CN101372036A - Novel parallel pouring robot - Google Patents
Novel parallel pouring robot Download PDFInfo
- Publication number
- CN101372036A CN101372036A CNA2007100125384A CN200710012538A CN101372036A CN 101372036 A CN101372036 A CN 101372036A CN A2007100125384 A CNA2007100125384 A CN A2007100125384A CN 200710012538 A CN200710012538 A CN 200710012538A CN 101372036 A CN101372036 A CN 101372036A
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- CN
- China
- Prior art keywords
- casting ladle
- reel
- transverse arm
- parallel
- servomotor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000005266 casting Methods 0.000 claims abstract description 67
- 230000007246 mechanism Effects 0.000 claims abstract description 17
- 230000005484 gravity Effects 0.000 claims description 7
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 4
- 239000007788 liquid Substances 0.000 abstract description 17
- 238000000034 method Methods 0.000 abstract description 10
- 238000004804 winding Methods 0.000 abstract 2
- 230000008569 process Effects 0.000 description 7
- 229910001338 liquidmetal Inorganic materials 0.000 description 6
- 238000007600 charging Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000008676 import Effects 0.000 description 2
- 210000000707 wrist Anatomy 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- -1 liquor charging Substances 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 238000005058 metal casting Methods 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 238000011002 quantification Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Landscapes
- Casting Support Devices, Ladles, And Melt Control Thereby (AREA)
Abstract
The invention discloses a novel parallel pouring robot which comprises a base, a rotating pair, a turntable, a machine body and a pouring ladle, wherein the base is provided with a plurality of rotating pairs; the cross arm penetrates through the swinging sliding block and is connected with the swinging sliding block in a sliding fit manner, one end of the cross arm is connected with the casting ladle, and the other end of the cross arm is fixedly connected with the balance weight through a balance weight flexible cable wound on the pulley block; the first winding drum and the second winding drum are arranged in the machine body and are in hinged connection with the cross arm through the upper flexible cable and the lower flexible cable; the machine body adopts a parallel motion mechanism to realize high rigidity and heavy load; the casting ladle is connected with a casting ladle swinging motor through a parallelogram four-bar mechanism arranged in the cross arm. The machine body capable of rotating in the horizontal direction is connected with the motor through the turntable and the rotating pair, and a volume method is adopted according to the requirement of a casting machine, so that the accuracy of liquid taking each time is ensured; the casting ladle swinging motor drives a set of parallelogram four-bar mechanism to realize the swinging of the casting ladle angle in the range of-45 degrees to 75 degrees and realize the accurate positioning of the casting ladle; and the operation program is adopted, so that the device has the characteristics of high efficiency and high stability.
Description
Technical field
The present invention relates to full-automatic liquid casting of metals technology, specifically a kind of novel pouring robot connected in parallel.
Background technology
At existing casting industry, the work majority that in the foundry Gravity casting machines is carried out liquid metal cast is by manually finishing, and cast work is heavy muscle power, high-risk industry, and the industry characteristic of high temperature, high strength, high-risk is arranged; In order to alleviate artificial work pressure, will adopt robot to replace manually-operated, but, have enterprise to adopt the six degree of freedom articulated robot because operating environment abominable is also very high to the requirement of robot, make it to finish cast work after the improvement through specialty; This six-DOF robot must be the robot of heavy load, high rigidity, super large working range.Because these specific (special) requirements, the price of six degree of freedom articulated robot that can be used in cast is very expensive, and all must at present, yet there are no report through the suitable pouring robot of the price of independent research at home by external import.
Summary of the invention
Big, dangerous high in order to solve existing domestic cast industry hand labor intensity, and, the present invention proposes a kind of novel pouring robot connected in parallel that is used to pour into a mould from the expensive problem of external import six degree of freedom articulated robot.It has overcome high temperature, and difficult points such as high capacity, super large working range replace manually Gravity casting machines being carried out the liquid metal cast in foundry, realize the automation of casting process.
The technical solution adopted for the present invention to solve the technical problems: comprise pedestal, revolute, rotating disk, body and casting ladle, it is characterized in that body comprises:
-transverse arm, transverse arm penetrate the swing slide block and with swing slide block sliding connection, the tip of transverse arm is connected with casting ladle, its other end is affixed by soften rope and counterweight of the counterweight that is wound in assembly pulley;
-by first reel of driven by servomotor with by second reel of driven by servomotor, first reel and second reel are arranged at internal body, and by last gentle rope, gentle rope is connected with the transverse arm hinge type down;
Be provided with the casting ladle wobble servo motor and the parallelogram four-bar mechanism of control casting ladle angular pose in the transverse arm, casting ladle links to each other with casting ladle wobble servo motor by the parallelogram four-bar mechanism; Described watering wraps in-45 °～75 ° scope swings; Described transverse arm, swing slide block, first reel, second reel, assembly pulley and counterweight center of gravity are in same vertical plane; But the rotating fuselage of horizontal direction is connected with servomotor by rotating disk, revolute; The servomotor that drives the servomotor, casting ladle wobble servo machine of first reel, second reel and drive revolute is positioned at the robot body position away from casting ladle, and adopting the heatproof degree is the electric motor element device of 0 ℃＜T＜55 ℃.
The present invention has following advantage:
1. the present invention all designs the servomotor that temperature requirement arranged away from the lower robot body position of casting ladle temperature, and the components and parts temperature permissible value of selecting is all in 0 ℃＜T＜55 ℃; Transverse arm and casting ladle are resistant to elevated temperatures hardware, have overcome the environment of casting place high temperature, high dust.
2. transverse arm of the present invention adopts parallel moving mechanism, realizes heavy load by power transmission mode in parallel.
3. the present invention adopts the section bar arm structure of the little weight of high rigidity, compares with common six degree of freedom articulated robot, has effectively solved super large job area problem.
4. the present invention is directed to the process characteristic of liquid metal cast, by controlling the servomotor of each free degree, optimize motion process, reduce the influence of system inertia to operating accuracy, effectively prevent from the course of work to produce and impact, the stability of motion that improved operating efficiency, Ceng Qiang.
5. accurate quantitatively control is carried out in the cast of liquid towards metal of the present invention, by driven by servomotor parallelogram four-bar mechanism, the casting ladle pivot angle is swung in-45 °～75 ° scopes, realizes the accurate location of casting ladle.
Description of drawings
Fig. 1 is a schematic diagram of mechanism of the present invention.
Fig. 2 is a transverse arm schematic diagram of mechanism among Fig. 1.
The specific embodiment
Embodiment 1
As shown in Figure 1, 2, the present invention includes pedestal 1, revolute 2, rotating disk 3, fuselage 7 and casting ladle 14; Described pedestal 1 is provided with the revolute 2 that is connected with servomotor, and revolute 2 is connected with fuselage 7 through rotating disk 3; Comprise counterweight 4 in the described fuselage 7, by second reel 5 of driven by servomotor, the gentle rope 6 of counterweight, pulley 8, transverse arm 9, by first reel 10 of driven by servomotor, upward gentle rope 11, gentle rope 12, swing slide block 13 down; Fuselage 7 adopts parallel institution.Described transverse arm 9 penetrate swing slide block 13 and with swing slide block 13 sliding connections, an end of transverse arm 9 is connected with casting ladle 14, its other end is affixed by soften rope 6 and counterweight 4 of the counterweight that is wound in assembly pulley (present embodiment adopts three fixed pulleys 8); First reel 10 and second reel 5 are arranged at fuselage 7 inside, and are connected with transverse arm 9 hinge types by last gentle rope 11, following gentle rope 12; Described gentle rope 11 1 ends and transverse arm 9 are fixing, and the other end is wound on first reel 10, and following gentle rope 12 1 ends and transverse arm 9 are fixing, the other end is wound on second reel 5, two servomotors are faced upward by gentle rope control transverse arm 9 and are bowed and stretch, and fuselage 7 adopts parallel moving mechanisms, the realization heavy load; Be provided with the casting ladle wobble servo motor 15 and the parallelogram four-bar mechanism 16 of control casting ladle 14 angular poses in the transverse arm 9, casting ladle wobble servo motor 15 is by 14 swings of parallelogram four-bar mechanism 16 control casting ladles.
But described fuselage 7 horizontal directions revolution, fuselage 7 rotates by rotating disk 3 and revolute 2, and fuselage 7 and rotating disk 3 are for being rigidly connected, and revolute 2 is provided with servomotor; Described transverse arm 9, swing slide block 13, first reel 10, second reel 5, assembly pulley and counterweight 4 are in same vertical plane.
Quantitative requirement according to casting machine, adopt volumetric method to carry out accurate quantification control, casting ladle 14 wrist swingings drive a cover parallelogram four-bar mechanism 16 by casting ladle wobble servo motor 15, the casting ladle wrist is swung in-45 °～75 ° scopes and accurate location, change quantitative parameter by control system and can change quantitative values accurately; Environmental quality according to casting place high temperature, high dust, the electric motor element device of selecting (as servomotor, the casting ladle wobble servo motor 15 that drives first reel 10, second reel 5 and the servomotor that drives revolute 2) temperature permissible value is all in 0 ℃＜T＜55 ℃, and the servomotor of four frees degree all is arranged on away from the lower robot body position of casting ladle temperature.
Transverse arm 9 adopts the section bar arm structure of the little weight of high rigidity, has effectively solved super large job area problem.
Course of action:
A casting robot in parallel can be responsible for the liquid metal supply of 6 Gravity casting machines, and casting robot in parallel will be finished cast successively according to the good order of planning.
The once-cast process of robot reduces and gets liquid, liquor charging, liquid, sky return four steps and play, course of action is: the work origin of robot get the liquid crucible above, begin to get the work that surges after receiving the cast order, transverse arm 9 was outwards slided in swing slide block 13 casting ladle 14 is descended by first reel 10,5 following downward-sloping whiles of common driving of second reel; Casting ladle 14 deflection when descending, according to the molten long-pending requirement of getting liquid, 15 rotations of casting ladle wobble servo motor are determined accurately to locate after angle makes casting ladle 14 angles swing a definite angle in 0 °～-45 ° scopes by parallelogram four-bar mechanism 16; Transverse arm 9 continues under the downward-sloping liquid level that enters crucible up to casting ladle 14 fully; Transverse arm 9 promotes and proposes liquid level fully up to casting ladle 14, and casting ladle wobble servo motor 15 drives casting ladles 14 and makes it to be returned to original state and finish for 0 ° and get liquid; First reel 10, second reel, 5 common driving transverse arms 9 upwards lift to bounce back to slide in swing slide block 13 simultaneously and reduce the totator inertia of fuselage.After transverse arm 9 was static, fuselage 7 and rotating disk 3 rotated the beginning liquor chargings by revolute 2, when rotate to complete trails 3/4 the time, transverse arm 9 begins to stretch out, fuselage 7 rotates to the precalculated position, transverse arm 9 is delivered to casting ladle 14 the gravity machine top simultaneously and is finished liquor charging; The liquid that falls begins, and casting ladle 14 angles are swung in 0 °～75 ° scopes, is cooperating flexible, the swing of transverse arm 9 to pour liquid metal into the gravity machine cast gate accurately simultaneously; After finishing down liquid, origin position is got back in casting ladle 14 swing, and transverse arm 9 retractions, fuselage 7 are turned back to the crucible top and finish sky and return and promptly finish the once-cast task.
The present invention is directed to the process characteristic of liquid metal cast, by rational planning sequential, optimize motion process, thereby reduce the influence of system inertia operating accuracy, effectively prevent from the course of work to produce and impact, the stability of motion that not only improved operating efficiency but also Ceng Qiang.
The course of work of the present invention is as follows: the gentle rope 6 of counterweight 4, first reel 10, second reel 5, counterweight, pulley 8, transverse arm 9, upward gentle rope 11, gentle rope 12 and swing slide block 13 have been formed parallel institution down, first reel 10 and 5 revolutions of second reel will be gone up the rope 11 that softens respectively and will be wound on the reel with following gentle rope 12, and upward gentle rope 11 and following gentle rope 12 just spur transverse arm 9 slip to the inside in swinging slide block 13; Opposite first reel 10 and 5 counter-rotatings of second reel will be gone up gentle rope 11 respectively and be emitted with following gentle rope 12, and transverse arm 9 slides in swing slide block 13 laterally; By controlling the rotation direction and the angle of first reel 10 and second reel 5, the pitching that can realize transverse arm 9 is with flexible; Counterweight 4 is held transverse arm 9 by three pulleys 8, makes transverse arm 9 keep balance in the process of flexible and lifting.
Casting ladle 14 connects at an end of transverse arm 9, and casting ladle 14 depends on the position of transverse arm 9 in the position in space, and the angular pose of casting ladle 14 is controlled by 16 transmissions of parallelogram four-bar mechanism by casting ladle wobble servo motor 15; The present invention adopts molten long-pending method (prior art), gets the liquid volume by what the pendulum angle of control casting ladle 14 just can be determined casting ladle 14, can guarantee to get the liquid degree of accuracy like this, also can guarantee to get the repeatable accuracy of liquid.
In the process of getting liquid and cast, according to technological requirement, optimize that facing upward of transverse arm 9 bowed, casting ladle 14 can be accurately finished in the cooperation between this three degree of freedom of swing of flexible and casting ladle 14 gets liquid and cast; Fuselage 7 turns round through driven by servomotor in the horizontal direction by revolute 2 and rotating disk 3, realizes watering work in 360 ° of scopes of the level of wrapping in.
Claims (6)
1. a novel pouring robot connected in parallel comprises pedestal (1), revolute (2), rotating disk (3), body (7) and casting ladle (14), it is characterized in that body (7) comprising:
-transverse arm (9), transverse arm (9) penetrate swing slide block (13) and with swing slide block (13) sliding connection, the tip of transverse arm (9) is connected with casting ladle (14), its other end is affixed by soften rope (6) and counterweight (4) of the counterweight that is wound in assembly pulley;
-by first reel (10) of driven by servomotor with by second reel (5) of driven by servomotor, first reel (10) and second reel (5) are arranged at body (7) inside, and by last gentle rope (11), gentle rope (12) is connected with transverse arm (9) hinge type down.
2. according to the described novel pouring robot connected in parallel of claim 1, it is characterized in that: be provided with the casting ladle wobble servo motor (15) and the parallelogram four-bar mechanism (16) of control casting ladle (14) angular pose in the transverse arm (9), casting ladle (14) links to each other with casting ladle wobble servo motor (15) by parallelogram four-bar mechanism (16).
3. according to the described novel pouring robot connected in parallel of claim 2, it is characterized in that: described watering wraps in-45 °～75 ° scope swings.
4. according to the described novel pouring robot connected in parallel of claim 1, it is characterized in that: described transverse arm (9), swing slide block (13), first reel (10), second reel (5), assembly pulley and counterweight (4) center of gravity are in same vertical plane.
5. according to the described novel pouring robot connected in parallel of claim 1, it is characterized in that: but the rotating fuselage of horizontal direction (7) is connected with servomotor by rotating disk (3), revolute (2).
6. according to the described novel pouring robot connected in parallel of claim 1, it is characterized in that: the servomotor that drives the servomotor, casting ladle wobble servo machine (15) of first reel (10), second reel (5) and drive revolute (2) is positioned at the robot body position away from casting ladle, and adopting the heatproof degree is the electric motor element device of 0 ℃＜T＜55 ℃.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200710012538A CN101372036B (en) | 2007-08-22 | 2007-08-22 | Novel pouring robot connected in parallel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200710012538A CN101372036B (en) | 2007-08-22 | 2007-08-22 | Novel pouring robot connected in parallel |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101372036A true CN101372036A (en) | 2009-02-25 |
| CN101372036B CN101372036B (en) | 2010-05-19 |
Family
ID=40446518
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200710012538A Expired - Fee Related CN101372036B (en) | 2007-08-22 | 2007-08-22 | Novel pouring robot connected in parallel |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101372036B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105170960A (en) * | 2015-08-12 | 2015-12-23 | 柯继健 | Casting machine |
| CN107321969A (en) * | 2017-08-10 | 2017-11-07 | 安徽理工大学 | The wheeled removable heavily loaded foundry robot of omnidirectional |
| CN107443357A (en) * | 2017-09-13 | 2017-12-08 | 长沙展朔轩兴信息科技有限公司 | A kind of novel pouring robot connected in parallel |
| CN110000760A (en) * | 2019-04-21 | 2019-07-12 | 安徽理工大学 | Series parallel type moves self-balancing heavy duty foundry robot |
| US10668626B2 (en) | 2017-08-10 | 2020-06-02 | Anhui University of Science and Technology | Series-parallel movable heavy-load casting robot |
| CN111957941A (en) * | 2020-08-15 | 2020-11-20 | 永红保定铸造机械有限公司 | Pouring mechanism for pouring system |
| CN113500588A (en) * | 2021-08-24 | 2021-10-15 | 苏州玖钧智能装备有限公司 | Four-shaft mechanical arm with extruded section |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0191960A (en) * | 1987-09-30 | 1989-04-11 | Mitsubishi Electric Corp | Industrial robot device |
| CN1250374C (en) * | 2001-07-16 | 2006-04-12 | 中国科学院沈阳自动化研究所 | Three-freedom parallel mechanism driven by flexible rope |
| CN201064901Y (en) * | 2007-08-22 | 2008-05-28 | 中国科学院沈阳自动化研究所 | Novel parallel pouring robot |
-
2007
- 2007-08-22 CN CN200710012538A patent/CN101372036B/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105170960A (en) * | 2015-08-12 | 2015-12-23 | 柯继健 | Casting machine |
| CN107321969A (en) * | 2017-08-10 | 2017-11-07 | 安徽理工大学 | The wheeled removable heavily loaded foundry robot of omnidirectional |
| US10668626B2 (en) | 2017-08-10 | 2020-06-02 | Anhui University of Science and Technology | Series-parallel movable heavy-load casting robot |
| CN107321969B (en) * | 2017-08-10 | 2023-02-17 | 安徽理工大学 | Omnidirectional wheel type movable heavy-load casting robot |
| CN107443357A (en) * | 2017-09-13 | 2017-12-08 | 长沙展朔轩兴信息科技有限公司 | A kind of novel pouring robot connected in parallel |
| 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 |
| CN111957941A (en) * | 2020-08-15 | 2020-11-20 | 永红保定铸造机械有限公司 | Pouring mechanism for pouring system |
| CN113500588A (en) * | 2021-08-24 | 2021-10-15 | 苏州玖钧智能装备有限公司 | Four-shaft mechanical arm with extruded section |
| CN113500588B (en) * | 2021-08-24 | 2024-05-07 | 苏州玖钧智能装备有限公司 | Four-axis manipulator with extruded profile |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101372036B (en) | 2010-05-19 |
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| PB01 | Publication | ||
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20100519 Termination date: 20120822 |