CN211614292U - Large-span translational rotary manipulator - Google Patents
Large-span translational rotary manipulator Download PDFInfo
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- CN211614292U CN211614292U CN201922158777.1U CN201922158777U CN211614292U CN 211614292 U CN211614292 U CN 211614292U CN 201922158777 U CN201922158777 U CN 201922158777U CN 211614292 U CN211614292 U CN 211614292U
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Abstract
The utility model provides a large-span translation rotation type manipulator device, include: a translational sliding guide frame; the translation cross beam is arranged on the translation sliding guide rack and can move along the translation sliding guide rack; the vertical lifting sliding table is arranged on the translation cross beam and can drive a rotary mechanical gripper arranged at the bottom end of the vertical lifting sliding table to vertically move; and the rotating mechanical gripper is arranged at the bottom end of the vertical lifting sliding table and can rotate in the horizontal plane. By adopting the structure, the large-span translation sliding guide frame is arranged, the large-span translation of the rotary mechanical gripper is realized through the movement of the translation cross beam on the translation sliding guide frame, and the vertical lifting of the rotary mechanical gripper is realized through the vertical lifting sliding table, so that the rotary mechanical gripper is convenient to descend to grab or place an object and lift and transport the object after lifting; in addition, the rotary mechanical gripper is arranged in a rotatable mode, so that the gripping or placing direction can be adjusted conveniently.
Description
Technical Field
The utility model relates to a transfer equipment for the casting operation, concretely relates to large-span translation formula manipulator.
Background
A brand-new environment-friendly thermosetting resin sand core molding casting process adopts a machine to manufacture a casting shell to replace the traditional casting shell manufacturing process.
The environment-friendly resin sand is injected into a casting mold cavity by high-pressure gas, the surface layer of the resin sand is cured by low-temperature heating, the surface layer is demolded after forming certain strength, the casting sand mold shell is taken out, the casting sand mold shell is placed for a certain time, and the resin sand in the casting sand mold shell can be used after being completely cured.
In practical production, the environment-friendly resin sand needs a long time, generally 40 to 60 minutes, for injecting high-pressure gas into a casting mold cavity until the environment-friendly resin sand is completely solidified inside. And the production efficiency is low when the shell is taken after the complete solidification, and the normal flow production cannot be realized. Generally, the surface is solidified to a certain strength, and then the operation of demoulding and shell taking is carried out, so that the waiting time is reduced, and the shell manufacturing production efficiency is improved. The time from sand shooting to shell taking is the shell taking curing time, and the shorter the shell taking curing time is, the higher the production efficiency is.
The shorter the surface cure time, the higher the production efficiency, but the lower the surface strength. The surface strength is low, the shell is easy to damage when being taken, the success rate of taking the shell is low, the production efficiency is low, and the shell manufacturing cost is high. The sand shell is transported for a long distance after being manufactured, so that high requirements on stability of shell taking and transportation are provided. When the weight of the large sand shell reaches hundreds of kilograms, the stability during manual operation shell taking and transferring can not meet the requirement. Therefore, improvements must be made to the lagging shelling and transfer process.
SUMMERY OF THE UTILITY MODEL
For solving the technical problem, the utility model provides a get shell and transfer device, the device have get the shell with transport when stationarity fabulous, get the shell fast, get the shell curing time short, get shell weight big, get the shell success rate high, transport steady characteristics, can effectively promote production efficiency and reduction in production cost.
The technical scheme of the utility model a large-span translation rotation type manipulator device is provided, include:
a translational sliding guide frame;
the translation cross beam is arranged on the translation sliding guide rack and can move along the translation sliding guide rack;
the vertical lifting sliding table is arranged on the translation cross beam and can drive a rotary mechanical gripper arranged at the bottom end of the vertical lifting sliding table to vertically move;
and the rotating mechanical gripper is arranged at the bottom end of the vertical lifting sliding table and can rotate in the horizontal plane.
By adopting the structure, the large-span translation sliding guide frame is arranged, the large-span translation of the rotary mechanical gripper is realized through the movement of the translation cross beam on the translation sliding guide frame, and the vertical lifting of the rotary mechanical gripper is realized through the vertical lifting sliding table, so that the rotary mechanical gripper is convenient to descend to grab or place an object and lift and transport the object after lifting; in addition, the rotary mechanical gripper is arranged in a rotatable mode, so that the gripping or placing direction can be adjusted conveniently.
Further, the translation sliding guide frame comprises a sliding guide rail used for installing the translation cross beam and a first transmission rack used for pushing the translation cross beam to move.
Furthermore, a movable sliding seat and a first movable transmission device for pushing the movable sliding seat to move are arranged on the translation cross beam, and the vertical lifting sliding table is connected with the translation cross beam through the movable sliding seat.
Further, translating the beam includes:
the first sliding blocks are arranged at two ends of the translation cross beam and are matched with the sliding guide rails for guiding the translation cross beam;
the second moving transmission device is matched with the first transmission rack to push the translation cross beam to move;
and the moving guide rail is arranged on the translation cross beam and used for guiding the moving sliding seat.
Further, vertical lift slip table includes:
the vertical sliding plate can vertically lift to drive the rotating mechanical gripper to vertically lift;
a guide rail installed on the vertical slide plate;
the vertical moving seat is arranged on the moving sliding seat and is provided with a second sliding block which can be matched with the guide rail on the vertical sliding plate to guide the vertical sliding plate;
the lifting transmission mechanism is provided with a gear which can be matched with a lifting rack arranged on the vertical sliding plate to push the vertical sliding plate to vertically lift.
Furthermore, the bottom end of the vertical lifting sliding table is provided with a transmission mechanism, and the transmission mechanism is connected with the rotary mechanical gripper and drives the rotary mechanical gripper to open and close.
Further, the rotating mechanical gripper comprises:
the second transmission rack is arranged at the top end and used for controlling the opening and closing movement of the rotary mechanical gripper;
the mechanical gripper seat is used for connecting a second transmission rack and a transmission rod, and the second transmission rack can be matched with the transmission mechanism to drive the transmission rod to open and close;
the shell-taking-out-and-opening movement of the transmission rod further drives the shell-taking-out-and-opening-and-closing hand to perform opening and closing movement;
the rotating device arranged on the mechanical gripper seat can drive the mechanical gripper seat to rotate, so that the rotating of the rotating mechanical gripper is realized.
Drawings
Fig. 1 is the structural schematic diagram of the large-span translational rotary manipulator device of the utility model.
Fig. 2 is a schematic structural view of another view angle of the large-span translational rotary manipulator device of the present invention.
Fig. 3 is a schematic structural view of the translating beam of fig. 2.
Fig. 4 is a structural schematic diagram of another view of the translating beam of fig. 3.
Fig. 5 is a schematic view of the structure of the first movement transmission device.
Fig. 6 is a schematic structural view of the translation beam.
Fig. 7 is a schematic structural view of the vertical elevating slide table.
Fig. 8 is a schematic structural view of another view angle of the vertical elevating slide table.
Fig. 9 is a schematic diagram of a rotary mechanical gripper.
FIG. 10 is a schematic view of another alternate view of the rotating mechanical gripper
In the figure, 1-vertical lifting slide, 2-translational slide guide frame, 3-translational beam, 4-rotary mechanical gripper, 5-first transmission rack, 6-slide guide, 7-first movement transmission device, 8-movement slide seat, 9, 10-first slide block, 11-second movement transmission device, 12-movement guide rail, 13-vertical slide plate, 14-transmission mechanism, 15-guide rail, 16-second slide block, 17-vertical movement seat, 18-lifting transmission mechanism, 19-lifting rack, 20-replaceable shell gripper, 21-mechanical gripper seat, 22-second transmission rack, 23-rotation device, 24-transmission rod
Detailed Description
The present invention will be further described with reference to the following detailed description.
In the description of the present invention, 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 for convenience in describing the present invention and are not intended to indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered as limiting.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. 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.
The utility model provides a large-span translation rotation type manipulator device, as shown in fig. 1 to 10, fig. 1 is the schematic structure of this manipulator device, fig. 2 is the schematic structure at another visual angle of this manipulator device, fig. 3 is the schematic structure at the frame is slided to the translation, fig. 4 is the schematic structure at another visual angle of frame is slided to the translation, fig. 5 is the schematic structure of first removal transmission, fig. 6 is the schematic structure of translation crossbeam, fig. 7 is the schematic structure of vertical lift slip table, fig. 8 is the schematic structure at another visual angle of vertical lift slip table, fig. 9 is the schematic structure of rotating machinery tongs, fig. 10 is the schematic structure at another visual angle of rotating machinery tongs.
This large-span translation rotation type manipulator device includes:
the translational sliding guide frame 2 is a main supporting structure for the transverse movement of the mechanical gripper, and the translational sliding guide frame 2 is a main supporting structure for the transverse movement of the mechanical gripper;
the translation cross beam 3 is arranged on the translation sliding guide frame 2 and can move along the translation sliding guide frame 2;
and the vertical lifting sliding table 1 is arranged on the translation cross beam 3 and can drive the rotary mechanical gripper 4 arranged at the bottom end of the vertical lifting sliding table 1 to vertically move.
By adopting the structure, the large-span translation sliding guide frame 2 is arranged, the large-span translation of the rotary mechanical gripper 4 is realized through the movement of the translation cross beam 3 on the translation sliding guide frame 2, and the vertical lifting of the rotary mechanical gripper 4 is realized through the vertical lifting sliding table 1, so that the object can be conveniently grabbed or placed in a descending manner, and lifted and transported after being lifted; furthermore, the rotating mechanical gripper 4 is arranged in a rotatable manner, which facilitates adjustment of the gripping or placing direction. When the shell is taken from the resin sand mold, in the actual production, the traditional manual shell taking method for casting the sand shell by the resin sand is used for quickly taking the shell when the shell taking curing time is short, particularly, the shell taking with heavy weight cannot be realized, and the shell taking success rate is high, so that the large-span translational rotary mechanical gripper can quickly take the shell and remotely transfer the device under the condition of short shell taking curing time, the shell taking and transferring success rate is 100 percent, the production efficiency is improved in multiples, and the production cost is greatly reduced; meanwhile, the labor intensity can be greatly reduced, and the automation degree is improved. The utility model discloses not only can be used to the casting of resin sand and make the shell get the shell and rotate, can be used for other occasions that need snatch article and long distance removal moreover.
As a further improvement, the translational sliding guide frame 2 comprises a sliding guide rail 6 for installing the translational beam 3 and a first transmission rack 5 for pushing the translational beam 3 to move, and the translational beam 3 can move stably through the cooperation of the sliding guide rail 6 and the first transmission rack 5.
As a further improvement, a movable sliding seat 8 and a first movable transmission device 7 for pushing the movable sliding seat 8 to move are arranged on the translation cross beam 3, and the vertical lifting sliding table 1 is connected with the translation cross beam 3 through the movable sliding seat 8.
As a further improvement, the translation beam 3 comprises:
the first sliding blocks 9 and 10 are arranged at two ends of the translation cross beam 3, and the first sliding blocks 9 and 10 are matched with the sliding guide rail 6 to guide the translation cross beam 3;
the second moving transmission device 11 is matched with the first transmission rack 5 to push the translation beam 3 to move;
a movement guide 12 arranged on the translation beam 3 for guiding the movement carriage 8.
As a further improvement, the vertical lift slide 1 includes:
the vertical sliding plate 13 can vertically lift to drive the rotating mechanical gripper 4 to vertically lift;
a guide rail 15 installed on the vertical slide 13;
a vertical moving seat 17, wherein the vertical moving seat 17 is installed on the moving slide 8, and the vertical moving seat 17 is provided with a second slide block 16 which can be matched with the guide rail 15 on the vertical sliding plate 13 for guiding the vertical sliding plate 13;
and the lifting transmission mechanism 18 is provided with a gear which can be matched with a lifting rack 19 arranged on the vertical sliding plate 13 to push the vertical sliding plate 13 to vertically lift.
As a further improvement, the bottom end of the vertical lifting sliding table 1 is provided with a transmission mechanism 14, and the transmission mechanism 14 is connected with the rotating mechanical gripper 4 and drives the rotating mechanical gripper 4 to perform opening and closing movement.
As a further improvement, the rotating mechanical gripper 4 comprises:
the second transmission rack 22 is arranged at the top end, and the second transmission rack 22 is used for controlling the opening and closing movement of the rotary mechanical gripper 4;
the mechanical gripper seat 21 is used for connecting a second transmission rack 22 and a transmission rod 24, and the second transmission rack 22 can be matched with the transmission mechanism 14 to drive the transmission rod 24 to open and close;
the shell-replaceable hand 20 is arranged at the tail end of the transmission rod 24, and the opening and closing movement of the transmission rod 24 further drives the shell-replaceable hand 20 to perform opening and closing movement;
the rotating device 23 arranged on the mechanical gripper seat 21 can drive the mechanical gripper seat 21 to rotate, so that the rotating mechanical gripper 4 can rotate.
In actual production, an industrial manipulator control system is adopted to control a large-span translational rotary manipulator, the positions and the running speeds of the translational beam movement, the vertical lifting sliding table lifting, the mechanical gripper rotation and the mechanical gripper opening and closing are set in a programming or teaching mode, and the test, the single-step running and the automatic running are carried out. In specific use (the transmission power source involved in the use process can be common power sources such as an air cylinder, an oil cylinder, a motor and the like), firstly, the second transmission rack 22 is matched with the transmission mechanism 14 to drive the transmission rod 24 to open so as to drive the replaceable shell handle 20 to open, the rotating device 23 is used to drive the rotating mechanical gripper 4 to rotate to a proper direction, the second moving transmission device 11 is matched with the first transmission rack 5 to push the translation cross beam 3 to move, the rotating mechanical gripper 4 is moved to the position above an object to be taken, then the lifting transmission mechanism 18 in the vertical lifting sliding table 1 is matched with the lifting rack 19 to push the vertical sliding plate 13 to vertically descend along the guide rail 15, so that the vertical sliding plate 13 descends to a gripping position, the rotating mechanical gripper 4 is closed to the gripping position to grip the object to be taken, then the vertical sliding plate 13 ascends to lift the object to a proper height, the translation cross beam 3 and the vertical lifting, and (3) descending the vertical sliding plate 13 to a proper position, opening the rotary mechanical gripper 4, ascending the vertical sliding plate 13, completing the one-time clamping procedure, and entering the next round of clamping procedure.
The embodiment of the utility model provides a material, reagent and experimental facilities that involve, if do not have the special explanation, be the commercial product that accords with the operation mechanical device field.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, improvements and decorations can be made without departing from the core technology of the present invention, and these improvements and decorations should also belong to the protection scope of the present invention. Any changes which come within the meaning and range of equivalency of the claims are to be embraced within their scope.
Claims (7)
1. Large-span translation rotation type manipulator, its characterized in that includes:
a translational sliding guide frame (2);
the translation cross beam (3) is arranged on the translation sliding guide rack (2) and can move along the translation sliding guide rack (2);
the vertical lifting sliding table (1), the vertical lifting sliding table (1) is arranged on the translation cross beam (3) and can drive a rotary mechanical gripper (4) arranged at the bottom end of the vertical lifting sliding table (1) to vertically move;
and the rotating mechanical gripper (4), and the rotating mechanical gripper (4) is arranged at the bottom end of the vertical lifting sliding table (1) and can rotate in the horizontal plane.
2. A large-span translatory rotary manipulator according to claim 1, wherein the translatory slide guided carriage (2) comprises a slide guide (6) for mounting the translatory beam (3) and a first transmission rack (5) for pushing the translatory beam (3) to move.
3. A long-span translatory rotary manipulator according to claim 1, characterized in that the translatory beam (3) is provided with a mobile carriage (8) and a first mobile transmission (7) for pushing the mobile carriage (8) to move, the vertical lift ramp (1) being connected to the translatory beam (3) via the mobile carriage (8).
4. A large-span translatory rotary manipulator according to claim 2, wherein the translatory beam (3) comprises:
the first sliding blocks are arranged at two ends of the translation cross beam (3) and matched with the sliding guide rails (6) to guide the translation cross beam (3);
the second moving transmission device (11) is matched with the first transmission rack (5) to push the translation cross beam (3) to move;
a moving guide rail (12) arranged on the translation beam (3) and used for guiding the moving slide seat (8).
5. A large-span translatory rotary robot as claimed in claim 3, characterized in that the vertical lift ramp (1) comprises:
the vertical sliding plate (13) can vertically lift to drive the rotating mechanical gripper (4) to vertically lift;
a guide rail (15) mounted on the vertical slide plate (13);
the vertical moving seat (17), the vertical moving seat (17) is installed on the moving sliding seat (8), the vertical moving seat (17) is provided with a second sliding block (16), and the second sliding block (16) can be matched with the guide rail (15) to guide the vertical sliding plate (13);
the lifting transmission mechanism (18), the lifting transmission mechanism (18) is provided with a gear which can be matched with a lifting rack (19) arranged on the vertical sliding plate (13) to push the vertical sliding plate (13) to vertically lift.
6. The large-span translational rotary manipulator according to claim 1, characterized in that the bottom end of the vertical lifting sliding table (1) is provided with a transmission mechanism (14), and the transmission mechanism (14) is connected with the rotary mechanical gripper (4) and drives the rotary mechanical gripper (4) to perform opening and closing movements.
7. A large-span translatory rotary robot as claimed in claim 1, wherein the rotary mechanical gripper (4) comprises:
the second transmission rack (22) is arranged at the top end, and the second transmission rack (22) is used for controlling the opening and closing movement of the rotary mechanical gripper (4);
the mechanical gripper seat (21) is used for connecting a second transmission rack (22) and a transmission rod (24), and the second transmission rack (22) can be matched with the transmission mechanism (14) to drive the transmission rod (24) to move in an opening and closing manner;
the shell-taking-out hand (20) is arranged at the tail end of the transmission rod (24), and the opening and closing movement of the transmission rod (24) further drives the shell-taking-out hand (20) to perform opening and closing movement;
the rotating device (23) arranged on the mechanical gripper seat (21) can drive the mechanical gripper seat (21) to rotate, so that the rotating of the rotating mechanical gripper (4) is realized.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922158777.1U CN211614292U (en) | 2019-12-05 | 2019-12-05 | Large-span translational rotary manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922158777.1U CN211614292U (en) | 2019-12-05 | 2019-12-05 | Large-span translational rotary manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211614292U true CN211614292U (en) | 2020-10-02 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922158777.1U Active CN211614292U (en) | 2019-12-05 | 2019-12-05 | Large-span translational rotary manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211614292U (en) |
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2019
- 2019-12-05 CN CN201922158777.1U patent/CN211614292U/en active Active
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