阅读说明：本技术 一种铸造用铸件抓取装置 (Foundry goods grabbing device is used in casting ) 是由 王海君 方毅 于 2021-06-30 设计创作，主要内容包括：本发明公开了一种铸造用铸件抓取装置,属于铸造用铸件运输技术领域,该铸造用铸件抓取装置,包括：底座、运动板、升降装置、驱动装置、转动盘、支撑柱、支撑臂以及抓夹,通过设置的驱动电机的输出端带动半圆形转块和第一转动臂连续转动时,第一转动臂上的第一凸台切入条形槽口内,此时第二凸台位于半圆形转块的直线段处,第三凸台位于第一凸台所在的条形槽口远离一侧的半圆形转块一侧的弧线段上,从而拨动驱动盘进行角度转动,由于驱动盘带动四组抓夹进行连续性、间歇性、单向周期性转动,相比传统的单个抓手对铸件抓取,大大提高了抓取上料的效率。(The invention discloses a casting gripping device for casting, belonging to the technical field of casting transportation, and the casting gripping device for casting comprises: the base, the motion plate, elevating gear, drive arrangement, the rolling disc, the support column, support arm and grab the clamp, when driving semi-circular commentaries on classics piece and first rotation arm continuous rotation through the driving motor's that sets up output, first boss on the first rotation arm cuts into in the bar notch, the second boss is located the straight line section department of semi-circular commentaries on classics piece this moment, the third boss is located the bar notch at first boss place and keeps away from on the arc line section of semi-circular commentaries on classics piece one side of one side, thereby stir the driving-disc and carry out angular rotation, because the driving-disc drives four group grabs the clamp and carries out the continuity, intermittent type nature, one-way periodic rotation, compare traditional single tongs and snatch the foundry goods, the efficiency of snatching the material loading has been improved greatly.)

1. A foundry goods grabbing device is used in casting, its characterized in that includes:

the device comprises a base (1), wherein a moving plate (2) is arranged above the base (1), and a lifting device (3) is arranged between the base (1) and the moving plate (2);

a drive device (4), said drive device (4) being formed on the moving plate (2);

rolling disc (5), support column (6) are installed perpendicularly to rolling disc (5) lower surface, support arm (7) are installed along circumference equidistance on rolling disc (5), the equal fixed mounting in one end of rolling disc (5) is kept away from in support arm (7) has the grab clamp (8).

2. A casting pick-up device as claimed in claim 1, wherein: base (1) includes panel (101), the equal perpendicular welding of four corners of panel (101) lower surface has supporting leg (102), the lower surface of supporting leg (102) has hoof foot (103) through bolt fixed mounting, the four corners department on panel (101) has all opened circular slotted hole (104), is located everywhere it has installing port (105) to open on panel (101) between circular slotted hole (104), installs first sleeve (106) on panel (101) that is located circular slotted hole (104) below perpendicularly.

3. A casting pick-up device as claimed in claim 2, wherein: elevating gear (3) include electric putter (301), the expansion end of electric putter (301) is in the same place with motion board (2) fixed mounting, install in installing port (105) the stiff end of electric putter (301), slide bar (302) are all installed perpendicularly to four corners of motion board (2) lower surface, each slide bar (302) sliding connection is in corresponding first sleeve (106).

4. A casting pick-up device as claimed in claim 1, wherein: drive arrangement (4) are including second sleeve (401) that are located motion board (2) upper surface center department and be located driving piece (402) and chucking spare (403) of second sleeve (401) one side, be connected with main shaft (404) through bearing rotation in second sleeve (401), main shaft (404) upper surface coaxial fixation has driving-disc (405), it has bar notch (4051) to open along circumference equidistance on driving-disc (405).

5. The casting pick-up device of claim 4, wherein: the driving piece (402) comprises a motor box (4021), a driving motor (4022) is arranged in the motor box (4021), the output end of the driving motor (4022) penetrates through the motor box (4021), a semicircular rotating block (4023) and a first rotating arm (4024) are sequentially and coaxially fixed at one end penetrating through the motor box, a first boss (4025) is vertically installed on one side, close to the driving disc (405), of the first rotating arm (4024), and the first boss (4025) is matched with the strip-shaped notch (4051).

6. A casting pick-up device as claimed in claim 5, wherein: chucking spare (403) include axle bed (4031) and fixing base (4032), be connected with swivel becket (4033) through round pin axle rotation in axle bed (4031), fixedly connected with third swivel becket (4034) and fourth swivel becket (4035) on swivel becket (4033), install second boss (4036) perpendicularly on third swivel becket (4034), second boss (4036) and semicircular turning block (4023) counterbalance, install third boss (4037) perpendicularly on fourth swivel becket (4035), third boss (4037) and bar notch (4051) looks adaptation, install pole setting (4038) on fixing base (4032), be connected with spring (4039) between pole setting (4038) and fourth swivel becket (4035).

7. A casting pick-up device as claimed in claim 1, wherein: the grabbing clamp (8) comprises a mounting seat (801), a propelling cylinder (802) is fixedly mounted in the mounting seat (801) through a bolt, a connecting block (803) is fixedly mounted at the output end of the propelling cylinder (802), a pair of driving arms (804) are rotatably connected in the connecting block (803), and a pair of clamping arms (805) are rotatably connected at the other ends of the driving arms (804) through pin shafts.

8. A casting pick-up device as claimed in claim 7, wherein: the mounting seat (801) comprises a third sleeve (8011) and an L-shaped fixing block (8012), an open end of the L-shaped fixing block (8012) is fixedly mounted at an open end of one side of the third sleeve (8011), a pair of movable grooves (8013) are formed in the third sleeve (8011), a connecting part of the driving arm (804) and the clamping arm (805) moves in the movable grooves (8013), a pair of rotating holes (8014) are formed in one side, close to the clamping arm (805), of the movable grooves (8013), connecting shafts (8051) are mounted on the upper side and the lower side of the clamping arm (805), and the connecting shafts (8051) are rotatably connected in the rotating holes (8014).

9. A casting pick-up device as claimed in claim 8, wherein: the clamping arm (805) is arranged in a concave shape, a groove (8052) is formed in the inner side of the clamping arm (805), and a sponge cushion layer (8053) is embedded in the groove (8052).

10. A casting pick-up device as claimed in claim 1, wherein: the supporting arm (7) is provided with a plurality of supporting arms.

Technical Field

The invention belongs to the technical field of casting transportation, and particularly relates to a casting grabbing device for casting.

Background

In recent years, compared with other processing equipment such as a numerical control processing center, an FMC (flexible manufacturing center) and the like, the industrial robot applied to the field of mechanical processing has the advantages of low cost, high automation degree, good flexibility, small installation space and the like, can meet the modern production requirements of various, small-batch and field processing, meets the complex processing requirements of a free-form surface, a complex cavity and the like, and particularly can efficiently complete the grabbing work and conveying work of workpieces by a grabbing device in the industrial robot.

At present, a grabbing device with publication number CN212887649U includes a cylinder, a grabbing component, a driving component and an adjusting component, wherein the grabbing component moves directionally relative to the cylinder, and the driving component moves directionally relative to the cylinder, so that before using the grabbing device, people need to adjust the positions of the grabbing component and the driving component on the cylinder through the adjusting component, so that the grabbing component can grab a workpiece smoothly; although the gripping device can grip the castings, the gripping device can only grip one casting at a time and then transport the castings, and the efficiency is low.

Disclosure of Invention

The invention aims to provide a casting grabbing device for casting, which solves the problems in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme:

a casting gripping device for casting, comprising: the device comprises a base, a moving plate, a lifting device, a driving device, a rotating disc, a supporting column, a supporting arm and a grabbing clamp.

Wherein, the base top is provided with the motion board, be provided with elevating gear between base and the motion board.

Further, the base that sets up plays the fixed effect of support, drives the vertical lift that the motion board carried out longitudinal direction through the elevating gear of installing between base and motion board to the drive is grabbed and is pressed from both sides the lift, snatchs in order to satisfy not co-altitude foundry goods, greatly increased the practicality.

Wherein the driving device is formed on the moving plate.

Further, drive four groups of grabs through the drive arrangement that sets up and press from both sides and carry out continuity, intermittent type nature, one-way periodic rotation, compare traditional single tongs and snatch the foundry goods, improved the efficiency of snatching the material loading greatly.

Wherein, the rolling disc lower surface vertical installation has the support column, install the support arm along circumference equidistance on the rolling disc, the equal fixed mounting of one end that the rolling disc was kept away from to the support arm has the grabhook to press from both sides.

Further, the support column through setting up is in the same place driving-disc fixed connection in with rolling disc and the drive arrangement, and the support arm of setting provides the installation condition for the fixed of grabbing clamp, and the support arm is kept away from the one end of rolling disc and is greater than the length between base edge to the base center to the distance length between the rolling disc center, thereby be convenient for grab the clamp and snatch the foundry goods.

As a preferable scheme of the invention, the base comprises a panel, supporting legs are vertically welded at four corners of the lower surface of the panel, hoof feet are fixedly mounted on the lower surfaces of the supporting legs through bolts, circular slotted holes are formed at four corners of the panel, mounting openings are formed in the panel among the circular slotted holes at four positions, a first sleeve is vertically mounted on the panel below the circular slotted holes, and cross beams are fixedly connected between adjacent supporting legs to play a role in reinforcing and enhance the stability of the base.

As a preferred scheme of the present invention, the lifting device includes an electric push rod, a movable end of the electric push rod is fixedly mounted with the moving plate, a fixed end of the electric push rod is mounted in the mounting opening, four corners of the lower surface of the moving plate are vertically mounted with slide bars, each slide bar is slidably connected in a corresponding first sleeve, by starting the electric push rod, the movable end of the electric push rod drives the moving plate to lift up and down, the four corners of the lower surface of the moving plate are vertically mounted with slide bars, each slide bar is slidably connected in a corresponding first sleeve, thereby providing a guiding effect for the lifting of the moving plate, the moving plate is equidistantly provided with notches, which not only saves materials, but also reduces the weight of the moving plate.

As a preferred scheme of the present invention, the driving device includes a second sleeve located at the center of the upper surface of the moving plate, and a driving member and a clamping member located at one side of the second sleeve, a main shaft is rotatably connected in the second sleeve through a bearing, a driving disc is coaxially fixed on the upper surface of the main shaft, strip-shaped notches are formed on the driving disc at equal intervals along the circumference, the driving disc is driven to rotate through the arranged driving member as a power source of the driving device, and the driving disc is limited by the arranged clamping member in the rotating process, so as to prevent the driving disc from rotating.

As a preferred scheme of the present invention, the driving member includes a motor case, a driving motor is disposed in the motor case, an output end of the driving motor penetrates through the motor case, and a semicircular rotating block and a first rotating arm are coaxially fixed in sequence at one penetrating end, a first boss is vertically installed at one side of the first rotating arm close to the driving disc, the first boss is adapted to the strip-shaped notch, the first rotating arm at the end where the first boss is installed is located in an arc-shaped section of the semicircular rotating block, and an angle difference is formed between the first rotating arm and the semicircular rotating block, when the output end of the driving motor drives the semicircular rotating block and the first rotating arm to continuously rotate, the first boss on the first rotating arm enters the strip-shaped notch, the driving disc is toggled to rotate by an angle, the number of the strip-shaped notches and the number of the supporting arms are the same, but in order to enable the driving disc to complete a periodic rotation and stop motion, the number of the strip-shaped notches on the drive disc cannot be less than that.

As a preferable scheme of the invention, the clamping piece comprises a shaft seat and a fixed seat, a rotating ring is rotatably connected in the shaft seat through a pin shaft, a third rotating arm and a fourth rotating arm are fixedly connected on the rotating ring, a second boss is vertically arranged on the third rotating arm and is abutted against the semicircular rotating block, a third boss is vertically arranged on the fourth rotating arm and is matched with the strip-shaped notch, an upright rod is arranged on the fixed seat, a spring is connected between the upright rod and the fourth rotating arm, when the first boss tangentially enters the strip-shaped notch, the second boss is positioned at the straight line section of the semicircular rotating block, the third boss is positioned on the arc line section of the strip-shaped notch where the first boss is positioned, which is far away from the semicircular rotating block at one side, so as to drive the driving disc to rotate, when the first boss is cut into the strip-shaped notch, the second boss is located the arc line department of semicircular commentaries on classics piece to promote to one side by the arc limit of semicircular commentaries on classics piece, make the third boss block the opening part of adjacent bar notch under the elasticity that resets of spring, make driving-disc stall, press from both sides for the tongs of grabbing clamp and provide the time interval.

As a preferable scheme of the invention, the gripper comprises an installation seat, a propulsion cylinder is fixedly installed in the installation seat through a bolt, a connection block is fixedly installed at the output end of the propulsion cylinder, a pair of driving arms are rotatably connected in the connection block, and a pair of clamping arms are rotatably connected at the other ends of the pair of driving arms through a pin shaft.

As a preferable scheme of the present invention, the mounting seat includes a third sleeve and an L-shaped fixing block, an open end of the L-shaped fixing block is fixedly mounted on an open end of one side of the third sleeve, the third sleeve is provided with a pair of movable slots, a joint of the driving arm and the clamping arm is movable in the movable slots, one side of the pair of movable slots close to the clamping arm is provided with a rotation hole, both upper and lower sides of the clamping arm are provided with a connecting shaft, and the connecting shaft is rotatably connected in the rotation hole.

As a preferable scheme of the invention, the clamping arm is arranged in a concave shape, a groove is arranged on the inner side of the clamping arm, and a sponge cushion layer is embedded in the groove.

As a preferable aspect of the present invention, the support arm is provided in plurality.

The invention has the beneficial effects that:

1. according to the invention, when the output end of the arranged driving motor drives the semicircular rotating block and the first rotating arm to rotate continuously, the first boss on the first rotating arm is cut into the strip-shaped groove, the second boss is positioned at the linear section of the semicircular rotating block, the third boss is positioned on the arc line section of one side of the semicircular rotating block, far away from one side of the strip-shaped groove where the first boss is positioned, so that the driving disc is shifted to rotate in an angle, and as the driving disc drives four groups of gripping clamps to rotate continuously, intermittently and unidirectionally and periodically, compared with the traditional single gripper, the efficiency of gripping and feeding the casting is greatly improved.

2. When the first boss is cut into the strip-shaped notch, the second boss is positioned at the arc line section of the semicircular rotating block and is pushed to one side by the arc edge of the semicircular rotating block, and the third boss is clamped at the opening of the adjacent strip-shaped notch under the reset elastic force of the spring, so that the driving disc stops rotating, a time interval is provided for clamping of the gripper, and meanwhile, the limiting function is realized on the driving disc, and the driving disc is prevented from rotating.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a partial schematic view of the present invention;

FIG. 3 is an enlarged view of the structure at A in FIG. 1 according to the present invention;

FIG. 4 is a partial structural view of the driving device of the present invention;

figure 5 is a schematic view of the construction of the gripper of the present invention.

In the figure: 1. a base; 101. a panel; 102. supporting legs; 103. a hoof; 104. a circular slot; 105. an installation port; 106. a first sleeve; 2. a motion plate; 3. a lifting device; 301. an electric push rod; 302. a slide bar; 4. a drive device; 401. a second sleeve; 402. a drive member; 4021. a motor case; 4022. a drive motor; 4023. a semicircular rotating block; 4024. a first rotation arm; 4025. a first boss; 403. a retainer; 4031. a shaft seat; 4032. a fixed seat; 4033. a rotating ring; 4034. a third rotating arm; 4035. a fourth rotating arm; 4036. a second boss; 4037. a third boss; 4038. erecting a rod; 4039. a spring; 404. a main shaft; 405. a drive disc; 4051. a strip-shaped notch; 5. rotating the disc; 6. a support pillar; 7. a support arm; 8. grabbing and clamping; 801. a mounting seat; 8011. a third sleeve; 8012. an L-shaped fixed block; 8013. a movable groove; 8014. rotating the hole; 802. propelling the cylinder; 803. connecting blocks; 804. a drive arm; 805. clamping arms; 8051. a connecting shaft; 8052. a groove; 8053. a sponge cushion layer.

Detailed Description

In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "top/bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "sleeved/connected," "connected," and the like are to be construed broadly, e.g., "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Examples

Referring to fig. 1-5, a casting gripping device for casting includes: the device comprises a base 1, a moving plate 2, a lifting device 3, a driving device 4, a rotating disc 5, a supporting column 6, a supporting arm 7 and a gripper 8.

Wherein, base 1 top is provided with motion board 2, is provided with elevating gear 3 between base 1 and the motion board 2.

Further, the base 1 that sets up plays the fixed effect of support, drives the vertical lift that longitudinal direction was carried out to motion board 2 through the elevating gear 3 of installing between base 1 and motion board 2 to it goes up and down to drive the grab clamp 8, and the foundry goods that satisfies co-altitude snatchs, greatly increased the practicality.

Wherein the drive means 4 are formed on the moving plate 2.

Further, drive device 4 through setting up drives four group's grabs and presss from both sides 8 and carry out continuity, intermittent type nature, one-way periodic rotation, compares traditional single tongs and snatchs the foundry goods, has improved the efficiency of snatching the material loading greatly.

Wherein, 5 lower surfaces of rolling disc are perpendicularly installed and are had support column 6, and support arm 7 is installed along circumference equidistance on the rolling disc 5, and the equal fixed mounting of one end of rolling disc 5 is kept away from to support arm 7 has a grabhook 8.

Further, the support column 6 through setting up is in the same place driving-disc 405 fixed connection in carousel 5 and the drive arrangement 4, and the support arm 7 of setting provides the installation condition for the fixed of grabbing clamp 8, and the support arm 7 is kept away from the one end of carousel 5 and is greater than the length between base 1 edge to the base 1 center to the distance length between 5 centers of carousel to be convenient for grabbing clamp 8 and snatch the foundry goods.

Specifically, the base 1 comprises a panel 101, supporting legs 102 are perpendicularly welded at four corners of the lower surface of the panel 101, shoe feet 103 are fixedly mounted on the lower surface of the supporting legs 102 through bolts, circular slotted holes 104 are formed in the four corners of the panel 101, mounting openings 105 are formed in the panel 101 located among the circular slotted holes 104, and a first sleeve 106 is perpendicularly mounted on the panel 101 located below the circular slotted holes 104.

In a further embodiment: all fixedly connected with crossbeam between adjacent supporting leg 102 plays the reinforcing effect, has strengthened base 1's stability.

Specifically, the lifting device 3 includes an electric push rod 301, the movable end of the electric push rod 301 is fixedly mounted with the moving plate 2, the fixed end of the electric push rod 301 is mounted in the mounting opening 105, four corners of the lower surface of the moving plate 2 are vertically mounted with slide bars 302, and each slide bar 302 is slidably connected in the corresponding first sleeve 106.

In a further embodiment: through starting electric putter 301, electric putter 301's expansion end drives motion board 2 and carries out the lift from top to bottom, all installs slide bar 302 perpendicularly in four corners of motion board 2 lower surface, and each slide bar 302 sliding connection is in corresponding first sleeve 106, consequently provides the guide effect for motion board 2's lift, and equidistant notch that has opened on motion board 2 has not only saved the material and has also alleviateed motion board 2's weight.

Specifically, the driving device 4 includes a second sleeve 401 located at the center of the upper surface of the moving plate 2, and a driving member 402 and a clamping member 403 located at one side of the second sleeve 401, a main shaft 404 is rotatably connected in the second sleeve 401 through a bearing, a driving disc 405 is coaxially fixed on the upper surface of the main shaft 404, and strip-shaped notches 4051 are equidistantly formed along the circumference on the driving disc 405.

In a further embodiment: the driving disc 405 is driven to rotate by the driving piece 402 as a power source of the driving device 4, and the driving disc 405 is limited by the clamping piece 403 arranged in the rotating process, so that the driving disc 405 is prevented from rotating.

Specifically, driving piece 402 includes motor case 4021, is provided with driving motor 4022 in the motor case 4021, and driving motor 4022's output passes through motor case 4021, and the one end that just runs through out is in proper order coaxial fixed with semicircular commentaries on classics piece 4023 and first rotation arm 4024, and first rotation arm 4024 is close to one side of driving-disc 405 and is installed first boss 4025 perpendicularly, first boss 4025 and bar notch 4051 looks adaptation.

In a further embodiment: the first rotating arm 4024 provided with one end of the first boss 4025 is located in the arc-shaped section of the semicircular rotating block 4023, an angle difference is formed between the first rotating arm 4024 and the semicircular rotating block 4023, when the output end of the driving motor 4022 drives the semicircular rotating block 4023 and the first rotating arm 4024 to rotate continuously, the first boss 4025 on the first rotating arm 4024 enters the strip notch 4051, the driving disc 405 is stirred to rotate angularly, the number of the strip notches 4051 arranged is the same as that of the supporting arms 7, but in order to enable the driving disc 405 to complete periodic rotation and stop movement, the number of the strip notches 4051 on the driving disc 405 cannot be less than 3.

Specifically, the clamping member 403 includes a shaft seat 4031 and a fixed seat 4032, a rotating ring 4033 is rotatably connected in the shaft seat 4031 through a pin shaft, a third rotating arm 4034 and a fourth rotating arm 4035 are fixedly connected to the rotating ring 4033, a second boss 4036 is vertically installed on the third rotating arm 4034, the second boss 4036 abuts against the semicircular rotating block 4023, a third boss 4037 is vertically installed on the fourth rotating arm 4035, the third boss 4037 is matched with the strip-shaped notch 4051, a vertical rod 4038 is installed on the fixed seat 4032, and a spring 4039 is connected between the vertical rod 4038 and the fourth rotating arm 4035.

In a further embodiment: when the first boss 4025 enters the strip notch 4051 tangentially, the second boss 4036 is located at the straight section of the semicircular rotating block 4023, the third boss 4037 is located on the arc line section of the semicircular rotating block 4023 on the side, away from the side, of the strip notch 4051 where the first boss 4025 is located, so as to drive the driving disk 405 to rotate, when the first boss 4025 is cut into the strip notch 4051, the second boss 4036 is located at the arc line section of the semicircular rotating block 4023 and is pushed to one side by the arc edge of the semicircular rotating block 4023, the third boss 4037 is clamped at the opening of the adjacent strip notch 4051 under the reset elastic force of the spring 4039, so that the driving disk 405 stops rotating, and a time interval is provided for clamping of the gripper 8.

Specifically, the gripping clamp 8 includes an installation seat 801, a propulsion cylinder 802 is fixedly installed in the installation seat 801 through a bolt, an output end of the propulsion cylinder 802 is fixedly installed with a connection block 803, a pair of driving arms 804 are rotatably connected in the connection block 803, and the other ends of the pair of driving arms 804 are rotatably connected with a pair of clamping arms 805 through a pin shaft.

In a further embodiment: the connecting block 803 is provided with an upper semicircular block and a lower semicircular block, a pair of pin shafts is fixedly connected between the upper semicircular block and the lower semicircular block, and the upper semicircular block and the lower semicircular block are rotationally connected with a pair of driving arms 804 through the pair of pin shafts.

Specifically, the mounting seat 801 includes a third sleeve 8011 and an L-shaped fixed block 8012, an open end of the L-shaped fixed block 8012 is fixedly mounted on an open end of one side of the third sleeve 8011, the third sleeve 8011 is provided with a pair of movable grooves 8013, a connection portion of the driving arm 804 and the clamping arm 805 is movable in the movable grooves 8013, a rotation hole 8014 is formed at one side of the pair of movable grooves 8013 close to the clamping arm 805, both upper and lower sides of the clamping arm 805 are provided with a connecting shaft 8051, and the connecting shaft 8051 is rotatably connected in the rotation hole 8014.

In a further embodiment: when the propulsion cylinder 802 is started, the movable end of the propulsion cylinder 802 extends to drive the pair of driving arms 804 to press down, and because the upper side and the lower side of the clamping arm 805 are both provided with the connecting shaft 8051, and the connecting shaft 8051 is rotatably connected in the rotating hole 8014, when the driving arm 804 which is pressed down drives one end of the clamping arm 805 to rotate towards the outer side of the movable groove 8013 by taking the connecting shaft 8051 as a fulcrum, the clamping ends of the pair of clamping arms 805 are close to each other to clamp a casting.

Specifically, the clamping arm 805 is arranged in a concave shape, a groove 8052 is arranged on the inner side of the clamping arm 805, and a sponge cushion 8053 is embedded in the groove 8052.

In a further embodiment: in order to clamp and fix an object to prevent shaking, the arranged clamping arms 805 are provided with grooves 8052, so that materials can be saved firstly, irregular-shaped objects can be clamped secondly, and in addition, the arrangement of the sponge cushion 8053 also plays a role in protecting the objects from being damaged by clamping.

Specifically, support arm 7 is provided with a plurality ofly, and support arm 7 specifically sets up four in this embodiment, and the grab clamp 8 of installation on every support arm 7 of group can realize that multiunit grab clamp 8 presss from both sides tightly fixedly, improves greatly.

The working principle is as follows:

when the output end of the driving motor 4022 drives the semicircular rotary block 4023 and the first rotary arm 4024 to rotate continuously, the first boss 4025 on the first rotary arm 4024 cuts into the strip-shaped notch 4051, at this time, the second boss 4036 is located at the linear section of the semicircular rotary block 4023, the third boss 4037 is located on the arc line section of the semicircular rotary block 4023 side, away from the strip-shaped notch 4051 where the first boss 4025 is located, so that the driving disc 405 is shifted to rotate angularly, when the first boss 4025 cuts into the strip-shaped notch 4051, the second boss 4036 is located at the arc line section of the semicircular rotary block 4023 and pushed to one side by the arc edge of the semicircular rotary block 4023, the third boss 4037 is clamped at the opening of the adjacent strip-shaped notch 4051 under the return elastic force of the spring 4039, so that the driving disc 405 stops rotating, and a time interval is provided for clamping of the gripper 8;

when the propulsion cylinder 802 is started, the movable end of the propulsion cylinder 802 extends to drive the pair of driving arms 804 to press down, and because the upper side and the lower side of the clamping arm 805 are both provided with the connecting shaft 8051, and the connecting shaft 8051 is rotatably connected in the rotating hole 8014, when the driving arm 804 which is pressed down drives one end of the clamping arm 805 to rotate towards the outer side of the movable groove 8013 by taking the connecting shaft 8051 as a fulcrum, the clamping ends of the pair of clamping arms 805 are close to each other to clamp a casting.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.