CN209793724U - Series-parallel movable self-balancing heavy-load casting robot - Google Patents

Series-parallel movable self-balancing heavy-load casting robot Download PDF

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Publication number
CN209793724U
CN209793724U CN201920544848.9U CN201920544848U CN209793724U CN 209793724 U CN209793724 U CN 209793724U CN 201920544848 U CN201920544848 U CN 201920544848U CN 209793724 U CN209793724 U CN 209793724U
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hinge
branched chain
sliding table
parallel
linear sliding
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段浩
严晨
张丽
王成军
郭永存
沈豫浙
尚晨晨
荣辉
郑艳
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Anhui University of Science and Technology
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Anhui University of Science and Technology
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Abstract

The utility model discloses a portable self-balancing heavy load casting robot of series-parallel connection formula, including four wheel drive wheeled removal chassis, slewer, elevating gear, parallel operation arm, self-balancing unit, end effector and two mesh visual system. The four-wheel-drive type mobile chassis of the utility model adopts four omnidirectional wheels to drive to realize long-distance flexible and stable walking, and utilizes the self-balancing device and the adjustable hydraulic support leg to realize bearing balance and stagnation point balance support respectively, thereby improving the operation stability, and the robot body has five degrees of freedom of motion in space; the slewing device and the lifting device can respectively realize slewing and lifting adjustment, the three-degree-of-freedom parallel working arm can adjust the posture of the end effector, different end effectors can be replaced according to working requirements, the requirements of different operations such as core assembling, core setting, pouring and carrying of medium and large castings are met, the efficiency, the quality and the safety of the casting core assembling, core setting and pouring operations are improved, and the labor intensity and the production cost of operators are reduced.

Description

Series-parallel movable self-balancing heavy-load casting robot
Technical Field
The utility model belongs to the technical field of casting robot equipment, in particular to portable self-balancing heavy load casting machine people of series-parallel connection formula.
Background
the high flexibility of the industrial robot can meet various special requirements in modern green casting production, and the robot is adopted in the casting production, so that not only can operators be liberated from heavy and monotonous physical labor to save labor force, but also an important means for improving the production efficiency, manufacturing precision and quality of castings and realizing the mechanization, automation and civilization of the casting production is realized. At present, the application of advanced and applicable new casting technology can improve the automation level of casting equipment, particularly the application of movable robot technology, and is a key measure for casting enterprises to implement green casting production and realize sustainable development. Because the casting has severe environments of high temperature, high dust, vibration, oil stain, noise and electromagnetic interference and the casting has heavy weight, the common industrial robot cannot meet the production requirement. The casting robot can adapt to the working environment and normally operate, and a plurality of key technologies are urgently needed to be researched and broken through. The casting robot can be used for carrying and conveying castings in the production of die casting and precision casting, and can also be used in the working procedures of molding, core making, core setting, pouring, cleaning, inspection and the like of sand casting. Particularly, in the production of medium-large castings, the sizes and the weights of sand cores and castings are large, and the operation difficulty of coring, core assembly, core setting, pouring and carrying is large, so that the requirement is high. There is an urgent need for a highly flexible, heavy duty casting robot that can meet the demands of coring, core assembly, core placement, pouring and handling operations in the production of castings.
At present, most robots used in casting production are articulated series robots, which have the advantages of simple structure, convenient control and large working space, but have poor precision and small load capacity and can only execute light-load operation tasks. The requirement of heavy-load operation tasks in the production of medium and large castings is difficult to meet, and the improvement of operation precision and efficiency is limited. The application of the existing casting robot is limited to the auxiliary completion of simpler casting operation tasks on fixed stations, and the requirement of mobile precise operation under the complex operation environment of casting production cannot be met. For example, a tandem type pouring robot used in production has simple structure and lower cost, but cannot be used in various occasions due to too little degree of freedom and single application occasion. The casting robot which is commonly used is transformed by a traditional articulated industrial robot, and a professional movable heavy-load casting robot is lacked. Particularly, in the pouring process of medium and large castings, the manual work is still mainly used, the labor intensity of workers is high, the physical consumption is high, and the working efficiency is low. When in pouring, molten iron or molten steel needs to be transferred to a production line by using a pouring ladle, and the molten iron or the molten steel is poured into a pouring gate after being aligned with the pouring gate. The problems of small load (weight), low operation speed, low operation precision, multiple casting defects, low production efficiency and the like exist, the labor intensity of workers is high, the working environment is poor, fatigue is easy to occur, the personal safety of the workers is hidden, and the manufacturing progress is delayed. Meanwhile, the manufacturing cost is increased due to the high labor cost.
The prior patent literature also proposes some solutions to the problems of core assembly, core setting, pouring and handling of castings. Chinese patent application No. 201610698460.5 discloses an automatic pouring robot, which comprises a power device, a transmission device, a scooping device, a detection device and the like, the rotating speed and the angle of the scooping spoon can be controlled, but the scheme can only carry out simple scooping and pouring, the working space of the robot is small, and the production efficiency is low. The application number is 200910015467.2's chinese patent discloses an aluminium piston pouring robot, and pouring robot's main swing arm, vice swing arm, vertical swing arm and connecting rod form parallel four-bar linkage, can satisfy aluminium piston blank casting forward or the follow-up pouring technological requirement that verts backward, but this scheme flexibility is poor, and the action beat length, production efficiency is low, and it is poor to ladle out aluminium liquid weight repetition weight precision and positioning accuracy, and product quality is unstable. Chinese patent No. 201610072679.4 discloses a pouring device controlled by a robot, which adopts bevel gear transmission, and continuously cools the pouring device through a compressed air cooling pipeline and a fan, but also has a cooling effect on the pouring liquid, so that the product quality is reduced. The Chinese patent with the application number of 201611165409.4 discloses an aluminum piston high-precision pouring robot, which comprises an ABB six-axis industrial robot and a pouring robot, wherein the scheme adopts serial robot arms, the working space is small, the moving process is unstable, and the pouring quality is influenced. The application number is 200710012538.4's chinese patent discloses a novel parallelly connected pouring robot, including the base, revolute pair, carousel, organism and water a packet, guarantee the accuracy of getting liquid through the volume method, make through one set of parallelogram four-bar linkage of motor drive water a packet and swing in certain extent, realize watering the location of packet, but other directions can't guarantee accurate location, and robot working space is little. The Chinese patent with the application number of 201320665695.6 discloses a four-joint soup scooping or pouring robot, the equipment is simple in structure, complex pouring work cannot be carried out, the positioning precision during pouring is low, and the structure bearing is small. The application number is 201120359585.8's chinese patent discloses a two ladles of watering of robot pouring arm, including pouring arm, support frame, servo motor and speed reducer, two motors pass through chain drive system and drive two ladles respectively and pour into a mould, have improved production efficiency, but positioning accuracy variation simultaneously, and the interval of two ladles is not adjustable, only is suitable for the pouring of small-size foundry goods. Chinese patent application No. 201510444411.4 discloses a ground rail removes pouring manipulator, and pouring manipulator below installation base moves on the ground rail through the pulley, but the orbit restriction, the flexibility is poor. The Chinese patent with the application number of 201621367895.3 provides a design scheme of a one-machine two-mold full-automatic casting machine, and the tasks of taking molten aluminum, pouring and taking castings are completed by a series-connection type pouring robot with a fixed position and a simple part taking hand, so that the machine is suitable for light-load operation with a fixed position on a production line. The Chinese patent with application number 201710682225.3, which is participated in design by part of inventors of the application, provides a series-parallel movable heavy-load casting robot, which comprises a four-wheel-drive wheel type moving platform, a slewing gear, an upright post assembly, a lifting driving device, a parallel working arm, an end effector and a binocular vision system, and can meet the requirements of different operations such as core assembly, core unloading, pouring, carrying and the like of medium and large castings, and improve the efficiency, quality and safety of the core assembly, core unloading and pouring operations of the castings.
In the aspects of coring, core assembly and core setting, the chinese patent with application number 200920140832.8 discloses a core setting device for casting, which comprises a sand box, a sand box positioning component, a serial manipulator for clamping and setting the core, and the like, wherein the manipulator can only operate within a limited range, and an actuator for clamping the core adopts a clamping plate type structure, and can only meet the operation requirement of a single core. The application number is 201520331028.3's chinese patent discloses an automatic core assembly device of robot, place the tongs of slip table and fixed position work including the psammitolite, it is equipped with the supporting seat to place the slip table at the psammitolite, the adjustment eccentric wheel, locating wheel and photoelectric detection switch, be equipped with on the tongs and beat mucilage binding device and detection device, it glues the rifle to be equipped with the several on beating the mucilage binding device, this technical scheme has only simplified the structure of beating mucilage binding device and detection device, and realize the integration of two kinds of functions, whole device is not movable, and operating range is limited, and unsatisfied the operation requirement of special-shaped psammitol. The application number 201610325766.6 discloses a core setting and taking mechanism of a base robot, which comprises a material pouring mechanical arm and a core setting and taking mechanical arm, wherein although the requirement of the radius of three-station core setting operation can be met through a three-station core setting rotary platform, the labor intensity of workers is reduced, the operation range and the object are still limited by the fixed position of the robot and a simple end effector. The application number is 201611053848.6's chinese patent discloses a get core group core robot tongs, including control module, the tongs frame, flange, tongs left side clamping mechanism module, the linear slide guide rail, the clamping mechanism module in the middle of the tongs, pneumatic servo translation mechanism, tongs right side clamping mechanism module, can be on a left side, in, the right side presss from both sides tightly one simultaneously, two or three psammitolite, the rotatory action of accessible pneumatic rotation module realization psammitolite when each module independently snatchs, it is not enough to press from both sides tight psammitolite through expansion end clamp arm module when grabbing, it is few not only the centre gripping point when grabbing to heavier psammitolite, and need remove the psammitolite, cause the psammitolite damage easily.
With the improvement of the casting technology level, the production of medium and large castings and the automation of coring, core assembly, core setting, pouring and carrying operations in the casting forming process are more and more in demand. In the prior art, the serial-type mechanical arm with fixed stations is adopted for operation, so that the operation range is small, the movement is limited, the load capacity is low, and the requirements of core taking, core assembling, core setting, pouring and carrying operation of medium and large castings cannot be met.
Disclosure of Invention
the utility model aims at prior art not enough, provide a portable self-balancing heavy load casting robot of series-parallel connection formula with self-balancing function, can be used for the operation such as getting core, core assembly, lower core, pouring and transport of medium and large-scale foundry goods in the casting forming process, improve the flexibility, production efficiency, foundry goods quality and the security of casting operation, reduce intensity of labour and manufacturing cost to can overcome prior art's defect.
The utility model discloses the technical problem that will solve adopts following technical scheme to realize.
a series-parallel movable self-balancing heavy-load casting robot comprises a four-wheel-drive type movable chassis, a rotary device, a lifting device, parallel working arms, a self-balancing device, an end effector and a binocular vision system. Wherein, four-wheel drive wheeled removal chassis be the utility model discloses a bear and moving platform, including chassis frame, front driving wheel, back drive wheel, adjustable hydraulic leg, controller and hydraulic power unit. Navigation sensors are arranged at the bottoms of the front end and the rear end of the chassis frame, the navigation sensors can adopt magnetic navigation sensors or laser scanners or infrared transmitters or ultrasonic transmitters, a digital double-shaft level meter is further arranged in the chassis frame, and the measurement accuracy of the digital double-shaft level meter is not lower than 0.01 ℃; distance measuring sensors are arranged in the middle of the front side surface and the rear side surface of the chassis frame, and the distance measuring sensors adopt laser distance measuring sensors or ultrasonic distance measuring sensors; the two front driving wheels are symmetrically arranged at the front end of the chassis frame, and the two rear driving wheels are symmetrically arranged at the rear end of the chassis frame and are used for driving the four-wheel-drive mobile chassis to move and walk; the adjustable hydraulic support legs are symmetrically arranged on two sides in front of the chassis frame and used for supporting a casting robot in a standing position during operation, and in-situ positioning and stable supporting of the four-wheel-drive type mobile chassis are guaranteed in the operation process. The controller is arranged on the right side of the rear end of the chassis frame and used for receiving sensing information acquired by sensors arranged on the four-wheel-drive mobile chassis and an industrial camera in a binocular vision system arranged on the top of the lifting device and controlling the four-wheel-drive mobile chassis, the slewing device, the lifting device, the parallel working arm, the self-balancing device and the end effector to execute corresponding actions or task instructions. The hydraulic pump station is fixedly arranged on the left side of the rear end of the chassis frame and used for providing pressure oil for the adjustable hydraulic support legs, the hydraulic cylinder, the servo hydraulic cylinder or the servo hydraulic motor. The slewing device is fixedly installed at the front end of the four-wheel-drive type mobile chassis, is fixedly installed on a chassis frame through screws and is used for driving the lifting device, the parallel working arm, the self-balancing device and the end effector to perform slewing motion. The lifting device is positioned above the rotating device, and the bottom of the lifting device is fixedly arranged at the top of the rotating device through a screw and is used for driving the parallel working arm and the end effector to perform lifting movement. The parallel working arm is a three-degree-of-freedom parallel mechanism with a 2RPU-RRPR structure and is used for supporting and driving the end effector to realize the motion and posture adjustment of three degrees of freedom including front and back telescopic movement, left and right swinging and rotation around a horizontal shaft, and the rear end of the parallel working arm is fixedly connected with the upper end of the lifting device. The self-balancing device is located at the rear end of the lifting device and used for balancing the offset load generated by the end effector and the operation load on the lifting device, so that offset load compensation is realized, and the operation stability of the casting robot is improved. The lower end of the self-balancing device is connected with the top of the rotating device through a hinge, and the upper end of the self-balancing device is connected with the rear end of the parallel working arm through a hinge. The end effector is fixedly arranged at the front end of the parallel working arm; the binocular vision system comprises an industrial camera, an image acquisition card and an industrial computer, and is used for acquiring, analyzing and processing image information acquired by the industrial camera on a working site, and identifying and judging the geometric shapes and the postures of the sand core assembly, the casting, the sand box and the pouring gate. The industrial camera is provided with two parts which are both provided with LED illuminating light sources, the image acquisition card and the industrial computer are integrally installed in the controller, the industrial camera is connected with the image acquisition card through a data line, and the image acquisition card is connected with the industrial computer through a data line; the bottom of the industrial camera is provided with a two-degree-of-freedom adjusting holder, the bottom of the industrial camera is fixedly arranged at the top of the two-degree-of-freedom adjusting holder through screws, and the bottom of the two-degree-of-freedom adjusting holder is fixedly arranged at the front end of the top of the lifting device through screws. The front driving wheel and the rear driving wheel both adopt Mecanum omni wheels; the end effector adopts a pouring ladle or a clamping plate type multi-finger pneumatic gripper, and is respectively used for pouring in casting production or performing core assembly, core setting, casting conveying and other operation functions.
In order to improve the utility model discloses a four wheel drive wheeled removes chassis equilibrium when stopping a lot of parking and the ability of antidumping during the heavy load operation, adjustable hydraulic leg not only can the horizontal hunting adjust, can also extend or shorten. The adjustable hydraulic support leg comprises a support leg box, a telescopic arm, a vertical support leg and a swing angle adjusting cylinder. The rear end of the supporting leg box is connected with the chassis frame through a hinge, and an angle sensor is arranged at the rear end of the supporting leg box and used for detecting the left-right swinging angle of the supporting leg box; the rear end of the telescopic arm is sleeved in the supporting leg box, and the telescopic arm is driven by a supporting leg telescopic cylinder arranged in the supporting leg box to realize the telescopic function of the adjustable hydraulic supporting leg, and the front end and the rear end of the supporting leg telescopic cylinder are respectively connected with the telescopic arm and the supporting leg box through hinges; the top of the vertical supporting leg is fixedly arranged at the tail end of the front part of the telescopic arm; the two ends of the swing angle adjusting cylinder are respectively connected with the chassis frame and the supporting leg box through hinges, and the supporting leg telescopic cylinder and the swing angle adjusting cylinder adopt double-acting hydraulic cylinders and are connected with a hydraulic pump station through hydraulic pipelines and used for driving the supporting leg box, the telescopic arm and the vertical supporting leg to swing left and right around a hinge axis at the rear end of the supporting leg box. And a displacement sensor is also arranged on the supporting leg telescopic cylinder and used for detecting the displacement of the telescopic arm moving relative to the supporting leg box. The driving power of the vertical supporting leg adopts an electro-hydraulic servo oil cylinder or an electro-hydraulic stepping hydraulic cylinder. The adjustable hydraulic support leg can be used for measuring the static inclination angle of the four-wheel-drive mobile chassis relative to the horizontal plane according to a digital double-shaft level meter in the chassis frame and carrying out automatic adjustment. And the vertical supporting leg, the swing angle adjusting cylinder and the supporting leg telescopic cylinder in the adjustable hydraulic supporting leg are connected with a hydraulic pump station through a hydraulic pipeline.
When the end effector is replaced by the clamp plate type multi-finger pneumatic gripper, the clamp plate type multi-finger pneumatic gripper can be fixedly arranged at the front end of the parallel working arm through the pneumatic gripper connecting seat, and clamping jaw fingers arranged on the front side and the rear side of the clamp plate type multi-finger pneumatic gripper are loosened and clamped, so that the special-shaped sand core or casting can be effectively gripped in an attaching mode.
The rotating device comprises a rotating base, a rotating body, a rotating motor, a rotating gear, an inner gear ring and a rotating top cover. Wherein, the rotary base is fixedly arranged on the chassis frame through screws; the revolving body is sleeved in the revolving base and is connected with the revolving base through a radial bearing and two thrust bearings, the radial bearing adopts a cylindrical roller type radial bearing, and the thrust bearings are cylindrical roller type thrust bearings; the rotary motor is fixedly arranged below the rotary base and is used for driving the rotary body and the rotary top cover to perform rotary motion, and the rotary gear is arranged on an output shaft of the rotary motor; the inner gear ring is fixedly arranged in the revolving body through a screw and keeps engaged with the revolving gear; the rotary top cover is fixedly arranged at the top of the rotary body, and an angle sensor is further arranged at the center of the bottom of the rotary top cover and used for measuring the rotation angle of the rotary body and the rotary top cover relative to the rotary base. The rotary motor can adopt a servo speed reducing motor or a servo hydraulic motor.
The lifting device comprises a left guide post, a right guide post, a front driving cylinder, a rear driving cylinder, a top mounting seat and a cross beam type mounting seat. The left guide post and the right guide post are symmetrically arranged on the left side and the right side above the rotary top cover of the rotary device, and are fixedly connected with the rotary top cover through screws for fixing and installing the top installation seat and the cross beam type installation seat. The front driving cylinder and the rear driving cylinder are arranged on the front side and the rear side above the rotary top cover, are fixedly connected with the rotary top cover through screws and are used for driving the top mounting seat, the cross beam type mounting seat and the parallel working arm mounted on the top mounting seat to perform lifting motion. The top mounting seat is positioned above the left guide post, the right guide post and the rear driving cylinder and fixedly connected with the tops of the left guide post, the right guide post and the rear driving cylinder. The two ends of the cross beam type mounting seat are sleeved in the middle of the left guide post and the right guide post, and the top of the cross beam type mounting seat is fixedly connected with the top of the front driving cylinder through screws. The left guide post comprises a left guide rod and a left guide sleeve, the bottom of the left guide rod is fixedly arranged at the top of the rotary top cover through a screw, and the left guide sleeve is sleeved on the left guide rod and is connected with the left guide rod through a linear bearing; the top of the left guide sleeve is connected with the top mounting seat through a screw, and the bottom of the left guide sleeve is fixedly connected with the cross beam type mounting seat; the right guide post comprises a right guide rod and a right guide sleeve, the bottom of the right guide rod is fixedly installed at the top of the rotary top cover through a screw, the right guide sleeve is sleeved on the right guide rod and is connected with the right guide rod through a linear bearing, the top of the right guide sleeve is connected with the top mounting seat through a screw, and the bottom of the right guide sleeve is fixedly connected with the cross beam type mounting seat. The front driving cylinder and the rear driving cylinder can adopt double-acting hydraulic cylinders or double-acting air cylinders or electric push rods. And a large displacement sensor is arranged on the inner side surface of the left guide sleeve or the right guide sleeve and is used for measuring displacement parameters of the parallel working arms in the vertical direction.
The parallel working arm comprises a first branched chain, a second branched chain and a third branched chain. The first branched chain and the second branched chain are symmetrically arranged at two sides in front of the lifting device in an initial state; the third branched chain is arranged above the first branched chain and the second branched chain; the front ends of the first branched chain, the second branched chain and the third branched chain are fixedly connected with the end effector, the rear ends of the first branched chain and the second branched chain are fixedly connected with the crossbeam type mounting seat, and the rear end of the third branched chain is fixedly connected with the top mounting seat; the first branched chain and the second branched chain have the same structure, the mechanism topological structures of the first branched chain and the second branched chain are both RPU structures, and the mechanism topological structure of the third branched chain is an RRPR structure. From the mechanical point of view, the parallel working arm and the end effector form a parallel mechanism with three freedom degrees of motion including space translation and two rotations. The top mounting seat and the beam type mounting seat are fixed platforms of a parallel mechanism formed by the parallel working arm and the end effector, and the end effector is a movable platform of the parallel mechanism formed by the parallel working arm and the end effector. The parallel working arm, the end effector, the lifting device and the rotating device form a parallel mechanism with two spatial translations and two rotational degrees of freedom, wherein the rotation around the vertical axis is a redundant degree of freedom. In addition, the four-wheel-drive wheel-type moving chassis moves on the ground, and the utility model discloses total three translations two rotations totally five degrees of freedom of motion.
The crossbeam formula mount pad include T type crossbeam, left U type support, right U type support and L type support. The left U-shaped support and the right U-shaped support are respectively positioned on the left side and the right side of the T-shaped cross beam and are connected with the T-shaped cross beam through bolts; the L-shaped support is positioned at the top of the T-shaped beam and used for connecting the top of the front driving cylinder, and the L-shaped support is fixedly connected with the T-shaped beam through a welding method; a left cylindrical hole is formed at the joint of the left U-shaped bracket and the T-shaped cross beam and used for mounting a left guide sleeve; and a right cylindrical hole is formed at the joint of the right U-shaped support and the T-shaped cross beam and used for installing a right guide sleeve.
The self-balancing device comprises a balancing cylinder and a flexible compensation rod. The bottom of the balance cylinder is connected with the rotary top cover through a hinge, the top of a piston rod of the balance cylinder is fixedly connected with the lower end of the flexible compensation rod, and the upper end of the flexible compensation rod is connected with the rear end of the rear extension rod through a hinge. The balance cylinder adopts a servo air cylinder or a servo hydraulic cylinder, and the flexible compensation rod adopts a steel wire rope or a chain. And the top mounting seat and the cross beam type mounting seat are also provided with torque sensors, are connected with an industrial computer through cables, and are used for measuring the offset load of the end effector and the parallel working arm on the lifting device in real time so as to provide a basis for controlling the movement of a balance cylinder in the self-balancing device.
the first supporting chain comprises a first universal joint, a first extension rod and a first linear sliding table. The front end of the first universal joint is fixedly connected with the end effector, the front end and the rear end of the first extension rod are fixedly connected with the rear end of the first universal joint and the front end of the first linear sliding table respectively, and the sliding block of the first linear sliding table is connected with the left U-shaped support of the cross beam type mounting seat through a left external hinge. The second branch chain comprises a second universal joint, a second extension rod and a second linear sliding table. The front end of the second universal joint is fixedly connected with the end effector, the front end and the rear end of the second extension rod are fixedly connected with the rear end of the second universal joint and the front end of the second linear sliding table respectively, and the sliding block of the second linear sliding table is connected with the right U-shaped support of the cross beam type mounting seat through a right external hinge. The third branched chain comprises a third front hinge, a third extension rod, a third linear sliding table, a rear extension rod and a top U-shaped support. The front end of the third front hinge is fixedly connected with the end effector, the front end and the rear end of the third extension rod are fixedly connected with the rear end of the third front hinge and the front end of the third linear sliding table respectively, the front end of the rear extension rod is connected with the rear end of the third linear sliding table through screws, the sliding block of the third linear sliding table is connected with the upper end of the top U-shaped support through a top external hinge, and the lower end of the top U-shaped support is connected with the top mounting seat through a vertical hinge. The rear ends of the first linear sliding table, the second linear sliding table and the third linear sliding table are respectively provided with a first driving motor, a second driving motor and a third driving motor, and the first driving motor, the second driving motor and the third driving motor are respectively connected with the first linear sliding table, the second linear sliding table and the third linear sliding table through screws. The first driving motor, the second driving motor and the third driving motor adopt direct current servo motors. The first linear sliding table, the second linear sliding table and the third linear sliding table are identical in structure.
the axis of the left external hinge is parallel to one axis of the cross shaft of the first universal joint and is perpendicular to the length direction of the guide rail of the first linear sliding table; the axis of the right external hinge is parallel to one axis of a cross shaft of the second universal joint and is vertical to the length direction of the guide rail of the second linear sliding table; the axis of the vertical hinge is perpendicular to the axis of the top external hinge, the axis of the top external hinge is parallel to the axis of the third front hinge, and the axis of the top external hinge is perpendicular to the length direction of the guide rail of the third linear sliding table; the horizontal axis of the cross shaft of the first universal joint and the horizontal axis of the cross shaft of the second universal joint are coaxial, and the axis of the third front hinge and the horizontal axis of the cross shaft of the first universal joint are parallel to each other; the axes of the left external hinge, the right external hinge and the vertical hinge are kept parallel to each other. Therefore, the parallel mechanism formed by the parallel working arm and the end effector has three freedom degrees of movement including translation and two rotations in a determined space.
The first driving motor, the second driving motor, the third driving motor and the motors in the hydraulic pump station are respectively connected with the controller through cables.
When the multi-finger pneumatic gripper is used, a proper end effector is selected according to a casting task, a casting ladle is selected as the end effector when the casting task is executed, and when coring, core assembling, core setting and carrying tasks are executed, particularly when an operation object is a special-shaped sand core and a special-shaped casting, the multi-finger pneumatic gripper with a clamping plate can be selected as the end effector. Then, start front driving wheel, back drive wheel according to the operation requirement and make the wheeled removal chassis of four-wheel drive remove in the workshop and walk to appointed operation position, adjust slewer, elevating gear respectively according to operation gesture and altitude requirement again, through the corotation of first driving motor, second driving motor and third driving motor or reversal adjustment the utility model discloses a parallel operation arm adjusts suitable operation gesture and operation height with end effector. When the stagnation point operation is executed, particularly when a casting with larger weight is poured and shipped, the front driving wheel and the rear driving wheel can slip or lose stability, so that the operation precision of the casting robot can be influenced, the swing angle of the adjustable hydraulic supporting leg needs to be adjusted, and meanwhile, the vertical supporting leg of the adjustable hydraulic supporting leg is extended, so that the stagnation point stable support of the four-wheel-drive type moving chassis is realized. Image information acquired by the binocular vision system is acquired by an image acquisition card, vertical displacement and corner information of a navigation sensor, a distance measuring sensor, an angle sensor, distance information, a displacement sensor, a torque sensor and an end effector, real-time working state parameters of the casting robot and the like are acquired and processed by a data acquisition card in an industrial computer, and information analysis and processing tasks such as posture adjustment, operation tasks and the like of the casting robot are completed by a controller.
Work as end effector adopt splint formula multi-finger pneumatic tongs, the balance cylinder adopt servo cylinder, preceding actuating cylinder the back actuating cylinder when adopting double-acting cylinder, need do the utility model discloses configuration air pump, air cleaner, relief pressure valve, oil atomizer and connection trachea to be connected air pump, air cleaner, relief pressure valve, oil atomizer with splint formula multi-finger pneumatic tongs, servo cylinder, preceding actuating cylinder, back actuating cylinder through connecting the trachea. When the balance cylinder adopts a servo hydraulic cylinder, the front driving cylinder and the rear driving cylinder adopt double-acting hydraulic cylinders, and the rotary motor can adopt a servo hydraulic motor, the balance cylinder, the front driving cylinder, the rear driving cylinder and the rotary motor are respectively connected with a hydraulic pump station through hydraulic pipelines. When the current driving cylinder and the rear driving cylinder adopt electric push rods and the rotary motor adopts a servo speed reduction motor, the current driving cylinder, the rear driving cylinder and the rotary motor need to be connected with an industrial computer by cables.
the utility model has the advantages that compared with the prior art, the four-wheel drive type mobile chassis of the utility model adopts four omnidirectional wheel drives which are independently driven, thereby realizing long-distance flexible and stable walking; the adjustable hydraulic support legs can automatically adjust the static inclination angle of the four-wheel-drive type mobile chassis relative to the horizontal plane according to the digital double-shaft level meter in the chassis frame, so that the stagnation point self-balancing support is realized, the long-distance stable walking of the casting robot under the heavy load condition is ensured, and the support stability of the operation can be improved; the offset load generated by the end effector and the parallel working arms to the lifting device is balanced by controlling the movement and pressure maintaining capability of a balance cylinder in the self-balancing device. The robot body has three movements of lifting, front-back stretching and horizontal movement and five freedom degrees of motion of two rotations around a vertical shaft and a horizontal shaft respectively, the three freedom degrees of motion are respectively realized by the slewing device and the lifting device, the three freedom degrees of motion are respectively connected with the working arm in parallel, the attitude of the end effector can be adjusted, the working space of the robot is obviously expanded, and the motion flexibility of the casting robot is improved; the end effector of the utility model can be replaced by a casting ladle or a clamping plate type multi-finger pneumatic gripper according to the working requirement, so as to meet the requirements of different operations such as coring, core assembly, core setting, pouring and carrying of medium and large castings, improve the efficiency, quality and safety of core assembly, core setting, pouring and carrying operations in casting production, reduce the labor intensity and production cost of operators, meet the operation requirements of attaching type effective grabbing of special-shaped sand cores and castings, avoid damaging the sand cores or the castings in the core assembly and core setting processes, improve the stability, safety and adaptability of the operation, and realize the information fusion of navigation sensors, distance measuring sensors, digital double-shaft gradienters, angle sensors on the slewing gear, large displacement sensors on the lifting gear, torque sensors and industrial camera multi-sensor information on the chassis frame, the self-balancing control and position judgment of the casting robot, the recognition of sand cores and castings, the recognition of sand boxes and pouring gates, the grabbing, placing, pouring and other casting operation tasks of sand core components and castings are automatically completed, the automation degree is high, the working efficiency is high, and the labor intensity is low; the utility model discloses compact structure still has, equipment occupation space is little, low in production cost, the security is high, strong adaptability, end effector change convenience, operation maintenance advantage such as simple and convenient, can overcome prior art's defect.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention;
fig. 2 is a schematic structural view of a four-wheel drive type mobile chassis of the present invention;
FIG. 3 is a schematic structural view of a turning device according to the present invention;
Fig. 4 is a schematic structural view of the lifting device and the self-balancing device of the present invention;
FIG. 5 is a schematic structural view of a parallel working arm according to the present invention;
Fig. 6 is a schematic structural diagram of a second branched chain of the parallel working arm of the present invention;
Fig. 7 is a schematic structural view of a beam type mounting base of the lifting device of the present invention;
fig. 8 is a schematic diagram of the overall structure of the replaceable clamping plate type multi-finger pneumatic gripper of the end effector of the present invention.
Detailed Description
The first embodiment is as follows:
As shown in fig. 1, fig. 2 and fig. 8, a series-parallel movable self-balancing heavy-load casting robot comprises a four-wheel-drive mobile chassis 1, a slewing device 2, a lifting device 3, a parallel working arm 4, a self-balancing device 5, an end effector 6 and a binocular vision system 7. Wherein, four-wheel drive wheeled removal chassis 1 be the utility model discloses a bear and moving platform, including chassis frame 11, front driving wheel 12, back drive wheel 13, adjustable hydraulic leg 14, controller 15 and hydraulic power unit 16. The bottom of the front end and the rear end of the chassis frame 11 is provided with a navigation sensor 111, the navigation sensor 111 adopts a magnetic navigation sensor or a laser scanner or an infrared transmitter or an ultrasonic transmitter, a digital double-shaft level meter is also arranged in the chassis frame 11, and the measurement accuracy of the digital double-shaft level meter is not lower than 0.01 ℃; distance measuring sensors 112 are arranged in the middle of the front side surface and the rear side surface of the chassis frame 11, and the distance measuring sensors adopt laser distance measuring sensors or ultrasonic distance measuring sensors; the two front driving wheels 12 are symmetrically arranged at the front end of the chassis frame 11, and the two rear driving wheels 13 are symmetrically arranged at the rear end of the chassis frame 11 and are used for driving the four-wheel-drive mobile chassis 1 to move and walk; the two adjustable hydraulic support legs 14 are symmetrically arranged on two sides in front of the chassis frame 11 and used for supporting a casting robot in a standing position during operation, so that in-situ positioning and stable supporting of the four-wheel-drive mobile chassis 1 in the operation process are guaranteed. The controller 15 is arranged at the right side of the rear end of the chassis frame 11 and is used for receiving sensing information obtained by sensors arranged on the four-wheel-drive mobile chassis 1 and an industrial camera 71 in the binocular vision system 7 arranged at the top of the lifting device 3 and controlling the four-wheel-drive mobile chassis 1, the slewing device 2, the lifting device 3, the parallel working arm 4, the self-balancing device 5 and the end effector 6 to execute corresponding actions or task instructions. The hydraulic pump station 16 is fixedly installed on the left side of the rear end of the chassis frame 11 and used for providing pressure oil for the adjustable hydraulic support legs 14, the hydraulic cylinder, the servo hydraulic cylinder or the servo hydraulic motor. The slewing device 2 is fixedly installed at the front end of the four-wheel-drive mobile chassis 1, is fixedly installed on the chassis frame 11 through screws, and is used for driving the lifting device 3, the parallel working arm 4, the self-balancing device 5 and the end effector 6 to perform slewing motion. The lifting device 3 is positioned above the rotating device 2, and the bottom of the lifting device 3 is fixedly installed at the top of the rotating device 2 through a screw and is used for driving the parallel working arm 4 and the end effector 6 to perform lifting movement. The parallel working arm 4 is a three-degree-of-freedom parallel mechanism with a 2RPU-RRPR structure, is used for supporting and driving the end effector 6 to realize the movement and posture adjustment of three degrees of freedom including front and back telescopic movement, left and right swinging and rotation around a horizontal shaft, and the rear end of the parallel working arm 4 is fixedly connected with the upper end of the lifting device 3. The self-balancing device 5 is located at the rear end of the lifting device 3 and used for balancing the offset load generated by the end effector 6 and the operation load on the lifting device 3, so that offset load compensation is realized, and the operation stability of the casting robot is improved. The lower end of the self-balancing device 5 is connected with the top of the rotating device 2 through a hinge, and the upper end of the self-balancing device 5 is connected with the rear end of the parallel working arm 4 through a hinge. The end effector 6 is fixedly arranged at the front end of the parallel working arm 4; the binocular vision system 7 comprises an industrial camera 71, an image acquisition card and an industrial computer, and is used for acquiring, analyzing and processing image information acquired by the industrial camera 71 on a working site, and identifying and judging the geometric shapes and postures of the sand core assembly, the casting, the sand box and the pouring gate. The industrial camera 71 is provided with two parts which are both provided with LED illuminating light sources, the image acquisition card and the industrial computer are integrally installed in the controller 15, the industrial camera 71 is connected with the image acquisition card through a data line, and the image acquisition card is connected with the industrial computer through a data line; the bottom of the industrial camera 71 is provided with a two-degree-of-freedom adjusting tripod head 72, the bottom of the industrial camera 71 is fixedly arranged at the top of the two-degree-of-freedom adjusting tripod head 72 through screws, and the bottom of the two-degree-of-freedom adjusting tripod head 72 is fixedly arranged at the front end position of the top of the lifting device 3 through screws. The front driving wheels 12 and the rear driving wheels 13 are all Mecanum omni wheels; the end effector 6 adopts a casting ladle and is used for executing the casting operation function in casting production.
As shown in fig. 1, 3 and 8, the swiveling device 2 includes a swiveling base 21, a swiveling body 22, a swiveling motor 23, a swiveling gear 24, an internal gear ring 25 and a swiveling roof 26. Wherein, the rotary base 21 is fixedly arranged on the chassis frame 11 through screws; the revolving body 22 is sleeved in the revolving base 21 and is connected with the revolving base 21 through a radial bearing and two thrust bearings, the radial bearing adopts a cylindrical roller type radial bearing, and the thrust bearings are cylindrical roller type thrust bearings; the rotary motor 23 is fixedly arranged below the rotary base 21 and is used for driving the rotary body 22 and the rotary top cover 26 to perform rotary motion, and the rotary gear 24 is arranged on an output shaft of the rotary motor 23; the inner gear ring 25 is fixedly installed in the revolving body 22 through a screw and keeps engaged with the revolving gear 24; the revolving top cover 26 is fixedly installed on the top of the revolving body 22, and an angle sensor is further arranged at the center of the bottom of the revolving top cover 26 and used for measuring the rotation angle of the revolving body 22 and the revolving top cover 26 relative to the revolving base 21.
As shown in fig. 1, 3, 4, 5 and 8, the lifting device 3 includes a left guide post 31, a right guide post 32, a front drive cylinder 33, a rear drive cylinder 34, a top mount 35 and a beam mount 36. Wherein, left guide post 31, right guide post 32 symmetry are installed in the left and right sides above rotary top cover 26 of slewer 2, and all link firmly mutually through the screw with rotary top cover 26 for fixed and installation top mount pad 35 and crossbeam formula mount pad 36. The front driving cylinder 33 and the rear driving cylinder 34 are arranged on the front side and the rear side above the rotary top cover 26, are fixedly connected with the rotary top cover 26 through screws, and are used for driving the top mounting seat 35, the cross beam type mounting seat 36 and the parallel working arm 4 mounted on the top mounting seat to perform lifting movement. The top mounting seat 35 is located above the left guide post 31, the right guide post 32 and the rear driving cylinder 34, and is fixedly connected with the tops of the left guide post 31, the right guide post 32 and the rear driving cylinder 34. Two ends of the cross beam type mounting seat 36 are sleeved in the middle of the left guide post 31 and the right guide post 32, and the top of the cross beam type mounting seat 36 is fixedly connected with the top of the front driving cylinder 33 through screws. The left guide column 31 comprises a left guide rod 311 and a left guide sleeve 312, the bottom of the left guide rod 311 is fixedly installed at the top of the rotary top cover 26 through a screw, and the left guide sleeve 312 is sleeved on the left guide rod 311 and connected with the left guide rod 311 through a linear bearing; the top of the left guide sleeve 312 is connected with the top mounting seat 35 through a screw, and the bottom of the left guide sleeve 312 is fixedly connected with the cross beam type mounting seat 36; the right guide post 32 comprises a right guide rod 321 and a right guide sleeve 322, the bottom of the right guide rod 321 is fixedly mounted at the top of the rotary top cover 26 through a screw, the right guide sleeve 322 is sleeved on the right guide rod 321 and connected with the right guide rod 321 through a linear bearing, the top of the right guide sleeve 322 is connected with the top mounting seat 35 through a screw, and the bottom of the right guide sleeve 322 is fixedly connected with the cross beam type mounting seat 36. The front driving cylinder 33 and the rear driving cylinder 34 can adopt a double-acting hydraulic cylinder or a double-acting air cylinder or an electric push rod. And a large displacement sensor is arranged on the inner side surface of the left guide sleeve 312 or the right guide sleeve 322 and is used for measuring the displacement parameters of the parallel working arm 4 in the vertical direction.
As shown in fig. 1, 4, 5, 6, 7 and 8, the parallel working arm 4 includes a first branch 41, a second branch 42 and a third branch 43. The first branched chain 41 and the second branched chain 42 are symmetrically arranged at two sides in front of the lifting device 3 in an initial state; the third branch 43 is arranged above the first branch 41 and the second branch 42; the front ends of the first branched chain 41, the second branched chain 42 and the third branched chain 43 are fixedly connected with the end effector 6, the rear ends of the first branched chain 41 and the second branched chain 42 are fixedly connected with the cross beam type mounting seat 36, and the rear end of the third branched chain 43 is fixedly connected with the top mounting seat 35; the first branched chain 41 and the second branched chain 42 have the same structure, and both of the mechanism topological structures are RPU structures, and the mechanism topological structure of the third branched chain 43 is an RRPR structure. From the mechanical point of view, the parallel working arm 4 and the end effector 6 form a parallel mechanism with three freedom of motion including space-translation and two rotations. The top mount 35 and the beam mount 36 are fixed platforms of the parallel mechanism formed by the parallel working arm 4 and the end effector 6, and the end effector 6 is a movable platform of the parallel mechanism formed by the parallel working arm 4 and the end effector 6. The parallel working arm 4, the end effector 6, the lifting device 3 and the rotating device 2 form a parallel-serial mechanism with two spatial translations and two rotations with four degrees of freedom, wherein the rotation around a vertical axis is a redundant degree of freedom. In addition, the four-wheel-drive wheeled mobile chassis 1 moves on the ground, and the utility model discloses total five motion degrees of freedom.
As shown in fig. 1, 4, 5, 7 and 8, the beam mount 36 includes a T-shaped beam 361, a left U-shaped bracket 362, a right U-shaped bracket 363 and an L-shaped support 364. The left U-shaped bracket 362 and the right U-shaped bracket 363 are respectively positioned on the left side and the right side of the T-shaped cross beam 361 and are connected with the T-shaped cross beam 361 through bolts; the L-shaped support 364 is positioned at the top of the T-shaped beam 361 and is used for connecting the top of the front driving cylinder 33, and the L-shaped support 364 is fixedly connected with the T-shaped beam 361 by a welding method; a left cylindrical hole 365 is formed in the connecting position of the left U-shaped support 362 and the T-shaped cross beam 361 and used for installing the left guide sleeve 312; and a right cylindrical hole 366 is formed at the joint of the right U-shaped bracket 363 and the T-shaped cross beam 361 and used for installing the right guide sleeve 322.
As shown in fig. 1, 4 and 8, the self-balancing device 5 includes a balancing cylinder 51 and a flexible compensating rod 52. The bottom of the balance cylinder 51 is connected to the rotating top cover 26 via a hinge, the top of the piston rod of the balance cylinder 51 is fixedly connected to the lower end of the flexible compensation rod 52, and the upper end of the flexible compensation rod 52 is connected to the rear end of the rear extension rod 434 via a hinge. The balance cylinder 51 adopts a servo air cylinder or a servo hydraulic cylinder, and the flexible compensation rod 52 adopts a steel wire rope or a chain. Torque sensors are further arranged on the top mounting seat 35 and the cross beam type mounting seat 36 and are connected with an industrial computer through cables, and the torque sensors are used for measuring the offset load of the end effector 6 and the parallel working arm 4 on the lifting device 3 in real time, and further providing basis for controlling the movement of the balance cylinder 51 in the self-balancing device 5.
the second embodiment is as follows:
As shown in fig. 1, 4, 5, 6, 7 and 8, the first supporting chain 41 includes a first universal joint 411, a first extension rod 412 and a first linear sliding table 413. The front end of the first gimbal 411 is fixedly connected to the end effector 6, the front end and the rear end of the first extension rod 412 are fixedly connected to the rear end of the first gimbal 411 and the front end of the first linear sliding table 413, respectively, and the slider of the first linear sliding table 413 is connected to the left U-shaped bracket 362 of the beam-type mounting seat 36 through the left external hinge 4132. The second branch chain 42 includes a second universal joint 421, a second extension rod 422 and a second linear sliding table 423. The front end of the second universal joint 421 is fixedly connected to the end effector 6, the front end and the rear end of the second extension rod 422 are fixedly connected to the rear end of the second universal joint 421 and the front end of the second linear sliding table 423, respectively, and the slider of the second linear sliding table 423 is connected to the right U-shaped bracket 363 of the beam-type mounting seat 36 through a right external hinge 4232. The third branch chain 43 comprises a third front hinge 431, a third extension rod 432, a third linear sliding table 433, a rear extension rod 434 and a top U-shaped bracket 435. The front end of the third front hinge 431 is fixedly connected with the end effector 6, the front end and the rear end of a third extension rod 432 are fixedly connected with the rear end of the third front hinge 431 and the front end of a third linear sliding table 433 respectively, the front end of the rear extension rod 434 is connected with the rear end of the third linear sliding table 433 through screws, a sliding block of the third linear sliding table 433 is connected with the upper end of a top U-shaped support 435 through a top external hinge 436, and the lower end of the top U-shaped support 435 is connected with the top mounting seat 35 through a vertical hinge 437. The rear ends of the first linear sliding table 413, the second linear sliding table 423 and the third linear sliding table 433 are respectively provided with a first driving motor 4131, a second driving motor 4231 and a third driving motor 4331, and the first driving motor 4131, the second driving motor 4231 and the third driving motor 4331 are respectively connected with the first linear sliding table 413, the second linear sliding table 423 and the third linear sliding table 433 through screws. The first drive motor 4131, the second drive motor 4231 and the third drive motor 4331 adopt direct current servo motors and are connected with a driver in the industrial computer through a cable.
As shown in fig. 1, 4, 5, 6, 7 and 8, an axis of the left external hinge 4132 is parallel to an axis of the cross shaft of the first universal joint 411 and perpendicular to a rail length direction of the first linear sliding table 413; the axis of the right external hinge 4232 is parallel to one axis of the cross shaft of the second universal joint 421, and is perpendicular to the length direction of the guide rail of the second linear sliding table 423; the axis of the vertical hinge 437 is perpendicular to the axis of the top-circumscribing hinge 436, the axis of the top-circumscribing hinge 436 is parallel to the axis of the third front hinge 431, and the axis of the top-circumscribing hinge 436 is perpendicular to the length direction of the guide rail of the third linear sliding table 433; the horizontal axis of the cross of the first universal joint 411 and the horizontal axis of the cross of the second universal joint 421 are coaxial, and the axis of the third front hinge 431 and the horizontal axis of the cross of the first universal joint 411 are parallel to each other; the axes of the left circumscribed hinge 4132, the right circumscribed hinge 4232 and the vertical hinge 437 are kept parallel to each other. Thereby ensuring that the parallel mechanism formed by the parallel working arm 4 and the end effector 6 has three freedom degrees of movement including translation and two rotations in a determined space.
By the design, the linear sliding table is used for realizing the function of a moving pair in three branched chains of the parallel working arm 4, the structure is simple and compact, the structural rigidity and the torsion resistance of the moving pair in the first branched chain 41, the second branched chain 42 and the third branched chain 43 can be ensured, a screw rod for driving a sliding block to move in the linear sliding table only bears axial load, shearing force and torsion force are not borne, and the cost of driving power in the moving pair can be effectively reduced; the three-freedom parallel mechanism formed by the parallel working arm 4 and the end effector 6 of the present invention can accurately move and adjust the posture according to three degrees of freedom including one translation and two rotations in a set space by strictly limiting the dimension constraint types between the axes of the left external hinge 4132, the right external hinge 4232, the top external hinge 436, the vertical hinge 437, the first universal joint 411, the second universal joint 421 and the third front hinge 431 in the first branch chain 41, the second branch chain 42 and the third branch chain 43, i.e. limiting the parallel, coaxial or perpendicular relationship between the axes. Other components and connections are the same as those in the first embodiment.
the third concrete implementation mode:
As shown in fig. 1, 3, and 8, the swing motor 23 in the present embodiment is a servo motor. By the design, the direct current servo motor has high rotating speed, and can provide larger torque by matching with a corresponding RV precision speed reducer; in addition, the direct current servo motor can also realize closed-loop control and can realize higher transmission precision. Other components and connections are the same as in one or both of the embodiments.
The fourth concrete implementation mode:
As shown in fig. 8, the end effector 6 is specifically replaced by a clamping plate type multi-finger pneumatic gripper 8, the clamping plate type multi-finger pneumatic gripper 8 is fixedly installed at the front end of the parallel working arm 4 through a pneumatic gripper connecting seat 81, and the clamping jaw fingers 82 arranged on the front side and the rear side of the clamping plate type multi-finger pneumatic gripper 8 are loosened and clamped to realize the fitting type effective gripping of the special-shaped sand core or the casting. The log range of the jaw fingers 82 is 4-12. So design, water the package with 8 replacements of splint formula multi-finger pneumatic tongs for snatch psammitolite subassembly, whole psammitolite or foundry goods, can make the utility model discloses possess the function of core assembly, core setting and transport foundry goods, further enlarged the utility model discloses an service function. Other components and connection relationships are the same as those in the first, second or third embodiment.
the fifth concrete implementation mode:
As shown in fig. 1, 2, and 8, the adjustable hydraulic leg 14 of the present embodiment can be extended or shortened as well as being adjusted to swing left and right. The adjustable hydraulic leg 14 includes a leg box 141, a telescopic arm 142, a vertical leg 143, and a tilt angle adjusting cylinder 144. The leg box 141 is of a hollow structure, the rear end of the leg box 141 is connected with the chassis frame 11 through a hinge, and an angle sensor is arranged at the rear end of the leg box 141 and used for detecting the left-right swinging angle of the leg box 141; the rear end of the telescopic arm 142 is sleeved in the supporting leg box 141, and is driven by a supporting leg telescopic cylinder arranged in the supporting leg box 141 to realize the telescopic function in the supporting leg box 141, so that the adjustable hydraulic supporting leg 14 is further realized, and the front end and the rear end of the supporting leg telescopic cylinder are respectively connected with the telescopic arm 142 and the supporting leg box 141 through hinges; the top of the vertical leg 143 is fixedly arranged at the front end of the telescopic arm 142; the two ends of the swing angle adjusting cylinder 144 are respectively connected with the chassis frame 11 and the supporting leg box 141 through hinges, and the supporting leg telescopic cylinder and the swing angle adjusting cylinder 144 adopt double-acting hydraulic cylinders and are connected with the hydraulic pump station 16 through hydraulic pipelines and are used for driving the supporting leg box 141, the telescopic arm 142 and the vertical supporting leg 143 to swing left and right around a hinge axis at the rear end of the supporting leg box 141. A displacement sensor is further arranged on the support leg telescopic cylinder and used for detecting the displacement of the telescopic arm 142 moving relative to the support leg box 141. The driving power of the vertical supporting leg 143 is an electro-hydraulic servo cylinder or an electro-hydraulic stepping hydraulic cylinder. So design, adjustable hydraulic leg 14 can survey four-wheel drive wheeled removal chassis 1 according to the digital biax spirit level in chassis frame 11 and carry out automatically regulated for the static inclination of horizontal plane, and then realize four-wheel drive wheeled removal chassis 1 self-balancing function when the stagnation supports, can also improve the utility model discloses a four-wheel drive wheeled removal chassis 1 antidumping's ability when heavy load operation. Other components and connections are the same as those of the first, second, third or fourth embodiments. When the multi-finger pneumatic gripper is used, a proper end effector 6 is selected according to a task of casting operation, a casting ladle is selected as the end effector when a pouring task is executed, and when coring, core assembling, core setting and carrying tasks are executed, particularly when an operation object is a special-shaped sand core and a special-shaped casting, the multi-finger pneumatic gripper 8 with a clamping plate can be selected as the end effector. Then, the front driving wheel 12 and the rear driving wheel 13 are started according to the operation requirement to enable the four-wheel type mobile chassis 1 to move and walk to the specified operation position in the workshop, the slewing device 2 and the lifting device 3 are respectively adjusted according to the operation posture and the height requirement, and the end effector 6 is adjusted to the appropriate operation posture and operation height by the parallel working arm 4 through the forward rotation or reverse rotation adjustment of the first driving motor 4131, the second driving motor 4231 and the third driving motor 4331. When the standing point operation is carried out, particularly when a casting with a relatively large weight is poured and shipped, the front driving wheels 12 and the rear driving wheels 13 may slip or lose stability, so that the operation precision of the casting robot is affected, the swing angle of the adjustable hydraulic support legs 14 needs to be adjusted, and meanwhile, the vertical support legs 143 of the adjustable hydraulic support legs 14 are extended, so that the stable standing point support of the four-wheel-drive mobile chassis 1 is realized. The image information acquired by the binocular vision system 7 is acquired by an image acquisition card, the vertical displacement and corner information of a navigation sensor, a distance measuring sensor, an angle sensor, a distance information, a displacement sensor, a torque sensor and an end effector, the real-time working state parameters of the casting robot and the like are acquired and processed by a data acquisition card in an industrial computer, and information analysis and processing tasks such as posture adjustment and operation tasks of the casting robot are completed by a controller 15.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "left", "right", "horizontal", "top", "bottom", "inner", "outer", "front", "rear", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the foregoing embodiments and descriptions are provided only to illustrate the principles of the present invention without departing from the spirit and scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims (7)

1. The utility model provides a portable self-balancing heavy load casting robot of series-parallel connection formula, includes that four-wheel drive moves chassis, slewer, elevating gear, parallel working arm, self-balancing unit, end effector and binocular vision system, its characterized in that: the four-wheel-drive type mobile chassis comprises a chassis frame, front driving wheels, rear driving wheels, adjustable hydraulic support legs, a controller and hydraulic pump stations, wherein the two front driving wheels are symmetrically arranged at the front end of the chassis frame; the rotating device is fixedly arranged at the front end of the four-wheel-drive type moving chassis; the lifting device is positioned above the rotating device, and the bottom of the lifting device is fixedly arranged at the top of the rotating device through a screw; the parallel working arm is a three-degree-of-freedom parallel mechanism with a 2RPU-RRPR structure, and the rear end of the parallel working arm is fixedly connected with the upper end of the lifting device; the self-balancing device is positioned at the rear end of the lifting device, the lower end of the self-balancing device is connected with the top of the rotating device through a hinge, and the upper end of the self-balancing device is connected with the rear end of the parallel working arm through a hinge; the end effector is fixedly arranged at the front end of the parallel working arm; the binocular vision system comprises an industrial camera, an image acquisition card and an industrial computer, wherein the industrial camera is provided with two parts which are respectively provided with an LED (light-emitting diode) illuminating light source, the image acquisition card and the industrial computer are integrally installed in a controller, the industrial camera is connected with the image acquisition card through a data line, and the image acquisition card is connected with the industrial computer through a data line; the bottom of the industrial camera is provided with a two-degree-of-freedom adjusting holder, the bottom of the industrial camera is fixedly arranged at the top of the two-degree-of-freedom adjusting holder through a screw, and the bottom of the two-degree-of-freedom adjusting holder is fixedly arranged at the front end position of the top of the lifting device through a screw;
the slewing device comprises a slewing base, a slewing body, a slewing motor, a slewing gear, an inner gear ring and a slewing top cover, wherein the slewing base is fixedly installed on a chassis frame through screws; the revolving body is sleeved in the revolving base and is connected with the revolving base through a radial bearing and two thrust bearings, the radial bearing adopts a cylindrical roller type radial bearing, and the thrust bearings are cylindrical roller type thrust bearings; the rotary motor is fixedly arranged below the rotary base, and the rotary gear is arranged on an output shaft of the rotary motor; the inner gear ring is fixedly arranged in the revolving body through a screw and keeps engaged with the revolving gear; the rotary top cover is fixedly arranged at the top of the rotary body, and an angle sensor is also arranged at the center of the bottom of the rotary top cover; the rotary motor adopts a servo speed reducing motor or a servo hydraulic motor;
The lifting device comprises a left guide column, a right guide column, a front driving cylinder, a rear driving cylinder, a top mounting seat and a cross beam type mounting seat, wherein the left guide column and the right guide column are symmetrically mounted on the left side and the right side above a rotary top cover of the rotary device and are fixedly connected with the rotary top cover through screws; the front driving cylinder and the rear driving cylinder are arranged on the front side and the rear side above the rotary top cover and are fixedly connected with the rotary top cover through screws; the top mounting seat is positioned above the left guide post, the right guide post and the rear driving cylinder and fixedly connected with the tops of the left guide post, the right guide post and the rear driving cylinder; the two ends of the cross beam type mounting seat are sleeved in the middle of the left guide post and the right guide post, and the top of the cross beam type mounting seat is fixedly connected with the top of the front driving cylinder through a screw; the left guide post comprises a left guide rod and a left guide sleeve, the bottom of the left guide rod is fixedly installed at the top of the rotary top cover through a screw, the left guide sleeve is sleeved on the left guide rod and is connected with the left guide rod through a linear bearing, the top of the left guide sleeve is connected with the top installation seat through a screw, and the bottom of the left guide sleeve is fixedly connected with the cross beam type installation seat; the structure of the right guide post is completely the same as that of the left guide post;
The parallel working arm comprises a first branched chain, a second branched chain and a third branched chain, the first branched chain and the second branched chain are symmetrically arranged at the two sides in front of the lifting device in an initial state, and the third branched chain is arranged above the first branched chain and the second branched chain; the front ends of the first branched chain, the second branched chain and the third branched chain are fixedly connected with the end effector, the rear ends of the first branched chain and the second branched chain are fixedly connected with the crossbeam type mounting seat, and the rear end of the third branched chain is fixedly connected with the top mounting seat; the first branched chain and the second branched chain have the same structure, the mechanism topological structures of the first branched chain and the second branched chain are both RPU structures, and the mechanism topological structure of the third branched chain is an RRPR structure;
the self-balancing device comprises a balancing cylinder and a flexible compensation rod, the bottom of the balancing cylinder is connected with the rotary top cover through a hinge, the top of a piston rod of the balancing cylinder is fixedly connected with the lower end of the flexible compensation rod, and the upper end of the flexible compensation rod is connected with the rear end of the rear extension rod through a hinge.
2. The series-parallel movable self-balancing heavy-load casting robot of claim 1, wherein: the first supporting chain comprises a first universal joint, a first extension rod and a first linear sliding table, the front end of the first universal joint is fixedly connected with the end effector, the front end and the rear end of the first extension rod are fixedly connected with the rear end of the first universal joint and the front end of the first linear sliding table respectively, and a sliding block of the first linear sliding table is connected with the left end of the cross beam type mounting seat through a left external hinge; the second branch chain comprises a second universal joint, a second extension rod and a second linear sliding table, the front end of the second universal joint is fixedly connected with the end effector, the front end and the rear end of the second extension rod are fixedly connected with the rear end of the second universal joint and the front end of the second linear sliding table respectively, and a sliding block of the second linear sliding table is connected with the right end of the cross beam type mounting seat through a right external hinge; the third branched chain comprises a third front hinge, a third extension rod, a third linear sliding table, a rear extension rod and a top U-shaped support, wherein the front end of the third front hinge is fixedly connected with an end effector, the front end and the rear end of the third extension rod are fixedly connected with the rear end of the third front hinge and the front end of the third linear sliding table respectively, the front end of the rear extension rod is connected with the rear end of the third linear sliding table through a screw, a sliding block of the third linear sliding table is connected with the upper end of the top U-shaped support through an external top hinge, and the lower end of the top U-shaped support is connected with the top mounting seat through a vertical hinge;
The rear ends of the first linear sliding table, the second linear sliding table and the third linear sliding table are respectively provided with a first driving motor, a second driving motor and a third driving motor, and the first driving motor, the second driving motor and the third driving motor are respectively connected with the first linear sliding table, the second linear sliding table and the third linear sliding table through screws.
3. The series-parallel movable self-balancing heavy-load casting robot of claim 1, wherein: the end effector can be a pouring ladle or a clamping plate type multi-finger pneumatic gripper.
4. The series-parallel movable self-balancing heavy-load casting robot of claim 1, wherein: the balance cylinder adopts a servo air cylinder or a servo hydraulic cylinder; the flexible compensation rod is a steel wire rope or a chain.
5. the series-parallel movable self-balancing heavy-load casting robot of claim 2, wherein: the axis of the left external hinge is parallel to one axis of the cross shaft of the first universal joint and is perpendicular to the length direction of the guide rail of the first linear sliding table; the axis of the right external hinge is parallel to one axis of a cross shaft of the second universal joint and is vertical to the length direction of the guide rail of the second linear sliding table; the axis of the vertical hinge is perpendicular to the axis of the top external hinge, the axis of the top external hinge is parallel to the axis of the third front hinge, and the axis of the top external hinge is perpendicular to the length direction of the guide rail of the third linear sliding table; the horizontal axis of the cross shaft of the first universal joint and the horizontal axis of the cross shaft of the second universal joint are coaxial, and the axis of the third front hinge and the horizontal axis of the cross shaft of the first universal joint are parallel to each other; the axes of the left external hinge, the right external hinge and the vertical hinge are kept parallel to each other.
6. The series-parallel movable self-balancing heavy-load casting robot of claim 1, wherein: the front driving cylinder and the rear driving cylinder adopt double-acting hydraulic cylinders or double-acting air cylinders or electric push rods.
7. The series-parallel movable self-balancing heavy-load casting robot of claim 2, wherein: the first driving motor, the second driving motor and the third driving motor adopt direct current servo motors.
CN201920544848.9U 2019-04-21 2019-04-21 Series-parallel movable self-balancing heavy-load casting robot Active CN209793724U (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110000760A (en) * 2019-04-21 2019-07-12 安徽理工大学 Series parallel type moves self-balancing heavy duty foundry robot
CN114378855A (en) * 2022-01-10 2022-04-22 麦格昆磁磁性材料(滁州)有限公司 Part transfer device for magnetic forming of parts

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110000760A (en) * 2019-04-21 2019-07-12 安徽理工大学 Series parallel type moves self-balancing heavy duty foundry robot
CN110000760B (en) * 2019-04-21 2024-02-09 安徽理工大学 Series-parallel movable self-balancing heavy-load casting robot
CN114378855A (en) * 2022-01-10 2022-04-22 麦格昆磁磁性材料(滁州)有限公司 Part transfer device for magnetic forming of parts

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