CN107127734B - Suspension track type multi-arm casting robot - Google Patents
Suspension track type multi-arm casting robot Download PDFInfo
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- CN107127734B CN107127734B CN201710588987.7A CN201710588987A CN107127734B CN 107127734 B CN107127734 B CN 107127734B CN 201710588987 A CN201710588987 A CN 201710588987A CN 107127734 B CN107127734 B CN 107127734B
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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
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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
- B25J11/0055—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
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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
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
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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
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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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
Technical Field
The invention belongs to the technical field of casting robot equipment, and particularly relates to a suspended track type multi-arm casting robot.
Background
During the production of the castings, the castings often need to be carried and adjusted in posture, and various cleaning operations on the castings are completed. In the production, the core and the core iron are removed, metal remainders such as a pouring gate, a dead head, a fillet, a lacing wire, a rib, a flash, a burr and the like are cut off, the sand sticking and the surface foreign matters of the casting are removed, and the surface of the casting is ground and leveled. Most castings still depend on semi-mechanized tool operation such as manual tools and wind blows, wind shovels, high-speed portable grinding wheels, suspended grinding wheels and the like. Castings with less complex shapes also adopt a universal stamping machine and a sawing machine, and when the batches of the castings are large, a special machine tool or a special production line is adopted to realize automatic operation. The steel castings are mostly cut with oxygen or electrogas. The gas-electric cutting is to melt or oxidize metal by high temperature generated by electric arc formed between electrode and casting, and to blow the melt by high-pressure high-speed airflow to remove flash, burr and projection of casting. This method is used not only to cut the casting head but also to level the casting surface. However, electrogas cutting has the disadvantage of producing arcing, smoke and noise.
Burrs, inner gates and casting head residues on the parting surfaces of the castings are inevitable structures of the castings, particularly special-shaped castings are required to be cleaned and ground, the previous castings are cleaned and ground manually, the working efficiency is extremely low, the working environment is severe, the labor cost is high, and the labor intensity is high. In the process of manually cleaning the castings, the special-shaped castings have more parts to be cleaned, thick and large structures, difficult cleaning and low working efficiency; manual cleaning is not easy to control, and the quality of the casting is often unstable; the special-shaped castings can be cleaned up only by carrying the castings continuously and changing angles by workers due to the fact that the parts needing to be cleaned up are many; the generated fine dust is cleaned and dispersed in the whole workshop, so that the health of workers is seriously influenced; more importantly, the safety of workers cannot be guaranteed.
The carrying and the posture adjustment of the casting are generally carried out by manual carrying or assisted by a simple mechanical device, the manual participation degree is high, the consumed working hours are more, the manufacturing cost is increased, and the manufacturing progress is delayed. Therefore, an automatic device which can meet the requirements of carrying, posture adjusting and cleaning operation of castings, particularly the requirements of cleaning operation of heavy castings, large castings and complex castings, is urgently needed to be designed, so that the working efficiency of the casting cleaning operation is improved, and the quality of casting products is ensured.
Some solutions have been proposed in the prior patent literature to address the problems in the handling and cleaning of castings. Chinese patent application No. 200810137471.1 discloses a suspension type connecting pipe welding robot, which consists of an electric slip ring part, a swing mechanism telescopic mechanism and a manual lifting adjusting mechanism, wherein automatic welding of connecting pipes in different shapes is realized through a rotating mechanism and the telescopic mechanism, but the technical scheme can only realize single-arm type operation and cannot realize multi-arm combined operation. Chinese patent application No. 200710176284 discloses a crawler-type multi-arm rod mobile robot, which consists of an arm working device and a crawler traveling device, can replace manpower to work on various complex pavements, but has poor stability when grabbing workpieces, and cannot meet the operation requirements of complex castings. Chinese patent application No. 201410438219.X discloses a robot with multi-arm carrying, which is composed of a guide rail, a multi-arm driven individually, and the like, and can load and lift up goods (substrates, wafers, and the like) loaded up and down at a predetermined pitch unit at the same time. The Chinese patent with the application number of 201710121995.3 discloses a suspension type automobile seat stereo welding robot, wherein a single-arm type robot body is suspended on an outer annular track and an inner annular track through an outer pulley and an inner pulley and can move and walk along the outer annular track and the inner annular track. Chinese patent application No. 201620856209.2 discloses an automatic casting cleaning device, including robot, cutter storehouse, cutter, rotary table and controller, uses the unit head to snatch the cutter and treats the clearance casting and clear up, and rotary table is rotatable, makes the clearance casting of holding to clear up lie in the clearance within range of robot. Chinese patent application No. 201510512610.4 proposes a compact robotic automatic grinding device that uses a robot to grab a casting to move to the grinding device for grinding, which has the following disadvantages: 1) The robot has limited load capacity and cannot bear heavy castings; 2) The feed motion during the grinding process is the movement of the casting and is not suitable for the large-volume casting. Chinese patent application No. 201610072103.8 discloses a casting cleaning unit and a cleaning method, wherein two robots fixed on different stations on the ground are used for grabbing a casting for cleaning operation such as polishing, and the work efficiency is low, and the work space of the robots is small. With the improvement of the casting technology level, the production of large castings and the requirements on the automation of casting transportation, posture adjustment and cleaning are more and more. In the prior art, a single-arm robot or a plurality of robots are adopted for operation, and the requirements of carrying, posture adjusting and cleaning operations of large-weight, large-volume and complex special-shaped castings cannot be met.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a suspension rail type multi-arm casting robot which can be used for the operations of identifying, carrying, overturning, posture adjusting, sand cleaning, cutting, polishing, grinding and the like of castings with large weight, large volume and complex shapes, so that the efficiency and the quality of the casting cleaning operation are improved, the labor intensity and the production cost are reduced, and the defects of the prior art can be overcome.
The technical problem to be solved by the invention is realized by adopting the following technical scheme.
A suspended track type multi-arm casting robot comprises a walking part, an adjusting part and a multi-arm executing part. The method is 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 is used for driving the invention to move and walk along the outer annular track and the inner annular track, and comprises an outer wheel frame, an inner wheel frame, driving wheels, supporting wheels, guide wheels, tension wheels and a hanger, wherein two outer wheel frames are arranged on the outer annular track in parallel, the outer wheel frames are connected with the outer annular track through the driving wheels, the supporting wheels, the guide wheels and the tension wheels, and the number of the driving wheels, the supporting wheels, the guide wheels and the tension wheels which are arranged on each outer wheel frame is one; the two inner wheel frames are arranged on the inner annular track in parallel, the inner wheel frames are connected with the inner annular track through supporting wheels, guide wheels and tension wheels, 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 are positioned on the same horizontal plane, the driving wheel and the supporting wheel which are arranged on the outer wheel frame are positioned at the middle upper part of the outer wheel frame, the two groups of supporting wheels which are arranged on the inner wheel frame are positioned at the middle upper part of the inner wheel frame, the guide wheel which is arranged on the outer wheel frame is positioned at the outer side of the top of the outer wheel frame, the guide wheel which is arranged on the inner wheel frame is positioned at the outer side of the top of the inner wheel frame, the tension wheel which is arranged 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 arranged on the inner wheel frame is positioned at the middle position of the bottom of the inner wheel frame; the driving wheel is internally provided with a driving motor for providing driving power for the walking of the driving wheel, and the driving motor adopts a hydraulic servo motor or a pneumatic servo motor or a servo speed reducing motor. The top parts 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 kept parallel and equidistant, the arc line sections of the outer annular track and the inner annular track are kept 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 tops of the two hanging brackets are parallel to the axes of the four hinges connected with the outer wheel carrier and the inner wheel carrier and are vertical to the horizontal plane.
The tensioning wheel comprises a tensioning wheel frame, a tensioning wheel body, a guide shaft, a compression spring and an anti-falling block, and is used for providing tensioning force for the walking device when the walking device moves and walks along the outer annular track and the inner annular track. The tensioning wheel body is arranged at the top of the tensioning wheel frame, a rolling bearing is arranged in the tensioning wheel body, 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 frame in a welding mode, and the lower end of the guide shaft is installed on the outer wheel frame or the inner wheel frame and is connected with the outer wheel frame or the inner wheel frame in a clearance fit mode; the compression spring is sleeved on the guide shaft, is positioned between the tensioning wheel frame and the outer wheel frame or the inner wheel frame and is used for providing tensioning force for the tensioning wheel; the anti-falling block is positioned at the lower end of the guide shaft, is fixedly connected with the guide shaft through a screw and is used for preventing the guide shaft from being separated from the outer wheel carrier or the inner wheel carrier; the number of the guide shafts, the number of the compression springs and the number of the anti-falling blocks are two.
The adjusting part comprises a rotating device and a lifting device, wherein the rotating device is used for realizing that the lower part of the rotating device rotates around the axis of the rotating device, and the lifting device is used for realizing the lifting of the invention in the vertical direction. The rotary device comprises a rotary flange, a rotary seat, a rotary cylinder, a rotary body, a rotary motor and a driving gear. Wherein, the outer ring of the rotary flange which plays a role in connection is fixedly arranged at the bottom of a hanger of the walking device through bolts, and the inner ring of the rotary flange is fixedly connected with the rotary seat through screws; the rotary seat is positioned in the rotary cylinder body and is connected with the rotary cylinder body through two thrust bearings and a radial bearing; the revolving body is a revolving motion output part of the revolving device, is positioned below the revolving cylinder and is fixedly connected with the revolving cylinder through a screw; the inner side surface of the revolving body is provided with an inner gear ring, the bottom of the revolving body is provided with a threaded blind hole, and the top of the revolving body is provided with a bolt hole; the rotary motor is positioned in the rotary seat and fixedly installed at the bottom of the rotary seat through screws, the driving gear is installed on an output shaft of the rotary motor and connected with the output shaft of the rotary motor through a flat key, and a shaft end retainer 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 through screws; the driving gear is kept internally meshed with the inner gear ring of the revolving body; the rotary motor adopts a servo speed reducing motor, and a speed reducer arranged on the servo speed reducing motor adopts a worm gear speed reducer with a self-locking function, so that the self-locking function is provided for the rotary motion of the rotary device. The thrust bearing adopts a cylindrical roller thrust bearing, and the radial bearing adopts a cylindrical roller radial bearing.
The lifting device comprises a lifting seat and an electric push rod, and the lifting seat is positioned below the revolving body and is connected with the revolving body through a screw; the four electric push rods are symmetrically arranged below the lifting seat and used for providing power for lifting of the lifting device, and the upper ends of the electric push rods are connected with the lifting seat through bolts.
The multi-arm execution part comprises an operating arm mounting seat, a first operating arm, a second operating arm, a third operating arm and a fourth operating arm. The working arm mounting seat is positioned below the lifting device and used for fixedly mounting four working arms, namely a first working arm, a second working arm, a third working arm and a fourth working arm, and the top of the working arm mounting seat is connected with the lower end of the electric push rod through a bolt; the upper ends of the first working arm, the second working arm, the third working arm and the fourth working arm are fixedly arranged on the working arm mounting seat, the first working arm and the fourth working arm are symmetrically arranged below the working arm mounting seat, and the second working arm and the third working arm are identical in structure and symmetrically arranged below the working arm mounting seat. The first working arm, the second working arm, the third working arm and the fourth working arm have the same structure except for the end effector, and are all five-degree-of-freedom joint type serial mechanical arms, and the kinematic pairs of all joints are revolute pairs. Two industrial cameras which are symmetrically arranged are arranged below the working arm mounting seat and used for collecting workshop site images and surface and overall contour information of castings, and the industrial cameras are fixedly arranged below the working arm mounting seat through two-degree-of-freedom holder.
The first working arm comprises a first shoulder motor, a first shoulder seat, a first big arm motor, a first big arm, a first small arm motor, a first small arm, a first belt transmission device and a first end effector and is mainly used for executing casting polishing and grinding operation tasks and matching with other working arms to execute casting carrying operation tasks. 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 is 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 on one side of the first small arm body of the first small arm, a first sealing cover is arranged outside the first small arm body, and the first sealing cover is fixedly arranged on the first small arm body through screws. 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 hand claw is fixedly installed on one side of the first fork-shaped frame, and the polishing and grinding machine is fixedly installed 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 and is connected with the output shaft of the first wrist swinging motor through a flat key, 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 is connected with the first driven shaft through a flat key, and the other end of the first driven shaft is fixedly connected with a shell of the first wrist motor. The polishing and grinding machine adopts a pneumatic polishing and grinding machine. The first driving belt wheel and the first driven belt wheel adopt synchronous toothed belt wheels, and the first transmission belt adopts a synchronous toothed belt.
The second working arm and the third working arm are mainly used for executing casting shakeout and sand removal operation tasks and matching with other working arms to execute casting carrying and other operation tasks. 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 is 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; and 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 on one side of a third small arm body of the third small arm, a third sealing cover is arranged outside the third small arm body, and the third sealing cover is fixedly arranged on the third small arm body through screws. The third end effector comprises a third wrist motor, a third forked frame, a third pneumatic claw 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 claw is fixedly installed on one side of the third forked frame, and the pneumatic pick is fixedly installed 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 a third small arm body, the third driving belt wheel is fixedly installed on an output shaft of the third wrist swinging motor and is connected with the output shaft of the third wrist swinging motor through a flat key, 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 is connected with the third driven shaft through a flat key, 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 and is mainly used for executing cutting operation tasks of redundant metals such as a pouring system, a lacing wire and meat increasing on the casting and executing casting carrying operation tasks by matching with other working arms. 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 is 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; and 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, a fourth sealing cover is arranged outside the fourth small arm body, and the fourth sealing cover is fixedly installed on the fourth small arm body through screws. 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 and is connected with the output shaft of the fourth wrist swinging motor through a flat key, 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 is connected with the fourth driven shaft through a flat key, 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 all adopt servo speed reduction motors.
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 vertical to the axis of the third large arm motor, and the axis of the third wrist motor is vertical 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.
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.
When in use, the driving motor in the driving wheel is started according to the working requirement, so as to drive the traveling device to move on the annular guide rail to travel to the designated working position, and then the rotating device and the lifting device are respectively adjusted according to the operation posture and the height requirement, and the four working arms of the invention are adjusted to proper rotating angles and operation heights. Then, the number of the pneumatic claws required for conveying the casting is determined according to the weight and the volume of the casting. The posture adjustment of the end effector on each working arm can be realized by a servo speed reducing motor arranged on each working arm. When the cleaning task is executed, the first wrist motor, the third wrist motor, the fourth wrist motor and the second wrist motor on the second working arm need to be started first, and the polishing polisher, the pneumatic pick and the plasma cutter are adjusted to proper working angles and then cleaning operation is carried out. The four working arms work in a combined mode, the four pneumatic claws and the four cleaning tools can be flexibly switched, multi-tool synchronous operation can be achieved, the requirements of large-weight large-size complex-shape casting carrying and cleaning operations such as sand cleaning, cutting, polishing and grinding can be met, the efficiency and the quality of the casting cleaning operation can be improved, and the labor intensity and the production cost of operators are reduced.
Compared with the prior art, the walking device has the advantages that the walking device adopts a four-point suspension supporting mode, so that the robot can walk stably in a long distance under a heavy load condition; the outer wheel frame and the inner wheel frame in the traveling device are connected with the hanging bracket through hinges, so that the driving wheels and the supporting wheels can smoothly travel on the outer annular track and the inner annular track; the slewing device has a full-circle slewing function, and the lifting device also has a height lifting adjusting function, so that the working space of the robot is obviously enlarged; the operation tasks of the casting, such as identification, carrying, overturning, posture adjustment, sand removal, cutting, polishing, grinding and the like, can be automatically completed, the automation degree is high, the working efficiency is high, and the labor intensity is low; the invention also has the advantages of compact structure, small occupied space of equipment, low production cost, high safety, simple and convenient operation and maintenance and the like, and can overcome the defects of the prior art.
Drawings
FIG. 1 is a schematic diagram of the general structure of the present invention;
FIG. 2 is a schematic view of the body structure of the present invention (without the outer and inner annular rails);
FIG. 3 is a schematic top view of the outer and inner circular tracks of the present invention;
FIG. 4 is a schematic view of a full-section of the turning device of the present invention;
FIG. 5 is a schematic view of the lifting device of the present invention;
FIG. 6 is a schematic view of the structure of a tension wheel in the traveling apparatus according to the present invention;
FIG. 7 is a schematic view of the assembly of the first, second, third and fourth work arms of the present invention on the work arm mount;
FIG. 8 is a schematic view of a first working arm according to the present invention;
FIG. 9 is a schematic view of a third working arm according to the present invention;
fig. 10 is a schematic structural view of a fourth working arm according to the present invention.
Detailed Description
In order to make the technical means, the original characteristics, the achieved purposes and the effects of the invention easy to understand, the invention is further explained by combining the specific embodiments and the drawings.
As shown in fig. 1, 2 and 3, a suspended rail type multi-arm casting robot includes a traveling device 1, a slewing device 2, a lifting device 3, a working arm mounting base 4, a first working arm 5, a second working arm 6, a third working arm 7, a fourth working arm 8 and an annular rail 9. The annular track 9 comprises an outer annular track 91 and an inner annular track 92, straight line segments of the outer annular track 91 and the inner annular track 92 are parallel and equidistant, arc line segments of the outer annular track 91 and the inner annular track 92 are concentric and equidistant, and the outer annular track 91 and the inner annular track 92 are fixedly connected through a connecting plate 93; the outer annular rail 91 and the inner annular rail 92 are fixedly installed on the roof 10 of the plant by screws. The traveling device 1 is used for driving the present invention to travel along the outer annular rail 91 and the inner annular rail 92, and the traveling device 1 includes an outer wheel carrier 11, an inner wheel carrier 12, a driving wheel 13, a supporting wheel 14, a guide wheel 15, a tension wheel 16 and a hanger 17. The two outer wheel carriers 11 are arranged in parallel on the outer annular track 91, the outer wheel carriers 11 are connected with the outer annular track 91 through driving wheels 13, supporting wheels 14, guide wheels 15 and tension wheels 16, and the number of the driving wheels 13, the supporting wheels 14, the guide wheels 15 and the tension wheels 16 mounted on each outer wheel carrier 11 is one; the inner wheel frames 12 are provided with two inner wheel frames 12 which are arranged on the inner annular track 92 in parallel, the inner wheel frames 12 are connected with the inner annular track 92 through supporting wheels 14, guide wheels 15 and tension wheels 16, and each inner wheel frame 12 is provided with two supporting wheels 14, one guide wheel 15 and one tension wheel 16; the outer diameters and wheel widths of the driving wheel 13 and the supporting wheel 14 are the same, and the axes are located on the same horizontal plane, the driving wheel 13 and the supporting wheel 14 mounted on the outer wheel frame 11 are located at the middle upper part of the outer wheel frame 11, two groups of supporting wheels 14 mounted on the inner wheel frame 12 are located at the middle upper part of the inner wheel frame 12, the guide wheel 15 mounted on the outer wheel frame 11 is located at the top outer side of the outer wheel frame 11, the guide wheel 15 mounted on the inner wheel frame 12 is located at the top outer side of the inner wheel frame 12, the tension wheel 16 mounted on the outer wheel frame 11 is located at the bottom middle position of the outer wheel frame 11, and the tension wheel 16 mounted on the inner wheel frame 12 is located at the bottom middle position of the inner wheel frame 12; the driving wheel 13 is internally provided with a driving motor 131 for providing driving power for the traveling of the driving wheel 13, and the driving motor 131 adopts a hydraulic servo motor or a pneumatic servo motor or a servo speed reducing motor. The top parts of the two hanging brackets 17 are respectively connected with the outer wheel frame 11 and the inner wheel frame 12 through hinges; the top of the two hangers 17 is parallel to the axes of the four hinges connecting the outer wheel frame 11 and the inner wheel frame 12, and is perpendicular to the horizontal plane.
As shown in fig. 1, 2 and 6, the tension wheel 16 includes a tension wheel frame 161, a tension wheel body 162, a guide shaft 163, a compression spring 164 and a retaining block 165, and is used for providing tension for the running gear 1 when the running gear moves along the outer annular track 91 and the inner annular track 92. The tensioning wheel body 162 is mounted at the top of the tensioning wheel frame 161, a rolling bearing is arranged in the tensioning wheel body 162, and two ends of a rotating shaft of the tensioning wheel body 162 are connected with the tensioning wheel frame 161 in a transition fit manner; the top of the guide shaft 163 is fixedly connected with the tensioning wheel carrier 161 by welding, and the lower end of the guide shaft 163 is installed on the outer wheel carrier 11 or the inner wheel carrier 12 and is connected with the outer wheel carrier 11 or the inner wheel carrier 12 by clearance fit; the compression spring 164 is sleeved on the guide shaft 163 and is located between the tension wheel carrier 161 and the outer wheel carrier 11 or the inner wheel carrier 12, and is used for providing tension for the tension wheel 16; the anti-falling block 165 is located at the lower end of the guide shaft 163, and is fixedly connected with the guide shaft 163 through a screw, so as to prevent the guide shaft 163 from falling off the outer wheel carrier 11 or the inner wheel carrier 12; the number of the guide shaft 163, the compression spring 164 and the anti-dropping block 165 is two.
As shown in fig. 1, 2 and 4, the turning device 2 is used to realize that the lower part of the turning device 2 of the present invention is rotated around the axis of the turning device 2. The rotating device 2 comprises a rotating flange 21, a rotating seat 22, a rotating cylinder 23, a rotating body 24, a rotating motor 27 and a driving gear 28. Wherein, the outer ring of the rotary flange 21 for connection is fixedly arranged at the bottom of the hanger 17 of the walking device 1 through bolts, and the inner ring of the rotary flange 21 is fixedly connected with the rotary seat 22 through screws; the rotary seat 22 is positioned in the rotary cylinder 23 and is connected with the rotary cylinder 23 through two thrust bearings 25 and a radial bearing 26; the revolving body 24 is a revolving motion output part of the revolving device 2, and the revolving body 24 is positioned below the revolving cylinder 23 and fixedly connected with the revolving cylinder 23 through screws; an inner gear ring 241 is arranged on the inner side surface of the revolving body 24, a threaded blind hole 242 is arranged at the bottom of the revolving body 24, and a bolt hole 243 is arranged at the top of the revolving body 24; the rotary motor 27 is positioned in the rotary seat 22 and is fixedly installed at the bottom of the rotary seat 22 through screws, the driving gear 28 is installed on an output shaft of the rotary motor 27 and is connected with the output shaft of the rotary motor 27 through a flat key, a shaft end retainer ring 29 is further arranged at the tail end of the output shaft of the rotary motor 27, and the shaft end retainer ring 29 is fixedly connected with the output shaft of the rotary motor 27 through screws; the driving gear 28 is kept in internal meshing with the annular gear 241 of the rotator 24; the rotary motor 27 adopts a servo speed reducing motor, and a speed reducer arranged on the servo speed reducing motor adopts a worm gear speed reducer with a self-locking function, so that the self-locking function is provided 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 for realizing the lifting in the vertical direction of the present invention, and the lifting device 3 includes a lifting seat 31 and an electric push rod 32. Wherein, the lifting seat 31 is positioned below the revolving body 24 and is connected with the revolving body 24 through screws; the number of the electric push rods 32 is four, the electric push rods are symmetrically arranged below the lifting seat 31 and used for providing power for lifting of the lifting device 3, and the upper end of each electric push rod 32 is connected with the lifting seat 31 through a bolt.
As shown in fig. 1, 2, 7, 8, 9 and 10, the multi-arm implement includes an operating arm mount 4, a first operating arm 5, a second operating arm 6, a third operating arm 7 and a fourth operating arm 8. The working arm installation seat 4 is positioned below the lifting device 3 and is used for fixedly installing four working arms, namely a first working arm 5, a second working arm 6, a third working arm 7 and a fourth working arm 8, and the top of the working arm installation seat 4 is connected with the lower end of the electric push rod 32 through 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 fixedly mounted 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 are identical in structure and are symmetrically arranged below the working arm mounting seat 4. The first working arm 5, the second working arm 6, the third working arm 7 and the fourth working arm 8 have the same structure except for the end effector, and are all five-degree-of-freedom articulated serial mechanical arms. Two industrial cameras 41 which are symmetrically arranged are arranged below the working arm mounting seat 4 and are used for collecting workshop site images and surface and overall outline information of castings, and the industrial cameras 41 are fixedly arranged below the working arm mounting seat 4 through two-degree-of-freedom holder.
As shown in fig. 1, 2, 7 and 8, the first work arm 5 includes a first shoulder motor 51, a first shoulder seat 52, a first boom motor 53, a first boom 54, a first forearm motor 55, a first forearm 56, a first belt drive 57 and a first end effector 58, and is primarily used for performing casting polishing and sanding tasks and for performing casting handling tasks in conjunction with other work arms. The first shoulder motor 51 is fixedly mounted on the working arm mounting seat 4, and the first shoulder seat 52 is located below the working arm mounting seat 4 and connected with an 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 a 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 a 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 to the first small arm 56 via a hinge and a first belt transmission 57. The first belt transmission device 57 is installed in a cavity on one side of a first small arm body 561 of the first small arm 56, a first sealing cover 562 is arranged outside the first small arm body 561, and the first sealing cover 562 is fixedly installed on the first small arm body 561 through screws. The first end effector 58 includes a first wrist motor 581, a first yoke 582, a first pneumatic hand-piece 583, and a polisher 584. The top of the first wrist motor 581 is connected with the lower end of the first forearm 561 through a hinge and a first belt transmission device 57, the top of the first fork 582 is fixedly connected with the output shaft of the first wrist motor 581, the first pneumatic gripper 583 is fixedly installed on one side of the first fork 582, and the polishing and grinding machine 584 is fixedly installed on the other side of the first fork 582. The first belt transmission device 57 includes a first swing arm motor 571, a first driving pulley 572, a first transmission belt 573, a first driven pulley 574 and a first driven shaft 575. The first wrist swinging motor 571 is installed at the upper end of the first forearm 561, the first driving pulley 572 is fixedly installed on an output shaft of the first wrist swinging motor 571 and is connected with the output shaft of the first wrist swinging motor 571 through a flat key, the first driving pulley 572 is connected with a first driven pulley 574 through a first transmission belt 573, the first driven pulley 574 is installed at one end of the first driven shaft 575 and 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 a housing of the first wrist motor 581. The polishing and grinding machine 584 is a pneumatic polishing and grinding machine. The first driving pulley 572 and the first driven pulley 574 employ a timing belt, and the first transmission belt 573 employs a timing belt.
As shown in fig. 1, 2, 7 and 9, the second working arm 6 and the third working arm 7 are mainly used for performing casting shakeout and sand cleaning tasks and matching with other working arms to perform casting transportation and other tasks. The third working arm 7 includes a third shoulder motor 71, a third shoulder seat 72, a third large arm motor 73, a third large arm 74, a third small arm motor 75, a third small arm 76, a third belt transmission device 77 and a third end effector 78. The third shoulder motor 71 is fixedly arranged on the working arm mounting seat 4, and the third shoulder seat 72 is positioned below the working arm mounting seat 4 and connected with an output flange of the third shoulder motor 71; the upper end of the third large arm 74 is connected with the third shoulder seat 72 through a third large arm motor 73, and the lower end of the third large arm 74 is connected with the upper end of the third small arm 76 through a third small arm motor 75; the third end effector 78 is located at the lowest end of the third working arm 7, and is connected to the lower end of the third small arm 76 through a hinge and a third belt transmission device 77. The third belt driving unit 77 is installed in a cavity of the third arm body 761 side of the third arm 76, a third cover 762 is installed outside the third arm body 761, and the third cover 762 is fixedly installed on the third arm body 761 by a screw. Third end effector 78 include third wrist motor 781, third forked frame 782, the pneumatic hand of third 783 and pneumatic pick 784, the top of third wrist motor 781 be connected through hinge and third belt drive 77 with the lower extreme of third forearm body 761, the top of third forked frame 782 link firmly with the output shaft of third wrist motor 781 mutually, the pneumatic hand of third 783 fixed mounting in one side of third forked frame 782, pneumatic pick 784 fixed mounting in the opposite side of third forked frame 782. The third belt transmission device 77 includes a third swing arm 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 swing arm motor 771 is mounted at the upper end of the third forearm body 761, the third driving pulley 772 is fixedly mounted on an output shaft of the third swing arm motor 771 and connected with the output shaft of the third swing arm motor 771 through a flat key, the third driving pulley 772 is connected with the third driven pulley 774 through a third transmission belt 773, the third driven pulley 774 is mounted at one end of the third driven shaft 775 and 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 a shell of the third swing arm motor 771.
As shown in fig. 1, 2, 7 and 10, the fourth working arm 8 includes a fourth shoulder motor 81, a fourth shoulder seat 82, a fourth boom motor 83, a fourth boom 84, a fourth forearm motor 85, a fourth forearm 86, a fourth belt transmission 87 and a fourth end effector 88, and is mainly used for performing tasks of cutting excess metal such as casting gating system, lacing wire and fleshing on castings and performing tasks of conveying castings in cooperation with other working arms. The fourth shoulder motor 81 is fixedly installed on the working arm installation seat 4, and the fourth shoulder seat 82 is located below the working arm installation seat 4 and connected with an output flange of the fourth shoulder motor 81; the upper end of the fourth large arm 84 is connected with the fourth shoulder seat 82 through a fourth large arm motor 83, and the lower end of the fourth large arm 84 is connected with the upper end of the fourth small arm 86 through a fourth small arm motor 85; the fourth end effector 88 is located at the lowest end of the fourth working arm 8, and is connected to the lower end of the fourth small arm 86 through a hinge and a fourth belt transmission device 87. The fourth belt transmission device 87 is installed in a cavity on one side of a fourth small arm body 861 of the fourth small arm 86, a fourth sealing cover 862 is arranged outside the fourth small arm body 861, and the fourth sealing cover 862 is fixedly installed on the fourth small arm body 861 through screws. The fourth end effector 88 includes a fourth wrist motor 881, a fourth yoke 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 861 through a hinge and a fourth belt transmission device 87, the top of the fourth forked frame 882 is fixedly connected with the output shaft of the fourth wrist motor 881, the fourth pneumatic gripper 883 is fixedly installed at one side of the fourth forked frame 882, and the plasma cutter 884 is fixedly installed at the other side of the fourth forked frame 882. The fourth belt transmission device 87 includes a fourth swing arm motor 871, a fourth driving pulley 872, a fourth transmission belt 873, a fourth driven pulley 874 and a fourth driven shaft 875. Wherein, fourth pendulum wrist motor 871 install the upper end at fourth forearm body 861, fourth driving pulley 872 fixed mounting on the output shaft of fourth pendulum wrist motor 871, and be connected through the flat key with the output shaft of fourth pendulum wrist motor 871, fourth driving pulley 872 be connected through fourth drive belt 873 with fourth driven pulley 874, fourth driven pulley 874 install the one end at fourth driven shaft 875 and be connected through the flat key with fourth driven shaft 875, the other end of fourth driven shaft 875 links firmly with the casing of fourth wrist motor 881 mutually.
As shown in fig. 1, 2, 7, 8, 9 and 10, the first shoulder motor 51, the third shoulder motor 71, the fourth shoulder motor 81, the first large arm motor 53, the third large arm motor 73, the fourth large arm motor 83, the first small arm motor 55, the third small arm motor 75, the fourth small arm motor 85, the first wrist swinging motor 571, the third wrist swinging motor 771, the fourth wrist swinging motor 871, the first wrist motor 581, the third wrist motor 781 and the fourth wrist motor 881 are servo deceleration motors. The axes of the first big arm motor 53, the first small arm motor 55 and the first wrist swinging 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 axis of the first wrist motor 581 is perpendicular to the axis of the first wrist swinging motor 571; the axes of the third large arm motor 73, the third small arm motor 75 and the third wrist swinging motor 771 are parallel to each other, the axis of the third shoulder motor 71 is perpendicular to the axis of the third large arm motor 73, and the axis of the third wrist motor 781 is perpendicular to the axis of the third wrist swinging motor 771; the axes of the fourth big arm motor 83, the fourth small arm motor 85 and the fourth wrist swinging motor 871 are parallel to each other, the axis of the fourth shoulder motor 81 is perpendicular to the axis of the fourth big arm motor 83, and the axis of the fourth wrist motor 881 is perpendicular to the axis of the fourth wrist swinging motor 871.
As shown in fig. 1, 2, 7, 8, 9 and 10, the included angles of the two side brackets of the first, third and fourth forked brackets 582, 782 and 882 are all 90 °.
When in use, the driving motor 131 in the driving wheel 13 is started according to the working requirement, and then the traveling device 1 is driven to move and travel on the annular guide rail 9 to the designated working position, and then the rotating device 2 and the lifting device 3 are respectively adjusted according to the operation posture and the height requirement, and the four working arms of the invention are adjusted to proper rotating angles and operation heights. Then, the number of the pneumatic claws required for conveying the casting is determined according to the weight and the volume of the casting. The posture adjustment of the end effector on each working arm can be realized by a servo speed reducing motor arranged on each working arm. The four working arms work in a combined mode, the requirements of carrying castings with large weight, large size and complex shapes and cleaning operations such as sand removal, cutting, polishing and grinding can be met, the efficiency and the quality of the casting cleaning operations can be improved, and the labor intensity and the production cost of operators are reduced.
When the cleaning task is executed, 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 need to be started first, and the cleaning operation is performed after the pneumatic pick on the second working arm and the polishing polisher 584, the pneumatic pick 784 and the plasma cutter 884 on the other three working arms are adjusted to proper working angles.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations and positional relationships based on the orientations and positional relationships shown in the drawings, are only for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
The foregoing shows and describes the general principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration of the principles of the present invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, and such changes and modifications are within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| AT413950B (en) * | 2004-05-26 | 2006-07-15 | Voest Alpine Ind Anlagen | CONTINUOUS CASTING SYSTEM WITH AT LEAST ONE ROBOT AND METHOD FOR OPERATING A CONTINUOUS CASTING SYSTEM WITH AT LEAST ONE ROBOT |
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| CN106938317B (en) * | 2017-04-13 | 2020-04-14 | 鹰普（中国）有限公司 | Automatic casting system for investment casting |
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