CN106563790A - Beam box beating manipulator and box beating method thereof - Google Patents
Beam box beating manipulator and box beating method thereof Download PDFInfo
- Publication number
- CN106563790A CN106563790A CN201610963925.5A CN201610963925A CN106563790A CN 106563790 A CN106563790 A CN 106563790A CN 201610963925 A CN201610963925 A CN 201610963925A CN 106563790 A CN106563790 A CN 106563790A
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- Prior art keywords
- chain
- mechanical hand
- shake out
- sandbox
- beam type
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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
- B22D29/08—Strippers actuated mechanically
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Processing Of Meat And Fish (AREA)
- Manipulator (AREA)
Abstract
The invention provides a beam box beating manipulator. The beam box beating manipulator comprises a frame, and an overturning mechanism capable of lifting corresponding to the frame, wherein the overturning mechanism is fixed on the frame, and can move corresponding to the frame; and the overturning mechanism includes a chain for suspending a sand box and a chain driving mechanism for driving the chain to rotate to drive overturning of the sand box. The invention further provides a box beating method by using the beam box beating manipulator. The invention aims to provide the beam box beating manipulator; and the beam manipulator adopts a chain wheel mechanism to improve the flexibility and the generality of box beating and overturning equipment, and changes box beating and overturning operation modes in the casting industry.
Description
Technical field
The present invention relates to molten iron taps a blast furnace to overall process is poured, in particular it relates to a kind of beam type shake out mechanical hand.
Background technology
A kind of cross beam type mechanical hand is disclosed in CN204893951U, the mechanical hand is mainly realized in machine tool component field
Rotation and horizontal transport function, applying cannot realize the functions such as oscilaltion in casting shake out field, and limitation is larger cannot to be used
In casting shake out field.
A kind of double track numerical control cross beam type mechanical hand is disclosed in CN104227702A, the mechanical hand is only capable of being transported in horizontal plane
It is dynamic, it is impossible to realize that vertical plane rotates work compound, it is impossible to for casting shake out field.
A kind of full-automatic inverting closing machine is disclosed in CN203426389U, CN202212538U and CN101758166A
Tool handss, a kind of upset closing machine and large drawing and overturning molding box closer, the mechanical hand and upset closing machine are mainly with cylinder and work
Plug connecting rod is main element, and such flexible design degree is relatively low, and the limitation of cylinder causes the kind equipment adjustable height etc. to be subject to
Limit, be suitable only for the upset and mould assembling of specific sandbox, efficiency is low, and versatility is poor, be suitable only for the life of single variety product Foundry Works
Produce, application cannot be realized to the Foundry Works of small lot multi items, it is impossible to realize bulk and use on a large scale, be suitable only for ad hoc type
Casting factory.
There is flexibility ratio at present in varied mechanical hand and upset closing machine field low, poor universality, using model
The problems such as enclosing narrow, it is impossible to realize the automatization of the interior shake out on a large scale of casting industry, only adopt self in indivedual single variety factories
Research and development equipment realizes mould turnover automatization, causes majority Foundry Works shake out method at present to be realized in traditional crane mode.
The content of the invention
For problem present in correlation technique, it is an object of the invention to provide a kind of beam type shake out mechanical hand, this
Bright beam type mechanical hand adopts sprocket-type mechanism, to improve the flexibility ratio and versatility of shake out and mould turnover equipment, changes casting row
The operating type of industry shake out and mould turnover.
For achieving the above object, the invention provides a kind of beam type shake out mechanical hand, beam type shake out machinery handss include：Machine
Tool handss girder and relative to the liftable switching mechanism of mechanical hand girder, wherein, switching mechanism is fixed to mechanical hand girder simultaneously
Can move relative to mechanical hand girder, switching mechanism includes the chain for hanging sandbox and turns round with band for drive chain
The chain drive mechanism of dynamic sandbox upset.
According to one embodiment of present invention, switching mechanism is liftably fixed to mechanical hand girder by pulley mechanism.
According to one embodiment of present invention, pulley mechanism is movably secured to mechanical hand girder by moving trolley.
According to one embodiment of present invention, switching mechanism further includes the mould turnover frame for being fixed to pulley mechanism, chain
Bar drive mechanism is arranged in mould turnover frame, and chain further includes the first chain and the second chain, wherein, the first chain
It is movably secured to respectively in the opposite sides of mould turnover frame with the second chain.
According to one embodiment of present invention, chain drive mechanism includes the chain with chain interoperation to drive chain to move
The reductor that wheel and drive sprocket are rotated.
According to one embodiment of present invention, chain drive mechanism further includes chain distance regulating mechanism, for
Adjust the spacing between the first chain and the second chain.
According to one embodiment of present invention, four lifting pulley with pulley mechanism synchronization lifting are also included, raising is slided
One end of wheel is connected to mechanical hand girder, and the other end is respectively connecting to four angles of mould turnover frame.
According to one embodiment of present invention, mould turnover frame is connected to pulley mechanism by rotating mechanism, and rotating mechanism can
Switching mechanism is optionally driven to rotate around vertical axis.
According to one embodiment of present invention, mechanical hand girder is configured to guide rail, and moving trolley includes that optionally edge is led
The big mechanism of car that the trolley body and driving guide rail that rail is slided is moved along the bearing of trend perpendicular to guide rail.
According to a further aspect in the invention, there is provided a kind of method using beam type shake out mechanical hand shake out described above,
The method comprising the steps of：Will be equipped with treating that the sandbox transferring pallet of shake out sandbox is delivered to shake out station using heavily loaded AGV；By machinery
The chain of handss hangs up properly the top box for treating shake out sandbox, and running to the first shakeout carries out knockout, and top box is placed on into sandbox after knockout
In transferring pallet；Chain is hung up properly the nowel for treating shake out sandbox, is run to the second shakeout top, will wait to beat by switching mechanism
The nowel of case sandbox is overturn, and foundry goods is poured out to the second shakeout；Manipulator runs nowel to the first knockout
Machine carries out knockout, and then nowel is placed on the top box for having completed shake out；Sandbox transferring pallet is delivered by heavily loaded AGV,
The top box that shake out is completed and nowel delivery are gone back；And knockout operation is carried out to foundry goods on the second shakeout.
The present invention Advantageous Effects be：The beam type shake out machinery hand getting sprocket-type mechanism of the present invention, improves
The flexibility ratio and versatility of shake out and mould turnover equipment, changes the operating type of casting industry shake out and mould turnover.
Description of the drawings
Fig. 1 shows the structural representation of an exemplary embodiment of beam type shake out mechanical hand of the invention；
Fig. 2 shows the structural representation that the A-A directions from Fig. 1 intercept；
Fig. 3 shows the structural representation of the B directions observation in Fig. 1；And
Fig. 4 shows the illustrative process schematic diagram that shake out operation is carried out using the beam type shake out mechanical hand illustrated in Fig. 1.
Specific embodiment
Referring now to Description of Drawings according to a particular embodiment of the invention.
With reference first to Fig. 1, the knot of an exemplary embodiment of beam type shake out mechanical hand of the invention is it illustrates
Structure schematic diagram.As illustrated, in this embodiment, beam type shake out machinery handss include mechanical hand girder 1 and relative to mechanical hand
The liftable switching mechanism 2 of girder 1, wherein, switching mechanism 2 is fixed to mechanical hand girder 1 and can be relative to mechanical hand girder 1
Mobile, further, with reference to Fig. 2, switching mechanism 2 includes the chain 4 for hanging sandbox 3 and turns round for drive chain 4
To drive the chain drive mechanism 5 of the upset of sandbox 3.
The beam type mechanical hand of the present invention adopts sprocket-type mechanism, can be under the cooperation of chain drive mechanism 5 and chain 4
The automatic turning of sandbox 3 is realized during shake out and will not be skidded, improve the flexibility ratio and versatility of shake out and mould turnover equipment；And
And when carrying out shake out operation using mechanical hand of the invention, shake out work only needs the chaining bar that an operator does to aid in work
, labor intensity significantly declines, safe also to be ensured, therefore the beam type mechanical hand of the present invention changes casting industry and beats
The operating type of case and mould turnover.
In a specific embodiment, as shown in figure 1, switching mechanism 2 is liftably fixed to machine by pulley mechanism 6
Tool handss girder 1, the structure and operation principle of pulley mechanism 6 are known for those of skill in the art, do not remake herein into one
The detailed description of step.But will be appreciated that switching mechanism 2 can be realized relative to mechanical hand master by any other suitable modes
The oscilaltion of beam 3, for example, can not limited to and this by electric hoist, elevating lever etc., the present invention.
Additionally, pulley mechanism 6 can be movably secured to mechanical hand girder 1 by moving trolley.In a specific enforcement
In example, as shown in figure 1, mechanical hand girder 1 is configured to guide rail, and moving trolley include can sliding along the guide rail trolley body 7,
And drive the big mechanism of car 14 that the guide rail moves along the bearing of trend perpendicular to guide rail, trolley body 7 and big mechanism of car 14 to match somebody with somebody
Close so that pulley mechanism 6 can be moved relative to mechanical hand girder 1, so as to drive switching mechanism 2 relative to mechanical hand girder 1
It is mobile.
Further, referring to Fig. 1 and Fig. 2, switching mechanism 2 further includes the mould turnover frame 8 for being fixed to pulley mechanism 6,
Chain drive mechanism 5 is arranged in mould turnover frame 8, and chain 4 further includes the first chain 41 and the second chain 42, its
In, the first chain 41 and the second chain 42 are movably secured to respectively in the opposite sides of mould turnover frame 8.Such as Fig. 3 is further
Illustrate, the first chain 41 and the second chain 42 being oppositely arranged can be suspended on respectively in the opposite sides of sandbox 3, and in sandbox
3 every side, two positions of each engagement sandbox 3 side of chain 41 and 42, when having been suspended in midair in sandbox 3 using chain 41 and 42
When, chain 41 and 42 is presented general triangular construction, so that it is guaranteed that stability when sandbox 3 overturns.
Again as shown in Fig. 2 chain drive mechanism 5 include coordinating with chain 4 sprocket wheel 9 to drive chain 4 to move and
The reductor 10 that drive sprocket 9 is rotated.In shake out, the first chain 41 and the second chain 42 are hung up properly after sandbox 3, by slowing down
The drive sprocket 9 of machine 10 rotates, and sprocket wheel 9 drives chain 4 to turn round, so as to realize the upset of sandbox 3, you can pour out the casting in sandbox 3
Part.
In addition, in a preferred embodiment, chain drive mechanism 5 further includes chain distance regulating mechanism 11,
To adjust the spacing between the first chain 41 and the second chain 42.Therefore, beam type shake out mechanical hand of the invention can be realized not
Work with the sandbox shake out of size, by the way that chain distance regulating mechanism 11 can mechanical hand be just before shake out under the control of PLC
Chain stripe pitch has been regulated, and spacing is adjusted and uses tooth bar regulation, spacing adjusts very accurate, is easy to operator's chaining
Bar, improves versatility and the motility of the mechanical hand.
It is also possible to provide being used as balance system, lifting pulley with four lifting pulley 12 of the synchronization lifting of pulley mechanism 6
12 one end is connected to mechanical hand girder 1, and the other end is respectively connecting to four angles of mould turnover frame 8.Pulley mechanism 6 and four rise
Liter pulley 12 complements each other and coordinate jointly, to eliminate because the next centre-of gravity shift of sandbox rotating band and handling gib head are rotated at random band
The rotational positioning problem come；Specifically, four lifting pulley 12 are made up of same group of drive mechanism, using electrodeless frequency control skill
Art, can realize its accurate raising and lowering synchronous with pulley mechanism 6 under the control of PLC, also ensure that mechanical hand in upset
Pulley mechanism 6 is balanced when sandbox 3 causes centre-of gravity shift, so that it is guaranteed that steady, the safe operation of shake out work.
In another preferred embodiment, as shown in figure 1, mould turnover frame 8 can be connected to pulley by rotating mechanism 13
Mechanism 6, rotating mechanism 13 is selectively driven switching mechanism 2 and rotates around vertical axis.Wherein, rotating mechanism 13 can be by electrodeless
Buncher drives, and is driven using fluted disc, accurate position rotation can be realized under the control of PLC, it is ensured that before shake out operation
Operator are easy for sandbox 3 being hung on chain 4, while guaranteeing that sandbox 3 can be properly placed on knockout during shake out
Knockout is completed on machine.The design of slew gear ensure that the determination angle rotation of sandbox, be easy to operator's chaining bar, also allow for beating
Sandbox is automatically fallen on shakeout according to the position of design during case.
In illustrative examples, trolley body 7 and big mechanism of car 14, pulley mechanism 6 and rotating mechanism 13 can be adopted
Electrodeless variable-frequency control technique, realizes mechanical hand relative to the position for currently treating shake out sandbox in any direction under the control of PLC
On be accurately positioned.
Will now be described a kind of illustrative methods using beam type shake out mechanical hand shake out as above, the method include as
Lower step：To fill first by heavily loaded automatical pilot transportation vehicle (Automated Guided Vehicle, hereinafter referred to as AGV) 15
The sandbox transferring pallet 17 for needing shake out sandbox 16 is delivered to shake out station；By the first chain 41 of beam type shake out mechanical hand and
Two chains 42 hang up properly respectively the opposite sides of the top box for treating shake out sandbox (16), then run to the first shakeout 18 by top box
Row knockout, is placed on top box in sandbox transferring pallet 17 after knockout；First chain 41 and the second chain 42 are hung up properly and treat shake out
The nowel of sandbox 16, then runs nowel to the top of the second shakeout 19, is overturn nowel by switching mechanism 2, with
Foundry goods is poured out to the second shakeout 19；Nowel is run to the first shakeout 18 by operation beam type shake out mechanical hand
Sand, is then placed on nowel on the top box for having completed shake out；Sandbox transferring pallet 17 is delivered by heavily loaded AGV 15, will be beaten
The top box and nowel delivery that case is completed goes back；And knockout operation is carried out to foundry goods on the second shakeout 19.Finally, foundry goods exists
Operator's operation beam type mechanical hand chain 41,42 completed after knockout on shakeout 19 hang foundry goods to hang with to subsequent processing,
Shake out is completed.
The shake out method of the present invention is using heavy duty AGV transhipment sandbox transferring pallets, pallet unified specification, it is ensured that Ren Hegui
The sandbox of lattice may be disposed on pallet, has played top box after case and has been placed on bottom, and nowel is placed on top, be turned by heavily loaded AGV
It is transported to using scene, meets order during onsite application, the transhipment weight of heavily loaded AGV can meets casting scene up to 200 tons
Almost all of shake out demand；Additionally, the shake out mode of the present invention adopts two shakeouts 18,19, shakeout 18 is responsible for sandbox
Knockout, shakeout 19 is responsible for casting falling sand, makes whole process more smooth, convenient.
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.It is 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 beam type shake out mechanical hand, it is characterised in that include：Mechanical hand girder (1) and relative to the mechanical hand master
The liftable switching mechanism (2) of beam (1),
Wherein, the switching mechanism (2) is fixed to the mechanical hand girder (1) and can move relative to the mechanical hand girder (1)
Dynamic, the switching mechanism (2) includes the chain (4) for hanging sandbox (3) and for driving the chain (4) to turn round with band
The chain drive mechanism (5) of dynamic sandbox (3) upset.
2. beam type shake out mechanical hand according to claim 1, it is characterised in that the switching mechanism (2) is by turbine
Structure (6) is liftably fixed to the mechanical hand girder (1).
3. beam type shake out mechanical hand according to claim 2, it is characterised in that the pulley mechanism (6) is by moving trolley
It is movably secured to the mechanical hand girder (1).
4. beam type shake out mechanical hand according to claim 3, it is characterised in that the switching mechanism (2) further includes
The mould turnover frame (8) of the pulley mechanism (6) is fixed to, the chain drive mechanism (5) is arranged on the mould turnover frame (8)
In, and the chain (4) further includes the first chain (41) and the second chain (42),
Wherein, first chain (41) and second chain (42) are movably secured to respectively the mould turnover frame (8)
Opposite sides on.
5. beam type shake out mechanical hand according to claim 4, it is characterised in that the chain drive mechanism (5) include with
The reductor that the chain (4) coordinates the sprocket wheel (9) to drive the chain (4) mobile and drives the sprocket wheel (9) to rotate
(10)。
6. beam type shake out mechanical hand according to claim 5, it is characterised in that the chain drive mechanism (5) is further
Including chain distance regulating mechanism (11), between adjusting between first chain (41) and second chain (42)
Away from.
7. beam type shake out mechanical hand according to claim 6, it is characterised in that also include same with the pulley mechanism (6)
Four lifting pulley (12) of step lifting, one end of the lifting pulley (12) is connected to the mechanical hand girder (1), the other end
It is respectively connecting to four angles of the mould turnover frame (8).
8. beam type shake out mechanical hand according to claim 7, it is characterised in that the mould turnover frame (8) is by whirler
Structure (13) is connected to the pulley mechanism (6), and the rotating mechanism (13) is selectively driven the switching mechanism (2) around perpendicular
Straight axis rotate.
9. beam type shake out mechanical hand according to claim 8, it is characterised in that the mechanical hand girder (1) is configured to lead
Rail, the moving trolley includes to lead perpendicular to described along trolley body (7) and the driving guide rail edge that the guide rail is slided
The big mechanism of car (14) of the bearing of trend motion of rail.
10. a kind of method that usage right requires the beam type shake out mechanical hand shake out any one of 1 to 9, it is characterised in that
Including step：
Will be equipped with treating that the sandbox transferring pallet (17) of shake out sandbox (16) is delivered to shake out station using heavily loaded AGV (15)；
The chain (4) of the beam type shake out mechanical hand is hung up properly the top box for treating shake out sandbox (16), is run to the first shakeout
(18) knockout is carried out, the top box is placed on the sandbox transferring pallet (17) after knockout；
The chain (4) is hung up properly into the nowel for treating shake out sandbox (16), is run to the second shakeout (19) top, by turning over
Rotation mechanism (2) is overturn the nowel for treating shake out sandbox (16), and foundry goods is poured out to the second shakeout (19)；
Operating the beam type shake out mechanical hand nowel to be run to first shakeout (18) carries out knockout, then by institute
State nowel to be placed on the top box for having completed shake out；
Sandbox transferring pallet (17) is delivered by heavily loaded AGV (15), the top box and the nowel that shake out is completed is delivered back
Go；And
Knockout operation is carried out to foundry goods on the second shakeout (19).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610963925.5A CN106563790B (en) | 2016-10-28 | 2016-10-28 | Beam type shake out manipulator and its shake out method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610963925.5A CN106563790B (en) | 2016-10-28 | 2016-10-28 | Beam type shake out manipulator and its shake out method |
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| Publication Number | Publication Date |
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| CN106563790A true CN106563790A (en) | 2017-04-19 |
| CN106563790B CN106563790B (en) | 2018-12-04 |
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| CN201610963925.5A Active CN106563790B (en) | 2016-10-28 | 2016-10-28 | Beam type shake out manipulator and its shake out method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109530664A (en) * | 2018-12-29 | 2019-03-29 | 山东省智能机器人应用技术研究院 | A kind of aluminium casting blank automatic sand removal handling device |
| CN109834228A (en) * | 2019-03-06 | 2019-06-04 | 共享智能铸造产业创新中心有限公司 | A kind of sand core tilting transport apparatus |
| CN112705690A (en) * | 2019-10-24 | 2021-04-27 | 共享智能铸造产业创新中心有限公司 | Auxiliary shakeout and box-turning device and using method thereof |
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| CN112705690A (en) * | 2019-10-24 | 2021-04-27 | 共享智能铸造产业创新中心有限公司 | Auxiliary shakeout and box-turning device and using method thereof |
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| Publication number | Publication date |
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| CN106563790B (en) | 2018-12-04 |
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