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.

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.

[Problem to Be Solved] A pouring control method for controlling an automatic pouring device with a tilting-type ladle is provided. By the method, a lip of a pouring ladle approaches a sprue of a mold without striking any object located within the range of its movement. Also, by the method, the molten metal that runs out of the ladle can accurately fill the mold. [Solution] The pouring control method comprises the steps of setting a target flow rate of molten metal to be poured, generating a voltage to input it to a motor that tilts the ladle (hereafter, the tilting motor) so as to reach the target flow rate of the molten metal based on an inverse model of a mathematical model of molten metal that runs out of a pouring ladle and an inverse model of the tilting motor, estimating the flow rate of the molten metal that runs out of the ladle, estimating the falling position and getting the estimated falling position to be a target position, and generating a trajectory for the movement of the pouring ladle wherein the trajectory causes the height of the lip of the pouring ladle above the level of a sprite of a mold to decrease.

[Problem to Be Solved] A pouring control method for controlling an automatic pouring device with a tilting-type ladle is provided. By the method, a lip of a pouring ladle approaches a sprue of a mold without striking any object located within the range of its movement. Also, by the method, the molten metal that runs out of the ladle can accurately fill the mold. [Solution] The pouring control method comprises the steps of setting a target flow rate of molten metal to be poured, generating a voltage to input it to a motor that tilts the ladle (hereafter, the tilting motor) so as to reach the target flow rate of the molten metal based on an inverse model of a mathematical model of molten metal that runs out of a pouring ladle and an inverse model of the tilting motor, estimating the flow rate of the molten metal that runs out of the ladle, estimating the falling position and getting the estimated falling position to be a target position, and generating a trajectory for the movement of the pouring ladle wherein the trajectory causes the height of the lip of the pouring ladle above the level of a sprite of a mold to decrease.

The invention relates to systems for transferring molten metal from one structure to another. Aspects of the invention include a transfer chamber constructed inside of or next to a vessel used to retain molten metal. The transfer chamber is in fluid communication with the vessel so molten metal from the vessel can enter the transfer chamber. A powered device, which may be inside of the transfer chamber, moves molten metal upward and out of the transfer chamber and preferably into a structure outside of the vessel, such as another vessel or a launder.

The invention relates to systems for transferring molten metal from one structure to another. Aspects of the invention include a transfer chamber constructed inside of or next to a vessel used to retain molten metal. The transfer chamber is in fluid communication with the vessel so molten metal from the vessel can enter the transfer chamber. A powered device, which may be inside of the transfer chamber, moves molten metal upward and out of the transfer chamber and preferably into a structure outside of the vessel, such as another vessel or a launder.

The invention relates to systems for transferring molten metal from one structure to another. Aspects of the invention include a transfer chamber constructed inside of or next to a vessel used to retain molten metal. The transfer chamber is in fluid communication with the vessel so molten metal from the vessel can enter the transfer chamber. A powered device, which may be inside of the transfer chamber, moves molten metal upward and out of the transfer chamber and preferably into a structure outside of the vessel, such as another vessel or a launder.

The invention relates to systems for transferring molten metal from one structure to another. Aspects of the invention include a transfer chamber constructed inside of or next to a vessel used to retain molten metal. The transfer chamber is in fluid communication with the vessel so molten metal from the vessel can enter the transfer chamber. A powered device, which may be inside of the transfer chamber, moves molten metal upward and out of the transfer chamber and preferably into a structure outside of the vessel, such as another vessel or a launder.

The invention relates to systems for transferring molten metal from one structure to another. Aspects of the invention include a transfer chamber constructed inside of or next to a vessel used to retain molten metal. The transfer chamber is in fluid communication with the vessel so molten metal from the vessel can enter the transfer chamber. A powered device, which may be inside of the transfer chamber, moves molten metal upward and out of the transfer chamber and preferably into a structure outside of the vessel, such as another vessel or a launder.

The invention relates to systems for transferring molten metal from one structure to another. Aspects of the invention include a transfer chamber constructed inside of or next to a vessel used to retain molten metal. The transfer chamber is in fluid communication with the vessel so molten metal from the vessel can enter the transfer chamber. A powered device, which may be inside of the transfer chamber, moves molten metal upward and out of the transfer chamber and preferably into a structure outside of the vessel, such as another vessel or a launder.