CN108942991A - A kind of irregular casting transfer robot - Google Patents
A kind of irregular casting transfer robot Download PDFInfo
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- CN108942991A CN108942991A CN201811122435.8A CN201811122435A CN108942991A CN 108942991 A CN108942991 A CN 108942991A CN 201811122435 A CN201811122435 A CN 201811122435A CN 108942991 A CN108942991 A CN 108942991A
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- Prior art keywords
- steering engine
- plectane
- pour
- hydraulic cylinders
- irregular
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Classifications
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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
- B25J15/0019—End effectors other than grippers
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of irregular casting transfer robots, including pedestal, irregular pour storage part, coupling part, pour grasping mechanism, it is characterized by: being fixedly mounted on the motor shaft of the first steering engine below the second plectane of the irregular pour storage part, the groove below the second plectane is slidably mounted on 12 the first balls；Two sliding blocks of the coupling part are slidably mounted on respectively in two dovetail grooves, and gear and the first rack gear are intermeshed；The circular hole of the pour grasping mechanism is fixedly mounted on the steering engine of the 4th steering engine, and 14 the second ball rollings are mounted in the groove below third plectane；Machine can be made to grab the different pour of various shapes by the design of eight the 6th hydraulic cylinder fixed plates of pour grasping mechanism, improve machine operation range；Pour can be put on vehicle and be transported by the design of irregular pour storage part, improve transportation safety.
Description
Technical field
The present invention relates to haulage equipment technical field, in particular to a kind of irregular casting transfer robot.
Background technique
Large-scale irregular pour is in carrying or transport, since pour is different, if according to each shape
All one carrying of design and transport establishment cause with high costs, therefore are badly in need of the carrying that can carry a variety of irregular shapes
And transport establishment.
Summary of the invention
In view of the above-mentioned problems, passing through pour grasping mechanism the present invention provides a kind of irregular casting transfer robot
The designs of eight the 6th hydraulic cylinder fixed plates can make the different pour of machine crawl various shapes, improve machine operation
Range；Pour can be put on vehicle and be transported by the design of irregular pour storage part, improve transportation safety.
Technical solution used in the present invention is: a kind of irregular casting transfer robot, including pedestal, irregularly pours
Block storage part, coupling part, pour grasping mechanism, it is characterised in that: the of the irregular pour storage part
It is fixedly mounted below two plectanes on the motor shaft of the first steering engine, the groove below the second plectane is slidably mounted on 12 first
On ball；Two sliding blocks of the coupling part are slidably mounted on respectively in two dovetail grooves, and gear and the first rack gear are mutual
Engagement；The circular hole of the pour grasping mechanism is fixedly mounted on the steering engine of the 4th steering engine, and 14 the second balls roll
It is mounted in the groove below third plectane；
The pedestal includes bottom plate, thrust bearing, support plate, two dovetail grooves, the first rack gear, plectane, 12
One ball, the first steering engine, the second steering engine, four running gears, the bottom plate are a rectangle plank, the seat of thrust bearing
Circle is fixedly mounted on the forward position of substrate, and blowout patche is fixedly connected with the groove of plectane below support plate, the second steering engine
Side be fixedly mounted on bottom plate in the following, its motor shaft pass through substrate circular hole and thrust bearing seat ring circular hole and thrust
Bearing blowout patche is fixedly connected；Dovetail groove and first rack gear there are two being set before support plate；Among substrate rearward
Position be equipped with plectane, the hemispherical groove of 12 circumferentially arrays, 12 first rollings are equipped on plectane
Pearl is rotatably installed in respectively in 12 hemispherical grooves；First steering engine is placed straight up, and side is fixedly mounted
In bottom plate in the following, its motor shaft passes through the circular hole above bottom plate and plectane；The steering engine of four running gears is fixed respectively
It is mounted in the steering engine seat at four angles below bottom plate；
The irregular pour storage part includes irregular pour storage part bottom plate, eight grooves, eight
First hydraulic cylinder, the second plectane, eight sliding panels, 32 second hydraulic cylinders, 32 the first catch bars, 32
Sucker, the irregular pour storage part bottom plate are an octagon planks, are equipped with the second plectane in its lower section, the
It is fixedly mounted on the groove on the motor shaft above the first steering engine, below the second plectane below two plectanes and is slidably mounted on 12
On first ball；Eight grooves at circumference array, eight the first liquid are equipped in irregular pour storage part substrate
Cylinder pressure cylinder base is respectively and fixedly installed in eight support plates below irregular pour storage part bottom plate, piston rod
End is fixedly connected with the connecting plate below eight sliding panels respectively；Eight sliding panels are slidably mounted on eight grooves respectively
In；32 second hydraulic cylinders are divided into eight groups, and the cylinder base of every group of four second hydraulic cylinders is fixed respectively to pacify
At subsequent four angles of each sliding panel, piston rod end is fixed with the connecting plate of four the first catch bars respectively to be connected
It connects；Four circular holes that four first catch bars pass through above sliding panel are fixedly connected with sucker；
The coupling part includes coupling part bottom plate, two sliding blocks, stepper motor, gear, telescoping mechanism, the first L
Shape plank, two third hydraulic cylinders, fixing seat, third steering engine connecting shaft, third steering engine, the 4th steering engine fixing seat, the 4th steering engine,
Third plectane；The coupling part bottom plate is a rectangle plank, is set on the outside there are two sliding block, two sliding blocks are distinguished
It is slidably mounted in two dovetail grooves；Described telescoping mechanism one end is fixedly mounted on coupling part bottom panel side, the other end with
First L shaped plate outside is fixedly connected；The cylinder base of two third hydraulic cylinders is fixedly mounted in the first L shaped plate
Side, piston rod end are fixedly connected with fixing seat；The third steering engine connecting shaft is rotatably installed in the circle above fixing seat
Kong Li；The third steering engine is horizontal positioned, and side is fixedly mounted in the support plate of fixing seat side, motor shaft and the
Three steering engine connecting shafts are fixedly connected by shaft coupling；The circular hole of the 4th steering engine fixing seat is fixedly mounted on third steering engine company
In spindle, position is inside fixing seat；The third plectane is fixedly mounted on the 4th steering engine fixing seat lower end；Described
Four steering engines are fixedly mounted in the groove of the 4th steering engine fixing seat, and motor shaft passes through the groove among third plectane；
The pour grasping mechanism includes the 4th plectane, 14 the second balls, circular hole, connecting column, eight the 4th
Hydraulic cylinder, eight the second L shaped plate, 16 the 5th hydraulic cylinders, eight sliding shoes, octagon plank, eight it is the 6th hydraulic
Cylinder fixed plate, 32 the 6th hydraulic cylinders, 32 the 6th hydraulic cylinder top plates, 32 the second catch bars, 32
A fixed disc, 16 the 7th hydraulic cylinders, eight third L shaped plate, 16 the 8th hydraulic cylinders, eight the 4th L shaped plate,
It is equipped with circular hole on the 4th plectane, is equipped with the hemispherical groove of 14 circumferentially arrays on the 4th plectane, 14
Second ball rolls respectively to be mounted in 14 hemispherical grooves；The connecting column upper end is fixedly mounted under the 4th plectane
Intermediate octagon plank is fixedly connected above face, lower end and octagon plank；Eight the 4th hydraulic cylinders
Cylinder base is respectively and fixedly installed to eight sides of the octagon above octagon plank, piston rod end respectively with
Eight the second L shaped plate outsides are fixedly connected；16 the 5th hydraulic cylinders are divided into eight groups, and every group two the 4th hydraulic
The cylinder base of cylinder is fixedly mounted on the second L shaped plate inside, and piston rod end is fixedly connected with sliding shoe；Described eight
Sliding shoe is slidably mounted on respectively in eight grooves above octagon plank；Eight the 6th hydraulic cylinder fixed plates point
It is not fixedly mounted below eight sliding shoes；32 the 6th hydraulic cylinders are divided into eight groups, every group of four the 6th liquid
The cylinder base of cylinder pressure is fixedly mounted respectively at four angles on the outside of the 6th hydraulic cylinder fixed plate, and piston rod end is respectively with four
A 6th hydraulic cylinder top plate is fixedly connected；32 second catch bar one end are fixedly mounted on 32 the 6th hydraulic cylinder tops
On the inside of plate, 32 circular holes that the other end passes through above eight the 6th hydraulic cylinder fixed plates are fixed with 32 fixed discs
Connection；16 the 7th hydraulic cylinders are divided into eight groups, and the cylinder base of every group of two the 7th hydraulic cylinders is respectively and fixedly installed to
In the six subsequent support plates of hydraulic cylinder fixed plate, piston rod end is fixedly connected below with third L shaped plate；In octagon
Middle section is equipped with camera below plank.
Beneficial effects of the present invention: can be made by the design of eight the 6th hydraulic cylinder fixed plates of pour grasping mechanism
Machine grabs the different pour of various shapes, improves machine operation range；Pass through setting for irregular pour storage part
Pour can be put on vehicle by meter to be transported, and transportation safety is improved.
Detailed description of the invention
Fig. 1, Fig. 2 are overall structure diagram of the invention.
Fig. 3, Fig. 4 are the structural schematic diagram of pedestal of the invention.
Fig. 5, Fig. 6 are the structural schematic diagram of irregular pour storage part of the invention.
Fig. 7, Fig. 8, Fig. 9 are the structural schematic diagram of coupling part of the invention.
Figure 10, Figure 11, Figure 12, Figure 13 are the structural schematic diagram of pour grasping mechanism of the invention.
Drawing reference numeral: the irregular pour storage part of 1- pedestal, 2-, the coupling part 3-, 4- pour grasping mechanism,
101- bottom plate, 102- thrust bearing, 103- support plate, 104- dovetail groove, the first rack gear of 105-, 106- plectane, 107- first are rolled
Pearl 107, the first steering engine of 108-, the second steering engine of 109-, 110- running gear, the irregular pour storage part bottom plate of 201-,
202- groove, 203- first hydraulic cylinder, the second plectane of 204-, 205- sliding panel, 206- second hydraulic cylinder, 207- first are pushed
Bar, 208- sucker, the coupling part 301- bottom plate, 302- sliding block, 303- stepper motor, 304- gear, 305- telescoping mechanism, 306-
First L shaped plate, 307- third hydraulic cylinder, 308- fixing seat, 309- third steering engine connecting shaft, 310- third steering engine, 311-
Four steering engine fixing seats, the 4th steering engine of 312-, 313- third plectane, the 4th plectane of 401-, the second ball of 402-, 403- circular hole,
404- connecting column, the 4th hydraulic cylinder of 405-, the second L shaped plate of 406-, the 5th hydraulic cylinder of 407-, 408- sliding shoe, 409- positive eight
Side shape plank, the 6th hydraulic cylinder fixed plate of 410-, the 6th hydraulic cylinder of 411-, the 6th hydraulic cylinder top plate of 412-, 413- second are pushed
Bar, 414- fixed disc, the 7th hydraulic cylinder of 415-, 416- third L shaped plate, the 8th hydraulic cylinder of 417-, the 4th L shaped plate of 418-
Son, 419- camera.
Specific embodiment
Below with reference to the embodiments and with reference to the accompanying drawing the technical solutions of the present invention will be further described.
Embodiment as shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, Figure 10, Figure 11, Figure 12, Figure 13,
A kind of irregular casting transfer robot, including pedestal 1, irregular pour storage part 2, coupling part 3, pour crawl
Mechanism 4, it is characterised in that: the second plectane 204 of the irregular pour storage part 2 is fixedly mounted on the first rudder below
On the motor shaft of machine 108, the groove below the second plectane 204 is slidably mounted on 12 the first balls 107；The connection
Two sliding blocks 302 of part 3 are slidably mounted on respectively in two dovetail grooves 104, and gear 304 and the first rack gear 105 are intermeshed；
The circular hole 403 of the pour grasping mechanism 4 is fixedly mounted on the steering engine of the 4th steering engine 312,14 the second balls 402
Rolling is mounted in the groove below third plectane 313；
The pedestal 1 includes bottom plate 101, thrust bearing 102, support plate 103, two dovetail grooves 104, the first rack gears
105,109, four 106,12 the first balls 107 of plectane, the first steering engine 108, the second steering engine running gears 110, it is described
Bottom plate 101 is a rectangle plank, and the seat ring of thrust bearing 102 is fixedly mounted on position forward above bottom plate 101, axis
Circle is fixedly connected with the groove of the following plectane of support plate 103, the side of the second steering engine 109 is fixedly mounted on bottom plate 101 in the following, its
The circular hole that motor shaft passes through 102 seat ring of circular hole and thrust bearing above bottom plate 101 is fixedly connected with 102 blowout patche of thrust bearing；
Dovetail groove 104 and first rack gear 105 there are two being set before support plate 103；The intermediate rearward position on bottom plate 101
Equipped with plectane 106, the hemispherical groove of 12 circumferentially arrays, 12 first rollings are equipped on plectane 106
Pearl 107 is rotatably installed in respectively in 12 hemispherical grooves；First steering engine 108 is placed straight up, and side is solid
Dingan County is mounted in bottom plate 101 in the following, its motor shaft passes through the circular hole above bottom plate 101 and plectane 106；Four running gears
110 steering engine is respectively and fixedly installed in the steering engine seat at four angles below bottom plate 101；
The irregular pour storage part 2 includes 201, eight grooves of irregular pour storage part bottom plate
202, eight first hydraulic cylinders 203, the second hydraulic cylinder 206,32 of sliding panel 205,32 of the second plectane 204, eight
207,32 suckers 208 of a first catch bar, the irregular pour storage part bottom plate 201 are positive eight sides
Shape plank, is equipped with the second plectane 204 in its lower section, and the second plectane 204 is fixedly mounted on the motor above the first steering engine 108 below
On axis, the groove below the second plectane 204 is slidably mounted on 12 the first balls 107；In irregular pour storage part
Bottom plate 201 is divided to be equipped with eight grooves 202 at circumference array above, eight 203 cylinder bases of first hydraulic cylinder are fixed respectively to pacify
In eight support plates below irregular pour storage part bottom plate 201, tailpiece of the piston rod respectively with eight sliding panels
Connecting plate below 205 is fixedly connected；Eight sliding panels 205 are slidably mounted on respectively in eight grooves 202；Described
32 second hydraulic cylinders 206 are divided into eight groups, and the cylinder base of every group of four second hydraulic cylinders 206 is respectively and fixedly installed to
At 205 subsequent four angles of each sliding panel, piston rod end is fixed with the connecting plate of four the first catch bars 207 respectively to be connected
It connects；Four circular holes that four first catch bars 207 pass through above sliding panel 205 are fixedly connected with sucker 208；
The coupling part 3 includes 301, two sliding blocks 302 of coupling part bottom plate, stepper motor 303, gear 304, stretches
Contracting mechanism 305,306, two third hydraulic cylinders 307 of the first L shaped plate, fixing seat 308, third steering engine connecting shaft 309, third rudder
Machine 310, the 4th steering engine fixing seat 311, the 4th steering engine 312, third plectane 313；The coupling part bottom plate 301 is one long
Rectangular plank is set on the outside there are two sliding block 302, and two sliding blocks 302 are slidably mounted on respectively in two dovetail grooves 104；Institute
305 one end of telescoping mechanism stated is fixedly mounted on 301 side of coupling part bottom plate, and the other end and 306 outside of the first L shaped plate are solid
Fixed connection；The cylinder base of two third hydraulic cylinders 307 is fixedly mounted on 306 inside of the first L shaped plate, piston rod
End is fixedly connected with fixing seat 308；The third steering engine connecting shaft 309 is rotatably installed in the circular hole above fixing seat 308
In；The third steering engine 310 is horizontal positioned, and side is fixedly mounted in the support plate of 308 side of fixing seat, motor shaft
It is fixedly connected with third steering engine connecting shaft 309 by shaft coupling；The circular hole of the 4th steering engine fixing seat 311 is fixedly mounted on
In third steering engine connecting shaft 309, position is in 308 the inside of fixing seat；The third plectane 313 is fixedly mounted on the 4th steering engine
311 lower end of fixing seat；4th steering engine 312 is fixedly mounted in the groove of the 4th steering engine fixing seat 311, and motor shaft is worn
Cross the groove among third plectane 313；
The pour grasping mechanism 4 includes the 4th plectane 401,14 the second balls 402, circular holes 403, connecting column
404, eight the 4th hydraulic cylinder 405, eight the second L shaped plate, 406,16 the 5th hydraulic cylinders, 407, eight sliding shoes 408, just
409, eight the 6th hydraulic cylinders 411,32 the 6th of the 6th hydraulic cylinder fixed plate 410,32 of octagon plank are hydraulic
412,32 the 7th hydraulic cylinders 415, eight of fixed disc 414,16 of the second catch bar 413,32 of cylinder top plate
Third L shaped plate 416,16 the 8th hydraulic cylinders 417, eight the 4th L shaped plate 418, camera 419, in the 4th plectane 401
It is equipped with circular hole 403 above, is equipped with the hemispherical groove of 14 circumferentially arrays on the 4th plectane 401,14 second
Ball 402 rolls be mounted in 14 hemispherical grooves respectively；404 upper end of connecting column is fixedly mounted on the 4th plectane
401 in the following, octagon plank intermediate above its lower end and octagon plank 409 is fixedly connected；Described eight the 4th
The cylinder base of hydraulic cylinder 405 is respectively and fixedly installed to eight sides of the octagon above octagon plank 409, lives
Stopper rod end is fixedly connected with eight 406 outsides of the second L shaped plate respectively；16 the 5th hydraulic cylinders 407 are divided into
Eight groups, the cylinder base of every group of two the 4th hydraulic cylinders 405 is fixedly mounted on 406 inside of the second L shaped plate, piston rod end
It is fixedly connected with sliding shoe 408；Eight sliding shoes 408 are slidably mounted on eight above octagon plank 409 respectively
In a groove；Eight the 6th hydraulic cylinder fixed plates 410 are respectively and fixedly installed to below eight sliding shoes 408；Described
32 the 6th hydraulic cylinders 411 are divided into eight groups, and the cylinder base of every group of four the 6th hydraulic cylinders 411 is fixedly mounted respectively
At four angles in six hydraulic cylinder fixed plates, 410 outside, piston rod end is fixed with four the 6th hydraulic cylinder top plates 412 respectively to be connected
It connects；32 413 one end of the second catch bar are fixedly mounted on 32 the 6th hydraulic cylinder top plates, 412 inside, and the other end is worn
32 circular holes crossed above eight the 6th hydraulic cylinder fixed plates 410 are fixedly connected with 32 fixed discs 414；16
A 7th hydraulic cylinder 415 is divided into eight groups, and the cylinder base of every group of two the 7th hydraulic cylinders 415 is respectively and fixedly installed to the 6th liquid
In the subsequent support plate of cylinder pressure fixed plate 410, piston rod end is fixedly connected below with third L shaped plate 416；On positive eight side
Middle section is equipped with camera 419 to shape plank 409 below.
Working principle of the present invention: the present invention is reached by four running gears 110 with movement machine first when in use to be needed
The side for carrying pour passes through the stepper motor 303 of coupling part 3,305, two third hydraulic cylinders 307 of telescoping mechanism, the
Three steering engines 310 and the 4th steering engine 312 cooperate to drive pour grasping mechanism 4 to make eight the 6th hydraulic cylinder fixed plates 410
The surrounding of pour is reached, is shunk by 32 the 6th hydraulic cylinders 411 drive 32 the second catch bars 413 in next step
And then 32 fixed discs 414 is driven to fix pour, pour band is got up certain distance by coupling part 3,
It is cooperated in next step by 16 the 8th hydraulic cylinders 417 of the 7th hydraulic cylinder 415 and 16 and drives the 4th L shaped plate 418
It reaches below pour and plays the role of a support, it in next step will by coupling part 3 and the work of pour grasping mechanism 4
Pour is put into above the irregular pour storage part bottom plate 201 of irregular pour storage part 2, passes through eight in next step
A first hydraulic cylinder 203 and 32 second hydraulic cylinder 206 cooperates to drive 32 suckers 208 that will irregularly pour
It builds block to fix, pour is driven into designated position by four running gears 110.
In the description of the present invention, it should be noted that the instruction such as term " on ", "lower", "front", "rear", "left", "right"
Orientation or positional relationship be based on the orientation or positional relationship shown in the drawings or the invention product using when usually put
Orientation or positional relationship, be merely for convenience of description of the present invention and simplification of the description, rather than the device of indication or suggestion meaning
Or element must have a particular orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.
In addition, term " first ", " second ", " third " etc. are only used for distinguishing description, it is not understood to indicate or imply relatively important
Property.
Claims (5)
1. a kind of irregular casting transfer robot, including pedestal (1), irregular pour storage part (2), coupling part
(3), pour grasping mechanism (4), it is characterised in that: the second plectane (204) of the irregular pour storage part (2)
It is fixedly mounted on the motor shaft of the first steering engine (108) below, the groove of the second plectane (204) below is slidably mounted on 12
On first ball (107)；Two sliding blocks (302) of the coupling part (3) are slidably mounted on two dovetail grooves (104) respectively
In, gear (304) and the first rack gear (105) are intermeshed；The fixed peace of the circular hole (403) of the pour grasping mechanism (4)
On the steering engine of the 4th steering engine (312), 14 the second balls (402), which roll, is mounted on third plectane (313) below recessed
In slot.
2. a kind of irregular casting transfer robot according to claim 1, it is characterised in that: pedestal (1) packet
Include bottom plate (101), thrust bearing (102), support plate (103), two dovetail grooves (104), the first rack gear (105), plectane
(106), 12 the first balls (107), the first steering engine (108), the second steering engine (109), four running gears (110) are described
Bottom plate (101) be a rectangle plank, it is forward above that the seat ring of thrust bearing (102) is fixedly mounted on bottom plate (101)
The groove of position, blowout patche and support plate (103) plectane below is fixedly connected, and the side of the second steering engine (109) is fixedly mounted on
Bottom plate (101) is in the following, its motor shaft passes through the circular hole and thrust of the circular hole and thrust bearing (102) seat ring of bottom plate (101) above
Bearing (102) blowout patche is fixedly connected；Dovetail groove (104) and first rack gear there are two being set before support plate (103)
(105)；In bottom plate (101), intermediate rearward position is equipped with plectane (106) above, and being equipped with 12 above in plectane (106) is in
The hemispherical groove of circumference array, 12 first balls (107) are rotatably installed in 12 hemispherical grooves respectively
In；First steering engine (108) is placed straight up, and side is fixedly mounted on bottom plate (101) in the following, its motor shaft passes through
The circular hole of bottom plate (101) and plectane (106) above；The steering engine of four running gears (110) is respectively and fixedly installed to bottom
In steering engine seat at four angles of plate (101) below.
3. a kind of irregular casting transfer robot according to claim 1, it is characterised in that: described irregularly pours
Block storage part (2) includes irregular pour storage part bottom plate (201), eight grooves (202), eight first hydraulic cylinders
(203), the second plectane (204), eight sliding panels (205), 32 second hydraulic cylinders (206), 32 the first promotions
Bar (207), 32 suckers (208), the irregular pour storage part bottom plate (201) is an octagon plate
Son is equipped with the second plectane (204) in its lower section, and the second plectane (204) is fixedly mounted on the electricity of the first steering engine (108) above below
On arbor, the groove of the second plectane (204) below is slidably mounted on 12 the first balls (107)；In irregular pour
Storage part bottom plate (201) is equipped with eight grooves (202) at circumference array, eight first hydraulic cylinder (203) cylinder body bottoms above
Portion is respectively and fixedly installed in eight support plates of irregular pour storage part bottom plate (201) below, tailpiece of the piston rod point
It is not fixedly connected with the connecting plate of eight sliding panels (205) below；Eight sliding panels (205) are slidably mounted on eight respectively
A groove (202) is inner；32 second hydraulic cylinders (206) are divided into eight groups, every group of four second hydraulic cylinders (206)
Cylinder base be respectively and fixedly installed at subsequent four angles of each sliding panel (205), piston rod end respectively with four
The connecting plate of first catch bar (207) is fixedly connected；Four first catch bars (207) pass through sliding panel (205) above
Four circular holes be fixedly connected with sucker (208).
4. a kind of irregular casting transfer robot according to claim 1, it is characterised in that: the coupling part
(3) include coupling part bottom plate (301), two sliding blocks (302), stepper motor (303), gear (304), telescoping mechanism (305),
First L shaped plate (306), two third hydraulic cylinders (307), fixing seat (308), third steering engine connecting shaft (309), third steering engine
(310), the 4th steering engine fixing seat (311), the 4th steering engine (312), third plectane (313)；The coupling part bottom plate (301)
It is a rectangle plank, is set on the outside there are two sliding block (302), two sliding blocks (302) are slidably mounted on two swallows respectively
Stern notch (104) is inner；Described telescoping mechanism (305) one end is fixedly mounted on coupling part bottom plate (301) side, the other end and
It is fixedly connected on the outside of one L shaped plate (306)；The cylinder base of two third hydraulic cylinders (307) is fixedly mounted on the first L
On the inside of shape plank (306), piston rod end is fixedly connected with fixing seat (308)；The third steering engine connecting shaft (309) turns
It is dynamic to be mounted in the circular hole of fixing seat (308) above；The third steering engine (310) is horizontal positioned, and side is fixedly mounted on
In the support plate of fixing seat (308) side, motor shaft is fixedly connected with third steering engine connecting shaft (309) by shaft coupling；Institute
The circular hole for the 4th steering engine fixing seat (311) stated is fixedly mounted in third steering engine connecting shaft (309), and position is in fixing seat
(308) the inside；The third plectane (313) is fixedly mounted on the 4th steering engine fixing seat (311) lower end；4th steering engine
(312) it is fixedly mounted in the groove of the 4th steering engine fixing seat (311), motor shaft passes through recessed among third plectane (313)
Slot.
5. a kind of irregular casting transfer robot according to claim 1, it is characterised in that: the pour crawl
Mechanism (4) includes the 4th plectane (401), 14 the second balls (402), circular hole (403), connecting column (404), eight the 4th liquid
Cylinder pressure (405), eight the second L shaped plates sub (406), 16 the 5th hydraulic cylinders (407), eight sliding shoes (408), octagons
Plank (409), eight the 6th hydraulic cylinder fixed plates (410), 32 the 6th hydraulic cylinders (411), 32 it is the 6th hydraulic
Cylinder top plate (412), 32 the second catch bars (413), 32 fixed discs (414), 16 the 7th hydraulic cylinders
(415), eight third L shaped plates sub (416), 16 the 8th hydraulic cylinders (417), eight the 4th L shaped plates are sub (418), the 4th
Plectane (401) is equipped with circular hole (403) above, recessed in the hemispherical that the 4th plectane (401) is equipped with 14 circumferentially arrays above
Slot, 14 the second balls (402) roll be mounted in 14 hemispherical grooves respectively；Described connecting column (404) upper end
Be fixedly mounted on the 4th plectane (401) in the following, its lower end and octagon plank (409) intermediate octagon plank is solid above
Fixed connection；The cylinder base of eight the 4th hydraulic cylinders (405) is respectively and fixedly installed to octagon plank (409) above
Octagon eight sides, piston rod end is fixedly connected on the outside of eight the second L shaped plates sub (406) respectively；It is described
16 the 5th hydraulic cylinders (407) be divided into eight groups, the cylinder base of every group two the 4th hydraulic cylinders (405) is fixedly mounted on
On the inside of second L shaped plate (406), piston rod end is fixedly connected with sliding shoe (408)；Eight sliding shoes (408)
It is slidably mounted in eight grooves of octagon plank (409) above respectively；Eight the 6th hydraulic cylinder fixed plates
(410) eight sliding shoes (408) are respectively and fixedly installed to below；32 the 6th hydraulic cylinders (411) are divided into eight
Four on the outside of the 6th hydraulic cylinder fixed plate (410) are fixedly mounted in group, the cylinder base of every group four the 6th hydraulic cylinders (411) respectively
At a angle, piston rod end is fixedly connected with four the 6th hydraulic cylinder top plates (412) respectively；32 the second catch bars
(413) one end is fixedly mounted on the inside of 32 the 6th hydraulic cylinder top plates (412), and it is solid that the other end passes through eight the 6th hydraulic cylinders
32 circular holes of fixed board (410) above are fixedly connected with 32 fixed discs (414)；16 the 7th hydraulic cylinders
(415) eight groups are divided into, the cylinder base of every group two the 7th hydraulic cylinders (415) is respectively and fixedly installed to the 6th hydraulic cylinder and fixes
In plate (410) subsequent support plate, piston rod end is fixedly connected below with third L shaped plate sub (416)；In octagon plate
Sub (409) middle section is equipped with camera (419) below.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811122435.8A CN108942991A (en) | 2018-09-26 | 2018-09-26 | A kind of irregular casting transfer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811122435.8A CN108942991A (en) | 2018-09-26 | 2018-09-26 | A kind of irregular casting transfer robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108942991A true CN108942991A (en) | 2018-12-07 |
Family
ID=64470989
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811122435.8A Pending CN108942991A (en) | 2018-09-26 | 2018-09-26 | A kind of irregular casting transfer robot |
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| Country | Link |
|---|---|
| CN (1) | CN108942991A (en) |
Cited By (1)
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Application publication date: 20181207 |