Automatic mechanical arm for transferring alloy castings

Abstract

The invention relates to the technical field of intelligent manufacturing equipment industry, and discloses an automatic mechanical arm for transferring alloy castings, which comprises a mechanical arm base, and a mechanical arm connecting rod is mounted on the side of the mechanical arm base; a pure mechanical angle limiting system composed of an adjustable limiting stop block and a trigger stop block is innovatively arranged in a mechanical arm connecting rod joint rotating mechanism, an insurmountable physical boundary is set for a motion path, over-limit motion caused by program disorder or sensor failure is fundamentally avoided, and meanwhile, the mechanical arm connecting rod joint rotating mechanism has the advantages that the mechanical arm connecting rod joint rotating mechanism is simple in structure and convenient to operate. A torque breaking control assembly based on meshing transmission is integrated, torque transmission can be instantly broken when limiting is triggered, a mechanical structure is protected, a safety time window for instruction rechecking is provided for a control system, and non-stop safety intervention is achieved. And the reliability, the safety and the continuous operation capability of the equipment in a severe environment are obviously improved.

Description

Technical Field

[0001] This invention relates to the field of intelligent manufacturing equipment technology, and in particular to an automated robotic arm for transferring alloy castings. Background Technology

[0002] Automated robotic arms for alloy transfer are industrial robots specifically designed for the precise and efficient handling, loading, unloading, and displacement of alloy materials during manufacturing processes. They typically possess characteristics such as high load capacity, high temperature resistance, and wear resistance, and integrate vision systems or force sensors to adapt to the harsh environments and high-precision requirements of alloy processing. In the intelligent manufacturing equipment industry, these robotic arms are the core execution units for achieving production automation. They can receive instructions and provide data feedback in real time, enabling the production process of alloy parts to have traceability, adaptability, and efficient optimization capabilities, thereby driving the entire intelligent manufacturing equipment industry towards a more flexible, precise, and digitalized direction.

[0003] In existing technologies, alloy transfer robotic arms that rely on preset program control face severe challenges in harsh working conditions filled with grinding dust and high-temperature radiation. These special factors can easily cause inaccuracies between the feedback information of the control system and the internal model, leading to misjudgments. Once the control system issues an erroneous command in this state, the actual movement trajectory of the robotic arm will deviate from the preset safe path. This unpredictable trajectory deviation can easily cause rigid collisions between the robotic arm and surrounding equipment or the workpiece itself. Such collisions not only directly damage the expensive robotic arm and the alloy workpiece to be processed, but also cause unplanned downtime of the production line, resulting in huge maintenance costs and production losses, thus restricting the reliability, safety, and continuous operation efficiency of intelligent manufacturing systems in harsh environments. Summary of the Invention

[0004] The technical problem to be solved by the present invention is that the existing alloy transfer robotic arm has the disadvantage that the control system is easily interfered with and the trajectory deviation is caused by harsh working conditions such as dust and high temperature, which leads to collision damage to equipment, interruption of production and increased costs. To this end, we propose an automated robotic arm for transferring alloy castings.

[0005] To achieve the above objectives, this application adopts the following technical solution: an automated robotic arm for transferring alloy castings, comprising: a robotic arm base, a robotic arm linkage mounted on the side of the robotic arm base, a rotating mechanism provided at the joint connection of the robotic arm linkage, the rotating mechanism including a fixed cylinder, a drive shaft rotatably connected inside the fixed cylinder, and a torque cut-off control component installed between the fixed cylinder and the drive shaft, a trigger component installed at the end of the drive shaft, the trigger component including a transmission cylinder fixedly connected to the end of the drive shaft, a trigger stop embedded on the side of the transmission cylinder, a limit component coaxially provided on the outside of the transmission cylinder, the limit component including a mounting ring fixedly connected to the inner wall of the fixed cylinder, a gear ring fixedly connected inside the mounting ring, a gear meshing on the inner wall of the gear ring, and a limit stop block installed outside the gear;

[0006] The limiting block is provided in two sets. When the trigger block rotates with the transmission cylinder to one of the limiting blocks, the transmission cylinder can no longer rotate. This is used to limit the angle that the rotating mechanism can rotate according to the preset route.

[0007] Preferably, the limiting component further includes a support ring, which is fixedly connected inside the mounting ring. The limiting block is slidably connected to the support ring. When the gear rotates, it can drive the limiting block to make a circular motion around the support ring, thereby adjusting the included angle distance between the two sets of limiting blocks.

[0008] Preferably, the transmission cylinder has a through hole at the position corresponding to the trigger stop, and two sets of first springs are installed inside the through hole, with the ends of the first springs fixedly connected to the side of the trigger stop.

[0009] Preferably, the end of the trigger stop block that extends through the through hole into the inside of the transmission cylinder is fixedly connected to a drive ring, and the drive ring is rotatably connected to the inside of the transmission cylinder.

[0010] Preferably, the transmission cylinder is coaxially fitted with a biting transmission assembly, which includes a moving rod. The end of the moving rod is fixedly connected to a biting block, and the outer wall of the biting block is provided with a plurality of biting grooves in a ring array.

[0011] Preferably, each of the meshing grooves has a meshing strip corresponding to it. The meshing strip is fixedly connected to the inner wall of the transmission cylinder, and the meshing strip and the meshing groove are fitted with a gap, and the gap is filled with lubricating oil.

[0012] Preferably, the inner wall of the driving ring is fixedly connected with blocking teeth, and the blocking teeth are arranged in a ring array about the inner wall of the driving ring. When the first spring is in its natural state, the blocking teeth and the engagement groove are staggered to block the moving rod through the engagement block, preventing it from coming out. When the trigger stop block contacts the limiting stop block and squeezes the first spring, the trigger stop block rotates and adjusts the blocking teeth through the driving ring, so that the blocking teeth rotate to the position aligned with the engagement groove, at which time the moving rod can come out.

[0013] Preferably, a torque cut-off control assembly is installed at the end of the moving rod away from the engagement block. The torque cut-off control assembly includes a drive cylinder, which is sleeved on the outside of the moving rod.

[0014] Preferably, the inner wall of the drive drum is provided with two sets of spiral grooves in opposite directions, and the inner wall of the drive drum is also provided with a set of axial straight grooves, and the two ends of the straight grooves are aligned with the two ends of the spiral grooves.

[0015] Preferably, a movable slider is inserted into the end of the linear groove, and the movable slider is fixedly connected to the side of the movable rod. A second spring is provided inside the drive drum, and the end of the second spring is fixedly connected to the movable rod.

[0016] The technical effects and advantages of this invention are as follows:

[0017] This invention introduces a limit component and a trigger stop block that work together. The limit component has a preset physical angle boundary to forcibly prevent over-limit movement, effectively avoiding the risk of control failure caused by program errors, sensor failures, or high-temperature and high-dust environments. It achieves purely mechanical limiting, building a safety barrier for the robotic arm that is independent of the control system. Moreover, the interval angle between the two sets of limit stops in the limit component can be adjusted, which is more flexible than a robotic arm with a purely fixed route and can adapt to different workpiece transfer stations. The trigger component and the buffer spring work together to absorb the impact and protect the structure during collisions. At the same time, the momentary disconnection of the torque transmission is triggered, which buys the system judgment module time to verify the instructions. Thus, safe intervention can be achieved without complete shutdown. This not only significantly improves the reliability and anti-interference ability of the robotic arm under harsh working conditions, but also achieves a balance between flexible protection and continuous operation through a hardware-level safety closed loop. It fundamentally avoids accidents such as trajectory deviation and collisions, ensuring the stability and safety of the production process. Attached Figure Description

[0018] The disclosure of this invention is illustrated with reference to the accompanying drawings. It should be understood that the drawings are for illustrative purposes only and are not intended to limit the scope of protection of this invention. In the drawings, the same reference numerals are used to refer to the same parts:

[0019] Figure 1 This is a three-dimensional structural diagram of the entire invention;

[0020] Figure 2 This is a schematic diagram of the internal structure of the rotating mechanism of the present invention;

[0021] Figure 3 This is a schematic diagram of the structure of the fixed cylinder and the drive shaft of the present invention;

[0022] Figure 4 This is a schematic diagram of the internal structure of the limiting component of the present invention;

[0023] Figure 5 This is an exploded view of the limiting component portion of the present invention;

[0024] Figure 6 This is an exploded structural diagram of the triggering component and the engagement transmission component of the present invention;

[0025] Figure 7 This is a three-dimensional structural diagram of the trigger component of the present invention;

[0026] Figure 8 This is a schematic diagram of the bite block of the bite transmission assembly of the present invention in the outward disengagement state;

[0027] Figure 9 This is a cross-sectional structural diagram of the torque cut-off control component of the present invention.

[0028] Legend: 1. Robotic arm base; 2. Robotic arm link; 3. Fixed cylinder; 4. Drive shaft; 5. Limiting component; 6. Triggering component; 7. Engaging transmission component; 8. Torque control component; 501. Mounting ring; 502. Gear ring; 503. Limiting block; 504. Gear; 505. Support ring; 601. Driving ring; 602. Blocking tooth; 603. Triggering block; 604. First spring; 605. Transmission cylinder; 701. Moving rod; 702. Engaging block; 703. Engaging groove; 704. Engaging strip; 801. Drive shaft; 802. Spiral groove; 803. Linear groove; 804. Moving slider; 805. Second spring. Detailed Implementation

[0029] It is readily understood that, based on the technical solution of this invention, those skilled in the art can propose various interchangeable structural methods and implementations without altering the essential spirit of the invention. Therefore, the following detailed embodiments and accompanying drawings are merely illustrative examples of the technical solution of this invention and should not be considered as the entirety of the invention or as limitations or restrictions on the technical solution of this invention.

[0030] Currently, robotic arm technology mainly presents two typical technical paths. One type is a robotic arm system based on a fixed track, which achieves positioning by means of a high rigidity structure and motion trajectory. However, its completely preset path pattern leads to a lack of flexibility and makes it difficult to adapt to dynamic working environments. The other type adopts a fully free-degree-of-freedom programmable control scheme, which achieves flexible control of arbitrary trajectories through motion planning algorithms. However, this flexibility depends entirely on the absolute reliability of the control system. Once a program abnormality, data corruption, or algorithm vulnerability occurs, it may cause trajectory deviation, interference, or even collision accidents, exposing the inherent safety risks of software-based systems.

[0031] In the high-dust and high-temperature environment of alloy casting production workshops, the control system of robotic arms faces severe challenges, with a significantly increased probability of anomalies or misjudgments. High-dust environments can easily cause optical sensors to be blocked or ranging lasers to scatter, resulting in distorted pose perception. Simultaneously, conductive metal dust may intrude into electrical cabinets and wiring interfaces, causing short circuits in the controller or communication signal interference. Furthermore, the continuous high temperatures in the workshop not only cause servo motors to overheat, leading to torque fluctuations and positioning drift, but also directly affect the operational stability of the core processor in the control cabinet, resulting in computational delays or even logical errors. Under the combined effect of these factors, the control system is highly susceptible to issuing incorrect trajectory commands based on erroneous environmental perception data or its own unstable state, ultimately leading to serious consequences such as processing interruptions, component damage, or mechanical collisions. To avoid the series of adverse consequences caused by the aforementioned erroneous commands issued by the control system, this application proposes the following improvements:

[0032] Reference Figure 1 , Figure 2 , Figure 3 As shown, the present invention provides a technical solution: an automated robotic arm for transferring alloy castings, comprising: a robotic arm base 1, a robotic arm link 2 mounted on the side of the robotic arm base 1, a rotating mechanism provided at the joint connection of the robotic arm link 2, the rotating mechanism including a fixed cylinder 3, a drive shaft 4 rotatably connected inside the fixed cylinder 3, and a torque control component 8 installed between the fixed cylinder 3 and the drive shaft 4, one set of arms of the robotic arm link 2 being fixedly connected to the side of the fixed cylinder 3, and the other set of arms being fixedly connected to the side of the drive shaft 4, the rotation adjustment between the two sets of arms can be realized by the rotation between the drive shaft 4 and the fixed cylinder 3.

[0033] Please see Figure 2 , Figure 4 and Figure 5As shown, a trigger assembly 6 is installed at the end of the drive shaft 4. The trigger assembly 6 includes a transmission cylinder 605, which is fixedly connected to the end of the drive shaft 4. A trigger stop 603 is embedded on the side of the transmission cylinder 605. A limit assembly 5 is coaxially provided on the outside of the transmission cylinder 605. The limit assembly 5 includes a mounting ring 501, which is fixedly connected to the inner wall of the fixed cylinder 3. A gear ring 502 is fixedly connected inside the mounting ring 501. A gear 504 meshes with the inner wall of the gear ring 502. A limit blocking block 503 is installed on the outside of the gear 504. There are two sets of limit blocking blocks 503. When the trigger stop 603 rotates with the transmission cylinder 605 to one set of limit blocking blocks 503, the transmission cylinder 605 can no longer rotate. This is used to limit the angle that the rotating mechanism can rotate according to a preset route.

[0034] By establishing insurmountable physical boundaries for the motion path through purely mechanical means, a safety barrier independent of the control system is constructed. Even if the control system completely loses control due to program errors, sensor failures, or drive malfunctions, and attempts to drive the robotic arm to rotate beyond a safe angle, the trigger stop 603 is promptly blocked by the limit stop block 503, forcibly interrupting the movement. This not only effectively prevents damage to the robotic arm's structure and collisions with surrounding equipment or personnel caused by software anomalies, but also provides crucial, intrinsically safe protection that does not rely on electrical signals in harsh working conditions such as high dust and high temperatures in alloy casting workshops, which can easily interfere with the control system, greatly improving the overall reliability and safety of the equipment.

[0035] Please see Figure 5 As shown, the limiting component 5 also includes a support ring 505, which is fixedly connected to the inside of the mounting ring 501. The limiting block 503 is slidably connected to the support ring 505. The gear 504 is installed at the output end of the micro motor, and the micro motor is fixedly connected to the inside of the limiting block 503. When the gear 504 rotates, it can drive the limiting block 503 to make a circular motion around the support ring 505. By rotating the two sets of limiting blocks 503 to different positions, the included angle between the two sets of limiting blocks 503 can be adjusted. The included angle between the two sets of limiting blocks 503 is adjusted according to the preset route before the robotic arm moves. The alloy casting is picked up from a fixed point such as a furnace, mold or conveyor belt, and is precisely placed to another fixed point, such as a cooling area or processing table, through a shortest path without interference. Throughout the entire process, the coordinates, path trajectory, and cycle time for grabbing and placing are consistent. Therefore, an optimal motion trajectory can be pre-set and fixed for execution, which can perfectly meet the repetitive and standardized handling requirements, thereby achieving stable production cycle time and improved efficiency.

[0036] Please see Figure 4 . Figure 6 and Figure 7 As shown, the transmission cylinder 605 has a through hole corresponding to the trigger stop 603, and two sets of first springs 604 are installed inside the through hole. The ends of the first springs 604 are fixedly connected to the side of the trigger stop 603. When the trigger stop 603, which rotates with the transmission cylinder 605, contacts the rigid limit block 503, the first springs 604 can effectively absorb and dissipate the huge impact kinetic energy generated by the collision through their own deformation, transforming the violent rigid impact into a relatively gentle buffer stop. This not only avoids the instantaneous stress damage and deformation caused by hard collisions to the trigger stop 603, the limit block 503, and the entire transmission mechanism, but also significantly improves the service life and reliability of the limit component 5, and enhances the stability and safety during emergency braking.

[0037] Please see Figure 6 , Figure 7 and Figure 8 As shown, the end of the trigger stop 603 extending through the through hole into the transmission cylinder 605 is fixedly connected to a drive ring 601. The drive ring 601 is rotatably connected to the inside of the transmission cylinder 605. A meshing transmission assembly 7 is coaxially sleeved inside the transmission cylinder 605. The meshing transmission assembly 7 includes a moving rod 701, the end of which is fixedly connected to a meshing block 702. The outer wall of the meshing block 702 has several meshing grooves 703 arranged in a ring array. Each meshing groove 703 has a corresponding meshing strip 704 inside. The meshing strip 704 is fixedly connected to the inner wall of the transmission cylinder 605, and the meshing strip 704 and the meshing groove 703 are in clearance fit, with lubricating oil filling the gap. A blocking tooth 602 is fixedly connected to the inner wall of the drive ring 601, and the blocking tooth 602... The teeth 602 are arranged in a ring array on the inner wall of the driving ring 601. When the trigger stop 603 is not blocked and rotates with the transmission cylinder 605, the first spring 604 is in its natural state. At this time, the blocking teeth 602 and the engagement groove 703 are staggered to block the moving rod 701 through the engagement block 702, preventing it from disengaging outward. When the trigger stop 603 contacts the limiting stop block 503, the transmission cylinder 605 still tends to rotate. The relative displacement between the trigger stops 603 will compress the first spring 604. At the same time, the trigger stop 603 rotates and adjusts the blocking teeth 602 through the driving ring 601, so that the blocking teeth 602 rotate to the position aligned with the engagement groove 703. At this time, the moving rod 701 can disengage outward.

[0038] Please see Figure 9As shown, a torque cut-off control assembly 8 is installed at the end of the moving rod 701 away from the biting block 702. The torque cut-off control assembly 8 includes a drive cylinder 801, which is sleeved on the outside of the moving rod 701. The drive cylinder 801 is installed at the end of the output shaft of the drive motor. Under normal conditions, when the drive cylinder 801 rotates, the transmission cylinder 605 can be rotated through the transmission of the moving rod 701, the biting block 702, and the biting bar 704.

[0039] The inner wall of the drive drum 801 is provided with two sets of spiral grooves 802 in opposite directions. The inner wall of the drive drum 801 is also provided with a set of axial straight grooves 803, and the two ends of the straight grooves 803 are aligned with the two ends of the spiral grooves 802. A movable slider 804 is inserted into the end of the straight groove 803, and the movable slider 804 is fixedly connected to the side of the movable rod 701. A second spring 805 is provided inside the drive drum 801, and the end of the second spring 805 is fixedly connected to the movable rod 701.

[0040] When the biting block 702 and the biting bar 704 are engaged together and prevented from disengaging outward by the blocking tooth 602, the second spring 805 is in a stretched state. When the trigger stop 603 is blocked, the trigger blocking tooth 602 rotates, aligning itself with the biting groove 703. At this time, the blocking tooth 602 loses its blocking effect on the biting block 702. Under the stretching action of the second spring 805, the moving rod 701 and the biting block 702 can be quickly pulled outward from the transmission cylinder 605. At the same time, the moving slider 804 slides from the outer end to the inner end of the straight groove 803. However, the distance that the biting block 702 retracts is insufficient to completely disengage the biting bar 704 from the biting groove 703. At this time, the biting block 702 is blocked by the biting bar 704 and cannot continue to rotate. The rotational action transmitted from the drive cylinder 801 then... The spiral groove 802 and the moving slider 804 are converted into linear motion to push the moving rod 701 and the biting block 702 back into the transmission cylinder 605 to complete the reset. During this push-back process, since the rotation of the drive cylinder 801 has been converted into the forward linear motion of the biting block 702 through the spiral groove 802 and the moving slider 804, the torque is no longer transmitted to the drive shaft 4 and its side arm through the transmission cylinder 605. This avoids mechanical damage between the trigger stop 603 and the limit stop block 503. Even if the drive motor does not need to be stopped, it can provide a period of time without torque transmission. This can be used to reserve a time window for the system's judgment module to judge whether the instruction is correct and whether it needs to be executed, preventing erroneous instructions from directly driving the robotic arm and causing unnecessary losses.

[0041] When the trigger stop 603 is blocked, the rotational motion is converted into linear displacement through the retraction of the engagement groove 703 and the interaction between the spiral groove 802 and the moving slider 804. This allows for the rapid disconnection of torque transmission without completely disengaging the engagement between the engagement bar 704 and the engagement groove 703, providing a valuable decision-making window for the judgment module in the control system. During this period, the drive motor can remain idle without stopping, and the system judgment module can perform secondary verification and safety assessment of the current motion command. If the command is normal, the engagement block 702 re-enters the transmission cylinder 605 and engages with the engagement bar 704, restoring power transmission with almost no impact on the cycle time. If the command is confirmed to be erroneous, a collision accident is successfully avoided. This design not only responds quickly and avoids the delay and impact caused by complete power separation and re-alignment, but also constitutes a highly efficient hardware-level safety closed loop embedded in the transmission system, greatly improving the intelligent protection level and continuous operation capability of the equipment.

[0042] Working principle: The fixed cylinder 3 and the drive shaft 4 are respectively installed on the two sets of arms of the robotic arm linkage 2. When it is necessary to control the rotation of one set of arms, the drive motor at the end of the drive cylinder 801 drives it to rotate. At the same time, the drive cylinder 801 drives the moving rod 701 to rotate together through the moving slider 804. Since the moving rod 701 is engaged with the transmission cylinder 605 through the biting block 702 and biting strip 704 to form a transmission structure, it can drive the transmission cylinder 605 to rotate together, thereby driving the other set of arms to rotate and adjust through the drive shaft 4.

[0043] When the robotic arm is working, it first adjusts the rotation mechanism at the joint connection between each link 2 of the robotic arm according to the preset route to be worked. During adjustment, the micro motor on the side of the gear 504 is started to drive the gear 504 to rotate. Since the gear 504 and the gear ring 502 mesh with each other, when the gear 504 rotates, it can drive the limit block 503 to move. The support ring 505 is used to limit its movement route. By adjusting the position of the two sets of limit blocks 503, the trigger block 603 can be limited to a certain angle interval, so that the trigger block 603 can only move within this angle, thereby limiting the rotation angle of the transmission cylinder 605.

[0044] When the control module in the control system issues a command to make the robotic arm perform other movements, if the new command causes its rotation range to exceed the original command's rotation range, the trigger block 603 will be blocked by the limit block 503 when it rotates with the transmission cylinder 605 to one of the limit blocks 503, so that the transmission cylinder 605 can no longer rotate, and thus the drive shaft 4 and the arm driven by it can no longer rotate, in order to prevent it from making additional movements.

[0045] When the trigger stop 603 is blocked by the limiting stop block 503 and cannot continue to move, since the drive motor is still in operation, it will cause the transmission cylinder 605 to still have a tendency to move through the transmission of the moving rod 701, the biting block 702, and the biting bar 704. At this time, the difference in movement between the trigger stop 603 and the transmission cylinder 605 will compress the first spring 604. At the same time, through the driving ring 601, the blocking tooth 602 will rotate relative to the transmission cylinder 605, so that the blocking tooth 602 is adjusted from the state of aligning with the biting block 702 to the position of aligning with the biting groove 703. At this time, under the action of the preset tension of the second spring 805, the transmission cylinder 605 will continue to move. The moving rod 701 and the biting block 702 first slide out of the transmission cylinder 605. During the sliding out process, the moving slider 804 slides along the straight groove 803 from one end to the other. Since the drive motor is still working at this time, its output shaft drives the drive cylinder 801 to rotate. Since the biting block 702 and the biting bar 704 are not completely disengaged at this time, the biting block 702 is restricted from rotating, which in turn prevents the moving rod 701 from rotating. The rotation of the drive cylinder 801 causes the moving slider 804 to move along the spiral groove 802, and at the same time pushes the moving rod 701 back towards the transmission cylinder 605.

[0046] During the process of the moving rod 701 disengaging and being pushed back, the judgment module in the control system simultaneously re-judges the new command just issued by the control module. If the command is judged to be a normal command, the position of the limit block 503 is readjusted so that the included angle space formed by the two sets of limit blocks 503 matches the new motion command. After the biting block 702 is pushed back into the transmission cylinder 605, it re-forms the transmission mechanism between the biting bar 704 and the transmission cylinder 605, so that it drives the arm on its side to continue working through the drive shaft 4. If the command is judged to be an abnormal or erroneous command, an alarm is issued and the drive motor is controlled to stop working to prevent the erroneous command from causing erroneous actions of the robotic arm and causing damage.

[0047] The technical scope of this invention is not limited to the content described above. Those skilled in the art can make various modifications and variations to the above embodiments without departing from the technical concept of this invention, and all such modifications and variations should fall within the protection scope of this invention.

Claims

1. An automated robotic arm for transferring alloy castings, characterized in that, The system includes a robotic arm base, a robotic arm linkage mounted on the side of the base, a rotating mechanism at the joint of the linkage, a fixed cylinder, a drive shaft rotatably connected inside the fixed cylinder, a torque control assembly between the fixed cylinder and the drive shaft, a trigger assembly mounted at the end of the drive shaft, the trigger assembly including a transmission cylinder fixedly connected to the end of the drive shaft, a trigger stop embedded on the side of the transmission cylinder, a limit assembly coaxially mounted on the outside of the transmission cylinder, the limit assembly including a mounting ring fixedly connected to the inner wall of the fixed cylinder, a gear ring fixedly connected inside the mounting ring, a gear meshing on the inner wall of the gear ring, and a limit stop block mounted outside the gear. The limiting block is provided in two sets. When the trigger block rotates with the transmission cylinder to one of the limiting blocks, the transmission cylinder can no longer rotate. This is used to limit the angle that the rotating mechanism can rotate according to the preset route.

2. The automated robotic arm for transferring alloy castings according to claim 1, characterized in that: The limiting component also includes a support ring, which is fixedly connected inside the mounting ring. The limiting block is slidably connected to the support ring. When the gear rotates, it can drive the limiting block to make a circular motion around the support ring, thereby adjusting the included angle distance between the two sets of limiting blocks.

3. The automated robotic arm for transferring alloy castings according to claim 1, characterized in that: The transmission cylinder has a through hole at the position corresponding to the trigger stop, and two sets of first springs are installed inside the through hole. The ends of the first springs are fixedly connected to the side of the trigger stop.

4. The automated robotic arm for transferring alloy castings according to claim 1, characterized in that: The end of the trigger stop block that extends through the through hole into the transmission cylinder is fixedly connected to a drive ring, which is rotatably connected to the inside of the transmission cylinder.

5. The automated robotic arm for transferring alloy castings according to claim 1, characterized in that: The transmission cylinder is coaxially fitted with a biting transmission assembly, which includes a moving rod. The end of the moving rod is fixedly connected to a biting block, and the outer wall of the biting block is provided with several biting grooves in a ring array.

6. The automated robotic arm for transferring alloy castings according to claim 5, characterized in that: The bite groove has a bite strip inside each groove. The bite strip is fixedly connected to the inner wall of the transmission cylinder. The bite strip and the bite groove are fitted with a gap, and the gap is filled with lubricating oil.

7. The automated robotic arm for transferring alloy castings according to claim 4, characterized in that: The inner wall of the drive ring is fixedly connected with blocking teeth, and the blocking teeth are arranged in a ring array about the inner wall of the drive ring. When the first spring is in the natural state, the blocking teeth and the biting groove are staggered to block the moving rod through the biting block, so that it cannot be dislodged outward. When the trigger stop block contacts the limit stop block and squeezes the first spring, the trigger stop block rotates and adjusts the blocking teeth by driving the ring, so that the blocking teeth rotate to the position aligned with the engagement groove, at which point the moving rod can be disengaged outward.

8. The automated robotic arm for transferring alloy castings according to claim 5, characterized in that: A torque cutoff control assembly is installed at the end of the moving rod away from the engagement block. The torque cutoff control assembly includes a drive cylinder, which is sleeved on the outside of the moving rod.

9. The automated robotic arm for transferring alloy castings according to claim 8, characterized in that: The inner wall of the drive drum has two sets of spiral grooves in opposite directions, and the inner wall of the drive drum also has a set of axial straight grooves, with the two ends of the straight grooves aligned with the two ends of the spiral grooves.

10. The automated robotic arm for transferring alloy castings according to claim 9, characterized in that: A movable slider is inserted into the end of the linear groove, and the movable slider is fixedly connected to the side of the movable rod. A second spring is provided inside the drive drum, and the end of the second spring is fixedly connected to the movable rod.

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