CN107443357A - A kind of novel pouring robot connected in parallel - Google Patents
A kind of novel pouring robot connected in parallel Download PDFInfo
- Publication number
- CN107443357A CN107443357A CN201710819685.6A CN201710819685A CN107443357A CN 107443357 A CN107443357 A CN 107443357A CN 201710819685 A CN201710819685 A CN 201710819685A CN 107443357 A CN107443357 A CN 107443357A
- Authority
- CN
- China
- Prior art keywords
- casting ladle
- transverse arm
- reel
- flexible cable
- casting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
- B22D37/00—Controlling or regulating the pouring of molten metal from a casting melt-holding vessel
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Casting Support Devices, Ladles, And Melt Control Thereby (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of novel pouring robot connected in parallel, including pedestal, revolute, rotating disk, body and casting ladle；The transverse arm, which penetrates, swings sliding block and with swinging sliding block sliding connection, and one end of transverse arm is connected with casting ladle, and its other end is affixed by the counterweight flexible cable and counterweight for being wound in assembly pulley；First reel and the second reel are arranged at internal body, and are connected by upper flexible cable, lower flexible cable with transverse arm hinge type；Fuselage uses parallel moving mechanism, realizes high rigidity, heavy load；Casting ladle is connected by the parallelogram four-bar mechanism in transverse arm with casting ladle oscillating motor.Can horizontal direction revolution fuselage by rotating disk and revolute and motor connection, volumetric method use according to the requirement of casting machine, ensures each accuracy for taking liquid；Casting ladle oscillating motor drives a set of parallelogram four-bar mechanism to realize that casting ladle angle in 45 ° ~ 75 ° scale oscillations, realizes being accurately positioned for casting ladle；Using operation program, there is high efficiency, the operating feature of high stable.
Description
Technical field
The present invention relates to full-automatic liquid state casting of metals technology, specifically a kind of novel pouring robot connected in parallel.
Background technology
In existing casting industry, foundry to Gravity casting machines carry out liquid metal cast work majority be by
It is accomplished manually, cast work is weight muscle power, high-risk industry, there is high temperature, high intensity, the industry characteristic of high-risk；In order to mitigate
Artificial work pressure replaces manual operation it is necessary to use robot, but due to severe, the requirement to robot of operating environment
Also it is very high, there is enterprise to use six degree of freedom articulated robot, be allowed to complete cast work after the improvement by specialty；This six certainly
Must be the robot of heavy load, high rigidity, super large working range by degree robot.Due to these particular/special requirements, can be used in
The price of the six degree of freedom articulated robot of cast is very expensive, and all must be by external import, at present, at home through independently grinding
The pouring robot of the affordable of hair has not been reported.
The content of the invention
It is big, dangerous high in order to solve existing domestic cast industry hand labor intensity, and from external import six degree of freedom
The problem of articulated robot is again expensive, the present invention propose a kind of novel pouring robot connected in parallel for being used to pour into a mould.It gram
The difficult point such as high temperature, high capacity, super large working range has been taken, has replaced manually carrying out liquid metal to Gravity casting machines in foundry
Cast, realizes the automation of casting process.
The technical solution adopted for the present invention to solve the technical problems：Including pedestal, revolute, rotating disk, body and casting ladle,
It is characterized in that body includes：
- transverse arm, transverse arm, which penetrates, swings sliding block and with swinging sliding block sliding connection, and the tip of transverse arm is connected with casting ladle,
Its other end is affixed by the counterweight flexible cable and counterweight for being wound in assembly pulley；
- the first reel by servomotor driving and the second reel by servomotor driving, the first reel and volume Two
Cylinder is arranged at internal body, and is connected by upper flexible cable, lower flexible cable with transverse arm hinge type；
The casting ladle wobble servo motor and parallelogram four-bar mechanism of control casting ladle angular pose, casting ladle are provided with transverse arm
It is connected by parallelogram four-bar mechanism with casting ladle wobble servo motor；The casting ladle is in -45 °~75 ° scale oscillations；It is described
Transverse arm, sliding block, the first reel, the second reel, assembly pulley and counterweight center of gravity are swung in same vertical plane；Can horizontal direction
The fuselage of revolution is connected by rotating disk, revolute and servomotor；Drive the first reel, the servomotor of the second reel, casting ladle
Wobble servo machine and the servomotor of driving revolute are located remotely from the robot body position of casting ladle, use resistance to temperature as 0 DEG C
55 DEG C of ＜ T ＜ motor component.
The invention has the advantages that：
1. the present invention designs the servomotor for having temperature requirement away from the relatively low robot body position of casting ladle temperature
Put, and the component temperature permissible value selected is in 0 DEG C of 55 DEG C of ＜ T ＜；Transverse arm and casting ladle are resistant to elevated temperatures metal structure
Part, overcome casting place high temperature, the environment of high dust.
2. transverse arm of the present invention uses parallel moving mechanism, heavy load is realized by the parallel power kind of drive.
3. the present invention uses the section bar arm structure of the small weight of high rigidity, with common six degree of freedom articulated robot phase
Than effectively solving the problems, such as super large job area.
4. the present invention is for the process characteristic of liquid metal cast, by controlling the servomotor of each free degree, optimization fortune
Dynamic process, reduce influence of the system inertia to operating accuracy, effectively prevent from producing impact in the course of work, improve work effect
The stability of rate, Zeng Qiang motion.
5. cast of the present invention to liquid metal carries out accurate quantitative control, parallelogram is driven by servomotor
Four-bar mechanism, casting ladle pivot angle is swung in the range of -45 °~75 °, realize being accurately positioned for casting ladle.
Brief description of the drawings
Fig. 1 is schematic diagram of mechanism of the present invention.
Fig. 2 is transverse arm schematic diagram of mechanism in Fig. 1.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
As shown in Figure 1, 2, the present invention includes pedestal 1, revolute 2, rotating disk 3, fuselage 7 and casting ladle 14；Set on the pedestal 1
There is the revolute 2 for being connected with servomotor, revolute 2 is connected by rotating disk 3 with fuselage 7；Include counterweight 4 in the fuselage 7, by watching
Take motor-driven second reel 5, counterweight flexible cable 6, pulley 8, transverse arm 9, the first reel 10 by servomotor driving, upper flexible cable
11st, lower flexible cable 12, swing sliding block 13；Fuselage 7 uses parallel institution.The transverse arm 9, which penetrates, swings sliding block 13 and with swinging sliding block
13 sliding connections, one end of transverse arm 9 are connected with casting ladle 14, and by being wound in assembly pulley, (the present embodiment uses its other end
Three fixed pulleys 8) counterweight flexible cable 6 and counterweight 4 it is affixed；First reel 10 and the second reel 5 are arranged inside fuselage 7, and are led to
Cross flexible cable 11, lower flexible cable 12 is connected with the hinge type of transverse arm 9；Described one end of upper flexible cable 11 is fixed with transverse arm 9, the other end wound on
On first reel 10, lower one end of flexible cable 12 is fixed with transverse arm 9, and on the second reel 5, two servomotors pass through the other end
Flexible cable control transverse arm 9 is pitched and stretched, and fuselage 7 uses parallel moving mechanism, realizes heavy load；Control casting ladle is provided with transverse arm 9
The casting ladle wobble servo motor 15 and parallelogram four-bar mechanism 16 of 14 angular poses, casting ladle wobble servo motor 15 pass through flat
Row quadrangle four-bar mechanism 16 controls casting ladle 14 to swing.
The fuselage 7 can horizontal direction revolution, fuselage 7 rotated by rotating disk 3 and revolute 2, and fuselage 7 and rotating disk 3 are firm
Property connection, revolute 2 is provided with servomotor；The transverse arm 9, swing sliding block 13, the first reel 10, the second reel 5, assembly pulley and
Counterweight 4 is in same vertical plane.
According to the quantitative requirement of casting machine, accurate quantification control is carried out using volumetric method, the wrist swinging of casting ladle 14 is by casting ladle
Wobble servo motor 15 drives a set of parallelogram four-bar mechanism 16, casting ladle wrist is swung simultaneously in the range of -45 °~75 °
It is accurately positioned, quantitative values can accurately be changed by changing quantitative parameter by control system；According to casting place high temperature, high dust
Environmental quality, selection motor component (as driving the first reel 10, the servomotor of the second reel 5, casting ladle wobble servo
The servomotor of motor 15 and driving revolute 2) temperature permissible value is in 0 DEG C of 55 DEG C of ＜ T ＜, the servomotor of four frees degree
It is arranged at away from the relatively low robot body position of casting ladle temperature.
Transverse arm 9 effectively solves the problems, such as super large job area using the section bar arm structure of the small weight of high rigidity.
Action process：
One casting robot in parallel can be responsible for the liquid metal supply of 6 Gravity casting machines, casting robot in parallel
Cast will be sequentially completed according to the order planned.
The once-cast process of robot, which is summarized as taking liquid, liquor charging, falls liquid, sky returns four steps and plays, and action process is：Machine
The work origin of people is taking the top of liquid crucible, starts to take the work that surges after being connected to cast order, and transverse arm 9 is by the first reel 10, the
Two reels 5 are tilted down under driving jointly while being slid in and out in sliding block 13 is swung declines casting ladle 14；Casting ladle 14 is declining
While deflect, according to take liquid it is molten product require, casting ladle wobble servo motor 15 rotation determine angle pass through parallelogram four
Linkage 16 makes the angle of casting ladle 14 be accurately positioned after swinging a determination angle in the range of 0 °~-45 °；Transverse arm 9 continues downwards
Casting ladle 14 is ramped up to completely under the liquid level of crucible；Transverse arm 9 is lifted until casting ladle 14 proposes liquid level completely, and casting ladle swings and watched
Taking motor 15 drives casting ladle 14 to be returned to 0 ° of completion of original state and take liquid；Driving is horizontal jointly for first reel 10, the second reel 5
Arm 9 is lifted up while retraction is slided to reduce the totator inertia of fuselage in sliding block 13 is swung.After transverse arm 9 is static, the He of fuselage 7
Rotating disk 3 is rotated by revolute 2 starts liquor charging, and when rotating to the 3/4 of complete trails, transverse arm 9 starts to stretch out, and fuselage 7 rotates to
Casting ladle 14 is sent to above gravity machine and completes liquor charging by precalculated position, transverse arm 9 simultaneously；Liquid starts, and the angle of casting ladle 14 is at 0 °~75 °
In the range of swing, while be combined with transverse arm 9 it is flexible, swing and liquid metal accurately poured into gravity machine cast gate；Complete liquid
Afterwards, casting ladle 14 is swung and returns to origin position, and transverse arm 9 bounces back, and fuselage 7, which is turned back to above crucible, to be completed sky and return to complete once-cast
Task.
The process characteristic that the present invention pours into a mould for liquid metal, by rational planning sequential, optimize motion process,
So as to reduce influence of the system inertia to operating accuracy, effectively prevent from producing impact in the course of work, both improved work effect
The stability of rate Zeng Qiang motions again.
The course of work of the present invention is as follows：Counterweight 4, the first reel 10, the second reel 5, counterweight flexible cable 6, pulley 8, transverse arm 9,
Upper flexible cable 11, lower flexible cable 12 and swing sliding block 13 constitute parallel institution, and the first reel 10 and the second reel 5 turn round respectively will be upper
On reel, upper flexible cable 11 and lower flexible cable 12 just pull transverse arm 9 inside in sliding block 13 is swung for flexible cable 11 and lower flexible cable 12
Slideslip；The opposite reel 5 of first reel 10 and second, which inverts, respectively releases upper flexible cable 11 and lower flexible cable 12, and transverse arm 9 is being swung
Outside Slideslip in sliding block 13；By the rotation direction and angle that control the first reel 10 and the second reel 5, it is possible to achieve transverse arm
9 pitching and flexible；Counterweight 4 holds transverse arm 9 by three pulleys 8, transverse arm 9 is kept flat during flexible and lifting
Weighing apparatus.
Casting ladle 14 connects in one end of transverse arm 9, and casting ladle 14 depends on the position of transverse arm 9 in the position in space, casting ladle 14
Angular pose is driven control by casting ladle wobble servo motor 15 by parallelogram four-bar mechanism 16；The present invention uses molten area method
(prior art), by controlling what the swing angle of casting ladle 14 was assured that casting ladle 14 to take liquid volume, it can so ensure to take
The liquid degree of accuracy, it is also ensured that take the repeatable accuracy of liquid.
During liquid and cast is taken, according to technological requirement, optimize the flexion-extension of transverse arm 9, flexible and casting ladle 14 swing
What the cooperation between these three frees degree can accurately complete casting ladle 14 takes liquid and cast；Fuselage 7 passes through revolute 2 and rotating disk 3
Turned round in the horizontal direction through servomotor driving, realize casting ladle in 360 ° of operated within range of level.
Claims (2)
1. a kind of novel pouring robot connected in parallel, including pedestal (1), revolute (2), rotating disk (3), body (7) and casting ladle (14),
It is characterized in that body (7) includes：
- transverse arm (9), transverse arm (9), which penetrates, to be swung sliding block (13) and is slidably connected with swinging sliding block (13), the elder generation of transverse arm (9)
End is connected with casting ladle (14), and its other end is affixed by the counterweight flexible cable (6) and counterweight (4) for being wound in assembly pulley；
- by servomotor driving the first reel (10) and by servomotor drive the second reel (5), the first reel (10) and
Second reel (5) is arranged at body (7) inside, and is connected by upper flexible cable (11), lower flexible cable (12) with transverse arm (9) hinge type.
2. according to novel pouring robot connected in parallel described in claim 1, it is characterised in that：Control casting ladle is provided with transverse arm (9)
(14) the casting ladle wobble servo motor (15) and parallelogram four-bar mechanism (16) of angular pose, casting ladle (14) pass through parallel four
Side shape four-bar mechanism (16) is connected with casting ladle wobble servo motor (15).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710819685.6A CN107443357A (en) | 2017-09-13 | 2017-09-13 | A kind of novel pouring robot connected in parallel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710819685.6A CN107443357A (en) | 2017-09-13 | 2017-09-13 | A kind of novel pouring robot connected in parallel |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107443357A true CN107443357A (en) | 2017-12-08 |
Family
ID=60496507
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710819685.6A Pending CN107443357A (en) | 2017-09-13 | 2017-09-13 | A kind of novel pouring robot connected in parallel |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107443357A (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201064901Y (en) * | 2007-08-22 | 2008-05-28 | 中国科学院沈阳自动化研究所 | Parallel connection casting robot |
| CN101372036A (en) * | 2007-08-22 | 2009-02-25 | 中国科学院沈阳自动化研究所 | Novel pouring robot connected in parallel |
-
2017
- 2017-09-13 CN CN201710819685.6A patent/CN107443357A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201064901Y (en) * | 2007-08-22 | 2008-05-28 | 中国科学院沈阳自动化研究所 | Parallel connection casting robot |
| CN101372036A (en) * | 2007-08-22 | 2009-02-25 | 中国科学院沈阳自动化研究所 | Novel pouring robot connected in parallel |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20171208 |
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| WD01 | Invention patent application deemed withdrawn after publication |