CN110497380A - A kind of die casting robot - Google Patents
A kind of die casting robot Download PDFInfo
- Publication number
- CN110497380A CN110497380A CN201910894094.4A CN201910894094A CN110497380A CN 110497380 A CN110497380 A CN 110497380A CN 201910894094 A CN201910894094 A CN 201910894094A CN 110497380 A CN110497380 A CN 110497380A
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- Prior art keywords
- longitudinal
- slide unit
- component
- arm
- transverse
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- 238000004512 die casting Methods 0.000 title claims abstract description 43
- 230000007246 mechanism Effects 0.000 claims abstract description 25
- 238000007790 scraping Methods 0.000 claims description 27
- 230000000712 assembly Effects 0.000 claims description 6
- 238000000429 assembly Methods 0.000 claims description 6
- 238000000034 method Methods 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 4
- 230000006978 adaptation Effects 0.000 claims 1
- 230000008054 signal transmission Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 16
- 239000003638 chemical reducing agent Substances 0.000 description 11
- 230000033001 locomotion Effects 0.000 description 7
- 230000001681 protective effect Effects 0.000 description 7
- 239000000428 dust Substances 0.000 description 5
- 230000005611 electricity Effects 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000005096 rolling process Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000010687 lubricating oil Substances 0.000 description 1
- 238000005461 lubrication Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000003921 oil Substances 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0081—Programme-controlled manipulators with master teach-in means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
Abstract
The invention discloses a kind of die casting robots, comprising: teaching machine；Long rails；Slide unit component is set to long rails；Cross track is set to slide unit component；Driving mechanism is connect with longitudinal rail and cross slide way；Arm component is set to cross track；Clamp hand is set to arm component；Electric cabinet, is set to slide unit component, and electric cabinet is electrically connected with driving mechanism, arm component and clamp hand；Compared with prior art, die casting robot of the invention, electric cabinet are set to slide unit component and robot integrated setting, it is not necessary to separately fill electric cabinet, can save the cost of electric cabinet；Connection distance between electric cabinet and driving mechanism, arm component and clamp hand shortens, and the transmission of signal is more stable；And when electric fault occur, can quickly it check.
Description
Technical field
The present invention relates to technical field of automation equipment, and in particular, to a kind of die casting robot.
Background technique
In Die Casting Industry, the periphery machine around die casting machine automated production has very much, due to being different manufacturer
The machine of offer, so, be exactly in terms of electrical control it is relatively independent, a general independent automation equipment is only with one
Then vertical electric cabinet is connected to die casting machine, the high die casting machine production of an automation, it is possible to have multiple electricity with signal wire
Cabinet, the electric cabinet placement position for resulting in die casting machine periphery can be narrower, can occupy many places, and electric wiring is also very long,
Live route is also put in disorder, is not easy to safeguard.
Summary of the invention
The purpose of this invention is to solve the problems associated with the prior art, provides a kind of die casting robot.
A kind of die casting robot comprising:
Teaching machine；
Long rails；
Slide unit component is set to long rails；
Cross track is set to slide unit component；
Driving mechanism is connect with longitudinal rail and cross slide way；
Arm component is set to cross track；
Clamp hand is set to arm component；
Electric cabinet, is set to slide unit component, and electric cabinet is electrically connected with driving mechanism, arm component and clamp hand；
Wherein, under the control of teaching machine, driving mechanism drives slide unit component, and track is vertically moved along longitudinal direction, driving mechanism
Drive cross track along slide unit component transverse shifting, arm component drives clamp hand mobile, and clamp hand clamps workpiece；It is moved in slide unit component
During dynamic, electric cabinet is mobile with slide unit component；In cross track moving process, arm component is mobile with cross track.
According to an embodiment of the present invention, slide unit component includes slide unit, two longitudinal roll wheel assemblies and two transverse-roller groups
Part；Two longitudinal roll wheel assemblies are divided into the left plate and right side plate of slide unit, every group of longitudinal direction roll wheel assembly along the length direction of slide unit
Include upper longitudinal roller group and lower longitudinal roller group, long rails be set on two longitudinal roller group and two lower longitudinal roller groups it
Between；Two transverse-roller components are divided into the front side board and back side panel of slide unit along the width direction of slide unit；Every group of transverse-roller component
Include upper transverse-roller group and lower transverse-roller group, cross track be set on two transverse-roller group and two lower transverse-roller groups it
Between.
According to an embodiment of the present invention, longitudinal roll wheel assembly further includes longitudinal guide wheel group, and longitudinal guide wheel group is set to upper
Between longitudinal roller group and lower longitudinal roller group, long rails are set to upper longitudinal roller group, lower longitudinal roller group and longitudinal guide wheel
Between group.
According to an embodiment of the present invention, transverse-roller component further includes lateral guide wheel group, and lateral guide wheel group is set to upper
Between transverse-roller group and lower transverse-roller group, cross track is set to upper transverse-roller group, lower transverse-roller group and lateral guide wheel
Between group.
According to an embodiment of the present invention, it is equipped with hairbrush below the front side board of slide unit and back side panel, hairbrush rail along longitudinal direction
The setting of road width direction, the shape and length of hairbrush are adapted to long rails.
According to an embodiment of the present invention, the front side board of slide unit and back side panel lower section both ends are equipped with longitudinal scraping block, longitudinal
Scraping block is located on the outside of hairbrush, and the width of longitudinal scraping block is adapted to the width of upper longitudinal roller group.
According to an embodiment of the present invention, driving mechanism includes zigzag tread patterns component and laterally driven component, longitudinal drive
Dynamic component includes vertical drive motor, zigzag tread patterns wheel and longitudinal rack, and vertical drive motor is set to slide unit component, zigzag tread patterns
The output axis connection of wheel and vertical drive motor, longitudinal rack is set to long rails and track length direction is arranged along longitudinal direction, indulges
It is engaged to driving wheel with longitudinal rack；Laterally driven component includes horizontal drive motor, laterally driven wheel and horizontal tooth bar, transverse direction
Driving motor is set to slide unit component, the output axis connection of laterally driven wheel and horizontal drive motor, and horizontal tooth bar is set to transverse rails
The length direction of road and transversely track is arranged, and laterally driven wheel is engaged with horizontal tooth bar.
According to an embodiment of the present invention, arm component includes arm seat, arm actuator, rocker arm and linking arm, hand
Arm seat is set to cross track, and arm actuator is set to arm seat, and rocker arm is connect with arm actuator, and linking arm is connect with rocker arm.
According to an embodiment of the present invention, clamp hand is connect with linking arm, and clamp hand includes clamping jaw cylinder, the adjusting of multiple clamping jaws
Block and multiple clamping jaws, clamping jaw adjusting block are connect with clamping jaw cylinder, and a plurality of adjusting grooves, clamping jaw and folder are evenly equipped on clamping jaw adjusting block
The connection of pawl adjusting block, clamping jaw is equipped with close to the side of clamping jaw adjusting block adjusts protrusion, and clamping jaw is along the bottom company of being equipped with along its length
Access slot adjusts protrusion and is placed in adjusting grooves, and bolt passes through link slot and connect clamping jaw with clamping jaw adjusting block.
It according to an embodiment of the present invention, further include humidifier, humidifier connect with arm component and is located at folder
Hand two sides.
Compared with prior art, a kind of die casting of the invention is had the advantage that with robot
1. electric cabinet is set to slide unit component and robot integrated setting, it is not necessary to separately fill electric cabinet, can save electric cabinet at
This.
2. the connection distance between electric cabinet and driving mechanism, arm component and clamp hand shortens, the transmission of signal is more steady
It is fixed；And when electric fault occur, can quickly it check.
3. die casting scene is to robot adjustment and installation, it is only necessary to the ontology for installing machine, connect signal wire and
Power supply line can put into production robot, keep the installation of robot easier, quick, when can save the assembling of machine
Between.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of die casting robot of the invention；
Fig. 2 is the structural schematic diagram after die casting of the invention removes teaching machine with robot；
Fig. 3 is the slide unit component of die casting robot of the invention and the structure and location diagram of control cabinet；
Fig. 4 is that the slide unit component of die casting of the invention robot removes the structure after protective shell and protective cover and position is closed
System's figure；
Fig. 5 is the structural schematic diagram of Fig. 4 other direction；
Fig. 6 be the cross track of die casting robot of the invention, arm component, clamp hand and humidifier structure and
Location diagram；
Fig. 7 is the structural schematic diagram of the clamp hand of die casting robot of the invention；
Fig. 8 is that Fig. 7 removes the structural schematic diagram after a clamping jaw；
In figure: 1. teaching machines, 2. long rails, 3. slide unit components, 31. slide units, 311. left plates, 312. right side plates,
It is 313. front side boards, 314. back side panels, 315. hairbrush, 316. longitudinal scraping block, 317. lateral scraping block, 318. protective shells, 319. dust-proof
Cover, 32. longitudinal roll wheel assemblies, longitudinal roller group, 322. lower longitudinal roller groups, 323. longitudinal guide wheel groups, 33. laterally rollings on 321.
Wheel assembly, transverse-roller group, 332. lower transverse-roller groups, 333. lateral guide wheel groups, 4. cross tracks, 41. drag chains, 5. on 331.
Driving mechanism, 51. zigzag tread patterns components, 511. vertical drive motors, 512. zigzag tread patterns wheels, 513. longitudinal racks, 52. are laterally
Driving assembly, 521. horizontal drive motors, 522. laterally driven wheels, 523. horizontal tooth bars, 6. arm components, 61. arm seats,
62. arm actuator, 621.RV speed reducer, 622. connecting flanges, 623. support plates, 624. planetary reducers, 625. servos are electric
Machine, 63. rocker arms, 64. linking arms, 65. to level detecting apparatus, 7. clamp hands, 71. clamping jaw cylinders, 72. clamping jaw adjusting blocks, 721. are adjusted
Save groove, 73. clamping jaws, 731. adjusting protrusions, 732. link slots, 8. electric cabinets, 9. humidifiers
The embodiments will be further described with reference to the accompanying drawings for the realization of function of the present invention and advantage.
Specific embodiment
Multiple embodiments of the invention will be disclosed with schema below, as clearly stated, the details in many practices
It will be explained in the following description.It should be appreciated, however, that the details in these practices is not applied to limit the present invention.Also
It is to say, in some embodiments of the invention, the details in these practices is non-essential.In addition, for the sake of simplifying schema,
Some known usual structures and component will be painted it in the drawings in simply illustrative mode.
It is to be appreciated that institute's directional instruction (such as above and below, control, is forward and backward ...) is only used in the embodiment of the present invention
It explains in relative positional relationship, the motion conditions etc. under a certain particular pose (as shown in the picture) between each component, if the spy
When determining posture and changing, then directionality instruction also correspondingly changes correspondingly.
In addition, the description for being such as related to " first ", " second " in the present invention is used for description purposes only, not especially censure
The meaning of order or cis-position, also non-to limit the present invention, the component described just for the sake of difference with same technique term
Or operation, it is not understood to indicate or imply its relative importance or implicitly indicates the number of indicated technical characteristic
Amount." first " is defined as a result, the feature of " second " can explicitly or implicitly include at least one of the features.In addition, each
Technical solution between a embodiment can be combined with each other, but must can be implemented as base with those of ordinary skill in the art
Plinth will be understood that the combination of this technical solution is not present when conflicting or cannot achieve when occurs in the combination of technical solution,
Also not the present invention claims protection scope within.
For that can further appreciate that the contents of the present invention, feature and effect, the following examples are hereby given, and cooperates attached drawing detailed
It is described as follows:
Fig. 1, Fig. 2 are please referred to, Fig. 1 is the structural schematic diagram of die casting robot of the invention；Fig. 2 is die casting of the invention
Structural schematic diagram after removing teaching machine with robot.As shown, die casting robot include teaching machine 1, long rails 2,
Slide unit component 3, cross track 4, driving mechanism 5, arm component 6, clamp hand 7 and electric cabinet 8, electric cabinet 8 and driving mechanism 5, hand
Arm component 6 and clamp hand 7 are electrically connected；Teaching machine 1 is used to control the movement of driving mechanism 5, arm component 6 and clamp hand 7, slide unit component
3 are set to long rails 2, and cross track 4 is set to slide unit component 3, and arm component 6 is set to cross track 4, clamp hand 7 and arm component 6
Connection, electric cabinet 8 are set to slide unit component 3, and electric cabinet 8 is electrically connected with driving mechanism 5, arm component 6 and clamp hand 7；In teaching machine 1
Control under, driving mechanism 5 drive slide unit component 3 along longitudinal direction track 2 vertically move, driving mechanism 5 drive cross track 4 along cunning
3 transverse shifting of platform component, arm component 6 drive clamp hand 7 mobile, and clamp hand 7 clamps workpiece；In 3 moving process of slide unit component, electricity
It is mobile with slide unit component 3 to control case 8；In 4 moving process of cross track, arm component 6 is mobile with cross track 4.
Fig. 3, Fig. 4 and Fig. 5 are please referred to, Fig. 3 is the slide unit component of die casting robot of the invention and the structure of control cabinet
And location diagram；Fig. 4 be the slide unit component of die casting of the invention robot remove the structure after protective shell and protective cover and
Location diagram；Fig. 5 is the structural schematic diagram of Fig. 4 other direction.As shown, in the present embodiment, slide unit component 3 includes sliding
The longitudinal roll wheel assembly 32 of platform 31, two and two transverse-roller components 33, slide unit 31 include left plate 311, right side plate 312, front side board
313 and back side panel 314, left plate 311 and right side plate 312 are longitudinally disposed and be parallel to each other, and front side board 313 and back side panel 314 are horizontal
To being arranged and being parallel to each other, the front and back end of left plate 311 is connect with the left end of front side board 313 and back side panel 314 respectively, right side plate
312 front and back end is connected respectively at front side board 313 with the right end of back side panel 314；Length of the two longitudinal roll wheel assemblies 32 along slide unit 31
Degree direction is divided into the left plate 311 and right side plate 312 of slide unit 31, and two longitudinal roll wheel assemblies 32 are divided into left plate 311 and the right side
The inside of side plate 312, every group of longitudinal direction roll wheel assembly 32 include upper longitudinal roller group 321 and lower longitudinal roller group 322, upper longitudinal direction
The distance between roller group 321 and lower longitudinal roller group 322 are adapted to the thickness of long rails 2, front side board 313 and back side panel
The height of 314 lower ends is higher than the height of 321 lower end of upper longitudinal roller group；Upper longitudinal direction roller group 321 and lower longitudinal roller group 322 are
Including several screw bolt-type idler wheels, screw bolt-type idler wheel is laterally set to left plate 311 and right side plate 312, the axis of each screw bolt-type idler wheel
Line is vertical with left plate 311 and right side plate 312, and long rails 2 are set to longitudinal roller group 321 and two lower longitudinal roller groups on two
Between 322；Two transverse-roller components 33 are divided into the front side board 313 and back side panel 314 of slide unit 31 along the width direction of slide unit 31,
Two transverse-roller components 33 are divided into the inside of front side board 313 and back side panel 314；Every group of transverse-roller component 33 includes upper cross
Way roller group 331 and lower transverse-roller group 332, the distance between upper transverse-roller group 331 and lower transverse-roller group 332 and transverse direction
The thickness of track 4 is adapted to, and upper transverse-roller group 331 and lower transverse-roller group 332 include several screw bolt-type idler wheels, screw bolt-type rolling
Wheel is longitudinal to be set to front side board 313 and right side plate 312, and the axis of each screw bolt-type idler wheel hangs down with front side board 313 and back side panel 314
Directly, cross track 4 is set on two between transverse-roller group 331 and two lower transverse-roller groups 332；The present invention uses slide unit component 3
The horizontal and vertical movement of arm component 6 is realized with long rails 2 and the mode of the cooperation of cross track 4；Slide unit component 3 is indulged
The idler wheel of way roller component 32 and transverse-roller component 33 is all made of screw bolt-type idler wheel, and seal oil is in screw bolt-type idler wheel
The contact surface of portion, screw bolt-type idler wheel and 2/ cross track 4 of long rails does not have to lubrication, can make 2/ cross track 4 of long rails
It keeps clean, avoids the dust of workplace and lubricating oil from being formed together greasy dirt and adhere to 2/ cross track 4 of long rails, make to indulge
To pulley assembly/transverse direction pulley assembly retard motion；Guide rail slide block is the piece for belonging to Precision Linear Moving simultaneously, and cost compares
Height, the cooperation of present invention screw bolt-type idler wheel and 2/ cross track 4 of long rails can reduce cost, and when longitudinal idler wheel
When 32/ transverse-roller component 33 of component is lost, corresponding screw bolt-type idler wheel can be only replaced；Cost depletions can be reduced.
Fig. 4 please be read again, as shown, in the present embodiment, longitudinal roll wheel assembly 32 further includes longitudinal guide wheel group 323, indulged
It is set between upper longitudinal roller group 321 and lower longitudinal roller group 322 to guide wheel group 323, long rails 2 are set to upper longitudinal roller group
321, between lower longitudinal roller group 322 and longitudinal guide wheel group 323；Longitudinal roll wheel assembly 32 along longitudinal direction track 2 roll when, longitudinally lead
Wheel group 323 along longitudinal direction track 2 two sidewalls roll；Not only guiding and position-limiting action can be played, but can reduce long rails 2 with
The frictional force of 31 left plate 311 of slide unit and right side plate 312.
Fig. 5 please be read again, as shown, in the present embodiment, transverse-roller component 33 further includes lateral guide wheel group 333, it is horizontal
It is set between upper transverse-roller group 331 and lower transverse-roller group 332 to guide wheel group 333, cross track 4 is set to upper transverse-roller group
331, between lower transverse-roller group 332 and lateral guide wheel group 333；It is horizontal when cross track 4 slides the transversely rolling of roll wheel assembly 33
To guide wheel group 333 transversely track 4 two sidewalls roll；Not only guiding and position-limiting action can be played, but also can reduce transverse rails
The frictional force in road 4 and 31 front side board 313 of slide unit and back side panel 314.
Fig. 3 please be read again, as shown, in the present embodiment, left plate 311, right side plate 312, the front side board 313 of slide unit 31
And protective shell 318 is equipped on the outside of back side panel 314, protective shell 318 is by longitudinal roll wheel assembly 32 and transverse-roller component 33 and drives
Mechanism 5 avoids extraneous dust from entering longitudinal roll wheel assembly 32, transverse-roller component 33 and driving mechanism 5, influences to indulge in being located at
The performance of way roller component 32, transverse-roller component 33 and driving mechanism 5.
Fig. 4 please be read again, as shown, in the present embodiment, being equipped with below the front side board 313 and back side panel 314 of slide unit 31
Hairbrush 315,2 width direction of track is arranged hairbrush 315 along longitudinal direction, and the shape and length of hairbrush 315 are adapted to long rails 2；In
Along longitudinal direction during the movement of track 2, hairbrush 315 can clear away the dust on long rails 2 slide unit component 3, make slide unit group
Longitudinal roll wheel assembly 32 of part 3 and the contact surface of long rails 2 keep clean, and making longitudinal roll wheel assembly 32, track 2 moves along longitudinal direction
It moves smooth.
Fig. 4 please be read again, as shown, in the present embodiment, the 314 lower section both ends of front side board 313 and back side panel of slide unit 31
Equipped with longitudinal scraping block 316, longitudinal scraping block 316 is located at 315 outside of hairbrush, and scraping block can will be adhered to the greasy dirt on long rails 2
Wipe off, longitudinal roll wheel assembly 32 along longitudinal direction track 2 move forward when, the scraping block of 313 left and right sides of front side board is with longitudinal roll wheel assembly
32 movements simultaneously wipe the greasy dirt on long rails 2 off, while the hairbrush 315 being located on front side board 313 is followed in longitudinal scraping block 316
Afterwards, the long rails 2 after longitudinal scraping block 316 being scraped clean up；Longitudinal roll wheel assembly 32 is when track 2 moves backward along longitudinal direction,
Longitudinal scraping block 316 of 314 left and right sides of back side panel is mobile with longitudinal roll wheel assembly 32 and wipes the greasy dirt on long rails 2 off, together
When hairbrush 315 on back side panel 314 follow after longitudinal scraping block 316, the long rails 2 after longitudinal scraping block 316 is scraped are clear
It sweeps clean；The width of longitudinal scraping block 316 is adapted to the width of upper longitudinal roller group 321, it is ensured that long rails 2 and upper longitudinal direction
The face that roller group 321 contacts keeps cleaning.
Fig. 5 please be read again, as shown, in the present embodiment, 314 left and right ends of front side board 313 and back side panel of slide unit 31
Equipped with lateral scraping block 317, lateral scraping block 317 can be wiped the greasy dirt being adhered on cross track 4 off, 33 edge of transverse-roller component
When transverse rails move back and forth, the relatively transverse track 4 of lateral scraping block 317 is mobile, and the greasy dirt on cross track 4 is wiped off；Laterally
The width of scraping block 317 is adapted to the width of upper transverse-roller group 331；It can guarantee that cross track 4 connects with upper transverse-roller group 331
The face of touching keeps cleaning.
Fig. 3 please be read again, as shown, in the present embodiment, being equipped with dust cover on the outside of hairbrush 315 and lateral scraping block 317
319, dust cover 319 avoids extraneous greasy dirt from adhering in being located at the hairbrush 315, longitudinal scraping block 316 and lateral scraping block 317
Onto hairbrush 315, longitudinal scraping block 316 or lateral scraping block 317.
1, Fig. 3, Fig. 5 and Fig. 6 are please referred to, Fig. 1 is the structural schematic diagram of die casting robot of the invention；Fig. 3 is this hair
The slide unit component of bright die casting robot and the structure and location diagram of control cabinet；Fig. 5 is that the structure of Fig. 4 other direction is shown
It is intended to；Fig. 6 is structure and the position of the cross track of die casting robot of the invention, arm component, clamp hand and humidifier
Set relational graph.As shown, in the present embodiment, driving mechanism 5 includes zigzag tread patterns component 51 and laterally driven component 52, indulge
It include vertical drive motor 511, zigzag tread patterns wheel 512 and longitudinal rack 513 to driving assembly 51, vertical drive motor 511 is set
In slide unit component 3, the output axis connection of zigzag tread patterns wheel 512 and vertical drive motor 511, longitudinal rack 513 is set to longitudinal rail
Road 2 and along longitudinal direction 2 length direction of track are arranged, and zigzag tread patterns wheel 512 is engaged with longitudinal rack 513；Vertical drive motor 511 opens
Dynamic, zigzag tread patterns wheel 512 is rotated with the output shaft of vertical drive motor 511, since long rails 2 are fixed, so zigzag tread patterns
Rack gear 513 rolls and drives slide unit 31 mobile wheel 512 along longitudinal direction, and track 2 moves longitudinal roll wheel assembly 32 on slide unit 31 along longitudinal direction
It is dynamic；Laterally driven component 52 includes horizontal drive motor 521, laterally driven wheel 522 and horizontal tooth bar 523, horizontal drive motor
521 are set to slide unit component 3, the output axis connection of laterally driven wheel 522 and horizontal drive motor 521, and horizontal tooth bar 523 is set to cross
To track 4 and transversely the length direction setting of track 4, laterally driven wheel 522 are engaged with horizontal tooth bar 523；Laterally driven electricity
Machine 521 starts, and laterally driven wheel 522 is rotated with the output shaft of horizontal drive motor 521, due to the limit of long rails 2, slide unit
31 opposite long rails 2 are static, and laterally driven 522 driving cross track 4 of wheel is mobile and drives 6 transverse shifting of arm component.
Fig. 6 please be read again, as shown, in the present embodiment, cross track 4 is equipped with drag chain 41, drag chain 41 and slide unit 31
Connection；The mobile holding of cross track 4 can be made linear.
Fig. 6 please be read again, as shown, in the present embodiment, arm component 6 includes arm seat 61, arm actuator 62, shakes
Arm 63 and linking arm 64, arm seat 61 are set to cross track 4, and arm actuator 62 is set to arm seat 61, and rocker arm 63 and arm drive
Moving part 62 connects, and linking arm 64 is connect with rocker arm 63；Arm actuator 62 drives rocker arm 63 to rotate, and then drives 64 turns of linking arm
It is dynamic.
Fig. 6 please be read again, as shown, in the present embodiment, arm actuator 62 includes RV speed reducer 621, connecting flange
622, support plate 623, planetary reducer 624 and servo motor 625, RV speed reducer 621 are set to arm seat 61, connecting flange 622
Set on arm seat 6, support plate 623 is connect with connecting flange 622, and planetary reducer 624 is connect with RV speed reducer 621, servo electricity
Machine 625 is set to support plate 623 and connect with planetary reducer 624, the output axis connection of rocker arm 63 and RV speed reducer 621；Arm
Actuator 62 can make arm actuator 62 defeated using the cooperation of RV speed reducer 621, planetary reducer 624 and servo motor 625
Biggish torque out.
Fig. 7, Fig. 8 are please referred to, Fig. 7 is the structural schematic diagram of the clamp hand of die casting robot of the invention；Fig. 8 is Fig. 7 shifting
Structural schematic diagram after removing a clamping jaw.As shown, in the present embodiment, clamp hand 7 is connect with linking arm 64, clamp hand 7 includes
Clamping jaw cylinder 71, multiple clamping jaw adjusting blocks 72 and multiple clamping jaws 73, clamping jaw adjusting block 72 are connect with clamping jaw cylinder 71, and clamping jaw is adjusted
A plurality of adjusting grooves 721 are evenly equipped on block 72, clamping jaw 73 is connect with clamping jaw adjusting block 72, and clamping jaw 73 is close to clamping jaw adjusting block 72
Side is equipped with link slot 732 along bottom equipped with protrusion 731, clamping jaw 73 is adjusted along its length, and it is recessed that adjusting protrusion 731 is placed in adjusting
Slot 721, bolt pass through link slot 732 and connect clamping jaw 73 with clamping jaw adjusting block 72；It, can when the change in size of the workpiece of clamping
Directly to back-out bolt, then adjustment adjusts the position of protrusion 731 with adjusting grooves 721, and clamping jaw 73 can be realized and clamp work
The variation of part size.
In the present embodiment, fixed size can be set as by adjusting protrusion 731 and adjusting grooves 721, in this way when adjustment is pressed from both sides
When pawl 73 clamps the range of diameter, according to the cooperation for adjusting protrusion 731 with adjusting grooves 721, accurate adjustment can be realized.
It according to an embodiment of the present invention, further include humidifier 9, humidifier 9 connect and is located at arm component 6
7 two sides of clamp hand；Clamping jaw 73 is by after the workpiece holding in die casting machine, and humidifier 9 is to the upper mold station release agent spraying on die casting machine
And it dries up.
In the present embodiment, it is additionally provided with level detecting apparatus 65 on linking arm 64, be located on clamp hand 7 to level detecting apparatus 65
Side can be used for positioning clamp hand 7, it is ensured that clamp hand 7 accurately positions work when clamp hand 7 clamps workpiece to level detecting apparatus 65
Part and by workpiece holding.
The operation principle of the present invention is that:
Write the running track of robot in teaching machine 1, robot at work, the linking arm 64 of arm component 6
It drives clamp hand 7 to pass in and out the workpiece after being opened die casting machine in the work chamber of die casting machine to go out lower and carry；When arm component 6 needs
When back-and-forth motion, vertical drive motor 511 starts, and zigzag tread patterns wheel 512 is rotated with the output shaft of vertical drive motor 511, by
Fixed in long rails 2, rack gear 513 rolls and drives longitudinal slide unit 31 mobile zigzag tread patterns wheel 512 along longitudinal direction, on slide unit 31
Track 2 is mobile along longitudinal direction and drives cross track 4 on slide unit component 3, is set on cross track 4 for longitudinal roll wheel assembly 32
Arm component 6 be moved forward and backward；When arm component 6 needs to move left and right, horizontal drive motor 521 starts, laterally driven wheel
522 rotate with the output shaft of horizontal drive motor 521, and due to the limit of long rails 2, slide unit 31 is static with respect to long rails 2,
Laterally driven 522 driving cross track 4 of wheel is mobile and drives 6 transverse shifting of arm component；When the linking arm 64 of arm component 6 needs
When moving up and down, arm actuator 62 drives rocker arm 63 to rotate, and drives linking arm 64 to rotate while rocker arm 63 rotates.
The above is merely preferred embodiments of the present invention, be not intended to limit the invention, it is all in spirit of the invention and
Made any modification, equivalent replacement or improvement etc., should all be included in the protection scope of the present invention within principle.
Claims (10)
1. a kind of die casting robot characterized by comprising
Teaching machine；
Long rails；
Slide unit component is set to the long rails；
Cross track is set to the slide unit component；
Driving mechanism is connect with the longitudinal rail and the cross slide way；
Arm component is set to the cross track；
Clamp hand is set to the arm component；
Electric cabinet, is set to slide unit component, and the electric cabinet is electrically connected with the driving mechanism, arm component and clamp hand；
Wherein, under the control of the teaching machine, the driving mechanism drives the slide unit component longitudinal along the long rails
Mobile, the driving mechanism drives the cross track along slide unit component transverse shifting, and the arm component drives the clamp hand
Mobile, the clamp hand clamps workpiece；In slide unit component moving process, the electric cabinet is mobile with the slide unit component.
2. die casting robot according to claim 1, which is characterized in that the slide unit component includes slide unit, two longitudinal directions
Roll wheel assembly and two transverse-roller components；Two longitudinal roll wheel assemblies are divided into the slide unit along the length direction of the slide unit
Left plate and right side plate, longitudinal direction roll wheel assembly described in every group includes upper longitudinal roller group and lower longitudinal roller group, described vertical
It is set on two between longitudinal roller group and two lower longitudinal roller groups to track；Width of the two transverse-roller components along the slide unit
Degree direction is divided into the front side board and back side panel of the slide unit；Transverse-roller component described in every group include upper transverse-roller group and
Lower transverse-roller group, the cross track are set on two between transverse-roller group and two lower transverse-roller groups.
3. die casting robot according to claim 2, which is characterized in that the longitudinal direction roll wheel assembly further includes longitudinal leads
Wheel group, the longitudinal direction guide wheel group are set between upper longitudinal roller group and lower longitudinal roller group, and the long rails are set
Between upper longitudinal roller group, lower longitudinal roller group and longitudinal guide wheel group.
4. die casting robot according to claim 2, which is characterized in that the transverse-roller component further includes laterally leading
Wheel group, the transverse direction guide wheel group are set between the upper transverse-roller group and the lower transverse-roller group, and the cross track is set
Between the upper transverse-roller group, lower transverse-roller group and the lateral guide wheel group.
5. die casting robot according to claim 2, which is characterized in that below the front side board and back side panel of the slide unit
Equipped with hairbrush, the hairbrush is arranged along the long rails width direction, the shape and length of the hairbrush and longitudinal rail
Road adaptation.
6. die casting robot according to claim 5, which is characterized in that below the front side board and back side panel of the slide unit
Both ends are equipped with longitudinal scraping block, and the longitudinal direction scraping block is located on the outside of the hairbrush, the width of the longitudinal direction scraping block and the upper longitudinal direction
The width of roller group is adapted to.
7. die casting robot according to claim 1, which is characterized in that the driving mechanism includes zigzag tread patterns component
With laterally driven component, the zigzag tread patterns component includes vertical drive motor, zigzag tread patterns wheel and longitudinal rack, the longitudinal direction
Driving motor is set to the slide unit component, and the output axis connection of the zigzag tread patterns wheel and the vertical drive motor is described vertical
The long rails are set to rack gear and are arranged along the long rails length direction, the zigzag tread patterns wheel and longitudinal tooth
Item engagement；The laterally driven component includes horizontal drive motor, laterally driven wheel and horizontal tooth bar, the horizontal drive motor
Set on the slide unit component, the output axis connection of the laterally driven wheel and the horizontal drive motor, the horizontal tooth bar is set
It is arranged in the cross track and along the length direction of the cross track, the laterally driven wheel is nibbled with the horizontal tooth bar
It closes.
8. die casting robot according to claim 1, which is characterized in that the arm component includes arm seat, arm
Actuator, rocker arm and linking arm, the arm seat be set to the cross track, the arm actuator be set to the arm seat and
With it is described automatically controlled to being electrically connected, the rocker arm is connect with the arm actuator, and the linking arm is connect with the rocker arm.
9. die casting robot according to claim 8, which is characterized in that the clamp hand is connect with the linking arm, institute
Stating clamp hand includes clamping jaw cylinder, multiple clamping jaw adjusting blocks and multiple clamping jaws, and the clamping jaw adjusting block is connect with the clamping jaw cylinder,
A plurality of adjusting grooves are evenly equipped on the clamping jaw adjusting block, the clamping jaw is connect with the clamping jaw adjusting block, and the clamping jaw is close
The side of the clamping jaw adjusting block, which is equipped with, adjusts protrusion, and the clamping jaw is equipped with link slot, the adjusting along bottom along its length
Protrusion is placed in the adjusting grooves, and the bolt passes through the link slot and connect the clamping jaw with the clamping jaw adjusting block.
10. die casting robot according to claim 1, which is characterized in that it further include humidifier, the humidifier
It is connect with the arm component and is located at the clamp hand two sides.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910894094.4A CN110497380A (en) | 2019-09-20 | 2019-09-20 | A kind of die casting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910894094.4A CN110497380A (en) | 2019-09-20 | 2019-09-20 | A kind of die casting robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110497380A true CN110497380A (en) | 2019-11-26 |
Family
ID=68592349
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910894094.4A Pending CN110497380A (en) | 2019-09-20 | 2019-09-20 | A kind of die casting robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110497380A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113428594A (en) * | 2021-07-23 | 2021-09-24 | 力行亲和机器人科技(西安) 有限公司 | Running robot structure for narrow space |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN204868858U (en) * | 2015-08-20 | 2015-12-16 | 温州乐控节能科技有限公司 | Industrial machinery arm |
| CN105829034A (en) * | 2013-12-27 | 2016-08-03 | Thk株式会社 | Chuck |
| CN106424797A (en) * | 2015-08-06 | 2017-02-22 | 日睿股份有限公司 | Adjustable full-stroke clamp |
| CN206588966U (en) * | 2016-11-09 | 2017-10-27 | 东莞华懋精密机械科技有限公司 | A kind of machinery positioning clamping jaw |
| CN211639893U (en) * | 2019-09-20 | 2020-10-09 | 佛山市荞帆机电科技有限公司 | Robot for die-casting |
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- 2019-09-20 CN CN201910894094.4A patent/CN110497380A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105829034A (en) * | 2013-12-27 | 2016-08-03 | Thk株式会社 | Chuck |
| CN106424797A (en) * | 2015-08-06 | 2017-02-22 | 日睿股份有限公司 | Adjustable full-stroke clamp |
| CN204868858U (en) * | 2015-08-20 | 2015-12-16 | 温州乐控节能科技有限公司 | Industrial machinery arm |
| CN206588966U (en) * | 2016-11-09 | 2017-10-27 | 东莞华懋精密机械科技有限公司 | A kind of machinery positioning clamping jaw |
| CN211639893U (en) * | 2019-09-20 | 2020-10-09 | 佛山市荞帆机电科技有限公司 | Robot for die-casting |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113428594A (en) * | 2021-07-23 | 2021-09-24 | 力行亲和机器人科技(西安) 有限公司 | Running robot structure for narrow space |
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