CN107553516B - Internal and external dual-purpose self-adaptive gripper of casting robot - Google Patents
Internal and external dual-purpose self-adaptive gripper of casting robot Download PDFInfo
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- CN107553516B CN107553516B CN201711003876.1A CN201711003876A CN107553516B CN 107553516 B CN107553516 B CN 107553516B CN 201711003876 A CN201711003876 A CN 201711003876A CN 107553516 B CN107553516 B CN 107553516B
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Abstract
The invention discloses an internal and external dual-purpose self-adaptive gripper of a casting robot, which comprises a telescopic central shaft, an upper telescopic rod, a lower telescopic rod and a plate-type clamping jaw. The telescopic center shaft is arranged on the tail end flange of the hand of the casting robot through the connecting flange, each plate type clamping jaw is independently connected and controlled with the telescopic center shaft through the upper telescopic rod and the lower telescopic rod, the radial distance and the angle of the plate type clamping jaw are adjusted, the inner surface or the outer surface of the workpiece to be grabbed can be automatically adapted, and the effective laminating type clamping of the workpiece can be realized. The invention can meet the grabbing requirement of the casting robot on the hollow workpiece, has two clamping grabbing functions of internal supporting type clamping and external pressing type clamping, can also meet the self-adaptive grabbing operation requirement of the cylindrical workpiece and the round table workpiece, has the advantages of simple structure, light weight, good stability, high safety, strong self-adaptability, simplicity and convenience in operation and maintenance and the like, and reduces the labor intensity and the production cost of operators.
Description
Technical Field
The invention belongs to the technical field of industrial robot equipment, and particularly relates to an internal and external dual-purpose self-adaptive gripper of a casting robot.
Background
The high flexibility of the industrial robot can meet various special requirements in modern green casting production, and the casting production adopts the robot, so that an operator can be liberated from heavy and monotonous physical labor, labor force is saved, and the casting production efficiency, manufacturing precision and quality are improved, and important means for realizing mechanization, automation and civilization of casting production are realized. The casting robot not only can be used for carrying and conveying castings in die casting and precision casting production, but also can be used in the procedures of molding, core making, core setting, pouring, cleaning, inspection and the like in sand casting. When the casting robot performs the operations such as coring, core assembling, core setting and transporting, a robot gripper as an end effector becomes an important key device in addition to the robot body. In the production of large and medium-sized castings, the sizes and the weights of the pouring cup, the sand core assembly and the castings are large, the operations of coring, core assembly, core setting, pouring and carrying are difficult to perform, and the requirement is high. At present, most of the existing robot grippers are externally clamped, and the main characteristics of the existing robot grippers are that workpieces are clamped from the outside, and the sizes of the grippers are relatively large. In particular, for hollow workpieces such as pouring cups, no proper robot gripper exists when the gripping task is performed, and in particular, the robot gripper which can clamp the workpiece from the outside and can also tighten the workpiece from the inside is lacking; and the self-adaptive robot gripper capable of simultaneously grabbing workpieces on the surfaces of the cylinder and the round table does not exist.
Some solutions are also proposed in the prior patent literature for problems in the gripping of castings. The Chinese patent with application number 201621329359.4 discloses a small internal stay type starting manipulator, which comprises a sliding block, a guide sleeve, a base, a connecting rod and a claw, wherein the connecting rod and the claw are uniformly arranged, the sliding block and the connecting rod are driven to move up and down by utilizing the extension and contraction of a telescopic cylinder of a small cylinder, the claw is driven to be tensioned and relaxed, but only point contact can be realized between three claws and a workpiece, the contact area between the claw and the inner surface of the workpiece is too small, the workpiece clamping point is easily damaged, and the small internal stay type starting manipulator is not suitable for grabbing pouring cups or hollow sand core assemblies or castings with softer materials. The Chinese patent with application number 201520758016.9 discloses an annular object grabbing manipulator which comprises a grabbing mechanism, a grabbing moving mechanism and a grabbing driving mechanism, wherein the grabbing driving mechanism is used for driving a plurality of grabbing claws to enable a plurality of strutting ends of the grabbing claws to simultaneously outwards rotate and to prop up in an inner ring of an annular object so as to grab the annular object, the grabbing claws are in rigid contact between workpieces, and the grabbing claws are mainly suitable for grabbing wire coils and tires and are not suitable for grabbing workpieces such as pouring cups, hollow sand cores and the like.
Disclosure of Invention
The invention aims at overcoming the defects of the prior art, and provides an internal and external dual-purpose self-adaptive gripper of a casting robot, which can be used for grabbing workpieces when the casting robot performs operations such as coring, core assembly, core setting, carrying and the like on medium and large castings in the casting forming process, has two clamping grabbing functions of internal supporting type clamping and external pressing type clamping, can meet the self-adaptive grabbing operation requirements of workpieces on two surfaces of a cylinder and a round table, improves the operation efficiency, stability and safety of casting production, reduces the labor intensity and the production cost, and can overcome the defects of the prior art.
The technical problems to be solved by the invention are realized by adopting the following technical scheme.
An internal and external dual-purpose self-adaptive gripper of a casting robot comprises a telescopic central shaft, an upper telescopic rod, a lower telescopic rod and a plate-type clamping jaw. The telescopic central shaft comprises an outer sleeve, a telescopic pipe, a connecting flange, an extension spring and a compression spring. The outer sleeve is sleeved on the telescopic pipe and is used for installing and supporting the upper telescopic rod and the lower telescopic rod; the connecting flange is positioned at the top of the outer sleeve and fixedly connected with the outer sleeve by a welding method and is used for being connected with the tail end flange of the hand of the casting robot; the middle part of the outer sleeve is provided with an upper fixing ring for fixedly mounting the upper telescopic rod. The telescopic pipe adopts a hollow tubular structure, so that the self weight of the telescopic pipe can be reduced; the lower end of the telescopic pipe is provided with a lower fixing ring for fixedly mounting a lower telescopic rod; the top of the telescopic pipe is provided with a hanging ring for installing an extension spring. The compression spring is sleeved at the lower end of the telescopic pipe and used for providing independent restoration power after the telescopic pipe generates compression motion relative to the outer sleeve pipe, and the compression spring is positioned between the outer sleeve pipe and the lower fixing ring. The extension spring is arranged in the outer sleeve and positioned at the top of the extension pipe and is used for providing independent restoring power after the extension pipe generates extension movement relative to the outer sleeve; the upper end of the extension spring is connected with the outer sleeve through a pin shaft, and the lower end of the extension spring is hung and buckled on a hanging ring at the top of the telescopic pipe. The inner side end of the upper telescopic rod is fixedly arranged on the upper fixing ring, and the outer side end of the upper telescopic rod is connected with the upper end of the plate clamping jaw through a hinge. The inner side end of the lower telescopic rod is fixedly arranged on the lower fixing ring, and the outer side end of the lower telescopic rod is connected with the lower end of the plate-type clamping jaw through a hinge. The upper telescopic rod and the lower telescopic rod are connected with an electromagnetic directional valve, a safety valve and an air source or a hydraulic source through pipelines.
The plate type clamping jaw comprises a rigid supporting plate, an outer anti-slip layer and an inner anti-slip layer. Wherein, the rigid support plate is made of aluminum alloy material, which can reduce the weight of the rigid support plate; the outer anti-slip layer is fixed on the outer side surface of the rigid supporting plate through screws and an adhesive, and the outer surface of the outer anti-slip layer is provided with longitudinal anti-slip ribs, so that the friction force between the outer anti-slip layer and a workpiece can be increased, and the workpiece is prevented from slipping in the grabbing process; the inner anti-slip layer is fixed on the inner side surface of the lower end of the rigid support plate through screws and adhesives, and the inner surface of the inner anti-slip layer is provided with transverse anti-slip ribs, so that friction force between the inner anti-slip layer and a workpiece can be increased, and the workpiece is prevented from slipping in the grabbing process.
The upper end of the outer sleeve is provided with a pin shaft mounting hole, the pin shaft is mounted in the pin shaft mounting hole of the outer sleeve, and the axis of the pin shaft is perpendicular to the axis of the outer sleeve; the pin shaft is connected with the outer sleeve in a transition fit or interference fit mode. The middle part of the pin shaft is also provided with an annular groove for installing the extension spring and limiting the installation position of the extension spring, so that the extension spring is prevented from transversely sliding on the pin shaft.
The upper telescopic rod and the lower telescopic rod adopt a double-acting air cylinder or a double-acting hydraulic cylinder, have the functions of buffering and damping on the premise of ensuring that enough same tensioning force is generated on a workpiece, and avoid damaging the surface of the gripped workpiece.
The number of the plate-type clamping jaws is 3-6, so that enough supporting and tensioning points can be ensured to be maintained for the gripped workpiece; each plate-type clamping jaw is independently connected and controlled with the telescopic central shaft through an upper telescopic rod and a lower telescopic rod, so that the self-adaptive adjustment and the effective tensioning or clamping of the inner surface or the outer surface of a gripped workpiece can be realized.
The outer anti-slip layer and the inner anti-slip layer are made of PVC made of polyester fiber cloth and polyvinyl chloride rubber or wear-resistant rubber made of natural rubber and reinforced fiber, so that when the invention performs gripping of a workpiece, enough friction force between the plate-type clamping jaw and the workpiece is ensured.
When in use, the movement modes of the upper telescopic rod and the lower telescopic rod are determined according to the shape of the grabbed object. When the grabbed workpiece is a hollow round table body, the upper telescopic rod and the lower telescopic rod adopt an asynchronous isobaric driving mode, and the driving plate type clamping jaw clamps the grabbed workpiece from the outside or tightens the grabbed workpiece from the inside; when the gripped workpiece is a hollow cylinder, the upper telescopic rod and the lower telescopic rod adopt synchronous equal-pressure driving modes, and the driving plate type clamping jaw clamps the gripped workpiece from the outside or tightens the gripped workpiece from the inside. When the round table workpiece is grabbed, the angle of the plate type clamping jaw changes along with the change of the included angle between the bus and the axis of the grabbed workpiece, so that the shape of the inner surface and the outer surface of the grabbed workpiece is further adapted. In order to ensure the adjustment of the angle of the plate clamping jaw, the telescopic pipe can be stretched or shortened in the outer sleeve, and can be automatically restored to an initial state under the action of the stretching spring and the compression spring after the operation is completed.
When executing the operation task, a binocular vision system is required to be installed at the tail end of the hand of the casting robot, and the binocular vision system is used for collecting the situation of the place where the workpiece is placed and identifying, judging and deciding the shape, the size and the position of the workpiece to be grasped.
Compared with the prior art, the invention can be arranged on the tail end flange of the hand of the casting robot, each plate-type clamping jaw is independently connected and controlled with the telescopic central shaft through the upper telescopic rod and the lower telescopic rod, the radial distance and the angle of the plate-type clamping jaw are convenient to adjust, the clamping jaw can automatically adapt to the inner surface or the outer surface of a gripped workpiece, and the effective fitting type clamping of the workpiece can be realized. The invention can be used for placing and removing pouring cup tasks when the casting robot executes pouring tasks, and executing casting operation tasks such as coring, core assembly, core setting and carrying, and the like, can meet the grabbing requirement of the casting robot on hollow workpieces, has two clamping grabbing functions of internal supporting type clamping and external pressing type clamping, and can also meet the self-adaptive grabbing operation requirements of cylindrical and round table surface workpieces; under the support of the binocular vision system, the workpiece images can be automatically collected, and the recognition and grabbing tasks of the workpiece can be automatically completed. The invention also has the advantages of simple structure, light weight, good stability, high safety, strong self-adaptability, simple and convenient operation and maintenance, and the like, reduces the labor intensity and the production cost of operators, and can overcome the defects of the prior art.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the internal structure of the telescopic center shaft of the present invention;
FIG. 3 is a schematic view of a pin according to the present invention;
FIG. 4 is a schematic view of the working state of the invention when gripping a workpiece in an internal bracing clamping mode;
fig. 5 is a schematic view of the working state of the invention when the workpiece is grasped by the external pressure type clamping mode.
Detailed Description
The invention is further described below with reference to specific embodiments and illustrations in order to make the technical means, the creation features, the achievement of the purpose and the effect achieved by the invention easy to understand.
As shown in fig. 1, 2, 4 and 5, the internal and external dual-purpose self-adaptive gripper of the casting robot comprises a telescopic central shaft 1, an upper telescopic rod 2, a lower telescopic rod 3 and a plate type clamping jaw 4. The telescopic central shaft 1 comprises an outer sleeve 11, a telescopic pipe 12, a connecting flange 13, an extension spring 14 and a compression spring 15. The outer sleeve 11 is sleeved on the telescopic pipe 12 and is used for installing and supporting the upper telescopic rod 2 and the lower telescopic rod 3; the connecting flange 13 is positioned at the top of the outer sleeve 11 and fixedly connected with the outer sleeve 11 by a welding method and is used for being connected with the tail end flange of the hand of the casting robot; an upper fixing ring 111 is arranged in the middle of the outer sleeve 11 and is used for fixedly mounting the upper telescopic rod 2. The telescopic pipe 12 adopts a hollow tubular structure, so that the self weight of the telescopic pipe 12 can be reduced; a lower fixing ring 121 is arranged at the lower end of the telescopic pipe 12 and is used for fixedly mounting the lower telescopic rod 3; a hanging ring 122 is arranged on the top of the telescopic tube 12 and is used for installing the extension spring 14. The compression spring 15 is sleeved at the lower end of the telescopic tube 12 and is used for providing self-restoring power after the telescopic tube 12 generates compression motion relative to the outer sleeve 11, and the compression spring 15 is positioned between the outer sleeve 11 and the lower fixing ring 121. The extension spring 14 is arranged in the outer sleeve 11 and is positioned at the top of the extension tube 12, and is used for providing autonomous restoring power after the extension tube 12 generates extension motion relative to the outer sleeve 11; the upper end of the extension spring 14 is connected with the outer sleeve 11 through a pin 16, and the lower end of the extension spring 14 is hung and buckled on a hanging ring 122 at the top of the telescopic tube 12. The inner side end of the upper telescopic rod 2 is fixedly arranged on the upper fixing ring 111, and the outer side end of the upper telescopic rod 2 is connected with the upper end of the plate clamping jaw 4 through a hinge. The inner end of the lower telescopic rod 3 is fixedly arranged on the lower fixing ring 121, and the outer end of the lower telescopic rod 3 is connected with the lower end of the plate clamping jaw 4 through a hinge. The upper telescopic rod 2 and the lower telescopic rod 3 are connected with an electromagnetic directional valve, a safety valve and an air source or a hydraulic source through pipelines.
As shown in fig. 1, 4 and 5, the plate jaw 4 comprises a rigid support plate 41, an outer anti-slip layer 42 and an inner anti-slip layer 43. Wherein, the rigid support plate 41 is made of aluminum alloy material, which can reduce the weight of the rigid support plate 41; the outer anti-slip layer 42 is fixed on the outer side surface of the rigid support plate 41 through screws and an adhesive, and longitudinal anti-slip ribs are arranged on the outer surface of the outer anti-slip layer 42, so that friction force between the outer anti-slip layer 42 and the workpiece 5 can be increased, and the workpiece is prevented from slipping in the grabbing process; the inner anti-slip layer 43 is fixed on the inner side surface of the lower end of the rigid support plate 41 through screws and an adhesive, and transverse anti-slip ribs are arranged on the inner surface of the inner anti-slip layer 43, so that friction force between the inner anti-slip layer 43 and the workpiece 5 can be increased, and the workpiece is prevented from slipping in the grabbing process.
As shown in fig. 1, 2 and 3, a pin shaft mounting hole is arranged at the upper end of the outer sleeve 11, the pin shaft 16 is arranged in the pin shaft mounting hole of the outer sleeve 11, and the axis of the pin shaft 16 is perpendicular to the axis of the outer sleeve 11; the pin 16 is connected with the outer sleeve 11 in a transition fit or interference fit mode. An annular groove 161 is further formed in the middle of the pin 16, and is used for installing the extension spring 14 and limiting the installation position of the extension spring 14, so that the extension spring 14 is prevented from sliding transversely on the pin 16.
As shown in fig. 1, 4 and 5, the upper telescopic rod 2 and the lower telescopic rod 3 adopt double-acting cylinders or double-acting hydraulic cylinders, and have the functions of buffering and damping on the premise of ensuring that the same enough tensioning force is generated on the workpiece 5, so that the surface of the gripped workpiece 5 is prevented from being damaged.
As shown in fig. 1, the number of plate-type clamping jaws 4 is 3, so that enough supporting and tensioning points can be ensured to be maintained for the gripped workpiece 5; each plate-type clamping jaw 4 is independently connected and controlled with the telescopic central shaft 1 through the upper telescopic rod 2 and the lower telescopic rod 3, so that the self-adaptive adjustment and the effective tensioning or clamping of the inner surface or the outer surface of the gripped workpiece 5 can be realized.
As shown in fig. 1, 4 and 5, the materials of the outer anti-slip layer 42 and the inner anti-slip layer 43 adopt PVC made of polyester fiber cloth and polyvinyl chloride rubber or wear-resistant rubber made of natural rubber and reinforced fiber, so that the plate-type clamping jaw 4 and the workpiece 5 have enough friction force when the workpiece 5 is grabbed.
When in use, the movement modes of the upper telescopic rod 2 and the lower telescopic rod 3 are determined according to the shape of the grabbed object. When the gripped workpiece 5 is a hollow round table body, the upper telescopic rod 2 and the lower telescopic rod 3 adopt an asynchronous isobaric driving mode, and the driving plate type clamping jaw 4 clamps the gripped workpiece 5 from the outside or tightens the gripped workpiece from the inside; when the gripped workpiece 5 is a hollow cylinder, the upper telescopic rod 2 and the lower telescopic rod 3 adopt a synchronous isobaric driving mode, and the driving plate type clamping jaw 4 clamps the gripped workpiece 5 from the outside or tightens the gripped workpiece from the inside.
When executing the task, a binocular vision system is required to be installed at the tail end of the hand of the casting robot, and is used for collecting the situation of the place where the gripped workpiece is placed and identifying, judging and deciding the shape, the size and the position of the gripped workpiece 5.
In the description of the present invention, it should be understood that the terms "upper," "lower," "left," "right," "horizontal," "top," "bottom," "inner," "outer," "front," "rear," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the invention and simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the invention.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (2)
1. The utility model provides an inside and outside dual-purpose self-adaptation tongs of casting robot, includes scalable center pin, goes up telescopic link, lower telescopic link and plate clamping jaw, its characterized in that: the telescopic central shaft comprises an outer sleeve, a telescopic pipe, a connecting flange, a tension spring and a compression spring, wherein the outer sleeve is sleeved on the telescopic pipe, the connecting flange is positioned at the top of the outer sleeve and fixedly connected with the outer sleeve, an upper fixing ring is arranged in the middle of the outer sleeve, a lower fixing ring is arranged at the lower end of the telescopic pipe, the compression spring is sleeved at the lower end of the telescopic pipe and positioned between the outer sleeve and the lower fixing ring, the tension spring is arranged in the outer sleeve and positioned at the top of the telescopic pipe, the upper end of the tension spring is connected with the outer sleeve through a pin shaft, the lower end of the tension spring is hung and buckled at the top of the telescopic pipe, and the telescopic pipe can recover independently after stretching movement relative to the outer sleeve; the inner side end of the upper telescopic rod is fixedly arranged on the upper fixing ring, and the outer side end of the upper telescopic rod is connected with the upper end of the plate-type clamping jaw through a hinge; the inner side end of the lower telescopic rod is fixedly arranged on the lower fixing ring, and the outer side end of the lower telescopic rod is connected with the lower end of the plate-type clamping jaw through a hinge;
the plate-type clamping jaw comprises a rigid supporting plate, an outer anti-slip layer and an inner anti-slip layer, wherein the outer anti-slip layer is fixed on the outer side surface of the rigid supporting plate through screws and an adhesive, and longitudinal anti-slip ribs are arranged on the outer surface of the outer anti-slip layer; the inner anti-slip layer is fixed on the inner side surface of the lower end of the rigid supporting plate through screws and an adhesive, and a transverse anti-slip rib is arranged on the inner surface of the inner anti-slip layer;
the upper telescopic rod and the lower telescopic rod adopt double-acting air cylinders or double-acting hydraulic cylinders;
the upper telescopic rod and the lower telescopic rod are connected with an electromagnetic directional valve, a safety valve and an air source or a hydraulic source through pipelines;
the number of the plate-type clamping jaws is 3-6, and each plate-type clamping jaw is independently connected and controlled with the telescopic central shaft through an upper telescopic rod and a lower telescopic rod.
2. The casting robot internal and external dual-purpose adaptive gripper according to claim 1, wherein: the outer anti-slip layer and the inner anti-slip layer are made of PVC made of polyester fiber cloth and polyvinyl chloride rubber or wear-resistant rubber made of natural rubber and reinforcing fiber.
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| CN201711003876.1A CN107553516B (en) | 2017-10-24 | 2017-10-24 | Internal and external dual-purpose self-adaptive gripper of casting robot |
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| CN201711003876.1A CN107553516B (en) | 2017-10-24 | 2017-10-24 | Internal and external dual-purpose self-adaptive gripper of casting robot |
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| CN107553516A CN107553516A (en) | 2018-01-09 |
| CN107553516B true CN107553516B (en) | 2023-04-25 |
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| CN203765639U (en) * | 2014-03-06 | 2014-08-13 | 淮安信息职业技术学院 | Disc-shaped part picking manipulator |
| CN104609294A (en) * | 2015-01-20 | 2015-05-13 | 宁波菲仕电机技术有限公司 | Tooling for hoisting column-shaped part |
| CN105856264A (en) * | 2015-01-22 | 2016-08-17 | 南京理工大学 | Software-driven radial opening and closing type pneumatic clamping device |
| CN105150236A (en) * | 2015-10-23 | 2015-12-16 | 佛山市南海区广工大数控装备协同创新研究院 | Copper tube inner ring gripper |
| CN106239537A (en) * | 2016-08-29 | 2016-12-21 | 江苏华航威泰机器人科技有限公司 | A kind of robot inner bearing type chela |
| CN107253179A (en) * | 2017-08-10 | 2017-10-17 | 安徽理工大学 | The removable heavily loaded foundry robot of series-parallel connection truss-like |
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| CN107553516A (en) | 2018-01-09 |
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