CN107127734A - Suspended rail formula multi-arm foundry robot - Google Patents
Suspended rail formula multi-arm foundry robot Download PDFInfo
- Publication number
- CN107127734A CN107127734A CN201710588987.7A CN201710588987A CN107127734A CN 107127734 A CN107127734 A CN 107127734A CN 201710588987 A CN201710588987 A CN 201710588987A CN 107127734 A CN107127734 A CN 107127734A
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- Prior art keywords
- motor
- arm
- forearm
- wheel carrier
- wrist
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0055—Cutting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
Abstract
The invention discloses a kind of suspended rail formula multi-arm foundry robot, including running gear, slewing equipment, lowering or hoisting gear, working arm mounting seat, the first working arm, the second working arm, the 3rd working arm, the 4th working arm and circular orbit, on the end effector of four working arms in addition to provided with Pneumatic paw, the prune job instruments such as grinder for polishing, pneumatic pneumatic pick and plasma cutters are additionally provided with.The running gear of the present invention is by the way of four-point suspension support, robot can be achieved, and stabilization is movably walking over long distances, four working arms can integration of operation, four Pneumatic paws and four cleaning tools can flexible conversions, also many instrument synchronization jobs can be realized, the need for disclosure satisfy that the prune jobs such as big weight, the identification of large volume and complex-shaped casting, carrying, upset, posture adjustment, sand removal, cutting and polishing grinding, the efficiency and quality of casting cleaning operation are improved, the labor intensity and production cost of operating personnel is reduced.
Description
Technical field
The invention belongs to foundry robot's equipment technical field, more particularly to a kind of suspended rail formula multi-arm casting machine
People.
Background technology
During castings production, it is often necessary to carry and adjust the posture of casting, and complete to the various clear of casting
Manage operation.Core and core iron, excision cast gate, rising head, increasing meat, lacing wire are not only removed in production, and cut muscle, overlap, hair
The metal fifth wheels such as thorn, remove casting scab and Superficial Foreign Body, polish flat cast(ing) surface.Most of casting it is still main so far according to
The semi-mechanization tool operation such as instrument and the portable emery wheel of Feng Chong, pneumatic shovel, high speed, suspension emery wheel by hand.Profile is less complicated
Casting also have using general press and sawing machine, then used when casting is of large quantities special purpose machine tool or special production line with
Realize automated job.Steel-casting uses greatly oxygen cutting or pneumoelectric cutting.Pneumoelectric cutting is to utilize to be formed between electrode and casting
The high temperature that electric arc is produced makes metal molten or oxidation, and casting is removed to reach while being blown off fused mass with high-voltage high-speed airflow
Overlap, burr and ridge.This method not only also can be used to smooth cast(ing) surface to cut dead head.But pneumoelectric is cut with
Produce the shortcoming of arc light, flue gas and noise.
Burr, ingate and dead head remnants on casting die joint are the structures that casting exists unavoidably, particularly abnormity
Casting is even more so, it is necessary to carry out spark-out processing, and conventional casting cleaning manually carries out spark-out entirely, and operating efficiency is extremely low,
Working environment is severe, and cost of labor is high and labor intensity is big.During manual cleaning casting, special-shaped casts need the position cleared up
Many, structure is thick big, and cleaning is difficult, and operating efficiency is low；And manual cleaning is whard to control, often results in casting quality unstable；
Special-shaped casts are many due to the position for needing to clear up, and workman, which needs not stop to carry casting translation-angle, can just clean out；Cleaning
The fine dust of generation, spreads whole workshop, has a strong impact on workman healthy；More importantly the safety of workman cannot be protected
Card.
The carrying of casting and pose adjustment are typically carried out using artificial carrying or simple mechanical device auxiliary, artificial to join
High with degree, consuming man-hour is more, adds manufacturing cost, has delayed manufacture progress.Therefore, in the urgent need to design one kind can be simultaneously
Carrying, posture adjustment and prune job the cleaning demand of casting are met, the cleaning of big weight, large volume and intricate casting is especially met
The automation equipment of job requirements, to improve the operating efficiency of casting cleaning operation, it is ensured that casting product quality.
Carried for casting and it is also proposed some solutions with problem present in cleaning, existing patent document.Application
Number a kind of suspended type pipe-jointing welding robot is disclosed for 200810137471.1 Chinese patent, by electric slip ring part, pendulum
Motivation structure telescoping mechanism and hand-operated lifting adjustment mechanism are constituted, and realize what different shape was taken over by rotating mechanism and telescoping mechanism
Automatic welding, but the technical scheme can only realize single arm type operation, it is impossible to realize multi-arm integration of operation.Application No.
200710176284 Chinese patent discloses crawler type multi-arm rod mobile robot, is filled by arm equipment and crawler travel
Composition is put, it is alternative to be manually operated on Various Complex road surface, but the less stable in grabbing workpiece, it is impossible to meet multiple
The job requirements of miscellaneous casting.Application No. 201410438219.X Chinese patent discloses a kind of machine carried with multi-arm
People, the part such as the multi-arm driven by guide rail, individually is constituted, and can simultaneously be loaded and be lifted and loads goods by above and below both constant pitch units
Thing (substrate or chip etc.), but worked independently in carrying using single armed, and simple translation and crawl can only be carried out.Application number
A kind of three-dimensional welding robot of suspension type for vehicle seat, single arm type robot are disclosed for 201710121995.3 Chinese patent
Body is suspended on outer circular orbit and annular track by outer pulley and interior pulley and can be along outer circular orbit and inner ring
Shape track is movably walking, and the program is using 2 points of suspension fixed forms, less stable.Application No. 201620856209.2
Chinese patent discloses a kind of automation casting cleaning device, including robot, tool magazine, cutter, rotary table and control
Device, is cleared up casting for clearance, rotary table is rotatable using unit head crawl cutter, makes to hold cleaning casting positioned at machine
In the cleanup area of device people.The Chinese patent of Application No. 201510512610.4 proposes that a kind of compact machines people automation is beaten
Mill apparatus, grabs casting using robot and moves to sanding apparatus and polished, this kind of automatic grinding device has the following disadvantages：1)
Robot load capacity is limited, it is impossible to carry too heavy casting；2) feed motion in bruting process is the movement of casting, uncomfortable
Close bulky casting.The Chinese patent of Application No. 201610072103.8 discloses a kind of casting cleaning unit and cleaning side
Method, captures casting using two robots for being fixed on ground different station and carries out the prune job such as polish, not only operating efficiency
It is low, and robot working space is small.Carry, adjust with the raising of foundry engieering level, the production of heavy castings and to casting
Appearance and the demand of cleaning automation are also more and more.It is in prior art to use one armed robot's unit or many machine operations more,
Big weight, the carrying of large volume and Complex Different Shape casting, posture adjustment and prune job demand can not be met.
The content of the invention
The purpose of the present invention is that there is provided a kind of suspended rail formula multi-arm foundry robot, energy in view of the shortcomings of the prior art
It is enough in big weight, the identification of large volume and complex-shaped casting, carrying, upset, posture adjustment, sand removal, cutting and polishing grinding etc.
The foundry robot of operation, improves the efficiency and quality of casting cleaning operation, reduction labor intensity and production cost, can overcome existing
There is the defect of technology.
The technical problems to be solved by the invention are realized using following technical scheme.
A kind of suspended rail formula multi-arm foundry robot, including running part, adjustment portion and multi-arm enforcement division.Its feature exists
In：Described running part includes running gear and circular orbit, and described circular orbit includes outer circular orbit and annular rail
Road；Described running gear is used to drive the present invention along outer circular orbit and annular track to be movably walking, described walking
Device include outer wheel carrier, interior wheel carrier, driving wheel, bogie wheel, directive wheel, tensioning wheel and suspension bracket, described outer wheel carrier have two and
Be arranged in parallel on outer circular orbit, between described outer wheel carrier and outer circular orbit by driving wheel, bogie wheel, directive wheel and
Tensioning wheel is connected, and the quantity of driving wheel, bogie wheel, directive wheel and the tensioning wheel installed on each outer wheel carrier is one；Institute
The interior wheel carrier stated has two and is arranged in parallel on annular track, passes through supporting between described interior wheel carrier and annular track
Wheel, directive wheel are connected with tensioning wheel, and two bogie wheels, a directive wheel and a tensioning are provided with each interior wheel carrier
Wheel；Described driving wheel and the overall diameter of bogie wheel and the wide all same of wheel, and axis is in same level, installed in foreign steamer
Driving wheel on frame is located at the middle and upper part of outer wheel carrier with bogie wheel, and two groups of bogie wheels on interior wheel carrier are located at interior wheel carrier
Middle and upper part, the directive wheel on outer wheel carrier is located at the top outer of outer wheel carrier, and the directive wheel on interior wheel carrier is located at
The top outer of interior wheel carrier, the tensioning wheel on outer wheel carrier is located at the bottom centre position of outer wheel carrier, installed in interior wheel carrier
On tensioning wheel be located at interior wheel carrier bottom centre position；Drive motor is provided with described driving wheel, for for driving wheel
Walking driving power is provided, described drive motor is using hydraulic servo motor or air servo-motor or servo deceleration electricity
Machine.Described suspension bracket has two, and the top of two suspension brackets is connected with outer wheel carrier, interior wheel carrier by hinge respectively；Described is outer
The straightway keeping parallelism of circular orbit and annular track is equidistant, described outer circular orbit and the arc of annular track
Keep equidistant with one heart, be fixedly connected between described outer circular orbit and annular track by connecting plate；Described outer circular rails
Road and annular track are fixedly mounted on the roof in workshop.The top of two suspension brackets be connected with outer wheel carrier, interior wheel carrier four
The axis of individual hinge is parallel to each other, and is each perpendicular to horizontal plane.
Described tensioning wheel includes tensioning wheel carrier, tensioning wheel body, the axis of guide, compression spring and anti-drop block, for the present invention
When being movably walking along outer circular orbit and annular track tensile force is provided for running gear.Wherein, tensioning wheel body is arranged on
The top of tensioning wheel carrier, and provided with rolling bearing, the described rotating shaft two ends for being tensioned wheel body and tensioning wheel inside tensioning wheel body
It is connected between frame by way of interference fits；The top of the described axis of guide is mutually consolidated with tensioning wheel carrier by way of welding
Even, the lower end of the axis of guide is arranged on outer wheel carrier or interior wheel carrier, and the side coordinated between outer wheel carrier or interior wheel carrier by gap
Formula is connected；Described compression spring is sleeved on the axis of guide, and positioned between tensioning wheel carrier and outer wheel carrier or interior wheel carrier, is used for
Tensile force is provided for tensioning wheel；Described anti-drop block is located at the lower end of the axis of guide, and is fixedly connected between the axis of guide by screw,
For preventing the axis of guide from departing from outer wheel carrier or interior wheel carrier；The quantity of the described axis of guide, compression spring and anti-drop block is two.
Described adjustment portion includes slewing equipment and lowering or hoisting gear, and described slewing equipment is used for the revolution for realizing the present invention
Part below device rotates around the axis of slewing equipment, and described lowering or hoisting gear is used to realize liter of the present invention in vertical direction
Drop.Described slewing equipment includes rotary flange, revolving bed, rotating cylinder, revolving body, turning motor and driving gear.Wherein,
The outer ring for playing the rotary flange of connection function is mounted by means of bolts on the suspension bracket bottom of running gear, the inner ring of rotary flange
It is fixedly connected with by screw with revolving bed；Described revolving bed is located at turn around in cylinder and between rotating cylinder by two thrusts
Bearing and a journal bearing are connected；Described revolving body is the gyration output block of slewing equipment, described revolution
Body is located at the lower section of rotating cylinder, and is fixedly connected with rotating cylinder by screw；Ring gear is provided with the medial surface of revolving body,
Tapped blind hole is provided with the bottom of revolving body, bolt hole is provided with the top of revolving body；Described turning motor is located at turn around seat
Bottom interior and that revolving bed is fixedly mounted on by screw, described driving gear be arranged on the output shaft of turning motor and with
The output shaft of turning motor is connected by flat key, and shaft end ring is additionally provided with the output the tip of the axis of turning motor, described
Shaft end ring is fixedly connected with by the output shaft of screw and turning motor；In described driving gear and the ring gear of revolving body are kept
Engagement；Described turning motor uses servo deceleration motor, and the decelerator of its configuration uses the turbine snail with auto-lock function
Bar decelerator, auto-lock function is provided for the gyration of slewing equipment.Described thrust bearing uses cylindrical roller thrust bearing,
Described journal bearing uses cylindrical roller journal bearing.
Described lowering or hoisting gear includes lifting seat and electric pushrod, and described lifting seat is located at turn around the lower section of body and with returning
Swivel is connected by screw；Described electric pushrod has four, and is arranged symmetrically in the lower section of lifting seat, for being filled for lifting
The lifting put provides power, and the upper end of described electric pushrod is connected with lifting seat by bolt.
Described multi-arm enforcement division includes working arm mounting seat, the first working arm, the second working arm, the 3rd working arm and the
Four working arms.Wherein, described working arm mounting seat is located at the lower section of lowering or hoisting gear, for the first working arm, the to be fixedly mounted
Two working arms, four articles of working arms of the 3rd working arm and the 4th working arm, the top of described working arm mounting seat and electric pushrod
Lower end be connected by bolt；Described the first working arm, the second working arm, the upper end of the 3rd working arm and the 4th working arm
It is fixedly mounted in working arm mounting seat, the first working arm and the 4th working arm are arranged symmetrically under working arm mounting seat
The structure of side, the second working arm and the 3rd working arm is identical and is arranged symmetrically in the lower section of working arm mounting seat.Described
First working arm, the second working arm, the 3rd working arm and structure of the 4th working arm in addition to end effector are identical,
For five degree of freedom articulated type series connection mechanical arm, the kinematic pair in each joint is revolute pair.Under described working arm mounting seat
Side is provided with two industry cameras being arranged symmetrically, surface and overall profile letter for gathering workshop image scene and casting
Breath, described industry camera is fixedly mounted on the lower section of working arm mounting seat by two-degree-of-freedom cradle head.
The first described working arm includes the first shoulder motor, the first shoulder seat, the first large arm motor, the first large arm, first
Forearm motor, the first forearm, the first belt driver and first end actuator, are mainly used in performing casting polishing grinding operation
Task and the other working arms of cooperation perform casting transport operation tasks.Wherein, the first shoulder motor is fixedly mounted on working arm
In mounting seat, the first described shoulder seat is located at the lower section of working arm mounting seat and is connected with the output flange of the first shoulder motor
Connect；The upper end of the first described large arm is connected with the first shoulder seat by the first large arm motor, the lower end of the first large arm and first
The upper end of forearm is connected by the first forearm motor；Described first end actuator is located at the bottom of the first working arm,
And be connected with the first forearm by hinge and the first belt driver.The first described belt driver is arranged on the first forearm
The first forearm body side cavity in, the first forearm in vitro provided with first capping, first capping by screw fixed installation
On the first forearm body.Described first end actuator include the first wrist motor, the first forked frame, the first Pneumatic paw and
Grinder for polishing.Wherein, the top of the first wrist motor and the lower end of the first forearm body pass through hinge and the first belt driver
It is connected, the top of the first forked frame and the output shaft of the first wrist motor are fixedly connected with, the first Pneumatic paw is fixedly mounted on
The side of one forked frame, described grinder for polishing is fixedly mounted on the opposite side of the first forked frame.The first described V belt translation
Device includes the first pendulum wrist motor, the first driving pulley, the first transmission belt, the first driven pulley and first driven shaft, described
First pendulum wrist motor is arranged on the upper end of the first forearm body, and the first described driving pulley is fixedly mounted on the first pendulum wrist motor
On output shaft, and it is connected with the output shaft of the first pendulum wrist motor by flat key, described the first driving pulley and first is driven
Belt wheel is connected by the first transmission belt, described the first driven pulley be arranged on one end of first driven shaft and with it is first driven
Axle is connected by flat key, and the housing of the other end of first driven shaft and the first wrist motor is fixedly connected with.Described polishing grinding
Machine uses Pneumatic polishing sander.The first described driving pulley and the first driven pulley use synchronizing jugged belt wheel, described
First transmission belt uses synchronous cog belt.
Described the second working arm, the 3rd working arm are mainly used in performing casting falling sand, sand removal job task and cooperation
Other working arms perform the job tasks such as casting carrying.The 3rd described working arm includes the 3rd shoulder motor, the 3rd shoulder seat, the
Three large arm motors, the third-largest arm, the 3rd forearm motor, the 3rd forearm, the 3rd belt driver and the 3rd end effector.It is described
The 3rd shoulder motor be fixedly mounted in working arm mounting seat, the 3rd shoulder seat is located at the lower section of working arm mounting seat and with the 3rd
The output flange of shoulder motor is connected；The upper end of described the third-largest arm is connected with the 3rd shoulder seat by the third-largest arm motor
Connect, the lower end of the third-largest arm is connected with the upper end of the 3rd forearm by the 3rd forearm motor；The 3rd described end effector
It is connected positioned at the bottom of the 3rd working arm, and with the lower end of the 3rd forearm by hinge and the 3rd belt driver.It is described
The 3rd belt driver be arranged on the 3rd forearm the 3rd forearm body side cavity in, set in vitro in the 3rd described forearm
There is the 3rd capping, the 3rd described capping is fixedly mounted on the 3rd forearm body by screw.The 3rd described end effector
Including the 3rd wrist motor, third fork shape frame, the 3rd Pneumatic paw and pneumatic pneumatic pick, the top of described the 3rd wrist motor with
The lower end of 3rd forearm body is connected by hinge and the 3rd belt driver, top and the 3rd wrist of described third fork shape frame
The output shaft of portion's motor is fixedly connected with, and the 3rd described Pneumatic paw is fixedly mounted on the side of third fork shape frame, and described is pneumatic
Pneumatic pick is fixedly mounted on the opposite side of third fork shape frame.The 3rd described belt driver includes the 3rd pendulum wrist motor, the 3rd master
Movable belt pulley, the 3rd transmission belt, the 3rd driven pulley and the 3rd driven shaft, the 3rd described pendulum wrist motor are arranged on the 3rd forearm body
Upper end, described the 3rd driving pulley is fixedly mounted on the output shaft of the 3rd pendulum wrist motor, and with the 3rd pendulum wrist motor
Output shaft is connected by flat key, and the 3rd driving pulley is connected with the 3rd driven pulley by the 3rd transmission belt, and described
Three driven pulleys be arranged on the 3rd driven shaft one end and be connected with the 3rd driven shaft by flat key, the 3rd driven shaft it is another
The housing with the 3rd wrist motor is held to be fixedly connected with.
The 4th described working arm includes the 4th shoulder motor, the 4th shoulder seat, the fourth-largest arm motor, the fourth-largest arm, the 4th
Forearm motor, the 4th forearm, the 4th belt driver and the 4th end effector, be mainly used in performing casting upper system,
Lacing wire and the cutting operation task and the other working arms execution casting transport operation tasks of cooperation for increasing the excess metals such as meat.It is described
The 4th shoulder motor be fixedly mounted in working arm mounting seat, described the 4th shoulder seat be located at the lower section of working arm mounting seat and
It is connected with the output flange of the 4th shoulder motor；The upper end of described the fourth-largest arm passes through the fourth-largest arm motor with the 4th shoulder seat
It is connected, the lower end of the fourth-largest arm is connected with the upper end of the 4th forearm by the 4th forearm motor；Hold the 4th described end
Row device is located at the bottom of the 4th working arm, and is connected with the lower end of the 4th forearm by hinge and the 4th belt driver.
The 4th described belt driver is arranged in the cavity of the 4th forearm body side of the 4th forearm, in the 4th described forearm body
The 4th capping is externally provided with, the 4th described capping is fixedly mounted on the 4th forearm body by screw.Hold the 4th described end
Row device includes the 4th wrist motor, the 4th forked frame, the 4th Pneumatic paw and plasma cutters, the 4th described wrist motor
Top be connected with the lower end of the 4th forearm body by hinge and the 4th belt driver, the top of described the 4th forked frame
It is fixedly connected with the output shaft of the 4th wrist motor, the 4th described Pneumatic paw is fixedly mounted on the side of the 4th forked frame, institute
The plasma cutters stated are fixedly mounted on the opposite side of the 4th forked frame.The 4th described belt driver includes the 4th pendulum wrist
Motor, the 4th driving pulley, the 4th transmission belt, the 4th driven pulley and the 4th driven shaft, the 4th described pendulum wrist motor are installed
In the upper end of the 4th forearm body, the 4th described driving pulley is fixedly mounted on the output shaft of the 4th pendulum wrist motor, and with the
The output shaft of four pendulum wrist motors is connected by flat key, and described the 4th driving pulley and the 4th driven pulley passes through the 4th transmission
Band is connected, and the 4th described driven pulley is arranged on one end of the 4th driven shaft and is connected with the 4th driven shaft by flat key
Connect, the housing of the other end and the 4th wrist motor of the 4th driven shaft is fixedly connected with.
Described the first shoulder motor, the 3rd shoulder motor, the 4th shoulder motor, the first large arm motor, the third-largest arm electricity
Machine, the fourth-largest arm motor, the first forearm motor, the 3rd forearm motor, the 4th forearm motor, the first pendulum wrist motor, the 3rd pendulum wrist
Motor, the 4th pendulum wrist motor, the first wrist motor, the 3rd wrist motor and the 4th wrist motor use servo deceleration motor.
The axis of first large arm motor, the first forearm motor and the first pendulum wrist motor is parallel to each other, the first shoulder motor
Axis is perpendicular to the axis of the first large arm motor, and the axis of the first wrist motor is perpendicular to the first axis for putting wrist motor；3rd
The axis of large arm motor, the 3rd forearm motor and the 3rd pendulum wrist motor is parallel to each other, and the axis of the 3rd shoulder motor is perpendicular to the
The axis of three large arm motors, the axis of the 3rd wrist motor is perpendicular to the 3rd axis for putting wrist motor；The fourth-largest arm motor, the 4th
The axis of forearm motor and the 4th pendulum wrist motor is parallel to each other, the axle of the axis of the 4th shoulder motor perpendicular to the fourth-largest arm motor
Line, the axis of the 4th wrist motor is perpendicular to the 4th axis for putting wrist motor.
The angular range of two side stands of the first forked frame, third fork shape frame and the 4th forked frame is 60 ° -100 °.
In use, starting the drive motor in driving wheel according to need of work, and then running gear is driven in ring-shaped guide rail
Upper movement runs to assignment position, and slewing equipment, lowering or hoisting gear are adjusted respectively further according to operation posture and requirement for height, adjusts
Whole four working arms of the invention are to suitable angle of revolution and operation height.Then, it is true according to the weight of casting, volume size
The quantity of Pneumatic paw needed for determining selection transportation casting.The pose adjustment of end effector on each working arm, can be by installed in each
Servo deceleration motor on working arm is realized.When performing clean-up task, it is necessary to first start the first wrist motor, the 3rd wrist
The second wrist motor on portion's motor, the 4th wrist motor and the second working arm, by grinder for polishing, pneumatic pneumatic pick and wait from
Sub- cutter is adjusted to after suitable operating angle carry out prune job again.Four working arm integrations of operation, four Pneumatic paws
With four cleaning tools can flexible conversion, can also realize many instrument synchronization jobs, big weight, large volume and complicated shape can be met
The need for the prune job such as casting carrying and sand removal, cutting, polishing grinding, the efficiency and matter of casting cleaning operation can be also improved
Amount, reduces the labor intensity and production cost of operating personnel.
The beneficial effects of the invention are as follows compared with prior art, running gear of the invention is supported using four-point suspension
Mode, realizes long range stabilized walking of the robot under heavy load condition；Running gear China and foreign countries wheel carrier, interior wheel carrier and suspension bracket it
Between be connected by hinge, be easy to the smooth walking on outer circular orbit and annular track of driving wheel, bogie wheel；Slewing equipment
With complete cycle revolute function, lowering or hoisting gear also has lift in height regulatory function, hence it is evident that expand the working space of robot；Casting
The job tasks such as identification, carrying, upset, posture adjustment, sand removal, cutting and the polishing grinding of part can be automatically performed, and automaticity is high,
Operating efficiency is high, labor intensity is low；The present invention also there is structure section to gather, and equipment occupation space is small, production cost is low, security
The advantages of height, simple and convenient operation and maintenance, the defect of prior art can be overcome.
Brief description of the drawings
Fig. 1 is general structure schematic diagram of the invention；
Fig. 2 is agent structure (without outer circular orbit and annular track) schematic diagram of the invention；
Fig. 3 is the outer circular orbit of the present invention and the overlooking the structure diagram of annular track；
Fig. 4 is the complete section structural representation of the slewing equipment of the present invention；
Fig. 5 is the structural representation of the lowering or hoisting gear of the present invention；
Fig. 6 is the structural representation of tensioning wheel in running gear of the invention；
Fig. 7 installs for the first working arm, the second working arm, the 3rd working arm and the 4th working arm of the present invention in working arm
Assembly relation schematic diagram on seat；
Fig. 8 is the structural representation of the first working arm of the present invention；
Fig. 9 is the structural representation of the 3rd working arm of the present invention；
Figure 10 is the structural representation of the 4th working arm of the present invention.
Embodiment
In order that technological means, creation characteristic, reached purpose and effect that the present invention is realized are easy to understand, below
In conjunction with specific embodiments and diagram, the present invention is expanded on further.
As shown in Figure 1, Figure 2 and Figure 3, a kind of suspended rail formula multi-arm foundry robot, including running gear 1, revolution dress
Put 2, lowering or hoisting gear 3, working arm mounting seat 4, the first working arm 5, the second working arm 6, the 3rd working arm 7, the and of the 4th working arm 8
Circular orbit 9.Wherein, described circular orbit 9 includes outer circular orbit 91 and annular track 92, described outer circular orbit
91 and annular track 92 straightway keeping parallelism it is equidistant, described outer circular orbit 91 and the arc of annular track 92
Keep equidistant with one heart, be fixedly connected between described outer circular orbit 91 and annular track 92 by connecting plate 93；Described is outer
Circular orbit 91 and annular track 92 are fixedly mounted on the roof 10 in workshop by screw.Described running gear 1 is used for
The driving present invention is movably walking along outer circular orbit 91 and annular track 92, described running gear 1 include outer wheel carrier 11,
Interior wheel carrier 12, driving wheel 13, bogie wheel 14, directive wheel 15, tensioning wheel 16 and suspension bracket 17.Wherein, two outer wheel carrier 11 cloth arranged side by side
Put on outer circular orbit 91, pass through driving wheel 13, bogie wheel 14, guiding between described outer wheel carrier 11 and outer circular orbit 91
Wheel 15 is connected with tensioning wheel 16, driving wheel 13, bogie wheel 14, directive wheel 15 and the tensioning wheel installed on each outer wheel carrier 11
16 quantity is one；Described interior wheel carrier 12 has two and is arranged in parallel on annular track 92, described interior wheel carrier 12
It is connected between annular track 92 by bogie wheel 14, directive wheel 15 and tensioning wheel 16, is installed on each interior wheel carrier 12
There are two bogie wheels 14, a directive wheel 15 and a tensioning wheel 16；The overall diameter of described driving wheel 13 and bogie wheel 14 and
The wide all same of wheel, and axis is in same level, the driving wheel 13 on outer wheel carrier 11 is located at outer with bogie wheel 14
The middle and upper part of wheel carrier 11, two groups of bogie wheels 14 on interior wheel carrier 12 are located at the middle and upper part of interior wheel carrier 12, installed in foreign steamer
Directive wheel 15 on frame 11 is located at the top outer of outer wheel carrier 11, and the directive wheel 15 on interior wheel carrier 12 is located at interior wheel carrier 12
Top outer, tensioning wheel 16 on outer wheel carrier 11 is located at the bottom centre position of outer wheel carrier 11, installed in interior wheel carrier
Tensioning wheel 16 on 12 is located at the bottom centre position of interior wheel carrier 12；Drive motor 131 is provided with described driving wheel 13, is used
Driving power is provided in the walking for driving wheel 13, described drive motor 131 uses hydraulic servo motor or pneumatic servo horse
Reach or servo deceleration motor.Described suspension bracket 17 has two, and the top of two suspension brackets 17 leads to outer wheel carrier 11, interior wheel carrier 12 respectively
Hinge is crossed to be connected；The axis for four hinges that the top of two suspension brackets 17 is connected with outer wheel carrier 11, interior wheel carrier 12 is mutually put down
OK, and it is each perpendicular to horizontal plane.
As shown in Figure 1, Figure 2 with shown in Fig. 6, described tensioning wheel 16 includes tensioning wheel carrier 161, tensioning wheel body 162, the axis of guide
163rd, compression spring 164 and anti-drop block 165, for the present invention along outer circular orbit 91 and annular track 92 be movably walking when
Tensile force is provided for running gear 1.Wherein, tensioning wheel body 162 is arranged on the top of tensioning wheel carrier 161, and in tensioning wheel body 162
Inside is provided with rolling bearing, the described side being tensioned between the rotating shaft two ends of wheel body 162 and tensioning wheel carrier 161 by interference fits
Formula is connected；The top of the described axis of guide 163 is fixedly connected with tensioning wheel carrier 161 by way of welding, under the axis of guide 163
End is connected on outer wheel carrier 11 or interior wheel carrier 12 between outer wheel carrier 11 or interior wheel carrier 12 by way of gap coordinates
Connect；Described compression spring 164 is sleeved on the axis of guide 163, and positioned at tensioning wheel carrier 161 and outer wheel carrier 11 or interior wheel carrier 12 it
Between, for providing tensile force for tensioning wheel 16；Described anti-drop block 165 be located at the axis of guide 163 lower end, and with the axis of guide 163
Between be fixedly connected with by screw, for preventing the axis of guide 163 from departing from outer wheel carrier 11 or interior wheel carrier 12；The described axis of guide 163, pressure
The quantity of contracting spring 164 and anti-drop block 165 is two.
As shown in Figure 1, Figure 2 and Figure 4, described slewing equipment 2 be used for realize the present invention slewing equipment below 2 part around
The axis rotation of slewing equipment 2.Described slewing equipment 2 includes rotary flange 21, revolving bed 22, rotating cylinder 23, revolving body
24th, turning motor 27 and driving gear 28.Wherein, the outer ring for playing the rotary flange 21 of connection function is mounted by means of bolts on
The bottom of the suspension bracket 17 of running gear 1, the inner ring of rotary flange 21 is fixedly connected with by screw with revolving bed 22；Described revolving bed
22 are located at turn around in cylinder 23 and are connected between rotating cylinder 23 by two thrust bearings 25 and a journal bearing 26；
Described revolving body 24 is the gyration output block of slewing equipment 2, and described revolving body 24 is located at turn around under cylinder 23
Side, and be fixedly connected with rotating cylinder 23 by screw；Ring gear 241 is provided with the medial surface of revolving body 24, in revolving body 24
Bottom be provided with tapped blind hole 242, the top of revolving body 24 be provided with bolt hole 243；Described turning motor 27 is located at turn around
The bottom of revolving bed 22 is fixedly mounted in seat 22 and by screw, described driving gear 28 is arranged on the defeated of turning motor 27
It is connected on shaft and with the output shaft of turning motor 27 by flat key, axle is additionally provided with the output the tip of the axis of turning motor 27
Terminal block circle 29, described shaft end ring 29 is fixedly connected with by the output shaft of screw and turning motor 27；Described driving gear 28
Internal messing is kept with the ring gear 241 of revolving body 24；Described turning motor 27 uses servo deceleration motor, and its configuration subtracts
Fast device uses the turbine and worm decelerator with auto-lock function, and the gyration for slewing equipment 2 provides auto-lock function.Described
Thrust bearing 25 uses cylindrical roller thrust bearing, and described journal bearing 26 uses cylindrical roller journal bearing.
As shown in Figure 1, Figure 2 with shown in Fig. 5, described lowering or hoisting gear 3 is used to realize lifting of the present invention in vertical direction, described
Lowering or hoisting gear 3 include lifting seat 31 and electric pushrod 32.Wherein, described lifting seat 31 be located at turn around body 24 lower section and with
Revolving body 24 is connected by screw；Described electric pushrod 32 has four, and is arranged symmetrically in the lower section of lifting seat 31, is used for
Power is provided for the lifting of lowering or hoisting gear 3, the upper end of described electric pushrod 32 is connected with lifting seat 31 by bolt.
As shown in Figure 1, Figure 2, shown in Fig. 7, Fig. 8, Fig. 9 and Figure 10, described multi-arm enforcement division includes working arm mounting seat 4, the
One working arm 5, the second working arm 6, the 3rd working arm 7 and the 4th working arm 8.Wherein, described working arm mounting seat 4, which is located at, rises
The lower section of falling unit 3, for the first working arm 5, the second working arm 6, the 3rd working arm 7 and the 4th working arm 8 four to be fixedly mounted
Bar working arm, the top of described working arm mounting seat 4 is connected with the lower end of electric pushrod 32 by bolt；Described first
Working arm 5, the second working arm 6, the upper end of the 3rd working arm 7 and the 4th working arm 8 are fixedly mounted on working arm mounting seat 4
On, the first working arm 5 and the 4th working arm 8 are arranged symmetrically in the lower section of working arm mounting seat 4, the second working arm 6 and the 3rd work
The structure for making arm 7 is identical and be arranged symmetrically in the lower section of working arm mounting seat 4.Described the first working arm 5, second work
The structure of arm 6, the 3rd working arm 7 with the 4th working arm 8 in addition to end effector is identical, is five degree of freedom articulated type
Series connection mechanical arm.Two industry cameras 41 being arranged symmetrically are provided with the lower section of described working arm mounting seat 4, for gathering
The surface and overall profile information of plant site image and casting, described industry camera 41 are solid by two-degree-of-freedom cradle head
Dingan County is mounted in the lower section of working arm mounting seat 4.
As shown in Figure 1, Figure 2, Figure 7 and Figure 8, the first described working arm 5 includes the first shoulder motor 51, the first shoulder seat
52nd, the first large arm motor 53, the first large arm 54, the first forearm motor 55, the first forearm 56, the first belt driver 57 and first
End effector 58, is mainly used in performing casting polishing grinding job task and coordinating other working arms to perform casting and carry making
Industry task.Wherein, the first shoulder motor 51 is fixedly mounted in working arm mounting seat 4, and the first described shoulder seat 52 is located at work
The lower section of arm mounting seat 4 and it is connected with the output flange of the first shoulder motor 51；The upper end of the first described large arm 54 and the
One shoulder seat 52 is connected by the first large arm motor 53, and the lower end of the first large arm 54 and the upper end of the first forearm 56 are small by first
Arm motor 55 is connected；Described first end actuator 58 is located at the bottom of the first working arm 5, and logical with the first forearm 56
Cross hinge and the first belt driver 57 is connected.The first described belt driver 57 is arranged on the first small of the first forearm 56
In the cavity of the side of arm body 561, the first capping 562 is externally provided with the first forearm body 561, the first capping 562 is fixed by screw
On the first forearm body 561.Described first end actuator 58 includes the first wrist motor 581, the first forked frame
582nd, the first Pneumatic paw 583 and grinder for polishing 584.Wherein, the top of the first wrist motor 581 and the first forearm body 561
Lower end be connected by hinge and the first belt driver 57, the top of the first forked frame 582 and the first wrist motor 581
Output shaft is fixedly connected with, and the first Pneumatic paw 583 is fixedly mounted on the side of the first forked frame 582, described grinder for polishing 584
It is fixedly mounted on the opposite side of the first forked frame 582.The first described belt driver 57 includes the first pendulum wrist motor 571, the
One driving pulley 572, the first transmission belt 573, the first driven pulley 574 and first driven shaft 575.The first described pendulum wrist motor
571 are arranged on the upper end of the first forearm body 561, and the first described driving pulley 572 is fixedly mounted on the first pendulum wrist motor 571
On output shaft, and it is connected with the output shaft of the first pendulum wrist motor 571 by flat key, described the first driving pulley 572 and the
One driven pulley 574 is connected by the first transmission belt 573, and the first described driven pulley 574 is arranged on first driven shaft 575
One end and be connected with first driven shaft 575 by flat key, the other end of first driven shaft 575 and the first wrist motor 581
Housing be fixedly connected with.Described grinder for polishing 584 uses Pneumatic polishing sander.The first described driving pulley 572 and
One driven pulley 574 uses synchronizing jugged belt wheel, and the first described transmission belt 573 uses synchronous cog belt.
As shown in Figure 1, Figure 2, shown in Fig. 7 and Fig. 9, described the second working arm 6, the 3rd working arm 7 are mainly used in performing casting
Knockout, sand removal job task and the other working arms of cooperation perform the job tasks such as casting carrying.The 3rd described working arm 7 is wrapped
Include the 3rd shoulder motor 71, the 3rd shoulder seat 72, the third-largest arm motor 73, the third-largest arm 74, the 3rd forearm motor 75, the 3rd forearm
76th, the 3rd belt driver 77 and the 3rd end effector 78.The 3rd described shoulder motor 71 is fixedly mounted on working arm peace
Fill on seat 4, the 3rd shoulder seat 72 is located at the lower section of working arm mounting seat 4 and is connected with the output flange of the 3rd shoulder motor 71；
The upper end of described the third-largest arm 74 is connected with the 3rd shoulder seat 72 by the third-largest arm motor 73, the lower end of the third-largest arm 74 with
The upper end of 3rd forearm 76 is connected by the 3rd forearm motor 75；The 3rd described end effector 78 is located at the 3rd working arm
7 bottom, and be connected with the lower end of the 3rd forearm 76 by hinge and the 3rd belt driver 77.The 3rd described band is passed
Dynamic device 77 is arranged in the cavity of the side of the 3rd forearm body 761 of the 3rd forearm 76, in the described peripheral hardware of the 3rd forearm body 761
There is the 3rd capping 762, the 3rd described capping 762 is fixedly mounted on the 3rd forearm body 761 by screw.The 3rd described end
Actuator 78 is held to include the 3rd wrist motor 781, third fork shape frame 782, the 3rd Pneumatic paw 783 and pneumatic pneumatic pick 784, it is described
The top of the 3rd wrist motor 781 be connected with the lower end of the 3rd forearm body 761 by hinge and the 3rd belt driver 77,
The top of described third fork shape frame 782 and the output shaft of the 3rd wrist motor 781 are fixedly connected with, the 3rd described Pneumatic paw
783 are fixedly mounted on the side of third fork shape frame 782, and described pneumatic pneumatic pick 784 is fixedly mounted on the another of third fork shape frame 782
Side.The 3rd described belt driver 77 include the 3rd pendulum wrist motor 771, the 3rd driving pulley 772, the 3rd transmission belt 773,
3rd driven pulley 774 and the 3rd driven shaft 775.The 3rd described pendulum wrist motor 771 is arranged on the upper of the 3rd forearm body 761
End, the 3rd described driving pulley 772 is fixedly mounted on the output shaft of the 3rd pendulum wrist motor 771, and puts wrist motor with the 3rd
771 output shaft is connected by flat key, and the 3rd driving pulley 772 passes through the phase of the 3rd transmission belt 773 with the 3rd driven pulley 774
Connection, the 3rd described driven pulley 774 is arranged on one end of the 3rd driven shaft 775 and passes through flat key with the 3rd driven shaft 775
It is connected, the housing of the other end and the 3rd wrist motor 771 of the 3rd driven shaft 775 is fixedly connected with.
As shown in Figure 1, Figure 2, shown in Fig. 7 and Figure 10, the 4th described working arm 8 includes the 4th shoulder motor 81, the 4th shoulder seat
82nd, the fourth-largest arm motor 83, the fourth-largest arm 84, the 4th forearm motor 85, the 4th forearm 86, the 4th belt driver 87 and the 4th
End effector 88, be mainly used in performing casting upper system, lacing wire and increase the cutting operation task of the excess metals such as meat with
And coordinate other working arms to perform casting transport operation task.The 4th described shoulder motor 81 is fixedly mounted on working arm installation
On seat 4, the 4th described shoulder seat 82 is located at the lower section of working arm mounting seat 4 and is connected with the output flange of the 4th shoulder motor 81
Connect；The upper end of described the fourth-largest arm 84 is connected with the 4th shoulder seat 82 by the fourth-largest arm motor 83, under the fourth-largest arm 84
End is connected with the upper end of the 4th forearm 86 by the 4th forearm motor 85；The 4th described end effector 88 is located at the 4th work
Make the bottom of arm 8, and be connected with the lower end of the 4th forearm 86 by hinge and the 4th belt driver 87.Described the 4th
Belt driver 87 is arranged in the cavity of the side of the 4th forearm body 861 of the 4th forearm 86, in the 4th described forearm body 861
The 4th capping 862 is externally provided with, the 4th described capping 862 is fixedly mounted on the 4th forearm body 861 by screw.Described
Four end effectors 88 include the 4th wrist motor 881, the 4th forked frame 882, the 4th Pneumatic paw 883 and plasma cutters
884.Wherein, the described top of the 4th wrist motor 881 passes through hinge and the 4th V belt translation with the lower end of the 4th forearm body 861
Device 87 is connected, and the top of described the 4th forked frame 882 and the output shaft of the 4th wrist motor 881 are fixedly connected with, described
4th Pneumatic paw 883 is fixedly mounted on the side of the 4th forked frame 882, and described plasma cutters 884 are fixedly mounted on
The opposite side of 4th forked frame 882.The 4th described belt driver 87 includes the 4th pendulum wrist motor 871, the 4th driving pulley
872nd, the 4th transmission belt 873, the 4th driven pulley 874 and the 4th driven shaft 875.Wherein, the 4th described pendulum wrist motor 871 is pacified
Mounted in the upper end of the 4th forearm body 861, the 4th described driving pulley 872 is fixedly mounted on the output of the 4th pendulum wrist motor 871
On axle, and be connected with the output shaft of the 4th pendulum wrist motor 871 by flat key, described 4th driving pulley 872 and the 4th from
Movable belt pulley 874 is connected by the 4th transmission belt 873, and the 4th described driven pulley 874 is arranged on the one of the 4th driven shaft 875
Hold and be connected with the 4th driven shaft 875 by flat key, the other end of the 4th driven shaft 875 and the shell of the 4th wrist motor 881
Body phase is connected.
As shown in Figure 1, Figure 2, shown in Fig. 7, Fig. 8, Fig. 9 and Figure 10, described the first shoulder motor 51, the 3rd shoulder motor 71,
4th shoulder motor 81, the first large arm motor 53, the third-largest arm motor 73, the fourth-largest arm motor 83, the first forearm motor 55,
Three forearm motors 75, the 4th forearm motor 85, first pendulum wrist motor the 571, the 3rd put wrist motor the 771, the 4th put wrist motor 871,
First wrist motor 581, the 3rd wrist motor 781 and the 4th wrist motor 881 use servo deceleration motor.Described first
The axis of large arm motor 53, the first forearm motor 55 and the first pendulum wrist motor 571 is parallel to each other, the axis of the first shoulder motor 51
Perpendicular to the axis of the first large arm motor 53, the axis of the first wrist motor 581 is perpendicular to the first axis for putting wrist motor 571；
The axis of the third-largest arm motor 73, the 3rd forearm motor 75 and the 3rd pendulum wrist motor 771 is parallel to each other, the 3rd shoulder motor 71
Axis is perpendicular to the axis of the third-largest arm motor 73, and the axis of the 3rd wrist motor 781 is perpendicular to the 3rd axle for putting wrist motor 771
Line；The axis of the fourth-largest arm motor 83, the 4th forearm motor 85 and the 4th pendulum wrist motor 871 is parallel to each other, the 4th shoulder motor
81 axis is perpendicular to the axis of the fourth-largest arm motor 83, and the axis of the 4th wrist motor 881 is perpendicular to the 4th pendulum wrist motor 871
Axis.
As shown in Figure 1, Figure 2, shown in Fig. 7, Fig. 8, Fig. 9 and Figure 10, the first forked frame 582, third fork shape frame 782, the 4th fork-shaped
The angle of two side stands of frame 882 is 90 °.
In use, starting the drive motor 131 in driving wheel 13 according to need of work, and then running gear 1 is driven in ring
Movement runs to assignment position on shape guide rail 9, and slewing equipment 2, liter are adjusted respectively further according to operation posture and requirement for height
Falling unit 3, adjusts four working arms of the invention to suitable angle of revolution and operation height.Then, according to the weight of casting,
The quantity of Pneumatic paw needed for volume size determines selection transportation casting.The pose adjustment of end effector on each working arm, can
Realized by the servo deceleration motor on each working arm.Four working arm integrations of operation, can meet big weight, large volume
With complicated shape casting carry and the prune job such as sand removal, cutting, polishing grinding the need for, can also improve casting cleaning operation
Efficiency and quality, reduce the labor intensity and production cost of operating personnel.
When performing clean-up task, it is necessary to first start the first wrist motor 581, the 3rd wrist motor 781, the 4th wrist electricity
The second wrist motor on the working arm of machine 881 and second, by the pneumatic pneumatic pick on the second working arm and other three working arms
On grinder for polishing 584, pneumatic pneumatic pick 784 and plasma cutters 884 be adjusted to after suitable operating angle to carry out again it is clear
Manage operation.
In the description of the invention, it is to be understood that term " on ", " under ", " level ", " top ", " bottom " " interior ", " outer "
Deng instruction orientation or position relationship be based on orientation shown in the drawings or position relationship, be for only for ease of description the present invention and
Simplify description, rather than indicate or imply that the device or element of meaning there must be specific orientation, with specific azimuth configuration
And operation, therefore be not considered as limiting the invention.
The basic principles, principal features and advantages of the present invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, the original for simply illustrating the present invention described in above-described embodiment and specification
Reason, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these changes and improvements
It all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent circle
It is fixed.
Claims (10)
1. a kind of suspended rail formula multi-arm foundry robot, including running part, adjustment portion and multi-arm enforcement division, it is characterised in that：
Described running part includes running gear and circular orbit, and described circular orbit includes outer circular orbit and annular track；
Described running gear includes outer wheel carrier, interior wheel carrier, driving wheel, bogie wheel, directive wheel, tensioning wheel and suspension bracket, described foreign steamer
Frame has two and is arranged in parallel on outer circular orbit, passes through driving wheel, supporting between described outer wheel carrier and outer circular orbit
Wheel, directive wheel are connected with tensioning wheel, the number of driving wheel, bogie wheel, directive wheel and the tensioning wheel installed on each outer wheel carrier
Amount is one；Two interior wheel carriers are arranged in parallel on annular track, and pass through between annular track bogie wheel, directive wheel
It is connected with tensioning wheel, two bogie wheels, a directive wheel and a tensioning wheel is installed on each interior wheel carrier；Described drive
The wide all same of the overall diameter and wheel of driving wheel and bogie wheel, and axis is in same level, the driving on outer wheel carrier
Wheel is located at the middle and upper part of outer wheel carrier with bogie wheel, and two groups of bogie wheels on interior wheel carrier are located at the middle and upper part of interior wheel carrier, peace
Directive wheel on outer wheel carrier is located at the top outer of outer wheel carrier, and the directive wheel on interior wheel carrier is located at the top of interior wheel carrier
On the outside of portion, the tensioning wheel on outer wheel carrier is located at the bottom centre position of outer wheel carrier, the tensioning wheel on interior wheel carrier
Positioned at the bottom centre position of interior wheel carrier；The top of two suspension brackets is connected with outer wheel carrier, interior wheel carrier by hinge respectively；It is described
Outer circular orbit and annular track straightway keeping parallelism it is equidistant, described outer circular orbit and the arc of annular track
Line segment keeps equidistant with one heart, is fixedly connected between described outer circular orbit and annular track by connecting plate；Described outer shroud
Shape track and annular track are fixedly mounted on the roof in workshop；
Described adjustment portion includes slewing equipment and lowering or hoisting gear, and described slewing equipment includes rotary flange, revolving bed, revolution
Cylinder, revolving body, turning motor and driving gear, the outer ring of described rotary flange are fixedly mounted on the suspension bracket bottom of running gear
Portion, inner ring and the revolving bed of rotary flange are fixedly connected with；Described revolving bed is located at turn around in cylinder and passes through spiral shell with rotary flange
Nail is connected, and is connected between described revolving bed and rotating cylinder by two thrust bearings and a journal bearing, described
Revolving body be located at turn around the lower section of cylinder, and be fixedly connected with, be provided with the medial surface of revolving body by screw with rotating cylinder
Ring gear, tapped blind hole is provided with the bottom of revolving body, and bolt hole is provided with the top of revolving body, and described turning motor is located at
Bottom in revolving bed, described driving gear is arranged on the output shaft of turning motor, at the end of the output shaft of turning motor
End is additionally provided with shaft end ring, and is kept with the output shaft fixed connection of turning motor, described driving gear and the ring gear of revolving body
Internal messing；Described turning motor uses servo deceleration motor；Described lowering or hoisting gear includes lifting seat and electric pushrod, described
Lifting seat be located at turn around the lower section of body and be connected with revolving body by screw, described electric pushrod has four, and symmetrically
The lower section of lifting seat is arranged in, the upper end of described electric pushrod is connected with lifting seat by bolt；
Described multi-arm enforcement division includes working arm mounting seat, the first working arm, the second working arm, the 3rd working arm and the 4th work
Make arm, described working arm mounting seat is located at the lower section of lowering or hoisting gear, and is connected with the lower end of electric pushrod by bolt, institute
The first working arm, the second working arm, the 3rd working arm and the 4th working arm stated are five degree of freedom articulated type series connection mechanical arm,
Its upper end is fixedly mounted in working arm mounting seat, and the first working arm and the 4th working arm are arranged symmetrically in working arm mounting seat
Lower section, the structure of the second working arm and the 3rd working arm is identical and is arranged symmetrically in the lower section of working arm mounting seat.
2. a kind of suspended rail formula multi-arm foundry robot according to claim 1, it is characterised in that：The first described work
Making arm includes the first shoulder motor, the first shoulder seat, the first large arm motor, the first large arm, the first forearm motor, the first forearm, the
One belt driver and first end actuator, the first described shoulder motor are fixedly mounted in working arm mounting seat, described
The first shoulder seat be located at working arm mounting seat lower section and be connected with the output flange of the first shoulder motor；Described first is big
The upper end of arm is connected with the first shoulder seat by the first large arm motor, and the upper end of the lower end of the first large arm and the first forearm passes through the
One forearm motor is connected；Described first end actuator is located at the bottom of the first working arm, and passes through with the first forearm
Hinge and the first belt driver are connected, and the first described belt driver is arranged on the first forearm body side of the first forearm
Cavity in, the first described forearm in vitro provided with first capping；Described first end actuator includes the first wrist electricity
Machine, the first forked frame, the first Pneumatic paw and grinder for polishing, top and the first forearm body of described the first wrist motor
Lower end is connected by hinge and the first belt driver, the top of described the first forked frame and the output of the first wrist motor
Axle is fixedly connected with, and the first described Pneumatic paw is fixedly mounted on the side of the first forked frame, and described grinder for polishing fixes peace
Mounted in the opposite side of the first forked frame；The first described belt driver includes the first pendulum wrist motor, the first driving pulley, first
Transmission belt, the first driven pulley and first driven shaft, the first described pendulum wrist motor are arranged on the upper end of the first forearm body, described
The first driving pulley be fixedly mounted on the output shaft of the first pendulum wrist motor, the first described driving pulley and the first driven belt
Wheel is connected by the first transmission belt, and the first described driven pulley is arranged on one end of first driven shaft, first driven shaft
The housing of the other end and the first wrist motor is fixedly connected with；
The 3rd described working arm includes the 3rd shoulder motor, the 3rd shoulder seat, the third-largest arm motor, the third-largest arm, the 3rd forearm
Motor, the 3rd forearm, the 3rd belt driver and the 3rd end effector, the 3rd described shoulder motor are fixedly mounted on work
In arm mounting seat, the 3rd described shoulder seat is located at the lower section of working arm mounting seat and is connected with the output flange of the 3rd shoulder motor
Connect；The upper end of described the third-largest arm is connected with the 3rd shoulder seat by the third-largest arm motor, the lower end of the third-largest arm and the 3rd
The upper end of forearm is connected by the 3rd forearm motor；The 3rd described end effector is located at the bottom of the 3rd working arm,
And be connected with the lower end of the 3rd forearm by hinge and the 3rd belt driver, described the 3rd belt driver is arranged on the
In the cavity of 3rd forearm body side of three forearms, in the 3rd described forearm in vitro provided with the 3rd capping；The 3rd described end
Actuator is held to include the 3rd wrist motor, third fork shape frame, the 3rd Pneumatic paw and pneumatic pneumatic pick, the 3rd described wrist motor
Top be connected with the lower end of the 3rd forearm body by hinge and the 3rd belt driver, the top of described third fork shape frame
It is fixedly connected with the output shaft of the 3rd wrist motor, the 3rd described Pneumatic paw is fixedly mounted on the side of third fork shape frame, institute
The pneumatic pneumatic pick stated is fixedly mounted on the opposite side of third fork shape frame；The 3rd described belt driver includes the 3rd pendulum wrist electricity
Machine, the 3rd driving pulley, the 3rd transmission belt, the 3rd driven pulley and the 3rd driven shaft, the 3rd described pendulum wrist motor are arranged on
The upper end of 3rd forearm body, the 3rd described driving pulley is fixedly mounted on the output shaft of the 3rd pendulum wrist motor, and described the
Three driving pulleys are connected with the 3rd driven pulley by the 3rd transmission belt, and it is driven that the 3rd described driven pulley is arranged on the 3rd
One end of axle, the housing of the other end and the 3rd wrist motor of the 3rd driven shaft is fixedly connected with；
The 4th described working arm includes the 4th shoulder motor, the 4th shoulder seat, the fourth-largest arm motor, the fourth-largest arm, the 4th forearm
Motor, the 4th forearm, the 4th belt driver and the 4th end effector, the 4th described shoulder motor are fixedly mounted on work
In arm mounting seat, the 4th described shoulder seat is located at the lower section of working arm mounting seat and is connected with the output flange of the 4th shoulder motor
Connect；The upper end of described the fourth-largest arm is connected with the 4th shoulder seat by the fourth-largest arm motor, the lower end of the fourth-largest arm and the 4th
The upper end of forearm is connected by the 4th forearm motor；The 4th described end effector is located at the bottom of the 4th working arm,
And be connected with the lower end of the 4th forearm by hinge and the 4th belt driver, described the 4th belt driver is arranged on the
In the cavity of 4th forearm body side of four forearms, in the 4th described forearm in vitro provided with the 4th capping；The 4th described end
Actuator is held to include the 4th wrist motor, the 4th forked frame, the 4th Pneumatic paw and plasma cutters, the 4th described wrist
The top of motor is connected with the lower end of the 4th forearm body by hinge and the 4th belt driver, described the 4th forked frame
Top and the output shaft of the 4th wrist motor are fixedly connected with, and the 4th described Pneumatic paw is fixedly mounted on the one of the 4th forked frame
Side, described plasma cutters are fixedly mounted on the opposite side of the 4th forked frame；The 4th described belt driver includes the
Four pendulum wrist motors, the 4th driving pulley, the 4th transmission belt, the 4th driven pulley and the 4th driven shaft, the 4th described pendulum wrist electricity
Machine is arranged on the upper end of the 4th forearm body, and the 4th described driving pulley is fixedly mounted on the output shaft of the 4th pendulum wrist motor,
The 4th described driving pulley is connected with the 4th driven pulley by the 4th transmission belt, and the 4th described driven pulley is arranged on
One end of 4th driven shaft, the housing of the other end and the 4th wrist motor of the 4th driven shaft is fixedly connected with；
Described the first shoulder motor, the 3rd shoulder motor, the 4th shoulder motor, the first large arm motor, the third-largest arm motor,
Four large arm motors, the first forearm motor, the 3rd forearm motor, the 4th forearm motor, the first pendulum wrist motor, the 3rd pendulum wrist motor,
4th pendulum wrist motor, the first wrist motor, the 3rd wrist motor and the 4th wrist motor are servo deceleration motor.
3. a kind of suspended rail formula multi-arm foundry robot according to claim 1, it is characterised in that：Described tensioning wheel
Including tensioning wheel carrier, tensioning wheel body, the axis of guide, compression spring and anti-drop block, described tensioning wheel body is arranged on tensioning wheel carrier
Top, the rotating shaft two ends of described tensioning wheel body between tensioning wheel carrier by way of interference fits with being connected；Described leads
Be connected to the top of axle and tensioning wheel carrier, the lower end of the axis of guide is arranged on outer wheel carrier or interior wheel carrier, and with outer wheel carrier or lubrication groove
It is connected between frame by way of gap coordinates；Described compression spring is sleeved on the axis of guide, and positioned at tensioning wheel carrier with
Between outer wheel carrier or interior wheel carrier；Described anti-drop block is located at the lower end of the axis of guide, and is connected with the axis of guide.
4. a kind of suspended rail formula multi-arm foundry robot according to claim 1, it is characterised in that：In described driving
Drive motor is provided with wheel, described drive motor uses hydraulic servo motor or air servo-motor or servo deceleration motor.
5. a kind of suspended rail formula multi-arm foundry robot according to claim 1, it is characterised in that：Described thrust shaft
Hold using cylindrical roller thrust bearing, described journal bearing uses cylindrical roller journal bearing.
6. a kind of suspended rail formula multi-arm foundry robot according to claim 2, it is characterised in that：Described polishing is beaten
Grinding machine uses Pneumatic polishing sander, the axis phase of described the first large arm motor, the first forearm motor and the first pendulum wrist motor
Mutually parallel, the axis of the first shoulder motor is perpendicular to the axis of the first large arm motor, and the axis of the first wrist motor is perpendicular to the
The axis of one pendulum wrist motor；The axis of the third-largest arm motor, the 3rd forearm motor and the 3rd pendulum wrist motor is parallel to each other, the 3rd shoulder
The axis of portion's motor is perpendicular to the axis of the third-largest arm motor, and the axis of the 3rd wrist motor is perpendicular to the 3rd axle for putting wrist motor
Line；The axis of the fourth-largest arm motor, the 4th forearm motor and the 4th pendulum wrist motor is parallel to each other, and the axis of the 4th shoulder motor hangs down
Directly in the axis of the fourth-largest arm motor, the axis of the 4th wrist motor is perpendicular to the 4th axis for putting wrist motor.
7. a kind of suspended rail formula multi-arm foundry robot according to claim 1, it is characterised in that：In described work
The lower section of arm mounting seat is provided with two industry cameras being arranged symmetrically, and described industry camera is solid by two-degree-of-freedom cradle head
Dingan County is mounted in the lower section of working arm mounting seat.
8. a kind of suspended rail formula multi-arm foundry robot according to claim 1, it is characterised in that：Outer circular orbit and
The section of annular track is I-shaped.
9. a kind of suspended rail formula multi-arm foundry robot according to claim 1, it is characterised in that：The top of two suspension brackets
The axis for four hinges that portion is connected with outer wheel carrier, interior wheel carrier is parallel to each other, and is each perpendicular to horizontal plane.
10. a kind of suspended rail formula multi-arm foundry robot according to claim 2, it is characterised in that：First forked frame,
The angular range of two side stands of third fork shape frame and the 4th forked frame is 60 ° -100 °.
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| CN201710588987.7A CN107127734B (en) | 2017-07-19 | 2017-07-19 | Suspension track type multi-arm casting robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710588987.7A CN107127734B (en) | 2017-07-19 | 2017-07-19 | Suspension track type multi-arm casting robot |
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| CN107127734B CN107127734B (en) | 2023-03-03 |
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