CN206936349U - More arm type suspended rail formula casting cleaning machine people - Google Patents
More arm type suspended rail formula casting cleaning machine people Download PDFInfo
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- CN206936349U CN206936349U CN201720880631.6U CN201720880631U CN206936349U CN 206936349 U CN206936349 U CN 206936349U CN 201720880631 U CN201720880631 U CN 201720880631U CN 206936349 U CN206936349 U CN 206936349U
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- wheel carrier
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Abstract
The utility model discloses a kind of more arm type suspended rail formula casting cleaning machine people, including running gear, slewing equipment, lowering or hoisting gear, working arm mounting seat and four working arms on circular orbit, on the end effector of working arm in addition to provided with Pneumatic paw, magnetic crane, the cleaning tools such as pneumatic pneumatic pick and plasma cutters are additionally provided with.Running gear of the present utility model realizes long range stabilized walking by the way of four-point suspension support；Cylinder is adjusted using large arm and forearm regulation cylinder substitutes the posture of servo deceleration motor adjustment work arm, four working arms can combine and synchronization job, two Pneumatic paws, two magnetic cranes and four cleaning tools can flexible conversion and replacings, the needs of the prune jobs such as big weight, the identification of large volume and complex-shaped casting, carrying, upset, posture adjustment, sand removal, cutting and polishing grinding can be met, the efficiency and quality of casting cleaning operation are improved, reduces the labor intensity and production cost of operating personnel.
Description
Technical field
The utility model belongs to foundry robot's equipment technical field, more particularly to a kind of more arm type suspended rail formula casting
Clear up robot.
Background technology
During castings production, it is often necessary to carry and adjust casting posture, and complete the various cleanings to casting
Operation.Core and core iron are not only removed in production, excision cast gate, rising head, increase meat, lacing wire, and cut muscle, overlap, burr
Deng metal fifth wheel, casting scab and Superficial Foreign Body are removed, polish flat cast(ing) surface.Most of casting still rely primarily on so far
The semi-mechanization tool operation such as hand tools and the portable emery wheel of Feng Chong, pneumatic shovel, high speed, suspension emery wheel.Profile less complexity
Casting also uses general press and sawing machine, and special purpose machine tool or special production line are then used when casting is of large quantities to realize certainly
It is dynamic to be turned into industry.Steel-casting oxygen cutting multi-purpose greatly or pneumoelectric cutting.Pneumoelectric cutting is to utilize to form electric arc production between electrode and casting
Raw high temperature makes metal molten or oxidation, at the same with high-voltage high-speed airflow fused mass blown off with reach remove casting overlap,
Burr and ridge.This method not only also can be used to smooth cast(ing) surface to cut dead head.But pneumoelectric is cut with generation
The shortcomings that arc light, flue gas and noise.
Burr, ingate and dead head remnants on casting die joint are casting existing structures unavoidably, particularly abnormity
Casting is even more so, it is necessary to spark-out processing is carried out, conventional casting cleaning manually carries out spark-out entirely, and operating efficiency is extremely low,
Working environment is severe, and cost of labor is high and labor intensity is big.During manual cleaning casting, special-shaped casts need the position cleared up
More, structure is thick big, and cleaning is extremely difficult, and operating efficiency is low；And manual cleaning is difficult to control, casting quality shakiness is often resulted in
It is fixed；Special-shaped casts are complicated, it is necessary to the position of cleaning is a lot, worker need not stop to carry casting translation-angle could clear up it is dry
Only；Fine dust caused by cleaning, whole workshop is spread, have a strong impact on worker's health；The more importantly safety of worker
It cannot be guaranteed.
The carrying of casting and pose adjustment are typically carried out using artificial carrying or simple mechanical device auxiliary, artificial to join
It is high with degree, man-hour is expended, manufacturing cost is added, has delayed manufacture progress.Therefore, there is an urgent need to design one kind simultaneously to expire
Carrying, posture adjustment and the prune job cleaning demand of sufficient casting, especially meet that the cleaning of big weight, large volume and intricate casting is made
The automation equipment of industry demand, to improve the operating efficiency of casting cleaning operation, ensure casting product quality.
Carried for casting and it is also proposed some solutions with problem present in cleaning, existing patent document.Application
Number a kind of suspended type pipe-jointing welding robot is disclosed for 200810137471.1 Chinese patent, by electric slip ring part, pendulum
Motivation structure telescoping mechanism and hand-operated lifting adjustment mechanism are formed, and realize what different shape was taken over by rotating mechanism and telescoping mechanism
Automatic welding, but the technical scheme can only realize single arm type operation, can not realize multi-arm integration of operation.Application No.
200710176284 Chinese patent discloses crawler type multi-arm rod mobile robot, is filled by arm equipment and crawler travel
Composition is put, it is alternative to be manually operated on Various Complex road surface, but the less stable in grabbing workpiece, it can not meet multiple
The job requirements of miscellaneous casting.Application No. 201410438219.X Chinese patent discloses a kind of machine carried with multi-arm
The part such as people, the multi-arm driven by guide rail, individually is formed, can load simultaneously and lift by both constant pitch units up and down load goods
Thing (substrate or chip etc.) but in carrying worked independently using single armed, and simple translation and crawl can only be carried out.Application
Number disclose a kind of suspension type for vehicle seat solid welding robot, single arm type machine for 201710121995.3 Chinese patent
Human body is suspended on outer ring track and annular track by outer pulley and interior pulley and can be along outer ring track and interior
Circular orbit is movably walking, and the program is using 2 points of suspension fixed forms, less stable.Application No. 201620856209.2
Chinese patent disclose a kind of automation casting cleaning device, including robot, tool magazine, cutter, rotary table and control
Device processed, the cutter captured using unit head are cleared up casting for clearance, and rotary table is rotatable, make to hold cleaning casting position
In in the cleanup area of robot.The Chinese patent of Application No. 201510512610.4 proposes that a kind of compact machines people is automatic
Change sanding apparatus, grab casting using robot and move to sanding apparatus and polished, this kind of automatic grinding device has following lack
Point：1) robot load capacity is limited, it is impossible to the too heavy casting of carrying；2) feed motion in bruting process is the shifting of casting
It is dynamic, be not suitable for bulky casting.The Chinese patent of Application No. 201610072103.8 discloses a kind of casting cleaning unit
And method for cleaning, capture casting using two robots for being fixed on ground different station and carry out the prune job such as polish, not only
Operating efficiency is low, and robot working space is small.With the horizontal raising of foundry engieering, the production of heavy castings and to casting
The demand of carrying, posture adjustment and cleaning automation is also more and more.It is in prior art to use one armed robot's unit or more more
Machine operation, carrying, posture adjustment and the prune job demand of big weight, large volume and complicated different in nature casting can not be met.
The content of the invention
The purpose of this utility model is in view of the shortcomings of the prior art, there is provided a kind of more arm type of working arm slip adjustment
Suspended rail formula casting cleaning machine people, can be used in big weight, the identification of large volume and complex-shaped casting, carrying, upset,
The foundry robot of the operations such as posture adjustment, sand removal, cutting and polishing grinding, the efficiency and quality of casting cleaning operation are improved, reduced
Labor intensity and production cost, the defects of prior art can be overcome.
Technical problem to be solved in the utility model is realized using following technical scheme.
A kind of more arm type suspended rail formula casting cleaning machine people, including running part, adjustment portion and multi-arm enforcement division.Its
In, described running part includes running gear and circular orbit, and described circular orbit includes outer ring track and annular rail
Road；Described running gear is used to drive the utility model along outer ring track and annular track to be movably walking, described
Running gear includes outer wheel carrier, interior wheel carrier, driving wheel, bogie wheel, tensioning wheel and suspension bracket.Described outer wheel carrier have two and side by side
It is arranged on outer ring track, is connected between described outer wheel carrier and outer ring track by driving wheel, bogie wheel and tensioning wheel
Connect, the quantity of driving wheel, bogie wheel and the tensioning wheel installed on each outer wheel carrier is one；Two interior wheel carriers are arranged in parallel at
On annular track, and it is connected between annular track by bogie wheel and tensioning wheel, is provided with each interior wheel carrier
Two bogie wheels and a tensioning wheel；Described driving wheel and the overall diameter of bogie wheel and the wide all same of wheel, and axis is positioned at same
On one horizontal plane, the driving wheel on outer wheel carrier is located at the middle and upper part of outer wheel carrier with bogie wheel, on interior wheel carrier
Two groups of bogie wheels are located at the middle and upper part of interior wheel carrier, and the tensioning wheel on outer wheel carrier is located at the bottom centre position of outer wheel carrier,
Tensioning wheel on interior wheel carrier is located at the bottom centre position of interior wheel carrier；Drive motor is provided with described driving wheel,
For providing driving power for the walking of driving wheel, described drive motor using hydraulic servo motor or air servo-motor or
Servo deceleration motor.The top of two suspension brackets is connected with outer wheel carrier, interior wheel carrier by hinge respectively.Described outer ring track
Equidistant with the straightway keeping parallelism of annular track, described outer ring track and the arc of annular track keep concentric
Equidistantly, it is fixedly connected between described outer ring track and annular track by connecting plate；Described outer ring track and inner ring
Shape track is fixedly mounted on the roof in workshop；The section of outer ring track and annular track is I-shaped.Two suspension brackets
The axis of four hinges that is connected with outer wheel carrier, interior wheel carrier of top be parallel to each other, and be each perpendicular to horizontal plane.
Described tensioning wheel includes tensioning wheel carrier, tensioning wheel body, the axis of guide, compression spring and anti-drop block, for this practicality
It is new for running gear to provide tensile force when being movably walking along outer ring track and annular track.Wherein, it is tensioned wheel body peace
Mounted in the top of tensioning wheel carrier, and rolling bearing is provided with inside tensioning wheel body, the rotating shaft both ends of described tensioning wheel body are with opening
It is connected between bearing up pulley frame by way of interference fits；The top of the described axis of guide is with tensioning wheel carrier by way of welding
It is fixedly connected with, the lower end of the axis of guide is arranged on outer wheel carrier or interior wheel carrier, and is coordinated between outer wheel carrier or interior wheel carrier by gap
Mode be connected；Described compression spring is sleeved on the axis of guide, and between tensioning wheel carrier and outer wheel carrier or interior wheel carrier,
For providing tensile force for tensioning wheel；Described anti-drop block is located at the lower end of the axis of guide, and passes through screw phase between the axis of guide
It is connected, for preventing the axis of guide from departing from outer wheel carrier or interior wheel carrier；The quantity of the described axis of guide, compression spring and anti-drop block is
Two.
Described adjustment portion includes slewing equipment and lowering or hoisting gear, and described slewing equipment is of the present utility model for realizing
Slewing equipment is rotated with the axis of lower part wraparound rotary device, and described lowering or hoisting gear is used to realize the utility model in Vertical Square
To lifting.Described slewing equipment includes rotating cylinder, revolving body, turning motor, driving gear and ring gear.Wherein, institute
The suspension bracket bottom of running gear is fixedly mounted at the top of the rotating cylinder stated, is provided with the bottom of described rotating cylinder spacing
Back-up ring；Described revolving body is the gyration output block of slewing equipment, and described revolving body is sleeved in rotating cylinder, and
It is connected with rotating cylinder by two thrust bearings and a journal bearing；Described turning motor is fixedly mounted on revolving drum
On body, power is provided for the gyration of slewing equipment, described driving gear is arranged on the output shaft of turning motor, is being returned
The output the tip of the axis of rotating motor is additionally provided with shaft end ring, and with the output shaft fixed connection of turning motor；Described ring gear passes through
Screw is fixedly mounted on the medial surface of revolving body, and keeps internal messing with driving gear；Described turning motor uses servo
Reducing motor.
Described lowering or hoisting gear includes lifting seat, extension sleeve and electric pushrod, and described lifting seat is located at turn around body
Lower section and it is connected with revolving body by screw, described extension sleeve has two, is arranged symmetrically in the lower section of lifting seat, and with
Lifting seat is connected by screw；Described electric pushrod has two, is arranged symmetrically in the lower section of lifting seat, and lead to lifting seat
Hinge is crossed to be connected.
Described multi-arm enforcement division includes working arm mounting seat, the first working arm, the second working arm, the 3rd working arm and the
Four working arms.Wherein, described working arm mounting seat is located at the lower section of lowering or hoisting gear, for installing the first working arm, the second work
Make arm, the 3rd working arm and the 4th working arm, described working arm mounting seat and the lower end of extension sleeve, electric pushrod lead to respectively
Cross screw, hinge is connected.Described the first working arm, the second working arm, the 3rd working arm and the 4th working arm be five from
By degree articulated type series connection mechanical arm, its upper end is installed in working arm mounting seat, and the kinematic pair in each joint is revolute pair.
The structure of first working arm and the 4th working arm is identical and is arranged symmetrically in the lower section of working arm mounting seat, the second working arm
It is identical with the structure of the 3rd working arm and be arranged symmetrically in the lower section of working arm mounting seat, the first working arm and the second work
Arm is identical except end effector external structure；The top of the first described working arm is connected with working arm mounting seat, the second work
Making the top of arm, the 3rd working arm and the 4th working arm can slide along working arm mounting seat.In described working arm mounting seat
Lower section be provided with two industry cameras being arranged symmetrically, for gathering surface and the monolithic wheel of workshop image scene and casting
Wide information, described industry camera are fixedly mounted on the lower section of working arm mounting seat by two-degree-of-freedom cradle head.
Described working arm mounting seat includes annular base body, the first sliding block, the second sliding block, the 3rd sliding block and sliding gear ring.
The top of described annular base body is connected by screw, hinge respectively with the lower end of extension sleeve, electric pushrod, the first work
It is fixedly mounted at the top of arm in annular base body；First sliding block, the second sliding block and the 3rd slide block set are mounted in annular base body, and with
Annular base body is connected by top thrust bearing, outer radial bearing with inner side thrust bearing；Described sliding gear ring installation
It is connected on the medial surface of annular base body, and with annular base body.The first described sliding block includes the first slide body, the first sliding tooth
Wheel and the first sliding motor, the described first sliding motor is located in annular base body, and is fixedly mounted on the first cunning by screw
On block；The first described drive gear is fixedly mounted on the output shaft of the first sliding motor, and with sliding in gear ring holding
Engagement.The second described sliding block includes the second slide body, the second drive gear and the second sliding motor, the described second sliding electricity
Machine is located in annular base body, and is fixedly mounted on by screw on the second slide body；The second described drive gear is fixedly mounted
Internal messing is kept on the output shaft of the second sliding motor, and with sliding gear ring.The 3rd described sliding block include the 3rd slide body,
3rd drive gear and the 3rd sliding motor, the described the 3rd sliding motor is located in annular base body, and is fixed and pacified by screw
On the 3rd slide body；The 3rd described drive gear be fixedly mounted on the 3rd sliding motor output shaft on, and with sliding
Gear ring keeps internal messing.Described the first slide body, the second slide body, the 3rd slide body are sleeved in annular base body, and and ring
Shape pedestal is connected by top thrust bearing, outer radial bearing with inner side thrust bearing.
Described the first working arm and the 4th working arm is mainly used in performing casting falling sand, sand removal job task and cooperation
Other working arms perform casting carrying, posture adjustment job task.The first described working arm includes the first shoulder motor, the first shoulder
Seat, the first large arm, the first large arm regulation cylinder, the first forearm, the first forearm regulation cylinder, the first wrist motor and first end perform
Device.Wherein, the first described shoulder motor is fixedly mounted in the annular base body of working arm mounting seat, and in the first shoulder motor
Lower end be provided with the first motor mount；The first described shoulder seat be located at the lower section of working arm mounting seat and with the first shoulder motor
Output flange be connected；The upper end of the first described large arm is connected with the first shoulder seat by hinge, the lower end of the first large arm
It is connected with the upper end of the first forearm by hinge；The upper end of described the first large arm regulation cylinder passes through hinge phase with the first shoulder seat
Connection, its lower end is connected with the middle and lower part of the first large arm by hinge；The upper end of the first described wrist motor and first small
The lower end of arm is connected, and the upper end of the first described forearm regulation cylinder is connected with the first large arm by hinge, the regulation of the first forearm
The lower end of cylinder is connected with the first wrist motor by hinge；Described first end actuator is located at the most lower of the first working arm
End, and its top and the output flange of the first wrist motor are fixedly connected with.Described first end actuator include the first U-shaped seat,
First pendulum wrist motor, the first belt driver, the first forked frame, pneumatic pneumatic pick and magnetic crane.Wherein, the first described U-shaped seat
Top and the output flange of the first wrist motor be connected, the described first pendulum wrist motor is arranged in the first U-shaped seat；Described
First forked frame is arranged on the bottom of the first U-shaped seat, and is connected with the first U-shaped seat by hinge；The first described V belt translation
Device is arranged in the first U-shaped seat, and the first pendulum wrist motor is connected with the first forked frame by the first belt driver；Described
Pneumatic pneumatic pick is fixedly mounted on the side of the first forked frame, and described magnetic crane is fixedly mounted on the opposite side of the first forked frame.
Described magnetic crane includes magnetic flap seat and electromagnetic suction head, and for adsorbing and fixing casting, auxiliary completes removing for casting
Fortune and posture adjustment.Described magnetic flap seat is fixedly mounted on by screw on the support of the first forked frame side；Described electromagnetic suction head
There are three, be triangularly arranged on magnetic flap seat and be connected with magnetic flap seat by spherical hinge；In described electromagnetic suction head
Provided with electromagnet.
It is more that described the second working arm and the 3rd working arm is mainly used in execution casting upper system, lacing wire and increasing meat etc.
The cutting and elimination job task and the other working arms of cooperation of remaining metal perform casting carrying, posture adjustment job task.Described
Two working arms include the second shoulder motor, the second shoulder seat, the second large arm, the second large arm regulation cylinder, the second forearm, the second forearm and adjusted
Save cylinder, the second wrist motor and second end actuator.Wherein, the second described shoulder motor is fixedly mounted on working arm installation
In the annular base body of seat, and the second motor mount is provided with the lower end of the second shoulder motor；The second described shoulder seat is located at work
Make the lower section of arm mounting seat and be connected with the output flange of the second shoulder motor；The upper end of the second described large arm and the second shoulder
Seat is connected by hinge, and the lower end of the second large arm is connected with the upper end of the second forearm by hinge；The second described large arm
The upper end of regulation cylinder is connected with the second shoulder seat by hinge, and its lower end is connected with the middle and lower part of the second large arm by hinge；
The upper end and the lower end of the second forearm of the second described wrist motor are connected, and the second described forearm adjusts the upper end and second of cylinder
Large arm is connected by hinge, and the lower end of the second forearm regulation cylinder is connected with the second wrist motor by hinge；Described
Two end effectors are located at the bottom of the second working arm, and its top and the output flange of the second wrist motor are fixedly connected with.Institute
The second end actuator stated includes the second U-shaped seat, the second pendulum wrist motor, the second belt driver, the second forked frame, plasma
Cutter and Pneumatic paw.Wherein, the top of the second described U-shaped seat and the output flange of the second wrist motor are connected, described
The second pendulum wrist motor be arranged in the second U-shaped seat；The second described forked frame is arranged on the bottom of the second U-shaped seat, and with the
Two U-shaped seats are connected by hinge；The second described belt driver is arranged in the second U-shaped seat, the second pendulum wrist motor and the
Tree binary lorm frame is connected by the second belt driver；Described plasma cutters are fixedly mounted on the one of the second forked frame
Side, described Pneumatic paw are fixedly mounted on the opposite side of the second forked frame.
Described the first shoulder motor, the second shoulder motor, the first wrist motor, the second wrist motor, the first pendulum wrist electricity
Machine and the second pendulum wrist motor are servo deceleration motor.The first described shoulder motor is fixedly mounted in annular base body, and second
Shoulder motor is fixedly mounted on the first slide body on the first sliding block, and the 3rd shoulder motor on the 3rd working arm is fixedly mounted
On the second slide body on the second sliding block, the 4th shoulder motor on the 4th working arm is fixedly mounted on the 3rd sliding block
On three slide bodies.Described the first shoulder motor, the axis of the first wrist motor are each perpendicular to the axis of the first pendulum wrist motor, and
Two shoulder motors, the axis of the second wrist motor are each perpendicular to the axis of the second pendulum wrist motor.The first described belt driver
It is synchronous toothed belt transmission device with the second belt driver.By changing the first working arm, the second working arm, the 3rd work
Pneumatic pneumatic pick and plasma cutters on the end effector of arm and the 4th working arm, the grinder for polishing that changes the outfit, repair welding welding gun
Deng instrument, you can perform the job tasks such as casting spark-out, polishing and repair welding.First large arm regulation cylinder, the first forearm regulation cylinder, the
Two large arm adjust cylinder and the second forearm regulation cylinder uses servo hydraulic cylinder or servo cylinder or servo electric jar.First forked frame and
The angular range of two side stands of the second forked frame is 60 ° -100 °.
In use, starting the drive motor in driving wheel according to need of work, and then running gear is driven in ring-shaped guide rail
Upper movement runs to assignment position, and slewing equipment, lowering or hoisting gear are adjusted respectively further according to operation posture and requirement for height, adjusts
Whole four working arms of the present utility model are to suitable angle of revolution and operation height.Then, it is big according to the weight of casting, volume
The quantity of magnetic crane and Pneumatic paw needed for small determination selection transportation casting.Shape, size that can also be according to casting, start first
Slide motor, the second sliding motor and the 3rd sliding motor, the first shoulder motor of regulation, the second shoulder motor, the 3rd shoulder electricity
Machine and the 4th shoulder motor are in the upper position of annular base body.The pose adjustment of end effector on each working arm, can be by installing
Servo deceleration motor, large arm regulation cylinder and forearm on each working arm adjust cylinder to realize.When performing clean-up task, it is necessary to
First start the first wrist motor, the second wrist motor and the 3rd wrist motor on the 3rd working arm, on the 4th working arm
4th wrist motor, by pneumatic pneumatic pick, plasma cutters or it is other change the outfit after grinder for polishing, the instrument such as repair welding welding gun adjusts
It is whole to carrying out prune job again after suitable operating angle.Four working arms can also integration of operation, two Pneumatic paws, two magnetic
Power hang with four cleaning tools can flexible conversion, can also realize more instrument synchronization jobs, big weight, large volume and complexity can be met
The needs of the prune job such as the carrying of shape casting and sand removal, cutting, can also improve the efficiency and quality of casting cleaning operation, reduce
The labor intensity and production cost of operating personnel.
The beneficial effects of the utility model are that compared with prior art, running gear of the present utility model uses at 4 points
Suspension strut mode, realize long range stabilized walking of the robot under heavy load condition；Running gear China and foreign countries wheel carrier, interior wheel carrier
It is connected between suspension bracket by hinge, is easy to driving wheel, bogie wheel smooth walking on outer circular orbit and annular track；
Slewing equipment has complete cycle revolute function, and lowering or hoisting gear also has lift in height regulatory function, hence it is evident that expands the work of robot
Make space；Cylinder is adjusted using large arm and forearm regulation cylinder substitutes the posture of servo deceleration motor adjustment work arm, is significantly reduced
The weight of working arm, there are three working arms to be slid along the annular base body of working arm mounting seat, adjustment work arm is in working arm
Position in mounting seat, different shape and the job requirements of size casting can be met；It is the identification of casting, carrying, upset, posture adjustment, clear
The job task such as sand and cutting can be automatically performed, and automaticity is high, and operating efficiency is high, labor intensity is low；The utility model is also
Gathered with structure section, the advantages that equipment occupation space is small, production cost is low, safe, flexibility is strong, simple and convenient operation and maintenance,
The defects of prior art can be overcome.
Brief description of the drawings
Fig. 1 is general structure schematic diagram of the present utility model；
Fig. 2 is agent structure of the present utility model (without outer ring track and annular track) schematic diagram；
Fig. 3 is the overlooking the structure diagram of outer ring track of the present utility model and annular track；
Fig. 4 is the structural representation of slewing equipment of the present utility model；
Fig. 5 is the structural representation of working arm mounting seat of the present utility model；
Fig. 6 is the structural representation of tensioning wheel in running gear of the present utility model；
Fig. 7 is the structural representation of the first working arm of the present utility model；
Fig. 8 is the structural representation of the second working arm of the present utility model.
Embodiment
In order that technological means, creation characteristic, reached purpose and effect that the utility model is realized are easy to understand,
With reference to specific embodiment and diagram, the utility model is expanded on further.
As shown in Figure 1, Figure 2 and Figure 3, a kind of more arm type suspended rail formula casting cleaning machine people, including running part, regulation
Portion and multi-arm enforcement division.Wherein, described running part includes running gear 1 and circular orbit 9, and described circular orbit 9 includes
Outer ring track 91 and annular track 92；Described adjustment portion includes slewing equipment 2 and lowering or hoisting gear 3, described revolution dress
Put 2 to be used to realize that slewing equipment 2 of the present utility model is rotated with the axis of lower part wraparound rotary device 2, described lowering or hoisting gear 2
For realizing lifting of the utility model in vertical direction.Described running gear 1 is used to drive the utility model along outer shroud
Shape track 91 and annular track 92 are movably walking, described running gear 1 include outer wheel carrier 11, interior wheel carrier 12, driving wheel 13,
Bogie wheel 14, tensioning wheel 15 and suspension bracket 16.Described outer wheel carrier 11 has two and is arranged in parallel on outer ring track 91, described
Outer wheel carrier 11 and outer ring track 91 between be connected by driving wheel 13, bogie wheel 14 and tensioning wheel 15, in each foreign steamer
The quantity of driving wheel 13, bogie wheel 14 and the tensioning wheel 15 installed on frame 11 is one；Including two interior wheel carriers 12 are arranged in juxtaposition
On circular orbit 92, and it is connected between annular track 92 by bogie wheel 14 and tensioning wheel 15, in each interior wheel carrier 12
On two bogie wheels 14 and a tensioning wheel 15 are installed；The overall diameter and wheel of described driving wheel 13 and bogie wheel 14 are wide homogeneous
Together, and axis is located in same level, and the driving wheel 13 on outer wheel carrier 11 is located at outer wheel carrier 11 with bogie wheel 14
Middle and upper part, two groups of bogie wheels 14 on interior wheel carrier 12 are located at the middle and upper part of interior wheel carrier 12, on outer wheel carrier 11
Tensioning wheel 15 is located at the bottom centre position of outer wheel carrier 11, and the tensioning wheel 15 on interior wheel carrier 12 is located at the bottom of interior wheel carrier 12
Portion centre position；Drive motor 131 is provided with described driving wheel 13, it is dynamic for providing driving for the walking of driving wheel 13
Power, described drive motor 131 use hydraulic servo motor.The top of two suspension brackets 16 respectively with outer wheel carrier 11, interior wheel carrier 12
It is connected by hinge.Described outer ring track 91 and the straightway keeping parallelism of annular track 92 are equidistant, and described is outer
The arc of circular orbit 91 and annular track 92 keeps equidistant with one heart, described outer ring track 91 and annular track 92
Between be fixedly connected with by connecting plate 93；Described outer ring track 91 and annular track 92 is fixedly mounted on the roof 10 in workshop
On；The section of outer ring track 91 and annular track 92 is I-shaped.The top of two suspension brackets 16 and outer wheel carrier 11, lubrication groove
The axis for four hinges that frame 12 is connected is parallel to each other, and is each perpendicular to horizontal plane.
As shown in Figure 1, Figure 2 with shown in Fig. 6, described tensioning wheel 15 includes tensioning wheel carrier 151, tensioning wheel body 152, the axis of guide
153rd, compression spring 154 and anti-drop block 155, row is moved along outer ring track 91 and annular track 92 for the utility model
When walking tensile force is provided for running gear 1.Wherein, the top that wheel body 152 is arranged on tensioning wheel carrier 151 is tensioned, and in tensioning wheel
The inside of body 152 is provided with rolling bearing, is matched somebody with somebody between the rotating shaft both ends of described tensioning wheel body 152 and tensioning wheel carrier 151 by transition
The mode of conjunction is connected；The top of the described axis of guide 153 is fixedly connected with tensioning wheel carrier 151 by way of welding, the axis of guide
153 lower end is arranged on outer wheel carrier 11 or interior wheel carrier 12, and coordinated between outer wheel carrier 11 or interior wheel carrier 12 by gap
Mode is connected；Described compression spring 154 is sleeved on the axis of guide 153, and is located at tensioning wheel carrier 151 and outer wheel carrier 11 or interior
Between wheel carrier 12, for providing tensile force for tensioning wheel 15；Described anti-drop block 155 is located at the lower end of the axis of guide 153, and with leading
It is fixedly connected between axle 153 by screw, for preventing the axis of guide 153 from departing from outer wheel carrier 11 or interior wheel carrier 12；Described guiding
The quantity of axle 153, compression spring 154 and anti-drop block 155 is two.
As shown in Figure 1, Figure 2 and Figure 4, described slewing equipment 2 include rotating cylinder 21, revolving body 22, turning motor 23,
Driving gear 24 and ring gear 25.Wherein, the top of described rotating cylinder 21 is fixedly mounted on the suspension bracket 16 of running gear 1
Bottom, spacing back-up ring 211 is provided with the bottom of described rotating cylinder 21, and described spacing back-up ring 211 is logical with rotating cylinder 21
Screw is crossed to be connected；Described revolving body 22 is the gyration output block of slewing equipment 2, and described revolving body 22 is sleeved on
In rotating cylinder 21, and it is connected with rotating cylinder 21 by two thrust bearings 26 and a journal bearing 27；Described returns
Rotating motor 23 is fixedly mounted on rotating cylinder 21, and power, described driving gear 24 are provided for the gyration of slewing equipment 2
On the output shaft of turning motor 23, shaft end ring is additionally provided with the output the tip of the axis of turning motor 23, and with revolution
The output shaft fixed connection of motor；Described ring gear 25 is fixedly mounted on by screw on the medial surface of revolving body 22, and with actively
Gear 24 keeps internal messing；Described turning motor 23 uses servo deceleration motor.
As depicted in figs. 1 and 2, described lowering or hoisting gear 3 includes lifting seat 31, extension sleeve 32 and electric pushrod 33.Its
In, described lifting seat 31 is located at turn around the lower section of body 22 and is connected with revolving body 22 by screw, described extension sleeve
32 have two, are arranged symmetrically in the lower section of lifting seat 31, and be connected by screw with lifting seat 31；Described electric pushrod 33
There are two, be arranged symmetrically in the lower section of lifting seat 31, and be connected by hinge with lifting seat 31.
As shown in Figure 1, Figure 2, Figure 7 and Figure 8, described multi-arm enforcement division include working arm mounting seat 4, the first working arm 5,
Second working arm 6, the 3rd working arm 7 and the 4th working arm 8.Wherein, described working arm mounting seat 4 is located at lowering or hoisting gear 3
Lower section, for installing the first working arm 5, the second working arm 6, the 3rd working arm 7 and the 4th working arm 8, described working arm peace
Dress seat 4 is connected by screw, hinge respectively with the lower end of extension sleeve 32, electric pushrod 33.Described the first working arm 5,
Second working arm 6, the 3rd working arm 7 and the 4th working arm 8 are five degree of freedom articulated type series connection mechanical arm, and its upper end is respectively mounted
In working arm mounting seat 4, and the kinematic pair in each joint is revolute pair.The structure of first working arm 5 and the 4th working arm 8 is complete
Lower section that is exactly the same and being arranged symmetrically in working arm mounting seat 4, the second working arm 6 are identical with the structure of the 3rd working arm 7
And the lower section of working arm mounting seat 4 is arranged symmetrically in, the first working arm 5 is with the second working arm 6 except end effector external structure is complete
It is exactly the same；The top of the first described working arm 5 is connected with working arm mounting seat 4, the second working arm 6, the 3rd working arm 7 and the
The top of four working arms 8 can slide along working arm mounting seat 4.It is right provided with two in the lower section of described working arm mounting seat 4
Claim the industry camera 40 of arrangement, it is described for gathering surface and the overall profile information of workshop image scene and casting
Industry camera 40 is fixedly mounted on the lower section of working arm mounting seat 4 by two-degree-of-freedom cradle head.
As shown in Figure 1, Figure 2 with shown in Fig. 5, described working arm mounting seat 4 includes annular base body 41, the first sliding block 42, second
Sliding block 43, the 3rd sliding block 44 and sliding gear ring 45.The top of described annular base body 41 and extension sleeve 32, electric pushrod 33
Lower end is connected by screw, hinge respectively, and the top of the first working arm 5 is fixedly mounted in annular base body 41；First sliding block
42nd, the second sliding block 43 and the 3rd sliding block 44 are sleeved in annular base body 41, and with annular base body 41 by top thrust bearing 46,
Outer radial bearing 47 is connected with inner side thrust bearing 48；Described sliding gear ring 45 is arranged on the medial surface of annular base body 41
On, and be connected with annular base body 41.The first described sliding block 42 includes the first slide body 421, the first drive gear 422 and first
Motor 423 is slid, the described first sliding motor 423 is located in annular base body 41, and is fixedly mounted on the first cunning by screw
On block 421；The first described drive gear 422 is fixedly mounted on the output shaft of the first sliding motor 423, and with sliding tooth
Circle 45 keeps internal messing.The second described sliding block 43 includes the second slide body 431, the second drive gear 432 and the second sliding electricity
Machine 433, the described second sliding motor 433 is located in annular base body 41, and is fixedly mounted on the second slide body 431 by screw
On；The second described drive gear 432 is fixedly mounted on the output shaft of the second sliding motor 433, and is protected with sliding gear ring 45
Hold internal messing.The 3rd described sliding block 44 includes the 3rd slide body 441, the 3rd drive gear 442 and the 3rd sliding motor 443,
The 3rd described sliding motor 443 is located in annular base body 41, and is fixedly mounted on by screw on the 3rd slide body 441；Institute
The 3rd drive gear 442 stated is fixedly mounted on the output shaft of the 3rd sliding motor 423, and is kept interior with sliding gear ring 45 and nibbled
Close.Described the first slide body 421, the second slide body 431, the 3rd slide body 441 are sleeved in annular base body 41, and with annular
Pedestal 41 is connected by top thrust bearing 46, outer radial bearing 47 with inner side thrust bearing 48.
As shown in Figure 1, Figure 2 and Figure 7, the first described working arm 5 and the 4th working arm 8, which are mainly used in performing casting, falls
Sand, sand removal job task and the other working arms of cooperation perform casting carrying, posture adjustment job task.The first described working arm 5
Including the first shoulder motor 51, the first shoulder seat 52, the first large arm 53, the first large arm regulation cylinder 54, the first forearm 55, the first forearm
Adjust cylinder 56, the first wrist motor 57 and first end actuator 58.Wherein, the first described shoulder motor 51 is fixedly mounted on
In the annular base body 41 of working arm mounting seat 4, and the first motor mount 511 is provided with the lower end of the first shoulder motor 51；Institute
The first shoulder seat 52 stated is located at the lower section of working arm mounting seat 4 and is connected with the output flange of the first shoulder motor 51 by screw
Connect；The upper end of the first described large arm 53 is connected with the first shoulder seat 52 by hinge, the lower end of the first large arm 53 and first small
The upper end of arm 55 is connected by hinge；The upper end of described the first large arm regulation cylinder 54 is connected with the first shoulder seat 52 by hinge
Connect, its lower end is connected with the middle and lower part of the first large arm 53 by hinge；The upper end and first of the first described wrist motor 57
The lower end of forearm 55 is connected, and the upper end of the first described forearm regulation cylinder 56 is connected with the first large arm 53 by hinge, and first
The lower end of forearm regulation cylinder 56 is connected with the first wrist motor 57 by hinge；Described first end actuator 58 is positioned at the
The bottom of one working arm 5, and its top and the output flange of the first wrist motor 57 are fixedly connected with.Described first end performs
Device 58 includes the first U-shaped seat 581, first pendulum wrist motor 582, the first belt driver 583, the first forked frame 584, pneumatic pneumatic pick
585 and magnetic crane 586.Wherein, the top of the first described U-shaped seat 581 and the output flange of the first wrist motor 57 are connected, institute
The the first pendulum wrist motor 582 stated is fixedly mounted in the first U-shaped seat 581 by screw；The first described forked frame 584 is arranged on
The bottom of first U-shaped seat 581, and be connected with the first U-shaped seat 581 by hinge；The first described belt driver 583 is installed
In the first U-shaped seat 581, the first pendulum wrist motor 582 is connected with the first forked frame 584 by the first belt driver 583；Institute
The pneumatic pneumatic pick 585 stated is fixedly mounted on the side of the first forked frame 584, and described magnetic crane 586 is fixedly mounted on the first fork
The opposite side of shape frame 584.
As shown in Figure 1, Figure 2 and Figure 7, described magnetic crane 586 includes magnetic flap seat 5861 and electromagnetic suction head 5862, for inhaling
Fixed casting is echoed, auxiliary completes the carrying and posture adjustment of casting.Described magnetic flap seat 5861 is fixedly mounted on first by screw
On the support of the side of forked frame 584；Described electromagnetic suction head 5862 has three, is triangularly arranged on magnetic flap seat 5861 and equal
It is connected with magnetic flap seat 5861 by spherical hinge；Electromagnet is provided with described electromagnetic suction head 5862.
As shown in Figure 1, Figure 2 with shown in Fig. 8, the second described working arm 6 is mainly used in pouring on execution casting with the 3rd working arm 7
Injection system, lacing wire and increase the cutting and elimination job task of the excess metal such as meat and coordinate other working arms perform casting carry,
Posture adjustment job task.The second described working arm 6 includes the second shoulder motor 61, the second shoulder seat 62, the second large arm 63, second largest
Arm regulation cylinder 64, the second forearm 65, the second forearm regulation cylinder 66, the second wrist motor 67 and second end actuator 68.Wherein,
The second described shoulder motor 61 is fixedly mounted in the annular base body 41 of working arm mounting seat 4, and in the second shoulder motor 61
Lower end be provided with the second motor mount 611；The second described shoulder seat 62 be located at the lower section of working arm mounting seat 4 and with the second shoulder
The output flange of portion's motor 61 is connected；The upper end of the second described large arm 63 is connected with the second shoulder seat 62 by hinge, the
The lower end of two large arm 63 is connected with the upper end of the second forearm 65 by hinge；The upper end of described second large arm regulation cylinder 64 with
Second shoulder seat 62 is connected by hinge, and its lower end is connected with the middle and lower part of the second large arm 63 by hinge；Described second
The upper end of wrist motor 67 and the lower end of the second forearm 65 are connected, the upper end of the second described forearm regulation cylinder 66 and the second large arm
63 are connected by hinge, and the lower end of the second forearm regulation cylinder 66 is connected with the second wrist motor 67 by hinge；Described
Second end actuator 68 is located at the bottom of the second working arm 6, and its top and the output flange phase of the second wrist motor 67
It is connected.Described second end actuator 68 includes the second U-shaped seat 681, second pendulum wrist motor 682, the second belt driver
683rd, the second forked frame 684, plasma cutters 685 and Pneumatic paw 686.Wherein, the top of the second described U-shaped seat 681
It is connected with the output flange of the second wrist motor 67, the described second pendulum wrist motor 682 is fixedly mounted on the second U-shaped by screw
On seat 681；The second described forked frame 684 is arranged on the bottom of the second U-shaped seat 681, and passes through hinge with the second U-shaped seat 681
It is connected；The second described belt driver 683 is arranged in the second U-shaped seat 681, the second pendulum wrist motor 682 and the second fork-shaped
Frame 684 is connected by the second belt driver 683；Described plasma cutters 685 are fixedly mounted on second by screw
The side of forked frame 684, described Pneumatic paw 686 are fixedly mounted on the opposite side of the second forked frame 684.
As shown in Figure 1, Figure 2, Figure 7 and Figure 8, the first described shoulder motor 51, the second shoulder motor 61, the first wrist electricity
Machine 57, the second wrist motor 67, first pendulum wrist motor 582 and the second pendulum wrist motor 682 are servo deceleration motor.Described
One shoulder motor 51 is fixedly mounted in annular base body 41 by screw, and the second shoulder motor 61 is fixedly mounted on by screw
On the first slide body 421 on one sliding block 42, the 3rd shoulder motor 71 on the 3rd working arm 7 is fixedly mounted on by screw
On the second slide body 431 on two sliding blocks 43, the 4th shoulder motor 81 on the 4th working arm 8 is fixedly mounted on by screw
On the 3rd slide body 441 on three sliding blocks 44.Described the first shoulder motor 51, the axis of the first wrist motor 57 are each perpendicular to
The axis of first pendulum wrist motor 582, the second shoulder motor 61, the axis of the second wrist motor 67 are each perpendicular to the second pendulum wrist motor
682 axis.Described the first belt driver 583 and the second belt driver 683 is synchronous toothed belt transmission device.It is logical
The aerodynamic wind crossed on the end effector for changing the first working arm 5, the second working arm 6, the 3rd working arm 7 and the 4th working arm 8
The instrument such as pick and plasma cutters, the grinder for polishing that changes the outfit, repair welding welding gun, you can perform casting spark-out, polishing and repair welding etc.
Job task.First large arm regulation cylinder 54, the first forearm regulation cylinder 56, the second large arm regulation cylinder 64 and second forearm regulation cylinder 66
Using servo hydraulic cylinder.The angle of two side stands of the first forked frame 584 and the second forked frame 684 is 90 °.
In use, starting the drive motor 131 in driving wheel 13 according to need of work, and then running gear 1 is driven in ring
Movement runs to assignment position on shape guide rail 9, adjusts slewing equipment 2 respectively further according to operation posture and requirement for height, rises
Falling unit 3, four working arms of the present utility model are adjusted to suitable angle of revolution and operation height.Then, according to casting
Weight, volume size determine the quantity of magnetic crane and Pneumatic paw needed for selection transportation casting.Shape that can also be according to casting, chi
It is very little, start the first sliding motor 423, second and slide motor 433 and the 3rd and slide motor 443, the first shoulder motor 51 of regulation, the
Two shoulder motors 61, the 3rd shoulder motor 71 and the 4th shoulder motor 81 are in the upper position of annular base body 41.On each working arm
The pose adjustment of end effector, cylinder can be adjusted by the servo deceleration motor on each working arm, large arm and forearm is adjusted
Cylinder is realized.When performing clean-up task, it is necessary to first start the first wrist motor 57, the second wrist motor 67 and the 3rd work
The 4th wrist motor on the 3rd wrist motor, the 4th working arm on arm, by pneumatic pneumatic pick, plasma cutters or other change
The instruments such as grinder for polishing, repair welding welding gun after dress are adjusted to carry out prune job after suitable operating angle again.Four work
Arm can also integration of operation, two Pneumatic paws, two magnetic cranes and four cleaning tools can flexible conversion, can also realize more instruments
Synchronization job, it can meet that big weight, large volume and complicated shape casting are carried and sand removal, cutting, polishing grinding etc. cleaning are made
The needs of industry, the efficiency and quality of casting cleaning operation can be also improved, reduce the labor intensity and production cost of operating personnel.
In description of the present utility model, it is to be understood that term " on ", " under ", " level ", " top ", " bottom " " interior ",
The orientation or position relationship of instructions such as " outer " are based on orientation shown in the drawings or position relationship, are for only for ease of and describe this reality
With new and simplify description, rather than instruction or imply that signified device or element there must be specific orientation, with specific
Azimuth configuration and operation, therefore it is not intended that to limitation of the present utility model.
General principle, principal character and advantage of the present utility model has been shown and described above.The technical staff of the industry
It should be appreciated that the utility model is not restricted to the described embodiments, the simply explanation described in above-described embodiment and specification is originally
The principle of utility model, on the premise of the spirit and scope of the utility model is not departed from, the utility model also has various change
And improvement, these changes and improvements are both fallen within claimed the scope of the utility model.The utility model requires protection scope
By appended claims and its equivalent thereof.
Claims (10)
1. a kind of more arm type suspended rail formula casting cleaning machine people, including running part, adjustment portion and multi-arm enforcement division, its feature
It is：Described running part includes running gear and circular orbit, and described circular orbit includes outer ring track and annular
Track；Described running gear includes outer wheel carrier, interior wheel carrier, driving wheel, bogie wheel, tensioning wheel and suspension bracket, described outer wheel carrier
There are two and be arranged in parallel on outer ring track, pass through driving wheel, bogie wheel between described outer wheel carrier and outer ring track
It is connected with tensioning wheel, the quantity of driving wheel, bogie wheel and the tensioning wheel installed on each outer wheel carrier is one；Two lubrication grooves
Frame is arranged in parallel on annular track, and is connected between annular track by bogie wheel and tensioning wheel, each interior
Two bogie wheels and a tensioning wheel are installed on wheel carrier；Described driving wheel and the overall diameter of bogie wheel and the wide all same of wheel,
And axis is located in same level, the driving wheel on outer wheel carrier is located at the middle and upper part of outer wheel carrier, installation with bogie wheel
Two groups of bogie wheels on interior wheel carrier are located at the middle and upper part of interior wheel carrier, and the tensioning wheel on outer wheel carrier is located at the bottom of outer wheel carrier
Portion centre position, the tensioning wheel on interior wheel carrier are located at the bottom centre position of interior wheel carrier；The top difference of two suspension brackets
It is connected with outer wheel carrier, interior wheel carrier by hinge；Described outer ring track and the straightway keeping parallelism of annular track etc.
Away from the arc of described outer ring track and annular track keeps equidistant, described outer ring track and annular with one heart
It is fixedly connected between track by connecting plate；Described outer ring track and annular track is fixedly mounted on the roof in workshop；
The section of outer ring track and annular track is I-shaped；
Described adjustment portion includes slewing equipment and lowering or hoisting gear, and described slewing equipment includes rotating cylinder, revolving body, revolution
Motor, driving gear and ring gear, the suspension bracket bottom of running gear is fixedly mounted at the top of described rotating cylinder, described
The bottom of rotating cylinder be provided with spacing back-up ring；Described revolving body is sleeved in rotating cylinder, and passes through two with rotating cylinder
Individual thrust bearing and a journal bearing are connected；Described turning motor is fixedly mounted on rotating cylinder, described active
Gear is arranged on the output shaft of turning motor, and shaft end ring is additionally provided with the output the tip of the axis of turning motor, and with revolution
The output shaft fixed connection of motor；Described ring gear is fixedly mounted in revolving body by screw, and with being nibbled in driving gear holding
Close；Described turning motor uses servo deceleration motor；
Described lowering or hoisting gear includes lifting seat, extension sleeve and electric pushrod, and described lifting seat is located at turn around the lower section of body
And be connected with revolving body by screw, described extension sleeve has two, is arranged symmetrically in the lower section of lifting seat, and with lifting
Seat is connected by screw；Described electric pushrod has two, is arranged symmetrically in the lower section of lifting seat, and pass through hinge with lifting seat
Chain is connected；
Described multi-arm enforcement division includes working arm mounting seat, the first working arm, the second working arm, the 3rd working arm and the 4th work
Make arm, described working arm mounting seat is located at the lower section of lowering or hoisting gear, and passes through respectively with the lower end of extension sleeve, electric pushrod
Screw, hinge are connected；Described the first working arm, the second working arm, the 3rd working arm and the 4th working arm is five free
Articulated type series connection mechanical arm is spent, its upper end is installed in working arm mounting seat, the structure of the first working arm and the 4th working arm
The structure of lower section that is identical and being arranged symmetrically in working arm mounting seat, the second working arm and the 3rd working arm it is identical and
It is arranged symmetrically in the lower section of working arm mounting seat；The top of the first described working arm is connected with working arm mounting seat, the second work
Making the top of arm, the 3rd working arm and the 4th working arm can slide along working arm mounting seat.
A kind of 2. more arm type suspended rail formula casting cleaning machine people according to claim 1, it is characterised in that：Described
First working arm includes the first shoulder motor, the first shoulder seat, the first large arm, the first large arm regulation cylinder, the first forearm, the first forearm
Regulation cylinder, the first wrist motor and first end actuator, the first described shoulder motor are fixedly mounted on working arm mounting seat
On, and it is provided with the first motor mount in the lower end of the first shoulder motor；The first described shoulder seat is located at working arm mounting seat
Lower section and it is connected with the output flange of the first shoulder motor；The upper end of the first described large arm passes through hinge phase with the first shoulder seat
Connection, the lower end of the first large arm is connected with the upper end of the first forearm by hinge；The upper end of described the first large arm regulation cylinder
It is connected with the first shoulder seat by hinge, its lower end is connected with the middle and lower part of the first large arm by hinge；The first described wrist
The upper end of portion's motor and the lower end of the first forearm are connected, and the upper end of the first described forearm regulation cylinder passes through hinge with the first large arm
It is connected, the lower end of the first forearm regulation cylinder is connected with the first wrist motor by hinge；Described first end actuator
Positioned at the bottom of the first working arm, and its top and the output flange of the first wrist motor are fixedly connected with；Described first end
Actuator includes the first U-shaped seat, the first pendulum wrist motor, the first belt driver, the first forked frame, pneumatic pneumatic pick and magnetic crane,
The top of the first described U-shaped seat and the output flange of the first wrist motor are connected, and the described first pendulum wrist motor is arranged on the
In one U-shaped seat；The first described forked frame is arranged on the bottom of the first U-shaped seat, and is connected with the first U-shaped seat by hinge；
The first described belt driver is arranged in the first U-shaped seat, and the first pendulum wrist motor and the first forked frame pass through the first V belt translation
Device is connected；Described pneumatic pneumatic pick is fixedly mounted on the side of the first forked frame, and described magnetic crane is fixedly mounted on
The opposite side of one forked frame；
Described magnetic crane includes magnetic flap seat and electromagnetic suction head, and described magnetic flap seat is fixedly mounted on the first forked frame by screw
On the support of side；Described electromagnetic suction head has three, is triangularly arranged on magnetic flap seat and with magnetic flap seat and passes through ball pivot
Chain is connected；Electromagnet is provided with described electromagnetic suction head；
The second described working arm includes the second shoulder motor, the second shoulder seat, the second large arm, the second large arm regulation cylinder, second small
Arm, the second forearm regulation cylinder, the second wrist motor and second end actuator, the second described shoulder motor are fixedly mounted on work
Make in arm mounting seat, and the second motor mount is provided with the lower end of the second shoulder motor；The second described shoulder seat is located at work
The lower section of arm mounting seat and it is connected with the output flange of the second shoulder motor；The upper end of the second described large arm and the second shoulder seat
It is connected by hinge, the lower end of the second large arm is connected with the upper end of the second forearm by hinge；The second described large arm is adjusted
The upper end of section cylinder is connected with the second shoulder seat by hinge, and its lower end is connected with the middle and lower part of the second large arm by hinge；Institute
The upper end and the lower end of the second forearm for the second wrist motor stated are connected, the second described forearm regulation cylinder upper end with it is second largest
Arm is connected by hinge, and the lower end of the second forearm regulation cylinder is connected with the second wrist motor by hinge；Described second
End effector is located at the bottom of the second working arm, and its top and the output flange of the second wrist motor are fixedly connected with；It is described
Second end actuator include the second U-shaped seat, the second pendulum wrist motor, the second belt driver, the second forked frame, plasma and cut
Cutter and Pneumatic paw, the top of the second described U-shaped seat and the output flange of the second wrist motor are connected, the described second pendulum
Wrist motor is arranged in the second U-shaped seat；The second described forked frame is arranged on the bottom of the second U-shaped seat, and leads to the second U-shaped seat
Hinge is crossed to be connected；The second described belt driver is arranged in the second U-shaped seat, and the second pendulum wrist motor leads to the second forked frame
The second belt driver is crossed to be connected；Described pneumatic pneumatic pick is fixedly mounted on the side of the second forked frame, described pneumatic hand
Pawl is fixedly mounted on the opposite side of the second forked frame；
Described working arm mounting seat includes annular base body, the first sliding block, the second sliding block, the 3rd sliding block and sliding gear ring, described
The top of annular base body be connected respectively by screw, hinge with the lower end of extension sleeve, electric pushrod, the first working arm
Top is fixedly mounted in annular base body；First sliding block, the second sliding block and the 3rd slide block set in the annular base body, and with annular
Pedestal is connected by top thrust bearing, outer radial bearing with inner side thrust bearing；Described sliding gear ring is arranged on ring
On the medial surface of shape pedestal, and it is connected with annular base body；The first described sliding block include the first slide body, the first drive gear and
First sliding motor, the described first sliding motor are fixedly mounted on the first slide body；The first described drive gear is fixed
Internal messing is kept on the output shaft of the first sliding motor, and with sliding gear ring；The second described sliding block includes second and slided
Block, the second drive gear and the second sliding motor, the described second sliding motor are fixedly mounted on the second slide body；It is described
The second drive gear be fixedly mounted on the output shaft of the second sliding motor, and with sliding gear ring keep internal messing；Described
3rd sliding block includes the 3rd slide body, the 3rd drive gear and the 3rd sliding motor, and the described the 3rd sliding motor is fixedly mounted
On the 3rd slide body；The 3rd described drive gear is fixedly mounted on the output shaft of the 3rd sliding motor, and with sliding tooth
Circle keeps internal messing；Described the first slide body, the second slide body, the 3rd slide body are sleeved in annular base body, and with annular
Pedestal is connected by top thrust bearing, outer radial bearing with inner side thrust bearing；
Described the first shoulder motor, the second shoulder motor, the first wrist motor, the second wrist motor, the first pendulum wrist motor and
Second pendulum wrist motor is servo deceleration motor.
A kind of 3. more arm type suspended rail formula casting cleaning machine people according to claim 1, it is characterised in that：Described
Tensioning wheel includes tensioning wheel carrier, tensioning wheel body, the axis of guide, compression spring and anti-drop block, described tensioning wheel body and is arranged on tensioning
The top of wheel carrier, the rotating shaft both ends of described tensioning wheel body between tensioning wheel carrier by way of interference fits with being connected；Institute
The top for the axis of guide stated is connected with tensioning wheel carrier, and the lower end of the axis of guide is arranged on outer wheel carrier or interior wheel carrier, and with outer wheel carrier
Or it is connected between interior wheel carrier by way of gap coordinates；Described compression spring is sleeved on the axis of guide, and positioned at tensioning
Between wheel carrier and outer wheel carrier or interior wheel carrier；Described anti-drop block is located at the lower end of the axis of guide, and is connected with the axis of guide.
A kind of 4. more arm type suspended rail formula casting cleaning machine people according to claim 1, it is characterised in that：Described
Driving wheel in be provided with drive motor, described drive motor uses hydraulic servo motor or air servo-motor or servo deceleration
Motor.
A kind of 5. more arm type suspended rail formula casting cleaning machine people according to claim 1, it is characterised in that：Described
Thrust bearing uses cylindrical roller thrust bearing, and described journal bearing uses cylindrical roller journal bearing.
A kind of 6. more arm type suspended rail formula casting cleaning machine people according to claim 2, it is characterised in that：Described
First shoulder motor is fixedly mounted in annular base body, and the second shoulder motor is fixedly mounted on the first slide body, the 3rd work
The 3rd shoulder motor on arm is fixedly mounted on the second slide body, and the 4th shoulder motor on the 4th working arm is fixedly mounted on
On 3rd slide body；Described the first shoulder motor, the axis of the first wrist motor are each perpendicular to the axis of the first pendulum wrist motor,
Second shoulder motor, the axis of the second wrist motor are each perpendicular to the axis of the second pendulum wrist motor.
A kind of 7. more arm type suspended rail formula casting cleaning machine people according to claim 1, it is characterised in that：Described
The lower section of working arm mounting seat be provided with two industry cameras being arranged symmetrically, described industry camera passes through two-freedom
Head is fixedly mounted on the lower section of working arm mounting seat.
A kind of 8. more arm type suspended rail formula casting cleaning machine people according to claim 1, it is characterised in that：First is big
Arm regulation cylinder, the first forearm regulation cylinder, the second large arm regulation cylinder and the second forearm regulation cylinder use servo hydraulic cylinder or servo gas
Cylinder or servo electric jar.
A kind of 9. more arm type suspended rail formula casting cleaning machine people according to claim 1, it is characterised in that：Two are hung
The axis for four hinges that the top of frame is connected with outer wheel carrier, interior wheel carrier is parallel to each other, and is each perpendicular to horizontal plane.
A kind of 10. more arm type suspended rail formula casting cleaning machine people according to claim 2, it is characterised in that：First
The angular range of two side stands of forked frame and the second forked frame is 60 ° -100 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720880631.6U CN206936349U (en) | 2017-07-19 | 2017-07-19 | More arm type suspended rail formula casting cleaning machine people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720880631.6U CN206936349U (en) | 2017-07-19 | 2017-07-19 | More arm type suspended rail formula casting cleaning machine people |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206936349U true CN206936349U (en) | 2018-01-30 |
Family
ID=61370567
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720880631.6U Withdrawn - After Issue CN206936349U (en) | 2017-07-19 | 2017-07-19 | More arm type suspended rail formula casting cleaning machine people |
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| Country | Link |
|---|---|
| CN (1) | CN206936349U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107150117A (en) * | 2017-07-19 | 2017-09-12 | 安徽理工大学 | Many arm type suspended rail formula casting cleaning machine people |
-
2017
- 2017-07-19 CN CN201720880631.6U patent/CN206936349U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107150117A (en) * | 2017-07-19 | 2017-09-12 | 安徽理工大学 | Many arm type suspended rail formula casting cleaning machine people |
| WO2019015164A1 (en) * | 2017-07-19 | 2019-01-24 | 安徽理工大学 | Multi-arm suspended rail type casting cleaning robot |
| US10722942B2 (en) | 2017-07-19 | 2020-07-28 | Anhui University of Science and Technology | Multi-arm hanging rail type casting cleaning robot |
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