工业机器人末端智能浇注臂结构研究  

Study on Structure of End Intelligent Pouring Arm of Industrial Robot

作　　者：张新建 杨卫红 何俊伟 毕艳 林曦晨 鲁艳茗 杨家军 ZHANG Xinjian;YANG Weihong;HE Junwei;BI Yan;LIN Xichen;LU Yanming;YANG Jiajun(Mechanical and Electrical Engineering Departm ent,Wenhua College,Wuhan 430074,China;School of Mechanical Science&Engineering,Huazhong University of Science and Technology,Wuhan 430074,China)

机构地区：[1]文华学院机械与电气工程学部,湖北武汉430074 [2]华中科技大学机械工程学院,湖北武汉430074

出　　处：《铸造技术》2020年第3期257-262,共6页Foundry Technology

基　　金：国家重大科技专项项目(2013ZX04008-031)资助。

摘　　要：传统连续浇注机的浇注臂采用垂直向下舀取铝液的方式,无法有效探测铝液高度,导致舀取铝液的量不均匀,甚至无法舀取铝液,或舀取到铝液表面氧化层,这将导致铝铸品的品质严重下降,工作效率低。在理论计算的基础上,设计了基于工业机器人末端操作浇注臂结构。结果表明,工业机器人臂带动浇包浇注,可以实现多角度、大范围任意动作的设置,灵活度高,适应性强。链条的闭合用花篮螺丝连接,拉紧方便可靠,能满足回转精度要求。The casting pouring arm of the traditional continuous pouring machine adopted the method of vertical downward scooping molten aluminum,which was unable to effectively detect the height of molten aluminum,resulting in uneven scooping of aluminum liquid,or even scooping of molten aluminum,or scooping to the surface oxide layer of aluminum liquid,which would lead to a serious decline in the quality of aluminum casting and low working efficiency.On the basis of theoretical calculation,a casting arm structure based on end operation of industrial robot was designed.The results show that the industrial robot arm drives the casting ladle,which can realize the setting of multi-angle and large range of arbitrary actions with high flexibility and strong adaptability.The closure of the chain is connected with the basket screw,the tension is convenient and reliable,and it can meet the requirements of turning accuracy.

关 键 词：浇注臂 压铸机 末端操作器 

分 类 号：TG233[金属学及工艺—铸造]