Die-casting island part-taking robot composite gripping apparatus

Abstract

The utility model relates to the technical field of die-casting island pick-up robot grippers, and particularly discloses a die-casting island pick-up robot composite gripper which comprises a composite mounting seat, the composite mounting seat comprises a base plate, and the upper end and the lower end of the base plate are fixedly connected with an upper mounting seat and a lower mounting seat respectively. A rectangular gripping apparatus is fixedly connected to the upper end face of the upper mounting seat, an arc gripping apparatus is fixedly connected to the lower end face of the lower mounting seat, the rectangular gripping apparatus comprises a bottom plate, two moving seats are slidably connected to the two sides of the upper end face of the bottom plate, and clamping plates are fixedly connected to the outer sides of the upper end faces of the two moving seats. The arc-shaped gripping apparatus comprises a connecting base, a first air cylinder is fixed to the rear end face of the connecting base, and clamping jaws are rotationally connected to the two sides of the interior of the connecting base through rotating shafts. According to the utility model, the arc-shaped gripping apparatus and the rectangular gripping apparatus are arranged, so that the use of the arc-shaped gripping apparatus or the rectangular gripping apparatus can be flexibly changed according to the types of workpieces to be gripped actually, and the functions are more comprehensive.

Description

Technical Field

[0001] The utility model relates to the technical field of grippers for a die-casting island taking-up robot, and in particular to a composite gripper for a die-casting island taking-up robot. Background Art

[0002] The die-casting island is a production unit that integrates die-casting machines, peripheral equipment, molds, etc. It achieves efficient and precise die-casting production through an automated control system. During the die-casting process, the molten metal is quickly pressed into the mold cavity under high pressure, and then cooled and solidified into shape. The surface temperature of the die-cast product after molding is still very high, and it is difficult to safely remove it manually. The removal robot can work in various harsh environments and is not easily affected by factors such as high temperature. It can avoid workers working in dangerous environments and reduce safety risks caused by human operational errors.

[0003] In the production process, various types of products are produced, but the types of products that can be adapted by ordinary robot grippers are not wide enough. In order to ensure stable grasping when grasping products of different shapes, it is necessary to replace the corresponding grippers installed on the robot, which is time-consuming and easy to affect production efficiency. Therefore, those skilled in the art provide a composite gripper for a die-casting island pickup robot to solve the problems raised in the above background technology. Utility Model Content

[0004] The purpose of the utility model is to provide a composite gripper for a die casting island pick-up robot to solve the following technical problems:

[0005] How to increase the number of products that the gripper can be compatible with.

[0006] The purpose of the utility model can be achieved through the following technical solutions:

[0007] A composite gripper for a die-casting island picking robot, comprising a composite mounting seat, the composite mounting seat comprising a base plate, a mounting plate being fixedly connected to a rear end surface of the base plate, and an upper mounting seat and a lower mounting seat being fixedly connected to upper and lower ends of the base plate respectively;

[0008] The upper end surface of the upper mounting seat is fixedly connected with a rectangular gripper, and the lower end surface of the lower mounting seat is fixedly connected with an arc-shaped gripper;

[0009] The rectangular gripper comprises a bottom plate, two movable seats are slidably connected to both sides of the upper end surface of the bottom plate, clamping plates are fixedly connected to the outer sides of the upper end surfaces of the two movable seats, a third cylinder is fixedly connected to one side of the upper end surface of the bottom plate, and the extended end of the third cylinder is fixedly connected to a movable seat;

[0010] The arc-shaped gripper comprises a connecting seat, a first cylinder is fixed to the rear end surface of the connecting seat, and clamping claws are rotatably connected to both sides of the connecting seat through a rotating shaft.

[0011] Furthermore, the upper end surface of the bottom plate is fixedly connected with two slide rails, and both sides of the lower end surface of the movable seat are fixedly connected with slide seats, and the slide seats are slidably connected with the slide rails;

[0012] Furthermore, the lower end surfaces of the two movable seats are fixedly connected with racks, the two racks are staggered, and the middle part of the upper end surface of the bottom plate is rotatably connected with a gear, and the gear is meshed with the two racks;

[0013] Furthermore, positioning components are provided on both sides of the bottom plate, and the two positioning components are staggered;

[0014] Further, the positioning assembly includes a mounting frame fixedly connected to the base plate, a second cylinder is fixedly connected to the lower side of the outer end of the mounting frame, and an extended end of the second cylinder extends out of the upper end surface of the mounting frame and is fixedly connected to a positioning pin;

[0015] Furthermore, the extended end of the first cylinder extends into the connecting seat and is fixedly connected to an ejector head, and the upper and lower sides of the ejector head are rotatably connected to connecting rods, and the other end of the connecting rod is rotatably connected to the rear end of the adjacent clamping claw;

[0016] Furthermore, two clamping heads are fixedly connected to the inner sides of the two clamping jaws;

[0017] Beneficial effects of the utility model:

[0018] The utility model is provided with an arc-shaped gripper and a rectangular gripper. The arc-shaped gripper can stably clamp the arc surface of the casting through two clamping claws, and the rectangular gripper can stably clamp the rectangular surface of the casting through two clamping plates. Both the arc-shaped gripper and the rectangular gripper are mounted on a composite mounting seat. When in use, through the rotation conversion of the robot, the arc-shaped gripper or the rectangular gripper can be flexibly switched according to the actual type of workpiece to be grasped. The function is more comprehensive, and the number of product models that the gripper can be compatible with is effectively increased, and the time consumed in replacing the gripper is also reduced, thereby improving production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The utility model is further described below in conjunction with the accompanying drawings.

[0020] Figure 1 It is the overall structure diagram of the utility model;

[0021] Figure 2 It is a structural diagram of the composite mounting seat of the utility model;

[0022] Figure 3 It is a structural diagram of the arc-shaped gripper of the utility model;

[0023] Figure 4It is a structural diagram of a rectangular gripper of the utility model.

[0024] Reference numerals:

[0025] 1. Composite mounting seat; 11. Base plate; 12. Mounting plate; 13. Lower mounting seat; 14. Upper mounting seat; 2. Arc gripper; 21. First cylinder; 22. Connecting seat; 23. Ejector head; 24. Clamping claw; 25. Chuck; 26. Connecting rod; 27. Rotating shaft; 3. Rectangular gripper; 31. Bottom plate; 32. Positioning assembly; 321. Mounting frame; 322. Second cylinder; 323. Positioning pin; 33. Moving seat; 34. Clamping plate; 35. Third cylinder; 36. Slide rail; 37. Slide seat; 38. Rack; 39. Gear. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0027] Please see attached Figures 1 to 4 As shown, a composite gripper for a die-casting island picking robot in an embodiment of the utility model comprises a composite mounting seat 1, and the composite mounting seat 1 comprises a base plate 11, and the rear end face of the base plate 11 is fixedly connected with a mounting plate 12, and the upper and lower ends of the base plate 11 are respectively fixedly connected with an upper mounting seat 14 and a lower mounting seat 13, and the upper end face of the upper mounting seat 14 is fixedly connected with a rectangular gripper 3, and the lower end face of the lower mounting seat 13 is fixedly connected with an arc gripper 2, and the composite mounting seat 1 is connected and fixed to the robot through the mounting plate 12, and after the robot rotates, the positions of the upper mounting seat 14 and the lower mounting seat 13 are converted, so as to flexibly switch between the arc gripper 2 and the rectangular gripper 3 according to the actual type of workpiece to be grasped, and the arc gripper 2 is convenient for grasping castings with circular arc surfaces, and the rectangular gripper 3 is convenient for grasping castings with rectangular surfaces.

[0028] The rectangular gripper 3 includes a base plate 31, and two movable seats 33 are slidably connected to both sides of the upper end surface of the base plate 31, and clamps 34 are fixedly connected to the outer sides of the upper end surfaces of the two movable seats 33. A third cylinder 35 is fixedly connected to one side of the upper end surface of the base plate 31, and the extended end of the third cylinder 35 is fixedly connected to a movable seat 33. Since the movable seat 33 and the base plate 31 are slidably connected, when the third cylinder 35 is extended, the two clamps 34 move away from each other to release the clamped product, and when the third cylinder 35 retracts, the two clamps 34 move closer to clamp the product.

[0029] The arc-shaped gripper 2 includes a connecting seat 22 , a first cylinder 21 is fixed to the rear end surface of the connecting seat 22 , and both sides of the interior of the connecting seat 22 are rotatably connected to clamping claws 24 through a rotating shaft 27 to clamp the product through the action of the clamping claws 24 .

[0030] The upper end surface of the base plate 31 is fixedly connected with two slide rails 36, and both sides of the lower end surface of the moving seat 33 are fixedly connected with slide seats 37, and the slide seats 37 are slidably connected to the slide rails 36. The lower end surfaces of the two moving seats 33 are fixedly connected with racks 38, and the two racks 38 are arranged alternately. A gear 39 is rotatably connected at the middle part of the upper end surface of the base plate 31, and the gear 39 is meshed and connected with the two racks 38. The moving seat 33 is slidably connected to the base plate 31 through the set slide rails 36 and slide seats 37. The moving seat 33 can slide stably and is not prone to position deviation during movement. The height of the slide rails 36 also leaves a mounting position for the rack 38. When the third cylinder 35 drives one moving seat 33 to move, the rack 38 connected thereto also moves together. After the transmission of the gear 39, the other moving seat 33 is driven to move through the other rack 38, thereby realizing the synchronous merging and release of the two splints 34.

[0031] Positioning components 32 are disposed on both sides of the bottom plate 31 . The two positioning components 32 are arranged alternately. The arranged positioning components 32 are used to position the workpiece before the clamping plate 34 clamps it, so as to improve the grasping accuracy.

[0032] The positioning assembly 32 includes a mounting frame 321 fixedly connected to the base plate 31, and a second cylinder 322 is fixedly connected to the lower side of the outer end of the mounting frame 321. The protruding end of the second cylinder 322 protrudes from the upper end surface of the mounting frame 321 and is fixedly connected to a positioning pin 323. Before the clamping plate 34 clamps, the second cylinder 322 extends out to insert the positioning pin 323 into the positioning hole of the workpiece to position the workpiece, and then the clamping plate 34 moves to clamp the workpiece from the left and right.

[0033] The protruding end of the first cylinder 21 extends into the connecting seat 22 and is fixedly connected with an ejector head 23. The upper and lower sides of the ejector head 23 are rotatably connected with connecting rods 26. The other end of the connecting rod 26 is rotatably connected to the rear end of the adjacent clamping jaws 24. The inner sides of the two clamping jaws 24 are fixedly connected with two chucks 25. When the arc-shaped gripper 2 is used for grasping, the first cylinder 21 drives the ejector head 23 to retract, and drives the rear ends of the two clamping jaws 24 away and the front ends close to each other through the connecting rod 26, thereby clamping the workpiece. When the first cylinder 21 is extended, the rear ends of the two clamping jaws 24 are close to each other and the front ends are away from each other, thereby loosening the workpiece, and the multiple chucks 25 are in contact with the workpiece to form a multi-point clamping structure, which can stably clamp the products with arc-shaped surfaces.

[0034] The above is a detailed description of an embodiment of the utility model, but the content is only a preferred embodiment of the utility model and cannot be considered to limit the scope of implementation of the utility model. All equivalent changes and improvements made within the scope of application of the utility model should still fall within the scope of the patent coverage of the utility model.

Claims

1. A composite gripper for a die casting island pick-up robot, comprising a composite mounting seat (1), characterized in that: The composite mounting seat (1) comprises a base plate (11), a rear end surface of the base plate (11) being fixedly connected to a mounting plate (12), and upper and lower ends of the base plate (11) being fixedly connected to an upper mounting seat (14) and a lower mounting seat (13) respectively; The upper end surface of the upper mounting seat (14) is fixedly connected to a rectangular gripper (3), and the lower end surface of the lower mounting seat (13) is fixedly connected to an arc-shaped gripper (2); The rectangular gripper (3) comprises a bottom plate (31), two movable seats (33) are slidably connected to both sides of the upper end surface of the bottom plate (31), the outer sides of the upper end surfaces of the two movable seats (33) are fixedly connected to clamping plates (34), one side of the upper end surface of the bottom plate (31) is fixedly connected to a third cylinder (35), and the extended end of the third cylinder (35) is fixedly connected to a movable seat (33); The arc-shaped gripper (2) comprises a connecting seat (22), a first cylinder (21) being fixed to the rear end surface of the connecting seat (22), and clamping jaws (24) are rotatably connected to both sides of the connecting seat (22) via a rotating shaft (27).

2. The composite gripper of a die casting island picking robot according to claim 1, characterized in that: The upper end surface of the bottom plate (31) is fixedly connected to two slide rails (36), and both sides of the lower end surface of the movable seat (33) are fixedly connected to slide seats (37), and the slide seats (37) are slidably connected to the slide rails (36).

3. The composite gripper of a die casting island picking robot according to claim 1, characterized in that: The lower end surfaces of the two movable seats (33) are fixedly connected with racks (38), and the two racks (38) are arranged alternately. A gear (39) is rotatably connected at the middle of the upper end surface of the bottom plate (31), and the gear (39) is meshed with the two racks (38).

4. The composite gripper of a die casting island picking robot according to claim 1, characterized in that: Positioning components (32) are arranged on both sides of the bottom plate (31), and the two positioning components (32) are arranged alternately.

5. The composite gripper of a die casting island picking robot according to claim 4, characterized in that: The positioning assembly (32) comprises a mounting frame (321) fixedly connected to the base plate (31); a second cylinder (322) is fixedly connected to the lower side of the outer end of the mounting frame (321); an extended end of the second cylinder (322) extends out of the upper end surface of the mounting frame (321) and is fixedly connected to a positioning pin (323).

6. The composite gripper of a die casting island picking robot according to claim 1, characterized in that: The protruding end of the first cylinder (21) extends into the connecting seat (22) and is fixedly connected to an ejector head (23). The upper and lower sides of the ejector head (23) are rotatably connected to connecting rods (26). The other end of the connecting rod (26) is rotatably connected to the rear end of an adjacent clamping claw (24).

7. The composite gripper of a die casting island picking robot according to claim 1, characterized in that: Two clamping heads (25) are fixedly connected to the inner sides of the two clamping jaws (24).

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