CN103949622B - A kind of Novel gravity casting soup feeding machine double teeming spoon mechanical arm - Google Patents

A kind of Novel gravity casting soup feeding machine double teeming spoon mechanical arm Download PDF

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Publication number
CN103949622B
CN103949622B CN201410143804.7A CN201410143804A CN103949622B CN 103949622 B CN103949622 B CN 103949622B CN 201410143804 A CN201410143804 A CN 201410143804A CN 103949622 B CN103949622 B CN 103949622B
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Prior art keywords
pony ladle
pony
mechanical arm
feeding machine
driving mechanism
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CN201410143804.7A
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CN103949622A (en
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姜银方
姬胜杰
刘振
李娟�
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Dongtai ansu Intelligent Technology Co.,Ltd.
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Jiangsu University
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Abstract

The invention discloses a kind of Novel gravity casting soup feeding machine double teeming spoon mechanical arm, it comprises working arm, the first pony ladle, the second pony ladle driving mechanism, the second pony ladle, described the first pony ladle is fixedly connected on the left end of sprocket shaft, and described the second pony ladle driving mechanism is fixedly connected on the right-hand member of sprocket shaft; Described the second pony ladle driving mechanism comprises shell, servomotor, pinion, gear wheel, leading screw, ball nut, connecting plate, front bearing, rear support, and described the second pony ladle is fixedly connected on the right-hand member of connecting plate. The present invention is new reasonable, simple in structure, operation quick and stable, can be used by supporting undersized liquation stove, has solved the problem that mechanical arm double teeming spoon device and liquation stove are interfered, realize the cast of gravitational casting different distance cast gate, and can be arranged on five connecting rod soup feeding machines and use, save a large amount of manpowers, reduce production costs, enhance productivity, with high content of technology.

Description

A kind of Novel gravity casting soup feeding machine double teeming spoon mechanical arm
Technical field
The present invention relates to Casting Equipment of Machine, especially relate to a kind of double teeming spoon mechanical arm for gravitational casting soup feeding machine.
Background technology
At present, metal mold gravity casting is because equipment is simpler, and mould and equipment investment are relatively less, and casting technique is relativeSimply, be widely used in the production of various coloured foundry goods. But, the work that gravity casting die is carried out to casting of metals be mostly byManually complete, cast work is heavy muscle power, high-risk work post, and foundry's noise is large, dust is many, and working environment veryBadly, the probability that the workman who is for a long time engaged in casting of metals work in foundry suffers from the occupational diseases such as pneumoconiosis is larger, for alleviating workmanLabour intensity and save human cost, need to adopt gravitational casting machine people to replace and manually carry out the cast work of molten metal.Be five connecting rod soup feeding machines for the ripe product of die casting pouring practice at present, this kind of soup feeding machine can be with single pony ladle from liquation stoveGet molten metal and poured into the pressure chamber of die casting. Gravitational casting is different from the technique of die casting, is embodied in and adopts gravity castingWhen the larger foundry goods of fabrication technique casting length, two cast gates need be set on mould, and in the time that foundry goods varies in size corresponding mouldTwo cast gate spacing are also different, and the double cast gate that therefore pouring robot need often change molten metal through spacing pours into mould simultaneously, thisVery high to the requirement of robot, there is enterprise to be studied this.
Application number is 201120359585.8, and the utility model patent that name is called " robot double teeming bag cast arm " has proposed to adoptWith two servomotors, respectively by two decelerators and two pony ladles of chain sprocket mechanism drive, the distance between two pony ladles canTo change by adjusting the installation site of pony ladle on adjustable plate, the greatest problem that this cast arm exists is to a certain concreteWhen die casting, two pony ladle spacing are adjusted to after identical with two cast gate spacing and no longer change, until more mold exchange is manual more next timeAdjust the position of pony ladle on adjustable plate, and when two cast gates distances are when excessive, the distance of two pony ladles also to increase thereupon, needWant large-sized liquation stove supporting with it, otherwise can cause cast arm in the time getting molten metal and liquation stove interfere.
In addition the multiple degrees of freedom industrial robot that, the company such as KUKA, ABB of Germany produces can complete double cast gate gravityFoundry work, but be mostly to use as automatic foundry production line, its price is high, far beyond the model that bears of general medium-sized and small enterprisesEnclose, and when cast double teeming spoon distance is fixing, more must transforms industrial robot when mold exchange, it is flexible poor, can only be used forLarge-scale production.
Summary of the invention
The object of the present invention is to provide a kind of Novel gravity casting soup feeding machine double teeming spoon mechanical arm, make the mechanical arm can be supportingUse undersized liquation stove and do not interfere in when work and its, and making two pony ladles, two pony ladles in the time getting molten metal of mechanical armDistance is reduced to the shortest, simultaneously molten metal is poured into before mould, makes the distance of two pony ladles automatically be adjusted to identical with two cast gate spacing.
Technical thought of the present invention is on the basis of five connecting rod soup feeding machine working arm list pony ladles, to add pony ladle driving mechanism andTwo pony ladles, by two pony ladles called after the first pony ladle and the second pony ladle respectively, in the course of the work, the second pony ladle driving mechanism canDrive the second pony ladle to move in the horizontal direction, can also drive the first pony ladle and the second pony ladle driving machine by the sprocket wheel of working arm simultaneouslyStructure and and then drive the second pony ladle to complete the deflection of pony ladle while getting liquid, therefore mechanical arm of the present invention is applicable to cast gate spacing differenceThe situation of multiple kinds of molds.
Concrete technical scheme of the present invention is: comprise working arm, the first pony ladle, the second pony ladle and the second pony ladle driving mechanism;Wherein working arm comprises sprocket shaft and the sprocket wheel that is enclosed within described sprocket shaft stage casing, and pin is passed through in one end of described working arm medium chain wheel shaftBe fixedly connected with described the first pony ladle, the other end of described working arm medium chain wheel shaft and the shell of described the second pony ladle driving mechanism pass throughKey and clamp nut are circumferentially located and axial location; Described the second pony ladle driving mechanism comprises shell, servomotor, little toothWheel, gear wheel, leading screw, ball nut, connecting plate; Described servomotor is connected with described pinion by wedge key, described littleGear engages with gear wheel described in lower end, and described gear wheel is connected with described leading screw by wedge key, and on described leading screw, cover has ball spiral shellMother, the flange end of described ball nut is bolted to connection one end of described connecting plate; The other end of described connecting plate and instituteStating the second pony ladle is fixedly connected with.
For keeping the rigidity of sprocket shaft and the second pony ladle driving mechanism, above the shell of the second pony ladle driving mechanism, arrangeOne little minor axis, little minor axis one end and shell are circumferentially located and axial location by key and clamp nut, the other end and thrust ballBearing is fixedly connected with, and thrust ball bearing is fixed in the arcuate socket of working arm by fixed head, therefore in the time that mechanical arm is worked, and chainWheel drives sprocket shaft to rotate, and sprocket shaft drives the first pony ladle and the second pony ladle driving mechanism to rotate simultaneously, and little minor axis follows secondPony ladle driving mechanism rotates centered by the axis of sprocket shaft.
The effective length of leading screw is comprehensively determined according to the internal diameter of molten aluminium stove and mould two cast gate spacing. The effective length of leading screw is straightConnect the size that has determined the second pony ladle driving mechanism, at guarantee mould two cast gate spacing ranges in two pony ladle spacing excursionsIn situation, the second pony ladle driving mechanism is the smaller the better, and the effective length of leading screw is more short better. The effective length of leading screw is less,The second pony ladle driving mechanism is just less, and when mechanical arm work, two pony ladle minimum spacings are also just less, also just can matching used chiVery little less liquation stove, production cost is also just less.
On working arm, be bolted liquid level sensor. When mechanical arm is got molten metal from liquation stove, level detectionThe degree of depth that device can enter molten metal by detecting two pony ladles of distance control of itself and liquid level.
The present invention has following beneficial effect:
1) can support the use with small size liquation stove, solve the non-adjustable interference problem apart from double teeming spoon device and small size liquation stove,Save production space, reduced production cost;
2) can realize the cast of the mould different to double cast gate spacing;
3) mechanical arm of the present invention is arranged on five connecting rod soup feeding machines, can be used for gravitational casting double cast gate cast occasion;
4) the present invention is simple in structure, easy to maintenance, and the life-span is high.
Brief description of the drawings
The A-A profile of Fig. 1 gravitational casting soup feeding machine double teeming spoon mechanical arm.
The B-B profile of Fig. 2 gravitational casting soup feeding machine double teeming spoon mechanical arm.
In figure: the second pony ladle 1, leading screw 2, connecting plate 3, ball nut 4, front bearing 5, gear wheel 6, clamp nut7, deep groove ball bearing 8, sleeve 9, sprocket wheel 10, sprocket shaft 11, the first pony ladles 12, seal cover 13, working arm 14, pushes awayPower ball bearing 15, fixed head 16, little minor axis 17, pinion 18, angular contact ball bearing 19, servomotor 20, shell21, rear support 22, arcuate socket 23, liquid level sensor 24.
Detailed description of the invention
Below in conjunction with drawings and Examples, the invention will be further described.
As shown in Figure 1 to Figure 2, a kind of Novel gravity casting soup feeding machine double teeming spoon mechanical arm, comprises working arm 14, firstPony ladle 12, the second pony ladle 1 and the second pony ladle driving mechanism; Wherein working arm 14 comprises sprocket shaft 11 and is enclosed within described sprocket wheelThe sprocket wheel 10 in axle 11 stage casings, the corresponding position of level on working arm 14 has two via holes, and two via holes are built-in respectivelyIn two deep groove ball bearings 8, described two deep groove ball bearings 8 are run through in the axle head both sides of sprocket shaft 11, and described sprocket wheel 10 is closeThe second pony ladle driving mechanism one side has a sleeve 9, and described sleeve 9 is enclosed within on described sprocket shaft 11, and described sprocket shaft 11 is logicalThe shaft shoulder of crossing sprocket shaft 11 both sides carries out axial restraint with seal cover 13. Pin is passed through in one end of working arm 14 medium chain wheel shafts 11Be fixedly connected with described the first pony ladle 12, and the other end of working arm 14 medium chain wheel shafts (11) and the second pony ladle driving mechanism outsideShell 21 is circumferentially located and axial location by key and clamp nut 7.
Above-mentioned the second pony ladle driving mechanism comprise shell 21, servomotor 20, pinion 18, gear wheel 6, leading screw 2,Ball nut 4, connecting plate 3; Wherein servomotor 20 is connected with described pinion 18 by wedge key, described pinion 18 withLower end gear wheel 6 engages, and described gear wheel 6 is connected with leading screw 2 by wedge key, and on described leading screw 2, cover has ball nut 4,The flange end of described ball nut 4 is bolted to connection one end of connecting plate 3; The other end of described connecting plate 3 and secondPony ladle 1 is fixedly connected with. In described leading screw 2, one end of leading screw 2 is fixed by angular contact ball bearing 19 and clamp nutOn described front bearing 5, the other end of leading screw 2 is fixed on rear support 22 by deep groove ball bearing and seal cover, leading screw 2Effective length determine according to the internal diameter of molten aluminium stove and mould two cast gate spacing ranges, 22 of above-mentioned front bearing 5 and rear supportsBe fixedly connected on shell 21 by screw.
Between described working arm 14 and the second pony ladle driving mechanism, have a little minor axis 17, described little minor axis 17 is near secondPony ladle driving mechanism one end and shell 21 are circumferentially located and axial location by key and clamp nut respectively, described little minor axis17 one end near working arm 14 are fixedly connected with by thrust ball bearing 15, and described thrust ball bearing 15 is fixed by fixed head 16In the arcuate socket 23 of working arm 14. On described working arm 14, be bolted liquid level sensor 24.
Operation principle: after Gravity casting machines is in place, mechanical arm moves to the top of liquation stove, and soup feeding machine starts to get liquid, machineThe servomotor 20 of tool arm obtains program singal and starts action, drives pinion 18 and gear wheel 6 to rotate, and gear wheel 6 passes throughKey drives leading screw 2 rotate and drive ball nut 4 to move along leading screw 2, and connecting plate 3 and the second pony ladle 1 are at ball nut 4Under drive, move to high order end, then, under the drive of sprocket wheel 10, the first pony ladle 12, the second pony ladle driving mechanism and second waterAngle of spoon 1 deflection, little minor axis 17 of while is along with the second pony ladle driving mechanism rotates together, so that keeping system rigidity,Then mechanical arm moves downward, and while arriving certain depth, liquid level sensor 24 is given system signal, and mechanical arm stops downward fortuneMove and move upward, moving to stop motion after certain altitude, sprocket wheel 10 rotates and drives the first pony ladle 12, the second pony ladle to driveActuation mechanism and the second pony ladle 1 return back to horizontal level, get liquid and finish, and then manipulator motion, to mould top, wherein first watersSpoon 12 is positioned at a cast gate top, and the second pony ladle 1 moves to above another cast gate under the driving of the second pony ladle driving mechanism,Sprocket wheel 10 starts to rotate and drives the first pony ladle 12, the second pony ladle driving mechanism and the second pony ladle 1 deflection, and molten metal starts downEnter mould, be finished down after molten metal, mechanical arm is got back to initial position and is prepared cast next time.

Claims (7)

1. a Novel gravity casting soup feeding machine double teeming spoon mechanical arm, is characterized in that: comprise working arm (14), the first pony ladle(12), the second pony ladle (1) and the second pony ladle driving mechanism;
Described working arm (14) comprises sprocket shaft (11) and is enclosed within the sprocket wheel (10) in described sprocket shaft (11) stage casing, described sprocket wheelOne end of axle (11) is fixedly connected with described the first pony ladle (12) by pin, the other end of described sprocket shaft (11) and described inThe shell (21) of the second pony ladle driving mechanism is circumferentially located and axial location by key and clamp nut (7);
Described the second pony ladle driving mechanism comprises shell (21), servomotor (20), pinion (18), gear wheel (6), leading screw(2), ball nut (4), connecting plate (3); Servomotor (20) in described shell (21) is by wedge key and described littleGear (18) connects, and described pinion (18) engages with gear wheel described in lower end (6), and described gear wheel (6) passes through wedgeKey is connected with described leading screw (2), and the upper cover of described leading screw (2) has ball nut (4), the flange of described ball nut (4)End is bolted to connection one end of described connecting plate (3); The other end of described connecting plate (3) and described the second pony ladle(1) be fixedly connected with.
2. Novel gravity casting soup feeding machine double teeming spoon mechanical arm according to claim 1, is characterized in that: described working arm(14) the corresponding position of upper level has two via holes, described two via holes built-in two deep groove ball bearings (8) respectively, instituteDescribed two deep groove ball bearings (8) are run through in the axle head both sides of stating sprocket shaft (11), and described sprocket wheel (10) drives near the second pony ladleActuation mechanism one side has a sleeve (9), and it is upper that described sleeve (9) is enclosed within described sprocket shaft (11), and described sprocket shaft (11) isThe same seal cover of the shaft shoulder (13) by described sprocket shaft (11) both sides carries out axial restraint.
3. Novel gravity casting soup feeding machine double teeming spoon mechanical arm according to claim 1, is characterized in that: described leading screw (2)To be fixed on front bearing (5) by angular contact ball bearing (19) and clamp nut upper in one end, the other end of described leading screw (2)Be fixed on rear support (22) by deep groove ball bearing and seal cover.
4. Novel gravity casting soup feeding machine double teeming spoon mechanical arm according to claim 1, is characterized in that: described working arm(14) and between described the second pony ladle driving mechanism have a little minor axis (17), described little minor axis (17) is near the second pony ladleDriving mechanism one end and described shell (21) are circumferentially located and axial location by key and clamp nut respectively, described little shortAxle (17) is fixedly connected with by thrust ball bearing (15) near one end of described working arm (14), described thrust ball bearing (15)Be fixed on by fixed head (16) in the arcuate socket (23) of described working arm (14).
5. according to the Novel gravity casting soup feeding machine double teeming spoon mechanical arm described in claim 1 or 3, it is characterized in that: described leading screw(2) effective length is determined according to the internal diameter of molten aluminium stove and mould two cast gate spacing ranges.
6. Novel gravity casting soup feeding machine double teeming spoon mechanical arm according to claim 3, is characterized in that: described front bearing (5)Be fixedly connected on described shell (21) by screw with described rear support (22).
7. Novel gravity casting soup feeding machine double teeming spoon mechanical arm according to claim 1, is characterized in that: described working arm(14) on, be bolted liquid level sensor (24).
CN201410143804.7A 2014-04-11 2014-04-11 A kind of Novel gravity casting soup feeding machine double teeming spoon mechanical arm Active CN103949622B (en)

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CN201410143804.7A CN103949622B (en) 2014-04-11 2014-04-11 A kind of Novel gravity casting soup feeding machine double teeming spoon mechanical arm

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CN201410143804.7A CN103949622B (en) 2014-04-11 2014-04-11 A kind of Novel gravity casting soup feeding machine double teeming spoon mechanical arm

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104552277B (en) * 2015-01-12 2016-03-30 浙江琦星电子有限公司 A kind of mechanical arm

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1371279A (en) * 1971-09-28 1974-10-23 Concast Ag Ladle slewing turret for continuous casting plant
JP2000317612A (en) * 1999-05-14 2000-11-21 Toda Seiki Kk Ladle inclining device for die casting
DE102007026985A1 (en) * 2007-06-08 2008-12-11 Reis Robotics Gmbh & Co. Maschinenfabrik Device for automatically coupling casting ladle arranged in holding device to robot arm of robot, comprises first coupling element connected and rotatable with drive, second coupling element connected with casting ladle, and locking element
CN102259183A (en) * 2011-07-12 2011-11-30 浙江精一重工有限公司 Multi-station full-automobile casting machine
CN202062070U (en) * 2011-04-19 2011-12-07 福州钜全汽车配件有限公司 Automatic aluminum liquid casting machine
CN202398803U (en) * 2011-09-23 2012-08-29 浙江万丰科技开发有限公司 Double casting ladle casting arm of robot

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1371279A (en) * 1971-09-28 1974-10-23 Concast Ag Ladle slewing turret for continuous casting plant
JP2000317612A (en) * 1999-05-14 2000-11-21 Toda Seiki Kk Ladle inclining device for die casting
DE102007026985A1 (en) * 2007-06-08 2008-12-11 Reis Robotics Gmbh & Co. Maschinenfabrik Device for automatically coupling casting ladle arranged in holding device to robot arm of robot, comprises first coupling element connected and rotatable with drive, second coupling element connected with casting ladle, and locking element
CN202062070U (en) * 2011-04-19 2011-12-07 福州钜全汽车配件有限公司 Automatic aluminum liquid casting machine
CN102259183A (en) * 2011-07-12 2011-11-30 浙江精一重工有限公司 Multi-station full-automobile casting machine
CN202398803U (en) * 2011-09-23 2012-08-29 浙江万丰科技开发有限公司 Double casting ladle casting arm of robot

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Effective date of registration: 20201228

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