Clamping gripper and row-by-row casting method for precision casting mold shells

Abstract

The invention provides a clamping gripper and a precision casting mold shell row-by-row pouring method, and particularly relates to the technical field of precision casting. The clamping gripper comprises a gripper frame, a clamp assembly, an opening and closing mechanism, a positioning mechanism, a heat insulation shield and a bearing support. Wherein the clamp assembly is arranged at one end of the gripper frame, and the clamp assembly comprises a plurality of clamps which are arranged in rows; the opening and closing mechanism is arranged on the gripper frame and hinged to the clamp assembly, and the opening and closing mechanism is used for controlling opening and closing of the clamp assembly; the positioning mechanism is arranged at the other end, away from the clamp assembly, of the gripper frame and used for enabling the clamping gripper to be in butt joint with the mechanical arm. The heat insulation shield covers the outer part of the gripper frame; and the bearing bracket is used for supporting the gripper frame and is matched with the positioning mechanism to realize butt joint with the manipulator. The clamping gripper can be used for conveying precision casting mold shells in rows, so that row-by-row pouring is completed, and the pouring efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of precision casting, and in particular to a clamping gripper and a precision casting mold shell row pouring method. Background Art

[0002] Traditional precision casting mostly uses a method where a single high-temperature mold shell is clamped by a handheld steel fork and poured in front of a melting furnace. This method has problems such as high working environment temperature, high labor intensity, low production efficiency, and many work-related accidents, which seriously restrict the scale and healthy development of the precision casting industry.

[0003] With the development and application of industrial automation technology, there have been application cases of using robots to clamp a single hot mold for casting in recent years. Since the robot can only clamp one hot mold at a time, and the robot needs to continuously complete multiple processes such as mold roasting and loading, hot mold unloading, casting, and unloading, the operation stroke and beat are long, and the production efficiency is very low. There are also cases where two robots work together, but they still cannot meet the demand for high production efficiency. At the same time, there are problems such as large investment and high operating costs. There are also cases where positioning blocks are set at the bottom of the mold, the mold is placed on a mobile car with a positioning sleeve for precise positioning and arrangement, and then transported to the front of the smelting furnace for casting. The tooling investment is large, which also increases the difficulty of operation.

[0004] Therefore, it is necessary to provide a clamping gripper for conveying mold shells in rows and a method for pouring precision casting mold shells in rows to improve the above problems. Summary of the invention

[0005] In view of the above problems existing in the prior art, the present invention provides a clamping gripper and a precision casting mold shell row casting method to improve the problem of low precision casting efficiency.

[0006] To achieve the above-mentioned purpose and other related purposes, the present invention provides a clamping gripper, which includes a gripper frame, a clamp assembly, an opening and closing mechanism, a positioning mechanism, a heat insulation shield and a supporting bracket; the clamp assembly is arranged at one end of the gripper frame, and the clamp assembly includes a plurality of clamps arranged in a row; the opening and closing mechanism is arranged on the gripper frame and is hinged to the clamp assembly, and the opening and closing mechanism is used to control the opening and closing of the clamp assembly; the positioning mechanism is arranged at the other end of the gripper frame away from the clamp assembly, and is used to dock the clamping gripper with a robot; the heat insulation shield covers the outside of the gripper frame; the supporting bracket is used to support the gripper frame and cooperate with the positioning mechanism to achieve docking with the robot.

[0007] In one example of the present invention, the opening and closing mechanism includes a moving rod, a guide rod, a spring assembly and a driving device, the spring assembly includes a spring sleeve and a compression spring located in the spring sleeve, the spring sleeve is fixed to the end of the gripper frame, the moving rod is arranged on the gripper frame along the arrangement direction of the multiple clamps, one end of the guide rod is sleeved in the compression spring, and the other end is fixedly connected to the moving rod, the gripper frame is provided with a groove for the moving rod to move, and the guide rod drives the moving rod to move in the groove under the action of the driving device.

[0008] In one example of the present invention, the clamp assembly includes multiple clamps and multiple connecting rod mechanisms, the clamp includes a first clamp arm, a second clamp arm and a rotating assembly, the first clamp arm is rotatably connected to the second clamp arm through the rotating assembly, and the clamp is fixed to the gripper frame through the rotating assembly; the connecting rod mechanism includes a first connecting rod, a second connecting rod, a first connecting pin, a second connecting pin and a third connecting pin, one end of the first connecting rod is hinged to the first clamp arm through the first connecting pin, and the other end is hinged to the third connecting pin, one end of the second connecting rod is hinged to the second clamp arm through the second connecting pin, and the other end is hinged to the third connecting pin, and the third connecting pin is hinged to the moving rod.

[0009] In one example of the present invention, the positioning mechanism includes a male end and a female end, the female end includes a first guide column, a second guide column, a connecting rod and a tension spring, the first guide column and the second guide column are relatively arranged at one end of the gripper frame away from the clamp assembly, and the first guide column passes through the gripper frame, the two ends of the connecting rod are respectively fixed to the top of the first guide column and the top of the second guide column, one end of the tension spring is fixed to the connecting rod, and the other end is fixed to the gripper frame; the male end includes a connecting beam and a positioning shaft arranged at both ends of the connecting beam, the positioning shaft is provided with a through hole matching the second guide column, and the gripper frame is provided with a positioning hole at a position corresponding to the positioning shaft.

[0010] In an example of the present invention, a positioning pin and a top column are provided on the supporting bracket, the top column is arranged at a position of the supporting bracket corresponding to the first guide column, and a guide hole cooperating with the positioning pin is provided on the gripper frame.

[0011] The second aspect of the present invention also provides a method for pouring a precision casting mold shell in a row, comprising the following steps:

[0012] Use conveying tools to convey the fired mold shells to the pouring area in single or double rows;

[0013] The mold shell is gradually poured by an electric furnace or a ladle; wherein the conveying tool includes any one of the above-mentioned clamping grippers, hanging hangers, pallets or trolleys.

[0014] In an example of the present invention, the suspension sling includes: a cross beam, a plurality of formwork brackets, a plurality of suspension rods, a plurality of positioning hooks and a plurality of guide columns. The plurality of positioning hooks are arranged at intervals on the cross beam. One ends of the plurality of suspension rods are respectively fixed on the cross beam through the plurality of positioning hooks, and the other ends are respectively connected to the plurality of formwork brackets. The formwork bracket includes a first bracket and a second bracket arranged oppositely, and a conical hole for cooperating with the pouring cup of the formwork is formed between the first bracket and the second bracket.

[0015] In an example of the present invention, when the size of the horizontal projection of the formwork is greater than 300 mm, the formworks are conveyed to the pouring area in a single row arrangement; when the size of the horizontal projection of the formwork is less than or equal to 300 mm, the formworks are conveyed to the pouring area in a double row arrangement.

[0016] In an example of the present invention, the step of conveying the formworks in a double row arrangement to the pouring area for pouring includes: first pouring the formworks in the first row one by one, then horizontally rotating the formworks by 180°, and then pouring the formworks in the second row one by one.

[0017] In an example of the present invention, the number of formworks in each row is 3 to 7.

[0018] The clamping gripper provided by the present invention includes a plurality of clamping jaws arranged in a row. By using this clamping gripper, the formworks arranged in a single row or a double row can be conveyed to the pouring area at one time and poured by tilting an electric furnace or a ladle, thereby improving the pouring efficiency. When pouring, arranging the formworks in a single row or a double row can ensure that the pouring water head of the formworks of the same specification is consistent and avoid the splashing of the molten metal during pouring.

[0019] Controlling the number of formworks in a single row of the row of formworks within the range of 3 - 7 can not only ensure the operability in space, but also ensure that the pouring time of each row of formworks is not too long. On the premise of realizing relatively consistent pouring temperature of the formworks, the pouring production efficiency is doubled.

[0020] The pouring cup for receiving the molten metal at the upper part of the formwork is an inverted cone. Using the suspension sling to support the outer conical surface of the pouring cup has the function of self-positioning of the axis. And the pouring cup of the formwork has a sufficient horizontal projection size, and without additional precise positioning measures, the formwork can be smoothly and accurately moved to the pouring station for pouring. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other embodiments can be obtained based on these drawings.

[0022] Figure 1 Structural schematic diagram of the clamping gripper of the present invention in an embodiment;

[0023] Figure 2 Structural schematic diagram of the gripper frame of the clamping gripper of the present invention in an embodiment;

[0024] Figure 3 Structural schematic diagram of the frame of the gripper frame of the clamping gripper of the present invention in an embodiment;

[0025] Figure 4 Top view schematic diagram of the frame of the gripper frame of the clamping gripper of the present invention in an embodiment;

[0026] Figure 5 Structural schematic diagram of the clamp assembly of the clamping gripper of the present invention in an embodiment;

[0027] Figure 6 Structural schematic diagram of the clamp of the clamping gripper of the present invention in an embodiment;

[0028] Figure 7 Structural schematic diagram of the clamp of the clamping gripper of the present invention when it is opened in an embodiment;

[0029] Figure 8 Structural schematic diagram of the clamp of the clamping gripper of the present invention when it is closed in an embodiment;

[0030] Figure 9 Structural schematic diagram of the gripper frame and the opening and closing mechanism of the clamping gripper of the present invention in an embodiment;

[0031] Figure 10 Structural schematic diagram of the clamp assembly and the opening and closing mechanism of the clamping gripper of the present invention in an embodiment;

[0032] Figure 11 Structural schematic diagram of the female end of the positioning mechanism of the clamping gripper of the present invention in an embodiment;

[0033] Figure 12 Structural schematic diagram of the male end of the positioning mechanism of the clamping gripper of the present invention in an embodiment;

[0034] Figure 13 Cross-sectional view of the positioning mechanism of the clamping gripper of the present invention in an embodiment;

[0035] Figure 14 Schematic diagram of the bearing bracket structure of the clamping gripper of the present invention in an embodiment;

[0036] Figure 15 Installation schematic diagram of the bearing bracket and the gripper frame of the clamping gripper of the present invention in an embodiment;

[0037] Figure 16 Flow chart of the method for casting precision casting mold shells in rows of the present invention;

[0038] Figure 17 Schematic diagram of the structure of the suspension sling (the open direction is perpendicular to the arrangement direction of the rows of mold shells) in an embodiment of the method for casting precision casting mold shells in rows of the present invention;

[0039] Figure 18 Schematic diagram of the structure of the suspension sling (the open direction is parallel to the arrangement direction of the rows of mold shells) in an embodiment of the method for casting precision casting mold shells in rows of the present invention;

[0040] Figure 19 Schematic diagram of the cross beam structure of the suspension sling in an embodiment of the method for casting precision casting mold shells in rows of the present invention;

[0041] Figure 20 Assembly schematic diagram of the mold shell bracket and the suspension rod of the suspension sling (the open direction is perpendicular to the arrangement direction of the rows of mold shells) in an embodiment of the method for casting precision casting mold shells in rows of the present invention;

[0042] Figure 21 Assembly schematic diagram of the mold shell bracket and the suspension rod of the suspension sling (the open direction is parallel to the arrangement direction of the rows of mold shells) in an embodiment of the method for casting precision casting mold shells in rows of the present invention;

[0043] Figure 22 Positioning schematic diagram of the positioning structure and the suspension rod of the suspension sling in an embodiment of the method for casting precision casting mold shells in rows of the present invention;

[0044] Figure 23 Schematic diagram of the structure of the method for casting in rows using the clamping gripper in Embodiment 1 of the present invention;

[0045] Figure 24 Schematic diagram of the structure of the method for casting in rows using the suspension sling in Embodiment 2 of the present invention;

[0046] Figure 25 Schematic diagram of the structure of the method for casting single - row mold shells using a tray or a trolley in Embodiment 3 of the present invention;

[0047] Figure 26 Schematic diagram of the structure of the method for casting double - row mold shells using a tray or a trolley in Embodiment 4 of the present invention.

[0048] Explanation of component numbers:

[0049] 100. Clamping gripper; 110. Clamp assembly; 111. Clamp; 1111. First clamping arm; 1112. Second clamping arm; 1113. Support pin; 112. Linkage mechanism; 1121. First link; 1122. Second link; 1123. First connecting pin; 1124. Second connecting pin; 1125. Third connecting pin; 120. Opening and closing mechanism; 121. Moving rod; 122. Guide rod; 123. Spring sleeve; 124. Compression spring; 125. Connecting shaft; 126. Driving installation hole; 130. Gripper frame; 131. Protective cover support frame; 132. Frame; 1321. First cross beam; 13211. Clamp installation hole; 1322. Second cross beam; 13221. Positioning hole; 13222. Guide hole; 1323. First connecting beam; 1324. Second connecting beam; 1325. Groove; 140. Positioning mechanism; 141. Male end; 1411. Connecting beam; 1412. Positioning shaft; 14121. Through hole; 142. Female end; 1421. First guide post; 1422. Second guide post; 1423. Connecting rod; 1424. Tension spring; 150. Heat insulation cover; 160. Bearing bracket; 161. Positioning pin; 162. Jacking post; 163. Jacking block; 200. Suspension sling; 210. Formwork bracket; 211. First bracket; 212. Second bracket; 220. Suspension rod; 230. Positioning hook; 231. Upper positioning hook; 232. Lower positioning hook; 240. Guide post; 250. Cross beam; 251. Notch; 252. Welding nut; 221. Stop washer; 300. Ladle; 400. Formwork; 500. Tray; 600. Rotary mechanism. Detailed implementation mode

[0050] The following describes the implementation mode of the present invention through specific specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific implementation modes, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that, without conflict, the following embodiments and the features in the embodiments can be combined with each other. It should also be understood that the terms used in the embodiments of the present invention are used to describe specific specific implementation schemes, rather than to limit the protection scope of the present invention. The test methods without specific conditions noted in the following embodiments are usually carried out according to conventional conditions or according to the conditions recommended by each manufacturer.

[0051] When numerical ranges are given in the embodiments, it should be understood that unless otherwise specified in the present invention, both endpoints of each numerical range and any value between the two endpoints can be selected. Unless otherwise defined, all technical and scientific terms used in the present invention, based on the understanding of those skilled in the art of the prior art and the description of the present invention, any method, device, and material of the prior art similar to or equivalent to those in the embodiments of the present invention can also be used to implement the present invention.

[0052] It should be noted that the terms such as "upper", "lower", "left", "right", "middle", and "one" cited in this specification are only for the convenience of clear narration and are not used to limit the scope of implementation of the present invention. The change or adjustment of their relative relationship, without substantial change in the technical content, should also be regarded as the scope of implementation of the present invention.

[0053] Please refer to Figures 1 to 15 , a clamping gripper 100 is provided in the first aspect of the present invention. The clamping gripper 100 can convey the formwork in rows to the casting area for row casting, thereby improving the casting efficiency of the precision casting formwork.

[0054] The clamping gripper 100 includes a clamp assembly 110, an opening and closing mechanism 120, a gripper frame 130, a positioning mechanism 140, a heat insulation shield 150, and a bearing bracket 160. Among them, the bearing bracket 160 is used to support the gripper frame 130. The clamp assembly 110, the opening and closing mechanism 120, the positioning mechanism 140, and the heat insulation shield 150 are all installed on the gripper frame 130. The gripper frame 130 is used to bear the self-weight of the above-mentioned various mechanisms and loads such as the formwork and the molten metal. The clamp assembly 110 is hinged to the opening and closing mechanism 120, and the opening and closing mechanism 120 controls the clamping action of the clamp assembly 110. The positioning mechanism 140 is used to cooperate with the manipulator, and the manipulator transports the clamping gripper 100 to the designated location through the positioning mechanism 140. The heat insulation shield 150 covers the outside of the gripper frame 130 and plays a role in heat insulation.

[0055] Please refer to Figures 1 to 4, in one embodiment, the gripper frame 130 includes a protective cover support frame 131 and a frame 132. The protective cover support frame 131 is used to install the heat insulation shield 150, and the frame 132 is disposed inside the protective cover support frame 131. The frame 132 is used to install the clamp assembly 110, the opening and closing mechanism 120, and the positioning mechanism 140. Therefore, the structure of the frame 132 can be any frame structure that can satisfy the installation of the clamp assembly 110, the opening and closing mechanism 120, and the positioning mechanism 140. As an example, the frame 132 includes a first cross beam 1321, a second cross beam 1322, a first connecting beam 1323, and a second connecting beam 1324. The first cross beam 1321 and the second cross beam 1322 are disposed opposite to each other. The first connecting beam 1323 and the second connecting beam 1324 are respectively disposed between the first cross beam 1321 and the second cross beam 1322 and fixedly connected to the first cross beam 1321 and the second cross beam 1322 to form a stable square frame structure. Further, the first cross beam 1321 is used to install the clamp assembly 110, and the second cross beam 1322 is used to install the positioning mechanism 140. Since the clamp assembly 110 includes a plurality of clamps 111, the length of the first cross beam 1321 is greater than the length of the second cross beam 1322 to satisfy the row installation of the plurality of clamps 111. A plurality of clamp mounting holes 13211 are spaced along the length direction of the first cross beam 1321, and the number of the clamp mounting holes 13211 corresponds to the number of the clamps 111 in the clamp assembly 110. The protective cover support frame 131 includes a plurality of support rods, and the plurality of support rods are assembled to form a space structure that can accommodate the frame 132.

[0056] Please refer to Figure 1 , Figure 5 and Figure 6, the clamp assembly 110 includes a plurality of clamps 111 and a plurality of link mechanisms 112 arranged in a row. The clamp 111 includes a first clamping arm 1111, a second clamping arm 1112, and a rotating assembly such as a support pin 1113. The first clamping arm 1111 is rotatably connected to the second clamping arm 1112 through the support pin 1113. The first clamping arm 1111 and the second clamping arm 1112 are cross-connected with the support pin 1113 as the connection point and are fixed on the first cross beam 1321 of the frame 132 through the support pin 1113. Taking the support pin 1113 as the demarcation point, the first clamping arm 1111 includes a first clamping portion and a first gripping portion connected to each other. The second clamping arm 1112 includes a second clamping portion and a second gripping portion connected to each other. The first clamping portion and the second clamping portion extend out of the first cross beam 1321, and the first gripping portion and the second gripping portion extend into the interior of the frame 132 and are hinged to the opening and closing mechanism 120 through the link mechanism 112. The opening and closing mechanism 120 controls the first clamping end and the second clamping end to cooperate with each other through the link mechanism 112 to clamp the workpiece to be clamped. Further, since the clamp 111 needs to clamp high-temperature objects, such as investment casting shells, and high-temperature molten metal needs to be poured into the shell, the front end (i.e., the clamping portion) of the clamp 111 is made of a ceramic material resistant to high temperatures (≥1600 °C), and the rest can be made of heat-resistant alloy steel material.

[0057] Please refer to Figure 7 and Figure 8 , in an embodiment, the link mechanism 112 includes a first link 1121, a second link 1122, a first connecting pin 1123, a second connecting pin 1124, and a third connecting pin 1125. One end of the first link 1121 is hinged to the first gripping portion of the first clamping arm 1111 through the first connecting pin 1123. One end of the second link 1122 is hinged to the second gripping portion of the second clamping arm 1112 through the second connecting pin 1124. The third connecting pin 1125 is arranged between the first connecting pin 1123 and the second connecting pin 1124 and hinges the other end of the first link 1121, the other end of the second link 1122, and the opening and closing mechanism 120.

[0058] Please refer to Figure 9 and Figure 10, in one embodiment, the opening and closing mechanism 120 includes a moving rod 121, a guiding rod 122, a spring assembly and a driving device (not shown in the figure). Among them, the moving rod 121 is movably arranged on the frame 132. Specifically, grooves 1325 are respectively provided on the first connecting beam 1323 and the second connecting beam 1324 of the frame 132. The moving rod 121 is installed on the frame 132 along the direction parallel to the cross beam of the frame 132, and the moving rod 121 can reciprocate back and forth in the groove 1325. The spring assembly includes a spring sleeve 123 and a compression spring 124 installed in the spring sleeve 123. The spring sleeve 123 is fixed in the middle of the second cross beam 1322 of the frame 132. One end of the guiding rod 122 is installed in the spring sleeve 123, the compression spring 124 is sleeved on the guiding rod 122, and the other end of the guiding rod 122 is fixedly connected to the moving rod 121, for example, fixed by a connecting shaft 125. A driving installation hole 126 is provided at the position of the second cross beam 1322 corresponding to the guiding rod 122. The driving device is installed on the driving installation hole 126, and the driving end of the driving device is connected to the guiding rod 122 through the driving installation hole 126. Any device capable of driving the linear motion of the guiding rod 122 can be selected, for example, a cylinder, a hydraulic cylinder or an electromagnet. The driving end of the driving device can push the guiding rod 122 to move forward, drive the moving rod 121 to slide forward along the groove 1325, so as to drive the link mechanism 112 to move forward, and the first clamping arm 1111 and the second clamping arm 1112 of the clamp 111 open, and can clamp or release the clamped object; when the thrust of the driving device is unloaded, the compression spring 124 rebounds, the guiding rod 122 drives the moving rod 121 to reset, the first clamping arm 1111 and the second clamping arm 1112 of the clamp 111 are in a closed state, the compression spring 124 is in a pre-tightened state, the link mechanism 112 is in a horizontal dead center position, and the clamp 111 is self-locked. The heat insulation shield 150 is covered on the outside of the shield support frame 131 and completely covers the non-ceramic part of the clamp 111, the link mechanism 112 and the opening and closing mechanism 120, playing a heat insulation role.

[0059] Please refer to Figures 11 to 13, the positioning mechanism 140 is arranged at one end of the gripper frame 130 away from the clamp assembly 110 and is used to dock with the manipulator so as to complete the transportation of the clamping gripper 100 through the manipulator. In one embodiment, the positioning mechanism 140 includes a male end 141 and a female end 142. The female end 142 is installed on the second cross beam 1322 of the gripper frame 130, and the male end 141 is installed on the manipulator. The gripper frame 130 can be quickly docked with the manipulator through the cooperation of the male end 141 and the female end 142. Specifically, a U-shaped groove is provided on the second cross beam 1322, and the notch of the U-shaped groove faces outward. The female end 142 includes a first guide post 1421, a second guide post 1422, a connecting rod 1423 and a tension spring 1424. The first guide post 1421 and the second guide post 1422 are oppositely arranged on the second cross beam 1322 of the gripper frame 130, and the height of the first guide post 1421 is greater than that of the second guide post 1422. The first guide post 1421 vertically penetrates the second cross beam 1322, and the second guide post 1422 vertically penetrates the top wall of the U-shaped groove of the second cross beam 1322. The connecting rod 1423 is arranged between the first guide post 1421 and the second guide post 1422 to connect the two together. Exemplarily, both ends of the connecting rod 1423 are fixed to the tops of the first guide post 1421 and the second guide post 1422 through fasteners such as bolts. The tension spring 1424 is arranged between the first guide post 1421 and the second guide post 1422, and one end of the tension spring 1424 is fixed on the connecting rod 1423 and the other end is fixed on the second cross beam 1322. In this embodiment, a female end 142 is provided at each end of the second cross beam 1322, and a positioning hole 13221 for cooperating with the male end 141 is provided on the side of the second cross beam 1322 corresponding to the second guide post 1422. The male end 141 includes a connecting beam 1411 and positioning shafts 1412 arranged at both ends of the connecting beam 1411. Through holes 14121 for cooperating with the second guide post 1422 are provided on the positioning shafts 1412. When the gripper frame 130 is installed on the bearing bracket 160, the first guide post 1421 is lifted, the connecting rod 1423 drives the second guide post 1422 to rise, and the second guide post 1422 avoids the position of the positioning hole 13221; when the positioning shaft 1412 of the male end 141 is inserted into the positioning hole 13221 of the female end 142 and the manipulator drives the clamping gripper 100 to lift off the bearing bracket 160 together, the second guide post 1422 descends under the action of the tension spring 1424 and is inserted into the through hole 14121 on the positioning shaft 1412 to play an anti-disengagement role and complete the cooperation of the clamping gripper 100; conversely, the disengagement of the clamping gripper 100 is realized.

[0060] Please refer to Figure 1 , 14 and Figure 15, the carrier bracket 160 is used to support the gripper frame 130. In one embodiment, the carrier bracket 160 is provided with a positioning pin 161 and a jacking post 162. The gripper frame 130 is provided with a guiding hole 13222 that cooperates with the positioning pin 161. The jacking post 162 is arranged at a position corresponding to the first guiding post 1421. When the clamping gripper 100 is placed on the carrier bracket 160, the positioning pin 161 on the carrier bracket 160 cooperates with the guiding hole 13222 for guiding and positioning, and the jacking post 162 jacks up the first guiding post 1421. Further, the carrier bracket 160 is also provided with a top block 163 for supporting the carrier bracket 160, which can improve the stability of the carrier bracket 160.

[0061] The above clamping gripper of the present invention can be used not only for the row transportation of precision casting molds but also for the transportation of other workpieces.

[0062] Please refer to Figure 16 , the present invention provides a method for row casting of precision casting molds, and the casting method includes:

[0063] S1. The calcined mold shell 400 is transported to the casting area in a single row or double row by a transportation tool, and the transportation tool includes the clamping gripper 100 described above in the present invention;

[0064] S2. The mold shell is gradually cast by an electric furnace or a ladle.

[0065] The transportation tool in step S1 further includes: a suspension sling 200, a tray 300, or a trolley, etc. Among them, the tray 300 and the trolley can adopt the conventional tray and trolley structures in the art.

[0066] Please refer to Figure 17 , in one embodiment, the suspension sling 200 includes a mold shell bracket 210, a suspension rod 220, a positioning hook 230, a guiding post 240, and a cross beam 250. Among them, the cross beam 250 is used to carry and install the mold shell bracket 210. The positioning hooks 230 are arranged at intervals on the cross beam 250. One end of the suspension rod 220 is fixed to the cross beam 250 through the positioning hook 230, and the other end is connected to the mold shell bracket 210, and the mold shell bracket 210 is used to clamp the workpiece.

[0067] Please refer to Figures 17 to 19, specifically, the crossbeam 250 adopts a double-layer crossbeam arranged in parallel up and down. A plurality of notches 251 are arranged at intervals on both the upper and lower layers of the double-layer crossbeam. A positioning hook 230 is provided in each notch 251, and a guide post 240 is provided at the rear side of each notch 251. Further, a welding nut 252 is provided at the rear side of the notch 251, and the guide post 240 is fixed to the crossbeam through the welding nut 252. The number of positioning hooks 230 can be set according to the number of workpieces to be transported. In this embodiment, the positioning hook 230 includes an upper positioning hook 231 and a lower positioning hook 232. Both the upper positioning hook 231 and the lower positioning hook 232 have the function of preventing the mold shell bracket 210 and the suspension rod 220 from horizontally rotating and disengaging from the double-layer crossbeam. The upper positioning hook 231 can be picked up, put down and rotated along the guide post 240. When the downward extending part buckles the flange at the end of the suspension rod 220, it can prevent the suspension rod 220 from falling off; the lower positioning hook 232 can be picked up, put down and rotated along the guide post 240. When the downward extending part buckles the middle flange of the suspension rod 220, it can prevent the suspension rod 220 from falling off. At the same time, its side is a plane and can fit with the side plane of the suspension rod 220 to prevent the suspension rod 220 from rotating.

[0068] Please refer to Figure 20 and Figure 21 , the mold shell bracket 210 includes a first bracket 211 and a second bracket 212. The first bracket 211 and the second bracket 212 are arranged oppositely, and a tapered hole with a large upper part and a small lower part is formed in the middle, which is in contact and fit with the outer side surface of the inverted conical pouring cup of the mold shell to form self-positioning of the axis of the mold shell. In addition, the ends of the first bracket 211 and the second bracket 212 are open, which is convenient for moving in and out of the row of mold shells. The open direction of the mold shell bracket 210 can be parallel to the arrangement direction of the row of mold shells or perpendicular to the arrangement direction of the row of mold shells.

[0069] Please refer to Figure 22 , the upper end of the mold shell bracket 210 is threadedly connected and fastened to the suspension rod 220, which is convenient for the suspension rod 220 to position, fix and disassemble and replace the mold shell bracket 210, the positioning hook 230 and the double-layer crossbeam 250. The side surface of the suspension rod 220 is processed into a plane, and there are flanges at the upper end and the middle of the suspension rod 220. The suspension rod 220 is connected and fixed to the mold shell bracket 210 through the end thread and is prevented from loosening by the stop washer 221.

[0070] The pouring cup at the upper part of the mold shell 400 for receiving the molten metal is an inverted cone. By using the above-mentioned suspension sling 200, the outer conical surface of the pouring cup can be supported, which has the function of self-positioning of the axis. Moreover, the pouring cup of the mold shell has a sufficient horizontal projection size, and no additional precise positioning measures are required to smoothly and accurately move the mold shell to the pouring station for pouring. It should be noted that the suspension sling 200 can be used not only for transporting the mold shell but also for transporting other workpieces.

[0071] In step S1, when transporting the mold shells, the calcined mold shells are arranged in a single row in a straight line or in a double row. This can ensure that when pouring, the pouring water pressure heads of the mold shells of the same specification are consistent, avoiding splashing during the pouring of the molten metal. If the mold shells are arranged in more than two rows, due to the obstruction of the mold shells placed on the periphery, the ladle cannot approach the mold shells placed in the middle position during pouring. At this time, the ladle needs to be lifted to complete the pouring of the middle mold shells. However, this will cause an increase in the pouring water pressure head, and the molten metal scouring and splashing will seriously damage the quality of the casting. When the horizontal projection size of the mold shell 400 is relatively large (> 300 mm), it can be arranged in a single row in a straight line and poured one by one. When the horizontal projection size of the mold shell 400 is relatively small (≤ 300 mm), it can be arranged in a double row. When arranged in a double row, the mold shell brackets 210 of the hanging sling 200 can be set in a double row to hang two rows of mold shells at one time; the clamping jaws 111 of the clamping gripper 100 can be double-row buckles to clamp two rows of mold shells at one time.

[0072] In step S2, when the mold shells 400 are arranged in a double row, first use an electric furnace or a ladle 300 to pour the first row of mold shells 400 one by one. After completing the pouring of the first row of mold shells 400, all the mold shells 400 need to be horizontally rotated 180°, and then the second row of mold shells 400 is poured one by one.

[0073] The single-row quantity of the row of mold shells 400 is controlled within the range of 3-7. That is, when using large-size mold shells for the mold shells 400, the quantity of the single-row mold shells 400 can be fewer, for example, 3 or 5. If small-size mold shells are used for the mold shells 400, the quantity of the single-row mold shells 400 can be more, for example, 7. In this way, not only can the operability in space be ensured, but also the pouring time of each row of mold shells will not be too long. On the premise of ensuring relatively consistent pouring temperatures of the mold shells, the pouring production efficiency can be doubled.

[0074] In other embodiments, before the mold shells 400 are calcined, the above-mentioned clamping gripper 100 or hanging sling 200 can be used to place the normal-temperature mold shells on the tray 500 or trolley, transport them to the calcining furnace to complete high-temperature calcination, and then transport them to the pouring station for pouring by using the tray or trolley.

[0075] The pouring method of the present invention will be described in detail through several specific embodiments below.

[0076] Embodiment 1

[0077] Please refer to Figure 23 and Figure 24 , Figure 23 (a) is a side view of pouring in rows using the clamping gripper 100, Figure 23 (b) is a top view of pouring in rows using the clamping gripper 100; Figure 24 (a) is a side view of pouring in rows using the hanging sling 200, Figure 24(b) is a top view of casting in rows using the hanging sling 200. The high-temperature mold shells 400 of the same specification arranged in a single row with the pouring cups facing upward are conveyed to in front of the electric furnace or the ladle 300 by using the clamping gripper 100 or the hanging sling 200. Then, the electric furnace or the ladle 300 aligns with the pouring cups of the mold shells and pours them one by one, and then conveys the mold shell castings to the cooling station.

[0078] Implementation Case 2

[0079] Please refer to Figure 25 , Figure 25 (a) is a side view of casting in rows using the tray 500 or the trolley. Figure 25 (b) is a top view of casting in rows using the tray 500 or the trolley. The high-temperature mold shells with the pouring cups facing upward are placed on the tray 500 or the trolley in front of the electric furnace or the ladle 300 by using the clamping gripper 100 or the hanging sling 200, and then conveyed to in front of the electric furnace or the ladle. After alignment, pouring is carried out on the mold shells. When the mold shells 400 are arranged in two rows, the electric furnace or the ladle pours the first row of mold shells close to it one by one. Then, the rotary mechanism arranged beside drives the tray or the trolley and the mold shells to rotate 180°, and then reversely returns to the pouring station. The electric furnace or the ladle pours the second row of mold shells one by one, and then conveys the mold shell castings to the cooling station.

[0080] Implementation Case 3

[0081] Please refer to Figure 25 , place the normal-temperature mold shells 400 with the pouring cups facing upward on the tray 500 or the trolley one by one. After sending them into the roasting furnace to complete roasting, convey them to in front of the electric furnace or the ladle 300. The electric furnace or the ladle 300 pours the mold shells on the tray 500 or the trolley one by one, and then conveys the mold shell castings to the cooling station.

[0082] Implementation Case 4

[0083] Please refer to Figure 26 , Figure 26 (a) is a side view of double-row casting using the tray 500 or the trolley. Figure 26 (b) is a top view of double-row casting using the tray 500 or the trolley. The normal-temperature mold shells 400 with the pouring cups facing upward are arranged in two rows and placed on the tray 500 or the trolley. After sending them into the roasting furnace to complete roasting, push them out and convey them to in front of the electric furnace or the ladle 300. The electric furnace or the ladle 300 pours the first row of mold shells 400 close to it on the tray 500 or the trolley one by one. The rotary mechanism 600 arranged beside drives the tray 500 or the trolley to rotate 180°, and then returns to the pouring station. The electric furnace or the ladle 300 pours the second row of mold shells 400 one by one. After completion of pouring, convey the mold shell castings to the cooling station.

[0084] The clamping gripper provided by the present invention includes a plurality of clamping pliers arranged in a row. By using this clamping gripper, the formwork arranged in a single row or a double row can be conveyed to the pouring area for pouring by tilting an electric furnace or a ladle, thereby improving the pouring efficiency. During pouring, arranging the formwork in a single row or a double row can ensure that the pouring water heads of the formworks of the same specification are consistent, avoiding splashing during the pouring of the molten metal. Therefore, the present invention effectively overcomes some practical problems in the prior art and thus has high utilization value and practical significance.

[0085] The above embodiments are only illustrative of the principles and effects of the present invention, and are not used to limit the present invention. Any person familiar with this technology can modify or change the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by those with ordinary knowledge in the technical field without departing from the spirit and technical ideas disclosed by the present invention should still be covered by the claims of the present invention.

Claims

1. A clamping gripper, characterized in that, Comprising: A gripper frame; A clamp assembly disposed at one end of the gripper frame, the clamp assembly including a plurality of clamps arranged in a row; An opening and closing mechanism disposed on the gripper frame and hinged to the clamp assembly, the opening and closing mechanism being used to control the opening and closing of the clamp assembly; A positioning mechanism disposed at the other end of the gripper frame away from the clamp assembly for docking the gripping gripper with a manipulator; A heat insulation shield covering the outside of the gripper frame; And A bearing bracket for supporting the gripper frame and cooperating with the positioning mechanism to achieve docking with the manipulator.

2. The clamping gripper according to claim 1, wherein The opening and closing mechanism includes a moving rod, a guiding rod, a spring assembly and a driving device. The spring assembly includes a spring sleeve and a compression spring located inside the spring sleeve. The spring sleeve is fixed at the end of the gripper frame. The moving rod is disposed on the gripper frame along the arrangement direction of the plurality of clamps. One end of the guiding rod is sleeved inside the compression spring, and the other end is fixedly connected to the moving rod. A groove for the movement of the moving rod is provided on the gripper frame. The guiding rod drives the moving rod to move in the groove under the action of the driving device.

3. The clamping gripper according to claim 2, wherein The clamp assembly includes a plurality of clamps and a plurality of link mechanisms. Each clamp includes a first clamping arm, a second clamping arm and a rotating assembly. The first clamping arm is rotatably connected to the second clamping arm through the rotating assembly, and the clamp is fixed on the gripper frame through the rotating assembly; the link mechanism includes a first link, a second link, a first connecting pin, a second connecting pin and a third connecting pin. One end of the first link is hinged to the first clamping arm through the first connecting pin, and the other end is hinged to the third connecting pin. One end of the second link is hinged to the second clamping arm through the second connecting pin, and the other end is hinged to the third connecting pin. The third connecting pin is hinged to the moving rod.

4. The clamping gripper according to claim 1, wherein The positioning mechanism includes a male end and a female end. The female end includes a first guiding post, a second guiding post, a connecting rod and a tension spring. The first guiding post and the second guiding post are oppositely disposed at one end of the gripper frame away from the clamp assembly, and the first guiding post penetrates through the gripper frame. Both ends of the connecting rod are respectively fixed at the top of the first guiding post and the top of the second guiding post. One end of the tension spring is fixed on the connecting rod, and the other end is fixed on the gripper frame; the male end includes a connecting beam and positioning shafts disposed at both ends of the connecting beam. Through holes for cooperating with the second guiding post are provided on the positioning shafts. Positioning holes corresponding to the positioning shafts are provided on the gripper frame.

5. The clamping gripper according to claim 4, characterized in that, Positioning pins and ejector pins are provided on the bearing bracket. The ejector pins are disposed at positions on the bearing bracket corresponding to the first guiding posts. Guiding holes for cooperating with the positioning pins are provided on the gripper frame.

6. A method for casting a row of precision casting mold shells, characterized in that, Including the following steps: Using a conveying tool to convey the calcined mold shells in single row or double row to the pouring area; Gradually pouring the mold shells by an electric furnace or a ladle; Wherein, the conveying tool includes a suspension sling, a tray, a trolley or any one of the gripping grippers according to any one of claims 1-5.

7. The method for row casting of precision casting mold shells according to claim 6, characterized in that, The hanging sling includes: a cross beam, a plurality of formwork brackets, a plurality of suspension rods, a plurality of positioning hooks and a plurality of guide columns. The plurality of positioning hooks are arranged on the cross beam at intervals. One ends of the plurality of suspension rods are respectively fixed on the cross beam through the plurality of positioning hooks, and the other ends are respectively connected to the plurality of formwork brackets one by one. The formwork bracket includes a first bracket and a second bracket which are oppositely arranged, and a conical hole for cooperating with the pouring cup of the formwork is formed between the first bracket and the second bracket.

8. The method for row casting of precision casting mold shells according to claim 6, characterized in that, When the size of the horizontal projection of the formwork is greater than 300 mm, the formworks are conveyed to the pouring area in a single row; when the size of the horizontal projection of the formwork is less than or equal to 300 mm, the formworks are conveyed to the pouring area in a double row.

9. The method for row casting of precision casting mold shells according to claim 6, characterized in that, The number of formworks in each row is 3 to 7.

10. The method for row-by-row casting of precision casting mold shells according to claim 6, characterized in that, The steps of conveying the formworks in a double row to the pouring area for pouring include: pouring the formworks in the first row one by one first, then rotating the formworks horizontally by 180°, and then pouring the formworks in the second row one by one.

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