CN106424672A - Mechanical arm for casting and casting equipment - Google Patents
Mechanical arm for casting and casting equipment Download PDFInfo
- Publication number
- CN106424672A CN106424672A CN201611187478.5A CN201611187478A CN106424672A CN 106424672 A CN106424672 A CN 106424672A CN 201611187478 A CN201611187478 A CN 201611187478A CN 106424672 A CN106424672 A CN 106424672A
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- China
- Prior art keywords
- casting
- mechanical hand
- decelerator
- moving parts
- motor
- 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.)
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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
- B22D29/00—Removing castings from moulds, not restricted to casting processes covered by a single main group; Removing cores; Handling ingots
- B22D29/04—Handling or stripping castings or ingots
Abstract
The invention provides a mechanical arm for casting and casting equipment. The mechanical arm for casting is used for the casting equipment and comprises a movement assembly and an integrated fixture which is connected to the movement assembly. The mechanical arm for casting further comprises a first beam. A first installation part is arranged at one end of the first beam and a second installation part is arranged at the other end of the first beam, the mechanical arm for casting is set up between the two pieces of casting equipment through the first installation part and the second installation part, and the movement assembly can do horizontal movement and vertical movement on the first beam. According to the technical scheme of the mechanical arm for casting and the casting equipment, the mechanical arm for casting can be directly set up between two pieces of casting equipment without a base, and then the needed working requirement can be met. The fixture can grip workpieces stably and reliably and move in the horizontal direction and in the vertical direction, and production cost is reduced.
Description
Technical field
The present invention relates to foundry machinery technical field, sets in particular to a kind of casting mechanical hand and a kind of casting
Standby.
Background technology
The job task of simple repeatability is needed on platform for some, although articulated manipulator can also be completed,
Articulated manipulator needs very smooth and firm pedestal, and such as air injection machine etc., installs on the operating platform of equipment and close
Section formula mechanical hand is then relatively difficult, because these work platformses are only the Demand Design such as operator's walking, platform is not simultaneously tolerated
Weight and simultaneously space relatively narrower between out-of-flatness, and equipment and equipment, are unfavorable for that articulated manipulator works.
Therefore, a kind of casting mechanical hand how is designed, directly can be set up between two Casting Equipments, it is not necessary to base
Seat, you can the job requirements needed for completing become technical problem urgently to be resolved hurrily.
Content of the invention
It is contemplated that at least solving one of technical problem present in prior art or correlation technique.
For this purpose, it is an object of the present invention to proposing a kind of casting mechanical hand.
Further object is that proposing a kind of Casting Equipment.
For achieving the above object, a kind of technical scheme according to the first aspect of the invention, it is proposed that casting mechanical hand,
For Casting Equipment, including moving parts and the integrated fixture being connected on moving parts, also include：First beam, the first beam
One end be provided with the first installation portion, the other end of the first beam is provided with the second installation portion；Wherein, casting is pacified by first with mechanical hand
Dress portion and the second installation portion are set up between two Casting Equipments, and moving parts can be moved horizontally and hang down on the first beam
Translation is moved.
The casting mechanical hand of technology according to the present invention scheme, by the first installation portion and the second installation portion, casting is used
Mechanical hand directly can be set up between two Casting Equipments, it is not necessary to pedestal, you can the job requirements needed for completing, and make fixture
Gripping workpiece that can be reliable and stable is simultaneously moved in the horizontal direction and the vertical direction, reduces production cost.
Wherein it is preferred to, after casting mechanical hand is erected in two Casting Equipments, can be consolidated by bolt
Fixed, conveniently dismounted, it is also possible to be directly welded in Casting Equipment, stable connection reliability, it is to avoid as junction loosens
Cause danger.
According to technique scheme of the present invention, it is preferable that moving parts include：At least one guide rail, is fixed with the first beam
Connection；Supporting plate, is provided with least one slide block, guide rail and slide block slidable connection on supporting plate.
In the technical scheme, the guide rail on the slide block and the first beam on supporting plate coordinates, and allows supporting plate along slide,
And then realize the movement in the lateral direction of integrated fixture.
Wherein it is preferred to, guide rail is straight ball-guide, and the straight ball-guide slide block for coordinating with which, guideway
Frictional resistance is little, and sound frictional resistance difference is little, is not likely to produce and creeps during low-speed motion, allows reliable and stable relative of supporting plate
First beam slides.
Preferably, two guide rails are set on the first beam, four guide rail slide blocks, two of which slide block and is installed on supporting plate
Bar guide rail coordinates, and makes moving parts uniform force, it is to avoid as force unbalance causes moving parts to wear and tear, reduce casting machine
The service life of tool handss.
According to technique scheme of the present invention, it is preferable that moving parts also include：First decelerator, is fixed even with supporting plate
Connect, the input of the first decelerator connects the first motor, the outfan connection first gear of the first decelerator；First tooth bar, Gu
On the first beam, first gear is engaged each other with the first tooth bar.
In the technical scheme, the first motor drives first gear rotation through the first decelerator, and first gear is first
Drive supporting plate of creeping on tooth bar is moved in the horizontal direction, and then fixture can be made to move in the horizontal direction, by controlled motor
Steering, the moving direction of fixture can be adjusted.
Wherein it is preferred to, the first motor is that servomotor, low cruise is stable, and position precision height, while overload-resistant energy
Power is strong, can bear the load for being three times in nominal torque, quickly can start or stop, and then improve casting and be transported with mechanical hand
Dynamic stability.First decelerator is planetary reduction gear, and planetary reduction gear transmission efficiency is connected with servomotor, for dropping
The slow-speed of revolution, lifts moment of torsion, mates inertia.
A technical scheme according to the present invention, it is preferable that moving parts also include：V-type rail, and and V-type rail
The second beam being fixedly connected；Multiple V-type roller groups, on supporting plate；Wherein, each V-type roller group is distributed in V-type rail
Both sides, each V-type roller group includes two V-type rollers, and one of them is eccentric shaft roller.
In the technical scheme, multiple V-type roller groups are installed on supporting plate, V-type rail is arranged on per group V-type roller it
Between, roller is rotated and achieves guide rail movement in the vertical direction, and V-type rail is fixedly connected with the second beam, and V-type rail is moved
When, drive the second beam in movement in vertical direction, per the V-type roller comprising an eccentric shaft in roller is organized, rolled by eccentric shaft V-type
Gap between wheel adjustment V-type roller and V-type rail, improves positional precision, it is to avoid dislocation causes fixture move workpiece
To the position that specifies.Wherein it is preferred to, two V-type roller groups are set on supporting plate, cooperation guide rail that can be stable moves, meanwhile,
Excessive setting roller is avoided, causes Financial cost to rise.
According to technique scheme of the present invention, it is preferable that moving parts also include：Second decelerator, on supporting plate,
The input of the second decelerator connects the second motor, the outfan connection second gear of the second decelerator；Second tooth bar, with second
Beam is fixedly connected, and second gear is engaged each other with the second tooth bar.
In the technical scheme, the second motor drives first gear rotation through the second decelerator, and second gear is second
The second beam of drive of creeping on tooth bar is moved in vertical direction, and then fixture can be made to move in vertical direction, by controlling electricity
The steering of machine, can adjust the moving direction of fixture.
Wherein it is preferred to, the first motor is that servomotor, low cruise is stable, and position precision height, while overload-resistant energy
Power is strong, can bear the load for being three times in nominal torque, quickly can start or stop, and then improve casting and be transported with mechanical hand
Dynamic stability.Second decelerator is turbine and worm decelerator, turbine and worm decelerator large carrying capacity, stable drive and noise
Very little, makes workpiece smoothly move in vertical direction.
According to technique scheme of the present invention, it is preferable that moving parts also include：First brake unit, is connected to second
The output shaft of motor.
In the technical scheme, the first brake unit is used for the rotating speed of controlled motor output shaft, and then can control in time
Workpiece movement in vertical direction, it is to avoid cause danger.
According to technique scheme of the present invention, it is preferable that moving parts also include：3rd motor, the 3rd motor is by propping up
Frame is connected with the input of the 3rd decelerator installed in one end of the second beam, the 3rd motor output end, the output of the 3rd decelerator
End is connected with integrated fixture；Second brake unit, is connected to the output shaft of the 3rd motor.
In the technical scheme, the 3rd motor drives integrated fixture to rotate through the 3rd decelerator, and then can make fixture
360 degree of rotary motion realized by the workpiece of gripping, by the steering of controlled motor, can adjust the rotation side of fixture and workpiece
To.
Wherein it is preferred to, the first motor is that servomotor, low cruise is stable, and position precision height, while overload-resistant energy
Power is strong, can bear the load for being three times in nominal torque, quickly can start or stop, and then improve casting and be transported with mechanical hand
Dynamic stability.3rd decelerator is planetary reduction gear, and planetary reduction gear transmission efficiency is connected with servomotor, for dropping
The slow-speed of revolution, lifts moment of torsion, mates inertia.
According to any of the above-described technical scheme of the present invention, it is preferable that also include：Oscillating cylinder, oscillating cylinder is by upset
Axle is connected with integrated fixture.
In the technical scheme, acted on by oscillating cylinder, fixture and workpiece can realize the flip-flop movement of 180 degree,
To meet job requirements.
Wherein, integrated fixture can realize the function of clamping and unclamp, user's gripping wheel hub or other workpiece.
According to any of the above-described technical scheme of the present invention, it is preferable that also include：First position limiting structure, is fixed on the first beam
One end；Second position limiting structure, is fixed on the other end of the first beam.
In the technical scheme, by two position limiting structures in left and right, supporting plate, and the motion being connected with supporting plate can be avoided
Component and fixture skid off the guide track on the first beam, and when casting robot work, gripping workpiece is moved in the horizontal direction
To high order end or low order end, position limiting structure can prevent supporting plate from continuing to slide out, it is to avoid cause danger, so as to improve equipment
Safety.
A kind of Casting Equipment that the technical scheme of second aspect present invention is provided includes arbitrary in first aspect present invention
The casting mechanical hand that individual technical scheme is provided, wherein, casting mechanical hand is set up between two casting machine equipments.
In the technical scheme, casting mechanical hand is directly set up between two casting machine equipments, it is not necessary to pedestal, i.e.,
Job requirements needed for can completing, the gripping workpiece for enabling fixture reliable and stable is simultaneously moved in the horizontal direction and the vertical direction
Dynamic, reduce production cost.
The additional aspect and advantage of the present invention will become obvious in following description section, or by the practice of the present invention
Recognize.
Description of the drawings
Fig. 1 shows the front view of a casting mechanical hand of the present invention；
Fig. 2 shows the top view of a casting mechanical hand of the present invention；
Fig. 3 shows the left view of a casting mechanical hand of the present invention.
102 first beams, 104 guide rails, 106 first installation portions, 108 second installation portions, 110 first tooth bars, 112 first electricity
Machine, 114 second motors, 116 second beams, 118 second position limiting structures, 120 second position limiting structures, 122 the 3rd motors, 124 the 3rd
Decelerator, 126 integrated fixtures, 128 wheel hubs, 130 supporting plates, 132 oscillating cylinders, 134 trip shafts, 136V type guide rail, 138 second teeth
Bar, 140 first decelerators.
Specific embodiment
In order to be more clearly understood that the above objects, features and advantages of the present invention, below in conjunction with the accompanying drawings and concrete real
Apply mode to be further described in detail the present invention.It should be noted that in the case of not conflicting, the enforcement of the application
Feature in example and embodiment can be mutually combined.
A lot of details are elaborated in the following description in order to fully understand the present invention, but, the present invention may be used also
Implemented with being different from other modes described here using other, therefore, protection scope of the present invention is not limited to following public affairs
The restriction of the specific embodiment that opens.
With reference to Fig. 1 to Fig. 3, casting according to an embodiment of the invention is specifically described with mechanical hand.
As shown in figure 1, embodiment according to the first aspect of the invention, it is proposed that a kind of casting mechanical hand, for casting
Manufacturing apparatus, including moving parts and the integrated fixture 126 being connected on moving parts, also include：First beam 102, the first beam
102 one end is provided with the first installation portion 106, and the other end of the first beam 102 is provided with the second installation portion 108；Wherein, casting machinery
Handss are set up between two Casting Equipments by the first installation portion 106 and the second installation portion 108, and moving parts are in the first beam 102
On can move horizontally and vertically move.
Casting mechanical hand, by the first installation portion 106 and the second installation portion 108, casts according to an embodiment of the invention
Make and directly can be set up between two Casting Equipments with mechanical hand, it is not necessary to pedestal, you can the job requirements needed for completing, make
Fixture can be reliable and stable gripping workpiece and move in the horizontal direction and the vertical direction, reduce production cost.
Wherein it is preferred to, after casting mechanical hand is erected in two Casting Equipments, can be consolidated by bolt
Fixed, conveniently dismounted, it is also possible to be directly welded in Casting Equipment, stable connection reliability, it is to avoid as junction loosens
Cause danger.
Preferably, casting mechanical hand according to an embodiment of the invention, it may also be used on miscellaneous equipment, is pacified by two
Dress portion is fixed, practical, has both reached using effect, while reducing production cost.
Preferably, also include drag chain, the cable on the equipment, oil pipe, trachea and water pipe etc. are built in drag chain, can
Considerable protective action is played, while each section of drag chain can be opened, is easy for installation and maintenance.
According to the above embodiment of the present invention, it is preferable that moving parts include：At least one guide rail 104, with the first beam 102
It is fixedly connected；Supporting plate 130, is provided with least one slide block, guide rail 104 and slide block slidable connection on supporting plate 130.
In this embodiment, the slide block on supporting plate 130 is coordinated with guide rail 104 on the first beam 102, allows supporting plate 130
Slide along guide rail 104, and then realize the movement in the lateral direction of integrated fixture 126.
Wherein it is preferred to, guide rail 104 is straight ball-guide 104, and the straight ball-guide 104 for being coordinated with which is slided
Block, the secondary frictional resistance of guide rail 104 is little, and sound frictional resistance difference is little, is not likely to produce and creeps during low-speed motion, makes the supporting plate 130 can
Slided with reliable and stable relative first beam 102.
Preferably, two guide rails 104 are set on the first beam 102, four 104 slide blocks of guide rail are installed, wherein on supporting plate 130
Two slide blocks are coordinated with a guide rail 104, make moving parts uniform force, it is to avoid as force unbalance causes moving parts to grind
Damage, reduce the service life of casting mechanical hand.
According to the above embodiment of the present invention, it is preferable that moving parts also include：First decelerator 140, solid with supporting plate 130
Fixed connection, the input of the first decelerator 140 connects the first motor 112, and the outfan of the first decelerator 140 connects the first tooth
Wheel；First tooth bar 110, is fixedly arranged on the first beam 102, and first gear is engaged each other with the first tooth bar 110.
In this embodiment, the first motor 112 drives first gear rotation through the first decelerator 140, and first gear exists
Drive supporting plate 130 of creeping on first tooth bar 110 is moved in the horizontal direction, and then fixture can be made to move in the horizontal direction, is led to
The steering of controlled motor is crossed, the moving direction of fixture can be adjusted.
Wherein it is preferred to, the first motor 112 is that servomotor, low cruise is stable, and position precision height, while anti-mistake
Loading capability is strong, can bear the load for being three times in nominal torque, quickly can start or stop, and then improves casting machinery
Chirokinesthetic stability.First decelerator 140 is planetary reduction gear, planetary reduction gear transmission efficiency, is connected with servomotor,
It is used for reducing rotating speed, moment of torsion is lifted, mates inertia.
As shown in Fig. 2 according to one embodiment of present invention, it is preferable that moving parts also include：V-type rail 136, with
And the second beam 116 being fixedly connected with V-type rail 136；Multiple V-type roller groups, on supporting plate 130；Wherein, each V-type
Roller group is distributed in the both sides of V-type rail 136, and each V-type roller group includes two V-type rollers, and one of them rolls for eccentric shaft
Wheel.
In this embodiment, multiple V-type roller groups are installed on supporting plate 130, V-type rail 136 is arranged on per group V-type roller
Between, roller is rotated and achieves the movement in the vertical direction of guide rail 104, and V-type rail 136 is fixedly connected with the second beam 116, V
When type guide rail 136 is moved, drive the second beam 116 in movement in vertical direction, roll per the V-type comprising an eccentric shaft in roller is organized
Wheel, adjusts the gap between V-type roller and V-type rail 136 by eccentric shaft V-type roller, improves positional precision, it is to avoid dislocation is led
Cause fixture be moved to workpiece and know the position of that.Wherein it is preferred to, on supporting plate 130, two V-type roller groups are set,
Cooperation guide rail 104 that can be stable moves, while, it is to avoid excessive setting roller, causes Financial cost to rise.
According to the above embodiment of the present invention, it is preferable that moving parts also include：Second decelerator, installed in supporting plate 130
On, the input of the second decelerator connects the second motor 114, the outfan connection second gear of the second decelerator；Second tooth bar
138, it is fixedly connected with the second beam 116, second gear is engaged each other with the second tooth bar 138.
In this embodiment, the second motor 114 drives first gear rotation through the second decelerator, and second gear is second
The second beam 116 of drive of creeping on tooth bar 138 is moved in vertical direction, and then fixture can be made to move in vertical direction, is passed through
The steering of controlled motor, can adjust the moving direction of fixture.
Wherein it is preferred to, the first motor 112 is that servomotor, low cruise is stable, and position precision height, while anti-mistake
Loading capability is strong, can bear the load for being three times in nominal torque, quickly can start or stop, and then improves casting machinery
Chirokinesthetic stability.Second decelerator be turbine and worm decelerator, turbine and worm decelerator large carrying capacity, stable drive and
Noise very little, makes workpiece smoothly move in vertical direction.
According to the above embodiment of the present invention, it is preferable that moving parts also include：First brake unit, is connected to the second electricity
The output shaft of machine 114.
In this embodiment, the first brake unit is used for the rotating speed of controlled motor output shaft, and then can control work in time
Part movement in vertical direction, it is to avoid cause danger.
According to the above embodiment of the present invention, it is preferable that moving parts also include：3rd motor 122, the 3rd motor 122 leads to
Support is crossed installed in one end of the second beam 116,122 outfan of the 3rd motor is connected with the input of the 3rd decelerator 124, the 3rd
The outfan of decelerator 124 is connected with integrated fixture 126；Second brake unit, is connected to the output shaft of the 3rd motor 122.
In this embodiment, the 3rd motor 122 drives integrated fixture 126 to rotate through the 3rd decelerator 124, makes gripping
360 degree of rotary motion realized by workpiece, by the steering of controlled motor, can adjust the direction of rotation of fixture and workpiece.
Wherein it is preferred to, the first motor 112 is that servomotor, low cruise is stable, and position precision height, while anti-mistake
Loading capability is strong, can bear the load for being three times in nominal torque, quickly can start or stop, and then improves casting machinery
Chirokinesthetic stability.3rd decelerator 124 is planetary reduction gear, planetary reduction gear transmission efficiency, is connected with servomotor,
It is used for reducing rotating speed, moment of torsion is lifted, mates inertia.
As shown in figure 3, according to any of the above-described embodiment of the present invention, it is preferable that also include：Oscillating cylinder 132, swings gas
Cylinder 132 is connected with integrated fixture 126 by trip shaft 134.
In this embodiment, the flip-flop movement that 180 degree realized by fixture and workpiece can be realized by oscillating cylinder 132,
Meet job requirements.
According to any of the above-described embodiment of the present invention, it is preferable that also include：First position limiting structure 120, is fixed on the first beam
One end；Second position limiting structure 118, is fixed on the other end of the first beam.
In the technical scheme, by two position limiting structures in left and right, supporting plate 130 can be avoided, and is connected with supporting plate 130
Moving parts and fixture skid off guide track on the first beam, when casting robot work, gripping workpiece is in level side
To high order end or low order end is moved to, position limiting structure can prevent supporting plate 130 from continuing to slide out, it is to avoid cause danger, so as to
Improve the safety of equipment.
A kind of Casting Equipment that the embodiment of second aspect present invention is provided includes any one reality of first aspect present invention
The casting mechanical hand of example offer is applied, wherein, casting mechanical hand is set up between two casting machine equipments.
In this embodiment, casting mechanical hand is directly set up between two casting machine equipments, it is not necessary to pedestal, you can
Job requirements needed for completing, the gripping workpiece for enabling fixture reliable and stable is simultaneously moved in the horizontal direction and the vertical direction,
Reduce production cost.
Specifically, integrated fixture moves to realize wheel hub by cylinder block clamping and release, casting mechanical hand can
With control fixture and wheel hub 128 in the horizontal direction with move on vertical direction, and control clamp strap runner hub is along vertical axes
360 degree of rotary motions are carried out, fixture can be realized by oscillating cylinder and workpiece does 180 degree flip-flop movement, to meet operation need
Ask, meanwhile, when supporting plate is moved to guide rail high order end or low order end, two position limiting structures can prevent supporting plate 130 from continuing outwards
Slide, it is to avoid cause danger, so as to improve the safety of equipment.
Technical scheme is had been described in detail above, the present invention proposes a kind of casting mechanical hand, can be direct
It is set up between two casting machine equipments, it is not necessary to pedestal, you can the job requirements needed for completing.
In the description of this specification, term " first ", " second " are only used for the purpose for describing, and it is not intended that indicating
Or hint relative importance；Term " connection ", " installation ", " fixation " etc. all should be interpreted broadly, and for example, " connection " can be solid
Surely connect, or be detachably connected, or be integrally connected；Can be joined directly together, it is also possible to indirect by intermediary
It is connected.For the ordinary skill in the art, above-mentioned term tool in the present invention can be understood as the case may be
Body implication.
In the description of this specification, the description of term " one embodiment " etc. means to describe with reference to the embodiment or example
Specific features, structure, material or feature be contained at least one embodiment or the example of the present invention.In this manual,
Identical embodiment or example are not necessarily referring to the schematic representation of above-mentioned term.And, the specific features of description, knot
Structure, material or feature can be combined in any one or more embodiments or example in an appropriate manner.
The preferred embodiments of the present invention are the foregoing is only, the present invention is not limited to, for the skill of this area
For art personnel, the present invention can have various modifications and variations.All within the spirit and principles in the present invention, made any repair
Change, equivalent, improvement etc., should be included within the scope of the present invention.
Claims (10)
1. a kind of casting mechanical hand, for Casting Equipment, including moving parts and the collection being connected on the moving parts
Become fixture (126), it is characterised in that also include：
First beam (102), the one end of the first beam (102) is provided with the first installation portion (106), the first beam (102) another
One end is provided with the second installation portion (108)；
Wherein, the casting mechanical hand is set up in two by the first installation portion (106) and second installation portion (108)
Described in platform between Casting Equipment, the moving parts can be moved horizontally on the first beam (102) and be vertically moved.
2. casting mechanical hand according to claim 1, it is characterised in that the moving parts include：
At least one guide rail (104), is fixedly connected with the first beam (102)；
Supporting plate (130), is provided with least one slide block on supporting plate (130), guide rail (104) with the slide block slidably
Connection.
3. casting mechanical hand according to claim 2, it is characterised in that the moving parts also include：
First decelerator (140), is fixedly connected with the supporting plate (130), the input of the first decelerator (140) connection the
One motor (112), the outfan connection first gear of the first decelerator (140)；
First tooth bar (110), is fixedly arranged on the first beam (102), and the first gear is mutual with the first tooth bar (110)
Engagement.
4. casting mechanical hand according to claim 2, it is characterised in that the moving parts also include：
V-type rail (136)；And
The second beam (116) being fixedly connected with the V-type rail (136)；
Multiple V-type roller groups, on the supporting plate (130)；
Wherein, each described V-type roller group is distributed in the both sides of the V-type rail (136), and each V-type roller group includes two V
Type roller, one of them is eccentric shaft roller.
5. casting mechanical hand according to claim 4, it is characterised in that the moving parts also include：
Second decelerator, on the supporting plate (130), the input of second decelerator connects the second motor (114),
The outfan connection second gear of second decelerator；
Second tooth bar (138), is fixedly connected with the second beam (116), the second gear and the second tooth bar (138) phase
Mutually engage.
6. casting mechanical hand according to claim 5, it is characterised in that the moving parts also include：
First brake unit, is connected to the output shaft of the second motor (114).
7. casting mechanical hand according to claim 6, it is characterised in that the moving parts also include：
3rd motor (122), the 3rd motor (122) by support installed in the one end of the second beam (116), described the
Three motors (122) outfan is connected with the input of the 3rd decelerator (124), the outfan of the 3rd decelerator (124) with
Described integrated fixture (126) connect；
Second brake unit, is connected to the output shaft of the 3rd motor (122).
8. casting mechanical hand according to any one of claim 1 to 7, it is characterised in that also include：
Oscillating cylinder (132), described oscillating cylinder (132) are connected with integrated fixture (126) by trip shaft (134).
9. casting mechanical hand according to any one of claim 1 to 7, it is characterised in that also include：
First position limiting structure (120), is fixed on the one end of the first beam (102)；
Second position limiting structure (118), is fixed on the other end of the first beam (102).
10. a kind of Casting Equipment, including the casting mechanical hand any one of claim 1 to 9, it is characterised in that institute
State casting mechanical hand to be set up between two Casting Equipments.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611187478.5A CN106424672B (en) | 2016-12-21 | 2016-12-21 | Casting manipulator and Casting Equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611187478.5A CN106424672B (en) | 2016-12-21 | 2016-12-21 | Casting manipulator and Casting Equipment |
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| CN106424672A true CN106424672A (en) | 2017-02-22 |
| CN106424672B CN106424672B (en) | 2019-02-26 |
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| CN201611187478.5A Active CN106424672B (en) | 2016-12-21 | 2016-12-21 | Casting manipulator and Casting Equipment |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109822081A (en) * | 2019-01-22 | 2019-05-31 | 广东精铟海洋工程股份有限公司 | A kind of tin bar production system |
| CN110000760A (en) * | 2019-04-21 | 2019-07-12 | 安徽理工大学 | Series parallel type moves self-balancing heavy duty foundry robot |
| CN111546310A (en) * | 2020-03-30 | 2020-08-18 | 扬州戴卡轮毂制造有限公司 | Automatic change arm for wheel hub production line |
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| CN102873314A (en) * | 2012-09-26 | 2013-01-16 | 温州瑞明工业股份有限公司 | Automatic cast receiving method for rollover casting machine and receiving mechanical arm thereof |
| CN203665548U (en) * | 2013-11-08 | 2014-06-25 | 济南东普机器制造有限公司 | Wireless truss mechanical arm |
| CN104192567A (en) * | 2014-08-04 | 2014-12-10 | 河南省中原内配股份有限公司 | Cylinder sleeve workblank transfer device |
| CN206415591U (en) * | 2016-12-21 | 2017-08-18 | 浙江今跃机械科技开发有限公司 | Casting manipulator and Casting Equipment |
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| CN109822081A (en) * | 2019-01-22 | 2019-05-31 | 广东精铟海洋工程股份有限公司 | A kind of tin bar production system |
| CN109822081B (en) * | 2019-01-22 | 2021-01-15 | 广东精铟海洋工程股份有限公司 | Tin bar production system |
| CN110000760A (en) * | 2019-04-21 | 2019-07-12 | 安徽理工大学 | Series parallel type moves self-balancing heavy duty foundry robot |
| CN110000760B (en) * | 2019-04-21 | 2024-02-09 | 安徽理工大学 | Series-parallel movable self-balancing heavy-load casting robot |
| CN111546310A (en) * | 2020-03-30 | 2020-08-18 | 扬州戴卡轮毂制造有限公司 | Automatic change arm for wheel hub production line |
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| CN106424672B (en) | 2019-02-26 |
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