阅读说明：本技术 一种自动浇注机械手及浇注方法 (Automatic pouring manipulator and pouring method ) 是由 王飞 宋崇智 于 2019-11-29 设计创作，主要内容包括：本发明公开了一种自动浇注机械手及浇注方法,属于浇注技术领域。它包括基座,基座包括第一回转台,第一回转台控制基座转动；举升机构,举升机构与基座相连；摆动机构,摆动机构与举升机构远离基座的一端相连,摆动机构远离举升机构的一端为自由端；浇注机构,浇注机构与摆动机构相连接,浇注机构包括第二回转台,第二回转台与摆动机构自由端相连；电气液压控制机构,电气液压控制机构包括液压站、电控箱以及距离感测组件,液压站与第一回转台、举升机构、摆动机构以及第二回转台分别连接,电控箱分别与液压站以及距离感测组件电连接；不需要使用人工,使用简单,浇注效率高。(The invention discloses an automatic pouring manipulator and a pouring method, and belongs to the technical field of pouring. The device comprises a base, wherein the base comprises a first rotary table which controls the base to rotate; the lifting mechanism is connected with the base; the swinging mechanism is connected with one end of the lifting mechanism, which is far away from the base, and the end of the swinging mechanism, which is far away from the lifting mechanism, is a free end; the pouring mechanism is connected with the swinging mechanism and comprises a second rotary table, and the second rotary table is connected with the free end of the swinging mechanism; the electric hydraulic control mechanism comprises a hydraulic station, an electric cabinet and a distance sensing assembly, the hydraulic station is respectively connected with the first rotary table, the lifting mechanism, the swinging mechanism and the second rotary table, and the electric cabinet is respectively electrically connected with the hydraulic station and the distance sensing assembly; the method has the advantages of no need of manpower, simple use and high pouring efficiency.)

1. An automatic pouring manipulator is characterized by comprising a base (10), wherein the base (10) comprises a first rotary table (12), and the first rotary table (12) controls the base (10) to rotate;

the lifting mechanism (20), the said lifting mechanism (20) couples to base (10);

the swinging mechanism (30) is connected with one end, far away from the base (10), of the lifting mechanism (20), and one end, far away from the lifting mechanism (20), of the swinging mechanism (30) is a free end;

the pouring mechanism (40), the pouring mechanism (40) is connected with the swinging mechanism (30), the pouring mechanism (40) comprises a second rotary table (41), and the second rotary table (41) is connected with the free end of the swinging mechanism (30);

the electric hydraulic control mechanism (50) comprises a hydraulic station (51), an electric cabinet (53) and a distance sensing assembly, wherein the hydraulic station (51) is respectively connected with the first rotary table (12), the lifting mechanism (20), the swinging mechanism (30) and the second rotary table (41), and the electric cabinet (53) is respectively electrically connected with the hydraulic station (51) and the distance sensing assembly.

2. The automatic casting manipulator according to claim 1, wherein the base (10) further comprises a mounting base (11) and a column (13), and the first rotary platform is mounted on the mounting base (11) on one side and connected with the column (13) on the other side.

3. The automatic pouring manipulator according to claim 2, wherein the lifting mechanism (20) comprises a first lifting rod (21), a second lifting rod (22), a first fixing end (23) and a second fixing end (24), the first fixing end (23) is arranged at one end of the upright column (13) far away from the first rotary platform, the first lifting rod (21) and the second lifting rod (22) are rotatably connected to the first fixing end (23), and one ends of the first lifting rod (21) and the second lifting rod (22) far away from the first fixing end (23) are rotatably connected to the second fixing end (24); the first lifting rod (21) and the second lifting rod (22) are equal in length and are connected to the first fixing end (23) and the second fixing end (24) in parallel.

4. The automatic casting robot according to claim 3, wherein the lifting mechanism (20) further comprises a lifting cylinder (25), one end of the lifting cylinder (25) is connected to the upright (13), the other end of the lifting cylinder (25) is connected to the second lifting rod (22), and the lifting cylinder (25) is connected to the hydraulic station (51) through a conduit.

5. An automatic casting manipulator according to claim 3, wherein the swing mechanism (30) comprises a swing cylinder (31) and a swing working arm (32), one end of the swing cylinder (31) is connected with the second fixed end (24), the other end is connected with the swing working arm (32), and the swing cylinder (31) is connected with the hydraulic station (51) through a conduit.

6. The automatic casting manipulator according to claim 5, wherein the casting mechanism (40) further comprises a fixed block (42) and support rods (43), one side of the fixed block (42) is connected to one end of the swing arm (32) far away from the second fixed end (24), the other side of the fixed block is connected to a second rotary table (41), the support rods (43) are arranged on the second rotary table (41), and the number of the support rods (43) is more than two.

7. An automatic casting manipulator according to claim 1, characterized in that the electro-hydraulic control mechanism (50) further comprises an electro-hydraulic proportional valve group (52), the electro-hydraulic proportional valve group (52) is electrically connected with an electric control box (53), and the electro-hydraulic proportional valve group (52) is connected with a hydraulic station (51).

8. An automatic casting robot according to claim 5 or 6, characterized in that the distance sensing assembly comprises a first annunciator (54) and a second annunciator (55), the first annunciator (54) is arranged on the base (10), the second annunciator (55) is arranged at one end of the swinging work arm (32) close to the casting mechanism (40), the first annunciator (54) and the second annunciator (55) form a signal connection therebetween, and the first annunciator (54) and the second annunciator (55) are respectively electrically connected with the electric cabinet (53).

9. An automated casting robot according to claim 8, wherein the first annunciator (54) is a signal receiving end and the second annunciator (55) is a signal transmitting end; the signal transmitting end transmits electromagnetic waves or sound waves, and the signal receiving end receives the electromagnetic waves or the sound waves.

10. A pouring method of an automatic pouring manipulator is characterized by comprising the following steps:

s1, installing the automatic pouring manipulator on a site provided with a smelting furnace and a mould area, and placing a pouring hopper (60) on the supporting rod (43);

s2, controlling a hydraulic station (51) through an electro-hydraulic proportional valve group (52) by an electric control box (53), controlling the first rotary table (12) to rotate by the hydraulic station (51), and adjusting the angle between the automatic pouring manipulator and the melting furnace;

s3, a first lifting rod (21), a second lifting rod (22), a first fixed end (23) and a second fixed end (24) form a four-bar linkage, a hydraulic station (51) controls a lifting oil cylinder (25) to ascend or descend, the lifting oil cylinder (25) drives the four-bar linkage to ascend or descend, and the horizontal distance between a pouring hopper (60) and a smelting furnace is adjusted in the ascending and descending processes;

s4, the hydraulic station (51) controls the swing oil cylinder (31) to swing, the swing oil cylinder (31) drives the swing working arm (32) to swing, and the vertical distance between the pouring hopper (60) and the melting furnace is adjusted in the swing process of the swing working arm (32);

s5, the hydraulic station (51) controls the first rotary table (12) to rotate, the angle deviation caused by the swing of the swing working arm (32) is adjusted, and the pouring hopper (60) takes materials;

s6, the hydraulic station (51) controls the first rotary table (12) to rotate, the mold area is linear, when a connecting line between the pouring hopper (60) and the base (10) is perpendicular to the mold area, the first rotary table (12) stops rotating, the point is marked as an initial point, the signal transmitting end transmits a signal, the signal receiving end receives the signal and transmits corresponding information to the electric control box (53), and the electric control box (53) records that the distance between the signal transmitting end and the signal receiving end is a;

s7, the first rotary table (12) rotates, a second annunciator (55) which is located at one end, close to the fixed block (42), of the swing working arm (32) records that the distance between a real-time point and an initial point of the position of the second annunciator (55) is b, meanwhile, a signal transmitting end continuously transmits signals to a signal receiving end, the real-time distance between the signal transmitting end and the signal receiving end is c, the electric control box (53) obtains a theoretical hypotenuse value c through a known value a which is used as a right-angle side and a actually measured value b which is used as a right-angle side and a formula a2+ b2 which is c2 through a right-angle triangle, and compares the theoretical hypotenuse value with an actually measured hypotenuse value c to determine the moving direction and the distance of the automatic pouring manipulator;

s8, in the movement process of the automatic pouring manipulator, the signal transmitting end continuously transmits signals to the signal receiving end to obtain an actual measured bevel edge value c, the second annunciator (55) continuously obtains an actual measured right-angle edge b, the electric cabinet (53) continuously calculates a theoretical bevel edge value c, and continuously corrects the moving direction and distance of the automatic pouring manipulator until the automatic pouring manipulator runs to a pouring point;

s9, the second rotary table (41) rotates, the supporting rod (43) drives the pouring hopper (60) to turn over, the pouring hopper (60) pours the pouring liquid into the pouring point to finish pouring of the pouring point,

and S10, repeating the steps S7-S9 until the pouring work is finished.

Technical Field

The invention belongs to the technical field of pouring, and particularly relates to an automatic pouring manipulator and a pouring method.

Background

Pouring is the process of pouring molten metal, concrete, etc. into a mold to cast metal parts or form cement slabs and concrete structures, and is a process step often used in the metallurgical industry. When the equipment condition is definite and the smelting steel is definite, the pouring process is very important. The two most important process parameters in the casting process are the casting temperature and the casting speed. It determines the surface quality of steel ingot, such as shrinkage of riser, gas escape and floating of inclusion, segregation, porosity and shrinkage cavity of steel. When a larger part is poured, the crown block crane ladle can be adopted for pouring, when the poured part is complex in structure and small in size, the crown block crane ladle brings inconvenience to pouring, the pouring is not beneficial to orderly proceeding, and meanwhile, due to the fact that the pouring is not flexible, continuous pouring of multiple parts cannot be achieved. In order to complete the pouring process of the component more conveniently, a more flexible and convenient solution is urgently needed.

Disclosure of Invention

1. Problems to be solved

Aiming at the problem that multi-station continuous linear casting is difficult to realize in the prior art, the invention provides an automatic casting manipulator; the angle of the manipulator is controlled through the rotary component, the positions of the lifting mechanism and the swinging mechanism are controlled, the distance is measured by the distance sensing assembly, the structure is simple, and the use is convenient.

The invention also aims to provide a pouring method of the automatic pouring manipulator, which realizes continuous pouring of different pouring points on a straight line by utilizing the structural characteristics of the automatic pouring manipulator, combining pouring requirements in the self-pouring process, through simple distance test and corresponding calculation and through the control of an electric cabinet, does not need to use manpower, is simple to use and has high pouring efficiency.

2. Technical scheme

In order to solve the problems, the technical scheme adopted by the invention is as follows:

the invention discloses an automatic pouring manipulator which comprises a base, wherein the base comprises a first rotary table, and the first rotary table controls the base to rotate;

the lifting mechanism is connected with the base;

the swinging mechanism is connected with one end of the lifting mechanism, which is far away from the base, and the end of the swinging mechanism, which is far away from the lifting mechanism, is a free end;

the pouring mechanism is connected with the swinging mechanism and comprises a second rotary table, and the second rotary table is connected with the free end of the swinging mechanism;

the electric hydraulic control mechanism comprises a hydraulic station, an electric cabinet and a distance sensing assembly, the hydraulic station is respectively connected with a first rotary table, a lifting mechanism, a swinging mechanism and a second rotary table, and the electric cabinet is respectively electrically connected with the hydraulic station and the distance sensing assembly.

As a further explanation of the present invention, the base further includes a mounting base and a column, one side of the first rotary platform is mounted on the mounting base, and the other side is connected with the column.

As a further explanation of the present invention, the lifting mechanism includes a first lifting rod, a second lifting rod, a first fixed end and a second fixed end, the first fixed end is disposed at one end of the upright column away from the first rotary platform, the first lifting rod and the second lifting rod are rotatably connected to the first fixed end, and one ends of the first lifting rod and the second lifting rod away from the first fixed end are rotatably connected to the second fixed end; the first lifting rod and the second lifting rod are equal in length and are connected to the first fixed end and the second fixed end in parallel.

As a further explanation of the invention, the lifting mechanism further comprises a lifting oil cylinder, one end of the lifting oil cylinder is connected to the upright post, the other end of the lifting oil cylinder is connected to the second lifting rod, and the lifting oil cylinder is connected with the hydraulic station through a guide pipe.

As a further explanation of the present invention, the swing mechanism includes a swing cylinder and a swing arm, one end of the swing cylinder is connected to the second fixed end, the other end of the swing cylinder is connected to the swing arm, and the swing cylinder is connected to the hydraulic station through a conduit.

As a further explanation of the invention, the pouring mechanism further comprises a fixed block and support rods, one side of the fixed block is connected to one end of the swing working arm far away from the second fixed end, the other side of the fixed block is connected with a second rotary table, the second rotary table is provided with the support rods, and the number of the support rods is more than two.

As a further explanation of the invention, the electric hydraulic control mechanism further comprises an electro-hydraulic proportional valve bank, the electro-hydraulic proportional valve bank is electrically connected with the electric control box, and the electro-hydraulic proportional valve bank is connected with the hydraulic station.

As a further explanation of the present invention, the distance sensing assembly includes a first annunciator and a second annunciator, the first annunciator is disposed on the base, the second annunciator is disposed at an end of the swinging working arm close to the pouring mechanism, a signal connection is formed between the first annunciator and the second annunciator, and the first annunciator and the second annunciator are respectively electrically connected to the electric cabinet.

As a further explanation of the present invention, the first annunciator is a signal receiving end, and the second annunciator is a signal transmitting end; the signal transmitting end transmits electromagnetic waves or sound waves, and the signal receiving end receives the electromagnetic waves or the sound waves.

The invention discloses a pouring method of an automatic pouring manipulator, which comprises the following steps:

s1, installing the automatic pouring manipulator in a place provided with a smelting furnace and a mould area, and placing a pouring hopper on the supporting rod;

s2, controlling a hydraulic station by the electric control box through an electro-hydraulic proportional valve group, controlling the first rotary table to rotate by the hydraulic station, and adjusting the angle between the automatic pouring manipulator and the smelting furnace;

s3, the first lifting rod, the second lifting rod, the first fixed end and the second fixed end form a four-bar linkage, the hydraulic station controls the lifting oil cylinder to ascend or descend, the lifting oil cylinder drives the four-bar linkage to ascend or descend, and the horizontal distance between the pouring hopper and the smelting furnace is adjusted in the ascending and descending processes;

s4, controlling the swing oil cylinder to swing by the hydraulic station, driving the swing working arm to swing by the swing oil cylinder, and adjusting the vertical distance between the pouring hopper and the smelting furnace in the swing process of the swing working arm;

s5, the hydraulic station controls the first rotary table to rotate, the angle deviation caused by the swing of the swing working arm is adjusted, and a pouring hopper takes materials;

s6, the hydraulic station controls the first rotary table to rotate, the mold area is linear, when a connecting line between the pouring hopper and the base is perpendicular to the mold area, the first rotary table stops rotating, the point is marked as an initial point, the signal transmitting end transmits a signal, the signal receiving end receives the signal and transmits corresponding information to the electric cabinet, and the electric cabinet records that the distance between the signal transmitting end and the signal receiving end is a;

s7, the first rotary table rotates, a second annunciator is located at one end, close to the fixed block, of the swing working arm, the distance between a real-time point and an initial point of the position of the second annunciator is recorded as b, meanwhile, a signal transmitting end continuously transmits signals to a signal receiving end, the real-time distance between the signal transmitting end and the signal receiving end is recorded as c, the electric cabinet obtains a theoretical hypotenuse value c through a known value a serving as a right-angle side and a actually measured value b serving as a right-angle side and a right-angle triangle calculation formula a2+ b2 being c2, and compares the theoretical hypotenuse value with the actually measured hypotenuse value c to determine the moving direction and the distance of the automatic pouring manipulator;

s8, in the movement process of the automatic pouring manipulator, the signal transmitting end continuously transmits signals to the signal receiving end to obtain an actual measured bevel edge value c, the second signaler continuously obtains an actual measured right-angle edge b, the electric cabinet continuously calculates a theoretical bevel edge value c, and the movement direction and distance of the automatic pouring manipulator are continuously corrected until the automatic pouring manipulator runs to a pouring point;

s9, the second rotary table rotates, the support rod drives the pouring hopper to turn over, the pouring hopper pours the pouring liquid into the pouring point to finish pouring of the pouring point,

and S10, repeating the steps S7-S9 until the pouring work is finished.

3. Advantageous effects

Compared with the prior art, the invention has the beneficial effects that:

(1) the invention relates to an automatic pouring manipulator, wherein a base is used for supporting the automatic pouring manipulator, a first rotary table on the base controls the automatic pouring manipulator to rotate and regulate the direction, so as to provide a foundation for continuous multi-station pouring, the automatic pouring manipulator does not need to move in the pouring liquid taking and pouring processes at different stations, a lifting mechanism is connected with the base and can regulate the height of the automatic pouring manipulator, a swinging mechanism further adjusts the position and the distance of the automatic pouring manipulator, a pouring mechanism realizes the pouring work at pouring points at different stations, an electric hydraulic control mechanism acquires information through a distance sensing component, an electric cabinet processes the information and issues a control instruction, and a hydraulic station realizes the control of each part of the automatic pouring manipulator;

(2) according to the automatic pouring manipulator, the bottom of the base is provided with the mounting base, the position of the base can be kept unchanged in the whole pouring process, if the position of the base is kept unchanged, the automatic pouring manipulator needs to be mounted on the ground by using the mounting base to ensure the stability of the automatic pouring manipulator, one side, far away from the ground, of the first rotary table is connected with the upright post, and the upright post provides vertical height for the automatic pouring manipulator, so that a lifting mechanism has a certain working space;

(3) according to the automatic pouring manipulator, the first lifting rod, the second lifting rod, the first fixed end and the second fixed end in the lifting mechanism form the four-connecting rod, the height and the horizontal length of the automatic pouring manipulator can be changed by the four-connecting rod in the working process, and the adjustment of the position in one plane is realized;

(4) according to the automatic pouring manipulator, the first lifting rod and the second lifting rod are equal in length and are connected to the first fixed end and the second fixed end in parallel, the four connecting rods of the lifting mechanism actually form a parallelogram according to the fact that a pair of sides of the parallelogram are parallel and equal, one side of the parallelogram is fixed (the first fixed end), and therefore in the process of using the four connecting rods, the stability is higher, and the four connecting rods are used in an adjusting mode;

(5) according to the automatic pouring manipulator, the lifting oil cylinder is controlled by the hydraulic station, one end of the lifting oil cylinder is connected with the upright post, the other end of the lifting oil cylinder is connected with the second connecting rod, the upright post cannot move, the four-connecting-rod motion of the second lifting rod can be driven in the motion process of the lifting oil cylinder, the second fixing end is kept parallel to the first fixing end in the motion process, under the condition that only the four-connecting-rod motion exists, the angle of an included angle between the second fixing end and a vertical plane can be guaranteed to be unchanged, and distance adjustment and calculation are facilitated;

(6) according to the automatic pouring manipulator, the swing oil cylinder is arranged on the second fixed end, the swing oil cylinder swings by taking the second fixed end as the center of a circle under the control of the hydraulic station, the swing working arm is of a fixed length in the swinging process, namely, one end of the swing working arm, which is far away from the second fixed end, moves on the circumference, and the swing working arm is simultaneously accompanied by the angle of an included angle with the vertical direction and the change of position coordinates in the horizontal direction and the vertical direction in the moving process, so that the production requirements can be met;

(7) according to the automatic pouring manipulator, after the angle of the swing working arm is adjusted, a pouring hopper connected with a support rod on a pouring mechanism forms a certain deflection angle with the vertical direction, in order to prevent pouring liquid in the pouring hopper from flowing out at a non-pouring point, a second rotary table needs to be rotated and finely adjusted in the swing process of the swing working arm, a fixed block arranged on the swing working arm is convenient for the second rotary table to be connected with the second rotary table, and the support rod is used for keeping and changing the state of the pouring hopper and can be selected according to the structure of the pouring hopper;

(8) according to the automatic pouring mechanical arm, the electro-hydraulic proportional valve group is arranged between the electric control box and the hydraulic station, so that the control precision is higher, and the automatic pouring mechanical arm is accurately controlled;

(9) the invention relates to an automatic pouring manipulator, which measures the distance between a first annunciator and a second annunciator through signal connection established between the first annunciator and the second annunciator, transmits corresponding data to an electric cabinet, processes the data by the electric cabinet to obtain a result, and issues a next working instruction, wherein the first annunciator can be a signal transmitting end or a signal receiving end, the distance measurement is not influenced, the signal is preferably electromagnetic wave or sound wave, the use mode is simple, and the real-time detection can be realized;

(10) according to the pouring method of the automatic pouring manipulator, the structural characteristics of the automatic pouring manipulator are utilized, pouring requirements in the pouring process are combined, continuous pouring of different pouring points on a straight line is achieved through simple distance testing and corresponding calculation and control of the electric cabinet, manual work is not needed, the use is simple, and the pouring efficiency is high.

Drawings

The technical solutions of the present invention will be described in further detail below with reference to the accompanying drawings and examples, but it should be understood that these drawings are designed for illustrative purposes only and thus do not limit the scope of the present invention. Furthermore, unless otherwise indicated, the drawings are intended to be illustrative of the structural configurations described herein and are not necessarily drawn to scale.

FIG. 1 is a schematic side view of a casting robot according to embodiment 1 of the present invention;

FIG. 2 is a schematic view of the overall structure of a casting robot according to embodiment 1 of the present invention;

FIG. 3 is a schematic side view of a casting robot according to embodiment 2 of the present invention;

fig. 4 is a schematic view of the overall structure of a casting robot in embodiment 2 of the present invention;

FIG. 5 is a schematic side view of a casting robot according to embodiment 3 of the present invention;

FIG. 6 is a schematic view of the overall structure of a casting robot according to embodiment 3 of the present invention;

FIG. 7 is a plan view of a pouring robot pouring process according to embodiment 4 of the present invention;

fig. 8 is a schematic view of the overall structure of the pouring process of the pouring robot in embodiment 4 of the present invention.

In the drawings:

10. a base; 11. installing a base; 12. a first turntable; 13. a column; 14. a placing platform;

20. a lifting mechanism; 21. a first lifting rod; 22. a second lifting rod; 23. a first fixed end; 24. a second fixed end; 25. lifting the oil cylinder;

30. a swing mechanism; 31. a swing oil cylinder; 32. swinging the working arm;

40. a pouring mechanism; 41. a second turntable; 42. a fixed block; 43. a support bar;

50. an electro-hydraulic control mechanism; 51. a hydraulic station; 52. an electro-hydraulic proportional valve bank; 53. an electric cabinet; 54. a first annunciator; 55. a second annunciator; 56. a UWB signal processor;

60. and (5) pouring a hopper.

Detailed Description

The following detailed description of exemplary embodiments of the invention refers to the accompanying drawings, which form a part hereof, and in which is shown by way of illustration exemplary embodiments in which the invention may be practiced. Although these exemplary embodiments are described in sufficient detail to enable those skilled in the art to practice the invention, it should be understood that other embodiments may be realized and that various changes to the invention may be made without departing from the spirit and scope of the present invention. The following more detailed description of the embodiments of the invention is not intended to limit the scope of the invention, as claimed, but is presented for purposes of illustration only and not limitation to describe the features and characteristics of the invention, to set forth the best mode of carrying out the invention, and to sufficiently enable one skilled in the art to practice the invention. Accordingly, the scope of the invention is to be limited only by the following claims.

The detailed description and exemplary embodiments of the invention will be better understood when read in conjunction with the appended drawings, where the elements and features of the invention are identified by reference numerals.