Metal casting robot

Abstract

The present invention relates to a metal casting manipulator applied to the field of metal casting equipment, comprising a mechanical arm, a mounting column fixed at the front end of the mechanical arm, a mounting plate rotatably connected at the front end of the mounting column; a sliding clamp for circular motion along the central axis of the mounting plate is mounted on the mounting plate, a front end of the sliding clamp is detachably clamped to hold a molten iron bucket, a positioning plate is plugged into a side of the molten iron bucket close to the mounting plate, a deflection drive component for driving the positioning plate to rotate along the central axis of the mounting plate is mounted on the mounting plate, and the deflection drive component structure is adopted to achieve not only avoiding the formation of a large torsional force between the driving part of the metal casting manipulator and the molten iron bucket, but also enabling the molten iron bucket to be reversed at a low speed and stably, thereby achieving a stable casting effect, which is conducive to the smooth progress of metal casting operations and can effectively avoid the occurrence of splashing and overflowing of molten metal when pouring molten metal.

Description

Technical Field

[0001] The present invention relates to a manipulator, in particular to a metal casting manipulator applied in the field of metal casting equipment. Background Art

[0002] In the metal casting process, pouring molten metal is dangerous. A manipulator can be used to replace manual or other machinery to hold, transfer and pour the molten metal, so as to improve the pouring efficiency and reduce the danger of pouring.

[0003] The front end of the existing manipulator is usually directly equipped with a clamp to clamp the iron bucket containing molten metal. When pouring the molten metal, its flipping angle is consistent with the rotation angle of the front end of the robot arm (manipulator). Since the molten metal is heavy, it will form a large torsional force between it and the manipulator, causing fatigue damage to the manipulator and power equipment. At the same time, its angle changes relatively quickly (the angular velocity of the manipulator's flipping is fixed, and when it is transmitted to the iron bucket, it makes it flip faster), which is not conducive to the stable pouring of the molten metal. Summary of the invention

[0004] In view of the above-mentioned prior art, the technical problem to be solved by the present invention is how to avoid the formation of a large torsional force between the robot and the iron bucket containing molten metal, and at the same time make the iron bucket flip over at a low speed and stably to achieve a stable pouring effect.

[0005] In order to solve the above problems, the present invention provides a metal casting manipulator, comprising a mechanical arm, a mounting column is fixed at the front end of the mechanical arm, and a mounting plate is rotatably connected to the front end of the mounting column;

[0006] A sliding fixture is installed on the mounting plate and moves in a circle along the central axis of the mounting plate. The front end of the sliding fixture can detachably clamp a molten iron bucket. A positioning plate is inserted on the side of the molten iron bucket close to the mounting plate. A deflection drive component is installed on the mounting plate to drive the positioning plate to rotate in a circle along the central axis of the mounting plate.

[0007] A driving member for driving the mounting plate or the deflection driving assembly to move is installed on the rear side of the mounting plate;

[0008] The driving member drives the positioning plate and the mounting disk to form a relative rotation through the deflection driving assembly, and the rotation angular velocity is less than the output angular velocity of the driving member and forms a multiple relationship.

[0009] In the above-mentioned metal casting manipulator, when the driving member drives the positioning plate and the mounting plate to form a relative rotation through the deflection driving assembly, the molten iron bucket and the sliding clamp both generate a circular rotation along the central axis of the mounting plate, so that the molten iron bucket gradually deflects, and its deflection angular velocity is small, so that its deflection is relatively stable, so that the molten iron bucket can stably pour the molten metal, which is conducive to the stable pouring of the molten metal and improves the pouring stability of the molten metal; at the same time, the deflection driving assembly is used to avoid the molten iron bucket being directly driven by the driving member, and a large torsional force is formed between the driving member and the driving member, thereby avoiding fatigue damage to the driving member caused by the molten iron bucket;

[0010] It can not only avoid the formation of large torsional force between the driving parts of the metal casting robot and the molten iron bucket, but also reverse the molten iron bucket at a low speed and stably to achieve a stable pouring effect, which is conducive to the smooth progress of metal casting operations and can effectively avoid splashing and overflowing of molten metal during pouring.

[0011] As a further supplement to the present application, the deflection drive assembly includes a driving gear, a transmission member, and a driven gear ring;

[0012] The driving gear is rotatably connected to the front end of the mounting plate and is coaxially arranged with the mounting plate;

[0013] The driving gear drives the driven gear ring to rotate through the transmission member;

[0014] The driven gear ring is rotatably connected to the front end of the mounting plate and is coaxially arranged with the mounting plate. The outer wall of the driven gear ring is fixed to the positioning plate. The inner diameter of the driven gear ring is larger than the diameter of the driving gear and forms a multiple relationship.

[0015] The front end of the driving member is clamped with the driving gear or the mounting plate.

[0016] As a further supplement to the present application, the transmission member includes a transmission gear and a driven gear, the transmission gear and the driven gear are meshed with each other, the transmission gear is meshed with the driving gear, the driven gear is meshed with the driven gear ring, and the transmission gear and the driven gear are both rotatably connected to the front end of the mounting plate.

[0017] As a further supplement to the present application, the diameters of the transmission gear and the driven gear are both larger than the diameter of the driving gear and smaller than the inner diameter of the driven gear ring.

[0018] As a further supplement to the present application, the driving member includes a rotary motor, a front end of an output shaft of the rotary motor is fixed with an electric push rod via a connecting block, and a front end of a piston rod of the electric push rod is fixed with a block;

[0019] The mounting plate and the driving gear are both provided with square holes, and the square block is slidably connected to the driving gear or the square hole.

[0020] As another improvement of the present application, a reset member is installed between the mounting plate and the driving gear. When the square block is clamped in the square hole on the mounting plate, the reset member drives the driving gear and the mounting plate to rotate relative to each other and resets the driving gear.

[0021] As another improvement of the present application, a ring groove is provided at the front end of the mounting plate, the diameter of the ring groove is greater than the length of the square hole, and the ring groove is sleeved on the outside of the square hole;

[0022] The reset component comprises a reset torsion spring, and two ends of the reset torsion spring are respectively fixed to the inner wall of the annular groove and the side wall of one side of the driving gear.

[0023] As a further supplement to the present application, a slide groove is provided at the front end of the mounting plate, and the sliding clamp is slidably installed in the slide groove. The slide groove extends along the circumference of the central axis of the mounting plate and the angle is greater than 90° and less than 240°.

[0024] In summary, when the rotary motor drives the electric push rod to rotate, the electric push rod causes the block to be clamped in the square hole of the mounting plate or the driving gear through the extension and contraction of the piston rod. When the block is located in the square hole on the driving gear, the driving gear is driven to rotate. The driving gear drives the driven gear ring to rotate through the transmission member. The driven gear ring rotates along the circumference of the axis of the mounting plate. At this time, the driven gear ring drives the molten iron bucket to move synchronously through the positioning plate. Since one end of the molten iron bucket is fixed to the sliding fixture, it deflects along the straight line between the positioning plate and the sliding fixture when sliding. Since the positioning plate and the sliding fixture are both along the central axis of the mounting plate, The circular rotation makes the molten iron bucket deflect along the central axis of the mounting plate, so as to achieve the effect of dumping the molten metal in the molten iron bucket. At the same time, since the inner diameter of the driven gear ring is larger than the diameter of the driving gear and forms a multiple relationship, its angular velocity will produce a larger deviation, and finally achieve the effect of stable and low-speed deflection of the molten iron bucket, which is conducive to the stable pouring of the molten metal and improves the pouring stability of the molten metal. At the same time, the deflection drive component avoids the molten iron bucket being directly driven by the driving member, and a large torsional force is formed between the driving member, thereby avoiding fatigue damage to the driving member caused by the molten iron bucket;

[0025] It can not only avoid the formation of large torsional force between the driving parts of the metal casting robot and the molten iron bucket, but also reverse the molten iron bucket at a low speed and stably to achieve a stable pouring effect, which is conducive to the smooth progress of metal casting operations and can effectively avoid splashing and overflowing of molten metal during pouring. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a schematic diagram of the three-dimensional structure of the first embodiment of the present application;

[0027] Figure 2 This is a cross-sectional view of the mounting plate, the deflection drive assembly and the mounting column of the first embodiment of the present application;

[0028] Figure 3 for Figure 2 A magnified view of the structure at center;

[0029] Figure 4 This is a three-dimensional diagram of the first embodiment of the present application when the molten iron bucket is deflected;

[0030] Figure 5 This is a schematic diagram of the movement of the deflection drive assembly driving the iron bucket to deflect in the first embodiment of the present application;

[0031] Figure 6 This is a schematic diagram of the position of the first embodiment of the present application after the block moves and drives the mounting plate to rotate;

[0032] Figure 7 This is a cross-sectional view of the mounting plate of the second embodiment of the present application;

[0033] Figure 8 for Figure 7 Enlarged view of the structure at point B in the middle.

[0034] Description of the numbers in the figure:

[0035] 1. Robotic arm; 2. Mounting plate; 3. Iron bucket; 4. Deflection drive assembly; 5. Positioning plate; 6. Sliding fixture; 7. Slide groove; 8. Rotating motor; 9. Electric push rod; 10. Mounting column; 11. Block; 12. Driving gear; 13. Transmission gear; 14. Driven gear; 15. Driven gear ring; 16. Square hole; 17. Ring groove; 18. Reset torsion spring. DETAILED DESCRIPTION

[0036] The following describes two implementation modes of the present application in detail with reference to the accompanying drawings.

[0037] The first implementation method:

[0038] The present invention provides a metal casting robot, see Figure 1 , comprising a mechanical arm 1, a mounting column 10 is fixed to the front end of the mechanical arm 1, and a mounting plate 2 is rotatably connected to the front end of the mounting column 10;

[0039] The mounting plate 2 is provided with a sliding fixture 6 that moves in a circle along the central axis of the mounting plate 2. The front end of the sliding fixture 6 can detachably clamp the molten iron bucket 3. A positioning plate 5 is inserted into the side of the molten iron bucket 3 close to the mounting plate 2. The mounting plate 2 is provided with a deflection driving assembly 4 that drives the positioning plate 5 to rotate in a circle along the central axis of the mounting plate 2.

[0040] A driving member for driving the mounting plate 2 or the deflection driving assembly 4 to move is installed at the rear side of the mounting plate 2;

[0041] The driving member drives the positioning plate 5 and the mounting plate 2 to form a relative rotation through the deflection driving assembly 4, and the rotation angular velocity is less than the output angular velocity of the driving member and forms a multiple relationship.

[0042] Based on the above structure, when the driving member drives the positioning plate 5 and the mounting plate 2 to form a relative rotation through the deflection driving component 4, the molten iron bucket 3 and the sliding clamp 6 both generate a circular rotation along the central axis of the mounting plate 2, so that the molten iron bucket 3 gradually deflects, and its deflection angular velocity is small, so that its deflection is relatively stable, so that the molten metal bucket 3 can be stably poured out, which is conducive to the stable pouring of the molten metal and improves the pouring stability of the molten metal; at the same time, the deflection driving component 4 is used to avoid the molten iron bucket 3 being directly driven by the driving member and forming a large torsional force between the driving member and the driving member, thereby avoiding the molten iron bucket 3 from causing fatigue damage to the driving member;

[0043] It can not only avoid the formation of a large torsional force between the driving parts of the metal casting robot and the molten iron bucket 3, but also can reverse the molten iron bucket 3 at a low speed and stably to achieve a stable pouring effect, which is conducive to the smooth progress of the metal casting operation and can effectively avoid the splashing and overflow of the molten metal when pouring the molten metal.

[0044] Figure 1-Figure 2 The deflection drive assembly 4 is shown to include a driving gear 12, a transmission member and a driven gear ring 15;

[0045] The driving gear 12 is rotatably connected to the front end of the mounting plate 2 and is coaxially arranged with the mounting plate 2;

[0046] The driving gear 12 drives the driven gear ring 15 to rotate through the transmission member;

[0047] The driven gear ring 15 is rotatably connected to the front end of the mounting plate 2 and is coaxially arranged with the mounting plate 2. The outer wall of the driven gear ring 15 is fixed to the positioning plate 5. The inner diameter of the driven gear ring 15 is larger than the diameter of the driving gear 12 and forms a multiple relationship.

[0048] The front end of the driving member is engaged with the driving gear 12 or the mounting plate 2 .

[0049] When the driving member drives the active gear 12 to rotate, the active gear 12 drives the driven gear ring 15 to rotate through the transmission member, and the driven gear ring 15 rotates circumferentially along the axis of the mounting disk 2. At this time, the driven gear ring 15 drives the molten iron bucket 3 to move synchronously through the positioning plate 5. Since one end of the molten iron bucket 3 is fixed to the sliding clamp 6, it deflects along the straight line between the positioning plate 5 and the sliding clamp 6 when sliding. Since the positioning plate 5 and the sliding clamp 6 both rotate circumferentially along the central axis of the mounting disk 2, the molten iron bucket 3 deflects along the central axis of the mounting disk 2, thereby achieving the effect of dumping the molten metal in the molten iron bucket 3. At the same time, since the inner diameter of the driven gear ring 15 is larger than the diameter of the active gear 12 and forms a multiple relationship, its angular velocity will produce an increased deviation, and finally achieve the effect of stable and low-speed deflection of the molten iron bucket 3.

[0050] Figure 2-Figure 3 The transmission member is shown to include a transmission gear 13 and a driven gear 14, which are meshed with each other, the transmission gear 13 is meshed with the driving gear 12, and the driven gear 14 is meshed with the driven gear ring 15. The transmission gear 13 and the driven gear 14 are both rotatably connected to the front end of the mounting plate 2; the diameters of the transmission gear 13 and the driven gear 14 are both larger than the diameter of the driving gear 12 and smaller than the inner diameter of the driven gear ring 15, which are not shown in the figure.

[0051] The arrangement of the transmission gear 13 and the driven gear 14 achieves a reduction transmission effect, so that a larger angular velocity difference can be formed between the driving gear 12 and the driven gear ring 15, thereby achieving the desired reduction effect.

[0052] Figure 2 and Figure 6 The driving member includes a rotary motor 8, the front end of the output shaft of the rotary motor 8 is fixed with an electric push rod 9 through a connecting block, and the front end of the piston rod of the electric push rod 9 is fixed with a block 11;

[0053] The mounting plate 2 and the driving gear 12 are both provided with a square hole 16 , and the block 11 is slidably connected to the driving gear 12 or the square hole 16 .

[0054] The electric push rod 9 is driven to rotate by the rotating motor 8. The electric push rod 9 enables the block 11 to be clamped in the square hole 16 of the mounting plate 2 or the driving gear 12 through the extension and contraction of the piston rod, thereby achieving the effect of driving the mounting plate 2 or the driving gear 12 to rotate alone, meeting the needs of rotating the mounting plate 2 as a whole or rotating the driving gear 12 alone, and being more flexible to use.

[0055] Figure 1 and Figure 4 It is shown that a slide groove 7 is opened at the front end of the installation plate 2, and the sliding clamp 6 is slidably installed in the slide groove 7. The slide groove 7 extends along the circumference of the central axis of the installation plate 2 and the angle is greater than 90° and less than 240°, which is convenient for the sliding of the sliding clamp 6.

[0056] Second implementation method:

[0057] Figure 7-Figure 8 It is shown that a reset member is installed between the mounting plate 2 and the driving gear 12. When the block 11 is clamped in the square hole 16 on the mounting plate 2, the reset member drives the driving gear 12 and the mounting plate 2 to rotate relative to each other and reset the driving gear 12.

[0058] The front end of the mounting plate 2 is provided with an annular groove 17, the diameter of which is greater than the length of the square hole 16, and the annular groove 17 is sleeved on the outside of the square hole 16;

[0059] The reset member comprises a reset torsion spring 18 , and two ends of the reset torsion spring 18 are respectively fixed to the inner wall of the annular groove 17 and the side wall of one side of the driving gear 12 .

[0060] By setting the reset torsion spring 18, a certain torsional force exists between the driving gear 12 and the mounting plate 2, so that the mounting plate 2 can drive the driving gear 12, the transmission gear 13, the driven gear 14 and the driven gear ring 15 to rotate synchronously when rotating, thereby driving the molten iron bucket 3 to rotate synchronously, achieving the effect of reversing the molten iron bucket 3 at a large angle, thereby satisfying the purpose of using the metal casting manipulator to quickly flip the molten iron bucket 3, and secondly, the driving gear 12 can be reset under the influence of the torsion of the reset torsion spring 18 after being separated from the block 11, thereby achieving rapid reset of the molten iron bucket 3.

[0061] In view of current practical needs, the above-mentioned implementation mode adopted in this application is not limited to the scope of protection. Various changes made within the knowledge scope of technical personnel in this field without departing from the concept of this application still fall within the scope of protection of the present invention.

Claims

1. A metal casting robot, comprising a robot arm (1), a mounting column (10) being fixed at the front end of the robot arm (1), a mounting plate (2) being rotatably connected to the front end of the mounting column (10), characterized in that: The mounting plate (2) is provided with a sliding fixture (6) which moves in a circle along the central axis of the mounting plate (2); the front end of the sliding fixture (6) is detachably clamped with a molten iron bucket (3); a positioning plate (5) is inserted into a side of the molten iron bucket (3) close to the mounting plate (2); and a deflection drive assembly (4) which drives the positioning plate (5) to rotate in a circle along the central axis of the mounting plate (2) is provided on the mounting plate (2); A driving member for driving the mounting plate (2) or the deflection driving assembly (4) to move is installed on the rear side of the mounting plate (2); The driving member drives the positioning plate (5) and the mounting plate (2) to form a relative rotation through the deflection driving component (4), and the rotation angular velocity is less than the output angular velocity of the driving member and forms a multiple relationship; The deflection drive assembly (4) comprises a driving gear (12), a transmission member and a driven gear ring (15); The driving gear (12) is rotatably connected to the front end of the mounting plate (2) and is coaxially arranged with the mounting plate (2); The driving gear (12) drives the driven gear ring (15) to rotate via a transmission member; The driven gear ring (15) is rotatably connected to the front end of the mounting plate (2) and is coaxially arranged with the mounting plate (2); the outer wall of the driven gear ring (15) is fixed to the positioning plate (5); the inner diameter of the driven gear ring (15) is larger than the diameter of the driving gear (12) and forms a multiple relationship; The front end of the driving member is engaged with the driving gear (12) or the mounting plate (2); The driving member comprises a rotating motor (8), the front end of the output shaft of the rotating motor (8) is fixed with an electric push rod (9) via a connecting block, and the front end of the piston rod of the electric push rod (9) is fixed with a block (11); The mounting plate (2) and the driving gear (12) are both provided with a square hole (16), and the square block (11) is slidably connected to the driving gear (12) or the square hole (16).

2. A metal casting robot according to claim 1, characterized in that: The transmission member comprises a transmission gear (13) and a driven gear (14); the transmission gear (13) and the driven gear (14) are meshed with each other; the transmission gear (13) is meshed with the driving gear (12); the driven gear (14) is meshed with the driven gear ring (15); and the transmission gear (13) and the driven gear (14) are both rotatably connected to the front end of the mounting plate (2).

3. A metal casting robot according to claim 2, characterized in that: The diameters of the transmission gear (13) and the driven gear (14) are both larger than the diameter of the driving gear (12) and smaller than the inner diameter of the driven gear ring (15).

4. A metal casting robot according to claim 1, characterized in that: A reset member is installed between the mounting plate (2) and the driving gear (12); when the square block (11) is engaged in the square hole (16) on the mounting plate (2), the reset member drives the driving gear (12) and the mounting plate (2) to rotate relative to each other and resets the driving gear (12).

5. A metal casting robot according to claim 4, characterized in that: The front end of the mounting plate (2) is provided with an annular groove (17), the diameter of the annular groove (17) is greater than the length of the square hole (16), and the annular groove (17) is sleeved on the outside of the square hole (16); The reset member comprises a reset torsion spring (18), and two ends of the reset torsion spring (18) are respectively fixed to the inner wall of the annular groove (17) and the side wall of one side of the driving gear (12).

6. A metal casting robot according to any one of claims 1 or 4, characterized in that: The front end of the mounting plate (2) is provided with a slide groove (7), the sliding fixture (6) is slidably mounted in the slide groove (7), and the slide groove (7) extends along the circumference of the central axis of the mounting plate (2) and has an angle greater than 90° and less than 240°.

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