Casting membrane shell transfer device capable of quickly replacing long and short forks

Abstract

The utility model discloses a casting membrane shell transfer device capable of quickly replacing long and short forks. The casting membrane shell transfer device comprises a transfer mechanical arm, a pick-and-place frame, a long fork rod and a short fork rod, the taking and placing frame is arranged on one side of the transferring mechanical arm and provided with a first placing frame and a second placing frame, and the first placing frame and the second placing frame are used for placing the long fork rod and the short fork rod correspondingly. The long fork rod or the short fork rod is connected with the tail end of the transfer mechanical arm through a quick insertion assembly, and a fork head is arranged at the other end of the long fork rod and used for being inserted into a bottom groove of a module. According to the utility model, the technical problem that the posture of the mechanical arm is difficult to cover all loading and unloading sites is solved, the smooth transfer of the membrane shell between different stations is ensured, the cost is reduced, and the occupied space is reduced.

Description

Technical Field

[0001] This utility model relates to the field of membrane casting technology, specifically to a casting membrane transfer device with quick-change long and short forks. Background Technology

[0002] The production process of membrane shell casting involves the transfer of the membrane shell between multiple stations, including the loading tray, preheating furnace, casting furnace, and unloading tray. In the actual layout of the production line, due to factors such as avoiding the running paths of equipment such as AGVs and space constraints, the loading tray and unloading tray often need to be placed in specific and relatively fixed locations.

[0003] Meanwhile, the robotic arm used to perform transfer tasks has certain limitations due to constraints imposed by its mechanical structure and the layout of surrounding equipment. This makes it difficult for the robotic arm to cover all loading and unloading points in its current posture, thus preventing the effective transfer of the membrane shell between different workstations.

[0004] To address the aforementioned technical challenges, traditional solutions typically employ a moving module to drive the robotic arm in displacement, thereby expanding its working range and enabling it to reach various loading and unloading points. However, this traditional approach has several significant drawbacks.

[0005] First, the mobile module itself is relatively expensive, increasing the overall cost of the equipment. Second, to ensure the coordinated operation between the mobile module and the robotic arm, complex electrical connections, control system debugging, and related mechanical installations are required, further increasing the installation cost of the equipment.

[0006] In addition, mobile modules are usually large in size and occupy a large area. When the production line layout is already tight, the additional mobile modules will occupy valuable production space, resulting in a less compact production line layout and reduced space utilization. Utility Model Content

[0007] The purpose of this invention is to address the problems existing in the prior art by providing a casting film transfer device with quick-change long and short forks. This solves the technical problem that the robotic arm's posture is difficult to cover all loading and unloading points, ensuring the smooth transfer of the film between different workstations, and reducing costs and space occupation.

[0008] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0009] A quick-change long and short fork transfer device for cast film housings includes a transfer robotic arm, a pick-and-place rack, a long fork, and a short fork. The pick-and-place rack is located on one side of the transfer robotic arm and has a first placement rack and a second placement rack for placing the long fork and the short fork, respectively. The long fork or the short fork is connected to the end of the transfer robotic arm via a quick-connect assembly, and the other end of the long fork is provided with a fork head for inserting into the bottom groove of the module.

[0010] Furthermore, the quick-connect assembly includes a main disk and two auxiliary disks. One side of the main disk is fixed to the end of the transfer robotic arm, and the other side is provided with a convex truncated cone. The circumference of the convex truncated cone is provided with several slots, and each slot contains a steel ball. The steel ball is movably confined within the slot, and one side can extend out of the slot. The main disk is provided with an air chamber, and each slot communicates with the air chamber. The outer side of the main disk is provided with an air pipe connector connected to the air chamber. The two auxiliary disks are respectively fixed to the ends of the long fork and the short fork. The auxiliary disks are provided with an inner hole that mates with the convex truncated cone, and the inner wall of the inner hole is provided with a ring groove that engages with the steel ball.

[0011] Furthermore, the fork head is a bent plate with a trapezoidal cross-section, and the upper side of the fork head is provided with several positioning grooves.

[0012] Furthermore, it includes a cap-retrieving mechanism disposed on the pick-and-place rack, the cap-retrieving mechanism including a junction box, a displacement driving device, a movable arm, a negative pressure suction nozzle, and a chute; the junction box and the chute are respectively fixed to the pick-and-place rack, one side of the junction box is connected to the displacement driving device, the displacement driving device is connected to the movable arm, and the movable arm is connected to the negative pressure suction nozzle.

[0013] Furthermore, the displacement driving device includes a lifting driving device and a rotating driving device. The lifting driving device is fixed to the junction box, and its movable part is connected to the rotating driving device. The movable part of the rotating driving device is connected to the movable arm.

[0014] Furthermore, the negative pressure suction nozzle includes a main tube, a connecting tube, and an adsorption shell. One end of the movable arm is provided with a retaining ring, the main tube is fixedly disposed in the retaining ring, one end of the main tube is connected to the connecting tube, and the other end is connected to the adsorption shell.

[0015] Compared with the prior art, the beneficial effects of this utility model are:

[0016] By setting up long and short forks and using quick-connect components for rapid replacement, when it is necessary to lift the membrane shell from a distant loading tray, the transfer robotic arm engages with the long fork, utilizing the length advantage of the long fork to easily reach the distant loading tray position to complete the lifting operation; when it is necessary to place the cast membrane shell on a nearby unloading tray, the transfer robotic arm quickly and automatically switches to the short fork, avoiding problems such as interference or inconvenience that may occur when operating at close range due to the use of an excessively long fork. This effectively solves the technical problem that the robotic arm's posture cannot cover all loading and unloading points, ensuring the smooth transfer of membrane shells between different workstations;

[0017] The transfer device does not require an additional moving module. It can achieve flexible operation of the robotic arm between workstations at different distances by quickly changing the fork of different lengths through quick-connect components. This greatly reduces the purchase and installation costs of the equipment, reduces the space occupied by the equipment on the production line, and improves space utilization.

[0018] The quick-connect assembly automates the connection and disconnection process between the long and short forks and the transfer robotic arm, and the operation is quick and convenient, greatly reducing the waiting time during the transfer process and improving the overall efficiency of the casting membrane shell transfer process.

[0019] A cap-removing mechanism is installed, which can automatically remove the cap from the preheated membrane shell and place it on the chute to slide away, thus meeting the actual needs of the casting process and improving the automation and efficiency of production. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the overall structure of the casting film shell transfer device in one embodiment of this application;

[0022] Figure 2 This is a schematic diagram of the structure of the long fork and the short fork in one embodiment of this application;

[0023] Figure 3 This is a schematic diagram of the structure of the main disk and the sub-disk in one embodiment of this application;

[0024] Figure 4 This is a schematic diagram of the structure of the pick-and-place rack and the cap-removing mechanism in one embodiment of this application;

[0025] Figure 5This is a schematic diagram of the structure of the movable arm and the negative pressure nozzle in one embodiment of this application;

[0026] In the diagram: 1. Transfer robotic arm; 2. Pick-and-place rack; 3. Long fork; 4. Short fork; 5. Main plate; 6. Sub-plate; 7. Junction box; 8. Displacement drive device; 9. Movable arm; 10. Negative pressure suction nozzle; 11. Chute; 21. First placement rack; 22. Second placement rack; 31. Fork head; 51. Convex truncated cone; 52. Steel ball; 61. Ring groove; 91. Clamping ring; 101. Main tube; 102. Connecting tube; 103. Adsorption shell. Detailed Implementation

[0027] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0028] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the utility model product is in use. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first," "second," and "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0029] Furthermore, terms such as "horizontal" and "vertical" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0030] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0031] The production process of casting membrane shells involves the transfer of membrane shells between multiple stations, including the loading tray, preheating furnace, casting furnace, and unloading tray. In the actual layout of the production line, due to factors such as the need to avoid the running paths of equipment such as AGVs and space constraints, the loading tray and unloading tray often need to be placed in specific and relatively fixed locations.

[0032] Meanwhile, the robotic arm used to perform transfer tasks has certain limitations due to constraints imposed by its mechanical structure and the layout of surrounding equipment. This makes it difficult for the robotic arm to cover all loading and unloading points in its current posture, thus preventing the effective transfer of the membrane shell between different workstations.

[0033] To address the aforementioned technical challenges, traditional solutions typically employ a moving module to drive the robotic arm in displacement, thereby expanding its working range and enabling it to reach various loading and unloading points. However, this traditional approach has several significant drawbacks.

[0034] First, the mobile module itself is relatively expensive, increasing the overall cost of the equipment. Second, to ensure the coordinated operation between the mobile module and the robotic arm, complex electrical connections, control system debugging, and related mechanical installations are required, further increasing the installation cost of the equipment.

[0035] In addition, mobile modules are usually large in size and occupy a large area. When the production line layout is already tight, the additional mobile modules will occupy valuable production space, resulting in a less compact production line layout and reduced space utilization.

[0036] like Figures 1 to 3 As shown, in view of the above technical problems, this application provides a casting film shell transfer device for quick replacement of long and short forks, including a transfer robotic arm 1, a pick-and-place rack 2, a long fork 3, and a short fork 4; the pick-and-place rack 2 is located on one side of the transfer robotic arm 1, and the pick-and-place rack 2 is provided with a first placement rack 21 and a second placement rack 22, which are respectively used to place the long fork 3 and the short fork 4; the long fork 3 or the short fork 4 is connected to the end of the transfer robotic arm 1 through a quick-connect assembly, and the other end of the long fork 3 is provided with a fork head 31 for inserting into the bottom groove of the module.

[0037] The long fork 3 is placed on the first placement frame 21, and the short fork 4 is placed on the second placement frame 22. One end of both the long fork 3 and the short fork 4 can be quickly connected and disconnected from the end of the transfer robotic arm 1 via a quick-connect assembly. The other end of the long fork 3 is provided with a fork head 31 for inserting into the bottom groove of the module to lift the membrane shell.

[0038] During loading, the transfer robotic arm 1 first moves to the end of the long fork 3 and automatically connects with the long fork 3 via a quick-connect assembly. After connection, the transfer robotic arm 1 moves the long fork 3 to the loading tray and uses the fork head 31 at the end of the long fork 3 to insert into the groove at the bottom of the membrane shell to lift the membrane shell. The transfer robotic arm 1 places the lifted membrane shell into the preheating furnace for preheating. After preheating, the transfer robotic arm 1 removes the membrane shell from the preheating furnace and transfers the preheated membrane shell to the casting furnace for casting operations.

[0039] After the casting operation is completed, the transfer robotic arm 1 moves the long fork 3 to the pick-and-place rack 2 and places the long fork 3 on the first placement rack 21. At this time, the quick-connect assembly automatically disconnects. The transfer robotic arm 1 then moves to the end of the short fork 4 and automatically connects with the short fork 4 through the quick-connect assembly. After the connection is completed, the transfer robotic arm 1 moves the short fork 4 to the casting furnace and takes the cast membrane shell out of the casting furnace. Finally, the transfer robotic arm 1 places the membrane shell on the nearby unloading tray, completing the entire transfer process of the cast membrane shell.

[0040] The transfer device in this embodiment uses a long fork 3 and a short fork 4, and a quick-connect assembly for rapid replacement. When it is necessary to lift the film shell from the loading tray at a distance, the transfer robotic arm 1 engages with the long fork 3. Taking advantage of the length of the long fork 3, it can easily reach the distant loading tray position to complete the lifting operation. When it is necessary to place the cast film shell on the unloading tray at a closer location, the transfer robotic arm 1 quickly and automatically switches to the short fork 4. This avoids problems such as interference or inconvenience that may occur when operating at close range due to the use of an excessively long fork, thus effectively solving the technical problem that the robotic arm posture cannot cover all loading and unloading points.

[0041] The transfer device in this embodiment requires no additional moving modules. By simply using quick-connect components to rapidly change forks of different lengths, the robotic arm can flexibly operate between workstations at different distances, significantly reducing equipment procurement and installation costs. Furthermore, since it eliminates the need for additional moving modules and complex mechanical structures, it also reduces the space occupied by the equipment on the production line, resulting in a more compact and rational production line layout and improved space utilization.

[0042] The quick-connect assembly design automates the connection and disconnection process between the long fork 3 and the short fork 4 and the transfer robotic arm 1, making the operation fast and convenient. The transfer robotic arm 1 can complete the fork replacement in a short time and quickly move to the next stage of the transfer work, greatly reducing the waiting time during the transfer process and improving the overall efficiency of the casting membrane shell transfer process.

[0043] In some embodiments, the quick-connect assembly includes a main disk 5 and two auxiliary disks 6. One side of the main disk 5 is fixed to the end of the transfer robotic arm 1, and the other side is provided with a convex frustum 51. The circumference of the convex frustum 51 is provided with a plurality of slots, and each slot is provided with a steel ball 52. The steel ball 52 is movably confined within the slot, and one side can extend out of the slot. The main disk 5 is provided with an air chamber, and each slot communicates with the air chamber. The outer side of the main disk 5 is provided with an air pipe connector connected to the air chamber. The two auxiliary disks 6 are fixed to the ends of the long fork 3 and the short fork 4, respectively. The auxiliary disks 6 are provided with an inner hole that mates with the convex frustum 51. The inner wall of the inner hole is provided with a ring groove 61 that engages with the steel ball 52.

[0044] When connecting the fork, the robotic arm aligns the convex frustum 51 of the main disk 5 with the inner hole of the insert disk 6. At this point, no air is supplied to the air chamber, allowing the insert disk 6 to be inserted smoothly. Once the insert disk 6 is fully inserted, air is supplied to the air chamber and maintained. Under the pressure of the gas, one side of the steel ball 52 protrudes from the slot and engages with the annular groove 61 in the inner hole of the insert disk 6, thus connecting the main disk 5 and the insert disk 6, i.e., connecting the transfer robotic arm 1 and the fork. When disconnection is required, air supply to the air chamber is stopped, the steel ball 52 retracts into the slot, releasing the engagement with the annular groove 61, allowing the insert disk 6 to be pulled out of the main disk 5, completing the separation of the fork from the transfer robotic arm 1.

[0045] Through the cooperation of the main plate 5 and the auxiliary plate 6, the expansion and contraction of the steel ball 52 is controlled by the change of air pressure in the air chamber, so as to realize the engagement and separation with the inner ring groove 61 of the auxiliary plate 6. This enables the quick and automatic connection and disconnection of the transfer robot arm 1 with the long fork 3 and the short fork 4, which greatly shortens the fork replacement time and improves the working efficiency of casting film shell transfer.

[0046] In some embodiments, the fork head 31 is a bent plate with a trapezoidal cross-section, and the upper side of the fork head 31 is provided with a plurality of positioning grooves 311.

[0047] Because the fork head 31 and the trapezoidal groove are matched in shape, the trapezoidal structure provides good guidance and limiting function, allowing the fork head 31 to be smoothly and stably inserted into the trapezoidal groove, thereby lifting the membrane shell. At the same time, during the lifting and transfer of the membrane shell, the positioning groove 311 on the upper side of the fork head 31 can play a role in positioning the membrane shell placed on the fork head 31, limiting the slippage of the membrane shell on the surface of the fork head 31, and ensuring the positional stability of the membrane shell during the transfer process.

[0048] like Figure 4 and Figure 5As shown, in some embodiments, the casting film shell transfer device further includes a cap-removing mechanism disposed on the pick-and-place frame 2. The cap-removing mechanism includes a junction box 7, a displacement driving device 8, a movable arm 9, a negative pressure suction nozzle 10, and a chute 11. The junction box 7 and the chute 11 are respectively fixed to the pick-and-place frame 2. One side of the junction box 7 is connected to the displacement driving device 8, the displacement driving device 8 is connected to the movable arm 9, and the movable arm 9 is connected to the negative pressure suction nozzle 10.

[0049] In the casting process, due to dust in the preheating furnace, the mold shell needs to be covered during the preheating stage to prevent dust from entering the mold cavity. After preheating, the transfer robotic arm 1 moves the mold shell to the location of the cover removal mechanism. At this time, the junction box 7 receives the command and controls the displacement drive device 8 to start. The displacement drive device 8 drives the movable arm 9 to move, and the movable arm 9 moves the negative pressure suction nozzle 10 together until the negative pressure suction nozzle 10 is precisely aligned with the cover of the mold shell. Then, the negative pressure suction nozzle 10 generates negative pressure, firmly sucking the cover. Next, the displacement drive device 8 drives the movable arm 9 and the negative pressure suction nozzle 10 to move again, placing the sucked-up cover on the chute 11. The cover slides away along the chute 11, completing the cover removal operation. Afterward, the transfer robotic arm 1 continues to send the covered mold shell into the casting furnace for casting.

[0050] In some embodiments, the displacement drive device 8 includes a lifting drive device and a rotating drive device. The lifting drive device is fixed to the junction box 7, and its movable part is connected to the rotating drive device. The movable part of the rotating drive device is connected to the movable arm 9.

[0051] Once preheating is complete, when the transfer robotic arm 1 moves the membrane shell to the cap-retrieving mechanism, the junction box 7 receives a control signal and first activates the lifting drive device. The movable part of the lifting drive device begins to move, driving the connected rotary drive device to move vertically, thereby adjusting the height of the rotary drive device, the subsequent movable arm 9, and the negative pressure suction nozzle 10 to be close to the height of the membrane shell cap. After the height is adjusted, the junction box 7 controls the rotary drive device to start, and the movable part of the rotary drive device drives the movable arm 9 to rotate, so that the negative pressure suction nozzle 10 at the end of the movable arm 9 can accurately align with the membrane shell cap. After the negative pressure suction nozzle 10 is aligned with the cap, the negative pressure suction nozzle 10 generates negative pressure to suck up the cap. Then, the lifting drive device and the rotary drive device work together again to lift the sucked cap to a suitable height and rotate it above the chute 11, placing the cap on the chute 11 to slide away, completing the entire cap-retrieving process.

[0052] In some embodiments, the negative pressure suction nozzle 10 includes a main tube 101, a connecting tube 102 and an adsorption shell 103. One end of the movable arm 9 is provided with a retaining ring 91. The main tube 101 is fixedly disposed in the retaining ring 91. One end of the main tube 101 is connected to the connecting tube 102 and the other end is connected to the adsorption shell 103.

[0053] During the cap removal operation, driven by the displacement drive device 8, the movable arm 9 moves the negative pressure suction nozzle 10 to the vicinity of the membrane shell cap, ensuring that the adsorption shell 103 is accurately aligned with the cap. The external negative pressure device is connected to the main body tube 101 via the connecting pipe 102. When the negative pressure device is activated, the negative pressure is sequentially transmitted through the connecting pipe 102 and the main body tube 101 to the adsorption shell 103. After the adsorption shell 103 contacts the membrane shell cap, a sealed space is formed between the cap and the adsorption shell 103 under the action of negative pressure, firmly adsorbing the cap onto the adsorption shell 103. Subsequently, the displacement drive device 8 again drives the movable arm 9 and the negative pressure suction nozzle 10 to move, bringing the negative pressure suction nozzle 10 with the cap adsorbed onto the chute 11. The negative pressure device is then turned off, and the cap, losing its adsorption force, detaches from the adsorption shell 103 and slides away along the chute 11, completing the cap removal process.

[0054] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A quick change long and short fork casting shell transfer device, characterized in that, Includes a transfer robotic arm (1), a pick-and-place rack (2), a long fork (3), and a short fork (4); The pick-and-place rack (2) is located on one side of the transfer robotic arm (1). The pick-and-place rack (2) is provided with a first placement rack (21) and a second placement rack (22), which are used to place the long fork (3) and the short fork (4) respectively. The long fork (3) or the short fork (4) is connected to the end of the transfer robotic arm (1) via a quick-connect assembly. The other end of the long fork (3) is provided with a fork head (31) for inserting into the bottom groove of the module.

2. The quick-change long-short fork casting film shell transfer device according to claim 1, characterized in that, The quick-connect assembly includes a main disk (5) and two auxiliary disks (6). One side of the main disk (5) is fixed to the end of the transfer robotic arm (1), and the other side is provided with a convex frustum (51). The convex frustum (51) has several slots on its periphery. Each slot is provided with a steel ball (52). The steel ball (52) is movably confined within the slot, and one side can extend out from the slot. The main plate (5) is provided with an air cavity, and each of the slots is connected to the air cavity. The outer side of the main plate (5) is provided with an air pipe connector connected to the air cavity. The two sub-discs (6) are respectively fixed to the ends of the long fork (3) and the short fork (4). The sub-disc (6) is provided with an inner hole that mates with the convex truncated cone (51). The inner wall of the inner hole is provided with a ring groove (61) that engages with the steel ball (52).

3. The quick-change long-short fork casting film shell transfer device according to claim 1, characterized in that, The fork head (31) is a bent plate with a trapezoidal cross-section, and the upper side of the fork head (31) is provided with several positioning grooves (311).

4. The casting film housing transfer device for quick replacement of long and short forks according to claim 1, characterized in that, Includes a cover-removing mechanism provided on the pick-and-place rack (2), the cover-removing mechanism including a junction box (7), a displacement driving device (8), a movable arm (9), a negative pressure suction nozzle (10), and a chute (11); The junction box (7) and the chute (11) are respectively fixed to the pick-and-place rack (2). One side of the junction box (7) is connected to the displacement drive device (8). The displacement drive device (8) is connected to the movable arm (9). The movable arm (9) is connected to the negative pressure suction nozzle (10).

5. The quick-change long-short fork casting film shell transfer device according to claim 4, characterized in that, The displacement drive device (8) includes a lifting drive device and a rotating drive device. The lifting drive device is fixed to the junction box (7), and its movable part is connected to the rotating drive device. The movable part of the rotating drive device is connected to the movable arm (9).

6. The quick-change long-short fork casting film shell transfer device according to claim 4, characterized in that, The negative pressure suction nozzle (10) includes a main tube (101), a connecting tube (102), and an adsorption shell (103). One end of the movable arm (9) is provided with a retaining ring (91). The main tube (101) is fixedly installed in the retaining ring (91). One end of the main tube (101) is connected to the connecting tube (102), and the other end is connected to the adsorption shell (103).

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