Multi-arm hanging rail type casting cleaning robot

摘要

Disclosed is a multi-arm suspended rail type casting cleaning robot, comprising a walking device (1), a rotating device (2), a lifting device (3), a working arm mounting base (4) and four working arms (5, 6, 7, 8) mounted on an annular rail (9). End effectors (58, 68) of the working arms (5, 6, 7, 8) are provided with pneumatic grippers (686) and magnetic cranes (586) and are further provided with cleaning tools, such as pneumatic picks (585) and plasma cutters (685). The walking device (1) uses a four-point suspended supporting mode, thus realising long-distance stable walking. Big arm adjustment cylinders (54, 64) and small arm adjustment cylinders (56, 66) are used to replace a servo speed reduction motor to adjust postures of the working arms (5, 6, 7, 8), the four working arms (5, 6, 7, 8) can jointly and synchronously operate, and the two pneumatic grippers (686), the two magnetic cranes (586) and the four cleaning tools can be flexibly converted and replaced and can meet the requirements of cleaning operations, such as identification, transport, overturn, posture adjustment, sand cleaning, cutting and polishing on castings with heavy weights, large volumes and complex shapes, thus improving the efficiency and quality of a casting cleaning operation and reducing the labour intensity and the production cost of operators.