The invention discloses a robot, a robot-based trash auto-recycling method and device and a storage medium, wherein the robot does simple harmonic motion around a shoulder joint through a first mechanical arm such that waveform of an angle between the first mechanical arm and a horizontal line is sinusoidal; a second mechanical arm may do free rotational motion around an elbow joint; the second mechanical arm is driven by the first mechanical arm to periodically rock such that a T-shaped clamp reaches target trash. When the T-shaped clamp sucks the target trash, the second mechanical arm can freely rotate around the elbow joint so as to finely tune the position of the T-shaped clamp in contact with the target trash to gain more successful suction to the trash. The robot-based trash auto-recycling method includes: performing identity partitioning on trash through a neural network to obtain target trash, transmitting a command to the robot to grab the trash and put in a corresponding sorting mechanism; therefore, the trash is automatically classified, and the problems of low efficiency and poor trash sorting effect are avoided.

Robot, robot-based trash auto-recycling method and device and storage medium

The invention relates to an adjustable milling clamp of large conical rotary bodies. The clamp mainly comprises a base, a main shaft sleeve, a main shaft, an electric push rod, a supporting plate, damping plates and damping blocks, and is characterized in that the whole clamp is fixed to a machine tool through U-shaped grooves uniformly formed in the edge of the base, and arch-shaped pressing plates, cushion blocks and T-shaped groove bolts are distributed on the outer side of the base; the main shaft sleeve and the main shaft are arranged at the center of the surface of the base, and the supporting plates are connected through supporting plate connecting rods to form a supporting plate surface set; the upper supporting plate and the main shaft are connected through the electric push rod,and the lower supporting plate and the main shaft sleeve are connected through the electric push rod; the damping plates form a damping plate surface set through damping plate connecting rods, and a plurality of steel wire dampers are arranged between the supporting plate surface set and the damping plate surface set; and the damping plates are matched with the damping blocks through screws, the lower damping plate is provided with small wheels, and the lower supporting plate is provided with large wheels. The conical rotary bodies different in diameter, conicity and height can be machined, and the clamp has the advantages of being wide in application range and convenient and quick to use.

Adjustable milling clamp of large conical rotary bodies

The invention discloses a numerically controlled quantitative weighing type multi-station continuous casting machine. A cross-beam operation module is arranged on a foundation rail, a trolley operation module is arranged on the cross-beam operation module, a numerical control ladle pouring mechanism, an automatic quantitative weighing mechanism and a multi-station runner system are arranged on thetrolley operation module, and the numerical control ladle pouring mechanism is used for bearing molten metal and pouring the molten metal into the automatic quantitative weighing mechanism. The automatic quantitative weighing mechanism is used for bearing the molten metal of the numerical control ladle pouring mechanism, weighing the born molten metal and pouring the molten metal into the multi-station runner system. The multi-station runner system is used for guiding the molten metal, so that the trolley operation module can pour workpieces of multiple stations at the same position. The trolley operation module is further provided with a pouring positioning device for positioning the operation position of the trolley operation module. The numerically controlled quantitative weighing typemulti-station continuous casting machine realizes the functions of continuous operation, quantitative weighing, multi-station pouring and positioning of a pouring trolley with high space utilizationrate.

Numerically controlled quantitative weighing type multi-station continuous casting machine

The invention discloses a transportation robot and a vehicle body thereof. The vehicle body comprises a vehicle main body, multiple cantilever modules mounted at the upper part of the vehicle main body, and multiple wheel modules correspondingly connected with the cantilever modules one to one; and the cantilever modules comprise first arm frames hinged to the wheel modules and the vehicle main body, second arm frames arranged under the first arm frames and hinged to the wheel modules and the vehicle main body, and extension mechanisms mounted on the vehicle main body and used for driving thefirst arm frames to swing, wherein the wheel modules are used for walking along the ground. The transportation robot can actively adjust the heights of the wheel modules to adapt to uneven pavements during walking, so that the transportation robot walks more stably.

Transportation robot and vehicle body thereof

The invention provides a clamping structure and clamping equipment having a clamping structure. The clamping structure comprises a first clamping part, and a second clamping part, wherein the first clamping part and the second clamping part are oppositely arranged; and a clamping space for clamping a to-be-clamped workpiece is arranged between the first clamping part and the second clamping part,wherein at least one position of the first clamping part and the second clamping part can be arranged in an adjustable manner, so that the first clamping part and the second clamping part are adheredwith the to-be-clamped workpiece. According to the clamping structure disclosed by the invention, the problem of lower collection efficiency of gauze rolls in the prior art is solved.

Clamping structure and clamping equipment having clamping structure

The invention discloses a double-arm casting sampling detection robot. The double-arm casting sampling detection robot comprises a moving platform, a waist rotating device, a lifting machine body, a shoulder support, a left work arm, a right work arm, a binocular stereo-vision system and a detection device. The moving platform is a walking mechanism and a bearing platform of the double-arm castingsampling detection robot, the waist rotating device and the lifting machine body can separately realize rotating and lifting adjusting functions, and the left work arm and the right work arm which are installed on the shoulder support are separately used for clamping castings and cutting castings. Three dimension scanning and component analysis testing are carried out in the detection device, andthe binocular stereo-vision system is used for obtaining field images and performing tasks such as navigation, target recognition and measurement. The double-arm casting sampling detection robot is used in casting production for replacing manual sampling, geometric parameter measurement, casting defect, component analysis and the like to the castings and samples; and the double-arm casting sampling detection robot has the advantages of high degree of automation, high adaptability and fast and convenient properties, can overcome the technical defects of existing detection devices and is more suitable for popularization.

Double-arm casting sampling detection robot

The invention discloses an inside and outside dual-purpose self-adaptive gripper of a casting robot. The inside and outside dual-purpose self-adaptive gripper comprises a telescopic center shaft, upper telescopic rods, lower telescopic rods and plate type clamping claws. The telescopic center shaft is mounted on a tail end flange of a hand of the casting robot through a connecting flange. Each plate type clamping claw and the telescopic center shaft are subjected to independent connection and control through the corresponding upper telescopic rod and lower telescopic rod. The radial distance and angle of the plate type clamping claws are adjusted, the plate type clamping claws can automatically adapt to the inner surface or the outer surface of a grabbed workpiece, and effective attachmenttype clamping on the workpiece can be achieved. According to the inside and outside dual-purpose self-adaptive gripper, the grabbing requirement of the casting robot for the hollow workpiece can be met, two clamping grabbing functions of inside supporting type clamping and outside pressing type clamping are achieved at the same time, and the self-adaptive grabbing work requirements of a workpiecewith a cylinder surface and a workpiece with a circular table surface can be met at the same time; the beneficial effects of being simple in structure, low in weight, good in stability, high in safety, high in self-adaptability, easy and convenient to operate and maintain and the like are achieved; and the labor intensity of operation personnel and production cost are reduced.

Inside and outside dual-purpose self-adaptive gripper of casting robot

The utility model discloses a gravity casting analogue test platform, including the base, water a packet frame, experimental water packet, empty device, shaking table, simulation sand box and measuring device. The utility model discloses optional water, mud or glycerine etc. Are as medium simulation liquid metal, the filling process's in the mainly used casting forming process hydraulic analogy experiment, casting law analogue test and vibration casting analogue test. The experiment water the package and realize gravity casting through empting device drive, the different the gating system of installation can develop with the casting mould and fills the type experiment in the simulation sand box, test result accessible measuring device, shaking table, simulation sand box and the experimental sensor of installing in the package that waters acquire, and the test parameter can be by computer automatic acquisition, conversion. The utility model discloses can obtain regular conclusion according to operating mode, the gating system and the casting mould of the difference formulation testing program of making pointed references, and have the restriction that research did not receive factors such as environment and place, a great deal of advantage such as easily operate, with low costs.

Gravity casting analogue test platform

The invention discloses a forearm equipped with a pneumatic gripper and applied to a casting robot. The forearm comprises a rear forearm body, a front forearm body, the gripper, a rotary motor, a swing driving device and a gripper clamping device, wherein the rear forearm body and the front forearm body are connected through the rotary motor; the front forearm body and the gripper are connected through a hinge and the swing driving device; the closing and opening of the gripper are correspondingly achieved through the gripper clamping device and a reset spring; the rotary motor is mounted in the rear forearm body and axially parallel to the length direction of the front forearm body; a swing motor and a clamping air cylinder are both arranged close to the rear forearm body; and then, the carrying capacity of the tail-end gripper is effectively improved. Serving as a forearm of the casting robot and other single-arm or double-arm robots, the forearm disclosed by the invention can perform operation tasks such as gripping, handling, core unloading, core assembling, sampling and testing, as well as has the advantages of being compact in structure, reasonable in design, high in rigidity, high in carrying capacity, large in working space, capable of overcoming technical defects in the structural design of a conventional robot forearm, and more suitable for popularization.

Forearm equipped with pneumatic gripper and applied to casting robot

The invention discloses a gravity casting simulation test stand. The test stand comprises a base, a casting ladle frame, a test casting ladle, a dumping device, a vibrating table, a simulating sand box and a measuring device. By selecting water or slurry or glycerin or the like as a medium to simulate liquid metal, the gravity casting simulation test stand is mainly used for hydraulic simulation tests in the filling process, casting rule simulation tests and vibration casting simulation tests in the casting molding process. The test casting ladle is driven by the dumping device to achieve gravity casting, and different casting systems and moulds are installed in the simulating sand box to carry out filling tests; test results can be obtained by sensors installed in the measuring device, the vibrating table, the simulating sand box and the test casting ladle, and test parameters can be automatically collected and converted by a computer. According to different working conditions and the different casting systems and moulds, a test scheme is made in a targeted mode, a regular conclusion is obtained, and the test stand has the advantages that researches are not limited by environment, sites and other factors, and the test stand is easy to operate, low in cost and the like.

Gravity casting simulation test stand

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