CN101823257A - Multi-functional large-scale manipulator - Google Patents
Multi-functional large-scale manipulator Download PDFInfo
- Publication number
- CN101823257A CN101823257A CN 201010142289 CN201010142289A CN101823257A CN 101823257 A CN101823257 A CN 101823257A CN 201010142289 CN201010142289 CN 201010142289 CN 201010142289 A CN201010142289 A CN 201010142289A CN 101823257 A CN101823257 A CN 101823257A
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- CN
- China
- Prior art keywords
- roll
- bowl
- over
- shaft
- feature
- 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.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0004—Gripping heads and other end effectors with provision for adjusting the gripped object in the hand
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22C—FOUNDRY MOULDING
- B22C17/00—Moulding machines characterised by the mechanism for separating the pattern from the mould or for turning over the flask or the pattern plate
- B22C17/08—Moulding machines with mechanisms to turn over the pattern plate or the mould around a horizontal axis
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22C—FOUNDRY MOULDING
- B22C23/00—Tools; Devices not mentioned before for moulding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
- B25J9/026—Gantry-type
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Forklifts And Lifting Vehicles (AREA)
- Load-Engaging Elements For Cranes (AREA)
Abstract
The invention belongs to the technical field of equipment casting and relates to a multi-functional large-scale manipulator which is applied to large-scale roll-over pattern draw machines, roll-over mould closing machines and roll-over flow coated machines. The multi-functional large-scale manipulator comprises a shaft seat, a rotating arm, a bowl-shaped support claw, fixed shafts, two supporting rollers, a roll-over shaft and a roll-over driving device, wherein the roll-over shaft is installed in the shaft seat; the roll-over driving device is installed on the shaft seat; an output shaft of the roll-over driving device is connected with the roll-over shaft and drives the roll-over shaft to rotate; the middle part of the rotating arm is fixedly connected with the roll-over shaft; the rotating arm is driven by the roll-over shaft to rotate; both ends of the rotating arm are respectively provided with the fixed shafts; the bowl-shaped support claw is installed on the fixed shafts and can flexibly rotate around the fixed shafts; and the two supporting rollers which are axisymmetrically arranged and can freely rotate are arranged in the bowl-shaped support claw. The invention has the advantages of skillful and reasonable structure, flexible and stable operation, high degree of automation, strong self-centering coordination and wide scope of application.
Description
Technical field
The invention belongs to the apparatus for casting technical field, relate to a kind of multi-functional mechanical device that is applied on large-scale drawn on rollover machine, upset closing machine, the upset flow coater, specifically a kind of multi-functional large-scale manipulator.
Background technology
Along with the continuous development of domestic and international foundry industry, production capacity requires to improve constantly, thereby also more and more outstanding to the requirement of foundry machinery equipment.And the trend to large scale development also appearred in the manufacturing of equipment foundry goods, and moulding scale correspondingly also constantly enlarges, and the mechanization of formative technology, automation require also more and more higher.In the moulding production unit of apparatus for casting; sand mold; sandbox need carry out the mechanization sandbox and grasp; the mechanization moulding molding; operations such as mechanization mould turnover and mechanization surface flow coat and mechanization mould assembling; correspondingly; as the drawn on rollover machine of carrying out aforesaid operations; the upset closing machine; therefore equipment such as upset flow coater also just produce; and mechanical arm drawn on rollover machine just; the upset closing machine; requisite critical component in the plant equipment such as upset flow coater; it is used for clamping; promote large-scale sandbox; sand mo(u)ld is realized the upset of sandbox; operations such as the flow coat of sand mo(u)ld or mould assembling.
Summary of the invention
The object of the present invention is to provide that a kind of structure is ingenious rationally, flexible and stable operation, automaticity height, self centering harmony is strong, the scope of application is extensive multi-functional large-scale manipulator.
According to technical scheme provided by the invention, described multi-functional large-scale manipulator comprises axle bed, pivoted arm, bowl-type claw, fixed axis, support roller, trip shaft and overturning drive device, trip shaft is installed in the axle bed, overturning drive device is installed on the axle bed, and the output shaft of overturning drive device is connected with trip shaft and drives trip shaft and rotates; The middle part of pivoted arm is fixedly connected on the trip shaft, and pivoted arm rotates under the drive of trip shaft; The two ends of pivoted arm are separately installed with fixed axis, and the bowl-type claw is installed on the fixed axis and can rotates flexibly around fixed axis; In the bowl-type claw, be provided with the support roller that two axial symmetry are arranged and can freely be rotated.
As a further improvement on the present invention, described support roller is installed on the support roller bearing pin by bearing of conveyor idler, and the support roller bearing pin is fixedly mounted on the bowl-type claw.
As a further improvement on the present invention, described overturning drive device adopts oscillating motor.
As a further improvement on the present invention, a sand draining port is offered in the bottom of described bowl-type claw.
As a further improvement on the present invention, be with capping on the described fixed axis, capping is connected the axle bed front end.
As a further improvement on the present invention, the output shaft of described overturning drive device is connected with trip shaft by flat key.
As a further improvement on the present invention, described fixed axis is tightened by the round nut of its rear end and is fixed on the pivoted arm.
As a further improvement on the present invention, described bowl-type claw is installed on the fixed axis by rolling bearing, and rolling bearing adopts two ditch ball bearings.
As a further improvement on the present invention, described trip shaft is installed in the axle bed by fore bearing, rear bearing, and fore bearing utilizes round nut locking.Described fore bearing, rear bearing adopt taper roll bearing.
The present invention compared with prior art, advantage is: structure is ingenious rationally, flexible and stable operation, adopts HYDRAULIC CONTROL SYSTEM also to provide power, has the harmony of good self centering, can carry out the steady upset of sandbox; Automaticity and mechanism's operating accuracy are higher, effectively reduce workman's operations labor intensity, have improved mechanization work capacity and formative technology level; Can be applied in easily on drawn on rollover machine, upset flow coater, the upset closing machine, the scope of application is extensive.
Description of drawings
Fig. 1 is a structure front view of the present invention.
Fig. 2 is the A-A view among Fig. 1.
Fig. 3 is the B-B view among Fig. 1.
Fig. 4 is coated with schematic diagram on the stream machine for the present invention is applied in upset.
The specific embodiment
The invention will be further described below in conjunction with drawings and Examples.
As shown in the figure, the present invention mainly comprises parts such as support arm 1, axle bed 2, pivoted arm 3, bowl-type claw 4, rolling bearing 5, fixed axis 6, support roller bearing pin 7, support roller 8, bearing of conveyor idler 9, trip shaft 10, capping 11, fore bearing 12a, rear bearing 12b and overturning drive device 13.
As Fig. 1～shown in Figure 3, be provided with axle bed 2 in the lower end of support arm 1, trip shaft 10 is installed in the axle bed 2 by fore bearing 12a, rear bearing 12b, and fore bearing 12a utilizes round nut locking; Overturning drive device 13 utilizes bolt to be installed in the rear portion of axle bed 2, and the output shaft of overturning drive device 13 is connected with trip shaft 10 by flat key and drives trip shaft 10 and rotates; The middle part of pivoted arm 3 adopts bolting to be connected on the trip shaft 10, and pivoted arm 3 can rotate under the drive of trip shaft 10; The two ends of pivoted arm 3 are separately installed with fixed axis 6, and fixed axis 6 is tightened by the round nut of its rear end and is fixed on the pivoted arm 3; Bowl-type claw 4 is installed on the fixed axis 6 by rolling bearing 5, and bowl-type claw 4 can rotate flexibly around fixed axis 6; In bowl-type claw 4, be provided with the support roller 8 that two axial symmetry are arranged and can freely be rotated.Described support roller 8 is installed on the support roller bearing pin 7 by bearing of conveyor idler 9, and support roller bearing pin 7 is fixedly mounted on the bowl-type claw 4, and support roller 8 can be so that the present invention be steady more flexibly when lifting sandbox, sand mo(u)ld.
As Fig. 1～shown in Figure 3, fore bearing 12a, rear bearing 12b preferably adopt taper roll bearing, to improve radial and axial bearing load of the present invention.The rolling bearing 5 preferred pair ditch ball bearings that adopt are to improve the rotation flexibility of bowl-type claw 4.Be with capping 11 on the described fixed axis 6, capping 11 utilizes bolt to be connected axle bed 2 front ends, and capping 11 is used to improve barrier propterty of the present invention.Described overturning drive device 13 can adopt oscillating motor of the prior art, and oscillating motor links to each other with hydraulic system, by HYDRAULIC CONTROL SYSTEM and power is provided, has the harmony of good self centering.In the course of the work, having the part molding sand enters in the bowl-type claw 4, if can not in time clear up, stationarity in the time of will influencing bowl-type claw 4 and lift sandbox and upset precision, the present invention is by offering a sand draining port 14 in the bottom of bowl-type claw 4, molding sand spills from sand draining port 14 under the gravity effect, can effectively prevent to occur long-pending sand in the bowl-type claw 4, guarantees that the present invention runs well.
The present invention can be applied in the drawn on rollover machine, the upset flow coater, on the upset closing machine, it occurs with paired form, in order to realize to large scale, the clamping of large-tonnage sandbox and upset work, be applied as example (as shown in Figure 4) in upset on the flow coater with it, its working condition is as follows: the bowl-type claw 4 among the present invention at first is inserted in ear on the sandbox 16 15, ear supports 15 by the support roller in the bowl-type claw 48, driving subiculum at upset flow coat mechanomotive force device plays sandbox 16, when carrying out turning operation, overturning drive device 13 drives trip shaft 10 and rotates, trip shaft 10 and then drive pivoted arm 3 and rotate (forward and reverse all can realize), sandbox 16 overturns along with the rotation of pivoted arm 10; In switching process, according to the eccentric weight principle, bowl-type claw 4 is under the gravity effect of self and sandbox 16, remain state vertically downward, flask trunnion 15 with support roller 13 between roll and contact, thereby guarantee that sandbox 16 remains plateau, thereby high-quality, finish the mould turnover action accurately.
Claims (10)
1. multi-functional large-scale manipulator, it is characterized in that comprising axle bed (2), pivoted arm (3), bowl-type claw (4), fixed axis (6), support roller (8), trip shaft (10) and overturning drive device (13), trip shaft (10) is installed in the axle bed (2), overturning drive device (13) is installed on the axle bed (2), and the output shaft of overturning drive device (13) is connected with trip shaft (10) and drives trip shaft (10) and rotates; The middle part of pivoted arm (3) is fixedly connected on the trip shaft (10), and pivoted arm (3) rotates under the drive of trip shaft (10); The two ends of pivoted arm (3) are separately installed with fixed axis (6), and bowl-type claw (4) is installed in fixed axis (6) and goes up also and can rotate flexibly around fixed axis (6); In bowl-type claw (4), be provided with the support roller (8) that two axial symmetry are arranged and can freely be rotated.
2. multi-functional large-scale manipulator as claimed in claim 1, its feature also is: described support roller (8) is installed on the support roller bearing pin (7) by bearing of conveyor idler (9), and support roller bearing pin (7) is fixedly mounted on the bowl-type claw (4).
3. multi-functional large-scale manipulator as claimed in claim 1, its feature also is: described overturning drive device (13) adopts oscillating motor.
4. multi-functional large-scale manipulator as claimed in claim 1, its feature also is: a sand draining port (14) is offered in the bottom of described bowl-type claw (4).
5. multi-functional large-scale manipulator as claimed in claim 1, its feature also is: be with capping (11) on the described fixed axis (6), capping (11) is connected axle bed (2) front end.
6. multi-functional large-scale manipulator as claimed in claim 1, its feature also is: the output shaft of described overturning drive device (13) is connected with trip shaft (10) by flat key.
7. multi-functional large-scale manipulator as claimed in claim 1, its feature also is: described fixed axis (6) is tightened by the round nut of its rear end and is fixed on the pivoted arm (3).
8. multi-functional large-scale manipulator as claimed in claim 1, its feature also is: described bowl-type claw (4) is installed on the fixed axis (6) by rolling bearing (5), and rolling bearing (5) adopts two ditch ball bearings.
9. multi-functional large-scale manipulator as claimed in claim 1, its feature also is: described trip shaft (10) is installed in the axle bed (2) by fore bearing (12a), rear bearing (12b), and fore bearing (12a) utilizes round nut locking.
10. multi-functional large-scale manipulator as claimed in claim 9, its feature also is: described fore bearing (12a), rear bearing (12b) adopt taper roll bearing.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010142289 CN101823257A (en) | 2010-03-24 | 2010-03-24 | Multi-functional large-scale manipulator |
| PCT/CN2010/000742 WO2011116506A1 (en) | 2010-03-24 | 2010-05-25 | Multifunctional large-scale manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010142289 CN101823257A (en) | 2010-03-24 | 2010-03-24 | Multi-functional large-scale manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101823257A true CN101823257A (en) | 2010-09-08 |
Family
ID=42687522
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201010142289 Pending CN101823257A (en) | 2010-03-24 | 2010-03-24 | Multi-functional large-scale manipulator |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN101823257A (en) |
| WO (1) | WO2011116506A1 (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102078933A (en) * | 2010-12-24 | 2011-06-01 | 山西华德冶铸有限公司 | Automatic mould assembling device |
| CN102166644A (en) * | 2010-11-25 | 2011-08-31 | 苏州苏铸成套装备制造有限公司 | Box descending device |
| CN102166627A (en) * | 2010-11-25 | 2011-08-31 | 苏州苏铸成套装备制造有限公司 | Mechanical arm device |
| CN102166624A (en) * | 2010-11-25 | 2011-08-31 | 苏州苏铸成套装备制造有限公司 | Sand box unloading device |
| CN102784740A (en) * | 2012-08-31 | 2012-11-21 | 无锡锡南铸造机械有限公司 | Single-beam cantilever flow-coating machine |
| CN106956268A (en) * | 2016-01-12 | 2017-07-18 | 苏州苏铸成套装备制造有限公司 | A kind of manipulator relocation mechanism |
| CN111136241A (en) * | 2020-01-10 | 2020-05-12 | 保定茶山五岳铸造有限公司 | Temperature control hub casting device |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101758168A (en) * | 2009-11-12 | 2010-06-30 | 无锡锡南铸造机械有限公司 | Large sand mold overturning mechanical hand |
| CN201645492U (en) * | 2010-03-24 | 2010-11-24 | 无锡锡南铸造机械有限公司 | Versatile large mechanical arm |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4305843B2 (en) * | 2004-02-13 | 2009-07-29 | 新東工業株式会社 | Gravity tilt casting machine |
| CN2910416Y (en) * | 2006-06-10 | 2007-06-13 | 青岛双星铸造机械有限公司 | Mould rollover unit |
| KR200458844Y1 (en) * | 2006-12-15 | 2012-03-15 | 현대중공업 주식회사 | Turn over apparatus for pouring basin |
| CN201253930Y (en) * | 2008-01-22 | 2009-06-10 | 林中选 | Mould turnover device |
| CN201300193Y (en) * | 2008-12-01 | 2009-09-02 | 齐齐哈尔轨道交通装备有限责任公司 | Clamping turnover mechanism and corresponding core combiner |
-
2010
- 2010-03-24 CN CN 201010142289 patent/CN101823257A/en active Pending
- 2010-05-25 WO PCT/CN2010/000742 patent/WO2011116506A1/en active Application Filing
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101758168A (en) * | 2009-11-12 | 2010-06-30 | 无锡锡南铸造机械有限公司 | Large sand mold overturning mechanical hand |
| CN201645492U (en) * | 2010-03-24 | 2010-11-24 | 无锡锡南铸造机械有限公司 | Versatile large mechanical arm |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102166644A (en) * | 2010-11-25 | 2011-08-31 | 苏州苏铸成套装备制造有限公司 | Box descending device |
| CN102166627A (en) * | 2010-11-25 | 2011-08-31 | 苏州苏铸成套装备制造有限公司 | Mechanical arm device |
| CN102166624A (en) * | 2010-11-25 | 2011-08-31 | 苏州苏铸成套装备制造有限公司 | Sand box unloading device |
| CN102078933A (en) * | 2010-12-24 | 2011-06-01 | 山西华德冶铸有限公司 | Automatic mould assembling device |
| CN102078933B (en) * | 2010-12-24 | 2012-09-26 | 山西华德冶铸有限公司 | Automatic mould assembling device |
| CN102784740A (en) * | 2012-08-31 | 2012-11-21 | 无锡锡南铸造机械有限公司 | Single-beam cantilever flow-coating machine |
| CN102784740B (en) * | 2012-08-31 | 2015-06-03 | 无锡锡南铸造机械股份有限公司 | Single-beam cantilever flow-coating machine |
| CN106956268A (en) * | 2016-01-12 | 2017-07-18 | 苏州苏铸成套装备制造有限公司 | A kind of manipulator relocation mechanism |
| CN111136241A (en) * | 2020-01-10 | 2020-05-12 | 保定茶山五岳铸造有限公司 | Temperature control hub casting device |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2011116506A1 (en) | 2011-09-29 |
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Application publication date: 20100908 |