CN104174836A - Truss type manipulator of casting system - Google Patents
Truss type manipulator of casting system Download PDFInfo
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- CN104174836A CN104174836A CN201410226651.2A CN201410226651A CN104174836A CN 104174836 A CN104174836 A CN 104174836A CN 201410226651 A CN201410226651 A CN 201410226651A CN 104174836 A CN104174836 A CN 104174836A
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Abstract
The invention discloses a truss type manipulator of a casting system, and belongs to a metal casting technology. The truss type manipulator comprises a portal truss, a manipulator and a control system, wherein the portal truss comprises a Z-axis cross beam, a Z-axis slippage assembly, a Y-axis cross beam, a Y-axis slippage assembly, a Z-axis ram and a Z-axis slippage assembly; the manipulator realizes triaxial linkage through the Z-axis slippage assembly, the Y-axis slippage assembly and the Z-axis slippage assembly; two guide rail pairs for guiding are respectively arranged on two side surfaces on the Y-axis cross beam, the Z-axis cross beam and the Z-axis ram; the manipulator comprises a soup ladle, a soup ladle bracket, a soup ladle rotating mechanism and a ladling mechanism; the soup ladle is driven to rotate by a rotation servo motor of the soup ladle rotating mechanism; the soup ladle is driven by a ladling servo motor of the ladling mechanism and transmitted by a bevel gear to realize tilting to finish material taking and feeding; the control system controls the operation of all the mechanisms. Automatic quantitative material feeding and quantitative material taking are realized by controlling a tilting angle of the soup ladle by the control system, and the defect of a manual casting mode is overcome.
Description
Technical field
The invention belongs to metal casting machine field, especially relevant with the casting system truss-like manipulator that is applicable to the automatic casting system of multistation.
Background technology
Casting refers to deposite metal and forms the molten metal that can pour into a mould use by refining, manufactures casting pattern, and molten metal is poured in casting pattern, solidifies rear acquisition and have the casting forming method of definite shape, size, performance.At present, Foundry Production producer is in the time of casting, conventionally the molten metal and the artificial foundry goods that takes out moulding that use artificial conveyance casting use, often work under bad environment of Foundry Production place, easily causes life injury to practitioner, production efficiency is low, and labor workload is large, even if use the automation equipment of automatic transporting mechanism transferring metal liquid, be also man-to-man configuration mostly, and automatic transporting mechanism complex structure, fluctuation of service; A general casting machine configures a furnace equipment, and equipment investment cost is higher.For solving the defect of hand teeming mode, the applicant's organization development a kind of automatic casting system of a kind of multistation that can automatically complete metalwork casting.
Summary of the invention
Object of the present invention is intended to solve the defect that hand teeming mode exists, and adapts to automatically complete the automatic casting system of multistation of metalwork casting, and a kind of energy automatic steady transferring metal liquid is provided, and controls casting system truss-like manipulator easily.
For this reason, the present invention is by the following technical solutions: casting system truss-like manipulator, comprise gantry truss, manipulator and control system, gantry truss comprises Z axis crossbeam, Z axis sliding assembly, Y-axis crossbeam, Y-axis sliding assembly, Z axis ram and Z axis sliding assembly, Y-axis girder space certain distance is arranged with two in parallel, each Y-axis crossbeam two ends is supported respectively fixing by a support post, Y-axis sliding assembly on each Y-axis crossbeam described in corresponding being provided with, described Y-axis sliding assembly comprises slippage bracket, Y-axis tooth bar, with Y-axis tooth bar pitch wheel, the Y-axis servomotor of Y-axis guideway and this gear of driving, slippage bracket is slidably mounted on described Y-axis crossbeam by described Y-axis guideway, the guide rail of Y-axis tooth bar and Y-axis guideway is all installed on described Y-axis crossbeam along Y direction, the sliding motion in Y direction of Y-axis driven by servomotor slippage bracket, described Z axis beam erection is on described two Y-axis crossbeams, Z axis crossbeam two ends are fixedly connected with described slippage bracket respectively, described Z axis sliding assembly comprises slide, Z axis tooth bar, with Z axis tooth bar pitch wheel, Z axis guideway with drive the Z axis servomotor of this gear, slide is slidably mounted on described Z axis crossbeam by Z axis guideway, the guide rail of Z axis tooth bar and Z axis guideway is all installed on described Z axis crossbeam along Z-direction, the sliding motion in Z-direction of Z axis driven by servomotor slide, described Z axis sliding assembly comprises Z axis tooth bar, with Z axis tooth bar pitch wheel, Z axis guideway with drive the Z axis servomotor of this gear, described Z axis ram is slidably mounted on described slide by Z axis guideway, the guide rail of Z axis tooth bar and Z axis guideway is all installed on described Z axis ram along Z-direction, and Z axis driven by servomotor Z axis ram moves up and down,
It is characterized in that, on two sides of each described Y-axis crossbeam, be respectively arranged with described Y-axis guideway, on two sides of described Z axis crossbeam, be respectively arranged with described Z axis guideway, on two sides of described Z axis ram, be respectively arranged with described Z axis guideway, lead by two guideways being set respectively on two sides on Y-axis crossbeam, Z axis crossbeam and Z axis ram, improved Z axis, Y-axis, the stationarity of Z axis in the time of three-shaft linkage, described manipulator comprises soup ladle, soup ladle support, soup ladle rotating mechanism and the mechanism that ladles, soup ladle is installed on described soup ladle support, soup ladle rotating mechanism comprises the rotating servo motor of the first rotating shaft and drive shaft rotation, the first rotating shaft is vertically installed on described Z axis ram, soup ladle support is fixedly installed in described the first rotating shaft bottom, rotating servo motor drives the first rotating shaft rotation, drives soup ladle support and soup ladle to rotate simultaneously, the described mechanism that ladles comprises the second rotating shaft, power transmission shaft and the servomotor that ladles, the second rotating shaft is through on soup ladle end and soup ladle support, second end, rotating shaft one end is provided with the first bevel gear, the servomotor that ladles is fixedly installed on soup ladle support by motor mounting rack, described power transmission shaft one end with described in the ladle output shaft of servomotor be connected, the other end is provided with and intermeshing the second bevel gear of described the first bevel gear, the driving driven by servomotor that ladles, drive power transmission shaft and the rotation of the second bevel gear, by bevel gear engaged transmission, the first bevel gear is verted together with soup ladle, realize feeding and the feed of molten metal, the action of above-mentioned each mechanism of described control system control.
As to technique scheme supplement and perfect, the present invention also comprises following technical characterictic.
Described Z axis crossbeam, Y-axis crossbeam and Z axis ram are the formed steel construction that cross section is square shape, make described gantry truss structure simple, easy for installation.
The first described rotating shaft is threaded onto the formed steel construction inner chamber of Z axis ram, rotating servo motor is installed on Z axis ram top, its output shaft is connected with described the first rotating shaft top, the first rotating shaft bottom passes Z axis ram bottom and is fixedly connected with described soup ladle support, and rotating servo motor drives the first rotating shaft to rotarily drive soup ladle support and soup ladle rotation.
Described Y-axis guideway comprises roller and described Y-axis guide rail, roller is installed on described slippage bracket by they sup-port, the outer peripheral face of roller is resisted against respectively on described Y-axis guide rail, contact by the face between existing guide rail and slide block being contacted to the point making between present guide rail and roller, reduced the frictional force between slippage bracket and Y-axis crossbeam, while making the slippage of Z axis crossbeam, stability improves.
Further, the roller of each described Y-axis guideway has been arranged side by side two, has improved the stability of Z axis crossbeam in slipping.
Described casting system truss-like manipulator also comprises liquid level induction mechanism, liquid level induction mechanism comprises three vertical and feelers that be arranged in parallel that keep at a certain distance away, three feelers are installed on described soup ladle support by feeler support, be respectively public feeler, the first feeler and the second feeler, soup ladle least significant end when the bottom of the first feeler and described soup ladle vert maximum angle is contour, the bottom of public feeler is lower than the bottom of described the first feeler, avoid soup ladle in the process ladling, to touch the bottom of molten metal container, contour along place on the second conducting bar bottom and described soup ladle tilt angle soup ladle hour, in the time carrying out feeding, when soup ladle drops in molten metal container, in the time switching on conducting between public feeler and the first feeler, illustrate that soup ladle touches molten metal, then soup ladle continues to decline, until while switching on conducting between public feeler and the second feeler, illustrate in soup ladle immersion molten metal and can ladle, by the distance between public feeler bottom and the second feeler bottom is set, can set the molten metal capacity that soup ladle ladles, reach quantitative taking, by the distance between the bottom of public feeler and the bottom of the first feeler of this liquid level induction mechanism is set, can avoid soup ladle and the collision of molten metal container, .
Described manipulator also comprises soup ladle lid, and soup ladle lid is fixedly installed on Z axis ram, and while conveying after soup ladle extracts molten metal, soup ladle cap seal is placed on edge place on soup ladle, and soup ladle lid is made up of asbestos material, and molten metal is played to anti-oxidation and insulation effect.
Use the present invention can reach following beneficial effect: to carry out the conveying of molten metal by casting system truss-like manipulator, accurately control the tilt angle of soup ladle by control system and realize dosing and quantitative taking, improve the automaticity of the automatic casting system of multistation, manipulator leads by two guideways in the time of each direction sliding motion, improve the stationarity of manipulator in slipping, avoided molten metal to drip from soup ladle; Save manpower simultaneously, reduced practitioner's safety coefficient, improved castings production efficiency.
Brief description of the drawings
Fig. 1 is perspective view of the present invention.
Fig. 2 is the enlarged diagram at I place in Fig. 1.
Fig. 3 is the perspective view of another direction of the present invention.
Fig. 4 is the enlarged diagram of manipulator part in the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in detail.
As shown in Fig. 1 ~ Fig. 4, the present invention includes gantry truss, manipulator, liquid level induction system and control system, gantry truss comprises Z axis crossbeam 8, Z axis sliding assembly, Y-axis crossbeam 9, Y-axis sliding assembly, Z axis ram 5 and Z axis sliding assembly, described Z axis crossbeam 8, Y-axis crossbeam 9 and Z axis ram 5 are the formed steel construction that cross section is square shape, Y-axis crossbeam 9 keeps at a certain distance away and is arranged with two in parallel, each Y-axis crossbeam 9 two ends is supported fixing by a support post 1 respectively, Y-axis sliding assembly on each Y-axis crossbeam 9 described in corresponding being provided with, described Y-axis sliding assembly comprises slippage bracket 3, Y-axis tooth bar 2, with Y-axis tooth bar 2 pitch wheels, two groups of Y-axis guideways and drive the Y-axis servomotor 12 of this gear, every group of Y-axis guideway comprises described Y-axis guide rail 11 and two rollers 10 that are arranged side by side, two Y-axis guide rails 11 are arranged on two sides up and down of Y-axis crossbeam 9 along Y direction respectively, roller 10 is installed on described slippage bracket 3 by they sup-port, the outer peripheral face of roller 10 is resisted against respectively on corresponding described Y-axis guide rail 11, contact by the face between existing guide rail and slide block being contacted to the point making between present guide rail and roller 10, improve the stability of slippage bracket 3 slippages, Y-axis tooth bar 2 is fixedly installed in along Y direction on the another side of Y-axis, Y-axis servomotor 12 is fixed on described slippage bracket 3, the output shaft of Y-axis servomotor 12 is connected with this gear, Y-axis servomotor 12 drives and drives this gear to move on Y-axis tooth bar 2, be with slippage bracket 3 along Y direction sliding motion on Y-axis crossbeam 9.
Described Z axis crossbeam 8 is set up on described two Y-axis crossbeams 9, Z axis crossbeam 8 two ends are fixedly connected with described slippage bracket 3 respectively, described Z axis sliding assembly comprises slide 7, Z axis tooth bar 13, with Z axis tooth bar 13 pitch wheels, two groups of Z axis guideways and drive the Z axis servomotor 15 of this gear, the guide rail 14 of two groups of Z axis guideways is arranged on two sides of described Z axis crossbeam 8 along Z-direction respectively, slide 7 is fixedly connected with the slide block of described two groups of Z axis guideways simultaneously, these two slide blocks are slidably connected with corresponding Z axis guideway respectively, Z axis tooth bar 13 is installed on described Z axis crossbeam 8 along Z-direction, Z axis servomotor 15 is fixedly installed on slide 7, the output shaft of Z axis servomotor 15 is connected with this gear, Z axis servomotor 15 drives and drives this gear to move on Z axis tooth bar 13, be with slide 7 along Z-direction sliding motion on Z axis crossbeam 8.
Described Z axis sliding assembly comprises Z axis tooth bar 18, with Z axis tooth bar 18 pitch wheels, two groups of Z axis guideways and drive the Z axis servomotor 6 of this gear, the guide rail 17 of two groups of Z axis guideways is arranged on two sides of Z axis ram 5 along Z-direction respectively, the slide block of two groups of Z axis guideways is fixedly installed in respectively on slide 7, this two slide block is slidably connected with corresponding Z axis guide rail respectively, Z axis tooth bar 18 is installed on along Z-direction on a side of described Z axis ram 5, Z axis servomotor 6 is fixedly installed on slide 7, the output shaft of Z axis servomotor 6 is connected with this gear, Z axis servomotor 6 drives and drives this gear to move on Z axis tooth bar 18, be with Z axis ram 5 along Z-direction sliding motion on slide 7, lead by two guideways being set respectively on two sides on Y-axis crossbeam 9, Z axis crossbeam 8 and Z axis ram 5, improved Z axis, Y-axis, the stability of Z axis in the time of three-shaft linkage.
Described manipulator comprises soup ladle 25, soup ladle support 30, soup ladle 25 covers 16, soup ladle rotating mechanism and the mechanism that ladles, soup ladle 25 is installed on described soup ladle support 30, soup ladle rotating mechanism comprises the first rotating shaft and drives the rotating servo motor 4 of this first rotating shaft rotation, the the firstth rotating shaft is threaded onto the formed steel construction inner chamber of Z axis ram 5, rotating servo motor 4 is installed on Z axis ram 5 tops, its output shaft is connected with described the first rotating shaft top, the first rotating shaft bottom passes Z axis ram 5 bottoms and is fixedly connected with described soup ladle support 30, rotating servo motor 4 drives the first rotating shaft to rotarily drive soup ladle support 30 and soup ladle 25 rotates, the described mechanism that ladles comprises the second rotating shaft 24, power transmission shaft 21 and the servomotor 19 that ladles, the second rotating shaft 24 is through on soup ladle 25 ends and soup ladle support 30, the second rotating shaft 24 ends, one end are provided with the first bevel gear 23, the servomotor 19 that ladles is fixedly installed on soup ladle support 30 by motor mounting rack 20, described power transmission shaft 21 one end with described in the ladle output shaft of servomotor 19 be connected, the other end is provided with and intermeshing the second bevel gear 22 of described the first bevel gear 23, the driving servomotor 19 that ladles drives, drive power transmission shaft 21 and the second bevel gear 22 to rotate, by bevel gear engaged transmission, the first bevel gear 23 is verted together with soup ladle 25, realize feeding and the feed of molten metal.
Described liquid level induction mechanism comprises three vertical and feelers that be arranged in parallel that keep at a certain distance away, three feelers are installed on and on described soup ladle support 30, are respectively public feeler 26 by feeler support 29, the first feeler 27 and the second feeler 28, soup ladle 25 least significant ends when the bottom of the first feeler 27 and described soup ladle 25 vert maximum angle are contour, the bottom of public feeler 26 is lower than the bottom of described the first feeler 27, avoid soup ladle 25 in the process ladling, to touch the bottom of molten metal container, contour along place on the second conducting bar bottom and described soup ladle 25 tilt angles soup ladle 25 hour, in the time carrying out feeding, when soup ladle 25 drops in molten metal container, in the time switching on conducting between public feeler 26 and the first feeler 27, illustrate that soup ladle 25 touches molten metal, then soup ladle 25 continues to decline, until while switching on conducting between public feeler 26 and the second feeler 28, illustrating that soup ladle 25 immerses in molten metal can ladle, by the distance between public feeler 26 bottoms and the second feeler 28 bottoms is set, can set the molten metal capacity that soup ladle 25 ladles, reach quantitative taking, by the distance between the bottom of public feeler 26 and the bottom of the first feeler 27 of this liquid level induction mechanism is set, can avoid soup ladle 25 and the collision of molten metal container, described soup ladle 25 covers 16 and is fixedly installed on Z axis ram 5, and while conveying after soup ladle 25 extracts molten metal, soup ladle 25 covers 16 and is covered in edge place on soup ladle 25, and soup ladle 25 covers 16 for asbestos structure, and molten metal is played to anti-oxidation and insulation effect.
When the present invention uses, the present invention is positioned in the automatic casting system of multistation, many casting unit are arranged respectively in manipulator both sides, in the cast middle front of unit of two rows, one molten metal smelting furnace is installed, control system control Y-axis servomotor 12 is worked, driving device hand arrives smelting furnace front in company with Z axis crossbeam 8 together sliding motion, make soup ladle 25 be positioned at getting directly over soup mouth of smelting furnace, now control system control Z axis servomotor 6 is worked, driving device hand moves downward in company with Z axis ram 5, moving downward in process, until the second feeler 28 is connected conduction with public feeler 26, information is fed back to control system, the control system control drive motors work that ladles, by the intermeshing transmission of the first bevel gear 23 and the second bevel gear 22, drive soup ladle 25 to vert, realization ladles, control system control Z axis servomotor 6 is worked, the soup ladle 25 that driving device hand has ladled moves upward in company with Z axis ram 5 is covered in the Shang Yanchu of soup ladle 25 until soup ladle 25 covers 16 plates, under the driving of Y-axis servomotor 12 and Z axis servomotor 15, driving mechanical hand and Z axis ram 5 move to simultaneously needs top, the sprue gate of the casting unit of filling casting, now rotating servo motor 4 drives, spend to the casting finite element rotation 90 of needs cast by the first rotating shaft and soup ladle support 30 and soup ladle 25, drive soup ladle 25 slowly to vert by the servomotor 19 that ladles, complete molten metal feed, then repeat above-mentioned action successively to each casting unit autofeed.
Claims (7)
1. casting system truss-like manipulator, comprise gantry truss, manipulator and control system, gantry truss comprises Z axis crossbeam (8), Z axis sliding assembly, Y-axis crossbeam (9), Y-axis sliding assembly, Z axis ram (5) and Z axis sliding assembly, Y-axis crossbeam (9) keeps at a certain distance away and is arranged with two in parallel, each Y-axis crossbeam (9) two ends is supported respectively fixing by a support post (1), the upper correspondence of each Y-axis crossbeam (9) is provided with described Y-axis sliding assembly, described Y-axis sliding assembly comprises slippage bracket (3), Y-axis tooth bar (2), with Y-axis tooth bar (2) pitch wheel, the Y-axis servomotor (12) of Y-axis guideway and this gear of driving, slippage bracket (3) is slidably mounted on described Y-axis crossbeam (9) by described Y-axis guideway, the guide rail of Y-axis tooth bar (2) and Y-axis guideway is all installed on described Y-axis crossbeam (9) along Y direction, described Z axis crossbeam (8) is set up on described two Y-axis crossbeams (9), Z axis crossbeam (8) two ends are fixedly connected with described slippage bracket (3) respectively, described Z axis sliding assembly comprises slide (7), Z axis tooth bar (13), with Z axis tooth bar (13) pitch wheel, Z axis guideway with drive the Z axis servomotor (15) of this gear, it is upper that slide (7) is slidably mounted on described Z axis crossbeam (8) by Z axis guideway, and the guide rail (14) of Z axis tooth bar (13) and Z axis guideway is all installed on described Z axis crossbeam (8) along Z-direction, described Z axis sliding assembly comprises Z axis tooth bar (18), with Z axis tooth bar (18) pitch wheel, Z axis guideway with drive the Z axis servomotor (6) of this gear, it is upper that described Z axis ram (5) is slidably mounted on described slide (7) by Z axis guideway, and the guide rail (17) of Z axis tooth bar (18) and Z axis guideway is all installed on described Z axis ram (5) along Z-direction, it is characterized in that:
On two sides of each described Y-axis crossbeam (9), be respectively arranged with described Y-axis guideway, on two sides of described Z axis crossbeam (8), be respectively arranged with described Z axis guideway, on two sides of described Z axis ram (5), be respectively arranged with described Z axis guideway, described manipulator comprises soup ladle (25), soup ladle support (30), soup ladle rotating mechanism and the mechanism that ladles, soup ladle (25) is installed on described soup ladle support (30), soup ladle rotating mechanism comprises the first rotating shaft and drives the rotating servo motor (4) of this first rotating shaft rotation, it is upper that the first rotating shaft is vertically installed on described Z axis ram (5), and soup ladle support (30) is fixedly installed in described the first rotating shaft bottom, the described mechanism that ladles comprises the second rotating shaft (24), power transmission shaft (21) and the servomotor that ladles (19), the second rotating shaft (24) is through on soup ladle (25) end and soup ladle support (30), the second rotating shaft (24) end, one end is provided with the first bevel gear (23), the servomotor (19) that ladles is fixedly installed on soup ladle support (30) by motor mounting rack (20), described power transmission shaft (21) one end with described in the ladle output shaft of servomotor (19) be connected, the other end is provided with and intermeshing the second bevel gear of described the first bevel gear (23) (22), the action of above-mentioned each mechanism of described control system control.
2. casting system truss-like manipulator according to claim 1, is characterized in that: described Z axis crossbeam (8), Y-axis crossbeam (9) and Z axis ram (5) are the formed steel construction that cross section is square shape.
3. casting system truss-like manipulator according to claim 2, it is characterized in that: the first described rotating shaft is threaded onto the formed steel construction inner chamber of Z axis ram (5), rotating servo motor (4) is installed on Z axis ram (5) top, its output shaft is connected with described the first rotating shaft top, and the first rotating shaft bottom passes Z axis ram (5) bottom and is fixedly connected with described soup ladle support (30).
4. casting system truss-like manipulator according to claim 3, it is characterized in that: described Y-axis guideway comprises roller (10) and described Y-axis guide rail (11), it is upper that roller (10) is installed on described slippage bracket (3) by they sup-port, and the outer peripheral face of roller (10) is resisted against respectively on described Y-axis guide rail (11).
5. casting system truss-like manipulator according to claim 4, is characterized in that: the roller (10) of each described Y-axis guideway has been arranged side by side two.
6. casting system truss-like manipulator according to claim 1 or 5, it is characterized in that: described casting system truss-like manipulator also comprises liquid level induction mechanism, liquid level induction mechanism comprises three vertical and feelers that be arranged in parallel that keep at a certain distance away, three feelers are installed on described soup ladle support (30) by feeler support (29), be respectively public feeler (26), the first feeler (27) and the second feeler (28), soup ladle (25) the least significant end when bottom of the first feeler (27) and described soup ladle (25) vert maximum angle is contour, the bottom of public feeler (26) is lower than the bottom of described the first feeler (27), soup ladle (25) Shang Yanchu hour is contour for the second conducting bar bottom and described soup ladle (25) tilt angle.
7. casting system truss-like manipulator according to claim 6, it is characterized in that: described manipulator also comprises soup ladle (25) lid (16), soup ladle (25) lid (16) is fixedly installed on Z axis ram (5), while conveying after soup ladle (25) extracts molten metal, soup ladle (25) lid (16) is covered in soup ladle (25) Shang Yanchu.
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| CN201410226651.2A CN104174836B (en) | 2014-05-26 | 2014-05-26 | Casting system truss type mechanical manipulator |
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| CN201410226651.2A CN104174836B (en) | 2014-05-26 | 2014-05-26 | Casting system truss type mechanical manipulator |
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| CN104174836B CN104174836B (en) | 2016-06-15 |
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| CN104498740A (en) * | 2014-12-19 | 2015-04-08 | 包头市和维德机电液压设备有限公司 | Soup ladling machine |
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| CN105369293A (en) * | 2015-09-01 | 2016-03-02 | 包头市玺骏稀土有限责任公司 | Rare earth electrolysis cell tapping device and method |
| CN105369294A (en) * | 2015-09-01 | 2016-03-02 | 包头市玺骏稀土有限责任公司 | Rare earth electrolysis cell tapping device and method |
| CN105369294B (en) * | 2015-09-01 | 2018-05-15 | 包头市玺骏稀土有限责任公司 | The apparatus and method that a kind of rare earth electrolysis cell goes out metal |
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| CN105690357B (en) * | 2016-04-15 | 2017-11-17 | 东莞理工学院 | There is the remote maintaining dynamical system of 10 frees degree under a kind of nuclear radiation environment |
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| CN107199327B (en) * | 2017-06-29 | 2023-10-27 | 河南省中原活塞股份有限公司 | Automatic casting machine |
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| CN108115121A (en) * | 2018-01-23 | 2018-06-05 | 无锡市明骥智能机械有限公司 | Multibucket ladles spoon |
| CN108213397B (en) * | 2018-03-12 | 2023-10-31 | 中国计量大学 | Molten iron forging feeding and discharging robot |
| CN114535536A (en) * | 2021-12-31 | 2022-05-27 | 蚌埠隆华压铸机有限公司 | Multi-output-port quick feeding robot for die casting machine |
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