Clamping and assembling integrated robot clamp

Abstract

The utility model discloses a clamping and assembling integrated robot clamp which aims at solving the problems that traditional sand core processing is low in efficiency and poor in precision. The fixture comprises a robot mounting disc, a main body bracket, an electric control main box and two groups of symmetrically arranged clamping mechanisms, each group of mechanism is driven by a lifting air cylinder to vertically move, a push-pull air cylinder is controlled to horizontally slide, and an elastic expansion sleeve and a sand core positioning rod are matched to realize lossless clamping of a sand core; the limiting assembly accurately controls the stroke of the air cylinder through a magnetic sensor and a limiting block, and action consistency is ensured. The fixture integrates the functions of clamping, deburring, coating dip-coating and assembling, the whole-process treatment of the sand core can be completed through coordination of the electric control main box and multi-cylinder linkage and single operation, and compared with a traditional process, the time consumed in the working procedure is reduced, and the production efficiency and the casting yield are remarkably improved. The device has the characteristics of high precision and modularization, and is suitable for a large-scale casting automatic production line.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot clamp technical field, concretely is an integrated robot clamp suitable for casting sand core clamping and assembly. BACKGROUND

[0002] In the casting production process, the sand core is as the core component of forming the inner cavity of the casting, and the diversity and complexity of the shape and size thereof put forward very high requirements to the clamping and assembly process. The traditional sand core processing flow mainly relies on manual operation: the worker needs to manually carry the sand core, completes the assembly through visual positioning, and carries out surface treatment such as deburring, coating dipping and the like one by one in the subsequent process. This way not only has great labor intensity and low efficiency, and positioning deviation is easily caused due to human factors, directly affecting the casting yield and consistency. In addition, the sand core material is fragile, and is easily damaged due to bumping in the manual carrying process, further increasing raw material waste and production cost. The existing clamp has single function, and cannot meet the automatic processing demand of the complex sand core. Therefore, an integrated clamp integrating clamping, positioning and assembly functions is urgently needed to improve production efficiency and product quality. SUMMARY

[0003] The utility model discloses a kind of clamping and assembling integrated robot clamps, by multiple cylinder collaborative driving, accurate control of limiting mechanism and expansion sleeve clamping technology, realize the efficient automatic processing of sand core.

[0004] To achieve the above object, the technical scheme adopted by the present application is as follows: a clamping and assembling integrated robot clamp, comprising:

[0005] A robot mounting disc is used to connect with an industrial robot.

[0006] A main support is connected with the robot mounting disc.

[0007] An electric control box and a gas source interface are integrated on the main support to provide electrical and pneumatic control.

[0008] Two groups of clamping mechanisms are symmetrically arranged, and each group of clamping mechanisms comprises:

[0009] A lifting drive assembly includes lifting cylinders a, lifting cylinders c and lifting mechanisms with bearings, which respectively drive the vertical movement of small supports c and small supports b.

[0010] A push-pull drive assembly includes push-pull cylinders b, push-pull cylinders d and sliding mechanisms a, sliding mechanisms d, which respectively drive the horizontal movement of small supports b and small supports d.

[0011] A sand core positioning assembly includes sand core positioning rods a, sand core positioning rods c, sand core positioning rods d, and elastic expansion sleeves a, expansion sleeves c and expansion sleeves d cooperating with the positioning rods.

[0012] The position control assembly comprises a lifting-to-position limiting block c1, a lowering-to-position limiting block c, a limiting block a, a limiting block a1, a limiting block d, a limiting block d1 and corresponding limiting bump blocks, which are used for precisely controlling the movement stroke of the lifting cylinder and the push-pull cylinder.

[0013] Preferably, the two groups of clamping mechanisms are synchronously controlled by the electric control box to realize integrated operations of clamping, burr adjustment, coating dipping and assembling of the sand core.

[0014] Preferably, the elastic sleeves a, c and d are made of high-molecular elastic material, and the inner walls of the sleeves are provided with anti-skid lines for enhancing the friction force when clamping sand cores of different shapes.

[0015] Preferably, the limiting bump blocks are magnetic contact sensors, which cooperate with the limiting blocks to feed back the cylinder position signals to the electric control box in real time.

[0016] Preferably, the sliding mechanisms a and d are linear slide rail structures, and are internally provided with ball bearings for reducing the friction resistance when the push-pull cylinder is driven.

[0017] Compared with the prior art, the present application has the following beneficial effects: the clamping, positioning and assembling functions of the sand core are integrated through the integrated design, and the production efficiency is significantly improved; the limiting mechanism cooperates with the sleeve to ensure the operation precision, reduces the manual intervention and reduces the production cost. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 It is an overall structure schematic of the utility model Figure 1 ;

[0019] Figure 2 It is an overall structure schematic of the utility model Figure 2 ;

[0020] Figure 3 It is an action schematic when the sand core is clamped Figure 1 ;

[0021] Figure 4 It is an action schematic when the sand core is clamped Figure 2 ;

[0022] Figure 5 It is an adjustment state schematic after the burr is removed Figure 1 ;

[0023] Figure 6 It is an adjustment state schematic after the burr is removed Figure 2 ;

[0024] Figure 7 It is a sand core assembling completion state schematic Figure 1 ;

[0025] Figure 8 The sand core assembly completed state is shown Figure 2 .

[0026] Marked in the figure: 1. Robot mounting disc, 2. Air source interface, 3. Electric control main box, 4. Main body support, 5. Lifting cylinder a, 6. Limiting block a, 7. Limiting block a, 8. Limiting block a1, 9. Limiting block a1, 10. Sliding mechanism a, 11. Push-pull cylinder b, 12. Expansion sleeve a, 13. Sand core positioning rod a, 14. Lifting cylinder c, 15. Lifting mechanism with bearing, 16. Lowering position limiting block c, 17. Small support c, 18. Lifting position limiting block c1, 19. Sand core positioning rod c, 20. Expansion sleeve c, 21. Sand core positioning rod d, 22. Expansion sleeve d, 23. Lifting cylinder d, 24. Sliding mechanism d, 25. Small support d, 26. Limiting block d, 27. Limiting block d, 28. Limiting block d1, 29. Limiting block d1, 30. Push-pull cylinder d, 31. Small support b. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme in the embodiments of the utility model will be described clearly and completely below in combination with the drawings in the embodiments of the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, rather than all the embodiments.

[0028] In order to solve the technical problems of low efficiency of clamps and large consumption of manpower in the prior art casting product sand core with different sizes and shapes, the robot clamp of the utility model can be used for molding as a whole after complete assembly, which ensures production speed and improves product quality, and the sand core is conveniently and quickly coated with paint, which saves manual core assembly and brings better benefits to enterprises.

[0029] As Figures 1 to 8The utility model discloses a kind of gripper assembly integrated robot clamps, and the specific structure of the utility model is as follows: a kind of gripper assembly integrated robot clamp, characterized by, including: robot mounting disc 1, for being connected with industrial robot;Main body support 4 is connected with the robot mounting disc 1;Electric control total box 3 and gas source interface 2 are integrated on main body support 4 respectively, for providing electrical and pneumatic control;Symmetrically arranged two groups of clamping mechanism, the two groups of clamping mechanism are synchronously controlled by electric control total box 3, realize sand core's clamping, burr adjustment, coating dip coating and integrated operation of assembly, each clamping mechanism includes: lifting drive assembly, including lifting cylinder a5, lifting cylinder c14 and bearing lifting mechanism 15, vertically moving small support c17 and small support b31 are respectively driven;Push-pull drive assembly, including push-pull cylinder b11, push-pull cylinder d30 and sliding mechanism a10, sliding mechanism d24, small support b31 and small support d25 are respectively driven horizontally;Sand core positioning assembly, including sand core positioning rod a13, sand core positioning rod c19, sand core positioning rod d21, and the elastic expansion sleeve a12, expansion sleeve c20, expansion sleeve d22 matched with each positioning rod;Limiting control component, including rise to position limit block c118, drop to position limit block c16, limit block a7, limit block a19, limit block d26, limit block d129, and corresponding limit bump block 6,8,27,28, for accurately control lifting cylinder and push-pull cylinder's movement stroke;The elastic expansion sleeve a12, expansion sleeve c20, expansion sleeve d22 are made of high molecular elastic material, and its inner wall is provided with anti-skid line, for when clamping different shape sand core, enhance friction. Limit bump block 6,8,27,28 is magnetic contact sensor, and is matched with limit block 7,9,16,18,26,29, and real-time feedback cylinder position signal to electric control total box 3. Sliding mechanism a10 and sliding mechanism d24 are linear slide rail structures, built-in ball bearing, for reducing the frictional resistance when push-pull cylinder drives.

[0030] Clamp action flow is as follows (the same action as clamp symmetrical part):

[0031] ⑴. When clamping sand core, clamp original position is:

[0032] ①Push-pull cylinder d30 pushes small support d25 to position through sliding mechanism d24, so that limit block d26 and limit bump block d27 contact;

[0033] ②Lifting cylinder c14 lifts small support c17 and small support b31 through bearing lifting mechanism 15, to ensure that rise to position limit block c118 is in place;

[0034] ③Push-pull cylinder b11 pushes small support b31 to position through sliding mechanism a10, so that limit bump block a18 and limit block a19 contact;

[0035] IV. After satisfying the above three, the overall clamp is lowered in place and the clamp is opened and the sleeve is expanded to complete the clamping action, as shown in Figure 3 and 4 ;

[0036] 2. After removing the burrs by the burr removal mechanism, the overall is immersed in paint, then the push-pull cylinder b11 pulls the small bracket b31 into place through the sliding mechanism a10 so that the limit block a6 contacts the limit block a7, and the push-pull cylinder d30 pulls the small bracket d25 into place through the sliding mechanism d24 so that the limit block d128 contacts the limit block d129, as shown in Figure 5 and 6 ;

[0037] 3. Then the lifting cylinder c14 lowers the small bracket c17 and the small bracket b31 through the bearing lifting mechanism 15 to ensure that the limit block c16 is in place to complete the sand core assembly, as shown in Figure 7 and Figure 8 ;

[0038] The basic principles and main features of the present application and the advantages of the present application are shown and described above. It should be understood by those skilled in the art that the present application is not limited by the above examples, and the above examples and descriptions in the specification are only to illustrate the principles of the present application. Without departing from the spirit and scope of the present application, various changes and improvements can be made to the present application, and these changes and improvements all fall within the scope of the present application. The scope of protection of the present application is defined by the appended claims and their equivalents.

Claims

1. A gripper for a robot that integrates gripping and assembly, characterized in that, The utility model relates to a kind of sand core automatic assembly device, including: Robot mounting disc (1) for connecting with industrial robot; Main body support (4) is connected with the robot mounting disc (1); Electric control cabinet (3) and gas source interface (2) are integrated on main body support (4) respectively, for providing electrical and pneumatic control; Two groups of clamping mechanisms are symmetrically arranged, and each group of clamping mechanisms includes: Lifting drive assembly, including lifting cylinder a (5), lifting cylinder c (14) and bearing lifting mechanism (15), vertically moves small support c (17) and small support b (31) respectively driven; Push-pull drive assembly, including push-pull cylinder b (11), push-pull cylinder d (30) and sliding mechanism a (10), sliding mechanism d (24), horizontally moves small support b (31) and small support d (25) respectively driven; Sand core positioning assembly, including sand core positioning rod a (13), sand core positioning rod c (19), sand core positioning rod d (21), and elastic sleeve a (12), sleeve c (20), sleeve d (22) matched with each positioning rod; Limit control assembly, including lift limit block c1 (18), drop limit block c (16), limit block a (7), limit block a1 (9), limit block d (26), limit block d1 (29), and corresponding limit bump block (6,8,27,28), for accurately controlling the movement stroke of lifting cylinder and push-pull cylinder; The two groups of clamping mechanisms are synchronously controlled by electric control cabinet (3), realize sand core clamping, burr adjustment, coating dipping and assembly integrated operation.

2. The robotic gripper of claim 1, wherein, The elastic sleeve a (12), sleeve c (20), sleeve d (22) are made of high molecular elastic material, and the inner wall is provided with anti-skid lines, for enhancing friction when clamping different shape sand cores.

3. The robotic gripper of claim 1, wherein, The limit bump block (6,8,27,28) is magnetic contact sensor, cooperates with limit block (7,9,16,18,26,29), and real-time feedback cylinder position signal to electric control cabinet (3).

4. The robotic gripper of claim 1, wherein, The sliding mechanism a (10) and sliding mechanism d (24) are linear slide rail structure, built-in ball bearing, for reducing friction resistance when push-pull cylinder is driven.

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