CN108818504A - A kind of casting mould crawl robot - Google Patents
A kind of casting mould crawl robot Download PDFInfo
- Publication number
- CN108818504A CN108818504A CN201810729096.3A CN201810729096A CN108818504A CN 108818504 A CN108818504 A CN 108818504A CN 201810729096 A CN201810729096 A CN 201810729096A CN 108818504 A CN108818504 A CN 108818504A
- Authority
- CN
- China
- Prior art keywords
- arm
- clamped
- bracket
- casting mould
- pedestal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
- B22D33/00—Equipment for handling moulds
- B22D33/02—Turning or transposing moulds
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The present invention includes mechanical arm and anti-fall gripper, and anti-fall gripper is mounted on the end of mechanical arm；Anti-fall gripper include first be clamped and connected arm, second be clamped and connected arm and pedestal, the lower end of pedestal is provided with the first U-bracket, and the first U-bracket is internally provided with transverse slat；First arm and second that is clamped and connected is clamped and connected and intersects and be hinged on the middle part of transverse slat between arm；First be clamped and connected arm and second be clamped and connected arm top respectively be located at the first U-bracket inside the second U-bracket it is hinged, in the middle part of the second U-bracket and pedestal the first hydraulic cylinder of lower end extension end connection；First be clamped and connected arm and second be clamped and connected arm lower end be provided with grip block, and to be oppositely arranged between grip block；Trailing arm mechanism is provided on the outside of grip block.Security performance of the present invention is strong, and the crawl, transhipment and push that casting mould may be implemented are put, and solves the existing casting mould lifting technical problem inconvenient with transhipment.
Description
Technical field
The present invention relates to a kind of casting moulds to grab robot.
Background technique
Casting is will to be poured into casting mold by the metal liquid of melting, shape and performance needed for obtaining through cooled and solidified
The manufacturing process of part.
Casting mould completion needs to be placed on shelf after pouring to be cooled down, and casting mould is placed on shelf by tradition
It is mainly hung using row with gripper and is realized；1, it is expert at when hanging, needs to increase hanging on casting mould, increase manufacture
Process and cost, when use, first catch on casting mould, this to be hung using row then by casting mould allocation and transportation on shelf
Mode limit the position that casting mould is put, it is also inconvenient while also not safe enough to operate, and is easy to collide with to mould
Tool causes to damage.2, very high to the pawl force request of gripper when using gripper, when being poured due to casting mould completion inside
Structure flexible relative, gripper grasp force cross conference and cause to damage to mold, and when pawl power is inadequate is easy to produce and falls, and are easy
Cause safety accident.
Summary of the invention
It, can be with the purpose of the present invention is in view of the above problems, providing a kind of casting mould crawl robot, security performance is strong
Realize that the crawl, transhipment and push of casting mould are put, solving existing casting mould lifting, the technology inconvenient with transhipment is asked
Topic.
In order to achieve the above object, the technical solution adopted by the present invention is that：It includes mechanical arm and anti-fall gripper, anti-air crash
Machinery claw is mounted on the end of mechanical arm；Anti-fall gripper include first be clamped and connected arm, second be clamped and connected arm and pedestal, pedestal
Lower end be provided with the first U-bracket, the first U-bracket is internally provided with transverse slat；First be clamped and connected arm and second clamping
It intersects between linking arm, and infall is hinged on the middle part of transverse slat；First arm and second that is clamped and connected is clamped and connected arm
Top is hinged with the second U-bracket inside the first U-bracket respectively, lower end in the middle part of the second U-bracket and pedestal
First hydraulic cylinder extension end connection；First be clamped and connected arm and second be clamped and connected arm lower end be provided with grip block,
It and is to be oppositely arranged between two grip blocks；Trailing arm mechanism is provided on the outside of grip block.
Further, trailing arm mechanism includes two trailing arm units being oppositely arranged, and the trailing arm unit includes level board
And hang plate, level board are fixedly connected with grip block；Hang plate is provided with rectilinear orbit be located adjacent to grip block on one side, directly
Sliding shoe, connecting bracket on sliding shoe are installed, bracket and the extension end of the second hydraulic cylinder of level board bottom connect on trajectory
It connects, button is hingedly held in the palm in the lower end of bracket, connects compressed spring between support button and sliding shoe.
Further, the angle X between two hang plates in left and right is 3~10 °.
Further, grip block includes concave arc-shaped section and gripping section, and anti-skidding bar shaped tooth is provided on the clamping face of gripping section.
Further, loss of weight through-hole is provided on concave arc-shaped section.
Further, support button includes the arc arm of force and the tray that arc arm of force bottom is arranged in, and tray includes the water at top
Plane, the arc surface of bottom and inclined surface；Spring attachment base is provided on the arc arm of force.
Further, mechanical arm includes pedestal and arm, and arm is provided with joint, and arm one end connects on the base, separately
Outer one end is connect with anti-fall gripper；Pedestal is internally provided with driving it is rotated freely or the driving element of elevating movement.
Beneficial effects of the present invention：The present invention provides a kind of casting moulds to grab robot, and security performance is strong, Ke Yishi
Crawl, transhipment and the push of existing casting mould are put, and solve the existing casting mould lifting technical problem inconvenient with transhipment.
1, casting grinding tool can be grabbed in the anti-fall gripper in the present invention, while in the process of grasping can
It prevents from falling, improves the safety of casting mould crawl.
2, trailing arm mechanism can catch on and prop up to the bottom of casting mould, and to the bottom of casting mould in the present invention
Support reduces requirement of the grip block to casting mould side aid power.
3, the present invention is when grabbing placed point for casting mould, the arc surface and ground face contact of support button bottom, pressure with
Under the guiding function in support button bottom angled face, it can be realized tray and thread off automatically with casting mould bottom, improve Automated water
It is flat.
4, during second hydraulic cylinder stretches down, support is buckled under the action of compressed spring elastic force, and the moment keeps and casting
Mold side squeezes contact, and moves down on rectilinear orbit in hang plate, when being moved to casting mould bottom, at the top of tray
Horizontal plane casting mould bottom is clasped automatically, and casting mould bottom is supported, improves automatization level.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention.
Fig. 2 is the structural schematic diagram of mechanical arm in the present invention.
Fig. 3 does not grab structural schematic diagram when casting mould for anti-fall gripper in the present invention.
Fig. 4 is structural schematic diagram when anti-fall gripper is by casting mould seized condition in the present invention.
Fig. 5 is the structural schematic diagram of grip block in the present invention.
Fig. 6 is the structural schematic diagram that button is held in the palm in the present invention.
Label character described in figure is expressed as：6, mechanical arm；7, anti-fall gripper；61, pedestal；62, joint；63, arm；
71, pedestal；72, first hydraulic cylinder；73, the first U-bracket；74, it first is clamped and connected arm；75, grip block；76, the second U-shaped branch
Frame；77, it second is clamped and connected arm；78, transverse slat；79, trailing arm unit；751, concave arc-shaped section；752, gripping section；753, clamping face；
754, through-hole；791, level board；792, second hydraulic cylinder；793, hang plate；794, bracket；795, sliding shoe；796, bullet is compressed
Spring；797, support button；7971, the arc arm of force；7972, tray；7973, horizontal plane；7974, inclined surface；7975, arc surface；7976,
Spring attachment base.
Specific embodiment
In order to make those skilled in the art more fully understand technical solution of the present invention, with reference to the accompanying drawing to the present invention into
Row detailed description, the description of this part be only it is exemplary and explanatory, should not have any limitation to protection scope of the present invention
Effect.
As shown in figs 1 to 6, specific structure of the invention is：It includes mechanical arm 6 and anti-fall gripper 7, anti-fall machinery
Pawl 7 is mounted on the end of mechanical arm 6；Anti-fall gripper 7 include first be clamped and connected arm 74, second be clamped and connected arm 77 and pedestal
71, the lower end of pedestal 71 is provided with the first U-bracket 73, and the first U-bracket 73 is internally provided with transverse slat 78；First clamping connects
It connects arm 74 and second to be clamped and connected between arm 77 and intersect, and infall is hinged on the middle part of transverse slat 78；First is clamped and connected
Arm 74 and second be clamped and connected arm 77 top respectively with the second U-bracket 76 for being located inside the first U-bracket 73 hingedly, the
The middle part of two U-brackets 76 is connect with the extension end of the first hydraulic cylinder 72 of lower end in pedestal 71；First is clamped and connected 74 He of arm
Second lower end for being clamped and connected arm 77 is provided with grip block 75, and is to be oppositely arranged between two grip blocks 75；Grip block 75
Outside be provided with trailing arm mechanism.
Preferably, trailing arm mechanism includes two trailing arm units 79 being oppositely arranged, and the trailing arm unit 79 includes level
Plate 791 and hang plate 793, level board 791 are fixedly connected with grip block 75；Hang plate 793 is being located adjacent to the one of grip block 75
Face is provided with rectilinear orbit, and sliding shoe 795 is equipped on rectilinear orbit, connecting bracket 794 on sliding shoe 795, bracket 794 and water
The extension end of the second hydraulic cylinder 792 of 791 bottom of plate connects, and button 797, support button 797 and sliding are hingedly held in the palm in the lower end of bracket 794
Compressed spring 796 is connected between block 795.
Preferably, the angle X between two hang plates 793 in left and right is 3~10 °.
Preferably, grip block 75 includes concave arc-shaped section 751 and gripping section 752, is provided on the clamping face 753 of gripping section 752
Anti-skidding bar shaped tooth.
Preferably, loss of weight through-hole 754 is provided on concave arc-shaped section 751.
Preferably, support button 797 includes the arc arm of force 7971 and the tray 7972 that 7971 bottom of the arc arm of force is arranged in, tray
7972 include the horizontal plane 7973 at top, the arc surface 7975 of bottom and inclined surface 7974；Bullet is provided on the arc arm of force 7971
Spring attachment base 7976.
Preferably, mechanical arm 6 includes pedestal 61 and arm 63, and arm 63 is provided with joint 62, and 63 one end of arm is connected to
On pedestal 61, other end is connect with anti-fall gripper 7；Pedestal 61 is internally provided with driving it is rotated freely or elevating movement
Driving element.
Casting grinding tool can be grabbed in the anti-fall gripper in the present invention, while can prevent in the process of grasping
Falling stop is fallen, and improves the safety of casting mould crawl.
Trailing arm mechanism can catch on and prop up to the bottom of casting mould, and to the bottom of casting mould in the present invention
Support reduces requirement of the grip block to casting mould side aid power.
When casting mould is grabbed placed point by the present invention, the arc surface and ground face contact of support button bottom, in pressure and support
Under the guiding function for detaining bottom angled face, it can be realized tray and thread off automatically with casting mould bottom, improve automatization level.
During second hydraulic cylinder stretches down, support is buckled under the action of compressed spring elastic force, and the moment keeps and casting die
Have side and squeeze contact, and moved down on rectilinear orbit in hang plate, when being moved to casting mould bottom, at the top of tray
Horizontal plane automatically clasps casting mould bottom, and is supported to casting mould bottom, improves automatization level.
It should be noted that, in this document, the terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that the process, method, article or equipment for including a series of elements not only includes those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or equipment institute it is intrinsic
Element.
Used herein a specific example illustrates the principle and implementation of the invention, the explanation of above example
It is merely used to help understand method and its core concept of the invention.The above is only a preferred embodiment of the present invention, it answers
When pointing out due to the finiteness of literal expression, and objectively there is unlimited specific structure, for the common skill of the art
For art personnel, without departing from the principle of the present invention, several improvement, retouching or variation can also be made, can also incited somebody to action
Above-mentioned technical characteristic is combined in the right way；These improve retouching, variation or combination, or the not improved structure by invention
Think and technical solution directly applies to other occasions, is regarded as protection scope of the present invention.
Claims (7)
1. a kind of casting mould grabs robot, which is characterized in that it includes mechanical arm (6) and anti-fall gripper (7), anti-air crash
Machinery claw (7) is mounted on the end of mechanical arm (6)；Anti-fall gripper (7) include first be clamped and connected arm (74), second be clamped and connected
Arm (77) and pedestal (71), the lower end of pedestal (71) are provided with the first U-bracket (73), and the inside of the first U-bracket (73) is set
It is equipped with transverse slat (78)；First arm (74) and second that is clamped and connected is clamped and connected between arm (77) and intersects, and infall is hinged
At the middle part of transverse slat (78)；First be clamped and connected arm (74) and second be clamped and connected arm (77) top respectively and be located at the first U
Internal the second U-bracket (76) of shape bracket (73) hingedly, the of lower end in the middle part and pedestal (71) of the second U-bracket (76)
The extension end of one hydraulic cylinder (72) connects；First be clamped and connected arm (74) and second be clamped and connected arm (77) lower end be provided with
Grip block (75), and be to be oppositely arranged between two grip blocks (75)；Grip block is provided with trailing arm mechanism on the outside of (75).
2. a kind of casting mould according to claim 1 grabs robot, which is characterized in that trailing arm mechanism includes two phases
To the trailing arm unit (79) of setting, the trailing arm unit (79) includes level board (791) and hang plate (793), level board
(791) it is fixedly connected with grip block (75)；Hang plate (793) is provided with straight line rail be located adjacent to grip block (75) on one side
Road is equipped with sliding shoe (795) on rectilinear orbit, connecting bracket (794) on sliding shoe (795), bracket (794) and level board
(791) the extension end connection of the second hydraulic cylinder (792) of bottom, the lower end of bracket (794) are hingedly held in the palm button (797), support button (797)
Compressed spring (796) are connected between sliding shoe (795).
3. a kind of casting mould according to claim 2 grabs robot, which is characterized in that two hang plates in left and right
(793) the angle X between is 3~10 °.
4. a kind of casting mould according to claim 1 grabs robot, which is characterized in that grip block (75) includes concave arc
Section (751) and gripping section (752) is provided with anti-skidding bar shaped tooth on the clamping face (753) of gripping section (752).
5. a kind of casting mould according to claim 4 grabs robot, which is characterized in that concave arc-shaped section is arranged on (751)
There are loss of weight through-hole (754).
6. a kind of casting mould according to claim 2 grabs robot, which is characterized in that support button (797) includes arc
In the tray (7972) of the arc arm of force (7971) bottom, tray (7972) includes the horizontal plane at top for the arm of force (7971) and setting
(7973), the arc surface (7975) of bottom and inclined surface (7974)；The arc arm of force is provided with spring attachment base on (7971)
(7976)。
7. a kind of casting mould according to claim 1 grabs robot, which is characterized in that mechanical arm (6) includes pedestal
(61) be provided with joint (62) with arm (63), arm (63), arm (63) one end is connected on pedestal (61), other end with
Anti-fall gripper (7) connection；Pedestal (61) is internally provided with driving it is rotated freely or the driving element of elevating movement.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2018107238606 | 2018-07-04 | ||
| CN201810723860 | 2018-07-04 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108818504A true CN108818504A (en) | 2018-11-16 |
Family
ID=64135339
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810729096.3A Pending CN108818504A (en) | 2018-07-04 | 2018-07-05 | A kind of casting mould crawl robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108818504A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109396639A (en) * | 2018-12-04 | 2019-03-01 | 大族激光科技产业集团股份有限公司 | Fixture, grasping system, welding system and welding method |
| CN110439295A (en) * | 2019-07-26 | 2019-11-12 | 深圳中物智建科技有限公司 | It is a kind of convenient for the synchronous construction robot steadily grabbed |
| CN110497432A (en) * | 2019-09-23 | 2019-11-26 | 黎兴才 | A kind of industrial robot composite fixture |
| CN110976790A (en) * | 2019-12-24 | 2020-04-10 | 温州圆拓机械科技有限公司 | Steel ingot casting device with replaceable die |
| CN112157216A (en) * | 2020-09-11 | 2021-01-01 | 繁昌县琪鑫铸造有限公司 | Die filling equipment for casting die production |
| CN113146672A (en) * | 2021-05-07 | 2021-07-23 | 哈尔滨学院 | Manipulator suitable for loading and unloading astronomical telescope |
| CN113510728A (en) * | 2021-08-02 | 2021-10-19 | 广东工业大学 | Anti-falling manipulator |
| CN114474129A (en) * | 2022-04-06 | 2022-05-13 | 佛山华数机器人有限公司 | But manipulator anchor clamps of buoyancy regulation |
-
2018
- 2018-07-05 CN CN201810729096.3A patent/CN108818504A/en active Pending
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109396639A (en) * | 2018-12-04 | 2019-03-01 | 大族激光科技产业集团股份有限公司 | Fixture, grasping system, welding system and welding method |
| CN109396639B (en) * | 2018-12-04 | 2021-09-21 | 大族激光科技产业集团股份有限公司 | Clamp, clamping system, welding system and welding method |
| CN110439295A (en) * | 2019-07-26 | 2019-11-12 | 深圳中物智建科技有限公司 | It is a kind of convenient for the synchronous construction robot steadily grabbed |
| CN110497432A (en) * | 2019-09-23 | 2019-11-26 | 黎兴才 | A kind of industrial robot composite fixture |
| CN110976790A (en) * | 2019-12-24 | 2020-04-10 | 温州圆拓机械科技有限公司 | Steel ingot casting device with replaceable die |
| CN112157216A (en) * | 2020-09-11 | 2021-01-01 | 繁昌县琪鑫铸造有限公司 | Die filling equipment for casting die production |
| CN113146672A (en) * | 2021-05-07 | 2021-07-23 | 哈尔滨学院 | Manipulator suitable for loading and unloading astronomical telescope |
| CN113510728A (en) * | 2021-08-02 | 2021-10-19 | 广东工业大学 | Anti-falling manipulator |
| CN114474129A (en) * | 2022-04-06 | 2022-05-13 | 佛山华数机器人有限公司 | But manipulator anchor clamps of buoyancy regulation |
| CN114474129B (en) * | 2022-04-06 | 2022-07-19 | 佛山华数机器人有限公司 | But manipulator anchor clamps of buoyancy regulation |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181116 |
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| RJ01 | Rejection of invention patent application after publication |