Operation robot for casting membrane shell

Abstract

The utility model discloses a running robot for casting a membrane shell, which comprises a mechanical arm, the tail end of the mechanical arm is connected with a mounting seat, the mounting seat is provided with a linear driving device and a straight pipe arm, and the other end of the straight pipe arm is connected with a clamping jaw mechanism; the movable end of the linear driving device is connected with the clamping jaw mechanism through a straight rod, and the straight rod penetrates through the straight pipe arm. The clamping jaw mechanism comprises a clamping jaw seat and two clamping jaw assemblies symmetrically arranged on the clamping jaw seat, each assembly comprises a clamping arm and two parallel connecting rods, one end of each connecting rod is connected with the clamping arm, the other end of each connecting rod is connected with the clamping jaw seat, and a parallelogram movement mechanism is formed; the straight rod penetrates through the clamping jaw seat and extends to the position between the two clamping jaw assemblies, the two middle rods are connected through the hinge blocks, and then the middle rods are rotationally connected with rod body parts of the connecting rods on the two sides. The linear driving device is arranged at the end, far away from the preheating furnace, of the straight pipe arm, so that the damage risk of high temperature to internal parts is reduced; and the clamping process is synchronous and stable, so that the membrane shell is uniformly stressed, and the clamping stability and reliability are improved.

Description

Technical Field

[0001] This utility model relates to the field of membrane shell casting technology, specifically to a rotating robot used for casting membrane shells. Background Technology

[0002] In the process of casting membrane shells, cold membrane shells usually need to be preheated before casting can be carried out. The preheating furnace is usually deep and the temperature is high, which poses a severe challenge to the transfer equipment.

[0003] Currently, in most transfer equipment, the linear drive unit is located near the gripping mechanism. This layout exposes the linear drive unit to frequent high-temperature environments during operation. The heat radiating from the preheating furnace directly bakes critical components such as electronic parts and seals inside the linear drive unit, while also generating intense heat radiation. Prolonged exposure to such high temperatures causes the performance of electronic components to gradually degrade, and seals to age faster, leading to accelerated aging and damage of the entire linear drive unit. This not only shortens the lifespan of the linear drive unit but also significantly increases equipment maintenance costs and downtime.

[0004] Furthermore, existing transfer equipment has many shortcomings in the design of its gripping mechanism. Most common gripping mechanisms employ simple lever or linkage structures. These traditional structures suffer from poor gripping stability and uneven force distribution when gripping membrane housings. Because the gripping arms cannot guarantee synchronization and stability during movement, the membrane housing experiences uneven force during gripping, easily leading to localized stress concentrations and increasing the risk of damage. Simultaneously, the unstable gripping state can easily cause the membrane housing to slip or wobble during transfer, affecting the subsequent processing quality. Utility Model Content

[0005] The purpose of this invention is to address the problems existing in the prior art by providing a robot for casting membrane shells. By placing the linear drive device at a distance from the preheating furnace on the straight tube arm, the risk of damage to internal components due to high temperatures is significantly reduced, and the service life of the linear drive device is extended. The clamping process is synchronous and stable, and the membrane shell is subjected to uniform force, avoiding damage to the membrane shell due to improper clamping, and effectively improving the stability and reliability of clamping.

[0006] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0007] A robotic arm for casting membrane shells includes a robotic arm with a mounting base at its end. The mounting base is connected to a linear drive device and a straight tube arm. The other end of the straight tube arm is connected to a gripper mechanism. The movable end of the linear drive device is connected to a straight rod, which passes through the straight tube arm and connects to the gripper mechanism. The gripper mechanism includes a gripper seat connected to the straight tube arm and two gripper assemblies symmetrically arranged on the gripper seat. Each gripper assembly includes a gripping arm and two parallel connecting rods. One end of the two connecting rods is connected to the gripping arm, and the other end is connected to the gripper seat, forming a parallelogram motion mechanism. The straight rod passes through the gripper seat and extends between the two gripper assemblies. The straight rod is connected to two intermediate rods via a hinge block. The two intermediate rods are rotatably connected to the rod bodies of the connecting rods on both sides.

[0008] Furthermore, the clamping arm includes a support plate and a floating plate. One end of the support plate is connected to two nodes of the parallelogram motion mechanism, and the middle part of the floating plate is rotatably connected to the support plate via a pin for floating clamping the membrane shell.

[0009] Furthermore, anti-slip blocks are fixedly provided at both ends of the clamping side of the floating plate, and anti-slip stripes are provided on the end face of the anti-slip blocks.

[0010] Furthermore, a triangular block is provided on one side of the floating plate, and an installation groove is provided on the support plate. The triangular block is embedded in the installation groove and is rotatably connected to the installation groove via a pin. There is a gap between the side end face of the floating plate and the support plate.

[0011] Furthermore, the straight pipe arm has a square cross-section, and an end plate is provided at the end of the straight pipe arm near the mounting base. A reinforcing plate is fitted on the outer side of the straight pipe arm, and the reinforcing plate is composed of two semi-circular plates spliced ​​together. The center of the reinforcing plate has a square hole that mates with the straight pipe arm. The reinforcing plate, the end plate, and the mounting base are fixed together by bolts.

[0012] Compared with the prior art, the beneficial effects of this utility model are:

[0013] By using a longer straight tube arm, the linear drive device is placed at the end of the straight tube arm that is far from the preheating furnace, keeping it away from the high-temperature area. This effectively avoids the direct baking and heat radiation of the linear drive device by high temperature, significantly reduces the risk of damage to internal components by high temperature, and extends the service life of the linear drive device.

[0014] The gripper mechanism consists of two connecting rods, gripping arms, and gripper seats forming a parallelogram motion mechanism. When gripping the membrane shell, the two gripping arms move closer to each other in a parallel gripping manner, ensuring that the movement of the two gripping arms is synchronous and stable during the gripping process. This makes the membrane shell subjected to uniform force, avoids damage to the membrane shell due to improper gripping, and effectively improves the stability and reliability of the gripping.

[0015] The clamping arm adopts a structural design of a support plate and a floating plate. The floating plate is rotatably connected to the support plate through a pin, realizing floating clamping. When the support plate approaches the membrane shell, the floating plate can adaptively rotate and adjust according to the actual situation of the membrane shell surface, which greatly improves the adaptability of the clamping arm to membrane shells of different shapes and sizes, and further ensures the stability and reliability of clamping. Attached Figure Description

[0016] 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.

[0017] Figure 1 This is a schematic diagram of the overall structure of the robot in one embodiment of this application;

[0018] Figure 2 This is a schematic diagram of the connection structure of the gripper mechanism, straight tube arm, and mounting base in one embodiment of this application;

[0019] Figure 3 This is a schematic diagram of the gripper mechanism in one embodiment of this application;

[0020] In the diagram: 1. Robotic arm; 2. Mounting base; 3. Linear drive device; 4. Straight tube arm; 5. Gripper mechanism; 51. Gripper seat; 52. Gripping arm; 521. Support plate; 522. Floating plate; 523. Anti-slip block; 524. Triangular block; 53. Connecting rod; 6. Straight rod; 7. Hinge block; 8. Intermediate rod; 41. End plate; 42. Reinforcing plate. Detailed Implementation

[0021] 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.

[0022] 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.

[0023] 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," not that the structure must be completely horizontal, but can be slightly tilted.

[0024] 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.

[0025] In the process of casting membrane shells, the membrane shells usually need to be preheated, and the temperature inside the preheating furnace is often at a high level, which poses a severe challenge to the transfer equipment.

[0026] Currently, in most transfer equipment, the linear drive unit is located near the gripping mechanism. This layout exposes the linear drive unit to frequent high-temperature environments during operation. The heat radiating from the preheating furnace directly bakes critical components such as electronic parts and seals inside the linear drive unit, while also generating intense heat radiation. Prolonged exposure to such high temperatures causes the performance of electronic components to gradually degrade, and seals to age faster, leading to accelerated aging and damage of the entire linear drive unit. This not only shortens the lifespan of the linear drive unit but also significantly increases equipment maintenance costs and downtime.

[0027] Furthermore, existing transfer equipment has many shortcomings in the design of its gripping mechanism. Most common gripping mechanisms employ simple lever or linkage structures. These traditional structures suffer from poor gripping stability and uneven force distribution when gripping membrane housings. Because the gripping arms cannot guarantee synchronization and stability during movement, the membrane housing experiences uneven force during gripping, easily leading to localized stress concentrations and increasing the risk of damage. Simultaneously, the unstable gripping state can easily cause the membrane housing to slip or wobble during transfer, affecting the subsequent processing quality.

[0028] like Figures 1 to 3 As shown, in view of the above technical problems, this application provides a robot for casting a mold shell, including a robotic arm 1. The end of the robotic arm 1 is connected to a mounting base 2. The mounting base 2 is connected to a linear drive device 3 and a straight tube arm 4. The other end of the straight tube arm 4 is connected to a gripper mechanism 5. The movable end of the linear drive device 3 is connected to a straight rod 6. The straight rod 6 passes through the straight tube arm 4 and connects to the gripper mechanism 5. The gripper mechanism 5 includes a gripper seat 51 connected to the straight tube arm 4 and two gripper assemblies symmetrically arranged on the gripper seat 51. Each gripper assembly includes a gripping arm 52 and two parallel connecting rods 53. One end of the two connecting rods 53 is connected to the gripping arm 52, and the other end is connected to the gripper seat 51, forming a parallelogram motion mechanism. The straight rod 6 passes through the gripper seat 51 and extends between the two gripper assemblies. The straight rod 6 is connected to two intermediate rods 8 through a hinge block 7. The two intermediate rods 8 are rotatably connected to the rod body of the connecting rods 53 on both sides.

[0029] The robotic arm 1, as the main motion actuator of the robot, performs multi-degree-of-freedom movements according to a preset program. During operation, the robotic arm 1, carrying the gripper mechanism 5 connected to its end, moves to the location of the membrane shell. Through precise positioning control, the gripper mechanism 5 is accurately aligned with the membrane shell, preparing for subsequent gripping actions.

[0030] When the membrane shell needs to be gripped, the linear drive device 3 is activated, and its movable end drives the straight rod 6 to move. The straight rod 6 passes through the gripper seat 51 and extends between the two gripper assemblies, connecting to two intermediate rods 8 via the hinge block 7. The two intermediate rods 8 are rotatably connected to the rod bodies of the connecting rods 53 on both sides. The movement of the straight rod 6 is transmitted to the connecting rods 53 through the intermediate rods 8. Due to the characteristics of the parallelogram motion mechanism, the gripping arms 52 on both sides will approach each other in a parallel clamping manner, thereby clamping the membrane shell. This parallel clamping method ensures that the movement of the gripping arms 52 on both sides is synchronous and smooth during the clamping process, so that the membrane shell is subjected to uniform force and avoids damage to the membrane shell due to improper clamping.

[0031] After the gripper mechanism 5 successfully grasps the membrane shell, the robotic arm 1 moves again to carry the membrane shell into the preheating furnace. Inside the preheating furnace, the membrane shell will undergo preheating treatment according to the set process parameters to meet the requirements of the subsequent casting process. After preheating is completed, the robotic arm 1 starts again to remove the preheated membrane shell from the preheating furnace and transfer it to the casting furnace at the casting station for casting operation.

[0032] By employing a relatively long straight tube arm 4, the linear drive device 3 is positioned at a distance from the preheating furnace. During actual operation, the temperature inside the preheating furnace is high. This arrangement keeps the linear drive device 3 away from the high-temperature zone, effectively preventing direct exposure to heat and radiation. This reduces the risk of damage to the internal components of the linear drive device 3, extends its service life, and improves the reliability and stability of the entire robot.

[0033] The gripper mechanism 5 comprises two connecting rods 53, gripping arms 52, and gripper seats 51 forming a parallelogram motion mechanism. When gripping the membrane housing, this mechanism ensures that the two gripping arms 52 always move closer or further apart in a parallel manner, achieving a parallel gripping method. Compared to traditional gripping methods, this increases the contact area between the gripping arms 52 and the membrane housing, allowing the gripping force to be distributed more evenly on the membrane housing surface, thereby improving the stability and reliability of the gripping and effectively preventing the membrane housing from slipping or shaking during gripping and transport.

[0034] Optionally, the linear drive device 3 can be an electric cylinder, a pneumatic cylinder, or a hydraulic cylinder.

[0035] In some embodiments, the clamping arm 52 includes a support plate 521 and a floating plate 522. One end of the support plate 521 is connected to two nodes of the parallelogram motion mechanism, and the middle part of the floating plate 522 is rotatably connected to the support plate 521 through a pin, for floating clamping the membrane shell.

[0036] The floating plate 522 is rotatably connected to the support plate 521 via a pin. When the support plate 521 approaches the membrane shell, the floating plate 522 begins to contact the surface of the membrane shell. Since the surface of the membrane shell may have some degree of irregularity, unevenness, or dimensional deviation, the rotatable connection structure between the floating plate 522 and the support plate 521 allows the floating plate 522 to adaptively adjust its rotation according to the actual conditions of the membrane shell surface, achieving floating clamping. This greatly improves the adaptability of the clamping arm 52 to membrane shells of different shapes and sizes, ensuring the stability and reliability of the clamping.

[0037] In some embodiments, anti-slip blocks 523 are fixedly provided at both ends of the clamping side of the floating plate 522, and anti-slip stripes are provided on the end face of the anti-slip blocks 523.

[0038] The anti-slip blocks 523 and their anti-slip stripes at both ends of the clamping side of the floating plate 522 significantly increase the friction between the clamping arm 52 and the membrane shell, effectively preventing the membrane shell from sliding during clamping and improving the stability of clamping. On the other hand, the anti-slip blocks 523, as a buffer and protective component, also protect the surface of the membrane shell, reducing the risk of damage to the surface of the membrane shell caused by clamping operations.

[0039] In some embodiments, a triangular block 524 is provided on one side of the floating plate 522, and a mounting groove is provided on the support plate 521. The triangular block 524 is embedded in the mounting groove and is rotatably connected to the mounting groove by a pin. There is a gap between the side end face of the floating plate 522 and the support plate 521.

[0040] The floating plate 522 can rotate around the pin shaft at a certain angle. There is a gap between the side end face of the floating plate 522 and the support plate 521, which provides the necessary space for the rotation of the floating plate 522 and limits the maximum rotation angle of the floating plate 522.

[0041] In some embodiments, the straight tube arm 4 has a square cross-section, and an end plate 41 is provided at the end of the straight tube arm 4 near the mounting base. A reinforcing plate 42 is fitted on the outside of the straight tube arm 4. The reinforcing plate 42 is composed of two semi-circular plates spliced ​​together. A square hole that mates with the straight tube arm 4 is provided in the middle of the reinforcing plate 42. The reinforcing plate 42, the end plate 41 and the mounting base 2 are fixed by bolts.

[0042] A reinforcing plate 42 is fitted onto the outer side of the straight pipe arm 4. The reinforcing plate 42 is composed of two semi-circular plates joined together, facilitating installation and disassembly. A square hole in the center of the reinforcing plate 42 mates with the straight pipe arm 4, allowing it to fit snugly against the outer surface of the straight pipe arm 4 after being fitted onto it. The reinforcing plate 42, end plate 41, and mounting base 2 are fixed together with bolts, enhancing the connection strength between the straight pipe arm 4 and the mounting base 2.

[0043] 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 rotating robot for casting membrane shells, characterized in that, The system includes a robotic arm (1), with a mounting base (2) connected to the end of the robotic arm (1). The mounting base (2) is connected to a linear drive device (3) and a straight tube arm (4). The other end of the straight tube arm (4) is connected to a gripper mechanism (5). The movable end of the linear drive device (3) is connected to a straight rod (6). The straight rod (6) passes through the straight tube arm (4) and is connected to the gripper mechanism (5). The gripper mechanism (5) includes a gripper seat (51) connected to the straight tube arm (4) and two gripper assemblies symmetrically arranged on the gripper seat (51). Each gripper assembly includes a gripping arm (52) and two parallel connecting rods (53). One end of the two connecting rods (53) is connected to the gripping arm (52), and the other end is connected to the gripper seat (51), forming a parallelogram motion mechanism. The straight rod (6) passes through the gripper seat (51) and extends between the two gripper assemblies. The straight rod (6) is connected to the two intermediate rods (8) through the hinge block (7). The two intermediate rods (8) are rotatably connected to the rod body of the connecting rods (53) on both sides respectively.

2. The operating robot for casting membrane shells according to claim 1, characterized in that, The clamping arm (52) includes a support plate (521) and a floating plate (522). One end of the support plate (521) is connected to two nodes of the parallelogram motion mechanism. The middle part of the floating plate (522) is rotatably connected to the support plate (521) through a pin, and is used to float and clamp the membrane shell.

3. The operating robot for casting membrane shells according to claim 2, characterized in that, The two ends of the clamping side of the floating plate (522) are respectively fixed with anti-slip blocks (523), and the end face of the anti-slip blocks (523) is provided with anti-slip stripes.

4. A rotating robot for casting membrane shells according to claim 2, characterized in that, The floating plate (522) has a triangular block (524) on one side, and the support plate (521) has an installation groove. The triangular block (524) is embedded in the installation groove and is rotatably connected to the installation groove by a pin. There is a gap between the side end face of the floating plate (522) and the support plate (521).

5. A rotating robot for casting membrane shells according to claim 1, characterized in that, The straight tube arm (4) has a square cross-section. The end of the straight tube arm (4) near the mounting base (2) is provided with an end plate (41). A reinforcing plate (42) is fitted on the outside of the straight tube arm (4). The reinforcing plate (42) is composed of two semi-circular plates spliced ​​together. The middle part of the reinforcing plate (42) is provided with a square hole that mates with the straight tube arm (4). The reinforcing plate (42), the end plate (41) and the mounting base (2) are fixed by bolts.

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