CN106270418B - A kind of running vehicle type three-dimensional flow coat closing machine tool hand - Google Patents
A kind of running vehicle type three-dimensional flow coat closing machine tool hand Download PDFInfo
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- CN106270418B CN106270418B CN201610774884.5A CN201610774884A CN106270418B CN 106270418 B CN106270418 B CN 106270418B CN 201610774884 A CN201610774884 A CN 201610774884A CN 106270418 B CN106270418 B CN 106270418B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22C—FOUNDRY MOULDING
- B22C23/00—Tools; Devices not mentioned before for moulding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22C—FOUNDRY MOULDING
- B22C23/00—Tools; Devices not mentioned before for moulding
- B22C23/02—Devices for coating moulds or cores
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Abstract
A kind of running vehicle type three-dimensional flow coat closing machine tool hand, including running vehicle type moving carriage, lateral load transferring vehicle, chain type jacking system, mechanical arm grasp system；The lateral load transferring vehicle is mounted in running vehicle type moving carriage, can be in running vehicle type moving carriage transverse shifting；The chain type jacking system is fixed on lateral transplanting cart, and chain type jacking system lower end is connected with mechanical arm grasping system.The beneficial effects of the present invention are: it is automated suitable for heavy-duty cast casting in flow coat, mould assembling process, intelligentized production.
Description
Technical field
The present invention relates to a kind of mechanical equipment, specifically a kind of running vehicle type three-dimensional flow coat closing machine tool hand.
Background technique
With the continuous development of foundry industry, the degree of casting mechanizing production is continuously improved.Especially hundred tons or more
The research and development of large-scale high-end casting mold, the requirement to formative technology are higher and higher.But at present in heavy castings production process
In, the overturning of workpiece, which mainly manually or with crane cooperates, to be completed and the artificial intensity of this mode is high, operational safety is poor, imitates
Rate is very low and destructible workpiece；Safety is poor, and the situation that high-end large-scale casting is scrapped all is that we are least ready to see.
This just needs to design new range large-tonnage drawing and overturning flow coat according to casting high-endization, the development trend of enlargement
Mould assembling equipment, the automation application of Lai Peihe modern production line, to improve production capacity.
Summary of the invention
The purpose of the present invention is to provide a kind of flow coats produced suitable for heavy-duty cast casting, the machinery of mould assembling process
Hand.
In order to achieve the object of the present invention, it is realized by using following technical scheme:
A kind of running vehicle type three-dimensional flow coat closing machine tool hand, including running vehicle type moving carriage, lateral load transferring vehicle, chain type lifting system
System, mechanical arm grasp system；The lateral load transferring vehicle is mounted in running vehicle type moving carriage, can be horizontal in running vehicle type moving carriage
To movement；The chain type jacking system is fixed on lateral transplanting cart, and chain type jacking system lower end and mechanical arm grasp system
It is connected.
Particularly, the chain type jacking system includes chain control mechanism and four groups of chain lifting devices；The chain
Lifting device includes lift chain, the fixed adjustment device, reversing sprocket of chain, and the fixed adjustment device of the chain is fixed on cross
To on transplanting cart；One end of lift chain is fixed on the fixed adjustment device of chain；Reversing sprocket is fixed on lateral load transferring vehicle, is risen
Descending chain passes through from reversing sprocket.
Particularly, the chain control mechanism includes the movable pulley type travel multiplier mechanisms for controlling chain stroke,
The movable pulley type travel multiplier mechanisms include pushing meanss, carry out sprocket wheel, carry out the advance side that sprocket wheel is located at pushing meanss
Upwards；Lift chain after carrying out sprocket wheel, hangs after reversing sprocket in the opposite direction from pushing meanss direction of advance.
Particularly, the chain control mechanism further includes four chain synchronization mechanisms；
The four chain synchronization mechanisms include four and synchronize increasing journey vehicles, the respectively first synchronous increasing journey vehicle, the second synchronous increasing
Journey vehicle, third are synchronous to increase journey vehicle, the 4th synchronous increasing journey vehicle；Four chain synchronization mechanisms further include four synchronous sprocket wheels, are first respectively
Synchronous sprocket wheel, the second synchronous sprocket wheel, third synchronous sprocket wheel, the 4th synchronous sprocket wheel；Four chain synchronization mechanisms further include two synchronizing shafts,
It is the first synchronizing shaft, the second synchronizing shaft respectively；Four chain synchronization mechanisms further include two synchronous chains, are the first synchronous chain, the respectively
Two synchronous chains；
The both ends of first synchronizing shaft connect the wheel axle center of the first synchronous sprocket wheel, the second synchronous sprocket wheel, and the two of the second synchronizing shaft
The wheel axle center of end connection third synchronous sprocket wheel, the 4th synchronous sprocket wheel；First synchronous the first synchronous sprocket wheel of chain link, the synchronous chain of third
The sprocket of wheel, the sprocket of second synchronous the second synchronous sprocket wheel of chain link, the 4th synchronous sprocket wheel；
Synchronous increasing journey vehicle is corresponded and is fixed to each other with implementation sprocket wheel；
First synchronous increasing journey vehicle, the second synchronous journey vehicle that increases are fixed on the first synchronous chain；Third is synchronous to increase journey vehicle, the 4th together
Step increases journey vehicle and is fixed on the second synchronous chain；
The first synchronous synchronous journey vehicle that increases of journey vehicle, third that increases is mutually permanently connected；Second synchronous increasing journey vehicle, the 4th synchronous increasing journey
Vehicle is mutually permanently connected.
Particularly, it is synchronous with first to be mounted on the first synchronous sprocket wheel, third synchronous sprocket wheel for the first synchronous increasing journey vehicle
On chain between chain upper edge, it is synchronous with first that the second synchronous increasing journey vehicle is mounted on the first synchronous sprocket wheel, third synchronous sprocket wheel
On chain under chain between section；It is synchronous with second that the synchronous increasing journey vehicle of third is mounted on the second synchronous sprocket wheel, the 4th synchronous sprocket wheel
On chain between chain upper edge, it is synchronous with second that the 4th synchronous increasing journey vehicle is mounted on the second synchronous sprocket wheel, the 4th synchronous sprocket wheel
On chain under chain between section.
Particularly, the synchronous journey vehicle that increases includes body framework, wheel, chain bolt；The wheel, chain bolt are located at car body
On frame；Implementation sprocket wheel is further fixed on body framework, the propulsion end of pushing meanss is connected with body framework；The chain bolt is located at vehicle
The two sides of body frame, for fixing the first synchronous chain and the second synchronous chain；There are also lift chain cochain supporting plate and lift chains on body framework
Lower chain supporting plate；The lift chain cochain supporting plate is close to sprocket wheel is carried out, in the height and implementation sprocket wheel of lift chain cochain supporting plate
Along consistent；Chain supporting plate is close to sprocket wheel is carried out under the lift chain, the height of chain supporting plate and implementation sprocket wheel lower edge under lift chain
Unanimously.
Particularly, mechanical arm grasping system includes swing mechanism, clamping device, turnover mechanism；The revolution
Mechanism is mounted on chain type jacking system in the following, rotating for mechanical arm grasping system level direction；The clamping device is located at
Swing mechanism is in the following, for clamping article；The turnover mechanism is mounted on clamping device, for the article progress to clamping
Overturning.
Particularly, the swing mechanism includes runing rest, pivoting support, rotary shaft；The runing rest and chain
Formula jacking system is connected, and is flexibly connected between runing rest and rotary shaft by pivoting support；Rotary shaft and clamping device phase
Connection.
Particularly, the clamping device includes clamping rack, hydraulic device and two clamping limbs；The clamping rack
It is connected with swing mechanism；The two sides of clamping rack are respectively mounted with that one can move up dynamic clamping limb in clamping rack；Hydraulic dress
It sets and is mounted in clamping rack, for controlling movement of the clamping limb in clamping rack.
Particularly, the turnover mechanism includes two overturning gripper equipments, and the overturning gripper equipment includes overturning
Power device, lateral shaft, handgrip, the lateral shaft are mounted on clamping limb；Lateral shaft stretches to inboard one end dress
There is handgrip；Overturning power device is connected with lateral shaft, for controlling lateral shaft rotation.
The beneficial effects of the present invention are: it is automated suitable for heavy-duty cast casting in flow coat, mould assembling process, intelligence
The production of energyization.
Detailed description of the invention
Fig. 1 is front view of the invention；
Fig. 2 is the front view of chain type jacking system of the invention；
Fig. 3 is the top view of chain type jacking system of the invention；
The synchronous top view for increasing journey vehicle Fig. 4 of the invention；
The synchronous front view for increasing journey vehicle Fig. 5 of the invention；
Fig. 6 is the front view of mechanical arm grasping system of the invention.
It is as follows to the symbol description of Fig. 1 to Fig. 6:
1, running vehicle type moving carriage；2, lateral load transferring vehicle；3, chain type jacking system；31, chain control mechanism；311, it moves and slides
Wheeled travel multiplier mechanisms；3111, pushing meanss；3112 push sprocket wheel；32, chain lifting device；321, lift chain；322, chain
The fixed adjustment device of item；323, reversing sprocket；4, mechanical arm grasps system；41, swing mechanism；411, runing rest；412, it returns
Turn bearing；413, rotary shaft；42, clamping device；421, rack is accommodated；422, hydraulic device；423, clamping limb；43, tipper
Structure；431, power device is overturn；432, lateral shaft；433, handgrip；61, the first synchronous increasing journey vehicle；611, the first synchronous increasing journey
The body framework of vehicle；612, the first synchronous wheel for increasing journey vehicle；613, the first synchronous chain bolt for increasing journey vehicle；614, cochain supporting plate；
615, lower chain supporting plate；62, the second synchronous increasing journey vehicle；63, third is synchronous increases journey vehicle；631, the synchronous body framework for increasing journey vehicle of third；
632, the synchronous wheel for increasing journey vehicle of third；633, the synchronous chain bolt for increasing journey vehicle of third；64, the 4th synchronous increasing journey vehicle；71, first
Synchronous sprocket wheel；72, the second synchronous sprocket wheel；73, third synchronous sprocket wheel；74, the 4th synchronous sprocket wheel；81, the first synchronizing shaft；82,
Two synchronizing shafts；91, the first synchronous chain；92, the second synchronous chain.
Specific embodiment
Below with reference to Fig. 1 to Fig. 6, embodiments of the present invention will be described.
Such as Fig. 1, a kind of running vehicle type three-dimensional flow coat closing machine tool hand, including running vehicle type moving carriage 1, lateral load transferring vehicle 2, chain
Formula jacking system 3, mechanical arm grasp system 4；The lateral load transferring vehicle is mounted in running vehicle type moving carriage 1, can driven a vehicle
1 transverse shifting of formula moving carriage；The chain type goes up and down 3 systems and is fixed on lateral transplanting cart 2,3 lower end of chain type jacking system
It is connected with mechanical arm grasping system 4.Running vehicle type moving carriage 1 is able to bear up to hundreds of tons of huge weight, and can be in phase
It is moved on the track answered, lateral load transferring vehicle 2 can move in running vehicle type moving carriage 1, and chain type jacking system 3 is controllable to be risen
Descending chain 321 vertically moves, to realize the three-dimensional movement without dead angle.
Chain type jacking system 3 includes chain control mechanism 31 and four groups of chain lifting devices 32.Carrying out flow coat mould fitter
In the traditional handicraft of sequence, for the convenience of overturning, typically suspended in midair using two chains.In the present invention, using four
Group chain lifting device, to improve stability compared to traditional handicraft.
The chain lifting device 32 includes lift chain 321, the fixed adjustment device 322, reversing sprocket 323 of chain, institute
The fixed adjustment device 322 of the chain stated is fixed on lateral transplanting cart 2；One end of lift chain 321 is fixed on the fixed adjustment of chain
On device 322；Reversing sprocket 323 is fixed on lateral load transferring vehicle 2, and lift chain 321 is passed through from reversing sprocket 323.Commutate chain
Wheel 323 gives lift chain 321 certain support force, and determines the position that lift chain 321 hangs.
Such as Fig. 2, Fig. 3, chain control mechanism 31 includes the movable pulley type travel multiplier mechanisms for controlling chain stroke
311, the movable pulley type travel multiplier mechanisms 311 include pushing meanss 3111, carry out sprocket wheel 3112, carry out 3112, sprocket wheel
In in the direction of advance of pushing meanss 3111；Lift chain 321 from 3111 direction of advance of pushing meanss after carrying out sprocket wheel 3112,
It hangs after reversing sprocket 3112 in the opposite direction.In Fig. 2, pushing meanss 3111 use liquid of the front end with push rod
Cylinder pressure, after hydraulic cylinder promotes implementation sprocket wheel 3112, lift chain 3112 is also gone up and down therewith, and the distance that lift chain 3112 is gone up and down is hydraulic
Twice of cylinder advance distance.
Such as Fig. 2, Fig. 3, chain control mechanism 31 further includes four chain synchronization mechanisms；The purpose of so-called four chains synchronization mechanism is
Realize that four lift chains are consistent in lifting process.
The four chain synchronization mechanisms include four synchronous increasing journey vehicles, and the respectively first synchronous increasing journey vehicle 61, second is synchronous
Increase the synchronous journey vehicle the 63, the 4th that increases of journey vehicle 62, third and synchronizes increasing journey vehicle 64；Four chain synchronization mechanisms further include four synchronous sprocket wheels, point
It is not the first synchronous sprocket wheel 71, the second synchronous sprocket wheel 72, third synchronous sprocket wheel 73, the 4th synchronous sprocket wheel 74；Four chain synchronization mechanisms
Further include two synchronizing shafts, is the first synchronizing shaft 81, the second synchronizing shaft 82 respectively；Four chain synchronization mechanisms further include two synchronizations
Chain is that the first synchronous chain 91, second synchronizes chain 92 respectively；The both ends of first synchronizing shaft 81 connect the first synchronous sprocket wheel 71, second
The wheel axle center of synchronous sprocket wheel 72, the both ends of the second synchronizing shaft 82 connect the wheel shaft of third synchronous sprocket wheel 73, the 4th synchronous sprocket wheel 74
The heart；First synchronous chain 91 connects the sprocket of the first synchronous sprocket wheel 71, third synchronous sprocket wheel 73, and the second synchronous connection of chain 92 second is same
Walk the sprocket of sprocket wheel 72, the 4th synchronous sprocket wheel 74；Synchronous increasing journey vehicle is corresponded and is fixed to each other with implementation sprocket wheel；First is synchronous
Increase the synchronous journey vehicle 62 that increases of journey vehicle 61, second to be fixed on the first synchronous chain 91；Third is synchronous to increase the synchronous increasing journey vehicle of journey vehicle the 63, the 4th
64 are fixed on the second synchronous chain 92；The first synchronous synchronous journey vehicle 63 that increases of journey vehicle 61, third that increases is mutually permanently connected；Second is synchronous
Increase the synchronous journey vehicle 64 that increases of journey vehicle the 62, the 4th to be mutually permanently connected.The design principle of four chain synchronization mechanisms of the invention is to pass through shoe
Band-type of configuration control front and back two-wheeled is synchronous, then synchronous by wheel shaft two crawler belts of control between the two-wheeled of left and right, then by same
Step increases journey vehicle and four groups of movable pulley type travel multiplier mechanisms is fixed on crawler belt, and moving synchronously for crawler belt is converted into chain lifting
It moves synchronously.
In the embodiment of Fig. 3, Fig. 4, the spacing very little for synchronizing the chain 92 synchronous with second of chain 91 because of first, therefore first is same
It walks and increases the spacing very little for increasing journey vehicle 63 synchronous with third of journey vehicle 61, between the second synchronous increasing increasing journey vehicle 64 synchronous with the 4th of journey vehicle 62
Away from very little, in the case can by first it is synchronous increase the identical vehicle frame of the use of increasing journey vehicle 63 synchronous with third of journey vehicle 61, wheel from
And a synchronous increasing journey vehicle is merged into, the second synchronous increasing journey vehicle 64 synchronous with the 4th of journey vehicle 62 that increases is used into identical vehicle frame, vehicle
Wheel is to merge into a synchronous increasing journey vehicle.Similarly, when the spacing very little of the first synchronous chain 91 chain 92 synchronous with second, promotion the
The one synchronous synchronous pushing meanss for increasing journey vehicle 63 of journey vehicle 61, third that increase are not needed using two yet, and a promotion dress can be used
It sets and pushes one first to synchronize the synchronous synchronous increasing journey vehicle for increasing journey vehicle 63 and being merged into of increasing journey vehicle 61, third.Those skilled in the art
The variation of above-mentioned technical proposal can be made without creative work.
Such as Fig. 2, Fig. 3, Fig. 4, the first synchronous journey vehicle 61 that increases is mounted on the first synchronous sprocket wheel 71, third synchronous sprocket wheel 73 and the
On chain between one synchronous 91 upper edge of chain, the second synchronous journey vehicle 62 that increases is mounted on the synchronous chain of the first synchronous sprocket wheel 71, third
It takes turns on the chain between the lower section of 73 chains 91 synchronous with first；Third is synchronous to be increased journey vehicle 63 and is mounted on the second synchronous sprocket wheel 72, the
On chain between four synchronous sprocket wheels 74,92 upper edge of chain synchronous with second, the 4th synchronous journey vehicle 64 that increases is mounted on the second synchronous chain
It takes turns on the chain between the lower section of the 72, the 4th synchronous sprocket wheel 74 chain 92 synchronous with second.Positioned at two synchronous sprocket wheel upper edges it
Between chain and lower section between the direction of advance of chain be opposite, therefore move, be located on upper edge anyway
It is synchronous increase the journey vehicle intermediate point increased between journey vehicle synchronous on lower section be it is forever constant, this is conducive to that center of gravity is maintained to put down
Weighing apparatus, to improve safety and operability.
Such as Fig. 4, Fig. 5, the synchronous journey vehicle that increases includes body framework 611, wheel 612, chain bolt 613；The wheel, chain
Bolt is located on body framework；It is further fixed on body framework and carries out sprocket wheel 3112, propulsion end and the body framework phase of pushing meanss 3111
Even；The chain bolt is located at the two sides of body framework, for fixing the first synchronous chain and the second synchronous chain；There are also rise on body framework
Chain supporting plate 615 under descending chain cochain supporting plate 614 and lift chain；The lift chain cochain supporting plate 614 is close to sprocket wheel is carried out, and goes up and down
The height of chain cochain supporting plate 614 with carry out sprocket wheel on along consistent；Chain supporting plate 615 is close to sprocket wheel is carried out under the lift chain,
The height of chain supporting plate 615 is consistent with sprocket wheel lower edge is carried out under lift chain.The first synchronous increasing journey vehicle, third is only needed to synchronize and increase journey vehicle
The synchronization for four lift chains caused by the pushing action of pushing meanss can be realized that are mutually permanently connected, in Fig. 4, two synchronizations
Increase journey vehicle to sufficiently close to, two synchronous body frameworks for increasing journey vehicle can also be connected completely, share same group of wheel and be integrated into one
It is synchronous to increase journey vehicle, also it is able to achieve identical function.
Such as Fig. 6, the mechanical arm grasping system 4 includes swing mechanism 41, clamping device 42, turnover mechanism 43；It is described
41 structure of turn-around machine be mounted on chain type jacking system 3 in the following, for mechanical arm grasping 4 horizontal direction of system rotation；The folder
It holds mechanism 42 and is located at turn around mechanism 41 in the following, for clamping article；The turnover mechanism 43 is mounted on clamping device 42, is used
It is overturn in the article of clamping.
Such as Fig. 6, the swing mechanism 41 includes runing rest 411, pivoting support 412, rotary shaft 413；The rotation
Turn bracket 411 to be connected with chain type jacking system 3, passes through 412 activity of pivoting support between runing rest 411 and rotary shaft 413
Connection；Rotary shaft 413 is connected with clamping device 41.Swing mechanism 41 can control entire mechanical arm grasping system in level side
Upward rotation.
Such as Fig. 6, the clamping device 42 includes clamping rack 421, hydraulic device 422 and two clamping limbs 423；It is described
Clamping rack 421 be connected with swing mechanism 41；The two sides of clamping rack 421 are respectively mounted with that one can clamp rack 421
The clamping limb 423 of upper movement；Hydraulic device 422 is mounted in clamping rack 421, for controlling clamping limb 423 in clamping rack
Movement on 421.Hydraulic device 422 is that clamping limb 423 provides power, the mistake that clamping limb 423 moves in clamping rack 421
Cheng Zhong, two clamping limbs are close to each other, can clamp article, and article can be separated by being separated from each other.
The turnover mechanism 43 includes two overturning gripper equipments, and the overturning gripper equipment includes overturning power dress
431, lateral shaft 432, handgrip 433 are set, the lateral shaft 432 is mounted on clamping limb 423；Lateral shaft 243 is stretched to
Inboard one end is equipped with handgrip 433；Overturning power device 431 is connected with lateral shaft 332, for controlling 432 turns of lateral shaft
It is dynamic.In Fig. 6, used to change hands 433 be that dedicated handgrip is overturn in mould assembling technique, and the present invention cooperates other processes that can also pacify
Fill the handgrip of different size.
When using the present invention, running vehicle type moving carriage 1, lateral load transferring vehicle 2, lift chain 321 provide the shifting of three-dimensional all-directional
Flowing mode；Hydraulic cylinder can be used to provide power in pushing meanss 3111, and movable pulley type travel multiplier mechanisms 311 act, and four
321 synchronization lifting of lift chain, reaches accurate drop point；Pivoting support 412 controls rotary shaft 413 and rotates, to adjust suitable angle
Degree；Hydraulic device 422 controls two clamping limbs and is clamped in suitable width；After completing clamping, with clamped article
What is directly contacted is handgrip 433, and clamped article is sandbox in Fig. 1, and used handgrip is sandbox handgrip, and sandbox handgrip is logical
The movement for crossing clamping limb is moved to position appropriate, after lateral shaft turns to appropriate angle, can complete to dock with sandbox, and
The overturning of sandbox can be controlled by the rotation of lateral shaft.
Claims (8)
1. a kind of running vehicle type three-dimensional flow coat closing machine tool hand, it is characterised in that: including running vehicle type moving carriage, lateral load transferring vehicle,
Chain type jacking system, mechanical arm grasp system；The lateral load transferring vehicle is mounted in running vehicle type moving carriage, can be in running vehicle type
Moving carriage transverse shifting；The chain type jacking system is fixed on lateral transplanting cart, chain type jacking system lower end and machinery
Arm grasping system is connected；The chain type jacking system includes chain control mechanism and four groups of chain lifting devices；Described
Chain lifting device includes lift chain, the fixed adjustment device, reversing sprocket of chain, and the fixed adjustment device of the chain is fixed on
On lateral transplanting cart；One end of lift chain is fixed on the fixed adjustment device of chain；Reversing sprocket is fixed on lateral load transferring vehicle,
Lift chain is passed through from reversing sprocket；The chain control mechanism includes the movable pulley type stroke times for controlling chain stroke
Increase mechanism, the movable pulley type travel multiplier mechanisms include pushing meanss, carry out sprocket wheel, carry out sprocket wheel and are located at pushing meanss
In direction of advance；Lift chain from pushing meanss direction of advance after carrying out sprocket wheel, in the opposite direction after reversing sprocket
It hangs.
2. running vehicle type three-dimensional flow coat closing machine tool hand as described in claim 1, it is characterised in that: the chain control mechanism
It further include four chain synchronization mechanisms；
The four chain synchronization mechanisms include four it is synchronous increase journey vehicles, respectively first it is synchronous increase journey vehicle, second it is synchronous increase journey vehicle,
Third is synchronous to increase journey vehicle, the 4th synchronous increasing journey vehicle；Four chain synchronization mechanisms further include four synchronous sprocket wheels, are the first synchronous chain respectively
Wheel, the second synchronous sprocket wheel, third synchronous sprocket wheel, the 4th synchronous sprocket wheel；Four chain synchronization mechanisms further include two synchronizing shafts, are respectively
First synchronizing shaft, the second synchronizing shaft；Four chain synchronization mechanisms further include two synchronous chains, are the first synchronization chain, the second synchronization respectively
Chain；
The both ends of first synchronizing shaft connect the wheel axle center of the first synchronous sprocket wheel, the second synchronous sprocket wheel, and the both ends of the second synchronizing shaft connect
Connect the wheel axle center of third synchronous sprocket wheel, the 4th synchronous sprocket wheel；First synchronous the first synchronous sprocket wheel of chain link, third synchronous sprocket wheel
The chain flank of tooth, the chain flank of tooth of second synchronous the second synchronous sprocket wheel of chain link, the 4th synchronous sprocket wheel；
Synchronous increasing journey vehicle is corresponded and is fixed to each other with implementation sprocket wheel；
First synchronous increasing journey vehicle, the second synchronous journey vehicle that increases are fixed on the first synchronous chain；Third is synchronous to increase journey vehicle, the 4th synchronous increasing
Journey vehicle is fixed on the second synchronous chain；
The first synchronous synchronous body framework for increasing journey vehicle of journey vehicle, third that increases is connected with each other；Second synchronous increasing journey vehicle, the 4th synchronous increasing journey
The body framework of vehicle is connected with each other.
3. running vehicle type three-dimensional flow coat closing machine tool hand as claimed in claim 2, it is characterised in that: described first is synchronous to increase journey
Vehicle is mounted on the chain between the first synchronous sprocket wheel, third synchronous sprocket wheel chain upper edge synchronous with first, the second synchronous increasing journey
Vehicle is mounted on the chain under the first synchronous sprocket wheel, third synchronous sprocket wheel chain synchronous with first between section；Third is synchronous to increase journey
Vehicle is mounted on the chain between the second synchronous sprocket wheel, the 4th synchronous sprocket wheel chain upper edge synchronous with second, the 4th synchronous increasing journey
Vehicle is mounted on the chain under the second synchronous sprocket wheel, the 4th synchronous sprocket wheel chain synchronous with second between section.
4. running vehicle type three-dimensional flow coat closing machine tool hand as claimed in claim 2, it is characterised in that: the synchronous increasing journey vehicle packet
Include body framework, wheel, chain bolt；The wheel, chain bolt are located on body framework；It is further fixed on implementation sprocket wheel on body framework, pushes away
The propulsion end of dynamic device is connected with body framework；The chain bolt is located at the two sides of body framework, for fix the first synchronous chain and
Second synchronous chain；There are also chain supporting plates under lift chain cochain supporting plate and lift chain on body framework；The lift chain cochain supporting plate with
Carry out sprocket wheel to be close to, the height of lift chain cochain supporting plate on implementation sprocket wheel along consistent；Under the lift chain chain supporting plate with push away
Row sprocket wheel is close to, and the height of chain supporting plate is consistent with sprocket wheel lower edge is carried out under lift chain.
5. running vehicle type three-dimensional flow coat closing machine tool hand as described in claim 1, it is characterised in that: the mechanical arm grasps system
System includes swing mechanism, clamping device, turnover mechanism；The swing mechanism is mounted on chain type jacking system in the following, for machine
Tool arm grasping system level direction rotates；The clamping device is located at turn around mechanism in the following, for clamping article；Described turns over
Rotation mechanism is mounted on clamping device, for overturning to the article of clamping.
6. running vehicle type three-dimensional flow coat closing machine tool hand as claimed in claim 5, it is characterised in that: the swing mechanism includes
Pipe-hanging hook, pivoting support, rotary shaft；The runing rest is connected with chain type jacking system, runing rest and rotary shaft
Between pass through pivoting support be flexibly connected；Rotary shaft is connected with clamping device.
7. running vehicle type three-dimensional flow coat closing machine tool hand as claimed in claim 5, it is characterised in that: the clamping device includes
Clamp rack, hydraulic device and two clamping limbs；The clamping rack is connected with swing mechanism；The two sides for clamping rack are each
Dynamic clamping limb can be moved up in clamping rack by being mounted with one；Hydraulic device is mounted in clamping rack, for controlling clamping limb
Movement in clamping rack.
8. running vehicle type three-dimensional flow coat closing machine tool hand as claimed in claim 7, it is characterised in that: the turnover mechanism includes
Two overturning gripper equipments, the overturning gripper equipment include overturning power device, lateral shaft, handgrip, the transverse direction
Shaft is mounted on clamping limb；Lateral shaft stretches to inboard one end equipped with handgrip；Overturning power device is connected with lateral shaft,
For controlling lateral shaft rotation.
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| CN201610774884.5A CN106270418B (en) | 2016-08-31 | 2016-08-31 | A kind of running vehicle type three-dimensional flow coat closing machine tool hand |
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| CN201610774884.5A CN106270418B (en) | 2016-08-31 | 2016-08-31 | A kind of running vehicle type three-dimensional flow coat closing machine tool hand |
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| CN106903275B (en) * | 2017-01-22 | 2023-07-18 | 六和金属（湖北）有限公司 | Automatic change and irritate mould production line |
| CN107443407B (en) * | 2017-09-29 | 2018-05-25 | 安徽理工大学 | Foundry robot's reversible refers to asynchronous handgrip more |
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| CN102784740A (en) * | 2012-08-31 | 2012-11-21 | 无锡锡南铸造机械有限公司 | Single-beam cantilever flow-coating machine |
| CN203390168U (en) * | 2013-06-20 | 2014-01-15 | 青岛双星铸造机械有限公司 | Automatic back film coating mechanism |
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| JPS5927751A (en) * | 1982-08-04 | 1984-02-14 | Nippon Piston Ring Co Ltd | Latching and unlatching device of stack casting flask |
| CN201102244Y (en) * | 2007-11-14 | 2008-08-20 | 青岛双星铸造机械有限公司 | Mechanical arm for modeling product line |
| CN101758166A (en) * | 2009-11-12 | 2010-06-30 | 无锡锡南铸造机械有限公司 | Large drawing and overturning molding box closer |
| CN201931069U (en) * | 2010-12-07 | 2011-08-17 | 浙江今飞凯达轮毂有限公司 | Automatic material taking mechanical hand |
| CN102784740A (en) * | 2012-08-31 | 2012-11-21 | 无锡锡南铸造机械有限公司 | Single-beam cantilever flow-coating machine |
| CN203390168U (en) * | 2013-06-20 | 2014-01-15 | 青岛双星铸造机械有限公司 | Automatic back film coating mechanism |
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| CN106270418A (en) | 2017-01-04 |
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