Sand adding clamp and system
By designing a sanding fixture including mounting components and clamping arm assembly, the problems of clamping instability and sand material drop in the prior art are solved, and a more stable sand bag clamping and sliding reduction effect is achieved.
Patent Information
- Application Number
- CN202420331518.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Priority Date
- 2024-02-01
- Filing Date
- 2024-02-22
- Publication Date
- 2025-03-11
- Estimated Expiration
- 2034-02-22
AI Technical Summary
There is a clamping gap when clamping the sand bags, which causes the sand material to fall, the clamps to be unstable, and the sand bags cannot closely connect to the substrate, affecting stability.
A sanding fixture including a mounting assembly and a clamping arm assembly is designed, and the clamping arm assembly extends from the avoiding groove and extends in a clamping state through the first clamping arm mechanism and the second clamping arm mechanism in a clamping state to ensure that the sand bag is closely connected to the substrate.
Through the design of the clamping arm assembly, the sand bag is more stable during the clamping process, reducing sliding and displacement, ensuring the stability and reliability of the clamping.
Smart Images
Figure CN222588110U_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of automated casting equipment, and in particular provides a sand adding fixture and system. Background Art
[0002] In some casting production processes, in order to ensure smooth flow and pouring, sand needs to be added to the equipment first. Its role is to guide the pouring process, thereby realizing continuous production of continuous casting.
[0003] With the rapid development of automation and unmanned equipment technology, the automatic sand adding process of robot arms has become a reality and has been widely used in actual production. Usually, a robot arm is used in conjunction with a sand adding fixture to pick up the sand bag from the storage location and then move it to the sand adding equipment. The sand in the sand bag is automatically cut and released, and then falls into the corresponding sand adding equipment, which then regularly adds it to the casting container where the sand needs to be added.
[0004] like Figure 1 A sand-adding clamp of the demonstrated prior art adopts a cylinder-driven method to clamp the sand bag in a manner similar to a machine clamp arm. However, it is found in actual use that: when the mechanical clamp arm pierces the sand bag and is in a clamping state, due to the clamping gap between the two clamp arms, as the sand in the clamped sand bag is gradually released, the sand between the gaps of the two clamp arms may also fall, resulting in a transient volume change at the clamping position, and the force change of the cylinder makes the sand bag easy to slide; in addition, stacking space is also reserved between the clamp arm and the base plate on which it is installed, and the sand bag cannot form a tight connection with the base plate stably, so that the stability of the sand-adding clamp is insufficient.
[0005] Based on the above, how to design a new type of sand adding fixture has become a technical problem that needs to be solved urgently in this field. Summary of the invention
[0006] In view of the above technical problems, the purpose of this application is to further improve the stability of the sand bag clamping process by proposing a new type of sand clamp.
[0007] Therefore, in the first aspect of the present application, there is provided a sand adding clamp, comprising a mounting assembly and a clamping arm assembly; the mounting assembly comprises a base plate, the base plate is provided with a first avoidance groove and a second avoidance groove, and the first avoidance hole and the second avoidance hole respectively parallel to the first avoidance groove and the second avoidance groove; the clamping arm assembly comprises a first clamping arm mechanism and a second clamping arm mechanism which can be in an open state or a clamping state relative to each other; in the clamping state, the first clamping arm mechanism extends from the first avoidance groove and extends in reverse to the first avoidance hole, and the second clamping arm mechanism extends from the second avoidance groove and extends in reverse to the second avoidance hole.
[0008] In a further solution of the present application, in the clamping state, the first avoidance groove and the second avoidance groove are not located on the same straight line, and the first clamping arm mechanism and the first clamping arm mechanism are correspondingly staggered; and in the clamping state, the projections of the first clamping arm mechanism and the first clamping arm mechanism along the length direction of the substrate are in a mutually crossed state.
[0009] In a further embodiment of the present application, the clamp arm assembly also includes a first pull bolt and a second pull bolt; the first clamp arm mechanism includes a first active clamp arm and a first driven clamp arm; the second clamp arm mechanism includes a second active clamp arm and a second driven clamp arm; and along the length direction, the second pull bolt, the second driven clamp arm and the second active clamp arm are arranged in reverse order relative to the first pull bolt, the first driven clamp arm and the first active clamp arm.
[0010] In a further embodiment of the present application, the first active clamp arm and the second active clamp arm both include a first connecting arm and a first hook, a first rotating shaft hole is provided at one end of the first connecting arm away from the first hook, and a first driving hole is provided in a transition area between the first connecting arm and the first hook; the first driven clamp arm and the second driven clamp arm both include a second connecting arm and a second hook, a second rotating shaft hole is provided at one end of the second connecting arm away from the second hook; the first pull bolt and the second pull bolt both include a third rotating shaft hole and a second driving hole; wherein, the first rotating shaft hole, the second rotating shaft hole and the third rotating shaft hole are coaxially arranged with each other; the first driving hole and the second driving hole are coaxially arranged with each other.
[0011] In a further embodiment of the present application, the first pull hook and the second pull hook both include a hook handle and a hook head; wherein the hook handle is connected to the first connecting arm or the second connecting arm, the hook head is connected to the end of the hook handle and extends in a bent shape, and along the extension direction from the hook handle to the hook head, the cross-sectional areas of the hook handle and the hook head gradually decrease.
[0012] In a further solution of the present application, the hook handle is configured to extend in a straight line, and the angle between the end tangent of the hook head and the hook handle is less than or equal to 90 degrees.
[0013] In a further solution of the present application, the sand adding fixture also includes a base assembly, which includes: a plurality of connecting seats, respectively fixedly connected to the base plate; a rotating shaft, rotatably connected between the connecting seats, and the first rotating shaft hole, the second rotating shaft hole and the third rotating shaft hole are all connected to the rotating shaft.
[0014] In a further solution of the present application, a limiting sleeve is provided on the outer periphery of the rotating shaft, and the limiting sleeve is abutted between the first active clamping arm and the first driven clamping arm, and between the second active clamping arm and the second driven clamping arm.
[0015] In a further solution of the present application, the sand adding clamp also includes a driving assembly, which includes a cylinder base, a push rod cylinder, a push plate and multiple pull rods; the push rod cylinder is connected to the base plate through the cylinder base, and the push plate is connected to the output end of the push rod cylinder, and the push rod cylinder can drive the push plate to move up and down; one end of the pull rod is rotatably connected to the push plate, and the other end is rotatably connected to the first driving hole or the second driving hole, and when the push plate moves up and down, the first clamping arm mechanism and the first clamping arm mechanism are synchronously driven to be in an open state or a clamping state.
[0016] In a further solution of the present application, the pull rod is rotatably connected to the side wall of the push plate.
[0017] In a further solution of the present application, the mounting assembly also includes a mounting plate, a mounting column and a flange; the flange is arranged on a side of the mounting plate facing away from the base plate, and is used to connect to the end of the robot arm; the mounting plate and the base plate are connected via a mounting column; wherein an elastic structure is provided at the connection between the mounting column and the mounting plate so that the base plate has a compensation tolerance along the extension direction of the mounting column.
[0018] The second aspect of the present application also provides a sand adding system, including the above-mentioned sand adding clamp, the end of the robot arm is connected to the sand adding clamp; and also includes a sand adding device, the robot arm clamps the sand bag through the sand adding clamp and moves to the sand adding device.
[0019] In summary, the present application provides a sand adding fixture, including a mounting assembly and a clamping arm assembly; the mounting assembly includes a substrate, the substrate is provided with a first avoidance groove and a second avoidance groove, and a first avoidance hole and a second avoidance hole respectively parallel to the first avoidance groove and the second avoidance groove, wherein the first clamping arm mechanism and the second clamping arm mechanism can be in an open state or a clamping state; when in the clamping state, the first clamping arm mechanism extends from the first avoidance groove and extends in the reverse direction along one direction of the substrate to the first avoidance hole, and the second clamping arm mechanism extends from the second avoidance groove and extends in the reverse direction to the second avoidance hole. Through this design, the first clamping arm mechanism and the second clamping arm mechanism can pierce two layers on the clamping surface of the sand bag, forcing the sand bag and the substrate to be tightly connected, thereby fixing the sand bag more stably and reducing sliding and displacement during the clamping process. Even with the release of the sand in the sand bag, the sand bag is still clamped at the first clamping arm mechanism and the second clamping arm mechanism, ensuring the stability and reliability of the clamping.
[0020] For specific explanations, please refer to the specific implementation section below; other features and advantages of the embodiments of the present application will be described in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS
[0021] In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without paying any creative work.
[0022] Figure 1 A schematic diagram of the structure of a sand adding fixture of the prior art provided in an embodiment of the utility model;
[0023] Figure 2 A schematic diagram of the structure of the sand adding fixture provided by the embodiment of the utility model in a front view;
[0024] Figure 3 A partial exploded view of the sand adding fixture provided by an embodiment of the utility model;
[0025] Figure 4 A schematic diagram of the structure of the first clamping arm mechanism, the second clamping arm mechanism and the base plate in the sand adding clamp provided by the embodiment of the utility model when they cooperate;
[0026] Figure 5 A schematic structural diagram of a sand adding fixture provided by an embodiment of the utility model from the perspective of a bearing;
[0027] Figure 6 A schematic diagram of the structure of the first clamping arm mechanism, the second clamping arm mechanism and the rotating shaft in the sand adding clamp provided by the embodiment of the utility model when they cooperate;
[0028] Figure 7 A schematic diagram of the structure of a first clamping arm mechanism or a second clamping arm mechanism in a sand adding clamp provided in an embodiment of the utility model;
[0029] Figure 8 A schematic structural diagram of a first active clamping arm or a second active clamping arm in a sand adding clamp provided by an embodiment of the utility model;
[0030] Fig. 9 A deformation simulation diagram of the first driven clamp arm or the second driven clamp arm in the embodiment of the utility model;
[0031] Fig.10 The stress simulation diagram of the first driven clamp arm or the second driven clamp arm in the embodiment of the utility model is shown in FIG.
[0032] Fig.11 Another partial exploded view of the sand adding fixture provided by the embodiment of the utility model;
[0033] Fig.12 A schematic diagram of the structure of a driving assembly in a sand adding fixture provided by an embodiment of the utility model;
[0034] Fig.13a and Fig.13b The schematic diagrams of the structure of the sand adding clamp provided by the embodiment of the utility model are in the clamping state and the opening state respectively; and
[0035] Fig.14 This is a schematic structural diagram of a sand adding system provided in an embodiment of the utility model.
[0036] Description of reference numerals:
[0037] 100. Multi-roller cutting mechanism;
[0038] 10. Mounting assembly; 11. Base plate; 111. First avoidance groove; 112. Second avoidance groove; 113. First avoidance hole; 114. Second avoidance hole; 12. Mounting plate; 13. Mounting column; 14. Flange; 15. Elastic structure;
[0039] 20. Clamp arm assembly;
[0040] 21. First clamping arm mechanism; 211. First active clamping arm; 212. Second driven clamping arm;
[0041] 22. Second clamping arm mechanism; 221. Second active clamping arm; 222. Second driven clamping arm;
[0042] 21a, first connecting arm; 21b, first retracting hook; 22a, second connecting arm; 22b, second retracting hook; 21c, hook handle; 21d, hook head;
[0043] 23. First pull bolt;
[0044] 24. Second pull bolt;
[0045] 30. Base assembly; 31. Connecting seat; 32. Rotating shaft; 33. Limiting sleeve;
[0046] 40. Driving assembly; 41. Cylinder base; 42. Push rod cylinder; 43. Push plate; 44. Pull rod;
[0047] A, first shaft hole; B, first drive hole; C, second shaft hole; D, third shaft hole; E, second
[0048] Drive hole;
[0049] 1000. Sand adding system; 200. Robotic arm; 300. Sand adding equipment. DETAILED DESCRIPTION
[0050] The terms "center", "lateral", "upper", "lower", "bottom", "side", "end", "circumference", "length direction" and the like that appear below to indicate orientation or positional relationships, unless otherwise specified, are to be understood as being based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.
[0051] In addition, if there is a feature defined as "first" or "second", it is only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Features defined as "first" or "second" may explicitly or implicitly include at least one of the defined features. If there is a description of "plurality", the general meaning is to include at least two, such as two, three, etc., unless otherwise clearly and specifically defined.
[0052] In this application, unless otherwise clearly specified and limited, the terms such as "installation" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection, it can be a direct connection, or it can be an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meanings of the above terms in this application can be understood according to the specific circumstances.
[0053] In the description of this specification, if the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" appear, it means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.
[0054] like Figures 2 to 5 , the embodiment of the utility model demonstrates a sand adding fixture 100, including a mounting assembly 10, a clamp arm assembly 20, a base assembly 30 and a driving assembly 40;
[0055] The mounting assembly 10 is used to provide mounting support and connect the entire sand adding fixture 100 to the machine arm. The clamp arm assembly 20 is used to clamp and position the sand bag. The base assembly 30 is used to constrain the movement trajectory of the clamp arm assembly 20 and ensure the stability of the fixture during the working process. The drive assembly 40 is used as the power drive of the clamp arm assembly 20 and is responsible for controlling the action and movement of the clamp arm assembly 20.
[0056] Specifically, the mounting assembly 10 includes a substrate 11, which is provided with at least one first avoidance groove 111 and at least one second avoidance groove 112, and a first avoidance hole 113 and a second avoidance hole 114 respectively parallel to the first avoidance groove 111 and the second avoidance groove 112; the clamping arm assembly 20 includes a first clamping arm mechanism 21 and a first clamping arm mechanism 22 that can be in an open state or a clamping state relative to each other.
[0057] Specifically, the first avoidance groove 111 and the second avoidance groove 112 completely penetrate the base plate 11 to reserve movement space for the first clamping arm mechanism 21 and the second clamping arm mechanism 22; the first avoidance hole 113 and the second avoidance hole 114 are used to allow the ends of the first clamping arm mechanism 21 and the second clamping arm mechanism 22 to extend into the interior of the base plate 11. The first clamping arm mechanism 21 and the second clamping arm mechanism 22 are opposite to each other to better clamp the sandbag.
[0058] Based on a general inventive concept of an embodiment of the utility model, in the clamping state, the first clamping arm mechanism 21 extends from the first avoidance groove 111 and extends in the reverse direction along the substrate 11 to the first avoidance hole 113, and the second clamping arm mechanism 22 extends from the second avoidance groove 112 and extends in the reverse direction to the second avoidance hole 114 (such as Figure 4 shown).
[0059] The first clamping arm mechanism 21 and the second clamping arm mechanism 22 are designed to pierce two layers on the clamping surface of the sandbag, forcing the sandbag and the base plate 11 to be tightly connected, thereby fixing the sandbag more stably and reducing sliding and displacement during the clamping process. Even as the sand in the sandbag is released, the sandbag is still clamped by the first clamping arm mechanism 21 and the second clamping arm mechanism 22, ensuring the stability and reliability of the clamping.
[0060] Furthermore, the first avoidance groove 111 and the second avoidance groove 112 are not located on the same straight line at the substrate 11, and correspondingly, the first clamping arm mechanism 21 and the first clamping arm mechanism 22 are respectively staggered. Since the first avoidance groove 111 and the second avoidance groove 112 are not colinearly arranged, the first clamping arm mechanism 21 and the second clamping arm mechanism 22 can move independently during the clamping process, thereby avoiding mutual interference therebetween. At the same time, the staggered arrangement can make the first clamping arm mechanism 21 and the first clamping arm mechanism 22 not cooperate on the same straight line, thereby effectively reducing the possibility of sand accumulation at the clamping arm assembly 20, thereby further improving the stability of the clamping arm assembly 20.
[0061] Furthermore, when the first clamping arm mechanism 21 and the first clamping arm mechanism 22 are in the clamping state, the first clamping arm mechanism 21 and the first clamping arm mechanism 22 can cross each other along the length direction L of the substrate 11. Specifically, the projections of the first clamping arm mechanism 21 and the first clamping arm mechanism 22 in the length direction L are in a state of crossing each other. At this time, the first clamping arm mechanism 21 and the first clamping arm mechanism 22 can work together to provide a wider clamping range for the sandbag, so that the sandbag can be better fixed, the sliding and displacement of the sandbag during the clamping process can be reduced, and the stability of the clamping can be improved.
[0062] like Figures 6 to 8 In a further embodiment of the utility model, the clamping arm assembly 20 has a first pull bolt 23 and a second pull bolt 24, the first clamping arm mechanism 21 includes a first active clamping arm 211 and a first driven clamping arm 212 arranged at intervals in the length direction L of the substrate 11, and the second clamping arm mechanism 22 includes a second active clamping arm 221 and a second driven clamping arm 222 arranged at intervals in the length direction L of the substrate 11.
[0063] It can be understood that the "active clamp arm" proposed in the present application is a clamp arm that can actively move, and it can actively clamp or release the object by connecting to the drive assembly 40, that is, the size of the clamping force and the clamping speed can be adjusted as needed during the clamping process. The "slave clamp arm" is a clamp arm that passively follows the active "clamp arm movement" during the clamping process. It is not directly connected to the drive assembly 40, and does not have the ability to actively move itself, but is driven to move synchronously with the active clamp arm. The first pull bolt 23 and the second pull bolt 24 are also connected to the drive assembly 40, and are connected to the corresponding active clamp arm (such as the first active clamp arm 211 and the second active clamp arm 221) and the slave clamp arm (such as the first slave clamp arm 212 and the second slave clamp arm 222), so that they can move together to receive the driving force and transmit kinetic energy.
[0064] Further, the second pull bolt 24, the second driven clamp arm 222 and the second active clamp arm 221 are arranged in reverse order relative to the first pull bolt 23, the first driven clamp arm 212 and the first active clamp arm 211. For example, along one direction of the length direction L, the second pull bolt 24, the second driven clamp arm 222 and the second active clamp arm 221 are arranged in sequence, and at the same time, the first active clamp arm 211, the first driven clamp arm 212 and the first pull bolt 23 are also arranged in sequence, but the arrangement order of these two groups of components is opposite. This reverse arrangement design is mainly to optimize the force distribution. Avoid the force being concentrated on a certain active clamp arm or pull bolt. Specifically, when the first clamp arm mechanism 21 and the second clamp arm mechanism 22 work at the same time, they will be subjected to the reaction force from the clamped object (sand bag) and bear the weight of the sand bag. If these reaction forces are too concentrated, it may cause excessive load on a certain component of the clamp arm assembly 20 (such as the pull bolt or the active clamp arm). By arranging them in reverse order, these reaction forces can be dispersed to different components, thereby achieving a balanced distribution of force, improving the stability and reliability of clamping, reducing the load of the drive component 40, and allowing the sandbag to be more firmly fixed during the clamping process, reducing the possibility of slippage or loosening.
[0065] Specifically, the first active clamping arm 211 and the second active clamping arm 221 both include a first connecting arm 21a and a first hook 21b, and a first rotating shaft hole A is provided at one end of the first connecting arm 21a away from the first hook 21b, and a first driving hole B is provided in the transition area between the first connecting arm 21a and the first hook 21b; the first driven clamping arm 212 and the second driven clamping arm 222 both include a second connecting arm 22a and a second hook 22b, and a second rotating shaft hole C is provided at one end of the second connecting arm 22a away from the second hook 22b; the first pull bolt 23 and the second pull bolt 24 both include a third rotating shaft hole D and a second driving hole E; wherein, the first rotating shaft hole A, the second rotating shaft hole C and the third rotating shaft D hole are coaxially arranged with each other; the first driving hole B and the second driving hole E are coaxially arranged with each other.
[0066] It can be understood that the above description describes the specific structure of the active clamping arm, the driven clamping arm and the pull bolt. During the movement, the clamping arm assembly 20 can revolve around the center lines of the first rotating shaft hole A, the second rotating shaft hole C and the third rotating shaft D as fixed points, and use the center lines of the first driving hole B and the second driving hole E as swing points, so that the clamping arm assembly 20 can move synchronously, ensuring that consistent mechanical properties can be maintained throughout the entire clamping process.
[0067] Furthermore, the first drag hook 21b and the second drag hook 22b each include a hook handle 21c and a hook head 21d; wherein the hook handle 21c is connected to the first connecting arm 21a, and the hook head 21d is connected to the end of the hook handle 21c and extends in a curved manner, and along the extension direction from the hook handle 21c to the hook head 21d, the cross-sectional areas of the hook handle 21c and the hook head 21d gradually decrease; as the cross-sectional area decreases, the closer to the end portion, the entire connecting arm becomes more slender and sharp, thereby enhancing the penetration and puncture capabilities. When it is necessary to penetrate or puncture thick materials such as sandbags, this structure can provide greater cutting force and penetration force, so that the clamp arm assembly 20 can clamp and fix objects more easily.
[0068] Furthermore, in order to ensure the structural strength of the clamp arm assembly 20, the hook handle 21c is set to extend in a straight line according to the analysis, so that the force is more uniform, and it is not easy to bend or deform, thereby improving the overall strength and rigidity, which helps to ensure the stability and reliability of the clamp arm assembly 20;
[0069] like Fig. 9 and Fig.10 As shown, under the simulated load of 20kg (simulated according to the weight of the sandbag specifications), the maximum stress is 32MPa, the stress value is far lower than its yield strength, and the stress is concentrated on the hook handle 21c. The maximum deformation is 0.1mm, and the maximum deformation occurs at the end of the hook head 21d, which meets the design requirements.
[0070] Those skilled in the art should understand that optimizing the clamp arm assembly 20 based on simulation to cope with higher sandbag specifications, such as providing reinforcing ribs on the hook handle 21c, or widening the thickness of the hook head 21d, etc., is still within the scope of protection covered by the embodiments of the utility model.
[0071] Furthermore, the angle u between the end tangent of the hook portion 21d and the hook handle 21c is less than or equal to 90 degrees, so that the hook portion 21d can better clamp the sandbag, improve the clamping stability, and effectively prevent the sandbag from falling off during operation.
[0072] like Figure 11 to Figure 12 The base assembly 30 includes a plurality of connection seats 31 and a rotating shaft 32, wherein the connection seats 31 are fixedly connected to the base plate 11 respectively; the rotating shaft 32 is rotatably connected between the connection seats 31, wherein the first rotating shaft hole A, the second rotating shaft hole C and the third rotating shaft hole D are all connected to the rotating shaft 32; so as to provide a pivot for the rotation of the clamping arm assembly 20, the clamping arm assembly 20 can be accurately rotated and positioned around the rotating shaft 32 hole, thereby realizing the clamping movement.
[0073] According to the above, when the first active clamping arm 211 , the second active clamping arm 221 , the first pull bolt 23 , and the second pull bolt 24 rotate, the rotating shaft 32 synchronously drives the first driven clamping arm 212 and the second driven clamping arm 222 to rotate.
[0074] A limiting sleeve 33 is sleeved on the outer periphery of the rotating shaft 32 . The limiting sleeve 33 is abutted between the first active clamping arm 211 and the first driven clamping arm 212 , and between the second active clamping arm 221 and the second driven clamping arm 222 .
[0075] It can be understood that the limit sleeve 33 provides an effective axial constraint mechanism for the clamp arm assembly 20. By abutting between the active clamp arm and the driven clamp arm, the limit sleeve 33 ensures that the clamp arm will not undergo excessive axial movement during the rotation process. This design can ensure that the clamp arm assembly remains stable during the rotation process, maintain the relative position and distance between the clamp arms, thereby ensuring the accuracy and reliability of the clamping operation.
[0076] The driving assembly includes a cylinder base 41, a push rod cylinder 42, a push plate 43, and a plurality of tie rods 44; the push rod cylinder 42 is connected to the base plate 11 through the cylinder base 41, and can drive the push plate 43 to move up and down. One end of the tie rod 44 is rotatably connected to the push plate 43, and the other end is rotatably connected to the first drive hole B or the second drive hole E. This design allows the tie rod 44 to convert the lifting and lowering movement of the push plate 43 into the rotation of the clamping arm assembly 20 through the connection of its two ends with the push plate 43 and the clamping arm assembly 20, thereby controlling the opening state or clamping state (such as the opening state) of the first clamping arm mechanism 21 and the second clamping arm mechanism 22. Fig.13a and Fig.13b ).
[0077] Furthermore, the pull rod 44 is rotatably connected to the side wall of the push plate 43 .
[0078] Continue reading Fig.11 The mounting assembly 10 further includes a mounting plate 12 , a mounting column 13 and a flange 14 .
[0079] The flange 14 is arranged on the back of the mounting plate 12, that is, the side away from the base plate 11. It is used to connect the end of the robot arm so that the sand clamp 100 can be connected and driven by the robot arm; the mounting plate 12 and the base plate 11 are connected by the mounting column 13; wherein, the connection between the mounting column 13 and the mounting plate 12 is provided with an elastic structure 15, so that the base plate 11 has a compensation tolerance along the extension direction of the mounting column 13. During the clamping process of the sand clamp 100 or the installation process of the sand clamp 100 and the end of the robot arm, the rigid extrusion of the end of the robot arm and the sand clamp 100 can be avoided to absorb vibration or impact and improve the stability of the entire clamp arm assembly 20.
[0080] Furthermore, those skilled in the art should understand that if all or part of the sub-modules involved in the various products of the sand-adding fixture 100 provided in the embodiment of the utility model are combined and replaced by fusion, simple change, mutual conversion, etc., such as the components are placed and moved, or a sand-adding device or system is designed; or a detachable design; or the products constituted by them are set as one, such as an integrated design; all the combined components can form equipment / devices / systems with specific functions, and using such equipment / devices / systems to replace the corresponding components of the utility model also falls within the protection scope of the utility model.
[0081] like Fig.14 The embodiment of the utility model further provides a sand adding system 1000, which includes the sand adding fixture 100, a robot arm 200 and a sand adding device 300 as described above, wherein the end of the robot arm 200 is connected to the sand adding fixture 100; the sand adding device 300, the robot arm 200 clamps the sand bag through the sand adding fixture 300 and moves to the sand adding device 300.
[0082] It can be understood that the sand adding fixture 100 can be opened and closed to clamp or release the sand bags, ensuring that the sand bags remain stable during transportation. It is responsible for accurately controlling the movement of the sand adding fixture 100, and can move freely in three-dimensional space. The sand adding fixture 100 and the sand bags clamped by it are moved from the storage place to the sand adding equipment 300. After the sand adding equipment 300 cuts the sand bags delivered by the robot arm 200, the sand material is introduced for further processing.
[0083] The various technical features described above can be combined arbitrarily. Although all possible combinations of these technical features are not described, any combination of these technical features should be considered to be covered by this specification as long as there is no contradiction in such combination.
[0084] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still adjust the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these adjustments or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.
Claims
1. A sand adding fixture, characterized in that: Includes a mounting assembly and a clamp arm assembly; The mounting assembly includes a base plate, the base plate is provided with a first avoidance groove and a second avoidance groove, and a first avoidance hole and a second avoidance hole respectively parallel to the first avoidance groove and the second avoidance groove; The clamp arm assembly includes a first clamp arm mechanism and a second clamp arm mechanism that can be in an open state or a clamped state relative to each other; In the clamping state, the first clamping arm mechanism extends from the first avoidance groove and extends in the opposite direction to the first avoidance hole, and the second clamping arm mechanism extends from the second avoidance groove and extends in the opposite direction to the second avoidance hole.
2. The sand adding fixture according to claim 1, characterized in that: The first avoidance groove and the second avoidance groove are not located on the same straight line, and the first clamping arm mechanism and the second clamping arm mechanism are correspondingly staggered; When in the clamping state, the first clamping arm mechanism and the projection of the first clamping arm mechanism along the length direction of the substrate are in a state of crossing each other.
3. The sand adding fixture according to claim 2, characterized in that: The clamp arm assembly also includes a first pull bolt and a second pull bolt; The first clamping arm mechanism comprises a first active clamping arm and a first driven clamping arm; The second clamping arm mechanism comprises a second active clamping arm and a second driven clamping arm; Furthermore, along the length direction, the second pull bolt, the second driven clamp arm and the second active clamp arm are arranged in reverse order relative to the first pull bolt, the first driven clamp arm and the first active clamp arm.
4. The sand adding fixture according to claim 3, characterized in that: The first active clamping arm and the second active clamping arm each include a first connecting arm and a first hook, a first rotating shaft hole is provided at one end of the first connecting arm away from the first hook, and a first driving hole is provided in a transition area between the first connecting arm and the first hook; The first driven clamp arm and the second driven clamp arm both include a second connecting arm and a second draw hook, and a second rotating shaft hole is provided at one end of the second connecting arm away from the second draw hook; The first pull bolt and the second pull bolt each include a third rotating shaft hole and a second driving hole; Wherein, the first rotating shaft hole, the second rotating shaft hole and the third rotating shaft hole are coaxially arranged with each other; the first driving hole and the second driving hole are coaxially arranged with each other.
5. The sand adding fixture according to claim 4, characterized in that: The first and second retractor hooks each include a hook handle and a hook head; The hook handle is connected to the first connecting arm or the second connecting arm, the hook head is connected to the end of the hook handle and extends in a bent manner, and along the extension direction from the hook handle to the hook head, the cross-sectional areas of the hook handle and the hook head gradually decrease.
6. The sand adding fixture according to claim 5, characterized in that: The hook handle is arranged to extend in a straight line, and the angle between the end tangent of the hook head and the hook handle is less than or equal to 90 degrees.
7. The sand adding fixture according to claim 4, characterized in that: The sand adding fixture also includes a base assembly, and the base assembly includes: A plurality of connection sockets, respectively fixedly connected to the substrate; The rotating shaft is rotatably connected between the connecting seats, and the first rotating shaft hole, the second rotating shaft hole and the third rotating shaft hole are all connected to the rotating shaft.
8. The sand adding fixture according to claim 7, characterized in that: A limiting sleeve is provided on the outer periphery of the rotating shaft, and the limiting sleeve is abutted between the first active clamping arm and the first driven clamping arm, and between the second active clamping arm and the second driven clamping arm.
9. The sand adding fixture according to claim 4, characterized in that: The sand adding fixture further comprises a driving assembly, which comprises a cylinder base, a push rod cylinder, a push plate and a plurality of pull rods; The push rod cylinder is connected to the base plate through a cylinder base, and the push plate is connected to the output end of the push rod cylinder. The push rod cylinder can drive the push plate to move up and down; One end of the pull rod is rotatably connected to the push plate, and the other end is rotatably connected to the first drive hole or the second drive hole, so that when the push plate moves up and down, the first clamping arm mechanism and the first clamping arm mechanism are synchronously driven to be in an open state or a clamping state; The pull rod is rotatably connected to the side wall of the push plate.
10. The sand adding fixture according to claim 2, characterized in that: The mounting assembly also includes a mounting plate, a mounting column and a flange; The flange is arranged on a side of the mounting plate away from the base plate and is used to connect the end of the robot arm; The mounting plate and the base plate are connected via mounting posts; wherein an elastic structure is provided at the connection between the mounting posts and the mounting plate so that the base plate has a compensation tolerance along the extension direction of the mounting posts.
11. A sand adding system, characterized in that: include: The sand adding fixture according to any one of claims 1 to 10; A robot arm, the end of which is connected to the sand adding fixture; Sand adding equipment, the robot arm clamps the sand bag through the sand adding clamp and moves to the sand adding equipment.