CN106552925A - A kind of casting machine special manipulator - Google Patents
A kind of casting machine special manipulator Download PDFInfo
- Publication number
- CN106552925A CN106552925A CN201510615177.7A CN201510615177A CN106552925A CN 106552925 A CN106552925 A CN 106552925A CN 201510615177 A CN201510615177 A CN 201510615177A CN 106552925 A CN106552925 A CN 106552925A
- Authority
- CN
- China
- Prior art keywords
- casting machine
- manipulator
- machine special
- motor
- forearm
- 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
Links
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
- B22D18/00—Pressure casting; Vacuum casting
- B22D18/02—Pressure casting making use of mechanical pressure devices, e.g. cast-forging
-
- 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
-
- 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
- B22D35/04—Equipment for conveying molten metal into beds or moulds into moulds, e.g. base plates, runners
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of casting machine special manipulator, with 3 frees degree, can simulate large arm, forearm and the Wrist-sport of people, and its main part is the parallel-crank mechanism of a single fulcrum.3 drive motors are all disposed within fixation and wish on frame that each motor only drives 1 motion, realizes the kinematics one-to-one relationship of drive motor and driven element.After the executive components such as soup cup, pickup device or sprayer are configured on forearm end plate, you can become soup feeding machine, extractor or spraying machine, be conducive to the automated production of vertical extrusion casting machine.
Description
Technical field
The present invention relates to a kind of manipulator, particularly a kind of casting machine special manipulator.
Background technology
As people need with high-mechanical property and complex-shaped few without cutting foundry goods, the squeeze casting technology for having extrusion forging and compression casting advantage concurrently becomes the important directions of current development.At present, vertical extrusion casting machine has become the urgtented need equipment of some production die casting such as auto-parts enterprises of China, but the exploitation of the ancillary equipment matched with vertical extrusion casting machine is relatively lagged behind.First, the ancillary equipment supporting with extrusion casting machine has soup feeding machine, extractor and spraying machine, and 3 kinds of mechanical motion principles and structure are different, bring inconvenience to operation and maintenance.If 3 kinds of supporting machineries are used simultaneously, many spaces certainly will be taken around vertical extrusion casting machine, plus other must be supporting smelting furnace, foundry goods storage box and the spraying equipment such as liquid case, and the necessary operating space of staff makes field course layout become very difficult.Have again be exactly vertical extrusion casting machine upper/lower die between 4 big columns, manipulator arm move when often cannot use because of interfering with column.Artificial operation is changed to such as, not only inefficiency, and it is dangerous, it is therefore necessary to researching and developing a kind of more excellent manipulator of performance to solve the above problems.
The content of the invention
The present invention provides a kind of casting machine special manipulator, with 3 frees degree, can simulate large arm, forearm and the Wrist-sport of people, and its main part is the parallel-crank mechanism of a single fulcrum.3 drive motors are all disposed within fixation and wish on frame that each motor only drives 1 motion, realizes the kinematics one-to-one relationship of drive motor and driven element.After the executive components such as soup cup, pickup device or sprayer are configured on forearm end plate, you can become soup feeding machine, extractor or spraying machine, be conducive to the automated production of vertical extrusion casting machine.
The technical solution adopted in the present invention is：
The casting machine special manipulator, its arm are not interfered with column when passing in and out vertical extrusion casting machine in the horizontal plane, and its hand can be realized to soup, 3 kinds of functions of pickup or spraying after corresponding executive component is configured with.
Respectively by 1 motor-driven, that is, the hand for having 2 frees degree, forearm and forearm end can be moved the large arm and forearm of the manipulator according to track set in advance turnover, not collide with 4 root posts of vertical extrusion casting machine；Manipulator Hand serves many purposes, and can become soup feeding machine, extractor or spraying machine, provide motion and power, i.e. three degree of freedom to executive component by rack-mounted 3rd motor after configuration corresponding " executive component "；3 drive motors of the manipulator are all concentrated on fixed support, and arm is rigidly good, simple structure；What 3 frees degree were caused moves into decoupling form, and motor adjustment and control are easy, and kinematic accuracy is high, low cost.
The Chain conveyer motor-driven primary chain of the manipulator and sprocket wheel, are further driven to secondary chain and sprocket wheel, so that secondary chain is also rotated around z-axis with the actuator driven sprocket wheel on sprocket wheel.When Chain conveyer motor is static, large arm and arm movements do not result in the additional movement of chain, only Chain conveyer motor rotation, can just cause actuator driven sprocket wheel to rotate.
The right angle rotating mechanism being equipped with China's casting machine also adopts two hydraulic jacks interactive to realize what is rotated.Compared with the pinion and rack that the present invention is adopted, the complexity of the rotational automatic control of mechanism is increased.Simultaneously as pinion and rack is rigidly good, therefore, its action is more accurate, it is easier to being properly positioned when realizing that shower nozzle rotates.
The manipulator adopts compressed air for power, and the different station of die casting spraying is suitable under the driving of cylinder, and simple possible is practical, while external inlet-pressure casting spray coating mechanical hand can be substituted, reduces equipment investment cost, reduces labour intensity.
The invention has the beneficial effects as follows：With 3 frees degree, large arm, forearm and the Wrist-sport of people can be simulated, its main part is the parallel-crank mechanism of a single fulcrum.3 drive electronic stool to be all disposed within fixation to wish on frame that each motor only drives 1 motion, realizes the kinematics one-to-one relationship of drive motor and driven element.After the executive components such as soup cup, pickup device or sprayer are configured on forearm end plate, you can become soup feeding machine, extractor or spraying machine, be conducive to the automated production of vertical extrusion casting machine.
Description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the big arm movements schematic diagram of casting machine special manipulator of the present invention.
Fig. 2 is the mechanical wrist part motion principle and structure of the present invention.
In figure：1 one frames；2 one quarter butt motor；3 one short stalks；4-Chain conveyer motor；5 one big stern motor；6 one large arm；7 one tough grades of chains and sprocket wheel；8 level chains and sprocket wheel；9 one long connecting rods；10 1 forearms；11 1 actuator driven sprocket wheels；12 1 actuators；13 1 forearm plates；14 1 large bevel gears；15 end plates；16-bevel gear semiaxis；17 1 actuator driven sprocket shafts.
Specific embodiment
The invention will be further described with reference to the accompanying drawings and examples.
As Fig. 1, Chain conveyer motor 4 drive primary chain and sprocket wheel 7, secondary chain and sprocket wheel 8 are further driven to, so that secondary chain is also rotated around z-axis with the actuator driven sprocket wheel 11 on sprocket wheel.When Chain conveyer motor 4 is static, large arm 6 and forearm 10 move the additional movement for not resulting in chain, and only Chain conveyer motor 4 is rotated, and can just cause actuator driven sprocket wheel 11 to rotate.
Manipulator is apish right arm, it can also apish left arm, form the manipulator of another kind of type.Left and right manipulator can pass in and out vertical die-casting machine at different angles, be conducive to arrangement and the layout of ancillary equipment.
In order that the corner of large arm 6 is mutually non-interference with the corner of quarter butt 3, during design, large arm and quarter butt should be made to be in different aspects.An Elastic Node Mechanism will be arranged on the chain of primary chain and sprocket wheel 7 and secondary chain and sprocket wheel 8, to guarantee whenever chain is all in tensioning state, during motion, chain will not fall off, such that it is able to the motion of 1 cochain drive motor 4 of frame is correctly relayed to the sprocket shaft 17 of forearm front end.
Such as Fig. 2, a axles and forearm dead in line, a axles and b axles composition horizontal plane, c-axis are perpendicular to horizontal plane.The axis of actuator driven sprocket shaft 17 is just consistent with the c-axis of moving coordinate system.Sprayer is installed on the both sides overhanging end of sprocket shaft 17, sprayer is rotated around C axles when sprocket shaft 17 is rotated, spray upwards by die cavity for sprayer pipe up, the downward die cavity spraying of the sprayer pipe in lower section, then manipulator becomes spraying machine.
When bevel gear semiaxis 16 is arranged on the front end of forearm 10, namely situation shown in Fig. 2, bevel gear semiaxis 16 is rotated around a axles, foundry goods adaptor is installed on bevel gear semiaxis 16, when bevel gear semiaxis 16 goes to adaptor to be horizontal, the foundry goods in upper cavity falls into adaptor, when bevel gear semiaxis 16 is rotated further by half cycle, foundry goods will be dropped on foundry goods conveyer belt, and now manipulator becomes extractor.
Little gear is set in the external part of bevel gear semiaxis 16, guide groove and tooth bar are set on end plate 15, tooth bar is connected with soup cup.The rotation of bevel gear semiaxis 16 can drive soup cup edge axle c to move up and down by rack-and-pinion.When above robot end moves to smelting furnace, bevel gear semiaxis 16 is rotated, and is driven the descending immersion liquation face of soup cup, the piston of soup cup bottom is opened, and after liquation enters soup cup, piston is closed, bevel gear semiaxis 16 invert soup cup it is up go out liquation face.Until robot end is moved to above lower mode cavity, under electromagnet effect, the piston of soup cup bottom is opened, and in lower mode cavity, now manipulator becomes soup feeding machine to the liquation stream of Tang Beizhong.It is this to realize Direct Squeezing Casting technique to liquid mode.
Claims (6)
1. a kind of casting machine special manipulator, is characterized in that：The casting machine special manipulator, its arm are not interfered with column when passing in and out vertical extrusion casting machine in the horizontal plane, and its hand can be realized to soup, 3 kinds of functions of pickup or spraying after corresponding executive component is configured with.
2. a kind of casting machine special manipulator according to claim 1, is characterized in that：Respectively by 1 motor-driven, that is, the hand for having 2 frees degree, forearm and forearm end can be moved the large arm and forearm of the manipulator according to track set in advance turnover, not collide with 4 root posts of vertical extrusion casting machine.
3. a kind of casting machine special manipulator according to claim 1, is characterized in that：The Manipulator Hand serves many purposes, and can become soup feeding machine, extractor or spraying machine, provide motion and power, i.e. three degree of freedom to executive component by rack-mounted 3rd motor after configuration corresponding " executive component ".
4. a kind of casting machine special manipulator according to claim 1, is characterized in that：3 drive motors of the manipulator are all concentrated on fixed support, and arm is rigidly good, simple structure；What 3 frees degree were caused moves into decoupling form, and motor adjustment and control are easy, and kinematic accuracy is high, low cost.
5. a kind of casting machine special manipulator according to claim 1, is characterized in that：The Chain conveyer motor-driven primary chain and sprocket wheel of manipulator are stated, secondary chain and sprocket wheel is further driven to, so that secondary chain is also rotated around z-axis with the actuator driven sprocket wheel on sprocket wheel.
6. a kind of casting machine special manipulator according to claim 1, is characterized in that：The manipulator adopts compressed air for power, and the different station of die casting spraying is suitable under the driving of cylinder, and simple possible is practical, while external inlet-pressure casting spray coating mechanical hand can be substituted, reduces equipment investment cost, reduces labour intensity.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510615177.7A CN106552925A (en) | 2015-09-24 | 2015-09-24 | A kind of casting machine special manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510615177.7A CN106552925A (en) | 2015-09-24 | 2015-09-24 | A kind of casting machine special manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106552925A true CN106552925A (en) | 2017-04-05 |
Family
ID=58415206
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510615177.7A Pending CN106552925A (en) | 2015-09-24 | 2015-09-24 | A kind of casting machine special manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106552925A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107932494A (en) * | 2017-12-02 | 2018-04-20 | 当涂县华胜电子元件制造厂 | A kind of pouring manipulator |
| CN111922319A (en) * | 2020-07-27 | 2020-11-13 | 伟昊(泉州)机械有限公司 | Brake shoe material loading shaping integrated device |
-
2015
- 2015-09-24 CN CN201510615177.7A patent/CN106552925A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107932494A (en) * | 2017-12-02 | 2018-04-20 | 当涂县华胜电子元件制造厂 | A kind of pouring manipulator |
| CN111922319A (en) * | 2020-07-27 | 2020-11-13 | 伟昊(泉州)机械有限公司 | Brake shoe material loading shaping integrated device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN204546540U (en) | outlet manipulator control system | |
| CN203610863U (en) | Welding robot | |
| CN105014661B (en) | A kind of novel link type manipulator | |
| CN203761483U (en) | Relay protecting and monitoring apparatus | |
| CN208086711U (en) | A kind of Full-automatic panel turnover machine | |
| CN101086810A (en) | A teaching robot | |
| CN204673604U (en) | Multi-joint manipulator | |
| CN101480638A (en) | Manipulator type nozzle | |
| CN106319606B (en) | Matrix form electroplating assembly line | |
| CN210025280U (en) | Double-arm transfer robot | |
| CN203709559U (en) | Teaching aid displaying type multi-functional platform | |
| CN106553200A (en) | A kind of infant treatment type mechanical hand | |
| CN106552925A (en) | A kind of casting machine special manipulator | |
| CN205600721U (en) | Novel industry operation manipulator | |
| CN108656339A (en) | A kind of pipe pile mould automatic Tensioning device | |
| CN206317080U (en) | A kind of infant's treatment type manipulator | |
| CN203311731U (en) | Pneumatic control technology experiment table | |
| CN204111195U (en) | Lifting type multi-angle crane span structure type hoisting crane crane carriage watch-dog | |
| CN203692501U (en) | Novel grabbing-placing device with chain wheel driving structure for encrusted food forming machine | |
| CN103111605B (en) | Cast-welding machine using storage batteries | |
| CN209380724U (en) | A kind of robot material transfer device | |
| CN108435604A (en) | A kind of machinery circuit board ash removing equipment | |
| CN204868849U (en) | Spraying manipulator | |
| CN105679172A (en) | Teaching robot | |
| CN104983191B (en) | A kind of Liftable type workbench |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170405 |