CN112453372A - Robot quantitative aluminum scooping double-pouring ladle casting gripper system in high-temperature environment - Google Patents
Robot quantitative aluminum scooping double-pouring ladle casting gripper system in high-temperature environment Download PDFInfo
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- CN112453372A CN112453372A CN202010975162.2A CN202010975162A CN112453372A CN 112453372 A CN112453372 A CN 112453372A CN 202010975162 A CN202010975162 A CN 202010975162A CN 112453372 A CN112453372 A CN 112453372A
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- shield
- protective cover
- shaped
- robot
- temperature environment
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
- B22D39/00—Equipment for supplying molten metal in rations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
- B22D2/00—Arrangement of indicating or measuring devices, e.g. for temperature or viscosity of the fused mass
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
- B22D37/00—Controlling or regulating the pouring of molten metal from a casting melt-holding vessel
Abstract
A robot quantitative aluminum ladling double-pouring ladle casting gripper system in a high-temperature environment relates to the field of grippers. The invention aims to solve the problems that the existing aluminum liquid scooping gripper is poor in protection performance, and the single-casting ladle casting gripper is adopted, so that the production efficiency is low. The robot controls the speed reducing motor and the blower to work, and the speed reducing motor sequentially drives the first transmission shaft, the second transmission shaft and the right-angle gear box to work, so that the connecting arm is driven to work, and ladling aluminum casting is realized. It is used for ladling aluminum for casting.
Description
Technical Field
The invention relates to an aluminum scooping gripper for a robot. Belongs to the field of grippers.
Background
The aluminum alloy has low melting point and good casting performance, and is widely applied to a plurality of fields of automobiles, motorcycles, motors, communication, hardware tools and the like. Molten aluminum is transferred into a heat preservation furnace of a casting station in a gravity casting production workshop of the piston ring of the engine, then a certain amount of aluminum liquid is scooped up manually and cast into a mold, and the casting station has high temperature, large dust and high labor intensity. In recent years, with the rise in labor costs, workers have been increasingly demanding on the work environment, and the recruitment of personnel in foundries has been difficult. At present the robot ladles out aluminium liquid casting hand and grabs and gradually walk into the workshop, replaces the manual work to ladle out aluminium liquid, though adopt the machine to ladle out aluminium liquid and can raise the efficiency, save the manual work, but also have some shortcomings, if: 1. the precision of the aluminum liquid scooping gripper product is low, the product protection performance is poor, and the product maintenance period is short. 2. The market application mostly is single casting ladle casting tongs, lacks the application of two casting ladles casting tongs.
Disclosure of Invention
The invention aims to solve the problems that the existing aluminum liquid scooping gripper is poor in protection performance, and the single-casting ladle casting gripper is adopted, so that the production efficiency is low. The robot quantitative aluminum ladling double-ladle casting gripper system under the high-temperature environment is provided.
A robot quantitative aluminum ladling double-ladle casting gripper system in a high-temperature environment comprises a blower, a robot and a gripper,
the gripper comprises a first protective cover, a second protective cover, an I-shaped protective cover, a third protective cover, 2 speed reducing motors, 2 couplers, 2 first transmission shafts, 2 second transmission shafts, 2 right-angle gear boxes, 2 connecting arms, a steel pipe, 4L-shaped pressing plates, a steel plate and a heat insulation plate,
the first protective cover is a hollow cuboid, the I-shaped protective cover comprises a top surface, a bottom surface and two vertical surfaces which are positioned between the top surface and the bottom surface and are parallel, the second protective cover is a square structure with two opposite side surfaces being opened, and the other two opposite side surfaces are provided with symmetrical U-shaped grooves,
the first protective cover is arranged on the top surface of the I-shaped protective cover, the bottom surface of the I-shaped protective cover is arranged on the second protective cover, two vertical surfaces of the I-shaped protective cover and the opening of the second protective cover are positioned on the same side, the third protective cover is two side plates, and the two side plates are parallelly shielded at two notches of the I-shaped protective cover;
2 speed reducing motors are arranged in the first shield, 2 couplers, 2 first transmission shafts and 2 second transmission shafts are arranged in the I-shaped shield, 2 right-angle gear boxes are arranged in the second shield,
an output shaft of each speed reducing motor sequentially penetrates through the bottom surface of the first protective cover and the top surface of the I-shaped protective cover and is connected with one end of each 1 second transmission shaft through a spline sleeve, the other end of each second transmission shaft is connected with one end of each 1 coupler, the other end of each coupler is connected with one end of each 1 first transmission shaft, and the other end of each first transmission shaft sequentially penetrates through the bottom surface of the I-shaped protective cover and the top surface of the second protective cover and is connected with the top output shaft of each 1 right-angle gear box through another spline sleeve;
the bottom surface of the second shield and the inner side of two opposite sides provided with a U-shaped groove are respectively paved with a heat insulation plate, a steel plate is paved on the heat insulation plate, the 2 right-angle gear boxes are all positioned on the steel plate, four L-shaped pressing plates are all arranged on the steel plate and used for limiting the positions of the 2 right-angle gear boxes, a side output shaft of each right-angle gear box sequentially penetrates through the steel plate and the heat insulation plate and is connected with a connecting arm at the U-shaped groove of the second shield,
the first shield is provided with an air inlet of a blower, the blower is connected with an inlet of a steel pipe penetrating through the first shield, the I-shaped shield and the second shield through the air inlet of the blower, an outlet of the steel pipe faces towards the steel plate,
the robot controls the speed reducing motor and the blower to work.
Preferably, the system further comprises terminals and probes,
the terminal is arranged on the outer wall of one vertical surface of the I-shaped shield, the probe is inserted into the terminal connector, and the probe is used for detecting the position of the liquid level.
Preferably, the terminals are ceramic terminals.
Preferably, the insulating panels are composed of fiberglass and a silicone based adhesive.
Preferably, the robot comprises a controller,
and the controller is also used for controlling the probe to detect the liquid level position.
Preferably, the steel plate is stainless steel.
Preferably, the speed reducing motor comprises a servo motor and a planetary reducer,
and the controller is used for controlling the servo motor to work, the servo motor is connected with the planetary reducer, and the other end of the second transmission shaft is connected with an output shaft of the planetary reducer through another spline sleeve.
Preferably, the coupling is a stainless steel diaphragm coupling.
Preferably, the bilateral symmetry of every right angle gear box sets up two L type clamp plates, and four L type clamp plates all are located the open side of No. two shields, and a right-angle side of every right angle gear box sets up on the steel sheet, the right angle gear box setting is in the right-angle side, another right-angle side of every L type clamp plate pastes on the lateral wall of right angle gear box.
Preferably, the system further comprises a fixing plate,
and a fixing plate is arranged between the inner sides of two opposite side surfaces of the second shield and the heat insulation plate.
The invention has the beneficial effects that:
the utility model provides a No. two guard shield bottom surfaces and the inner wall of opening the side that has the U-shaped groove all are provided with the heat insulating board, and heat insulating board light in weight, the heat conductivity is low, has very high intensity under high temperature environment, puts the steel sheet on the heat insulating board. Compressed air at normal temperature is led into the second shield through the steel pipe, air is blown to the steel plate to form an air curtain to cut off heat radiation, and air with pressure brings heat out of the second shield, so that the hand grab is effectively protected. According to the existing scheme of introducing air into the interior of the speed reducer, the method can accelerate carbonization and volatilization of lubricating grease in the right-angle gearbox and accelerate abrasion of bevel gears of the right-angle gearbox. This application effectively reduces the influence of heat radiation to drive mechanism. The design to right angle gear box insulating layer structural design and cooling scheme makes right angle gear box operating temperature within 200 degrees, has reduced the temperature of right angle gear box, prolongs the life-span of sealing member, reduces the influence of thermal radiation to drive mechanism, avoids high temperature to accelerate right angle gear box bevel gear wearing and tearing, reduces the maintenance cost of tongs.
In addition, this application sets up two linking arms, has two to water a packet tongs promptly, improves the production beat.
Drawings
FIG. 1 is a schematic structural view of a robot quantitative aluminum ladling dual ladle casting gripper in a high temperature environment according to the present invention;
FIG. 2 is an enlarged view of a portion of FIG. 1;
FIG. 3 is a rear view of FIG. 1;
fig. 4 and 5 are schematic structural views of a robot quantitative scooping aluminum double-ladle casting gripper system in a high-temperature environment according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described in detail below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of real-time embodiments of the invention, and not all embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
The invention is further described with reference to the following figures and specific examples.
Example 1:
the invention provides a robot quantitative aluminum ladling double-ladle casting gripper system in a high-temperature environment, which comprises a blower, a robot and a gripper as shown in figures 1 to 5,
the gripper comprises a first shield 1, a second shield 8, an I-shaped shield 10, a third shield 3, 2 speed reduction motors 2, 2 couplers 11, 2 first transmission shafts, 2 second transmission shafts 4, 2 right-angle gear boxes 15, 2 connecting arms 9, a steel pipe 5, 4L-shaped pressing plates 6, a steel plate 14 and a heat insulation plate 13,
the first protective cover 1 is a hollow cuboid, the I-shaped protective cover 10 comprises a top surface, a bottom surface and two vertical surfaces which are positioned between the top surface and the bottom surface and are parallel, the second protective cover 3 is a square structure with two opposite side surfaces being open, and the other two opposite side surfaces are provided with symmetrical U-shaped grooves,
the first shield 1 is arranged on the top surface of the I-shaped shield, the bottom surface of the I-shaped shield 10 is arranged on the second shield 8, two vertical surfaces of the I-shaped shield 10 and the opening of the second shield 8 are positioned on the same side, the third shield 3 is two side plates, and the two side plates are parallelly shielded at two notches of the I-shaped shield 10;
2 speed reducing motors 2 are arranged in the first shield 1, 2 couplers 11, 2 first transmission shafts and 2 second transmission shafts are arranged in the I-shaped shield 10, 2 right-angle gear boxes are arranged in the second shield 8,
an output shaft of each speed reducing motor 2 sequentially penetrates through the bottom surface of the first protective cover 1 and the top surface of the I-shaped protective cover 10 and is connected with one end of each 1 second transmission shaft through a spline sleeve, the other end of each second transmission shaft is connected with one end of each 1 coupler 11, the other end of each coupler 11 is connected with one end of each 1 first transmission shaft, and the other end of each first transmission shaft sequentially penetrates through the bottom surface of the I-shaped protective cover 10 and the top surface of the second protective cover 8 and is connected with the top output shaft of each 1 right-angle gear box 15 through another spline sleeve;
the bottom surface of the second shield 8 and the inner side of two opposite side surfaces provided with a U-shaped groove are respectively paved with a heat insulation plate 7, a steel plate 6 is paved on the heat insulation plate 7, the 2 right-angle gear boxes are all positioned on the steel plate 6, four L-shaped pressing plates 6 are all arranged on a steel plate 14, the four L-shaped pressing plates 6 are used for limiting the positions of the 2 right-angle gear boxes 15, the side output shaft of each right-angle gear box 15 sequentially penetrates through the steel plate 6 and the heat insulation plate 7, and is connected with a connecting arm 9 at the U-shaped groove of the second shield 8,
the first shield 1 is provided with a blower air inlet 12, the blower is connected with the inlet of a steel pipe 5 penetrating through the first shield 1, the I-shaped shield 10 and the second shield 8 through the blower air inlet 12, the outlet of the steel pipe 5 faces a steel plate 14,
the robot controls the speed reducing motor 2 and the blower to work.
Specifically, the common transmission schemes for the casting gripper include: chain drives, worm and gear drives, and bevel gear drives. The reliability of chain transmission in a high-temperature environment is the best, the transmission precision is poor, the forward and reverse rotation switching has jumping, air is easily involved in the linkage casting process with a robot arm, and the quality of a cast product is influenced. The worm gear and worm transmission scheme is seriously worn in a high-temperature environment, the precision of the later-stage hand grab is insufficient, and the newly developed hand grab uses a right-angle bevel gear transmission scheme. The conventional right-angle reducer is easy to burn bearings, easy to carbonize lubricating grease and oxidized and skinned on a gear box shell in a high-temperature environment. The newly developed bearing of the right-angle gear box uses the high-temperature deep groove ball bearing, and because the clearance of the bearing is large, the clearance of the bearing and the clearance of the gear are adjusted through the right-angle gear box cover; the influence on transmission precision and gear abrasion caused by thermal deformation are reduced, and H13 die steel is used for an end cover, a shell and a positioning shaft of the right-angle speed reducer. The right angle gearbox uses high temperature grease. Through the reselection of the bearing, the lubricating grease and the workpiece material of the right-angle gear box, the right-angle gear box is precisely adjusted to 20racmin at room temperature, and the weight of a precision casting product in a high-temperature environment can be controlled within 15 g.
The transmission part of the gripper is arranged in the first stainless steel shield, the first shield of the servo motor is also a structural part of the gripper, and the servo motor shield is internally ventilated and cooled. Two ends of the I-shaped structural member are provided with 2 sets of servo motors and right-angle gear boxes, and the middle of the I-shaped structural member is connected with the right-angle gear boxes through stainless steel diaphragm type couplings. A stainless steel second shield with two open sides is arranged on the outer side of the right-angle gear box, a welding fixing plate is arranged on the inner side of the second shield, a heat insulation plate is arranged in a groove on the inner side of the second shield, the heat insulation plate is composed of glass fibers and a silicic acid adhesive, the heat insulation plate is light in weight, low in heat conductivity and high in strength in a high-temperature environment, and a stainless steel plate is arranged on the heat insulation plate. The heat insulation plate and the stainless steel plate are fixed through the pressing plate of the second shield and the pressing plate at the lower end of the gear box. And normal-temperature compressed air is led into the second shield through the stainless steel pipeline on the inner side of the hand grip, the air is blown onto the stainless steel plate to form an air curtain for cutting off heat radiation, and the air with pressure brings heat out of the second shield. The scheme of introducing air into the right-angle gearbox accelerates carbonization and volatilization of lubricating grease in the gearbox and accelerates wear of bevel gears. And 3, the transmission precision control of the gripper in the scheme 1 and the scheme 2 is combined, so that the influence of heat radiation on the transmission mechanism is reduced. The structural design and the cooling scheme of the heat insulation layer of the right-angle gear box are optimized, the working temperature of the right-angle gear box is within 200 ℃, the service life of a sealing element is prolonged, the influence of heat radiation on a transmission mechanism is reduced, the high-temperature accelerated bevel gear abrasion is avoided, and the maintenance cost of the hand grip is reduced.
Ceramic terminals and liquid level position detection probes are installed on the back face of the I-shaped structural part, the connecting arms of the ladles are installed on an output shaft of the right-angle gear box and are arranged in a central symmetry mode, stainless steel third-prevention shields are installed outside the coupler and the transmission shaft, the two ends of each third shield protrude to avoid interference areas, the middle portions of the third shields are installed on the I-shaped structural part, the transverse width size of the hand grips is minimum, the space above the gear box can be used by rotation of the rotating arms, and the connecting arms meeting connection requirements are designed for different ladles under the condition that torque requirements.
In the casting project of the piston ring of the automobile engine, an aluminum liquid casting gripper is arranged on a casting robot, and the casting robot scoops from a holding furnace A. The casting ladle moves to a casting machine A through a robot; the linkage robot rotates the ladle, the ladle port rotates at a fixed height from the casting cap port, and the molten aluminum is poured into the casting machine mold. And after pouring out the aluminum liquid, the robot moves to the cleaning device to clean the casting ladle. And after the safety position is returned, the ladle scoops aluminum liquid from the holding furnace B and casts the aluminum liquid into a mold of a casting machine B, and the robot moves to the station of the cleaning device to clean the ladle and returns to the safety position. The duty cycle is complete.
In the action process of the robot, the time of holding the aluminum liquid casting hand in the heat preservation furnace within 36s in one action period accounts for 35% of the total time, the aluminum liquid in the heat preservation furnace is about 650 ℃, the surface temperature of the gear box shield after scooping the aluminum liquid is about 350 ℃, the surface temperature of the servo motor shield is about 250 ℃, and the bottom end of the 3 gear box shield is about 450 ℃. In the production process, the air blower continuously blows air into the servo motor shield to cool the encoder of the servo motor. Compressed air reaches the bottom end of the gearbox shield through an air pipeline to cool the third shield. The system adopts an R2000iC/165 robot, a pipeline packet and a radiation-resistant protective clothing are installed on the robot, a blower is installed on a J1 shaft, and compressed air, a liquid level detection signal, an electromagnetic valve signal and a motor signal are connected into a robot control cabinet through a J3 shaft cable and are controlled by the robot.
In a preferred embodiment of the invention, the system further comprises a terminal 4 and a probe 16,
the terminal 4 is arranged on the outer wall of one vertical surface of the I-shaped shield, a probe 16 is inserted into the joint of the terminal 4, and the probe 16 is used for detecting the liquid level position.
Specifically, the probe is used for detecting the position of the liquid level and transmitting the position to the controller, and the controller obtains the depth of the liquid level so as to control the action of the gripper.
In a preferred embodiment of the invention, the terminals 4 are ceramic terminals.
In a preferred embodiment of the invention, the insulating panel 13 is comprised of fiberglass and a silicone adhesive.
Specifically, the heat insulating plate 13 has advantages of light weight, low thermal conductivity, and high strength in a high temperature environment. The heat of the connecting arm can be well isolated, and the heat is prevented from being transferred into the second protective cover, so that the operation and the service life of a transmission mechanism in the protective cover are influenced.
In a preferred embodiment of the invention, the robot comprises a controller,
and the controller is also used for controlling the probe 16 to detect the liquid level position.
In a preferred embodiment of the present invention, the steel plate 14 is made of stainless steel.
In a preferred embodiment of the present invention, the reduction motor 2 includes a servo motor and a planetary reducer,
and the controller is used for controlling the servo motor to work, the servo motor is connected with the planetary reducer, and the other end of the second transmission shaft is connected with an output shaft of the planetary reducer through another spline sleeve.
In a preferred embodiment of the present invention, the coupling 11 is a stainless steel diaphragm coupling.
In a preferred embodiment of the invention, two L-shaped pressing plates 6 are symmetrically arranged on two sides of each right-angle gear box 15, four L-shaped pressing plates 6 are all positioned on the open side of the second shield 3, one right-angle edge of each right-angle gear box 15 is arranged on a steel plate 14, the right-angle gear box 15 is arranged on the right-angle edge, and the other right-angle edge of each L-shaped pressing plate 6 is attached to the side wall of the right-angle gear box 15.
Specifically, two sides of each right-angle reducer 15 are respectively provided with an L-shaped pressing plate 6, so that the right-angle gearbox 15 is fixed on a steel plate.
In a preferred embodiment of the invention, the system further comprises a fixing plate 7,
and a fixing plate 7 is arranged between the inner sides of two opposite sides of the second shield 8 and the heat insulation plate 13.
Claims (10)
1. A robot quantitative aluminum ladling double-ladle casting gripper system in a high-temperature environment is characterized by comprising a blower, a robot and a gripper,
the gripper comprises a first shield (1), a second shield (8), an I-shaped shield (10), a third shield (3), 2 speed reducing motors (2), 2 couplers (11), 2 first transmission shafts, 2 second transmission shafts (4), 2 right-angle gear boxes (15), 2 connecting arms (9), a steel pipe (5), 4L-shaped pressing plates (6), a steel plate (14) and a heat insulation plate (13),
the first protective cover (1) is a hollow cuboid, the I-shaped protective cover (10) comprises a top surface, a bottom surface and two vertical surfaces which are positioned between the top surface and the bottom surface and are parallel, the second protective cover (3) is a square structure with two opposite side surfaces being open, and the other two opposite side surfaces are provided with symmetrical U-shaped grooves,
the first protective cover (1) is arranged on the top surface of the I-shaped protective cover, the bottom surface of the I-shaped protective cover (10) is arranged on the second protective cover (8), two vertical surfaces of the I-shaped protective cover (10) and the opening of the second protective cover (8) are positioned on the same side, the third protective cover (3) is two side plates, and the two side plates are parallelly shielded at two notches of the I-shaped protective cover (10);
2 speed reducing motors (2) are arranged in the first shield (1), 2 couplers (11), 2 first transmission shafts and 2 second transmission shafts are arranged in the I-shaped shield (10), 2 right-angle gear boxes are arranged in the second shield (8),
an output shaft of each speed reducing motor (2) sequentially penetrates through the bottom surface of the first protective cover (1) and the top surface of the I-shaped protective cover (10) and is connected with one end of each second transmission shaft through a spline sleeve, the other end of each second transmission shaft is connected with one end of each shaft coupling (11), the other end of each shaft coupling (11) is connected with one end of each first transmission shaft, and the other end of each first transmission shaft sequentially penetrates through the bottom surface of the I-shaped protective cover (10) and the top surface of the second protective cover (8) and is connected with the top output shaft of each right-angle gear box (15) through another spline sleeve;
the bottom surface of the second shield (8) and the inner side provided with two opposite side surfaces of a U-shaped groove are both paved with a heat insulation plate (7), a steel plate (6) is paved on the heat insulation plate (7), the 2 right-angle gear boxes are all positioned on the steel plate (6), four L-shaped pressing plates (6) are all arranged on a steel plate (14), the four L-shaped pressing plates (6) are used for limiting the positions of the 2 right-angle gear boxes (15), the side output shaft of each right-angle gear box (15) sequentially penetrates through the steel plate (6) and the heat insulation plate (7), and the U-shaped groove of the second shield (8) is connected with a connecting arm (9),
the first shield (1) is provided with a blower air inlet (12), the blower is connected with an inlet of a steel pipe (5) penetrating through the first shield (1), the I-shaped shield (10) and the second shield (8) through the blower air inlet (12), an outlet of the steel pipe (5) faces a steel plate (14),
the robot controls the speed reducing motor (2) and the blower to work.
2. The robot quantitative scooping aluminum double-ladle casting gripper system in the high-temperature environment according to claim 1, characterized in that the system further comprises a terminal (4) and a probe (16),
the terminal (4) is arranged on the outer wall of one vertical surface of the I-shaped shield, the probe (16) is inserted into the joint of the terminal (4), and the probe (16) is used for detecting the position of the liquid level.
3. The robot quantitative scooping aluminum double ladle casting gripper system in the high temperature environment of claim 2, wherein the terminal (4) is a ceramic terminal.
4. The robotic double ladle aluminum ladle casting gripper system in a hot environment as claimed in claim 1, wherein the heat shield (13) is comprised of fiberglass and a silicone based adhesive.
5. The robot quantitative scooping aluminum double-ladle casting gripper system in the high-temperature environment according to claim 1, wherein the robot comprises a controller,
and the controller is also used for controlling the probe (16) to detect the liquid level position.
6. The robot quantitative scooping aluminum double-ladle casting gripper system in the high-temperature environment according to claim 1, wherein the steel plate (14) is made of stainless steel.
7. The robot quantitative scooping aluminum double-ladle casting gripper system in the high-temperature environment according to claim 5, characterized in that the speed reduction motor (2) comprises a servo motor and a planetary reducer,
and the controller is used for controlling the servo motor to work, the servo motor is connected with the planetary reducer, and the other end of the second transmission shaft is connected with an output shaft of the planetary reducer through another spline sleeve.
8. The robot quantitative scooping aluminum double-ladle casting gripper system in the high-temperature environment according to claim 1, wherein the coupling (11) is a stainless steel diaphragm type coupling.
9. The robot quantitative ladling aluminum double-ladle casting gripper system in the high-temperature environment according to claim 1, wherein two L-shaped pressing plates (6) are symmetrically arranged on two sides of each right-angle gear box (15), four L-shaped pressing plates (6) are arranged on the opening side of the second shield (3), one right-angle side of each right-angle gear box (15) is arranged on the steel plate (14), the right-angle gear box (15) is arranged on the right-angle side, and the other right-angle side of each L-shaped pressing plate (6) is attached to the side wall of the right-angle gear box (15).
10. The robot quantitative scooping aluminum double ladle casting gripper system in the high temperature environment according to claim 1, characterized in that the system further comprises a fixing plate (7),
a fixing plate (7) is arranged between the inner sides of two opposite side surfaces of the second protective cover (8) and the heat insulation plate (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010975162.2A CN112453372B (en) | 2020-09-16 | 2020-09-16 | Two ladle casting tongs systems that water of aluminium are ladled out to robot ration under high temperature environment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010975162.2A CN112453372B (en) | 2020-09-16 | 2020-09-16 | Two ladle casting tongs systems that water of aluminium are ladled out to robot ration under high temperature environment |
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| CN112453372A true CN112453372A (en) | 2021-03-09 |
| CN112453372B CN112453372B (en) | 2022-07-01 |
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| CN105537572A (en) * | 2016-02-01 | 2016-05-04 | 上海发那科机器人有限公司 | Pouring device |
| CN207386541U (en) * | 2017-08-31 | 2018-05-22 | 上海发那科机器人有限公司 | A kind of high temperature pinion steering mechanism for the casting of industrial robot molten aluminum |
| 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 |
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2020
- 2020-09-16 CN CN202010975162.2A patent/CN112453372B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2755272A1 (en) * | 1976-12-13 | 1978-06-22 | Werner Engel | Molten metal doser for die casting machines or foundries - where all critical moving parts are shielded from heat and dirt |
| JP2000317623A (en) * | 1999-05-14 | 2000-11-21 | Hanano Shoji Kk | Mechanism for supplying molten metal |
| CN201061826Y (en) * | 2007-02-13 | 2008-05-21 | 上海发那科机器人有限公司 | Device for teeming aluminum liquid |
| CN203843156U (en) * | 2014-05-27 | 2014-09-24 | 苏州小鹰铸造装备有限公司 | Gravity casting station |
| CN105537572A (en) * | 2016-02-01 | 2016-05-04 | 上海发那科机器人有限公司 | Pouring device |
| CN207386541U (en) * | 2017-08-31 | 2018-05-22 | 上海发那科机器人有限公司 | A kind of high temperature pinion steering mechanism for the casting of industrial robot molten aluminum |
| 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 |
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| CN112453372B (en) | 2022-07-01 |
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