CN106312028A - Novel multi-degree-of-freedom casting robot - Google Patents
Novel multi-degree-of-freedom casting robot Download PDFInfo
- Publication number
- CN106312028A CN106312028A CN201610920377.8A CN201610920377A CN106312028A CN 106312028 A CN106312028 A CN 106312028A CN 201610920377 A CN201610920377 A CN 201610920377A CN 106312028 A CN106312028 A CN 106312028A
- Authority
- CN
- China
- Prior art keywords
- casting
- robot
- bevel gear
- freedom
- arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
- B22D35/00—Equipment for conveying molten metal into beds or moulds
Abstract
The invention relates to a novel multi-degree-of-freedom casting robot which comprises a pedestal and a six-degree-of-freedom robot mounted on the pedestal; a connecting flange is mounted at the tail end of the six-degree-of-freedom robot; a casting arm which consists of a casting detecting system, a servo reduction power source, a bevel gear transmission system and a radiating system is mounted on the connecting flange; and the servo reduction power source is connected with the bevel gear transmission system. According to the novel multi-degree-of-freedom casting robot, on the premise of not enabling the six-degree-of-freedom robot to lose flexibility, the special casting arm is additionally arranged on a sixth axis of the robot for increasing a linear distance from the sixth axis, in a material taking process, of the casting robot to a smelting furnace, so that influences, on a servo motor, of fierce temperature difference changes of a front section of the robot are reduced, and therefore, the service life of the robot is prolonged; and moreover, through improvement, material taking is easier, and operations are convenient.
Description
Technical field
The present invention relates to Casting Equipment technical field, a kind of novel multiple degrees of freedom casting robot.
Background technology
At present, in known modern large-scale industry processing, casting manufacture generally uses casting special plane casting or industrial machine
Device people casts.The casting special plane scope of application is little, and R&D costs are of a relatively high.Casting robot mostly is six-DOF robot,
Six degree of freedom end flange increase checking device and casting ladle.But due to casting bad environments, radiate high, melting fire door position
Remote with casting die position, the temperature difference is high, robot day work of long duration so that its life-span be far below normal level, the most right
The loss of the 6th axle servomotor is high.
A kind of robot casting mechanical arm, this machinery is disclosed in Chinese patent Authorization Notice No. is CN2756413Y
Arm adds robot the 6th wheelbase distance from smelting furnace, extends the service life of robot.But due to use gear with
The transmission of chain, degree of accuracy, stability are relatively low；Mechanical arm uses bulk temperature to raise for a long time, reduces whole machinery
The service life of arm.
Summary of the invention
In order to overcome the deficiency that casting special plane casting cost is high, the scope of application is little, and six degree of freedom casting robot
The problem that service life is low, the present invention provides a kind of novel multiple degrees of freedom casting robot.
The technical solution adopted for the present invention to solve the technical problems is:
A kind of novel multiple degrees of freedom casting robot, including pedestal, the six-DOF robot that is arranged on pedestal, six from
By the end of degree robot, adpting flange is installed, described adpting flange is provided with and is moved by casting detecting system, servo deceleration
The casting arm that power source, bevel gear tooth system, cooling system are constituted, described servo deceleration power source and bevel gear tooth system phase
Even.
Described servo deceleration power source includes servomotor, the planetary reduction gear being connected with servomotor, and described planet subtracts
Speed device is connected with bevel gear tooth system.
Described bevel gear tooth system includes counter drive shaft, the final drive shaft being connected with servo deceleration power source, is arranged on
Little number of teeth bevel gear on final drive shaft, the big number of teeth bevel gear being arranged on counter drive shaft and engaging with little number of teeth bevel gear.
Described casting detecting system includes that casting ladle, two metallic communications survey liquid rod, described casting ladle and bevel gear tooth system
Being connected, described casting arm includes shell, and two metallic communications are surveyed liquid rod and are fixed on shell.Described casting ladle is composite ceramic fiber
Casting ladle.
Described cooling system includes ajutage, discharge pipe, high-heat dope layer and radioprotective dope layer, and described ajutage is pacified
Being contained on casting arm near one end of servo deceleration power source, described discharge pipe is arranged on casting arm near casting detecting system
One end.Described high-heat dope layer uniform application covers in whole casting arm outer shell, and described radioprotective dope layer is uniform
Smear covering outside high-heat dope layer.
The invention has the beneficial effects as follows: the present invention on the premise of the feature not losing six-DOF robot motility,
For installing special casting arm on robot the 6th axle additional, increase the straight line to smelting furnace of the 6th axle in casting robot reclaiming process
Distance, coordinates using of cooling system to reduce the high radiation suffered by robot leading portion and violent difference variation to servomotor
Impact.Using Bevel Gear Transmission compared to traditional chain drive, casting arm instantaneous transmission ratio is constant, and stationarity is high, structure
Compact, accurately and reliably, transmission efficiency is high, and service life is long for transmitting movement.And make feeding be more prone to, operate more after Gai Jining
For convenient.
Accompanying drawing explanation
The present invention is further described with embodiment below in conjunction with the accompanying drawings.
Fig. 1 is the perspective view of the present invention；
Fig. 2 is the perspective view of the casting arm of the present invention.
Detailed description of the invention
For the technological means making the present invention realize, creation characteristic, reach purpose and be easy to understand with effect, below knot
Close specific embodiment and diagram, the present invention is expanded on further.
As depicted in figs. 1 and 2, a kind of novel multiple degrees of freedom casting robot, including pedestal 11, install on the base 11
Six-DOF robot 12, the end of six-DOF robot 12 is provided with adpting flange 21, and described adpting flange 21 is installed
Have the casting arm 13 being made up of casting detecting system, servo deceleration power source, bevel gear tooth system, heat abstractor, described in watch
Taking retarding power source to be connected with bevel gear tooth system, casting detecting system is connected with bevel gear tooth system.Subtracted by servo
Speed power source drives bevel gear tooth system work, thus can drive casting detecting system motion, to realize casting and detection, this
Invention is by means of six-DOF robot 12, to realize multivariant motion, to meet the demand of casting；Compared to traditional
Casting equipment, present invention also adds cooling system, can intercept heat radiation and high temperature, the wind of the casting arm 13 near smelting furnace
Cold charge and also the temperature within casting arm is taken away, and serves the effect of cooling heat radiation.
Described casting arm 13 includes shell, and in order to install other parts, shell is connected with adpting flange 21.
Described servo deceleration power source includes servomotor 22, the planetary reduction gear 23 being connected with servomotor 22, described
Planetary reduction gear 23 is connected with bevel gear tooth system, and servomotor 22, planetary reduction gear 23 are arranged on shell.Planetary reduction gear
The big retarding ratio of device 23 can make servomotor 22 output speed run up reach slow-revving requirement.
Described bevel gear tooth system includes that the planetary reduction gear 23 of counter drive shaft 29 and servo deceleration power source is by connection
Axial organ be connected final drive shaft 25, the little number of teeth bevel gear 27 being arranged on final drive shaft 25, be arranged on counter drive shaft 29 and
The big number of teeth bevel gear 30 engaged with little number of teeth bevel gear 27, final drive shaft 25 is connected with shell by high temperature resistant bearing 1,
Counter drive shaft 29 is connected with shell by high temperature resistant bearing 2 28, to guarantee the precision of stability and transmission.
Described casting detecting system includes that 17, two metallic communications of casting ladle survey liquid rod 16, and described casting ladle 17 passes with bevel gear
The counter drive shaft 29 of dynamic system is connected, and two metallic communications are surveyed liquid rod 16 and are connected with casing insulation, by outward by ceramic material
The electric supply installation connect provides faint electric current, does not connects due to air insulation in atmosphere, goes to water when casting ladle 17 gos deep into smelting furnace
Casting liquid, when casting arm 13 drops to certain degree of depth, two metallic communications are surveyed liquid rod 16 and are contacted with casting of metals liquid, pass through metal
Casting liquid forms path.Thus a signal is provided so that after external PLC receives signal, start to casting arm 13 and six from
Action command is sent by degree robot 12.
Described casting ladle 17 is composite ceramic fiber casting ladle.
Described cooling system includes ajutage 14, discharge pipe 15, high-heat dope layer and radioprotective dope layer.Described high resistant
Hot dope layer uniform application covers in whole casting arm outer shell, and described radioprotective dope layer uniform application covers at high-heat
Outside dope layer, the two radiation that can intercept a large amount of points and heat.Described discharge pipe 15 is arranged on casting arm 13 near casting
One end of detecting system, is the most i.e. in shell lower end, and discharge pipe 15 is on shell lower end away from casting ladle
The side of 17, described ajutage 14 is arranged on casting arm 13 near one end of servo deceleration power source.Entered by ajutage 14
Wind, enters in shell, the top of casting arm 13 move downward, and stops that heat is with the casting the most incoming motor of arm shell
And robot, and the bottom heat of casting arm 13 is taken away, and discharge from discharge pipe 15, while heat radiation, nor affect on casting
Work.
The present invention makes casting arm 13 move to specify position by six-DOF robot 12, carries by means of servomotor 22
For driving force, after planetary reduction gear 23 speed change, final drive shaft 25 is driven to rotate, the drive little number of teeth bevel gear of synchronization 27 times
Turn, utilize big number of teeth bevel gear 30 to engage with little number of teeth bevel gear 27, it is achieved power is delivered on counter drive shaft 29.The little number of teeth is bored
Gear 27, the number of teeth difference of big number of teeth bevel gear 30, can produce again one group of gear ratio and make to reduce through planetary reduction gear 23
After rotating speed again reduce, reach can with the casting ladle 17 that stability contorting is connected with counter drive shaft 29 dip casting liquid rotating speed.Water
Bag 17 is driven by counter drive shaft 29, to carry out forward and reverse slowly running, it is achieved dip casting liquid and casting of putting upside down dynamic
Make.By casting detecting system, it is ensured that the quality controllable system of the casting liquid that casting ladle dips, it is to avoid during old-fashioned casting every time
The situation that the casting liquid amount of dipping is inconsistent, thus improve casting production efficiency, reduce workman's operation intensity, and ensure that cast is produced
The quality of product.
The ultimate principle of the present invention, principal character and advantage have more than been shown and described.The technical staff of the industry should
Understanding, the present invention is not restricted to the described embodiments, the principle of the simply present invention described in above-described embodiment and description,
Without departing from the spirit and scope, the present invention also has various changes and modifications, and these changes and improvements all fall
Enter in scope of the claimed invention.Claimed scope is defined by appending claims and equivalent thereof.
Claims (6)
1. a novel multiple degrees of freedom casting robot, including pedestal (11), the six degree of freedom machine that is arranged on pedestal (11)
People (12), the end of six-DOF robot (12) is provided with adpting flange (21), it is characterised in that: described adpting flange (21)
On the casting arm being made up of casting detecting system, servo deceleration power source, bevel gear tooth system, cooling system is installed
(13), described servo deceleration power source is connected with bevel gear tooth system, and casting detecting system is connected with bevel gear tooth system.
One the most according to claim 1 novel multiple degrees of freedom casting robot, it is characterised in that: described servo deceleration is moved
Power source includes the planetary reduction gear (23) that servomotor (22) is connected with servomotor (22), described planetary reduction gear (23) with
Bevel gear tooth system is connected.
One the most according to claim 1 novel multiple degrees of freedom casting robot, it is characterised in that: described Bevel Gear Transmission
System includes counter drive shaft (29), be connected with servo deceleration power source final drive shaft (25), it is arranged on final drive shaft (25)
Little number of teeth bevel gear (27), be arranged on the big number of teeth bevel gear that counter drive shaft (29) is upper and engages with little number of teeth bevel gear (27)
(30)。
One the most according to claim 1 novel multiple degrees of freedom casting robot, it is characterised in that: described casting detection is
System includes that casting ladle (17), two metallic communications survey liquid rod (16), and described casting ladle (17) is connected with bevel gear tooth system, described in water
Casting arm (13) includes shell, and two metallic communications are surveyed liquid rod (16) and are fixed on shell.
One the most according to claim 1 novel multiple degrees of freedom casting robot, it is characterised in that: described cooling system bag
Including ajutage (14), discharge pipe (15), high-heat dope layer and radioprotective dope layer, described high-heat dope layer uniform application covers
Cover in whole casting arm outer shell, described radioprotective dope layer uniform application cover outside high-heat dope layer, described in go out
Airduct (15) is arranged on the upper one end near casting detecting system of casting arm (13), and described discharge pipe (14) is arranged on casting arm
(13) upper one end near servo deceleration power source.
One the most according to claim 4 novel multiple degrees of freedom casting robot, it is characterised in that: described casting ladle (17) is
Composite ceramic fiber casting ladle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610920377.8A CN106312028A (en) | 2016-10-21 | 2016-10-21 | Novel multi-degree-of-freedom casting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610920377.8A CN106312028A (en) | 2016-10-21 | 2016-10-21 | Novel multi-degree-of-freedom casting robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106312028A true CN106312028A (en) | 2017-01-11 |
Family
ID=57818136
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610920377.8A Pending CN106312028A (en) | 2016-10-21 | 2016-10-21 | Novel multi-degree-of-freedom casting robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106312028A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108907162A (en) * | 2018-08-09 | 2018-11-30 | 张家港市创华智能设备有限公司 | Seven axis pour robot |
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| JP2003181616A (en) * | 2001-12-17 | 2003-07-02 | Toshiba Mach Co Ltd | Apparatus and method for molten metal supply |
| CN2756413Y (en) * | 2004-11-25 | 2006-02-08 | 苏州工业园区明志铸造装备有限公司 | Robot casting mechanical arm |
| CN201132315Y (en) * | 2007-11-08 | 2008-10-15 | 浙江万丰科技开发有限公司 | Seven-degree of freedom robot casting machine |
| CN201320602Y (en) * | 2008-12-22 | 2009-10-07 | 浙江万丰科技开发有限公司 | Robot pouring manipulator |
| CN201603862U (en) * | 2010-02-01 | 2010-10-13 | 浙江万丰科技开发有限公司 | Multi-position pouring system |
| CN102161091A (en) * | 2011-03-02 | 2011-08-24 | 连云港杰瑞模具技术有限公司 | Bevel gear driving additional shaft |
| CN203917881U (en) * | 2013-12-30 | 2014-11-05 | 广州意戈力自动化设备有限公司 | A kind of robot that dips and topple over function with molten metal |
| CN204036466U (en) * | 2014-09-12 | 2014-12-24 | 福建省瑞奥麦特轻金属有限责任公司 | The modified node method of soup arm is given in a kind of fused solution soup feeding machine tool hand |
| CN204711168U (en) * | 2015-06-03 | 2015-10-21 | 周众 | A kind of feeding casting machine hand |
| CN105537572A (en) * | 2016-02-01 | 2016-05-04 | 上海发那科机器人有限公司 | Pouring device |
| CN205571397U (en) * | 2016-02-01 | 2016-09-14 | 上海发那科机器人有限公司 | Pouring device |
| CN206122676U (en) * | 2016-10-21 | 2017-04-26 | 芜湖安普机器人产业技术研究院有限公司 | Novel multi freedom casting machine people |
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2016
- 2016-10-21 CN CN201610920377.8A patent/CN106312028A/en active Pending
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003181616A (en) * | 2001-12-17 | 2003-07-02 | Toshiba Mach Co Ltd | Apparatus and method for molten metal supply |
| CN2756413Y (en) * | 2004-11-25 | 2006-02-08 | 苏州工业园区明志铸造装备有限公司 | Robot casting mechanical arm |
| CN201132315Y (en) * | 2007-11-08 | 2008-10-15 | 浙江万丰科技开发有限公司 | Seven-degree of freedom robot casting machine |
| CN201320602Y (en) * | 2008-12-22 | 2009-10-07 | 浙江万丰科技开发有限公司 | Robot pouring manipulator |
| CN201603862U (en) * | 2010-02-01 | 2010-10-13 | 浙江万丰科技开发有限公司 | Multi-position pouring system |
| CN102161091A (en) * | 2011-03-02 | 2011-08-24 | 连云港杰瑞模具技术有限公司 | Bevel gear driving additional shaft |
| CN203917881U (en) * | 2013-12-30 | 2014-11-05 | 广州意戈力自动化设备有限公司 | A kind of robot that dips and topple over function with molten metal |
| CN204036466U (en) * | 2014-09-12 | 2014-12-24 | 福建省瑞奥麦特轻金属有限责任公司 | The modified node method of soup arm is given in a kind of fused solution soup feeding machine tool hand |
| CN204711168U (en) * | 2015-06-03 | 2015-10-21 | 周众 | A kind of feeding casting machine hand |
| CN105537572A (en) * | 2016-02-01 | 2016-05-04 | 上海发那科机器人有限公司 | Pouring device |
| CN205571397U (en) * | 2016-02-01 | 2016-09-14 | 上海发那科机器人有限公司 | Pouring device |
| CN206122676U (en) * | 2016-10-21 | 2017-04-26 | 芜湖安普机器人产业技术研究院有限公司 | Novel multi freedom casting machine people |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108907162A (en) * | 2018-08-09 | 2018-11-30 | 张家港市创华智能设备有限公司 | Seven axis pour robot |
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|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170111 |
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| RJ01 | Rejection of invention patent application after publication |