Multi-directional automatic lifting device suitable for a robot hand

Abstract

This invention relates to a multi-directional automatic lifting device suitable for a robotic arm, comprising a base for connecting the robotic arm, a rotary drive component on its lower side, and a lifting assembly connected to its output end. The device includes a horizontal beam with symmetrically arranged clamping assemblies on both sides. Each clamping assembly includes a sliding plate that slides along a horizontal guide rail via a slider, a rack fixedly connected to the lower side of the sliding plate, and a vertical lifting rod fixedly connected to the outer side of the sliding plate. A power component is installed in the middle of the horizontal beam, including a stroke rod whose input end is connected to the drive device to receive vertical lifting force, and symmetrically arranged connecting rods on both sides of the output end. Each connecting rod is poweredly connected to a gear. Two gears are respectively mounted on gear seats and mesh with the racks of the two clamping assemblies. The two ends of the connecting rods are rotatably engaged with the gears and the stroke rod, respectively. A floating positioning mechanism is provided on the lower side of the horizontal beam. This invention improves transfer efficiency and ensures the integrity and stability of the sand core during transfer.

Description

Technical Field

[0001] This invention relates to the field of sand core lifting device technology, and in particular to a multi-directional automatic lifting device suitable for robotic arms. Background Technology

[0002] For castings with large volumes and substantial internal cavities, sand core forming is typically required. To reduce weight, large sand cores are often designed as hollow structures formed by splicing together several sand core units. Even so, some large sand cores are still quite heavy, necessitating the use of lifting equipment. However, using ordinary lifting equipment for transporting spliced ​​sand cores cannot guarantee the stability of the sand core structure, easily leading to damage. Ensuring the integrity and stability of large, spliced ​​sand cores during transport is crucial for improving the yield rate of casting production. With the widespread application of robotic arms on large-scale production lines, current technology lacks an automated sand core transport device suitable for robotic arm operations to ensure the integrity and stability of the sand cores during transport. Summary of the Invention

[0003] In view of the shortcomings of the existing technology, the purpose of this invention is to provide a multi-directional automatic lifting device suitable for robotic arms, which ensures the integrity and stability of sand cores during the transfer process and improves production efficiency.

[0004] The technical solution adopted in this invention is as follows:

[0005] A multi-directional automatic lifting device suitable for a robotic arm includes a robotic arm assembly and a lifting assembly;

[0006] The robotic arm assembly includes a base on which an interface for connecting to the robotic arm's actuator and a control module are provided; a rotary drive component is mounted on the lower side of the base via a horizontal base plate, which is used to output rotational power to the horizontal base plate; the lifting assembly is disposed on the lower side of the horizontal base plate to rotate synchronously with it.

[0007] The lifting assembly includes a horizontal beam, which is provided below the horizontal base plate via a vertical support portion;

[0008] The horizontal beam is symmetrically equipped with clamping assemblies on both sides at 180°. The structure of each clamping assembly is as follows: a sliding plate that slides with the horizontal guide rail via a slider, a rack fixedly connected to the lower side of the sliding plate, and a vertical hanger fixedly connected to the outer side of the sliding plate; the horizontal guide rail is fixedly mounted on the horizontal beam.

[0009] A power component for synchronously driving the two clamping assemblies is installed in the middle of the horizontal beam. This component includes a stroke rod, the input end of which is connected to the output end of the drive device to receive vertical lifting force. Connecting rods are symmetrically arranged at 180° intervals on both sides of the output end of the stroke rod, each connecting rod being poweredly connected to a gear. The gears on both sides are respectively mounted on gear seats fixed to the lower side of the horizontal beam and mesh with the racks of the two sets of clamping assemblies. Each gear has an eccentrically located connecting portion, and both ends of the connecting rods are rotatably engaged with the connecting portion and the stroke rod, respectively. In the clamped state, the two connecting rods are in a horizontal straight line.

[0010] A floating positioning mechanism is provided on the lower side of the horizontal beam, which is used to position the sand core to be transported by cooperating with the top surface of the sand core.

[0011] The vertical boom is equipped with a horizontal clamp at its end, which is used to clamp the sand core to be transported by engaging with the side of the core.

[0012] The preferred technical solution is as follows:

[0013] The structure of the floating positioning mechanism is as follows:

[0014] Includes upper pressure plate and lower pressure plate;

[0015] The upper pressure plate is fixed to the middle of the lower side of the horizontal beam, and the lower pressure plate is arranged parallel to the lower part of the upper pressure plate. The lower pressure plate is provided with a positioning part for cooperating with the top surface of the sand core to be conveyed.

[0016] The upper and lower pressure plates are connected by multiple sets of elastic components, including floating pins and elastic elements. The upper end of the floating pin passes through the upper pressure plate and slides in cooperation with it, while the other end extends down to the lower pressure plate and is fixedly connected to it. The two ends of the elastic element are respectively connected to the upper and lower pressure plates to provide preload and restoring force.

[0017] The upper pressure plate is provided with a detachable insert, and the upper pressure plate slides in conjunction with the floating pin through the insert;

[0018] The top of the floating pin is provided with a limiting part with an increased diameter, which cooperates with the bushing to limit the floating stroke of the lower pressure plate.

[0019] The insert is processed using a metal heat treatment process.

[0020] The elastic element is a compression spring, which is sleeved on the floating pin.

[0021] The horizontal beam is also provided with a guide assembly in the middle, which includes a guide limiting block fixed between the horizontal base plate and the horizontal beam, which forms a vertical guide channel for guiding the movement of the stroke rod; the guide limiting block is provided with a positioning pin that extends vertically and slides with the stroke rod, with its upper and lower ends fixedly connected to the guide limiting block and slidingly engaged, respectively; the positioning pin is fitted with a self-locking spring for providing preload and auxiliary clamping force, with its two ends connected to the stroke rod and the guide limiting block, respectively.

[0022] The driving device includes a linear driver, the fixed end of which is disposed on the base. The base, the rotary drive and the horizontal base plate are provided with a vertically communicating clearance channel, which is used for the output end of the linear driver to pass through and connect to the stroke rod.

[0023] The gear seat is mounted on a mounting bracket fixed to the lower side of the horizontal beam; the mounting bracket is also provided with a rack guide groove for sliding engagement with the rack.

[0024] The horizontal guide rails are symmetrically arranged on both sides of the horizontal beam, with two rails symmetrically arranged along the longitudinal direction on each side; each horizontal guide rail is provided with a vertical support and an outer limiting plate at both ends, which are used to limit the travel of the slide plate.

[0025] It also includes a base plate with a positioning groove for positioning and supporting the bottom of the sand core to be transported; the base plate is equipped with lifting lugs.

[0026] The technical solution of the present invention can achieve at least some of the following beneficial effects:

[0027] This invention integrates the lifting component with a robotic arm assembly, enabling automated lifting and transfer of sand cores via a robotic arm-driven production line. This design offers convenient operation, reliable clamping, improved casting yield, and increased production efficiency.

[0028] The clamping assembly of this invention employs a transmission method involving a stroke rod, connecting rod, gear, and rack, converting the vertical motion of the stroke rod into the horizontal motion of the rack. In the clamped state, the left and right connecting rods are aligned horizontally, their forces canceling each other out, thus achieving self-locking and ensuring clamping stability. The gear performs circular motion in a fixed position, using only a portion of its teeth during operation. When a part is damaged, the gear can be rotated to adjust the number of meshing teeth, extending the gear's service life.

[0029] The floating positioning mechanism of the present invention works in conjunction with the clamping assembly to flexibly guide and position the sand core to be conveyed, avoiding damage to the sand core caused by hard contact. At the same time, the positioning prevents the sand core from rotating and shifting circumferentially during the clamping process of the vertical rod.

[0030] The travel rod guide assembly of the present invention enhances the self-locking effect, preventing damage to the drive device. Furthermore, when the drive device encounters jamming during operation, the self-locking spring can act as an auxiliary clamping mechanism, preventing the sand core from falling and being damaged.

[0031] Other features and advantages of the invention will be set forth in the following description or may be learned by practicing the invention. Attached Figure Description

[0032] Figure 1 This is a three-dimensional structural diagram of the device according to an embodiment of the present invention.

[0033] Figure 2 This is a three-dimensional structural diagram of the device in the clamping state according to an embodiment of the present invention.

[0034] Figure 3 This is a top view of the device in the clamping state according to an embodiment of the present invention.

[0035] Figure 4 for Figure 3 Schematic diagram of section AA.

[0036] Figure 5 This is a structural schematic diagram of the vertical suspension rod in the open state according to an embodiment of the present invention.

[0037] Figure 6 This is a schematic diagram of the gear mounting structure according to an embodiment of the present invention.

[0038] Figure 7 This is a cross-sectional view of the floating positioning mechanism according to an embodiment of the present invention.

[0039] Explanation of reference numerals in the attached drawings: 1. Base; 2. Rotary drive component; 3. Horizontal base plate; 4. Horizontal beam; 5. Slide plate; 6. Outer limiting plate; 7. Horizontal guide rail; 8. Vertical lifting rod; 9. Linear actuator; 10. Travel rod; 11. Connecting rod; 12. Gear; 13. Rack; 14. Upper pressure plate; 15. Lower pressure plate; 16. Sand core; 17. Horizontal clamping plate; 18. Base plate; 19. Guide limiting block; 20. Self-locking spring; 21. Positioning pin; 22. Rack guide groove; 23. Gear seat; 24. Vertical support part; 25. Positioning part; 26. Floating pin; 27. Sleeve; 28. Compression spring; 29. ​​Control module; 30. Interface; 121. Connecting part. Detailed Implementation

[0040] The specific embodiments of the present invention are described below with reference to the accompanying drawings.

[0041] See Figures 1 to 7 The multi-directional automatic lifting device suitable for robotic arms in this embodiment includes a robotic arm assembly and a lifting assembly;

[0042] The robotic arm assembly includes a base 1, on which a rotary drive 2 is mounted via a horizontal base plate 3 to output rotational power to the horizontal base plate 3; and a lifting assembly is disposed on the underside of the horizontal base plate 3 to rotate synchronously with it.

[0043] The lifting assembly includes a horizontal beam 4, which is provided below the horizontal base plate 3 via a vertical support 24.

[0044] The horizontal beam 4 is symmetrically equipped with clamping components on both sides at 180°. The structure of each clamping component is as follows: a sliding plate 5 that slides with the horizontal guide rail 7 via a slider, a rack 13 fixedly connected to the lower side of the sliding plate 5, and a vertical hanging rod 8 fixedly connected to the outer side of the sliding plate 5; the horizontal guide rail 7 is fixedly mounted on the horizontal beam 4.

[0045] A power component for synchronously driving two clamping assemblies is installed in the middle of the horizontal beam 4. It includes a stroke rod 10. The input end of the stroke rod 10 is connected to the output end of the drive device to receive vertical lifting driving force. Connecting rods 11 are symmetrically arranged on both sides of the output end of the stroke rod 10 at 180°. Each connecting rod 11 is poweredly connected to a gear 12. The gears 12 on both sides are respectively mounted on gear seats 23 fixed on the lower side of the horizontal beam 4 and respectively mesh with the racks 13 of the two sets of clamping assemblies. A connecting part 121 is eccentrically provided on the gear 12. The two ends of the connecting rod 11 are rotatably engaged with the connecting part 121 and the stroke rod 10, respectively.

[0046] The two connecting rods 11 move symmetrically and synchronously in the same vertical plane, and in the clamped state, the two connecting rods 11 are in a horizontal straight line;

[0047] A floating positioning mechanism is provided on the lower side of the horizontal beam 4, which is used to position the sand core to be transported by cooperating with the top surface of the sand core.

[0048] The vertical rod 8 is equipped with a horizontal clamping plate 17 at its end, which is used to clamp the sand core to be transported by engaging with the side of the rod.

[0049] In this embodiment, the clamping assembly employs a transmission method involving a stroke rod 10, connecting rod 11, gear 12, and rack 13, converting the vertical movement of the stroke rod 10 into the horizontal movement of the rack 13. The gear 12 performs circular motion in a fixed position, requiring only a portion of its teeth to be used during operation. When a part is damaged, the gear can be rotated to adjust the number of meshing teeth, extending its service life. When the clamping assembly clamps the sand core 16, the left and right connecting rods are aligned in a straight line. Figure 4 As shown, the forces acting on both cancel each other out, thus achieving a self-locking function.

[0050] The connecting part 121 is preferably a cylindrical boss parallel to the axial direction of the gear, which is rotated with the connecting rod by means of a pin hole.

[0051] As a preferred embodiment, the structure of the floating positioning mechanism is as follows:

[0052] Includes upper pressure plate 14 and lower pressure plate 15;

[0053] The upper pressure plate 14 is fixed to the middle of the lower side of the horizontal beam 4, and the lower pressure plate 15 is arranged parallel to the lower part of the upper pressure plate 14. The lower side of the lower pressure plate 15 is provided with a positioning part 25 for cooperating with the top surface of the sand core to be conveyed.

[0054] The upper and lower pressure plates are connected by multiple sets of elastic components, including floating pins 26 and elastic elements. The upper end of the floating pin 26 is inserted into the upper pressure plate 14 and slidably engaged with it, while the other end extends down to the lower pressure plate 15 and is fixedly connected to it. The two ends of the elastic element are connected to the upper and lower pressure plates respectively to provide preload and restoring force.

[0055] The upper pressure plate 14 is provided with a detachable sleeve 27, and the upper pressure plate 14 slides with the floating pin 26 through the sleeve 27.

[0056] The floating pin 26 has a limit part with an increased diameter at the top, which cooperates with the bushing 27 to limit the floating stroke of the lower pressure plate 15.

[0057] Preferably, the elastic element is a compression spring 28, which is sleeved on the floating pin 26.

[0058] Preferably, the bushing 27 is treated with a metal heat treatment process. Specifically, the bushing 27 is fixed with screws, which reduces instability caused by direct wear between the floating pin 26 and the upper pressure plate 14, and at the same time reduces maintenance costs.

[0059] Preferably, the positioning part 25 is detachably connected to the lower pressure plate 15, which facilitates replacement and maintenance.

[0060] In this embodiment, the floating positioning mechanism works in conjunction with the clamping assembly to flexibly guide and position the sand core to be conveyed, avoiding damage to the sand core due to hard contact. At the same time, the positioning prevents the sand core from rotating or shifting circumferentially during the left and right clamping process of the vertical lifting rod.

[0061] As a preferred embodiment, the horizontal beam 4 is also provided with a guide assembly in the middle, which includes a guide limiting block 19 fixed between the horizontal base plate 3 and the horizontal beam 4, which forms a vertical guide channel for guiding the movement of the stroke rod 10; the guide limiting block 19 is provided with a positioning pin 21 that extends vertically and slides with the stroke rod 10, with its upper and lower ends fixedly connected to the guide limiting block 19 and slidingly engaged, respectively; the positioning pin 21 is fitted with a self-locking spring 20 for providing preload and auxiliary clamping force, with its two ends connected to the stroke rod 10 and the guide limiting block 19, respectively.

[0062] The guide assembly described in this embodiment enhances the self-locking effect, preventing damage to the drive device. Furthermore, when the drive device encounters jamming during operation, the self-locking spring 20 can act as an auxiliary clamping mechanism, preventing the sand core from falling and being damaged.

[0063] As a preferred embodiment, the driving device includes a linear driver 9, the fixed end of which is disposed on the base 1. The base 1, the rotary drive 2, and the horizontal base plate 3 are provided with vertically connected clearance channels for the output end of the linear driver 9 to pass through and connect to the stroke rod 10.

[0064] The arrangement of the clearance channel allows the base 1, the rotary drive component 2, and the horizontal base plate 3 to be designed as hollow structures, which can greatly reduce the overall weight of the device, reduce the damage rate of the equipment, and reduce power consumption.

[0065] Specifically, the gear seat 23 is mounted on a mounting bracket fixed to the lower side of the horizontal beam 4; the mounting bracket is also provided with a rack guide groove 22, which is used to slide with the rack 13. Preferably, a guide element is provided in the rack guide groove 22, and preferably, a guide hole that cooperates with the guide element is provided on the rack 13 to ensure that the movement direction of the rack 13 does not deviate.

[0066] Preferably, the horizontal guide rails 7 are symmetrically arranged on both sides of the horizontal beam 4, with two on each side arranged symmetrically along the longitudinal direction, for a total of four horizontal guide rails 7 arranged in four directions on the upper side of the horizontal beam 4, thereby reducing the resistance during the movement of the slide.

[0067] Preferably, each horizontal guide rail 7 has a vertical support portion 24 and an outer limiting plate 6 at both ends to limit the travel of the slide plate 5. Specifically, limit switches are provided on the vertical support portion 24 and the outer limiting plate 6. When the slide plate 5 moves to the vertical support portion 24 or the outer limiting plate 6, the limit switches send a signal to the control module 29 to limit the operation of the drive device, prevent the slide plate 5 from continuing to slide, and avoid damage to the sand core.

[0068] Specifically, the control module 29 includes power control components, a PLC, etc.

[0069] Specifically, the base 1 is also equipped with an interface 30 for connecting to the robotic arm actuator and a control module 29.

[0070] As a preferred embodiment, the automatic lifting device operates as follows: The bonded sand core 16 is placed on a base plate 18, which preferably has a positioning groove for precise positioning of the bottom of the sand core 16. After the sand core 16 is placed, the base plate 18 is lifted by a gantry crane or similar device to the preset work position of the automatic lifting device described in this embodiment. The drive device of the automatic lifting device moves rapidly, the stroke rod 10 moves downward, the connecting rod 11 tilts upward, the gear 12 rotates in a fixed position to drive the rack 13 to move horizontally outward, opening the two vertical lifting rods 8. Then, the entire automatic lifting device moves downward close to the sand core 16, and the positioning part 25 on the lower side of the pressure plate 15 is aligned and inserted into the hole at the top of the sand core 16. After a slight downward pressure, the elastic element of the floating positioning mechanism is compressed as follows. Figure 5 When the drive device is activated again, the stroke rod 10 moves upward, the connecting rod 11 rotates in the opposite direction to return to the horizontal position, and at the same time the gear 12 rotates in the opposite direction to drive the rack 13 to move inward horizontally, so that the two vertical lifting rods 8 close, until the horizontal clamping plate 17 on the outer side of the vertical lifting rod 8 can hook onto the lower flange of the circumferential side of the sand core 16 to achieve clamping. The entire automatic lifting device is lifted up under the action of the manipulator, lifting the sand core 16. Since the sand core is pressed by the rebound force of the elastic element of the floating positioning mechanism, it will not deviate or fall during the transportation of the sand core.

[0071] Furthermore, the rotary drive 2 outputs rotational power to the horizontal base plate 3, which drives the entire lifting assembly to rotate synchronously, thereby adjusting the orientation of the device and facilitating the transfer of the sand core to the next workstation according to the set direction. The rotary drive 2 can be coordinated with the robotic arm and controlled by the control module 29.

[0072] Specifically, the slewing drive 2 can drive the lifting assembly to rotate 360°.

[0073] Preferably, the linear actuator 9 is a pneumatic cylinder or a hydraulic cylinder, and a pressure reducing valve is installed on it to control the clamping speed during the sand core clamping process, and to prevent damage to the sand core by clamping slowly.

[0074] As one specific implementation method, the base plate 18 can also be installed on the assembly line workbench. Through program programming, unmanned production can be achieved, and employees only need to check the pass rate of the final step, thus reducing labor costs.

[0075] It will be understood by those skilled in the art that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A multi-directional automatic lifting device suitable for robotic arms, characterized in that, Includes robotic arm components and lifting components; The robotic arm assembly includes a base (1) on which an interface (30) for connecting to the robotic arm execution end is provided, and a control module (29); a rotary drive (2) is mounted on the lower side of the base (1) via a horizontal base plate (3), which is used to output rotational power to the horizontal base plate (3); the lifting assembly is arranged on the lower side of the horizontal base plate (3) to rotate synchronously with it. The lifting assembly includes a horizontal beam (4) which is provided below the horizontal base plate (3) via a vertical support (24); The horizontal beam (4) is symmetrically provided with clamping components on both sides at 180°. The structure of the clamping components on each side is as follows: a sliding plate (5) that slides with the horizontal guide rail (7) through a slider, a rack (13) fixedly connected to the lower side of the sliding plate (5), and a vertical hanging rod (8) fixedly connected to the outer side of the sliding plate (5); the horizontal guide rail (7) is fixedly mounted on the horizontal beam (4). The horizontal beam (4) is equipped with a power component for synchronously driving the two clamping assemblies. The power component includes a stroke rod (10). The input end of the stroke rod (10) is connected to the output end of the drive device to receive vertical lifting driving force. The output ends of the stroke rod (10) are symmetrically provided with connecting rods (11) at 180° on both sides. Each connecting rod (11) is poweredly connected to a gear (12). The gears (12) on both sides are respectively mounted on gear seats (23) fixed on the lower side of the horizontal beam (4) and respectively mesh with the racks (13) of the two sets of clamping assemblies. The gears (12) are eccentrically provided with connecting parts (121). The two ends of the connecting rods (11) are rotatably engaged with the connecting parts (121) and the stroke rods (10) respectively. In the clamping state, the two connecting rods (11) are in a horizontal straight line. The horizontal beam (4) is provided with a floating positioning mechanism on its lower side, which is used to cooperate with the top surface of the sand core to be transported for positioning. The vertical rod (8) is provided with a horizontal clamp (17) at its end, which is used to cooperate with the side of the sand core to be transported to clamp it.

2. The multi-directional automatic lifting device suitable for a robotic arm according to claim 1, characterized in that, The structure of the floating positioning mechanism is as follows: Includes an upper pressure plate (14) and a lower pressure plate (15); The upper pressure plate (14) is fixed in the middle of the lower side of the horizontal beam (4), and the lower pressure plate (15) is arranged parallel to the lower part of the upper pressure plate (14). The lower side of the lower pressure plate (15) is provided with a positioning part (25) for cooperating with the top surface of the sand core to be conveyed. The upper and lower pressure plates are connected by multiple sets of elastic components, including a floating pin (26) and an elastic element; the upper end of the floating pin (26) is inserted into the upper pressure plate (14) and slides therewith, while the other end extends down to the lower pressure plate (15) and is fixedly connected therewith; the two ends of the elastic element are respectively connected to the upper and lower pressure plates to provide preload and restoring force.

3. The multi-directional automatic lifting device suitable for a robotic arm according to claim 2, characterized in that, The upper pressure plate (14) is provided with a detachable sleeve (27), and the upper pressure plate (14) slides with the floating pin (26) through the sleeve (27); The floating pin (26) has a limiting part with an increased diameter at the top, which cooperates with the bushing (27) to limit the floating stroke of the lower pressure plate (15).

4. The multi-directional automatic lifting device suitable for a robotic arm according to claim 3, characterized in that, The insert (27) is processed by a metal heat treatment process.

5. The multi-directional automatic lifting device suitable for a robotic arm according to claim 2, characterized in that, The elastic element is a compression spring (28), which is sleeved on the floating pin (26).

6. The multi-directional automatic lifting device suitable for a robotic arm according to claim 1, characterized in that, The horizontal beam (4) is also provided with a guide assembly in the middle, which includes a guide limiting block (19) fixed between the horizontal base plate (3) and the horizontal beam (4), and a vertical guide channel is formed therein for guiding the movement of the stroke rod (10); the guide limiting block (19) is provided with a positioning pin (21) that extends vertically and slides with the stroke rod (10), and its upper and lower ends are fixedly connected to the guide limiting block (19) and slide in cooperation, respectively. The positioning pin (21) is fitted with a self-locking spring (20) for providing preload and auxiliary clamping force, and its two ends are connected to the stroke rod (10) and the guide limiting block (19) respectively.

7. The multi-directional automatic lifting device suitable for a robotic arm according to claim 1, characterized in that, The driving device includes a linear driver (9), the fixed end of which is disposed on the base (1). The base (1), the rotary drive (2) and the horizontal base plate (3) are provided with vertically connected clearance channels, which are used for the output end of the linear driver (9) to pass through and connect to the stroke rod (10).

8. The multi-directional automatic lifting device suitable for a robotic arm according to claim 1, characterized in that, The gear seat (23) is mounted on a mounting bracket fixed to the lower side of the horizontal beam (4); the mounting bracket is also provided with a rack guide groove (22) for sliding engagement with the rack (13).

9. The multi-directional automatic lifting device suitable for a robotic arm according to claim 1, characterized in that, The horizontal guide rails (7) are symmetrically arranged on both sides of the horizontal beam (4), with two rails symmetrically arranged along the longitudinal direction on each side; each horizontal guide rail (7) is provided with a vertical support part (24) and an outer limiting plate (6) at both ends, which are used to limit the travel of the slide plate (5).

10. The multi-directional automatic lifting device suitable for a robotic arm according to claim 1, characterized in that, It also includes a base plate (18) with a positioning groove for positioning and supporting the bottom of the sand core to be transported from the bottom; the base plate (18) is provided with lifting lugs.

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