CN207534849U - A kind of industrial robot for stablizing processing cast member - Google Patents
A kind of industrial robot for stablizing processing cast member Download PDFInfo
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- CN207534849U CN207534849U CN201721486378.2U CN201721486378U CN207534849U CN 207534849 U CN207534849 U CN 207534849U CN 201721486378 U CN201721486378 U CN 201721486378U CN 207534849 U CN207534849 U CN 207534849U
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- industrial robot
- rotation axis
- compensating cylinder
- base portion
- bottom plate
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Abstract
The utility model is a kind of industrial robot for stablizing processing cast member, including base portion, compensating cylinder and executing agency, ground is equipped with reserving installation hole, foundation bolt is embedded in reserving installation hole, executing agency is removably connected by the first connection rotation axis with compensating cylinder, and compensating cylinder is removably mounted on by the second connection rotation axis in base portion；Base portion includes bottom plate and base body, bottom plate is square, and installation is uniformly provided on the bottom plate of base portion and is hooked and collapsible pulley, installation is hooked and is mutually linked for the annulus with foundation bolt, the matched recess cover that groove is connected with by axis pin is additionally provided on bottom plate, for storing collapsible pulley, base body is cylinder, interior to be equipped with drive system and integrated control system.The utility model on the basis of existing technology, solves the problems, such as that conventional industrial robot is unstable, substantially increases the stability and reliability of industrial robot.
Description
Technical field
The utility model is related to Industrial Robot Technology field, more particularly, to a kind of industry for stablizing processing cast member
Robot.
Background technology
With the continuous development of science and technology, the production of enterprise is constantly riseing, either to technology still to speed
For the requirement of degree, manually can not meet the needs of contemporary industry, industrial robot is gradual much in backward state
Leading position has been captured in the industrial production, and for casting technology field, due to the special operating condition such as high temperature, then
It is realized with greater need for industrial robot is relied on, foundry robot also had been greatly developed at nearly 2 years.
But existing foundry robot is still difficult to reach requirement in stability, when robot is carrying out weight pickup
Or easily rocked during transport, this is primarily to solve the problems, such as with the industrial robot precisely for maximum standard.
Therefore, working out a kind of industrial robot for stablizing processing cast member is particularly important.
Utility model content
In view of this, the utility model provides a kind of industrial robot for stablizing processing cast member, solves existing
Industrial robot present in stability problem.
In order to achieve the above object, the utility model adopts the following technical solution：
A kind of industrial robot for stablizing processing cast member, including base portion, compensating cylinder and executing agency.
It should be noted that before the utility model installation, ground is equipped with reserving installation hole, mounting hole is cleared up dry
Only, foundation bolt is embedded in by the reserving installation hole by concrete, the annulus of the foundation bolt bassets.
The executing agency is removably connected by the first connection rotation axis with the compensating cylinder, and the compensating cylinder passes through
Second connection rotation axis is removably mounted in the base portion；
The base portion includes bottom plate and base body, and the bottom plate is square, and on the bottom plate of base portion
Even to be equipped with installation hook and collapsible pulley, the installation is hooked for mutually being linked with the annulus of the foundation bolt, on the bottom plate
The matched recess cover that groove is connected with by axis pin is additionally provided with, for storing collapsible pulley, the base body
It is interior to be equipped with drive system and integrated control system for cylinder.
It should be noted that the position and number set by the foundation bolt installed on ground are hooked with the installation on pedestal
Corresponding, foundation bolt can be arranged on multiple positions, to match the industrial robot of different model.
It should also be noted that, the installation hooks and is mounted on adjacent position, the collapsible cunning with the collapsible pulley
Wheel can be used for moving freely, and the installation hook is slightly shorter than the collapsible pulley, does not influence the movement of the utility model；And work as
The utility model is hooked with installation mutually link after, the collapsible pulley is folded inwardly into groove automatically, and can will be described recessed
Capping covers tightly groove, for protecting the collapsible pulley；The relationship hooked due to the installation so that the bottom plate is deposited with ground
In gap, so after the collapsible pulley completes above-mentioned action, gap is filled up completely using concrete so that the work
The load-bearing capacity of industry robot is stronger.
Piston rod is equipped in the compensating cylinder, coil is wound on the piston rod, and magnetic current is filled in compensating cylinder
Become liquid, the magnetorheological fluid rapidly changes its rheological behavior with different magnetic fields.
A kind of intellectual material in carrier is uniformly suspended within it should be noted that magnetorheological fluid is a kind of ferromagnetic particle,
This material can rapidly change its rheological behavior with different magnetic fields, under magnetic fields, magnetorheological fluid retrogradation, and stream
Dynamic property is deteriorated, and increases the kinetic damping of piston rod, and coil current becomes larger, and magnetic induction intensity also becomes larger therewith, magnetorheological fluid
Retrogradation therewith, fluid flowing are more difficult.In this way, when the movement of executing agency has driven the piston rod of compensating cylinder is round-trip at a high speed to transport
When dynamic, since magnetorheological fluid damp increases, the motional inertia of executing agency is balanced, runs the utility model industrial robot
It is more steady.
Further, the executing agency includes engine base, arm, wrist and casting charging basket；
The engine base removably connects rotation axis by third and is mounted on the compensating cylinder, and the upper end of the engine base leads to
Cross the 4th connection rotation axis mode be connected with the arm bottom end, the arm include large arm and forearm, the one of the large arm
End is connected by the 4th connection rotation axis with the engine base, and the other end of the large arm and one end of the forearm connect by the 5th
Switch through moving axis to be connected, the other end of the forearm is connected in a manner that joint connects with one end of the wrist, the hand
The other end of wrist links together with the casting charging basket again by the mode that joint is connect.
It should be noted that the casting charging basket is tubbiness, for holding casting soup stock, and joint connection can not only make
The component connected rotates freely, and can also enhance the flexibility of executing agency all around as human synovial general activity.
Further, sensor and regulation handle are designed at each connecting node.
Further, the drive system and the integrated control system are all controlled by software.
Compared with prior art, the beneficial effects of the utility model are：
(1) the utility model is hooked with installation using foundation bolt and is connected, and fixes the utility model finally by concrete
The mode got off ensure that the stability of the utility model to the full extent；
(2) magnetorheological fluid is filled in compensating cylinder by the utility model, is controlled by changing the mobility of magnetorheological fluid
Balance strengthens the reliability of the utility model；
(3) executing agency of the utility model links together the components such as arm wrist in a manner that joint connects,
Degree of freedom is high.
(4) the utility model is compact-sized, it can be manipulated by software, accuracy height and real-time
By force.
In conclusion the utility model on the basis of existing technology, solves, conventional industrial robot is unstable to be asked
Topic substantially increases the stability and reliability of industrial robot.
Description of the drawings
Fig. 1 is a kind of structure diagram for the industrial robot for stablizing processing cast member of the utility model；
In figure：1- base portions, 101- bottom plates, 102- base bodies, 2- compensating cylinders, 3- executing agencies, 301- engine bases,
302- arms, 312- large arm, 322- forearms, 303- wrists, 304- casting charging baskets.
Specific embodiment
A kind of industrial robot for stablizing processing cast member, including base portion 1, compensating cylinder 2 and executing agency 3.
Executing agency 3 is removably connected by the first connection rotation axis with compensating cylinder 2, and wherein executing agency 3 includes machine
Seat 301, arm 302, wrist 303 and casting charging basket 304；
Compensating cylinder 2 is removably mounted on by the second connection rotation axis in base portion 1；Base portion 1 includes bottom plate
101 and base body 102, bottom plate 101 is square, and installation is uniformly provided on the bottom plate 101 of base portion 1 and is hooked and collapsible
Pulley is additionally provided with the matched recess cover that groove is connected with by axis pin on bottom plate 101, for storing collapsible cunning
Wheel；
Base body 102 is cylinder, interior to be equipped with drive system and integrated control system, and piston rod is equipped in compensating cylinder 2,
Coil is wound on piston rod, and magnetorheological fluid is filled in compensating cylinder 2, magnetorheological fluid is rapid with different magnetic fields
Change its rheological behavior.
Wherein, magnetorheological fluid is a kind of intellectual material that a kind of ferromagnetic particle is uniformly suspended in carrier, this material
Its rheological behavior can be rapidly changed with different magnetic fields, under magnetic fields, magnetorheological fluid retrogradation, mobility becomes
Difference increases the kinetic damping of piston rod, and coil current becomes larger, and magnetic induction intensity also becomes larger therewith, and magnetorheological fluid becomes therewith
Thick, fluid flowing is more difficult.In this way, when the movement of executing agency 3 has driven the piston rod high speed back and forth movement of compensating cylinder 2
When, since magnetorheological fluid damp increases, the motional inertia of executing agency 3 is balanced, runs the utility model industrial robot
It is more steady.
Engine base 301 removably connects rotation axis by third and is mounted on compensating cylinder 2, and the upper end of engine base 301 passes through the
The mode of four connection rotation axis is connected with 302 bottom end of arm, and arm 302 includes large arm 312 and forearm 322, one end of large arm 312
It is connected by the 4th connection rotation axis with engine base 301, the other end of large arm 312 is connect with one end of forearm 322 by the 5th to be turned
Moving axis is connected, and the other end of forearm 322 is connected in a manner that joint connects with one end of wrist 303, wrist 303 it is another
End links together with casting charging basket 304 again by the mode that joint is connect.Casting charging basket 304 is tubbiness, for holding casting
Soup stock is made, and joint connection not only can rotate freely connected component, it can also be all around as human synovial
Activity enhances the flexibility of executing agency 3.
And sensor and regulation handle are designed at wherein each connecting node, drive system and integrated control system are all
It is controlled by software.
The operation principle of the utility model is：
Before the utility model installation, ground is equipped with reserving installation hole, and mounting hole is cleaned out, will by concrete
Foundation bolt is embedded in reserving installation hole, and the annulus of foundation bolt bassets.
The position set by foundation bolt and number installed on ground are and the installation on pedestal hooks corresponding, lower margin
Bolt can be arranged on multiple positions, to match the industrial robot of different model.
Installation is hooked is mounted on adjacent position with collapsible pulley, and collapsible pulley can be used for moving freely, and installation hooks ratio
Collapsible pulley is slightly short, does not influence the movement of the utility model；It, can and after the utility model is mutually linked with foundation bolt
It shrinks pulley and is folded inwardly into groove automatically, and recess cover can be covered tightly groove, for protecting collapsible pulley；Since installation hooks
Relationship so that bottom plate 101 and ground are there are gap, so after collapsible pulley completes above-mentioned action, using concrete general
Gap is filled up completely so that the load-bearing capacity of industrial robot is stronger.
After installing, the soup stock of casting is poured into casting charging basket 304, executing agency 3 passes through drive system and integrated control
System processed carries out sequence of operations, each junction can be carried out being freely rotatable, and be connected in executing agency 3 by joint
The junction connect can also be freely movable, and flexibility ratio is high, can accurately pour into casting platform soup stock, either pour into
Amount or position can precisely control.
In conclusion the utility model not only has very high stability and reliability, also possess high spirit simultaneously
Activity and precision are a kind of industrial robots for stablizing processing cast member being worthy to be popularized.
Each embodiment is described by the way of progressive in this specification, the highlights of each of the examples are with other
The difference of embodiment, just to refer each other for identical similar portion between each embodiment.For device disclosed in embodiment
For, since it is corresponded to the methods disclosed in the examples, so description is fairly simple, related part is said referring to method part
It is bright.
The foregoing description of the disclosed embodiments enables professional and technical personnel in the field to realize or new using this practicality
Type.A variety of modifications of these embodiments will be apparent for those skilled in the art, determine herein
The General Principle of justice can be realized in other embodiments without departing from the spirit or scope of the present utility model.Cause
This, the utility model is not intended to be limited to the embodiments shown herein, and is to fit to and principles disclosed herein
The most wide range consistent with features of novelty.
Claims (4)
1. a kind of industrial robot for stablizing processing cast member, ground are equipped with reserving installation hole, are pacified by concrete casting
Equipped with foundation bolt, the annulus of the foundation bolt bassets, it is characterised in that：Including base portion, compensating cylinder and execution
Mechanism；
The executing agency is removably connected by the first connection rotation axis with the compensating cylinder, and the compensating cylinder passes through second
Connection rotation axis is removably mounted in the base portion；
The base portion includes bottom plate and base body, and the sole shape is square, and on the bottom plate of base portion uniformly
It is hooked equipped with installation and collapsible pulley, the annulus of the installation hook and the foundation bolt mutually links, the base body is circle
Cylinder, it is interior to be equipped with drive system and integrated control system；
Piston rod is equipped in the compensating cylinder, coil is wound on the piston rod, and magnetorheological fluid is filled in compensating cylinder,
The magnetorheological fluid rapidly changes its rheological behavior with different magnetic fields.
2. a kind of industrial robot for stablizing processing cast member according to claim 1, it is characterised in that：The execution
Mechanism includes engine base, arm, wrist and casting charging basket；
The engine base removably connects rotation axis by third and is mounted on the compensating cylinder, and the upper end of the engine base passes through the
Four connection rotation axis are connected with the arm bottom end, and the other end of the arm is again by the mode that joint connects and the hand
One end of wrist is connected, and the other end of the wrist links together with the casting charging basket again by the mode that joint is connect.
3. a kind of industrial robot for stablizing processing cast member according to claim 2, it is characterised in that：The arm
Including large arm and forearm, one end of the large arm is connected by the 4th connection rotation axis with the engine base, the large arm it is another
End connect rotation axis by the 5th with one end of the forearm and is connected, and the other end of the forearm is by way of the connection of joint
It is connected with the wrist.
4. a kind of industrial robot for stablizing processing cast member described in any one in claim 1-3, special
Sign is：Sensor and regulation handle are designed at each connecting node.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721486378.2U CN207534849U (en) | 2017-11-09 | 2017-11-09 | A kind of industrial robot for stablizing processing cast member |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721486378.2U CN207534849U (en) | 2017-11-09 | 2017-11-09 | A kind of industrial robot for stablizing processing cast member |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207534849U true CN207534849U (en) | 2018-06-26 |
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ID=62611034
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721486378.2U Active CN207534849U (en) | 2017-11-09 | 2017-11-09 | A kind of industrial robot for stablizing processing cast member |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207534849U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114683286A (en) * | 2022-04-06 | 2022-07-01 | 上海应用技术大学 | Damping-controllable robot arm and control system thereof |
-
2017
- 2017-11-09 CN CN201721486378.2U patent/CN207534849U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114683286A (en) * | 2022-04-06 | 2022-07-01 | 上海应用技术大学 | Damping-controllable robot arm and control system thereof |
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