CN106938317A - A kind of model casting automatic casting system - Google Patents
A kind of model casting automatic casting system Download PDFInfo
- Publication number
- CN106938317A CN106938317A CN201710239405.4A CN201710239405A CN106938317A CN 106938317 A CN106938317 A CN 106938317A CN 201710239405 A CN201710239405 A CN 201710239405A CN 106938317 A CN106938317 A CN 106938317A
- Authority
- CN
- China
- Prior art keywords
- arm
- robot
- casting
- formwork
- mobile robot
- 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.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22C—FOUNDRY MOULDING
- B22C9/00—Moulds or cores; Moulding processes
- B22C9/02—Sand moulds or like moulds for shaped castings
- B22C9/04—Use of lost patterns
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
- B22D33/00—Equipment for handling moulds
- B22D33/02—Turning or transposing moulds
-
- 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)
- Casting Support Devices, Ladles, And Melt Control Thereby (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to precision-investment casting field, specifically a kind of model casting automatic casting system, it can be automatically performed pouring operation, improve security, it includes formwork pipeline, the formwork pipeline sidepiece is provided with robot, it is characterized in that, it also includes casting mechanism, the casting mechanism includes intermediate frequency (IF) smelting furnace base, intermediate frequency furnace is provided with by casting ladle rotation driving axle on the intermediate frequency (IF) smelting furnace base, the intermediate frequency furnace includes mid-frequency melting furnace burner hearth and mid-frequency melting furnace cast gate, the casting ladle rotation driving axle connects intermediate frequency furnace rotary motor, conveyer belt locating taper pin is provided with the formwork pipeline, the robot includes fusible pattern mobile robot and investment cast robot.
Description
Technical field
The invention belongs to precision-investment casting field, specifically a kind of model casting automatic casting system.
Background technology
In existing production, because investment-casting formwork external form is complicated, unlike sand mold, side of surface side is whole, easily realizes
Cast gate is positioned and automatic casting, and the difficulty of investment-casting automatic casting is：1st, formwork is moved to determining for casting line from roaster
Position problem, 2, formwork zero point coordinate to be cast be accurately positioned problem, 3, the molten steel of casting ladle accurately pours into formwork in casting cycle
The problem of pouring rim of a cup.Therefore current casting is all to use hand teeming, because cast temperature is often 1100-1300 DEG C, manually
Very red-hot during casting, the baking to people is difficult by while formwork weight is larger, general part, formwork weighs about more than ten kilograms, weight
Have tens kilograms, so heavy formwork is, it is necessary to which artificial taken out with formwork fork from roaster is placed on casting area, then uses casting ladle
Connect molten steel to pour into formwork, workload is very big, easily scald, and high-temperature baking, people be difficult by.
The content of the invention
In order to solve the above problems, the invention provides a kind of model casting automatic casting system, it can be automatically performed
Pouring operation, improves security.
Its technical scheme is such：A kind of model casting automatic casting system, it includes formwork pipeline, the formwork
Pipeline sidepiece is provided with robot, it is characterised in that it also includes casting mechanism, and the casting mechanism includes mid-frequency melting furnace
Intermediate frequency furnace is provided with by casting ladle rotation driving axle on base, the intermediate frequency (IF) smelting furnace base, the intermediate frequency furnace is molten including intermediate frequency
Furnace burner hearth and mid-frequency melting furnace cast gate, the casting ladle rotation driving axle connect intermediate frequency furnace rotary motor, the formwork pipeline
On be provided with conveyer belt locating taper pin, the robot includes fusible pattern mobile robot and investment cast robot.
It is further characterized by, and infrared receiving device and infrared launcher are provided with the formwork pipeline；
The fusible pattern mobile robot includes fusible pattern mobile robot pedestal, is provided with the fusible pattern mobile robot pedestal molten
Rotatable fusible pattern mobile robot is installed on mould mobile robot large-arm joint, the fusible pattern mobile robot large-arm joint
Large arm, the fusible pattern mobile robot large arm connects big revolution of arm by the big revolution of arm harmonic speed reducer of fusible pattern mobile robot and driven
Rotatable fusible pattern mobile robot sub-arm is installed, the fusible pattern is moved in dynamic motor, the fusible pattern mobile robot large arm
Mobile robot sub-arm is auxiliary by turning round harmonic speed reducer connection formwork mobile robot above and below formwork mobile robot sub-arm
Help and fusible pattern mobile robot forearm is installed on revolution driving motor above and below arm, the fusible pattern mobile robot sub-arm, it is described
Fusible pattern mobile robot forearm connects formwork mobile robot forearm by fusible pattern mobile robot forearm rotary harmonic speed reducer
Revolution driving motor, the fusible pattern mobile robot forearm is also connected with formwork mobile robot forearm turn drive motor, described
Rotatable formwork manipulator is installed on formwork mobile robot forearm and performs arm, the formwork manipulator performs arm connection mode
Shell manipulator performs revolution of arm motor and formwork manipulator performs arm motor, and the formwork manipulator performed and pacify on arm
Equipped with rotatable electric-controlled mechanical hand hydraulic cylinder, the piston rod connection manipulator rotation driving electricity of the electric-controlled mechanical hand hydraulic cylinder
Machine, cylinder body connection formwork manipulator；
The investment cast robot includes investment cast robot base, is provided with the investment cast robot base molten
Rotatable investment cast robot is installed on mould casting robot large-arm joint, the investment cast robot's arm joint
Large arm, the investment cast robot's arm turns round harmonic speed reducer by investment cast robot's arm and connects big revolution of arm drive
Rotatable investment cast robot assisted arm is installed on dynamic motor, the investment cast robot's arm, the fusible pattern is poured
Cast robot sub-arm auxiliary by turning round harmonic speed reducer connection formwork mobile robot above and below formwork mobile robot sub-arm
Help on revolution driving motor above and below arm, the investment cast robot assisted arm and investment cast robot forearm is installed, it is described
Investment cast robot forearm turns round harmonic speed reducer by investment cast robot forearm and connects formwork mobile robot forearm
Revolution driving motor, the investment cast robot forearm is also connected with formwork mobile robot forearm turn drive motor, described
Rotatable casting robot is installed on formwork mobile robot forearm and performs arm, the casting robot performs arm connection institute
State casting robot and perform revolution of arm motor, the casting robot, which performs arm, to be included outside casting robot execution arm worm screw
Shell, the casting robot, which is performed, is provided with casting robot execution arm worm screw in arm worm screw shell, the casting robot is held
Row arm worm screw one end connection casting ladle worm screw rotary drive motor, other end connection casting robot perform arm gear on worm, described
Casting robot performs arm gear on worm connection casting machine hand worm gear, and the casting machine hand worm gear connection pours Packet driven actively
Gear, it is described pour Packet driven driving gear and pour Packet driven by pouring Packet driven intermediate gear drives perform gear, the casting ladle drives
Dynamic to perform gear connection casting ladle one end, the casting ladle other end is articulated with casting ladle rotary support, it is described pour to wrap to be provided with pour
Bag mouth；
3D laser beam emitting devices have been mounted on the investment cast robot base and fusible pattern mobile robot pedestal.
After structure using the present invention, casting ladle is driven to move at intermediate frequency furnace automatically to fall molten steel by investment cast robot
Enter in casting ladle, fusible pattern mobile robot crawl formwork, investment cast robot controls casting ladle that molten steel is poured into formwork again, automatic complete
Into pouring operation, security is improved, personal injury and environment evil that existing hand teeming may occur is effectively prevented from
The bad human body infringement brought.
Brief description of the drawings
Fig. 1 is front schematic view of the present invention；
Fig. 2 is schematic diagram behind the present invention；
Fig. 3 is investment cast（It is mobile）Robot base structure chart；
Fig. 4 is fusible pattern mobile robot right part of flg；
Fig. 5 is fusible pattern mobile robot left hand view；
Fig. 6 is investment cast robot front elevation；
Fig. 7 is investment cast robot subsequent figures；
Fig. 8 is investment cast robot mechanical arm structure chart；
Fig. 9 is intermediate frequency furnace structure chart；
Figure 10 is formwork and formwork alignment system schematic diagram；
Figure 11 is formwork transmission line schematic diagram；
Figure 12 is model casting automatic casting system fundamental diagram.
Embodiment
As shown in Fig. 1 to Figure 12, a kind of model casting automatic casting system, it includes formwork pipeline 49, formwork conveying
The sidepiece of line 49 is provided with fusible pattern mobile robot, investment cast robot and casting mechanism, and casting mechanism includes mid-frequency melting furnace
Mid-frequency melting furnace 11, mid-frequency melting furnace 11 are provided with by casting ladle rotation driving axle 10 on base 14, intermediate frequency (IF) smelting furnace base 14
Mid-frequency melting furnace switch board 32 is connected, mid-frequency melting furnace 11 includes intermediate frequency furnace 33, mid-frequency melting furnace burner hearth 12 and mid-frequency melting furnace
Mid-frequency melting furnace coil 59, casting ladle rotation driving are provided with cast gate 13, mid-frequency melting furnace burner hearth 12, mid-frequency melting furnace burner hearth 12
Axle 10 connects the formwork conveyer belt 47 in intermediate frequency furnace rotary motor 35, formwork pipeline 49 by intermediate frequency furnace rotary gearbox 34
On be provided with conveyer belt locating taper pin 46, the connection formwork of formwork conveyer belt 47 conveyer belt 48.It is provided with formwork pipeline 49 red
Infrared receiving device 75 and infrared launcher 8.Fusible pattern mobile robot, investment cast machine electricly connect Robotic Manipulator per capita
Robot teaching box is installed, Robotic Manipulator's platform 43 is installed on robot manipulation's control room on platform 43, Robotic Manipulator's platform 43
In 41.
Fusible pattern mobile robot includes being provided with fusible pattern on fusible pattern mobile robot pedestal 1, fusible pattern mobile robot pedestal 1
Rotatable fusible pattern mobile robot large arm is installed on mobile robot large-arm joint 4, fusible pattern mobile robot large-arm joint 4
6, fusible pattern mobile robot large arm 6 connects large arm revolution driving electricity by the big revolution of arm harmonic speed reducer 3 of fusible pattern mobile robot
Rotatable fusible pattern mobile robot sub-arm is installed in machine 2, fusible pattern mobile robot large arm 6, fusible pattern mobile robot is auxiliary
Arm is helped to be connected by turning round harmonic speed reducer 52 above and below formwork mobile robot sub-arm above and below formwork mobile robot sub-arm
Fusible pattern mobile robot forearm 39, fusible pattern movement machine are installed on revolution driving motor 40, fusible pattern mobile robot sub-arm
People's forearm 39 connects forearm rotary motor 38, fusible pattern movement by fusible pattern mobile robot forearm rotary harmonic speed reducer 37
Robot forearm 39 is also connected with installing on formwork mobile robot forearm turn drive motor 51, formwork mobile robot forearm 39
There is rotatable formwork manipulator to perform arm 45, formwork manipulator performs the connection of arm 45 and performs revolution of arm motor 36 and formwork
Manipulator performs arm motor 44, and formwork manipulator to perform and be provided with rotatable electric-controlled mechanical hand hydraulic cylinder 50 on arm 44,
The piston rod connection manipulator rotary drive motor 9 of electric-controlled mechanical hand hydraulic cylinder 50, cylinder body connection formwork manipulator 7.
Investment cast robot includes investment cast robot base 17, is provided with investment cast robot base 17 molten
Rotatable investment cast robot is installed on mould casting robot large-arm joint 57, investment cast robot's arm joint 57
Large arm 20, investment cast robot's arm 20 turns round harmonic speed reducer 19 by investment cast robot's arm and connects big revolution of arm
Rotatable investment cast robot assisted arm, investment cast are installed on motor 21, investment cast robot's arm 20
Robot assisted arm is auxiliary by turning round the connection of harmonic speed reducer 21 formwork mobile robot above and below formwork mobile robot sub-arm
Help on revolution driving motor 22 above and below arm, investment cast robot assisted arm and investment cast robot forearm 25, fusible pattern are installed
Casting robot forearm 25 turns round harmonic speed reducer 24 by investment cast robot forearm and connects forearm rotary motor 38,
Investment cast robot forearm 25 is also connected with formwork mobile robot forearm turn drive motor 23, formwork mobile robot forearm
Rotatable casting robot is installed on 25 and performs arm, casting robot performs arm connection and performs revolution of arm motor 36,
Casting robot, which performs arm, includes casting robot execution arm worm screw shell 55, and casting robot is performed to be set in arm worm screw shell 55
It is equipped with casting robot and performs arm worm screw, casting robot performs arm worm screw one end and performs arm worm drive by casting robot
The connection casting ladle worm screw of decelerator 54 rotary drive motor 26, other end connection casting robot perform arm gear on worm 56, casting
Robot performs arm gear on worm 56 and connects casting machine hand worm gear 16, and Packet driven driving tooth is poured in the connection of casting machine hand worm gear 16
Wheel 27, pours Packet driven driving gear 27 by pouring the driving of Packet driven idler gear 28 and pours Packet driven execution gear 29, pour Packet driven
The connection of gear 29 casting ladle 31 one end is performed, the other end of casting ladle 31 is articulated with casting ladle rotary support 58, pour to wrap and be provided with casting ladle
Mouth 30；
It is provided with the first 3D laser beam emitting devices 5 and fusible pattern mobile robot pedestal and is provided with investment cast robot base
2nd 3D laser beam emitting devices 18.
As shown in Figure 10, the lower end of part 61 is provided with formwork locating taper pin 62, and part 61 is supported in zero point coordinate setting bottom
On seat 66, the front of zero point coordinate setting base 66 is provided with taper hole 63 on positioning base, for coordinating with formwork locating taper pin 62, instead
Face is provided with positioning taper hole 64 under positioning base, and for coordinating with conveyer belt locating taper pin 46, formwork cast gate is provided with part 61
Cup 60 and running channel 65.
Fusible pattern mobile robot is identical with the pedestal inner structure of investment cast robot, and concrete structure is as described below：Work as machine
When device people's large arm above structure needs revolution, programming instruction is sent by robot manipulation's platform, base revolution driving motor 76 works,
Small synchromesh gear 67 is driven to rotate, small synchromesh gear 67 drives the big synchromesh gear 68 being attached thereto to rotate, big synchromesh gear 68
Drive top deck 72 to rotate, drive the robot's arm being arranged on upper bearing support to rotate therewith.More than robot's arm
When structure needs lifting, programming instruction is sent by robot manipulation's platform, large arm lifting motor 70 is started working, and drives leading screw
Rotation, leading screw drives lower support plate, lifting fairlead 73, and upper bearing plate 72 is moved up and down.And then the machine National People's Congress of drive thereon
Arm and its above mechanism complete oscilaltion function.Wherein 69 be fixed support column.
Formwork moving process is as described below：Formwork zero point coordinate setting base 66 is first put into casting line upper shuttering conveyer belt
On conveyer belt locating taper pin 46 on 47, then formwork 15 is put into the upper positioning taper hole 63 on zero point coordinate setting base 66
Interior, the positioning of other formworks is to analogize.After the completion of formwork positioning, programming instruction is sent by robot manipulation's platform, it is robotically-driven
Fusible pattern mobile robot large arm 6, fusible pattern mobile robot forearm 39, the motor linkage of fusible pattern mobile robot auxiliary mechanical arm,
Formwork manipulator 7 is driven to be moved to the outside of formwork sprue cup 60, now robot program continues to run with, and instruction is sent, to electricity
Hydraulic cylinder 50 is controlled, hydraulic cylinder works drive the clamp arm formwork sprue cup 60 of formwork manipulator 7, robot program continues to run with, mould
After the clamp arm formwork sprue cup 60 of shell manipulator 7, it is moved on the formwork locating taper pin 46 on formwork conveyer belt 47, completes formwork
The movement of material.
Automatic casting process：Formwork 15 on formwork conveyer belt 47 is driven backward, is reached after casting anchor point, casting positioning
The infrared transmitting device 8 and infrared receiving device 75 of lateral side are started working, and control formwork transmission belt 47 stops, now automatically
The teaching route that casting ladle is completed according to simulation, is moved under the cast gate of mid-frequency melting furnace 11, the mid-frequency melting furnace of mid-frequency melting furnace 11
Burner hearth 12 pours into molten steel in casting ladle 31, into automatic casting process：
Casting robot now enters the program for finding mold shell sprue cup position to be poured：The first positioning：By the 2nd 3D laser
Coordinate location device 18 is opened, and it is cylindrical to formwork zero point coordinate setting base 66 to launch laser by the 2nd 3D laser beam emitting devices 18
On, laser intelligence is sent to manipulation computer, through computer analysis meter by laser reflection into laser pickoff by data wire
The zero point coordinate setting coordinate digital of positioning base 66 is obtained after calculation.There is zero point coordinate digital, put and sat for programming zero with this
Mark, is programmed to the mobile route of casting machine hand.
Second of positioning：Mode of operation on teaching box is arrived into teaching pattern surely, newly-built program or selection have editted journey
Sequence, by teaching, casting machine hand is moved to position appropriate on formwork sprue cup by box control machine people, presses teaching memory
Key, preserves location information.
After the completion of formwork positioning sprue cup positioning, instruction, casting robot driving casting machine are sent by robot manipulation's platform
Device people large arm 20, casting robot forearm 25, casting robot casting ladle worm screw rotary drive motor 26 link, and drive casting machine
People's casting ladle worm screw 56 rotates, and pours Packet driven driving gear 27, pours Packet driven idler gear 28, pours Packet driven and performs 29 turns of gear
It is dynamic, drive casting ladle 31 to rotate the angle of fixed amount by simulation, the molten steel in casting ladle is quantitatively poured into formwork 15, completion was cast
Journey.
Claims (5)
1. a kind of model casting automatic casting system, it includes formwork pipeline, and the formwork pipeline sidepiece is provided with machine
People, it is characterised in that it also includes casting mechanism, the casting mechanism includes intermediate frequency (IF) smelting furnace base, the mid-frequency melting furnace
Intermediate frequency furnace is provided with by casting ladle rotation driving axle on base, the intermediate frequency furnace includes mid-frequency melting furnace burner hearth and mid-frequency melting furnace
Cast gate, the casting ladle rotation driving axle to connect and be provided with conveyer belt locating cone on intermediate frequency furnace rotary motor, the formwork pipeline
Pin, the robot includes fusible pattern mobile robot and investment cast robot.
2. a kind of model casting automatic casting system according to claim 1, it is characterised in that on the formwork pipeline
Infrared receiving device and infrared launcher are installed.
3. a kind of model casting automatic casting system according to claim 1, it is characterised in that the fusible pattern moves machine
People includes being provided with fusible pattern mobile robot large arm pass on fusible pattern mobile robot pedestal, the fusible pattern mobile robot pedestal
Rotatable fusible pattern mobile robot large arm, the fusible pattern movement are installed on section, the fusible pattern mobile robot large-arm joint
Robot's arm connects large arm revolution driving motor by the big revolution of arm harmonic speed reducer of fusible pattern mobile robot, and the fusible pattern is moved
Rotatable fusible pattern mobile robot sub-arm is installed, the fusible pattern mobile robot sub-arm passes through in mobile robot large arm
Revolution driving electricity above and below harmonic speed reducer connection formwork mobile robot sub-arm is turned round above and below formwork mobile robot sub-arm
Fusible pattern mobile robot forearm, the fusible pattern mobile robot forearm are installed on machine, the fusible pattern mobile robot sub-arm
Formwork mobile robot forearm rotary motor is connected by fusible pattern mobile robot forearm rotary harmonic speed reducer, it is described molten
Mould mobile robot forearm is also connected with formwork mobile robot forearm turn drive motor, the formwork mobile robot forearm
Rotatable formwork manipulator is installed and performs arm, the formwork manipulator performs arm connection formwork manipulator and performs revolution of arm drive
Dynamic motor and formwork manipulator perform arm motor, and the formwork manipulator to perform and be provided with rotatable electric-controlled mechanical on arm
Hand hydraulic cylinder, the piston rod connection manipulator rotary drive motor of the electric-controlled mechanical hand hydraulic cylinder, cylinder body connection formwork machinery
Hand.
4. a kind of model casting automatic casting system according to claim 1, it is characterised in that the investment cast machine
People includes being provided with investment cast robot's arm pass in investment cast robot base, the investment cast robot base
Rotatable investment cast robot's arm, the investment cast are installed on section, the investment cast robot's arm joint
Robot's arm turns round harmonic speed reducer by investment cast robot's arm and connects large arm revolution driving motor, and the fusible pattern is poured
Rotatable investment cast robot assisted arm is installed on casting robot's arm, the investment cast robot assisted arm passes through
Revolution driving electricity above and below harmonic speed reducer connection formwork mobile robot sub-arm is turned round above and below formwork mobile robot sub-arm
Investment cast robot forearm, the investment cast robot forearm are installed on machine, the investment cast robot assisted arm
Harmonic speed reducer is turned round by investment cast robot forearm and connects formwork mobile robot forearm rotary motor, it is described molten
Mould casting robot forearm is also connected with formwork mobile robot forearm turn drive motor, the formwork mobile robot forearm
Rotatable casting robot is installed and performs arm, the casting robot performs arm and connects the casting robot execution arm time
Turn motor, the casting robot, which performs arm, includes casting robot execution arm worm screw shell, the casting robot is held
Casting robot is provided with row arm worm screw shell and performs arm worm screw, the casting robot performs arm worm screw one end connection casting ladle
Worm screw rotary drive motor, other end connection casting robot perform arm gear on worm, and the casting robot performs arm worm screw
Gear connects casting machine hand worm gear, and Packet driven driving gear is poured in the casting machine hand worm gear connection, described to pour Packet driven master
Moving gear pours Packet driven execution gear by pouring Packet driven intermediate gear drives, and the Packet driven that pours performs gear connection casting ladle one
End, the casting ladle other end is articulated with casting ladle rotary support, it is described pour to wrap be provided with casting ladle mouthful.
5. a kind of model casting automatic casting system according to claim 1, it is characterised in that the investment cast machine
3D laser beam emitting devices have been mounted on people's pedestal and fusible pattern mobile robot pedestal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710239405.4A CN106938317B (en) | 2017-04-13 | 2017-04-13 | Automatic casting system for investment casting |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710239405.4A CN106938317B (en) | 2017-04-13 | 2017-04-13 | Automatic casting system for investment casting |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106938317A true CN106938317A (en) | 2017-07-11 |
| CN106938317B CN106938317B (en) | 2020-04-14 |
Family
ID=59463720
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710239405.4A Active CN106938317B (en) | 2017-04-13 | 2017-04-13 | Automatic casting system for investment casting |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106938317B (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107127734A (en) * | 2017-07-19 | 2017-09-05 | 安徽理工大学 | Suspended rail formula multi-arm foundry robot |
| CN108480603A (en) * | 2018-04-25 | 2018-09-04 | 河南摩西机械制造有限公司 | A kind of automatic pouring manipulator |
| CN108526449A (en) * | 2018-05-23 | 2018-09-14 | 成都忠联科技有限公司 | A kind of mechanical arm for cast |
| CN108907162A (en) * | 2018-08-09 | 2018-11-30 | 张家港市创华智能设备有限公司 | Seven axis pour robot |
| AU2017395128A1 (en) * | 2017-08-10 | 2019-02-28 | Anhui University of Science and Technology | Series-parallel movable heavy-load casting robot |
| CN109604571A (en) * | 2018-12-29 | 2019-04-12 | 长沙长泰机器人有限公司 | A kind of casting sand type pipeline |
| IT201900007824A1 (en) * | 2019-06-03 | 2020-12-03 | Imr Engineering & Tech S R L | PERFECTED EQUIPMENT FOR LOW PRESSURE CASTING OF METALLIC PRODUCTS |
| CN113676387A (en) * | 2021-08-11 | 2021-11-19 | 追觅创新科技(苏州)有限公司 | Zero calibration method and device for multi-legged robot, storage medium and electronic device |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5874270A (en) * | 1981-10-29 | 1983-05-04 | M C L:Kk | Cutting method for runner in lost wax casting method |
| JPS6044151A (en) * | 1983-08-22 | 1985-03-09 | M C L:Kk | Lost wax casting method |
| CN103962544A (en) * | 2014-05-29 | 2014-08-06 | 温州职业技术学院 | Automatic production line for precise investment casting |
| CN205020748U (en) * | 2015-09-30 | 2016-02-10 | 石家庄博欧金属制品有限公司 | Investment casting is with supplementary pouring manipulator |
| CN105798283A (en) * | 2016-05-16 | 2016-07-27 | 徐�明 | Casting production line |
| CN106180666A (en) * | 2016-08-22 | 2016-12-07 | 日照北科新金属材料有限公司 | Automatic casting machine people |
| CN106312754A (en) * | 2016-10-27 | 2017-01-11 | 鹰普航空零部件（无锡）有限公司 | Industrial robot for grinding and polishing propeller and grinding and polishing method |
| CN206981714U (en) * | 2017-04-13 | 2018-02-09 | 鹰普（中国）有限公司 | Model casting automatic casting system |
-
2017
- 2017-04-13 CN CN201710239405.4A patent/CN106938317B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5874270A (en) * | 1981-10-29 | 1983-05-04 | M C L:Kk | Cutting method for runner in lost wax casting method |
| JPS6044151A (en) * | 1983-08-22 | 1985-03-09 | M C L:Kk | Lost wax casting method |
| CN103962544A (en) * | 2014-05-29 | 2014-08-06 | 温州职业技术学院 | Automatic production line for precise investment casting |
| CN103962544B (en) * | 2014-05-29 | 2015-11-11 | 温州职业技术学院 | Precision-investment casting automatic production line |
| CN205020748U (en) * | 2015-09-30 | 2016-02-10 | 石家庄博欧金属制品有限公司 | Investment casting is with supplementary pouring manipulator |
| CN105798283A (en) * | 2016-05-16 | 2016-07-27 | 徐�明 | Casting production line |
| CN106180666A (en) * | 2016-08-22 | 2016-12-07 | 日照北科新金属材料有限公司 | Automatic casting machine people |
| CN106312754A (en) * | 2016-10-27 | 2017-01-11 | 鹰普航空零部件（无锡）有限公司 | Industrial robot for grinding and polishing propeller and grinding and polishing method |
| CN206981714U (en) * | 2017-04-13 | 2018-02-09 | 鹰普（中国）有限公司 | Model casting automatic casting system |
Non-Patent Citations (1)
| Title |
|---|
| 甘早斌，鲁宏伟，李开: "《物联网识别技术及应用》", 31 May 2014, 北京：清华大学出版社 * |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107127734A (en) * | 2017-07-19 | 2017-09-05 | 安徽理工大学 | Suspended rail formula multi-arm foundry robot |
| AU2017395128A1 (en) * | 2017-08-10 | 2019-02-28 | Anhui University of Science and Technology | Series-parallel movable heavy-load casting robot |
| AU2017395128B2 (en) * | 2017-08-10 | 2019-04-11 | Anhui University of Science and Technology | Series-parallel movable heavy-load casting robot |
| CN108480603A (en) * | 2018-04-25 | 2018-09-04 | 河南摩西机械制造有限公司 | A kind of automatic pouring manipulator |
| CN108526449A (en) * | 2018-05-23 | 2018-09-14 | 成都忠联科技有限公司 | A kind of mechanical arm for cast |
| CN108907162A (en) * | 2018-08-09 | 2018-11-30 | 张家港市创华智能设备有限公司 | Seven axis pour robot |
| CN109604571A (en) * | 2018-12-29 | 2019-04-12 | 长沙长泰机器人有限公司 | A kind of casting sand type pipeline |
| IT201900007824A1 (en) * | 2019-06-03 | 2020-12-03 | Imr Engineering & Tech S R L | PERFECTED EQUIPMENT FOR LOW PRESSURE CASTING OF METALLIC PRODUCTS |
| WO2020245738A1 (en) * | 2019-06-03 | 2020-12-10 | Imr Engineering & Technologies S.R.L. | Apparatus for low-pressure casting of metallic products |
| CN113905838A (en) * | 2019-06-03 | 2022-01-07 | 伊姆乐工程与技术有限责任公司 | Apparatus for low pressure casting of metal products |
| CN113676387A (en) * | 2021-08-11 | 2021-11-19 | 追觅创新科技(苏州)有限公司 | Zero calibration method and device for multi-legged robot, storage medium and electronic device |
| CN113676387B (en) * | 2021-08-11 | 2023-02-24 | 北京小米移动软件有限公司 | Zero calibration method and device for multi-legged robot, storage medium and electronic device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106938317B (en) | 2020-04-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106938317A (en) | A kind of model casting automatic casting system | |
| CN107243622A (en) | The removable heavily loaded foundry robot of series parallel type | |
| CN207013711U (en) | Series parallel type may move heavily loaded foundry robot | |
| CN103447482B (en) | A kind of quantitative automatic casting machine of biserial chain type | |
| CN206597900U (en) | Casting charging basket | |
| CN107321969A (en) | The wheeled removable heavily loaded foundry robot of omnidirectional | |
| CN107253179A (en) | The removable heavily loaded foundry robot of series-parallel connection truss-like | |
| CN206981714U (en) | Model casting automatic casting system | |
| JP5095617B2 (en) | Handling equipment as a component part of a kite | |
| CN207013713U (en) | The wheeled removable heavily loaded foundry robot of omnidirectional | |
| CN109676094A (en) | A kind of pouring device, ingot casting system and casting ingot method | |
| CN110394440A (en) | Pouring device | |
| US3731822A (en) | Foundry mold jacket and weight shifter | |
| CN108907164A (en) | A kind of automatic molten iron Casting Equipment of sand casting | |
| JPH08174194A (en) | Casting apparatus | |
| CN106403596B (en) | A kind of electric induction furnace automation operating system | |
| CN206854605U (en) | A kind of precision-investment casting is calcined loading and unloading system | |
| EP1930102B1 (en) | A metal mold casting machine of a casting apparatus | |
| CN210435334U (en) | Automatic transfer ladle pouring device | |
| CN112024863A (en) | Supporting and rotating type pouring robot | |
| CN220901890U (en) | Molten iron transfer trolley | |
| CN115255340B (en) | Automatic manipulator carrying device for precision casting furnace formwork and control method | |
| JP2579199Y2 (en) | Fireproof logistics installation equipment such as tundish | |
| JPH03124361A (en) | Device for pouring refractory | |
| JPH018960Y2 (en) |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |