A robot for casting production

Abstract

The present invention belongs to the technical field related to robots, and specifically discloses a robot for casting production, 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. 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 slide, and mechanical clamping mechanisms are arranged at both ends of the outer sides of two groups of the second guide rails. A position scanning mechanism is arranged on the outer wall of one end of the assembly frame. The present invention ensures that the casting is aligned with the center of the robot arm by arranging a laser position scanner at the front end of the conveyor belt, avoids offset, improves clamping accuracy, avoids the risk of unilateral overload of the robot arm, and extends the life of the equipment.

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, smelted liquid metal is poured into a pre-prepared mold by pouring, injection, suction or other casting methods, and then cooled and polished to obtain an object with a certain shape, size and performance.

[0003] 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, resulting in excessive load on the robot and reducing its service life. Therefore, we need to improve it. Summary of the Invention

[0004] The purpose of the present invention is to solve the problems existing in the background technology, and a robot for casting production is proposed, which includes 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. 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, and mechanical clamping mechanisms are arranged at both ends of the outer sides of the two groups of second guide rails. A position scanning mechanism is arranged on the outer wall of one end of the assembly frame.

[0005] Preferably, the guide rail mechanism includes first guide rails respectively installed on both sides above the assembly frame, and the two groups of the first guide rails are slidably fitted with the slide. A mounting block is fixedly provided on the lower surface of one side of the slide, and a second hydraulic cylinder is provided on one side of the mounting block. The second hydraulic cylinder is fixedly provided on the outside of one of the groups of first guide rails.

[0006] 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 outside of the loading platform, and guide rods are symmetrically arranged on both sides of the upper surface of the loading platform, and the guide rods are slidably fitted with the slide.

[0007] Preferably, the mechanical clamping mechanism includes clamping arms that slide on one end of the outer side of the second guide rail respectively, and a fourth hydraulic cylinder is fixedly provided on both sides of the outer wall of the loading platform. The two groups of clamping arms on the same side are connected through a commonly provided 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 parts.

[0008] Preferably, the clamping member includes a movable platform that is slidably installed on the outer surfaces of two groups of clamping arms on the same side, a clamping plate is fixedly provided at the lower end of the movable platform, a sliding member is provided inside the clamping plate, and the outer surfaces of the two groups of clamping arms on the same side are commonly connected with a frame plate 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.

[0009] Preferably, the sliding member includes a third hydraulic cylinder fixedly arranged on one side of the splint, a clamping rod is fixedly arranged at the telescopic end of the third hydraulic cylinder, positioning platforms are respectively installed at both ends inside the clamping rod, and sliding rods are extended from the rear ends of the two groups of positioning platforms, and the sliding rods are slidably fitted with the splint.

[0010] 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 interior of the bracket.

[0011] 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, and clamping rods are slidably installed at both ends of the telescopic cylinder, and 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, and the telescopic ends of the cylinders are connected to the sliding frame through a rotatably installed connecting seat, and a clamping block is slidably installed inside the sliding frame, and a frame is provided at the lower end of the clamping block, and the frame and the support arm are rotatably connected through a bracket set on the upper edge of the support arm, and multiple groups of guide cylinders are installed inside the frame.

[0012] Preferably, the first conveying mechanism is provided with fixed blocks on both sides of one end away from the support arm, and a rolling drum is connected between the two groups of fixed blocks for common rotation. A motor is provided at one end of the rolling drum, and the motor is fixedly connected to the outer wall of one group of fixed blocks.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] 1. The first conveying mechanism and the second conveying mechanism are provided to realize efficient conveying of castings in different directions, and the close design of the second conveying mechanism and the first conveying mechanism facilitates the rapid transfer and positioning of castings.

[0015] 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 cylinders at the front ends of the two sets of support arms, so that the clamping arms on both sides of the slide can be evenly stressed, which can ensure stability when clamping the workpiece.

[0016] 3. Through the provided rolling friction drum, when the casting is clamped with the symmetrically provided clamping arms, the clamping plate can be lifted to cause the workpiece to separate from the first conveying mechanism, and then pass over the rolling friction drum. The motor drives the rolling friction drum to rotate, and the rolling friction 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

[0017] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0018] Figure 2 This is a schematic diagram of the overall connection structure of the present invention from another angle;

[0019] Figure 3 Schematic diagram of the connection structure between the loading platform and the clamping arm of the present invention;

[0020] Figure 4 A schematic diagram of the connection structure between the loading platform and the clamping arm of the present invention from another angle;

[0021] Figure 5 This is a schematic diagram of the partial structural connection between the support arm and the frame of the present invention;

[0022] Figure 6 For the present invention Figure 1 Enlarged structural diagram at point A in the middle.

[0023] 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

[0024] 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.

[0025] 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.

[0026] like Figures 1-6The robot arm for casting production shown in the figure includes an assembly frame 1, a first conveying mechanism 2 and a second conveying mechanism 3. The assembly frame 1 is connected to a slide 6 via a guide rail mechanism. The first conveying mechanism 2 is arranged below the assembly frame 1 and parallel to the assembly frame 1. The second conveying mechanism 3 is arranged below the assembly frame 1 and perpendicular to the assembly frame 1. The second conveying mechanism 3 is close to one end of the first conveying mechanism 2, and the slide 6 is connected to a loading platform 5 via a lifting mechanism arranged above. Second guide rails 23 are provided on both sides of the top wall of the loading platform 5. Mechanical clamping mechanisms are provided at both ends of the outer sides of the two sets of second guide rails 23. A position scanning mechanism is provided on the outer wall of one end of the assembly frame 1.

[0027] The first conveying mechanism 2 and the second conveying mechanism 3 are both composed of electric rotary roller conveying devices, which can transport workpieces independently.

[0028] The guide rail mechanism includes first guide rails 4 respectively installed on both sides above the assembly frame 1. The two sets of first guide rails 4 are slidably engaged with the slide 6. A mounting block 13 is fixedly provided on the lower surface of one side of the slide 6. 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 set of first guide rails 4.

[0029] 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.

[0030] 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 in sliding engagement with the slide 6.

[0031] 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.

[0032] The mechanical clamping mechanism includes a clamping arm 24 that slides on one end of the outer side of the second guide rail 23. A fourth hydraulic cylinder 25 is fixedly installed on both sides of the outer wall of the loading platform 5. The two sets of clamping arms 24 on the same side are connected by a commonly provided mounting base 36. The telescopic end of the fourth hydraulic cylinder 25 is connected to the outer side of the mounting base 36. The outer surfaces of the two sets of clamping arms 24 on the same side are provided with clamping members.

[0033] Under the telescopic drive of the fourth hydraulic cylinder 25, the mounting base 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.

[0034] The clamping member includes a movable platform 15 slidably mounted on the outer surface of two sets of clamping arms 24 on the same side. A clamping plate 17 is fixedly installed at the lower end of the movable platform 15. A sliding member is provided inside the clamping plate 17. The outer surface of the two sets of clamping arms 24 on the same side and near the top are commonly connected to 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.

[0035] 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 traditional machinery when used.

[0036] 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. Positioning platforms 19 are respectively installed at both ends of the clamping rod 18. Sliding rods extend from the rear ends of the two sets of positioning platforms 19, and the sliding rods are slidably engaged with the clamping plate 17.

[0037] Driven by the third hydraulic cylinder 11 , the clamping rod 18 drives the positioning platform 19 and the slide rod toward the casting until the positioning platform 19 abuts against the outer surface of the casting, clamping it to ensure the stability of subsequent movement.

[0038] The position scanning mechanism includes a bracket 9 fixedly mounted on the outer wall of one side of the assembly frame 1, and laser scanners 12 are provided at both ends of the bracket 9;

[0039] 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.

[0040] A mounting rod 26 is provided on the inner top wall of the loading platform 5, and 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 corresponding ends. Support arms 10 are obliquely provided on the outer sides of the two clamping rods 21. Cylinders 27 are rotatably installed on the upper edges of the two groups of support arms 10 that are close to each other. The telescopic ends of the cylinders 27 are connected to the sliding frames 28 through the rotatably installed connecting seats 29. A clamping block 30 is slidably installed inside the sliding frame 28. A frame 33 is provided at the lower end of the clamping block 30. The frame 33 is rotatably connected to the support arms 10 through a bracket 31 provided on the upper edge of the support arms 10. Multiple groups of guide cylinders 32 are installed inside the frame 33.

[0041] The telescopic cylinder 22 can be stably mounted to the lower end of the loading platform 5 by means of the provided mounting rod 26, so that the two clamping rods 21 can slide and telescope in coordination when the guide casting is centered;

[0042] The front sliding frame 28 is adjustable by the provided cylinder 27. The sliding frame 28 is telescopically driven on one side, so that the clamping block 30 can drive the lower frame 33 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.

[0043] 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 approach each other under the drive of the fourth hydraulic cylinder 25. The clamping rod 21 drives the front 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. The main structure of the frame 33 is arranged at this 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.

[0044] The first conveying mechanism 2 is provided with fixed blocks on both sides of one end away from the support arm 10. A roller 34 is connected to the two sets of fixed blocks for common rotation. A motor 35 is provided at one end of the roller 34, and the motor 35 is fixedly connected to the outer wall of one set of fixed blocks.

[0045] 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.

[0046] Working principle: When in use, the casting is transported to the inside of the assembly stand 1 through the first conveying mechanism 2. After being scanned by the laser scanner 12 at the front end of the assembly stand 1, the fourth hydraulic cylinder 25 adjusts the two groups of clamping arms 24 to move closer to each other, causing the frames 33 at the support arms 10 to move closer to each other. The guide cylinder 32 inside the frame 33 rolls in 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. Subsequently, 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 move closer to each other. Until the outer surface of the positioning platform 19 is 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 position 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.

[0047] The basic principles, main features, and advantages of the present invention are shown and described above. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions only describe the principles of the present invention. Various changes and improvements are possible without departing from the spirit and scope of the present invention, and such changes and improvements fall within the scope of the invention as claimed.

Claims

1. A casting production robot, 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 (6) via a guide rail mechanism above the assembly frame (1), 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 perpendicular 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 a loading platform (5) via a lifting mechanism arranged above, the loading platform (5) is provided with second guide rails (23) on both sides of the top wall, and mechanical clamping mechanisms are provided at both ends of the outer sides of the two groups of the second guide rails (23), and a position scanning mechanism is provided on the outer wall of one end of the assembly frame (1); 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 provided 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 provided 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 provided with clamping members. The clamping member comprises 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 provided at the lower end of the movable platform (15), a sliding member is provided inside the clamping plate (17), and a frame plate (14) is commonly connected to the outer surface of the two groups of clamping arms (24) on the same side 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); 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), and 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 away from each other are respectively connected to the outer surfaces of the clamping arms (24) at the two ends. Support arms (10) are tiltedly provided on the outer sides of the two clamping rods (21), and cylinders (27) are rotatably installed on the upper edges of the two groups of support arms (10) that are close to each other. 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). 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). Multiple groups of guide cylinders (32) are installed inside the frame (33).

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 engaged with the slide (6); a mounting block (13) is fixedly provided on the lower surface of one side of the slide (6); a second hydraulic cylinder (8) is provided on one side of the mounting block (13); and the second hydraulic cylinder (8) is fixedly provided on the outside of one group of the first guide rails (4).

3. A casting production robot according to claim 1, characterized in that: 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), and guide rods (20) are symmetrically arranged on both sides of the upper surface of the loading platform (5), and the guide rods (20) are slidably matched with the slide (6).

4. A casting production robot according to claim 1, characterized in that: The sliding member includes a third hydraulic cylinder (11) fixedly arranged on one side of the clamping plate (17), a clamping rod (18) fixedly arranged at the telescopic end of the third hydraulic cylinder (11), and positioning platforms (19) are respectively installed at both ends inside the clamping rod (18), and 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).

5. 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).

6. A casting production robot according to claim 1, characterized in that: Fixed blocks are provided on both sides of one end of the first conveying mechanism (2) away from the support arm (10), and a rolling drum (34) is connected to the two groups of fixed blocks for common rotation. A motor (35) is provided at one end of the rolling drum (34), and the motor (35) is fixedly connected to the outer wall of one group of fixed blocks.

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