CN107486546A - A kind of four station both arms housing apparatus and its control, method of work - Google Patents
A kind of four station both arms housing apparatus and its control, method of work Download PDFInfo
- Publication number
- CN107486546A CN107486546A CN201710847509.3A CN201710847509A CN107486546A CN 107486546 A CN107486546 A CN 107486546A CN 201710847509 A CN201710847509 A CN 201710847509A CN 107486546 A CN107486546 A CN 107486546A
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- motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22C—FOUNDRY MOULDING
- B22C13/00—Moulding machines for making moulds or cores of particular shapes
- B22C13/08—Moulding machines for making moulds or cores of particular shapes for shell moulds or shell cores
- B22C13/085—Moulding machines for making moulds or cores of particular shapes for shell moulds or shell cores by investing a lost pattern
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22C—FOUNDRY MOULDING
- B22C19/00—Components or accessories for moulding machines
- B22C19/04—Controlling devices specially designed for moulding machines
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of four station both arms housing apparatus and its control, method of work, wherein, device includes touch-control human-computer interaction interface, shell making mechanical hand main body turning, base, large arm, locating module, photoelectric sensor and control system.Using four station shells, increase Drying station.Module, through fully drying, hardening, is just coated with next layer, prevents surface layer from being peeled off during lower floor's shell processed per last layer coating and stucco.
Description
Technical field
The present invention relates to a kind of mechanical essence casting equipment, more particularly to a kind of four station both arms housing apparatus and its control,
Method of work.
Background technology
Hot investment casting industry is a relatively labour-intensive and technology-intensive industry, such as in hot investment casting process for making shell
During, because site environment is poor, labor intensity is big, and efficiency is low, and the quality of product is difficult to control, the operation to shop floor worker
Skill set requirements are high, have been not suitable with the needs of modernization of business production, and this is the technical barrier that hot investment casting enterprise is badly in need of solving.
With the needs that parts batch produces, automation, intellectuality are our researchs to shell Foundry Production and put into practice direction.
Replace manual operation not only to improve operating efficiency, saving production cost using shell making mechanical hand, can also carry
High crudy, mitigate labor strength etc..In terms of shell production automation research processed, Chen Yan mountains digital improvement one
Kind of casting simulates servomechanism with manipulator, and operating personnel operates up and down corresponding servo-actuated that master arm realizes idle rod
Motion；Sun Yucheng devises a kind of sand mold dip-coating material manipulator, can once complete 8 sand mold dip-coating operations, but can be only done
Coating dip coating operation, other processes must be accomplished manually.
The shell making mechanical hand used at present in casting industry is not also a universal plant equipment, generally requires progress
Special exploitation.Current existing shell making mechanical hand majority is three stations, completes feeding, is stained with slurry and drenches sand three process, its work
Efficiency is high not enough, and the quantity of station is insufficient.
The content of the invention
For above-mentioned technical problem, in order to meet the particular/special requirement of surface layer process for making shell, on the basis of three arm manipulators
Improved, develop four new station dual-arm robots, using four station shells, increase Drying station.Drying is shell processed
The essential flow of technique, module must can just be coated with next layer per last layer coating and stucco through fully dry, hardening,
Prevent surface layer from being peeled off during lower floor's shell processed.
Technical scheme
In order to realize the above object the technical scheme that the present invention takes is：
A kind of four station both arms housing apparatus, including touch-control human-computer interaction interface, shell making mechanical hand main body turning, base,
Large arm, locating module, photoelectric sensor and control system；
Wherein, the base is driven the gear wheel in little gear and gyroaxis to engage by the first motor, the shell processed
Manipulator main body turning is fixed by screws on the gyroaxis of base；
Shell making mechanical hand main body turning fixes four linear modules by a bottom plate being connected with gyroaxis, and four linear
Module is arranged into cruciform symmetry in the plane, passes through a second motor drive connection one on each linear module
Large arm；
The 3rd motor is fixedly connected with the casing of each large arm, each 3rd motor is logical
Cross shaft coupling and a worm-and-wheel gear is connected, a left and right lose-lose is connected with the turbine in each worm-and-wheel gear
Shaft, the housing of the shaft end of each left and right double output shaft respectively with swing arm are mutually fixed；
It is equipped with the 4th motor in each swing arm, each 4th motor is by shaft coupling by power
Decelerator input is passed to, the output end of decelerator drives arm end-effector concomitant rotation, arm end by bevel gear
Connection machine pawl is held, machine pawl is connected by magnetic valve with hydraulic system；
The locating module is used for the position control instruction that control system described in real-time reception is sent, and is controlled by position
The motor of order-driven first, the second motor, the 3rd motor and the 4th motor；
Feeding, it is stained with slurry, leaching sand and dries the four stations photoelectric sensor that respectively the corresponding station of connection one detects, while is being stained with
Starch on station, reconnect a photoelectric sensor and the pulp level in slurry bucket is detected, all photoelectric sensors, electromagnetism
Valve is connected with the control system signal.
First motor is mutually fixed by fixing device with base, and the fixing bearing of gyroaxis uses a pair of taper roller axles
Hold.
First motor selects three-phase asynchronous Ac motor, and main website PLC phase asynchronous is exchanged by frequency converter with described
Motor control connects；Second motor, the 3rd motor and the 4th motor use stepper motor.
The frequency converter uses stepless speed regulation.
The present invention further discloses a kind of control method of the four stations both arms shell making mechanical hand device, the control
System includes the main website PLC and slave station PLC of parallel communication, first motor, the second motor, the 3rd motor and the 4th electricity
Machine passes through positioner and step actuator drive connection；
First motor is installed, main website PLC adjusts the rotating speed side of first motor by frequency converter on the base
To frequency converter uses stepless speed regulation；
Touch-control human-computer interaction interface connects main website PLC and slave station PLC respectively by two RS232 serial ports, by touch-control
Input freely adjusts each station rotary speed, angle of inclination and four revolution of arm times on human-computer interaction interface, monitors simultaneously
PLC internal datas, observe manipulator running situation；
Each station installs the photoelectric sensor for detection station respectively, the signals of all photoelectric sensors detections by
Main website PLC is received, and on slurry station is stained with, the pulp level in slurry bucket is detected by photoelectric sensor, and move vertically axle
Distance regulation accordingly can be carried out according to pulp level.
The invention also discloses a kind of method of work of the four stations both arms shell making mechanical hand device, the mechanical picking
Select after starting power up, check whether initialization automatically, if nothing, resetted, afterwards into operation program；
Control model is divided into manual debugging control and automatically controlled：
If selection debugging manually, may be spinning base start stop operation, base is forwarded and reversed, accelerated, control of slowing down
System, speed control method is stepless speed regulation；Manipulator can carry out four arm control selections simultaneously, control the large arm liter of required control
Drop, swing and rotation operation, after debugging terminates manually, the manipulator automatically resets；
If selecting automatic control mode, the every 90 ° of stations of the station of manipulator four, rotation completes feeding, is stained with slurry, leaching
Sand and drying process, after automatic mode terminates, the manipulator automatically resets.After out of service, control terminates to reset, manipulator
Power-off is closed.
The beneficial effects of the invention are as follows：
Electrolyzed Processing automatic tool setting device provided by the invention has advantages below：
1st, there are four stations on four station both arms shell making mechanical hand devices of invention, the automaticity of shell processed is further
Improve, the work period of manipulator station can be adjusted to adapt to the shell requirement processed of different parts, on each station
Control system can be separately adjustable to the rotary speed of manipulator, angle of inclination, lifting distance progress, so as to the manufacturing casing machine
Tool hand possesses certain versatility, reduces exploitation input cost.
2nd, control method provided by the invention uses two PLC parallel connections, sets up master-salve station, and pulse is used with reference to control module
Control, 16 step motor controls can be performed simultaneously, control is accurate, simple operation, and development cost is moderate, is adapted to medium and small
Foundry enterprise puts into production.
Brief description of the drawings
Fig. 1 is a kind of four station both arms shell making mechanical hand mounting structure schematic diagrams.
Fig. 2 is a kind of four station both arms shell making mechanical hand control structure schematic diagrames.
Fig. 3 is a kind of four station both arms shell making mechanical hand control method flow charts.
Wherein, 1 is shell making mechanical hand main body turning；2 be screw；3 be linear module；4 be large arm；5 be machine pawl；6 be
Two motors；7 be the 3rd motor；8 be the 4th motor；9 be the first motor；10 be little gear；11 be big
Gear；12 be gyroaxis；13 be taper roll bearing；14 be base；15 be swing arm.
Embodiment
As shown in Figures 1 to 3, a kind of four station both arms shell making mechanical hand devices, it include shell making mechanical hand main body turning 1,
Base 14, large arm 4, locating module, step actuator and stepper motor, alternating current generator, frequency converter, every sensor and control
System forms.
The shell making mechanical hand main body turning 1 is fixed on the gyroaxis 12 of base with screw 2, and power is provided by base 14
Rotation.
Shell making mechanical hand main body turning 1 carries four linear systems of module 3, four large arm 4 can be fixed on into linear mould
In group, large arm 4 is lifted when shell making mechanical hand is run.
The shell making mechanical hand of four stations of the invention, relative to the every 120 ° of stations of existing three stations shell making mechanical hand
Arrangement, employs the arrangement of every 90 ° of stations, and four large arm are arranged into cruciform symmetry in the plane.
Main body turning fixes four linear modules 3 with a bottom plate being connected with gyroaxis into cross, then
Closed with iron sheet housing.Closing housing has certain intensity requirement, can improve the stability and bearing capacity of fuselage,
To meet the stabilization of whole fuselage at work.
Oscilaltion campaign is carried out under the driving of linear module 3 that the large arm first can be on main body turning, secondly large arm
Both sides swing arm is set, swing arm can swing up and down, the machine pawl 5 that the end of last swing arm is set can also rotation, and
And shell is captured by hydraulic drive.
Four large arm 4 are distributed on four stations, and the realization of its elevating function relies primarily on linear module.Large arm first
It is connected on linear module, linear module moves under the drive of the second motor 6, while drives large arm to make elevating movement.
The pitching function of swing arm is realized by using Worm Wheel System mode.3rd motor 7 is fixed on large arm
Casing on, worm screw is imparted power to by shaft coupling；Worm screw drives turbine, the left and right double output shaft being engaged with turbine
Carry out gyration；Left and right double output shaft is mutually fixedly connected with the housing of swing arm simultaneously, and thus whole swing arm is bowed
Motion is faced upward, swing angle is 0 ° to 135 °.
The rotation of machine pawl realizes that the 4th motor 8 is imparted power to by shaft coupling by using Bevel Gear Transmission
Decelerator；The output shaft of decelerator drives connected machine pawl concomitant rotation by bevel gear set commutation.
The gear wheel 11 in little gear 10 and gyroaxis is driven to engage by motor 9 in the base 14, it is whole so as to drive
The rotary motion of shell making mechanical hand main body turning 1.
By a fixing device fixed drive motor 9, fixing device and the lower waist seat of base 14 are mutually fixed, and ensure that drive
The stable operation of dynamic motor.
The fixing bearing of gyroaxis 12 has selected a pair of taper roll bearings 13, has certain carrying suitable for base is this
Ability, rotational speed also unhappy occasion.The lower waist seat of base 14 selects the stable material of bearing capacity epistasis matter simultaneously, such as
T200 is manufactured.
The manipulator control system include main website PLC and slave station PLC, two controller PLC from mitsubishi FX2N-
80MR-D, it is connected in parallel by FX2N-485-BD communication cards, sets up master-salve station, main website, slave station PLC respectively controls two arm liters
Drop, swing, rotation stepper motor and machine pawl magnetic valve.
Feeding, it is stained with slurry, leaching sand and dries the four stations respectively corresponding station detection photoelectric sensor of connection four, while be stained with slurry
On station, reconnect a photoelectric sensor and the pulp level in slurry bucket is detected, vertical movement axle can be according to slurries height
Degree carries out distance regulation accordingly.
All the sensors information receives by main website PLC, and is sent to slave station PLC by main website.
Two locating modules select QD70P8, are connected respectively with two PLC, on main substrate.
Touch-control human-computer interaction interface leads to MT6070iH touch-screens from prestige synthetic fibre, and two are connected respectively by two RS232 serial ports
Platform PLC.Arm lifting motor wins BSHB3913 stepper motors from essence, and totally 4, corresponding step actuator selects Q3HB64MA,
Totally 4.Arms swing motor selects step section 2S86Q-03865 stepper motors, and totally 4, respective actuator selects 2M860, and totally 4
Platform.Arm rotation motor selects step section 2S56Q-02054 stepper motors, and totally 8, respective actuator selects 2M860, totally 8.
Base turning motor selects Y132M2-6 type threephase asynchronouses, and frequency converter selects FR-A540.
Four station both arms shell making mechanical hand device shell making mechanical hand control method flows of the invention are as shown in figure 3, manipulator
After selection starts power up, initialization is checked whether automatically, if nothing, is resetted, afterwards into operation program.Control model point
For manual debugging control and automatically control, if selection debugging manually, may be spinning base start stop operation, base is carried out just
Turn, invert, accelerating, control of slowing down, speed control method is stepless speed regulation.Manipulator can carry out four station control selections simultaneously,
The large arm lifting of control needed for control, arm swing and machine pawl rotation operation are swung, after debugging terminates manually, the manipulator is automatically multiple
Position.If selection automatic control mode, the every 90 ° of stations of the station of manipulator four, rotation complete feeding, be stained with slurry, drench sand and
Drying process, after automatic mode terminates, the manipulator automatically resets.After out of service, control terminates to reset, and manipulator power-off is closed
Close.
Described above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (6)
1. a kind of four station both arms housing apparatus, it is characterised in that including touch-control human-computer interaction interface, shell making mechanical hand whirler
Body, base, large arm, locating module, photoelectric sensor and control system；
Wherein, the base is driven the gear wheel in little gear and gyroaxis to engage by the first motor, the manufacturing casing machine tool
Hand main body turning is fixed by screws on the gyroaxis of base；
Shell making mechanical hand main body turning fixes four linear modules, four linear modules by a bottom plate being connected with gyroaxis
Arranged in the plane into cruciform symmetry, pass through one large arm of a second motor drive connection on each linear module；
The 3rd motor is fixedly connected with the casing of each large arm, each 3rd motor passes through connection
Axle device and a worm-and-wheel gear are connected, and a left and right double output shaft is connected with the turbine in each worm-and-wheel gear,
Housing of the shaft end of each left and right double output shaft respectively with swing arm is mutually fixed；
The 4th motor is equipped with each swing arm, each 4th motor is transmitted power by shaft coupling
Decelerator input is given, the output end of decelerator drives arm end-effector concomitant rotation by bevel gear, and arm end connects
Picked pawl, and machine pawl is connected by magnetic valve with hydraulic system；
The locating module is used for the position control instruction that control system described in real-time reception is sent, and passes through position control instruction
Drive the first motor, the second motor, the 3rd motor and the 4th motor；
Feeding, it is stained with slurry, leaching sand and dries the four stations photoelectric sensor that respectively the corresponding station of connection one detects, while is being stained with slurry work
On position, reconnect a photoelectric sensor pulp level in slurry bucket is detected, all photoelectric sensors, magnetic valve with
The control system signal connection.
2. four stations both arms housing apparatus according to claim 1, it is characterised in that the first motor by fixing device with
Base is mutually fixed, and the fixing bearing of gyroaxis uses a pair of taper roll bearings.
3. four stations both arms housing apparatus according to claim 1, it is characterised in that first motor is different from three
Alternating current generator is walked, main website PLC is connected by frequency converter and three-phase asynchronous Ac motor control；Second motor, the 3rd
Motor and the 4th motor use stepper motor.
4. four stations both arms housing apparatus according to claim 3, it is characterised in that the frequency converter uses stepless-adjustment
Speed.
A kind of 5. control method of four stations both arms shell making mechanical hand device as claimed in claim 1, it is characterised in that the control
System processed includes the main website PLC and slave station PLC of parallel communication, first motor, the second motor, the 3rd motor and the 4th electricity
Machine passes through positioner and step actuator drive connection；
First motor is installed, main website PLC adjusts the rotary speed direction of first motor by frequency converter, becomes on the base
Frequency device uses stepless speed regulation；
Touch-control human-computer interaction interface connects main website PLC and slave station PLC respectively by two RS232 serial ports, by man-machine in touch-control
Input freely adjusts each station rotary speed, angle of inclination and four revolution of arm times on interactive interface, while monitors inside PLC
Data, observe manipulator running situation；
Each station installs the photoelectric sensor for detection station respectively, and the signal of all photoelectric sensor detections is by main website
PLC is received, and on slurry station is stained with, the pulp level in slurry bucket is detected by photoelectric sensor, and move vertically axle energy root
Distance regulation accordingly is carried out according to pulp level.
A kind of 6. method of work of four stations both arms shell making mechanical hand device as claimed in claim 1, it is characterised in that the machine
Tool picking is selected start power up after, check whether initialization automatically, if nothing, resetted, afterwards into operation program；
Control model is divided into manual debugging control and automatically controlled：
If selection debugging manually, may be spinning base start stop operation, base is forwarded and reversed, accelerated, control of slowing down,
Speed control method is stepless speed regulation；Manipulator can carry out four arm control selections simultaneously, control large arm lifting, the pendulum of required control
Dynamic and rotation operation, after debugging terminates manually, the manipulator automatically resets；
If selection automatic control mode, the every 90 ° of stations of the station of manipulator four, rotation complete feeding, be stained with slurry, drench sand and
Drying process, after automatic mode terminates, the manipulator automatically resets, and after out of service, control terminates to reset, and manipulator power-off is closed
Close.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710847509.3A CN107486546B (en) | 2017-09-19 | 2017-09-19 | Four-station double-arm shell manufacturing device and control and working methods thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710847509.3A CN107486546B (en) | 2017-09-19 | 2017-09-19 | Four-station double-arm shell manufacturing device and control and working methods thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107486546A true CN107486546A (en) | 2017-12-19 |
| CN107486546B CN107486546B (en) | 2023-08-29 |
Family
ID=60652493
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710847509.3A Active CN107486546B (en) | 2017-09-19 | 2017-09-19 | Four-station double-arm shell manufacturing device and control and working methods thereof |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108213355A (en) * | 2017-12-25 | 2018-06-29 | 温州智信机电科技有限公司 | Hot investment casting manufacturing casing machine |
| CN108480573A (en) * | 2018-03-27 | 2018-09-04 | 江阴鑫联金属制品有限公司 | Numerical control multi-station shell making mechanical hand |
| CN112170781A (en) * | 2020-09-25 | 2021-01-05 | 泰州鑫宇精工股份有限公司 | Method and device for improving environmental protection performance of sand spraying machine |
| WO2021097768A1 (en) * | 2019-11-21 | 2021-05-27 | 泰州鑫宇精工股份有限公司 | Mold shell manufacturing production line and mold shell manufacturing method |
| CN115256417A (en) * | 2022-08-04 | 2022-11-01 | 江苏联诚精密合金科技有限公司 | Nine-axis numerical control automatic shell-making automatic picking and hanging manipulator and automatic shell-making method using same |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108213355A (en) * | 2017-12-25 | 2018-06-29 | 温州智信机电科技有限公司 | Hot investment casting manufacturing casing machine |
| CN108480573A (en) * | 2018-03-27 | 2018-09-04 | 江阴鑫联金属制品有限公司 | Numerical control multi-station shell making mechanical hand |
| WO2021097768A1 (en) * | 2019-11-21 | 2021-05-27 | 泰州鑫宇精工股份有限公司 | Mold shell manufacturing production line and mold shell manufacturing method |
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| CN112170781A (en) * | 2020-09-25 | 2021-01-05 | 泰州鑫宇精工股份有限公司 | Method and device for improving environmental protection performance of sand spraying machine |
| CN112170781B (en) * | 2020-09-25 | 2022-02-22 | 泰州鑫宇精工股份有限公司 | Method and device for improving environmental protection performance of sand spraying machine |
| CN115256417A (en) * | 2022-08-04 | 2022-11-01 | 江苏联诚精密合金科技有限公司 | Nine-axis numerical control automatic shell-making automatic picking and hanging manipulator and automatic shell-making method using same |
| CN115256417B (en) * | 2022-08-04 | 2024-04-19 | 江苏联诚精密合金科技有限公司 | Nine-axis numerical control automatic shell-control automatic picking and hanging manipulator and method for automatically manufacturing shell by using same |
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|---|---|
| CN107486546B (en) | 2023-08-29 |
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