CN108687309A - A kind of adaptive robot handgrip that sand core is carried and the online method for carrying sand core - Google Patents
A kind of adaptive robot handgrip that sand core is carried and the online method for carrying sand core Download PDFInfo
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- CN108687309A CN108687309A CN201811030311.7A CN201811030311A CN108687309A CN 108687309 A CN108687309 A CN 108687309A CN 201811030311 A CN201811030311 A CN 201811030311A CN 108687309 A CN108687309 A CN 108687309A
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- 238000000034 method Methods 0.000 title claims abstract description 20
- 230000003044 adaptive effect Effects 0.000 title claims abstract description 19
- 238000004519 manufacturing process Methods 0.000 claims abstract description 7
- 239000004576 sand Substances 0.000 claims description 9
- 238000009826 distribution Methods 0.000 claims description 8
- 238000010146 3D printing Methods 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 7
- 230000006978 adaptation Effects 0.000 description 4
- 238000010923 batch production Methods 0.000 description 3
- 244000035744 Hura crepitans Species 0.000 description 2
- 239000003638 chemical reducing agent Substances 0.000 description 1
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- 238000003618 dip coating Methods 0.000 description 1
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- 239000006210 lotion Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22C—FOUNDRY MOULDING
- B22C9/00—Moulds or cores; Moulding processes
- B22C9/10—Cores; Manufacture or installation of cores
- B22C9/106—Vented or reinforced cores
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y30/00—Apparatus for additive manufacturing; Details thereof or accessories therefor
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Abstract
The present invention relates to the adaptive robot handgrip that a kind of sand core is carried in truss robot technical field and the online methods for carrying sand core, the adaptive robot handgrip that the sand core of the present invention is carried, including the grasping mechanism being arranged on truss robot, the truss robot can be along X-axis on sand core production line, Y-axis and Z axis movement, the Z axis lower end is rotatablely connected the grasping mechanism, the grasping mechanism includes can be relative to mobile two handgrips of folding, it is characterized in that, the opposite inside of every handgrip is rotatably connected to jig plate respectively, it is integrated on the jig plate and hangs handle equipped with several different sizes, it is described to hang for grabbing position cooperation clamping with hanging for sand core to be captured.In the present invention, integrally disposed different size hangs handle on jig plate, and the sand core of the single-piece or small lot production line that are suitable for different size is carried, and fixture need not be frequently replaced, realize efficiently, rapid transport, improve the applicability of truss robot.
Description
Technical field
The present invention relates to truss robot handgrip technical field, more particularly to the adaptive robot that a kind of sand core is carried is grabbed
Hand and the online method for carrying sand core.
Background technology
Generally it is pipelining, product is mostly bulk article, kind list in truss robot carries out transport operation
One, weight is consistent, therefore the fixture of truss robot is single, it is only necessary to meet a kind of product, the folder of handgrip position adapted
Tool is relatively fixed, and need not frequently be replaced, and the folder of adaptation is just needed replacing when can only replace product on production line specification or model
Tool, the carrying of same product only needs to do simple repetitive, but on the production line of single and mini-batch production, product is big
It is small differ, weight differs, it is intensive to arrange, the handgrip position of the truss robot for carrying is difficult and the product phase frequently replaced
Adaptation, will such as replace the service efficiency that fixture will largely effect on truss robot in due course.For example, the sand core of 3D printing is generally in 3D
In print procedure, the sand core that several different specification sizes can be arranged in same work box is printed, and is carried using robot gripper,
The consistency problem of fixture influences handling efficiency.
Invention content
The present invention is single for the adaptability of the same clamp structure of prior art truss robot handgrip, is not suitable for single-piece
The efficient online transshipment problem of small lot provides a kind of adaptive robot handgrip that sand core is carried, by a sleeve clamp
Structure is realized that online grasping operation difference is hung and grabs the sand core of specification by the hanging of integrally disposed different size.
The object of the present invention is achieved like this, a kind of adaptive robot handgrip that sand core is carried, including is arranged in purlin
Grasping mechanism in frame robot, the truss robot can move on sand core production line along X-axis, Y-axis and Z axis, the Z
Axis lower end is rotatablely connected the grasping mechanism, and the grasping mechanism includes can be relative to mobile two handgrips of folding, which is characterized in that
The opposite inside of every handgrip is rotatably connected to jig plate respectively, and hanging equipped with several different sizes is integrated on the jig plate
Described to hang for grabbing position cooperation clamping with hanging for sand core to be captured.
The grasping mechanism of the truss robot of the present invention on two handgrips of retractable movement, is rotatably connected to jig plate,
Integrally disposed different size hangs handle on jig plate, for coordinating the hanging of sand core of crawl different sizes and shapes to grab position,
The hanged carrying different specification size of jig plate that same complete configuration may be implemented hangs the sand core for grabbing position;Jig plate turns with handgrip
The form of dynamic connection is convenient for the Size Distribution position for grabbing hanging part position according to different sand cores, adjust it is applicable hang an angle, with side
Just on same jig plate different size hang use when it is non-interference.
Being used cooperatively for handle is respectively hung for ease of different size, hanging for same specification sets pairing on the jig plate of two handgrips
It sets, same specification hangs the distance of the centre of gyration of opposed jaw plate is identical on each jig plate, and different size hangs a phase
It is different to the distance and/or phase angle of the centre of gyration of its jig plate.Different size is hung into returning opposed jaw plate
Turn center, be arranged by different centre-to-centre spacing and phase angle, can facilitate different size on same jig plate hangs being applicable in for handle, keeps away
Exempt to hang individually using interference or other non-use to hang the interference of handle.
For be further ensured that different size and weight sand core secured grasping, specification by size is divided into big part by described hang
It hangs and, middle part is hung handle and smallclothes hang handle, the big part hangs the centre of gyration of handle away from for d1, middle part hangs the centre of gyration of handle away from for d2,
Smallclothes hang the centre of gyration of handle away from for d3, and d3﹥ d2﹥ d1.It is turned round in the output of the gyroscopic drive system of the jig plate of grasping mechanism
In the case that square is certain, weight and the revolution distance of grabbing workpiece are inversely proportional, and the weight of product is smaller, and the eccentricity of adaptation is got over
Greatly;Conversely, product is bigger, then need eccentricity smaller, in order to avoid generate the torque mistake due to the excessive caused drive system of torque
It is loaded into and leads to structural damage, therefore, in the present invention, when multiple hang is arranged on same jig plate, suitable for hanging for big part
The centre of gyration away from smaller, be more conducive to the force stability of protection drive system and holding jig plate.
As present invention further optimization, the big part is hung the centre of gyration along jig plate away from being zero, the middle part
It hangs being hung on the phase angle different jig plate rotation center is located at smallclothes.
Still more preferably as the present invention, the middle part is hung being hung the phase along jig plate rotation center with smallclothes
Angle is 180 °.
For ease of realizing the rotation connection of jig plate and handgrip, the centre of gyration of the jig plate, which is equipped with to rotate with handgrip, to be connected
The flange connector connect, circumferential direction and the jig plate of the flange connector are bolted, and the corresponding position of the handgrip is set
There are rotating drive mechanism, the output end of the transhipment driving mechanism to be drivingly connected with flange.
To further increase the scope of application of truss machine grasping mechanism, the jig plate is equipped with and handgrip cooperation dismounting
Multigroup, the specification for hanging handle integrated on every group of jig plate is different to adapt to the sand core crawl of different size.
To achieve the purpose of the present invention, the present invention also provides a kind of truss machines using above-mentioned adaptive robot handgrip
The method that people carries sand core online, comprises the following processes:
Truss robot, is run to the top of sand core to be handled by the first step, and the crawl origin of robot is made to be parked with sand core
Coordinate origin where station overlaps;
Second step, truss robot obtain the dimensional parameters of each sand core to be handled, hang and grab positional parameter and sand core location parameter,
Third walks, and the parameter parsed according to second step determines the running landing numbers of sand core;
4th step since first sand core, is selected by the running landing numbers that third walks and grabs the spare of position cooperation with hanging for sand core
Handle is hung, adjusting the angle of truss robot handgrip upper fixture plate makes spare hang in the angle convenient for cooperation grasping;
5th step, truss robot are run to the center of sand core to be handled just according to the position of sand core to be handled along X-axis, Y-axis
Top makes the direction of two handgrip open and close movements grab position with hanging for sand core both sides to be handled along the angle of Z axis rotary grasping mechanism
Distribution arrangement it is identical, then according to the sand core parameter obtained in second step, adjust the opening degree W of two handgrips, make W=X+2L,
The spare distance hung closest approach on specific two handgrips of wherein W, X sand core are wide along the maximum shape of grabbing position distribution arrangement is hung
Degree, L are unilateral pre- allowance;And value is 20-100mm;
6th step, truss robot along Z axis drop to it is spare hang the adaptable height in position and alignment is grabbed with hanging for sand core, grab
It takes the distance of mechanism tightening folding promptly to be hung to cooperation and grabs position, then lift sand core along Z axis, then rotate the angle of alignment jig plate
To the angle for most preferably grabbing core of codding, along X-axis, Y-axis movement carries sand core to next station, puts down sand core, one sand core of completion
It carries;
7th step, truss robot are back to a station;It repeats the 4th step to the process of the 6th step and carries the station successively
Other each sand cores, until the sand core to be handled of the station is all transported to next station,Size sand core in carrying, in hang handle
302 with relatively small hang 301 phase angle in the phase angle of jig plate rotation center be 180 °, will be big when carrying large scale sand core 9
It hangs and 303 phase angle is adjusted to hang angle in 90 ° with small, at this point, rotation center overlaps 303 center with hanging greatly, realize
Firm crawl large scale sand core 9.
The truss robot of the present invention is carried online in the method for sand core, by means of more rule integrally disposed on grasping mechanism
Lattice hang handle, and the online sand core for carrying different size can hang the positions and dimensions for grabbing position, the angle of alignment jig plate according to sand core
Degree, to call what is be applicable in hang handle, cooperation crawl sand core need not frequently replace the fixture of handgrip, realize that same sleeve clamp can be
Line carries the sand core of plurality of specifications, is suitable for the online carrying requirement of single and mini-batch production product.
As a kind of usable condition of the method for the present invention, each sand core to be handled is the work positioned at 3D printing in the first step
In case, the sand core parks the work mark origin that the coordinate origin where station is work box, in second step the parameter of each sand core from
It parses and obtains in 3D printing program.
Handle and sand core individual sites interference and collision are hung in the process to prevent handgrip from declining crawl sand core together with jig plate,
The value of unilateral pre- allowance L in 5th step is 20-100mm.
Description of the drawings
Fig. 1 is the structural schematic diagram of the grasping mechanism of the truss robot of invention.
Fig. 2 be Fig. 1 figure from A to projection.
Fig. 3 is that the jig plate of the grasping mechanism in Fig. 2 rotates 180 ° of schematic diagram along the centre of gyration.
Fig. 4 is the schematic diagram that the jig plate of the grasping mechanism of Fig. 2 is rotated by 90 ° along the centre of gyration.
Fig. 5 is the stereoscopic schematic diagram of jig plate.
Fig. 6 is jig plate and a kind of embodiment schematic diagram that rotation connects in succession of handgrip.
Fig. 7 is the stereoscopic schematic diagram that the sand core of different size to be handled is distributed in work box.
Fig. 8 is the vertical view of the sandbox in Fig. 7.
Fig. 9 is the schematic diagram for respectively hanging handle of the different size sand core of Fig. 7 sandboxes.
Wherein, 1 handgrip;2 jig plates;3 hang handle;301 smallclothes hang handle;Part hangs handle in 302;303 big parts hang handle;4 flanges connect
Fitting;5 bolts;6 speed reducers;7 driving motors;8 work boxs;9 large scale sand cores;The big lifting lugs of 9A;Size sand core in 10;In 10A
Lifting lug;11 small size sand cores;The small lifting lugs of 11A.
Specific implementation mode
Embodiment 1
As Fig. 1-Fig. 6 show the present invention sand core carry adaptive robot handgrip, including be arranged on truss robot
Grasping mechanism, truss robot can move on sand core production line along X-axis, Y-axis and Z axis, the rotation connection crawl of Z axis lower end
Mechanism, grasping mechanism includes can be relative to mobile two handgrips 1 of folding, and the opposite inside of every handgrip 1 is rotatably connected to folder respectively
Has plate 2, integrating hanging equipped with several different sizes on jig plate 2 hangs 33 for grabbing position with hanging for sand core to be captured
Cooperation is clamped, and pairing is arranged in hanging for same specification on the jig plate 2 of two handgrips 1, in order to coordinate the sand core of grasping same specification
It hangs and grabs position.General sand core hangs the symmetrically arranged lifting lug in outside for grabbing that position is sand core a direction, and lifting lug can be solid
Or having the hollow-core construction of hollow hole, the shape of lifting lug is round, rectangular or other shapes, is hung the circle to coordinate with lifting lug
The fit shapes of the suitable socket such as set, circular columns, square sleeve or clamping.
Being used cooperatively for handle is respectively hung for ease of different size, and corresponding same specification hangs on the jig plate 2 of every handgrip
Distance the centre of gyration of 3 opposed jaw plates 2 is identical, different size hang the centres of gyration of 3 its opposite jig plate away from
From and/or phase angle it is different, in order to alignment jig plate angular compliance capture different size core sand.The present embodiment
In, as shown in Fig. 2-Fig. 4, by the centre of gyration of three kinds of different sizes hung 3 opposed jaw plates 2, by different centre-to-centre spacing and
Phase angle is arranged, and hanging for different size on same jig plate 2 can be facilitated to be applicable in 3, avoid hanging individually use interference or
The interference of handle is hung in other non-uses.
For be further ensured that different size and weight sand core secured grasping, hang 3 by size specification be divided into big part and hang
303, middle part is hung, 302 and smallclothes are hung 301, big part hangs the centre of gyration of handle away from for d1, middle part hang the centre of gyration of handle away from
For d2, smallclothes hang the centre of gyration of handle away from for d3, and d3﹥ d2﹥ d1.The jig plate of grasping mechanism gyroscopic drive system it is defeated
Go out torque it is certain in the case of, the weight of grabbing workpiece and revolution distance are inversely proportional, and the weight of product is smaller, the eccentricity of adaptation
It is bigger;Conversely, product is bigger, then need eccentricity smaller, in order to avoid generate the torque due to the excessive caused drive system of torque
It overloads and then leads to structural damage, therefore, in the present invention, when multiple hang is arranged on same jig plate, be suitable for big part
The centre of gyration of handle is hung away from smaller, the force stability more conducive to protection drive system and holding jig plate.
In the present embodiment, big part hang 303 along jig plate the centre of gyration away from being zero, middle part is hung hangs handle 302 and smallclothes
301 are located on the different phase angle of jig plate rotation center, and specially middle part hangs handle and smallclothes are hung along jig plate rotation
The phase angle at center is 180 °.But the centre of gyration of handle is respectively hung in the present invention away from being not limited merely to such setting with phase angle
Mode, variant specification is hung can also need to be arranged by other suitable phase angle according to hanging to grab on same jig plate,
In example, middle part hangs 302 and smallclothes to hang can also be distributed as 90 ° or other angles the phase angle of the 301 opposite centres of gyration.
For ease of realizing the rotation connection of jig plate 2 and handgrip 1, the centre of gyration of jig plate 2, which is equipped with to rotate with handgrip 1, to be connected
The circumferential direction of the flange connector 4 connect, flange connector 4 is connect with jig plate 2 by bolt 5, and the corresponding position of handgrip 1, which is equipped with, to be turned
Dynamic driving mechanism, the output end and flange for transporting driving mechanism are drivingly connected, and rotating drive mechanism includes slowing down in the present embodiment
Machine 6 and driving motor 7.
To further increase the scope of application of truss machine grasping mechanism, jig plate 2 is equipped with more with the cooperation dismounting of handgrip 1
Group, the specification for hanging handle that integrates on every group of jig plate 2 is different to be captured with the sand core for adapting to different size.
The grasping mechanism of the truss robot of the present invention on two handgrips 1 of retractable movement, is rotatably connected to jig plate
2, integrally disposed different size is hung 3 on jig plate 2, for coordinating the sand core of crawl different sizes and shapes to hang the portion of grabbing
Position, the hanged carrying different specification size of jig plate 2 that same complete configuration may be implemented hang the sand core for grabbing position;Jig plate 2 with
The form that handgrip 1 is rotatablely connected is convenient for the Size Distribution position for grabbing hanging part position according to different sand cores, adjusts and applicable hangs an angle
Degree, to facilitate the hanging non-interference when using of different size on same jig plate 2.
Embodiment 2
In the present embodiment, the method that sand core is carried using the truss robot of the adaptive robot handgrip in embodiment 1 online,
During specially carrying 3D printing, the sand core in sand removal station in work box, as shown in Figure 7 and Figure 8, and during 3D printing, one
As be to make full use of the space of work box 8, the sand core of plurality of specifications size, each sand core can be printed in same work box 8 simultaneously
It may be stacked up and down, it is also possible to which horizontal realizes the maximization of space utilization in work box 8, specific in the present embodiment, the work
Make in case 8, there are one 9,3 middle size sand cores 10 of large scale sand core and a small size sand core 11, the settings of each sand core for setting
Position and direction are different, realize the maximization of 8 space utilization of work box, carry specifically including for each sand core in this work box 8
Following process:
Truss robot, is run to the top of the work box where the sand core to be handled of sand removal station by the first step, and makes robot
Coordinate origin where crawl origin parks station with sand core overlaps;Coordinate origin herein is the work mark origin of work box,
The loose sand outside each sand core is tentatively cleaned up by modes such as blast or vibrations in work box at this time, and exposes each sand core
Hang to grab and be integrally formed lifting lug in position, that is, 3D with sand core, in the present embodiment, the structure of each sand core lifting lug as shown in figure 9,
The small lifting lug 11A of its small-medium size sand core 11 is long waist shaped protrusion platform, and is set in boss there are two the hole for hoist being easy to lift,
Mating small hang 301 is two inserted links coordinated with two holes for hoist with the small lifting lug 11A;Middle lifting lug 10A is sand core both sides
It is cooperation socket side to be hung in one piece of square boss for protruding setting respectively, with the lifting lug cooperation of the rectangular boss structure 302
The rectangular sleeve structure of shape boss periphery;The big lifting lug 9A of large scale sand core is that every side of sand core both sides protrudes the two of setting respectively
Block square boss is hung greatly 303 and two rectangular nested structures for two pieces of square boss cooperation sockets;
Second step, truss robot obtain the dimensional parameters of each sand core to be handled in work box 8, hang and grab positional parameter and sand core
Location parameter, the central point of the appearance and size, each sand core that specifically include sand core are made the position of mark origin, respectively to cod with respect to work box
Lifting lug distributing position and lifting lug size, above-mentioned parameter can parse from the 3D printing program of sand core and obtain, can also lead to
Cross the data input pin input of truss robot;
Third walks, and the parameter obtained according to second step determines the running landing numbers of sand core;General determining running landing numbers is first small by sand core
Big afterwards, the first up and then down sequence in sand core position determines;The small sand core positioned at work box upper layer is first removed, work is stretched into convenient for handgrip fixture
Make grafting in case to capture, capturing slightly large-sized sand core for next step provides space;
4th step, by the running landing numbers that third walks, since first sand core, that is, from the small size positioned at work box upper layer
Sand core, which starts to hang, grabs carrying, and small hang coordinated with the small lifting lug 11A of the small size sand core 11 is selected to hang handle using 301 as standby,
The angle of truss robot handgrip upper fixture plate 2 is adjusted by rotary drive mechanism makes small hang on jig plate be in most 301
Lower end is in order to stretching out the both sides of the lifting lug of small size sand core 11 in work box;
5th step, truss robot are run along X-axis, Y-axis to small size sand core 11 to be handled according to the position of sand core to be handled
The surface at center makes the direction of two handgrip open and close movements and small size sand to be handled along the angle of Z axis rotary grasping mechanism
The distribution arrangement of the small lifting lug 11A of 11 both sides of core is identical, then according to the small sand core parameter obtained in second step, adjusts two and grabs
The opening degree W of hand, makes W=X+2L, the spare distance hung closest approach on specific two handgrips of wherein W, X only sand core to be handled along hanging
The maximum shape width of ear distribution arrangement, that is, distance between two lifting lug outer most edges are grabbed, L is to prevent from hanging when capturing downlink touching
The unilateral pre- allowance wiped sand core and be arranged;Generally in the case where not causing other interference, value is 20-100mm;
6th step, truss robot along Z axis drop to it is spare hang the adaptable height in position and alignment is grabbed with hanging for sand core, grab
It takes the distance of mechanism tightening folding promptly to be hung to cooperation and grabs position, then lift sand core along Z axis, then rotate the angle of alignment jig plate
To the angle for most preferably grabbing core of codding, general sand core product hang grab lift after can the rotation center of jig plate be rotated by 90 ° and carried
The loose sand that sand core internal can also be poured out simultaneously, convenient for processing such as postorder sand removal and blasts, if for the sand core after dip-coating
It carries, also helps the lotion for controlling the in-core chamber that shakes out, move along X-axis, Y-axis after sand core is carried on grasping mechanism and be carried to next work
Sand core is put down in position, completes the carrying of a sand core;
7th step, truss robot are back to a station;It repeats the 4th step to the process of the 6th step and carries the station successively
Other each sand cores, until the sand core to be handled of the station is all transported to next station.
The truss robot of the present invention is carried online in the method for sand core, by means of more rule integrally disposed on grasping mechanism
Lattice hang handle, and the online sand core for carrying different size can hang the positions and dimensions for grabbing position, the angle of alignment jig plate according to sand core
Degree, to call what is be applicable in hang handle, cooperation crawl sand core need not frequently replace the fixture of handgrip, realize that same sleeve clamp can be
Line carries the sand core of plurality of specifications, is suitable for the online carrying requirement of single and mini-batch production product.
When being carried online using the truss robot progress sand core of above-mentioned adaptive robot handgrip of the present invention, not only
Sand core during moving 3D printing in sand removal station work box is also applied for carrying small lot or list on other stations
The sand core of each specification of part.
Claims (10)
1. the adaptive robot handgrip that a kind of sand core is carried, including the grasping mechanism that is arranged on truss robot, the purlin
Frame robot can move on sand core production line along X-axis, Y-axis and Z axis, and the Z axis lower end is rotatablely connected the grasping mechanism,
The grasping mechanism includes can be relative to two mobile handgrips of folding, which is characterized in that the opposite inside of every handgrip point
It is not rotatably connected to jig plate, the handle that hangs equipped with several different sizes is integrated on the jig plate, the handle that hangs is used for and waits grabbing
Position cooperation clamping is grabbed in hanging for the sand core taken.
2. the adaptive robot handgrip that sand core according to claim 1 is carried, which is characterized in that two handgrips
Pairing is arranged in hanging for same specification on jig plate, and same specification hangs the centre of gyration of opposed jaw plate on each jig plate
Apart from identical, hanging for different size is different the distance of the centre of gyration of its opposite jig plate and/or phase angle.
3. the adaptive robot handgrip that sand core according to claim 2 is carried, which is characterized in that described to hang by size
Specification, which is divided into big part, hangs and, middle part is hung handle and smallclothes hang handle, and the big part hangs the centre of gyration of handle away from for d1, middle part hang handle return
It is d to turn centre-to-centre spacing2, smallclothes hang the centre of gyration of handle away from for d3, and d3﹥ d2﹥ d1。
4. the adaptive robot handgrip that sand core according to claim 3 is carried, which is characterized in that the big part hangs an edge
Away from being zero, the middle part is hung being hung the phase that be located at jig plate rotation center different with smallclothes the centre of gyration of jig plate
On angle.
5. the adaptive robot handgrip that sand core according to claim 4 is carried, which is characterized in that the middle part hang handle and
It is 180 ° that smallclothes, which are hung the phase angle along jig plate rotation center,.
6. the adaptive robot handgrip that sand core according to claim 2 is carried, which is characterized in that the jig plate returns
Turn center and be equipped with the flange connector being rotatablely connected with the handgrip, the circumferential direction of the flange connector passes through with the jig plate
It is bolted, the corresponding position of the handgrip is equipped with rotating drive mechanism, and the output end of the transhipment driving mechanism drives with flange
Dynamic connection.
7. the adaptive robot handgrip that sand core according to claim 2 is carried, which is characterized in that the jig plate is equipped with
It is dismounted with handgrip cooperation multigroup.
8. a kind of carrying sand online using the truss robot of claim 1-7 any one of them adaptive robot handgrip
The method of core, comprises the following processes:
Truss robot, is run to the top of sand core to be handled by the first step, and the crawl origin of robot is made to be parked with sand core
Coordinate origin where station overlaps,
Second step, truss robot obtain the dimensional parameters of each sand core to be handled, hang and grab positional parameter and sand core location parameter,
Third walks, and the parameter parsed according to second step determines the running landing numbers of sand core;
4th step since first sand core, is selected by the running landing numbers that third walks and grabs the spare of position cooperation with hanging for sand core
Handle is hung, adjusting the angle of truss robot handgrip upper fixture plate makes spare hang in the angle convenient for cooperation grasping;
5th step, truss robot are run to the center of sand core to be handled just according to the position of sand core to be handled along X-axis, Y-axis
Top makes the direction of two handgrip open and close movements grab position with hanging for sand core both sides to be handled along the angle of Z axis rotary grasping mechanism
Distribution arrangement it is identical, then according to the sand core parameter obtained in second step, adjust the opening degree W of two handgrips, make W=X+2L,
The spare distance hung closest approach on specific two handgrips of wherein W, X sand core are wide along the maximum shape of grabbing position distribution arrangement is hung
Degree, L are unilateral pre- allowance;And value is 20-100mm;
6th step, truss machine drop to spare hang grabbing the adaptable height in position and alignment, crawl with hanging for sand core along Z axis
The distance of mechanism tightening folding is promptly hung to cooperation grabs position, then lifts sand core along Z axis, then rotates the angle of alignment jig plate extremely
The best angle for grabbing core of codding, along X-axis, Y-axis movement carries sand core to next station, puts down sand core, one sand core of completion is removed
Fortune;
7th step, truss robot are back to a station;It repeats the 4th step to the process of the 6th step and carries the station successively
Each sand core, until the sand core to be handled of the station is all transported to next station.
9. the online method for carrying sand core according to claim 8, which is characterized in that each sand core to be handled in the first step
For in the work box of 3D printing, the sand core park station where coordinate origin be work box work mark origin, second
The parameter of each sand core is parsed from 3D printing program and is obtained in step.
10. the online method for carrying sand core according to claim 8, which is characterized in that in the 5th step, unilateral pre- allowance L
Value be 20 mm -100mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811030311.7A CN108687309A (en) | 2018-09-05 | 2018-09-05 | A kind of adaptive robot handgrip that sand core is carried and the online method for carrying sand core |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811030311.7A CN108687309A (en) | 2018-09-05 | 2018-09-05 | A kind of adaptive robot handgrip that sand core is carried and the online method for carrying sand core |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108687309A true CN108687309A (en) | 2018-10-23 |
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| CN109894581A (en) * | 2019-02-22 | 2019-06-18 | 新兴河北工程技术有限公司 | A kind of casting robot upper core system automatically |
| CN110788308A (en) * | 2019-11-29 | 2020-02-14 | 共享智能铸造产业创新中心有限公司 | Sand mould fixture |
| CN112387933A (en) * | 2020-10-23 | 2021-02-23 | 共享智能铸造产业创新中心有限公司 | Sand core carrying device |
| WO2022121336A1 (en) * | 2020-12-08 | 2022-06-16 | 广州城市理工学院 | Conveying system for low-pressure cast water-cooled shell spiral sand core |
| CN114918379A (en) * | 2022-04-29 | 2022-08-19 | 共享智能装备有限公司 | Control method for large sand core processing system |
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| JP2000237841A (en) * | 1999-02-16 | 2000-09-05 | Toyota Motor Corp | Device for taking out sand mold |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109894581A (en) * | 2019-02-22 | 2019-06-18 | 新兴河北工程技术有限公司 | A kind of casting robot upper core system automatically |
| CN110788308A (en) * | 2019-11-29 | 2020-02-14 | 共享智能铸造产业创新中心有限公司 | Sand mould fixture |
| CN112387933A (en) * | 2020-10-23 | 2021-02-23 | 共享智能铸造产业创新中心有限公司 | Sand core carrying device |
| WO2022121336A1 (en) * | 2020-12-08 | 2022-06-16 | 广州城市理工学院 | Conveying system for low-pressure cast water-cooled shell spiral sand core |
| CN114918379A (en) * | 2022-04-29 | 2022-08-19 | 共享智能装备有限公司 | Control method for large sand core processing system |
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