CN107718048A - A kind of robot of adjustable weight balancing weight casting - Google Patents
A kind of robot of adjustable weight balancing weight casting Download PDFInfo
- Publication number
- CN107718048A CN107718048A CN201710951242.2A CN201710951242A CN107718048A CN 107718048 A CN107718048 A CN 107718048A CN 201710951242 A CN201710951242 A CN 201710951242A CN 107718048 A CN107718048 A CN 107718048A
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- China
- Prior art keywords
- parts
- casting
- slotted eye
- weight
- robot
- 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
Links
- 238000005266 casting Methods 0.000 title claims abstract description 47
- 229910045601 alloy Inorganic materials 0.000 claims abstract description 15
- 239000000956 alloy Substances 0.000 claims abstract description 15
- 238000000034 method Methods 0.000 claims abstract description 10
- 229910001018 Cast iron Inorganic materials 0.000 claims abstract description 7
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 26
- 229910052742 iron Inorganic materials 0.000 claims description 13
- 239000004922 lacquer Substances 0.000 claims description 9
- 238000011081 inoculation Methods 0.000 claims description 5
- XWHPIFXRKKHEKR-UHFFFAOYSA-N iron silicon Chemical compound [Si].[Fe] XWHPIFXRKKHEKR-UHFFFAOYSA-N 0.000 claims description 5
- MRELNEQAGSRDBK-UHFFFAOYSA-N lanthanum oxide Inorganic materials [O-2].[O-2].[O-2].[La+3].[La+3] MRELNEQAGSRDBK-UHFFFAOYSA-N 0.000 claims description 5
- 239000002994 raw material Substances 0.000 claims description 5
- 238000010276 construction Methods 0.000 claims description 4
- 230000013011 mating Effects 0.000 claims description 3
- 230000001105 regulatory effect Effects 0.000 claims description 3
- 230000007797 corrosion Effects 0.000 abstract description 2
- 238000005260 corrosion Methods 0.000 abstract description 2
- 239000000203 mixture Substances 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 206010044565 Tremor Diseases 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0008—Balancing devices
- B25J19/002—Balancing devices using counterweights
-
- C—CHEMISTRY; METALLURGY
- C22—METALLURGY; FERROUS OR NON-FERROUS ALLOYS; TREATMENT OF ALLOYS OR NON-FERROUS METALS
- C22C—ALLOYS
- C22C33/00—Making ferrous alloys
- C22C33/08—Making cast-iron alloys
-
- C—CHEMISTRY; METALLURGY
- C22—METALLURGY; FERROUS OR NON-FERROUS ALLOYS; TREATMENT OF ALLOYS OR NON-FERROUS METALS
- C22C—ALLOYS
- C22C37/00—Cast-iron alloys
- C22C37/06—Cast-iron alloys containing chromium
- C22C37/08—Cast-iron alloys containing chromium with nickel
-
- C—CHEMISTRY; METALLURGY
- C22—METALLURGY; FERROUS OR NON-FERROUS ALLOYS; TREATMENT OF ALLOYS OR NON-FERROUS METALS
- C22C—ALLOYS
- C22C37/00—Cast-iron alloys
- C22C37/10—Cast-iron alloys containing aluminium or silicon
Landscapes
- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Materials Engineering (AREA)
- Metallurgy (AREA)
- Organic Chemistry (AREA)
- Robotics (AREA)
- Refinement Of Pig-Iron, Manufacture Of Cast Iron, And Steel Manufacture Other Than In Revolving Furnaces (AREA)
Abstract
The present invention relates to robot accessory casting techniques field, and in particular to a kind of robot of adjustable weight balancing weight casting.A kind of robot balancing weight casting of adjustable weight of the present invention, it is made of the high alloy cast iron Mechanical processing of casting of wear-resisting, corrosion-resistant, intensity, cast(ing) surface is attractive in appearance, overall wear resistance energy is good, decay resistance is strong, intensity is high, hardness and good toughness, service life is grown, and contour structures are simple；First indent slotted eye is provided with two, facilitates hand to grab and takes, and the setting of the second indent slotted eye and circular port is convenient and the cooperation of other balancing weights reaches actual demand to adjust the weight of balancing weight.
Description
Technical field
The present invention relates to robot accessory casting techniques field, the robot counterweight of more particularly to a kind of adjustable weight
Block casting part.
Background technology
Robot is the automatic installations for performing work, and as industrial technology is no matter develop, the industry of robot should
With more and more extensive so that the arm to robot is the requirement also more and more higher of mechanical arm, robot arm at work,
Counterweight deficiency often occurs, causes the phenomenon of shakiness, influences the operating accuracy of mechanical arm, while may cause to frock again
Infringement, in order to improve this phenomenon, while using balancer is set up on the robotic arm, balancing weight is provided with balancer, but it is existing
Mechanical arm is high not enough with its anti-wear performance of balancing weight and intensity, and weight is non-adjustable or regulation is inconvenient, causes to use
Cost is high, and service life is not grown.
The content of the invention
The purpose of invention：The invention discloses a kind of robot of adjustable weight balancing weight casting.
Technical scheme：In order to realize the above object the invention discloses a kind of robot balancing weight of adjustable weight
Casting, including counterweight block body, described counterweight block body are the iron casting being process using the casting of abrasion-proof corrosion-proof alloy,
Described counterweight block body is terraced column construction, and upper surface is provided with the first indent slotted eye, and lower surface is provided with the second indent slotted eye,
The first described indent slot size is less than the second indent slotted eye, the first described indent slotted eye hollow depth and the second inner groovy
Hole hollow depth is suitable；The second described indent slotted eye centre position be provided with a circular connecting hole be used for connect other balancing weights with
Reach the purpose of regulating weight, described circular connecting hole does not run through counterweight block body upper surface；Before described counterweight block body
End face is provided with connection projection and connecting hole, and described connecting hole is symmetrical set and before described counterweight block body
End face and rear end face, described connecting hole are used to connect the regulation for realizing balancing weight weight, described connection with other balancing weights
Projection is used in mating connection with balancer.
Preferably, its left and right ends face of described counterweight block body is circular arc smooth flat.
Preferably, the first described indent slotted eye is provided with two, is symmetricly set on counterweight block body upper surface, and described the
Two indent slotted eyes 5 are 1 and are arranged on the lower surface center position of counterweight block body 1, and the second described indent slotted eye size is the
2 times of one indent slotted eye.
Preferably, the first described indent slotted eye and the second indent slotted eye are strip indent slotted eye and left and right ends are in
Arc-shaped structure.
Preferably, described connection projection is square column type structure, and left and right sides are in arc-shaped structure.
Preferably, the lower surface of described connection projection size is equal with the lower surface of counterweight block body.
Preferably, described connection projection length and the first described inner groovy hole depth are suitable, the connection projection
Width and the first inner groovy hole length are suitable.
Preferably, described balancing weight body outer surface is coated with aqueous wear-resistant lacquer coat, and described aqueous wear-resistant paint applies
The thickness of layer is 50-100 μm.
Preferably, the iron casting that the casting of described abrasion-proof corrosion-proof alloy is process includes the component of following parts by weight：
Al4-6 parts, C2-3 parts, Si2-3 parts, Mn2-3 parts, Cr10-18 parts, Ni2-3 parts, V4-6 parts, Ti 2-3 parts, B1-2 parts, RE1-2
Part, Mo3-4 parts, Mg2-3 parts, Zr2-3 parts, Nb2-3 parts, Sn2-3 parts, S1-2 parts, P1-2 parts, Y2-3 parts, Ce2-3 parts,
La2O32-3 parts, Fe200-300 parts；Casting ladle is poured into after above-mentioned raw materials are smelted into molten iron in 1500-1800 DEG C in vacuum environment
In and add total amount 0.3-0.5% 75 silicon iron inoculators and stand when being cooled to 1400-1450 DEG C after inoculation pouring into a mould
To described alloy cast iron casting wear-resisting, intensity is high.
Above-mentioned technical proposal can be seen that the present invention and have the advantages that：A kind of adjustable weight of the present invention
The robot of amount balancing weight casting, the alloy cast iron Mechanical processing of casting that use is wear-resisting, corrosion-resistant, intensity is high are made, cast(ing) surface
Attractive in appearance, overall wear resistance energy is good, decay resistance is strong, intensity is high, hardness and good toughness, service life length, and contour structures are simple；
First indent slotted eye is provided with two, facilitates hand to grab and takes, and the setting of the second indent slotted eye and circular port is convenient and other balancing weights are matched somebody with somebody
Close and reach actual demand to adjust the weight of balancing weight.
Brief description of the drawings
Fig. 1 is the positive structure schematic of the balancing weight of the present invention；
Fig. 2 is the structure schematic diagram of the balancing weight of the present invention.
In figure：1st, counterweight block body, 11, upper surface, 12, lower surface, 13, front end face, 14, rear end face, 15, left side
（Right side）, 2, connection projection, 3, connecting hole, the 4, first indent slotted eye, the 5, second indent slotted eye, 6, circular port.
Embodiment
Below in conjunction with the accompanying drawings, the specific embodiment of the invention is described in detail, it is of the present invention it is upper and lower, left,
The orientation such as right, forward and backward term is used as reference using accompanying drawing 1.
As illustrated in fig. 1 and 2, the robot balancing weight casting of a kind of adjustable weight of the invention, including balancing weight sheet
Body 1, described counterweight block body 1 are that the iron casting being process, described balancing weight sheet are cast using abrasion-proof corrosion-proof alloy
Body 1 is terraced column construction, and the terraced length of column construction shape front end face 13 is less than rear end face 14, and upper surface 11 is provided with the first inner groovy
Hole 4, lower surface 12 are provided with the second indent slotted eye 5, and the described size of the first indent slotted eye 4 is less than the second indent slotted eye 5, described
The hollow depth of first indent slotted eye 4 and the hollow depth of the second indent slotted eye 5 are suitable；The described centre position of the second indent slotted eye 5
It is used to connect other balancing weights to reach the purpose of regulating weight provided with a circular connecting hole 6, described circular connecting hole 6 does not pass through
Wear the upper surface 11 of counterweight block body 1；The described front end face 13 of counterweight block body 1 is provided with connection projection 2 and connecting hole 3, described
Connecting hole 3 be symmetrical set and through described counterweight block body 1 front end face 13 and rear end face 14, described connecting hole
3 are used to connect the regulation for realizing balancing weight weight with other balancing weights, and described connection projection 2 is used for and balancer（It is not shown）
It is in mating connection.
As illustrated in fig. 1 and 2, its left and right ends face 15 of described counterweight block body 1 is circular arc smooth flat.
As illustrated in fig. 1 and 2, the first described indent slotted eye 4 is provided with two, is symmetricly set on the upper surface of counterweight block body 1
11, the second described indent slotted eye 5 is 1 and is arranged on the lower surface center position of counterweight block body 1, and the second described inner groovy
The size of hole 5 is 2 times of the first indent slotted eye 4.
As illustrated in fig. 1 and 2, the first described indent slotted eye 4 and the second indent slotted eye 5 are strip indent slotted eye and a left side
Right both ends are in arc-shaped structure.
As illustrated in fig. 1 and 2, described connection projection 2 is square column type structure, and left and right sides are in arc-shaped structure.
As shown in Fig. 2 the lower surface of the described connection size of projection 2 is equal with the lower surface 12 of counterweight block body 1.
As illustrated in fig. 1 and 2, the described connection length of projection 2 and the described depth of the first indent slotted eye 4 are suitable, the company
Width and the length of the first indent slotted eye 4 for connecing projection 2 are suitable.
Embodiment 1
The described outer surface of counterweight block body 1 is coated with aqueous wear-resistant lacquer coat（It is not shown）, described aqueous wear-resistant lacquer coat
（It is not shown）Thickness be 50 μm.
The iron casting that abrasion-proof corrosion-proof alloy casting of the present invention is process includes the chemistry member of following parts by weight
Plain composition：Al4 parts, C2 parts, Si2 parts, Mn2 parts, Cr10 parts, Ni2 parts, V4 parts, 2 parts of Ti, B1 parts, RE1 parts, Mo3 parts, Mg2
Part, Zr2 parts, Nb2 parts, Sn2 parts, S1 parts, P1 parts, Y2 parts, Ce2 parts, La2O32 parts, Fe200 parts；By above-mentioned raw materials in vacuum ring
After being poured into after being smelted into molten iron in 1500 DEG C in border in casting ladle and adding the 75 silicon iron inoculators progress inoculation of total amount 0.3%
Stand and pour into a mould to obtain described alloy cast iron casting wear-resisting, intensity is high when being cooled to 1400 DEG C.
Embodiment 2
The described outer surface of counterweight block body 1 is coated with aqueous wear-resistant lacquer coat（It is not shown）, described aqueous wear-resistant lacquer coat
（It is not shown）Thickness be 100 μm.
The iron casting that abrasion-proof corrosion-proof alloy casting of the present invention is process includes the chemistry member of following parts by weight
Plain composition：Al6 parts, C3 parts, Si3 parts, Mn3 parts, Cr18 parts, Ni3 parts, V6 parts, 3 parts of Ti, B2 parts, RE2 parts, Mo4 parts, Mg3
Part, Zr3 parts, Nb3 parts, Sn3 parts, S2 parts, P2 parts, Y3 parts, Ce3 parts, La2O33 parts, Fe300 parts；By above-mentioned raw materials in vacuum ring
After being poured into after being smelted into molten iron in 1800 DEG C in border in casting ladle and adding the 75 silicon iron inoculators progress inoculation of total amount 0.5%
Stand and pour into a mould to obtain described alloy cast iron casting wear-resisting, intensity is high when being cooled to 1450 DEG C.
Embodiment 3
The described outer surface of counterweight block body 1 is coated with aqueous wear-resistant lacquer coat（It is not shown）, described aqueous wear-resistant lacquer coat
（It is not shown）Thickness be 75 μm.
The iron casting that abrasion-proof corrosion-proof alloy casting of the present invention is process includes the chemistry member of following parts by weight
Plain composition：Al5 parts, C2.5 parts, Si2.5 parts, Mn2.5 parts, Cr14 parts, Ni2.5 parts, V5 parts, 2.5 parts of Ti, B1.5 parts, RE1.5
Part, Mo3.5 parts, Mg2.5 parts, Zr2.5 parts, Nb2.5 parts, Sn2.5 parts, S1.5 parts, P1.5 parts, Y2.5 parts, Ce2.5 parts,
La2O32.5 parts, Fe250 parts；Above-mentioned raw materials are smelted into vacuum environment in 1550 DEG C and pours into casting ladle and adds after molten iron
Poured into a mould when standing is cooled to 1425 DEG C after the 75 silicon iron inoculators progress inoculation of total amount 0.4% wear-resisting, strong described in obtaining
Spend high alloy cast iron casting.
Described above is only the preferred embodiment of the present invention, it should be noted that for those skilled in the art
For, under the premise without departing from the principles of the invention, some improvement can also be made, these improvement also should be regarded as the guarantor of the present invention
Protect scope.
Claims (9)
- A kind of 1. robot of adjustable weight balancing weight casting, it is characterised in that including counterweight block body, described counterweight Block body is the iron casting being process using the casting of abrasion-proof corrosion-proof alloy, and described counterweight block body is terraced column construction, Upper surface is provided with the first indent slotted eye, and lower surface is provided with the second indent slotted eye, and the first described indent slot size is less than the Two indent slotted eyes, the first described indent slotted eye hollow depth and the second indent slotted eye hollow depth are suitable；In described second Recess hole centre position is provided with a circular connecting hole and is used to connect other balancing weights to reach the purpose of regulating weight, described circle Shape connecting hole does not run through counterweight block body upper surface；Described counterweight block body front end face is provided with connection projection and connecting hole, Described connecting hole is symmetrical set and used through the front end face and rear end face of described counterweight block body, described connecting hole In connecting the regulation of realizing balancing weight weight with other balancing weights, described connection projection is used in mating connection with balancer.
- 2. the robot balancing weight casting of a kind of adjustable weight according to claim 1, it is characterised in that described Its left and right ends face of counterweight block body is circular arc smooth flat.
- 3. the robot balancing weight casting of a kind of adjustable weight according to claim 1, it is characterised in that described First indent slotted eye is provided with two, is symmetricly set on counterweight block body upper surface, and the second described indent slotted eye 5 is 1 setting In the lower surface center position of counterweight block body 1, and the second described indent slotted eye size is 2 times of the first indent slotted eye.
- 4. the robot balancing weight casting of a kind of adjustable weight according to claim 3, it is characterised in that described First indent slotted eye and the second indent slotted eye are strip indent slotted eye and left and right ends are in arc-shaped structure.
- 5. the robot balancing weight casting of a kind of adjustable weight according to claim 1, it is characterised in that described Connection projection is square column type structure, and left and right sides are in arc-shaped structure.
- 6. the robot balancing weight casting of a kind of adjustable weight according to claim 5, it is characterised in that described The lower surface for connecting projection size is equal with the lower surface of counterweight block body.
- 7. the robot balancing weight casting of a kind of adjustable weight according to claim 6, it is characterised in that described Connect projection length and the first described inner groovy hole depth is suitable, the width and the first inner groovy hole length of the connection projection Quite.
- 8. the robot balancing weight casting of a kind of adjustable weight according to claim 1, it is characterised in that described Balancing weight body outer surface is coated with aqueous wear-resistant lacquer coat, and the thickness of described aqueous wear-resistant lacquer coat is 50-100 μm.
- 9. the robot balancing weight casting of a kind of adjustable weight according to claim 1, it is characterised in that described The iron casting that the casting of abrasion-proof corrosion-proof alloy is process includes the component of following parts by weight：Al4-6 parts, C2-3 parts, Si2-3 Part, Mn2-3 parts, Cr10-18 parts, Ni2-3 parts, V4-6 parts, Ti 2-3 parts, B1-2 parts, RE1-2 parts, Mo3-4 parts, Mg2-3 parts, Zr2-3 parts, Nb2-3 parts, Sn2-3 parts, S1-2 parts, P1-2 parts, Y2-3 parts, Ce2-3 parts, La2O32-3 parts, Fe200-300 parts；Will Above-mentioned raw materials pour into casting ladle after being smelted into molten iron in 1500-1800 DEG C in vacuum environment and add the 75 of total amount 0.3-0.5% Silicon iron inoculator stand after inoculation pour into a mould when being cooled to 1400-1450 DEG C to obtain it is described it is wear-resisting, intensity is high Alloy cast iron casting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710951242.2A CN107718048A (en) | 2017-10-13 | 2017-10-13 | A kind of robot of adjustable weight balancing weight casting |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710951242.2A CN107718048A (en) | 2017-10-13 | 2017-10-13 | A kind of robot of adjustable weight balancing weight casting |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107718048A true CN107718048A (en) | 2018-02-23 |
Family
ID=61210478
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710951242.2A Pending CN107718048A (en) | 2017-10-13 | 2017-10-13 | A kind of robot of adjustable weight balancing weight casting |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107718048A (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1072179A (en) * | 1996-08-30 | 1998-03-17 | Hitachi Building Syst Co Ltd | Balance weight of elevator |
| DE19748822A1 (en) * | 1997-11-05 | 1999-05-06 | Kuka Roboter Gmbh | Robotic arm with weight balance |
| JP2000063083A (en) * | 1998-08-26 | 2000-02-29 | Hitachi Constr Mach Co Ltd | Counterweight device for construction machine |
| US6387018B1 (en) * | 1999-10-15 | 2002-05-14 | Mark A. Krull | Methods and apparatus for adjusting resistance to exercise |
| CN104006113A (en) * | 2014-06-10 | 2014-08-27 | 昆山亿顺自动化科技有限公司 | Weight-adjustable clump weight |
| CN104308860A (en) * | 2014-09-06 | 2015-01-28 | 苏州神运机器人有限公司 | Robot arm with balancer |
| CN206256499U (en) * | 2016-12-13 | 2017-06-16 | 重庆永重重工有限公司 | A kind of loading machine balance weight |
| CN206437747U (en) * | 2016-08-31 | 2017-08-25 | 住友富士电梯有限公司 | A kind of elevator counterweight block |
| CN107177773A (en) * | 2017-06-23 | 2017-09-19 | 湖北金麟机械制造有限公司 | A kind of high-strength thin-walled gray iron casting |
| CN207448519U (en) * | 2017-10-13 | 2018-06-05 | 江苏捷帝机器人股份有限公司 | A kind of robot of weight-adjustable clump weight casting |
-
2017
- 2017-10-13 CN CN201710951242.2A patent/CN107718048A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1072179A (en) * | 1996-08-30 | 1998-03-17 | Hitachi Building Syst Co Ltd | Balance weight of elevator |
| DE19748822A1 (en) * | 1997-11-05 | 1999-05-06 | Kuka Roboter Gmbh | Robotic arm with weight balance |
| JP2000063083A (en) * | 1998-08-26 | 2000-02-29 | Hitachi Constr Mach Co Ltd | Counterweight device for construction machine |
| US6387018B1 (en) * | 1999-10-15 | 2002-05-14 | Mark A. Krull | Methods and apparatus for adjusting resistance to exercise |
| CN104006113A (en) * | 2014-06-10 | 2014-08-27 | 昆山亿顺自动化科技有限公司 | Weight-adjustable clump weight |
| CN104308860A (en) * | 2014-09-06 | 2015-01-28 | 苏州神运机器人有限公司 | Robot arm with balancer |
| CN206437747U (en) * | 2016-08-31 | 2017-08-25 | 住友富士电梯有限公司 | A kind of elevator counterweight block |
| CN206256499U (en) * | 2016-12-13 | 2017-06-16 | 重庆永重重工有限公司 | A kind of loading machine balance weight |
| CN107177773A (en) * | 2017-06-23 | 2017-09-19 | 湖北金麟机械制造有限公司 | A kind of high-strength thin-walled gray iron casting |
| CN207448519U (en) * | 2017-10-13 | 2018-06-05 | 江苏捷帝机器人股份有限公司 | A kind of robot of weight-adjustable clump weight casting |
Non-Patent Citations (1)
| Title |
|---|
| 邢振东等: "《汽车涂装技术》", 东北大学出版社, pages: 166 - 168 * |
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Effective date of registration: 20220905 Address after: Room 585, floor 5, building 1, Hutai fashion, No. 10, Nanhai Road, Liuhe Town, Taicang City, Suzhou City, Jiangsu Province 215400 Applicant after: Suzhou huienyuan medical device accessories Co.,Ltd. Address before: 215138 Shitian Road, Yangchenghu Town, Xiangcheng District, Suzhou City, Jiangsu Province Applicant before: JIANGSU JIEDI ROBOT Co.,Ltd. |
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Application publication date: 20180223 |