A vertical squeeze casting mechanical hand for taking out a product

Abstract

The utility model discloses a vertical extrusion casting is taken out with manipulator, features are including installation flange and mechanical arm, installation flange is used for connecting the taking out robot, one end of mechanical arm is fixedly connected with installation flange, and the opposite side of the other end of mechanical arm is provided with clamping type snatch subassembly and inner support type clamping subassembly respectively. Advantage is through setting up clamping type snatch subassembly and inner support type clamping subassembly on the same mechanical arm simultaneously, realized single manipulator just can adapt the inner support type of center feeding and the clamping type of side edge feeding two kinds of taking out mode, need not frequently change manipulator because of the different part of required manufacturing, effectively saved the cost of equipment investment, reduced the link of equipment switching, debugging and storage, reduced the complexity and management difficulty of production site, and reduced the downtime brought by changing manipulator, realized the promotion of overall production efficiency.

Description

Technical Field

[0001] This utility model relates to extrusion casting, and more particularly to a robotic arm for vertical extrusion casting part removal. Background Technology

[0002] With the rapid development of the electric vehicle industry, higher requirements have been placed on the strength, elongation, and production efficiency of vehicle body parts. Vertical squeeze casting technology is widely used because it can produce parts with high strength and high elongation. Different parts require different feeding methods during squeeze casting production, mainly center feeding and side feeding. Consequently, the corresponding unloading methods also differ, primarily center-supported and outer-clamped. Currently, the robotic arms used in vertical squeeze casting processes typically only adapt to one unloading method, leading to frequent changes of robotic arms when producing different parts. This results in significant equipment investment, high management complexity, and consequently, high overall production costs. Summary of the Invention

[0003] The technical problem to be solved by this utility model is to provide a vertical extrusion casting manipulator that can simultaneously adapt to both central inner support and external clamping methods, so as to improve production flexibility and reduce equipment investment and production costs.

[0004] The technical solution adopted by this utility model to solve the above-mentioned technical problems is as follows: A vertical extrusion casting part-retrieving robot includes a mounting flange and a robotic arm. The mounting flange is used to connect the part-retrieving robot. One end of the robotic arm is fixedly connected to the mounting flange, and the other end of the robotic arm is provided with a clamping gripping component and an internal support gripping component on opposite sides.

[0005] The clamping gripping assembly includes a first cylinder mounting base, two clamping cylinders, and gripper components arranged in a mirror-symmetrical manner. The first cylinder mounting base is fixedly mounted on the corresponding side of the robotic arm. The two clamping cylinders are mounted on the first cylinder mounting base. Each clamping cylinder drives one of the gripper components, causing the two gripper components to move towards or away from each other.

[0006] The gripper component includes a gripper fixing seat fixedly connected to the drive end of the gripping cylinder, and a gripping block is detachably provided on the gripper fixing seat, with two gripping blocks arranged opposite to each other.

[0007] A travel compensation block is detachably provided between the clamping block and the gripper fixing seat.

[0008] The clamping end face of the clamping block is provided with a spike-shaped structure to increase the clamping friction.

[0009] Below each of the clamping blocks is a support block for lifting the workpiece before the two clamping blocks are fully closed.

[0010] The internal support gripping assembly includes a second cylinder mounting base, an internal support cylinder, and at least three internal support grippers. The second cylinder mounting base is fixedly disposed on the corresponding side of the robotic arm. The internal support cylinder is mounted on the second cylinder mounting base. The at least three internal support grippers are circumferentially evenly arranged and connected to the drive end of the internal support cylinder to perform radial opening or closing movements under the drive of the internal support cylinder.

[0011] The drive end of the inner support cylinder is connected to a number of gripper stroke blocks equal to the number of inner support grippers. Each gripper stroke block is connected to one inner support gripper to convert the linear motion of the inner support cylinder into the radial motion of the inner support gripper.

[0012] The working surface of the inner support gripper is provided with a sawtooth-shaped friction structure to increase the friction between the gripper and the workpiece.

[0013] The robotic arm is equipped with a pipe clamp for clamping cylinder pipes; The air pipe clamp includes a fixing plate fixedly installed on the robotic arm. A first clamping block is installed above the fixing plate, and a second clamping block is detachably installed above the first clamping block. The upper end face of the first clamping block has a downwardly recessed first clamping groove, and the lower end face of the second clamping block has a corresponding upwardly recessed second clamping groove. After the first clamping block and the second clamping block are mated and installed, the first clamping groove and the second clamping groove form a clamping cavity for accommodating the cylinder air pipe.

[0014] Compared with the prior art, the advantages of this utility model are as follows: by simultaneously setting a clamping gripping component and an internal support gripping component on the same robotic arm, a single robotic arm can adapt to both the internal support type for center feeding and the clamping type for side feeding. This eliminates the need to frequently change robotic arms due to different parts to be manufactured, effectively saving equipment investment costs, reducing equipment switching, debugging and storage, reducing the complexity and management difficulty of the production site, and reducing downtime caused by changing robotic arms, thereby improving overall production efficiency. Attached Figure Description

[0015] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a schematic diagram of the clamping gripping component structure in this utility model; Figure 3 This is a schematic diagram of the internal support clamping assembly in this utility model; Figure 4 This is a schematic diagram of the tracheal clamp in this utility model; Figure 5 This is a schematic diagram of the structure for connecting and installing this utility model with a robot. Detailed Implementation

[0016] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0017] As shown in the figure, a vertical extrusion casting part removal robot includes a mounting flange 1 and a robotic arm 8. The mounting flange 1 is used to connect the part removal robot A. One end of the robotic arm 8 is fixedly connected to the mounting flange 1, and the other end of the robotic arm 8 is provided with a clamping gripping component 2 and an internal support gripping component 3 on opposite sides.

[0018] In this specific embodiment, the gripping assembly 2 includes a first cylinder mounting base 21, two gripping cylinders 28, and gripper components arranged in a mirror-symmetrical configuration. The first cylinder mounting base 21 is fixedly mounted on the corresponding side of the robotic arm 8. The two gripping cylinders 28 are mounted on the first cylinder mounting base 21, and each gripping cylinder 28 drives one gripper component, causing the two gripper components to move towards or away from each other. The structure is simple, allowing for precise control of gripping and releasing actions, ensuring stable gripping.

[0019] In this specific embodiment, the gripper component includes a gripper fixing seat 22 fixedly connected to the drive end of the gripping cylinder 28. A gripping block 23 is detachably mounted on the gripper fixing seat 22, with two gripping blocks 23 positioned opposite each other. This modular design allows the gripping blocks 23 to be detachably and independently mounted on the gripper fixing seat 22, facilitating the replacement or adjustment of the gripping blocks 23 for different workpiece shapes or sizes, thus enhancing versatility and ease of maintenance.

[0020] In this specific embodiment, a stroke compensation block 24 is detachably provided between the clamping block 23 and the gripper fixing seat 22. By replacing the compensation block with one of different thicknesses, the system can flexibly and quickly adapt to workpieces of different thicknesses or gripping positions without adjusting the cylinder stroke, making adjustments convenient and improving production efficiency.

[0021] In this specific embodiment, the clamping end face of the clamping block 23 is provided with a spike-shaped structure 25 for increasing the clamping friction. This spike-shaped structure 25 effectively increases the friction between the clamping end face and the casting surface, preventing production accidents caused by the casting slipping and loosening during gripping and movement, thus improving the safety and reliability of part retrieval.

[0022] In this specific embodiment, a support block 26 is provided below each clamping block 23 to support the workpiece before the two clamping blocks 23 are fully closed. The support block 26 provides bottom support before the jaws are fully closed, realizing the support before clamping of the casting. This can prevent the casting from accidentally falling off due to its own weight or incorrect posture during the clamping process when the jaws are closed. This is especially important for larger or heavier parts, increasing the safety of the part removal process.

[0023] In this specific embodiment, the internal support gripping assembly 3 includes a second cylinder mounting base 31, an internal support cylinder 32, and at least three internal support grippers 33. The second cylinder mounting base 31 is fixedly mounted on the corresponding side of the robotic arm 8. The internal support cylinder 32 is mounted on the second cylinder mounting base 31. The at least three internal support grippers 33 are circumferentially evenly arranged and connected to the drive end of the internal support cylinder 32 to perform radial opening or closing movements under the drive of the internal support cylinder 32. By using the internal support cylinder 32 to link multiple circumferentially evenly distributed grippers, the structure is compact and can stably provide uniform radial support from the inner hole of the workpiece. The gripping force is evenly distributed, avoiding excessive local stress that could damage the workpiece.

[0024] In this specific embodiment, the drive end of the inner support cylinder 32 is connected to a number of gripper stroke blocks (not shown in the figure) equal to the number of inner support grippers 33. Each gripper stroke block is drivenly connected to one inner support gripper 33 to convert the linear motion of the inner support cylinder 32 into the radial motion of the inner support gripper 33. The conversion of motion form is achieved through a mechanical linkage mechanism (such as an inclined plane or lever), ensuring synchronous and equidistant radial motion of multiple inner support grippers 33, resulting in coordinated and consistent actions, and improving the accuracy and reliability of the inner support positioning.

[0025] In this specific embodiment, the working surface of the inner support gripper 33 is provided with a serrated friction structure 34 to increase the friction between the gripper and the workpiece. By providing the serrated friction structure 34, the roughness of the gripping surface is increased, thereby improving the friction with the inner wall of the workpiece, ensuring that the gripping is firm and does not loosen when it is opened, preventing the workpiece from rotating or slipping during the lifting process, and ensuring stable gripping.

[0026] In this specific embodiment, the robotic arm 8 is provided with a pipe clamp 4 for clamping the cylinder pipe 5; The air hose clamp 4 includes a fixing plate 41 fixedly mounted on the robotic arm 8. A first clamping block 42 is mounted above the fixing plate 41, and a second clamping block 43 is detachably mounted above the first clamping block 42. The upper end face of the first clamping block 42 has a downwardly recessed first clamping groove 421, and the lower end face of the second clamping block 43 has a corresponding upwardly recessed second clamping groove 431. After the first clamping block 42 and the second clamping block 43 are mated and installed, the first clamping groove 421 and the second clamping groove 431 form a clamping cavity 40 for accommodating the cylinder air hose 5. The above structure enables the air hose to be neatly and orderly fixed on the robotic arm 8, avoiding the hose from getting tangled, pulled, or worn during movement, improving the stability and safety of equipment operation, and also making the appearance cleaner and easier to maintain.

[0027] Based on the above robotic arm structure, the specific operation of the center-supported gripping mode for the relevant castings is as follows: (1) Preparation and positioning: After the mold is opened, the part picking robot controls the manipulator to enter the mold area. Robot A drives the mounting flange 1 to rotate, thereby driving the entire manipulator to adjust its posture so that the inner support gripper 33 of the inner support gripping component 3 in the retracted state is precisely aligned with the center hole of the cut flow channel on the casting. (2) Ejection and clamping: The mold ejection mechanism is activated to eject the casting with the flow channel. At the same time, the inner support cylinder 32 is activated to drive the gripper stroke block at its front end, converting the linear motion into the synchronous radial expansion motion of at least three circumferentially evenly arranged inner support grippers 33. The sawtooth friction structure 34 on the working surface of the inner support gripper 33 is in close contact with the inner wall of the flow channel center hole, and the flow channel is completely clamped by the uniform radial support force. (3) Removal and transfer: After the casting is reliably gripped, robot A controls the robotic arm 8 to move towards the fixed mold side, which drives the inner support gripping component 3 and the casting to smoothly leave the mold. Then, the robotic arm moves to the next station to complete the placement of the casting. Finally, the inner support cylinder 32 reverses its action, and the inner support gripper 33 retracts radially to release the casting.

[0028] The specific operation of using the external clamping gripping mode for the relevant castings is as follows: (1) Preparation and positioning: After the mold is opened, the robot enters the mold area. Robot A drives the mounting flange 1 to rotate and adjusts the robot's posture so that the two open gripper components of the clamping gripper assembly 2 span the outside of the casting cake (flow channel part). (2) Ejection and clamping: The mold ejection mechanism ejects the casting. During this process, the two clamping cylinders 28 operate simultaneously, driving the two gripper components to move towards each other. The support block 26 located below the clamping block 23 first contacts and lifts the material cake, achieving "first lifting". Subsequently, the clamping block 23 (with a spiked structure 25 on its end face) closes from the outside to the middle, firmly clamping the material cake, completing "second clamping". (3) Removal and transfer: After the casting is firmly gripped, robot A controls the robotic arm 8 to move towards the fixed mold side, which drives the clamping gripping component 2 and the casting to smoothly leave the mold. Then, the robotic arm moves to the next station, places the casting, and the clamping cylinder 28 reverses its action, and the gripper opens to release the casting.

Claims

1. A robotic arm for vertical extrusion casting part removal, characterized in that... It includes a mounting flange and a robotic arm. The mounting flange is used to connect to the picking robot. One end of the robotic arm is fixedly connected to the mounting flange. The other end of the robotic arm is provided with a clamping gripping component and an internal support gripping component on opposite sides.

2. The vertical extrusion casting manipulator as described in claim 1, characterized in that... The clamping gripping assembly includes a first cylinder mounting base, two clamping cylinders, and gripper components arranged in a mirror-symmetrical manner. The first cylinder mounting base is fixedly mounted on the corresponding side of the robotic arm. The two clamping cylinders are mounted on the first cylinder mounting base. Each clamping cylinder drives one of the gripper components, causing the two gripper components to move towards or away from each other.

3. The vertical extrusion casting manipulator as described in claim 2, characterized in that... The gripper component includes a gripper fixing seat fixedly connected to the drive end of the gripping cylinder, and a gripping block is detachably provided on the gripper fixing seat, with two gripping blocks arranged opposite to each other.

4. The vertical extrusion casting manipulator as described in claim 3, characterized in that... A travel compensation block is detachably provided between the clamping block and the gripper fixing seat.

5. A vertical extrusion casting manipulator as described in claim 3, characterized in that... The clamping end face of the clamping block is provided with a spike-shaped structure to increase the clamping friction.

6. A vertical extrusion casting manipulator as described in claim 3, characterized in that... Below each of the clamping blocks is a support block for lifting the workpiece before the two clamping blocks are fully closed.

7. A vertical extrusion casting manipulator as described in claim 1, characterized in that... The internal support gripping assembly includes a second cylinder mounting base, an internal support cylinder, and at least three internal support grippers. The second cylinder mounting base is fixedly disposed on the corresponding side of the robotic arm. The internal support cylinder is mounted on the second cylinder mounting base. The at least three internal support grippers are circumferentially evenly arranged and connected to the drive end of the internal support cylinder to perform radial opening or closing movements under the drive of the internal support cylinder.

8. A vertical extrusion casting manipulator as described in claim 7, characterized in that... The drive end of the inner support cylinder is connected to a number of gripper stroke blocks equal to the number of inner support grippers. Each gripper stroke block is connected to one inner support gripper to convert the linear motion of the inner support cylinder into the radial motion of the inner support gripper.

9. A vertical extrusion casting manipulator as described in claim 7, characterized in that... The working surface of the inner support gripper is provided with a sawtooth-shaped friction structure to increase the friction between the gripper and the workpiece.

10. A vertical extrusion casting manipulator as described in claim 1, 2, or 7, characterized in that... The robotic arm is equipped with a pipe clamp for clamping cylinder pipes; The air pipe clamp includes a fixing plate fixedly installed on the robotic arm. A first clamping block is installed above the fixing plate, and a second clamping block is detachably installed above the first clamping block. The upper end face of the first clamping block has a downwardly recessed first clamping groove, and the lower end face of the second clamping block has a corresponding upwardly recessed second clamping groove. After the first clamping block and the second clamping block are mated and installed, the first clamping groove and the second clamping groove form a clamping cavity for accommodating the cylinder air pipe.

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