CN104972589B - A kind of multi-shaft interlocked formula robot and its automatic casting system - Google Patents
A kind of multi-shaft interlocked formula robot and its automatic casting system Download PDFInfo
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- CN104972589B CN104972589B CN201510352011.0A CN201510352011A CN104972589B CN 104972589 B CN104972589 B CN 104972589B CN 201510352011 A CN201510352011 A CN 201510352011A CN 104972589 B CN104972589 B CN 104972589B
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Abstract
The present invention relates to technical field of automation equipment, disclose a kind of multi-shaft interlocked formula robot, the rotating seat being flexibly connected including fixed seat and with fixed seat, the rotating seat is connected with lift arm, the lift arm is provided with rotatable load bearing seat, the load bearing seat is connected with exposure mechanism, and the exposure mechanism is hinged with telescopic arm, and the telescopic arm is hinged with soup cup；Robot realizes that 360 degree of omniranges rotate by rotating seat, simultaneously, in the presence of lift arm, load bearing seat, exposure mechanism and telescopic arm, stroke adjustments more than at least five axles can be realized, so as to meet the auxiliary needs of different processing environments, the be integrated in one robot of control of this multiaxis has the advantages that high integration, impulse stroke are big and easy to maintain.
Description
Technical field
Poured the present invention relates to technical field of automation equipment, more particularly to a kind of multi-shaft interlocked formula robot and its automation
Injection system.
Background technology
With the raising of China's labor cost, the manufacturing industry of China is promoted constantly to innovate upgrading, for example：At this stage I
State is wideling popularize machine substitute human labor plan etc., and its final purpose promotes the upgrading of enterprise's manufacturing equipment, reduces the use of enterprise
Work cost, improves the quality of product, that is, needs to manufacture high efficiency, the equipment of the high-intelligentization artificial behaviour traditional to replace
Make；Certainly, substantial amounts of intelligent machine equipment is also all manufactured that outside Current Domestic, still, this kind of equipment is from actually used
It is that complementary operation is played under the premise of manually-operated from the point of view of situation, moreover, existing intelligent machine equipment can only often lead to
Cross simple mechanism kinematic, it is impossible to complete complex operation, and once need to complete complicated, big stroke operation step
When rapid, that is, needing multiple intelligent machine equipment to interact and coordinate could complete, now, for intelligent machine equipment,
Expensive, general enterprise is difficult to while buy multiple intelligent machine equipment, seriously constrain the use of intelligent machine equipment；
Moreover, the maintenance difficulties of this multiple intelligent machine equipment each other are larger.In view of this, inventor is for current intelligent machine
The deficiency that tool apparatus field is present, by test of many times, has invented a kind of multi-shaft interlocked formula robot and its automation is poured finally
Injection system.
The content of the invention
In view of the above-mentioned deficiencies in the prior art, it is an object of the present invention to provide a kind of multi-shaft interlocked formula robot, robot
High, the big and easy to maintain advantage of impulse stroke with integrated level；There is multi-shaft interlocked formula machine present invention also offers one kind
The automatic casting system of people, the system has the advantages that high degree of automation and saves processing cost.
To achieve the above object, a kind of multi-shaft interlocked formula robot of the invention, including fixed seat and with fixed seat activity
The rotating seat of connection, the rotating seat is connected with lift arm, and the lift arm is provided with rotatable load bearing seat, the load bearing seat
Exposure mechanism is connected with, the exposure mechanism is hinged with telescopic arm, and the telescopic arm is hinged with soup cup, also including for driving
The first drive mechanism, the second drive mechanism of driving lift arm lifting action, the driving load bearing seat for stating rotating seat are rotated
3rd drive mechanism, the 4th drive mechanism of the flexible arm swing of driving and the 5th drive mechanism for controlling soup cup to act.
Preferably, first drive mechanism includes being arranged at the first axis hole of rotating seat, and the fixed seat is provided with
With the fixing axle of first shaft hole matching, the fixed seat is provided with fixed gear, and the rotating seat is provided with the first servo
Motor, first servo motor is connected with the driving gear engaged with fixed gear.
Preferably, second drive mechanism is arranged at the top of rotating seat, and the second drive mechanism includes the first speed change
The output rotating disk of device and the second servo motor being connected with the first variator, the lift arm and the first speed changer, which is fixed, to be connected
Connect.
Preferably, the exposure mechanism includes the swing arm being connected with load bearing seat, and the load bearing seat, which is additionally provided with, to be used for
Drive the 3rd servo motor of swing arm rotation.
Further, the telescopic arm is provided with the adapter sleeve being hinged with exposure mechanism, and the 4th drive mechanism includes second
Speed changer and the 4th servo motor being connected with the second variator, the cantilever arm of the swing arm are provided with symmetrical
First transmission mechanism and the second transmission mechanism, second speed changer are distinguished output torque to the first transmission mechanism and second and are driven
Mechanism, drive connection covers the anglec of rotation simultaneously for first transmission mechanism, the second transmission mechanism.
Further, first transmission mechanism, the second transmission mechanism include the first synchronizing wheel and the second synchronizing wheel, institute
State the first synchronizing wheel to be connected by Timing Belt and the second synchronizing wheel, first synchronizing wheel is connected with adapter sleeve, institute
The second synchronizing wheel is stated to be connected with the second variator.
Further, the telescopic arm is rotatably connected with adapter sleeve, and the adapter sleeve is provided with for driving telescopic arm
The 6th servo motor rotated.
Preferably, the 5th drive mechanism includes the first sprocket wheel and the second sprocket wheel, and first sprocket wheel passes through chain
It is connected with the second chain gear transmission, first sprocket wheel is connected with the 5th servo motor, second sprocket wheel is provided with to be connected with soup cup
The power transmission shaft connect.
A kind of Auto-pouring System, including at least there is the first casting mold and the second casting mold, first cast
Guide rail is provided between mould and the second casting mold, the slide is connected with multi-shaft interlocked formula robot, the guide rail
One end be provided with least one smelting furnace, also filled including the driving for driving the multi-shaft interlocked formula Robot slide
Put.
Preferably, the fixed seat is provided with the slide plate being connected with slide, and the side of the guide rail sets with teeth
Bar, the drive device includes being arranged at the 7th servo motor of fixed seat, and the 7th servo motor is provided with to be nibbled with tooth bar
The displacement gear of conjunction.
Beneficial effects of the present invention：Compared with prior art, a kind of multi-shaft interlocked formula robot of the invention, including fixation
Seat and the rotating seat being flexibly connected with fixed seat, the rotating seat are connected with lift arm, and the lift arm is provided with rotatably
Load bearing seat, the load bearing seat is connected with exposure mechanism, and the exposure mechanism is hinged with telescopic arm, and the telescopic arm is hinged with soup
Cup；Robot realizes that 360 degree of omniranges rotate by rotating seat, meanwhile, in lift arm, load bearing seat, exposure mechanism and flexible
In the presence of arm, it is possible to achieve stroke adjustments more than at least five axles, so as to meet the auxiliary needs of different processing environments,
The be integrated in one robot of control of this multiaxis has the advantages that high integration, impulse stroke are big and easy to maintain；Meanwhile, this
Invention additionally provides a kind of automatic casting system, and multiple moulds can be realized simultaneously not using the multi-shaft interlocked formula robot
Interrupted pour operation, due to the high degree of automation of the system, can significantly reduce recruitment cost and save processing cost.
Brief description of the drawings
Fig. 1 is the stereogram of multi-shaft interlocked formula robot of the invention.
Fig. 2 is another view stereo figure of multi-shaft interlocked formula robot of the invention.
Fig. 3 is the structural representation of the rotating seat of multi-shaft interlocked formula robot of the invention.
Fig. 4 is the structural representation of the first drive mechanism of the present invention.
Fig. 5 is the structural representation of the 4th drive mechanism of the present invention.
Fig. 6 is the structural representation of the 5th drive mechanism of the present invention.
Fig. 7 is the structural representation of the Auto-pouring System of the present invention.
Fig. 8 is the drive device schematic diagram of the Auto-pouring System of the present invention.
Reference includes：
Fixed seat -- 11, rotating seat -- 12, lift arm -- 13,
Load bearing seat -- 14, telescopic arm -- 15, soup cup -- 16,
Exposure mechanism -- 2, swing arm -- 21, the 3rd servo motor -- 22,
Adapter sleeve -- 23, the 6th servo motor -- 24, the first drive mechanism -- 3,
First axis hole -- 31, fixing axle -- 32, fixed gear -- 33,
First servo motor -- 34, driving gear -- 35, the second drive mechanism -- 41,
First speed changer -- 411, the second servo motor -- 412, the 3rd drive mechanism -- 42,
4th drive mechanism -- 5, the second speed changer -- 51, the 4th servo motor -- 52,
First transmission mechanism -- 53, the first synchronizing wheel -- 531, the second synchronizing wheel -- 532,
Second transmission mechanism -- 54, the 5th drive mechanism -- 6, the first sprocket wheel -- 61,
Second sprocket wheel -- 62, the 5th servo motor -- 63, power transmission shaft -- 64,
First casting mold -- 71, the second casting mold -- 72, guide rail -- 73,
Smelting furnace -- 74, slide plate -- 75, tooth bar -- 76,
Drive device -- 8, the 7th servo motor -- 81, displacement gear -82,
Buffer -- 9.
Embodiment
The present invention will be described in detail below in conjunction with the accompanying drawings.
Embodiment one.
For casting field, aluminium casting product, zinc casting product etc. are generally comprised, it is by by aluminium ingot or zinc that it, which is cast,
Material carries out high-temperature fusion into metal soup, and metal soup then is injected into corresponding mould and carries out cast molding.Referring to Fig. 1 to figure
6, a kind of multi-shaft interlocked formula robot of the invention, including fixed seat 11 and the rotating seat 12 that is flexibly connected with fixed seat 11, institute
State rotating seat 12 and be connected with lift arm 13, the lift arm 13 is provided with rotatable load bearing seat 14, and the load bearing seat 14 is connected
There is exposure mechanism 2, the exposure mechanism 2 is hinged with telescopic arm 15, and the telescopic arm 15 is hinged with soup cup 16, also including for driving
Move and held described in the first drive mechanism 3, the second drive mechanism 41 of driving lift arm 13 lifting action, driving of the rotating seat 12
Carry the 3rd drive mechanism 42 of the rotation of seat 14, the 4th drive mechanism 5 that driving telescopic arm 15 is swung and for controlling soup cup 16 to move
The 5th drive mechanism 6 made；Originally the operation principle of multi-shaft interlocked formula robot is：First drive mechanism 3 driving rotating seat 12 enters
Row rotation, so as to which so that robot realizes that 360 degree of omniranges send soup, second drive mechanism 41 is used to drive lift arm 13
Make lifting action, the 3rd drive mechanism 42 driving load bearing seat 14 is rotated, so that exposure mechanism 2, which is realized, swings up and down adjustment, with
Realization is moved up and down beneficial to soup cup 16 to take soup or send the action of soup；When soup cup 16, which stretches into smelting furnace 74, needs to take soup, the 5th is utilized
The angular pose of the control soup of drive mechanism 6 cup 16, makes cup mouth carry out taking soup at an oblique angle, prevents from sending out during quickly ladling
Raw soup splashes and caused danger, and when sending soup, behind the sprue gate for making cup mouthful alignment mould, the 5th drive mechanism 6 is again
The angular pose of secondary control soup cup 16, makes soup cup 16 smoothly inject soup in mould.It can be seen that from above-mentioned operation principle
Robot realizes that 360 degree of omniranges rotate by rotating seat 12, meanwhile, in lift arm 13, load bearing seat 14, the and of exposure mechanism 2
In the presence of telescopic arm 15, it is possible to achieve stroke adjustments more than at least five axles, so as to meet the auxiliary of different processing environments
Help needs, the be integrated in one robot of control of this multiaxis has the advantages that high integration, impulse stroke are big and easy to maintain.
In the technical program, first drive mechanism 3 includes being arranged at the first axis hole 31 of rotating seat 12, described solid
Reservation 11 is provided with the fixing axle 32 coordinated with first axis hole 31, and the fixed seat 11 is provided with fixed gear 33, described
Rotating seat 12 is provided with the first servo motor 34, and first servo motor 34 is connected with the driving tooth engaged with fixed gear 33
Wheel 35.When needing rotation driving, the first servo motor 34 drives driving gear 35, in the presence of fixed gear 33, so that
Rotating seat 12 itself is rotated around fixing axle 32, finally realize 360 degree of omnidirectional rotations.
When working space is more narrow and small, usual cantilever arm needs to realize synchronizing moving horizontal and vertical, in this technology
In scheme, second drive mechanism 41 is arranged at the top of rotating seat 12, and the second drive mechanism 41 includes the first speed changer 411
With the second servo motor 412 being connected with the first speed changer 411, the output of the speed changer 411 of lift arm 13 and first
Rotating disk is fixedly connected.When lift arm 13 needs to rise, the second servo motor 412 drives the first speed changer 411, in the first speed change
In the presence of device 411, lift arm 13 is rotated to vertical direction；Equally, when lift arm 13 needs to decline, the first servo motor 34
The first speed changer of reverse drive 411, makes lift arm 13 rotate backward realization and folds, and it is empty to reduce work using the lift arm 13
Between；In addition, it is necessary to further emphasize when, in general lift arm 13 is in the case where rising and folding, in order to improve work
Efficiency, its speed for rising and folding, and the own wt of lift arm 13 and its weight of carrying are larger, are quickly rising
With fold under effect, larger impact easily is produced to the first speed changer 411, further perfect scheme, the rotation is used as
Seat 12 is hinged with buffer 9, and the buffer 9 includes cylinder and the buffer spring being arranged in cylinder, and the buffer spring is with lifting
Arm 13 is risen to connect；So, when lift arm 13 is in the case where quickly rising or folding, the first speed changer 411 can preferably be protected.
In addition, the 3rd drive mechanism 42 is identical with the structure of the second drive mechanism 41, do not repeated one by one herein, when need
When being swung to exposure mechanism 2, the rotation that the 3rd drive mechanism 42 driving load bearing seat 14 carries out certain angle is that can be achieved.
In the technical program, the exposure mechanism 2 includes the swing arm 21 being connected with load bearing seat 14, the load bearing seat 14
It is additionally provided with the 3rd servo motor 22 for driving swing arm 21 to rotate.For different mould gates, cast gate may sometimes
The leading flank or trailing flank of mould can be located at, so need to force swing arm 21 to be poured into a mould between stretching into two molds, work as soup
Cup 16 is after soup is taken, and telescopic arm 15 makes cup mouthful alignment cast gate between stretching into two molds, is then watched using the 3rd of this programme the
Motor 22 is taken, driving swing arm 21 is rotated, axial direction progress rotation of the soup cup 16 along swing arm 21 can so be realized and tilted,
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
It is in actually dynamic row, operating position only to be adjusted using lift arm 13, it is clear that its operating efficiency can be substantially reduced,
In the technical program, the telescopic arm 15 is provided with the adapter sleeve 23 being hinged with exposure mechanism 2, and the 4th drive mechanism 5 includes the
Two speed changers 51 and the 4th servo motor 52 being connected with the second speed changer 51, the cantilever arm of the swing arm 21 are provided with
Symmetrical the first transmission mechanism 53 and the second transmission mechanism 54, second speed changer 51 distinguishes output torque to the first biography
The transmission mechanism 54 of motivation structure 53 and second, drive connection set 23 revolves simultaneously for first transmission mechanism 53, the second transmission mechanism 54
Gyration.The operation principle of this programme is：The lifting of lift arm 13 coordinates exposure mechanism 2 soup cup 16 is quickly positioned to workspace
Near domain, then the 4th servo motor 52 drives the second speed changer 51, and the second speed changer 51 is by torque output to the first driver
The transmission mechanism 54 of structure 53 and second, the first transmission mechanism 53, the drive connection of the second transmission mechanism 54 cover 23 anglecs of rotation, so that real
The adjustment of existing angle is, it is necessary to further, it is emphasized that the second speed changer 51 in this programme is twin shaft output speed changer, so not
But mechanism can be reduced the number of, and manufacturing cost can be saved；The purpose of this programme is exactly to make soup cup 16 fast using lift arm 13 etc.
Then speed positioning carries out the fine setting of attitude to working region using the 4th drive mechanism 5, both ensure that the work effect of robot
Rate, the security for ensureing soup transmission further.
Certainly, further, the first transmission mechanism 53, the second transmission mechanism 54 described in this programme include first synchronously
The synchronizing wheel 532 of wheel 531 and second, first synchronizing wheel 531 is connected by Timing Belt with the second synchronizing wheel 532, described
First synchronizing wheel 531 is connected with adapter sleeve 23, and second synchronizing wheel 532 is connected with the second variator.Namely
The kind of drive using the first synchronizing wheel 531, the second synchronizing wheel 532 and Timing Belt is said, so as to implement angle adjustment.
When front is in the sprue gate of mould（As shown in A in Fig. 7）, the 5th drive mechanism 6 include the first sprocket wheel
61 and second sprocket wheel 62, first sprocket wheel 61 is connected by chain with the second sprocket wheel 62, and first sprocket wheel 61 is connected
There is the 5th servo motor 63, second sprocket wheel 62 is provided with the power transmission shaft 64 being connected with soup cup 16.When soup cup 16 is taking liquid,
When soup cup 16 is stretched into smelting furnace 74 positioned at ullage, the 6th servo motor 24 driving telescopic arm 15 rotates a certain angle, and makes
The oral area of soup cup 16 is downward-sloping, so as to prevent that the bottom of soup cup 16 from producing splashing liquid phenomenon when quickly sinking to soup.In addition,
During cast, rotated using the power transmission shaft 64 of the 5th servo motor 63, make the oral area of soup cup 16 with cast from slower speed to mould
Mouth is poured into a mould.During work, the 5th servo motor 63 drives the first sprocket wheel 61 and the second sprocket wheel 62, so that power transmission shaft 64 drives
Soup cup 16 is rotated, so that reach that fine setting takes the purpose of liquid liquor charging,
Embodiment two.
As another embodiment, when the sprue gate of mould is side（As shown in B in Fig. 7）, although utilize
Three servo motors 22 can drive swing arm 21 to rotate, still, in actual use, in order to improve operating efficiency, the 3rd servo
Often quickly driving swing arm 21 rotates motor 22, if soup cup 16 is built-in to fill soup, for example, being quickly rotated by 90 °
When, soup may be made to splash, so, it is improved further, the telescopic arm 15 is rotatably connected with adapter sleeve 23, the company
Female connector 23 is provided with the 6th servo motor 24 for driving telescopic arm 15 to rotate；When soup cup 16 is taking liquid, soup cup 16 is stretched into
When being located at ullage in smelting furnace 74, the 6th servo motor 24 driving telescopic arm 15 rotates a certain angle, and makes the mouth of soup cup 16
Portion is downward-sloping, so as to prevent that the bottom of soup cup 16 from producing splashing liquid phenomenon when quickly sinking to soup.In addition, in cast, profit
Rotated with the 6th servo motor 24 driving telescopic arm 15, the oral area of soup cup 16 is carried out with slower speed to the sprue gate of mould
Cast.
The other parts of the present embodiment are identical with embodiment one, do not repeating herein.
Referring to Fig. 7, Fig. 8, the present invention still further provides a kind of Auto-pouring System, including at least have the first casting moulds
Guide rail 73 is provided between the casting mold 72 of tool 71 and second, the casting mold 72 of the first casting mold 71 and second, it is described
Guide rail 73 slidably connects multi-shaft interlocked formula robot, and one end of the guide rail 73 is provided with least one smelting furnace 74, also included
For the drive device 8 for driving the Robot guide rail 73 to slide.The operation principle of this Auto-pouring System is：Robot is filled
Soup cup 16 is loaded with, robot is stretched into smelting furnace 74 using soup cup 16 and taking be contained with aluminium liquid, zinc liquid in liquid, the smelting furnace 74
Deng robot to take and slide into corresponding station along guide rail 73 in the presence of drive device 8 after liquid, to the first casting mold 71
Or second casting mold 72 poured into a mould, that is, corresponding soup is automatically injected in mould, in the present system, described first
The casting mold 72 of casting mold 71 and second can set multiple, and it is sequentially arranged in the both sides of guide rail 73, utilizes robot
Progress takes liquid automatically, takes and moved after liquid along guide rail 73, can be poured into a mould successively；When being provided with multiple Hes of first casting mold 71
During the second casting mold 72, smelting furnace 74 further can also be respectively provided with the two ends of guide rail 73, can so solved because of guide rail 73
Stroke length and cause the problem of shift motion is long；It ensure that operating efficiency.This running gate system utilizes multi-shaft interlocked formula machine
People can realize the uninterrupted pouring practice of multiple moulds simultaneously, due to the high degree of automation of the system, can significantly reduce use
Work cost and saving processing cost.
Further, the fixed seat 11 is provided with the slide plate 75 being slidably connected with guide rail 73, the side of the guide rail 73
Tooth bar 76 is provided with, the drive device 8 includes being arranged at the 7th servo motor 81 of fixed seat 11, the 7th servo motor
81 are provided with the displacement gear 82 engaged with tooth bar 76.When robot needs to move along guide rail 73, the 7th servo motor 81
Drive displacement gear 82 is moved along tooth bar 76, so as to realize the displacement of robot, after relevant position is moved to, robot is
Liquor charging fluid injection action can be finally completed by the regulation such as rotating, lifting, swing accordingly.
Above content is only presently preferred embodiments of the present invention, for one of ordinary skill in the art, according to the present invention's
Thought, will change in specific embodiments and applications, and this specification content should not be construed as to the present invention
Limitation.
Claims (5)
1. a kind of multi-shaft interlocked formula robot, including fixed seat（11）And and fixed seat（11）The rotating seat of flexible connection（12）,
It is characterized in that：The rotating seat（12）It is connected with lift arm（13）, the lift arm（13）It is provided with rotatable load bearing seat
（14）, the load bearing seat（14）It is connected with exposure mechanism（2）, the exposure mechanism（2）It is hinged with telescopic arm（15）, it is described flexible
Arm（15）It is hinged with soup cup（16）, also including for driving the rotating seat（12）The first drive mechanism（3）, driving lift arm
（13）Second drive mechanism of lifting action（41）, drive the load bearing seat（14）The 3rd drive mechanism rotated（42）, driving
Telescopic arm（15）The 4th drive mechanism swung（5）And for controlling soup cup（16）5th drive mechanism of action（6）；
First drive mechanism（3）Including being arranged at rotating seat（12）The first axis hole（31）, the fixed seat（11）Set
Have and first axis hole（31）The fixing axle of cooperation（32）, the fixed seat（11）It is provided with fixed gear（33）, the rotation
Swivel base（12）It is provided with the first servo motor（34）, first servo motor（34）It is connected with and fixed gear（33）Engagement
Driving gear（35）；
The exposure mechanism（2）Including with load bearing seat（14）The swing arm of connection（21）, the load bearing seat（14）It is additionally provided with use
In driving swing arm（21）3rd servo motor of rotation（22）；
The telescopic arm（15）It is provided with and exposure mechanism（2）The adapter sleeve being hinged（23）, the 4th drive mechanism（5）Including second
Speed changer（51）And the second speed changer（51）4th servo motor of drive connection（52）, the swing arm（21）Cantilever arm
It is provided with the first symmetrical transmission mechanism（53）With the second transmission mechanism（54）, second speed changer（51）Export respectively
Moment of torsion is to the first transmission mechanism（53）With the second transmission mechanism（54）, first transmission mechanism（53）, the second transmission mechanism
（54）While drive connection set（23）The anglec of rotation.
2. a kind of multi-shaft interlocked formula robot according to claim 1, it is characterised in that：Second drive mechanism（41）
It is arranged at rotating seat（12）Top, the second drive mechanism（41）Including the first speed changer（411）And the first speed changer（411）
Second servo motor of drive connection（412）, the lift arm（13）With the first speed changer（411）Output rotating disk fix connect
Connect.
3. a kind of multi-shaft interlocked formula robot according to claim 1, it is characterised in that：First transmission mechanism
（53）, the second transmission mechanism（54）Include the first synchronizing wheel（531）With the second synchronizing wheel（532）, first synchronizing wheel
（531）Pass through Timing Belt and the second synchronizing wheel（532）Drive connection, first synchronizing wheel（531）With adapter sleeve（23）Transmission
Connection, second synchronizing wheel（532）With the second speed changer（51）Drive connection.
4. a kind of multi-shaft interlocked formula robot according to claim 1, it is characterised in that：The telescopic arm（15）With being connected
Set（23）It is rotatably connected, the adapter sleeve（23）It is provided with for driving telescopic arm（15）The 6th servo motor rotated
（24）.
5. a kind of multi-shaft interlocked formula robot according to claim 1, it is characterised in that：5th drive mechanism（6）
Including the first sprocket wheel（61）With the second sprocket wheel（62）, first sprocket wheel（61）Pass through chain and the second sprocket wheel（62）Transmission connects
Connect, first sprocket wheel（61）It is connected with the 5th servo motor（63）, second sprocket wheel（62）It is provided with and soup cup（16）Even
The power transmission shaft connect（64）.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510352011.0A CN104972589B (en) | 2015-06-24 | 2015-06-24 | A kind of multi-shaft interlocked formula robot and its automatic casting system |
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| CN201510352011.0A CN104972589B (en) | 2015-06-24 | 2015-06-24 | A kind of multi-shaft interlocked formula robot and its automatic casting system |
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| CN107398892B (en) * | 2017-09-01 | 2023-08-08 | 江苏昆仑光源材料有限公司 | 5-axis 4-joint space degree-of-freedom robot for shaking type collecting and discharging rolling mill |
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| CN203592484U (en) * | 2013-10-25 | 2014-05-14 | 厦门至慧机器人有限公司 | Four-joint ladling or pouring robot |
| CN203578693U (en) * | 2013-11-18 | 2014-05-07 | 襄阳恒德汽车配件有限公司 | Vehicle hub casting mold with vibration device |
| CN103978478A (en) * | 2014-04-28 | 2014-08-13 | 惠州市仨联自动化设备有限公司 | Multi-shaft horizontal joint intelligent robot |
| CN104663138A (en) * | 2015-02-26 | 2015-06-03 | 西北农林科技大学 | Apply picking manipulator |
| CN204894322U (en) * | 2015-06-24 | 2015-12-23 | 东莞市松庆智能自动化科技有限公司 | Multiaxis coordinated type robot and automatic the gating system thereof |
| CN105690223A (en) * | 2016-04-20 | 2016-06-22 | 东莞市松庆智能自动化科技有限公司 | Mobile phone shell polishing robot |
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|---|---|
| CN104972589A (en) | 2015-10-14 |
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