Robot clamping jaw for die casting

Abstract

The utility model discloses a robot clamping jaw for die castings, and belongs to the field of machine structures for die castings. The moving assembly is mounted in the sliding groove and can slide in the sliding groove; the air cylinder assembly is connected with the movement assembly; the clamping jaw assembly is mounted on the moving assembly; wherein the moving assembly comprises a first sliding block and a second sliding block, the clamping jaw assembly comprises a first clamping jaw and a second clamping jaw, the first clamping jaw is provided with a first concave arc structure, the second clamping jaw is provided with a second concave arc structure, and the first concave arc structure and the second concave arc structure are oppositely arranged and can be combined into a circular clamping cavity. According to the utility model, the clamping jaw assembly is arranged into two structures which can be combined to form the circular clamping cavity, and the clamping jaw assembly is connected with the moving assembly and the air cylinder assembly for driving so as to realize clamping, so that the purposes of conveniently determining the axis, conveniently and accurately positioning a material cake, increasing the contact area of a clamping surface and improving the clamping strength are achieved.

Description

Technical Field

[0001] The utility model relates to the field of machine structures for die-castings, and particularly to a robot gripper for die-castings. Background Art

[0002] Die-castings are metal parts produced through the die-casting process (abbreviation: die-casting). Die-casting is a precision casting method that uses high pressure to quickly inject molten or semi-molten metal or alloy into a precision metal mold, and the metal cools and solidifies under pressure to form a casting. With the development of automation technology, the die-casting industry increasingly uses robots to improve production efficiency and stability. As one of the key components in a robot system, the design and selection of a robot gripper are crucial for ensuring the reliability of the production process.

[0003] Currently, the gripper shape of existing pick-up robots in the industry is mainly a four-finger gripper. When working, a total of four grippers, with two grippers on each side, close to each other and each at a 30° angle, clamp the blank and then perform pick-up and placement actions. When the four-claw pick-up gripper picks up and places, the locking contact area between the product blank and each gripper is small, resulting in small and uneven forces. When clamping, the blank may not be clamped tightly due to small force, or the product may be damaged due to too much force at the contact position, which may cause adverse consequences such as shaking, slipping, damage to the blank, and offset of the slag pocket after collision. Moreover, since the four claws are not evenly distributed, it is difficult to ensure the coaxiality with the blank. Therefore, when the blank is grabbed, the positioning position is inaccurate, resulting in insufficient clamping force, positioning failure, offset of the clamping position after being affected by external forces, and poor clamping state adjustment. The clamping effect is not ideal, which easily affects the automation production rhythm and reduces efficiency.

[0004] In view of this, this application is specifically proposed. Content of the Utility Model

[0005] The purpose of the utility model is to provide a robot gripper for die-castings. By setting the gripper assembly as a structure that can be combined to form a circular clamping cavity, and connecting it with a motion component and a cylinder component for driving to achieve clamping, the problems of inaccurate positioning of the blank and insufficient clamping strength caused by small contact area in the prior art are solved.

[0006] The embodiments of the utility model are realized through the following technical solutions: The embodiments of the utility model provide a robot gripper for die-castings, including:

[0007] A mechanical clamping table, in which a chute is arranged.

[0008] A motion component, installed in the chute and capable of sliding in the chute.

[0009] A cylinder component, connected to the motion component and driving the motion component to slide in the chute.

[0010] The jaw assembly is installed on the moving assembly and can be driven by the moving assembly for gripping the blank;

[0011] Among them, the moving assembly includes a first slider and a second slider, and the jaw assembly includes a first jaw and a second jaw. The first jaw is connected to the first slider, and the second jaw is connected to the second slider;

[0012] The first jaw is provided with a first concave arc structure, and the second jaw is provided with a second concave arc structure. The first concave arc structure and the second concave arc structure face each other and can be combined into a circular clamping cavity.

[0013] Preferably, the first concave arc structure and the second concave arc structure are axially axially symmetrically arranged.

[0014] Preferably, a plurality of fine teeth are provided on the inner arc surfaces of the first concave arc structure and the second concave arc structure.

[0015] Preferably, a plurality of fine teeth are provided on the first concave arc structure, and each fine tooth is arranged in a circular matrix along the arc surface of the first concave arc structure.

[0016] Preferably, a plurality of fine teeth are provided on the second concave arc structure, and each fine tooth is arranged in a circular matrix along the arc surface of the second concave arc structure.

[0017] Preferably, the included angle between two adjacent fine teeth is 50-70°.

[0018] Preferably, the first jaw is connected to the first slider by bolts.

[0019] Preferably, the second jaw is connected to the second slider by bolts.

[0020] Preferably, the projection of the first jaw in the radial direction falls within the side surface of the first slider, and the projection of the second jaw in the radial direction falls within the side surface of the second slider.

[0021] Preferably, an installation base is connected to the mechanical gripper table, and the installation base is used to install the robot gripper on the corresponding robot structure.

[0022] Compared with the prior art, the embodiments of the present invention have the following advantages and beneficial effects:

[0023] 1. A robot gripper for die-castings provided by an embodiment of the present utility model. A chute is provided on a mechanical gripper table for installing a motion assembly. The motion assembly is connected to a cylinder assembly, and the cylinder assembly can drive the motion assembly to slide in the chute. The motion assembly includes a first slider and a second slider. During the sliding process of the first slider and the second slider in the chute, the distance between them changes. A first gripper is installed on the first slider, and a second gripper is installed on the second slider. That is, the slider can drive the first gripper and the second gripper to move closer and farther away. Since a first concave arc structure is provided on the first gripper and a second concave arc structure is provided on the second gripper, the first concave arc structure and the second concave arc structure are arranged facing each other, and the space between them is the clamped space for the cake. Specifically, when the gripper needs to operate, the cylinder assembly will drive the motion assembly to move in the chute, that is, drive the gripper assembly to move. At this time, the first gripper and the second gripper respectively move to the opposite sides of the clamped cake, and then both move closer to the clamped cake to clamp the cake together. When it is necessary to release the clamping effect on the cake, only need to drive the motion assembly by the cylinder assembly to make the first gripper and the second gripper move away from the cake relative to the cake.

[0024] In the embodiment of the present utility model, the first concave arc structure and the second concave arc structure can be combined into a circular clamping cavity, that is, the cross-section combination of the first concave arc structure and the second concave arc structure can form a circle. The setting of the circular clamping cavity can not only determine the axis center, accurately position the cake, and ensure the clamping force on the cake, but also the arc-shaped clamping surface can increase the clamping area of the cake, avoid damaging the cake due to excessive clamping force, and the larger clamping contact area can also improve the stability of the entire clamping work and avoid the shaking and slipping of the cake during the clamping process.

[0025] 2. A plurality of fine teeth are provided on the first concave arc structure and the second concave arc structure, which can increase the friction between the cake and the clamping surface and further improve the clamping stability. The arrangement of the fine teeth in an array and the setting of an angular deviation can improve the clamping uniformity of the gripper of the present utility model for the cake.

[0026] Generally speaking, the robot gripper for die-castings provided by the embodiment of the present utility model realizes clamping by setting the gripper assembly into a structure that can be combined into a circular clamping cavity, connecting with the motion assembly and the cylinder assembly for driving, so as to conveniently determine the axis center, accurately position the cake, increase the contact area of the clamping surface, and achieve the purpose of improving the clamping strength. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] To more clearly illustrate the technical solutions of the embodiments of the present utility model, the following will briefly introduce the attached drawings required for the embodiments. It should be understood that the following attached drawings only show some embodiments of the present utility model, and thus should not be regarded as a limitation of the scope. For those of ordinary skill in the art, without creative efforts, other relevant attached drawings can also be obtained based on these attached drawings.

[0028] Figure 1 Schematic structural diagram of the robot gripper provided by the embodiment of the present utility model;

[0029] Figure 2 Schematic structural diagram of the clamping state of the robot gripper provided by the embodiment of the present utility model;

[0030] Figure 3 Schematic structural diagram of the gripper assembly provided by the embodiment of the present utility model;

[0031] Figure 4 Schematic structural diagram of the fine tooth arrangement provided by the embodiment of the present utility model.

[0032] Labels in the attached drawings and corresponding component names:

[0033] 1 - mechanical clamping table, 2 - chute, 3 - motion component, 4 - gripper assembly, 5 - blank, 6 - first slider, 7 - second slider, 8 - first gripper, 9 - second gripper, 10 - first concave arc structure, 11 - second concave arc structure, 12 - fine tooth, 13 - mounting base. Specific implementation manners

[0034] To make the objectives, technical solutions, and advantages of the embodiments of the present utility model clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present utility model with reference to the attached drawings in the embodiments of the present utility model. Obviously, the described embodiments are some, but not all, of the embodiments of the present utility model. Usually, the components of the embodiments of the present utility model described and shown in the attached drawings here can be arranged and designed in various different configurations.

[0035] Therefore, the following detailed description of the embodiments of the present utility model provided in the attached drawings is not intended to limit the scope of the present utility model to be protected, but only represents the selected embodiments of the present utility model. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present utility model.

[0036] It should be noted that: similar reference numerals and letters represent similar items in the following attached drawings. Therefore, once an item is defined in one attached drawing, it does not need to be further defined and explained in subsequent attached drawings.

[0037] In the description of the present utility model, it should be noted that the terms "first", "second", "third", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0038] Embodiment

[0039] As Figure 1-2 shown, an embodiment of the present utility model provides a robot gripper for die-castings, including: a mechanical clamping table 1, which can directly support a motion component 3 and a cylinder component. A chute 2 is arranged in the mechanical clamping table 1 to provide a sliding path for the motion component 3; the motion component 3 is installed in the chute 2, can slide in the chute 2, and can perform linear motion in the chute 2; the cylinder component is connected to the motion component 3 and is driven by air pressure or hydraulic pressure to provide power for the motion component 3 to drive the motion component 3 to slide in the chute 2; the gripper component 4 is installed on the motion component 3 and can be driven by the motion component 3 to grab a blank 5; wherein, the motion component 3 includes a first slider 6 and a second slider 7, the gripper component 4 includes a first gripper 8 and a second gripper 9, the first gripper 8 is connected to the first slider 6, and the second gripper 9 is connected to the second slider 7; a first concave arc structure 10 is arranged on the first gripper 8, and a second concave arc structure 11 is arranged on the second gripper 9. The first concave arc structure 10 and the second concave arc structure 11 are arranged facing each other and can be combined into a circular clamping cavity. Specifically, when the two grippers move towards each other and contact, the concave arc structures can be combined into a circular clamping cavity, and this structure can adapt to blanks 5 of different shapes and sizes.

[0040] Specifically, the moving component 3 includes a first slider 6 and a second slider 7. When the first slider 6 and the second slider 7 slide in the slide groove 2, the relative distance between them will change. The first slider 6 is equipped with a first clamp 8, and the second slider 7 is equipped with a second clamp 9, that is, the slider can drive the first clamp 8 and the second clamp 9 to move closer and farther. Since the first clamp 8 is provided with a first concave arc structure 10 and the second clamp 9 is provided with a second concave arc structure 11, the first concave arc structure 10 and the second concave arc structure 11 are arranged opposite to each other, and there is a clamped space for the material cake 5 between the two. Specifically, when the clamping jaws need to work, the cylinder assembly will drive the motion assembly 3 to move in the slide 2, that is, drive the clamping jaw assembly 4 to move. At this time, the first clamping jaw 8 and the second clamping jaw 9 move to the opposite sides of the clamped material cake 5 respectively, and then both move closer to the clamped surface cake to clamp the material cake 5 together. When it is necessary to release the clamping effect on the material cake 5, it is only necessary for the cylinder assembly to drive the motion assembly 3 to realize the first clamping jaw 8 and the second clamping jaw 9 to move away from the material cake 5. The first concave arc structure 10 and the second concave arc structure 11 can be combined into a circular clamping cavity, that is, the cross-sectional combination of the first concave arc structure 10 and the second concave arc structure 11 can form a circle. The setting of the circular clamping cavity can not only determine the axis, accurately position the material cake 5, and ensure the clamping force of the material cake 5, but also the arc-shaped clamping surface can increase the clamping area of ​​the material cake 5 to avoid excessive clamping force and damage to the material cake 5. The larger clamping contact area can also improve the stability of the entire clamping work and avoid shaking and slipping of the material cake 5 during the clamping process.

[0041] In order to improve the supporting stability of the first clamping jaw 8 and the second clamping jaw 9 on the material cake 5, the first concave arc structure 10 and the second concave arc structure 11 can be axially symmetrically arranged, because the symmetrical arrangement can ensure the balance of force when the clamping jaws grasp the material cake 5, and avoid eccentric force caused by structural asymmetry, which helps to improve the clamping stability. The symmetrical concave arc structure can apply force to the material cake 5 more evenly, reducing deformation or damage of the material cake 5 during the clamping process. At the same time, in the embodiment of the utility model, the symmetrical concave arc structure can allow the clamping jaws to adapt to material cakes 5 of different diameters, because they can be symmetrically adjusted around the central axis of the material cake 5.

[0042] Furthermore, a plurality of fine teeth 12 are provided on the inner arc surface of the first concave arc structure 10 and the second concave arc structure 11, which can increase the friction between the clamping jaws and the cake 5, and improve the stability and reliability of clamping. Specifically, the fine teeth 12 can increase the roughness of the contact surface between the clamping jaws and the cake 5, thereby increasing the friction coefficient, making it difficult for the cake 5 to slip during transportation. At the same time, the fine teeth 12 can also better adapt to the slight unevenness of the surface of the cake 5, and provide a more uniform clamping force. Preferably, as Figure 3 and 4As shown, a plurality of fine teeth 12 are provided on the first concave arc structure 10, and each fine tooth 12 is arranged in a circular matrix along the arc surface of the first concave arc structure 10. A plurality of fine teeth 12 are provided on the second concave arc structure 11, and each fine tooth 12 is arranged in a circular matrix along the arc surface of the second concave arc structure 11. The circular matrix arrangement of the fine teeth 12 along the arc surface can ensure that the clamping force is evenly distributed on the surface of the blank 5, reduce the damage caused by excessive local pressure, and at the same time reduce the wear of the contact surface between the blank 5 and the jaw, and extend the service life of the jaw. Of course, the direction of the circular matrix arrangement includes the radial direction and the axial direction, and the specific density and the size of the array can be set according to the actual situation and are not limited here. More preferably, the included angle between two adjacent fine teeth 12 is 50-70°. Exemplarily, the included angle between two adjacent fine teeth 12 is 60°. This arrangement ensures that the fine teeth 12 are evenly distributed on the entire arc surface, providing uniform clamping force and friction force. Compared with the arrangement of other angles, the included angle of 50-70° can provide a higher contact density, increase the number of contact points with the blank 5, and thus improve the clamping stability.

[0043] In the embodiment of the present invention, the first jaw 8 and the first slider 6 can be connected by bolts, and the second jaw 9 and the second slider 7 can also be connected by bolts. The bolt connection can provide a stable connection force to ensure that the connection between the jaw and the slider will not loosen during movement. The bolt connection allows fine adjustment during the assembly process to ensure the correct alignment and clearance between the jaw and the slider. Importantly, it is convenient for disassembly and reassembly, which is very useful when maintaining or replacing components. Of course, in other embodiments, the connection method between the jaw and the slider is not limited here, as long as it can achieve the purpose of sufficient connection stability. Exemplarily, it can be bonding, snap connection, welding, etc. Even the first jaw 8 and the first slider 6 can be integrally provided, and the second jaw 9 and the second slider 7 can also be integrally provided.

[0044] As a preferred embodiment of the present invention, the radial projection of the first jaw 8 falls within the side surface of the first slider 6, and the radial projection of the second jaw 9 falls within the side surface of the second slider 7. That is, the radial projection of the jaw can match the contour of the side surface of the slider, or the radial projection of the jaw can be smaller than the contour of the side surface of the slider. The matching of the radial projection of the jaw and the contour of the side surface of the slider helps to avoid interference between the jaw and other components during movement, and at the same time ensures the size of the connection surface between the jaw and the slider. Further, an installation base 13 is connected to the mechanical clamping table 1. The installation base 13 is used to install the robot jaw on the corresponding robot structure. The installation base 13 is designed to adapt to a specific robot structure to ensure that the jaw can be conveniently installed on the robot. The base provides a stable connection point to ensure that the jaw is firmly fixed on the robot and reduces vibration and displacement during operation.

[0045] The embodiment of the utility model provides a robot gripper that can complete established actions such as grasping more quickly, accurately, and safely. After being inflated by an air source, the internal structure of the cylinder can push forward to drive the movement component 3 to open and close, enabling the gripper to complete the picking and placing actions and easily pick and place products, and complete established actions such as grasping, optical inspection, collision, slag bag cleaning, and trimming. The pushing structure of the cylinder component and the movement component 3 can be realized by using existing technologies, which has the advantages of a larger locking contact surface, more accurate positioning position, more convenient debugging of the clamping position, more uniform force on the product, better clamping state, lower possibility of product damage, and improved production efficiency. Specifically, the grippers in the shape of semi-circular arcs on both sides fit better with the outer shape of the blank 5, ensuring coaxiality during clamping and making it more convenient to operate and debug the clamping position; the special tooth shape and tooth-like structure on the fingers during clamping result in a greater friction force, a wider contact area, and more uniform force between the fingers and the blank 5. Therefore, the clamping force is greater, the clamping state is better, and after a collision, there are no adverse consequences such as clamping point deviation, blank 5 slipping, or deformation caused by uneven force. This solves the problem of gripper clamping failure, effectively reduces the failure rate, and makes it more convenient and fast to clean slag bags and runners; the outer shape of the gripper with a circular arc and teeth is also more beautiful than the existing four-finger grippers on the market.

[0046] The foregoing is only the preferred embodiment of the present utility model and is not intended to limit the present utility model. For those skilled in the art, the present utility model can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model shall be included within the protection scope of the present utility model. It should be noted that the structures or components illustrated in the drawings are not necessarily drawn to scale, and the present utility model omits the description of well-known components and processing technologies and processes to avoid unnecessarily limiting the present utility model.

Claims

1. A robot gripper for die castings, characterized in that: include: A mechanical clamping platform (1), wherein a slide groove (2) is arranged inside the mechanical clamping platform (1); A moving component (3) is installed in the slide groove (2) and can slide in the slide groove (2); A cylinder assembly connected to the moving assembly (3) to drive the moving assembly (3) to slide in the slide groove (2); A clamping jaw assembly (4) is mounted on the moving assembly (3) and can be driven by the moving assembly (3) to grab the material cake (5); The motion assembly (3) comprises a first slider (6) and a second slider (7), the clamp assembly (4) comprises a first clamp (8) and a second clamp (9), the first clamp (8) is connected to the first slider (6), and the second clamp (9) is connected to the second slider (7); The first clamping jaw (8) is provided with a first concave arc structure (10), and the second clamping jaw (9) is provided with a second concave arc structure (11); the first concave arc structure (10) and the second concave arc structure (11) are arranged opposite to each other and can be combined into a circular clamping cavity (14).

2. A robot gripper for die casting according to claim 1, characterized in that: The first concave arc structure (10) and the second concave arc structure (11) are arranged axially symmetrically.

3. A robot gripper for die casting according to claim 2, characterized in that: A plurality of fine teeth (12) are provided on the inner arc surfaces of the first concave arc structure (10) and the second concave arc structure (11).

4. A robot gripper for die casting according to claim 3, characterized in that: A plurality of fine teeth (12) are provided on the first concave arc structure (10), and each of the fine teeth (12) is arranged in a circular matrix along the arc surface of the first concave arc structure (10).

5. The robot gripper for die casting according to claim 3, characterized in that: A plurality of fine teeth (12) are provided on the second concave arc structure (11), and each of the fine teeth (12) is arranged in a circular matrix along the arc surface of the second concave arc structure (11).

6. A robot gripper for die casting according to claim 4 or 5, characterized in that: The included angle between two adjacent fine teeth (12) is 50-70°.

7. A robot gripper for die casting according to claim 6, characterized in that: The first clamping jaw (8) is connected to the first sliding block (6) via bolts.

8. The robot gripper for die casting according to claim 7, characterized in that: The second clamping jaw (9) is connected to the second sliding block (7) via bolts.

9. The robot gripper for die casting according to claim 1, characterized in that: The projection of the first clamping jaw (8) in the radial direction falls into the side surface of the first sliding block (6), and the projection of the second clamping jaw (9) in the radial direction falls into the side surface of the second sliding block (7).

10. The robot gripper for die casting according to claim 1, characterized in that: The mechanical clamping platform (1) is connected to a mounting base (13), and the mounting base (13) is used to mount the robot gripper on a corresponding robot structure.

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