A cast part machining gripping device and a working method thereof

Abstract

The application belongs to the technical field of casting part processing and transferring, and discloses a casting part processing grabbing device and a working method thereof. The device comprises an ear seat, a supporting outer tube is fixedly assembled in a mounting hole of the ear seat, a movable resisting rod group is slidingly assembled in the supporting outer tube along an axial direction of the supporting outer tube, an L-shaped plate is fixedly assembled at a lower end position of an outer wall of the supporting outer tube, a gear transmission group is arranged on an upper surface of the L-shaped plate, the gear transmission group is in transmission connection with the movable resisting rod group, a clamping jaw driving assembly is slidingly assembled on a side edge of the L-shaped plate along a vertical direction, and a visual camera is adjustably installed at a middle position of the side edge of the L-shaped plate. The device has a simple overall structure, can be used for stably grabbing special-shaped casting parts, can avoid the influence of wrapping clamping on the contact between a workpiece and a medium during a heat treatment process, and can protect a casting surface through flexible buffering and precise transmission, thereby improving the use effect.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of casting processing and transferring, in particular to a casting processing and grabbing device and a working method thereof. BACKGROUND

[0002] In the casting production process, the automatic grabbing and demolding of the castings are key links connecting the molding and subsequent processing, directly affecting the production efficiency, product qualification rate and operation safety. With the advancement of industrial automation, the traditional manual prying and picking or simple mechanical grabbing methods have been gradually replaced by automatic grabbing devices due to low efficiency, prominent safety hazards and easy damage to the castings.

[0003] However, the existing casting processing and grabbing device still has many technical defects in actual application, which is difficult to meet the efficient and flexible production needs: firstly, the clamping adaptability and compatibility are insufficient. The traditional rigid clamping jaw relies on the preset structure and can only adapt to regular-shaped castings. For castings with irregular shapes, curved surfaces or different sizes, the clamps need to be adjusted or replaced, which is high in changeover cost and easy to cause slipping due to insufficient contact surface. The suction cup type suction device is limited by the flatness of the casting surface and is prone to falling risk when the seal fails, and cannot meet the grabbing needs of complex structure castings. Secondly, the clamping stability and precision are poor. The clamping force control of the hydraulic drive type device relies on the hydraulic system, which has slow response speed and limited precision. Excessive clamping force can easily cause damage to the surface of the castings, and insufficient clamping force can cause the castings to fall off. At the same time, the hydraulic system is prone to performance degradation due to heat conduction in high temperature environment, further reducing the operation reliability. Some automatic devices lack effective fixation of the mold box, which is prone to displacement or shaking during the grabbing process, and the position of the mold box is offset when the ejector pin ejects the casting, which can cause clamping offset, bumping of the mold and other problems, resulting in an increase in the scrap rate.

[0004] A Chinese patent with application number CN2022114826420 discloses a mechanical hand grabbing and transferring device for aluminum profile mold production and a using method thereof, which comprises a mechanical arm adjusting mechanism, a hydraulic drive mechanism and a mechanical hand grabbing mechanism. The mechanical arm adjusting mechanism is used to rotate and adjust the position and angle of the mechanical hand grabbing mechanism. The hydraulic drive mechanism is used to provide grabbing power to the mechanical hand grabbing mechanism. The mechanical hand grabbing mechanism is used to grab the aluminum profile mold. The present application is provided with a mechanical arm adjusting mechanism, a hydraulic drive mechanism and a mechanical hand grabbing mechanism. The position and angle of the mechanical hand grabbing mechanism are adjusted by rotating and adjusting the mechanical arm adjusting mechanism. Then the hydraulic drive mechanism provides grabbing power to the mechanical hand grabbing mechanism. The mechanical hand grabbing mechanism transfers the grabbed aluminum profile mold to the next process through the mechanical arm adjusting mechanism. The device can perform rotating operation of the aluminum profile mold in a small working space, which facilitates the transfer and use of the aluminum profile mold and improves the production efficiency of the aluminum profile mold.

[0005] However, the patent uses a hydraulic drive mechanism, which deteriorates in high temperature environments, shortens the service life, and has limited adaptability to complex shaped castings.

[0006] In addition, the casting operation environment is often accompanied by high temperature and dust, and the existing device has insufficient heat insulation and dirt prevention design, which further exacerbates the clamping failure and equipment wear and tear. Therefore, developing a casting part machining and grabbing device that has strong adaptability, high-precision clamping, stable demolding function, and can adapt to complex operation environment has become a technical problem to be solved in the field. SUMMARY

[0007] The main technical problem to be solved by the present application is to provide a casting part machining and grabbing device with simple overall structure, which can stably grab special-shaped castings, protect the surface of the castings through flexible buffering and precise transmission, improve operation coordination, and improve the use effect.

[0008] To solve the above technical problems, the present application provides the following technical solutions:

[0009] A casting part machining and grabbing device, comprising an ear seat, a support outer tube is fixedly assembled in the mounting hole of the ear seat, a movable resisting rod group is slidably assembled in the support outer tube along the axial direction thereof, an L-shaped plate is fixedly assembled at the lower end position of the outer wall of the support outer tube, a gear transmission group is arranged on the upper surface of the L-shaped plate, the gear transmission group is in transmission connection with the movable resisting rod group for driving the movable resisting rod group to slide up and down along the axial direction of the support outer tube, a clamping jaw driving assembly is slidably assembled on the side edge of the L-shaped plate in the vertical direction, the gear transmission group is in transmission connection with the clamping jaw driving assembly at the same time for synchronously driving the clamping jaw driving assembly to slide up and down, two clamping jaws are symmetrically arranged at the lower end of the clamping jaw driving assembly, a visual camera is adjustably mounted at the middle position of the side edge of the L-shaped plate, and the lens of the visual camera faces the grabbing area of the clamping jaws.

[0010] The two clamping jaws are provided with a grabbing working position and an initial working position: when in the grabbing working position, the two clamping jaws move towards each other to the minimum spacing state, and the movable resisting rod group slides downward to the lowest position in the support outer tube at the same time;

[0011] When in the initial working position, the two clamping jaws move away from each other to the maximum spacing state, and the movable resisting rod group slides upward to the highest position in the support outer tube at the same time.

[0012] The following is a further optimization of the above technical solutions by the present application:

[0013] The movable resisting rod group comprises an inner sliding tube slidably assembled on the inner wall of the support outer tube, the inner wall of the support outer tube is provided with an inner sliding groove from top to bottom, and the outer surface of the inner sliding tube is integrally formed with an outer protrusion matched with the inner sliding groove at the position opposite to the inner sliding groove.

[0014] Further optimization: one end of the inner slide tube close to the ear seat is fixedly provided with a servo motor, the power output shaft end of the servo motor is fixedly connected with a screw rod, the screw rod is coaxially arranged with the inner slide tube, the outer surface of the screw rod is threadedly connected with a screw sleeve, the screw sleeve can slide up and down along the axis direction of the lumen of the inner slide tube;

[0015] The side of the screw sleeve away from the servo motor is fixedly provided with a spring, the other end of the spring is fixedly connected with a pressing rod, the spring is coaxially arranged on the outer side of the screw rod, forming a wrapped arrangement of the screw rod;

[0016] The end of the pressing rod away from the spring is fixedly provided with a pressure head, and the end face of the pressure head away from the pressing rod is detachably connected with a profiling plate.

[0017] Further optimization: the outer surface of the inner slide tube is processed with an outer tooth segment, the axial position of the outer tooth segment corresponds to the assembly position of the gear transmission set, ensuring that the two can form meshing cooperation, the outer surface of the outer tube corresponding to the area of the gear transmission set is provided with a gear avoiding hole.

[0018] Further optimization: the upper end face of the L-shaped plate is fixedly provided with two symmetrically spaced gear mounting plates at the position corresponding to the gear transmission set.

[0019] Further optimization: the two sides of the L-shaped plate away from the gear mounting plate are uniformly and vertically spaced from top to bottom, and the two sides of the slide sleeve are symmetrically distributed.

[0020] Further optimization: the claw driving assembly includes two slide rods with consistent structures, the two slide rods correspond to the slide sleeves on the two sides of the L-shaped plate, and the slide rods can be assembled up and down along the axis direction of the slide sleeve;

[0021] The upper end of the two slide rods is fixedly provided with the same mounting horizontal plate, the upper end face of the mounting horizontal plate is fixedly connected with two rack blocks, and the two rack blocks are meshingly connected with the gear transmission set.

[0022] The end of the slide rod away from the mounting horizontal plate is fixedly provided with a clamping frame, and the surface of the L-shaped plate close to the clamping frame is fixedly provided with two symmetrically spaced rotating sleeves; the central axis of the rotating area of the clamping frame is parallelly arranged with the central axes of the two rotating sleeves.

[0023] Further optimization: the claw includes a push rod sleeve, the push rod sleeve is rotatably installed on the rotating sleeve, the side of the push rod sleeve away from the slide rod is fixedly connected with a connecting rod, the end of the connecting rod away from the push rod sleeve is fixedly provided with a half claw, the half claw is arranged in an arc plate shape matched with the outer contour of the to-be-grasped cast part, the side of the two half claws close to each other is processed with an arc-shaped tooth, and the arc-shaped tooth surface of the half claw is uniformly and spacedly provided with a plurality of anti-falling clamping rods.

[0024] The application further provides a working method of the casting processing grabbing device, based on the casting processing grabbing device, and comprises the following steps:

[0025] S1, check the device state, confirm that the clamping jaw is in the initial working position (open state), replace the corresponding profiling plate on the pressure head according to the shape size of the casting to be grabbed, turn on the visual camera, adjust the camera lens angle to ensure that the field of view completely covers the grabbing position of the clamping jaw, and realize real-time monitoring of the grabbing area;

[0026] S2, start the servo motor to drive the movable abutment rod group to move for coarse height adjustment, observe the alignment of the profiling plate and the top of the casting and the relative position of the clamping jaw and the two sides of the casting through the image information collected by the visual camera in real time;

[0027] S3, start the main motor, drive the clamping jaw driving assembly to move towards each other to engage the casting through the gear transmission group, and the anti-falling clamp rod forms a semi-enclosed limiting position to grab the casting;

[0028] S4, after clamping is completed, the servo motor continues to drive the inner sliding pipe to move downward to compress the spring, so that the profiling plate on the pressure head is attached to the top of the casting and a preset pressure is applied;

[0029] S5, move the whole grabbing device through the mechanical hand of the device to transport the casting from the current position to the target position; during the transportation process, the visual camera continuously monitors the clamping state of the casting, and if the risk of falling off is detected, a signal is immediately sent and the transportation is paused;

[0030] S6, after the casting is transported to the target position, the servo motor is reversely rotated to reversely rotate the screw rod, the screw sleeve moves upward along the axial direction of the screw rod, the pressure rod and the pressure head move upward synchronously, the profiling plate is separated from the top of the casting, the auxiliary pressing force is released, the main motor is reversely rotated, the engagement state of the arc-shaped teeth is released, and the anti-falling clamp rod is separated from the axial surface of the casting;

[0031] S7, after the half jaw is completely opened, the main motor and the servo motor are turned off, the grabbing device is reset to the initial grabbing position through the mechanical hand, and the next grabbing instruction is waited; the visual camera is continuously in standby monitoring state and real-time monitoring is performed on whether there is a new casting to be grabbed in the initial position;

[0032] S8, after a single grabbing operation is completed, the device can be regularly checked: impurities in the gear transmission group area are cleaned, the protective cover is used to reduce the entry of impurities, the lubrication state of the sliding sleeve and the rotating sleeve is checked, and it is confirmed that the arc-shaped teeth and the anti-falling clamp rod are not worn to ensure the reliability of subsequent operations.

[0033] The application has the following beneficial effects by adopting the above technical scheme:

[0034] The present application adopts the above technical scheme, has ingenious conception, reasonable structure, wide adaptability, can compatible with multiple specifications of special-shaped casting parts grabbing, the end of the pressure head is detachably connected with a profiling plate, the profile of the bonding surface of the profiling plate is accurately adapted to the profile of the outer surface of the casting part to be grabbed, different profiles of the profiling plate can be replaced to cover various types of casting parts such as regular cylindrical parts, special-shaped curved surface parts and irregular structure parts, the overall fixture does not need to be replaced, the changeover time is shortened, and the changeover cost of multi-specification casting part production is greatly reduced; the half jaw of the clamping jaw is provided in the form of an arc plate, the inner arc-shaped teeth are radially bonded to the casting part, and the arc-shaped anti-escape clamping rod is vertically arranged in the axial direction to form a half-enclosed clamping structure with radial occlusion and axial limiting, thereby solving the problems of unstable clamping of traditional rigid clamping jaws on special-shaped parts and the adsorption failure of suction cup devices due to uneven surface, and improving the success rate of grabbing of curved surface and casting parts with protruding structures.

[0035] The clamping precision is high, the surface quality of the casting part is effectively protected, the active abutting rod set is driven by a servo motor to achieve accurate axial positioning, the clamping jaw is driven by a gear transmission set, and the two are synchronous, the clamping jaw is occluded in opposite directions and the abutting rod is pressed downward at the same time during grabbing, and the clamping jaw is opened in opposite directions and the abutting rod is lifted up at the same time during releasing, thereby avoiding the clamping deviation or surface bumping of traditional devices due to action delay; the spring in the active abutting rod set is coaxially arranged outside the screw rod, the spring is elastically deformed when the profiling plate is bonded to the casting part during clamping, a preset clamping force is applied through elastic pressure (which can be accurately adjusted through the output torque of the servo motor), the casting part is prevented from being deformed due to rigid clamping, and the casting part surface is adapted to small size errors, especially for thin-walled and brittle precise casting parts.

[0036] The transmission is stable and reliable, is adapted to high-temperature dust casting environment, adopts gear transmission instead of hydraulic drive, discards the hydraulic drive structure which is easily affected by high temperature in the prior art, adopts a full gear transmission set (first main gear-second main gear-auxiliary gear-rack block) to achieve power transmission, the gear meshing transmission efficiency is high, and the problems of high-temperature leakage and response delay of the hydraulic system in the high-temperature casting workshop environment are solved, and the fault rate of continuous operation of the device is reduced; the L-shaped plate is provided with a closed protective cover, all components of the gear transmission set are completely covered, dust and iron filings in the casting workshop are effectively blocked, and the wear of the transmission components is reduced; the inner sliding groove on the inner wall of the supporting outer pipe is embedded with the outer convex part of the inner sliding pipe to guide the sliding of the inner sliding pipe and avoid torsional deviation, thereby further improving the transmission stability and prolonging the service life of the device.

[0037] High degree of automation, improve work efficiency and safety, real-time monitoring by vision, L-shaped plate side adjustable installation vision camera, lens covers gripper grabbing area, can real-time collect casting clamping posture, position offset, falling risk information, once detected abnormal, immediately trigger signal pause operation, avoid casting falling caused by equipment damage and safety accident, compared with traditional manual visual monitoring response speed is improved; gear transmission components only need to supplement grease regularly, no hydraulic system oil replacement, sealing element replacement and other high frequency maintenance requirements; vision camera uses industrial dustproof lens, no need to clean frequently, reduce maintenance cost.

[0038] The application will be further described below in conjunction with the drawings and examples. BRIEF DESCRIPTION OF DRAWINGS

[0039] Figure 1 It is a schematic diagram of the overall structure in the embodiment of the application;

[0040] Figure 2 It is another perspective view of the overall structure in the embodiment of the application;

[0041] Figure 3 It is a partial exploded structure diagram of the gripper driving assembly in the embodiment of the application;

[0042] Figure 4 It is a side view of the overall structure removing the protective cover in the embodiment of the application;

[0043] Figure 5 It is a structure diagram of the overall structure removing the protective cover in the embodiment of the application;

[0044] Figure 6 It is a structure diagram of the gripper in the embodiment of the application;

[0045] Figure 7 It is an internal installation diagram of the movable abutment rod group in the embodiment of the application.

[0046] In the figure: 1, ear seat; 2, support outer tube; 21, gear avoidance hole; 22, inner sliding groove; 3, movable resistance rod group; 31, inner sliding tube; 311, outer tooth section; 312, inner sliding groove; 313, outer convex part; 32, servo motor; 33, screw rod; 34, screw sleeve; 341, rib; 35, spring; 36, pressing rod; 37, pressing head; 4, gear transmission group; 41, first main gear; 42, second main gear; 43, gear rod; 44, auxiliary gear; 45, gear mounting plate; 46, L-shaped plate; 461, sliding sleeve; 462, rotating sleeve; 5, main motor; 6, jaw driving assembly; 61, rack block; 62, mounting cross plate; 63, sliding rod; 631, clamping frame; 7, jaw; 71, push rod sleeve; 710, connecting block; 711, first rod; 712, second rod; 72, connecting rod; 73, half jaw; 74, anti-falling clamp rod; 8, protective cover; 9, visual camera. DETAILED DESCRIPTION

[0047] As Figures 1-7 shown: a castings processing grabbing device, comprising an ear seat 1, a support outer tube 2 is fixedly assembled in the mounting hole of the ear seat 1, a movable resistance rod group 3 is slidingly assembled in the support outer tube 2 along the axial direction thereof, an L-shaped plate 46 is fixedly assembled at the lower end position of the outer wall of the support outer tube 2, a gear transmission group 4 is arranged on the upper surface of the L-shaped plate 46, the gear transmission group 4 is in transmission connection with the movable resistance rod group 3, for driving the movable resistance rod group 3 to slide up and down along the axial direction of the support outer tube 2, a jaw driving assembly 6 is slidingly assembled on the side edge of the L-shaped plate 46 in the vertical direction, the gear transmission group 4 is in transmission connection with the jaw driving assembly 6 at the same time, so as to synchronously drive the jaw driving assembly 6 to slide up and down, two jaws 7 are symmetrically arranged at the lower end of the jaw driving assembly 6, a visual camera 9 is adjustably mounted at the middle position of the side edge of the L-shaped plate 46, the lens of the visual camera 9 faces the grabbing area of the jaws 7;

[0048] The two jaws 7 are provided with a grabbing working position and an initial working position: when being in the grabbing working position, the two jaws 7 move towards each other to the minimum interval state, and the movable resistance rod group 3 synchronously slides downward to the lowest position in the support outer tube 2;

[0049] When being in the initial working position, the two jaws 7 move away from each other to the maximum interval state, and the movable resistance rod group 3 synchronously slides upward to the highest position in the support outer tube 2.

[0050] In the embodiment, the ear seat 1 can be fixedly connected with the working end of an external mechanical hand through bolts, the mechanical hand can drive the grabbing device to accurately move to the preset position of the castings to be grabbed, and after the grabbing is completed, the grabbing device can be smoothly transferred to other processing areas, so as to meet the demand of automatic transfer in the processing of castings.

[0051] The specific connection method between the ear seat 1 and the robotic arm is well known in the prior art and will not be described in detail here.

[0052] The upper end of the supporting outer tube 2 is fixedly installed in the mounting hole of the ear seat 1 by interference fit.

[0053] like Figure 7 As shown, the movable abutment assembly 3 includes an inner sliding tube 31, which is slidably mounted on the inner wall of the supporting outer tube 2.

[0054] To achieve sliding guide cooperation between the inner sliding tube 31 and the supporting outer tube 2, an inner sliding groove 22 is provided on the inner wall of the supporting outer tube 2 from top to bottom; correspondingly, an outer protrusion 313 is integrally formed on the outer surface of the inner sliding tube 31 at the position opposite to the inner sliding groove 22.

[0055] The outline shape of the protrusion 313 is adapted to the cavity shape of the inner sliding groove 22, and the protrusion 313 is embedded in the inner sliding groove 22 and can slide from top to bottom along the length direction of the inner sliding groove 22.

[0056] The interlocking sliding structure of the inner sliding groove 22 and the outer protrusion 313 can form a circumferential limit on the up and down sliding stroke of the inner sliding tube 31 inside the supporting outer tube 2, effectively preventing the inner sliding tube 31 from twisting relative to the supporting outer tube 2 during the sliding process, and ensuring the stability and guiding accuracy of the sliding action.

[0057] The inner slide tube 31 has a mounting groove at one end near the ear seat 1, and a servo motor 32 is fixedly mounted in the mounting groove.

[0058] The power output shaft of the servo motor 32 extends along the axial direction of the inner slide tube 31 into the interior of the inner slide tube 31, and the orientation of the power output shaft is opposite to that of the ear seat 1, i.e. away from the ear seat 1.

[0059] The power output shaft end of the servo motor 32 is fixedly connected to a screw 33, which is coaxially arranged with the inner slide tube 31; the outer surface of the screw 33 is threadedly connected to a threaded sleeve 34, which can slide up and down along the axial direction of the inner slide tube 31.

[0060] To limit the circumferential rotation of the threaded sleeve 34 and ensure that it slides only along the axial direction, an inner sliding groove 312 extending along the axial direction is provided on the inner wall of the inner sliding tube 31; correspondingly, a rib 341 is integrally formed on the outer surface of the threaded sleeve 34, the outline shape of the rib 341 is adapted to the groove shape of the inner sliding groove 312, and the rib 341 is embedded in the inner sliding groove 312 and can slide synchronously along the inner sliding groove 312 with the threaded sleeve 34.

[0061] The interlocking guide structure of the inner groove 312 and the rib 341 enables the threaded sleeve 34 to move up and down only along the axial direction of the inner slide tube 31, effectively preventing circumferential torsion during its sliding process.

[0062] A spring 35 is fixedly mounted on the side of the screw sleeve 34 away from the servo motor 32, and the other end of the spring 35 is fixedly connected to the pressure rod 36; at the same time, the spring 35 is coaxially sleeved on the outside of the screw 33, forming a wrapping arrangement of the screw 33.

[0063] The pressure rod 36 has a cavity extending along its length at its axial center. The inner diameter of the cavity is larger than the outer diameter of the screw 33, and the axis of the cavity is collinear with the axis of the screw 33. When the screw sleeve 34 drives the spring 35 and the pressure rod 36 to move axially along the screw 33, the screw 33 can extend into the cavity of the pressure rod 36. The cavity structure provides axial clearance space for the screw 33, avoiding interference between the screw 33 and the pressure rod 36.

[0064] The pressure rod 36 is fixedly fitted with a pressure head 37 at one end away from the spring 35. A contour plate is detachably connected to the end face of the pressure head 37 away from the pressure rod 36. The specific reference numeral of the contour plate is not shown in the attached drawings.

[0065] The contour of the conforming plate is adapted to the contour of the outer surface of the casting to be picked up. On the one hand, the contact area during picking up the casting can be increased by the conforming contact between the conforming plate and the outer surface of the casting, thereby improving the stability of the picking process and ensuring reliable picking operation. On the other hand, by replacing the conforming plate with different contours, it can adapt to the picking needs of castings with different shapes and specifications, thus broadening the applicability of the device.

[0066] like Figure 5 As shown, two gear mounting plates 45, which are symmetrically spaced apart, are fixedly mounted on the upper end face of the L-shaped plate 46 at the position corresponding to the gear transmission group 4.

[0067] The gear transmission assembly 4 is rotatably assembled between two gear mounting plates 45 via a rotating connecting shaft and bearing, forming a stable rotational support.

[0068] The outer surface of the inner slide tube 31 is machined with an outer tooth section 311, the axial position of which corresponds to the assembly position of the gear transmission assembly 4, ensuring that the two can form a meshing fit; correspondingly, the outer surface of the supporting outer tube 2 is provided with a gear clearance hole 21 in the area corresponding to the gear transmission assembly 4, which is used to provide space for the meshing of the gear transmission assembly 4 and the outer tooth section 311, and to avoid the supporting outer tube 2 from interfering with the transmission process.

[0069] The gear transmission group 4 comprises a first main gear 41 rotatably arranged on two gear mounting plates 45 through a rotating shaft, and part of the gear teeth of the first main gear 41 penetrates through the gear avoiding hole 21 of the supporting outer tube 2 and is in meshing connection with the outer tooth segment 311 of the inner sliding tube 31.

[0070] The two sides of the first main gear 41 are respectively provided with a second main gear 42, and the second main gear 42 is coaxially fixed with the first main gear 41 to ensure that the two can rotate synchronously.

[0071] Two auxiliary gears 44 are also rotatably arranged between the two gear mounting plates 45 through a rotating shaft, and the two auxiliary gears 44 are respectively in meshing connection with the two second main gears 42 on the two sides, and the two auxiliary gears 44 are respectively arranged at the two sides of the first main gear 41 to form a symmetrical transmission structure.

[0072] The outer surface of the supporting outer tube 2 is fixedly arranged with a main motor 5 at a position above the gear avoiding hole 21; the power output shaft end of the main motor 5 is fixedly connected with a gear rod 43, which is in meshing connection with the first main gear 41 to form a power input path.

[0073] Through the above structure design, when the main motor 5 starts, the power output shaft drives the gear rod 43 to rotate around its own axis, the gear rod 43 drives the first main gear 41 to rotate through meshing transmission, and then drives the second main gear 42 coaxial with the first main gear 41 to rotate synchronously, and the second main gear 42 drives the auxiliary gears 44 on the two sides to rotate through meshing, finally realizes the stable operation of the gear transmission group 4 as a whole, and provides power for the axial movement of the inner sliding tube 31 through the meshing of the first main gear 41 and the outer tooth segment 311.

[0074] The two sides of the L-shaped plate 46 away from the gear mounting plate 45 are uniformly and vertically spaced apart from top to bottom and are provided with at least two sliding sleeves 461, and the two sliding sleeves 461 on the two sides are symmetrically distributed to ensure the stability of sliding guidance.

[0075] The claw driving assembly 6 comprises two sliding rods 63 with consistent structures, the two sliding rods 63 are respectively corresponding to the sliding sleeves 461 on the two sides of the L-shaped plate 46, and the sliding rods 63 are slidably arranged along the axial direction of the sliding sleeves 461, and the sliding sleeves 461 constrain the sliding stroke of the sliding rods 63.

[0076] The upper end of the two sliding rods 63 is fixedly arranged with the same mounting plate 62, so that the two sliding rods 63 and the mounting plate 62 form an integral linkage structure.

[0077] The upper end surface of the mounting horizontal plate 62 is vertically fixedly connected with two rack blocks 61, the arrangement positions of the two rack blocks 61 correspond to the two auxiliary gear wheels 44 in the gear transmission set 4 respectively, and the tooth surfaces of the rack blocks 61 are in meshing connection with the gear teeth of the corresponding auxiliary gear wheels 44.

[0078] Through the above structural design, when the two auxiliary gear wheels 44 rotate synchronously, the gear teeth exert axial driving force on the rack blocks 61 through meshing transmission, thereby driving the two rack blocks 61 to move up and down along the vertical direction; since the rack blocks 61 are fixedly connected with the mounting horizontal plate 62, and the mounting horizontal plate 62 is fixedly connected with the two slide rods 63, the up-and-down movement of the rack blocks 61 can synchronously drive the mounting horizontal plate 62 and the two slide rods 63 to move up and down along the guide direction of the slide sleeves 461 synchronously, so as to realize the overall linkage of the claw driving assembly 6.

[0079] The ends of the two slide rods 63 away from the mounting horizontal plate 62 are fixedly provided with clamping frames 631, the middle of each clamping frame 631 is provided with a rotating area, and the central axis of the rotating area is arranged along the horizontal direction.

[0080] The surfaces of the L-shaped plates 46 are fixedly provided with two rotating sleeves 462 which are symmetrically and spacedly arranged.

[0081] The central axes of the rotating areas of the clamping frames 631 are parallel to the central axes of the two rotating sleeves 462, so as to ensure the consistency of the movement trajectories of the components in the subsequent transmission process.

[0082] As shown in the figure, Figure 6 The claw 7 comprises a pushing rod sleeve 71 which is rotatably installed on the rotating sleeve 462, and the pushing rod sleeve 71 is in the form of a frame structure as a whole and comprises two symmetrically and spacedly arranged connecting blocks 710.

[0083] The same second rod 712 is fixedly connected between the side end portions of the two connecting blocks 710, and the same first rod 711 is fixedly connected between the other side end portions, so as to form a stable frame of two rods and two plates.

[0084] The first rod 711 is rotatably assembled in the rotating area of the corresponding clamping frame 631, and the second rod 712 is rotatably assembled in the rotating sleeve 462 of the corresponding L-shaped plate 46, so that the pushing rod sleeve 71 can rotate around the axes of the first rod 711 and the second rod 712.

[0085] The connecting block 710 of the pushing rod sleeve 71 is fixedly connected with a connecting rod 72 on the side away from the slide rod 63, and the connecting rod 72 is arranged at a preset angle of 120° with the extension direction of the pushing rod sleeve 71.

[0086] The end of the connecting rod 72 away from the push rod sleeve 71 is fixedly provided with a half claw 73, which is provided in the form of an arc plate matched with the outer contour of the casting to be grabbed, and the side of the two half claws 73 close to each other is provided with an arc-shaped tooth.

[0087] The arc-shaped tooth surface of the half claw 73 is also uniformly and spacedly provided with a plurality of anti-falling clamping rods 74, which are also provided in the form of an arc, and the extension direction thereof is perpendicular to the extension direction of the arc-shaped tooth of the half claw 73; the arc-shaped contour of the anti-falling clamping rod 74 cooperates with the arc-shaped tooth contour of the half claw 73 to form a semi-enclosed structure for limiting the casting from the axial direction to avoid the casting from falling off during the grabbing process.

[0088] The surface of the L-shaped plate 46 is fixedly provided with a protective cover 8 at a position corresponding to the assembly area of the gear transmission set 4.

[0089] The protective cover 8 is in a closed structure, and the inner cavity contour thereof is matched with the shape and movement trajectory of the gear transmission set 4, so that all transmission components of the gear transmission set 4 can be completely covered to form a physical protection barrier.

[0090] The visual camera 9 can capture image information in real time during the grabbing process of the clamping jaw 7, so as to realize real-time observation and monitoring of the grabbing posture, clamping position and whether there is a risk of falling off of the casting and the like.

[0091] The control end of the servo motor 32 and the main motor 5 is electrically connected with the control system of the manipulator, and the control end of the visual camera 9 is electrically connected with the control system of the manipulator.

[0092] When the device performs the casting grabbing operation, the overall action process is developed based on the logic of power transmission-claw linkage-clamping fixation.

[0093] After the main motor 5 is started, the meshing transmission of the first main gear 41→the second main gear 42→the auxiliary gear 44 of the gear transmission set 4 drives the two rack blocks 61 on the mounting horizontal plate 62 to move downward in the vertical direction; since the rack block 61 is fixedly connected with the mounting horizontal plate 62, and the mounting horizontal plate 62 is fixedly connected with the two slide rods 63, the downward movement of the rack block 61 synchronously drives the two slide rods 63 to move downward along the guide direction of the slide sleeve 461 on both sides of the L-shaped plate 46.

[0094] When the slide rods 63 move downward, the clamping frames 631 at the ends of the slide rods 63 move downward as well; since the first rods 711 of the push rod sleeve 71 are rotationally arranged in the rotating areas of the clamping frames 631, and the second rods 712 are rotationally arranged in the rotating sleeves 462 of the L-shaped plates 46 and the rotating sleeves 462 are fixed in position, the downward movement of the clamping frames 631 will exert a downward pulling force on the first rods 711, forcing the push rod sleeve 71 to rotate around the axis of the second rods 712 towards the casting.

[0095] When the push rod sleeve 71 rotates, the half claws 73 are synchronously rotated by the connecting rods 72; since the two slide rods 63 are symmetrically arranged, the half claws 73 on the two sides will move towards each other in a rotating manner until the arc-shaped teeth on the half claws 73 are in close contact with the outer surface of the casting; as the push rod sleeve 71 continues to rotate, the arc-shaped teeth on the two sides are fully engaged, forming a radial clamping of the casting.

[0096] When the half claws 73 complete the radial clamping, the half-enclosing structure of the anti-falling clamping rods 74 on the surface of the half claws 73 will synchronously contact the axial surface of the casting, forming an auxiliary limiting in the dimension perpendicular to the clamping direction, avoiding the casting from falling off due to vibration or tilting during the grabbing movement, and finally achieving stable grabbing of the casting.

[0097] When it is necessary to release the casting, the main motor 5 is only needed to be controlled to reverse, the rack block 61 and the slide rods 63 are driven by the gear transmission set 4 to move upward, and then the push rod sleeve 71 is reversely rotated, so that the half claws 73 on the two sides move away from each other, the arc-shaped teeth are disengaged, and the anti-falling clamping rods 74 are limited, and the release of the casting is completed.

[0098] The application also provides a working method of the casting processing grabbing device, based on the above-mentioned casting processing grabbing device, comprising the following steps:

[0099] S1, check the device state, confirm that the clamping jaw 7 is in the initial working position (open state), the slide rods 63 are in the upper limit position, i.e. the initial working position, the gear transmission set 4, the servo motor 32, the main motor 5 and the visual camera 9 are all in standby state, and there is no part abnormality;

[0100] According to the shape and size of the casting to be grabbed, the corresponding profiling plate on the pressure head 37 is replaced, the profile of the contact surface of the profiling plate is adapted to the profile of the outer surface of the casting, and it is ensured that the half-enclosing structure of the anti-falling clamping rods 74 can be adapted to the axial size of the casting;

[0101] The visual camera 9 is turned on, and the camera lens angle is adjusted to ensure that the field of view completely covers the grabbing position of the clamping jaw 7, and real-time monitoring of the grabbing area is realized;

[0102] S2, the servo motor 32 is started to drive the movable resistance rod group 3 to move the rough height adjustment, the power output shaft of the servo motor 32 drives the screw rod 33 to rotate around its axis;Because the screw sleeve 34 is circumferentially limited by the rib 341 and the inner sliding groove 312 of the inner sliding pipe 31, the screw sleeve 34 cannot rotate with the screw rod 33, and moves up and down along the axis direction of the screw rod 33;The screw sleeve 34 drives the pressure rod 36 and the pressure head 37 to move axially synchronously through the spring 35, until the profiling plate on the pressure head 37 approaches the top of the cast part to be grabbed The preset positioning point, the rough adjustment of the grabbing height is completed;

[0103] Through the image information collected by the visual camera 9 in real time, the alignment of the profiling plate and the top of the cast part, and the relative position of the clamping jaw 7 and the two sides of the cast part are observed.If there is deviation, the axial position of the inner sliding pipe 31 is adjusted through the servo motor 32 to ensure that the clamping jaw 7 is in the preset grabbing area on both sides of the cast part;

[0104] S3, the main motor 5 is started, the clamping jaw driving assembly 6 is driven through the gear transmission group 4 to drive the clamping jaw 7 to move towards each other to engage the cast part, and the anti-drop clamp rod 74 forms a half-enclosing limiting position to grab the cast part;

[0105] The power output shaft of the main motor 5 drives the gear rod 43 to rotate, the gear rod 43 drives the first main gear 41 to rotate through meshing transmission, and the second main gear 42 coaxial with the first main gear 41 rotates synchronously;The second main gear 42 further meshes to drive the auxiliary gears 44 on both sides to rotate;

[0106] The auxiliary gear 44 applies an axial driving force to the rack block 61 through meshing, and drives the two rack blocks 61 to move downward in the vertical direction;Because the rack block 61 is fixed to the mounting plate 62, the mounting plate 62 synchronously drives the two slide rods 63 to move downward along the guide direction of the slide sleeve 461 on both sides of the L-shaped plate 46, and the clamping frame 631 at the end of the slide rod 63 moves downward;

[0107] When the clamping frame 631 moves downward, the first rod 711 pulls the push rod sleeve 71 to rotate around the axis of the second rod 712 towards the cast part;The push rod sleeve 71 drives the half jaw 73 to rotate synchronously through the connecting rod 72, and the two half jaws 73 are close to each other in the trend of rotating towards each other;

[0108] With the continuous approach of the half jaw 73, the arc-shaped teeth on the inner side of the half jaw 73 are in contact with and gradually engage the outer surface of the cast part, forming a radial clamping of the cast part;At the same time, the arc-shaped anti-drop clamp rod 74 on the half jaw 73 is perpendicular to the cast part axial surface, forming a half-enclosing limiting structure, avoiding the cast part from falling off during the grabbing process;During the process, the clamping posture is monitored in real time through the visual camera 9 to ensure that there is no deviation or looseness;

[0109] S4, after clamping is completed, the servo motor 32 continues to drive the inner slide pipe 31 to move downward, so that the profiling plate on the pressure head 37 is attached to the top of the casting and a preset pressure is applied, the spring 35 is elastically deformed, the stability of the casting grabbing is further improved through the elastic pressure, and shaking during moving is avoided;

[0110] At this time, the clamping jaw 7 and the movable abutment rod group 3 are in the grabbing working position synchronously;

[0111] S5, the whole grabbing device is moved by the mechanical hand of the device, and the casting is moved from the current position to the target working position; during the moving, the visual camera 9 continuously monitors the clamping state of the casting, and if the risk of falling off is detected, a signal is immediately sent and the moving is paused;

[0112] S6, after the casting is moved to the target working position, the servo motor 32 is reversely rotated to reversely rotate the screw rod 33, the screw sleeve 34 moves axially upward along the screw rod 33, the pressure rod 36 and the pressure head 37 move upward synchronously, the profiling plate is separated from the top of the casting, and the auxiliary pressure is released;

[0113] The main motor 5 is reversely rotated, power is reversely transmitted through the transmission chain of the gear rod 43-first main gear 41-second main gear 42-auxiliary gear 44, the rack block 61, the mounting horizontal plate 62 and the slide rod 63 are moved upward; when the clamping frame 631 moves upward, the push rod sleeve 71 is reversely rotated around the second rod 712, the two side half jaws 73 are driven to move away from each other through the connecting rod 72, the arc-shaped teeth are disengaged, and the anti-falling clamping rod 74 is separated from the axial surface of the casting;

[0114] S7, after the half jaw 73 is completely opened, the main motor 5 and the servo motor 32 are turned off, the grabbing device is reset to the initial working position by the mechanical hand, and the next grabbing instruction is waited; the visual camera 9 is continuously in standby monitoring state, and whether there is a new casting to be grabbed in the initial working position is monitored in real time;

[0115] S8, after a single grabbing operation is completed, the device can be regularly checked: the impurity protection cover 8 in the area of the gear transmission group 4 can assist in reducing impurities from entering, the lubrication state of the sliding sleeve 461 and the rotating sleeve 462 is checked, the arc-shaped teeth and the anti-falling clamping rod 74 are confirmed to be free of wear, and the reliability of subsequent operation is ensured.

[0116] Although the embodiments of the present application have been shown and described, it can be understood by those skilled in the art that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and spirits of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A casting part processing gripping device, comprising an ear seat (1), characterized in that: The mounting hole of the ear seat (1) is fixedly fitted with a support outer tube (2), and a movable abutment group (3) is slidably fitted inside the support outer tube (2) along its axial direction. An L-shaped plate (46) is fixedly fitted at the lower end of the outer wall of the support outer tube (2). A gear transmission group (4) is provided on the upper surface of the L-shaped plate (46). The gear transmission group (4) is connected to the movable abutment group (3) for driving the movable abutment group (3) to slide up and down along the axial direction of the support outer tube (2). A gripper drive assembly (6) is slidably fitted on the side of the L-shaped plate (46) in the vertical direction. The gear transmission group (4) is also connected to the gripper drive assembly (6) to drive the gripper drive assembly (6) to slide up and down synchronously. Two grippers (7) are symmetrically arranged at the lower end of the gripper drive assembly (6). A vision camera (9) is adjustablely installed at the middle position of the side of the L-shaped plate (46). The lens of the vision camera (9) faces the gripping area of ​​the gripper (7). The two grippers (7) are configured with a gripping working position and an initial working position: when in the gripping working position, the two grippers (7) move towards each other to the minimum distance, and the movable abutment group (3) slides down to the lowest position in the support outer tube (2) simultaneously; When in the initial working position, the two grippers (7) move back to back to the maximum distance, and the movable abutment group (3) slides upward to the highest position in the support outer tube (2) simultaneously; Two gear mounting plates (45) are fixedly mounted on the upper end face of the L-shaped plate (46) at the position corresponding to the gear transmission group (4). The L-shaped plate (46) is provided with at least two sliding sleeves (461) evenly spaced from top to bottom along the vertical direction on both sides away from the gear mounting plate (45), and the sliding sleeves (461) on both sides are symmetrically distributed. The gripper drive assembly (6) includes two identical sliding rods (63), which correspond to the sliding sleeves (461) on both sides of the L-shaped plate (46) respectively, and the sliding rods (63) can slide up and down along the axis of the sliding sleeves (461). The upper ends of the two slide rods (63) are fixedly fitted with the same mounting plate (62), and the upper end face of the mounting plate (62) is vertically fixedly connected with two rack blocks (61), which are meshed with the gear transmission group (4). A frame (631) is fixedly installed at the end of the slide bar (63) away from the mounting plate (62). Two rotating sleeves (462) are fixedly installed on the surface of the L-shaped plate (46) near the frame (631). The central axis of the rotating area of ​​the frame (631) is arranged parallel to the central axis of the two rotating sleeves (462).

2. The casting part gripping device according to claim 1, characterized in that: The movable abutment assembly (3) includes an inner sliding tube (31) that is slidably mounted on the inner wall of the outer support tube (2). The inner wall of the outer support tube (2) is provided with an inner sliding groove (22) from top to bottom. The outer surface of the inner sliding tube (31) is integrally formed with an outer protrusion (313) that matches the inner sliding groove (22) at a position opposite to the inner sliding groove (22).

3. The casting part gripping device according to claim 2, characterized in that: A servo motor (32) is fixedly mounted on one end of the inner slide tube (31) near the ear seat (1). A screw (33) is fixedly connected to the end of the power output shaft of the servo motor (32). The screw (33) is coaxially arranged with the inner slide tube (31). A threaded sleeve (34) is threadedly connected to the outer surface of the screw (33). The threaded sleeve (34) can slide up and down along the axis of the inner slide tube (31). A spring (35) is fixedly mounted on the side of the screw sleeve (34) away from the servo motor (32). The other end of the spring (35) is fixedly connected to the pressure rod (36). The spring (35) is coaxially sleeved on the outside of the screw (33) to form a wrapping arrangement of the screw (33). The pressure rod (36) is fixedly fitted with a pressure head (37) at the end away from the spring (35), and a contour plate is detachably connected to the end face of the pressure head (37) away from the pressure rod (36).

4. The casting part gripping device according to claim 3, characterized in that: The outer surface of the inner tube (31) is machined with an outer tooth section (311). The axial position of the outer tooth section (311) corresponds to the assembly position of the gear transmission group (4) to ensure that the two can form a meshing fit. The area on the outer surface of the supporting outer tube (2) corresponding to the gear transmission group (4) is provided with a gear clearance hole (21).

5. A casting part gripping device according to claim 4, characterized in that: The gripper (7) includes a push rod sleeve (71), which is rotatably mounted on a rotating sleeve (462). A connecting rod (72) is fixedly connected to the side of the push rod sleeve (71) away from the slide rod (63). A half-claw (73) is fixedly assembled at the end of the connecting rod (72) away from the push rod sleeve (71). The half-claw (73) is designed as an arc plate shape that matches the outer contour of the casting to be gripped. Both sides of the two half-claws (73) that are close to each other are machined with arc-shaped teeth. The surface of the arc-shaped teeth of the half-claws (73) is also evenly spaced with multiple anti-detachment gripping rods (74).

6. A method for operating a casting part processing gripping device, based on the casting part processing gripping device according to claim 5, characterized in that: Includes the following steps: S1. Check the status of the device and confirm that the gripper (7) is in the initial working position (open state). According to the external dimensions of the casting to be gripped, replace the corresponding contour plate on the pressure head (37), turn on the vision camera (9), adjust the camera lens angle to ensure that its field of view fully covers the gripping position of the gripper (7) and realize real-time monitoring of the gripping area. S2. Start the servo motor (32) to drive the movable stop rod group (3) to move the coarse adjustment height. Observe the alignment of the molding plate with the top of the casting and the relative position of the clamp (7) with the two sides of the casting by the image information collected in real time through the vision camera (9). S3. Start the main motor (5), drive the gripper drive assembly (6) through the gear transmission group (4) to drive the gripper (7) to move towards each other and bite the casting. The anti-detachment gripper (74) forms a semi-enclosed limit to grab the casting. S4. After clamping is completed, the servo motor (32) continues to drive the inner slide tube (31) to move down and compress the spring (35), so that the contour plate on the pressure head (37) fits against the top of the casting and applies a preset pressure. S5. The robotic arm of the device drives the entire gripping device to move the casting from the current position to the target station. During the transfer, the vision camera (9) continuously monitors the clamping status of the casting. If the risk of falling off is detected, a signal is immediately issued and the transfer is suspended. S6. After the casting is transferred to the target station, the servo motor (32) rotates in the opposite direction, driving the screw (33) to rotate in the opposite direction. The screw sleeve (34) moves upward along the screw (33) axis. The pressure rod (36) and the pressure head (37) move upward synchronously. The contour plate disengages from the top of the casting, releasing the auxiliary clamping force. The main motor (5) reverses, the arc-shaped tooth engagement state is released, and the anti-disengagement clamp (74) disengages from the axial surface of the casting. S7. After the half-claw (73) is fully opened, the main motor (5) and servo motor (32) are turned off. The gripping device is reset to the initial gripping position by the robot arm and waits for the next gripping command. The vision camera (9) is in standby monitoring state and monitors in real time whether there are new castings to be gripped at the initial position. S8. After a single grabbing operation is completed, a routine inspection of the device can be performed: clean the impurities in the area of ​​the gear transmission group (4), use the protective cover (8) to help reduce the entry of impurities, check the lubrication status of the sliding sleeve (461) and rotating sleeve (462), confirm that the arc teeth and anti-detachment clamp (74) are not worn, and ensure the reliability of subsequent operations.

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