Disassembling and assembling manipulator for long nozzle production

Abstract

The utility model belongs to the technical field of nozzle production equipment, and particularly relates to a dismounting manipulator for long nozzle production. Comprising a base, a stand column, a bottom plate, lifting supports and manipulator assemblies, the base is arranged on the bottom plate in a sliding mode, the stand column is rotationally arranged on the base, the lifting supports are installed on the different side faces of the stand column in a liftable mode, and the manipulator assemblies comprise the first manipulator assembly, the second manipulator assembly and the third manipulator assembly; the first mechanical arm assembly and the second mechanical arm assembly are each provided with a first grabbing mechanism and a second grabbing mechanism, the first grabbing mechanisms are arranged on the upper side of the lifting support in a sliding mode, the second grabbing mechanisms are arranged on the lower side of the lifting support, and the first grabbing mechanisms and the second grabbing mechanisms are connected through adjusting assemblies. The manipulator comprises three groups of manipulator components which are used for respectively transporting large rubber jackets, small rubber jackets and finished products and are arranged on different side surfaces of the upright post, and the upright post is rotationally arranged on the base, so that the large rubber jackets and the small rubber jackets can be pulled and transported by different manipulator components, and convenience and rapidness are realized.

Description

Technical Field

[0001] This utility model belongs to the technical field of sprue production equipment, specifically relating to a disassembly robot for sprue production. Background Technology

[0002] The production processes for the three main functional materials of the tundish in my country's continuous casting steel industry include long nozzles, submerged entry nozzles, and tundish nozzles. In the production of long nozzles, a small rubber sleeve is first used, which is placed outside the core. The raw material for nozzle production is poured into the small rubber sleeve, and a plug is installed on the top of the sleeve to seal it before molding. The small rubber sleeve is then removed, and a large rubber sleeve is placed on the semi-finished product. This process is repeated until the large rubber sleeve is removed, and the finished product is transported to a designated location. Currently, the removal and handling of the rubber sleeve in the long nozzle production process are all done manually, which is not only inefficient but also incurres high labor costs. Utility Model Content

[0003] The technical problem to be solved by this utility model is to overcome the shortcomings of the prior art and provide a disassembly and assembly robot for sprue production, which can automatically remove large and small rubber sleeves and finished products, thereby improving production efficiency.

[0004] The technical solution adopted by this utility model to solve its technical problem is as follows: The disassembly and assembly robot includes a base, a column, a base plate, a lifting support, and a robot assembly. The base is slidably mounted on the base plate, and the column is rotatably mounted on the base. Multiple lifting supports are installed on different sides of the column in a height-adjustable manner. The robot assembly includes a first robot assembly, a second robot assembly, and a third robot assembly. Both the first robot assembly and the second robot assembly are provided with a first gripping mechanism and a second gripping mechanism. The first gripping mechanism is slidably mounted on the upper side of the lifting support, and the second gripping mechanism is mounted on the lower side of the lifting support. The first gripping mechanism and the second gripping mechanism are connected by an adjustment component.

[0005] Preferably, the adjustment assembly includes an adjustment screw and a motor. One end of the adjustment screw is connected to the first gripping mechanism, and the other end is connected to the second gripping mechanism. The motor is fixed on the first lifting support.

[0006] Preferably, the third robotic arm assembly has one and only one first gripping mechanism.

[0007] Preferably, the first gripping mechanism includes claws, scissor arms, a mounting plate, a lifting forearm, and a pressing and fastening device. The lifting forearm is vertically mounted on the upper side of the lifting support. The scissor arms are fixed to the front end of the lifting forearm via the mounting plate. The scissor arms are planar linkage mechanisms, including four sets of connecting rods connected end-to-end via shafts. The scissor arms are arranged in a rhomboid shape. The two sets of connecting rods at the lower part of the scissor arms are hinged and each connects to a set of claws. The lower parts of the two sets of claws are symmetrically arranged in an arc shape. After the lower parts of the two sets of claws come into contact, they are spliced ​​into a ring shape. A pressing and fastening device is provided at the hinge of the two sets of connecting rods at the lower part of the folding arm.

[0008] Preferably, the pressing and fastening device includes a pressing motor, a screw, and a pressing plate. The output end of the pressing motor is connected to the upper part of the vertically arranged screw through a transmission mechanism. The lower part of the screw is threadedly connected to the upper part of the pressing plate. The pressing plate is provided with a pressing slot that allows the screw to pass through vertically. The shaft installed at the hinge of the two sets of connecting rods at the lower part of the scissor arm is a pressing pin. One end of the pressing pin is inserted into the lower part of the pressing slot.

[0009] Preferably, the second gripping mechanism includes grippers, a fixed forearm, and a clamping rotation assembly. The fixed forearm is vertically disposed on the lower side of the lifting support. Two grippers are fixed to the front end of the fixed forearm. The inner sides of the two grippers are arc-shaped. The two grippers are connected to a clamping rotation power component.

[0010] Preferably, the clamping rotation power component includes a gear, a rotating shaft, and a motor. One end of the rotating shaft is connected to two grippers, and the other end is connected to the motor after passing through the gear. The gears mesh with each other.

[0011] Preferably, the column is also provided with a counterweight mechanism, which includes a counterweight wire rope, a counterweight block and a counterweight guide cylinder. The counterweight wire rope is set on the column and one end is connected to the counterweight block that is slidably set in the counterweight guide cylinder, and the other end is connected to a third robot arm.

[0012] Compared with existing technologies, the beneficial effects of this technical solution are:

[0013] This utility model employs a disassembly and assembly robot for sprue production. The robot comprises three robot arm components, each with a clearly defined function, positioned on different sides of a column. The column is rotatably mounted on a base, enabling the different robot arm components to disassemble, assemble, and transport large and small rubber sleeves, as well as semi-finished and finished products. Since large and small rubber sleeves need to be disassembled from finished and semi-finished products respectively, the corresponding robot arm components are equipped with two adjustable gripping mechanisms (first and second), allowing for the removal of rubber sleeves of different sizes and lengths. Transporting finished and semi-finished products only requires the first gripping mechanism. A base plate is provided on the underside of the base, allowing the base to slide along the plate, enabling the three robot arm components to slide back and forth to adjust the distance to the items to be gripped, facilitating convenience, speed, and improved efficiency. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the structure of a disassembly and assembly robot for long nozzle production according to this utility model.

[0015] Figure 2 for Figure 1 Enlarged view of a portion of point A in the middle.

[0016] Figure 3 for Figure 1 Enlarged view of section B in the middle.

[0017] Figure 4 This is a structural schematic diagram of the present invention from another angle.

[0018] The components are as follows: 1. Base; 2. Column; 3. Base plate; 4. Lifting support; 5. Adjusting screw; 6. Reducer; 7. Claw; 8. Scissor arm; 9. Mounting plate; 10. Lifting front arm; 11. Downward motor; 12. Screw; 13. Pressing plate; 14. Pressing slot; 15. Claw; 16. Fixed front arm; 17. Clamping gear; 18. Clamping rotating shaft; 19. Clamping motor; 20. Rotary motor; 21. Rotary gear; 22. Counterweight guide cylinder; 23. Lifting motor; 24. Fixed pulley; 25. Counterweight wire rope; 26. Lifting groove; 27. Support guide rail; 28. Claw fixing plate; 29. ​​Slide rail; 30. Forward motor; 31. Forward screw; 32. Slide groove; 33. Positioning plate; 34. Supporting front arm. Detailed Implementation

[0019] Figures 1-4 This is the preferred embodiment of the present invention, which is described below in conjunction with the appendix. Figures 1-4 The present invention will be further described below.

[0020] Reference Figures 1-4 The disassembly and assembly robot for long nozzle production includes a base 1, a column 2, a base plate 3, a lifting support 4, and a robot assembly. The base 1 is slidably mounted on the base plate 3, and the column 2 is rotatably mounted on the base 1. Multiple lifting supports 4 are mounted on different sides of the column 2 in a height-adjustable manner. The robot assembly includes a first robot assembly, a second robot assembly, and a third robot assembly. The first and second robot assemblies are each equipped with two sets of gripping structures. The distance between the two sets of gripping mechanisms is adjustable and set at both ends of the lifting support 4. The third robot assembly is equipped with one set of gripping mechanisms and is mounted on the lifting support 4.

[0021] The first robotic arm assembly includes a first gripping mechanism, a second gripping mechanism, and an adjustment component. The first gripping mechanism is slidably disposed on the upper side of the lifting support 4, the second gripping mechanism is disposed on the lower side of the lifting support 4, and the adjustment component connects the first gripping mechanism and the second gripping mechanism.

[0022] The first and second robotic arm components are positioned opposite each other. The difference between the second and first robotic arm components is that the second robotic arm's gripper 7 and clamping jaw 15 are smaller than those of the first robotic arm. In actual production, the first robotic arm is used to grasp large plastic sleeves, while the second robotic arm is used to grasp small plastic sleeves and semi-finished products. The third robotic arm component is positioned between the first and second robotic arms, and only has a first gripping mechanism. In actual production, it is used to transport finished products.

[0023] Specifically, a rotary motor 20 is provided on the base 1. The rotary motor 20 is connected to the lower end of the column 2 through a transmission assembly. In this embodiment, the transmission assembly consists of two meshing rotary gears 21, one large and one small. The smaller rotary gear 21 is connected to the output shaft of the rotary motor 20, and the larger rotary gear 21 is connected to the column 2. A bearing seat is fixed on the upper side of the base 1, and a thrust bearing is fixed inside the bearing seat. The lower end of the column 2 is rotatably installed in the bearing seat.

[0024] The interior of the column 2 is hollow. A lifting motor 23 is fixedly installed on the upper side of the column 2. The inside of the column 2 is equipped with a lead screw and a guide column. The lead screw is threadedly connected to a lifting nut. A guide slider is provided on the guide column. Lifting grooves 26 are opened on the three sides of the column 2 where the robot arm is installed. One end of the lifting support 4 passes through the lifting groove 26 and connects to the lifting nut and the guide slider. The lifting motor 23 drives the lifting support 4 to lift and lower through the lead screw, thereby driving the three sets of robot arm components to adjust their vertical positions.

[0025] A counterweight mechanism is also provided on the opposite side of the column 2 where the third robotic arm assembly is installed. In this embodiment, the counterweight mechanism includes a counterweight wire rope 25, a counterweight block, and a counterweight guide cylinder 22. One end of the counterweight wire rope 25 is fixedly connected to the lifting support 4 where the third robotic arm assembly is installed, and the other end is connected to the counterweight block. The counterweight block is slidably disposed inside the counterweight guide cylinder 22. A fixed pulley 24 connected to the counterweight wire rope 25 is provided at the upper end of the column 2, and the counterweight wire rope 25 passes over the upper side of the fixed pulley 24. The counterweight mechanism on the column 2, located on the opposite side of the third robotic arm assembly, can stabilize the weight on both sides of the column 2 and prevent the lifting support 4 from being unstable due to the large weight of the third robotic arm assembly.

[0026] The first gripping mechanism includes a claw 7, a scissor arm 8, a mounting plate 9, a lifting front arm 10, and a pressing and fastening device. The lifting front arm 10 is vertically mounted on the upper side of the lifting support 4. The scissor arm 8 is fixed to the front end of the lifting front arm 10 by the mounting plate 9. The scissor arm 8 is a planar linkage mechanism, including four sets of connecting rods that are rotatably connected by a shaft. The scissor arm 8 is arranged in a rhomboid shape. The claw 7 is connected to two sets of connecting rods at the lower part of the scissor arm 8. The lower parts of the two sets of claws 7 are arranged in a symmetrical arc shape. After the lower parts of the two sets of claws 7 come into contact, they are spliced ​​into a ring shape. A pressing and fastening device is provided at the hinge of the two sets of connecting rods at the lower part of the scissor arm 8.

[0027] The downward clamping device includes a downward clamping motor 11, a screw 12, and a clamping plate 13. The output end of the downward clamping motor 11 is connected to the upper part of the vertically arranged screw 12 through a transmission mechanism. The lower part of the screw 12 is threadedly connected to the upper part of the clamping plate 13. The clamping plate 13 is provided with a clamping slot 14. The two sets of connecting rods at the lower part of the scissor arm 8 are hinged by a clamping pin, one end of which is inserted into the lower part of the clamping slot 14. The gripper 7 of the first robotic arm and the gripper 7 of the second robotic arm have the same structure, except that the inner arc radius of the gripper 7 is different, because different diameter rubber sleeves are required.

[0028] The third robotic arm assembly has only one gripping mechanism, which is fixed to the lifting support 4 via a supporting forearm 34. Because there is only one gripping mechanism, the vertical position when gripping the finished product is not easy to determine. Therefore, a positioning plate 33 is vertically installed on the lower side of the lifting support 4 to prevent the robotic arm from being positioned too low. The gripping mechanism of the third robotic arm differs from that of the first robotic arm in that the inner arc radius of the gripper 7 is different, which is used to grip the finished product.

[0029] The second gripping mechanism includes grippers 15, a fixed forearm 16, and a clamping rotation assembly. The fixed forearm 16 is vertically arranged on the lower side of the lifting support 4. The clamping rotation assembly is located at the front end of the fixed forearm 16. The clamping rotation assembly connects two grippers 15, and the inner sides of the two grippers 15 are arc-shaped.

[0030] The clamping rotation assembly includes a clamping gear 17, a clamping rotation shaft 18, a clamping motor 19, and a gripper fixing plate 28. The gripper fixing plate 28 is located at the front end of the fixed forearm 16 and includes two fixing plates connected at the ends, forming an accommodating space between the two fixing plates. The clamping motor 19 is mounted on the upper fixing plate of the gripper fixing plate 28. The clamping gear 17 is fixedly mounted on the output shaft of the clamping motor 19. Each of the two grippers 15 has a clamping gear 17 on its clamping rotation shaft 18. The clamping gears 17 of both grippers 15 mesh with the clamping gears 17 of the clamping motor. The rotation of the clamping motor 19 drives the three clamping gears 17 to rotate synchronously, so that the two grippers 15 perform clamping or releasing actions synchronously. The grippers 15 of the first robot arm and the grippers 15 of the second robot arm have the same structure, except that the inner arc radius of the grippers 15 is different, because different diameter rubber sleeves are required.

[0031] The clamping rotating shaft 18 passes vertically through the gripper fixing plate 28. The lower end of the clamping rotating shaft 18 is connected to two grippers 15. The clamping gear 17 is located in the middle of the gripper fixing plate 28. The middle part of the clamping rotating shaft 18 cooperates with the clamping gear 17. The clamping motor 19 is located in the upper part of the gripper fixing plate 28. The upper part of the clamping rotating shaft 18 is connected to the clamping motor 19.

[0032] A forearm groove is provided at one end of the lifting forearm 10 near the lifting support 4. A vertical support guide 27 is provided at the corresponding position on the lifting support 4, and the support guide 27 is set in the forearm groove. An adjustment assembly is provided between the first gripping mechanism and the second gripping mechanism. The adjustment assembly includes an adjusting screw 5, a reducer 6, and a lifting nut. One end of the adjusting screw 5 is fixedly connected to the lifting forearm 10, and the other end is connected to the fixed forearm 16. The lifting nut is threadedly connected to the adjusting screw 5 and is located on the lower side of the fixed forearm 16. A fixed crossbeam is provided between the lifting forearm 10 and the fixed forearm 16, and the reducer 6 is mounted on the fixed crossbeam. The reducer 6 drives the adjusting screw 5 to move up and down, thereby causing the lifting forearm 10 to slide up and down, adjusting the position of the first gripping mechanism.

[0033] The base plate 3 consists of two rectangular plates, with the upper rectangular plate being smaller than the lower rectangular plate. Slides 29 are provided on both sides of the upper plate, and corresponding slide grooves 32 are provided on the lower plate, allowing the upper plate to slide along the lower plate. A receiving space is formed between the two layers. The column 2 is located on the upper layer, and the forward propulsion assembly is located in the middle receiving layer, with the upper layer fixed to the forward propulsion assembly. In this embodiment, the forward propulsion assembly includes a forward motor 30 and a forward lead screw 31. The forward motor 30 drives the forward lead screw 31 to move horizontally back and forth, thereby causing the upper layer of the base plate 3 to slide on the slide rails 29, adjusting the forward and backward positions of the three sets of robotic arms.

[0034] Work process:

[0035] During the long sprue processing, after cleaning the column core in a suitable position, the forward motor 30 drives the column 2 forward to the appropriate position. The first robotic arm assembly adjusts its vertical position via the lifting support 4 and the lifting motor 23. After the position of the first robotic arm assembly is determined, the first gripping mechanism adjusts the distance between itself and the second gripping mechanism via the adjusting screw 5. The first robotic arm assembly grips the small rubber sleeve and then puts it on the column core. After the small rubber sleeve and column core are injected with material and pressurized, the first robotic arm assembly removes the small rubber sleeve from the semi-finished product and transports it to the cleaning mechanism, cleaning it as it is lowered. Then, the semi-finished product is moved to the outside of the large mandrel. The column 2 rotates, causing the second robotic arm assembly to rotate to the front. After adjusting its position, the large rubber sleeve is put on the outside of the semi-finished product. After the large rubber sleeve and semi-finished product are injected with material and pressurized, the second robotic arm assembly removes the large rubber sleeve from the finished product and transports it to the cleaning mechanism, cleaning it as it is lowered. Finally, the column 2 rotates, causing the second robotic arm assembly to rotate to the front and adjust to the appropriate position before transferring the finished product to the transfer vehicle.

[0036] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model in any other way. Any person skilled in the art may make changes or modifications to the above-disclosed technical content to create equivalent embodiments. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of this utility model without departing from its technical solution shall still fall within the protection scope of this utility model.

Claims

1. A disassembly and assembly robot for long nozzle production, characterized in that: The system includes a base (1), a column (2), a base plate (3), a lifting support (4), and a robotic arm assembly. The base (1) is slidably mounted on the base plate (3), and the column (2) is rotatably mounted on the base (1). Multiple lifting supports (4) are installed on different sides of the column (2) in a liftable manner. The robotic arm assembly includes a first robotic arm assembly, a second robotic arm assembly, and a third robotic arm assembly. Both the first and second robotic arm assemblies are provided with a first gripping mechanism and a second gripping mechanism. The first gripping mechanism is slidably mounted on the upper side of the lifting support (4), and the second gripping mechanism is mounted on the lower side of the lifting support (4). The first gripping mechanism and the second gripping mechanism are connected by an adjustment assembly.

2. The disassembly and assembly robot for long nozzle production according to claim 1, characterized in that: The adjustment assembly includes an adjustment screw (5) and a reducer (6). One end of the adjustment screw (5) is connected to the first gripping mechanism and the other end is connected to the second gripping mechanism. The reducer (6) is fixed on the lifting support (4).

3. The disassembly and assembly robot for long nozzle production according to claim 1, characterized in that: The third robotic arm assembly is provided with one and only one first gripping mechanism.

4. A disassembly and assembly robot for long nozzle production according to any one of claims 1 to 3, characterized in that: The first gripping mechanism includes a claw (7), a scissor arm (8), a mounting plate (9), a lifting front arm (10), and a pressing fastening device. The lifting front arm (10) is vertically arranged on the upper side of the lifting support (4). The scissor arm (8) is fixed to the front end of the lifting front arm (10) by the mounting plate (9). The scissor arm (8) consists of four sets of connecting rods that rotate from end to end. The scissor arm (8) is arranged in a rhomboid shape. The claw (7) is connected to two sets of connecting rods at the lower part of the scissor arm (8). The lower parts of the two sets of claws (7) are arranged in a symmetrical arc shape. After the lower parts of the two sets of claws (7) come into contact, they are spliced ​​into a ring shape. A pressing fastening device is provided at the hinge of the two sets of connecting rods at the lower part of the scissor arm (8).

5. The disassembly and assembly robot for long nozzle production according to claim 4, characterized in that: The pressing fastening device includes a pressing motor (11), a screw (12) and a pressing plate (13). The output end of the pressing motor (11) is connected to the upper part of the vertically arranged screw (12) through a transmission mechanism. The lower part of the screw (12) is threadedly connected to the upper part of the pressing plate (13). The pressing plate (13) is provided with a pressing slot (14). The two sets of connecting rods at the lower part of the scissor arm (8) are hinged by a pressing pin. One end of the pressing pin is inserted into the lower part of the pressing slot (14).

6. The disassembly and assembly robot for long nozzle production according to claim 1, characterized in that: The second gripping mechanism includes grippers (15), a fixed forearm (16) and a clamping rotation assembly. The fixed forearm (16) is vertically arranged on the lower side of the lifting support (4). The clamping rotation assembly is arranged at the front end of the fixed forearm (16). The clamping rotation assembly connects two grippers (15), and the inner sides of the two grippers (15) are arc-shaped.

7. The disassembly and assembly robot for long nozzle production according to claim 6, characterized in that: The clamping rotation assembly includes a clamping gear (17), a clamping rotation shaft (18), a clamping motor (19), and a jaw fixing plate (28). The jaw fixing plate (28) is located at the front end of the fixed forearm (16). The clamping rotation shaft (18) passes vertically through the jaw fixing plate (28). The lower end of the clamping rotation shaft (18) is connected to two jaws (15). The clamping gear (17) is located in the middle of the jaw fixing plate (28). The middle part of the clamping rotation shaft (18) cooperates with the clamping gear (17). The clamping motor (19) is located on the upper part of the jaw fixing plate (28). The upper part of the clamping rotation shaft (18) is connected to the clamping motor (19).

8. The disassembly and assembly robot for long nozzle production according to claim 1, characterized in that: The column (2) is also equipped with a counterweight mechanism, which includes a counterweight wire rope (25), a counterweight block and a counterweight guide cylinder (22). The counterweight wire rope (25) is installed on the column (2) and one end is connected to the counterweight block that is slidably installed in the counterweight guide cylinder (22), and the other end is connected to a third robot arm.

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