CN104174836B - Casting system truss type mechanical manipulator - Google Patents
Casting system truss type mechanical manipulator Download PDFInfo
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- CN104174836B CN104174836B CN201410226651.2A CN201410226651A CN104174836B CN 104174836 B CN104174836 B CN 104174836B CN 201410226651 A CN201410226651 A CN 201410226651A CN 104174836 B CN104174836 B CN 104174836B
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- 238000005266 casting Methods 0.000 title claims abstract description 35
- 235000014347 soups Nutrition 0.000 claims abstract description 126
- 230000005540 biological transmission Effects 0.000 claims abstract description 12
- 239000002184 metal Substances 0.000 claims description 29
- 239000007788 liquid Substances 0.000 claims description 10
- 230000006698 induction Effects 0.000 claims description 8
- 229910000831 Steel Inorganic materials 0.000 claims description 6
- 238000010276 construction Methods 0.000 claims description 6
- 239000010959 steel Substances 0.000 claims description 6
- 238000000605 extraction Methods 0.000 claims description 2
- 239000000463 material Substances 0.000 abstract description 6
- 230000007547 defect Effects 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 abstract description 3
- 238000005058 metal casting Methods 0.000 abstract description 2
- RRLHMJHRFMHVNM-BQVXCWBNSA-N [(2s,3r,6r)-6-[5-[5-hydroxy-3-(4-hydroxyphenyl)-4-oxochromen-7-yl]oxypentoxy]-2-methyl-3,6-dihydro-2h-pyran-3-yl] acetate Chemical compound C1=C[C@@H](OC(C)=O)[C@H](C)O[C@H]1OCCCCCOC1=CC(O)=C2C(=O)C(C=3C=CC(O)=CC=3)=COC2=C1 RRLHMJHRFMHVNM-BQVXCWBNSA-N 0.000 description 13
- 238000000034 method Methods 0.000 description 7
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000003723 Smelting Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000003064 anti-oxidating effect Effects 0.000 description 2
- 239000010425 asbestos Substances 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000009413 insulation Methods 0.000 description 2
- 229910052895 riebeckite Inorganic materials 0.000 description 2
- 238000009434 installation Methods 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 238000007670 refining Methods 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
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Abstract
Casting system truss type mechanical manipulator, belongs to metal casting technology. the present invention comprises gantry truss, mechanical manipulator and Controlling System, gantry truss comprises X-axis crossbeam, X-axis sliding assembly, Y-axis crossbeam, Y-axis sliding assembly, Z axle ram and Z axle sliding assembly, mechanical manipulator is by X-axis sliding assembly, Y-axis sliding assembly and Z axle sliding assembly carry out three-shaft linkage, by at Y-axis crossbeam, two sides on X-axis crossbeam and Z axle ram arrange two guideways respectively lead, mechanical manipulator comprises soup ladle, soup ladle support, soup ladle rotating mechanism and Yao Tang mechanism, soup ladle is driven by soup ladle rotating mechanism rotating servo motor and rotates, soup ladle is realized having verted feeding and to material by scoop soup driven by servomotor and the conical gear transmission of Yao Tang mechanism, the action of described Controlling System control each mechanism above-mentioned. by realizing automatic ration to material and quantitative feeding by the tilt angle of Controlling System control soup ladle, solve the defect that hand teeming mode exists.
Description
Technical field
The invention belongs to metal casting machine field, especially relevant with the casting system truss type mechanical manipulator being applicable to the automatic casting system of multi-work-station.
Background technology
Casting is referred to deposite metal and is formed the molten metal that can pour into a mould by refining, manufactures foundry pattern, and pours in foundry pattern by molten metal, obtains the casting forming method with a shaped, size, performance after solidifying. At present, Foundry Production producer is when casting, usually use the molten metal of artificial conveyance casting and manually take out shaping foundry goods, Foundry Production place often work under bad environment, it is easy to cause life to injure practitioner, production efficiency is low, and labor workload is big, even if using the automatic equipment of automatic transporting mechanism transferring metal liquid, also it is configuration one to one mostly, and automatic transporting mechanism complex structure, fluctuation of service; A general casting machine configures a furnace equipment, and equipment investment cost is higher. For solving the defect of hand teeming mode, a kind of a kind of multi-work-station automatic casting system that can automatically complete metalwork casting of the applicant's organization development.
Summary of the invention
The object of the present invention is intended to the defect that solution hand teeming mode exists, and adapts to automatically complete the automatic casting system of multi-work-station of metalwork casting, it is provided that a kind of energy automatic steady transferring metal liquid, casting system truss type mechanical manipulator easy to control.
For this reason, the present invention is by the following technical solutions: casting system truss type mechanical manipulator, comprise gantry truss, mechanical manipulator and Controlling System, gantry truss comprises X-axis crossbeam, X-axis sliding assembly, Y-axis crossbeam, Y-axis sliding assembly, Z axle ram and Z axle sliding assembly, two it are arranged with at a certain distance in parallel between Y-axis crossbeam, each Y-axis crossbeam two ends are fixed by a support upright supports respectively, on each Y-axis crossbeam, correspondence is provided with described Y-axis sliding assembly, described Y-axis sliding assembly comprises slippage bracket, Y-axis tooth bar, with Y-axis tooth bar pitch wheel, the Y-axis servomotor of Y-axis guideway and this gear of driving, slippage bracket is slidably mounted on described Y-axis crossbeam by described Y-axis guideway, the Y-axis guide rail of Y-axis tooth bar and Y-axis guideway is all installed on described Y-axis crossbeam along Y-axis direction, Y-axis driven by servomotor slippage bracket slippage campaign in the Y-axis direction,Described X-axis beam erection is on described two Y-axis crossbeams, X-axis crossbeam two ends are fixedly connected with described slippage bracket respectively, described X-axis sliding assembly comprises slide, X-axis tooth bar and X-axis tooth bar pitch wheel, X-axis guideway and drives the X-axis servomotor of this gear, slide is slidably mounted on described X-axis crossbeam by X-axis guideway, the guide rail of X-axis tooth bar and X-axis guideway is all installed on described X-axis crossbeam along X-axis direction, X-axis driven by servomotor slide slippage campaign in the X-axis direction; It is secondary and drive the Z axle servomotor of this gear that described Z axle sliding assembly comprises Z axle tooth bar and Z axle tooth bar pitch wheel, Z axis rail, described Z axle ram is slidably mounted on described slide by Z axis rail pair, the guide rail of Z axle tooth bar and Z axis rail pair is all installed on described Z axle ram along Z direction of principal axis, and Z axle driven by servomotor Z axle ram moves up and down;
It is characterized in that, two sides of each described Y-axis crossbeam are respectively arranged with described Y-axis guideway, two sides of described X-axis crossbeam are respectively arranged with described X-axis guideway, two sides of described Z axle ram are respectively arranged with described Z axis rail secondary, lead by two sides on Y-axis crossbeam, Z axle crossbeam and Z axle ram arrange two guideways respectively, it is to increase X-axis, Y-axis, the Z axle stationarity when three-shaft linkage, described mechanical manipulator comprises soup ladle, soup ladle support, soup ladle rotating mechanism and Yao Tang mechanism, soup ladle is installed on described soup ladle support, soup ladle rotating mechanism comprises the first rotating shaft and the rotating servo motor of drive shaft rotation, first rotating shaft is erected to being installed on described Z axle ram, soup ladle support is fixedly installed in described first rotating shaft bottom, rotating servo motor drives the first rotating shaft to rotate, and drives soup ladle support and soup ladle to rotate simultaneously, described Yao Tang mechanism comprises the 2nd rotating shaft, transmission shaft and scoop soup servomotor, 2nd rotating shaft is through on soup ladle end and soup ladle support, 2nd end, rotating shaft one end is provided with the first conical gear, scooping soup servomotor is fixedly installed on soup ladle support by motor erecting frame, described transmission shaft one end is connected with the described output shaft scooping soup servomotor, the other end is provided with intermeshing 2nd conical gear with described first conical gear, driving scoops soup driven by servomotor, transmission shaft and the 2nd conical gear is driven to rotate, by conical gear engaged transmission, first conical gear is verted together with soup ladle, realize molten metal feeding and give material, the action of described Controlling System control each mechanism above-mentioned.
As to technique scheme supplement and perfect, the present invention also comprises following technology feature.
Described X-axis crossbeam, Y-axis crossbeam and Z axle ram are the formed steel construction that cross section is mouthful font, make described gantry truss-frame structure simple, easy for installation.
The first described rotating shaft is threaded onto the formed steel construction inner chamber of Z axle ram, rotating servo motor is installed on Z axle ram top, its output shaft is connected with described first rotating shaft top, first rotating shaft bottom passes bottom Z axle ram and is fixedly connected with described soup ladle support, and rotating servo motor drives the first rotating shaft to rotarily drive soup ladle support and soup ladle rotation.
Described Y-axis guideway comprises roller and described Y-axis guide rail, roller is installed on described slippage bracket by they sup-port, the periphery of roller is resisted against on described Y-axis guide rail respectively, the point cantact made between present guide rail and roller by the face between existing guide rail and slide block is contacted, reducing the frictional force between slippage bracket and Y-axis crossbeam, when making X-axis crossbeam slippage, stability improves.
Further, the roller of described each Y-axis guideway has been arranged side by side two, it is to increase the stability of X-axis crossbeam in slippage process.
Described casting system truss type mechanical manipulator also comprises liquid level induction mechanism, liquid level induction mechanism comprise three erect to and the gauge stick of a parallel at a certain distance setting, three gauge sticks pass through gauge stick support installing on described soup ladle support, it is respectively public gauge stick, first gauge stick and the 2nd gauge stick, the bottom of the first gauge stick and described soup ladle vert maximum angle time the most low side of soup ladle contour, the bottom of public gauge stick is lower than the bottom of described first gauge stick, avoid the bottom that soup ladle touches molten metal container in the process scooping soup, on soup ladle when 2nd gauge stick bottom and described soup ladle tilt angle are minimum, edge place is contour, when carrying out feeding, when soup ladle drops in molten metal container, be energized between public gauge stick and the first gauge stick conducting time, illustrate that soup ladle touches molten metal, then soup ladle continues decline, until being energized between public gauge stick and the 2nd gauge stick during conducting, illustrate that soup ladle immerses in molten metal can carry out scooping soup, by the distance arranged between public gauge stick bottom and the 2nd gauge stick bottom, the molten metal capacity that soup ladle scoops soup can be set, reach quantitative feeding, by the distance arranged between the bottom of the public gauge stick of this liquid level induction mechanism and the bottom of the first gauge stick, soup ladle and the collision of molten metal container can be avoided, .
Described mechanical manipulator also comprises soup ladle lid, and soup ladle lid is fixedly installed on Z axle ram, and when carrying after soup ladle extraction molten metal, soup ladle lid is covered on soup ladle along place, and soup ladle lid is made up of asbestos material, and molten metal plays anti-oxidation and insulation effect.
Use the present invention can reach following useful effect: the conveying being carried out molten metal by casting system truss type mechanical manipulator, the tilt angle accurately being controlled soup ladle by Controlling System realizes dosing and quantitative feeding, improve the level of automation of the automatic casting system of multi-work-station, mechanical manipulator is led by two guideways when each direction slippage campaign, improve the stationarity of mechanical manipulator in slippage process, avoid molten metal to drip from soup ladle; Save manpower simultaneously, reduce the safety coefficient of practitioner, it is to increase castings production efficiency.
Accompanying drawing explanation
Fig. 1 is perspective view of the present invention.
Fig. 2 is the enlarged diagram at I place in Fig. 1.
Fig. 3 is the perspective view in another direction of the present invention.
Fig. 4 is the enlarged diagram of mechanical manipulator part in the present invention.
Embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in detail.
As shown in Fig. 1 ~ Fig. 4, the present invention comprises gantry truss, mechanical manipulator, liquid level induction system and Controlling System, gantry truss comprises X-axis crossbeam 8, X-axis sliding assembly, Y-axis crossbeam 9, Y-axis sliding assembly, Z axle ram 5 and Z axle sliding assembly, described X-axis crossbeam 8, Y-axis crossbeam 9 and Z axle ram 5 are the formed steel construction that cross section is mouthful font, two it are arranged with at a certain distance in parallel between Y-axis crossbeam 9, each Y-axis crossbeam 9 two ends support fixing by a support column 1 respectively, on each Y-axis crossbeam 9, correspondence is provided with described Y-axis sliding assembly, described Y-axis sliding assembly comprises slippage bracket 3, Y-axis tooth bar 2, with Y-axis tooth bar 2 pitch wheel, the Y-axis servomotor 12 of two groups of Y-axis guideways and this gear of driving, often organize Y-axis guideway and comprise described Y-axis guide rail 11 and two rollers 10 being arranged side by side, two Y-axis guide rails 11 are arranged on two sides up and down of Y-axis crossbeam 9 along Y-axis direction respectively, roller 10 is installed on described slippage bracket 3 by they sup-port, the periphery of roller 10 is resisted against on corresponding described Y-axis guide rail 11 respectively, the point cantact made between present guide rail and roller 10 by the face between existing guide rail and slide block is contacted, improve the stability of slippage bracket 3 slippage, Y-axis tooth bar 2 is fixedly installed on the another side of Y-axis along Y-axis direction, Y-axis servomotor 12 is fixed on described slippage bracket 3, the output shaft of Y-axis servomotor 12 is connected with this gear, Y-axis servomotor 12 drives and drives this gear to move on Y-axis tooth bar 2, band is with slippage bracket 3 slippage campaign on Y-axis crossbeam 9 along Y-axis direction.
Described X-axis crossbeam 8 is set up on described two Y-axis crossbeams 9, X-axis crossbeam 8 two ends are fixedly connected with described slippage bracket 3 respectively, described X-axis sliding assembly comprises slide 7, X-axis tooth bar 13, with X-axis tooth bar 13 pitch wheel, the X-axis servomotor 15 of two groups of X-axis guideways and this gear of driving, the guide rail 14 of two groups of X-axis guideways is arranged on two sides of described X-axis crossbeam 8 along X-axis direction respectively, slide 7 is fixedly connected with the slide block of described two groups of X-axis guideways simultaneously, these two slide blocks are slidably connected with corresponding X-axis guideway respectively, X-axis tooth bar 13 is installed on described X-axis crossbeam 8 along X-axis direction, X-axis servomotor 15 is fixedly installed on slide 7, the output shaft of X-axis servomotor 15 is connected with this gear, X-axis servomotor 15 drives and drives this gear to move on X-axis tooth bar 13, band is with slide 7 slippage campaign on X-axis crossbeam 8 along X-axis direction.
Described Z axle sliding assembly comprises Z axle tooth bar 18, with Z axle tooth bar 18 pitch wheel, two groups of secondary Z axle servomotors 6 with driving this gear of Z axis rail, the guide rail 17 of two groups of Z axis rail pairs is arranged on two sides of Z axle ram 5 along Z direction of principal axis respectively, the slide block of two groups of Z axis rail pairs is fixedly installed on slide 7 respectively, this two slide block is slidably connected with corresponding Z axis rail respectively, Z axle tooth bar 18 is installed on the one side of described Z axle ram 5 along Z direction of principal axis, Z axle servomotor 6 is fixedly installed on slide 7, the output shaft of Z axle servomotor 6 is connected with this gear, Z axle servomotor 6 drives and drives this gear to move on Z axle tooth bar 18, band with Z axle ram 5 along the slippage campaign on slide 7 of Z direction of principal axis, lead by two sides on Y-axis crossbeam 9, X-axis crossbeam 8 and Z axle ram 5 arrange two guideways respectively, it is to increase X-axis, Y-axis, the Z axle stability when three-shaft linkage.
Described mechanical manipulator comprises soup ladle 25, soup ladle support 30, soup ladle lid 16, soup ladle rotating mechanism and Yao Tang mechanism, soup ladle 25 is installed on described soup ladle support 30, the rotating servo motor 4 that soup ladle rotating mechanism comprises the first rotating shaft and drives this first rotating shaft to rotate, firstth rotating shaft is threaded onto the formed steel construction inner chamber of Z axle ram 5, rotating servo motor 4 is installed on Z axle ram 5 top, its output shaft is connected with described first rotating shaft top, first rotating shaft bottom passes bottom Z axle ram 5 and is fixedly connected with described soup ladle support 30, rotating servo motor 4 drives the first rotating shaft to rotarily drive soup ladle support 30 and soup ladle 25 rotates, described Yao Tang mechanism comprises the 2nd rotating shaft 24, transmission shaft 21 and scoop soup servomotor 19, 2nd rotating shaft 24 is through on soup ladle 25 end and soup ladle support 30, 2nd end, rotating shaft 24 one end is provided with the first conical gear 23, scooping soup servomotor 19 is fixedly installed on soup ladle support 30 by motor erecting frame 20, described transmission shaft 21 one end is connected with the described output shaft scooping soup servomotor 19, the other end is provided with two conical gear 22 intermeshing with described first conical gear 23, driving scoops soup servomotor 19 and drives, transmission shaft 21 and the 2nd conical gear 22 is driven to rotate, by conical gear engaged transmission, first conical gear 23 is verted together with soup ladle 25, realize molten metal feeding and give material.
Described liquid level induction mechanism comprise three erect to and the gauge stick of a parallel at a certain distance setting, three gauge sticks are installed on described soup ladle support 30 by gauge stick support 29 to be respectively public gauge stick 26, first gauge stick 27 and the 2nd gauge stick 28, the bottom of the first gauge stick 27 and described soup ladle 25 vert maximum angle time the most low side of soup ladle 25 contour, the bottom of public gauge stick 26 is lower than the bottom of described first gauge stick 27, avoid the bottom that soup ladle 25 touches molten metal container in the process scooping soup, on soup ladle 25 when 2nd gauge stick 28 bottom and described soup ladle 25 tilt angle are minimum, edge place is contour, when carrying out feeding, when soup ladle 25 drops in molten metal container, be energized between public gauge stick 26 and the first gauge stick 27 conducting time, illustrate that soup ladle 25 touches molten metal, then soup ladle 25 continues decline, until being energized between public gauge stick 26 and the 2nd gauge stick 28 during conducting, illustrate that soup ladle 25 immerses molten metal can carry out scoop soup, by the distance arranged between public gauge stick 26 bottom and the 2nd gauge stick 28 bottom, the molten metal capacity that soup ladle 25 scoops soup can be set, reach quantitative feeding, by the distance arranged between the bottom of the public gauge stick 26 of this liquid level induction mechanism and the bottom of the first gauge stick 27, soup ladle 25 and the collision of molten metal container can be avoided,Described soup ladle lid 16 is fixedly installed on Z axle ram 5, when soup ladle 25 extract carry after molten metal time, soup ladle lid 16 be covered on soup ladle 25 along place, soup ladle lid 16 is asbestos structure, and molten metal plays anti-oxidation and insulation effect.
When the present invention uses, the present invention is positioned in the automatic casting system of multi-work-station, mechanical manipulator both sides arrange multiple stage casting unit respectively, in the middle front of two row's casting unit, one molten metal smelting furnace is installed, Controlling System control Y-axis servomotor 12 works, mechanical manipulator is driven to move to smelting furnace front in company with X-axis crossbeam 8 together slippage, what make that soup ladle 25 is positioned at smelting furnace gets directly over soup mouth, now Controlling System control Z axle servomotor 6 works, mechanical manipulator is driven to move downward in company with Z axle ram 5, moving downward in process, until the 2nd gauge stick 28 connects conduction with public gauge stick 26, by information feed back to Controlling System, Controlling System control scoops the work of soup drive-motor, transmission is engaged each other by the first conical gear 23 and the 2nd conical gear 22, soup ladle 25 is driven to vert, realization scoops soup, Controlling System control Z axle servomotor 6 works, the soup ladle 25 driving mechanical manipulator to scoop soup upwards moves until soup ladle lid 16 plate is covered in the Shang Yanchu of soup ladle 25 in company with Z axle ram 5, under the driving of Y-axis servomotor 12 and X-axis servomotor 15, driving mechanical hand and Z axle ram 5 move to above the sprue gate of the casting unit needing filling casting simultaneously, now rotating servo motor 4 drives, by the first rotating shaft and soup ladle support 30 and soup ladle 25 to the casting finite element rotation 90 degree needing cast, soup ladle 25 is driven slowly to vert by scooping soup servomotor 19, complete molten metal to material, then above-mentioned action is repeated successively to each casting unit autofeed.
Claims (7)
1. casting system truss type mechanical manipulator, comprise gantry truss, mechanical manipulator and Controlling System, gantry truss comprises X-axis crossbeam (8), X-axis sliding assembly, Y-axis crossbeam (9), Y-axis sliding assembly, Z axle ram (5) and Z axle sliding assembly, Y-axis crossbeam is arranged with two in parallel between (9) at a certain distance, each Y-axis crossbeam (9) two ends support fixing by support column (1) respectively, the upper correspondence of each Y-axis crossbeam (9) is provided with described Y-axis sliding assembly, described Y-axis sliding assembly comprises slippage bracket (3), Y-axis tooth bar (2), with Y-axis tooth bar (2) pitch wheel, the Y-axis servomotor (12) of Y-axis guideway and this gear of driving, slippage bracket (3) is slidably mounted on described Y-axis crossbeam (9) by described Y-axis guideway, the Y-axis guide rail (11) of Y-axis tooth bar (2) and Y-axis guideway is all installed on described Y-axis crossbeam (9) along Y-axis direction, described X-axis crossbeam (8) is set up on described two Y-axis crossbeams (9), X-axis crossbeam (8) two ends are fixedly connected with described slippage bracket (3) respectively, described X-axis sliding assembly comprises slide (7), X-axis tooth bar (13) and X-axis tooth bar (13) pitch wheel, X-axis guideway and drives the X-axis servomotor (15) of this gear, slide (7) is slidably mounted on described X-axis crossbeam (8) by X-axis guideway, and the guide rail (14) of X-axis tooth bar (13) and X-axis guideway is all installed on described X-axis crossbeam (8) along X-axis direction, it is secondary and drive Z axle servomotor (6) of this gear that described Z axle sliding assembly comprises Z axle tooth bar (18) and Z axle tooth bar (18) pitch wheel, Z axis rail, described Z axle ram (5) is slidably mounted on described slide (7) by Z axis rail pair, and the guide rail (17) of Z axle tooth bar (18) and Z axis rail pair is all installed on described Z axle ram (5) along Z direction of principal axis,It is characterized in that:
Two sides of each described Y-axis crossbeam (9) are respectively arranged with described Y-axis guideway, two sides of described X-axis crossbeam (8) are respectively arranged with described X-axis guideway, two sides of described Z axle ram (5) are respectively arranged with described Z axis rail secondary, described mechanical manipulator comprises soup ladle (25), soup ladle support (30), soup ladle rotating mechanism and Yao Tang mechanism, soup ladle (25) is installed on described soup ladle support (30), the rotating servo motor (4) that soup ladle rotating mechanism comprises the first rotating shaft and drives this first rotating shaft to rotate, first rotating shaft is erected to being installed on described Z axle ram (5), and soup ladle support (30) is fixedly installed in described first rotating shaft bottom, described Yao Tang mechanism comprises the 2nd rotating shaft (24), transmission shaft (21) and scoop soup servomotor (19), 2nd rotating shaft (24) is through on soup ladle (25) end and soup ladle support (30), 2nd rotating shaft (24) end, one end is provided with the first conical gear (23), scooping soup servomotor (19) is fixedly installed on soup ladle support (30) by motor erecting frame (20), described transmission shaft (21) one end is connected with the described output shaft scooping soup servomotor (19), the other end is provided with intermeshing 2nd conical gear (22) with described first conical gear (23), the action of described Controlling System control each mechanism above-mentioned.
2. casting system truss type mechanical manipulator according to claim 1, it is characterised in that: described X-axis crossbeam (8), Y-axis crossbeam (9) and Z axle ram (5) are the formed steel construction that cross section is mouthful font.
3. casting system truss type mechanical manipulator according to claim 2, it is characterized in that: the first described rotating shaft is threaded onto the formed steel construction inner chamber of Z axle ram (5), rotating servo motor (4) is installed on Z axle ram (5) top, its output shaft is connected with described first rotating shaft top, and the first rotating shaft bottom passes Z axle ram (5) bottom and is fixedly connected with described soup ladle support (30).
4. casting system truss type mechanical manipulator according to claim 3, it is characterized in that: described Y-axis guideway comprises roller (10) and described Y-axis guide rail (11), roller (10) is installed on described slippage bracket (3) by they sup-port, and the periphery of roller (10) is resisted against on described Y-axis guide rail (11) respectively.
5. casting system truss type mechanical manipulator according to claim 4, it is characterised in that: the roller (10) of described each Y-axis guideway has been arranged side by side two.
6. casting system truss type mechanical manipulator according to claim 1 or 5, it is characterized in that: described casting system truss type mechanical manipulator also comprises liquid level induction mechanism, liquid level induction mechanism comprise three erect to and the gauge stick of a parallel at a certain distance setting, three gauge sticks are installed on described soup ladle support (30) by gauge stick support (29), it is respectively public gauge stick (26), first gauge stick (27) and the 2nd gauge stick (28), the bottom of the first gauge stick (27) and described soup ladle (25) vert maximum angle time the most low side of soup ladle (25) contour, the bottom of public gauge stick (26) is lower than the bottom of described first gauge stick (27), soup ladle (25) Shang Yanchu when 2nd gauge stick (28) bottom and described soup ladle (25) tilt angle are minimum is contour.
7. casting system truss type mechanical manipulator according to claim 6, it is characterized in that: described mechanical manipulator also comprises soup ladle lid (16), soup ladle lid (16) is fixedly installed on Z axle ram (5), when carrying after soup ladle (25) extraction molten metal, soup ladle lid (16) is covered in soup ladle (25) Shang Yanchu.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410226651.2A CN104174836B (en) | 2014-05-26 | 2014-05-26 | Casting system truss type mechanical manipulator |
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| CN201410226651.2A CN104174836B (en) | 2014-05-26 | 2014-05-26 | Casting system truss type mechanical manipulator |
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| CN104174836A CN104174836A (en) | 2014-12-03 |
| CN104174836B true CN104174836B (en) | 2016-06-15 |
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| US3923201A (en) * | 1974-08-23 | 1975-12-02 | Gen Motors Corp | Dipping ladle with level responsive filling operation |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN104174836A (en) | 2014-12-03 |
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