CN211614298U - Special extension arm of casting robot - Google Patents
Special extension arm of casting robot Download PDFInfo
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- CN211614298U CN211614298U CN201922487790.1U CN201922487790U CN211614298U CN 211614298 U CN211614298 U CN 211614298U CN 201922487790 U CN201922487790 U CN 201922487790U CN 211614298 U CN211614298 U CN 211614298U
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- casting robot
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Abstract
The utility model discloses a special extension arm of casting robot. This kind of special extension arm of casting robot includes special extension arm, actuating mechanism, harmonic speed reducer ware, sprocket chain drive mechanism, mount pad, pivot, and special extension arm one end is provided with the connecting portion that are used for being connected with casting robot's sixth axle, and the other end is provided with the mount pad, and actuating mechanism installs in special extension arm, and the harmonic speed reducer ware is installed inside extension arm, and the pivot is rotated and is connected in the mount pad, is provided with sprocket chain drive mechanism between pivot and the harmonic speed reducer ware. The harmonic reducer is arranged inside the lengthened arm, so that the interference of the reducer on the movement of the lengthened arm is reduced, and the service life of the harmonic reducer is prolonged; the independent drive pivot motion of actuating mechanism, thereby the rotation of soup ladle is controlled by independent actuating mechanism, has solved the soup ladle and has taken the problem that the casting machine people sixth axle leads to.
Description
Technical Field
The utility model relates to a metal liquid casting equipment field, in particular to anchor clamps frock for casting robot.
Background
With the wide application of industrial robots in industrial production, the liquid metal casting process is generally performed by using a casting robot, an extension arm of the casting robot is mounted on a fifth shaft of the casting robot, and the ladle movement is driven by a sixth shaft of the casting robot, so that the structure has the following defects:
1. the motion of the soup ladle of the lengthened arm of the existing casting robot is driven by an independent servo motor, the lengthened arm can only be in the direction vertical to the horizontal plane, the posture of the soup ladle needs to be kept unchanged in the moving process of the casting robot, and the control mode cannot meet the requirement in the casting process of the lengthened arm needing to change the direction;
2. the reduction gear of current extension arm adopts ordinary gear or worm gear reduction gear, and the reduction ratio is little, or is bulky, all installs in the extension arm outside usually, influences the motion of extension arm to the conventional reduction gear outside is provided with the guard shield that the sheet metal component made, and is relatively weak to the protection of reduction gear, especially works in the relatively poor environment of this kind of operating mode of metal liquid casting, and the reduction gear receives external environment's influence more easily, thereby leads to the life-span reduction of reduction gear.
3. The lengthening arm of the existing casting robot is fixed on the fifth shaft, the soup ladle is driven by the sixth shaft of the robot, and the sixth shaft is limited to drive the soup ladle to move and cannot be combined with other five shafts of the robot to drive the lengthening arm, so that the posture adjustment of the lengthening arm and the soup ladle of the casting robot is greatly limited, and the programming difficulty of the robot is improved.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a special lengthened arm for a casting robot, so that a soup ladle does not need to be directly installed on the lengthened arm of the casting robot, and the problem caused by the fact that the soup ladle occupies the sixth shaft of the casting robot is solved; the utility model also provides a casting robot, through installing the special extension arm of casting robot in this kind of casting robot's sixth axle for casting robot's the motion of extension arm can not be restricted by the soup ladle.
In order to realize the utility model discloses an aim, the utility model provides a special extension arm of casting robot to adopt following technical scheme:
a special lengthening arm for a casting robot comprises a special lengthening arm, a driving mechanism, a harmonic reducer, a chain wheel and chain transmission mechanism, a mounting seat, a rotating shaft, a round nut, a flat key and a bearing, wherein one end of the special lengthening arm is provided with a connecting part used for being connected with a sixth shaft of the casting robot, the other end of the special lengthening arm is provided with the mounting seat, the driving mechanism is installed at the upper end of the special lengthening arm, the harmonic reducer is installed inside the special lengthening arm, the driving mechanism is connected with the harmonic reducer, the mounting seat comprises a cylinder body, a first end cover and a second end cover, the cylinder body is provided with a through hole, one end of the cylinder body is provided with a first end cover with one end closed by the through hole, the other end of the cylinder body is provided with a second end cover with the other end closed by the through hole, the first end cover and the second end cover are provided with a mounting, the utility model discloses a chain wheel, including chain wheel, chain, sprocket two, chain, pivot two, chain, the pivot both ends rotate connect in the bearing, the pivot middle part is provided with annular boss, sprocket chain drive mechanism includes sprocket one, sprocket two, chain, sprocket one install through the bolt in the output of harmonic speed reducer ware, the sprocket two sets are located the pivot middle part and with the terminal surface laminating of annular boss, the pivot with be provided with the parallel key between the sprocket two, the parallel key is used for making sprocket two with fix a position between the pivot, the opposite side of sprocket two be provided with through threaded connection in the round nut of pivot, through round nut with annular boss makes sprocket two fixes a position, the chain set up in sprocket one with between the sprocket two.
The utility model discloses the during operation drives the harmonic speed reducer ware through actuating mechanism and rotates, and the harmonic speed reducer ware passes through sprocket chain drive mechanism and drives the pivot drive to the soup ladle of being connected with the pivot rotates.
Compared with the prior art, the beneficial effects of the utility model reside in that: the harmonic reducer is small in size and is arranged in the special lengthened arm, so that the influence of the reducer on the motion of the lengthened arm due to the fact that the reducer is arranged on the outer side of the lengthened arm is reduced, and the harmonic reducer arranged in the lengthened arm can be effectively protected due to the fact that the lengthened arm is thicker than a conventional shield, the influence of the harmonic reducer on the external environment is reduced, and the service life of the harmonic reducer is prolonged; the independent drive pivot motion of actuating mechanism, thereby the rotation of soup ladle is controlled by independent actuating mechanism, has solved the soup ladle and has taken the problem that the casting machine people sixth axle leads to.
On the basis of the technical scheme, the utility model discloses can also do as follows the improvement:
further: the driving mechanism is a seventh shaft servo motor.
Further: the bearing is a high temperature resistant sliding bearing.
Further: the connecting part is a flange.
In order to realize another purpose of the utility model, the utility model also provides a casting robot to adopt following technical scheme:
further: the special lengthened arm for the casting robot is adopted.
Compared with the prior art, the beneficial effects of the utility model reside in that: the problem that the lengthened arm of the casting robot can only keep a vertical state is solved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the technical solutions in the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.
Fig. 1 is a schematic three-dimensional structure of the present invention;
FIG. 2 is an enlarged view of a portion of FIG. 1;
FIG. 3 is an enlarged view of a portion B of FIG. 1;
FIG. 4 is a schematic structural view of the present invention;
fig. 5 is a cross-sectional view taken along line C-C of fig. 4.
Wherein, 1, the special lengthened arm and 101 connecting part;
2, a driving mechanism, 201, a seventh axis servo motor and 202 mounting plates;
3, harmonic reducer;
4 sprocket chain transmission mechanisms, 401 sprocket I, 402 sprocket II and 403 chains;
5, mounting seats, 501 cylinders, a first 502 end cover, a second 503 end cover, 504 through holes, 505 openings and 506 mounting grooves;
6, a rotating shaft, 601 an annular boss;
7, a round nut;
8, a flat bond;
9 bearing;
10 spoon.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and therefore are only examples, and the protection scope of the present invention is not limited thereby.
It is to be noted that unless otherwise specified, technical or scientific terms used herein shall have the ordinary meaning as understood by those skilled in the art to which the present invention belongs.
In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience of description and simplicity of description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting.
In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION
As shown in fig. 1-5, a special lengthened arm for a casting robot comprises a special lengthened arm 1, a driving mechanism 2, a harmonic reducer 3, a chain wheel and chain transmission mechanism 4, a mounting seat 5, a rotating shaft 6, a round nut 7, a flat key 8 and a bearing 9, wherein the special lengthened arm 1 is in a cylindrical hollow structure, the special lengthened arm is formed by splicing two U-shaped bent plates, U-shaped grooves of the bent plates are oppositely arranged, one end of the special lengthened arm 1 is provided with a connecting part 101 used for being connected with a sixth shaft of the casting robot, the connecting part 101 is a flange and is connected with a flange at the end part of the sixth shaft of the casting robot through the flange, the other end of the special lengthened arm 1 is provided with the mounting seat 5, one end of the special lengthened arm 1 close to the connecting part 101 is provided with the driving mechanism 2, the driving mechanism 2 comprises a seventh shaft servo motor 201, a mounting plate 202 and the mounting plate 202 is mounted on the special, the seventh axis servo motor 201 is installed on the end face of the side, deviating from the special lengthened arm 1, of the installation plate 202, the harmonic reducer 3 is installed inside the special lengthened arm 1, the output shaft of the seventh axis servo motor 201 extends into the special lengthened arm 1 and extends into the input end of the harmonic reducer, the harmonic reducer 3 can adopt a BCS series harmonic reducer 3 of Guangdong province Ben robot harmonic science and technology Limited, the rotating shaft 6 is rotatably installed on the installation base 5, a chain wheel and chain transmission mechanism 4 is arranged between the rotating shaft 6 and the harmonic reducer 3, the chain wheel and chain transmission mechanism 4 comprises a chain wheel I401, a chain wheel II 402 and a chain 403, the chain wheel I401 is installed at the output end of the harmonic reducer 3, the chain wheel II 402 is installed on the rotating shaft 6, the chain 403 is arranged between the chain wheel I401 and the chain wheel II 402, the rotation of the seventh axis servo motor 201 is transmitted to the rotating, so that the rotating shaft 6 rotates in the mounting seat 5; the mounting seat 5 comprises a cylinder body 501, a first end cover 502 and a second end cover 503, the cylinder body 501 is cylindrical, the cylinder body 501 is provided with a through hole 504 along the axis, the outer wall of the cylinder body 501 facing to the first chain wheel 401 is provided with an opening 505 communicated with the through hole 504, a chain 403 penetrates through the opening 505 and extends into the through hole 504 to be connected with the second chain wheel 402, one end of the cylinder body 501 is provided with the first end cover 502, the other end of the cylinder body 501 is provided with the second end cover 503, the first end cover 502 and the second end cover 503 are both provided with mounting grooves 506 along the axis, a bearing 9 is mounted in the mounting groove 506, the bearing 9 is a high-temperature resistant sliding bearing 9, two ends of a rotating shaft 6 are arranged in the bearing 9 and extend out of the mounting seat 5 through the bearing 9, the end part of the rotating shaft 6 is used for mounting a soup ladle 10, the middle, the flat key 8 is used for positioning the second sprocket 402 and the rotating shaft 6 in the circumferential direction, the round nut 7 connected to the rotating shaft through threads is arranged on the other side of the second sprocket 402, and the second sprocket 402 is positioned through the round nut 7 and the annular boss 601.
The special lengthened arm for the casting robot is connected with a flange arranged on a sixth shaft of the casting robot through a flange of a connecting part 101.
The special lengthened arm 1 is arranged on a flange at the end part of a sixth shaft of the robot, a seventh shaft servo motor 201 drives a harmonic reducer 3 to rotate, the harmonic reducer 3 drives a chain wheel I401 to rotate, a chain wheel II 402 is driven to rotate through a chain 403, so that a rotating shaft 6 drives a soup ladle 10 arranged at the end part of the rotating shaft 6 to rotate, the soup ladle 10 can be accurately driven to move through the seventh shaft servo motor 201 for casting, and the problem that the soup ladle 10 limits the sixth shaft to move is solved because the special lengthened arm 1 is arranged on the sixth shaft of the casting robot, and the control system of the casting robot controls the seventh shaft servo motor to rotate simultaneously when the sixth shaft is controlled by the control system of the casting robot to change the direction, so that the rotating shaft 6 is controlled to drive the soup ladle 10 to rotate, the servo motors of the sixth shaft and the seventh shaft are synchronously controlled by the robot control system, so that the function that the soup ladle 10 is kept horizontal all the time can be realized, the metal liquid can be prevented from flowing out of the soup ladle 10, and the quick and safe casting can be realized; in addition, the seventh shaft servo motor 201 is connected to the harmonic reducer 3, the reducer has the characteristics of large reduction ratio and small volume, the size of the whole special lengthened arm 1 is convenient to reduce, the harmonic reducer 3 is installed in the special lengthened arm 1, the motion of the special lengthened arm 1 cannot be influenced, the special lengthened arm 1 can also improve the protection of the harmonic reducer 3, and the service life of the special lengthened arm is prolonged.
Above-mentioned connection, setting, erection joint mode can select suitable connected mode in the prior art that has existed, realize structural linking to each other like welding, riveting, threaded connection, bonding, pin joint, key-type connection, elastic deformation connect, buckle connection, interference connection, injection moulding's mode, in the actual production, should realize connecting the purpose, guarantee under the prerequisite of connection effect, according to production condition, select the connected mode that the cost is lower, production efficiency is high.
In the specification of the present invention, a large number of specific details are explained. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the scope of the embodiments of the present invention, and are intended to be covered by the claims and the specification.
Claims (5)
1. A special lengthened arm for a casting robot is characterized by comprising a special lengthened arm, a driving mechanism, a harmonic reducer, a chain wheel and chain transmission mechanism, a mounting seat, a rotating shaft, a round nut, a flat key and a bearing, wherein one end of the special lengthened arm is provided with a connecting part used for being connected with a sixth shaft of the casting robot, the other end of the special lengthened arm is provided with the mounting seat, the driving mechanism is mounted at the upper end of the special lengthened arm, the harmonic reducer is mounted inside the special lengthened arm, the driving mechanism is connected with the harmonic reducer, the mounting seat comprises a barrel body, an end cover I and an end cover II, the barrel body is provided with a through hole, one end of the barrel body is provided with a first end cover which seals one end of the through hole, the other end of the barrel body is provided with a second end cover which seals the other end of the through hole, and the first end cover and the second, install in the mounting groove the bearing, the pivot both ends rotate connect in the bearing, the pivot middle part is provided with annular boss, sprocket chain drive mechanism includes sprocket one, sprocket two, chain, sprocket one install through the bolt in the output of harmonic speed reducer ware, the sprocket second cover is located the pivot middle part and with the terminal surface laminating of annular boss, the pivot with be provided with the parallel key between the sprocket two, the parallel key is used for making sprocket two with fix a position between the pivot, the opposite side of sprocket two be provided with through threaded connection in the round nut of pivot, through the round nut with annular boss makes sprocket two fixes a position, the chain set up in sprocket one with between the sprocket two.
2. The casting robot-dedicated elongated arm of claim 1, wherein the drive mechanism is a seventh axis servo motor.
3. The casting robot special elongated arm of claim 2, wherein the bearing is a high temperature resistant sliding bearing.
4. The casting robot-specific elongated arm of claim 3, wherein the connection portion is a flange.
5. A casting robot, characterized in that the special elongated arm for the casting robot as claimed in any one of claims 1 to 4 is used.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922487790.1U CN211614298U (en) | 2019-12-31 | 2019-12-31 | Special extension arm of casting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922487790.1U CN211614298U (en) | 2019-12-31 | 2019-12-31 | Special extension arm of casting robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211614298U true CN211614298U (en) | 2020-10-02 |
Family
ID=72635052
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922487790.1U Active CN211614298U (en) | 2019-12-31 | 2019-12-31 | Special extension arm of casting robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211614298U (en) |
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2019
- 2019-12-31 CN CN201922487790.1U patent/CN211614298U/en active Active
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