阅读说明：本技术 一种带自检测功能的浇铸夹具 (Casting fixture with self-detection function ) 是由 叶灿雄 王勇杰 陈丕立 欧达华 顾世石 梁国亮 梁绍明 梁为栋 余敬源 于 2020-12-22 设计创作，主要内容包括：本发明公开了一种带自检测功能的浇铸夹具,安装在具有自动控制系统的机械臂上,包括用于水平方向上夹取产品的夹紧组件、用于为夹紧组件提供轴向夹取动力的动力执行组件、用于检测浇铸铁水量与模具放置的重力检测组件；重力检测组件安装在机械臂上,动力执行组件安装在重力检测组件上,夹紧组件安装在动力执行组件上；动力执行组件、重力检测组件分别与自动控制系统通信连接。本夹具通过气缸驱动拉杆,转化块将拉杆伸缩动作变为两个夹臂对中间轴的夹紧放松的动作,夹臂从两个方向向中心轴夹取,避免普通夹具的夹不准、夹不牢等问题；自检测夹具质量变化通过数据转换成是否浇铸完成、是否完成放置等关键信息,适应自动化浇铸生产线。(The invention discloses a casting fixture with a self-detection function, which is arranged on a mechanical arm with an automatic control system and comprises a clamping component, a power execution component and a gravity detection component, wherein the clamping component is used for clamping a product in the horizontal direction; the gravity detection assembly is arranged on the mechanical arm, the power execution assembly is arranged on the gravity detection assembly, and the clamping assembly is arranged on the power execution assembly; and the power execution assembly and the gravity detection assembly are respectively in communication connection with the automatic control system. The clamp drives the pull rod through the cylinder, the conversion block converts the telescopic action of the pull rod into the action of clamping and releasing the middle shaft by the two clamping arms, and the clamping arms are clamped from two directions to the middle shaft, so that the problems of inaccurate clamping, infirm clamping and the like of a common clamp are avoided; the quality change of the self-detection clamp is converted into key information such as whether casting is finished or not and whether placement is finished or not through data, and the self-detection clamp is suitable for an automatic casting production line.)

1. The utility model provides a take casting jig from test function installs on the arm that has automatic control system, its characterized in that: the device comprises a clamping assembly used for clamping a product in the horizontal direction, a power execution assembly used for providing axial clamping power for the clamping assembly, and a gravity detection assembly used for detecting the amount of cast molten iron and the placement of a mold; the gravity detection assembly is mounted on the mechanical arm, the power execution assembly is mounted on the gravity detection assembly, and the clamping assembly is mounted on the power execution assembly; the power execution assembly and the gravity detection assembly are in communication connection with the automatic control system respectively, the casting clamp is moved to the position of the casting mold by the mechanical arm, the clamping assembly clamps the casting mold from the clamping point and moves to the casting point for casting along with the mechanical arm, and the casting mold is moved to the placement area after casting is completed.

2. The casting jig with self-test function according to claim 1, characterized in that: the clamping assembly comprises a connecting block, a bottom plate, a conversion block, a linear guide rail, a clamping arm and an output block; one end of the bottom plate is arranged on the connecting plate, the side edge of the other end of the bottom plate is provided with the linear guide rail, and two ends of the linear guide rail are respectively provided with a sliding block capable of sliding along the linear guide rail; the two output blocks are respectively arranged on the sliding blocks at the two ends of the linear guide rail; two clamping arms are arranged, one end of each clamping arm is fixed on the output block, and the other end of each clamping arm directly contacts a cast product; the conversion block is arranged on the bottom plate and can slide along the bottom plate, two inclined grooves are respectively arranged on two sides of the conversion block, the two inclined grooves are symmetrically arranged by taking the central line of the conversion block, which is perpendicular to the linear guide rail, as a reference, the inner ends of the inclined grooves are positioned on one side of the connecting block, the outer ends of the inclined grooves are positioned on one side of the linear guide rail, and an included angle is formed between each inclined groove and the central line of the conversion block; the bottom ends of the two output blocks are respectively installed in the chute which is positioned on the same side with the output blocks by roller bearings and can slide along the chute; the conversion block is connected with the power execution assembly and is controlled by the power execution assembly to force the output block to slide on the chute, the output block slides towards or away from each other along the linear guide rail, and the two clamping arms clamp or release products along with the sliding of the output block.

3. The casting jig with self-test function according to claim 2, characterized in that: the power execution assembly comprises a bracket, a guide sleeve, a floating joint, a cylinder and a pull rod; the cylinder is arranged in the middle of the bracket, the guide sleeve is fixed in the middle of the bracket, a piston rod of the cylinder is connected with one end of the pull rod through the floating joint, and the other end of the pull rod penetrates through the guide sleeve and then is detachably fixed on the conversion block; the connecting block is detachably fixed on one end of the bracket.

4. The casting jig with self-test function according to claim 3, characterized in that: the gravity detection assembly comprises a connecting plate, a protective shell and a gravity sensor for detecting the change of the mass of the whole front part structure of the clamping assembly and the power execution assembly; the connecting plate is detachably connected to the mechanical arm, and the other end of the support is detachably mounted on the connecting plate; the connecting plate is connected with the protective shell in a buckling mode, and the gravity sensor is installed in an inner space formed by the connecting plate and the protective shell; and the gravity sensor is in communication connection with the automatic control system.

5. The casting jig with self-test function according to claim 2, characterized in that: a concave platform is arranged on one side of the bottom plate, two first inclined planes are arranged on one side of the concave platform, which is close to the connecting block, and the first inclined planes respectively face to the center of the conversion block; two sides of the conversion block, which are provided with the chutes, are respectively provided with a second inclined plane, and the second inclined planes are opposite to the first inclined planes in position and opposite in orientation; the conversion block is arranged on the concave table in a sliding mode and can slide along the concave table.

6. The casting jig with self-test function according to claim 2, characterized in that: and clamping grooves are respectively arranged on one opposite sides of the clamping ends of the two clamping arms, and the notches at the upper ends of the clamping grooves are larger than those at the lower ends of the clamping grooves.

Technical Field

The invention relates to the technical field of clamps for producing cast metal products, in particular to a casting clamp with a self-detection function.

Background

Most current clamps are either simple clamps with single arm or single direction force or clamps with complex or expensive actuation force. The simple clamp often has the problems of inaccurate clamping, infirm clamping, inaccurate positioning and the like, and needs special design for different moulds, thereby increasing the design cost. Positioning inaccuracies are also a fatal drawback for automated casting. In the casting, it is not accurate to judge whether the casting is completed according to time because the flow rate of the cast molten iron is related to the inclination of the casting furnace and is not uniform. Molten iron overflows when the casting is excessive, the treatment is inconvenient, and materials are wasted. The casting is not enough and is difficult to form, and the reworking is needed, which wastes manpower and material resources.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provide a casting clamp with a self-detection function.

The invention is realized by the following technical scheme: a casting clamp with a self-detection function is arranged on a mechanical arm with an automatic control system and comprises a clamping assembly, a power execution assembly and a gravity detection assembly, wherein the clamping assembly is used for clamping a product in the horizontal direction; the gravity detection assembly is mounted on the mechanical arm, the power execution assembly is mounted on the gravity detection assembly, and the clamping assembly is mounted on the power execution assembly; the power execution assembly and the gravity detection assembly are in communication connection with the automatic control system respectively, the casting clamp is moved to the position of the casting mold by the mechanical arm, the clamping assembly clamps the casting mold from the clamping point and moves to the casting point for casting along with the mechanical arm, and the casting mold is moved to the placement area after casting is completed.

The casting clamp of the device is arranged on a mechanical arm with an automatic control system, and the mechanical arm controls the casting clamp to move to a casting mold position (casting point) and sends a signal to a power execution component. Controlling the clamping assembly to clamp the mold at a clamping point, conveying the mold to a casting gate for casting, transmitting a gravity change signal back to the automatic control system by the gravity detection assembly, and interrupting the molten iron casting when the molten iron casting weight reaches a standard; and the mechanical arm controls the clamping assembly to move the mold to the placing area for placing, when the gravity detection assembly detects that the weight is reduced to a certain value, the gravity detection assembly represents that the mold is placed correctly, and at the moment, the clamping assembly is controlled to open, the mold is released and the mold is withdrawn.

The clamping assembly comprises a connecting block, a bottom plate, a conversion block, a linear guide rail, a clamping arm and an output block; one end of the bottom plate is arranged on the connecting plate, the side edge of the other end of the bottom plate is provided with the linear guide rail, and two ends of the linear guide rail are respectively provided with a sliding block capable of sliding along the linear guide rail; the two output blocks are respectively arranged on the sliding blocks at the two ends of the linear guide rail; two clamping arms are arranged, one end of each clamping arm is fixed on the output block, and the other end of each clamping arm directly contacts a cast product; the conversion block is arranged on the bottom plate and can slide along the bottom plate, two inclined grooves are respectively arranged on two sides of the conversion block, the two inclined grooves are symmetrically arranged by taking the central line of the conversion block, which is perpendicular to the linear guide rail, as a reference, the inner ends of the inclined grooves are positioned on one side of the connecting block, the outer ends of the inclined grooves are positioned on one side of the linear guide rail, and an included angle is formed between each inclined groove and the central line of the conversion block; the bottom ends of the two output blocks are respectively installed in the chute which is positioned on the same side with the output blocks by roller bearings and can slide along the chute; the conversion block is connected with the power execution assembly and is controlled by the power execution assembly to force the output block to slide on the chute, the output block slides towards or away from each other along the linear guide rail, and the two clamping arms clamp or release products along with the sliding of the output block. The clamping arms directly contact the cast product, the output block is limited in transverse movement matched with the linear guide rail, and the conversion block is controlled by the power execution assembly to synchronously move longitudinally and convert the synchronous longitudinal movement into synchronous axial movement towards the middle of the two clamping arms through the inclined grooves, so that the clamping dies can be well clamped. The linear guide rail can guarantee the translation when the arm lock is got.

The power execution assembly comprises a bracket, a guide sleeve, a floating joint, a cylinder and a pull rod; the cylinder is arranged in the middle of the bracket, the guide sleeve is fixed in the middle of the bracket, a piston rod of the cylinder is connected with one end of the pull rod through the floating joint, and the other end of the pull rod penetrates through the guide sleeve and then is detachably fixed on the conversion block; the connecting block is detachably fixed on one end of the bracket. The use that floats the joint can eliminate the connection error of piston rod and pull rod, improves the work precision of pull rod, guarantees the reciprocating motion of pull rod, uses the pull rod can avoid too close to the arm lock and let high temperature destroy the spare part on the cylinder assembly. The clamping arms change the force output by the pull rod into clamping force of the clamping arms on two sides through the conversion block and the output block.

The gravity detection assembly comprises a connecting plate, a protective shell and a gravity sensor for detecting the change of the mass of the whole front part structure of the clamping assembly and the power execution assembly; the connecting plate is detachably connected to the mechanical arm, and the other end of the support is detachably mounted on the connecting plate; the connecting plate is connected with the protective shell in a buckling mode, and the gravity sensor is installed in an inner space formed by the connecting plate and the protective shell; and the gravity sensor is in communication connection with the automatic control system. The gravity sensor detects the mass change of the whole front part structure (the whole clamp), and judges a casting completion signal and a placement completion signal by combining the mass change with a control program of an automatic control system; the protective housing can guarantee that gravity sensor normally works under abominable condition, avoids gravity sensor during operation to receive the damage.

A concave platform is arranged on one side of the bottom plate, two first inclined planes are arranged on one side of the concave platform, which is close to the connecting block, and the first inclined planes respectively face to the center of the conversion block; two sides of the conversion block, which are provided with the chutes, are respectively provided with a second inclined plane, and the second inclined planes are opposite to the first inclined planes in position and opposite in orientation; the conversion block is arranged on the concave table in a sliding mode and can slide along the concave table. The first inclined surface is matched with the second inclined surface, so that the conversion block can be prevented from being excessively stretched and separated; the concave platform provides a sliding space for the conversion block.

And clamping grooves are respectively arranged on one opposite sides of the clamping ends of the two clamping arms, and the notches at the upper ends of the clamping grooves are larger than those at the lower ends of the clamping grooves. The clamping groove with a large upper part and a small lower part can avoid the falling of the die.

Compared with the prior art, the invention has the advantages that: the casting fixture is accurate in positioning, firm in clamping the mold, capable of automatically detecting the quality change of the fixture, converting the quality change of the fixture into key information such as whether casting is finished or not, whether placement is finished or not, and adaptive to an automatic casting production line. Only the clamping head part needs to be replaced for different casting molds. This anchor clamps pass through cylinder drive pull rod, and the conversion piece becomes the action that two arm locks loosen the clamp of intermediate shaft to the flexible action of pull rod, and the arm lock is got from two directions to the center pin clamp, avoids the clamp of ordinary anchor clamps inaccurate, presss from both sides not jail scheduling problem. The gravity detection assembly can judge whether the molten iron is enough to be cast or not and whether the cast product is put down or not according to the gravity change condition of the clamping arm.

Drawings

FIG. 1 is a schematic structural diagram of an embodiment of the present invention;

FIG. 2 is a schematic diagram of a movement route of the casting device according to the embodiment of the invention;

FIG. 3 is a schematic structural view of a clamping assembly according to an embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a power actuator assembly according to an embodiment of the present invention;

fig. 5 is a schematic structural diagram of a gravity detecting assembly according to an embodiment of the invention.

The reference numerals in the drawings mean: 100. a clamping assembly; 101. connecting blocks; 102. a base plate; 103. a conversion block; 104. a linear guide rail; 105. clamping arms; 106. an output block; 107. a chute; 108. a clamping groove; 200. a power executing assembly; 201. a pull rod; 202. a guide sleeve; 203. a floating joint; 204. a support; 205. a cylinder; 300. a gravity detection component; 301. a protective shell; 302. a gravity sensor; 303. a connecting plate; 400. a mold; 500. a placement area; 600. clipping points; 700. and (5) casting point.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and detailed description.

Examples

Referring to fig. 1 to 5, a casting jig with a self-test function is mounted on a robot arm having an automatic control system, and includes a clamping assembly 100 for gripping a product in a horizontal direction, a power executing assembly 200 for providing an axial gripping power to the clamping assembly 100, and a gravity detecting assembly 300 for detecting an amount of molten iron to be cast and a placement of a mold 400; the gravity detection assembly 300 is installed on the mechanical arm, the power execution assembly 200 is installed on the gravity detection assembly 300, and the clamping assembly 100 is installed on the power execution assembly 200; the power executing component 200 and the gravity detecting component 300 are respectively in communication connection with the automatic control system, the mechanical arm moves the casting fixture to the position of the casting mold 400, the clamping component 100 clamps the mold 400 from the clamping point 600 and moves to the casting point 700 with the mechanical arm for casting, and after casting is finished, the mold 400 is moved to the placing area 500.

The casting jig of the present apparatus is mounted on a robot arm having an automatic control system, and the robot arm controls the casting jig to move to a casting mold 400 position (casting point 700) and sends a signal to the power performing unit 200. Controlling the clamping assembly 100 to clamp the mold 400 at the clamping point 600, conveying the mold 400 to a casting gate for casting, transmitting a gravity change signal back to the automatic control system by the gravity detection assembly 300, and interrupting the casting of molten iron when the casting weight of the molten iron reaches a standard; the robot arm controls the clamping assembly 100 to move the mold 400 to the placement area 500 for placement, and when the gravity sensing assembly 300 senses a weight drop to a certain value, indicating proper placement, the robot arm controls the clamping assembly 100 to open, release the mold 400, and exit.

Referring to fig. 1, all the components are mounted on a frame, and each component is reasonably fixed on a connection frame according to the transformation route planning of the clamping movement, and a gravity sensor 302 is mounted at the tail part and used for detecting the mass change of the front end. When the air cylinder 205 acts, the pull rod 201 is driven, the other end of the pull rod 201 is fixed to the conversion block 103, when a piston rod of the air cylinder 205 extends out, the conversion block 103 moves upwards on a concave table of the base plate 102, the chute 107 drives the output block 106 to move transversely, the clamping arm 105 fixed to the output block 106 moves towards the center to clamp the mold 400, the robot drives the clamping arm 105 to cast the mold 400, the sensor detects the quality of molten iron to finish casting, and after the mold 400 is placed, the quality of the clamping arm 105 returns to the initial value.

FIG. 2 is a schematic view of a moving route during casting; the casting jig takes the mold 400 at the clamping point 600 and the casting mold 400 at the casting point 700 as a semicircular end point, and the casting jig moves linearly from the placement area 500 to the taking position (the clamping point 600), so that molten iron is prevented from being spilled due to too large amplitude.

Referring to fig. 3, the clamping assembly 100 includes a connecting block 101, a base plate 102, a converting block 103, a linear guide rail 104, a clamping arm 105, and an output block 106; one end of the bottom plate 102 is mounted on the connecting plate 303, the side edge of the other end of the bottom plate is provided with a linear guide rail 104, and two ends of the linear guide rail 104 are respectively provided with a sliding block capable of sliding along the linear guide rail; two output blocks 106 are arranged and respectively arranged on the sliding blocks at the two ends of the linear guide rail 104; two clamping arms 105 are arranged, one end of each clamping arm 105 is fixed on the output block 106, and the other end of each clamping arm 105 is directly contacted with a cast product; the conversion block 103 is arranged on the bottom plate 102 and can slide along the bottom plate, two inclined grooves 107 are respectively arranged on two sides of the conversion block 103, the two inclined grooves 107 are symmetrically arranged by taking the center line of the conversion block 103 perpendicular to the linear guide rail 104 as a reference, the inner ends of the inclined grooves 107 are positioned on one side of the connecting block 101, the outer ends of the inclined grooves 107 are positioned on one side of the linear guide rail 104, and an included angle is formed between each inclined groove 107 and the center line of the conversion block 103; the bottom ends of the two output blocks 106 are respectively arranged in a chute 107 which is positioned on the same side with the output blocks 106 by roller bearings and can slide along the chute 107, and the arrangement of the roller bearings can reduce friction during movement; the conversion block 103 is connected with the power execution assembly 200 and is controlled by the power execution assembly to force the output block 106 to slide on the chute 107, the output block 106 slides towards or away from each other along the linear guide rail 104, and the two clamping arms 105 clamp or release the product along with the sliding of the output block 106. The clamping arms 105 directly contact the cast product, the output block 106 is limited to move transversely under the cooperation of the linear guide rails 104, and the conversion block 103 is controlled by the power execution assembly 200 to move synchronously and axially towards the middle by converting the synchronous longitudinal movement into the synchronous axial movement of the two clamping arms 105 through the inclined grooves 107, so that the mold 400 can be well clamped. The linear guide 104 can ensure the translation of the clamping arm 105 during clamping. The conversion block 103 is pushed by the cylinder 205 of the vertical shaft, the output block 106 is limited on the chute 107, the effect of the division motion is generated by the combined motion on the chute 107, the output blocks 106 on both sides drive the slide blocks to horizontally move towards the center at the same time, and drive the clamping arm 105 to perform clamping action.

Referring to fig. 4, the power executing assembly 200 includes a bracket 204, a guide sleeve 202, a floating joint 203, a cylinder 205 and a pull rod 201; the cylinder 205 is arranged in the middle of the bracket 204, the guide sleeve 202 is fixed in the middle of the bracket 204, the piston rod of the cylinder 205 is connected with one end of the pull rod 201 through the floating joint 203, and the other end of the pull rod 201 passes through the guide sleeve 202 and then is detachably fixed on the conversion block 103; the connection block 101 is detachably fixed to one end of the bracket 204. The use of floating joint 203 can eliminate the connecting error of piston rod and pull rod 201, improves the work precision of pull rod 201, guarantees the reciprocating motion of pull rod 201, uses pull rod 201 can avoid too close to arm lock 105 to let the high temperature destroy the spare part on the cylinder 205 subassembly. The clamping arm 105 changes the force output by the pull rod 201 into the clamping force of the two clamping arms 105 through the conversion block 103 and the output block 106.

Referring to fig. 5, the gravity detecting assembly 300 includes a connecting plate 303, a protective shell 301, and a gravity sensor 302 for detecting the mass change of the whole front portion of the clamping assembly 100 and the power executing assembly 200; the connecting plate 303 is detachably connected to the mechanical arm, and the other end of the bracket 204 is detachably arranged on the connecting plate 303; the connecting plate 303 is connected with the protective shell 301 in a buckling manner, and the gravity sensor 302 is arranged in an internal space formed by the connecting plate 303 and the protective shell 301; the gravity sensor 302 is in communication with the automatic control system. The gravity sensor 302 detects the mass change of the whole front part structure (whole clamp), and judges a casting completion signal and a placement completion signal by combining the mass change with a control program of an automatic control system; the protective shell 301 can ensure that the gravity sensor 302 normally works under a severe condition, and the gravity sensor 302 is prevented from being damaged during working.

A concave platform is arranged on one side of the bottom plate 102, two first inclined surfaces are arranged on one side of the concave platform close to the connecting block 101, and the first inclined surfaces face the center of the conversion block 103 respectively; two sides of the conversion block 103, which are provided with the chutes 107, are respectively provided with a second inclined surface, and the second inclined surfaces are opposite to the first inclined surfaces in position and opposite in orientation; the conversion block 103 is slidably disposed on and along the recessed platform. The matching of the first inclined surface and the second inclined surface can prevent the transformation block 103 from being over-stretched and separated; the recessed land provides a sliding space for the conversion block 103.

The opposite sides of the clamping ends of the two clamping arms 105 are respectively provided with a clamping groove 108, and the upper end notch of the clamping groove 108 is larger than the lower end notch thereof. The clamping groove 108 with a large upper part and a small lower part can prevent the mold 400 from falling off.

The above detailed description is specific to possible embodiments of the present invention, and the embodiments are not intended to limit the scope of the present invention, and all equivalent implementations or modifications that do not depart from the scope of the present invention are intended to be included within the scope of the present invention.