A three-grip manipulator device for precision casting shell

Abstract

The present application discloses a three-grasping manipulator device for precision casting shell making, the device includes a first transmission member fixed at the center of the upper end of the mounting plate, the upper end of which is fixedly connected to the mechanical arm, and three extension plates extending uniformly axially outward from the center of the mounting plate are respectively provided with mounting holes, and the three mounting holes form an equilateral triangle structure; the clamp includes a fixing member and two extension arms extending from the fixing member to one side, the two extension arms are arranged at intervals, the clamp is located at the lower end of the mounting hole, the fixing member is fixedly connected to the hollow shaft, the lower ends of the two extension arms are provided with protrusions facing each other in the horizontal direction, and the upper half of the hollow shaft extending out of the mounting hole is provided with a first gear; the piston of the first cylinder extends into the middle of the two extension arms; the servo motor is assembled on the extension plate and connected to the second transmission member, the second transmission member includes a second gear, and the second gear is meshed and connected with the first gear. The present application can solve the problem that the wax mold is easily damaged or falls off during the processing.

Description

Technical Field

[0001] The present application relates to the technical field of precision casting shell clamping equipment, and in particular to a three-gripping manipulator device for precision casting shell. Background Art

[0002] Precision casting is a technology for manufacturing complex-shaped metal parts, in which shell making is one of the key steps, involving the formation of one or more ceramic shells on the outer surface of the wax mold. This process usually requires highly precise operations to ensure the dimensional accuracy and surface finish of the final casting. As the manufacturing industry's requirements for efficiency and quality increase, the application of automation in the precision casting process is becoming increasingly important, and the use of robotic arms can reduce manual intervention and improve production consistency and repeatability.

[0003] In precision casting, wax patterns are easily damaged or fall off during handling, which may cause production interruptions or product quality issues if the clamping mechanism is not designed properly. Utility Model Content

[0004] In view of this, the main purpose of the present application is to provide a three-grip robot device for precision casting shell making, which is helpful to solve the problem that the wax mold is easily damaged or falls off during the processing process.

[0005] The present application provides a three-grasping manipulator device for precision casting shell making, which comprises:

[0006] A mounting plate, a first transmission member is fixed at the center of the upper end thereof, the upper end of the first transmission member is fixedly connected to the robot arm, and three extension plates extending axially outward from the center of the mounting plate are respectively provided with mounting holes, and the three mounting holes form an equilateral triangle structure;

[0007] A clamping jaw, comprising a fixing member and two extension arms extending from the fixing member to one side, the two extension arms being arranged at intervals, the clamping jaw being located at the lower end of the mounting hole, the fixing member being fixedly connected to a hollow shaft, the lower ends of the two extension arms being provided with protrusions facing each other in the horizontal direction, and the upper half of the hollow shaft extending out of the mounting hole being provided with a first gear;

[0008] A first cylinder, which is located at the upper end of the mounting hole, and a piston on the first cylinder passes through a hollow shaft and extends into the middle of the two extension arms;

[0009] A servo motor is mounted on the extension plate and is located obliquely behind the cylinder. The servo motor is connected to a second transmission member, and the second transmission member includes a second gear, which is meshed with the first gear.

[0010] A camera protection cover is mounted on the protruding end of any cylinder top cover, and a camera is mounted inside the camera protection cover.

[0011] From the above, the two protrusions under the two extended arms of the clamp can hang on the wax model hook. When the first cylinder is working, the piston is pushed out, and the piston cooperates with the two protrusions to clamp the wax model hook, so that the wax model can be stably clamped and not easy to fall off during the subsequent processing through the cooperation of the servo motor and the first gear on the hollow shaft. The servo motor can adjust the rotation speed and number of circles to ensure the uniformity of the wax model during the dipping or sand pouring process. In addition, through the equilateral triangle structure composed of three clamps evenly distributed on the mounting plate, the robotic arm can grab three wax models at a time, which significantly improves the production efficiency of the precision casting shell making process; the camera installed in the camera protective cover can accurately obtain the position of the wax model, which is convenient for the clamp to grab and place, and improve the efficiency of wax model grabbing.

[0012] Optionally, the first transmission component includes a first shaft and a second shaft, and the first shaft and the second shaft are stacked and connected, wherein: a first flange and a second flange are respectively provided at both ends of the first shaft, and one end of the first shaft is connected to the mounting plate through the first flange; a third flange and a fourth flange are respectively provided at both ends of the second shaft, and the other end of the first shaft is fixedly connected to the third flange of the second shaft through the second flange.

[0013] As shown above, the diameter of the first shaft is greater than that of the second shaft, and the first shaft and the second shaft are stacked and connected, which not only ensures the strength and stability of the first transmission component but also increases its height, preventing the robotic arm from touching other devices on the mounting plate during rotation; the combined use of the two shafts can disperse the load, allowing the entire robotic arm to withstand greater weight, which is particularly important for precision casting processes that require grabbing multiple wax models at one time.

[0014] Optionally, the upper end of the first transmission member is fixedly connected to the robotic arm, including: the robotic arm is fixedly connected to the fourth flange via a fifth flange.

[0015] From the above, through the precise positioning of the flange, the coaxiality and verticality between the first transmission component and the robot arm can be ensured. In addition, the flange connection allows for quick installation and disassembly, which greatly saves maintenance time.

[0016] Optionally, guide rails are provided on the side panels of the camera protective cover, and the guide rails are slidably connected to the sliding member; side vertical plates and top vertical plates are provided on the front panel of the camera protective cover, the side vertical plates are fixedly connected to the sliding member, the top vertical plate is fixedly connected to the push rod of the second cylinder, and the second cylinder is fixed on the top plate of the camera protective cover.

[0017] From above, the guide rails on the side panels are slidably connected to the sliding parts, and the side vertical panels are fixedly connected to the sliding parts, so that the front panel of the camera hood is close to other adjacent side panels of the camera hood when moving up and down, ensuring that there is no gap in the front panel of the camera hood when closed to protect the camera; through the connection between the push rod of the second cylinder and the top vertical plate at the upper end of the front panel, power support is provided for the front panel to move along the guide rails.

[0018] Optionally, a stable support frame is provided at the lower end of the mounting plate.

[0019] From the above, the addition of the stable support frame improves the load-bearing capacity of the mounting plate, and also improves the stability of the mounting plate.

[0020] Optionally, a sensor protection cover is further provided at the lower end of the mounting plate, and a liquid level sensor is provided in the sensor protection cover.

[0021] From above, the liquid level sensor detects the liquid level so that the wax model under the gripper is just below the liquid level. When the dipping process starts, the sensor protective cover is closed to protect the sensor and ensure that the wax model will not splash onto other devices during the dipping process.

[0022] Optionally, a proportional valve group is also mounted on the mounting plate to adjust the gas pressure and flow of the first cylinder.

[0023] As shown above, the proportional valve group not only provides power for the first cylinder, but also can adjust the gas pressure and flow of the first cylinder, adjust the clamping force between the piston and the two protrusions, and maintain the stability of the wax model hook.

[0024] Optionally, the first interval on one side of the two extension arms is larger than the second interval on the other side thereof, and the first interval passes through the wax model hook, and the second interval abuts against the wax model hook.

[0025] From the above, by designing the two extended arms with different lengths of interval, the clamping claws can form a stable three-point support structure when clamping the wax model hook. The second interval is very small, so that the inner sides of the two extended arms can support the wax model hook, which can effectively prevent the wax model from slipping during transportation or rotation, and reduce the potential risk of mold falling during precision casting shell making.

[0026] Optionally, the servo motor is connected to the second transmission component, including: the second transmission component includes a transmission shaft and a second gear, the motor shaft of the servo motor is meshed with one end of the transmission shaft through a gear set, and the other end of the transmission shaft is provided with a second gear.

[0027] As described above, the power transmission direction of the motor shaft of the servo motor is changed by the second transmission member, and the power of the servo motor is transmitted to the hollow shaft, thereby driving the clamping jaw fixedly connected to the hollow shaft to rotate.

[0028] Optionally, the first gear and the second gear comprise bevel gears.

[0029] From the above, the bevel gear can realize cross-axis transmission and change the transmission direction of the servo motor.

[0030] In summary, the three-grasping robot device for precision casting shell making provided in the present application includes a mounting plate with an overall equilateral triangle structure, the middle of the mounting plate is stacked together by a first axis and a second axis and connected to a robot arm, the mounting plate is driven to rotate by the robot arm, and the three clamps can also be driven to revolve around the center of the mounting plate; the clamps are driven to rotate by the servo motor and the second transmission component, and the servo motor can adjust the rotation speed and the number of revolutions, so as to adjust the rotation speed and the number of revolutions of the clamps, to ensure the uniformity of the wax model during the dipping or sand pouring process, and the cooperation between the piston of the first cylinder and the clamps can firmly clamp the wax model making hook to maintain the stability of the wax model clamping. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The various technical features of the present application and the relationship between them are further explained below with reference to the accompanying drawings. The accompanying drawings are exemplary, and some technical features are not shown in actual proportion. In addition, some drawings may omit technical features that are commonly used in the technical field to which the present application belongs and are not essential for understanding and implementing the present application, or additional technical features that are not essential for understanding and implementing the present application may be shown. In other words, the combination of the various technical features shown in the accompanying drawings is not used to limit the present application. In addition, throughout the present application, the same figure numbers refer to the same content. The specific description of the drawings is as follows:

[0032] Figure 1 It is a structural diagram of a three-grasping manipulator device for precision casting shell making in this application;

[0033] Figure 2 This is a bottom structural diagram of a three-grasping manipulator device for precision casting shell making in this application;

[0034] Figure 3 This is a bottom structural diagram from another perspective of a three-grasping manipulator device for precision casting shell making in the present application;

[0035] Figure 4 It is a partial structural diagram of a three-grasping manipulator device for precision casting shell making in this application;

[0036] Figure 5 It is a structural diagram of a wax model hook in this application.

[0037] Description of Reference Numerals

[0038] 1-mounting plate, 2-first transmission component, 21-first axis, 2101-first flange, 2102-second flange, 22-second axis, 2201-third flange, 2202-fourth flange, 23-fifth flange, 3-clamping jaws, 31-fixing member, 32-extension arm, 33-hollow shaft, 34-first gear, 4-first cylinder, 41-piston, 5-servo motor, 51-second transmission component, 5101-second gear, 6-camera protective cover, 61-second cylinder, 62-front panel, 6201-top plate, 6202-side plate, 63-guide rail, 64-sliding member, 7-proportional valve group, 8-stable support frame, 9-sensor protective cover, 91-sensor guide rail, 92-sensor sliding block, 93-third cylinder.

[0039] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0040] The preferred embodiments of the present application are described in detail below in conjunction with the accompanying drawings so that the advantages and features of the present application can be more easily understood by those skilled in the art, thereby making a clearer and more definite definition of the protection scope of the present application.

[0041] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "include..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0042] It should be noted that in the description of this article, the terms "middle", "front", "back", "top", "bottom", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention 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. Therefore, they cannot be understood as limitations on the present application.

[0043] In addition, the terms "installed", "set", "provided with", "connected", "connected", and "socketed" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, elements, or components. For those of ordinary skill in the art, the specific meanings of the above terms in this utility model can be understood according to specific circumstances.

[0044] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The specific embodiments described below can be combined with each other to form new embodiments. The same or similar ideas or processes described in one embodiment may not be repeated in other embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0045] Figure 1-3 The following are structural diagrams from different angles of a three-grasping manipulator device for precision casting shell making in this application. Figure 1-3 As shown, the present application provides a three-grasping manipulator device for precision casting shell making, which includes:

[0046] A mounting plate 1, a first transmission member 2 is fixed at the center of its upper end, the upper end of the first transmission member 2 is fixedly connected to the robot arm, and three extension plates extending axially outward from the center of the mounting plate 1 are respectively provided with mounting holes, and the three mounting holes form an equilateral triangle structure;

[0047] The clamping jaw 3 comprises a fixing member 31 and two extension arms 32 extending from the fixing member 31 to one side, the two extension arms 32 are arranged at intervals, the clamping jaw 3 is located at the lower end of the mounting hole, the fixing member 31 is fixedly connected to a hollow shaft 33, the lower ends of the two extension arms 32 are provided with protrusions facing each other in the horizontal direction, and the upper half of the hollow shaft 33 extending out of the mounting hole is provided with a first gear 34;

[0048] The first cylinder 4 is located at the upper end of the mounting hole, and the piston 41 on the first cylinder 4 passes through the hollow shaft 33 and extends into the middle of the two extension arms 32;

[0049] A servo motor 5 is mounted on the extension plate and is located obliquely behind the cylinder. The servo motor 5 is connected to a second transmission member 51. The second transmission member 51 includes a second gear 5101. The second gear 5101 is meshed and connected with the first gear 34.

[0050] A camera protection cover 6 is mounted on the protruding end of any cylinder top cover, and a camera is mounted inside the camera protection cover 6 .

[0051] Specifically, the two protrusions under the two extended arms 32 of the clamp 3 can hang on the wax model hook. When the first cylinder 4 is working, the piston 41 is pushed out, and the piston 41 cooperates with the two protrusions to clamp the wax model hook, so that the wax model can be stably clamped and not easy to fall off during the subsequent processing through the cooperation of the servo motor 5 and the first gear 34 on the hollow shaft 33. The servo motor 5 can adjust the rotation speed and number of turns to ensure the uniformity of the wax model during the dipping or sand pouring process. In addition, through the equilateral triangle structure formed by the three clamps 3 evenly distributed on the mounting plate 1, the robot arm can grab three wax models at a time, which significantly improves the production efficiency of the precision casting shell making process; the camera installed in the camera protective cover 6 can accurately obtain the position of the wax model, which is convenient for the clamp 3 to grab and place, and improve the efficiency of wax model grabbing.

[0052] Optionally, the first interval on one side of the two extension arms 32 is larger than the second interval on the other side thereof, and the first interval passes through the wax model hook, and the second interval abuts against the wax model hook.

[0053] Specifically, by designing the two extended arms 32 with different lengths, the clamping jaws 3 can form a stable three-point support structure when clamping the wax model hook. The second spacing distance is very small, so that the inner sides of the two extended arms 32 can support the wax model hook, which can effectively prevent the wax model from slipping during transportation or rotation, and reduce the potential risk of mold falling during precision casting shell making.

[0054] In this embodiment, the fixing member 31 at the upper end of the clamping jaw 3 is integrally connected with the two extension arms 32 (see Figure 3 ), the lower ends of the two extension arms 32 are provided with inward protrusions, when the wax model is made into a hook (see Figure 5 ) pass through the two protrusions at the lower ends of the two extension arms 32 from front to back, and start from the first interval with a large distance at the front ends of the two extension arms 32, until the second interval with a small distance at the rear ends of the two extension arms 32 presses against the wax model hook, and the two protrusions hang on both sides of the upper plate of the wax model hook.

[0055] Optionally, the first transmission member 2 includes a first shaft 21 and a second shaft 22, and the first shaft 21 and the second shaft 22 are stacked and connected, wherein: a first flange 2101 and a second flange 2102 are respectively provided at both ends of the first shaft 21, and one end of the first shaft 21 is connected to the mounting plate 1 through the first flange 2101; a third flange 2201 and a fourth flange 2202 are respectively provided at both ends of the second shaft 22, and the other end of the first shaft 21 is fixedly connected to the third flange 2201 of the second shaft 22 through the second flange 2102.

[0056] Specifically, the diameter of the first shaft 21 is greater than the diameter of the second shaft 22, and the first shaft 21 and the second shaft 22 are stacked and connected, which not only ensures the strength and stability of the first transmission member 2, but also increases its height, preventing the robot arm from touching other devices on the mounting plate 1 during rotation; the combined use of the two shafts can disperse the load, allowing the entire robot arm to withstand greater weight, which is particularly important for precision casting processes that require grabbing multiple wax models at one time.

[0057] Optionally, the upper end of the first transmission member 2 is fixedly connected to the robot arm, including: the robot arm is fixedly connected to the fourth flange 2202 via the fifth flange 23 .

[0058] Specifically, through precise positioning of the flange, the coaxiality and verticality between the first transmission member 2 and the robot arm can be ensured. In addition, the flange connection allows for quick installation and disassembly, greatly saving maintenance time.

[0059] When in use, the mechanical arm rotates to align one of the three grippers 3 with any wax model, and the mechanical arm moves the device to the wax model hook position. At this time, the first cylinder 4 starts to work, outputs the piston 41 and clamps the wax model hook, and then the mechanical arm rotates 120° in sequence, so that the other two grippers 3 clamp the wax model hook in sequence according to the above method. After grabbing the 3-tree wax model product, the mechanical arm starts shell production. During the production process, the servo motors 5 of the three grippers 3 rotate, and the shaft of the mechanical arm rotates. The wax model can both rotate and revolve, which effectively improves production efficiency and quality. After the production is completed, the mechanical arm rotates -120° in sequence to put down the 3-tree wax model products grabbed in sequence.

[0060] Optionally, a proportional valve group 7 is also mounted on the mounting plate 1 to adjust the gas pressure and flow of the first cylinder 4 .

[0061] Specifically, the proportional valve group 7 not only provides power for the first cylinder 4, but also can adjust the gas pressure and flow of the first cylinder 4, adjust the clamping force between the piston 41 and the two protrusions, and maintain the stability of the wax model hook.

[0062] Figure 4 The position connection relationship between the servo motor 5, the first cylinder 4 and the clamping jaw 3 in this application is shown. Figure 4 In the specific embodiment shown, the servo motor 5 is connected to the second transmission component 51, including: the second transmission component 51 includes a transmission shaft and a second gear 5101, the motor shaft of the servo motor 5 is meshed with one end of the transmission shaft through a gear set, and the other end of the transmission shaft is provided with a second gear 5101.

[0063] Specifically, the power transmission direction of the motor shaft of the servo motor 5 is changed by the second transmission member 51 , and the power of the servo motor 5 is transmitted to the hollow shaft 33 , thereby driving the clamping jaw 3 fixedly connected to the hollow shaft 33 to rotate.

[0064] Optionally, the first gear 34 and the second gear 5101 comprise bevel gears.

[0065] Specifically, the bevel gear can realize cross-axis transmission and change the transmission direction of the servo motor 5 .

[0066] In this embodiment, the motor shaft of the servo motor 5 is vertically downward, the transmission shaft is arranged in the horizontal direction, and a gear set can be used between the motor shaft and the gear shaft to achieve transmission, and the gear set includes a bevel gear or a helical gear. In addition, the transmission mode of the first gear 34 and the second gear 5101 can select either a bevel gear or a helical gear, and the present application does not specifically limit the shape of the gear.

[0067] Optionally, a guide rail 63 is provided on the side panel of the camera protective cover 6, and the guide rail 63 is slidably connected to the sliding member 64; a side vertical plate 6202 and a top vertical plate 6201 are provided on the front panel 62 of the camera protective cover 6, the side vertical plate 6202 is fixedly connected to the sliding member 64, the top vertical plate 6201 is fixedly connected to the pushing rod of the second cylinder 61, and the second cylinder 61 is fixed on the top plate of the camera protective cover 6.

[0068] Specifically, the guide rail 63 on the side panel is slidably connected to the sliding member 64, and the side vertical plate 6202 is fixedly connected to the sliding member 64, so that the front panel 62 of the camera protective cover 6 is close to the other adjacent side panels of the camera protective cover 6 when moving up and down, ensuring that there is no gap in the front panel 62 of the camera protective cover 6 when closed to protect the camera; through the connection between the push rod of the second cylinder 61 and the top vertical plate 6201 at the upper end of the front panel 62, power support is provided for the front panel 62 to move along the guide rail 63.

[0069] exist Figure 2-3 In the illustrated embodiment, the camera protective cover 6 is in the form of a rectangular box as a whole, and a top upright plate 6201 extending from the top of the front panel 62 toward the top plate of the camera protective cover 6 is used to be fixedly connected to the push rod of the second cylinder 61, and the other end of the second cylinder 61 is fixedly connected to the top plate of the camera protective cover 6; a side upright plate 6202 is provided on the left side of the front panel 62, and the side upright plate 6202 is fixedly connected to the sliding member 64, the sliding member 64 can slide on the guide rail 63, and the guide rail 63 is provided on the left side plate of the camera protective cover 6.

[0070] Optionally, a stable support frame 8 is provided at the lower end of the mounting plate 1 .

[0071] Specifically, the addition of the stabilizing support frame 8 improves the load-bearing capacity of the mounting plate 1 , while also improving the stability of the mounting plate 1 .

[0072] Optionally, a sensor protection cover 9 is further provided at the lower end of the mounting plate 1 , and a liquid level sensor is provided in the sensor protection cover 9 .

[0073] Specifically, the liquid level sensor detects the liquid level so that the wax model under the clamp 3 is just below the liquid level. When the dipping process begins, the sensor protection cover 9 is closed to protect the sensor and ensure that the wax model does not splash onto other devices during the dipping process.

[0074] In a specific embodiment of the present application, Figure 2-3 As shown, a stable support frame 8 is provided at the lower end of the mounting plate 1, which improves the load-bearing capacity of the mounting plate 1 and also improves the stability of the mounting plate 1; a sensor protection cover 9 is also provided at the lower end of the mounting plate 1, and a liquid level sensor is installed inside the sensor protection cover 9, and the liquid level sensor detection probe is arranged downward, and the bottom plate of the sensor protection cover 9 is movably arranged, and the bottom plate is fixedly connected with the push rod of the third cylinder 93, and the bottom plate of the sensor protection cover 9 is driven to move by the third cylinder 93, and a sensor guide rail 9163 and a sensor sliding block 92 are installed on the side plate arranged on the rear side of the sensor protection cover 9, and the bottom plate of the sensor protection cover 9 is fixedly connected with the sensor sliding block 92, and the sliding of the sensor sliding block 92 ensures the sense of direction and stability of the movement of the bottom plate of the sensor protection cover 9.

[0075] In a specific embodiment of the present application, the mounting plate 1 is an irregular equilateral triangle structure as a whole, and the mounting points of the three clamping jaws 3 form an equilateral triangle structure. The first shaft 21 is assembled at the center of the mounting plate 1, which is connected by a first flange 2101. The upper end of the first shaft 21 is fixedly connected to the second shaft 22, and the second flange 2102 of the first shaft 21 is fixedly connected to the third flange 2201 of the second shaft 22, and the diameter of the first shaft 21 is greater than the diameter of the second shaft 22. The fourth flange 2202 at the upper end of the second shaft 22 is connected to the robot arm through the fifth flange 23. The rotation of the robot arm drives the mounting plate 1 to rotate or the mounting plate 1 to rotate, that is, the three clamping jaws 3 revolve around the center of the mounting plate 1; three extension plates extend axially outward from the center of the mounting plate 1, and each adjacent two extension plates are 120° apart. The first cylinder 4, the clamping jaws 3 and The servo motor 5 and the clamping jaw 3 are at the lower end of the extension plate. The hollow shaft 33 at the upper end of the clamping jaw 3 passes through the mounting hole and is fixedly connected to the first cylinder 4, and the piston 41 of the first cylinder 4 passes through the hollow shaft 33 and extends into the interior of the clamping jaw 3. The upper end of the hollow shaft 33 extending out of the extension plate is provided with a first gear 34; the servo motor 5 is meshed and connected with the first gear 34 through the second gear 5101 on the transmission shaft to control the rotation of the clamping jaw 3 at the lower end of the hollow shaft 33 to ensure the smooth progress of the wax model during the sand pouring or paddle dipping process; a proportional valve group 7 is provided at the upper end of the mounting plate 1 to provide the power for the piston 41 to clamp the three first cylinders 4; a camera and a camera protective cover 6 are provided on one of the first cylinders 4, and the front panel 62 of the camera protective cover 6 can be opened or closed along the guide rail 63 on its side panel under the action of the second cylinder 61, providing positioning service for the clamping jaw 3 to grab the wax model self-made hook.

[0076] To summarize, the three-grasping robot device for precision casting shell making provided in the present application includes a mounting plate 1 which is an equilateral triangle structure as a whole. The mounting plate 1 is stacked together in the middle by a first axis 21 and a second axis 22 and connected to a robot arm. The mounting plate 1 is driven to rotate by the robot arm, and the three clamping jaws 3 can also be driven to revolve around the center of the mounting plate 1. The clamping jaws 3 are driven to rotate by the servo motor 5 and the second transmission member 51, and the servo motor 5 can adjust the rotation speed and the number of revolutions, so as to adjust the rotation speed and the number of revolutions of the clamping jaws 3 to ensure the uniformity of the wax model during the dipping or sand pouring process. The piston 41 of the first cylinder 4 cooperates with the clamping jaw 3 to firmly clamp the wax model making hook to maintain the stability of the wax model clamping.

[0077] Unless otherwise defined, all technical and scientific terms used in this application are the same as those generally understood by those skilled in the art to which this application belongs. If there is any inconsistency, the meaning described in the full text of this application or the meaning derived from the content recorded in the full text of this application shall prevail. In addition, the terms used in this description are only for the purpose of describing the embodiments of the present application and are not intended to limit the present application.

[0078] Note that the above are only preferred embodiments of the present application and the technical principles used. Those skilled in the art will understand that the present application is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the protection scope of the present application. Therefore, although the present application is described in more detail through the above embodiments, the present application is not limited to the above embodiments, and may also include more other equivalent embodiments without departing from the technical concept of the present application, all of which belong to the protection scope of the present application.

[0079] The above description is only an embodiment of the present application and does not limit the patent scope of the present application. Any equivalent structural transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A three-grasping manipulator device for precision casting shell making, characterized in that: include: A mounting plate, a first transmission member is fixed at the center of the upper end of which, the upper end of which is fixedly connected to the robot arm, and three extension plates extending axially outward from the center of the mounting plate are respectively provided with mounting holes, and the three mounting holes form an equilateral triangle structure; A clamping jaw, comprising a fixing member and two elongated arms extending from the fixing member to one side, the two elongated arms being arranged at intervals, the clamping jaw being located at the lower end of the mounting hole, the fixing member being fixedly connected to a hollow shaft, the lower ends of the two elongated arms being provided with protrusions facing each other in the horizontal direction, and the upper half of the hollow shaft extending out of the mounting hole being provided with a first gear; A first cylinder, which is located at the upper end of the mounting hole, and a piston on the first cylinder passes through the hollow shaft and extends into the middle of the two extension arms; A servo motor is mounted on the extension plate and is located obliquely behind the cylinder. The servo motor is connected to a second transmission member, and the second transmission member includes a second gear, and the second gear is meshed with the first gear. A camera protection cover is mounted on the protruding end of any of the cylinder top covers, and a camera is mounted inside the camera protection cover.

2. The three-grasping manipulator device for precision casting shell making according to claim 1 is characterized in that: The first transmission member comprises a first shaft and a second shaft, the first shaft and the second shaft are stacked and connected, wherein: A first flange and a second flange are respectively provided at two ends of the first shaft, and one end of the first shaft is connected to the mounting plate through the first flange; The second shaft has a third flange and a fourth flange at both ends thereof, respectively. The other end of the first shaft is fixedly connected to the third flange of the second shaft via the second flange.

3. The three-grasping manipulator device for precision casting shell making according to claim 2 is characterized in that: The upper end of the first transmission member is fixedly connected to the mechanical arm, and comprises: The mechanical arm is fixedly connected to the fourth flange via a fifth flange.

4. The three-grasping manipulator device for precision casting shell making according to claim 1 is characterized in that: A guide rail is provided on the side plate of the camera protection cover, and the guide rail is slidably connected to the sliding member; The front panel of the camera protective cover is provided with side panels and a top panel, the side panels are fixedly connected to the sliding member, the top panel is fixedly connected to the push rod of the second cylinder, and the second cylinder is fixed to the top panel of the camera protective cover.

5. The three-grasping manipulator device for precision casting shell making according to claim 1 is characterized in that: A stable support frame is arranged at the lower end of the mounting plate.

6. The three-grasping manipulator device for precision casting shell making according to claim 1 is characterized in that: A sensor protection cover is also provided at the lower end of the mounting plate, and a liquid level sensor is provided inside the sensor protection cover.

7. The three-grasping manipulator device for precision casting shell making according to claim 1 is characterized in that: The mounting plate is also equipped with a proportional valve group for adjusting the gas pressure and flow of the first cylinder.

8. The three-grasping manipulator device for precision casting shell making according to claim 1 is characterized in that: The first interval on one side of the two extension arms is larger than the second interval on the other side thereof, and the first interval passes through the wax model made hook, and the second interval abuts against the wax model made hook.

9. The three-grasping manipulator device for precision casting shell making according to claim 1 is characterized in that: The servo motor is connected to the second transmission member and comprises: The second transmission component includes a transmission shaft and the second gear. The motor shaft of the servo motor is meshed and connected with one end of the transmission shaft through a gear set, and the second gear is provided at the other end of the transmission shaft.

10. The three-grasping manipulator device for precision casting shell making according to claim 1 is characterized in that: The first gear and the second gear include bevel gears.

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