A robotic gripper for water pipe core sand coring and dip coating

Abstract

The application discloses a kind of robot gripper for water pipe core sand core coring and dip coating, it is related to water pipe core sand core processing technical field, including connecting plate, the connecting plate one side is fixed with robot connecting seat, the other side of the connecting plate is fixed with two thin air cylinders, the output end of the thin air cylinder is provided with gas expansion holder, the connecting plate installation thin air cylinder one side is fixed with first claw air cylinder, the output end of the first claw air cylinder is provided with first holder, the connecting plate installation thin air cylinder one side is fixed with two symmetrically arranged second claw air cylinder, the output end of the second claw air cylinder is provided with second holder, the connecting plate installation thin air cylinder one side is fixed with two symmetrically arranged third claw air cylinder, the output end of the third claw air cylinder is provided with third holder.The gripper cooperates with robot can be applied to two different core boxes, reduce labor cost, shorten the time of making core, increase profit and competitiveness.

Description

Technical Field

[0001] This application relates to the field of water pipe core sand core processing technology, and in particular to a robotic gripper for core extraction and impregnation coating of water pipe core sand cores. Background Technology

[0002] In the engine block casting process, sand cores play a crucial role. They are a core process component for forming the complex cavities, holes, and special structures inside the engine block. They precisely outline the shapes of key components such as cylinder water jackets, oil passages, and air passages, ensuring that the internal structure of the casting meets design requirements. Simultaneously, sand cores also provide support when molten metal fills the mold cavity, preventing deformation caused by the impact of the molten metal. This ensures the dimensional accuracy and structural integrity of the casting, making them an indispensable process element for achieving the complex structure of the engine block. The sand core fabrication process typically involves several intricate steps. First, based on the engine block's structural design, a corresponding sand core box is fabricated. The precision of the core box directly affects the size and shape of the sand core. Next, prepared molding sand is filled into the core box cavity, and the sand is compacted, vibrated, or shot to form the initial shape of the sand core. Then, the formed sand core undergoes a hardening treatment, using methods such as heating and air blowing to allow the binder to work, enhancing the sand core's strength and permeability. Finally, after finishing and inspection, burrs and defects on the sand core surface are removed to ensure the sand core quality meets casting requirements. Currently, sand core production primarily employs manual core extraction and dip-coating methods, which have significant limitations. Manual core extraction requires workers to directly handle the sand cores, resulting in high labor intensity and fatigue. The dip-coating process also relies heavily on manual operation, requiring workers to immerse each sand core individually in the coating and then remove and drain it—a slow process. These manual methods lead to low sand core production efficiency, failing to match the designed cycle time of the equipment and severely hindering overall production progress. Utility Model Content

[0003] The purpose of this application is to address the problem mentioned in the background art that the manual operation method during sand core extraction and dipping results in low sand core production efficiency, which cannot match the upper limit of the equipment design cycle time and seriously restricts the improvement of the overall production progress. This application provides a robotic gripper for sand core extraction and dipping of water pipe cores.

[0004] To achieve the above objectives, this application specifically adopts the following technical solution: A robotic gripper for core sampling and impregnation of water pipe cores includes a connecting plate. A robot connecting seat is fixed to one side of the connecting plate, and two thin cylinders are fixed to the other side of the connecting plate. The output end of each thin cylinder is provided with an air-expanding gripper. A first gripper cylinder is fixed to the side of the connecting plate where the thin cylinders are mounted, and the output end of the first gripper cylinder is provided with a first gripper. Two symmetrically arranged second gripper cylinders are fixed to the side of the connecting plate where the thin cylinders are mounted, and the output end of each second gripper cylinder is provided with a second gripper. Two symmetrically arranged third gripper cylinders are fixed to the side of the connecting plate where the thin cylinders are mounted, and the output end of each third gripper cylinder is provided with a third gripper.

[0005] By adopting the above technical solution, when gripping the combination of No. 1 and No. 2 sand cores, the thin cylinder drives the air-expanding clamping component to internally support and clamp the No. 1 sand core, the first gripper cylinder drives the first clamping component to clamp the protrusions on the surface of the No. 1 sand core, and the second gripper cylinder drives the second clamping component to clamp the protrusions on the surface of the No. 2 sand core, thereby achieving the gripping of the combination of No. 1 and No. 2 sand cores; when gripping the combination of No. 1 and No. 3 sand cores, the thin cylinder drives the air-expanding clamping component to internally support and clamp the No. 1 sand core, the first gripper cylinder drives the first clamping component to clamp the protrusions on the surface of the No. 1 sand core, and the third gripper cylinder drives the second clamping component to clamp the protrusions on the surface of the No. 3 sand core, thereby achieving the gripping of the combination of No. 1 and No. 3 sand cores.

[0006] Furthermore, the air-expanding clamping component includes an air-expanding rod fixed to the output end of the thin cylinder, and a rubber expansion sleeve is fixed to the end of the air-expanding rod away from the thin cylinder.

[0007] By adopting the above technical solution, when gripping the No. 1 sand core, the rubber expansion sleeve extends into the groove on the surface of the No. 1 sand core. Then, the thin cylinder works to tighten the rubber expansion sleeve, causing the rubber expansion sleeve to expand and internally support and clamp the No. 1 sand core, thus achieving the clamping of the No. 1 sand core.

[0008] Furthermore, the first clamping member includes a first adjusting clamp plate fixed to the output end of the first pneumatic gripper cylinder, and there are two first adjusting clamp plates arranged symmetrically.

[0009] By adopting the above technical solution, when the first pneumatic gripper cylinder is working, it drives the two first adjusting clamps to clamp the protrusions on the surface of the No. 1 sand core, and in conjunction with the rubber expansion sleeve and other structures, it achieves the clamping of the No. 1 sand core. Furthermore, a first wear-resistant chuck is fixed to one side of each of the two first adjusting plates that are close to each other. The first wear-resistant chuck is a wear-resistant resin block.

[0010] By adopting the above technical solution, the first wear-resistant head made of wear-resistant resin material can improve the wear resistance of the first adjusting clamp, thereby increasing its service life. Furthermore, the second clamping member includes a second adjusting clamp plate fixed to the output end of the second pneumatic gripper cylinder, and there are two second adjusting clamp plates arranged symmetrically.

[0011] By adopting the above technical solution, when the second pneumatic gripper cylinder is working, it drives the two second adjusting clamps to clamp the protrusions on the surface of the No. 2 sand core, thereby achieving the clamping of the No. 2 sand core. Furthermore, a second wear-resistant chuck is fixed to one side of each of the two second adjusting plates that are close to each other. The second wear-resistant chuck is a wear-resistant resin block.

[0012] By adopting the above technical solution, the second wear-resistant head made of wear-resistant resin material can improve the wear resistance of the second adjusting clamp, thereby increasing its service life. Furthermore, the third clamping member includes a third adjusting clamp plate fixed to the output end of the third pneumatic gripper cylinder, and there are two third adjusting clamp plates arranged symmetrically.

[0013] By adopting the above technical solution, when the third pneumatic gripper cylinder is working, it drives the two third adjusting clamps to clamp the protrusions on the surface of the No. 3 sand core, thereby achieving the clamping of the No. 3 sand core.

[0014] Furthermore, a third wear-resistant chuck is fixed to one side of each of the two third adjusting plates that are close to each other. The third wear-resistant chuck is a wear-resistant resin block.

[0015] By adopting the above technical solution, the third wear-resistant head made of wear-resistant resin material can improve the wear resistance of the third adjusting clamp, thereby increasing its service life.

[0016] In summary, this application includes at least one of the following beneficial effects; 1. According to this application, the fixture, in conjunction with the robot, can simultaneously grasp the combination of No. 1 and No. 2 sand cores, as well as the combination of No. 1 and No. 3 sand cores. This allows for the application of two different core boxes, enabling core extraction and coating operations on two different core boxes, reducing labor costs, shortening core making time, improving work efficiency, and increasing profits and competitiveness. Attached Figure Description

[0017] Figure 1 This is a first three-dimensional structural schematic diagram of the robot gripper used for core extraction and impregnation of water pipe cores in this application; Figure 2 This is a second three-dimensional structural schematic diagram of the robot gripper used for core extraction and impregnation of water pipe cores in this application; Figure 3 It is the mating sand core of the clamp in this application with the No. 1 sand core and the No. 2 sand core; Figure 4It is the mating sand core of the clamp in this application with sand core No. 1 and sand core No. 3; Figure 5 This is a three-dimensional structural diagram of the first sand core assembly in this application; Figure 6 This is a three-dimensional structural diagram of the second set of sand core assemblies in this application.

[0018] Explanation of reference numerals in the attached figures: 1. Connecting plate; 2. Robot connecting seat; 3. Thin cylinder; 31. Air expansion rod; 32. Rubber expansion sleeve; 4. First gripper cylinder; 41. First adjusting clamp; 42. First wear-resistant chuck; 5. Second gripper cylinder; 51. Second adjusting clamp; 52. Second wear-resistant chuck; 6. Third gripper cylinder; 61. Third adjusting clamp; 62. Third wear-resistant chuck; 7. No. 1 sand core; 8. No. 2 sand core; 9. No. 3 sand core. Detailed Implementation

[0019] The following is in conjunction with the appendix Figures 1-6 This application will be described in further detail.

[0020] This application discloses a robotic gripper for core extraction and impregnation of water pipe cores.

[0021] Reference Figure 1-6 A robotic gripper for core extraction and impregnation of water pipe cores includes a connecting plate 1. A robotic connecting seat 2 is fixed to one side of the connecting plate 1, and two thin cylinders 3 are fixed to the other side of the connecting plate 1. The output end of the thin cylinders 3 is provided with an air-expanding gripper. A first gripper cylinder 4 is fixed to the side of the connecting plate 1 where the thin cylinders 3 are installed. The output end of the first gripper cylinder 4 is provided with a first gripper. Two symmetrically arranged second gripper cylinders 5 are fixed to the side of the connecting plate 1 where the thin cylinders 3 are installed. The output end of the second gripper cylinders 5 is provided with a second gripper. Two symmetrically arranged third gripper cylinders 6 are fixed to the side of the connecting plate 1 where the thin cylinders 3 are installed. The output end of the third gripper cylinders 6 is provided with a third gripper.

[0022] In use, the connecting plate 1 is installed on the robot's connecting seat, and the robot connecting seat 2 is connected to the robot, thus connecting the entire clamp to the robot. When gripping the combination of sand core 7 and sand core 8, the robot moves the entire clamp towards the core box of the combination of sand core 7 and sand core 8, causing the air-expanding clamping member to enter the groove on the surface of sand core 7, so that the first clamping member corresponds to the protrusion on the surface of sand core 7, and the second clamping member corresponds to the protrusion on the surface of sand core 8. The thin cylinder 3 then operates, pulling the air-expanding clamping component to internally support and clamp the No. 1 sand core 7. The No. 1 gripper cylinder operates, driving the No. 1 clamping component to clamp the protrusions on the surface of the No. 1 sand core 7. The No. 2 gripper cylinder operates, driving the No. 2 clamping component to clamp the protrusions on the surface of the No. 2 sand core 8. Afterward, the robot works with the clamping fixture to pick up the No. 1 sand core 7 and the No. 2 sand core 8 from the core box. Then, the picked-up No. 1 sand core 7 and the No. 2 sand core 8 are sent to the dip coating tank for dip coating. After dip coating, they are swung for a few seconds and then placed in the surface drying oven for drying. When gripping the combination of No. 1 sand core 7 and No. 3 sand core 9, the robot moves the entire fixture toward the core box containing the combination of No. 1 sand core 7 and No. 3 sand core 9, causing the air-expanding clamping component to enter the groove on the surface of No. 1 sand core 7, so that the first clamping component corresponds to the protrusion on the surface of No. 1 sand core 7, and the third clamping component corresponds to the protrusion on the surface of No. 3 sand core 9. Then, the thin cylinder 3 works, pulling the air-expanding clamping component to internally support and clamp No. 1 sand core 7. The first pneumatic gripper cylinder works, causing the first clamping component to clamp the protrusion on the surface of No. 1 sand core 7, and the third pneumatic gripper cylinder works, causing the third clamping component to clamp the protrusion on the surface of No. 3 sand core 9. After that, the robot works with the fixture to grab No. 1 sand core 7 and No. 3 sand core 9 from the core box, and then sends the grabbed No. 1 sand core 7 and No. 3 sand core 9 to the dip coating tank for dip coating. After dip coating, swing for a few seconds and then put into the surface drying oven for drying.

[0023] This fixture can be used for core extraction and dipping in two different core boxes, reducing manual labor and improving core making efficiency.

[0024] Reference Figures 1-4 The air-expanding clamping component includes an air-expanding rod 31 fixed to the output end of the thin cylinder 3, and a rubber expansion sleeve 32 fixed to the end of the air-expanding rod 31 away from the thin cylinder 3.

[0025] When gripping the No. 1 sand core 7, the rubber expansion sleeve 32 extends into the groove on the surface of the No. 1 sand core 7. Then, the thin cylinder 3 works to tighten the rubber expansion sleeve 32, causing the rubber expansion sleeve 32 to expand and internally support and clamp the No. 1 sand core 7, which facilitates the subsequent gripping and impregnation of the No. 1 sand core 7.

[0026] Reference Figures 1-4The first clamping component includes a first adjusting clamping plate 41 fixed to the output end of the first pneumatic gripper cylinder 4. There are two first adjusting clamping plates 41 arranged symmetrically.

[0027] Among them, the first wear-resistant chuck 42 is fixed on the side of the two first adjusting clamps 41 that are close to each other, and the first wear-resistant chuck 42 is a wear-resistant resin block.

[0028] When gripping the No. 1 sand core 7, the first pneumatic gripper cylinder 4 operates, causing the two first adjusting clamps 41 at its output end to move closer to each other, thereby clamping the protrusions on the surface of the No. 1 sand core 7. This, along with the rubber expansion sleeve 32 and other structures, achieves the clamping of the No. 1 sand core 7.

[0029] Reference Figures 1-4 The second clamping component includes a second adjusting clamping plate 51 fixed to the output end of the second pneumatic gripper cylinder 5. There are two second adjusting clamping plates 51 arranged symmetrically.

[0030] Among them, the two second adjusting clamps 51 are each fixed with a second wear-resistant chuck 52 on the side that is close to each other. The second wear-resistant chuck 52 is a wear-resistant resin block.

[0031] When gripping the No. 2 sand core 8, the second pneumatic gripper cylinder 5 operates, causing the two second adjusting clamps 51 at its output end to move closer to each other, thereby clamping the protrusions on the surface of the No. 2 sand core 8, thus achieving the clamping of the No. 2 sand core 8. In conjunction with the rubber expansion sleeve 32 and the first adjusting clamp 41, the No. 1 sand core 7 and the No. 2 sand core 8 can be gripped simultaneously.

[0032] Reference Figures 1-4 The third clamping component includes a third adjusting clamp 61 fixed to the output end of the third pneumatic gripper cylinder 6. There are two third adjusting clamps 61 arranged symmetrically.

[0033] Among them, the two third adjustment plates 61 are each fixed with a third wear-resistant chuck 62 on the side that is close to each other. The third wear-resistant chuck 62 is a wear-resistant resin block.

[0034] When gripping the No. 3 sand core 9, the third pneumatic gripper cylinder 6 operates, causing the two third adjusting clamps 61 at its output end to move closer to each other, thereby clamping the protrusions on the surface of the No. 3 sand core 9, thus achieving the clamping of the No. 3 sand core 9. In conjunction with the rubber expansion sleeve 32 and the first adjusting clamp 41, the No. 1 sand core 7 and the No. 3 sand core 9 can be gripped simultaneously.

[0035] Through the cooperation of the above structures, it is possible to simultaneously grasp the combination of No. 1 sand core 7 and No. 2 sand core 8, as well as the combination of No. 1 sand core 7 and No. 3 sand core 9. This allows for the use of two different core boxes, enabling core extraction and coating operations on two different core boxes, reducing labor costs, shortening core making time, improving work efficiency, and increasing profits and competitiveness.

[0036] Working principle: The connecting plate 1 is installed on the robot's connecting seat, and the robot connecting seat 2 is connected to the robot, so that the entire fixture is connected to the robot. When gripping the combination of No. 1 sand core 7 and No. 2 sand core 8, the robot moves the entire fixture toward the core box of the combination of No. 1 sand core 7 and No. 2 sand core 8, so that the rubber expansion sleeve 32 extends into the groove on the surface of No. 1 sand core 7, so that the first clamping member corresponds to the protrusion on the surface of No. 1 sand core 7, and the second clamping member corresponds to the protrusion on the surface of No. 2 sand core 8. Then the thin cylinder 3 works, tightening the rubber expansion sleeve 32, so that the rubber... The expansion sleeve 32 expands to internally support and clamp the No. 1 sand core 7. The No. 1 pneumatic gripper cylinder operates to bring the two first adjusting clamps 41 at its output end closer together, thereby clamping the protrusions on the surface of the No. 1 sand core 7. The No. 2 pneumatic gripper cylinder operates to bring the two second adjusting clamps 51 at its output end closer together, thereby clamping the protrusions on the surface of the No. 2 sand core 8, thus clamping the No. 2 sand core 8. Then, the robot works with the fixture to pick up the No. 1 sand core 7 and the No. 2 sand core 8 from the core box. The picked up No. 1 sand core 7 and the No. 2 sand core 8 are then sent to the dip coating tank for dip coating. After dip coating, they are swung for a few seconds and then placed in the surface drying oven for drying.

[0037] When gripping the combination of sand core 7 (No. 1) and sand core 9 (No. 3), the robot moves the entire gripper toward the core box containing the combination of sand core 7 and sand core 9. This causes the rubber expansion sleeve 32 to extend into the groove on the surface of sand core 7, aligning the first gripper with the protrusion on the surface of sand core 7 and the third gripper with the protrusion on the surface of sand core 9. Then, the thin cylinder 3 operates, tightening the rubber expansion sleeve 32, causing it to expand and internally grip sand core 7. The robot operates by bringing the two first adjusting clamps 41 at its output end closer together, thereby clamping the protrusions on the surface of the No. 1 sand core 7. The third pneumatic gripper cylinder operates by bringing the two third adjusting clamps 61 at its output end closer together, thereby clamping the protrusions on the surface of the No. 3 sand core 9, thus clamping the No. 3 sand core 9. Afterwards, the robot works with the gripper to pick up the No. 1 sand core 7 and the No. 3 sand core 9 from the core box, and then sends the picked up No. 1 sand core 7 and the No. 3 sand core 9 to the dip coating tank for dip coating. After dip coating, the cores are swung for a few seconds and then placed in the surface drying oven for drying.

Claims

1. A robotic gripper for core sampling and impregnation of water pipe cores, comprising a connecting plate (1), characterized in that: A robot connecting seat (2) is fixed on one side of the connecting plate (1), and two thin cylinders (3) are fixed on the other side of the connecting plate (1). The output end of the thin cylinder (3) is provided with an air-expanding clamping component. A first gripper cylinder (4) is fixed on the side of the connecting plate (1) where the thin cylinder (3) is installed. The output end of the first gripper cylinder (4) is provided with a first clamping component. Two symmetrically arranged second gripper cylinders (5) are fixed on the side of the connecting plate (1) where the thin cylinder (3) is installed. The output end of the second gripper cylinder (5) is provided with a second clamping component. Two symmetrically arranged third gripper cylinders (6) are fixed on the side of the connecting plate (1) where the thin cylinder (3) is installed. The output end of the third gripper cylinder (6) is provided with a third clamping component.

2. The robotic gripper for core sampling and impregnation of water pipe cores according to claim 1, characterized in that: The air expansion clamp includes an air expansion rod (31) fixed to the output end of the thin cylinder (3), and a rubber expansion sleeve (32) is fixed to the end of the air expansion rod (31) away from the thin cylinder (3).

3. A robotic gripper for core sampling and coating of water pipe cores according to claim 2, characterized in that: The first clamping member includes a first adjusting clamp (41) fixed at the output end of the first pneumatic gripper cylinder (4), and there are two first adjusting clamps (41) arranged symmetrically.

4. A robotic gripper for core sampling and impregnation of water pipe cores according to claim 3, characterized in that: Each of the two first adjusting clamps (41) is fixed with a first wear-resistant clamp (42) on one side that is close to each other. The first wear-resistant clamp (42) is a wear-resistant resin block.

5. A robotic gripper for core sampling and impregnation of water pipe cores according to claim 1, characterized in that: The second clamping member includes a second adjusting clamp (51) fixed at the output end of the second pneumatic gripper cylinder (5). There are two adjusting clamps (51) arranged symmetrically.

6. A robotic gripper for core sampling and impregnation of water pipe cores according to claim 5, characterized in that: The two second adjustment plates (51) are each fixed with a second wear-resistant chuck (52) on the side that is close to each other. The second wear-resistant chuck (52) is a wear-resistant resin block.

7. A robotic gripper for core sampling and impregnation of water pipe cores according to claim 1, characterized in that: The third clamping component includes a third adjusting clamp (61) fixed to the output end of the third pneumatic gripper cylinder (6), and there are two third adjusting clamps (61) arranged symmetrically.

8. A robotic gripper for core sampling and impregnation of water pipe cores according to claim 7, characterized in that: Each of the two third adjusting clamps (61) is fixed with a third wear-resistant chuck (62) on one side that is close to each other. The third wear-resistant chuck (62) is a wear-resistant resin block.

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