CN110586911A - Dual-drive independent transmission casting robot additional shaft - Google Patents
Dual-drive independent transmission casting robot additional shaft Download PDFInfo
- Publication number
- CN110586911A CN110586911A CN201910753336.8A CN201910753336A CN110586911A CN 110586911 A CN110586911 A CN 110586911A CN 201910753336 A CN201910753336 A CN 201910753336A CN 110586911 A CN110586911 A CN 110586911A
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- CN
- China
- Prior art keywords
- worm
- casting
- transmission
- transmission rod
- box
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
- B22D35/00—Equipment for conveying molten metal into beds or moulds
- B22D35/04—Equipment for conveying molten metal into beds or moulds into moulds, e.g. base plates, runners
-
- 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
Abstract
An additional shaft of a dual-drive independent transmission casting robot comprises a servo motor, a transmission rod box, a worm and gear box, a casting ladle, a speed reducer, a transmission rod, a worm gear and a control device; two servo motors are fixed at the upper end of the transmission rod box, and two transmission rods are arranged in the transmission rods; the two transmission rods are arranged in parallel, and two ends of each transmission rod are supported in the transmission rod box through bearings; the two servo motors are respectively connected with the upper end of the transmission rod through a speed reducer; the lower end of the transmission rod is connected with the upper end of the worm; the lower end of the worm is supported on the worm gear box; the worm is matched with the worm wheel; two ends of the worm wheel are supported in the worm wheel and worm box; the worm gear box is fixed at the lower end of the transmission worm gear box; casting ladles are respectively arranged on two sides of the worm gear box; the casting ladle is connected with the turbine on the corresponding side; the control unit is used for independently controlling the rotating speed and the rotating angle of the two servo motors; the invention can simultaneously meet the casting operation of two casting ladles at different casting speeds.
Description
Technical Field
The invention belongs to the field of casting equipment, and particularly relates to an additional shaft of a dual-drive independent transmission casting robot.
Background
In the casting industry, the industrial robot is adopted for casting, the casting is widely applied in the industry, the adopted robot mostly adopts a six-degree-of-freedom robot, the casting function is directly implemented by a sixth shaft in the application, but the service life of the sixth shaft is greatly reduced due to high-temperature and high-radiation at a casting liquid taking port, the fault frequency and the maintenance cost are higher, and the service life of the whole robot is directly influenced. In addition, a seven-degree-of-freedom robot casting machine is provided, a seventh shaft of the robot is driven by a servo motor to drive a chain wheel transmission or a bevel gear transmission, usually, the seventh shaft drives one casting ladle to rotate or drives two casting ladles to synchronously rotate by one motor, the casting process of the two casting ladles is required to be the same, and the application of an additional shaft is limited.
Disclosure of Invention
The invention aims to provide a dual-drive independent transmission casting robot additional shaft, which separates a robot body from a high-temperature high-radiation liquid taking port and simultaneously meets the casting operation of two casting ladles at different casting speeds.
The technical solution for realizing the purpose of the invention is as follows:
an additional shaft of a dual-drive independent transmission casting robot comprises a servo motor, a transmission rod box, a worm and gear box, a casting ladle, a speed reducer, a transmission rod, a worm gear and a control device;
two servo motors are fixed at the upper end of the transmission rod box, and two transmission rods are arranged in the transmission rods; the two transmission rods are arranged in parallel, and two ends of each transmission rod are supported in the transmission rod box through bearings; the two servo motors are respectively connected with the upper end of the transmission rod through a speed reducer; the lower end of the transmission rod is connected with the upper end of the worm; the lower end of the worm is supported on the worm gear box through a bearing; the worm is matched with the worm wheel; two ends of the turbine are supported in the turbine worm box through bearings; the worm gear and worm box is fixed at the lower end of the transmission worm gear and worm rod box; casting ladles are respectively arranged on two sides of the worm gear box; the casting ladle is connected with the turbine on the corresponding side; the control unit is used for independently controlling the rotating speed and the rotating angle of the two servo motors so as to control the control speed and the control angle of the two casting ladles.
Compared with the prior art, the invention has the following remarkable advantages:
(1) the additional shaft can assist the pouring robot to perform pouring molding operation, the operation range of the pouring robot is expanded, the robot is not limited by an arm any more, the automation of the pouring and casting process is realized, pouring workers are free from the conventional high-temperature, heavy and dangerous manual operation labor, and the labor productivity is greatly improved.
(2) The additional shaft of the invention adopts double-drive independent transmission aiming at the casting process of two casting ladles with different casting speeds, realizes quantitative and multi-speed casting, and meets the requirement of changing casting tracks aiming at different moulds.
(3) The additional shaft of the invention can control the amount of the casting ladle containing the molten metal by detecting the depth of the molten metal entering the casting ladle through the detection unit to determine the liquid level position of the casting ladle relative to the molten metal.
Drawings
FIG. 1 is an additional isometric view of the present invention.
Fig. 2 is a front view of an additional shaft of the present invention.
Detailed Description
The invention is further described with reference to the following figures and embodiments.
The invention discloses a dual-drive independent transmission casting robot additional shaft which comprises a servo motor 1, a transmission rod box 3, a worm and gear box 5, a casting ladle 6, a speed reducer 7, a transmission rod 8, a worm 9, a turbine 10 and a control device;
two servo motors 1 are fixed at the upper end of the transmission rod box 3, and two transmission rods 8 are arranged in the transmission rod box 3; the two transmission rods 8 are arranged in parallel, and two ends of each transmission rod 8 are supported in the transmission rod box 3 through bearings; the two servo motors 1 are respectively connected with the upper end of a transmission rod 8 through a speed reducer 7; the lower end of the transmission rod 8 is connected with the upper end of the worm 9; the lower end of the worm 9 is supported on the worm gear box 5 through a bearing; the worm 9 cooperates with a worm wheel 10; the two ends of the turbine 10 are supported in the turbine worm box 5 through bearings; the worm gear box 5 is fixed at the lower end of the transmission rod box 3; casting ladles 6 are respectively arranged on two sides of the worm gear box 5; the ladle 6 is connected with a turbine 10 on the corresponding side; the control unit is used for independently controlling the rotation speed and the rotation angle of the two servo motors 1, thereby controlling the control speed and the control angle of the two ladles 6.
Furthermore, the whole additional shaft is also provided with a detection unit which is electrically connected with the control unit; the detection unit is used for detecting the depth of the molten metal entering the casting ladle 6 so as to determine the liquid level position of the casting ladle 6 relative to the molten metal and control the amount of the molten metal contained in the casting ladle 6.
In one embodiment, the detection unit uses an electronic level detecting rod 4, and as the additional shaft moves downwards, when the lower detecting rod contacts the molten metal level, an electric signal is triggered to determine the level position of the ladle 6 relative to the molten metal. When the additional shaft moves downwards continuously and the high-position detecting rod contacts the liquid level of the metal melt, the position is limited by the downwards moving pole of the additional shaft, and the additional shaft cannot move downwards continuously so as to protect the additional shaft.
Further, the electronic liquid level detecting rod 4 is fixed on the transmission rod box 3.
Furthermore, a connecting flange 2 is fixed at the upper end of the transmission rod box 3 and is used for being connected with the tail end of the robot.
The robot adopts a six-degree-of-freedom robot.
Furthermore, the upper end of the transmission rod box 3 is provided with a lubricating oil inlet, and the lower end of the worm gear box 5 is provided with a lubricating oil outlet; the lubricating oil can be conveniently injected and the waste oil can be conveniently discharged.
Furthermore, the control device adopts a PLC controller, and the pouring angular speed of the pouring ladle 6 realizes stepless speed change by controlling the servo motor 1 through the PLC, thereby realizing quantitative and multi-speed pouring. Simultaneously satisfies the casting process of two casting ladles with different casting speeds. The positive and negative rotation of the turbine is controlled by controlling the positive and negative rotation of the servo motor 1, so that the liquid taking and casting of the casting ladle 6 fixed on the turbine shaft are realized.
The robot and the servo motors 1 of the additional axes are controlled by one robot controller. The structure can ensure that the pouring angular speed of the pouring ladle realizes stepless speed change through PLC control, thereby realizing quantification and meeting the requirement of changing pouring tracks aiming at different moulds in multi-speed pouring. The additional shaft adopts worm gear transmission, and has the characteristics of stable transmission ratio, reliable work, compact structure, long service life, simple and convenient maintenance, low noise and large bearing capacity.
The two ladles are respectively and independently controlled by the two sets of transmission systems through the additional shaft, so that different casting processes at two stations are simultaneously cast. The operation range of the casting robot is expanded, the casting robot is not limited by arms any more, and the casting robot is arranged on a six-axis robot and is equivalent to a seventh axis and an eighth axis of the robot, so that the original six-freedom-degree robot has two more degrees of freedom for independent rotation to form an eight-freedom-degree robot. This additional axle is very big has expanded the work flexibility and the working range of robot for equipment can adapt to more narrow and small workspace and more harsh operational environment, and the additional axle keeps apart the robot body and the high-temperature high radiation get the liquid mouth, reduces the emergence of robot trouble, and improve equipment's rate of opening, cost of maintenance descends by a wide margin.
Claims (6)
1. The auxiliary shaft of the double-drive independent-transmission casting robot is characterized by comprising a servo motor (1), a transmission rod box (3), a worm and gear box (5), a casting ladle (6), a speed reducer (7), a transmission rod (8), a worm (9), a worm gear (10) and a control device;
two servo motors (1) are fixed at the upper end of the transmission rod box (3), and two transmission rods (8) are arranged in the transmission rod box (3); the two transmission rods (8) are arranged in parallel, and two ends of each transmission rod (8) are supported in the transmission rod box (3) through bearings; the two servo motors (1) are respectively connected with the upper end of a transmission rod (8) through a speed reducer (7); the lower end of the transmission rod (8) is connected with the upper end of the worm (9); the lower end of the worm (9) is supported on the worm gear box (5) through a bearing; the worm (9) is matched with a turbine (10); two ends of the turbine (10) are supported in the turbine worm box (5) through bearings; the worm wheel and worm box (5) is fixed at the lower end of the transmission rod box (3); casting ladles (6) are respectively arranged on two sides of the worm gear box (5); the casting ladle (6) is connected with a turbine (10) on the corresponding side; the control unit is used for independently controlling the rotating speed and the rotating angle of the two servo motors (1) so as to control the control speed and the control angle of the two casting ladles (6).
2. The dual-drive independent transmission casting robot additional shaft according to claim 1, characterized by further comprising a detection unit, wherein the detection unit is electrically connected with the control unit; the detection unit is used for detecting the depth of the molten metal entering the casting ladle (6) so as to determine the liquid level position of the casting ladle relative to the molten metal.
3. The dual-drive independent transmission casting robot additional shaft according to claim 1, wherein the detection unit adopts an electronic liquid level detection rod (4), and as the additional shaft moves downwards, when the low-level detection rod contacts the liquid level of the molten metal, an electric signal is triggered to determine the liquid level position of the casting ladle 6 relative to the molten metal; when the additional shaft moves downwards continuously and the high-position detection rod contacts the liquid level of the molten metal, the additional shaft is limited by the downward moving pole of the additional shaft, and the additional shaft cannot move downwards continuously.
4. The additional shaft of the dual-drive independent-transmission casting robot according to claim 1, wherein the electronic liquid level detection rod (4) is fixed on the transmission rod box (3).
5. The additional shaft of the dual-drive independent-transmission casting robot according to claim 1, wherein a connecting flange (2) connected with the tail end of the robot is further fixed at the upper end of the transmission rod box (3).
6. The auxiliary shaft of the dual-drive independent-transmission casting robot according to claim 1, wherein a lubricating oil inlet is formed in the upper end of the transmission rod box (3), and a lubricating oil outlet is formed in the lower end of the worm gear box (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910753336.8A CN110586911A (en) | 2019-08-15 | 2019-08-15 | Dual-drive independent transmission casting robot additional shaft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910753336.8A CN110586911A (en) | 2019-08-15 | 2019-08-15 | Dual-drive independent transmission casting robot additional shaft |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110586911A true CN110586911A (en) | 2019-12-20 |
Family
ID=68854322
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910753336.8A Pending CN110586911A (en) | 2019-08-15 | 2019-08-15 | Dual-drive independent transmission casting robot additional shaft |
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| Country | Link |
|---|---|
| CN (1) | CN110586911A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112828271A (en) * | 2021-01-05 | 2021-05-25 | 苏州华昂智能设备制造有限公司 | Seven-shaft double-pouring robot for pouring aluminum alloy molten aluminum |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201132315Y (en) * | 2007-11-08 | 2008-10-15 | 浙江万丰科技开发有限公司 | Seven-degree of freedom robot casting machine |
| CN202398803U (en) * | 2011-09-23 | 2012-08-29 | 浙江万丰科技开发有限公司 | Double casting ladle casting arm of robot |
| CN106735141A (en) * | 2016-12-16 | 2017-05-31 | 山东滨州渤海活塞股份有限公司 | A kind of aluminum piston high accuracy pouring robot |
| CN207971413U (en) * | 2018-02-11 | 2018-10-16 | 沈阳一博机器人自动化有限公司 | The special paw of bimodulus aluminum water casting |
| KR101938568B1 (en) * | 2017-11-13 | 2019-01-15 | 주식회사 포스코 | Apparatus for collecting of molten steel |
| CN209240024U (en) * | 2018-12-06 | 2019-08-13 | 安庆雅德帝伯活塞有限公司 | One kind ladles robot additional shaft |
-
2019
- 2019-08-15 CN CN201910753336.8A patent/CN110586911A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201132315Y (en) * | 2007-11-08 | 2008-10-15 | 浙江万丰科技开发有限公司 | Seven-degree of freedom robot casting machine |
| CN202398803U (en) * | 2011-09-23 | 2012-08-29 | 浙江万丰科技开发有限公司 | Double casting ladle casting arm of robot |
| CN106735141A (en) * | 2016-12-16 | 2017-05-31 | 山东滨州渤海活塞股份有限公司 | A kind of aluminum piston high accuracy pouring robot |
| KR101938568B1 (en) * | 2017-11-13 | 2019-01-15 | 주식회사 포스코 | Apparatus for collecting of molten steel |
| CN207971413U (en) * | 2018-02-11 | 2018-10-16 | 沈阳一博机器人自动化有限公司 | The special paw of bimodulus aluminum water casting |
| CN209240024U (en) * | 2018-12-06 | 2019-08-13 | 安庆雅德帝伯活塞有限公司 | One kind ladles robot additional shaft |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112828271A (en) * | 2021-01-05 | 2021-05-25 | 苏州华昂智能设备制造有限公司 | Seven-shaft double-pouring robot for pouring aluminum alloy molten aluminum |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20191220 |
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| RJ01 | Rejection of invention patent application after publication |