An automated clamping robot for casting molds

Abstract

The present application relates to the technical field of automatic clamping manipulator, and particularly relates to a kind of automatic clamping manipulator for casting shell, including mounting plate, mounting disc, bearing and cylindrical shell, the mounting plate rear end is provided with mounting disc, cylindrical shell is rotatably installed in mounting plate front end by bearing, still include clamping assembly, transmission assembly and drive assembly, the cylindrical shell inside is provided with clamping assembly, the mounting plate is installed with drive assembly, the cylindrical shell is installed with transmission assembly;When it is used, mounting plate is installed on mechanical arm under the cooperation of mounting disc, then after vertical clamping of shell is carried out by clamping assembly, then drive assembly is started, so that drive assembly drives cylindrical shell to rotate by 90 degrees by transmission assembly, so that clamping assembly drives shell to adjust the angle by 90 degrees, improve flexibility, improve convenience.

Description

Technical Field

[0001] This invention relates to the technical field of automated gripping robots, and in particular to an automated gripping robot for casting shells. Background Technology

[0002] The casting mold shell robot is an industrial robot end-effector used for automated loading and unloading of casting mold shells with rings on the pouring cup.

[0003] In the prior art, patent document CN214981146U discloses a manipulator for a cast shell, including a manipulator body, a manipulator fixing component installed at the rear end of the manipulator body, a cylinder installed on the rear inner edge of the manipulator body, a cylinder extension rod installed at the front output end of the cylinder, and grippers provided on both sides of the front of the manipulator body. There are two grippers in total, and each gripper has a gripper connecting rod at its rear end. The two gripper connecting rods are respectively hinged to the two grippers, and the other ends of the two gripper connecting rods are hinged to the cylinder extension rod on the same axis.

[0004] During use, it was found that although the device can clamp the shell, it cannot tilt or flip the shell 90 degrees, and its flexibility needs to be further improved. Summary of the Invention

[0005] To solve the above-mentioned technical problems, the present invention provides an automated clamping robot for casting shells.

[0006] This invention discloses an automated clamping robot for casting mold shells, comprising a mounting plate, a mounting disk, a first bearing, and a cylindrical shell. The mounting disk is located at the rear end of the mounting plate, and the cylindrical shell is rotatably mounted on the front end of the mounting plate via the first bearing. The robot also includes a clamping assembly, a transmission assembly, and a drive assembly. The clamping assembly is located inside the cylindrical shell, the drive assembly is mounted on the mounting plate, and the transmission assembly is mounted on the cylindrical shell. In use, the mounting plate is mounted on the robot arm with the cooperation of the mounting disk. The mold shell is then vertically clamped by the clamping assembly. The drive assembly is then activated, causing the drive assembly to rotate the cylindrical shell 90 degrees via the transmission assembly. This allows the clamping assembly to adjust the mold shell's angle by 90 degrees, improving flexibility and convenience.

[0007] Preferably, the clamping assembly includes a cylinder, a piston rod, a second bearing, a fixed plate, a moving block, a fixed shaft, a first shaft pin, a second shaft pin, a connecting rod, a straight arm, and a clamping part. A cylinder is fixedly mounted on the front end of the mounting plate. The front end of the piston rod on the cylinder is rotatably connected to the rear end of the moving block via a second bearing. Two sets of fixed shafts are provided inside the cylindrical housing. A set of straight arms is rotatably mounted on each set of fixed shafts. A set of clamping parts is mounted on the front end of each straight arm. A set of fixed plates is provided at both ends of the moving block. One end of the connecting rod is hinged to one end of the fixed plate via a first shaft pin, and the other end of the connecting rod is hinged to a set of... The second pivot pin is hinged to the rear end of the straight arm. In use, the robotic arm moves the two sets of clamping parts through the mounting plate and mounting disc. The molded shell is between the two sets of clamping parts. Then, the piston rod on the operating cylinder moves forward, which causes the piston rod to drive the moving block to move forward inside the cylindrical shell. At the same time, the moving block drives the two sets of fixed plates to move forward. With the cooperation of the two sets of first pivot pins, second pivot pins and connecting rods, the fixed plates cause the rear ends of the two sets of straight arms to move away in a mirror image. At the same time, with the cooperation of the two sets of fixed shafts, the two sets of straight arms cause the two sets of clamping parts to move closer in a mirror image. Thus, the two sets of clamping parts cooperate to clamp the molded shell, improving convenience.

[0008] Preferably, the transmission assembly includes a strip-shaped opening, a mounting base, a sliding rod, a ring gear, an insertion hole, and a limiting component. Two sets of strip-shaped openings are symmetrically arranged on the outer wall of the cylindrical housing. A set of mounting bases is installed at each of the left and right ends of the moving block. A set of sliding rods is installed on each mounting base. Each set of sliding rods passes through a set of strip-shaped openings and is connected to the inner wall of the ring gear. The inner wall of the ring gear slides in contact with the outer wall of the cylindrical housing. An insertion hole is provided on the ring gear. A limiting component is provided at the front end of the mounting plate. When the piston rod is in a retracted state in the cylinder, the limiting component inserts into the insertion hole to prevent the drive assembly from... The component drives the ring gear to rotate, preventing misoperation. When the piston rod is in the extended state in the cylinder, the moving block drives the ring gear forward through two sets of mounting seats and two sets of sliding rods. At the same time, the limiting component disengages from the insertion hole, thereby clamping the shell with the two sets of clamping parts. Then, the drive component is activated, causing the drive component to drive the ring gear to rotate 90 degrees. The ring gear further drives the moving block to rotate through the two sets of sliding rods, thereby realizing the 90-degree rotation of the shell. At the same time, the moving block rotates relative to the piston rod with the cooperation of the second bearing. When the piston rod is shortened, the limiting component re-inserts into the insertion hole for limiting.

[0009] Preferably, the drive assembly includes a drive motor, a rotating shaft, an L-shaped support frame, and a cylindrical gear. The drive motor is mounted at the rear end of the mounting plate, and the L-shaped support frame is mounted at the front end of the mounting plate. The rotating shaft is rotatably mounted inside the L-shaped support frame. The output end of the drive motor is connected to one end of the rotating shaft. A cylindrical gear is mounted on the rotating shaft, and the cylindrical gear meshes with a ring gear. When the piston rod is in the retracted state of the cylinder, the limiting component is inserted into the insertion hole, and the drive motor is started. The cylindrical gear cannot drive the ring gear to rotate. When the piston rod is in the extended state of the cylinder, the ring gear moves forward, the insertion hole is released from the limiting component, and the ring gear remains meshed with the cylindrical gear. The drive motor is started, causing the rotating shaft to drive the cylindrical gear to rotate. This causes the cylindrical gear to drive the cylindrical shell to rotate through the ring gear, thereby achieving a 90-degree rotation of the shell and improving convenience.

[0010] Preferably, the limiting component includes an internal threaded tube, a lead screw, a bracket, a cross groove, and a locking nut. The mounting plate has a bracket at its front end, and the internal threaded tube is mounted on the bracket. The internal threaded tube is threadedly connected to the lead screw. The front end of the lead screw has a cross groove, and a locking nut is screwed onto the lead screw. Different specifications of the housing result in different travel strokes of the moving block. According to the specifications of the housing, the operator uses a tool to rotate the lead screw through the cross groove to adjust the length of the lead screw inside the internal threaded tube. After adjustment, the locking nut is rotated so that the rear end of the locking nut presses against the front end of the internal threaded tube, thereby locking the lead screw.

[0011] Preferably, the device further includes a limiting rod, a limiting block, a groove, a telescopic rod, a spring, and a buffer plate. A limiting rod is installed on the outer wall of the cylindrical shell, and a limiting block is installed at the front end of the mounting plate. A groove is provided at the top of the limiting block, and two sets of telescopic rods and two sets of springs are arranged inside the groove. The tops of the two sets of telescopic rods slide into the two sets of springs and are connected to the bottom end of the buffer plate. When the drive motor is started, the limiting rod contacts the top of the buffer plate when the cylindrical shell rotates. As the cylindrical shell continues to rotate, the two sets of telescopic rods and two sets of springs adaptively shorten, thereby limiting the angle of the limiting rod by the buffer plate, allowing the cylindrical shell to rotate at a 90-degree angle.

[0012] Preferably, it also includes anti-slip pads, with a set of anti-slip pads installed on the inner ends of the two sets of clamping parts; the two sets of clamping parts cooperate with the corresponding anti-slip pads to grip the shell, thereby improving the gripping firmness.

[0013] Preferably, it also includes a reinforcing plate, and a reinforcing plate is installed between the mounting plate and the L-shaped support frame; the mounting plate and the L-shaped support frame are reinforced by the reinforcing plate to improve the connection strength.

[0014] Preferably, it also includes a vertical plate, on which the L-shaped support frame is mounted, and the vertical plate is rotatably connected to the rotating shaft; when the drive motor drives the rotating shaft to rotate, the vertical plate assists the rotating shaft to rotate stably, thereby improving stability.

[0015] Preferably, it also includes anti-slip protrusions, and multiple sets of anti-slip protrusions are respectively provided on the anti-slip pad.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: In use, the mounting plate is installed on the robotic arm with the cooperation of the mounting plate. Then, the shell is vertically clamped by the clamping assembly. After that, the drive assembly is started, so that the drive assembly drives the cylindrical shell to rotate 90 degrees through the transmission assembly. This allows the clamping assembly to adjust the shell angle by 90 degrees, improving flexibility and convenience. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the first isometric structure of the present invention;

[0018] Figure 2 yes Figure 1 A partially enlarged structural diagram of section A in the middle;

[0019] Figure 3 This is a schematic diagram of the second isometric structure of the present invention;

[0020] Figure 4 This is an exploded structural diagram of the present invention;

[0021] Figure 5 This is an enlarged structural diagram of the mounting plate and internal threaded tube, etc.

[0022] Figure 6 yes Figure 5 A partially enlarged structural diagram of section B in the middle;

[0023] Figure 7 yes Figure 5 A partially enlarged structural diagram of section C in the middle;

[0024] Figure 8 It is an enlarged structural diagram of structures such as cylindrical gears and drive motors;

[0025] Figure 9 This is an enlarged structural diagram of the clamping part and the ring gear, etc.

[0026] Figure 10 This is a first enlarged structural schematic diagram of the cylinder and straight arm section, etc.

[0027] Figure 11 This is a second enlarged structural diagram of the cylinder and straight arm section, etc.

[0028] Figure 12 yes Figure 11 A magnified schematic diagram of part D in the middle.

[0029] In the attached diagram, the following markings are used: 101, mounting plate; 102, mounting disc; 103, bearing number one; 104, cylindrical housing; 201, cylinder; 202, piston rod; 203, bearing number two; 204, fixing plate; 205, moving block; 206, fixing shaft; 207, first shaft pin; 208, second shaft pin; 209, connecting rod; 210, straight arm; 211, clamping part; 212, anti-slip pad; 213, anti-slip protrusion; 301, strip-shaped opening; 302, mounting. 303. Base; 304. Slide rod; 305. Ring gear; 401. Insertion hole; 402. Drive motor; 403. Rotating shaft; 404. L-shaped support frame; 405. Cylindrical gear; 406. Reinforcing plate; 407. Vertical plate; 501. Internal threaded tube; 502. Lead screw; 503. Bracket; 504. Cross groove; 505. Locking nut; 601. Limiting rod; 602. Limiting block; 603. Groove; 604. Telescopic rod; 605. Spring; 606. Buffer plate. Detailed Implementation

[0030] To facilitate understanding of the present invention, a more complete description will be given below with reference to the accompanying drawings. The present invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

[0031] Example 1

[0032] like Figures 1 to 12 As shown, an automated clamping robot for casting shells according to the present invention includes a mounting plate 101, a mounting disk 102, a first bearing 103, and a cylindrical shell 104. The mounting disk 102 is provided at the rear end of the mounting plate 101, and the cylindrical shell 104 is rotatably mounted on the front end of the mounting plate 101 via the first bearing 103. It also includes a clamping assembly, a transmission assembly, and a drive assembly. The clamping assembly is provided inside the cylindrical shell 104, the drive assembly is mounted on the mounting plate 101, and the transmission assembly is mounted on the cylindrical shell 104.

[0033] The clamping assembly includes a cylinder 201, a piston rod 202, a second bearing 203, a fixed plate 204, a moving block 205, a fixed shaft 206, a first shaft pin 207, a second shaft pin 208, a connecting rod 209, a straight arm 210, and a clamping part 211. The cylinder 201 is fixedly mounted on the front end of the mounting plate 101. The front end of the piston rod 202 on the cylinder 201 is rotatably connected to the rear end of the moving block 205 through the second bearing 203. The cylindrical housing 104 is internally provided with... Two sets of fixed shafts 206 are provided, and a set of straight arm parts 210 are rotatably provided on each set of fixed shafts 206. A set of clamping parts 211 are respectively installed at the front end of the straight arm parts 210. A set of fixed plates 204 are respectively provided at the left and right ends of the moving block 205. One end of the connecting rod 209 is hinged to one end of the fixed plate 204 through a set of first shaft pins 207, and the other end of the connecting rod 209 is hinged to the rear end of the straight arm part 210 through a set of second shaft pins 208.

[0034] The transmission assembly includes a strip-shaped opening 301, a mounting base 302, a slide rod 303, a ring gear 304, an insertion hole 305, and a limiting component. Two sets of strip-shaped openings 301 are symmetrically arranged on the outer wall of the cylindrical housing 104. A set of mounting bases 302 are respectively installed at the left and right ends of the moving block 205. A set of slide rods 303 are respectively installed on each set of mounting bases 302. Each set of slide rods 303 passes through a set of strip-shaped openings 301 and is connected to the inner wall of the ring gear 304. The inner wall of the ring gear 304 is in sliding contact with the outer wall of the cylindrical housing 104. An insertion hole 305 is provided on the ring gear 304. A limiting component is provided at the front end of the mounting plate 101.

[0035] The drive assembly includes a drive motor 401, a rotating shaft 403, an L-shaped support frame 404, and a cylindrical gear 405. The drive motor 401 is mounted at the rear end of the mounting plate 101, and the L-shaped support frame 404 is mounted at the front end of the mounting plate 101. The rotating shaft 403 is rotatably mounted inside the L-shaped support frame 404. The output end of the drive motor 401 is connected to one end of the rotating shaft 403. The cylindrical gear 405 is mounted on the rotating shaft 403, and the cylindrical gear 405 meshes with the ring gear 304.

[0036] The limiting assembly includes an internal threaded tube 501, a lead screw 502, a bracket 503, a cross groove 504, and a locking nut 505. The bracket 503 is provided at the front end of the mounting plate 101, and the internal threaded tube 501 is installed on the bracket 503. The internal threaded tube 501 is threadedly connected to the lead screw 502. The cross groove 504 is installed at the front end of the lead screw 502, and the locking nut 505 is screwed onto the lead screw 502.

[0037] In this embodiment, different shell specifications result in different travel distances for the moving block 205. According to the shell specifications, the operator uses a tool to rotate the lead screw 502 through the cross groove 504, thereby adjusting the length of the lead screw 502 within the inner threaded tube 501. After adjustment, the locking nut 505 is rotated, causing its rear end to press against the front end of the inner threaded tube 501, thus locking the lead screw 502. When the piston rod 202 is in the retracted state within the cylinder 201, the lead screw 502 inserts into the... In the insertion hole 305, to prevent the drive assembly from driving the ring gear 304 to rotate and to prevent misoperation, the robotic arm moves the two sets of clamping parts 211 through the mounting plate 101 and the mounting disk 102. The housing is between the two sets of clamping parts 211. Then, the piston rod 202 on the operating cylinder 201 moves forward, thereby causing the piston rod 202 to drive the moving block 205 to move forward inside the cylindrical housing 104. At the same time, the moving block 205 drives the two sets of fixed plates 204 to move forward. The fixed plates 204 are located at the two sets of first shaft pins 207. With the cooperation of the second shaft pin 208 and the connecting rod 209, the rear ends of the two sets of straight arm sections 210 move away in a mirror image. At the same time, with the cooperation of the two sets of fixed shafts 206, the two sets of clamping parts 211 move closer in a mirror image. This allows the two sets of clamping parts 211 to cooperate in clamping the molded shell. The moving block 205 drives the ring gear 304 to move forward through the two sets of mounting seats 302 and the two sets of sliding rods 303. At the same time, the lead screw 502 disengages from the insertion hole 305, thereby allowing the two sets of clamping parts 211 to clamp the molded shell. After clamping, the drive motor 401 is started, which causes the rotating shaft 403 to drive the cylindrical gear 405 to rotate, which in turn drives the ring gear 304 to rotate 90 degrees. The ring gear 304 then drives the moving block 205 to rotate through two sets of sliding rods 303, thereby achieving a 90-degree rotation of the shell. At the same time, the moving block 205 rotates relative to the piston rod 202 with the cooperation of the second bearing 203. When the piston rod 202 is shortened, the lead screw 502 is reinserted into the insertion hole 305 for limiting.

[0038] Example 2

[0039] like Figures 1 to 12 As shown, an automated clamping robot for casting shells according to the present invention includes a mounting plate 101, a mounting disk 102, a first bearing 103, and a cylindrical shell 104. The mounting disk 102 is provided at the rear end of the mounting plate 101, and the cylindrical shell 104 is rotatably mounted on the front end of the mounting plate 101 via the first bearing 103. It also includes a clamping assembly, a transmission assembly, and a drive assembly. The clamping assembly is provided inside the cylindrical shell 104, the drive assembly is mounted on the mounting plate 101, and the transmission assembly is mounted on the cylindrical shell 104.

[0040] The clamping assembly includes a cylinder 201, a piston rod 202, a second bearing 203, a fixed plate 204, a moving block 205, a fixed shaft 206, a first shaft pin 207, a second shaft pin 208, a connecting rod 209, a straight arm 210, and a clamping part 211. The cylinder 201 is fixedly mounted on the front end of the mounting plate 101. The front end of the piston rod 202 on the cylinder 201 is rotatably connected to the rear end of the moving block 205 through the second bearing 203. The cylindrical housing 104 is internally provided with... Two sets of fixed shafts 206 are provided, and a set of straight arm parts 210 are rotatably provided on each set of fixed shafts 206. A set of clamping parts 211 are respectively installed at the front end of the straight arm parts 210. A set of fixed plates 204 are respectively provided at the left and right ends of the moving block 205. One end of the connecting rod 209 is hinged to one end of the fixed plate 204 through a set of first shaft pins 207, and the other end of the connecting rod 209 is hinged to the rear end of the straight arm part 210 through a set of second shaft pins 208.

[0041] It also includes a limiting rod 601, a limiting block 602, a groove 603, a telescopic rod 604, a spring 605, and a buffer plate 606. The limiting rod 601 is installed on the outer wall of the cylindrical shell 104, and the limiting block 602 is installed at the front end of the mounting plate 101. The top of the limiting block 602 is provided with a groove 603. Two sets of telescopic rods 604 and two sets of springs 605 are provided inside the groove 603. The tops of the two sets of telescopic rods 604 slide into the tops of the two sets of springs 605 and are connected to the bottom end of the buffer plate 606.

[0042] It also includes anti-slip pads 212, anti-slip protrusions 213, reinforcing plates 406 and vertical plates 407. The inner ends of the two sets of clamping parts 211 are respectively equipped with a set of anti-slip pads 212. A reinforcing plate 406 is installed between the mounting plate 101 and the L-shaped support frame 404. Multiple sets of anti-slip protrusions 213 are respectively provided on the anti-slip pads 212. The vertical plate 407 is installed on the L-shaped support frame 404. The vertical plate 407 is rotatably connected to the rotating shaft 403.

[0043] In this embodiment, during use, the robotic arm moves the two sets of clamping parts 211 via the mounting plate 101 and mounting disk 102. The housing is positioned between the two sets of clamping parts 211. Then, the piston rod 202 on the operating cylinder 201 moves forward, causing the piston rod 202 to drive the moving block 205 to move forward inside the cylindrical housing 104. Simultaneously, the moving block 205 drives the two sets of fixing plates 204 to move forward. With the cooperation of the two sets of first axle pins 207, second axle pins 208, and connecting rods 209, the fixing plates 204 cause the rear ends of the two sets of straight arm parts 210 to move away from each other in a mirror-image operation. When the two sets of straight arms 210 cooperate with the two sets of fixed shafts 206, the two sets of clamping parts 211 move closer to each other in a mirror image, so that the two sets of clamping parts 211 cooperate to clamp the shell. The drive assembly is activated, so that the transmission assembly drives the cylindrical shell 104 to rotate. The limiting rod 601 contacts the top of the buffer plate 606. As the cylindrical shell 104 continues to rotate, the two sets of telescopic rods 604 and the two sets of springs 605 are shortened adaptively, so that the buffer plate 606 limits the angle of the limiting rod 601, thereby allowing the cylindrical shell 104 to rotate at a ninety-degree angle.

[0044] The cylinder 201 and piston rod 202 of the automated clamping robot for casting shells of the present invention are commercially available. Those skilled in the industry only need to install and operate them according to the accompanying instruction manual, without requiring any creative work from those skilled in the art.

[0045] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. An automated clamping robot for casting shells, comprising a mounting plate (101), a mounting disk (102), a first bearing (103), and a cylindrical shell (104), wherein the mounting disk (102) is disposed at the rear end of the mounting plate (101), and the cylindrical shell (104) is rotatably mounted on the front end of the mounting plate (101) via the first bearing (103), characterized in that, It also includes a clamping assembly, a transmission assembly and a drive assembly. The clamping assembly is provided inside the cylindrical housing (104), the drive assembly is installed on the mounting plate (101), and the transmission assembly is installed on the cylindrical housing (104). The clamping assembly includes a cylinder (201), a piston rod (202), a second bearing (203), a fixed plate (204), a moving block (205), a fixed shaft (206), a first shaft pin (207), a second shaft pin (208), a connecting rod (209), a straight arm (210), and a clamping part (211). The cylinder (201) is fixedly mounted on the front end of the mounting plate (101). The front end of the piston rod (202) on the cylinder (201) is rotatably connected to the rear end of the moving block (205) through the second bearing (203). The cylindrical shell (10) 4) The interior is provided with two sets of fixed shafts (206), and each set of fixed shafts (206) is rotatably provided with a set of straight arm parts (210). A set of clamping parts (211) is installed at the front end of the straight arm parts (210). A set of fixed plates (204) is provided at the left and right ends of the moving block (205). One end of the connecting rod (209) is hinged to one end of the fixed plate (204) through a set of first shaft pins (207). The other end of the connecting rod (209) is hinged to the rear end of the straight arm part (210) through a set of second shaft pins (208). The transmission assembly includes a strip opening (301), a mounting base (302), a slide rod (303), a ring gear (304), a socket (305), and a limiting component. The outer wall of the cylindrical housing (104) is symmetrically provided with two sets of strip openings (301). A set of mounting bases (302) is installed at the left and right ends of the moving block (205). A set of slide rods (303) is installed on each set of mounting bases (302). Each set of slide rods (303) passes through a set of strip openings (301) and is connected to the inner wall of the ring gear (304). The inner wall of the ring gear (304) is in sliding contact with the outer wall of the cylindrical housing (104). A socket (305) is provided on the ring gear (304). A limiting component is provided at the front end of the mounting plate (101).

2. The automated gripper for casting shells as described in claim 1, characterized in that, The drive assembly includes a drive motor (401), a rotating shaft (403), an L-shaped support frame (404), and a cylindrical gear (405). The drive motor (401) is mounted on the rear end of the mounting plate (101), and the L-shaped support frame (404) is mounted on the front end of the mounting plate (101). The rotating shaft (403) is rotatably mounted inside the L-shaped support frame (404). The output end of the drive motor (401) is connected to one end of the rotating shaft (403). The cylindrical gear (405) is mounted on the rotating shaft (403), and the cylindrical gear (405) meshes with the ring gear (304).

3. The automated gripper for casting shells as described in claim 1, characterized in that, The limiting assembly includes an inner threaded tube (501), a lead screw (502), a bracket (503), a cross groove (504), and a locking nut (505). The mounting plate (101) has a bracket (503) at its front end. The inner threaded tube (501) is installed on the bracket (503). The inner threaded tube (501) is threadedly connected to the lead screw (502). The lead screw (502) has a cross groove (504) at its front end. The locking nut (505) is screwed onto the lead screw (502).

4. The automated gripper for casting shells as described in claim 1, characterized in that, It also includes a limiting rod (601), a limiting block (602), a groove (603), a telescopic rod (604), a spring (605), and a buffer plate (606). The limiting rod (601) is installed on the outer wall of the cylindrical shell (104), and the limiting block (602) is installed on the front end of the mounting plate (101). The top of the limiting block (602) is provided with a groove (603). Two sets of telescopic rods (604) and two sets of springs (605) are provided inside the groove (603). The tops of the two sets of telescopic rods (604) slide into the tops of the two sets of springs (605) and are connected to the bottom of the buffer plate (606).

5. The automated gripper for casting shells as described in claim 1, characterized in that, It also includes anti-slip pads (212), and each of the two sets of clamping parts (211) has an anti-slip pad (212) installed on its inner end.

6. The automated gripper for casting shells as described in claim 2, characterized in that, It also includes a reinforcing plate (406), which is installed between the mounting plate (101) and the L-shaped support frame (404).

7. The automated gripper for casting shells as described in claim 2, characterized in that, It also includes a vertical plate (407), on which the vertical plate (407) is installed, and the vertical plate (407) is rotatably connected to the rotating shaft (403).

8. The automated gripper for casting shells as described in claim 5, characterized in that, It also includes anti-slip bumps (213), and multiple sets of anti-slip bumps (213) are respectively provided on the anti-slip pad (212).

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