Automatic clamping hand for die-casting lower cylinder housing casting

Abstract

The utility model relates to foundry technology field, concretely relates to automatic clamping hand for lower cylinder body shell casting pressure casting forming, mechanical arm, frame body, install on mechanical arm, insert piece loading module, install one side of frame body, insert piece unloading module, opposite insert piece loading module install another side of frame body, insert piece unloading module is equipped with the first clamping head and second clamping head who can be close to or away from each other and the detection unit who can carry out real -time monitoring to the clamping stroke between the first clamping head and second clamping head, the utility model not only can insert piece and casting automatic feeding and unloading and can be according to current posture self -adjusting clamping position and force, and clamping is efficient and fast.

Description

Technical Field

[0001] This utility model relates to the field of casting processing technology, specifically to an automatic gripper for die casting of lower cylinder body shell castings. Background Technology

[0002] In the die-casting process of lower cylinder block shell castings, the automatic gripper is a key component in the handling, positioning, and demolding of the castings. Its clamping accuracy and stroke control directly affect the casting quality and production stability. However, existing automatic grippers generally suffer from technical problems such as insufficient clamping accuracy, difficulty in accurately controlling the clamping stroke, and poor clamping stability when clamping castings like lower cylinder block shells, which have complex structures, uneven wall thickness, and large variations in stiffness.

[0003] Traditional grippers often use fixed or unidirectional drive jaw structures when holding castings. When the jaws come into contact with the steel wall of the casting during operation, they fail to adaptively adjust to the wall thickness and force characteristics of different parts, which can easily cause excessive local clamping force or clamping deviation, resulting in indentations or slight deformation on the surface of the casting, which in turn affects the subsequent assembly accuracy and product qualification rate.

[0004] Furthermore, the clamping stroke of existing grippers mostly relies on mechanical limiters for passive control, which cannot adjust the clamping endpoint position in real time according to the actual dimensional tolerances and temperature changes of the casting. When the dimensions of the casting change slightly due to the thermal stress of die casting, the stroke error of the gripper will be amplified, which can easily lead to insufficient clamping or excessive clamping, thereby affecting the stable contact between the gripper and the casting and increasing the risk of slippage during demolding and handling. Utility Model Content

[0005] To address the aforementioned issues, an automatic gripper for die casting of lower cylinder block housings is provided. This invention proposes an automatic gripper that can not only automatically unload the casting but also automatically adjust the gripping position and force according to the current casting. This solves the problem that existing grippers cannot adaptively adjust to different wall thicknesses and stress characteristics, which can easily lead to excessive local gripping force or gripping deviation, resulting in indentations or slight deformation on the casting surface.

[0006] To address the problems of existing technologies, this utility model provides an automatic gripper and robotic arm for die casting of lower cylinder housing parts; a frame mounted on the robotic arm; an insert feeding module mounted on one side of the frame; and an insert unloading module mounted on the other side of the frame, opposite to the insert feeding module. The insert unloading module is equipped with a first gripping head and a second gripping head that can move closer or further apart, and a detection unit that can monitor the gripping stroke between the first gripping head and the second gripping head in real time.

[0007] Preferably, the insert unloading module further includes a first bidirectional synchronous driver capable of synchronously driving the first clamping head and the second clamping head to move closer or further apart; the first bidirectional synchronous driver is fixedly mounted horizontally on one side of the frame; the first clamping head and the second clamping head are fixedly mounted relative to each other on the two drive ends of the first bidirectional synchronous driver; there are two detection units, and the two detection units are respectively fixedly mounted on the inner side of the first clamping head and the second clamping head and are coaxially arranged.

[0008] Preferably, the detection unit is a stroke sensor; the stroke sensor is vertically disposed inside the first clamping head and the detection end is disposed towards the second clamping head.

[0009] Preferably, the insert feeding module is equipped with a material picking unit that can automatically pick up the insert and a material pushing unit that can automatically push the picked-up insert into the mold; the material picking unit is equipped with two material picking rods that can move closer or further apart, and when the two material picking rods move towards each other to the minimum distance, the picking ends of the two material picking rods can be inserted into the insert.

[0010] Preferably, the material handling unit further includes a second bidirectional synchronous driver capable of synchronously driving the two material handling rods to move towards each other, and positioning rods respectively coaxially fixed at the front ends of the two material handling rods.

[0011] Preferably, the second bidirectional synchronous driver is a pneumatic gripper.

[0012] Preferably, the pushing unit is provided with a push plate and a linear driver that can linearly reciprocate to extend and retract the push plate; the linear driver is horizontally fixed on one side of the frame and is centrally located between the two picking rods; the push plate is vertically fixed on the driving end of the linear driver.

[0013] Preferably, the linear actuator is an electric push rod.

[0014] The advantages of this utility model compared to the prior art are:

[0015] 1. This utility model adopts a dual clamping head and real-time stroke detection and feedback control, which enables the first clamping head and the second clamping head to adaptively position and form a stable contact with the steel wall of the casting with different wall thickness and curvature, thereby avoiding the problem of casting deformation or indentation caused by excessive clamping force.

[0016] 2. This utility model, through the cooperation of a stroke sensor and a control module, enables dynamic adjustment of the clamping stroke of the first clamping head and the second clamping head, ensuring that the first clamping head and the second clamping head accurately reach the predetermined clamping point, avoiding insufficient or excessive clamping, and improving repeatability accuracy.

[0017] 3. This utility model achieves automatic picking and placing and installation of castings through the cooperation of a robotic arm, a material handling unit and a material pushing unit, ensuring the stability of the castings' posture during handling, pushing and demolding processes, and reducing manual intervention and operational errors. Attached Figure Description

[0018] Figure 1 It is a three-dimensional automatic gripper used for die casting of lower cylinder block housing parts. Figure 1 .

[0019] Figure 2 It is a three-dimensional automatic gripper used for die casting of lower cylinder block housing parts. Figure 2 .

[0020] Figure 3 This is a cross-sectional view of the insert feeding module used in the die casting of the lower cylinder housing.

[0021] Figure 4 This is a side view of an automatic gripper used for die casting of the lower cylinder housing.

[0022] Figure 5 It is a three-dimensional automatic gripper used for die casting of lower cylinder block housing parts. Figure 3 .

[0023] Figure 6 This is an exploded 3D view of part of the automatic gripper used for die casting of the lower cylinder housing.

[0024] The numbers on the map are:

[0025] 1. Robotic arm;

[0026] 2. Frame;

[0027] 3. Insert feeding module; 31. Picking unit; 311. Picking rod; 312. Second bidirectional synchronous driver; 313. Positioning rod; 32. Pushing unit; 321. Push plate; 322. Linear driver;

[0028] 4. Insert blanking module; 41. First clamping head; 42. Second clamping head; 43. Detection unit; 44. First bidirectional synchronous driver. Detailed Implementation

[0029] To further understand the features, technical means, and specific objectives and functions achieved by this utility model, the following detailed description of this utility model is provided in conjunction with the accompanying drawings and specific embodiments.

[0030] See Figures 1 to 6As shown: an automatic gripper for die casting of lower cylinder housing parts, robotic arm 1; frame 2, mounted on robotic arm 1; insert loading module 3, mounted on one side of frame 2; insert unloading module 4, mounted on the other side of frame 2 opposite to insert loading module 3; insert unloading module 4 is provided with a first gripping head 41 and a second gripping head 42 that can move closer or further apart, and a detection unit 43 that can monitor the gripping stroke between the first gripping head 41 and the second gripping head 42 in real time.

[0031] When it is necessary to remove the injection-molded casting from the molding equipment, an external power source is first connected to drive the robotic arm 1 to move. The robotic arm 1 moves the frame 2, which is equipped with the insert unloading module 4, along a preset trajectory to the material handling position. Then, the insert unloading module 4 is driven to work, driving the first clamping head 41 and the second clamping head 42 to move precisely closer in opposite directions and toward the inner steel wall of the casting until the clamping end faces of the two clamping heads precisely fit with the corresponding parts of the steel wall of the casting and form a stable contact, thereby achieving the initial clamping and fixing of the casting.

[0032] During the clamping process, the detection unit 43 performs real-time detection and data acquisition on the clamping stroke of the first clamping head 41 and the second clamping head 42, and feeds the detection signals back to the control module. The control module finely corrects the movement of the clamping heads based on the feedback displacement and force parameters, enabling the two clamping heads to accurately reach the set clamping points under different clamping paths, achieving dynamic balance control of clamping stroke and clamping force. This control effectively prevents insufficient clamping force, clamping offset, or over-clamping caused by differences in casting wall thickness or deformation, ensuring the synchronization and stability of the clamping action.

[0033] In addition, the detection unit 43 continues to monitor the clamping status after clamping is completed. Once a clamping stroke deviation or abnormal force value is detected, the system can automatically adjust the output displacement of the drive module to achieve adaptive correction and secondary stabilization of the clamping posture, thereby ensuring the positional stability and force balance of the casting during handling or subsequent unloading.

[0034] The first clamping head 41 and the second clamping head 42 can not only achieve high-precision clamping of the steel wall of the lower cylinder housing casting, but also realize real-time detection and dynamic feedback adjustment of the clamping stroke during the clamping process. This effectively prevents clamping deviation and clamping overload problems, improves clamping stability and repeatability accuracy, and significantly enhances the safety and production consistency of automated die casting parts removal.

[0035] See Figure 2 and Figure 6As shown: The insert unloading module 4 further includes a first bidirectional synchronous driver 44 capable of synchronously driving the first clamping head 41 and the second clamping head 42 to move closer or further apart; the first bidirectional synchronous driver 44 is fixedly mounted horizontally on one side of the frame 2; the first clamping head 41 and the second clamping head 42 are fixedly mounted relative to each other on the two drive ends of the first bidirectional synchronous driver 44; there are two detection units 43, which are respectively fixedly mounted on the inner side of the first clamping head 41 and the second clamping head 42 and are coaxially arranged.

[0036] When it is necessary to remove the injection-molded casting from the molding equipment, an external power source is first connected to drive the robotic arm 1 to move. The robotic arm 1 moves the frame 2, which is equipped with the insert unloading module 4, along a preset trajectory to the material handling position. Then, the insert unloading module 4 is driven to work, driving the first clamping head 41 and the second clamping head 42 to move precisely closer in opposite directions and toward the inner steel wall of the casting until the clamping end faces of the two clamping heads precisely fit with the corresponding parts of the steel wall of the casting and form a stable contact, thereby achieving the initial clamping and fixing of the casting.

[0037] During the clamping process, the detection unit 43 performs real-time detection and data acquisition on the clamping stroke of the first clamping head 41 and the second clamping head 42, and feeds the detection signals back to the control module. The control module finely corrects the movement of the clamping heads based on the feedback displacement and force parameters, enabling the two clamping heads to accurately reach the set clamping points under different clamping paths, achieving dynamic balance control of clamping stroke and clamping force. This process effectively prevents insufficient clamping force, clamping offset, or over-clamping caused by differences in casting wall thickness or deformation, ensuring the synchronization and stability of the clamping action.

[0038] In addition, the detection unit 43 continues to monitor the clamping status after clamping is completed. Once a clamping stroke deviation or abnormal force value is detected, the system can automatically adjust the output displacement of the drive module to achieve adaptive correction and secondary stabilization of the clamping posture, thereby ensuring the positional stability and force balance of the casting during handling or subsequent unloading.

[0039] See Figure 2 As shown: The detection unit 43 is specifically a stroke sensor; the stroke sensor is vertically disposed inside the first clamping head 41 and the detection end is disposed towards the second clamping head 42.

[0040] The stroke sensor is vertically disposed inside the first clamping head 41, with its detection end facing the second clamping head 42. This allows for high-precision measurement of the distance change between the two clamping heads as they move towards each other. This configuration enables the stroke sensor to output stroke signals in real time throughout the entire process of the clamping heads approaching, contacting, and clamping the steel wall of the casting. The sensor also feeds the detection data back to the control module, allowing the system to automatically correct the clamping path or control the driver output based on the detection data, thus achieving dynamic adjustment and precise control of the clamping action.

[0041] By adopting a vertically mounted stroke sensor structure, not only is the measurement direction completely consistent with the clamping motion direction, thereby improving detection accuracy and response speed, but it also avoids detection errors caused by slight offsets of the clamping components, which helps to maintain the stability and consistency of the clamping stroke.

[0042] See Figure 1 and Figure 3 As shown: The insert feeding module 3 is equipped with a material picking unit 31 that can automatically pick up inserts and a material pushing unit 32 that can automatically push the picked-up inserts into the mold; the material picking unit 31 is equipped with two material picking rods 311 that can move closer or further apart. When the two material picking rods 311 move towards each other to the minimum distance, the picking ends of the two material picking rods 311 can be inserted into the insert.

[0043] In operation, when automatic feeding of inserts is required, an external power supply is first connected to drive the robotic arm 1. The robotic arm 1 drives the frame 2, on which the insert feeding module 3 is installed, to move along a set path, and precisely positions the insert feeding module 3 to the feeding station. At this time, the picking unit 31 is driven to move, causing the two picking rods 311 inside it to slide synchronously towards each other until the distance between the two picking rods 311 reaches its minimum value, so that the insertion ends of the two picking rods 311 are precisely aligned with the preset picking holes on the insert.

[0044] After the picking rod 311 is fully aligned with the picking hole, the picking unit 31 is driven to move, so that the two picking rods 311 move away from each other in opposite directions, thereby forming a tension state in the picking hole of the insert. The expansion force between the picking rods 311 is used to achieve stable clamping and reliable picking of the insert, avoiding displacement deviation or tilting of the insert during lifting or moving.

[0045] After clamping, the robotic arm 1, according to control commands, moves the inserted part along a set trajectory and precisely guides it into the mold area, ensuring coaxial alignment with the mold's mounting position. At this point, the pusher unit 32 is activated, its push rod advancing in a set direction to smoothly push the correctly positioned inserted part out between the two pick-up rods 311 and press it into the predetermined mounting position within the mold. The entire feeding process is controlled in a closed loop by an automatic control system, ensuring the continuity and synchronization of the picking, conveying, and pushing actions.

[0046] Through the above structure, the entire process of insert picking, clamping, conveying and installation is automated. This not only effectively improves the assembly accuracy and positioning consistency of insert feeding, avoiding misalignment and assembly errors caused by manual feeding, but also the tensioning design of the picking rod 311 can prevent the insert from loosening during transportation, improving the safety and reliability of the feeding process. In addition, with the precise release control of the pushing unit 32, the insert can be automatically installed in a stable posture to the designated position of the mold.

[0047] See Figure 3 As shown: The material handling unit 31 further includes a second bidirectional synchronous driver 312 capable of synchronously driving the two material handling rods 311 to move towards each other, and a positioning rod 313 coaxially fixed to the front end of the two material handling rods 311 respectively.

[0048] The positioning rod 313 is a rod structure adapted to the positioning hole provided on the insert. The outer diameter of the rod and the inner diameter of the hole are precisely matched within the tolerance range to ensure a wobbly and deviation-free positioning connection during insertion. The length and end shape of the positioning rod 313 can be customized according to the structural characteristics of the insert to ensure that it can penetrate deep into the hole to form a self-centering support during clamping, thereby improving positioning accuracy.

[0049] During operation, when it is necessary to move the two pick-up rods 311 towards each other to clamp the insert, only the second bidirectional synchronous driver 312 needs to be activated. Under the drive of the second bidirectional synchronous driver 312, the two pick-up rods 311 move towards each other along a symmetrical path, achieving precise clamping of the insert. After the two positioning rods 313 are inserted into the corresponding holes of the insert, the cooperation between the rods and the holes forms a mechanical limiting and self-centering effect, so that the insert will not rotate or shift during the clamping process, ensuring high stability and repeatability of the clamping process.

[0050] Through the above design, the second bidirectional synchronous driver 312 and the positioning rod 313 work together to ensure the synchronicity and symmetry of the two picking rods 311 during the clamping process, avoiding the deviation of the insert posture caused by uneven clamping force. On the other hand, the high-precision matching structure between the positioning rod 313 and the insert insertion hole can ensure the coaxial positioning of the insert while realizing rapid insertion and removal, thereby greatly improving the picking and placing accuracy and assembly efficiency in the automatic feeding process, reducing the reliance on manual intervention, and improving the automation level and stability and reliability of the equipment operation.

[0051] See Figure 3 As shown: The second bidirectional synchronous driver 312 is a pneumatic gripper.

[0052] The second bidirectional synchronous driver 312 is a pneumatic gripper that uses pneumatic drive to achieve synchronous driving and precise control of the two picking rods 311. The pneumatic gripper has a bidirectional piston structure inside, which can simultaneously drive the two output ends to move towards or away from each other after the air source is input, thereby realizing the synchronous clamping or opening action of the two picking rods 311.

[0053] During operation, when the pneumatic gripper is connected to compressed air, its internal piston slides symmetrically under the action of air pressure. Through the linkage mechanism, it drives the two picking rods 311 to move towards each other at equal distances, so that the positioning rods 313 of the picking rods 311 can be accurately inserted into the positioning holes of the insert, thereby achieving the clamping and fixing of the insert. When the air pressure acts in the opposite direction, the piston of the pneumatic gripper slides in the opposite direction, and the two picking rods 311 move synchronously in opposite directions, thereby completing the release operation of the insert.

[0054] By adopting this pneumatic gripper structure, not only is high synchronization and repeatability of the material handling rod 311 controlled, but the pneumatic method can also effectively reduce mechanical wear and simplify control logic, ensuring that it has the advantages of fast response, smooth operation and convenient maintenance in high-frequency automatic feeding.

[0055] The second bidirectional synchronous driver 312 is preferably a pneumatic gripper structure, but is not limited to this form. It can also be an electric push-clamp mechanism or a hydraulic clamping assembly with synchronous drive function. Its core function is to realize the synchronous opposite drive of the two pick-up rods 311. With this structure, the relative displacement between the pick-up rods 311 can be precisely adjusted under the command of the control system, ensuring the stability and consistency of their clamping path and clamping force, thereby meeting the automated pick-up and drop requirements of inserts of different specifications.

[0056] See Figure 3As shown: The pushing unit 32 is provided with a push plate 321 and a linear driver 322 that can linearly reciprocate to push the push plate 321 to extend and retract; the linear driver 322 is horizontally fixed on one side of the frame 2 and is centrally located between the two picking rods 311; the push plate 321 is vertically fixed on the driving end of the linear driver 322.

[0057] Once the insert is accurately positioned within the mold at its preset installation location by the driving and limiting action of the two pick-up rods 311 and the coordinated action of the robotic arm 1, only an external power supply is needed to drive the linear actuator 322 to automatically detach and push the insert. At this time, the output shaft of the linear actuator 322 extends forward along a preset stroke, causing the push rod connected to it to move linearly in sync. As the push rod moves forward, the push plate 321, fixedly connected to its front end, moves forward along the mold installation direction and forms an abutment surface with the back of the insert from the rear. Through continuous linear thrust transmission, the push plate 321 can stably and evenly push the insert out from the two pick-up rods 311, achieving separation of the insert from the pick-up mechanism.

[0058] To ensure the smoothness and repeatability of the pushing process, the force-bearing surface of the push plate 321 adopts an arc-shaped or planar structure design that matches the back of the insert, effectively preventing local stress concentration from causing insert deformation. Simultaneously, a buffer connection mechanism is provided between the linear actuator 322 and the push plate 321 to absorb excess impact force the moment the insert is completely pushed away, ensuring a smooth and reliable pushing action. Furthermore, the stroke length and thrust of the linear actuator 322 can be preset and programmed to adjust according to the structural dimensions and weight parameters of different types of inserts, achieving compatible feeding and stable pushing of inserts of various specifications.

[0059] By adopting a coordinated drive structure of linear actuator 322, push rod and push plate 321, the automatic detachment and precise pushing function of inserts after mold installation is realized, effectively avoiding the misalignment and jamming problems caused by traditional manual material handling.

[0060] See Figure 3 As shown: The linear actuator 322 is an electric push rod.

[0061] During operation, when it is necessary to push the insert away from the two pick-up rods 311, an external power source is connected to drive the electric push rod. The output shaft of the electric push rod extends smoothly in the forward direction, driving the push plate 321 connected to it forward. The push plate 321 abuts against the back of the insert from the rear side, and pushes the insert away from the pick-up rods 311 during the continuous pushing process, realizing the automatic disengagement and positioning release of the insert. After the pushing operation is completed, the electric push rod retracts in the reverse direction, driving the push plate 321 to reset, preparing for the next feeding cycle.

[0062] This invention can automatically load and unload inserts and castings, and can automatically adjust the clamping position and force according to the current posture, making clamping efficient and fast.

[0063] The above embodiments only illustrate one or more implementations of this utility model, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of this utility model. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the appended claims.

Claims

1. An automatic gripper for die-casting lower cylinder housing parts, characterized in that, robotic arm; The frame is mounted on the robotic arm; An insert feeding module is installed on one side of the frame. The insert unloading module is installed on the other side of the frame relative to the insert loading module; the insert unloading module is equipped with a first clamping head and a second clamping head that can move closer or further away from each other, and a detection unit that can monitor the clamping stroke between the first clamping head and the second clamping head in real time.

2. The automatic gripper for die casting of lower cylinder housing as described in claim 1, characterized in that, The insert unloading module also includes a first bidirectional synchronous driver capable of synchronously driving the first clamping head and the second clamping head to move closer or further apart. The first bidirectional synchronous driver is fixedly mounted horizontally on one side of the frame. The first clamping head and the second clamping head are fixedly disposed at the two drive ends of the first bidirectional synchronous driver; The detection unit device has two parts, and the two detection units are respectively fixedly installed inside the first clamping head and the second clamping head and are arranged coaxially.

3. The automatic gripper for die casting of lower cylinder housing as described in claim 2, characterized in that, The detection unit is specifically a stroke sensor; the stroke sensor is vertically disposed inside the first clamping head and the detection end is disposed towards the second clamping head.

4. The automatic gripper for die casting of lower cylinder housing as described in claim 1, characterized in that, The insert feeding module is equipped with a feeding unit that can automatically pick up inserts and a pushing unit that can automatically push the picked-up inserts into the mold. The material handling unit is equipped with two material handling rods that can move closer or further apart. When the two material handling rods move toward each other to the minimum distance, the material handling ends of the two material handling rods can be inserted into the insert.

5. The automatic gripper for die casting of lower cylinder housing as described in claim 4, characterized in that, The material handling unit also includes a second bidirectional synchronous driver capable of synchronously driving the two material handling rods to move towards each other, and positioning rods coaxially fixed to the front ends of the two material handling rods respectively.

6. The automatic gripper for die casting of lower cylinder housing as described in claim 5, characterized in that, The second bidirectional synchronous driver is a pneumatic gripper.

7. The automatic gripper for die casting of lower cylinder housing as described in claim 4, characterized in that, The feeding unit is equipped with a push plate and a linear driver that can linearly reciprocate to extend and retract the push plate; The linear actuator is horizontally fixed on one side of the frame and is centrally positioned between the two picking rods. The push plate is vertically fixed at the drive end of the linear actuator.

8. The automatic gripper for die casting of lower cylinder housing parts according to claim 7, characterized in that, The linear actuator is an electric push rod.

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