公开(公告)号：US10668626B2

公开(公告)日：2020-06-02

申请号：US16075144

申请日：2017-10-31

申请人： Anhui University of Science and Technology

发明人： Chengjun Wang ,  Yongcun Guo ,  Runrun Ren ,  Yuzhe Shen ,  Yan Zheng ,  Long Li ,  Hongtao Yang ,  Jun Zhang ,  Peng Wang

IPC分类号： B25J15/02 ,  B25J11/00 ,  B22D37/00 ,  B25J5/00 ,  B25J15/00 ,  B25J19/02

摘要： A series-parallel movable heavy-load casting robot, includes a four-driving-wheel type moving platform, a rotating device, an upright assembly, a lifting drive device, a parallel working arm, an end actuator and a binocular vision system. The four-driving-wheel type moving platform is driven by adopting four omnidirectional wheels, the platform utilizes rear hydraulic supporting legs and adjustable hydraulic supporting legs to implement stationary point self-balancing supporting, and a robot body has five freedom degrees of motion in space; and the rotating device and the lifting drive device can respectively implement rotating and lifting adjustment, the four-degree-of-freedom parallel working arm can carry out attitude adjustment for the end actuator, different end actuators can be changed according to working requirements.

公开(公告)号：US10722942B2

公开(公告)日：2020-07-28

申请号：US15779851

申请日：2017-10-31

申请人： Anhui University of Science and Technology

发明人： Chengjun Wang ,  Rui Yu ,  Yongcun Guo ,  Yuzhe Shen ,  Yan Zheng ,  Zhiwei Zhu

IPC分类号： B22D31/00 ,  B25J11/00 ,  B25J5/02 ,  B25J15/06 ,  B25J17/02

摘要： A multi-arm hanging rail type casting cleaning robot comprises a traveling device, a rotating device, a lifting device, a working arm mounting seat, and four working arms mounted on an annular rail, wherein in addition to pneumatic grippers and magnetic cranes, cleaning tools such as pneumatic air picks and plasma cutters are further provided on end effecters of the working arms. The traveling device of the present invention adopts a four-point hanging supporting mode to realize long-distance stable traveling. Large arm adjusting cylinders and small arm adjusting cylinders are used to replace servo reducing motors to adjust postures of the working arms. The four working arms can jointly and synchronously work. The two pneumatic grippers, the two magnetic cranes, and the four cleaning tools can be flexibly transformed and replaced. The needs of cleaning operations can be satisfied.