecting seat (29), and a clamping block (30) is slidably installed inside the sliding frame (28), and a frame (33) is provided at the lower end of the clamping block (30), and the frame (33) is rotatably connected to the support arm (10) through a bracket (31) provided on the upper edge of the support arm (10), and a plurality of guide cylinders (32) are installed inside the frame (33).

9. A casting production robot according to claim 8, characterized in that: Fixed blocks are arranged on both sides of one end of the first conveying mechanism (2) away from the support arm (10); a rolling cylinder (34) is rotatably connected between the two groups of fixed blocks; a motor (35) is arranged at one end of the rolling cylinder (34); and the motor (35) is fixedly connected to the outer wall of one group of fixed blocks.

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