CN115519072B - Automatic wax tree spraying Sha Shoubei for casting - Google Patents
Automatic wax tree spraying Sha Shoubei for casting Download PDFInfo
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- CN115519072B CN115519072B CN202211340575.9A CN202211340575A CN115519072B CN 115519072 B CN115519072 B CN 115519072B CN 202211340575 A CN202211340575 A CN 202211340575A CN 115519072 B CN115519072 B CN 115519072B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22C—FOUNDRY MOULDING
- B22C9/00—Moulds or cores; Moulding processes
- B22C9/02—Sand moulds or like moulds for shaped castings
- B22C9/04—Use of lost patterns
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22C—FOUNDRY MOULDING
- B22C19/00—Components or accessories for moulding machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22C—FOUNDRY MOULDING
- B22C9/00—Moulds or cores; Moulding processes
- B22C9/02—Sand moulds or like moulds for shaped castings
- B22C9/04—Use of lost patterns
- B22C9/046—Use of patterns which are eliminated by the liquid metal in the mould
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Abstract
The invention discloses an automatic sand spraying arm for a cast wax tree, which comprises a base, a supporting arm and a controller, wherein the upper end of the wax tree is connected with a hook, the upper end of the base is provided with a supporting frame, the supporting frame is rotationally connected with the base, the supporting frame is connected with a lifting seat, the supporting arm is in sliding fit with the lifting seat, the end part of the supporting arm is connected with a rotary die mechanism for installing the wax tree through a joint mechanism, and a fixed cover for fixing the hook is sleeved on the rotary die mechanism. Simple structure, be convenient for make, low in manufacturing cost have satisfied the user demand of medium and small enterprises, can realize through the device that the automation of wax tree goes up, unloading and drenches husky process, drenches the in-process device and can carry out 360 homoenergetic rotations under horizontal and the inclination to the wax tree, ensure that the wax tree drenches the comprehensive, even of husky, improved drenches husky quality and efficiency, solved industrial robot with high costs and artifical drenches husky quality and inefficiency's problem, improved the casting level of medium and small enterprises.
Description
Technical Field
The invention relates to the technical field of casting equipment, in particular to an automatic sand spraying arm for a wax tree for casting.
Background
The precision casting is called lost wax casting, the product is precise and complex, is close to the final shape of the part, can be directly used without machining or with little machining, and compared with the traditional sand casting technology, the casting obtained by precision casting is more precise in size and better in surface finish.
The most commonly used precision casting is lost wax casting, and the process comprises the steps of wax mould making, wax tree making, shell making, dewaxing, casting and casting post-treatment, wherein the wax tree is usually required to be dipped in slurry and sprayed with sand in the shell making process. Patent CN212884864U discloses a wax loss casting is stained with thick liquid and is drenched husky device, mainly drenches husky with the help of industrial robot snatchs the wax tree, and degree of automation is high, but purchases industrial robot cost higher for most small-size casting enterprises, is difficult to bear. Therefore, when many enterprises perform the sand spraying work of the wax trees, manual operation is still adopted, and the manual operation has the problems of low sand spraying efficiency and uneven sand spraying.
Disclosure of Invention
The invention aims at the defects of the prior art, and provides the automatic sand spraying arm for the wax trees, which has the advantages of simple structure, convenient manufacture and low manufacturing cost, meets the use requirements of small and medium enterprises, ensures the comprehensive and uniform sand spraying of the wax trees, improves the sand spraying quality and efficiency, solves the problems of high cost of industrial robots and low quality and efficiency of manual sand spraying, and improves the casting level of the small and medium enterprises.
In order to achieve the above purpose, the present invention provides the following technical solutions:
the utility model provides an automatic sand arm that drenches of wax tree for casting, includes base, support arm and controller, the upper end of wax tree is connected with the couple, the upper end of base is equipped with the support frame, support frame and base rotate to be connected, be connected with the lift seat on the support frame, support arm and lift seat sliding fit, the tip of support arm is connected with the rotary die mechanism of installation wax tree through joint mechanism, the cover has the fixed lid of fixed couple on the rotary die mechanism.
Preferably, the support frame comprises a tray and upright rods, the tray is located at the upper end of the base, a second motor for driving the tray is arranged in the base, the upper end of the tray is connected with a plurality of upright rods, and the upright rods are connected through a cross brace.
Preferably, the corner of the lifting seat is provided with a sliding sleeve in sliding fit with the vertical rod, and the bottom of the lifting seat is connected with the supporting frame through a hydraulic cylinder.
Preferably, the upper end of lifting seat is equipped with the uide bushing, the support arm level sets up, and the lower extreme of support arm is connected with the guide bar with uide bushing sliding fit, is equipped with the rack bar on the lateral wall of support arm, the lower extreme of lifting seat is fixed with first motor, be connected with on the output shaft of first motor with rack bar engaged drive gear.
Preferably, the joint mechanism comprises an upper turning plate and a lower turning plate, one end of the upper turning plate is hinged with the upper end of the supporting arm, a first lug plate is arranged at the upper end of the supporting arm, a second lug plate is arranged at the upper end of the upper turning plate, a first electric cylinder is connected between the first lug plate and the second lug plate, one end of the lower turning plate is hinged with the lower end of the upper turning plate, a fourth lug plate is connected with the lower end of the lower turning plate, a third lug plate is arranged at the lower end of the upper turning plate, a second electric cylinder is connected between the third lug plate and the fourth lug plate, and one end of the lower turning plate, far away from the upper turning plate, is connected with the rotating die mechanism.
Preferably, the rotary die mechanism comprises a rotary disc and a hanging disc, one end of the lower turning plate is provided with a positioning plate, the rotary disc is located on one side of the positioning plate, a third motor for driving the rotary disc is arranged on the other side of the positioning plate, the third motor is located on the upper end of the lower turning plate, the rotary disc is connected with the hanging disc through a supporting rod, a positioning groove matched with a hook is formed in the side wall of the hanging disc, a hook hole matched with the hook is formed in one side of the positioning groove, and the fixed cover is sleeved on the outer side of the hanging disc to fix the hook.
Preferably, the fixed cover is provided with a guide hole matched with the support rod, and the fixed cover is connected with the turntable through an air cylinder.
Preferably, the initial positions of the upper turning plate and the lower turning plate are in a horizontal state, the maximum angle of upward rotation of the upper turning plate is 45 degrees, and the maximum angle of downward rotation of the lower turning plate is 90 degrees.
Preferably, the controller adopts a PLC controller.
Compared with the prior art, the invention has the beneficial effects that:
1. the device has the advantages of simple structure, convenient manufacture and low manufacturing cost, meets the use requirements of small and medium enterprises, can realize the automatic feeding and discharging processes and sand spraying processes of the wax tree, can rotate the wax tree horizontally and uniformly at 360 degrees in an inclined state in the sand spraying process, ensures the comprehensive and uniform sand spraying of the wax tree, improves the sand spraying quality and efficiency, solves the problems of high cost of industrial robots and low manual sand spraying quality and efficiency, and improves the casting level of small and medium enterprises.
2. The supporting arm can rotate under the action of the supporting frame, so that the feeding and discharging of the wax trees are facilitated, meanwhile, the supporting arm can be adjusted in height according to the sand spraying position, and the convenience and the universality of use are improved.
3. The joint mechanism not only realizes the connection and fixation between the supporting arm and the rotary die mechanism, but also can incline the wax tree, thereby improving the comprehensiveness of sand spraying; in addition, the shutdown mechanism can drive the rotary die mechanism to be vertical, so that the wax tree is convenient to disassemble and assemble on the hanging plate, and the convenience of use is improved.
4. According to the invention, the hooks are fixed through the fixing cover, the fixing mode is simple and quick, the wax trees are firmly connected with the hanging plate, and the stability and the safety in the sand spraying process are ensured.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic view of the structure of the support frame and the base in cooperation;
FIG. 3 is a schematic view of a lifting seat;
FIG. 4 is a schematic structural view of a support arm;
FIG. 5 is a schematic view of the articulation mechanism connecting the support arm with the rotary die mechanism;
FIG. 6 is a schematic structural view of the stationary cover;
FIG. 7 is a schematic view of a rotary die mechanism;
FIG. 8 is a schematic view of the mating of the wax tree with the rotary die mechanism;
FIG. 9 is a schematic diagram of the structure of the present invention during feeding;
FIG. 10 is a schematic view of the structure of the present invention when sand is showered;
FIG. 11 is a schematic view of the structure of the present invention when used in combination with a sand shower.
In the figure: 1-a supporting frame; 101-a tray; 102-standing a pole; 103-a cross brace; 2-supporting arms; 201-a rack bar; 202-a guide rod; 203-a first ear plate; 3-lifting seats; 301-sliding sleeve; 302, a guide sleeve; 303-a drive gear; 304-a first motor; 4-a base; 401-a second motor; 5-joint mechanism; 501-a first electric cylinder; 502-upper turning plate; 503-a second ear plate; 504-third ear panel; 505-a second electric cylinder; 506-fourth ear plate; 507-turning down the plate; 508-a third motor; 509-positioning plates; 6-fixing the cover; 601-a guide hole; 7-a rotary die mechanism; 701-a turntable; 702-supporting a rod; 703-hanging plate; 704-positioning grooves; 705-hooking holes; 8-wax tree; 801-a hook; 9-cylinder; 10-hydraulic cylinder.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in FIG. 1, an automatic sand spraying arm for a cast wax tree 8 comprises a base 4, a supporting arm 2 and a controller, wherein the controller adopts a PLC controller to realize the control of each mechanism of the arm, a control screen is arranged to set parameters, the controller is independently arranged on one side of the arm through electric connection, the PLC controller is in the prior art, the detailed description is omitted, and the PLC controller is not shown in the drawing. In addition, a hook 801 is connected to the upper end of the wax tree 8, and the wax tree 8 is suspended by the hook 801.
As shown in fig. 2, the upper end of the base 4 is provided with a support frame 1, the support frame 1 and the base 4 are rotationally connected, the support arm 2 can be driven to rotate through the support frame 1, a lifting seat 3 is connected to the support frame 1, the support arm 2 is in sliding fit with the lifting seat 3, the height of the support arm 2 is adjusted through the lifting seat 3, meanwhile, the support arm 2 can slide on the lifting seat 3, the wax tree 8 can enter and exit in the sand spraying machine, the end part of the support arm 2 is connected with a rotary die mechanism 7 for installing the wax tree 8 through a joint mechanism 5, a fixed cover 6 for fixing a hook 801 is sleeved on the rotary die mechanism 7, the rotation of the wax tree 8 can be realized through the rotary die mechanism 7, and each surface of the wax tree 8 is ensured to be sprayed by sand. The joint mechanism 5 can realize the up-and-down swing of the rotary die mechanism 7 while realizing the connection between the rotary die mechanism 7 and the supporting arm 2, realize the change of the angle of the wax tree 8 and improve the comprehensiveness of sand spraying.
The specific structure and function are as follows:
as shown in fig. 2, the support frame 1 includes a tray 101 and upright rods 102, the tray 101 is located at the upper end of the base 4, a second motor 401 for driving the tray 101 is arranged in the base 4, the second motor 401 is a servo motor, the angle of left and right rotation can be accurately controlled, the upper end of the tray 101 is connected with a plurality of upright rods 102, the upright rods 102 are connected through transverse struts 103 to form a frame structure, and the structure is firm, and the weight of the support frame 1 is reduced.
As shown in fig. 3, a sliding sleeve 301 in sliding fit with the upright rod 102 is arranged at the corner of the lifting seat 3, a mounting plate is arranged in the supporting frame 1, the bottom of the lifting seat 3 is connected with the mounting plate through a hydraulic cylinder 10, the lifting seat 3 is driven to move up and down through the hydraulic cylinder 10, the height of the supporting arm 2 is adjusted, the height of a sand spraying inlet of the sand spraying machine is adjusted conveniently, and the universality of use is improved.
The upper end at elevating seat 3 is equipped with uide bushing 302, support arm 2 level sets up, as shown in fig. 4, the lower extreme of support arm 2 is connected with uide bushing 302 sliding fit's guide bar 202, the quantity of guide bar 202 is two, the both ends of guide bar 202 are connected with support arm 2 through the stopper, be equipped with rack bar 201 on the lateral wall of support arm 2, the lower extreme of elevating seat 3 is fixed with first motor 304, be connected with on the output shaft of first motor 304 with rack bar 201 engaged drive gear 303, first motor 304 adopts servo motor, drive gear 303 rotatory through first motor 304 drive, drive gear 303 and rack bar 201 meshing drive support arm 2 slide along uide bushing 302.
In this application, the main function of the joint mechanism 5 is to tilt the wax tree 8 up and down, so that sand can be adhered to the grooves on the surface of the wax pattern during sand spraying. As shown in fig. 5, the joint mechanism 5 includes an upper flap 502 and a lower flap 507, the upper flap 502 is used for driving the wax tree 8 to incline upwards, the lower flap 507 is used for driving the wax tree 8 to incline downwards, wherein:
one end of the upper turning plate 502 is hinged with the upper end of the supporting arm 2, the upper turning plate 502 is located at the upper end of the supporting arm 2, the lower end of the upper turning plate 502 is limited and supported through the supporting arm 2, stability is improved, the first lug 203 is arranged at the upper end of the supporting arm 2, the second lug 503 is arranged at the upper end of the upper turning plate 502, and the first electric cylinder 501 is connected between the first lug 203 and the second lug 503.
One end of the lower turning plate 507 is hinged with the lower end of the upper turning plate 502, the upper end of the lower turning plate 507 is limited through the upper turning plate 502, the lower end of the lower turning plate 507 is connected with a fourth ear plate 506, the lower end of the upper turning plate 502 is provided with a third ear plate 504, and a second electric cylinder 505 is connected between the third ear plate 504 and the fourth ear plate 506.
The starting positions of the upper turning plate 502 and the lower turning plate 507 are in a horizontal state, the maximum angle of upward rotation of the upper turning plate 502 is 45 degrees, the maximum angle of downward rotation of the lower turning plate 507 is 90 degrees, the turning angles of the upper turning plate 502 and the lower turning plate 507 are 30-45 degrees when sand spraying is carried out, and the lower turning plate 507 is turned down by 90 degrees when feeding, namely, when the wax tree 8 is mounted on the rotary die mechanism 7 or the wax tree 8 is dismounted from the rotary die mechanism 7, so that the wax tree 8 can be conveniently dismounted. When the upper turning plate 502 rotates upwards in use, the lower turning plate 507 moves along with the upper turning plate 502, and when the lower turning plate 507 is started, the upper turning plate 502 is fixed.
The one end that lower plate 507 kept away from upper plate 502 is connected with rotary die mechanism 7, as shown in fig. 7, 8, rotary die mechanism 7 includes carousel 701 and hanging dish 703, the one end of lower plate 507 is equipped with locating plate 509, carousel 701 is located one side of locating plate 509, the opposite side of locating plate 509 is equipped with the third motor 508 that drives carousel 701, the third motor 508 adopts servo motor, the upper end at lower plate 507 is fixed to third motor 508, carousel 701 passes through bracing piece 702 to be connected with hanging dish 703, be equipped with on the hanging dish 703 lateral wall with couple 801 complex constant head tank 704, one side of constant head tank 704 is equipped with couple 801 complex collude hole 705, the hook of couple 801 colludes into collude in the hole 705, the shank of couple 801 is located the constant head tank 704, fixed cover 6 cover is in the outside of hanging dish 703 and is pushed down couple 801, make couple 801 can not deviate from in the collude hole, simultaneously constant head tank 704 will not collude the shank location, can't swing about, realize the fixed to couple 801. The rotary die mechanism 7 lifts up the wax tree 8 and performs overturning operation by fixing the hook 801, and the third motor 508 can drive the rotary die mechanism 7 to uniformly rotate clockwise and anticlockwise.
The fixed cover 6 is located between the rotary table 701 and the hanging plate 703, as shown in fig. 6, a guide hole 601 matched with the supporting rod 702 is formed in the fixed cover 6, the fixed cover 6 is connected with the rotary table 701 through an air cylinder 9, opening and closing of the fixed cover 6 are achieved under the action of the air cylinder 9, the fixed cover 6 can be firmly pressed on the hanging plate 703 through the thrust of the air cylinder 9, and the hanging hook 801 is firmly fixed.
Before use, the height of the supporting arm 2 needs to be adjusted according to the inlet of the sand spraying machine, the supporting frame 1 is positioned on one side of the sand spraying machine, the height of the supporting arm 2 is adjusted, the supporting arm 2 corresponds to the inlet of the sand spraying machine in height, the wax tree 8 is ensured to enter from the middle position of the inlet of the sand spraying machine, and therefore the wax tree 8 can incline upwards or downwards in the sand spraying machine, and the use is started after the adjustment is finished.
When the sand shower is used, the supporting arm 2 is positioned at one side of the sand shower, as shown in fig. 9, at the moment, the lower turning plate 507 rotates downwards by 90 degrees to suspend the wax tree 8 on the hanging plate 703, and then the cylinder 9 is started to enable the fixed cover 6 to be matched with the hanging plate 703 to fix the hook 801;
as shown in fig. 10, the lower turning plate 507 rotates upwards to be horizontal, the second motor 401 is started to enable the support frame 1 to rotate, and the support arm 2 drives the wax tree 8 to rotate, so that the wax tree 8 rotates to the inlet of the sand shower;
as shown in fig. 11, the first motor 304 is started to drive the support arm 2 to move into the sand spraying machine, and the wax tree 8 is sent into the sand spraying machine for sand spraying; the supporting arm 2 stops after the wax tree 8 enters the sand spraying machine, and at the moment, the third motor 508 is started to drive the rotary die mechanism 7 to rotate; the rotary die mechanism 7 rotates in a clockwise and anti-alternate rotation mode, and in the application, the rotary die mechanism rotates three times clockwise and then rotates three times anticlockwise so as to reciprocate;
when the rotary die mechanism 7 rotates clockwise and anticlockwise alternately once in a horizontal state, the upper turning plate 502 rotates upwards at the moment to enable the wax tree 8 to incline upwards by 30 degrees (the rotation angle is determined according to the shape of the wax tree 8, when the surface of the wax die is smooth, the turnover angle can be reduced, when the grooves on the surface of the wax die are more, especially when grooves are formed on the front side and the rear side (the inner side of the sand pouring opening is the rear side and the outer side of the sand pouring opening is the front side), the rotation angle can be increased, the rotary die mechanism 7 rotates clockwise and anticlockwise alternately once, the upper turning plate 502 is reset to be horizontal, then the lower turning plate 507 tilts downwards by 30 degrees, the rotary die mechanism 7 rotates clockwise and anticlockwise alternately once, the lower turning plate 507 is reset to be horizontal, at the moment, the rotary die mechanism 7 rotates clockwise and anticlockwise alternately once again;
the support arm 2 moves outwards to take the wax tree 8 out of the sand spraying machine, and after the support arm 2 stops, the support frame 1 rotates by 90 degrees to enable the support arm 2 to rotate and reset to the initial position;
the cylinder 9 opens the fixed cover 6, and the wax tree 8 is manually taken down from the hanging plate 703, so that the sand spraying process of the wax tree 8 is completed.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (3)
1. The utility model provides an automatic sand arm that drenches of wax tree for casting, includes base, support arm and controller, the upper end of wax tree is connected with couple, its characterized in that: the upper end of the base is provided with a support frame, the support frame and the base are rotationally connected, the support frame is connected with a lifting seat, the support arm is in sliding fit with the lifting seat, the end part of the support arm is connected with a rotary die mechanism for mounting wax trees through a joint mechanism, the support frame comprises a tray and upright rods, the tray is positioned at the upper end of the base, a second motor for driving the tray to rotate is arranged in the base, the upper end of the tray is connected with a plurality of upright rods, the upright rods are connected through a cross brace, the corners of the lifting seat are provided with sliding sleeves in sliding fit with the upright rods, the bottom of the lifting seat is connected with the support frame through a hydraulic cylinder, the upper end of the lifting seat is provided with a guide sleeve, the support arm is horizontally arranged, the lower end of the support arm is connected with a guide rod in sliding fit with the guide sleeve, the side wall of the support arm is provided with a rack rod, the lower end of the lifting seat is fixedly provided with a first motor, and the output shaft of the first motor is connected with a driving gear meshed with the rack rod;
the joint mechanism comprises an upper turning plate and a lower turning plate, one end of the upper turning plate is hinged with the upper side of the supporting arm, a first lug plate is arranged on the upper side of the supporting arm, a second lug plate is arranged on the upper side of the other end of the upper turning plate, and a first electric cylinder is connected between the first lug plate and the second lug plate; one end of the lower turning plate is hinged with the lower side of the upper turning plate, the lower side of the lower turning plate is connected with a fourth lug plate, the lower side of the upper turning plate is provided with a third lug plate, and a second electric cylinder is connected between the third lug plate and the fourth lug plate;
the rotary die mechanism comprises a rotary disc and a hanging disc; the upper side of the other end of the lower turning plate is provided with a positioning plate, the turntable is positioned on one side of the positioning plate, the other side of the positioning plate is provided with a third motor for driving the turntable to rotate, and the third motor is positioned on the upper side of the lower turning plate; the rotary table is connected with the hanging plate through a supporting rod, a positioning groove is formed in the side wall of the hanging plate, a hook hole is formed in one side of the positioning groove, a hook rod of a hook is positioned in the positioning groove, and the hook of the hook is hooked into the hook hole; the fixed cover is sleeved on the outer side of the hanging plate to fix the hook; the fixed cover is provided with a guide hole matched with the support rod; the fixed cover is connected with the turntable through an air cylinder, one end of the air cylinder is fixed on the turntable, and the other end of the air cylinder is fixed on the fixed cover.
2. An automated wax tree sand shower arm for casting as in claim 1, wherein: the initial positions of the upper turning plate and the lower turning plate are in a horizontal state, the maximum angle of upward rotation of the upper turning plate is 45 degrees, and the maximum angle of downward rotation of the lower turning plate is 90 degrees.
3. An automated wax tree sand shower arm for casting as in claim 1, wherein: the controller adopts a PLC controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211340575.9A CN115519072B (en) | 2022-10-28 | 2022-10-28 | Automatic wax tree spraying Sha Shoubei for casting |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211340575.9A CN115519072B (en) | 2022-10-28 | 2022-10-28 | Automatic wax tree spraying Sha Shoubei for casting |
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| Publication Number | Publication Date |
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| CN115519072A CN115519072A (en) | 2022-12-27 |
| CN115519072B true CN115519072B (en) | 2023-06-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202211340575.9A Active CN115519072B (en) | 2022-10-28 | 2022-10-28 | Automatic wax tree spraying Sha Shoubei for casting |
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Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202367168U (en) * | 2011-12-05 | 2012-08-08 | 萧于盛 | Automatic slurry dipping and sand spraying machine |
| CN205437076U (en) * | 2015-12-25 | 2016-08-10 | 萧于盛 | Three -dimensional actuates to be stained with to starch drenches sand machine |
| CN108247665A (en) * | 2018-05-24 | 2018-07-06 | 宁夏巨能机器人股份有限公司 | A kind of hooked hand's pawl for heavy type truss manipulator |
| CN114728328A (en) * | 2019-11-21 | 2022-07-08 | 泰州鑫宇精工股份有限公司 | Formwork manufacturing production line and formwork manufacturing method |
| CN212443134U (en) * | 2020-06-23 | 2021-02-02 | 洛阳科品实业有限公司 | Suspension device for shell mold slurry soaking and sand pouring |
| CN112109107A (en) * | 2020-09-20 | 2020-12-22 | 江西骏川半导体设备有限公司 | Inclined arm manipulator |
| CN113020542B (en) * | 2021-02-26 | 2022-07-29 | 李格腾 | Investment casting shell-making manipulator |
| CN215966162U (en) * | 2021-10-19 | 2022-03-08 | 临清市新科精密机械有限责任公司 | Automatic shell making robot |
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