Dual-purpose paw for quantitatively receiving molten metal and taking and placing casting finished product and using method thereof

Abstract

The invention discloses a dual-purpose paw for quantitatively receiving molten metal and taking and placing cast finished products and a using method of the dual-purpose paw. The dual-purpose gripper comprises a flange body, a pneumatic quick-change device and a clamping jaw assembly. The flange body is installed on a mechanical arm and can move along with the mechanical arm. The pneumatic quick-change device is installed on the flange body, and the clamping jaw assembly is installed on the pneumatic quick-change device. The clamping jaw assembly comprises a plurality of sets of different clamping jaws which are used for achieving different clamping work including clamping of a casting ladle or clamping of a casting finished product. The pneumatic quick-change device is used for achieving switching of different clamping jaws in the clamping jaw assembly so as to achieve switching of different clamping functions. According to the dual-purpose gripper, the weight of molten metal can be detected in real time, and the function of quantitatively receiving the molten metal is achieved; and the clamping jaw at the tail end can be automatically switched to adapt to switching between clamping of a casting ladle and clamping of a workpiece, and the working efficiency is improved.

Description

Technical Field

[0001] This invention belongs to the field of automation technology, and particularly relates to the field of robotic arm end effector technology, specifically a dual-purpose gripper for quantitatively receiving molten metal and picking up and placing cast finished parts, and its usage method. Background Technology

[0002] In the field of modern industrial automation technology (such as the molten metal casting industry), industrial robots need to use grippers to complete core tasks such as picking up molten metal, pouring molten metal into molds, and picking up and placing finished castings. However, the traditional grippers currently used in the industry generally suffer from the following technical pain points, making it difficult to meet the production needs of quantitative, efficient, and multi-compatible operations:

[0003] 1. Limited functionality, requiring frequent replacement of the gripper.

[0004] Existing grippers are mostly designed for a single function, which cannot meet the needs of pouring molten metal and handling finished parts. Different grippers are required to achieve these functions. Frequent gripper changes not only disrupt the production process but also reduce the overall efficiency of the production line.

[0005] 2. Lack of stress detection feedback makes it impossible to perform quantitative liquid sampling and casting.

[0006] Traditional grippers lack force detection capabilities, making it impossible to accurately measure molten metal as needed, resulting in unnecessary waste. Summary of the Invention

[0007] The purpose of this invention is to provide a dual-purpose gripper for quantitatively picking up molten metal and picking up and placing cast parts, so as to solve the problems of traditional grippers being unable to quantitatively pick up liquid, having low production change efficiency and low level of intelligence.

[0008] The technical solution to achieve the purpose of this invention is as follows: On the one hand, a dual-purpose gripper for quantitatively receiving molten metal and picking up and placing cast finished parts is provided, including a flange body, a pneumatic quick-change device and a gripper assembly;

[0009] The flange body is mounted on the robotic arm and can move with the robotic arm; the pneumatic quick-change device is mounted on the flange body, and the gripper assembly is mounted on the pneumatic quick-change device; the gripper assembly includes multiple sets of different grippers, which are used to perform different gripping operations, including gripping ladles or gripping cast finished parts.

[0010] The pneumatic quick-change device is used to switch between different grippers in the gripper assembly to achieve different gripping functions.

[0011] Furthermore, the dual-purpose gripper also includes a monitoring unit installed on the flange body, used to monitor the weight of the molten metal collected in the ladle in real time, and to feed the monitoring results back to the external control system in real time, so that the external control system can control the output of the molten metal.

[0012] Furthermore, the monitoring unit is a force sensor installed on the flange body.

[0013] Furthermore, one side of the force sensor is fixedly connected to the flange body, and the other side is fixedly connected to the pneumatic quick-change device.

[0014] Furthermore, one side of the force sensor is fixedly connected to the flange body via a first transition plate.

[0015] Furthermore, the other side of the force sensor is fixedly connected to the pneumatic quick-change device via a second transition plate.

[0016] On the other hand, a method for using the dual-hand gripper is provided, the method comprising the following steps:

[0017] When a quantitative amount of molten metal needs to be taken:

[0018] The first gripper used to pick up the ladle is replaced by a pneumatic quick-change device;

[0019] Driven by the robotic arm, the first gripper picks up the empty ladle and collects the molten metal. During this process, the force sensor monitors the weight of the molten metal in real time and feeds it back to the external control system. When the molten metal reaches the preset target weight, the external control system controls the molten metal output device to stop the output of the molten metal.

[0020] When it is necessary to pick up or put down the cast finished parts:

[0021] The second gripper used to pick up the cast parts is replaced by a pneumatic quick-change device.

[0022] Driven by the robotic arm, the second gripper picks up the cast part.

[0023] Compared with the prior art, the significant advantages of this invention are:

[0024] (1) It can detect the weight of the liquid metal in real time and realize the function of quantitatively receiving the liquid metal.

[0025] (2) It can automatically switch the end gripper to adapt to the switching between gripping the ladle and gripping the workpiece, thereby improving work efficiency.

[0026] The present invention will now be described in further detail with reference to the accompanying drawings. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of a two-hand gripper used for quantitatively receiving molten metal and picking up and placing cast parts in one embodiment. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative.

[0029] This is used to explain this application and is not intended to limit this application.

[0030] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0031] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0032] In one embodiment, combined Figure 1 A dual-purpose gripper for quantitatively receiving molten metal and picking up and placing cast finished parts is provided, including a flange body 1, a pneumatic quick-change device 3 and a gripper assembly 4;

[0033] The flange body 1 is mounted on the robotic arm and can move with the robotic arm; the pneumatic quick-change device 3 is mounted on the flange body 1, and the gripper assembly 4 is mounted on the pneumatic quick-change device 3; the gripper assembly 4 includes multiple sets of different grippers, which are used to perform different gripping operations, including gripping the ladle 5 or gripping the cast finished part.

[0034] The pneumatic quick-change device 3 is used to switch between different grippers in the gripper assembly 4 to achieve different gripping functions and improve production efficiency.

[0035] Preferably, the flange body 1 is mounted on the sixth axis of the robotic arm.

[0036] Furthermore, in one embodiment, the dual-arm gripper also includes a monitoring unit mounted on the flange body 1, for real-time monitoring of the weight of the molten metal collected in the ladle 5, and for real-time feedback of the monitoring results to an external control system, which then controls the output of the molten metal.

[0037] Preferably, the monitoring unit is a force sensor 2 installed on the flange body 1.

[0038] Preferably, one side of the force sensor 2 is fixedly connected to the flange body 1, and the other side is fixedly connected to the pneumatic quick-change device 3.

[0039] Preferably, one side of the force sensor 2 is fixedly connected to the flange body 1 via a first transition plate.

[0040] Preferably, the other side of the force sensor 2 is fixedly connected to the pneumatic quick-change device 3 via a second transition plate.

[0041] In one embodiment, a method of using the dual-hand gripper is provided, the method comprising the following steps:

[0042] When a quantitative amount of molten metal needs to be taken:

[0043] The first gripper used to hold the ladle 5 is replaced by the pneumatic quick-change device 3.

[0044] Preferably, the first gripper is, but not limited to, a parallel gripper;

[0045] Driven by the robotic arm, the first gripper picks up the empty ladle and collects the molten metal. During this process, the force sensor monitors the weight of the molten metal in real time and feeds it back to the external control system. When the molten metal reaches the preset target weight, the external control system controls the molten metal output device to stop the output of the molten metal.

[0046] When it is necessary to pick up or put down the cast finished parts:

[0047] Driven by the robotic arm, the empty pouring ladle is moved to the predetermined position and the first gripper is released;

[0048] The robotic arm then moves to the quick-change rack;

[0049] The second gripper used to pick up the cast finished part is replaced by the pneumatic quick-change device 3.

[0050] Driven by the robotic arm, the second gripper picks up the cast finished part;

[0051] The above process enables efficient automatic switching.

[0052] It should be noted that for components without special structural limitations, any component that can achieve the corresponding function in the existing technology is acceptable.

[0053] It should also be noted that the above-mentioned settings, installations, connections, and fixations can be made using, but are not limited to, bolts, threads, etc. Any existing fixed or movable connection scheme can be adapted, as long as the corresponding function can be achieved.

[0054] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention without departing from its spirit and scope should be included within the protection scope of the present invention.

Claims

1. A dual-purpose hand claw for quantitatively accessing a metal liquid and taking and placing a casted finished product, characterized in that, The utility model relates to a flange main body (1), pneumatic quick change device (3) and clamp jaw assembly (4) are included; The flange main body (1) is installed on the mechanical arm, can move with the mechanical arm;The pneumatic quick change device (3) is installed on the flange main body (1), and the clamp jaw assembly (4) is installed on the pneumatic quick change device (3);The clamp jaw assembly (4) includes different groups of different clamp jaws, is used for realizing different clamping work including clamping ladle (5) or clamping casted product respectively; The pneumatic quick change device (3) is used for realizing the switching of different clamp jaws in the clamp jaw assembly (4) to realize the switching of different clamping functions.

2. The dual-purpose handgrip for quantitatively accessing the molten metal and taking and placing a casted finished product according to claim 1, characterized in that, The dual-purpose hand claw also includes a monitoring unit installed on the flange main body (1) for real-time monitoring of the weight of the molten metal taken in the ladle (5) and real-time feedback of the monitoring results to the external control system, and the output of the molten metal is controlled by the external control system.

3. The dual-purpose handgrip for quantitatively accessing the molten metal and taking and placing a casted finished product according to claim 2, characterized in that, The monitoring unit is a force sensor (2) installed on the flange main body (1).

4. The dual-purpose handgrip for quantitatively accessing the molten metal and taking and placing a casted finished product according to claim 3, wherein One side of the force sensor (2) is fixedly connected with the flange main body (1), and the other side is fixedly connected with the pneumatic quick change device (3).

5. The dual-purpose handgrip for quantitatively accessing the molten metal and taking and placing a casted finished product according to claim 4, characterized in that, One side of the force sensor (2) is fixedly connected with the flange main body (1) through a first transition plate.

6. The dual-purpose handgrip for quantitatively accessing the molten metal and picking and placing a casted finished product according to claim 4, wherein The other side of the force sensor (2) is fixedly connected with the pneumatic quick change device (3) through a second transition plate.

7. Method of using the dual-purpose handgrip according to any one of claims 1 to 6, characterized in that, The method comprises the following steps: When the molten metal needs to be quantitatively taken: Replace the first clamp jaw for clamping the ladle (5) through the pneumatic quick change device (3); Under the drive of the mechanical arm, the empty ladle is clamped to take the molten metal through the first clamp jaw, and in this process, the weight of the molten metal is monitored in real time by the force sensor and fed back to the external control system, and when the molten metal reaches the preset target weight, the external control system controls the molten metal output device to stop the output of the molten metal; When the casted product needs to be taken and placed: Replace the second clamp jaw for clamping the casted product through the pneumatic quick change device (3); Under the drive of the mechanical arm, the casted product is clamped through the second clamp jaw.

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