阅读说明：本技术 一种压铸件的机器人抓取工装 (Robot of die casting snatchs frock ) 是由 闫珂珂 张颖颖 于 2020-08-13 设计创作，主要内容包括：本发明涉及高温铝制品转运技术领域,公开了一种压铸件的机器人抓取工装,包括：机架、一对第一减震板、一对第二减震板、一对第三减震板、多个缓冲件、移动架、多个导柱组件,机架为双层框架结构,上层结构上开有固定孔,固定孔与压铸件的浇铸口位置对应,一对第一减震板相对固连于机架的上层结构靠近前后侧端处,一对第二减震板分别设于第一减震板的内侧,多个导柱组件固连于机架的两层结构间,分别设于机架靠近四角处,移动架平行设置于机架的两层结构之间,并与多个导柱组件滑动连接。本发明装置不用匹配机器人下降速度与压铸机的脱模速度,压铸件完全脱模后仅会对本发明装置产生冲击,不会对机器人产生冲击,降低操作难度,提高生产效率。(The invention relates to the technical field of high-temperature aluminum product transfer, and discloses a robot grabbing tool for die castings, which comprises: the frame, a pair of first shock attenuation board, a pair of second shock attenuation board, a pair of third shock attenuation board, a plurality of bolster, remove the frame, a plurality of guide pillar subassembly, the frame is double-deck frame construction, it has the fixed orifices to open on the superstructure, the fixed orifices corresponds with the sprue gate position of die casting, a pair of first shock attenuation board is close to front and back side department relatively linking firmly in the superstructure of frame, the inboard of first shock attenuation board is located respectively to a pair of second shock attenuation board, a plurality of guide pillar subassemblies link firmly between the two-layer structure of frame, it is close to four corners department to locate the frame respectively, it sets up between the two-layer structure of frame to remove a parallel arrangement, and with a plurality of guide pillar subassembly sliding connection. The device does not need to match the descending speed of the robot with the demolding speed of the die casting machine, only impacts the device after the die casting is completely demolded, the robot cannot be impacted, the operation difficulty is reduced, and the production efficiency is improved.)

1. The utility model provides a frock is snatched to robot of die casting which characterized in that includes:

the die casting machine comprises a rack (1) which is of a double-layer frame structure and comprises an upper layer structure and a lower layer structure, wherein a fixing hole (2) is formed in the upper layer structure, and the fixing hole (2) corresponds to a casting opening (12) of a die casting in position and is matched with the die casting in size;

the pair of first damping plates (3) are oppositely and fixedly connected to the upper-layer structure of the rack (1) close to the front side end and the rear side end and are parallel to the upper end face of the rack (1);

the pair of second damping plates (4) are respectively arranged on the outer sides of the first damping plates (3) and are parallel to the first damping plates (3), the lower ends of the second damping plates are connected with the upper layer of the rack (1) through a plurality of damping pieces (6), and when the second damping plates (4) are not stressed, the second damping plates (4) are positioned above the first damping plates (3);

the guide post assemblies (8) are fixedly connected between two layers of structures of the rack (1) and are respectively arranged at the four corners of the rack (1);

and the moving frame (7) is arranged between the two layers of the frame (1) in parallel and is in sliding connection with the guide pillar assemblies (8).

2. The die casting robot grabbing tooling of claim 1, wherein the outer peripheries of the plurality of guide post assemblies (8) are sleeved with shock absorbing members (9), and the shock absorbing members (9) are positioned above the moving frame (7).

3. The die casting robot grabbing tooling as claimed in claim 1, wherein said buffer (6) is a spring.

4. The die casting robot grabbing tooling as claimed in claim 2, wherein the damping piece (9) is a damping spring.

5. The die casting robot grabbing tooling of claim 1, wherein the robot quick connector (10) is attached to the outer side of the moving frame (7).

6. The die casting robot grabbing tooling of claim 1, further comprising:

a pair of third shock attenuation board (5) is fixed in respectively the superstructure of frame (1) is close to left and right sides end department, and locates the outside of first shock attenuation board (3) and second shock attenuation board (4), be on a parallel with first shock attenuation board (3), with first shock attenuation board (3) parallel and level, third shock attenuation board (5) are close to outside edge and have linked firmly baffle (11) perpendicularly.

Technical Field

The invention relates to the technical field of high-temperature aluminum product transfer, in particular to a robot grabbing tool for die castings.

Background

On a certain low pressure casting production line in China, the ABB industrial robot that has been equipped with and snatchs the frock is used for replacing the high temperature aluminium system die casting that the manual work transport just came out of the stove, a production transport demand for satisfying newly-increased die casting machine, improve and produce line intelligent level and production efficiency, because the work piece of new die-casting has the overlap burr, and every work piece appears the position of overlap burr and all is random phenomenon, the original frock that snatchs the die casting used is the chucking marginal mode, consequently the overlap burr always influences and snatchs the effect, and then causes the production stagnation.

Disclosure of Invention

The invention provides a robot grabbing tool for die castings, which can avoid the influence of flash and burrs during grabbing and improve the stability and reliability of grabbing workpieces.

The invention provides a robot grabbing tool for die castings, which comprises:

the die casting machine comprises a frame, a die casting head and a die casting head, wherein the frame is of a double-layer frame structure and comprises an upper layer structure and a lower layer structure, a fixing hole is formed in the upper layer structure, corresponds to the position of a casting opening of a die casting and is matched with the die casting head in size;

the pair of first damping plates are fixedly connected to the upper layer structure of the rack relatively, close to the front side end and the rear side end and parallel to the upper end surface of the rack;

the pair of second damping plates are respectively arranged on the outer sides of the first damping plates and are parallel to the first damping plates, the lower ends of the second damping plates are connected with the upper layer of the rack through a plurality of buffering parts, and when the second damping plates are not stressed, the second damping plates are positioned above the first damping plates;

the guide pillar assemblies are fixedly connected between the two layers of structures of the rack and are respectively arranged at the four corners of the rack;

and the movable frame is arranged between the two layers of the frame in parallel and is in sliding connection with the guide pillar assemblies.

Optionally, the periphery cover of a plurality of guide pillar subassemblies is equipped with the damping piece, and the damping piece is located the top of removing the frame.

Optionally, the buffer is a spring.

Optionally, the damping member is a damping spring.

Optionally, the outer side of the movable frame is fixedly connected with a robot quick connector.

Optionally, the method further includes:

the upper structure that a pair of third shock attenuation board, be fixed in the frame respectively is close to left and right sides end department, and locates the outside of first shock attenuation board and second shock attenuation board, is on a parallel with first shock attenuation board, and with first shock attenuation board parallel and level, the third shock attenuation board is close to outside edge and has linked firmly the baffle perpendicularly.

Compared with the prior art, the invention has the beneficial effects that: according to the invention, the die casting is fixed by matching the casting gate of the die casting and the fixing hole on the rack, the die casting is not influenced by flash and burrs, the stability and reliability of grabbing a workpiece are improved, the impact force of falling of the die casting is reduced and the die casting is prevented from being damaged by matching the buffering piece and the damping plate, the designed rack does not need to match the descending speed of a robot and the demoulding speed of a die casting machine, the die casting can only be impacted after being completely demoulded, the robot can not be impacted, the operation difficulty is reduced, and the production efficiency is improved.

Drawings

Fig. 1 is a schematic overall structure diagram of a robot grabbing tool for die castings according to an embodiment of the present invention;

FIG. 2 is a top view of a robot grabbing tool for die castings according to an embodiment of the invention;

FIG. 3 is a schematic view of the structure of FIG. 2 along the direction B-B;

FIG. 4 is a front view of a die cast part;

FIG. 5 is a top view of the die cast part.

Description of reference numerals:

1-a frame, 2-a fixed hole, 3-a first damping plate, 4-a second damping plate, 5-a third damping plate, 6-a damping member, 7-a movable frame, 8-a guide pillar component, 9-a damping member, 10-a robot quick connector, 11-a baffle plate and 12-a casting gate.

Detailed Description

An embodiment of the present invention will be described in detail below with reference to fig. 1-5, but it should be understood that the scope of the present invention is not limited to the embodiment.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of describing technical solutions of the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

As shown in fig. 1 to 5, an embodiment of the present invention provides a die casting robot grasping tool, including: the die casting machine comprises a machine frame 1, a pair of first damping plates 3, a pair of second damping plates 4, a plurality of guide pillar assemblies 8 and a moving frame 7, wherein the machine frame 1 is of a double-layer frame structure and comprises an upper layer structure and a lower layer structure, the upper layer structure is provided with a fixing hole 2, the fixing hole 2 corresponds to the position of a casting opening 12 of a die casting piece and is matched with the size, the pair of first damping plates 3 are fixedly connected to the upper layer structure of the machine frame 1 relatively and close to the front side end and the rear side end and are parallel to the upper end face of the machine frame 1, the pair of second damping plates 4 are respectively arranged on the outer sides of the first damping plates 3 and are parallel to the first damping plates 3, the lower ends of the second damping plates are connected with the upper layer of the machine frame 1 through a plurality of buffering pieces 6, when the die casting machine is not stressed, the second damping plates 4 are positioned above the first damping plates 3, the plurality of guide pillar assemblies 8 are fixedly connected between, and is slidably connected to a plurality of guide post assemblies 8.

The use method and the working principle are as follows: in the embodiment, the number of the guide post assemblies 8 is 4, when the robot quick connector 10 is used, the robot quick connector 10 is fixedly connected with the outer side of the moving frame 7, an upper die and a lower die of a die casting machine are separated, the lower die is completely lowered to the initial position, the robot is connected with the robot quick connector 10 and drives the grabbing tool to be positioned on a lower die platform right below the upper die of the die casting machine, then the upper die of the die casting machine is continuously lowered to the material receiving position of the grabbing tool for a certain distance, the die casting piece is separated from the upper die and then is lowered on the second damping plate 4 of the grabbing tool, the damping piece 6 arranged on the frame 1 is compressed to enable the two second damping plates 4 to be lowered and to be connected with the two first damping plates 3 arranged on the frame 2, the two casting ports 12 of the die casting piece are also accurately positioned in the fixed hole 2 on the frame 2, and in the process that the robot carries the workpiece to a preset, the time of the acceleration process of starting and the deceleration process of stopping the robot is prolonged, and the stress is linearly changed, so that the high-frequency oscillation or the maximum load of the robot cannot be caused.

According to the invention, the die casting is fixed by matching the casting gate of the die casting and the fixing hole on the rack, the die casting is not influenced by flash and burrs, the stability and reliability of grabbing a workpiece are improved, the impact force of falling of the die casting is reduced and the die casting is prevented from being damaged by matching the buffering piece and the damping plate, the designed rack does not need to match the descending speed of a robot and the demoulding speed of a die casting machine, the die casting can only be impacted after being completely demoulded, the robot can not be impacted, the operation difficulty is reduced, and the production efficiency is improved.

An ABB industrial robot provided with a grabbing tool is arranged in production to replace manual handling of high-temperature aluminum die-casting parts just discharged from a furnace, the maximum load of the robot on a production line is 175Kg, and the robot does not have a load high-frequency oscillation function, so that the robot always gives an operation alarm in normal work, the robot drives the grabbing tool to clamp a workpiece, then the die-casting machine demoulding process and the vertical downward moving process of the robot are carried out simultaneously until the workpiece is completely demoulded, the robot carries the workpiece to a preset position, the robot is frequently alarmed and stopped in the process, the load on the robot is stable if the robot does not give an alarm, the demoulding speed of the die-casting machine is ensured to be consistent with the downward moving speed of the robot, but in actual working conditions, the die-casting machine is demoulded by hydraulic pressure, the speed is uncontrollable, and the movement of the robot arm has an accelerating process of starting and a decelerating process, and the whole stroke is too short, so that the robot protection program is started, namely the alarm is stopped, and the production is stopped due to the fact that the robot load is high-frequency vibrated or exceeds the maximum load caused by asynchronous speeds of the robot and the robot in the whole demoulding process.

In this embodiment, the periphery cover of a plurality of guide pillar subassemblies 8 is equipped with damping member 9, damping member 9 is located the top of removing frame 7, the in-process of robot transport work piece to predetermined position, the robot starts to accelerate or stops to slide on four guide pillar subassemblies 8 when slowing down moving frame 7, and simultaneously, four damping member 9 that are located respectively on the guide pillar subassembly 8 can be compressed or recover, make the acceleration process that the robot started and the deceleration process time extension and the atress linear variation that stops, can not cause the high-frequency oscillation of robot or exceed maximum load, reduce the robot and report to the police and shut down, and the production efficiency is improved.

Optionally, the buffer 6 is a spring, and a hydraulic cylinder is also possible.

Optionally, the damping piece 9 is a damping spring, and a damping spring device is adopted, so that the time of the acceleration process of starting and the deceleration process of stopping the robot is prolonged, the stress is linearly changed, the high-frequency oscillation or the maximum load of the robot is not caused, and the alarm shutdown of the robot is reduced.

Optionally, the outer side of the moving frame 7 is fixedly connected with a robot quick connector 10.

Optionally, the robot grabbing tool for die castings provided by the invention further comprises a pair of third damping plates 5, the pair of third damping plates 5 are respectively fixed to the upper layer structure of the machine frame 1 near the left and right ends, are arranged on the outer sides of the first damping plate 3 and the second damping plate 4, are parallel to the first damping plate 3 and are flush with the first damping plate 3, baffle plates 11 are vertically fixedly connected to the outer side edges of the third damping plates 5, the die castings are separated from the upper die and then fall on the second damping plates 4 of the grabbing tool, the damping members 6 mounted on the machine frame 1 are compressed to enable the two second damping plates 4 to fall and be flush with the third damping plates 5 mounted on the machine frame 2, and the baffle plates 11 on the two sides further limit the die castings.

The above disclosure is only for a few specific embodiments of the present invention, however, the present invention is not limited to the above embodiments, and any variations that can be made by those skilled in the art are intended to fall within the scope of the present invention.