Compound trussed movable overload casting robot

A truss-type, robotic technology, applied in the direction of manipulators, manufacturing tools, program-controlled manipulators, etc., can solve the problems of high labor intensity, limited movement, and small operating range of workers, so as to reduce labor intensity and production costs, and improve support stability Sexuality, the effect of improving motor flexibility

Active Publication Date: 2017-10-17
ANHUI UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This method has the following disadvantages: (1) The size (weight) of the casting is limited due to the influence of the worker's one-time load. One casting must be poured in a short time. If two or more packages are used Molten iron or molten steel pouring, due to the slow speed of the workers, the castings that are poured out are prone to quality problems such as casting defects; (2) The labor intensity of the workers is high and the working environment is poor
In the existing technical solutions, fixed-position tandem manipulators are mostly used for operations, which not only has a small working range and limited movement, but also has a low load capacity, which cannot meet the needs of core removal, core assembly, core setting, pouring and handling of medium and large castings. job requirements

Method used

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  • Compound trussed movable overload casting robot
  • Compound trussed movable overload casting robot
  • Compound trussed movable overload casting robot

Examples

Experimental program
Comparison scheme
Effect test

specific Embodiment approach 1

[0032] Such as figure 1 , figure 2 , image 3 , Figure 4 with Figure 5 As shown, a hybrid truss-type mobile heavy-duty casting robot includes a four-wheel-drive wheeled mobile platform 1, a slewing device 2, a lifting device 3, a forward moving device 4, a rearward moving device 5, a counterweight device 6, and a parallel working arm 7 and end effector 8 . Wherein, the four-wheel-drive wheeled mobile platform 1 is a carrying and mobile platform of the present invention, including a platform frame 11, a front drive wheel 12, a rear drive wheel 13, a self-balancing hydraulic support leg 14, a controller 15 and a monitor 17. The bottoms of the front and rear ends of the platform frame 11 are provided with navigation sensors, and the navigation sensors adopt magnetic navigation sensors or laser scanners or infrared emitters or ultrasonic emitters; at the front of the platform frame 11 The side, the rear side, the left side and the middle of the right side are provided wit...

specific Embodiment approach 2

[0038] Such as figure 1 with Figure 4 As shown, the first branch chain 72 includes a first upper universal joint 721 , a first telescopic group 722 and a first lower universal joint 723 . Wherein, the upper end of the first upper universal joint 721 is fixedly connected with the top fixed platform 71, the upper end of the first telescopic group 722 is fixedly connected with the lower end of the first upper universal joint 721, and the first upper universal joint 721 is fixedly connected. The lower end of the telescopic group 722 is fixedly connected with the upper end of the first lower universal joint 723 , and the lower end of the first lower universal joint 723 is fixedly connected with the end effector 8 . The second branch chain 73 includes a second upper universal joint 731, a second telescopic group 732 and a second lower universal joint 733, and the third branch chain 74 includes a third upper universal joint 741, a third telescopic group 742 and a third The lower u...

specific Embodiment approach 3

[0039] Such as figure 1 with image 3 As shown, the rotary motor 23 in this embodiment adopts a servo geared motor. With this design, the DC servo motor has a high speed, and the corresponding RV precision reducer can provide a large torque; in addition, the DC servo motor can also realize closed-loop control, which can achieve high transmission accuracy. Other compositions and connections are the same as those in the first or second embodiment.

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Abstract

The invention discloses a compound trussed movable overload casting robot. The robot comprises a four-wheeled moving platform, a revolving device, a lifting device, a front moving device, a rear moving device, a counterweighing device, parallel working arms and a tail end executor. According to the robot, by means of four-wheeled driving and four-corner stationary point self-balancing supporting, flexible stable traveling and stable supporting of the four-wheeled moving platform are achieved, and the robot body has six spatial freedoms of motion; revolving, moving front and back and lifting adjustment of the revolving device, the front moving device and the lifting device can be achieved respectively, the counterweighing device moves on the rear moving device, and the number of counterweighing blocks can be increased or decreased; the parallel working arms can conduct posture adjustment on the tail end executor, and the tail end executor can be replaced based on needs. By means of the robot, different operation demands of core assembling, core setting, casting, carrying and the like of a heavy casting are met, the efficiency, quality and safety of core assembling, core setting and casting operation of the heavy casting are improved, the labor intensity of operators is relieved, and the production cost is reduced.

Description

technical field [0001] The invention belongs to the technical field of foundry robot equipment, in particular to a hybrid truss type movable heavy-duty foundry robot. Background technique [0002] The high flexibility of industrial robots can meet various special requirements in modern green casting production. The use of robots in casting production can not only liberate operators from heavy and monotonous physical labor, save labor, but also improve casting production efficiency, It is an important means of manufacturing precision and quality, and realizing the mechanization, automation and civilization of casting production. At present, adopting advanced and applicable new foundry technologies to improve the automation level of foundry equipment, especially the application of mobile robot technology, is a key measure for foundry enterprises to implement green foundry production and achieve sustainable development. Due to the harsh environment of high temperature, high du...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J5/00B25J9/00B25J9/04B25J15/00
CPCB25J5/007B25J9/0069B25J9/044B25J15/0019
Inventor 王成军徐成克郭永存李龙沈豫浙杨洪涛张军郑艳任润润
Owner ANHUI UNIV OF SCI & TECH
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