A high-temperature-resistant eight-claw composite manipulator for square casting face-by-face sand scraping and cleaning

Abstract

The application relates to the technical field of sand cleaning equipment for castings, in particular to a high-temperature-resistant eight-claw composite manipulator for surface-by-surface sand scraping and cleaning of square castings, which comprises an industrial manipulator, a clamping device and a jet sand cleaning system; the clamping device is connected to the tail end of the industrial manipulator, the clamping device comprises a plurality of clamping claws for clamping the square castings, when the clamping claws are in a sand scraping clamping state, the industrial manipulator is controlled to move so that the plurality of clamping claws and the side surface of the square castings relatively slide to perform sand scraping, the jet sand cleaning system is arranged in the clamping space of the clamping device, the jet sand cleaning system comprises a plurality of conical nozzles, the plurality of conical nozzles are arranged on the clamping device and are arranged towards the sand scraping area of the clamping claws for sand blowing, the clamping claws and the side surface of the square castings relatively slide by controlling the movement of the manipulator, surface-by-surface sand scraping can be realized without additionally arranging a sand scraping mechanism, the equipment structure is simplified, the process flow is reduced, and the manufacturing cost is reduced.

Description

Technical Field

[0001] This invention relates to the field of casting sand removal equipment, and in particular to a high-temperature resistant eight-claw composite manipulator for scraping and cleaning sand from one side of a square casting. Background Technology

[0002] In sand casting production lines, square castings, after demolding, often retain loose sand, adhering sand, and localized sand shells on their four sides, edges, and corner transition areas before machining or assembly. These castings typically have a blocky or box-like structure, a rough surface, and are exposed to high temperatures, making sand removal difficult. Currently, common sand removal methods include manual and mechanically assisted sand removal. Manual sand removal usually involves using tools such as scrapers and air guns to treat the casting surface one by one, but this method suffers from high labor intensity, low efficiency, significant susceptibility to high workpiece temperatures, and poor cleaning consistency, making it unsuitable for continuous production environments. In addition, existing industrial production also employs multi-faceted fixed scrapers to clean square castings. This involves setting multiple fixed scrapers around the circumference of the workstation, allowing the square casting to pass through the scraping area one by one via conveying or flipping to achieve sand removal. However, this method has obvious limitations: the scraping structure is fixed and cannot adapt to square castings of different sizes and orientations; the workpiece needs to rely on a conveying or flipping mechanism to complete the face-changing, resulting in a long process chain; and it is difficult to achieve stable clamping and simultaneous scraping action under the same clamping state. Therefore, it is difficult to meet the requirement of rapid and continuous face-by-face sand removal for high-temperature castings after demolding.

[0003] Industrial robots, in conjunction with general-purpose pneumatic grippers, are used for workpiece handling and simple processing. However, these grippers are mainly used for grasping and transfer functions. For example, patent document with application number 202311575170.8 discloses a gripper for aluminum alloy die castings. Its contact structure is usually point contact or line contact, which makes it difficult to effectively clean the four sides and edges of square castings while they are being held. Furthermore, it does not have a dedicated scraping structure for surface sand, making it difficult to achieve integrated sand removal and handling operations. Summary of the Invention

[0004] This invention provides a high-temperature resistant eight-claw composite manipulator for scraping and cleaning sand from one side of a square casting, which solves the problem that existing sand cleaning equipment is unable to stably clamp a square casting while completing the scraping and cleaning of sand from one side.

[0005] To achieve the above objectives, this invention proposes a high-temperature resistant eight-jaw composite robotic arm for surface-by-surface sand scraping and cleaning of square castings, comprising: an industrial robotic arm, a gripping device, and an air-jet sand cleaning system. The gripping device is connected to the end of the industrial robotic arm and includes multiple jaws for gripping the square casting. When the jaws are in a sand-scraping gripping state, the industrial robotic arm uses motion control to cause the multiple jaws to slide relative to the sides of the square casting for sand scraping. The air-jet sand cleaning system is located within the gripping space of the gripping device and includes multiple conical nozzles arranged on the gripping device and facing the sand-scraping area of ​​the jaws for blowing sand. By setting up an industrial robotic arm and a gripping device that works in conjunction with it, when the jaws stably grip the casting, the relative sliding between the jaws and the sides of the square casting is achieved by the motion control of the robotic arm itself, eliminating the need for a separate sand scraping mechanism to achieve surface-by-surface sand scraping. This simplifies the equipment structure, reduces process steps, and lowers manufacturing costs. The conical nozzles of the air-jet sand-removing system are positioned towards the sand-scraping area of ​​the grippers. This allows the scraped sand particles to be blown away from the surface of the square casting and the clamping gaps while the sand-scraping action is in progress. This prevents residual sand from accumulating at the edges and corners of the casting, thus facilitating sand removal and improving the cleaning effect. The clamping, sand-scraping, and sand-removing functions are integrated into the same end actuator, namely the gripping device. This allows the square casting to be scraped and cleaned while it is being held in the sand-scraping clamping state. This reduces the flow of workpieces between different workstations, shortens the process flow, and improves production efficiency.

[0006] As an optional implementation, in the high-temperature resistant eight-jaw composite robotic arm for scraping and cleaning sand from one side of a square casting provided by this invention, the gripping device further includes a drive unit, a mounting base, multiple linkage mechanisms, and multiple gripper support arms. The mounting base is connected to the industrial robotic arm, and multiple gripper support arms are fixed on the mounting base, distributed circumferentially along the mounting base. Each gripper support arm is hinged to the drive unit at one end of the linkage mechanism, and the other end of the linkage mechanism is hinged to the gripper. The drive unit reciprocates to drive the multiple grippers to open and close. Through the cooperation of the drive unit, the mounting base, the multiple linkage mechanisms, and the multiple gripper support arms distributed circumferentially, a single drive source can drive multiple grippers to open and close synchronously, ensuring uniform multi-point coverage and gripping of the square casting, improving the stability and reliability of the gripping. The linkage mechanism accurately converts the linear reciprocating motion of the drive unit into the oscillation of the grippers for gripping the square casting. The linkage mechanism has a simple transmission and is suitable for stable operation in high-temperature, dusty sand-cleaning conditions.

[0007] As an optional implementation, in the high-temperature resistant eight-claw composite manipulator for scraping and cleaning sand from one side of a square casting provided by this invention, the clamping device further includes a spring guide mechanism. The spring guide mechanism is sleeved on the driving component, with one end connected to the driving end of the driving component and the other end abutting against the mounting base. It guides the reciprocating motion of the driving component and provides a buffering and restoring force during the opening and closing of the jaws. By sleeved on the driving component, the spring guide mechanism provides precise guidance for the reciprocating motion of the driving component, ensuring the synchronicity and consistency of the opening and closing actions of multiple jaws. Furthermore, the spring element of the spring guide mechanism acts as a buffer during the closing and opening of the jaws, preventing rigid impacts from damaging the workpiece or jaws, and provides auxiliary force when the driving component returns to its original position, making the clamping action more stable and reliable.

[0008] As an optional implementation, in the high-temperature resistant eight-jaw composite manipulator for scraping and cleaning sand from square castings provided by this invention, the inner side of the jaws is provided with serrated scraping grooves, the tips of which face the side or edge of the square casting. When the jaws slide relative to the square casting, the serrated structure can efficiently scrape off the loose and sticky sand adhering to the casting surface, significantly improving scraping efficiency and cleaning effect. The scraping grooves are located on the working surface of the jaws, allowing the jaws to perform scraping functions while clamping, enabling sand cleaning without changing tools and further simplifying the operation process.

[0009] As an optional implementation, in the high-temperature resistant eight-claw composite manipulator for scraping and cleaning sand from one side of a square casting provided by the present invention, the tooth depth of the serrated scraping groove is 1-3 mm and the tooth pitch is 2-5 mm. This tooth depth and tooth pitch can ensure sufficient scraping force and chip space for adhering sand, while avoiding damage to the casting matrix due to excessively large teeth or poor scraping effect due to excessively small teeth. Thus, while ensuring the quality of sand cleaning, the service life of the grippers is extended and the sand cleaning efficiency is improved.

[0010] As an optional implementation, in the high-temperature resistant eight-jaw composite manipulator for scraping and cleaning sand from one side of a square casting provided by the present invention, the jaws are high-temperature resistant jaws. The high-temperature resistant jaws enable the jaws to directly contact the high-temperature casting that has just been demolded without thermal deformation, which can significantly improve the durability and service life of the jaws.

[0011] As an optional implementation, in the high-temperature resistant eight-claw composite manipulator for scraping and cleaning sand from square castings provided by this invention, the air jet cleaning system further includes an annular air path located within the clamping space of the gripping device. Each of the conical nozzles is connected to the annular air path and arranged at circumferential intervals. By setting the annular air path as the main airflow distribution pipe, compressed air can be evenly and stably distributed to each conical nozzle. The pneumatic circuit is equipped with a proportional pressure valve or at least two pressure levels. A first air pressure is used during the scraping stage, and a second air pressure higher than the first air pressure is used during the handling stage. This ensures that each scraping area receives an airflow directed towards the scraping area, improving cleaning efficiency. The circumferentially spaced conical nozzles achieve full coverage of multiple gripper scraping areas. Regardless of the orientation of the industrial robotic arm during scraping, the corresponding conical nozzle can accurately target the current scraping contact area for cleaning.

[0012] As an optional implementation, the high-temperature resistant eight-claw composite robotic arm for scraping and cleaning sand from one side of a square casting provided by the present invention also includes a conveying and guiding mechanism. This mechanism is located on one side of the working area of ​​the industrial robotic arm and is used to feed the square casting into the clamping area with a predetermined orientation so that the gripper can grasp it. This allows the casting from the previous process to be fed into the clamping area with a predetermined orientation and posture. This arrangement ensures that the robotic arm and gripper face the same workpiece posture before each gripping, thus eliminating the need for visual recognition and posture correction of the workpiece before each gripping by the robotic arm, shortening the gripping time, and improving the efficiency of automated production.

[0013] As an optional implementation, in the high-temperature resistant eight-claw composite manipulator for scraping and cleaning sand from one side of a square casting provided by the present invention, the conveying and guiding mechanism includes a slide and a high-temperature resistant limiting and positioning part located in the gripping area of ​​the industrial robotic arm. Limiting edges are provided on both sides of the slide. The high-temperature resistant limiting and positioning part includes a supporting surface and a limiting block located on one side of the supporting surface. The supporting surface is located at the end of the slide to receive the square casting. The limiting block is arranged opposite to the slide. The square casting is conveyed to the end in an orderly manner through the slide, and the supporting surface and the limiting block support and limit the square casting at the end of the slide, thereby limiting the square casting in five degrees of freedom, retaining the vertical gripping degree of freedom, so that the casting is limited in all directions before the grippers contact, providing a reliable foundation for the subsequent precise gripping of the grippers.

[0014] As an optional implementation, in the high-temperature resistant eight-claw composite robotic arm for scraping and cleaning sand from one side of a square casting provided by the present invention, the industrial robotic arm is detachably connected to the clamping device via a flange, so that the clamping device can be quickly installed, disassembled and replaced.

[0015] Compared with the prior art, the beneficial effects of the technical solution of the present invention are as follows:

[0016] I. The high-temperature resistant eight-claw composite robotic arm for surface-by-surface sand scraping and cleaning of square castings provided by this invention, by setting up an industrial robotic arm and a gripping device that works in conjunction with it, allows the grippers to slide relative to the sides of the square casting while the grippers stably hold the casting. This eliminates the need for a separate sand scraping mechanism, simplifying the equipment structure, reducing process flow, and lowering manufacturing costs. The conical nozzle of the air-jet sand cleaning system is arranged towards the sand scraping area of ​​the grippers, which can blow away the scraped sand particles from the surface of the square casting and the gripping gaps in real time while the sand scraping action is in progress. This prevents residual sand from accumulating at the edges and corners of the casting, facilitating sand cleaning and improving the cleaning effect. Integrating the gripping, sand scraping, and sand cleaning functions into the same end effector, namely the gripping device, allows the square casting to be scraped and cleaned while being gripped, reducing the flow of the workpiece between different workstations, shortening the process flow, and improving production efficiency.

[0017] Second, by setting a serrated scraping groove on the inside of the gripper, the scraping efficiency is improved, and the size parameters of the serrated scraping groove can be optimized according to the casting size and the degree of sand adhesion, making it more adaptable.

[0018] Third, through the cooperation of the slide and the high-temperature resistant limiting and positioning part, the casting completes the posture correction and positioning before entering the clamping station, which provides a stable foundation for the precise clamping and orderly sand scraping of the clamping device, and further improves production efficiency. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0020] Figure 1 A schematic diagram of the high-temperature resistant eight-claw composite manipulator for scraping and cleaning sand from one side of a square casting provided by the present invention;

[0021] Figure 2 A schematic diagram of the gripping device of the high-temperature resistant eight-claw composite manipulator for scraping and cleaning sand from one side of a square casting, provided by the present invention.

[0022] Figure 3 for Figure 2 A bottom view of the clamping device;

[0023] Figure 4A schematic diagram of the clamping state of the gripping device of the high-temperature resistant eight-claw composite manipulator for scraping and cleaning sand from one side of a square casting provided by the present invention.

[0024] Figure 5 A schematic diagram of the gripper structure of the high-temperature resistant eight-claw composite manipulator for scraping and cleaning sand from one side of a square casting, provided by the present invention.

[0025] Figure 6 This is a schematic diagram of the conveying and guiding mechanism of the high-temperature resistant eight-claw composite robot for scraping and cleaning sand from one side of a square casting, as provided by the present invention.

[0026] [Explanation of Labels in the Attached Image]

[0027] 1. Industrial robotic arms;

[0028] 2. Clamping device; 21. Driving component; 22. Mounting base; 23. Linkage mechanism; 24. Gripper support arm; 25. Spring guide mechanism;

[0029] 3. Air jet sand cleaning system; 31. Conical nozzle; 32. Annular air path;

[0030] 4. Grippers; 41. Serrated scraping grooves;

[0031] 5. Conveying and guiding mechanism; 51. Slide rail; 52. High temperature resistant limiting and positioning part; 53. Limiting stop; 54. Supporting surface; 55. Limiting block.

[0032] 6. Square castings. Detailed Implementation

[0033] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0034] It should be noted that the technical solutions of the various embodiments of the present invention can be combined with each other, but only if they are based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

[0035] This invention provides a high-temperature resistant eight-claw composite manipulator for scraping and cleaning sand from one surface of a square casting, such as... Figures 1-6As shown, it includes an industrial robotic arm 1, a gripping device 2, and an air-jet sand-removing system 3. The gripping device 2 is connected to the end of the industrial robotic arm 1 and includes multiple jaws 4 for gripping a square casting 6. When the jaws 4 are in a sand-scraping gripping state, the industrial robotic arm 1 uses motion control to make the multiple jaws 4 slide relative to the sides of the square casting 6 for sand scraping. The air-jet sand-removing system 3 is located within the gripping space of the gripping device 2 and includes multiple conical nozzles 31. The multiple conical nozzles 31 are located on the gripping device 2 and arranged facing the sand-scraping area of ​​the jaws 4 for blowing sand. By setting up the industrial robotic arm 1 and the gripping device 2 that cooperates with it, when the jaws 4 stably grip the casting, the motion control of the robotic arm itself makes the jaws 4 slide relative to the sides of the square casting 6, achieving sand scraping of each side without the need for a separate sand-scraping mechanism. This simplifies the equipment structure, reduces process flow, and lowers manufacturing costs. The conical nozzle 31 of the air-jet sand-cleaning system 3 is arranged towards the sand-scraping area of ​​the gripper 4. This allows it to simultaneously blow away scraped sand particles from the surface of the square casting 6 and the clamping gaps during the sand-scraping action, preventing residual sand from accumulating at the edges and corners of the casting, thus facilitating sand removal and improving cleaning efficiency. Integrating clamping, sand-scraping, and sand-cleaning functions into the same end-effector, the gripping device 2, allows the square casting 6 to complete sand-scraping and sand-cleaning while in a sand-scraping clamping state. This reduces the flow of workpieces between different workstations, shortens the process flow, and improves production efficiency. Eight grippers 4 are preferred in this embodiment, but the system is not limited to eight grippers. Without altering the synchronous clamping and surface-by-surface sand-scraping functions, the number, width, contact length, and arrangement angle of the grippers can be adjusted according to the dimensions of the square casting 6.

[0036] like Figure 2As shown, in the high-temperature resistant eight-claw composite manipulator for scraping and cleaning sand from one side of a square casting provided by the present invention, the gripping device 2 further includes a driving component 21, a mounting base 22, multiple linkage mechanisms 23, and multiple gripper support arms 24; the mounting base 22 is connected to the industrial manipulator arm 1, and multiple gripper support arms 24 are fixed on the mounting base 22, and the multiple gripper support arms 24 are distributed circumferentially along the mounting base 22. Each gripper 4 is hinged to the corresponding gripper support arm 24. One end of each linkage mechanism 23 is hinged to the output end of the driving component 21, and the other end is hinged to the corresponding gripper 4; when the driving component 21 reciprocates along its driving axis, it drives the gripper 4 to swing around its hinged position with the gripper support arm 24 through the linkage mechanism 23. Through the cooperation of the drive component 21, mounting base 22, multiple linkage mechanisms 23, and multiple gripper support arms 24 distributed circumferentially, a single drive source can drive multiple grippers 4 to open and close synchronously, ensuring uniform multi-point coverage and clamping of the square casting 6, improving the stability and reliability of clamping. The linkage mechanism 23 accurately converts the linear reciprocating motion of the drive component 21 into the oscillation of the grippers 4 for clamping the square casting 6. The linkage mechanism 23 has a simple transmission and is suitable for stable operation in high-temperature, dusty sand-cleaning conditions. The drive component 21 can be a pneumatic linear actuator, electric push rod, servo screw mechanism, or other drive methods that can achieve linear reciprocating motion.

[0037] like Figure 1 and Figure 2 As shown, in the high-temperature resistant eight-claw composite manipulator for scraping and cleaning sand from one side of a square casting provided by the present invention, the clamping device 2 further includes a spring guide mechanism 25. The spring guide mechanism 25 is sleeved on the driving member 21, with one end connected to the driving end of the driving member and the other end abutting against the mounting base. It is used to guide the reciprocating motion of the driving member and to provide a buffering and restoring force during the opening and closing of the jaws. By sleeved on the driving member 21, the spring guide mechanism 25 provides precise guidance for the reciprocating motion of the driving member 21, ensuring the synchronicity and consistency of the opening and closing actions of multiple jaws 4. On the other hand, the spring element of the spring guide mechanism 25 plays a buffering role during the closing and opening of the jaws 4, avoiding damage to the workpiece or jaws 4 caused by rigid impact, and providing auxiliary force when the driving member 21 is reset, making the clamping action more stable and reliable.

[0038] Furthermore, in the high-temperature resistant eight-claw composite manipulator for scraping and cleaning sand from one side of a square casting provided by the present invention, the inner side of the gripper 4 is provided with a serrated scraping groove 41. The tips of the serrated scraping groove 41 face the side or edge of the square casting 6. The serrated scraping grooves are arranged at intervals along the working surface of the gripper. The tooth edge direction of the serrated scraping groove is intersected with the preset relative sliding direction. When the gripper 4 and the square casting 6 slide relative to each other, the serrated structure can produce an efficient scraping effect on the floating sand and sticky sand attached to the surface of the casting, which significantly improves the scraping efficiency and cleaning effect. The scraping groove is set on the working surface of the gripper 4, so that the gripper 4 has a scraping function while clamping, and can clean sand without changing tools, which further simplifies the operation process.

[0039] like Figure 5 As shown, in the high-temperature resistant eight-claw composite manipulator for scraping and cleaning sand from square castings provided in this embodiment, the tooth shape of the sawtooth scraping groove 41 is preferably triangular, but trapezoidal, arc-shaped, or combined tooth shapes can also be used in other embodiments. The tooth depth of the sawtooth scraping groove 41 is 1-3 mm, and the tooth pitch is 2-5 mm. The specific dimensions can be adjusted according to the size of the square casting 6 to be treated and the degree of sand adhesion on the surface. This tooth depth and tooth pitch can ensure sufficient scraping force and chip space for the sand adhesion, while avoiding damage to the casting matrix due to excessively large teeth or poor scraping effect due to excessively small teeth. Thus, while ensuring the quality of sand cleaning, the service life of the gripper 4 is extended, and the sand cleaning efficiency is improved.

[0040] Furthermore, in the high-temperature resistant eight-jaw composite manipulator provided by this invention for scraping and cleaning sand from one side of a square casting, the gripper 4 is a high-temperature resistant gripper. The material of the high-temperature resistant gripper 4 includes, but is not limited to, silicon carbide ceramic, silicon nitride ceramic, zirconium oxide ceramic, heat-resistant alloy, or other materials with high-temperature resistance and wear resistance. Preferably, it is a silicon carbide ceramic gripper 4. Ceramic materials have extremely high hardness and wear resistance, which can effectively resist the severe abrasion of the working surface of the gripper 4 by sand particles during the scraping process, significantly improving the durability and service life of the gripper. It can withstand high temperatures above 800°C. The temperature of the casting that has just been demolded is usually between 500°C and 700°C, so that the gripper 4 can directly contact the high-temperature casting that has just been demolded without thermal deformation.

[0041] like Figure 1 and Figure 3As shown, the jet sand-cleaning system 3 also includes an annular air passage 32, which is located within the clamping space of the gripping device 2. Each conical nozzle 31 is connected to the annular air passage 32 and arranged at circumferential intervals. The annular air passage 32 is located inside or below the mounting base 22 of the gripper 4 at a circumferential position, and its air inlet is connected to an external compressed air source. By setting the annular air passage 32 as the main airflow distribution pipe, compressed air can be evenly and stably distributed to each conical nozzle 31. The pneumatic circuit is equipped with a proportional pressure valve or at least two pressure levels. The first air pressure is used during the sand-scraping stage, and a second air pressure higher than the first air pressure is used during the handling stage. This ensures that each sand-scraping area receives an airflow directed towards the sand-scraping area, improving sand-cleaning efficiency. The conical nozzles 31 are arranged at circumferential intervals, achieving full coverage of the sand-scraping areas of multiple grippers 4. Regardless of the orientation of the industrial robotic arm 1 during sand-scraping, the corresponding conical nozzle 31 can accurately target the current sand-scraping contact area for cleaning. The conical constriction structure of the conical nozzle 31 effectively improves the jet speed and impact force of the airflow. When the sand scraper removes sand particles, the corresponding nozzle immediately ejects compressed air to blow the scraped sand particles away from the workpiece surface and clamping gaps, effectively preventing residual sand from accumulating at the corners of the square casting or in the finger gaps. The air source pressure of the compressed air is preferably 0.4~0.6MPa. This pressure range ensures the sand blowing impact force without blowing the casting away. The single jet time can be adjusted within the range of 0.3~1.0 seconds according to the degree of sand adhesion on the casting.

[0042] like Figure 6 As shown, the high-temperature resistant eight-claw composite robotic arm for scraping and cleaning sand from one side of a square casting provided by the present invention also includes a conveying and guiding mechanism 5. The conveying and guiding mechanism 5 is disposed on one side of the working area of ​​the industrial robotic arm 1 and is used to feed the square casting 6 into the clamping area with a predetermined orientation so that the gripper 4 can clamp it. This allows the casting from the previous process to be fed into the clamping area with a predetermined orientation and posture. This arrangement ensures that the robotic arm and the gripper 4 face the same workpiece posture before each gripping, thereby eliminating the need for visual recognition and posture correction of the workpiece before each gripping by the robotic arm, shortening the clamping time, and improving the efficiency of automated production.

[0043] Furthermore, in the high-temperature resistant eight-claw composite manipulator for scraping and cleaning sand from one side of a square casting provided by the present invention, the conveying and guiding mechanism 5 includes a slide 51 and a high-temperature resistant limiting and positioning part 52 located in the gripping area of ​​the industrial robotic arm 1. The high-temperature resistant limiting and positioning part 52 is located at the end of the slide 51 and is used to support and limit the square casting 6. The casting is conveyed to the end in an orderly manner through the slide 51, and the high-temperature resistant limiting and positioning part 52 supports and limits the casting at the end of the slide 51, so that the casting is limited in all directions before the gripper 4 contacts it, providing a reliable foundation for the subsequent precise gripping by the gripper 4.

[0044] Among them, the slide 51 is a U-shaped cross section slide, and the slide 51 is provided with limiting baffles 53 on both sides. The U-shaped cross section slide 51 is used to support and guide the square casting 6 to move along a fixed path, and the guiding baffles on both sides are used to limit the lateral displacement of the square casting 6 so that its edge direction remains consistent.

[0045] A high-temperature resistant limiting and positioning part 52 is located at the end of the slide rail 51, i.e., within the gripping area of ​​the industrial robotic arm 1. The high-temperature resistant limiting and positioning part 52 includes a supporting surface 54 and a limiting block 55 located on one side of the supporting surface 54. The supporting surface 54 is located at the end of the slide rail 51 to receive the square casting 6. The limiting block 55 is positioned opposite to the slide rail 51. The square casting is transported to the end of the slide rail 51 in an orderly manner, and the supporting surface 54 and the limiting block 55 support and limit the square casting 6 at the end of the slide rail 51, thus limiting the square casting 6 in five degrees of freedom while retaining vertical gripping freedom. The high-temperature resistant positioning and limiting part 52 also includes a high-temperature resistant buffer friction pad and an adjustable mounting base. The support surface supports the square casting 6 from below, and the limiting stops 53 on both sides keep the square casting 6 centered. The end limiting stop 55 is used to restrict the square casting 6 from continuing to move along the slide 51, achieving precise axial positioning. The high-temperature resistant buffer friction pad is set on the support surface 54 to increase friction and prevent rigid collision between the high-temperature casting and the metal positioning and limiting part. The adjustable mounting base is connected to the frame through an elongated hole, which facilitates the adjustment of the relative position between the positioning and limiting part, the slide 51 outlet, and the industrial robotic arm 1 according to actual needs. Before the gripper 4 closes, the positioning and limiting part constrains five degrees of freedom of the square casting 6 (except for the upper gripping direction), providing a solid foundation for subsequent precise clamping and stable sand scraping.

[0046] In this embodiment, the industrial robotic arm 1 can be a commercially available standard model, such as Estun ER10-1200 or Huichuan IR-R10, with a repeatability of ±0.05mm, a maximum load of ≥10kg, and a working radius of ≥1.2m, to ensure that it can meet the short-distance reversal and micro-slip trajectory control accuracy required during the sand removal process on all four sides of the square casting 6. The industrial robotic arm 1 is detachably connected to the gripping device 2 via a flange, which can be an ISO 9409-1 standard flange, so that the gripping device 2 can be quickly installed, disassembled, and replaced. Specifically, the industrial robotic arm 1, flange, mounting base 22, gripper support arm 24, gripper 4, and air jet sand removal system 3 are all connected in a detachable manner, which facilitates quick replacement, maintenance, and system expansion according to different sizes of square castings 6, improving the adaptability of the device.

[0047] The specific workflow of this invention is as follows:

[0048] First, the slide 51 of the conveying guide mechanism 5 sends the square casting 6 to be processed into the high-temperature resistant limiting and positioning part 52. During this process, the guide side restricts the lateral displacement of the casting, and the end limiting block restricts the forward position of the casting. The limiting and positioning part completes the centering of the four sides and axial positioning of the square casting 6.

[0049] Next, the industrial robotic arm 1 moves, driving the high-temperature resistant eight-claw composite gripper 4 to move above the high-temperature resistant limiting and positioning part 52, and aligning the center line of the gripper 4 with the center of the square casting 6. Subsequently, the external power source drives the drive component 21 to move downward. Through the transmission of the linkage mechanism 23 and the hinge pin, the eight gripper support arms 24 swing inward synchronously, driving the silicon carbide ceramic gripper 4 to press against the outer periphery of the square casting 6 with a pre-clamping force (low clamping force), forming a multi-point synchronous covering scraping and clamping state.

[0050] Under the sand-scraping clamping state (working force), the sand-cleaning operation begins. The industrial robotic arm 1, controlled by micro-displacement motion, extends the serrated sand-scraping grooves 41 of the grippers 4 to the edge area of ​​the corresponding side, used to scrape off the sand adhering to adjacent edges during relative sliding. A set of grippers 4 creates relative sliding with one side of the square casting 6, and the serrated sand-scraping grooves 41 on that side scrape off the surface loose sand and adhering sand. Simultaneously, the compressed air conical nozzle 31 corresponding to that sand-scraping area immediately opens, blowing the scraped sand particles away from the workpiece surface. Once one side is cleaned, the industrial robotic arm 1 changes its posture angle or displacement direction, allowing the next side to enter the sand-scraping working area, and repeats the above process of relative sliding sand-scraping and synchronous air-blowing sand-scraping. This cycle continues until all four sides and edges are cleaned.

[0051] Finally, after the sand is removed from the four sides, the drive unit 21 further locks or maintains the clamping force (high clamping force), and the industrial robotic arm 1 lifts the square casting 6 away from the high-temperature resistant limiting and positioning part 52 and moves it to the next station, completing the entire cycle of clamping, scraping and cleaning sand from the square casting 6.

[0052] It should be understood that the above description of specific embodiments of the present invention is only for illustrating the technical approach and features of the present invention, and is intended to enable those skilled in the art to understand the content of the present invention and implement it accordingly. However, the present invention is not limited to the specific embodiments described above. All changes or modifications made within the scope of the claims of the present invention should be covered within the protection scope of the present invention.

Claims

1. A high-temperature resistant eight-claw composite manipulator for scraping and cleaning sand from one surface of a square casting, characterized in that, The system includes an industrial robotic arm (1), a gripping device (2), and an air-jet sand-removing system (3). The gripping device (2) is connected to the end of the industrial robotic arm (1). The gripping device (2) includes multiple jaws (4) for gripping a square casting (6). When the jaws (4) are in a sand-scraping gripping state, the industrial robotic arm (1) uses motion control to make the multiple jaws (4) slide relative to the side of the square casting (6) to perform sand scraping. The air-jet sand-removing system (3) is located in the gripping space of the gripping device (2). The air-jet sand-removing system (3) includes multiple conical nozzles (31). The multiple conical nozzles (31) are located on the gripping device (2) and arranged towards the sand-scraping area of ​​the jaws (4) for blowing sand.

2. The high-temperature resistant eight-claw composite manipulator for scraping and cleaning sand from one surface of a square casting as described in claim 1, characterized in that, The gripping device (2) further includes a drive unit (21), a mounting base (22), multiple linkage mechanisms (23), and multiple gripper support arms (24); the mounting base (22) is connected to the industrial robotic arm (1), and multiple gripper support arms (24) are fixed on the mounting base (22), and the multiple gripper support arms (24) are distributed circumferentially along the mounting base (22). Each gripper support arm (24) is hinged to the drive unit (21) through one end of the linkage mechanism (23), and the other end of the linkage mechanism (23) is hinged to the gripper (4). The drive unit (21) reciprocates to drive the multiple grippers (4) to open and close.

3. The high-temperature resistant eight-claw composite manipulator according to claim 2, characterized in that, The clamping device (2) further includes a spring guide mechanism (25), which is sleeved on the driving member (21), with one end connected to the driving end of the driving member (21) and the other end abutting against the mounting base (22).

4. A high-temperature resistant eight-claw composite manipulator for scraping and cleaning sand from one surface of a square casting, as described in claim 1, is characterized in that... The inner side of the gripper (4) is provided with a serrated scraping groove (41), and the tip of the serrated scraping groove (41) faces the side or edge of the square casting (6).

5. A high-temperature resistant eight-claw composite manipulator for scraping and cleaning sand from one surface of a square casting, as described in claim 4, is characterized in that... The tooth depth of the sawtooth scraping groove (41) is 1-3 mm and the tooth pitch is 2-5 mm.

6. A high-temperature resistant eight-claw composite manipulator for scraping and cleaning sand from one surface of a square casting according to claim 1, characterized in that, The gripper (4) is a high-temperature resistant gripper (4).

7. A high-temperature resistant eight-claw composite manipulator for scraping and cleaning sand from one surface of a square casting according to claim 1, characterized in that, The jet sand cleaning system (3) also includes an annular air passage (32), which is located in the clamping space of the clamping device (2). Each of the conical nozzles (31) is connected to the annular air passage (32) and arranged at intervals along the circumference.

8. A high-temperature resistant eight-claw composite manipulator for scraping and cleaning sand from one surface of a square casting according to claim 1, characterized in that, It also includes a conveying guide mechanism (5), which is located on one side of the working area of ​​the industrial robotic arm (1) and is used to feed the square casting (6) into the gripping area in a predetermined orientation so that the gripper (4) can grip it.

9. A high-temperature resistant eight-claw composite manipulator for scraping and cleaning sand from one surface of a square casting, as described in claim 8, is characterized in that... The conveying and guiding mechanism (5) includes a slide (51) and a high-temperature resistant limiting and positioning part (52) located in the gripping area of ​​the industrial robotic arm (1). Limiting baffles (53) are provided on both sides of the slide. The high-temperature resistant limiting and positioning part (52) includes a supporting surface (54) and a limiting block (55) located on one side of the supporting surface (54). The supporting surface (54) is located at the end of the slide (51) to receive the square casting (6). The limiting block (55) is arranged opposite to the slide (51).

10. A high-temperature resistant eight-claw composite manipulator for scraping and cleaning sand from one surface of a square casting according to claim 1, characterized in that, The industrial robotic arm (1) is detachably connected to the clamping device (2) via a flange.

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