CN107127734B - Suspension track type multi-arm casting robot - Google Patents

Abstract

The invention discloses a suspended rail type multi-arm casting robot which comprises a walking device, a slewing device, a lifting device, a working arm mounting seat, a first working arm, a second working arm, a third working arm, a fourth working arm and an annular rail, wherein cleaning operation tools such as a polishing polisher, a pneumatic air pick, a plasma cutter and the like are arranged on end effectors of the four working arms besides pneumatic claws. The walking device adopts a four-point suspension support mode, can realize long-distance stable moving walking of the robot, can realize combined operation of the four working arms, can flexibly convert the four pneumatic claws and the four cleaning tools, can also realize synchronous operation of multiple tools, can meet the requirements of cleaning operations such as identification, carrying, overturning, posture adjustment, sand cleaning, cutting, polishing and the like of castings with large weight, large volume and complicated shape, improves the efficiency and quality of the casting cleaning operation, and reduces the labor intensity and the production cost of operators.

Description

Suspension track type dobby foundry robot

technical field

The invention belongs to the technical field of foundry robot equipment, in particular to a suspension track type multi-arm foundry robot.

Background technique

During the casting production process, it is often necessary to move and adjust the posture of the casting, and complete various cleaning operations on the casting. In production, it is necessary not only to remove the core and core iron, but also to remove gates, risers, fleshing, tie bars, and metal residues such as cut ribs, flashes, burrs, etc., to remove sticky sand and foreign objects on the casting surface, and to polish and smooth the surface of the casting. . Most castings still mainly rely on hand tools and semi-mechanized tools such as wind punches, wind shovels, high-speed portable grinding wheels, and suspended grinding wheels. Castings with less complex shapes also use general-purpose stamping machines and sawing machines. When castings have large batches, special machine tools or special production lines are used to realize automated operations. Steel castings are mostly cut with oxygen or gas-electric cutting. Pneumatic electric cutting is to use the high temperature generated by the arc formed between the electrode and the casting to melt or oxidize the metal, and at the same time use high-pressure and high-speed airflow to blow off the molten material to remove the flash, burr and protrusion of the casting. This method is not only used to cut the riser but also to smooth the surface of the casting. However, gas electric cutting has the disadvantages of arc light, smoke and noise.

Burrs on the parting surface of castings, ingates and riser residues are unavoidable structures of castings, especially for special-shaped castings, which must be cleaned and ground. In the past, cleaning of castings was done manually, and the work efficiency was extremely high. Low, poor working environment, high labor costs and high labor intensity. In the process of manual cleaning of castings, there are many parts to be cleaned for special-shaped castings, the structure is thick, difficult to clean, and the work efficiency is low; and manual cleaning is not easy to control, which often leads to unstable casting quality; Only when the castings are stopped and the angle is changed can they be cleaned; the fine dust generated by the cleaning spreads throughout the workshop, seriously affecting the health of workers; more importantly, the safety of workers cannot be guaranteed.

The handling and posture adjustment of castings are generally carried out manually or with the assistance of simple mechanical devices. The degree of manual participation is high, which consumes a lot of man-hours, increases the manufacturing cost, and delays the manufacturing progress. Therefore, there is an urgent need to design an automatic device that can meet the cleaning requirements of castings handling, attitude adjustment and cleaning operations, especially the cleaning requirements of large weight, large volume and complex castings, so as to improve the efficiency of casting cleaning operations. Guarantee the quality of casting products.

For the problems existing in casting handling and cleaning, existing patent documents also propose some solutions. The Chinese patent with the application number 200810137471.1 discloses a hanging type welding robot, which is composed of an electric slip ring part, a swing mechanism telescopic mechanism and a manual lifting adjustment mechanism. The automatic welding of different shapes of nozzles is realized through the rotation mechanism and the telescopic mechanism, but the The technical scheme can only realize single-arm operation, but cannot realize multi-arm joint operation. The Chinese patent application number 200710176284 discloses a crawler-type multi-arm mobile robot, which is composed of an arm working device and a crawler walking device, which can replace manual work on various complex road surfaces, but has poor stability when grabbing workpieces. It cannot meet the operation requirements of complex castings. The Chinese patent with the application number 201410438219.X discloses a robot with multi-arm handling, which is composed of guide rails, individually driven multi-arms and other components, and can simultaneously load and lift goods (substrates or wafers, etc.) in units of predetermined pitches. ), but they all work with a single arm in handling, and can only perform simple translation and grabbing. The Chinese patent with the application number 201710121995.3 discloses a three-dimensional welding robot for a suspended car seat. The track moves and walks. This scheme adopts a two-point suspension and fixation method, which has poor stability. The Chinese patent application number 201620856209.2 discloses an automatic casting cleaning device, including a robot, a tool magazine, a tool, a rotary table and a controller. The power head is used to grab the tool to clean the castings to be cleaned, and the rotary table can be rotated so that Keep the cleaned castings within the cleaning range of the robot. The Chinese patent application number 201510512610.4 proposes a compact robot automatic grinding device, which uses a robot to grab the casting and move it to the grinding device for grinding. This type of automatic grinding device has the following disadvantages: 1) The robot has limited load capacity and cannot carry heavy castings ; 2) The feed movement during the grinding process is the movement of the casting, which is not suitable for large castings. The Chinese patent with the application number 201610072103.8 discloses a casting cleaning unit and cleaning method. Two robots fixed at different positions on the ground are used to grab the castings for polishing and other cleaning operations. Not only the work efficiency is low, but also the working space of the robots is small. With the improvement of casting technology, there are more and more demands for the production of large castings and the automation of casting handling, attitude adjustment and cleaning. In the existing technical solutions, single-arm robots are mostly used for single-machine or multi-machine operations, which cannot meet the needs of handling, attitude adjustment and cleaning operations of large-weight, large-volume and complex special-shaped castings.

Contents of the invention

The purpose of the present invention is to address the deficiencies of the prior art, to provide a suspension track type multi-arm casting robot, which can be used for identification, handling, flipping, posture adjustment, sand cleaning, cutting and casting of large weight, large volume and complex shapes. Casting robots for polishing and grinding operations can improve the efficiency and quality of casting cleaning operations, reduce labor intensity and production costs, and can overcome the defects of the prior art.

The technical problem to be solved by the present invention is realized by the following technical solutions.

A suspended track type multi-arm casting robot includes a walking part, an adjusting part and a multi-arm executing part. It is characterized in that: the walking part includes a walking device and a ring track, and the ring track includes an outer ring track and an inner ring track; the walking device is used to drive the present invention to move along the outer ring track and the inner ring track Walking, the walking device includes an outer wheel frame, an inner wheel frame, a driving wheel, a supporting wheel, a guide wheel, a tension wheel and a hanger, and there are two outer wheel frames and are arranged side by side on the outer ring track. The outer wheel frame and the outer circular track are connected by driving wheels, supporting wheels, guide wheels and tensioning wheels, and the number of driving wheels, supporting wheels, guiding wheels and tensioning wheels installed on each outer wheel frame is one; There are two inner wheel frames and they are arranged side by side on the inner circular track. The inner wheel frames are connected with the inner annular track through supporting wheels, guide wheels and tensioning wheels. On each inner wheel frame Two supporting wheels, a guide wheel and a tensioning wheel are installed; the outer diameter and wheel width of the driving wheel and the supporting wheel are the same, and the axes are on the same horizontal plane, the driving wheel and the supporting wheel installed on the outer wheel frame The wheels are located at the middle and upper part of the outer wheel frame, the two sets of support wheels installed on the inner wheel frame are located at the middle and upper part of the inner wheel frame, the guide wheels installed on the outer wheel frame are located at the top outside of the outer wheel frame, and the guide wheels installed on the inner wheel frame The wheel is located outside the top of the inner wheel frame, the tension pulley installed on the outer wheel frame is located at the bottom middle position of the outer wheel frame, and the tension wheel installed on the inner wheel frame is located at the bottom middle position of the inner wheel frame; A driving motor is provided inside the wheel to provide driving power for the driving wheel to travel. The driving motor is a hydraulic servo motor, a pneumatic servo motor or a servo geared motor. There are two hangers, and the tops of the two hangers are respectively connected to the outer wheel frame and the inner wheel frame through hinges; the straight sections of the outer ring track and the inner ring track are kept parallel and equidistant, and the outer ring track The arc sections of the circular track and the inner circular track are kept concentric and equidistant, and the outer circular track and the inner circular track are fixedly connected by a connecting plate; the outer circular track and the inner circular track are fixedly installed on the roof of the workshop superior. The axes of the four hinges that the tops of the two hangers are connected with the outer wheel frame and the inner wheel frame are parallel to each other, and are all perpendicular to the horizontal plane.

The tensioning wheel includes a tensioning wheel frame, a tensioning wheel body, a guide shaft, a compression spring and an anti-off block, which are used to provide tension for the running device when the present invention moves along the outer circular track and the inner circular track. . Wherein, the tensioning wheel body is installed on the top of the tensioning wheel frame, and a rolling bearing is arranged inside the tensioning wheel body, and the two ends of the rotating shaft of the tensioning wheel body and the tensioning wheel frame are connected by transition fit. connection; the top of the guide shaft is fixedly connected with the tensioning wheel frame by welding, the lower end of the guide shaft is installed on the outer wheel frame or the inner wheel frame, and is matched with the outer wheel frame or the inner wheel frame through clearance way; the compression spring is set on the guide shaft and is located between the tensioning wheel frame and the outer wheel frame or the inner wheel frame to provide tension for the tensioning wheel; the anti-falling block is located on the guide The lower end of the shaft is fixedly connected with the guide shaft by screws to prevent the guide shaft from breaking away from the outer wheel frame or the inner wheel frame; the number of the guide shaft, the compression spring and the anti-off block is two.

The adjustment part includes a turning device and a lifting device, the turning device is used to realize the rotation of the lower part of the turning device of the present invention around the axis of the turning device, and the lifting device is used to realize the lifting of the present invention in the vertical direction. The rotary device includes a rotary flange, a rotary seat, a rotary cylinder, a rotary body, a rotary motor and a driving gear. Among them, the outer ring of the rotary flange that plays a connecting role is fixed and installed on the bottom of the hanger of the traveling device through bolts, and the inner ring of the rotary flange is fixedly connected with the rotary seat through screws; the rotary seat is located in the rotary cylinder and is connected to the The rotary cylinders are connected by two thrust bearings and one radial bearing; the rotary body is the rotary motion output part of the rotary device, the rotary body is located below the rotary cylinder, and is connected to the rotary cylinder It is fixedly connected by screws; an inner ring gear is provided on the inner surface of the revolving body, a threaded blind hole is provided at the bottom of the revolving body, and a bolt hole is provided on the top of the revolving body; the rotary motor is located in the revolving seat and It is fixed on the bottom of the slewing seat by screws, the driving gear is installed on the output shaft of the slewing motor and connected with the output shaft of the slewing motor through a flat key, and a shaft end stop is also provided at the end of the output shaft of the slewing motor ring, the shaft end retaining ring is fixedly connected with the output shaft of the rotary motor through screws; the driving gear and the inner ring gear of the rotary body keep internal meshing; the rotary motor adopts a servo reduction motor, and its configuration The reducer adopts a worm gear reducer with self-locking function, which provides self-locking function for the rotary motion of the rotary device. The thrust bearing is a cylindrical roller thrust bearing, and the radial bearing is a cylindrical roller radial bearing.

The lifting device includes a lifting base and an electric push rod, the lifting base is located below the revolving body and connected with the revolving body through screws; there are four electric push rods, and they are symmetrically arranged under the lifting base , used to provide power for the lifting of the lifting device, the upper end of the electric push rod is connected with the lifting seat through bolts.

The multi-arm actuator includes a working arm mounting seat, a first working arm, a second working arm, a third working arm and a fourth working arm. Wherein, the working arm mounting seat is located below the lifting device, and is used for fixedly installing four working arms of the first working arm, the second working arm, the third working arm and the fourth working arm, and the working arm mounting seat The top is connected with the lower end of the electric push rod through bolts; the upper ends of the first working arm, the second working arm, the third working arm and the fourth working arm are all fixedly installed on the working arm mounting seat, and the first working arm The fourth working arm is symmetrically arranged under the working arm mounting seat, and the second working arm and the third working arm have identical structures and are symmetrically arranged below the working arm mounting seat. The structures of the first working arm, the second working arm, the third working arm and the fourth working arm are exactly the same except for the end effector, and they are all articulated series manipulators with five degrees of freedom, and the kinematic pairs of each joint are uniform. for the rotating pair. There are two symmetrically arranged industrial cameras under the mounting base of the working arm, which are used to collect the scene images of the workshop and the surface and overall contour information of the casting. The industrial cameras are fixed and installed on the working under the arm mount.

The first working arm includes a first shoulder motor, a first shoulder seat, a first boom motor, a first boom, a first small arm motor, a first small arm, a first belt drive and a first end The actuator is mainly used to perform casting polishing and grinding tasks and cooperate with other working arms to perform casting handling tasks. Wherein, the first shoulder motor is fixedly installed on the mounting seat of the working arm, and the first shoulder seat is located below the mounting seat of the working arm and is connected with the output flange of the first shoulder motor; the first large The upper end of the arm is connected with the first shoulder seat through the first boom motor, and the lower end of the first boom is connected with the upper end of the first forearm through the first forearm motor; the first end effector is located at the first The lowermost end of the working arm is connected with the first small arm through a hinge and the first belt transmission device. The first belt transmission device is installed in the cavity on the side of the first forearm body of the first forearm, and a first cover is arranged outside the body of the first forearm, and the first cover is fixed and installed on the first forearm body by screws. On the forearm. The first end effector includes a first wrist motor, a first fork, a first pneumatic gripper and a polishing machine. Wherein, the top of the first wrist motor is connected with the lower end of the first forearm body through a hinge and the first belt transmission device, the top of the first wishbone is fixedly connected with the output shaft of the first wrist motor, and the first The pneumatic gripper is fixedly installed on one side of the first fork frame, and the described polishing machine is fixedly installed on the other side of the first fork frame. The first belt transmission device includes a first wrist swing motor, a first driving pulley, a first transmission belt, a first driven pulley and a first driven shaft, and the first wrist swing motor is installed on the first The upper end of the forearm body, the first driving pulley is fixedly installed on the output shaft of the first wrist swing motor, and is connected with the output shaft of the first wrist swing motor through a flat key. The first driving pulley The pulley is connected with the first driven pulley through the first transmission belt. The first driven pulley is installed at one end of the first driven shaft and connected with the first driven shaft through a flat key. The first driven The other end of the shaft is fixedly connected with the housing of the first wrist motor. The polishing grinder adopts a pneumatic polishing grinder. The first driving pulley and the first driven pulley adopt synchronous toothed pulleys, and the first transmission belt adopts synchronous toothed belts.

The second working arm and the third working arm are mainly used to perform tasks such as sand shakeout and sand cleaning of castings, and cooperate with other working arms to perform tasks such as casting handling. The third working arm includes a third shoulder motor, a third shoulder seat, a third arm motor, a third arm, a third arm motor, a third arm, a third belt transmission device and a third end Actuator. The third shoulder motor is fixedly installed on the working arm mounting seat, the third shoulder seat is located below the working arm mounting seat and is connected to the output flange of the third shoulder motor; the third arm's The upper end is connected with the third shoulder seat through the third arm motor, and the lower end of the third arm is connected with the upper end of the third forearm through the third forearm motor; the third end effector is located at the third working arm The lower end of the arm is connected with the lower end of the third forearm through a hinge and the third belt transmission device. The third belt transmission device is installed in the cavity on the side of the third arm body of the third arm, and a third cover is arranged outside the body of the third arm, and the third cover It is fixed on the third forearm body by screws. The third end effector includes a third wrist motor, a third wishbone, a third pneumatic gripper and a pneumatic pick, the top of the third wrist motor passes through the lower end of the third forearm body The hinge is connected with the third belt transmission device, the top of the third wishbone is fixedly connected with the output shaft of the third wrist motor, and the third pneumatic gripper is fixedly installed on the third wishbone On one side, the pneumatic pick is fixedly installed on the other side of the third fork. The third belt transmission device includes a third wrist swing motor, a third driving pulley, a third transmission belt, a third driven pulley and a third driven shaft, and the third wrist swing motor is installed on the third On the upper end of the forearm body, the third driving pulley is fixedly installed on the output shaft of the third wrist swing motor, and is connected with the output shaft of the third wrist swing motor through a flat key, and the third driving pulley is connected with the first swing wrist motor. The three driven pulleys are connected through the third transmission belt, and the third driven pulley is installed on one end of the third driven shaft and connected with the third driven shaft through a flat key, and the other end of the third driven shaft One end is fixedly connected with the housing of the third wrist motor.

The fourth working arm includes a fourth shoulder motor, a fourth shoulder seat, a fourth arm motor, a fourth arm, a fourth small arm motor, a fourth small arm, a fourth belt transmission device and a fourth end The actuator is mainly used to perform casting tasks such as pouring system on castings, tying and adding meat, and other redundant metal cutting tasks, and cooperate with other working arms to perform casting handling tasks. The fourth shoulder motor is fixedly installed on the working arm mounting seat, and the fourth shoulder seat is located below the working arm mounting seat and is connected with the output flange of the fourth shoulder motor; The upper end of the boom is connected to the fourth shoulder seat through the fourth boom motor, and the lower end of the fourth boom is connected to the upper end of the fourth forearm through the fourth forearm motor; the fourth end effector is located at the first The lowermost end of the four working arms is connected with the lower end of the fourth small arm through a hinge and the fourth belt transmission device. The fourth belt transmission device is installed in the cavity on the side of the fourth forearm body of the fourth forearm, and a fourth cover is arranged outside the body of the fourth forearm, and the fourth cover It is fixed on the fourth forearm body by screws. The fourth end effector includes a fourth wrist motor, a fourth fork, a fourth pneumatic gripper and a plasma cutter, and the top of the fourth wrist motor passes through the lower end of the fourth forearm body. The hinge is connected with the fourth belt transmission device, the top of the fourth wishbone is fixedly connected with the output shaft of the fourth wrist motor, and the fourth pneumatic gripper is fixedly installed on the fourth wishbone On one side, the plasma cutter is fixedly installed on the other side of the fourth fork. The fourth belt transmission device includes a fourth wrist swing motor, a fourth driving pulley, a fourth transmission belt, a fourth driven pulley and a fourth driven shaft, and the fourth wrist swing motor is installed on the fourth The upper end of the forearm body, the fourth driving pulley is fixedly installed on the output shaft of the fourth wrist swing motor, and is connected with the output shaft of the fourth wrist swing motor through a flat key. The fourth driving pulley The pulley is connected with the fourth driven pulley through the fourth transmission belt. The fourth driven pulley is installed at one end of the fourth driven shaft and connected with the fourth driven shaft through a flat key. The fourth driven pulley The other end of the shaft is fixedly connected with the housing of the fourth wrist motor.

The first shoulder motor, the third shoulder motor, the fourth shoulder motor, the first arm motor, the third arm motor, the fourth arm motor, the first forearm motor, and the third forearm motor , the fourth forearm motor, the first wrist motor, the third wrist motor, the fourth wrist motor, the first wrist motor, the third wrist motor and the fourth wrist motor all adopt servo reduction motors.

The axes of the first arm motor, the first forearm motor and the first wrist swing motor are parallel to each other, the axis of the first shoulder motor is perpendicular to the axis of the first arm motor, and the axis of the first wrist motor is perpendicular to the first arm motor. The axis of the wrist swing motor; the axes of the third arm motor, the third forearm motor and the third wrist swing motor are parallel to each other, the axis of the third shoulder motor is perpendicular to the axis of the third arm motor, and the third wrist motor The axis of the arm is perpendicular to the axis of the third arm swing motor; the axes of the fourth arm motor, the fourth forearm motor and the fourth arm swing motor are parallel to each other, and the axis of the fourth shoulder motor is perpendicular to the axis of the fourth arm motor , the axis of the fourth wrist motor is perpendicular to the axis of the fourth wrist swing motor.

The included angle ranges of the brackets on both sides of the first yoke, the third yoke and the fourth yoke are all 60°-100°.

When in use, start the driving motor in the driving wheel according to the work needs, and then drive the traveling device to move on the circular guide rail to the designated working position, then adjust the turning device and the lifting device respectively according to the working posture and height requirements, and adjust the four working methods of the present invention. Arm to the appropriate swing angle and working height. Then, according to the weight and volume of the casting, determine the number of pneumatic grippers required to handle the casting. The attitude adjustment of the end effectors on each working arm can be realized by the servo deceleration motor installed on each working arm. When performing cleaning tasks, it is necessary to start the first wrist motor, the third wrist motor, the fourth wrist motor and the second wrist motor on the second working arm, and the polishing machine, pneumatic pick and plasma The cutter is adjusted to a suitable working angle before cleaning. Four working arms work together, four pneumatic grippers and four cleaning tools can be flexibly converted, and multi-tool synchronous operation can also be realized, which can meet the handling of castings with large weight, large volume and complex shapes, as well as cleaning, sand cleaning, cutting, polishing and grinding. It can also improve the efficiency and quality of casting cleaning operations, and reduce the labor intensity and production costs of operators.

The beneficial effects of the present invention are that, compared with the existing technology, the walking device of the present invention adopts a four-point suspension support mode to realize long-distance stable walking of the robot under heavy load conditions; the outer wheel frame, the inner wheel frame and the The hangers are connected by hinges, which is convenient for the driving wheel and supporting wheel to walk smoothly on the outer and inner ring tracks; the slewing device has the function of full circle rotation, and the lifting device also has the function of height adjustment, which obviously expands the working space of the robot The identification, handling, flipping, posture adjustment, sand cleaning, cutting and polishing of castings can be completed automatically, with high degree of automation, high work efficiency and low labor intensity; the invention also has compact structure and small space occupied by equipment , low production cost, high safety, easy operation and maintenance, etc., can overcome the defects of the prior art.

Description of drawings

Fig. 1 is the overall structural representation of the present invention;

Fig. 2 is a schematic diagram of the main structure of the present invention (excluding the outer ring track and the inner ring track);

Fig. 3 is the top view structural representation of outer annular track and inner annular track of the present invention;

Fig. 4 is the schematic diagram of the full section structure of the rotary device of the present invention;

Fig. 5 is the structural representation of lifting device of the present invention;

Fig. 6 is a schematic structural view of the tensioning wheel in the running gear of the present invention;

7 is a schematic diagram of the assembly relationship of the first working arm, the second working arm, the third working arm and the fourth working arm on the working arm mounting seat of the present invention;

Fig. 8 is a schematic structural view of the first working arm of the present invention;

Fig. 9 is a schematic structural view of a third working arm of the present invention;

Fig. 10 is a schematic structural view of the fourth working arm of the present invention.

Detailed ways

In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention will be further described below in conjunction with specific embodiments and illustrations.

As shown in Fig. 1, Fig. 2 and Fig. 3, a suspension track type multi-arm casting robot includes a walking device 1, a slewing device 2, a lifting device 3, a working arm mounting seat 4, a first working arm 5, a second working arm Arm 6, third working arm 7, fourth working arm 8 and circular track 9. Wherein, described circular track 9 comprises outer circular track 91 and inner circular track 92, and the straight section of described outer circular track 91 and inner circular track 92 keeps parallel equidistant, and described outer circular track 91 and inner circular track The arc section of 92 is kept concentric and equidistant, and the outer ring track 91 and the inner ring track 92 are fixedly connected by a connecting plate 93; the outer ring track 91 and the inner ring track 92 are fixed and installed in the workshop by screws. 10 on the roof. The walking device 1 is used to drive the present invention to move along the outer ring track 91 and the inner ring track 92, and the running device 1 includes an outer wheel frame 11, an inner wheel frame 12, a driving wheel 13, a supporting wheel 14, a guide Wheel 15, tensioning wheel 16 and hanger 17. Wherein, the two outer wheel frames 11 are arranged side by side on the outer ring track 91, and the outer wheel frames 11 and the outer ring track 91 are connected by the driving wheel 13, the support wheel 14, the guide wheel 15 and the tension wheel 16, and each The quantity of the driving wheel 13 installed on the outer wheel frame 11, the supporting wheel 14, the guide wheel 15 and the tension wheel 16 is one; the inner wheel frame 12 has two and is arranged side by side on the inner ring track 92, so The said inner wheel frame 12 is connected with the inner annular track 92 by the support wheel 14, the guide wheel 15 and the tension wheel 16, and two support wheels 14, a guide wheel 15 and A tensioning wheel 16; the outer diameter and wheel width of the driving wheel 13 and the supporting wheel 14 are the same, and the axis is on the same horizontal plane, and the driving wheel 13 and the supporting wheel 14 installed on the outer wheel frame 11 are located on the outer wheel frame 11 In the middle and upper part of the inner wheel frame 12, the two sets of supporting wheels 14 are located at the middle and upper part of the inner wheel frame 12, and the guide wheels 15 installed on the outer wheel frame 11 are located at the top outside of the outer wheel frame 11, and are installed on the inner wheel frame 12 The guide wheel 15 on the top is located outside the top of the inner wheel frame 12, the tension wheel 16 installed on the outer wheel frame 11 is located in the middle of the bottom of the outer wheel frame 11, and the tension wheel 16 installed on the inner wheel frame 12 is located on the inner wheel frame 12 at the middle of the bottom; a driving motor 131 is provided in the driving wheel 13 to provide driving power for driving the driving wheel 13, and the driving motor 131 adopts a hydraulic servo motor or a pneumatic servo motor or a servo reduction motor . There are two hangers 17, and the tops of the two hangers 17 are connected to the outer wheel frame 11 and the inner wheel frame 12 through hinges; the tops of the two hangers 17 are connected to the outer wheel frame 11 and the inner wheel frame 12 The axes of the four hinges are parallel to each other and are all perpendicular to the horizontal plane.

As shown in Fig. 1, Fig. 2 and Fig. 6, the described tensioning wheel 16 comprises a tensioning wheel frame 161, a tensioning wheel body 162, a guide shaft 163, a compression spring 164 and an anti-off block 165, which are used for the present invention along the Tension force is provided for the traveling device 1 when the outer ring track 91 and the inner ring track 92 move and walk. Wherein, the tensioning wheel body 162 is installed on the top of the tensioning wheel frame 161, and a rolling bearing is arranged inside the tensioning wheel body 162, and the two ends of the rotating shaft of the tensioning wheel body 162 and the tensioning wheel frame 161 pass through The transition fit mode is connected; the top of the guide shaft 163 is fixedly connected with the tensioning wheel frame 161 by welding, and the lower end of the guide shaft 163 is installed on the outer wheel frame 11 or the inner wheel frame 12, and is connected with the outer wheel frame 11 or the inner wheel frame 12 are connected by clearance fit; the compression spring 164 is set on the guide shaft 163, and is located between the tension wheel frame 161 and the outer wheel frame 11 or the inner wheel frame 12, for Provide tension force for the tension wheel 16; the anti-off block 165 is located at the lower end of the guide shaft 163, and is fixedly connected with the guide shaft 163 by screws to prevent the guide shaft 163 from breaking away from the outer wheel frame 11 or the inner wheel Frame 12; the number of the guide shaft 163, the compression spring 164 and the anti-off block 165 is two.

As shown in FIG. 1 , FIG. 2 and FIG. 4 , the rotary device 2 is used to realize the rotation of the lower part of the rotary device 2 around the axis of the rotary device 2 of the present invention. The rotary device 2 includes a rotary flange 21 , a rotary seat 22 , a rotary cylinder 23 , a rotary body 24 , a rotary motor 27 and a driving gear 28 . Wherein, the outer ring of the rotary flange 21 that plays a connecting role is fixedly installed on the bottom of the hanger 17 of the traveling device 1 by bolts, and the inner ring of the rotary flange 21 is fixedly connected with the rotary seat 22 by screws; the rotary seat 22 is located in the rotary cylinder 23 and is connected with the rotary cylinder 23 through two thrust bearings 25 and a radial bearing 26; the rotary body 24 is the rotary motion output part of the rotary device 2, and the The rotary body 24 is located below the rotary cylinder 23, and is fixedly connected with the rotary cylinder 23 by screws; an inner ring gear 241 is provided on the inner side of the rotary body 24, and a threaded blind hole 242 is provided at the bottom of the rotary body 24 , the top of the revolving body 24 is provided with a bolt hole 243; the revolving motor 27 is located in the revolving base 22 and fixed on the bottom of the revolving base 22 by screws, and the driving gear 28 is installed on the output shaft of the revolving motor 27 and is connected with the output shaft of the rotary motor 27 by a flat key, and the end of the output shaft of the rotary motor 27 is also provided with a shaft end retaining ring 29, and the shaft end retaining ring 29 is connected with the output shaft of the rotary motor 27 by a screw. The drive gear 28 is in internal engagement with the ring gear 241 of the rotary body 24; the rotary motor 27 is a servo geared motor, and the reducer it is equipped with is a worm gear reducer with a self-locking function , to provide a self-locking function for the rotary motion of the rotary device 2. The thrust bearing 25 is a cylindrical roller thrust bearing, and the radial bearing 26 is a cylindrical roller radial bearing.

As shown in FIG. 1 , FIG. 2 and FIG. 5 , the lifting device 3 is used to realize the vertical lifting of the present invention, and the lifting device 3 includes a lifting seat 31 and an electric push rod 32 . Wherein, the lifting base 31 is located below the revolving body 24 and is connected with the revolving body 24 through screws; the electric push rods 32 have four pieces, and are symmetrically arranged under the lifting base 31, and are used for the lifting device. The lifting of 3 provides power, and the upper end of described electric push rod 32 is connected with lifting seat 31 by bolt.

As shown in Fig. 1, Fig. 2, Fig. 7, Fig. 8, Fig. 9 and Fig. 10, the multi-arm actuator includes a working arm mount 4, a first working arm 5, a second working arm 6, a third working arm arm 7 and the fourth working arm 8. Wherein, the working arm mounting seat 4 is located below the lifting device 3, and is used for fixedly installing four working arms of the first working arm 5, the second working arm 6, the third working arm 7 and the fourth working arm 8. The top of the working arm mount 4 is connected with the lower end of the electric push rod 32 by bolts; the upper ends of the first working arm 5, the second working arm 6, the third working arm 7 and the fourth working arm 8 are all fixed Installed on the working arm mounting seat 4, the first working arm 5 and the fourth working arm 8 are symmetrically arranged below the working arm mounting seat 4, and the second working arm 6 and the third working arm 7 have the same structure and are symmetrically arranged on the working arm mounting seat 4. The bottom of the working arm mount 4. The structures of the first working arm 5 , the second working arm 6 , the third working arm 7 and the fourth working arm 8 are identical except for the end effector, and they are all five-degree-of-freedom articulated series manipulators. There are two symmetrically arranged industrial cameras 41 below the mounting base 4 of the working arm, which are used to collect images of the workshop site and the surface and overall profile information of the casting. The industrial cameras 41 are fixed by a two-degree-of-freedom platform It is installed under the working arm mount 4.

As shown in Fig. 1, Fig. 2, Fig. 7 and Fig. 8, the first working arm 5 includes a first shoulder motor 51, a first shoulder seat 52, a first boom motor 53, a first boom 54, The first forearm motor 55 , the first forearm 56 , the first belt transmission device 57 and the first end effector 58 are mainly used to perform casting polishing and grinding tasks and cooperate with other working arms to perform casting handling tasks. Wherein, the first shoulder motor 51 is fixedly installed on the working arm mounting seat 4, and the first shoulder seat 52 is located below the working arm mounting seat 4 and is connected to the output flange of the first shoulder motor 51; The upper end of the first big arm 54 is connected with the first shoulder seat 52 through the first big arm motor 53, and the lower end of the first big arm 54 is connected with the upper end of the first small arm 56 through the first small arm motor 55; The first end effector 58 is located at the lowermost end of the first working arm 5 and is connected with the first small arm 56 through a hinge and a first belt transmission device 57 . The first belt transmission device 57 is installed in the cavity on the side of the first arm body 561 of the first arm 56, and the first arm body 561 is provided with a first cover 562 outside the first arm body 561, the first cover 562 is fixedly installed on the first forearm body 561 by screws. The first end effector 58 includes a first wrist motor 581 , a first fork 582 , a first pneumatic gripper 583 and a polishing machine 584 . Wherein, the top of the first wrist motor 581 is connected with the lower end of the first forearm body 561 through a hinge and the first belt transmission device 57, and the top of the first fork 582 is connected with the output shaft of the first wrist motor 581. Fixed connection, the first pneumatic gripper 583 is fixedly installed on one side of the first fork frame 582 , and the polishing machine 584 is fixedly installed on the other side of the first fork frame 582 . The first belt transmission device 57 includes a first wrist swing motor 571 , a first driving pulley 572 , a first driving belt 573 , a first driven pulley 574 and a first driven shaft 575 . The first wrist swing motor 571 is installed on the upper end of the first forearm body 561, and the first driving pulley 572 is fixedly installed on the output shaft of the first wrist swing motor 571, and is connected with the first wrist swing motor. The output shaft of 571 is connected by a flat key, and the first driving pulley 572 is connected with the first driven pulley 574 through the first transmission belt 573, and the first driven pulley 574 is installed on the first driven pulley 574. One end of the driven shaft 575 is connected with the first driven shaft 575 through a flat key, and the other end of the first driven shaft 575 is fixedly connected with the housing of the first wrist motor 581 . The polishing machine 584 adopts a pneumatic polishing machine. The first driving pulley 572 and the first driven pulley 574 are synchronous toothed pulleys, and the first transmission belt 573 is a synchronous toothed belt.

As shown in Fig. 1, Fig. 2, Fig. 7 and Fig. 9, the second working arm 6 and the third working arm 7 are mainly used for carrying out tasks of casting shakeout and sand cleaning, and cooperating with other working arms to carry out casting handling, etc. homework tasks. The third working arm 7 includes a third shoulder motor 71, a third shoulder seat 72, a third big arm motor 73, a third big arm 74, a third small arm motor 75, a third small arm 76, a third Belt drive 77 and third end effector 78 . The third shoulder motor 71 is fixedly installed on the working arm mounting seat 4, the third shoulder seat 72 is located below the working arm mounting seat 4 and is connected to the output flange of the third shoulder motor 71; the described The upper end of the third big arm 74 is connected with the third shoulder seat 72 through the third big arm motor 73, and the lower end of the third big arm 74 is connected with the upper end of the third small arm 76 through the third small arm motor 75; The third end effector 78 is located at the lowermost end of the third working arm 7 and is connected with the lower end of the third small arm 76 through a hinge and a third belt transmission device 77 . The third belt transmission device 77 is installed in the cavity on the side of the third arm body 761 of the third arm 76, and a third cover 762 is arranged outside the third arm body 761. The above-mentioned third cover 762 is fixedly installed on the third forearm body 761 by screws. The third end effector 78 includes a third wrist motor 781, a third fork 782, a third pneumatic gripper 783 and a pneumatic jack 784. The top of the third wrist motor 781 is connected to the third The lower end of the forearm body 761 is connected with the third belt transmission device 77 through a hinge, the top of the third fork frame 782 is fixedly connected with the output shaft of the third wrist motor 781, and the third pneumatic hand The claw 783 is fixedly installed on one side of the third fork 782 , and the pneumatic pneumatic pick 784 is fixedly installed on the other side of the third fork 782 . The third belt transmission device 77 includes a third wrist swing motor 771 , a third driving pulley 772 , a third driving belt 773 , a third driven pulley 774 and a third driven shaft 775 . The third wrist swing motor 771 is installed on the upper end of the third forearm body 761, and the third driving pulley 772 is fixedly installed on the output shaft of the third wrist swing motor 771, and is connected with the third wrist swing motor The output shaft of 771 is connected by a flat key, the third driving pulley 772 is connected with the third driven pulley 774 through the third transmission belt 773, and the third driven pulley 774 is installed on the third driven shaft 775 One end is connected with the third driven shaft 775 through a flat key, and the other end of the third driven shaft 775 is fixedly connected with the housing of the third wrist motor 771 .

As shown in Fig. 1, Fig. 2, Fig. 7 and Fig. 10, the fourth working arm 8 includes a fourth shoulder motor 81, a fourth shoulder seat 82, a fourth big arm motor 83, a fourth big arm 84, The fourth forearm motor 85, the fourth forearm 86, the fourth belt transmission device 87 and the fourth end effector 88 are mainly used to perform the cutting tasks of the pouring system on castings, the cutting of redundant metals such as tendons and meat, and the coordination The other working arms perform casting handling tasks. The fourth shoulder motor 81 is fixedly installed on the working arm mounting seat 4, and the fourth shoulder seat 82 is located below the working arm mounting seat 4 and connected to the output flange of the fourth shoulder motor 81; The upper end of the fourth big arm 84 is connected with the fourth shoulder seat 82 through the fourth big arm motor 83 , and the lower end of the fourth big arm 84 is connected with the upper end of the fourth small arm 86 through the fourth small arm motor 85 The fourth end effector 88 is located at the lowermost end of the fourth working arm 8, and is connected with the lower end of the fourth small arm 86 through a hinge and the fourth belt transmission device 87. The fourth belt transmission device 87 is installed in the cavity on the side of the fourth arm body 861 of the fourth arm 86, and a fourth cover 862 is arranged outside the fourth arm body 861. The above-mentioned fourth cover 862 is fixedly installed on the fourth forearm body 861 by screws. The fourth end effector 88 includes a fourth wrist motor 881 , a fourth fork 882 , a fourth pneumatic gripper 883 and a plasma cutter 884 . Wherein, the top of the fourth wrist motor 881 is connected with the lower end of the fourth forearm body 861 through a hinge and the fourth belt transmission device 87, and the top of the fourth wishbone 882 is connected with the fourth wrist. The output shaft of the motor 881 is fixedly connected, the fourth pneumatic gripper 883 is fixedly installed on one side of the fourth fork frame 882, and the plasma cutter 884 is fixedly installed on the other side of the fourth fork frame 882. side. The fourth belt transmission device 87 includes a fourth wrist swing motor 871 , a fourth driving pulley 872 , a fourth driving belt 873 , a fourth driven pulley 874 and a fourth driven shaft 875 . Wherein, the fourth wrist swing motor 871 is installed on the upper end of the fourth forearm body 861, and the fourth driving pulley 872 is fixedly installed on the output shaft of the fourth wrist swing motor 871, and is connected with the fourth swing arm. The output shaft of the wrist motor 871 is connected by a flat key, and the fourth driving pulley 872 is connected with the fourth driven pulley 874 through the fourth transmission belt 873, and the fourth driven pulley 874 is installed on the One end of the four driven shafts 875 is connected with the fourth driven shaft 875 through a flat key, and the other end of the fourth driven shaft 875 is fixedly connected with the housing of the fourth wrist motor 881 .

As shown in Fig. 1, Fig. 2, Fig. 7, Fig. 8, Fig. 9 and Fig. 10, the first shoulder motor 51, the third shoulder motor 71, the fourth shoulder motor 81, the first arm motor 53. The third big arm motor 73, the fourth big arm motor 83, the first small arm motor 55, the third small arm motor 75, the fourth small arm motor 85, the first wrist swing motor 571, the third wrist swing motor 771 , the fourth wrist swing motor 871, the first wrist motor 581, the third wrist motor 781 and the fourth wrist motor 881 all adopt servo reduction motors. The axes of the first big arm motor 53, the first forearm motor 55 and the first wrist swing motor 571 are parallel to each other, the axis of the first shoulder motor 51 is perpendicular to the axis of the first big arm motor 53, and the first wrist The axis of the internal motor 581 is perpendicular to the axis of the first wrist swing motor 571; the axes of the third arm motor 73, the third forearm motor 75 and the third wrist swing motor 771 are parallel to each other, and the axes of the third shoulder motor 71 are vertical On the axis of the third big arm motor 73, the axis of the third wrist motor 781 is perpendicular to the axis of the third swing wrist motor 771; The axes are parallel to each other, the axis of the fourth shoulder motor 81 is perpendicular to the axis of the fourth arm motor 83 , and the axis of the fourth wrist motor 881 is perpendicular to the axis of the fourth wrist swing motor 871 .

As shown in Fig. 1, Fig. 2, Fig. 7, Fig. 8, Fig. 9 and Fig. 10, the included angles of the brackets on both sides of the first fork frame 582, the third fork frame 782, and the fourth fork frame 882 are 90°.

When in use, start the driving motor 131 in the driving wheel 13 according to the work needs, and then drive the traveling device 1 to move on the circular guide rail 9 to the designated working position, and then adjust the turning device 2 and the lifting device 3 respectively according to the working posture and height requirements. Adjust the four working arms of the present invention to suitable turning angles and working heights. Then, according to the weight and volume of the casting, determine the number of pneumatic grippers required to handle the casting. The attitude adjustment of the end effectors on each working arm can be realized by the servo deceleration motor installed on each working arm. The combined operation of the four working arms can meet the needs of heavy weight, large volume and complex shape castings handling and cleaning operations such as sand cleaning, cutting, polishing and grinding, and can also improve the efficiency and quality of casting cleaning operations and reduce the labor intensity and labor intensity of operators. Cost of production.

When performing cleaning tasks, it is necessary to start the first wrist motor 581, the third wrist motor 781, the fourth wrist motor 881 and the second wrist motor on the second working arm, and the pneumatic force on the second working arm The polishing machine 584, pneumatic pneumatic pick 784 and plasma cutter 884 on the pneumatic pick and other three working arms are adjusted to a suitable working angle before cleaning operation.

In the description of the present invention, it should be understood that the orientations or positional relationships indicated by the terms "upper", "lower", "horizontal", "top", "bottom", "inner", "outer" etc. are based on the drawings The orientations or positional relationships shown are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be construed as an important aspect of the present invention. limits.

The basic principles, main features and advantages of the present invention have been shown and described above. Those skilled in the industry should understand that the present invention is not limited by the above-mentioned embodiments. What are described in the above-mentioned embodiments and the description only illustrate the principle of the present invention. Without departing from the spirit and scope of the present invention, the present invention will also have Variations and improvements are possible, which fall within the scope of the claimed invention. The protection scope of the present invention is defined by the appended claims and their equivalents.

Claims (8)

1. The utility model provides a hang rail mounted multi-arm casting robot, includes walking portion, regulating part and multi-arm execution portion, its characterized in that: the walking part comprises a walking device and an annular track, and the annular track comprises an outer annular track and an inner annular track; the walking device comprises an outer wheel frame, an inner wheel frame, two driving wheels, a supporting wheel, a guide wheel, a tension wheel and a hanger, wherein the outer wheel frame is arranged on an outer annular track in parallel, the outer wheel frame is connected with the outer annular track through the driving wheels, the supporting wheel, the guide wheel and the tension wheel, and the number of the driving wheels, the supporting wheel, the guide wheel and the tension wheel which are arranged on each outer wheel frame is one; the two inner wheel frames are arranged on the inner annular track in parallel and connected with the inner annular track through a supporting wheel, a guide wheel and a tension wheel, and each inner wheel frame is provided with two supporting wheels, one guide wheel and one tension wheel; the outer diameters and wheel widths of the driving wheel and the supporting wheel are the same, the axes of the driving wheel and the supporting wheel are positioned on the same horizontal plane, the driving wheel and the supporting wheel which are installed on the outer wheel frame are positioned at the middle upper part of the outer wheel frame, two groups of supporting wheels which are installed on the inner wheel frame are positioned at the middle upper part of the inner wheel frame, the guide wheel which is installed on the outer wheel frame is positioned at the outer side of the top of the outer wheel frame, the guide wheel which is installed on the inner wheel frame is positioned at the outer side of the top of the inner wheel frame, the tension wheel which is installed on the outer wheel frame is positioned at the middle position of the bottom of the outer wheel frame, and the tension wheel which is installed on the inner wheel frame is positioned at the middle position of the bottom of the inner wheel frame; the tops of the two hanging brackets are respectively connected with the outer wheel carrier and the inner wheel carrier through hinges; the straight line sections of the outer annular track and the inner annular track are parallel and equidistant, the arc line sections of the outer annular track and the inner annular track are concentric and equidistant, and the outer annular track and the inner annular track are fixedly connected through a connecting plate; the outer annular track and the inner annular track are fixedly arranged on the roof of the workshop;

the adjusting part comprises a rotating device and a lifting device, the rotating device comprises a rotating flange, a rotating seat, a rotating cylinder, a rotating body, a rotating motor and a driving gear, the outer ring of the rotating flange is fixedly arranged at the bottom of a hanger of the traveling device, and the inner ring of the rotating flange is fixedly connected with the rotating seat; the rotary seat is positioned in the rotary cylinder and connected with the rotary flange through a screw, the rotary seat is connected with the rotary cylinder through two thrust bearings and a radial bearing, the rotary body is positioned below the rotary cylinder and fixedly connected with the rotary cylinder through a screw, an inner gear ring is arranged on the inner side surface of the rotary body, a threaded blind hole is arranged at the bottom of the rotary body, a bolt hole is arranged at the top of the rotary body, the rotary motor is positioned at the bottom in the rotary seat, the driving gear is installed on an output shaft of the rotary motor, a shaft end check ring is further arranged at the tail end of the output shaft of the rotary motor and fixedly connected with the output shaft of the rotary motor, and the driving gear is internally meshed with the inner gear ring of the rotary motor; the rotary motor adopts a servo speed reducing motor; the lifting device comprises a lifting seat and electric push rods, the lifting seat is positioned below the revolving body and connected with the revolving body through screws, the number of the electric push rods is four, the electric push rods are symmetrically arranged below the lifting seat, and the upper ends of the electric push rods are connected with the lifting seat through bolts;

the multi-arm execution part comprises a working arm installation seat, a first working arm, a second working arm, a third working arm and a fourth working arm, the working arm installation seat is positioned below the lifting device and is connected with the lower end of the electric push rod through a bolt, the first working arm, the second working arm, the third working arm and the fourth working arm are all five-degree-of-freedom articulated series mechanical arms, the upper ends of the five-degree-of-freedom articulated series mechanical arms are all fixedly installed on the working arm installation seat, the first working arm and the fourth working arm are symmetrically arranged below the working arm installation seat, and the second working arm and the third working arm are completely identical in structure and are symmetrically arranged below the working arm installation seat;

the first working arm comprises a first shoulder motor, a first shoulder seat, a first large arm motor, a first large arm, a first small arm motor, a first small arm, a first belt transmission device and a first end effector, the first shoulder motor is fixedly arranged on the working arm mounting seat, and the first shoulder seat is positioned below the working arm mounting seat and connected with an output flange of the first shoulder motor; the upper end of the first large arm is connected with the first shoulder seat through a first large arm motor, and the lower end of the first large arm is connected with the upper end of the first small arm through a first small arm motor; the first end effector is positioned at the lowest end of the first working arm and is connected with the first small arm through a hinge and a first belt transmission device, the first belt transmission device is arranged in a cavity at one side of the first small arm body of the first small arm, and a first sealing cover is arranged outside the first small arm body; the first end effector comprises a first wrist motor, a first fork-shaped frame, a first pneumatic paw and a polishing and grinding machine, the top of the first wrist motor is connected with the lower end of the first forearm body through a hinge and a first belt transmission device, the top of the first fork-shaped frame is fixedly connected with an output shaft of the first wrist motor, the first pneumatic paw is fixedly arranged on one side of the first fork-shaped frame, and the polishing and grinding machine is fixedly arranged on the other side of the first fork-shaped frame; the first belt transmission device comprises a first wrist swinging motor, a first driving belt wheel, a first transmission belt, a first driven belt wheel and a first driven shaft, the first wrist swinging motor is installed at the upper end of the first forearm body, the first driving belt wheel is fixedly installed on an output shaft of the first wrist swinging motor, the first driving belt wheel is connected with the first driven belt wheel through the first transmission belt, the first driven belt wheel is installed at one end of the first driven shaft, and the other end of the first driven shaft is fixedly connected with a shell of the first wrist motor;

the third working arm comprises a third shoulder motor, a third shoulder seat, a third large arm motor, a third large arm, a third small arm motor, a third small arm, a third belt transmission device and a third end effector, the third shoulder motor is fixedly arranged on the working arm mounting seat, and the third shoulder seat is positioned below the working arm mounting seat and connected with an output flange of the third shoulder motor; the upper end of the third large arm is connected with the third shoulder seat through a third large arm motor, and the lower end of the third large arm is connected with the upper end of the third small arm through a third small arm motor; the third end effector is positioned at the lowest end of the third working arm and is connected with the lower end of the third small arm through a hinge and a third belt transmission device, the third belt transmission device is arranged in a cavity at one side of a third small arm body of the third small arm, and a third sealing cover is arranged outside the third small arm body; the third end effector comprises a third wrist motor, a third forked frame, a third pneumatic paw and a pneumatic pick, the top of the third wrist motor is connected with the lower end of the third small arm body through a hinge and a third belt transmission device, the top of the third forked frame is fixedly connected with an output shaft of the third wrist motor, the third pneumatic paw is fixedly arranged on one side of the third forked frame, and the pneumatic pick is fixedly arranged on the other side of the third forked frame; the third belt transmission device comprises a third wrist swinging motor, a third driving belt wheel, a third transmission belt, a third driven belt wheel and a third driven shaft, the third wrist swinging motor is installed at the upper end of the third forearm body, the third driving belt wheel is fixedly installed on an output shaft of the third wrist swinging motor, the third driving belt wheel is connected with the third driven belt wheel through the third transmission belt, the third driven belt wheel is installed at one end of the third driven shaft, and the other end of the third driven shaft is fixedly connected with a shell of the third wrist motor;

the fourth working arm comprises a fourth shoulder motor, a fourth shoulder seat, a fourth large arm motor, a fourth large arm, a fourth small arm motor, a fourth small arm, a fourth belt transmission device and a fourth end effector, the fourth shoulder motor is fixedly arranged on the working arm mounting seat, and the fourth shoulder seat is positioned below the working arm mounting seat and connected with an output flange of the fourth shoulder motor; the upper end of the fourth large arm is connected with the fourth shoulder seat through a fourth large arm motor, and the lower end of the fourth large arm is connected with the upper end of the fourth small arm through a fourth small arm motor; the fourth end effector is positioned at the lowest end of the fourth working arm and is connected with the lower end of the fourth small arm through a hinge and a fourth belt transmission device, the fourth belt transmission device is installed in a cavity on one side of a fourth small arm body of the fourth small arm, and a fourth sealing cover is arranged outside the fourth small arm body; the fourth end effector comprises a fourth wrist motor, a fourth forked frame, a fourth pneumatic paw and a plasma cutter, the top of the fourth wrist motor is connected with the lower end of the fourth forearm body through a hinge and a fourth belt transmission device, the top of the fourth forked frame is fixedly connected with an output shaft of the fourth wrist motor, the fourth pneumatic paw is fixedly installed on one side of the fourth forked frame, and the plasma cutter is fixedly installed on the other side of the fourth forked frame; the fourth belt transmission device comprises a fourth wrist swinging motor, a fourth driving belt wheel, a fourth transmission belt, a fourth driven belt wheel and a fourth driven shaft, the fourth wrist swinging motor is installed at the upper end of the fourth forearm body, the fourth driving belt wheel is fixedly installed on an output shaft of the fourth wrist swinging motor, the fourth driving belt wheel is connected with the fourth driven belt wheel through the fourth transmission belt, the fourth driven belt wheel is installed at one end of the fourth driven shaft, and the other end of the fourth driven shaft is fixedly connected with a shell of the fourth wrist motor;

the first shoulder motor, the third shoulder motor, the fourth shoulder motor, the first large arm motor, the third large arm motor, the fourth large arm motor, the first small arm motor, the third small arm motor, the fourth small arm motor, the first wrist swinging motor, the third wrist swinging motor, the fourth wrist swinging motor, the first wrist motor, the third wrist motor and the fourth wrist motor are all servo speed reducing motors;

the tensioning wheel comprises a tensioning wheel frame, a tensioning wheel body, a guide shaft, a compression spring and an anti-falling block, wherein the tensioning wheel body is arranged at the top of the tensioning wheel frame, and two ends of a rotating shaft of the tensioning wheel body are connected with the tensioning wheel frame in a transition fit manner; the top of the guide shaft is fixedly connected with the tensioning wheel carrier, and the lower end of the guide shaft is arranged on the outer wheel carrier or the inner wheel carrier and is connected with the outer wheel carrier or the inner wheel carrier in a clearance fit manner; the compression spring is sleeved on the guide shaft and is positioned between the tensioning wheel frame and the outer wheel frame or the inner wheel frame; the anti-falling block is positioned at the lower end of the guide shaft and fixedly connected with the guide shaft.

2. A suspended track multi-arm casting robot as claimed in claim 1, wherein: a driving motor is arranged in the driving wheel, and the driving motor adopts a hydraulic servo motor or a pneumatic servo motor or a servo speed reducing motor.

3. A suspended orbital multi-arm casting robot as claimed in claim 1 wherein: the thrust bearing adopts a cylindrical roller thrust bearing, and the radial bearing adopts a cylindrical roller radial bearing.

4. A suspended orbital multi-arm casting robot as claimed in claim 1 wherein: the polishing and grinding machine adopts a pneumatic polishing and grinding machine, the axes of the first large arm motor, the first small arm motor and the first wrist swinging motor are parallel to each other, 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 axis of the first wrist swinging motor; the axes of the third large arm motor, the third small arm motor and the third wrist swinging motor are parallel to each other, the axis of the third shoulder motor is perpendicular to the axis of the third large arm motor, and the axis of the third wrist motor is perpendicular to the axis of the third wrist swinging motor; the axes of the fourth big arm motor, the fourth small arm motor and the fourth wrist swinging motor are parallel to each other, the axis of the fourth shoulder motor is perpendicular to the axis of the fourth big arm motor, and the axis of the fourth wrist motor is perpendicular to the axis of the fourth wrist swinging motor.

5. A suspended track multi-arm casting robot as claimed in claim 1, wherein: two industrial cameras which are symmetrically arranged are arranged below the working arm mounting seat, and the industrial cameras are fixedly arranged below the working arm mounting seat through a two-degree-of-freedom cradle head.

6. A suspended orbital multi-arm casting robot as claimed in claim 1 wherein: the sections of the outer annular track and the inner annular track are both I-shaped.

7. A suspended orbital multi-arm casting robot as claimed in claim 1 wherein: the top of two gallows is parallel to each other with the axis of the outer wheel carrier, the four hinges that the inner wheel carrier is connected, and all is perpendicular to the horizontal plane.

8. A suspended orbital multi-arm casting robot as claimed in claim 1 wherein: the included angle range of the brackets at the two sides of the first forked frame, the third forked frame and the fourth forked frame is 60-100 degrees.

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