CN114921660B - Aluminum liquid refining device based on multi-degree-of-freedom mechanical arm - Google Patents
Aluminum liquid refining device based on multi-degree-of-freedom mechanical arm Download PDFInfo
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- CN114921660B CN114921660B CN202210598694.8A CN202210598694A CN114921660B CN 114921660 B CN114921660 B CN 114921660B CN 202210598694 A CN202210598694 A CN 202210598694A CN 114921660 B CN114921660 B CN 114921660B
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- 238000007670 refining Methods 0.000 title claims abstract description 79
- 229910052782 aluminium Inorganic materials 0.000 title claims abstract description 62
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 title claims abstract description 62
- 239000007788 liquid Substances 0.000 title claims abstract description 59
- 230000005540 biological transmission Effects 0.000 claims description 6
- 239000004411 aluminium Substances 0.000 claims 1
- 230000008878 coupling Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 4
- 238000005859 coupling reaction Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 239000002341 toxic gas Substances 0.000 description 1
- 230000001988 toxicity Effects 0.000 description 1
- 231100000419 toxicity Toxicity 0.000 description 1
Classifications
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- C—CHEMISTRY; METALLURGY
- C22—METALLURGY; FERROUS OR NON-FERROUS ALLOYS; TREATMENT OF ALLOYS OR NON-FERROUS METALS
- C22B—PRODUCTION AND REFINING OF METALS; PRETREATMENT OF RAW MATERIALS
- C22B21/00—Obtaining aluminium
- C22B21/06—Obtaining aluminium refining
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
-
- C—CHEMISTRY; METALLURGY
- C22—METALLURGY; FERROUS OR NON-FERROUS ALLOYS; TREATMENT OF ALLOYS OR NON-FERROUS METALS
- C22B—PRODUCTION AND REFINING OF METALS; PRETREATMENT OF RAW MATERIALS
- C22B9/00—General processes of refining or remelting of metals; Apparatus for electroslag or arc remelting of metals
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P10/00—Technologies related to metal processing
- Y02P10/20—Recycling
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Mechanical Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Materials Engineering (AREA)
- Metallurgy (AREA)
- Organic Chemistry (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
An aluminum liquid refining device based on a multi-degree-of-freedom mechanical arm relates to the technical field of aluminum liquid refining devices. In order to solve the problems that the existing industrial mechanical arm is generally compact, the working space is near the mechanical arm, and long-distance operation cannot be met; the flexibility is generally low and the flexibility is poor when carrying a large inertia load; meanwhile, the blind area operation requirement cannot be met. The horizontal moving unit is connected with the horizontal moving guide rail in a sliding manner, the vertical moving unit is arranged on the front face of the horizontal moving unit, the vertical moving unit is connected with the front face of the horizontal moving unit in a sliding manner, the bottom of the vertical moving unit is connected with the top of the yaw rotating unit, the bottom of the yaw rotating unit is hinged with the top of the pitching rotating unit through a pin shaft, and a first refining tool is arranged at the output end of the pitching rotating unit. The invention is suitable for the technical field of aluminum liquid refining.
Description
Technical Field
The invention relates to the technical field of aluminum liquid refining devices, in particular to an aluminum liquid refining device based on a multi-degree-of-freedom mechanical arm.
Background
The multi-free mechanical arm is a complex system with multiple inputs and outputs, high nonlinearity and strong coupling and higher precision. The mechanical equipment in mechanization and automation has the functions of grabbing, moving and the like, and can replace personnel to flexibly, safely and efficiently complete various complex tasks in a designed working space under severe environments such as high temperature, toxicity, high corrosiveness and the like.
The metal aluminum has the characteristics of low density, high strength, high toughness, good heat conductivity, corrosion resistance and the like, and is widely applied to various fields of aerospace, transportation, mechanical manufacturing and the like. In recent years, the domestic demand for aluminum materials is rapidly rising, nearly occupying half of the global aluminum consumption. However, the domestic aluminum liquid refining industry is relatively behind, and most places still adopt the traditional manual operation mode. Because toxic gas can be released during aluminum liquid refining and the aluminum liquid is in a high-temperature and high-corrosiveness environment, the body of a worker refining the aluminum liquid is greatly damaged, and in order to ensure the health of the worker as much as possible, the worker needs to hold a long tool to refine the aluminum liquid for a long distance, and the working strength is extremely high. Under severe environment, workers are difficult to maintain for a long time, high in strength, focused in working mode, difficult to guarantee the quality of aluminum liquid refining and low in efficiency.
In summary, the existing industrial mechanical arm is generally compact, and the working space is near the mechanical arm, so that long-distance operation cannot be satisfied; the flexibility is generally low and the flexibility is poor when carrying a large inertia load; meanwhile, the requirement of blind area operation cannot be met.
Disclosure of Invention
The invention aims to solve the problems that the existing industrial mechanical arm is generally compact, the working space is near the mechanical arm, and long-distance operation cannot be satisfied; the flexibility is generally low and the flexibility is poor when carrying a large inertia load; meanwhile, the problem that the blind area operation requirement cannot be met is solved, and an aluminum liquid refining device based on the multi-degree-of-freedom mechanical arm is provided.
The invention relates to an aluminum liquid refining device based on a multi-degree-of-freedom mechanical arm, which comprises a gantry bracket, a beam moving guide rail, a horizontal moving unit, a vertical moving unit, a yaw rotating unit, a pitch rotating unit, a first refining tool, a second refining tool and a tool replacing unit, wherein the gantry bracket is arranged on the gantry bracket;
a beam moving guide rail is arranged on the outer side surface of a beam of the gantry bracket, a horizontal moving unit is arranged on the beam moving guide rail, the horizontal moving unit is in sliding connection with the beam moving guide rail, a vertical moving unit is arranged on the front face of the horizontal moving unit, the vertical moving unit is in sliding connection with the front face of the horizontal moving unit, the bottom of the vertical moving unit is connected with the top of a yaw rotating unit, the bottom of the yaw rotating unit is hinged with the top of a pitching rotating unit through a pin shaft, a first refining tool is arranged at the output end of the pitching rotating unit, two pairs of tool replacing units are arranged below one side of the beam of the gantry bracket, and a second refining tool is arranged on one pair of tool replacing units;
further, the gantry bracket comprises a gantry beam and a gantry upright post; two ends of the lower surface of the gantry beam are respectively provided with a gantry upright post, and the outer side surface of the gantry beam is provided with a beam moving guide rail;
further, the horizontal moving unit comprises a horizontal moving driving motor, a gear, a vertical moving driving assembly, a horizontal moving sliding key set, a horizontal moving bracket and a vertical moving guide rail;
the section of the horizontal moving support is G-shaped, a vertical moving guide rail is arranged on one side surface of the horizontal moving support, a vertical moving driving assembly is arranged on the vertical moving guide rail, a horizontal moving sliding key set is arranged on the lower part of the other side surface of the horizontal moving support, a horizontal moving driving motor is arranged in the middle of the upper surface of the horizontal moving support, and the output end of the horizontal moving driving motor passes through the upper surface of the horizontal moving support and is connected with an inner hole of a gear;
further, a rack is arranged at the upper part of the front surface of the beam moving guide rail, and a gear on the horizontal moving unit is meshed with the rack on the beam moving guide rail;
further, the vertical moving unit comprises a yaw rotation driving motor, a vertical moving sliding key set, a coupler and a vertical moving unit bracket;
the section of the vertical moving unit support is in a right trapezoid shape, a vertical moving sliding key set is arranged in the middle of the outer side face of the vertical end face of the vertical moving unit support, a baffle is arranged on the inner side face of the vertical end face of the vertical moving unit support, a yaw rotation driving motor is arranged on the upper surface of the baffle, and a coupler is arranged at the output end of the yaw rotation driving motor;
further, the vertical moving sliding key group is in sliding connection with the vertical moving guide rail, and the output end of the vertical moving driving assembly is connected with the middle part of the upper surface of the vertical moving sliding key group;
further, the yaw rotation unit comprises a connecting shaft and a pitching rotation pull rod motor, a support arm is arranged on the outer surface of the connecting shaft, one end of the support arm is hinged with the bottom of the pitching rotation pull rod motor, a hinging rod is arranged at the bottom of the connecting shaft, and the top of the connecting shaft is connected with the bottom end of a coupler on the vertical movement unit;
further, the pitching rotation unit comprises a locking mechanism push rod motor, an eccentric wheel connecting rod, an eccentric wheel pressing plate, a spring, a tool conveying motor, a gear rack assembly, a roller assembly, a pitching unit bracket and a connecting plate;
the upper end and the lower end in the pitching unit support are respectively provided with a roller component, the side surface of the pitching unit support is provided with a tool conveying motor, the tool conveying motor drives one roller component through a gear rack component, the upper surface of the pitching unit support is provided with a connecting plate, one end of the upper surface of the connecting plate is provided with a hinging seat, two sides of the hinging seat are respectively provided with a spring, the bottoms of the springs are fixedly connected with the upper surface of the connecting plate, an eccentric wheel is arranged in the hinging seat on the connecting plate, the eccentric wheel is rotationally connected with the inner wall of the hinging seat on the connecting plate through a transmission shaft, one end of the transmission shaft penetrates through the outer wall of the hinging seat on the connecting plate and then is connected with a central hole of an eccentric wheel connecting rod, the side surface of the connecting plate is provided with a motor seat, the motor seat is provided with a locking mechanism push rod motor, the bottom of the locking mechanism push rod motor is hinged with one end of the eccentric wheel connecting rod, and the upper part of the other side surface of the pitching unit support is provided with an eccentric wheel pressing plate;
further, the output end of the pitching rotation pull rod motor on the yawing rotation unit is hinged with the other end of the upper surface of the connecting plate;
further, the first refining tool comprises a flat working head, a sharp working head, a main body rod and a friction strip; one end of the main body rod is provided with a flat working head, the other end of the main body rod is provided with a sharp working head, and a plurality of friction strips are uniformly arranged on the circumferential outer surface of the main body rod;
the sharp working head comprises a flat mounting plate, an elastic component and a sharp working plate; the flat mounting plate and the tip working plate are oppositely arranged in parallel from top to bottom, and two groups of elastic components are uniformly arranged between the flat mounting plate and the tip working plate;
further, the tool replacing unit comprises a tool replacing assembly, a tool replacing driving assembly and three brackets; the top of the three brackets is provided with a tool replacement assembly, and the tool replacement driving assembly is used for driving the tool replacement assembly;
further, the horizontal moving unit, the pinion and the horizontal moving sliding key group form a moving pair with the beam moving guide rail, and the horizontal moving driving motor drives the pinion to drive the whole mechanical arm to move. The vertical moving unit forms a moving pair by moving the vertical moving sliding key group and the vertical moving guide rail, and the vertical moving unit and the moving pair are connected through the sliding key and are provided with a guide rod and a guide hole structure and are driven by the vertical moving driving assembly. The yaw rotation unit is connected with the vertical movement unit through a coupler to form a revolute pair and is driven by a yaw rotation driving motor; the pitching rotation unit is connected with a coupler on the vertical movement unit through a connecting shaft on the yawing rotation unit to form a revolute pair, and is driven by a pitching rotation pull rod motor. The locking mechanism push rod motor drives the eccentric wheel connecting rod to drive the rotation center of the eccentric wheel to be far away from or close to the eccentric wheel pressing plate so as to tighten or loosen the working tool. The eccentric wheel and the spring play a self-locking role in the tightening tool. The tool conveying motor drives the gear rack assembly to drive the roller assembly of the compressed tool to rotate, and the movement of the working tool is realized through the friction force generated between the roller assembly and the tool friction strip;
the robotic arm withdraws from the work tool. The tool replacement driving assembly drives the tool replacement assembly to enable the tool replacement assembly to be in an open state. After the mechanical arm moves to the tool replacement unit, the locking mechanism push rod motor drives the eccentric wheel connecting rod to drive the rotation center of the eccentric wheel to approach the eccentric wheel pressing plate, and the working tool is loosened. The tool replacement driving assembly drives the tool replacement assembly to enable the tool replacement assembly to be in a closed state. The mechanical arm is separated from the tool replacement unit to finish the withdrawal of the current working tool;
the mechanical arm selects a to-be-selected working tool; the mechanical arm moves to a tool replacement unit of the working tool to be replaced, and the tool replacement driving assembly drives the tool replacement assembly to enable the tool replacement assembly to be in an open state. The locking mechanism push rod motor drives the eccentric wheel connecting rod to drive the rotation center of the eccentric wheel to be far away from the eccentric wheel pressing plate, and the working tool is clamped; the mechanical arm drives the working tool to be far away from the driving replacement device, and the tool replacement driving assembly drives the tool replacement assembly to enable the tool replacement assembly to be in a closed state. And finishing the selection of the to-be-selected working tool.
Compared with the prior art, the invention has the following beneficial effects:
the invention overcomes the defects of the prior art, a beam moving guide rail is arranged on the outer side surface of a beam of a gantry bracket, a horizontal moving unit is arranged on the beam moving guide rail, the horizontal moving unit is in sliding connection with the beam moving guide rail, a vertical moving unit is arranged on the front surface of the horizontal moving unit, the vertical moving unit is in sliding connection with the front surface of the horizontal moving unit, the bottom of the vertical moving unit is connected with the top of a yaw rotating unit, the bottom of the yaw rotating unit is hinged with the top of a pitching rotating unit through a pin shaft, a first refining tool is arranged at the output end of the pitching rotating unit, two pairs of tool replacing devices are arranged below one side of the beam of the gantry bracket, and a second refining tool is arranged on one pair of tool replacing devices; the invention utilizes the horizontal moving unit, the vertical moving unit, the yaw rotating unit and the pitch rotating unit to accurately adjust the relative position of the first refining tool, can carry a large inertia load to carry out remote operation, maintains good flexibility and softness, and can simultaneously carry out blind zone operation.
Drawings
FIG. 1 is a three-dimensional schematic diagram of an aluminum liquid refining device based on a multi-degree-of-freedom mechanical arm;
FIG. 2 is a three-dimensional schematic perspective view of a horizontal moving unit in an aluminum liquid refining device based on a multi-degree-of-freedom mechanical arm;
FIG. 3 is a side view of a horizontal movement unit in an aluminum liquid refining device based on a multi-degree-of-freedom mechanical arm;
FIG. 4 is a rear view of a horizontal movement unit in an aluminum liquid refining apparatus based on a multi-degree-of-freedom mechanical arm according to the present invention;
fig. 5 is a side view of a vertical moving unit 4 in an aluminum liquid refining apparatus based on a multi-degree-of-freedom mechanical arm according to the present invention;
FIG. 6 is a front view of a yaw rotation unit in the multi-degree-of-freedom mechanical arm-based aluminum liquid refining device according to the invention;
FIG. 7 is a three-dimensional schematic diagram of a pitching rotation unit in an aluminum liquid refining device based on a multi-degree-of-freedom mechanical arm;
FIG. 8 is an isometric view of a pitching rotation unit in an aluminum liquid refining device based on a multi-degree-of-freedom mechanical arm according to the invention;
FIG. 9 is a top view of a first refining tool in an aluminum liquid refining apparatus based on a multi-degree-of-freedom mechanical arm according to the present invention;
fig. 10 is a three-dimensional schematic diagram of a tool replacement unit in an aluminum liquid refining device based on a multi-degree-of-freedom mechanical arm.
Detailed Description
The first embodiment is as follows: referring to fig. 1, the embodiment is described, and the specific mechanism of the aluminum liquid refining device based on the multi-degree-of-freedom mechanical arm in the embodiment includes a gantry bracket 1, a beam moving guide rail 2, a horizontal moving unit 3, a vertical moving unit 4, a yaw rotating unit 5, a pitch rotating unit 6, a first refining tool 7, a second refining tool 8 and a tool replacing unit 9;
a beam moving guide rail 2 is arranged on the outer surface of a beam of the gantry bracket 1, a horizontal moving unit 3 is arranged on the beam moving guide rail 2, the horizontal moving unit 3 is in sliding connection with the beam moving guide rail 2, a vertical moving unit 4 is arranged on the front surface of the horizontal moving unit 3, the vertical moving unit 4 is in sliding connection with the front surface of the horizontal moving unit 3, the bottom of the vertical moving unit 4 is connected with the top of a yaw rotating unit 5, the bottom of the yaw rotating unit 5 is hinged with the top of a pitching rotating unit 6 through a pin shaft, a first refining tool 7 is arranged at the output end of the pitching rotating unit 6, two pairs of tool replacing units 9 are arranged below one side of the beam of the gantry bracket 1, and a second refining tool 8 is arranged on one pair of the tool replacing units 9;
according to the embodiment, the horizontal moving unit, the vertical moving unit, the yaw rotating unit and the pitch rotating unit are adopted to accurately adjust the relative position of the first refining tool, the remote operation can be carried out by carrying a large inertia load, good dexterity and flexibility are maintained, and meanwhile blind area operation can be carried out.
The second embodiment is as follows: referring to fig. 1, the present embodiment is further limited to the aluminum liquid refining apparatus according to the first embodiment, and the aluminum liquid refining apparatus based on the multi-degree-of-freedom mechanical arm according to the present embodiment, where the gantry bracket 1 includes a gantry beam 1-1 and a gantry column 1-2; two ends of the lower surface of the gantry beam 1-1 are respectively provided with a gantry upright post 1-2, and the outer side surface of the gantry beam 1-1 is provided with a beam moving guide rail 2.
And a third specific embodiment: referring to fig. 1 to 4, the present embodiment is further limited to the aluminum liquid refining apparatus according to the first embodiment, and the aluminum liquid refining apparatus based on the multi-degree-of-freedom mechanical arm according to the present embodiment, where the horizontal moving unit 3 includes a horizontal moving driving motor 3-1, a gear 3-2, a vertical moving driving assembly 3-3, a horizontal moving sliding key set 3-4, a horizontal moving bracket 3-5, and a vertical moving rail 3-6;
the section of the horizontal moving support 3-5 is G-shaped, a vertical moving guide rail 3-6 is arranged on one side surface of the horizontal moving support 3-5, a vertical moving driving assembly 3-3 is arranged on the vertical moving guide rail 3-6, a horizontal moving sliding key set 3-4 is arranged on the lower portion of the other side surface of the horizontal moving support 3-5, a horizontal moving driving motor 3-1 is arranged in the middle of the upper surface of the horizontal moving support 3-5, and the output end of the horizontal moving driving motor 3-1 passes through the upper surface of the horizontal moving support 3-5 and then is connected with an inner hole of the gear 3-2.
The specific embodiment IV is as follows: the present embodiment is further limited to the aluminum liquid refining apparatus according to the third embodiment, and the aluminum liquid refining apparatus based on the multi-degree-of-freedom mechanical arm according to the present embodiment, wherein a rack is arranged at the upper part of the front surface of the beam moving rail 2, and the gear 3-2 on the horizontal moving unit 3 is meshed with the rack on the beam moving rail 2;
in the specific embodiment, a rack is arranged at the upper part of the front surface of the beam moving guide rail 2, a gear 3-2 on the horizontal moving unit 3 is meshed with the rack on the beam moving guide rail 2, a horizontal moving driving motor 3-1 on the horizontal moving unit 3 is used for driving the gear 3-2 to rotate, the gear 3-2 on the horizontal moving unit 3 is meshed with the rack on the beam moving guide rail 2, and then the horizontal moving unit 3 is slidably connected on the beam moving guide rail 2 through a horizontal moving sliding key set 3-4, so that the horizontal moving unit 3 slides on the beam moving guide rail 2.
Fifth embodiment: referring to fig. 5, the present embodiment is further limited to the aluminum liquid refining apparatus according to the first embodiment, and the aluminum liquid refining apparatus based on the multi-degree-of-freedom mechanical arm according to the present embodiment, wherein the vertical moving unit 4 includes a yaw rotation driving motor 4-1, a vertical moving sliding key set 4-2, a coupling 4-3, and a vertical moving unit bracket 4-4;
the cross section of the vertical moving unit support 4-4 is right trapezoid, a vertical moving sliding key set 4-2 is arranged in the middle of the outer side face of the vertical end face of the vertical moving unit support 4-4, a baffle is arranged on the inner side face of the vertical end face of the vertical moving unit support 4-4, a yaw rotation driving motor 4-1 is arranged on the upper surface of the baffle, and a coupler 4-3 is arranged at the output end of the yaw rotation driving motor 4-1.
Specific embodiment six: referring to fig. 1, fig. 2 and fig. 5, this embodiment is further limited to the aluminum liquid refining apparatus according to the fifth embodiment, and the aluminum liquid refining apparatus based on a multi-degree-of-freedom mechanical arm according to this embodiment is characterized in that the vertical moving sliding key set 4-2 is slidably connected with the vertical moving guide rail 3-6, and the output end of the vertical moving driving component 3-3 is connected with the middle part of the upper surface of the vertical moving sliding key set 4-2;
in this embodiment, the vertical moving sliding key set 4-2 is slidably connected with the vertical moving guide rail 3-6, and the output end of the vertical moving driving component 3-3 is connected with the middle part of the upper surface of the vertical moving sliding key set 4-2, so as to realize the sliding of the vertical moving unit 4 on the horizontal moving unit 3 in the vertical direction.
Seventh embodiment: referring to fig. 6, this embodiment is further limited to the aluminum liquid refining apparatus according to the first or fifth embodiment, in which the yaw rotation unit 5 includes a connection shaft 5-1 and a pitch rotation pull rod motor 5-2, a support arm is disposed on an outer surface of the connection shaft 5-1, one end of the support arm is hinged with a bottom of the pitch rotation pull rod motor 5-2, a hinge rod is disposed at a bottom of the connection shaft 5-1, and a top of the connection shaft 5-1 is connected with a bottom end of a coupling 4-3 on the vertical movement unit 4.
Eighth embodiment: referring to fig. 7 and 8, the present embodiment is further limited to the aluminum liquid refining apparatus according to the first embodiment, and the aluminum liquid refining apparatus based on a multi-degree-of-freedom mechanical arm according to the present embodiment, where the pitching rotation unit 6 includes a locking mechanism push rod motor 6-1, an eccentric wheel connecting rod 6-2, an eccentric wheel 6-3, an eccentric wheel pressing plate 6-4, a spring 6-5, a tool conveying motor 6-6, a rack and pinion assembly 6-7, a roller assembly 6-8, a pitching unit bracket 6-9, and a connecting plate 6-10;
the upper end and the lower end in the pitching unit support 6-9 are respectively provided with a roller component 6-8, the side surface of the pitching unit support 6-9 is provided with a tool conveying motor 6-6, the tool conveying motor 6-6 drives one roller component 6-8 through a gear rack component 6-7, the upper surface of the pitching unit support 6-9 is provided with a connecting plate 6-10, one end of the upper surface of the connecting plate 6-10 is provided with a hinging seat, two sides of the hinging seat are respectively provided with a spring 6-5, the bottom of the spring 6-5 is fixedly connected with the upper surface of the connecting plate 6-10, the inside of the hinging seat on the connecting plate 6-10 is provided with an eccentric wheel 6-3, the eccentric wheel 6-3 is rotatably connected with the inner wall of the hinging seat on the connecting plate 6-10 through a transmission shaft, one end of the transmission shaft penetrates through the outer wall of the hinging seat on the connecting plate 6-10 and then is connected with the central hole of the eccentric wheel connecting rod 6-2, the side surface of the connecting plate 6-10 is provided with a locking mechanism 6-1, the side surface of the motor seat is provided with a locking mechanism, the bottom of the locking mechanism push rod motor 6-1 is connected with the motor 6-10 with the upper surface of the motor, the locking mechanism push rod 6-1 is fixedly connected with the upper surface of the other eccentric wheel 6-10, the eccentric wheel 4 is connected with the output end of the eccentric wheel 6-6 of the hinging seat, and the other eccentric wheel is connected with the eccentric wheel 6-4 on the pressing plate 6-6.
Detailed description nine: the present embodiment is further limited to the aluminum liquid refining apparatus according to the seventh embodiment, and the aluminum liquid refining apparatus based on the multi-degree-of-freedom mechanical arm according to the present embodiment is described with reference to fig. 1, 6 and 7, wherein the output end of the pitching rotation pull rod motor 5-2 on the yaw rotation unit 5 is hinged to the other end of the upper surface of the connecting plate 6-10.
Detailed description ten: referring to fig. 9 and 10, the present embodiment is further limited to the aluminum liquid refining apparatus according to the first embodiment, and the aluminum liquid refining apparatus based on the multi-degree-of-freedom mechanical arm according to the present embodiment, where the first refining tool 7 includes a flat working head 7-1, a pointed working head 7-2, a main body rod 7-3, and a friction strip 7-4; one end of the main body rod 7-3 is provided with a flat working head 7-1, the other end of the main body rod 7-3 is provided with a sharp working head 7-2, and a plurality of friction strips 7-4 are uniformly arranged on the circumferential outer surface of the main body rod 7-3;
the tip working head 7-2 comprises a flat mounting plate 7-21, an elastic component 7-22 and a tip working plate 7-23; the flat mounting plate 7-21 and the tip working plate 7-23 are oppositely arranged in parallel from top to bottom, and two groups of elastic components 7-22 are uniformly arranged between the flat mounting plate 7-21 and the tip working plate 7-23;
the tool replacing unit 9 comprises a tool replacing assembly 9-1, a tool replacing driving assembly 9-2 and three brackets 9-3; the top of the three brackets 9-3 is provided with a tool changing assembly 9-1, and the tool changing driving assembly 9-2 is used for driving the tool changing assembly 9-1;
according to the specific embodiment, the plurality of friction strips 7-4 are uniformly arranged on the circumferential outer surface of the main body rod 7-3, so that the friction force between the main body rod 7-3 and the pulley assembly is increased, stable movement and low noise are realized, and meanwhile, when tiny misoperation occurs during refining operation, the slipping phenomenon is avoided, so that the normal and stable operation of the whole mechanical arm is ensured.
Principle of operation
The horizontal moving unit 3 forms a moving pair with the pinion 3-2 and the horizontal moving sliding key group 3-4 and the beam moving guide rail 2, and the horizontal moving driving motor 3-1 drives the pinion 3-2 to drive the whole mechanical arm to move. The vertical moving unit 4 forms a moving pair by moving the vertical moving sliding key set 4-2 and the vertical moving guide rail 3-6, and the vertical moving unit 4 and the vertical moving guide rail are connected through sliding keys, are provided with a guide rod and a guide hole structure and are driven by the vertical moving driving assembly 3-3. The yaw rotation unit 5 is connected with the vertical movement unit 4 through a coupler to form a revolute pair and is driven by a yaw rotation driving motor 4-1; the pitching rotation unit 6 is connected with a coupling on the vertical movement unit 4 through a connecting shaft 5-1 on the yawing rotation unit 5 to form a revolute pair, and is driven by a pitching rotation pull rod motor 5-2. The locking mechanism push rod motor 6-1 drives the eccentric wheel connecting rod 6-2 to drive the rotation center of the eccentric wheel 6-3 to be far away from or close to the eccentric wheel pressing plate 6-4 so as to tighten or loosen the working tool. The eccentric wheel 6-3 and the spring 6-5 play a role in self-locking in the tightening tool. The tool conveying motor 6-6 drives the gear rack assembly 6-7 to drive the roller assembly 6-8 which is tightly pressed on the tool to rotate, and the movement of the working tool is realized through the friction force generated between the roller assembly 6-8 and the tool friction strip;
the robotic arm withdraws from the work tool. The tool replacement driving assembly 9-2 drives the tool replacement assembly 9-1, so that the tool replacement assembly 9-1 is in an open state. After the mechanical arm moves to the tool changing unit 9, the locking mechanism push rod motor 6-1 drives the eccentric wheel connecting rod 6-2 to drive the rotation center of the eccentric wheel 6-3 to approach the eccentric wheel pressing plate 6-4, and the working tool is loosened. The tool changing driving assembly 9-2 drives the tool changing assembly 9-1 to enable the tool changing assembly 9-1 to be in a closed state. The mechanical arm is separated from the tool changing unit 9 to finish the exiting of the current working tool;
the mechanical arm selects a to-be-selected working tool; the mechanical arm moves to the tool changing unit 9 of the to-be-changed working tool, and the tool changing driving assembly 9-2 drives the tool changing assembly 9-1 to enable the tool changing assembly 9-1 to be in an open state. The locking mechanism push rod motor 6-1 drives the eccentric wheel connecting rod 6-2 to drive the rotation center of the eccentric wheel 6-3 to be far away from the eccentric wheel pressing plate 6-4, and the working tool is clamped; the mechanical arm drives the working tool to be far away from the driving replacement device, and the tool replacement driving assembly 9-2 drives the tool replacement assembly 9-1 to enable the tool replacement assembly 9-1 to be in a closed state. And finishing the selection of the to-be-selected working tool.
Claims (9)
1. An aluminium liquid refining device based on multi freedom arm, its characterized in that: the device comprises a gantry bracket (1), a beam moving guide rail (2), a horizontal moving unit (3), a vertical moving unit (4), a yaw rotating unit (5), a pitch rotating unit (6), a first refining tool (7), a second refining tool (8) and a tool replacing unit (9);
a beam moving guide rail (2) is arranged on the outer surface of a beam of the gantry bracket (1), a horizontal moving unit (3) is arranged on the beam moving guide rail (2), the horizontal moving unit (3) is in sliding connection with the beam moving guide rail (2), a vertical moving unit (4) is arranged on the front surface of the horizontal moving unit (3), the vertical moving unit (4) is in sliding connection with the front surface of the horizontal moving unit (3), the bottom of the vertical moving unit (4) is connected with the top of a yaw rotating unit (5), the bottom of the yaw rotating unit (5) is hinged with the top of a pitching rotating unit (6) through a pin shaft, a first refining tool (7) is arranged at the output end of the pitching rotating unit (6), two pairs of tool replacing units (9) are arranged below one side of the beam of the gantry bracket (1), and a second refining tool (8) is arranged on one pair of the tool replacing units (9);
the vertical moving unit (4) comprises a yaw rotation driving motor (4-1), a vertical moving sliding key group (4-2), a coupler (4-3) and a vertical moving unit bracket (4-4);
the cross section of the vertical moving unit support (4-4) is right trapezoid, a vertical moving sliding key set (4-2) is arranged in the middle of the outer side face of the vertical end face of the vertical moving unit support (4-4), a baffle is arranged on the inner side face of the vertical end face of the vertical moving unit support (4-4), a yaw rotation driving motor (4-1) is arranged on the upper surface of the baffle, and a coupler (4-3) is arranged at the output end of the yaw rotation driving motor (4-1).
2. The aluminum liquid refining device based on the multi-degree-of-freedom mechanical arm according to claim 1, wherein the aluminum liquid refining device is characterized in that: the gantry bracket (1) comprises a gantry beam (1-1) and a gantry upright post (1-2); two ends of the lower surface of the gantry beam (1-1) are respectively provided with a gantry upright post (1-2), and the outer side surface of the gantry beam (1-1) is provided with a beam moving guide rail (2).
3. The aluminum liquid refining device based on the multi-degree-of-freedom mechanical arm according to claim 1, wherein the aluminum liquid refining device is characterized in that: the horizontal moving unit (3) comprises a horizontal moving driving motor (3-1), a gear (3-2), a vertical moving driving assembly (3-3), a horizontal moving sliding key set (3-4), a horizontal moving bracket (3-5) and a vertical moving guide rail (3-6);
the section of the horizontal moving support (3-5) is G-shaped, a vertical moving guide rail (3-6) is arranged on one side surface of the horizontal moving support (3-5), a vertical moving driving assembly (3-3) is arranged on the vertical moving guide rail (3-6), a horizontal moving sliding key set (3-4) is arranged on the lower portion of the other side surface of the horizontal moving support (3-5), a horizontal moving driving motor (3-1) is arranged in the middle of the upper surface of the horizontal moving support (3-5), and the output end of the horizontal moving driving motor (3-1) penetrates through the upper surface of the horizontal moving support (3-5) and then is connected with an inner hole of the gear (3-2).
4. The aluminum liquid refining device based on the multi-degree-of-freedom mechanical arm according to claim 1 or 3, wherein: the upper part of the front surface of the beam moving guide rail (2) is provided with a rack, and a gear (3-2) on the horizontal moving unit (3) is meshed with the rack on the beam moving guide rail (2).
5. The aluminum liquid refining device based on the multi-degree-of-freedom mechanical arm according to claim 3, wherein the aluminum liquid refining device is characterized in that: the vertical moving sliding key set (4-2) is connected with the vertical moving guide rail (3-6) in a sliding way, and the output end of the vertical moving driving assembly (3-3) is connected with the middle part of the upper surface of the vertical moving sliding key set (4-2).
6. The aluminum liquid refining device based on the multi-degree-of-freedom mechanical arm according to claim 1 or 5, wherein the aluminum liquid refining device is characterized in that: the yaw rotation unit (5) comprises a connecting shaft (5-1) and a pitching rotation pull rod motor (5-2), a support arm is arranged on the outer surface of the connecting shaft (5-1), one end of the support arm is hinged with the bottom of the pitching rotation pull rod motor (5-2), a hinging rod is arranged at the bottom of the connecting shaft (5-1), and the top of the connecting shaft (5-1) is connected with the bottom end of a coupler (4-3) on the vertical movement unit (4).
7. The aluminum liquid refining device based on the multi-degree-of-freedom mechanical arm according to claim 1, wherein the aluminum liquid refining device is characterized in that: the pitching rotation unit (6) comprises a locking mechanism push rod motor (6-1), an eccentric wheel connecting rod (6-2), an eccentric wheel (6-3), an eccentric wheel pressing plate (6-4), a spring (6-5), a tool conveying motor (6-6), a gear rack assembly (6-7), a roller assembly (6-8), a pitching unit bracket (6-9) and a connecting plate (6-10);
the upper and lower ends inside the pitching unit support (6-9) are respectively provided with a roller component (6-8), the side surface of the pitching unit support (6-9) is provided with a tool conveying motor (6-6), the tool conveying motor (6-6) drives one roller component (6-8) through a gear rack component (6-7), the upper surface of the pitching unit support (6-9) is provided with a connecting plate (6-10), one end of the upper surface of the connecting plate (6-10) is provided with a hinging seat, two sides of the hinging seat are respectively provided with a spring (6-5), the bottom of the spring (6-5) is fixedly connected with the upper surface of the connecting plate (6-10), the inside of the hinging seat on the connecting plate (6-10) is provided with an eccentric wheel (6-3), the eccentric wheel (6-3) is rotationally connected with the inner wall of the hinging seat on the connecting plate (6-10) through a transmission shaft, one end of the transmission shaft penetrates through the outer wall of the upper hinging seat of the connecting plate (6-10) and then is connected with the central hole of the eccentric wheel connecting rod (6-2), the side surface of the connecting plate (6-10) is provided with a motor seat, the bottom of the motor is provided with a locking mechanism (6-1) and a push rod locking mechanism (1), the output end of the locking mechanism push rod motor (6-1) is hinged with one end of the eccentric wheel connecting rod (6-2), and the upper part of the other side surface of the pitching unit bracket (6-9) is provided with an eccentric wheel pressing plate (6-4).
8. The aluminum liquid refining device based on the multi-degree-of-freedom mechanical arm of claim 7, wherein the aluminum liquid refining device is characterized in that: the output end of the pitching rotation pull rod motor (5-2) on the yaw rotation unit (5) is hinged with the other end of the upper surface of the connecting plate (6-10).
9. The aluminum liquid refining device based on the multi-degree-of-freedom mechanical arm according to claim 1, wherein the aluminum liquid refining device is characterized in that: the first refining tool (7) comprises a flat working head (7-1), a sharp working head (7-2), a main body rod (7-3) and a friction strip (7-4);
one end of the main body rod (7-3) is provided with a flat working head (7-1), the other end of the main body rod (7-3) is provided with a sharp working head (7-2), and a plurality of friction strips (7-4) are uniformly arranged on the circumferential outer surface of the main body rod (7-3);
the tip working head (7-2) comprises a flat mounting plate (7-21), an elastic component (7-22) and a tip working plate (7-23);
the flat mounting plate (7-21) and the sharp working plate (7-23) are arranged in parallel and opposite from top to bottom, and two groups of elastic components (7-22) are uniformly arranged between the flat mounting plate (7-21) and the sharp working plate (7-23);
the tool replacing unit (9) comprises a tool replacing assembly (9-1), a tool replacing driving assembly (9-2) and three brackets (9-3); the top of the three brackets (9-3) is provided with a tool replacing assembly (9-1), and the tool replacing driving assembly (9-2) is used for driving the tool replacing assembly (9-1).
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| CN202210598694.8A CN114921660B (en) | 2022-05-30 | 2022-05-30 | Aluminum liquid refining device based on multi-degree-of-freedom mechanical arm |
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| CN202210598694.8A CN114921660B (en) | 2022-05-30 | 2022-05-30 | Aluminum liquid refining device based on multi-degree-of-freedom mechanical arm |
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| CN114921660A (en) | 2022-08-19 |
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