CN110052010B - Casting robot and casting method - Google Patents

Abstract

The throwing robot comprises a base, a damping wheel assembly, a bearing wheel assembly, a clamping and transferring device and a throwing device; the damping wheel assembly is arranged at a first corner and a third corner of the base, and the bearing wheel assembly is arranged at a second corner and a fourth corner of the base; the clamping and transferring device comprises two sub-mechanisms symmetrically arranged at two sides of the base; the sub-mechanism comprises a vertical moving assembly, a horizontal moving assembly and a clamping assembly; the throwing device is positioned between the two sub-mechanisms of the clamping and transferring device and comprises a supporting frame, a swinging frame and a driving assembly. The casting method is applied to the casting robot and comprises the following steps: 1, controlling two cylinders A to clamp an object; 2, moving the object to the position right above the supporting plate; and 3, controlling the swinging frame to do arc track estimation motion around the hinge point, and throwing out the object on the supporting plate. The invention can realize clamping, transferring and throwing of objects, the clamping force, the clamping speed and the clamping position of the objects can be adjusted, and the invention can adapt to the clamping requirements of the objects in different scenes.

Description

Casting robot and casting method

Technical Field

The invention relates to the technical field of robots, in particular to a casting robot and a casting method.

Background

In the teaching of football and volleyball, the receiving action of students (or students) needs repeated training to reach proficiency. At present, in the ball receiving training of football and volleyball, a manual ball serving mode is generally adopted. The repeated single action is easy to cause fatigue of a pitching machine, in addition, the force, direction and ejection angle of manual pitching often cannot be accurately controlled, and perfect training effect is difficult to achieve.

In some application scenes requiring throwing (throwing) materials in a medium and long distance, the falling point cannot be accurately controlled by adopting manpower throwing, or the falling point cannot be thrown due to the fact that the falling point is required to be too far away, inconvenience is brought to throwing (throwing) operation, and in addition, if the materials contain substances harmful to human health, the human throwing can bring health hidden danger to operators.

Therefore, the development of the throwing robot capable of replacing manpower has great promotion significance for teaching of volleyball and middle-long distance throwing (throwing) operation, but unfortunately, no such robot is found in the market at present.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provide a throwing robot and a throwing method, which solve the problems that in the prior ball receiving training of feet and volleyball, the man-powered pitching easily causes fatigue of a pitching person, the force, the direction and the ejection angle of the man-powered pitching cannot be accurately controlled, and the problem that in the application scene of throwing (throwing) materials in a medium and long distance, the dropping point cannot be accurately controlled by adopting the man-powered throwing is solved.

The technical scheme of the invention is as follows: the throwing robot comprises a base, a damping wheel assembly, a bearing wheel assembly, a clamping and transferring device and a throwing device;

the base is square, and four corners of the base are sequentially defined as a first corner, a second corner, a third corner and a fourth corner in a clockwise sequence;

the damping wheel assembly is arranged at a first corner and a third corner of the base, and the bearing wheel assembly is arranged at a second corner and a fourth corner of the base;

the clamping and transferring device comprises two sub-mechanisms symmetrically arranged at two opposite sides of the base; the sub-mechanism comprises a vertical moving assembly, a horizontal moving assembly and a clamping assembly; the clamping component is arranged on the transverse moving component and driven by the transverse moving component to do reciprocating linear motion in the horizontal direction; the transverse moving assembly is arranged on the vertical moving assembly and driven by the vertical moving assembly to do reciprocating linear motion in the vertical direction; the vertical moving assembly is arranged on the base;

the throwing device is arranged on the base and positioned between the two sub-mechanisms of the clamping and transferring device, and comprises a supporting frame, a swinging frame and a driving assembly; the support frame is arranged on the base; the swing frame is hinged to the upper end of the support frame and can rotate in a vertical plane around the hinged position; the driving component is associated with the swing frame to drive the swing frame to rotate around the hinge; the swing frame is provided with a supporting plate for placing objects to be thrown.

The invention further adopts the technical scheme that: the bearing wheel assembly comprises an omnidirectional wheel A, a shaft seat A and a driving motor A; the omnidirectional wheel A is movably arranged on the shaft seat A, the shaft seat A is fixedly arranged on the base, and the driving motor A is arranged on the base and connected with the omnidirectional wheel A so as to drive the omnidirectional wheel A to rotate;

the damping wheel assembly comprises an arch frame, a hinge, a spring, an omnidirectional wheel B, a shaft seat B, a driving motor B and a mounting plate; the arch frame is fixedly arranged on the base, a first page of the hinge is fixedly arranged on the arch frame, a second page is a rotatable free page, the mounting plate is fixedly connected on the second page of the hinge, the upper end of the spring is connected on the arch frame, the lower end of the spring is connected on the mounting plate, the omnidirectional wheel B is movably arranged on the shaft seat B, the shaft seat B is fixedly arranged at the lower end of the mounting plate, and the driving motor B is arranged on the shaft seat B and is connected with the omnidirectional wheel B to drive the omnidirectional wheel B to rotate;

the omni-wheels A of the two bearing wheel assemblies are arranged in parallel, and the omni-wheels B of the two damping wheel assemblies are arranged in parallel perpendicular to the omni-wheels A.

The invention further adopts the technical scheme that: the vertical moving assembly comprises a guide frame, a driven wheel A, a shaft seat C, a driving motor C, a driving wheel A, a synchronous belt A, a sliding block and a connecting block A; the guide frame comprises two vertical rods which are arranged in parallel, a lower cross rod connected to the lower ends of the two vertical rods and an upper cross rod connected to the upper ends of the two vertical rods, and the lower cross rod is fixedly connected to the base; the driven wheel A is movably arranged on the shaft seat C; the shaft seat C is fixedly arranged on a lower cross rod of the guide frame; the driving motor C is fixedly arranged on an upper cross rod of the guide frame; the driving wheel A is fixedly connected to the shaft of the driving motor C and is positioned right above the driven wheel A; the synchronous belt A is wound between the driving wheel A and the driven wheel A; the sliding blocks are movably sleeved on the two vertical rods of the guide frame; the connecting block A is fixedly connected with the synchronous belt A and the sliding block at the same time, and the connecting block A and the synchronous belt A do reciprocating linear motion in the vertical direction, so that the sliding block is driven to do reciprocating linear motion in the vertical direction;

the transverse moving assembly comprises a horizontal rod, a guide block, a driving motor D, a shaft seat D, a driving wheel B, a driven wheel B, a synchronous belt B and a connecting block B; two ends of the horizontal rod are respectively movably sleeved on the guide block; the two guide blocks are fixedly connected to the two ends of the sliding block respectively and are at the same height; the driving motor D and the shaft seat D are fixedly arranged on the sliding block; the driving wheel B is fixedly connected to the shaft of the driving motor D; the driven wheel B is movably arranged on the shaft seat D and is at the same height as the driving wheel B; the synchronous belt B is wound between the driving wheel B and the driven wheel B; the connecting block B is fixedly connected with the synchronous belt B and the horizontal rod at the same time, and the connecting block B and the synchronous belt B do reciprocating rectilinear motion in the horizontal direction, so that the horizontal rod is driven to do reciprocating rectilinear motion in the horizontal direction;

the clamping assembly comprises a gas cylinder, a gas cylinder A, a solenoid valve A, a pressure reducing valve A, a flow valve A and an action executing piece; the gas cylinder is fixedly arranged on the base, an inner cavity for containing compressed air is formed in the gas cylinder, an air inlet A and an air outlet A which are communicated to the inner cavity are formed in the outer wall of the gas cylinder, and an air pressure gauge A is arranged on the air outlet A; the cylinder A is fixedly connected to the end of the horizontal rod and comprises a cylinder body A, a piston A and a piston rod A, wherein the piston A is movably arranged in an inner cavity of the cylinder body A and divides the inner cavity of the cylinder body A into a rod cavity A and a rodless cavity A, an air inlet and outlet A communicated with the rod cavity A and an air inlet and outlet B communicated with the rodless cavity A are arranged on the outer wall of the cylinder body A, the rear end of the piston rod A is fixedly connected to the piston A and is positioned in the rod cavity A, and the front end of the piston rod A extends out of the rod cavity A; the electromagnetic valve A is a two-position five-way electromagnetic valve, an inlet A, an outlet B, an exhaust port A and an exhaust port B are arranged on the electromagnetic valve A, the inlet A is communicated with an air outlet A of the air bottle through a pipeline, the outlet A is communicated with an air inlet end of the pressure reducing valve A through a pipeline, the outlet B is communicated with an air inlet A of the air cylinder A through a pipeline, the exhaust port A is communicated with the outlet A in one direction, the air entering the electromagnetic valve A from the outlet A is only discharged through the exhaust port A, the exhaust port B is communicated with the outlet B in one direction, and the air entering the electromagnetic valve A from the outlet B is only discharged through the exhaust port B; the air outlet end of the pressure reducing valve A is communicated with the air inlet end of the flow valve A through a pipeline, and the air outlet end of the flow valve A is communicated with the air inlet and outlet port B of the cylinder A through a pipeline; the action executing piece is connected to the front end of the piston rod A of the cylinder A, and the action executing piece is a flat plate.

The invention further adopts the technical scheme that: the action executing pieces of the two clamping assemblies are opposite to each other; the clamping and transferring device further comprises a rigid frame in an n shape, and two ends of the rigid frame are fixedly connected to the cylinder body A of the cylinder A of the two clamping assemblies respectively.

The invention further adopts the technical scheme that: an air outlet B communicated to the inner cavity of the air cylinder is arranged on the outer wall of the air cylinder, and an air pressure gauge B is arranged on the air outlet B;

the driving assembly comprises a cylinder B, an electromagnetic valve B, a pressure reducing valve B and a flow valve B; the cylinder B is fixedly arranged on the base and comprises a cylinder body B, a piston B and a piston rod B, wherein the piston B is movably arranged in an inner cavity of the cylinder body B and divides the inner cavity of the cylinder body B into a rod cavity B and a rodless cavity B, an air inlet and outlet C communicated with the rod cavity B and an air inlet and outlet D communicated with the rodless cavity B are arranged on the outer wall of the cylinder body B, the rear end of the piston rod B is fixedly connected to the piston B and is positioned in the rod cavity B, and the front end of the piston rod B extends out of the rod cavity B and is hinged with the swinging frame; the electromagnetic valve B is a two-position five-way electromagnetic valve, an inlet B, an outlet C, an outlet D, an exhaust port C and an exhaust port D are arranged on the electromagnetic valve B, the inlet B is communicated with an air outlet B of the air bottle through a pipeline, the outlet C is communicated with an air inlet end of the pressure reducing valve B through a pipeline, the outlet D is communicated with an air inlet and outlet C of the air bottle B through a pipeline, the exhaust port C is communicated with the outlet C in a unidirectional manner, gas entering the electromagnetic valve B from the outlet C is only discharged through the exhaust port C, the exhaust port D is communicated with the outlet D in a unidirectional manner, and gas entering the electromagnetic valve B from the outlet D is only discharged through the exhaust port D; the air outlet end of the pressure reducing valve B is communicated with the air inlet end of the flow valve B through a pipeline, and the air outlet end of the flow valve B is communicated with the air inlet and outlet port D of the cylinder B through a pipeline.

The technical scheme of the invention is as follows: the casting method is applied to the casting robot and comprises the following steps of:

s01, placing an object to be clamped between two action execution pieces of the clamping and transferring device, and then controlling piston rods A of two cylinders A to synchronously extend to clamp the object;

in the step, a flow valve A is controlled to adjust the clamping speed, a pressure reducing valve A is controlled to adjust the clamping force, and the energizing time of an electromagnetic valve A is controlled to adjust the extending length of a piston rod A of a cylinder A;

s02, controlling the vertical moving assemblies and the horizontal moving assemblies of the two sub-mechanisms to synchronously move, and moving the object to the position right above the supporting plate;

in the step, a driving motor C is started to control the sliding block to vertically lift and move, and a driving motor D is started to control the horizontal rod to horizontally reciprocate;

s03, controlling piston rods A of two air cylinders A to retract synchronously, enabling objects to fall on a supporting plate, then controlling piston rods B of the air cylinders B to extend, enabling the swinging frame to move upwards in an arc track around a hinge point, enabling objects placed on the supporting plate to move in the arc track along with the swinging frame, and enabling the objects on the supporting plate to be thrown out under the inertia effect when the swinging frame stops moving;

in the step, the aim of adjusting the extension length of the piston rod B of the air cylinder B is fulfilled by controlling the energizing time of the electromagnetic valve B, so that the adjustment of the projection angle of the object is realized; the purpose of controlling the extending speed of the piston rod B of the air cylinder B is achieved by adjusting the ventilation quantity of the flow valve B, so that the adjustment of the throwing force of the object is further achieved; the purposes of controlling the movement and the steering of the bottom plate are achieved by controlling the running states of the driving motor A and the driving motor B, and then the adjustment of the casting location and the casting direction is achieved.

Compared with the prior art, the invention has the following advantages:

1. the throwing robot can realize clamping, transferring and throwing of objects, has wide application prospect, and the shock absorption wheel assembly is arranged at the lower end of the base, so that shock in the moving process of the throwing robot can be effectively reduced.

2. The two sub-mechanisms of the throwing robot can jointly operate to clamp objects, clamping force, clamping speed and clamping position of the throwing robot can be adjusted, and the throwing robot can adapt to object clamping requirements under different scenes.

3. The action executing parts of the two sub-mechanisms of the throwing robot can be replaced, so that the object clamping requirements under different scenes can be met. For example, ferromagnetic objects may be attracted when the motion actuator is replaced with an electromagnet, and irregularly shaped objects may be grasped when the motion actuator is replaced with a mechanical jaw.

4. The projection angle of the object can be adjusted by controlling the electromagnetic valve B, the projection force of the object (namely, the projection distance) can be adjusted by adjusting the flow valve B, and the projection place and the projection direction can be adjusted by controlling the running states of the driving motor A and the driving motor B.

The invention is further described below with reference to the drawings and examples.

Drawings

FIG. 1 is a schematic diagram of the structure of the present invention;

FIG. 2 is a schematic illustration of the connection of a base, a damper wheel assembly, and a load bearing wheel assembly;

FIG. 3 is a schematic view of the relationship between the gripping and transferring device and the projectile device;

fig. 4 is a schematic diagram of connection relation of air path elements related to the air cylinder a and the air cylinder B.

Detailed Description

Example 1:

as shown in fig. 1-4, the throwing robot comprises a base 1, a damping wheel assembly, a bearing wheel assembly, a clamping and transferring device and a throwing device;

the base 1 is square, and four corners thereof are sequentially defined as a first corner, a second corner, a third corner and a fourth corner in a clockwise order.

The damping wheel assemblies are arranged at a first angle and a third angle of the base 1, and the bearing wheel assemblies are arranged at a second angle and a fourth angle of the base 1. The damping wheel assembly comprises an arch frame 21, a hinge 22, a spring 23, an omni-wheel B24, a shaft seat B25, a driving motor B26 and a mounting plate 27. The arch frame 21 is fixedly arranged on the base 1, a first page of the hinge 22 is fixedly arranged on the arch frame 21, a second page is a rotatable free page, the mounting plate 27 is fixedly connected on the second page of the hinge 22, the upper end of the spring 23 is connected on the arch frame 21, the lower end of the spring is connected on the mounting plate 27, the omnidirectional wheel B24 is movably arranged on the shaft seat B25, the shaft seat B25 is fixedly arranged at the lower end of the mounting plate 27, the driving motor B26 is arranged on the shaft seat B25 and is connected with the omnidirectional wheel B24 so as to drive the omnidirectional wheel B24 to rotate. The bearing wheel assembly comprises an omnidirectional wheel A31, a shaft seat A32 and a driving motor A33. The omnidirectional wheel A31 is movably arranged on the shaft seat A32, the shaft seat A32 is fixedly arranged on the base 1, and the driving motor A33 is arranged on the base 1 and is connected with the omnidirectional wheel A31 to drive the omnidirectional wheel A31 to rotate. The omni-wheels a31 of the two bearing wheel assemblies are arranged in parallel, and the omni-wheels B24 of the two damping wheel assemblies are both arranged perpendicular to the omni-wheels a31 and parallel to each other. The moving direction of the base 1 is controlled by the driving motor A33 and the driving motor B26 together, the two driving motors A33 are used for controlling the rotation of the two omnidirectional wheels A31, the two driving motors B26 are used for controlling the rotation of the two omnidirectional wheels B24, and when the driving motors A33 and B26 are started together, the straight running or the steering of the base 1 can be realized through the vector synthesis of the moving directions.

The clamping and transferring device comprises two sub-mechanisms symmetrically arranged at two opposite sides of the base 1. The sub-mechanism comprises a vertical moving assembly, a horizontal moving assembly and a clamping assembly. The clamping component is arranged on the transverse moving component and driven by the transverse moving component to do reciprocating linear motion in the horizontal direction. The transverse moving assembly is arranged on the vertical moving assembly and driven by the vertical moving assembly to do reciprocating linear motion in the vertical direction. The vertical movement assembly is mounted on the base 1.

The vertical moving assembly comprises a guide frame 41, a driven wheel A42, a shaft seat C43, a driving motor C44, a driving wheel A45, a synchronous belt A46, a sliding block 47 and a connecting block A48. The guide frame 41 comprises two vertical rods 411 which are arranged in parallel, a lower cross rod 412 which is connected to the lower ends of the two vertical rods 411, and an upper cross rod 413 which is connected to the upper ends of the two vertical rods 411, wherein the lower cross rod 412 is fixedly connected to the base 1. Driven wheel A42 is movably mounted on axle seat C43. The shaft seat C43 is fixedly mounted on the lower cross bar 412 of the guide frame 41. The driving motor C44 is fixedly installed on the upper cross bar 413 of the guide frame 41. The driving wheel A42 is fixedly connected to the shaft of the driving motor C44 and is positioned right above the driven wheel A42. The timing belt a46 is wound between the driving pulley a45 and the driven pulley a 42. The slide blocks 47 are movably sleeved on the two vertical rods 411 of the guide frame 41. The connecting block A48 is fixedly connected with the synchronous belt A46 and the sliding block 47 at the same time, and the connecting block A and the synchronous belt A46 do reciprocating rectilinear motion in the vertical direction, so that the sliding block 47 is driven to do reciprocating rectilinear motion in the vertical direction.

The transverse moving assembly comprises a horizontal rod 51, a guide block 52, a driving motor D53, a shaft seat D54, a driving wheel B55, a driven wheel B56, a synchronous belt B57 and a connecting block B58. Both ends of the horizontal rod 51 are respectively movably sleeved on the guide blocks 52. The two guide blocks 52 are fixedly connected to the two ends of the slide block 47 respectively and are at the same height. The driving motor D53 and the shaft seat D54 are fixedly arranged on the sliding block 47. The driving wheel B55 is fixedly connected to the shaft of the driving motor D53. The driven wheel B56 is movably arranged on the shaft seat D54 and is at the same height as the driving wheel B55. The timing belt B57 is wound between the primary pulley B55 and the secondary pulley B56. The connecting block B58 is fixedly connected with the synchronous belt B57 and the horizontal rod 51 at the same time, and the connecting block B and the synchronous belt B57 do reciprocating rectilinear motion in the horizontal direction, so that the horizontal rod 51 is driven to do reciprocating rectilinear motion in the horizontal direction.

The clamping assembly includes a gas cylinder 61, a flow valve a62, a gas cylinder a63, a solenoid valve a64, a pressure reducing valve a65, and an actuation actuator 66. The gas cylinder 61 is fixedly arranged on the base 1, an inner cavity for containing compressed air is formed in the gas cylinder, an air inlet A611, an air outlet A612 and an air outlet B613 which are communicated to the inner cavity are formed in the outer wall of the gas cylinder, an air pressure meter A614 is arranged on the air outlet A612, and an air pressure meter B615 is arranged on the air outlet B613. The cylinder A63 is fixedly connected to the end of the horizontal rod 51 and comprises a cylinder A631, a piston A632 and a piston rod A633, the piston A632 is movably arranged in the inner cavity of the cylinder A631 and divides the inner cavity of the cylinder A631 into a rod cavity A6311 and a rodless cavity A6312, an air inlet and outlet A6313 communicated to the rod cavity A6311 and an air inlet and outlet B6314 communicated to the rodless cavity A6312 are arranged on the outer wall of the cylinder A631, the rear end of the piston rod A633 is fixedly connected to the piston A632 and is positioned in the rod cavity A6311, and the front end of the piston rod A633 extends out of the rod cavity A6311. The electromagnetic valve a64 is a two-position five-way electromagnetic valve, and is provided with an inlet a641, an outlet a642, an outlet B643, an exhaust port a644 and an exhaust port B645, wherein the inlet a641 is communicated with the air outlet a612 of the air cylinder 61 through a pipeline, the outlet a642 is communicated with the air inlet end of the pressure reducing valve a65 through a pipeline, the outlet B643 is communicated with the air inlet A6313 of the air cylinder a63 through a pipeline, the exhaust port a644 is communicated with the outlet a642 in one direction, the air entering the electromagnetic valve a64 from the outlet a642 is discharged only through the exhaust port a644, the exhaust port B645 is communicated with the outlet B643 in one direction, and the air entering the electromagnetic valve a64 from the outlet B643 is discharged only through the exhaust port B645. The air outlet end of the pressure reducing valve A65 is communicated with the air inlet end of the flow valve A62 through a pipeline, and the air outlet end of the flow valve A62 is communicated with the air inlet and outlet port B6314 of the cylinder A63 through a pipeline. The operation actuator 66 is connected to the front end of the piston rod a633 of the cylinder a63, and the operation actuator 66 is a flat plate.

The projectile device is arranged on the base 1 and is positioned between the two sub-mechanisms of the clamping and transferring device, and comprises a supporting frame 71, a swinging frame 72 and a driving component. The support 71 is mounted on the base 1. The swing frame 72 is hinged to the upper end of the support frame 71 and is rotatable in a vertical plane about the hinge. A drive assembly is associated with the swing frame 72 to drive the swing frame 72 about the hinge. The swing frame 72 is provided with a pallet 721 for placing the object to be cast. The drive assembly includes a cylinder B73, a solenoid valve B74, a pressure reducing valve B75, and a flow valve B76. The cylinder B73 is fixedly arranged on the base 1 and comprises a cylinder body B731, a piston B732 and a piston rod B733, the piston B732 is movably arranged in the inner cavity of the cylinder body B731 and divides the inner cavity of the cylinder body B731 into a rod cavity B7311 and a rodless cavity B7312, an air inlet C7313 communicated with the rod cavity B7311 and an air inlet D7314 communicated with the rodless cavity B7312 are arranged on the outer wall of the cylinder body B731, the rear end of the piston rod B732 is fixedly arranged on the piston B732 and is positioned in the rod cavity B7311, and the front end of the piston rod B732 extends out of the rod cavity B7311 and is hinged with the swinging frame 72. The electromagnetic valve B74 is a two-position five-way electromagnetic valve, and is provided with an inlet B741, an outlet C742, an outlet D743, an exhaust port C744 and an exhaust port D745, wherein the inlet B741 is communicated with the outlet B613 of the gas cylinder 61 through a pipeline, the outlet C742 is communicated with the air inlet end of the pressure reducing valve B75 through a pipeline, the outlet D743 is communicated with the air inlet C7313 of the cylinder B73 through a pipeline, the exhaust port C744 is in unidirectional communication with the outlet C742, the gas entering the electromagnetic valve B74 from the outlet C742 is only discharged through the exhaust port C744, the exhaust port D745 is in unidirectional communication with the outlet D743, and the gas entering the electromagnetic valve B74 from the outlet D743 is only discharged through the exhaust port D745. The air outlet end of the pressure reducing valve B75 is communicated with the air inlet end of the flow valve B76 through a pipeline, and the air outlet end of the flow valve B76 is communicated with the air inlet and outlet port D7314 of the cylinder B73 through a pipeline.

Preferably, the action actuators 66 of the two clamping assemblies are facing each other. The clamping and transferring device further comprises a rigid frame 100 with an n-shaped structure, two ends of the rigid frame 100 are fixedly connected to the cylinder A631 of the cylinder A63 of the two clamping assemblies respectively, and deformation of the two horizontal rods 51 during clamping of objects can be effectively reduced.

Brief description of the working process of the invention:

s01, placing an object to be clamped between two action executing pieces 66 of the clamping and transferring device, and then controlling piston rods A633 of two cylinders A63 to synchronously extend to clamp the object;

in this step, the flow valve a614 is controlled to adjust the clamping speed, the pressure reducing valve a65 is controlled to adjust the clamping force, and the energization time of the solenoid valve a64 is controlled to adjust the extension length of the piston rod a633 of the cylinder a 63.

S02, controlling the vertical moving assemblies and the horizontal moving assemblies of the two sub-mechanisms to synchronously move, and moving the object to the position right above the supporting plate;

in this step, the driving motor C44 is started to control the vertical elevating movement of the slider 47, and the driving motor D53 is started to control the horizontal reciprocating movement of the horizontal bar 51.

S03, controlling piston rods A633 of two air cylinders A63 to retract synchronously, enabling objects to fall on the supporting plate 721, then controlling a piston rod B733 of an air cylinder B73 to extend, enabling the swinging frame 72 to move upwards in an arc track around a hinge point, enabling objects placed on the supporting plate 721 to move in the arc track along with the swinging frame 72, and enabling the objects on the supporting plate 721 to be thrown out under the inertia effect when the swinging frame 72 stops moving;

in the step, the aim of adjusting the extension length of a piston rod B733 of a cylinder B73 is fulfilled by controlling the energizing time of an electromagnetic valve B74, so that the projection angle of an object is adjusted; the purpose of controlling the extending speed of the piston rod B733 of the air cylinder B73 is achieved by adjusting the ventilation quantity of the flow valve B615, so that the object throwing force (namely, the throwing distance) is adjusted; the purposes of controlling the movement and the steering of the bottom plate are achieved by controlling the running states of the driving motor A33 and the driving motor B26, and then the adjustment of the casting location and the casting direction is achieved.

Claims (2)

1. The cast robot is characterized in that: comprises a base, a damping wheel assembly, a bearing wheel assembly, a clamping and transferring device and a throwing device;

the base is square, and four corners of the base are sequentially defined as a first corner, a second corner, a third corner and a fourth corner in a clockwise sequence;

the damping wheel assembly is arranged at a first corner and a third corner of the base; the damping wheel assembly comprises an arch frame, a hinge, a spring, an omnidirectional wheel B, a shaft seat B, a driving motor B and a mounting plate; the arch frame is fixedly arranged on the base, a first page of the hinge is fixedly arranged on the arch frame, a second page is a rotatable free page, the mounting plate is fixedly connected on the second page of the hinge, the upper end of the spring is connected on the arch frame, the lower end of the spring is connected on the mounting plate, the omnidirectional wheel B is movably arranged on the shaft seat B, the shaft seat B is fixedly arranged at the lower end of the mounting plate, and the driving motor B is arranged on the shaft seat B and is connected with the omnidirectional wheel B to drive the omnidirectional wheel B to rotate; the bearing wheel assembly is arranged at the second corner and the fourth corner of the base; the bearing wheel assembly comprises an omnidirectional wheel A, a shaft seat A and a driving motor A; the omnidirectional wheel A is movably arranged on the shaft seat A, the shaft seat A is fixedly arranged on the base, and the driving motor A is arranged on the base and connected with the omnidirectional wheel A so as to drive the omnidirectional wheel A to rotate; the omni-directional wheels A of the two bearing wheel assemblies are arranged in parallel, and the omni-directional wheels B of the two damping wheel assemblies are arranged in parallel perpendicular to the omni-directional wheels A;

the clamping and transferring device comprises two sub-mechanisms symmetrically arranged at two opposite sides of the base; the sub-mechanism comprises a vertical moving assembly, a horizontal moving assembly and a clamping assembly; the clamping component is arranged on the transverse moving component and driven by the transverse moving component to do reciprocating linear motion in the horizontal direction; the transverse moving assembly is arranged on the vertical moving assembly and driven by the vertical moving assembly to do reciprocating linear motion in the vertical direction;

the vertical moving assembly is arranged on the base; the vertical moving assembly comprises a guide frame, a driven wheel A, a shaft seat C, a driving motor C, a driving wheel A, a synchronous belt A, a sliding block and a connecting block A; the guide frame comprises two vertical rods which are arranged in parallel, a lower cross rod connected to the lower ends of the two vertical rods and an upper cross rod connected to the upper ends of the two vertical rods, and the lower cross rod is fixedly connected to the base; the driven wheel A is movably arranged on the shaft seat C; the shaft seat C is fixedly arranged on a lower cross rod of the guide frame; the driving motor C is fixedly arranged on an upper cross rod of the guide frame; the driving wheel A is fixedly connected to the shaft of the driving motor C and is positioned right above the driven wheel A; the synchronous belt A is wound between the driving wheel A and the driven wheel A; the sliding blocks are movably sleeved on the two vertical rods of the guide frame; the connecting block A is fixedly connected with the synchronous belt A and the sliding block at the same time, and the connecting block A and the synchronous belt A do reciprocating linear motion in the vertical direction, so that the sliding block is driven to do reciprocating linear motion in the vertical direction;

the transverse moving assembly comprises a horizontal rod, a guide block, a driving motor D, a shaft seat D, a driving wheel B, a driven wheel B, a synchronous belt B and a connecting block B; two ends of the horizontal rod are respectively movably sleeved on the guide block; the two guide blocks are fixedly connected to the two ends of the sliding block respectively and are at the same height; the driving motor D and the shaft seat D are fixedly arranged on the sliding block; the driving wheel B is fixedly connected to the shaft of the driving motor D; the driven wheel B is movably arranged on the shaft seat D and is at the same height as the driving wheel B; the synchronous belt B is wound between the driving wheel B and the driven wheel B; the connecting block B is fixedly connected with the synchronous belt B and the horizontal rod at the same time, and the connecting block B and the synchronous belt B do reciprocating rectilinear motion in the horizontal direction, so that the horizontal rod is driven to do reciprocating rectilinear motion in the horizontal direction;

the clamping assembly comprises a gas cylinder, a gas cylinder A, a solenoid valve A, a pressure reducing valve A, a flow valve A and an action executing piece; the gas cylinder is fixedly arranged on the base, an inner cavity for containing compressed air is formed in the gas cylinder, an air inlet A and an air outlet A which are communicated to the inner cavity are formed in the outer wall of the gas cylinder, and an air pressure gauge A is arranged on the air outlet A; an air outlet B communicated to the inner cavity of the air cylinder is arranged on the outer wall of the air cylinder, and an air pressure gauge B is arranged on the air outlet B; the cylinder A is fixedly connected to the end of the horizontal rod and comprises a cylinder body A, a piston A and a piston rod A, wherein the piston A is movably arranged in an inner cavity of the cylinder body A and divides the inner cavity of the cylinder body A into a rod cavity A and a rodless cavity A, an air inlet and outlet A communicated with the rod cavity A and an air inlet and outlet B communicated with the rodless cavity A are arranged on the outer wall of the cylinder body A, the rear end of the piston rod A is fixedly connected to the piston A and is positioned in the rod cavity A, and the front end of the piston rod A extends out of the rod cavity A; the electromagnetic valve A is a two-position five-way electromagnetic valve, an inlet A, an outlet B, an exhaust port A and an exhaust port B are arranged on the electromagnetic valve A, the inlet A is communicated with an air outlet A of the air bottle through a pipeline, the outlet A is communicated with an air inlet end of the pressure reducing valve A through a pipeline, the outlet B is communicated with an air inlet A of the air cylinder A through a pipeline, the exhaust port A is communicated with the outlet A in one direction, the air entering the electromagnetic valve A from the outlet A is only discharged through the exhaust port A, the exhaust port B is communicated with the outlet B in one direction, and the air entering the electromagnetic valve A from the outlet B is only discharged through the exhaust port B; the air outlet end of the pressure reducing valve A is communicated with the air inlet end of the flow valve A through a pipeline, and the air outlet end of the flow valve A is communicated with the air inlet and outlet port B of the cylinder A through a pipeline; the action executing piece is connected to the front end of a piston rod A of the cylinder A, and is a flat plate;

the throwing device is arranged on the base and positioned between the two sub-mechanisms of the clamping and transferring device, and comprises a supporting frame, a swinging frame and a driving assembly; the support frame is arranged on the base; the swing frame is hinged to the upper end of the support frame and can rotate in a vertical plane around the hinged position; the swing frame is provided with a supporting plate for placing objects to be thrown; the driving component is associated with the swing frame to drive the swing frame to rotate around the hinge; the driving assembly comprises a cylinder B, an electromagnetic valve B, a pressure reducing valve B and a flow valve B; the cylinder B is fixedly arranged on the base and comprises a cylinder body B, a piston B and a piston rod B, wherein the piston B is movably arranged in an inner cavity of the cylinder body B and divides the inner cavity of the cylinder body B into a rod cavity B and a rodless cavity B, an air inlet and outlet C communicated with the rod cavity B and an air inlet and outlet D communicated with the rodless cavity B are arranged on the outer wall of the cylinder body B, the rear end of the piston rod B is fixedly connected to the piston B and is positioned in the rod cavity B, and the front end of the piston rod B extends out of the rod cavity B and is hinged with the swinging frame; the electromagnetic valve B is a two-position five-way electromagnetic valve, an inlet B, an outlet C, an outlet D, an exhaust port C and an exhaust port D are arranged on the electromagnetic valve B, the inlet B is communicated with an air outlet B of the air bottle through a pipeline, the outlet C is communicated with an air inlet end of the pressure reducing valve B through a pipeline, the outlet D is communicated with an air inlet and outlet C of the air bottle B through a pipeline, the exhaust port C is communicated with the outlet C in a unidirectional manner, gas entering the electromagnetic valve B from the outlet C is only discharged through the exhaust port C, the exhaust port D is communicated with the outlet D in a unidirectional manner, and gas entering the electromagnetic valve B from the outlet D is only discharged through the exhaust port D; the air outlet end of the pressure reducing valve B is communicated with the air inlet end of the flow valve B through a pipeline, and the air outlet end of the flow valve B is communicated with the air inlet and outlet port D of the cylinder B through a pipeline.

2. A method of casting, applied to the casting robot of claim 1, characterized by the steps of:

s01, placing an object to be clamped between two action execution pieces of the clamping and transferring device, and then controlling piston rods A of two cylinders A to synchronously extend to clamp the object;

in the step, a flow valve A is controlled to adjust the clamping speed, a pressure reducing valve A is controlled to adjust the clamping force, and the energizing time of an electromagnetic valve A is controlled to adjust the extending length of a piston rod A of a cylinder A;

s02, controlling the vertical moving assemblies and the horizontal moving assemblies of the two sub-mechanisms to synchronously move, and moving the object to the position right above the supporting plate;

in the step, a driving motor C is started to control the sliding block to vertically lift and move, and a driving motor D is started to control the horizontal rod to horizontally reciprocate;

s03, controlling piston rods A of two air cylinders A to retract synchronously, enabling objects to fall on a supporting plate, then controlling piston rods B of the air cylinders B to extend, enabling the swinging frame to move upwards in an arc track around a hinge point, enabling objects placed on the supporting plate to move in the arc track along with the swinging frame, and enabling the objects on the supporting plate to be thrown out under the inertia effect when the swinging frame stops moving;

in the step, the aim of adjusting the extension length of the piston rod B of the air cylinder B is fulfilled by controlling the energizing time of the electromagnetic valve B, so that the adjustment of the projection angle of the object is realized; the purpose of controlling the extending speed of the piston rod B of the air cylinder B is achieved by adjusting the ventilation quantity of the flow valve B, so that the adjustment of the throwing force of the object is further achieved; the purposes of controlling the movement and the steering of the bottom plate are achieved by controlling the running states of the driving motor A and the driving motor B, and then the adjustment of the casting location and the casting direction is achieved.

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