CN106424672B - Casting manipulator and Casting Equipment - Google Patents
Casting manipulator and Casting Equipment Download PDFInfo
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- CN106424672B CN106424672B CN201611187478.5A CN201611187478A CN106424672B CN 106424672 B CN106424672 B CN 106424672B CN 201611187478 A CN201611187478 A CN 201611187478A CN 106424672 B CN106424672 B CN 106424672B
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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
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Abstract
The present invention provides a kind of casting manipulator and Casting Equipments, wherein, a kind of casting manipulator, for Casting Equipment, including moving parts and the integrated fixture being connected on moving parts, further include: the first beam, one end of the first beam are equipped with the first mounting portion, and the other end of the first beam is equipped with the second mounting portion；Wherein, casting is set up between two Casting Equipments with manipulator by the first mounting portion and the second mounting portion, and moving parts are moved horizontally and vertically moved in the first Liang Shangke.According to the technical solution of the present invention, casting can be directly set up between two Casting Equipments with manipulator, not need pedestal, and required job requirements can be completed, enable the clamping workpiece that fixture is reliable and stable and move in the horizontal direction and the vertical direction, reduces production cost.
Description
Technical field
The present invention relates to foundry machinery technical fields, set in particular to a kind of casting manipulator and a kind of casting
It is standby.
Background technique
For some job tasks for needing simple repeatability on platform, although articulated manipulator can also be completed,
Articulated manipulator needs very smooth and firm pedestal, such as air injection machine, installs and closes on the operating platform of equipment
Section formula manipulator is then relatively difficult, because these workbenches are only that Demand Designs, the platforms such as operator's walking do not tolerate simultaneously
Weight and simultaneously out-of-flatness, and space relatively narrower between equipment and equipment are unfavorable for articulated manipulator work.
Therefore, a kind of casting manipulator how is designed, can directly be set up between two Casting Equipments, not need base
Required job requirements can be completed as technical problem urgently to be resolved in seat.
Summary of the invention
The present invention is directed to solve at least one of the technical problems existing in the prior art or related technologies.
For this purpose, an object of the present invention is to provide a kind of casting manipulators.
It is another object of the present invention to propose a kind of Casting Equipment.
To achieve the above object, technical solution according to the first aspect of the invention proposes a kind of casting manipulator,
For Casting Equipment, including moving parts and the integrated fixture being connected on moving parts, further includes: the first beam, the first beam
One end be equipped with the first mounting portion, the other end of the first beam is equipped with the second mounting portion；Wherein, casting passes through the first peace with manipulator
Dress portion and the second mounting portion are set up between two Casting Equipments, and moving parts are moved horizontally and hung down in the first Liang Shangke
Translation is dynamic.
Casting manipulator according to the technique and scheme of the present invention, by the first mounting portion and the second mounting portion, casting is used
Manipulator can be directly set up between two Casting Equipments, not need pedestal, and required job requirements can be completed, make fixture
Clamping workpiece that can be reliable and stable simultaneously moves in the horizontal direction and the vertical direction, reduces production cost.
Wherein it is preferred to can be consolidated by bolt after casting is erected in two Casting Equipments with manipulator
It is fixed, facilitate and dismounted, can also be directly welded in Casting Equipment, stable connection is reliable, avoid since junction loosens and
It causes danger.
Above-mentioned technical proposal according to the present invention, it is preferable that moving parts include: at least one guide rail, are fixed with the first beam
Connection；Supporting plate is equipped at least one sliding block, guide rail and sliding block slidable connection on supporting plate.
In the technical scheme, the guide rail cooperation on the sliding block on supporting plate and the first beam, slides supporting plate along guide rail,
And then realize the integrated movement of fixture in the lateral direction.
Wherein it is preferred to which guide rail is straight ball-guide and straight ball-guide sliding block engaged therewith, guideway
Frictional resistance is small, and sound frictional resistance difference is small, and when low-speed motion, which is not likely to produce, creeps, and allows reliable and stable opposite of supporting plate
The sliding of first beam.
Preferably, two guide rails are set on the first beam, four guide rail slide blocks, two of them sliding block and one are installed on supporting plate
The cooperation of guide rail, makes moving parts uniform force, avoids causing moving parts to wear due to force unbalance, reduces casting machine
The service life of tool hand.
Above-mentioned technical proposal according to the present invention, it is preferable that moving parts further include: the first retarder, with the fixed company of supporting plate
It connects, the input terminal of the first retarder connects first motor, and the output end of the first retarder connects first gear；First rack gear, Gu
On the first beam, first gear and the first rack gear are intermeshed.
In the technical scheme, first motor drives first gear rotation by the first retarder, and first gear is first
Creeping on rack gear drives supporting plate to move in the horizontal direction, and then fixture can be made to move in the horizontal direction, by controlling motor
Steering, the moving direction of adjustable fixture.
Wherein it is preferred to which first motor is servo motor, low speed is stable, and position precision is high, while overload-resistant energy
Power is strong, is able to bear the load for being three times in nominal torque, can quick start or stopping, and then improve casting and transported with manipulator
Dynamic stability.First retarder is planetary reduction gear, and planetary reduction gear transmission efficiency is high, is connect with servo motor, for dropping
The slow-speed of revolution promotes torque, matches inertia.
A technical solution according to the present invention, it is preferable that moving parts further include: V-type rail, and and V-type rail
The second beam being fixedly connected；Multiple V-type roller groups, are mounted on supporting plate；Wherein, each V-type roller group is distributed in V-type rail
Two sides, each V-type roller group include two V-type idler wheels, one of them is eccentric shaft roller.
In the technical scheme, multiple V-type roller groups are installed on supporting plate, V-type rail be mounted on every group of V-type idler wheel it
Between, idler wheel rotation realizes the movement of guide rail in the up-down direction, and V-type rail is fixedly connected with the second beam, and V-type rail is mobile
When, driving the second beam includes the V-type idler wheel of an eccentric shaft in movement in vertical direction, every group of idler wheel, is rolled by eccentric shaft V-type
Gap between wheel adjustment V-type idler wheel and V-type rail, improves position precision, and dislocation is avoided to cause fixture that workpiece is mobile
To specified position.Wherein it is preferred to which two V-type roller groups are arranged on supporting plate, cooperation guide rail that can be stable is moved, meanwhile,
Excessive setting idler wheel is avoided, economic cost is caused to rise.
Above-mentioned technical proposal according to the present invention, it is preferable that moving parts further include: the second retarder is mounted on supporting plate,
The input terminal of second retarder connects the second motor, and the output end of the second retarder connects second gear；Second rack gear, with second
Beam is fixedly connected, and second gear and the second rack gear are intermeshed.
In the technical scheme, the second motor drives first gear rotation by the second retarder, and second gear is second
Creeping on rack gear, it is mobile in vertical direction to drive the second beam, and then fixture can be made to move in vertical direction, passes through control electricity
The steering of machine, the moving direction of adjustable fixture.
Wherein it is preferred to which first motor is servo motor, low speed is stable, and position precision is high, while overload-resistant energy
Power is strong, is able to bear the load for being three times in nominal torque, can quick start or stopping, and then improve casting and transported with manipulator
Dynamic stability.Second retarder is turbine and worm retarder, turbine and worm retarder large carrying capacity, stable drive and noise
Very little keeps workpiece smoothly mobile in vertical direction.
Above-mentioned technical proposal according to the present invention, it is preferable that moving parts further include: the first brake apparatus is connected to second
The output shaft of motor.
In the technical scheme, the first brake apparatus is used to control the revolving speed of motor output shaft, and then can control in time
The movement of workpiece in vertical direction, avoids causing danger.
Above-mentioned technical proposal according to the present invention, it is preferable that moving parts further include: third motor, third motor pass through branch
Frame is mounted on one end of the second beam, and third motor output end is connect with the input terminal of third retarder, the output of third retarder
End is connect with integrated fixture；Second brake apparatus is connected to the output shaft of third motor.
In the technical scheme, third motor drives integrated fixture rotation by third retarder, and then can make fixture
The workpiece of clamping realizes 360 degree of rotary motion, by controlling the steering of motor, the rotation side of adjustable fixture and workpiece
To.
Wherein it is preferred to which first motor is servo motor, low speed is stable, and position precision is high, while overload-resistant energy
Power is strong, is able to bear the load for being three times in nominal torque, can quick start or stopping, and then improve casting and transported with manipulator
Dynamic stability.Third retarder is planetary reduction gear, and planetary reduction gear transmission efficiency is high, is connect with servo motor, for dropping
The slow-speed of revolution promotes torque, matches inertia.
Any of the above-described a technical solution according to the present invention, it is preferable that further include: oscillating cylinder, oscillating cylinder pass through overturning
Axis is connect with integrated fixture.
In the technical scheme, it being acted on by oscillating cylinder, the flip-flop movement of 180 degree may be implemented in fixture and workpiece,
To meet job requirements.
Wherein, integrated fixture can be realized the function of clamping and release, and user clamps wheel hub or other workpiece.
Any of the above-described a technical solution according to the present invention, it is preferable that further include: the 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 movement connecting with supporting plate be can be avoided
Component and fixture skid off the guide track on the first beam, and when casting robot work, clamping workpiece is moved in the horizontal direction
To left end or right end, position limiting structure can prevent supporting plate from continuing to slide out, and avoid causing danger, to improve equipment
Safety.
A kind of Casting Equipment that the technical solution of second aspect of the present invention provides includes any in first aspect present invention
The casting manipulator that a technical solution provides, wherein casting is set up between two casting machine equipments with manipulator.
In the technical scheme, casting is directly set up between two casting machine equipments with manipulator, does not need pedestal, i.e.,
Achievable required job requirements enable the clamping workpiece that fixture is reliable and stable and move in the horizontal direction and the vertical direction
It is dynamic, reduce production cost.
Additional aspect and advantage of the invention will become obviously in following description section, or practice through the invention
Recognize.
Detailed description of the invention
Fig. 1 shows the main view of a casting manipulator of the invention；
Fig. 2 shows the top views of a casting manipulator of the invention；
Fig. 3 shows the left view of a casting manipulator of the invention.
102 first beams, 104 guide rails, 106 first mounting portions, 108 second mounting portions, 110 first rack gears, 112 first electricity
Machine, 114 second motors, 116 second beams, 118 second position limiting structures, 120 second position limiting structures, 122 third motors, 124 thirds
Retarder, 126 integrated fixtures, 128 wheel hubs, 130 supporting plates, 132 oscillating cylinders, 134 torsion shafts, 136V type guide rail, 138 second teeth
Item, 140 first retarders.
Specific embodiment
To better understand the objects, features and advantages of the present invention, with reference to the accompanying drawing and specific real
Applying mode, the present invention is further described in detail.It should be noted that in the absence of conflict, the implementation of the application
Feature in example and embodiment can be combined with each other.
In the following description, numerous specific details are set forth in order to facilitate a full understanding of the present invention, still, the present invention may be used also
To be implemented using other than the one described here other modes, therefore, protection scope of the present invention is not limited to following public affairs
The limitation for the specific embodiment opened.
The casting of embodiment according to the present invention is specifically described with manipulator below with reference to Fig. 1 to Fig. 3.
As shown in Figure 1, according to the embodiment of the first aspect of the invention, a kind of casting manipulator is proposed, for casting
Manufacturing apparatus, including moving parts and the integrated fixture 126 being connected on moving parts, further includes: the first beam 102, the first beam
102 one end is equipped with the first mounting portion 106, and the other end of the first beam 102 is equipped with the second mounting portion 108；Wherein, casting machinery
Hand is set up between two Casting Equipments by the first mounting portion 106 and the second mounting portion 108, and moving parts are in the first beam 102
On can move horizontally and vertically move.
The casting manipulator of embodiment according to the present invention passes through the first mounting portion 106 and the second mounting portion 108, casting
Making can be directly set up between two Casting Equipments with manipulator, not need pedestal, and required job requirements can be completed, make
Fixture can be reliable and stable clamping workpiece and move in the horizontal direction and the vertical direction, reduce production cost.
Wherein it is preferred to can be consolidated by bolt after casting is erected in two Casting Equipments with manipulator
It is fixed, facilitate and dismounted, can also be directly welded in Casting Equipment, stable connection is reliable, avoid since junction loosens and
It causes danger.
Preferably, the casting manipulator of embodiment according to the present invention, it may also be used in other equipment, pacified by two
Dress portion is fixed, practical, has both reached using effect, while reducing production cost.
Preferably, further include drag chain, cable, oil pipe, tracheae and the water pipe etc. in the equipment are built in drag chain, it can
Considerable protective action is played, while each section of drag chain can be opened, and be easy for installation and maintenance.
According to that 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 equipped at least one sliding block, guide rail 104 and sliding block slidable connection on supporting plate 130.
In this embodiment, guide rail 104 on the sliding block on supporting plate 130 and the first beam 102 cooperates, and makes supporting plate 130 can be with
It is slided along guide rail 104, and then realizes the integrated movement of fixture 126 in the lateral direction.
Wherein it is preferred to which guide rail 104 is that straight ball-guide 104 and straight ball-guide engaged therewith 104 are sliding
Block, the secondary frictional resistance of guide rail 104 is small, and sound frictional resistance difference is small, and when low-speed motion, which is not likely to produce, creeps, and makes supporting plate 130 can
It is slided with reliable and stable opposite first beam 102.
Preferably, two guide rails 104 are set on the first beam 102, four 104 sliding blocks of guide rail are installed on supporting plate 130, wherein
Two sliding blocks and a guide rail 104 cooperate, and make moving parts uniform force, avoid causing moving parts to grind due to force unbalance
Damage reduces the service life of casting manipulator.
According to that above embodiment of the present invention, it is preferable that moving parts further include: the first retarder 140, it is solid with supporting plate 130
Fixed connection, the input terminal of the first retarder 140 connect first motor 112, and the output end of the first retarder 140 connects the first tooth
Wheel；First rack gear 110 is fixedly arranged on the first beam 102, and first gear and the first rack gear 110 are intermeshed.
In this embodiment, first motor 112 drives first gear rotation by the first retarder 140, and first gear exists
Creeping on first rack gear 110 drives supporting plate 130 to move in the horizontal direction, and then fixture can be made to move in the horizontal direction, leads to
Cross the steering of control motor, the moving direction of adjustable fixture.
Wherein it is preferred to which first motor 112 is servo motor, low speed is stable, and position precision is high, while anti-mistake
Loading capability is strong, is able to bear the load for being three times in nominal torque, can quick start or stopping, and then improve casting with mechanical
The stability of hands movement.First retarder 140 is planetary reduction gear, and planetary reduction gear transmission efficiency is high, is connect with servo motor,
For reducing revolving speed, torque is promoted, inertia is matched.
As shown in Fig. 2, according to one embodiment of present invention, it is preferable that moving parts further include: V-type rail 136, with
And the second beam 116 being fixedly connected with V-type rail 136；Multiple V-type roller groups, are mounted on supporting plate 130；Wherein, each V-type
Roller group is distributed in the two sides of V-type rail 136, and each V-type roller group includes two V-type idler wheels, one of them is eccentric shaft rolling
Wheel.
In this embodiment, multiple V-type roller groups are installed, V-type rail 136 is mounted on every group of V-type idler wheel on supporting plate 130
Between, idler wheel rotation realizes the movement of guide rail 104 in the up-down direction, and V-type rail 136 is fixedly connected with the second beam 116, V
When type guide rail 136 is mobile, V-type rolling of second beam 116 comprising an eccentric shaft in movement in vertical direction, every group of idler wheel is driven
Wheel adjusts the gap between V-type idler wheel and V-type rail 136 by eccentric shaft V-type idler wheel, improves position precision, dislocation is avoided to lead
Cause fixture that workpiece cannot be moved to the position for knowing that.Wherein it is preferred to two V-type roller groups are set on supporting plate 130,
Cooperation guide rail 104 that can be stable moves, meanwhile, excessive setting idler wheel is avoided, economic cost is caused to rise.
According to that above embodiment of the present invention, it is preferable that moving parts further include: the second retarder is mounted on supporting plate 130
On, the input terminal of the second retarder connects the second motor 114, and the output end of the second retarder connects second gear；Second rack gear
138, it is fixedly connected with the second beam 116, second gear and the second rack gear 138 are intermeshed.
In this embodiment, the second motor 114 drives first gear rotation by the second retarder, and second gear is second
Creeping on rack gear 138, it is mobile in vertical direction to drive the second beam 116, and then fixture can be made to move in vertical direction, passes through
Control the steering of motor, the moving direction of adjustable fixture.
Wherein it is preferred to which first motor 112 is servo motor, low speed is stable, and position precision is high, while anti-mistake
Loading capability is strong, is able to bear the load for being three times in nominal torque, can quick start or stopping, and then improve casting with mechanical
The stability of hands movement.Second retarder be turbine and worm retarder, turbine and worm retarder large carrying capacity, stable drive and
Noise very little keeps workpiece smoothly mobile in vertical direction.
According to that above embodiment of the present invention, it is preferable that moving parts further include: the first brake apparatus is connected to the second electricity
The output shaft of machine 114.
In this embodiment, the first brake apparatus is used to control the revolving speed of motor output shaft, and then can control work in time
The movement of part in vertical direction, avoids causing danger.
According to that above embodiment of the present invention, it is preferable that moving parts further include: third motor 122, third motor 122 are logical
One end that bracket is mounted on the second beam 116 is crossed, 122 output end of third motor is connect with the input terminal of third retarder 124, third
The output end of retarder 124 is connect with integrated fixture 126；Second brake apparatus is connected to the output shaft of third motor 122.
In this embodiment, third motor 122 drives integrated fixture 126 to rotate by third retarder 124, makes clamping
Workpiece realizes 360 degree of rotary motion, by controlling the steering of motor, the direction of rotation of adjustable fixture and workpiece.
Wherein it is preferred to which first motor 112 is servo motor, low speed is stable, and position precision is high, while anti-mistake
Loading capability is strong, is able to bear the load for being three times in nominal torque, can quick start or stopping, and then improve casting with mechanical
The stability of hands movement.Third retarder 124 is planetary reduction gear, and planetary reduction gear transmission efficiency is high, is connect with servo motor,
For reducing revolving speed, torque is promoted, inertia is matched.
As shown in figure 3, any of the above-described a embodiment according to the present invention, it is preferable that further include: oscillating cylinder 132 swings gas
Cylinder 132 is connect by torsion shaft 134 with integrated fixture 126.
In this embodiment, fixture may be implemented by oscillating cylinder 132 and workpiece realizes the flip-flop movement of 180 degree,
Meet job requirements.
Any of the above-described a embodiment according to the present invention, it is preferable that further include: the 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, it can be avoided supporting plate 130, and connect with supporting plate 130
Moving parts and fixture skid off the guide track on the first beam, when casting robot work, clamp workpiece in level side
To left end or right end is moved to, position limiting structure can prevent supporting plate 130 from continuing to slide out, and avoid causing danger, thus
Improve the safety of equipment.
A kind of Casting Equipment that the embodiment of second aspect of the present invention provides includes any one reality of first aspect present invention
Apply the casting manipulator of example offer, wherein casting is set up between two casting machine equipments with manipulator.
In this embodiment, casting is directly set up between two casting machine equipments with manipulator, does not need pedestal
Job requirements needed for completing, enable the clamping workpiece that fixture is reliable and stable and move in the horizontal direction and the vertical direction,
Reduce production cost.
Specifically, clamping and release that fixture realizes wheel hub by cylinder block movement are integrated, casting manipulator can
It is moved in the horizontal and vertical directions with controlling fixture and wheel hub 128, and control clamp strap runner hub is along vertical axes
360 degree rotation movement is carried out, fixture may be implemented by oscillating cylinder and workpiece does 180 degree flip-flop movement, to meet operation need
It asks, meanwhile, when supporting plate is moved to guide rail left end or right end, two position limiting structures can prevent supporting plate 130 from continuing outward
Sliding, avoids causing danger, to improve the safety of equipment.
Technical solution of the present invention has been described in detail above, the invention proposes a kind of casting manipulators, can be direct
It is set up between two casting machine equipments, does not need pedestal, required job requirements can be completed.
In the description of this specification, term " first ", " second " are only used for the purpose of description, and should not be understood as indicating
Or imply relative importance；Term " connection ", " installation ", " fixation " etc. shall be understood in a broad sense, for example, " connection " can be admittedly
Fixed connection, may be a detachable connection, or be integrally connected；It can be directly connected, it can also be indirect by intermediary
It is connected.For the ordinary skill in the art, the tool of above-mentioned term in the present invention can be understood as the case may be
Body meaning.
In the description of this specification, the description of term " one embodiment " etc. means that the embodiment or example is combined to describe
Particular features, structures, materials, or characteristics be included at least one embodiment or example of the invention.In the present specification,
Schematic expression of the above terms are not necessarily referring to identical embodiment or example.Moreover, the specific features of description, knot
Structure, material or feature can be combined in any suitable manner in any one or more of the embodiments or examples.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (8)
1. a kind of casting manipulator, is used for Casting Equipment, including moving parts and the collection being connected on the moving parts
At fixture (126), which is characterized in that further include:
First beam (102), one end of first beam (102) are equipped with the first mounting portion (106), first beam (102) it is another
One end is equipped with the second mounting portion (108)；
Wherein, the casting is set up in two by first mounting portion (106) and second mounting portion (108) with manipulator
Between Casting Equipment described in platform, the moving parts can be moved horizontally and be vertically moved on first beam (102)；
The moving parts include:
At least one guide rail (104) is fixedly connected with first beam (102)；
Supporting plate (130) is equipped at least one sliding block on the supporting plate (130), and the guide rail (104) and the sliding block are slidably
Connection；
V-type rail (136)；And
The second beam (116) being fixedly connected with the V-type rail (136)；
Multiple V-type roller groups are mounted on the supporting plate (130)；
Wherein, each V-type roller group is distributed in the two sides of the V-type rail (136), and each V-type roller group includes two V
Type idler wheel, one of them is eccentric shaft roller.
2. casting manipulator according to claim 1, which is characterized in that the moving parts further include:
First retarder (140) is fixedly connected with the supporting plate (130), the input terminal of first retarder (140) connection the
The output end of one motor (112), first retarder (140) connects first gear；
First rack gear (110) is fixedly arranged on first beam (102), and the first gear and first rack gear (110) are mutual
Engagement.
3. casting manipulator according to claim 1, which is characterized in that the moving parts further include:
Second retarder is mounted on the supporting plate (130), and the input terminal of second retarder connects the second motor (114),
The output end of second retarder connects second gear；
Second rack gear (138) is fixedly connected with second beam (116), the second gear and the second rack gear (138) phase
Mutually engagement.
4. casting manipulator according to claim 3, which is characterized in that the moving parts further include:
First brake apparatus is connected to the output shaft of second motor (114).
5. casting manipulator according to claim 4, which is characterized in that the moving parts further include:
Third motor (122), the third motor (122) are mounted on one end of second beam (116) by bracket, and described
Three motors (122) output end is connect with the input terminal of third retarder (124), the output end of the third retarder (124) with
Integrated fixture (126) connection；
Second brake apparatus is connected to the output shaft of the third motor (122).
6. casting manipulator according to any one of claim 1 to 5, which is characterized in that further include:
Oscillating cylinder (132), the oscillating cylinder (132) are connect by torsion shaft (134) with the integrated fixture (126).
7. casting manipulator according to any one of claim 1 to 5, which is characterized in that further include:
First position limiting structure (120) is fixed on one end of first beam (102)；
Second position limiting structure (118) is fixed on the other end of first beam (102).
8. a kind of Casting Equipment, including casting manipulator described in any one of claims 1 to 7, which is characterized in that described
Casting is set up between two Casting Equipments with manipulator.
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| CN201611187478.5A CN106424672B (en) | 2016-12-21 | 2016-12-21 | Casting manipulator and Casting Equipment |
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| CN201611187478.5A CN106424672B (en) | 2016-12-21 | 2016-12-21 | Casting manipulator and Casting Equipment |
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| CN106424672B true CN106424672B (en) | 2019-02-26 |
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| 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 |
| 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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| 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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| CN106424672A (en) | 2017-02-22 |
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