Manipulator with impact hammer
By introducing a buffer structure and a hydraulic system between the jaws of the casting robot and the impact hammer, the problem of damage to the robot caused by the impact hammer was solved, and the equipment was protected and the efficiency was improved.
Patent Information
- Application Number
- CN202422705638.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-07
- Publication Date
- 2025-09-30
- Estimated Expiration
- 2034-11-07
AI Technical Summary
Existing casting robots are susceptible to irreversible impact damage when using impact hammers, especially when handling large casting risers, resulting in serious equipment loss.
A connecting part with a buffering function is designed, including a lower clamping plate, a lower hanging shaft, a lower buffer part, an upper clamping plate, an upper hanging shaft and an upper buffer part. The impact force of the impact hammer is absorbed by the elastic deformation of the rubber spring, and the impact energy is further reduced by the hydraulic system and vibration isolator to protect the clamping claws from damage.
It effectively reduces the impact damage of the impact hammer on the manipulator, improves the service life and working efficiency of the equipment, and reduces maintenance costs.
Smart Images
Figure CN223395308U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to a casting manipulator, in particular to a manipulator with an impact hammer. Background Art
[0002] Currently, casting manipulators are mature semi-automatic devices used in foundries to grasp castings. However, they require a human operator to operate the manipulator. Nolte-bake sand foundries produce approximately 10 cases per hour, leaving operators often idle. Therefore, adding a pneumatic impact hammer to the manipulator allows the operator in the manipulator cab to perform riser removal. This eliminates a riser removal station, reduces labor costs, and improves casting efficiency.
[0003] Practice has shown that the impact damage caused by the impact hammer to the robot is irreversible, especially the impact damage caused by hammering large parts, such as cast iron risers with a diameter of more than 90 mm and cast steel risers with a diameter of more than 60 mm.
[0004] Therefore, it is necessary to improve the combined structure of the manipulator and the impact hammer to reduce the impact damage to the manipulator caused by the impact of the impact hammer. Summary of the Invention
[0005] In order to address the shortcomings of the existing technology, the present invention provides a manipulator with an impact hammer, which mainly utilizes the buffering function of the connecting piece to absorb the impact force caused by the impact hammer, thereby reducing the impact damage to the manipulator caused by the riser removal operation. The technical solution adopted by the present invention is:
[0006] A manipulator with an impact hammer, comprising a clamping jaw group, the clamping jaw group including at least two clamping jaws, the claw tips of at least two of the clamping jaws facing each other, at least one of the clamping jaws being connected to the impact hammer via a connecting member, the connecting member including a lower clamping plate, a lower hanging shaft, a lower buffer member, an upper clamping plate, an upper hanging shaft, and an upper buffer member;
[0007] A lower clamping plate and an upper clamping plate are respectively provided on two side surfaces of the clamping jaw, wherein the lower clamping plate is located on the lower side of the upper clamping plate;
[0008] A lower long slot is provided through the side surface of the clamping jaw and communicated with the middle of the lower clamping plate. The lower hanging shaft passes through the lower long slot and its two ends are respectively connected to the impact hammer. A lower buffer is provided in the lower long slot.
[0009] An upper long slot is provided through the side surface of the clamping jaw and is connected to the middle of the upper clamping plate. The upper hanging shaft passes through the upper long slot and its two ends are respectively connected to the impact hammer. An upper buffer is provided in the upper long slot.
[0010] Furthermore, the lower buffer members are configured as a plurality of members distributed on the upper and lower sides of the lower suspension shaft.
[0011] Furthermore, the upper buffer member is configured as a plurality of members and is arranged on the lower side of the upper suspension shaft.
[0012] Furthermore, the number of the lower buffer members on the lower side of the lower suspension shaft is less than the number of the lower buffer members on the upper side of the lower suspension shaft.
[0013] Furthermore, the lower buffer member and the upper buffer member are respectively rubber springs.
[0014] Furthermore, a bracket is provided on the clamping jaw, and a side surface of the bracket contacts a side surface of the impact hammer.
[0015] Furthermore, it also includes a clamping jaw mounting seat and a driving member, the clamping jaw is rotatably connected to the bottom of the clamping jaw mounting seat, and the driving member is used to drive the clamping jaw to swing.
[0016] Furthermore, the driving member is a hydraulic cylinder, and both ends of the hydraulic cylinder are respectively rotatably connected to the claw roots of two opposite clamping claws.
[0017] Furthermore, the hydraulic cylinder is connected to the hydraulic system via a hydraulic pipeline, and a pressure relief valve is provided on the hydraulic pipeline connected to the oil discharge port of the hydraulic cylinder.
[0018] Furthermore, a vibration isolator is provided on the top of the clamping jaw mounting seat.
[0019] The advantages of this utility model are as follows: the connecting piece between the clamping jaw and the impact hammer not only plays a connecting role, but also plays a buffering role. When the impact hammer performs the riser removal work, most of the impact energy brought to the clamping jaw is eliminated by the upper and lower buffer pieces, which has a protective effect on the clamping jaw, thereby reducing the impact damage of the impact hammer on the manipulator;
[0020] A small part of the impact energy is released by discharging the hydraulic oil from the pressure relief valve of the oil discharge line;
[0021] A minimal amount of impact energy is dissipated by vibration isolators on top of the jaw mount. BRIEF DESCRIPTION OF THE DRAWINGS
[0022] Figure 1 It is a schematic diagram of the structural composition of the present utility model.
[0023] Figure 2 This is the first-person perspective structural diagram of the gripper.
[0024] Figure 3 This is the second perspective structural diagram of the gripper.
[0025] In the figure: 1-clamping jaw, 11-lower clamping plate, 111-lower long groove, 12-lower hanging shaft, 13-lower buffer, 14-upper clamping plate, 141-upper long groove, 15-upper hanging shaft, 16-upper buffer, 2-impact hammer, 3-clamping jaw mounting seat, 4-driving member, 41-hydraulic pipeline, 42-pressure relief valve, 5-vibration isolator, 6-bracket. DETAILED DESCRIPTION
[0026] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.
[0027] Please see the attached Figure 1 -Attached Figure 3 The present invention provides a manipulator with an impact hammer, comprising a clamping jaw group, wherein the clamping jaw group comprises at least two clamping jaws 1, the claw tips of at least two clamping jaws 1 are opposite to each other, at least one clamping jaw 1 is connected to an impact hammer 2 via a connecting member, and the connecting member comprises a lower clamping plate 11, a lower hanging shaft 12, a lower buffer member 13, an upper clamping plate 14, an upper hanging shaft 15 and an upper buffer member 16; the lower clamping plate 11 and the upper clamping plate 14 are respectively provided on the two side surfaces of the clamping jaw 1, and the lower clamping plate 11 is located on the lower side of the upper clamping plate 14; A lower long groove 111 is provided through the side surface of the clamping jaw 1 and is connected to the middle of the lower clamping plate 11. The lower suspension shaft 12 passes through the lower long groove 111, and its two ends are respectively connected to the impact hammer 2. A lower buffer 13 is provided in the lower long groove 111; an upper long groove 141 is provided through the side surface of the clamping jaw 1 and is connected to the middle of the upper clamping plate 14. The upper suspension shaft 15 passes through the upper long groove 141, and its two ends are respectively connected to the impact hammer 2. An upper buffer 16 is provided in the upper long groove 141.
[0028] It is understandable that the structure of the manipulator and the structure of the impact hammer 2 are both disclosed in the prior art and will not be described in detail here. The relative positional relationship and connection points between the impact hammer 2 and the clamping jaw 1 are shown in the attached figure. Figure 1 As shown, it is obvious that the lateral brackets of the impact hammer 2 half-enclose the clamping jaw 1. The extended brackets mate with two opposite sides of the clamping jaw 1 to position the impact hammer 2 on three sides and ensure the installation strength of the impact hammer 2. At the same time, it is important to note that the hammer head at the lowest end of the impact hammer 2 should be lower than the lowest end of the clamping jaw 1 to avoid contact with the clamping jaw 1 when hammering the riser.
[0029] In a specific embodiment, as shown in the attached Figure 2 and attached Figure 3As shown, one manipulator is equipped with two clamping jaws 1, and a hammer 2 is mounted on one of the clamping jaws 1. As the hammer 2 moves downward with the clamping jaw 1, it tends to move downward or upward relative to the clamping jaw 1. Therefore, the elastic deformation of the lower buffer 13 and the upper buffer 16 cushions the lower suspension shaft 12 and the upper suspension shaft 15 connecting the hammer 2, thereby reducing the impact damage to the manipulator caused by the hammer.
[0030] In other embodiments, two clamping jaws 1 are installed correspondingly to one manipulator, and an impact hammer 2 is provided on each of the two clamping jaws 1 .
[0031] In one embodiment, please refer to the attached Figure 2 and attached Figure 3 The lower buffer members 13 are configured as a plurality of lower buffer members 13 and are distributed on the upper and lower sides of the lower suspension shaft 12. During the impact action of the impact hammer 2, when the impact hammer 2 impacts downward, the lower suspension shaft 12, driven by the impact hammer 2, squeezes the lower buffer member 13 below it, preventing the lower suspension shaft 12 from hitting the bottom end of the lower long groove 111. When the impact hammer 2 rebounds upward under the reaction force after contacting the riser, the lower suspension shaft 12, driven by the impact hammer 2, squeezes the lower buffer member 13 above it. Distributing the lower buffer members 13 on both sides of the lower suspension shaft 12 can improve the buffering effect of the impact hammer 2 throughout the entire action process.
[0032] In this embodiment, to properly distribute the impact force of the hammer 2, a plurality of upper buffer members 16 are provided below the upper suspension shaft 15. When the hammer 2 impacts downward, the upper buffer member 16 serves as the primary buffering component, while when the hammer 2 impacts upward, the lower buffer member 13 above the lower suspension shaft 12 serves as the primary buffering component.
[0033] Based on the buffer distribution problem between the buffer members 13 and the upper buffer members 16 , the number of the lower buffer members 13 on the lower side of the lower suspension shaft 12 is less than the number of the lower buffer members 13 on the upper side of the lower suspension shaft 12 .
[0034] As a specific example of this embodiment, the lower buffer member 13 and the upper buffer member 16 are respectively rubber springs. In fact, the number of rubber springs is arranged according to the length of the lower long groove 111 or the upper long groove 141. There is no specific number or shape requirement. The shape of the lower rubber spring can be square, round, etc. For example, as shown in the attached figure, Figure 2 As shown, the number of the lower buffer members 13 below the lower hanging shaft 12 is one, the number of the lower buffer members 13 above the lower hanging shaft 12 is three, and the number of the upper buffer members 16 below the upper hanging shaft 15 is two.
[0035] In another embodiment, the lower and upper buffer members 13 and 16 are cylindrical springs (not shown). The ends of the cylindrical spring in the lower slot 111 are fixed to the lower suspension shaft 12 and lower clamping plate 11, respectively, and the tension and compression of the cylindrical spring provide a cushioning effect. The ends of the cylindrical spring in the upper slot 141 are fixed to the upper suspension shaft 15 and upper clamping plate 14, respectively, and the tension and compression of the cylindrical spring provide a cushioning effect.
[0036] In this application, please see the attached Figure 1 To improve the coordination and positioning of the hammer 2 and the jaw 1, a bracket 6 is provided on the jaw 1, the side of which contacts the side of the hammer 2. The bracket 6 and the hammer 2 are only in contact, not connected. This allows them to support the hammer 2 without causing resonance between the jaw 1 and the hammer 2, thereby improving the stability of the hammer 2.
[0037] In this application, please see the attached Figure 1 The present application also includes a clamping jaw mounting seat 3 and a driving member 4. The clamping jaw 1 is rotatably connected to the bottom of the clamping jaw mounting seat 3, and the driving member 4 is used to drive the clamping jaw 1 to swing.
[0038] In a specific embodiment, the driving member 4 is a hydraulic cylinder, and the two ends of the hydraulic cylinder are respectively connected to the claw roots of the two opposite clamping jaws 1. Figure 2 and attached Figure 3 As shown, the connection position between the hydraulic cylinder and the clamping jaw 1 is at the top of the clamping jaw 1, that is, the base of the clamping jaw, and the connection position between the clamping jaw mounting base 3 and the clamping jaw 1 is at the shoulder of the clamping jaw 1. When the telescopic rod of the hydraulic cylinder is extended or retracted, the bottom of the clamping jaw 1, that is, the tip of the clamping jaw, can swing greatly to complete the clamping action or the release action.
[0039] In this embodiment, the hydraulic cylinder is connected to the hydraulic system via a hydraulic line 41. A pressure relief valve 42 is provided on the hydraulic line 41 connected to the hydraulic cylinder's oil outlet. When the hammer 2 impacts, the top of the jaw 1 tightens, and a small portion of the impact energy is discharged from the hydraulic cylinder's oil outlet and returned through the hydraulic system's pressure relief valve 42, releasing the energy.
[0040] In another specific embodiment, the driving member 4 is a gear rack transmission mechanism. The linear transmission of the gear rack can also realize the clamping action or the releasing action between the two clamping jaws 1.
[0041] A further method to minimize damage to the manipulator is to install a vibration isolator 5 on top of the gripper mounting base 3. When in use, the gripper mounting base 3 is connected to the manipulator's arm; a minimal amount of impact energy is dissipated by the vibration isolator on top of the gripper mounting base. This application does not specify the shape of the vibration isolator 5.
[0042] Finally, it should be noted that the above specific implementation methods are only used to illustrate the technical solution of the utility model and are not limiting. Although the utility model is described in detail with reference to examples, ordinary technicians in this field should understand that the technical solution of the utility model can be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the utility model, which should be included in the scope of the claims of the utility model.
Claims
1. A manipulator with an impact hammer, comprising a jaw group, wherein the jaw group comprises at least two jaws (1), the claw tips of at least two of the jaws (1) are respectively opposite to each other, and at least one of the jaws (1) is connected to an impact hammer (2) via a connecting member, characterized in that: The connecting member comprises a lower clamping plate (11), a lower hanging shaft (12), a lower buffer member (13), an upper clamping plate (14), an upper hanging shaft (15) and an upper buffer member (16); A lower clamping plate (11) and an upper clamping plate (14) are respectively provided on two side surfaces of the clamping jaw (1), and the lower clamping plate (11) is located below the upper clamping plate (14); A lower long groove (111) is provided through the side surface of the clamping jaw (1) and is connected to the middle of the lower clamping plate (11); the lower hanging shaft (12) passes through the lower long groove (111) and its two ends are respectively connected to the impact hammer (2); a lower buffer member (13) is provided in the lower long groove (111); An upper long slot (141) is provided through the side surface of the clamping jaw (1) and is connected to the middle of the upper clamping plate (14); the upper hanging shaft (15) passes through the upper long slot (141) and its two ends are respectively connected to the impact hammer (2); an upper buffer member (16) is provided in the upper long slot (141).
2. The manipulator with an impact hammer according to claim 1, characterized in that: The lower buffer members (13) are configured as a plurality of members distributed on the upper and lower sides of the lower suspension shaft (12).
3. The manipulator with an impact hammer according to claim 2, characterized in that: The upper buffer members (16) are configured as a plurality of pieces and are arranged on the lower side of the upper suspension shaft (15).
4. The manipulator with an impact hammer according to claim 3, characterized in that: The number of lower buffer members (13) on the lower side of the lower suspension shaft (12) is smaller than the number of lower buffer members (13) on the upper side of the lower suspension shaft (12).
5. The manipulator with an impact hammer according to any one of claims 2 to 4, characterized in that: The lower buffer member (13) and the upper buffer member (16) are respectively rubber springs.
6. The manipulator with an impact hammer according to any one of claims 1 to 4, characterized in that: A bracket (6) is provided on the clamping jaw (1), and a side surface of the bracket (6) contacts a side surface of the impact hammer (2).
7. The manipulator with an impact hammer according to any one of claims 1 to 4, characterized in that: It also includes a clamping jaw mounting seat (3) and a driving member (4), wherein the clamping jaw (1) is rotatably connected to the bottom of the clamping jaw mounting seat (3), and the driving member (4) is used to drive the clamping jaw (1) to swing.
8. The manipulator with an impact hammer according to claim 7, characterized in that: The driving member (4) is a hydraulic oil cylinder, and the two ends of the hydraulic oil cylinder are respectively rotatably connected to the claw roots of two opposite clamping claws (1).
9. The manipulator with an impact hammer according to claim 8, characterized in that: The hydraulic cylinder is connected to the hydraulic system via a hydraulic pipeline (41), and a pressure relief valve (42) is provided on the hydraulic pipeline (41) connected to the oil discharge port of the hydraulic cylinder.
10. The manipulator with an impact hammer according to claim 6, characterized in that: A vibration isolator (5) is provided on the top of the clamping jaw mounting seat (3).