CN104972589A - Multi-axis linkage type robot and automatic pouring system thereof - Google Patents

Multi-axis linkage type robot and automatic pouring system thereof Download PDF

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Publication number
CN104972589A
CN104972589A CN201510352011.0A CN201510352011A CN104972589A CN 104972589 A CN104972589 A CN 104972589A CN 201510352011 A CN201510352011 A CN 201510352011A CN 104972589 A CN104972589 A CN 104972589A
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China
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driving
transmission
servo motor
arm
shaft interlocked
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CN201510352011.0A
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Chinese (zh)
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CN104972589B (en
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肖永祥
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东莞市松庆智能自动化科技有限公司
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Abstract

The invention relates to the technical field of automation equipment, and discloses a multi-axis linkage type robot. The multi-axis linkage type robot comprises a fixed seat and a rotary seat movably connected with the fixed seat. The rotary seat is connected with a lifting arm. The lifting arm is provided with a rotatable bearing seat. The bearing seat is connected with a stretching-out mechanism. A telescopic arm is hinged to the stretching-out mechanism and hinged to a tureen. The robot achieves 360-degree omnidirectional rotating through the rotary seat; meanwhile, stroke adjustment of at least more than five axes can be achieved under the action of the lifting arm, the bearing seat, the stretching-out mechanism and the telescopic arm, and therefore the assistance needs of different processing environments can be met. The robot with multiple axes integrally controlled has the advantages of being high in integration level, large in work stroke and easy to maintain.

Description

A kind of multi-shaft interlocked formula robot and automatic casting system thereof
Technical field
The present invention relates to technical field of automation equipment, particularly relate to a kind of multi-shaft interlocked formula robot and automatic casting system thereof.
Background technology
Along with the raising of China's labor cost, the manufacturing industry of China is impelled constantly to innovate upgrading, such as: present stage, China widelyd popularize machine substitution plan etc., the upgrading of its final object promoting enterprise manufacturing equipment, reduce the recruitment cost of enterprise, improve the quality of product, namely need to manufacture high efficiency, high-intelligentization equipment in order to replace traditional manual operation, certainly, Current Domestic has also all produced a large amount of intelligent machine equipment outward, but, this kind of equipment is from actual service condition, play complementary operation under manually-operated prerequisite, and, existing intelligent machine equipment often can only pass through simple mechanism kinematic, comparatively complicated operation can not be completed, and once need complicated, during the operating procedure of Long Distances, namely need multiple intelligent machine equipment to interact and coordinate just can complete, now, for intelligent machine equipment, expensive, general enterprise is difficult to buy multiple intelligent machine equipment simultaneously, seriously constrain the use of intelligent machine equipment, and this multiple intelligent machine equipment maintenance difficulties is each other larger.In view of this, the deficiency that inventor exists for current intelligent machine apparatus field, through test of many times, has invented a kind of multi-shaft interlocked formula robot and automatic casting system thereof finally.
Summary of the invention
The object of the invention is to for the deficiencies in the prior art, provide a kind of multi-shaft interlocked formula robot, it is high that robot has integrated level, and impulse stroke is large and be easy to the advantage safeguarded; Present invention also offers a kind of automatic casting system with multi-shaft interlocked formula robot, this system has the high advantage with saving processing cost of automaticity.
For achieving the above object, the multi-shaft interlocked formula robot of one of the present invention, the rotating seat comprising holder and be flexibly connected with holder, described rotating seat is connected with lift arm, described lift arm is provided with rotating load bearing seat, described load bearing seat is connected with and stretches out mechanism, described mechanism of stretching out is hinged with telescopic arm, described telescopic arm is hinged with soup cup, also comprise the first driving mechanism for driving described rotating seat, drive the second driving mechanism of lift arm lifting action, the 3rd driving mechanism driving described load bearing seat to rotate, the four-wheel drive mechanism driving telescopic arm to swing and the 5th driving mechanism for controlling the action of soup cup.
Preferably, described first driving mechanism comprises the first axis hole being arranged at rotating seat, described holder is provided with the fixed axis with described first shaft hole matching, described holder is provided with fixed gear, described rotating seat is provided with the first servo motor, and described first servo motor is connected with the driving gear engaged with fixed gear.
Preferably, described second driving mechanism is arranged at the top of rotating seat, the second servo motor that the second driving mechanism comprises the first speed changer and is connected with the first variator, and described lift arm is fixedly connected with the output rotating disk of the first speed changer.
Preferably, described in stretch out mechanism and comprise the swing arm be connected with load bearing seat, described load bearing seat is also provided with the 3rd servo motor for driving swing arm to rotate.
Further, described telescopic arm is provided with the adapter sleeve hinged with stretching out mechanism, the 4th servo motor that four-wheel drive mechanism comprises the second speed changer and is connected with the second variator, the cantilever arm of described swing arm is provided with the first symmetrical transmission mechanism and the second transmission mechanism, described second speed changer output torque to the first transmission mechanism and the second transmission mechanism respectively, described first transmission mechanism, the second transmission mechanism drive the adapter sleeve anglec of rotation simultaneously.
Further, described first transmission mechanism, the second transmission mechanism include the first synchronizing wheel and the second synchronizing wheel, described first synchronizing wheel is in transmission connection by Timing Belt and the second synchronizing wheel, described first synchronizing wheel and adapter sleeve are in transmission connection, and described second synchronizing wheel is connected with the second variator.
Further, described telescopic arm and adapter sleeve are rotatably connected, and described adapter sleeve is provided with the 6th servo motor for driving telescopic arm to rotate.
Preferably, described 5th driving mechanism comprises the first sprocket wheel and the second sprocket wheel, and described first sprocket wheel is connected with the second chain gear transmission by chain, and described first sprocket wheel is connected with the 5th servo motor, and described second sprocket wheel is provided with the power transmission shaft be connected with soup cup.
A kind of Auto-pouring System, comprise and at least there is the first casting mold and the second casting mold, guide rail is provided with between described first casting mold and the second casting mold, described slide is connected with multi-shaft interlocked formula robot, one end of described guide rail is provided with at least one smelting furnace, also comprises the drive unit for driving described multi-shaft interlocked formula Robot slide.
Preferably, described holder is provided with the slide plate be connected with slide, and the side of described guide rail is provided with tooth bar, and described drive unit comprises the 7th servo motor being arranged at holder, and described 7th servo motor is provided with the displacement gear engaged with tooth bar.
Beneficial effect of the present invention: compared with prior art, the multi-shaft interlocked formula robot of one of the present invention, the rotating seat comprising holder and be flexibly connected with holder, described rotating seat is connected with lift arm, described lift arm is provided with rotating load bearing seat, described load bearing seat is connected with and stretches out mechanism, described in stretch out mechanism and be hinged with telescopic arm, described telescopic arm is hinged with soup cup; Robot realizes 360 degree of omniranges by rotating seat and rotates, simultaneously, lift arm, load bearing seat, stretch out mechanism and telescopic arm effect under, the stroke adjustment of more than at least five axles can be realized, thus the auxiliary needs of different processing environment can be met, this multiaxis is integrated in one, and to have high integration, impulse stroke large and be easy to the advantage safeguarded for the robot that controls; Meanwhile, present invention also offers a kind of automatic casting system, utilize this multi-shaft interlocked formula robot can realize the uninterrupted pouring practice of multiple mould simultaneously, because the automaticity of native system is high, significantly can reduce recruitment cost and save processing cost.
Accompanying drawing explanation
Fig. 1 is the stereogram of the multi-shaft interlocked formula robot of the present invention.
Fig. 2 is another view stereo figure of the multi-shaft interlocked formula robot of the present invention.
Fig. 3 is the structural representation of the rotating seat of the multi-shaft interlocked formula robot of the present invention.
Fig. 4 is the structural representation of the first driving mechanism of the present invention.
Fig. 5 is the structural representation of four-wheel drive mechanism of the present invention.
Fig. 6 is the structural representation of the 5th driving mechanism of the present invention.
Fig. 7 is the structural representation of Auto-pouring System of the present invention.
Fig. 8 is the drive unit schematic diagram of Auto-pouring System of the present invention.
Reference numeral comprises:
Holder--11, rotating seat--12, lift arm--13,
Load bearing seat--14, telescopic arm--15, soup cup--16,
Stretch out mechanism--2, swing arm--the 21, three servo motor--22,
Adapter sleeve--the 23, six servo motor--24, first driving mechanism--3,
First axis hole--31, fixed axis--32, fixed gear--33,
First servo motor--34, driving gear--35, second driving mechanism--41,
First speed changer--the 411, second servo motor--the 412, three driving mechanism--42,
Four-wheel drive mechanism--5, the second speed changer--the 51, four servo motor--52,
First transmission mechanism--the 53, first synchronizing wheel--531, second synchronizing wheel--532,
Second transmission mechanism--the 54, five driving mechanism--6, first sprocket wheel--61,
Second sprocket wheel--the 62, five servo motor--63, power transmission shaft--64,
First casting mold--71, second casting mold--72, guide rail--73,
Smelting furnace--74, slide plate--75, tooth bar--76,
Drive unit--the 8, seven servo motor--81, displacement gear-82,
Buffer--9.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention will be described in detail.
Embodiment one.
For casting field, generally comprised aluminium casting goods, zinc casting goods etc., its casting becomes metal soup by aluminium ingot or zinc material being carried out high-temperature fusion, then metal soup injected corresponding mould and carry out cast molding.See Fig. 1 to Fig. 6, the multi-shaft interlocked formula robot of one of the present invention, the rotating seat 12 comprising holder 11 and be flexibly connected with holder 11, described rotating seat 12 is connected with lift arm 13, described lift arm 13 is provided with rotating load bearing seat 14, described load bearing seat 14 is connected with and stretches out mechanism 2, described mechanism 2 of stretching out is hinged with telescopic arm 15, described telescopic arm 15 is hinged with soup cup 16, also comprise the first driving mechanism 3 for driving described rotating seat 12, drive the second driving mechanism 41 of lift arm 13 lifting action, drive the 3rd driving mechanism 42 that described load bearing seat 14 rotates, the four-wheel drive mechanism 5 driving telescopic arm 15 to swing and the 5th driving mechanism 6 for controlling soup cup 16 action, the operation principle of this multi-shaft interlocked formula robot is: the first driving mechanism 3 drives rotating seat 12 to rotate, thus robot can be made to realize 360 degree of omniranges give soup, described second driving mechanism 41 does lifting action for driving lift arm 13,3rd driving mechanism 42 drives load bearing seat 14 to rotate, thus make to stretch out mechanism 2 and realize swinging up and down adjustment, be beneficial to soup cup 16 and move up and down the action realizing getting soup or sending soup, when soup cup 16 stretch into smelting furnace 74 need to get soup time, the 5th driving mechanism 6 is utilized to control the angular pose of soup cup 16, cup mouth is made to carry out getting soup with the angle tilted, prevent the soup occurred in the process that ladles fast from splashing and causing danger, and when giving soup, after making the sprue gate of cup mouth alignment mould, the 5th driving mechanism 6 controls the angular pose of soup cup 16 again, and soup is injected in mould by soup cup 16 smoothly.As can be seen from above-mentioned operation principle, robot realizes 360 degree of omniranges by rotating seat 12 and rotates, simultaneously, lift arm 13, load bearing seat 14, stretch out mechanism 2 and telescopic arm 15 effect under, the stroke adjustment of more than at least five axles can be realized, thus the auxiliary needs of different processing environment can be met, this multiaxis is integrated in one, and to have high integration, impulse stroke large and be easy to the advantage safeguarded for the robot that controls.
In the technical program, described first driving mechanism 3 comprises the first axis hole 31 being arranged at rotating seat 12, described holder 11 is provided with the fixed axis 32 coordinated with described first axis hole 31, described holder 11 is provided with fixed gear 33, described rotating seat 12 is provided with the first servo motor 34, and described first servo motor 34 is connected with the driving gear 35 engaged with fixed gear 33.When needs rotary actuation, the first servo motor 34 drives driving gear 35, under the effect of fixed gear 33, thus rotating seat 12 self is rotated around fixed axis 32, finally realizes 360 degree of omnidirectional rotations.
When working space is comparatively narrow and small, usual cantilever arm needs to realize synchronizing moving horizontal and vertical, in the technical program, described second driving mechanism 41 is arranged at the top of rotating seat 12, the second servo motor 412 that second driving mechanism 41 comprises the first speed changer 411 and is in transmission connection with the first speed changer 411, described lift arm 13 is fixedly connected with the output rotating disk of the first speed changer 411.When lift arm 13 needs to rise, the second servo motor 412 drives the first speed changer 411, and under the effect of the first speed changer 411, lift arm 13 rotates to vertical direction; Equally, when lift arm 13 needs to decline, the first servo motor 34 reverse drive first speed changer 411, makes lift arm 13 rotate backward realization and folds, and utilizes this lift arm 13 to reduce working space; In addition, need to emphasize further time, in general lift arm 13 is in rise with when folding, in order to increase work efficiency, its speed rising and fold, and the weight of lift arm 13 own wt and carrying thereof is larger, under rising fast and folding effect, easily larger impact is produced to the first speed changer 411, as further perfect scheme, described rotating seat 12 is hinged with buffer 9, and this buffer 9 comprises cylindrical shell and is arranged at the buffer spring in cylindrical shell, and described buffer spring is connected with lift arm 13; Like this, when lift arm 13 is when rising fast or folding, the first speed changer 411 can be protected preferably.
In addition, the 3rd driving mechanism 42 is identical with the structure of the second driving mechanism 41, does not repeat one by one at this, when needs to stretch out mechanism 2 swing time, the rotation that the 3rd driving mechanism 42 drives load bearing seat 14 to carry out certain angle can realize.
In the technical program, described in stretch out mechanism 2 and comprise the swing arm 21 be connected with load bearing seat 14, described load bearing seat 14 is also provided with the 3rd servo motor 22 for driving swing arm 21 to rotate.For different mould gates, sometimes cast gate may be positioned at leading flank or the trailing flank of mould, need to force swing arm 21 to stretch between two molds like this to pour into a mould, when soup cup 16 is after getting soup, telescopic arm 15 stretches into the chien shih cup mouth alignment cast gate of two molds, then utilizes the 3rd servo motor 22 of this programme, drives swing arm 21 to rotate, soup cup 16 can be carried out rotation realization inclination along the axis of swing arm 21 like this, this programme has further expanded robot applicability.
In aforementioned schemes, although by the action of lift arm 13, soup cup 16 can be made to stretch into corresponding working region, but, in the dynamic row of reality, lift arm 13 is only utilized to carry out adjustment operating position, obviously its operating efficiency can greatly be reduced, in the technical program, described telescopic arm 15 is provided with the adapter sleeve 23 hinged with stretching out mechanism 2, the 4th servo motor 52 that four-wheel drive mechanism 5 comprises the second speed changer 51 and is in transmission connection with the second speed changer 51, the cantilever arm of described swing arm 21 is provided with the first symmetrical transmission mechanism 53 and the second transmission mechanism 54, described second speed changer 51 output torque to the first transmission mechanism 53 and the second transmission mechanism 54 respectively, described first transmission mechanism 53, second transmission mechanism 54 drives adapter sleeve 23 anglec of rotation simultaneously.The operation principle of this programme is: mechanism 2 is stretched out in the lifting cooperation of lift arm 13 to be made near soup cup 16 quick position to working region, then the 4th servo motor 52 drives the second speed changer 51, moment of torsion is exported to the first transmission mechanism 53 and the second transmission mechanism 54 by the second speed changer 51, first transmission mechanism 53, second transmission mechanism 54 drives adapter sleeve 23 anglec of rotation, thus realize the adjustment of angle, need further it is emphasised that, the second speed changer 51 in this programme is twin shaft output speed changer, so not only can reduce the number of mechanism, and can manufacturing cost be saved; The object of this programme utilizes lift arm 13 etc. to make soup cup 16 quick position to working region exactly, then utilizes four-wheel drive mechanism 5 to carry out the fine setting of attitude, both ensure that machine task efficiency, further ensures the security that soup transmits again.
Certainly, further, described in this programme, the first transmission mechanism 53, second transmission mechanism 54 includes the first synchronizing wheel 531 and the second synchronizing wheel 532, described first synchronizing wheel 531 is in transmission connection by Timing Belt and the second synchronizing wheel 532, described first synchronizing wheel 531 is in transmission connection with adapter sleeve 23, and described second synchronizing wheel 532 is connected with the second variator.That is utilize the kind of drive of the first synchronizing wheel 531, second synchronizing wheel 532 and Timing Belt, thus implement angle adjustment.
When the sprue gate of mould is (in as Fig. 7 shown in A) during front, described 5th driving mechanism 6 comprises the first sprocket wheel 61 and the second sprocket wheel 62, described first sprocket wheel 61 is in transmission connection by chain and the second sprocket wheel 62, described first sprocket wheel 61 is connected with the 5th servo motor 63, and described second sprocket wheel 62 is provided with the power transmission shaft 64 be connected with soup cup 16.When soup cup 16 is when getting liquid, when soup cup 16 stretches into and is positioned at ullage in smelting furnace 74,6th servo motor 24 drives telescopic arm 15 to rotate a certain angle, and makes the oral area of soup cup 16 downward-sloping, thus prevents from the bottom of soup cup 16 from producing when sinking to soup fast spattering liquid phenomenon.In addition, when pouring into a mould, utilizing the 5th servo motor 63 power transmission shaft 64 to rotate, the oral area of soup cup 16 is poured into a mould with the sprue gate of slower speed to mould.During work, the 5th servo motor 63 drives the first sprocket wheel 61 and the second sprocket wheel 62, thus makes power transmission shaft 64 drive soup cup 16 to rotate, thus reaches the object that liquid liquor charging is got in fine setting,
Embodiment two.
As another kind of embodiment, when the sprue gate of mould is (in as Fig. 7 shown in B) during side, although utilize the 3rd servo motor 22 that swing arm 21 can be driven to rotate, but, in actual use, in order to increase work efficiency, 3rd servo motor 22 often drives swing arm 21 to rotate fast, if soup cup 16 is in-built fill soup, such as, when fast rotary turn 90 degrees, soup may be made to splash, so, be improved further, described telescopic arm 15 is rotatably connected with adapter sleeve 23, described adapter sleeve 23 is provided with the 6th servo motor 24 for driving telescopic arm 15 to rotate, when soup cup 16 is when getting liquid, when soup cup 16 stretches into and is positioned at ullage in smelting furnace 74,6th servo motor 24 drives telescopic arm 15 to rotate a certain angle, and makes the oral area of soup cup 16 downward-sloping, thus prevents from the bottom of soup cup 16 from producing when sinking to soup fast spattering liquid phenomenon.In addition, when pouring into a mould, utilizing the 6th servo motor 24 to drive telescopic arm 15 to rotate, the oral area of soup cup 16 is poured into a mould with the sprue gate of slower speed to mould.
Other parts of the present embodiment are identical with embodiment one, do not repeating at this.
See Fig. 7, Fig. 8, the present invention still further provides a kind of Auto-pouring System, comprise and at least there is the first casting mold 71 and the second casting mold 72, guide rail 73 is provided with between described first casting mold 71 and the second casting mold 72, described guide rail 73 slidably connects multi-shaft interlocked formula robot, one end of described guide rail 73 is provided with at least one smelting furnace 74, also comprises the drive unit 8 for driving described Robot guide rail 73 to slide.The operation principle of this Auto-pouring System is: robot is mounted with soup cup 16, robot use soup cup 16 stretches in smelting furnace 74 and carries out getting liquid, 74 li, described smelting furnace is contained with aluminium liquid, zinc liquid etc., under the effect of drive unit 8, corresponding station is slid into along guide rail 73 after liquid is got by robot, first casting mold 71 or the second casting mold 72 are poured into a mould, namely corresponding soup is automatically injected in mould, in the present system, described first casting mold 71 and the second casting mold 72 all can arrange multiple, it is sequentially arranged in the both sides of guide rail 73, robot is utilized automatically to get liquid, move along guide rail 73 after getting liquid, can pour into a mould successively, when being provided with multiple first casting mold 71 and the second casting mold 72, further smelting furnace 74 can also be all set at the two ends of guide rail 73, the problem causing shift motion long because of the stroke length of guide rail 73 can be solved like this, ensure that operating efficiency.This running gate system utilizes multi-shaft interlocked formula robot can realize the uninterrupted pouring practice of multiple mould simultaneously, because the automaticity of native system is high, significantly can reduce recruitment cost and save processing cost.
Further, described holder 11 is provided with the slide plate 75 be slidably connected with guide rail 73, the side of described guide rail 73 is provided with tooth bar 76, and described drive unit 8 comprises the 7th servo motor 81 being arranged at holder 11, and described 7th servo motor 81 is provided with the displacement gear 82 engaged with tooth bar 76.When robot needs to move along guide rail 73,7th servo motor 81 drive displacement gear 82 moves along tooth bar 76, thus realizes the displacement of robot, after moving to relevant position, namely robot by adjustments such as rotation, lifting, swings accordingly, finally completes liquor charging fluid injection action.
Above content is only preferred embodiment of the present invention, and for those of ordinary skill in the art, according to thought of the present invention, all will change in specific embodiments and applications, this description should not be construed as limitation of the present invention.

Claims (10)

1. a multi-shaft interlocked formula robot, the rotating seat (12) comprising holder (11) and be flexibly connected with holder (11), it is characterized in that: described rotating seat (12) is connected with lift arm (13), described lift arm (13) is provided with rotating load bearing seat (14), described load bearing seat (14) is connected with and stretches out mechanism (2), described mechanism (2) of stretching out is hinged with telescopic arm (15), described telescopic arm (15) is hinged with soup cup (16), also comprise the first driving mechanism (3) for driving described rotating seat (12), drive second driving mechanism (41) of lift arm (13) lifting action, the 3rd driving mechanism (42) driving described load bearing seat (14) to rotate, the four-wheel drive mechanism (5) driving telescopic arm (15) to swing and the 5th driving mechanism (6) for controlling soup cup (16) action.
2. the multi-shaft interlocked formula robot of one according to claim 1, it is characterized in that: described first driving mechanism (3) comprises the first axis hole (31) being arranged at rotating seat (12), described holder (11) is provided with the fixed axis (32) coordinated with described first axis hole (31), described holder (11) is provided with fixed gear (33), described rotating seat (12) is provided with the first servo motor (34), and described first servo motor (34) is connected with the driving gear (35) engaged with fixed gear (33).
3. the multi-shaft interlocked formula robot of one according to claim 1, it is characterized in that: described second driving mechanism (41) is arranged at the top of rotating seat (12), the second servo motor (412) that second driving mechanism (41) comprises the first speed changer (411), is in transmission connection with the first speed changer (411), described lift arm (13) is fixedly connected with the output rotating disk of the first speed changer (411).
4. the multi-shaft interlocked formula robot of one according to claim 1, it is characterized in that: described in stretch out mechanism (2) and comprise the swing arm (21) be connected with load bearing seat (14), described load bearing seat (14) is also provided with the 3rd servo motor (22) for driving swing arm (21) to rotate.
5. the multi-shaft interlocked formula robot of one according to claim 4, it is characterized in that: described telescopic arm (15) is provided with the adapter sleeve (23) hinged with stretching out mechanism (2), four-wheel drive mechanism (5) comprises the second speed changer (51), the 4th servo motor (52) be in transmission connection with the second speed changer (51), the cantilever arm of described swing arm (21) is provided with symmetrical the first transmission mechanism (53) and the second transmission mechanism (54), described second speed changer (51) is output torque to the first transmission mechanism (53) and the second transmission mechanism (54) respectively, described first transmission mechanism (53), second transmission mechanism (54) drives adapter sleeve (23) anglec of rotation simultaneously.
6. the multi-shaft interlocked formula robot of one according to claim 5, it is characterized in that: described first transmission mechanism (53), the second transmission mechanism (54) include the first synchronizing wheel (531) and the second synchronizing wheel (532), described first synchronizing wheel (531) is in transmission connection by Timing Belt and the second synchronizing wheel (532), described first synchronizing wheel (531) and adapter sleeve (23) are in transmission connection, and described second synchronizing wheel (532) and the second speed changer (51) are in transmission connection.
7. the multi-shaft interlocked formula robot of one according to claim 5, it is characterized in that: described telescopic arm (15) and adapter sleeve (23) are rotatably connected, and described adapter sleeve (23) is provided with the 6th servo motor (24) for driving telescopic arm (15) to rotate.
8. the multi-shaft interlocked formula robot of one according to claim 1, it is characterized in that: described 5th driving mechanism (6) comprises the first sprocket wheel (61) and the second sprocket wheel (62), described first sprocket wheel (61) is in transmission connection by chain and the second sprocket wheel (62), described first sprocket wheel (61) is connected with the 5th servo motor (63), and described second sprocket wheel (62) is provided with the power transmission shaft (64) be connected with soup cup (16).
9. an Auto-pouring System, comprise and at least there is the first casting mold (71) and the second casting mold (72), it is characterized in that: between described first casting mold (71) and the second casting mold (72), be provided with guide rail (73), described guide rail (73) is slidably connected described multi-shaft interlocked formula robot arbitrary just like claim 1 ~ 8, one end of described guide rail (73) is provided with at least one smelting furnace (74), also comprises the drive unit (8) for driving described multi-shaft interlocked formula Robot guide rail (73) to slide.
10. a kind of Auto-pouring System according to claim 9, it is characterized in that: described holder (11) is provided with the slide plate (75) be slidably connected with guide rail (73), the side of described guide rail (73) is provided with tooth bar (76), described drive unit (8) comprises the 7th servo motor (81) being arranged at holder (11), and described 7th servo motor (81) is provided with the displacement gear (82) engaged with tooth bar (76).
CN201510352011.0A 2015-06-24 2015-06-24 A kind of multi-shaft interlocked formula robot and its automatic casting system CN104972589B (en)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0658405A1 (en) * 1993-12-17 1995-06-21 COMAU S.p.A. Industrial robot with integrated reduction gear units
US20110166708A1 (en) * 2008-09-03 2011-07-07 Frank Herre Painting device and associated method
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