Multi-axis linkage device for grabbing risers, chillers and character heads

Abstract

The utility model discloses a multi-shaft linkage device for grabbing risers, chillers and character heads, which relates to the technical field of grabbing devices and comprises a movable base, and a cross arm is mounted at the bottom of the movable base. A vertical shaft I, a vertical shaft II and a vertical shaft III are vertically mounted at the bottom end of the cross arm; the vertical shaft I, the vertical shaft III and the vertical shaft II are arranged at intervals along the length direction of the cross arm; the visual positioning part is connected to the movable base and corresponds to one side of the cross arm; the riser taking and placing mechanism is mounted at the lower end of the vertical shaft I; the chilling block taking and placing mechanism is arranged on the second vertical shaft and provided with a chilling block taking and placing part which is arranged in a telescopic mode in the length direction of the second vertical shaft; the character head taking and placing mechanism is arranged on the third vertical shaft and provided with a character head taking and placing part which is arranged in the length direction of the third vertical shaft in a telescopic mode. According to the device, the working efficiency and the operation convenience of grabbing the risers, the chilling blocks and the character heads can be improved, and manpower is reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to snatch device technical field, especially a kind of device of multi-axis linkage snatch riser, cold iron, word head. BACKGROUND

[0002] In sand casting process design and actual casting process, to avoid casting defects, additional riser is placed on the casting or side to supplement metal liquid, cold iron is placed to accelerate the local cooling speed of casting, and word head is placed to identify casting. Because the riser and cold iron placement process of traditional sand casting process cannot be replaced, and often this snatch placement and other simple operations are realized by manual, but it causes large manual workload and low efficiency.

[0003] Chinese patent (grant announcement number CN 221473492 U, grant announcement date 2024.08.06) discloses a kind of unpowered ingot riser snatch device, when being transported, the lifting ring is hung by lifting equipment, the lifting rod provides upward tension, and then the clamping jaw is driven to close by driving connecting rod, the unpowered clamping of ingot riser is realized. It can be seen that the technical scheme can only realize the function of riser snatch, and still needs a lot of manual operation, the manual workload is still large, and the efficiency cannot be significantly improved.

[0004] Therefore, how to provide a kind of multi-axis linkage snatch riser, cold iron, word head device, can improve the working efficiency and operation convenience of snatch riser, cold iron, word head, and reduce manpower, which is a problem that technicians in the field need to solve urgently. INVENTION CONTENTS

[0005] Therefore, the utility model provides a kind of multi-axis linkage snatch riser, cold iron, word head device, to solve the technical problem that the working efficiency of snatch riser, cold iron, word head of the above-mentioned traditional snatch device cannot be effectively improved.

[0006] In order to achieve the above-mentioned purpose, the utility model adopts the following technical scheme:

[0007] The utility model provides a kind of multi-axis linkage snatch riser, cold iron, word head device, comprising:

[0008] Mobile base, the mobile base bottom is equipped with cross arm;The vertical installation of the cross arm bottom end is equipped with vertical shaft one, vertical shaft two and vertical shaft three;The vertical shaft one, the vertical shaft three and the vertical shaft two are arranged along the length direction of the cross arm interval;

[0009] Visual positioning part, the visual positioning part is connected on the mobile base and corresponds the cross arm side;

[0010] Riser taking and placing mechanism, the riser taking and placing mechanism is installed in the vertical shaft lower end;

[0011] A cold iron taking and placing mechanism is arranged on the second vertical shaft and has a cold iron taking and placing part arranged along the length direction of the second vertical shaft.

[0012] A head taking and placing mechanism is arranged on the third vertical shaft and has a head taking and placing part arranged along the length direction of the third vertical shaft.

[0013] The visual positioning part of the device for grabbing risers, cold irons and heads of the multi-axis linkage is used for collecting wood mold position image data and positioning the accurate positions of the risers, cold irons and heads required to be placed on the wood mold. The horizontal arm installed on the mobile base constitutes a main mechanical arm structure; the riser taking and placing mechanism, the cold iron taking and placing mechanism and the head taking and placing mechanism are integrated on the same horizontal arm, and the riser taking and placing mechanism, the cold iron taking and placing mechanism and the head taking and placing mechanism can be driven by the mobile base to work cooperatively, three-axis linkage is realized, and the tasks of taking and placing the risers, cold irons and heads can be quickly switched in the same working process. The riser taking and placing mechanism is used for taking and placing the risers; the cold iron taking and placing part is arranged along the length direction of the second vertical shaft, and the head taking and placing part is arranged along the length direction of the third vertical shaft, which can adapt to the heights of different wood molds and the heights of the cold iron and head placement positions, so as to avoid the interference of the wood mold shape and the outer contour structure with the placement.

[0014] As a further improvement of the above technical solution, the visual positioning part comprises a holder and a visual positioning device; the holder is installed on the mobile base, and the visual positioning device is installed on the holder.

[0015] The above technical solution has the beneficial effect that the visual positioning device is installed on the holder, and the wood mold data can be clearly collected.

[0016] As a further improvement of the above technical solution, the visual positioning device is a camera positioning system or a laser scanning positioning device.

[0017] As a further improvement of the above technical solution, the lengths of the first vertical shaft, the second vertical shaft and the third vertical shaft are the same.

[0018] The above technical solution has the beneficial effect that the lengths of the first vertical shaft, the second vertical shaft and the third vertical shaft are the same, the riser taking and placing mechanism installed at the lower end of the first vertical shaft is located below the first vertical shaft and the second vertical shaft, and the movement interference between the riser taking and placing mechanism and the wood mold during the grabbing and placing of the riser can be avoided.

[0019] As a further improvement of the above technical solution, the riser taking and placing mechanism comprises an electric control mechanical clamp jaw, and the electric control mechanical clamp jaw is installed at the lower end of the first vertical shaft.

[0020] The beneficial effects of the above technical solutions are: the electric control mechanical clamping jaw is used for grabbing and placing the riser, and has stronger applicability to risers with different structures.

[0021] As a further improvement of the above technical solution, the riser taking and placing mechanism comprises an electric control mechanical clamping jaw and a telescopic driving mechanism one; the fixed end of the telescopic driving mechanism one is installed on the vertical shaft one, and the telescopic end of the telescopic driving mechanism one is connected with the electric control mechanical clamping jaw to drive it to telescope along the length direction of the vertical shaft one.

[0022] The beneficial effects of the above technical solutions are: under the driving of the telescopic driving mechanism one, the electric control mechanical clamping jaw can telescope along the length direction of the vertical shaft one, and can avoid interfering with the wooden mold, thereby further improving the applicability of the device.

[0023] As a further improvement of the above technical solution, the cold iron taking and placing mechanism comprises a telescopic driving mechanism two and an electromagnetic suction head; the fixed end of the telescopic driving mechanism two is installed on the vertical shaft two, and the telescopic end of the telescopic driving mechanism two is connected with the electromagnetic suction head to drive it to telescope along the length direction of the vertical shaft two; the electromagnetic suction head is a cold iron taking and placing part capable of taking and releasing the cold iron to be placed.

[0024] The beneficial effects of the above technical solutions are: the electromagnetic suction head is used for magnetically attracting and releasing the cold iron, so that the operation and control are more convenient. Under the driving of the telescopic driving mechanism two, the electromagnetic suction head can telescope along the length direction of the vertical shaft two, so as to conveniently extend to below the vertical shaft two to accurately place the cold iron, and can leave a movement space for the taking and placing of the riser and the letter head during operation.

[0025] As a further improvement of the above technical solution, the letter head taking and placing mechanism comprises a telescopic driving mechanism three and a vacuum suction disc assembly; the fixed end of the telescopic driving mechanism three is installed on the vertical shaft three, and the telescopic end of the telescopic driving mechanism three is connected with the vacuum suction disc assembly to drive it to telescope along the length direction of the vertical shaft three; the vacuum suction disc assembly is a letter head taking and placing part capable of taking and releasing the letter head to be placed.

[0026] The beneficial effects of the above technical solutions are: the vacuum suction disc assembly is used for taking and releasing the letter head, so that the operation and control are more convenient. Under the driving of the telescopic driving mechanism three, the vacuum suction disc assembly can telescope along the length direction of the vertical shaft three, so as to conveniently extend to below the vertical shaft three to accurately place the letter head, and can leave a movement space for the taking and placing of the riser and the cold iron during operation.

[0027] As a further improvement of the above technical solution, the vacuum suction disc assembly comprises a suction disc and an air pressure pipe; the top of the suction disc is connected to the telescopic end of the telescopic driving mechanism three, and the bottom surface of the suction disc has a suction cavity; one end of the air pressure pipe is communicated with the suction cavity of the suction disc to perform air suction or inflation.

[0028] The beneficial effects of the technical scheme are that: the bottom surface of the suction cup is an adsorption surface abutting against the head surface, and the suction cavity of the suction cup is exhausted by the air pressure pipe to improve the adsorption force and adsorption stability; the suction cavity of the suction cup is inflated by the air pressure pipe to quickly release the head.

[0029] As a further improvement of the above technical scheme, the suction cup is a rubber or silica gel suction cup.

[0030] Through the above technical scheme, compared with the prior art, the device for multi-axis linkage grabbing riser, cold iron and head has the following advantages and beneficial effects:

[0031] 1. The moving base of the device for multi-axis linkage grabbing riser, cold iron and head can be connected to a robot, so that the robot can be used to replace manual operation to place the riser, cold iron and head on a wooden mold.

[0032] 2. The device for multi-axis linkage grabbing riser, cold iron and head adopts a camera to position the accurate position of the riser, cold iron and head to be placed on the wooden mold, and through three-axis linkage, the main mechanical arm (horizontal arm) and the three vertical shafts work cooperatively to quickly switch the tasks of grabbing the riser, cold iron and head in the same working process, and high-precision positioning and three-axis linkage efficient execution are realized.

[0033] 3. The device for multi-axis linkage grabbing riser, cold iron and head adopts an electric control mechanical clamping jaw (31) which is more convenient to control, and the opening and closing size of the mechanical jaw can be flexibly changed according to the shape and size of the riser; the cold iron and the head are respectively placed on the wooden mold by magnetic attraction and vacuum adsorption, and a flexible and diverse grabbing mode is constructed.

[0034] 4. The riser taking and placing mechanism, the cold iron taking and placing mechanism and the head taking and placing mechanism of the device for multi-axis linkage grabbing riser, cold iron and head are integrated on the same horizontal arm and can be telescopic and lifted, so as to meet the fine requirements for the placement position. BRIEF DESCRIPTION OF DRAWINGS

[0035] In order to more clearly illustrate the technical scheme in the embodiments of the present application or the prior art, the drawings needed in the following embodiment or prior art description will be briefly introduced. Obviously, the drawings in the following description are only embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0036] Figure 1 The device for multi-axis linkage grabbing riser, cold iron and head has the following advantages and beneficial effects:

[0037] Figure 2The utility model discloses a whole structure another perspective three -dimensional schematic view of device of multi -shaft linkage and snatch the riser, cold iron, word head,

[0038] Figure 3 The utility model discloses a working flow chart of device of multi -shaft linkage and snatch the riser, cold iron, word head,

[0039] In the drawing: 1, mobile base, 11, cross arm, 12, vertical shaft one, 13, vertical shaft two, 14, vertical shaft three, 2, visual positioning part, 21, holder, 22, visual positioning device, 3, riser taking and placing mechanism, 31, electric control mechanical clamping jaw, 4, cold iron taking and placing mechanism, 41, telescopic drive mechanism two, 411, cylinder body two, 412, telescopic rod, 42, electromagnetic suction head, 43, telescopic drive mechanism four, 431, cylinder body four, 432, telescopic rod four, 44, guide assembly one, 441, connecting frame one, 442, guide sleeve one, 443, guide rod one, 5, word head taking and placing mechanism, 51, telescopic drive mechanism three, 511, cylinder body three, 512, telescopic rod three, 52, vacuum chuck assembly, 521, chuck, 522, air pressure pipe, 523, connecting plate, 53, telescopic drive mechanism five, 531, cylinder body five, 532, telescopic rod five, 54, guide assembly two, 541, connecting frame two, 542, guide sleeve two, 543, guide rod two. DETAILED DESCRIPTION

[0040] The embodiments of the utility model are described in detail below, the example of the embodiment is shown in the drawing, wherein the same or similar signs show the same or similar elements or the elements with the same or similar function throughout. The embodiment described below by referring to the drawing is exemplary, and is intended to explain the utility model, and cannot be understood as the limitation of the utility model.

[0041] In the description of the utility model, it needs to be understood that the orientation or position relation indicated by the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like is the orientation or position relation based on the orientation or position relation shown in the drawing, and is only for the convenience of describing the utility model and simplifying the description, and therefore cannot be understood as the limitation of the utility model.

[0042] In addition, the terms "first", "second" are only for the description purpose, and cannot be understood as indicating or implying the relative importance or implying the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more features. In the description of the utility model, the meaning of "multiple" is two or more than two, unless there is a clear specific limitation.

[0043] In the utility model, unless another definite provision and limitation, the terms "mount", "connect", "connect", "fix" and so on terms should do broad sense understanding, for example, can be fixed connection, also can be detachable connection, or be integrated;Can be mechanical connection, also can be electrical connection;Can be directly connected, also can be indirectly connected through intermediate medium, can be two element internal communication or two element mutual action relation. For ordinary skilled person in the art, the above terms can be understood according to the specific meaning in the utility model.

[0044] According to the utility model embodiments, as Figure 1 And Figure 2 As shown in a kind of multi-axis linkage device for grabbing riser, chills, head, comprising:

[0045] Mobile base 1, mobile base 1 bottom is equipped with cross arm 11;Cross arm 11 bottom end is vertically equipped with vertical shaft one 12, vertical shaft two 13 and vertical shaft three 14;Vertical shaft one 12, vertical shaft three 14 and vertical shaft two 13 are sequentially arranged along the length direction of cross arm 11;

[0046] Visual positioning part 2, visual positioning part 2 is connected on mobile base 1 and corresponds the side of cross arm 11;

[0047] Riser taking and placing mechanism 3, riser taking and placing mechanism 3 is installed in vertical shaft one 12 lower end;

[0048] Chills taking and placing mechanism 4, chills taking and placing mechanism 4 is set on vertical shaft two 13, and it has chills taking and placing part that is set along the length direction of vertical shaft two 13;

[0049] Head taking and placing mechanism 5, head taking and placing mechanism 5 is set on vertical shaft three 14, and it has head taking and placing part that is set along the length direction of vertical shaft three 14.

[0050] The visual positioning part 2 of the multi-axis linkage device for grabbing riser, chills, head of the embodiment is used to collect wood mold position image data, and locate the accurate position of the required riser, chill and head placed on the wood mold. Cross arm 11 installed on mobile base 1 constitutes a main mechanical arm structure;Riser taking and placing mechanism 3, chills taking and placing mechanism 4 and head taking and placing mechanism 5 are integrated on the same cross arm 11, and can drive riser taking and placing mechanism 3, chills taking and placing mechanism 4 and head taking and placing mechanism 5 to work cooperatively through mobile base 1, realize three-axis linkage, and quickly switch the tasks of taking and placing riser, chill and head in the same work flow. Riser taking and placing mechanism 3 is used for taking and placing riser;Chills taking and placing part is set along the length direction of vertical shaft two 13, and head taking and placing part is set along the length direction of vertical shaft three 14, which can adapt to the height of different wood molds and the height of chill and head placement position, so as to avoid the interference of wood mold shape and external contour structure and placement.

[0051] Specifically, the top end of the mobile base 1 is a connecting end connected with the robot; the connecting end of the mobile base 1 is fixedly installed on the base of the robot through bolts; the robot can drive the mobile base 1 to move, and thus can drive the horizontal arm 11 to rotate 360 degrees left and right.

[0052] Specifically, the bottom end surface of the horizontal arm 11 is fixedly provided with a first connecting plate; the first connecting plate is three, and the three first connecting plates are arranged along the length direction of the horizontal arm 11; the top end of each of the vertical shafts one 12, the vertical shafts two 13 and the vertical shafts three 14 is fixedly provided with a second connecting plate; the top end surface of the second connecting plate of the top end of each of the vertical shafts one 12, the vertical shafts two 13 and the vertical shafts three 14 is fixedly provided on the bottom end surface of the corresponding first connecting plate; a positioning pin hole is formed in each of the first connecting plate and the corresponding second connecting plate; and the first connecting plate and the corresponding second connecting plate are fastened and connected through high-precision positioning pins, so as to ensure the parallelism between the vertical shafts one 12, the vertical shafts two 13 and the vertical shafts three 14, and ensure the perpendicularity between the vertical shafts one 12, the vertical shafts two 13 and the vertical shafts three 14 and the horizontal arm 11.

[0053] In some embodiments, the visual positioning part 2 comprises a holder 21 and a visual positioning device 22; the holder is installed on the mobile base 1, and the visual positioning device is installed on the holder 21.

[0054] The visual positioning device 22 is installed on the holder 21, so as to facilitate clear collection of the wood mold data.

[0055] In some embodiments, the visual positioning device 22 is a camera positioning system or a laser scanning positioning device.

[0056] Specifically, the holder 21 is fixedly installed on the front end of the mobile base 1. The camera positioning system comprises a camera and a computer, and the camera is in communication connection with the computer; the camera is installed on the holder at the front end of the main mechanical arm, and the angle, focal length and other parameters of the camera are adjusted, so that the camera can clearly collect the wood mold data. The camera is calibrated by using PickWiz software, the camera is connected with the computer, and the calibration scanning parameters of the mold are set in the software. The robot grabbing system in the computer can establish an accurate coordinate system of the robot when grabbing the riser, the cold iron and the head according to the preset position image of the data.

[0057] Specifically, the laser scanning positioning device can be used to replace the camera, and the laser scanning positioning device is installed on the adjustable holder 21 at the front end of the main mechanical arm. Through the accurate angle adjustment of the holder 21 and the automatic focusing and depth measurement functions of the laser scanning positioning device itself, the laser scanning positioning device can realize omnidirectional scanning of the wood mold.

[0058] In some embodiments, the lengths of the vertical shafts one 12, the vertical shafts two 13 and the vertical shafts three 14 are the same.

[0059] The length of the vertical shaft one 12, the vertical shaft two 13 and the vertical shaft three 14 is the same, the riser taking and placing mechanism 3 installed at the lower end of the vertical shaft one 12 is located below the vertical shaft two 13 and the vertical shaft three 14, which can avoid the movement interference between the vertical shaft two 13, the vertical shaft three 14, the cold iron taking and placing mechanism 4 and the letter head taking and placing mechanism 5 and the wooden mold when the riser is placed.

[0060] In some embodiments, the riser taking and placing mechanism 3 comprises an electrically controlled mechanical gripper 31 installed at the lower end of the vertical shaft one 12.

[0061] The electrically controlled mechanical gripper 31 is used for grabbing and placing the riser, and has stronger applicability to risers with different structures.

[0062] In some embodiments, the riser taking and placing mechanism 3 comprises the electrically controlled mechanical gripper 31 and a telescopic driving mechanism one; the fixed end of the telescopic driving mechanism one is installed on the vertical shaft one 12, and the telescopic end of the telescopic driving mechanism one is connected with the electrically controlled mechanical gripper 31 to drive it to extend and retract along the length direction of the vertical shaft one 12.

[0063] Under the driving of the telescopic driving mechanism one, the electrically controlled mechanical gripper 31 can extend and retract along the length direction of the vertical shaft one 12, which can avoid the interference with the wooden mold and further improves the applicability of the device.

[0064] Specifically, the telescopic driving mechanism one can be a conventional telescopic driving mechanism or a linear driver. The electrically controlled mechanical gripper 31 can be a two-finger parallel mechanical gripper. According to the size, weight, shape and material of the riser, a two-finger parallel mechanical gripper grabbing mechanism is designed to determine the key design parameters such as the maximum stroke and grabbing force of the riser grabbing device in the left-right direction, and the riser is grabbed by the opening and closing of the mechanical gripper, and the left-right opening and closing accuracy is accurate to millimeter level. The inner side of the mechanical gripper is pasted with or fixed with anti-slip rubber pads by recessed screws to ensure that the rubber pads have good contact friction with the surface of the riser to prevent the riser from slipping during grabbing.

[0065] In some embodiments, the cold iron taking and placing mechanism 4 comprises a telescopic driving mechanism two 41 and an electromagnetic suction head 42; the fixed end of the telescopic driving mechanism two 41 is installed on the vertical shaft two 13, and the telescopic end of the telescopic driving mechanism two 41 is connected with the electromagnetic suction head 42 to drive it to extend and retract along the length direction of the vertical shaft two 13; and the electromagnetic suction head 42 is a cold iron taking and placing part that can attract and release the cold iron to be placed.

[0066] The electromagnetic suction head 42 is used for attracting and releasing the cold iron, which makes the operation and control more convenient. Under the driving of the telescopic driving mechanism two 41, the electromagnetic suction head 42 can extend and retract along the length direction of the vertical shaft two 13, which is convenient for extending to below the vertical shaft two 13 to accurately place the cold iron, and can leave movement space for the taking and placing of the riser and the letter head during the retraction.

[0067] In some embodiments, the telescopic drive mechanism two 41 can be a pneumatic telescopic mechanism; the telescopic drive mechanism two 41 is preferably a double-shaft pneumatic cylinder.

[0068] Specifically, the telescopic drive mechanism two 41 comprises a cylinder body two 411 and a telescopic rod two 412 telescopically connected in the cylinder body two 411 and arranged in parallel with the vertical shaft two 13. The cylinder body two 411 of the telescopic drive mechanism two 41 is mounted on the peripheral side wall of the vertical shaft two 13; the lower end of the telescopic rod two 412 of the telescopic drive mechanism two 41 is telescopically connected to the electromagnetic suction head 42.

[0069] In some embodiments, in order to increase the lifting stroke and stability of the electromagnetic suction head 42, the cold iron taking and placing mechanism 4 further comprises a telescopic drive mechanism four 43 and a guide assembly one 44; the telescopic drive mechanism four 43 comprises a cylinder body four 431 and a telescopic rod four 432 telescopically connected in the cylinder body four 431 and arranged in parallel with the vertical shaft two 13; the guide assembly one 44 comprises a connecting frame one 441, a guide sleeve one 442 and a guide rod one 443.

[0070] The telescopic drive mechanism four 43 is symmetrically arranged on both sides of the vertical shaft two 13 with the telescopic drive mechanism two 41; the cylinder body four 431 of the telescopic drive mechanism four 43 is fixedly connected on the peripheral side wall of the vertical shaft two 13 by bolts, the lower end of the telescopic rod four 432 of the telescopic drive mechanism four 43 is fixedly connected to the connecting frame one 441, and the cylinder body two 411 of the telescopic drive mechanism two 41 is fixed on the connecting frame one 441; the lower end of the telescopic rod two 412 of the telescopic drive mechanism two 41 is fixedly connected to the fixed end of the electromagnetic suction head 42. The guide sleeve one 442 is fixed on the peripheral side wall of the vertical shaft two 13; the guide rod one 443 is arranged in parallel with the vertical shaft two 13 and slides through the guide sleeve one 442; the lower end of the guide rod one 443 is fixedly connected to the connecting frame one 441.

[0071] In use, the cylinder body two 411 drives the telescopic rod two 412 to telescope to drive the electromagnetic suction head 42 to lift, realizing one-stage telescoping; the cylinder body four 431 drives the telescopic rod four 432 to telescope to drive the connecting frame one 441 to lift, the connecting frame one 441 drives the cylinder body two 411 to lift, and in turn drives the electromagnetic suction head 42 to lift, realizing two-stage telescoping. The guide rod one 443 and the guide sleeve one 442 cooperate to guide the lifting of the connecting frame one 441, and in turn can improve the stability of the lifting of the electromagnetic suction head 42.

[0072] Specifically, the direction of the suction disc of the electromagnetic suction head 42 for adsorbing the cold iron is towards the inner side; according to the adsorption requirements of cold irons of different specifications, an electromagnet with appropriate power and magnetic field strength can be selected as the electromagnetic suction head 42, and the electromagnetic suction head 42 is connected to the computer control system. The flat plate type magnetic suction head can increase the contact area with the cold iron and improve the adsorption effect. For cold irons with certain curvature or irregular shape, the shape of the suction disc of the electromagnetic suction head 42 can be designed as a curved surface or a special shape that is adapted to the surface of the cold iron to ensure close fitting and effective adsorption.

[0073] In some embodiments, the word head taking and placing mechanism 5 comprises a telescopic driving mechanism three 51 and a vacuum chuck assembly 52; the fixed end of the telescopic driving mechanism three 51 is mounted on the vertical shaft three 14, and the telescopic end of the telescopic driving mechanism three 51 is connected to the vacuum chuck assembly 52 to drive it to extend and retract along the length direction of the vertical shaft three 14; the vacuum chuck assembly 52 is a word head taking and placing part that can suck and release the word head to be placed.

[0074] The vacuum chuck assembly 52 is used to suck and release the word head, so that the operation and control are more convenient. Under the driving of the telescopic driving mechanism three 51, the vacuum chuck assembly 52 can extend and retract along the length direction of the vertical shaft three 14, which is convenient for extending to below the vertical shaft three 14 to accurately place the word head, and can leave movement space for the taking and placing of the riser and the cold iron during operation.

[0075] In some embodiments, the telescopic driving mechanism three 51 can be a pneumatic telescopic mechanism; the telescopic driving mechanism three 51 is preferably a double-shaft pneumatic cylinder.

[0076] Specifically, the telescopic driving mechanism three 51 comprises a cylinder body three 511 and a telescopic rod three 512 telescopically connected in the cylinder body three 511 and arranged in parallel with the vertical shaft three 14. The cylinder body three 511 of the telescopic driving mechanism three 51 is mounted on the peripheral side wall of the vertical shaft three 14; the lower end of the telescopic rod three 512 of the telescopic driving mechanism three 51 is drivingly connected to the vacuum chuck assembly 52.

[0077] In some embodiments, in order to increase the lifting stroke and stability of the vacuum chuck assembly 52, the word head taking and placing mechanism 5 further comprises a telescopic driving mechanism five 53 and a guide assembly two 54; the telescopic driving mechanism five 53 comprises a cylinder body five 531 and a telescopic rod five 532 telescopically connected in the cylinder body five 531 and arranged in parallel with the vertical shaft three 14; the guide assembly two 54 comprises a connecting frame two 541, a guide sleeve two 542 and a guide rod two 543.

[0078] The telescopic driving mechanism five 53 and the telescopic driving mechanism three 51 are symmetrically arranged on both sides of the vertical shaft three 14; the cylinder body five 531 of the telescopic driving mechanism five 53 is fixedly connected to the peripheral side wall of the vertical shaft three 14 by bolts, the lower end of the telescopic rod five 532 of the telescopic driving mechanism five 53 is fixedly connected to the connecting frame two 541, and the cylinder body three 511 of the telescopic driving mechanism three 51 is fixed to the connecting frame two 541; the lower end of the telescopic rod three 512 of the telescopic driving mechanism three 51 is fixedly connected to the fixed end of the vacuum chuck assembly 52. The guide sleeve two 542 is fixed to the peripheral side wall of the vertical shaft three 14; the guide rod two 543 is arranged in parallel with the vertical shaft three 14 and slides through the guide sleeve two 542; the lower end of the guide rod two 543 is fixedly connected to the connecting frame two 541.

[0079] In use, the cylinder three 511 drives the telescopic rod three 512 to realize one-stage telescopic lifting of the vacuum chuck assembly 52; the cylinder five 531 drives the telescopic rod five 532 to realize two-stage telescopic lifting of the vacuum chuck assembly 52.

[0080] In some embodiments, the vacuum chuck assembly 52 comprises a chuck 521, an air pressure pipe 522 and a connecting plate 523; the connecting plate 523 is vertically fixed at the lower end of the telescopic rod three 512 of the telescopic driving mechanism three 51; the chuck 521 is connected to the lower end surface of the connecting plate 523, and the bottom surface of the chuck 521 has an adsorption cavity; one end of the air pressure pipe 522 vertically penetrates the connecting plate 523 and communicates with the adsorption cavity of the chuck 521 to perform air suction or air inflation.

[0081] The bottom surface of the chuck 521 is an adsorption surface for abutting against the surface of the font head, and air suction of the adsorption cavity of the chuck 521 by the air pressure pipe 522 can improve the adsorption force and adsorption stability; when the adsorption cavity of the chuck 521 is inflated by the air pressure pipe 522, the font head can be quickly released.

[0082] In some embodiments, the chuck 521 is a rubber or silica gel chuck.

[0083] Specifically, the chuck 521 can be made of rubber material in the form of a circular recess, and the bottom thereof is a recessed circular contact surface that can contact the surface of the adsorbed object.

[0084] The working principle of the chuck 521 adsorbing the font head is as follows: after the telescopic driving mechanism three 511 and the telescopic driving mechanism five 53 drive the chuck 521 to move downward and contact the surface of the font head, the air pressure pipe 522 sucks air into the chuck 521 to form negative pressure in the adsorption cavity, so that the air pressure in the chuck 521 is lower than the atmospheric pressure outside. Under the action of the air pressure difference, the chuck 521 is elastically deformed, and the circular recessed portion at the bottom thereof tightly contacts the surface of the object to form a sealed space. The atmospheric pressure outside will generate a uniform pressure on the chuck, tightly pressing the chuck against the surface of the object, thereby realizing the adsorption function. When the font head needs to be placed, the air pressure pipe 522 introduces positive pressure gas into the chuck, so that the chuck 521 is separated from the font head.

[0085] The electric control and the gas control system are combined, the electric control mechanical clamp jaw 31 is arranged at the lower end of the vertical shaft 1 2, the precise grabbing of the riser can be realized, the precise displacement and the opening and closing action can be realized, the fine requirements of the force and the position during the grabbing of the riser are met, the pneumatic telescopic mechanism realizes the up and down telescopic placement of the electromagnetic suction head 42 and the suction disc 521 on the vertical shaft 2 13 and the vertical shaft 3 14, the cold iron and the head are placed, the mobile base 1 is connected with the robot, the device is controlled by using the robot, the manual placing of the riser, the cold iron and the head on the wooden mold and other processes are replaced, and the specific working process is referred to Figure 3 .

[0086] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "example", "specific example" or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present application, the illustrative description of the above terms is not necessarily for the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in the present application.

[0087] Although the embodiments of the present application have been shown and described above, it should be understood that the above embodiments are exemplary and should not be construed as limiting the present application, and those skilled in the art can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A multi-axis linkage device for gripping risers, chills, and letterheads, characterized in that, include: A movable base (1) is provided, with a cross arm (11) installed at the bottom of the movable base (1); vertical shafts one (12), two (13) and three (14) are vertically installed at the bottom end of the cross arm (11); the vertical shafts one (12), three (14) and two (13) are arranged at intervals along the length of the cross arm (11); Visual positioning unit (2), which is connected to the movable base (1) and corresponds to one side of the cross arm (11); Riser pick-and-place mechanism (3), wherein the riser pick-and-place mechanism (3) is installed at the lower end of the vertical shaft (12); Cold iron picking and placing mechanism (4), the cold iron picking and placing mechanism (4) is disposed on the second vertical shaft (13), and has a cold iron picking and placing part that is extended and retracted along the length direction of the second vertical shaft (13); The prefix picking and placing mechanism (5) is disposed on the vertical shaft three (14) and has a prefix picking and placing part that is extended and retracted along the length direction of the vertical shaft three (14).

2. The device for multi-axis linkage gripping riser, chiller, and letterhead according to claim 1, characterized in that, The visual positioning unit (2) includes a gimbal (21) and a visual positioning device (22); the gimbal is mounted on the mobile base (1), and the visual positioning device is mounted on the gimbal (21).

3. The device for multi-axis linkage gripping of risers, chills, and letterheads according to claim 2, characterized in that, The visual positioning device (22) is a camera positioning system or a laser scanning positioning device.

4. The device for multi-axis linkage gripping riser, chiller, and letterhead according to claim 1, characterized in that, The vertical shaft one (12), the vertical shaft two (13), and the vertical shaft three (14) have the same length.

5. The device for multi-axis linkage gripping riser, chiller, and letterhead according to claim 4, characterized in that, The riser pick-and-place mechanism (3) includes an electromechanical gripper (31), which is installed at the bottom end of the vertical shaft (12).

6. The device for multi-axis linkage gripping risers, chills, and letterheads according to claim 1, characterized in that, The riser pick-and-place mechanism (3) includes an electromechanical gripper (31) and a telescopic drive mechanism; the fixed end of the telescopic drive mechanism is mounted on the vertical shaft (12), and the telescopic end of the telescopic drive mechanism is connected to the electromechanical gripper (31) to drive it to extend and retract along the length direction of the vertical shaft (12).

7. The device for multi-axis linkage gripping riser, chiller, and letterhead according to claim 1, characterized in that, The cold iron picking and placing mechanism (4) includes a telescopic drive mechanism two (41) and an electromagnetic suction head (42); the fixed end of the telescopic drive mechanism two (41) is installed on the vertical shaft two (13), and the telescopic end of the telescopic drive mechanism two (41) is connected to the electromagnetic suction head (42) to drive it to extend and retract along the length direction of the vertical shaft two (13); the electromagnetic suction head (42) is a cold iron picking and placing part that can pick up and release the cold iron to be placed.

8. The device for multi-axis linkage gripping of risers, chills, and letterheads according to claim 1, characterized in that, The prefix picking and placing mechanism (5) includes a telescopic drive mechanism three (51) and a vacuum suction cup assembly (52); the fixed end of the telescopic drive mechanism three (51) is mounted on the vertical shaft three (14), and the telescopic end of the telescopic drive mechanism three (51) is connected to the vacuum suction cup assembly (52) to drive it to extend and retract along the length direction of the vertical shaft three (14); the vacuum suction cup assembly (52) is a prefix picking and placing part that can pick up and release the prefix to be placed.

9. The device for multi-axis linkage gripping riser, chiller, and letterhead according to claim 8, characterized in that, The vacuum suction cup assembly (52) includes a suction cup (521) and a pressure pipe (522); the top of the suction cup (521) is connected to the telescopic end of the telescopic drive mechanism (51), and its bottom surface has an adsorption cavity; one end of the pressure pipe (522) is connected to the adsorption cavity of the suction cup (521) for pumping or inflating.

10. The device for multi-axis linkage gripping of risers, chills, and letterheads according to claim 9, characterized in that, The suction cup (521) is a rubber or silicone suction cup.

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