All-direction wheel type movable heavy casting robot

A robot and wheeled technology, applied in foundry workshops, foundry equipment, manipulators, etc., can solve the problems of high labor intensity, small working range, and limited movement of workers, so as to reduce labor intensity and production costs, and improve movement flexibility , Improve the effect of support stability

Active Publication Date: 2017-11-07
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 inten

Method used

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  • All-direction wheel type movable heavy casting robot
  • All-direction wheel type movable heavy casting robot
  • All-direction wheel type movable heavy casting robot

Examples

Experimental program
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Effect test

specific Embodiment approach 1

[0029] Such as figure 1 , figure 2 , image 3 and Figure 5 As shown, an omnidirectional wheeled mobile heavy-duty casting robot includes a four-wheel drive wheeled mobile platform 1, a slewing device 2, a lifting device 3, a parallel working arm 4, a counterweight device 5, an end effector 6 and a binocular Vision system7. 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 16. 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 part of the right side are provided with ranging sensors, and the rang...

specific Embodiment approach 2

[0035] Such as figure 1 , Figure 5 , Figure 6 and Figure 7 As shown, the first branch chain 42 includes a first rear universal joint 421, a first telescopic rod group 422 and a first front universal joint 423, and the rear end of the first rear universal joint 421 is connected to the working The arm mounting base 41 is fixedly connected, the rear end of the first telescopic rod group 422 is fixedly connected with the front end of the first rear universal joint 421, and the front end of the first telescopic rod group 422 is connected with the first front universal joint. The rear ends of the joints 423 are fixedly connected, and the front end of the first front universal joint 423 is fixedly connected with the end effector 6 . The second branch chain 43 includes a second rear universal joint 431, a second telescopic rod group 432 and a first front hinge 433, the rear end of the second rear universal joint 431 is fixedly connected to the working arm mounting seat 41, The ...

specific Embodiment approach 3

[0038] Such as figure 1 , Figure 8 and Figure 9 As shown, the end effector 6 specifically adopts a multi-finger asynchronous pneumatic gripper, and the multi-finger asynchronous pneumatic gripper includes an air gripper connecting seat 6-1, a connecting bracket 6-2, and an air gripper mounting plate 6-3, jaw finger 6-4 and finger cylinder 6-5. Wherein, the air claw connecting seat 6-1 is fixedly installed on the front end of the parallel working arm 4; the upper end of the connecting bracket 6-2 is fixedly connected with the air claw connecting seat 6-1, and the lower end of the connecting bracket 6-2 It is fixedly connected with the top of the air claw mounting plate 6-3, and a reinforcing connecting rod 6-21 is also provided in the middle of the connecting bracket 6-2; a guide sleeve 6 is provided at the bottom of the air claw mounting plate 6-3 -31, anti-slip rubber 6-41 is provided on the inside of the lower end of the jaw finger 6-4, and a guide rod 6-42 is provided ...

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Abstract

The invention discloses an all-direction wheel type movable heavy casting robot. The all-direction wheel type movable heavy casting robot comprises a four-wheel drive movable platform, a slewer, a lifting device, an in-parallel working arm, a balance weight device, an end effector and a binocular visual system. The four-wheel drive movable platform adopts a four-wheel all-direction moving and four-corner stagnation point self-balancing supporting manner, long-distance flexible and stable walking and stagnation point self-balancing supporting are achieved, the supporting stability of the work is improved, and a robot body further has five freedoms of motion of three moving actions and two rotating actions. The slewer and the lifting device can achieve slewing adjusting and lifting adjusting correspondingly, the four-freedom-degree in-parallel working arm can carry out posture adjustment on the end effector, different end effectors can be replaced according to working requirements, requirements of different operations of core assembling, core discharging, pouring, carrying and the like of middle-large size castings are met, the working efficiency, the quality and the safety of the casting robot are improved, and the labor intensity of operators and the production cost are reduced.

Description

technical field [0001] The invention belongs to the technical field of foundry robot equipment, in particular to an omnidirectional wheeled movable heavy-load 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, ...

Claims

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Application Information

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IPC IPC(8): B22D47/02B25J5/00B25J9/16B25J11/00
CPCB22D47/02B25J5/007B25J9/1697B25J11/00
Inventor 王成军郭永存王鹏沈豫浙郑艳任润润徐成克李龙
Owner ANHUI UNIV OF SCI & TECH
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