CN215033413U

CN215033413U - Investment casting shell-making manipulator

Info

Publication number: CN215033413U
Application number: CN202120433870.3U
Authority: CN
Inventors: 李格腾
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-02-26
Filing date: 2021-02-26
Publication date: 2021-12-07
Anticipated expiration: 2031-02-26

Abstract

The utility model belongs to the technical field of investment casting equipment and specifically relates to indicate an investment casting shell-making manipulator, including the waist rotation and stop device, swing arm pendulous device around, horizontal stand horizontal control device, bearing frame body turning device, cavity gear shaft just reverse device, the module presss from both sides the handling device that presss from both sides and loosen and links in the air gun telescoping device of horizontal stand horizontal control device's middle joint, swing arm pendulous device locates the waist rotation and stop device's that stops output around, swing arm pendulous device's output around horizontal stand horizontal control device locates, horizontal stand horizontal control device's output is located to bearing frame body turning device, bearing frame body turning device's output is located to cavity gear shaft just reverse device, the module presss from both sides the output of locating cavity gear shaft just reverse device with the handling device that loosens. The utility model discloses can satisfy the processing action of the overwhelming majority of module at the in-process of investment casting system shell, the action is nimble, low in manufacturing cost, easy to maintain.

Description

Investment casting shell-making manipulator

Technical Field

The utility model relates to an investment casting equipment especially relates to a shell-making manipulator of investment casting.

Background

At present, in the investment casting industry, along with the increase of labor cost and the improvement of requirements on the quality and stability of a shell making process, a shell making manipulator is gradually applied, and most of the used manipulators are universal six-degree-of-freedom joint robots and shell making manipulators with upright post sliding plate multi-arm structures. However, the six-degree-of-freedom robot used as a shell making manipulator is a large horse-drawn trolley, and the economy is poor; the shell-making manipulator with the upright post sliding plate multi-arm structure has high productivity, but has larger volume and is deficient in function, for example, the manipulator only has the functions of up-down lifting and up-down turning and does not have the functions of front stretching and back shrinking, and a clamped module only rotates in one direction, does not have quick positive and negative rotation actions, can not realize actions such as slurry throwing and the like, and the existence of the actions is particularly important for the shell-making quality of the mould shell of a casting with a certain shape; and the fixed multi-arm is limited by the arm distance, and the shell manufacturing process operation cannot be finished on the casting with larger appearance. At present, domestic investment casting plants are numerous, the product appearance difference is large, and more small and medium-sized production capacity is used, so that a shell making manipulator capable of meeting the requirement is urgently needed.

SUMMERY OF THE UTILITY MODEL

In order to solve the technical problem, the utility model aims to provide a simple and practical, make and use cost low, the required comparatively comprehensive investment casting system shell manipulator of action of system shell operation for the investment casting factory of middle and small productivity or the great appearance foundry goods of production.

In order to achieve the purpose, the utility model discloses investment casting system shell manipulator technical scheme as follows:

the utility model provides an investment casting system shell manipulator, includes that waist is rotatory and stops device, front and back swing arm pendulous device, horizontal stand level control device, bearing frame body turning device, cavity gear shaft just reverse device, module press from both sides tight and the handling device who loosens and air gun telescoping device, front and back swing arm pendulous device locates the output of waist is rotatory and stops the device, horizontal stand level control device locates front and back swing arm pendulous device's output, horizontal stand level control device's output is located to bearing frame body turning device, cavity gear shaft just reverse device sets up in bearing frame body turning device output, the handling device that the module pressed from both sides tight and loosens sets up in the output of cavity gear shaft just reverse device, air gun telescoping device links in horizontal stand level control device's middle joint department.

Furthermore, waist is rotatory and brake device includes ground connection base, the slewing bearing of taking the external tooth, rotating base, moving gear, speed reducer, motor, brake cylinder, and the outer lane of the slewing bearing of taking the external tooth is connected and is formed fixed gear on ground connection base, and the inner circle of the slewing bearing of taking the external tooth is connected on rotating base, installs speed reducer and motor on rotating base in proper order, and moving gear installs on the transmission shaft of speed reducer, and moving gear and the external tooth meshing of the slewing bearing of taking the external tooth form the gear pair, the motor drives moving gear through the speed reducer and rotates.

Further, swing arm pendulous device around includes unable adjustment base, back swing arm hydro-cylinder, preceding swing arm hydro-cylinder, unable adjustment base is connected with rotating base, and the bottom of back swing arm is articulated with unable adjustment base, and the top of back swing arm is articulated with the rear end of preceding swing arm and is connected, the one end of preceding swing arm hydro-cylinder and the one end of back swing arm hydro-cylinder all articulate in unable adjustment base, and the other end of preceding swing arm hydro-cylinder and the other end of back swing arm hydro-cylinder articulate respectively in the hydro-cylinder engaging lug of preceding swing arm and the hydro-cylinder engaging lug of back swing arm.

Further, horizontal stand level control device includes horizontal stand, preceding connecting rod, three hole connecting rods of T type, back connecting rod, the both sides of horizontal stand are provided with respectively and hang arm and upset hydro-cylinder linking arm, the front end of preceding swing arm is located to the horizontal stand, the middle part hole site of three hole connecting rods of T type is articulated with the rear end of preceding swing arm and the top of back swing arm respectively, and the both ends earhole of three hole connecting rods of T type links to each other with the one end of back connecting rod and the one end of preceding connecting rod respectively, and the other end of back connecting rod is articulated with unable adjustment base, and the other end of preceding connecting rod links to each other with the earhole of hanging the arm of horizontal stand one side.

Further, the bearing seat body overturning device comprises a first overturning connecting rod, a second overturning connecting rod, a third overturning connecting rod, a fourth overturning connecting rod, an overturning oil cylinder and a bearing seat body, wherein one end of the first overturning connecting rod is hinged with the horizontal support, and the other end of the first overturning connecting rod is hinged with one end of the second overturning connecting rod; the middle part of second upset connecting rod is articulated with the middle part of third upset connecting rod, and the other end of second upset connecting rod is articulated with the well lower part of bearing frame body, and the one end of third upset connecting rod is articulated with the horizontal stand, and the one end of third upset connecting rod is articulated with the one end of fourth upset connecting rod, and the other end of fourth upset connecting rod is articulated with the well upper portion of bearing frame body, the one end of upset hydro-cylinder is connected with the upset hydro-cylinder linking arm of horizontal stand one side, and the other end of upset hydro-cylinder is articulated with the well lower part of bearing frame body.

Further, the hollow gear shaft forward and backward rotation device comprises a thrust bearing, a bearing cover, a hollow gear shaft, a rack and a forward and backward rotation oil cylinder, wherein the thrust bearing is arranged in the bearing seat body and bears axial force, the bearing cover covers the thrust bearing on the bearing seat body, the hollow gear shaft is rotatably arranged in the thrust bearing, the rack is slidably connected in the bearing seat body, the forward and backward rotation oil cylinder is installed on the bearing seat body, the rack is meshed with a gear on the hollow gear shaft, and a piston rod of the forward and backward rotation oil cylinder is connected to the rack.

Furthermore, the module clamping and loosening loading and unloading device comprises a clamping oil cylinder, a module mounting seat, a crank arm, a pre-clamping spring and a spring clamping pin, wherein the pre-clamping spring is sleeved outside the spring clamping pin, the module mounting seat is connected to the output end of the hollow gear shaft, the clamping oil cylinder is mounted at the tail end of the bearing seat body, and a push rod of the clamping oil cylinder penetrates through a center hole of the hollow gear shaft and penetrates into the module mounting seat to abut against one end of the crank arm.

Furthermore, the air gun telescopic device comprises an air cylinder seat, an air cylinder, a reset spring, a sliding guide pillar, a sliding joint, a folding telescopic frame and an air gun arranged at the output end of the folding telescopic frame, wherein the air cylinder seat is provided with a mounting hole, a telescopic frame fixing lug and two hanging holes, the top end of the sliding guide pillar is inserted into the mounting hole, the air cylinder seat is arranged at the middle joint of the horizontal support horizontal control device through the two hanging holes, and the air cylinder is arranged on the air cylinder seat; the sliding joint sliding sleeve is arranged outside the sliding guide column, the reset spring is sleeved outside the sliding guide column, the top end of the reset spring is abutted to the bottom surface of the air cylinder seat, the bottom end of the reset spring is abutted to the sliding joint, the upper ear hole at one end of the folding telescopic frame is hinged to the telescopic frame fixing ear, and the lower ear hole at one end of the folding telescopic frame is hinged to the sliding joint.

Further, the bearing seat body is provided with a bearing position, a rack sliding groove, an end face oil cylinder connecting table, a turnover connecting rod connecting hole and a pushing rack oil cylinder mounting table, the thrust bearing is arranged on the bearing position, the rack is arranged in the rack sliding groove in a sliding mode, the clamping oil cylinder is arranged on the end face oil cylinder connecting table, the forward and reverse rotating oil cylinder is arranged on the pushing rack oil cylinder mounting table, the second turnover connecting rod is hinged to the middle lower portion of the bearing seat body through one turnover connecting rod connecting hole, and the fourth turnover connecting rod is hinged to the middle upper portion of the bearing seat body through the other turnover connecting rod connecting hole.

Further, the rear swing arm and the front swing arm are both in a rectangular frame structure.

The utility model has the advantages that: the utility model can meet the shell making action requirements of most casting modules in the shell making process; the air gun telescopic device is additionally arranged, so that the shell manufacturing quality is improved; the shell-making manipulator for investment casting has the advantages of wide joint hinge design, easiness in machining, flexibility in action, lower manufacturing cost and good working stability, and can provide a simple and practical shell-making manipulator for investment casting factories with medium and small capacity or producing castings with large shapes, and the actions required by shell-making operation are comprehensive.

Drawings

Fig. 1 is a schematic perspective view of the clamping module according to the present invention.

Fig. 2 is a schematic perspective view of another view angle of the clamping module according to the present invention.

Fig. 3 is a schematic view of the three-dimensional structure of the waist rotating and braking device of the present invention.

Fig. 4 is a schematic view of the three-dimensional structure of the front swing arm, the rear swing arm and the horizontal control device of the horizontal bracket of the present invention.

Fig. 5 is a schematic view of the three-dimensional structure of the turnover device of the bearing seat body of the present invention.

Fig. 6 is a partial sectional structure view of the hollow gear shaft forward and backward rotating device of the present invention.

Fig. 7 is a partial cross-sectional structural view of the handling device for clamping and unclamping the module according to the present invention.

FIG. 8 is a schematic view of the three-dimensional structure of the air gun telescopic device of the present invention

Description of reference numerals:

011. a module; 012. module hooking; 1. a ground base; 2. a slewing bearing; 3. rotating the base; 4. a moving gear; 5. a speed reducer; 6. a motor; 7. braking a stop cylinder; 8. a fixed base; 9. a rear swing arm; 10. a front swing arm; 11. a rear swing arm cylinder; 12. a front swing arm cylinder; 13. a rear connecting rod; 14. a T-shaped three-hole connecting rod; 15. a front link; 16. a horizontal support; 161. a hanging arm; 162. a connecting arm of the turnover oil cylinder; 17. turning over the oil cylinder; 18. a bearing housing body; 181. a thrust bearing; 182. a bearing cap; 19. a fourth turnover connecting rod; 20. a third turnover connecting rod; 21. a second turnover connecting rod; 22. a first flip link; 23. a hollow gear shaft; 24. a rack; 25. a positive and negative rotation oil cylinder; 26. clamping the oil cylinder; 27. a push rod; 28. a crank arm; 29. a spring clamp pin; 291. pre-clamping the spring; 30. a module mounting base; 31. a wind gun; 32. folding the telescopic frame; 35. a slip joint; 36. sliding the guide post; 37. a return spring; 38. a cylinder; 382. hanging holes; 39. a cylinder block; 391. the telescopic bracket fixes the ear.

Detailed Description

The present invention will be further described with reference to the accompanying drawings and embodiments, which are not intended to limit the present invention.

As shown in figures 1 to 8, the utility model provides an investment casting shell-making manipulator, which comprises a waist rotating and braking device, a front and back swing arm swinging device, a horizontal bracket horizontal control device, a bearing seat body turning device, a hollow gear shaft forward and backward rotating device, a module clamping and loosening loading and unloading device and an air gun telescopic device, the front and back swing arm swinging device is arranged at the output end of the waist rotating and braking device, the horizontal bracket horizontal control device is arranged at the output end of the front and back swing arm swinging device, the turning device of the bearing seat body is arranged at the output end of the horizontal control device of the horizontal bracket, the forward and reverse rotating device of the hollow gear shaft is arranged at the output end of the turning device of the bearing seat body, the assembling and disassembling device for clamping and loosening the module is arranged at the output end of the forward and reverse rotating device of the hollow gear shaft, and the air gun telescopic device is connected to the middle joint position of the horizontal control device of the horizontal bracket.

In this embodiment, referring to fig. 3, the waist rotation and brake device includes a ground base 1, a slewing bearing 2 with external teeth, a rotating base 3, a moving gear 4, a speed reducer 5, a motor 6, and a brake cylinder 7, an outer ring of the slewing bearing 2 with external teeth is connected to the ground base 1 to form a fixed gear, an inner ring of the slewing bearing 2 with external teeth is connected to the rotating base 3, the speed reducer 5 and the motor 6 are sequentially installed on the rotating base 3, the moving gear 4 is installed on a transmission shaft of the speed reducer 5, the moving gear 4 is engaged with the external teeth of the slewing bearing 2 with external teeth to form a gear pair, and the motor 6 drives the moving gear 4 to rotate via the speed reducer 5.

In practical application, after further reducing the speed of the motor 6 through the speed reducer 5 and a meshed gear amplitude, the motor drives a working arm (a front and rear swing arm swinging device, a horizontal support horizontal control device, a bearing seat body overturning device, a hollow gear shaft forward and reverse rotating device, a module clamping and loosening loading and unloading device and an air gun telescopic device) on the rotating base 3 to rotate around the center of the slewing bearing 2 with the external teeth, so that 360-degree rotation can be realized; the braking cylinder 7 is arranged on the rotating base 3, a plurality of braking holes are formed in an annular array on the upper end face of the gear of the slewing bearing 2 with the external teeth, the braking holes are used for inserting an output shaft of the braking cylinder 7 and locking the slewing bearing 2 with the external teeth and the working arm on the rotating base 3 after the motor 6 stops; when the module 011 at the output end of the working arm rotates to a preset station angle and the travel switch is triggered, the motor 6 stops working, the output end of the brake cylinder 7 is inserted into the corresponding brake hole, so that the working arm on the rotating base 3 is braked, and the working arm stops at a preset angle position.

In this embodiment, refer to fig. 4, swing arm pendulous device around includes unable adjustment base 8, back swing arm 9, back swing arm hydro-cylinder 11, preceding swing arm 10, preceding swing arm hydro-cylinder 12, unable adjustment base 8 is connected with rotating base 3, and the bottom of back swing arm 9 is articulated with unable adjustment base 8, and the top of back swing arm 9 is articulated with the rear end of preceding swing arm 10 and is connected, the one end of preceding swing arm hydro-cylinder 12 and the one end of back swing arm hydro-cylinder 11 all articulate in unable adjustment base 8, and the other end of preceding swing arm hydro-cylinder 12 and the other end of back swing arm hydro-cylinder 11 articulate respectively in the hydro-cylinder engaging lug of preceding swing arm 10 and the hydro-cylinder engaging lug of back swing arm 9.

In practical application, the front swing arm cylinder 12 drives the front swing arm 10 to swing up and down, the rear swing arm cylinder 11 drives the rear swing arm 9 to swing front and back, and the front swing arm 10 and the rear swing arm 9 swing in coordination, so that the module 011 at the output end of the working arm meets the displacement requirement. Preceding swing arm 10 and back swing arm 9 all design into the rectangular frame structure, prevent to add man-hour to the module 011 of bulky or weight the utility model discloses a phenomenon that takes place to heel increases the utility model discloses a job stabilization nature.

Of course, the front swing arm 10 and the rear swing arm 9 may be designed to be i-shaped.

Of course, the front swing arm cylinder 12 and the rear swing arm cylinder 11 may be air cylinders or electric ball screws.

In the present embodiment, referring to fig. 4, the horizontal bracket horizontal control device includes a horizontal bracket 16, a front link 15, a T-shaped three-hole link 14, and a rear link 13; for convenience of manufacture, the horizontal support 16 is assembled into a whole by three parts and is U-shaped, two sides of the horizontal support 16 are respectively provided with a hanging arm 161 and a turning cylinder connecting arm 162, the horizontal support 16 is arranged at the front end (output end) of the front swing arm 10, the middle hole position of the T-shaped three-hole connecting rod 14 is respectively hinged with the rear end of the front swing arm 10 and the top end of the rear swing arm 9, the lug holes at two ends of the T-shaped three-hole connecting rod 14 are respectively connected with one end of the rear connecting rod 13 and one end of the front connecting rod 15, the other end of the rear connecting rod 13 is hinged with the fixed base 8, and the other end of the front connecting rod 15 is connected with the lug hole of the hanging arm 161 at one side of the horizontal support 16; the structural design ensures that the horizontal bracket 16 always keeps the horizontal direction in the movement of the front and rear swing arms.

In this embodiment, referring to fig. 5, the bearing seat body turning device includes a first turning connecting rod 22, a second turning connecting rod 21, a third turning connecting rod 20, a fourth turning connecting rod 19, a turning oil cylinder 17, and a bearing seat body 18, where one end of the first turning connecting rod 22 is hinged to the horizontal bracket 16, and the other end of the first turning connecting rod 22 is hinged to one end of the second turning connecting rod 21; the middle part of the second turnover connecting rod 21 is hinged with the middle part of the third turnover connecting rod 20, the other end of the second turnover connecting rod 21 is hinged with the middle lower part of the bearing seat body 18, one end of the third turnover connecting rod 20 is hinged with the horizontal support 16, one end of the third turnover connecting rod 20 is hinged with one end of the fourth turnover connecting rod 19, and the other end of the fourth turnover connecting rod 19 is hinged with the middle upper part of the bearing seat body 18. One end of the turning oil cylinder 17 is connected with a turning oil cylinder connecting arm 162 at one side of the horizontal bracket 16, and the other end of the turning oil cylinder 17 is hinged with the middle lower part of the bearing seat body 18. The output end of the turning oil cylinder 17 stretches to drive all turning connecting rods (a first turning connecting rod 22, a second turning connecting rod 21, a third turning connecting rod 20 and a fourth turning connecting rod 19) to swing coordinately, so that the bearing seat body 18 turns over 135 degrees, and all structures mounted on the bearing seat body 18 are driven to turn over.

In this embodiment, referring to fig. 6, the hollow gear shaft forward and backward rotation device includes a thrust bearing 181 disposed in the bearing seat body 18 and bearing an axial force, a bearing cover 182 covering the thrust bearing 181 on the bearing seat body 18, a hollow gear shaft 23 rotatably disposed in the thrust bearing 181, a rack 24 slidably connected in the bearing seat body 18, and a forward and backward rotation cylinder 25 mounted on the bearing seat body 18, wherein the rack 24 is engaged with a gear on the hollow gear shaft 23, a piston rod of the forward and backward rotation cylinder 25 is connected to the rack 24 and used for driving the rack 24 to reciprocate, and the reciprocating rack 24 is engaged with the hollow gear shaft 23, so that the hollow gear shaft 23 rotates forward and backward, thereby driving the module 011 connected to the output end of the hollow gear shaft 23 to rotate forward and backward. Specifically, the number of the thrust bearings 181 and the number of the bearing caps 182 are both two, the two bearing caps 182 are located at two ends of the bearing seat body 18, and the two thrust bearings 181 are respectively sleeved at two ends of the hollow gear shaft 23.

In practical application, a piston rod of the forward and reverse rotation oil cylinder 25 stretches and retracts to drive the rack 24 to reciprocate, the rack 24 which reciprocates is meshed with a gear on the hollow gear shaft 23 to drive the hollow gear shaft 23 to rotate forward and reverse, and accordingly the module 011 at the output end of the handling device with the clamped and loosened module is driven to rotate forward and reverse; the flow rate entering the forward and reverse rotation oil cylinders 25 is increased to improve the forward and reverse rotation speed, so that the module 011 can swing slurry and the like.

In this embodiment, referring to fig. 7, the module clamping and releasing handling device includes a clamping cylinder 26, a module mounting seat 30, a crank arm 28, a pre-clamping spring 291 and a spring clamping pin 29, the pre-clamping spring 291 is sleeved outside the spring clamping pin 29, the module mounting seat 30 is riveted or/and screwed to the output end of the hollow gear shaft 23, the clamping cylinder 26 is mounted at the tail end of the bearing seat body 18, a push rod 27 of the clamping cylinder 26 penetrates through the central hole of the hollow gear shaft 23 and penetrates into the module mounting seat 30 to abut against one end of the crank arm 28, when the push rod 27 of the clamping cylinder 26 moves forward, the crank arm 28 is forced to swing so that the spring clamping pin 29 sleeved with the pre-clamping spring 291 moves outward, the pre-clamping force of the pre-clamping spring 291 is overcome, the module 011 is released, and the clamping and picking and placing of the module 011 can be efficiently realized.

In this embodiment, referring to fig. 8, the air gun telescopic device includes an air cylinder seat 39, an air cylinder 38, a return spring 37, a sliding guide post 36, a sliding joint 35, a folding telescopic frame 32, and an air gun 31 disposed at an output end of the folding telescopic frame 32, where the folding telescopic frame 32 is formed by sequentially hinging a plurality of cross-links through a central interval and an end-to-end interval, the air cylinder seat 39 is provided with a mounting hole, a telescopic frame fixing lug 391, and two hanging holes 382, the top end of the sliding guide post 36 is inserted into the mounting hole, the air cylinder seat 39 is mounted at a middle joint of a horizontal bracket horizontal control device through the two hanging holes 382, and the air cylinder 38 is mounted on the air cylinder seat 39; the sliding connector 35 is sleeved outside the sliding guide post 36 in a sliding mode, the return spring 37 is sleeved outside the sliding guide post 36 in a sleeving mode, the top end of the return spring 37 abuts against the bottom surface of the air cylinder seat 39, the bottom end of the return spring 37 abuts against the sliding connector 35, the upper ear hole at one end of the folding telescopic frame 32 is hinged to the telescopic frame fixing ear 391, the lower ear hole at one end of the folding telescopic frame 32 is hinged to the sliding connector 35, the telescopic rod of the air cylinder 38 drives the sliding connector 35 to slide on the sliding guide post 36, and the folding telescopic frame 32 stretches and retracts and drives the air gun 31 to reach a preset position to blow air to the module 011. Specifically, the cylinder block 39 is mounted on the shaft of the T-shaped three-hole link 14 via two hanging holes 382 at the bottom hole and the rear end hole thereof.

In this embodiment, the linkage action of the working arm makes the module 011 move forward and backward, up and down, backward, forward and downward, overturn, forward and backward rotation, and the like, and the air blowing gun 31 is used for blowing air, so that the action requirements of most casting shell making can be met.

In this embodiment, the bearing seat body 18 is provided with a bearing position, a rack sliding groove, an end surface oil cylinder connecting table, an overturning connecting rod connecting hole and a pushing rack oil cylinder mounting table, the thrust bearing 181 is installed on the bearing position, the rack 24 is slidably installed on the rack sliding groove, the clamping oil cylinder 26 is installed on the end surface oil cylinder connecting table, the forward and reverse rotating oil cylinder 25 is installed on the pushing rack oil cylinder mounting table, the second overturning connecting rod 21 is hinged to the middle lower portion of the bearing seat body 18 through one overturning connecting rod connecting hole, and the fourth overturning connecting rod 19 is hinged to the middle upper portion of the bearing seat body 18 through another overturning connecting rod connecting hole. The bearing seat body 18 with the structural design has compact structure of the bearing seat body turnover device, the hollow gear shaft forward and backward rotation device and the assembling and disassembling device for clamping and loosening the module, and is convenient for the assembly, disassembly and maintenance of parts.

The utility model discloses a theory of operation: in practical application, three stations, namely a loading and unloading station, a slurry sticking and throwing station and a floating sand or drenching sand station of the module 011 are preset on positions which are 120 degrees away from each other by taking the investment casting shell-making manipulator as a center; after the motor 6 is electrified and then is decelerated through the speed reducer 5, after the speed is decelerated again after being meshed through the gear 4 and the external teeth of the rotary support 2 with the external teeth, all components in the working arm arranged on the rotary base 3 are driven to rotate around the center of the rotary support 2 with the external teeth at a slow speed, the working arm rotates to a preset angle of a slurry sticking station and touches a travel switch, the motor 6 is stopped, the stop cylinder 7 locks the rotary support 2 with the external teeth and the rotary base 3, so that the rotary support 2 with the external teeth and the rotary base 3 are not moved, the working arm starts to work (the front swing arm 10 moves up and down under the push of the front swing arm cylinder 12, so that the module 011 enters the slurry barrel/outlet barrel slurry, the forward and reverse rotation cylinder 25 arranged on the bearing seat body 18 drives the rack 24 to move in a reciprocating manner, so that the hollow gear shaft 23 drives the module 011 connected at the tail end to rotate forward and reverse, and the coating is complete when the module 011 enters the slurry barrel slurry sticking, the slurry discharged from the barrel is accelerated to rotate positively and negatively to finish the vertical slurry throwing operation, the air gun 31 extends out to blow the slurry to the module 011 of the slurry discharged from the barrel , so that the slurry on the module 011 is coated uniformly; the overturning oil cylinder 17 pushes all overturning connecting rods (19, 20, 21 and 22) to swing in a coordinated manner, so that the module 011 discharging the slurry from the barrel is overturned by 135 degrees, the air gun 31 extends out again to blow the overturned module 011 discharging the slurry from the barrel , the overturned module 011 continuously rotates forwards and backwards in the slurry blowing process, the rear swing arm 9 pushes the rear swing arm oil cylinder 11 to move forwards and backwards, the purpose of the forward movement is that the center of the module 011 faces the center of the slurry barrel when the module 011 enters the slurry barrel to be bonded, and the purpose of the backward movement is that the module 011 cannot be thrown to the front arm of the slurry barrel when the module 011 is overturned by 135 degrees, and meanwhile, the fireproof slurry when the slurry is thrown and blown out of the slurry barrel is not thrown; after the slurry sticking and throwing station is operated, the working arm returns to the initial position and is kept still, the PLC single-board machine controls the motor 6 to be started again, the rotating base 3 drives the working arm to rotate to a sand spraying or floating station, when the corresponding position switch is triggered, the motor 6 is stopped, the stopping cylinder 7 locks the rotary support 2 with the external teeth and the rotating base 3, the working arm starts to work (the front swing arm 10 moves up and down under the push of the front swing arm cylinder 12 to enable the module 011 to enter a sand floating bucket and float sand in/out of the sand floating bucket, the positive and negative rotating cylinder 25 arranged on the bearing seat body 18 pushes the rack 24 to reciprocate to enable the hollow gear shaft 23 and the module 011 connected to the tail end of the hollow gear shaft to rotate positively and negatively, the module 011 stops rotating positively and negatively when entering the sand floating bucket, the positive and negative rotation is needed to complete the vertical sand floating operation when the sand is out of the sand floating bucket, the air gun 31 does not work, and the overturning cylinder 17 pushes all overturning connecting rods (19, 20, a, 21. 22), the module 011 out of the floating sand bucket is turned over by 135 degrees, the module 011 keeps forward and reverse rotation, the rear swing arm 9 pushes the rear swing arm oil cylinder 11 to move back and forth, the center of the module 011 faces the center of the floating sand bucket when the module 011 is turned into the floating sand bucket, and the rear swing arm moves back so that the module 011 cannot touch the floating sand bucket when the module 011 is turned over by 135 degrees and cannot pull floating sand out of the floating sand bucket; when the sand pouring machine is used for pouring sand, the front swing arm 10 swings to enable the module 011 to move up and down so as to align with the optimal position of the sand pouring machine, the rear swing arm 9 swings to enable the module 011 to move back and forth so as to enter/exit the sand pouring machine, the module 011 enters the sand pouring machine twice at two angles of 135-degree overturning and 90-degree overturning during sand pouring, and the module 011 keeps rotating forwards and backwards during sand pouring. The lengths of the rear swing arm 9 and the rear swing arm oil cylinder 11 used on the sand-spraying machine need to be properly adjusted). After finishing floating sand or drenching sand station operation, the working arm returns to the initial position and keeps motionless, the motor 6 is started again, the rotating base 3 drives the working arm to rotate slowly and returns to the disassembly station of the module 011, when a corresponding position switch is triggered, the motor 6 stops, the braking cylinder 7 locks the slewing bearing 2 with external teeth and the rotating base 3, the working arm is in the initial working position, the push rod 27 of the clamping cylinder 26 extends and pushes one end of the crank arm 28, so that the crank arm 28 rotates, the crank arm 28 swings to enable the pre-clamping spring 291 to loosen the module hook 012 of the module 011, an operator takes the module 011 from the module mounting seat 30, the module 011 to be processed is mounted on the module mounting seat 30, the switch button is started, the push rod 27 of the clamping cylinder 26 retracts, the pre-clamping spring 291 resets again and clamps the module 011, and the working arm returns to the initial position and keeps motionless. The motor 6 is started again and the last cycle is repeated.

The utility model can meet the shell making action requirements of most casting modules in the shell making process; compared with the existing shell making manipulator in the market, the utility model is additionally provided with the air gun telescopic device, thereby improving the shell making quality; the bearing is arranged after an important and loaded joint hole is machined by adopting a wide joint hinge design, so that the bearing is flexible in action, low in manufacturing cost and easy to maintain; the frame-type structure improves the stability of the working arm.

All the technical features in the embodiment can be freely combined according to actual needs.

The above-mentioned embodiment is the utility model discloses the implementation scheme of preferred, in addition, the utility model discloses can also realize by other modes, any obvious replacement is all within the protection scope of the utility model under the prerequisite that does not deviate from this technical scheme design.

Claims

1. The utility model provides an investment casting system shell manipulator which characterized in that: the device comprises a waist rotating and braking device, a front and back swing arm swinging device, a horizontal support horizontal control device, a bearing seat body overturning device, a hollow gear shaft forward and backward rotating device, a module clamping and loosening loading and unloading device and an air gun telescopic device, wherein the front and back swing arm swinging device is arranged at the output end of the waist rotating and braking device, the horizontal support horizontal control device is arranged at the output end of the front and back swing arm swinging device, the bearing seat body overturning device is arranged at the output end of the horizontal support horizontal control device, the hollow gear shaft forward and backward rotating device is arranged at the output end of the bearing seat body overturning device, the module clamping and loosening loading and unloading device is arranged at the output end of the hollow gear shaft forward and backward rotating device, and the air gun telescopic device is connected to the middle joint of the horizontal support horizontal control device.

2. The investment casting shell-making robot of claim 1, wherein: the waist rotating and braking device comprises a grounding base, a slewing bearing with external teeth, a rotating base, a moving gear, a speed reducer, a motor and a braking cylinder, wherein the outer ring of the slewing bearing with the external teeth is connected to the grounding base to form a fixed gear, the inner ring of the slewing bearing with the external teeth is connected to the rotating base, the speed reducer and the motor are sequentially installed on the rotating base, the moving gear is installed on a transmission shaft of the speed reducer, the moving gear is meshed with the external teeth of the slewing bearing with the external teeth to form a gear pair, and the motor drives the moving gear to rotate through the speed reducer.

3. The investment casting shell-making robot of claim 2, wherein: the swing arm swinging device comprises a fixed base, a rear swing arm oil cylinder, a front swing arm and a front swing arm oil cylinder, wherein the fixed base is connected with the rotating base, the bottom end of the rear swing arm is hinged to the fixed base, the top end of the rear swing arm is hinged to the rear end of the front swing arm, one end of the front swing arm oil cylinder and one end of the rear swing arm oil cylinder are hinged to the fixed base, and the other end of the front swing arm oil cylinder and the other end of the rear swing arm oil cylinder are hinged to an oil cylinder connecting lug of the front swing arm and an oil cylinder connecting lug of the rear swing arm respectively.

4. The investment casting shell-making robot of claim 3, wherein: horizontal stand level control device includes horizontal stand, preceding connecting rod, three hole connecting rods of T type, back connecting rod, the both sides of horizontal stand are provided with respectively and hang arm and upset hydro-cylinder linking arm, the front end of preceding swing arm is located to the horizontal stand, the middle part hole site of three hole connecting rods of T type is articulated with the rear end of preceding swing arm and the top of back swing arm respectively, and the both ends earhole of three hole connecting rods of T type links to each other with the one end of back connecting rod and the one end of preceding connecting rod respectively, and the other end of back connecting rod is articulated with unable adjustment base, and the other end of preceding connecting rod links to each other with the earhole of hanging the arm of horizontal stand one side.

5. The investment casting shell-making robot of claim 4, wherein: the bearing seat body overturning device comprises a first overturning connecting rod, a second overturning connecting rod, a third overturning connecting rod, a fourth overturning connecting rod, an overturning oil cylinder and a bearing seat body, wherein one end of the first overturning connecting rod is hinged with the horizontal support, and the other end of the first overturning connecting rod is hinged with one end of the second overturning connecting rod; the middle part of second upset connecting rod is articulated with the middle part of third upset connecting rod, and the other end of second upset connecting rod is articulated with the well lower part of bearing frame body, and the one end of third upset connecting rod is articulated with the horizontal stand, and the one end of third upset connecting rod is articulated with the one end of fourth upset connecting rod, and the other end of fourth upset connecting rod is articulated with the well upper portion of bearing frame body, the one end of upset hydro-cylinder is connected with the upset hydro-cylinder linking arm of horizontal stand one side, and the other end of upset hydro-cylinder is articulated with the well lower part of bearing frame body.

6. The investment casting shell-making robot of claim 5, wherein: the hollow gear shaft forward and reverse rotation device comprises a thrust bearing, a bearing cover, a hollow gear shaft, a rack and a forward and reverse rotation oil cylinder, wherein the thrust bearing is arranged in the bearing seat body and bears axial force, the bearing cover covers the thrust bearing on the bearing seat body, the hollow gear shaft is rotatably arranged in the thrust bearing, the rack is arranged in the bearing seat body in a sliding connection mode, the forward and reverse rotation oil cylinder is installed on the bearing seat body, the rack is meshed with a gear on the hollow gear shaft, and a piston rod of the forward and reverse rotation oil cylinder is connected to the rack.

7. The investment casting shell-making robot of claim 6, wherein: the module clamping and loosening loading and unloading device comprises a clamping oil cylinder, a module mounting seat, a crank arm, a pre-clamping spring and a spring clamping pin, wherein the pre-clamping spring is sleeved outside the spring clamping pin, the module mounting seat is connected to the output end of the hollow gear shaft, the clamping oil cylinder is mounted at the tail end of the bearing seat body, and a push rod of the clamping oil cylinder penetrates through a center hole of the hollow gear shaft and penetrates into the module mounting seat to abut against one end of the crank arm.

8. The investment casting shell-making robot of claim 1, wherein: the air gun telescopic device comprises an air cylinder seat, an air cylinder, a reset spring, a sliding guide pillar, a sliding joint, a folding telescopic frame and an air gun arranged at the output end of the folding telescopic frame, wherein the air cylinder seat is provided with a mounting hole, a telescopic frame fixing lug and two hanging holes; the sliding joint sliding sleeve is arranged outside the sliding guide column, the reset spring is sleeved outside the sliding guide column, the top end of the reset spring is abutted to the bottom surface of the air cylinder seat, the bottom end of the reset spring is abutted to the sliding joint, the upper ear hole at one end of the folding telescopic frame is hinged to the telescopic frame fixing ear, and the lower ear hole at one end of the folding telescopic frame is hinged to the sliding joint.

9. The investment casting shell-making robot of claim 7, wherein: the bearing seat body is provided with a bearing position, a rack sliding groove, an end face oil cylinder connecting platform, an overturning connecting rod connecting hole and a pushing rack oil cylinder mounting platform, the thrust bearing is arranged at the bearing position, the rack is arranged in the rack sliding groove in a sliding mode, the clamping oil cylinder is arranged at the end face oil cylinder connecting platform, the forward and reverse rotating oil cylinder is arranged at the pushing rack oil cylinder mounting platform, the second overturning connecting rod is hinged to the middle lower portion of the bearing seat body through one overturning connecting rod connecting hole, and the fourth overturning connecting rod is hinged to the middle upper portion of the bearing seat body through the other overturning connecting rod connecting hole.

10. The investment casting shell-making robot of claim 3, wherein: the rear swing arm and the front swing arm are both in a rectangular frame structure.