Device for improving the stability of a shell gripping

Abstract

The utility model relates to foundry technical field especially in the field of casting mechanical arm auxiliary operation device, concretely relates to a device that improves shell grabbing stability, including mechanical arm, install hydraulic cylinder and support disc on the mechanical arm, still include the shell tooling of installing on shell, the lower end of piston rod of hydraulic cylinder is installed with lifting hook, be provided with four support rods on shell tooling, when the lifting hook carries out hoisting to shell tooling, the upper end of four support rods is made to abut on the support disc by the retraction of piston rod, the utility model solves the problem that shell is easy to produce swing, displacement in the rotation, tumbling process of coating operation when the existing mechanical arm is through single lifting hook shell grabbing, leads to the problem that the coating is uneven or shell is damaged.

Description

Technical Field

[0001] This utility model relates to the field of casting technology, and in particular to a robotic arm-assisted operation device in the casting field, specifically a device for improving the stability of shell grasping. Background Technology

[0002] In the casting production process, surface coating treatment of the mold shell is one of the key steps. Its purpose is to form a uniform coating on the surface of the mold shell to ensure the surface quality, dimensional accuracy, and mechanical properties of the subsequent castings. To improve coating efficiency and uniformity, the industry now widely uses robotic arms to replace manual handling of the mold shell and to rotate and tumble it, so that the coating can fully cover the surface of the mold shell.

[0003] However, existing robotic arms have significant drawbacks in their method of gripping mold shells: most robotic arms are equipped with only a simple hook, which grips the mold shell or its fixture by hooking onto the hook. This single-hook gripping structure is prone to swaying, shaking, or even displacement of the mold shell when the robotic arm rotates or tumbles it for coating. On the one hand, swaying leads to instability in the relative position between the mold shell and the coating nozzle, resulting in uneven coating thickness. Some areas may have excessively thick coating, causing runs, while others may have insufficient coating to meet protective requirements, directly affecting the quality of subsequent castings. On the other hand, severe shaking or displacement may cause the mold shell to collide with coating equipment (such as the nozzle or frame), resulting in mold shell damage. This not only increases production costs but also necessitates the remanufacturing of the mold shell, extending the production cycle.

[0004] How to achieve stable gripping of molded shells on a robotic arm without changing a single hook, so as to facilitate coating actions such as shell rotation and tumbling, is an urgent problem to be solved. Utility Model Content

[0005] The main purpose of this invention is to propose a device to improve the stability of shell grasping, so as to solve the problem that when the existing robotic arm grasps the shell with a single hook, the shell is prone to swinging and displacement during the rotation and tumbling process of coating operation, resulting in uneven coating or shell damage.

[0006] To achieve the above objectives, this utility model proposes a device for improving the stability of shell gripping, including a robotic arm with a hydraulic cylinder and a support plate mounted on it; it also includes a shell tooling mounted on the shell; a hook is mounted on the lower end of the piston rod of the hydraulic cylinder; four support rods are provided on the shell tooling; when the hook lifts the shell tooling, the piston rod retracts, causing the upper ends of the four support rods to abut against the support plate.

[0007] Preferably, the axis of the hydraulic cylinder coincides with the axis of the central hole of the support plate, and the piston rod of the hydraulic cylinder is slidably inserted into the central hole of the support plate, with the lower end of the piston rod extending out of the support plate and connected to the hook.

[0008] Preferably, the support plate includes a columnar body, a disc-shaped body, and four support bars; the columnar body is integrally formed on the top surface of the disc-shaped body; the four support bars are evenly distributed on the outer peripheral surface of the disc-shaped body in a star-shaped pattern; a conical recess is provided on the bottom surface of the cantilever end of each support bar; a conical head is provided at the top of the support bar, and the conical head is used to abut against the conical recess.

[0009] Preferably, the taper of the conical socket is the same as the taper of the conical head.

[0010] Preferably, the shell tooling is detachably connected to the shell.

[0011] Preferably, the shell tooling includes a base plate, ear plates, and lifting rods; the base plate is used to connect with the shell; four support rods are respectively vertically installed at the four corners of the top surface of the base plate; two ear plates are installed on the top surface of the base plate, and the two ear plates are arranged relatively and spaced apart; the two ends of the lifting rod are respectively inserted into the through holes in the upper part of the ear plates.

[0012] Preferably, the base plate is provided with multiple bolt through holes.

[0013] Preferably, the hook includes a connecting plate and two hook bodies; the lower end of the piston rod is connected to the connecting plate; the two hook bodies are welded to the bottom surface of the connecting plate; the two hook bodies are used to simultaneously hook onto the lifting rod.

[0014] Due to the adoption of the above technical solution, the beneficial effects of this utility model are as follows: (1) Significantly Improved Grip Stability: When using the device provided by this utility model, the shell fixture is lifted by the hook, and then the piston rod of the hydraulic cylinder retracts to lift the shell fixture and the shell together upwards. At the same time, the four support rods abut against the support plate. The structure of "hydraulic cylinder drive + support rods and support plate abutting at four points" forms a four-point positioning and fixation, which can improve the stability of the shell during coating. Compared with the single-point gripping of the existing single hook, it can effectively avoid the shell shaking. The shaking amplitude of the shell during the coating process is greatly reduced, which is conducive to improving the uniformity of the coating and reducing the shell breakage rate.

[0015] (2) In this utility model, the hook adopts a double hook body design, which can hook the lifting rod at the same time, further enhancing the lifting stability.

[0016] (3) The device provided by this utility model consists only of a hook, a hydraulic cylinder, a support plate, a molded tooling and a support rod. It has no complicated fixtures, sensors or control systems, and has a small number of parts and a simple structure, which reduces the difficulty of installation, debugging and maintenance. Attached Figure Description

[0017] 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 the structures shown in these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of a device for improving the stability of shell gripping provided by this utility model; Figure 2 This is a schematic diagram of the assembly formed by the support plate, piston rod, and hook in this utility model; Figure 3 This is a schematic diagram of the structure of the medium-sized shell tooling of this utility model; Figure 4 This is a schematic diagram of the hook about to hook the lifting rod in this utility model; Figure 5 This is a schematic diagram showing the lifting hook after it has hooked onto the lifting rod in this utility model; Figure 6 This is a schematic diagram showing the piston rod retracting in this utility model, so that the upper end of the support rod abuts against the support plate.

[0019] Explanation of reference numerals: 1. Support plate; 1a. Columnar body; 1b. Disc-shaped body; 1c. Support bar; 1d. Conical recess; 2. Piston rod; 3. Hook; 3a. Connecting plate; 3b. Hook body; 4. Support rod; 4a. Conical head; 5. Base plate; 6. Ear plate; 7. Lifting rod; 100. Shell. Detailed Implementation

[0020] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0021] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in this utility model embodiment are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0022] Combination Figures 1 to 3 As shown, a device for improving the stability of shell gripping includes a robotic arm (not shown in the figure), on which a hydraulic cylinder (only the piston rod 2 of the hydraulic cylinder is shown in the figure) and a support plate 1 are mounted; it also includes a shell tooling mounted on the shell 100; a hook 3 is mounted on the lower end of the piston rod 2 of the hydraulic cylinder; four support rods 4 are provided on the shell tooling; when the hook 3 lifts the shell tooling, the piston rod 2 retracts so that the upper ends of the four support rods 4 abut against the support plate 1.

[0023] The robotic arm is a conventional existing technology and will not be described in detail here. In this embodiment, an industrial-grade multi-degree-of-freedom robotic arm is used, which can drive the entire gripping device and the shell to complete the actions required for coating such as rotation, tumbling, and lifting; the end effector mounting area of ​​the robotic arm is used to fix the hydraulic cylinder and the support plate 1 to ensure the relative position stability of the hydraulic cylinder, the support plate 1 and the robotic arm.

[0024] Furthermore, the axis of the hydraulic cylinder coincides with the axis of the central hole of the support plate 1, and the piston rod 2 of the hydraulic cylinder is slidably inserted into the central hole of the support plate 1. The lower end of the piston rod 2 extends out of the support plate 1 and connects to the hook 3. The inner diameter of the central hole of the support plate 1 is matched with the outer diameter of the piston rod 2, ensuring that the piston rod 2 can smoothly extend and retract along the central hole without significant radial wobble.

[0025] Combination Figure 1 and Figure 2 As shown, the support plate 1 includes a columnar body 1a, a disc-shaped body 1b, and four support bars 1c; the columnar body 1a is integrally formed on the top surface of the disc-shaped body 1b; the columnar body 1a is used to mount on the robotic arm. The columnar body 1a also provides sufficient thickness for the central hole, ensuring the stability of the piston rod 2 sliding.

[0026] Four support bars 1c are evenly distributed in a star-shaped pattern on the outer circumference of the disc-shaped body 1b; the included angle between any two adjacent support bars 1c is 90°, and the support bars 1c are integrally formed or welded to the disc-shaped body 1b; a conical recess 1d is formed on the bottom surface of the cantilever end (the end away from the disc-shaped body 1b), and the axis of the conical recess 1d is set in the vertical direction for positioning in conjunction with the conical head 4a at the top of the support rod 4. To prevent wobbling between the support rod 4 and the support bars 1c, the taper of the conical recess 1d is required to be consistent with the taper of the conical head 4a.

[0027] In this embodiment, the shell tooling is detachably connected to the shell 100, allowing for adaptation to different shells 100. Specifically, the shell tooling includes a base plate 5, ear plates 6, and lifting rods 7; the base plate 5 is used to connect to the shell 100; the base plate 5 is a rectangular plate with multiple bolt holes 5a, through which bolts can detachably connect the shell 100 to the base plate 5. Four support rods 4 are vertically installed at the four corners of the top surface of the base plate 5. The four support rods 4 have the same height, and their positions correspond one-to-one with the positions of the four support bars 1c on the support plate 1.

[0028] The two ear plates 6 are metal plates, vertically welded to the top surface of the base plate 5, and the two ear plates 6 are arranged opposite each other with a gap (the gap distance is adapted to the length of the lifting rod 7); each ear plate 6 has a through hole at the top, the inner diameter of the through hole is adapted to the outer diameter of the lifting rod 7, and is used to insert the lifting rod.

[0029] The lifting rod 7 is a cylindrical metal rod with both ends inserted into the through holes of the two ear plates 6, so that the two hooks 3b of the hook 3 can hook at the same time.

[0030] In this embodiment, the hook 3 is used to hook onto the shell fixture for lifting. Its structure includes a connecting plate 3a and two hook bodies 3b. The connecting plate 3a is a rectangular metal plate, and its top center is fixedly connected to the lower end of the telescopic rod 2. The two hook bodies 3b are welded to the bottom surface of the connecting plate 3a. The opening directions of the two hook bodies 3b are the same, and they are used to hook onto the lifting rod 7 of the shell fixture at the same time to achieve two-point lifting. This is more stable than a single-point hook and can prevent the lifting rod 7 from shifting during the lifting process.

[0031] Combination Figures 4 to 6 As shown, the working process of this device is divided into five stages: "preparation - lifting - fixing - coating - resetting". The specific steps are as follows: I. Preparation Stage: Connect the shell 100 to be coated to the base plate 5 of the shell fixture. By passing bolts through the bolt holes 5a of the base plate 5, the shell 100 and the base plate 5 are detachably connected to ensure that there is no relative looseness between the shell and the base plate 5.

[0032] Check the condition of each component of the device: confirm that the hydraulic system pressure of the hydraulic cylinder is normal, the piston rod 2 extends and retracts smoothly, the conical recess 1d of the support plate 1 is free from wear, the conical head 4a of the support rod 4 is free from deformation, and the hook body 3b of the hook 3 is free from cracks.

[0033] Control the robotic arm to move above the molded tooling, so that the hook 3 is directly above the lifting rod 7, and the four support bars 1c of the support plate 1 are aligned with the support rods 4 at the four corners of the base plate 5.

[0034] II. Lifting Phase: The piston rod 2 of the hydraulic cylinder is extended, which drives the hook 3 to move downward until the two hooks 3b simultaneously hook the lifting rod 7.

[0035] The robotic arm initiates the lifting action, while the hydraulic cylinder keeps the piston rod 2 extended. The hook 3 drives the molded tool and the molded shell 100 to rise slowly until the molded shell 100 rises to the initial height required for the coating operation.

[0036] III. Fixed Phase: Start the hydraulic cylinder and control the piston rod 2 to slowly retract, so that the conical heads 4a of the four support rods 4 gradually approach the conical sockets 1d on the four support bars 1c, until the conical heads 4a are completely abutted in the conical sockets 1d; at this time, the piston rod 2 stops retracting, and the support plate 1 forms four-point positioning and abutment fixation for the shell tooling through the cooperation of the conical sockets 1d and the conical heads 4a, so as to prevent the shell 100 from shaking.

[0037] IV. Coating Stage: The robotic arm drives the entire fixed device, including the mold shell 100, to perform the actions required for the coating operation.

[0038] V. Reset Phase: After the coating operation is completed, the robotic arm stops moving, and the piston rod 2 of the hydraulic cylinder extends again, so that the conical head 4a of the support rod 4 completely disengages from the conical recess 1d of the support plate 1; the hook 3 and the molded shell fixture slowly descend, placing the molded shell 100 on the designated conveyor or storage rack; the piston rod 2 continues to extend, so that the hook body 3b of the hook 3 separates from the lifting rod 7; the robotic arm drives the hydraulic cylinder, support plate 1 and hook 3 to return to the initial position, completing one work cycle.

[0039] The above description is only a preferred embodiment of the present utility model and does not limit the patent scope of the present utility model. All equivalent structural transformations made under the concept of the present utility model and using the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included in the patent protection scope of the present utility model.

Claims

1. A device for improving the stability of shell gripping, comprising a robotic arm, characterized in that: The robotic arm is equipped with a hydraulic cylinder and a support plate (1); it also includes a molded shell tooling mounted on the molded shell; The lower end of the piston rod (2) of the hydraulic cylinder is equipped with a hook (3); The shell tooling is provided with four support rods (4). When the hook (3) lifts the shell tooling, the piston rod (2) retracts so that the upper ends of the four support rods (4) abut against the support plate (1).

2. The device for improving the stability of shell gripping as described in claim 1, characterized in that, The axis of the hydraulic cylinder coincides with the axis of the central hole of the support plate (1), and the piston rod (2) of the hydraulic cylinder is slidably inserted into the central hole of the support plate (1). The lower end of the piston rod (2) extends out from the support plate (1) and is connected to the hook (3).

3. The device for improving the stability of shell gripping as described in claim 1, characterized in that, The support plate (1) includes a columnar body (1a), a disc-shaped body (1b), and four support bars (1c). The columnar body (1a) is integrally formed on the top surface of the disc-shaped body (1b); The four support bars (1c) are evenly distributed in a star-shaped pattern on the outer peripheral surface of the disc-shaped body (1b); A conical recess (1d) is provided on the bottom surface of the cantilever end of each support bar (1c). A conical head (4a) is provided at the top of the support rod (4), and the conical head (4a) is used to abut against the conical socket (1d).

4. The device for improving the stability of shell gripping as described in claim 3, characterized in that, The taper of the conical socket (1d) is the same as the taper of the conical head (4a).

5. The device for improving the stability of shell gripping as described in claim 1, characterized in that, The mold tooling is detachably connected to the mold.

6. The device for improving the stability of shell gripping as described in claim 1, characterized in that, The shell tooling includes a base plate (5), an ear plate (6), and a lifting rod (7); The base plate (5) is used to connect with the shell; The four support rods (4) are respectively installed vertically at the four corners of the top surface of the base plate (5); The two ear plates (6) are installed on the top surface of the base plate (5), and the two ear plates (6) are arranged at intervals relative to each other; The two ends of the lifting rod (7) are respectively inserted into the through holes on the upper part of the ear plate (6).

7. The device for improving the stability of shell gripping as described in claim 6, characterized in that, Multiple bolt holes (5a) are provided on the base plate (5).

8. The device for improving the stability of shell gripping as described in claim 6, characterized in that, The hook (3) includes a connecting plate (3a) and two hook bodies (3b); The lower end of the piston rod (2) is connected to the connecting plate (3a); The two hooks (3b) are welded to the bottom surface of the connecting plate (3a); the two hooks (3b) are used to hook onto the lifting rod (7) simultaneously.

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