CN110625091B - A casting taking out automatic equipment - Google Patents
A casting taking out automatic equipment Download PDFInfo
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- CN110625091B CN110625091B CN201911061201.1A CN201911061201A CN110625091B CN 110625091 B CN110625091 B CN 110625091B CN 201911061201 A CN201911061201 A CN 201911061201A CN 110625091 B CN110625091 B CN 110625091B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
- B22D17/00—Pressure die casting or injection die casting, i.e. casting in which the metal is forced into a mould under high pressure
- B22D17/20—Accessories: Details
- B22D17/22—Dies; Die plates; Die supports; Cooling equipment for dies; Accessories for loosening and ejecting castings from dies
- B22D17/2236—Equipment for loosening or ejecting castings from dies
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
- B22D18/00—Pressure casting; Vacuum casting
- B22D18/04—Low pressure casting, i.e. making use of pressures up to a few bars to fill the mould
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Specific Conveyance Elements (AREA)
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Abstract
本发明提供一种铸造取件自动化设备，包括压铸装置、机械手和输送带平台；机械手包括固定底座、转动底盘、大臂、小臂、手腕、夹持器，分别设有电机控制，夹持器安装在机械手的末端上；所述压铸装置包括压铸机架、滑轨、加热炉、压模模具、工件夹具、加热模具夹持器包括夹持器手指、传动装置、传动机构、电机；传动装置包括固定轴、连杆，固定轴固定在夹持器手指上，连杆连接固定轴以及连接传动机构；传动机构为锥齿轮组，包括三个锥齿轮。本发明结构合理，取放工件速度快，不会损坏工件，自动输送工件至下一加工工序。
The present invention provides a casting retrieval automation equipment, including a die-casting device, a manipulator and a conveyor belt platform; the manipulator includes a fixed base, a rotating chassis, a large arm, a small arm, a wrist, and a clamp, each of which is provided with a motor control, and the clamp is installed on the end of the manipulator; the die-casting device includes a die-casting frame, a slide rail, a heating furnace, a die die, a workpiece clamp, and a heating die clamp including a clamp finger, a transmission device, a transmission mechanism, and a motor; the transmission device includes a fixed shaft and a connecting rod, the fixed shaft is fixed on the clamp finger, the connecting rod is connected to the fixed shaft and the transmission mechanism; the transmission mechanism is a bevel gear set, including three bevel gears. The present invention has a reasonable structure, a fast speed of taking and placing workpieces, will not damage the workpieces, and automatically conveys the workpieces to the next processing step.
Description
Technical Field
The invention relates to the field of die casting equipment, in particular to automatic casting and taking equipment.
Background
The motor casing of the new energy automobile is mainly molded by adopting low-pressure casting, at present, domestic low-pressure casting factories are generally used for manually handling during the transportation process when the motor casing castings are assembled and disassembled and transported by workers through large iron tongs, and the degree of automation is not high.
The manual transportation needs to employ a large number of operators, so that the expenditure in the manual aspect is greatly increased, certain dangers exist, potential safety hazards are increased, the manual transportation is influenced by personnel quality factors, the equipment utilization rate is low, and the production efficiency of enterprises is seriously restricted. The automatic mechanical equipment is required to be designed, action of a human hand and an arm is simulated, a motor shell casting is clamped from a low-pressure casting machine tool through a fixed program, the prior art is such as China patent application No. CN201610641865.5, the bulletin day is 2018.07.10, automatic casting equipment is disclosed, the automatic casting equipment comprises a casting rack, a filter screen frame and a discharging frame, a mold underframe and a fixed supporting frame are arranged above the casting rack, a mold support is arranged below the casting rack, a net feeding bracket, a filter screen box and a cutting frame are arranged above the filter screen frame, a movable cylinder and a conveying support are arranged inside the filter screen frame, a guide frame is connected to the conveying support, a mold cavity and a side core support are arranged above the mold underframe, a movable frame and a top mold cylinder are arranged above the fixed supporting frame, a pressing plate, a connecting plate, a clamping cylinder and a clamping jaw are arranged below the fixed supporting frame, the structure is mainly formed by fixing the clamping jaw on the casting rack through driving the cylinder, but the automatic casting equipment is fixed on the casting rack, the casting equipment is inconvenient to move if the position of the casting rack is inconvenient to move, the whole casting equipment is convenient to detach the whole casting equipment from the casting rack due to the fact that the complicated casting equipment is convenient to repair and the complicated casting equipment is required to be maintained.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides automatic casting equipment for casting and taking workpieces, which has the advantages of simple structure, high workpiece taking and placing speed, convenience in carrying and automatic workpiece conveying.
In order to achieve the above purpose, the automatic casting and picking equipment comprises a die casting device, a manipulator and a conveyor platform which are mutually and independently fixed, wherein the conveyor platform is arranged on one side of the die casting device, the manipulator is arranged on one side of the die casting device, and the manipulator is arranged at a feeding end close to the conveyor platform;
the manipulator comprises a fixed base, a rotary chassis, a large arm, a small arm, a wrist and a clamp holder, wherein the clamp holder is arranged at the tail end of the manipulator;
a rotary chassis driving motor is arranged in the fixed base, the rotary chassis is arranged above the fixed base, the large arm is connected with the rotary chassis, a large arm driving motor is arranged at the joint of the rotary chassis and the large arm, the small arm is connected with the large arm, a small arm driving motor is arranged at the joint of the large arm and the small arm, the small arm is connected with the clamp holder, a clamp holder driving motor is arranged at the joint of the small arm and the clamp holder, and a forward and backward rotating motor is arranged on the clamp holder;
the die casting device comprises a die casting frame, a slide rail, a heating furnace, a pressing die, a workpiece holder and a heating die, wherein the slide rail is arranged below the die casting frame, the heating furnace is arranged on the slide rail, the workpiece holder which can be opened and closed is arranged in front of the manipulator on the die casting frame, the pressing die is arranged above the workpiece holder, the heating die is arranged between the workpiece holder and the die casting frame,
The conveying belt platform comprises a conveying frame, rollers, carrier rollers and a conveying belt, wherein a conveying motor is arranged at the discharging end of the conveying frame, the rollers are arranged at the feeding end of the conveying frame, the conveying motor is connected with the rollers through the conveying belt, and universal wheels are arranged at the bottom of the conveying frame;
The upper surface of the conveying belt is flush with the upper surface of the die casting frame.
The die casting device comprises a die casting device, a manipulator and a conveying platform, wherein the die casting device, the manipulator and the conveying platform are mutually independent, the manipulator is arranged on one side of the die casting device and is arranged at the feeding end of the conveying platform, the conveying platform is arranged on one side of the die casting device, universal wheels are further arranged at the bottom of a conveying rack of the conveying platform, so that the conveying platform can be conveniently moved and conveyed, three devices are independently arranged, the die casting device is convenient to convey, and is simple in structure, meanwhile, a die casting material is firstly placed into a clamp and is controlled to heat, a film pressing die descends to press a film, after a cast workpiece is molded, the heating furnace is stopped to heat, the clamp is opened, the manipulator clamps the workpiece from the clamp to be conveyed to the conveying platform for conveying, the whole process realizes automatic conveying, meanwhile, the manipulator is fixed on the ground through a fixed base, the rotation of a rotary chassis is realized through a rotary chassis driving motor, the rotation of a large arm and a small arm is realized through the rotation of the large arm driving motor, the small arm driving motor, the workpiece is finally clamped through the clamp, the workpiece is quickly taken out, and the driving motor is arranged at the joint, and the heating furnace is simple in structure, and meanwhile, the heating furnace of the die casting device can be moved on a slide rail, so that the die casting device can be conveniently conveyed along a rail or can be conveniently and maintained.
Further, the gripper also comprises a transmission device, a transmission mechanism and gripper fingers, wherein the transmission device is arranged on the gripper fingers and is connected with the transmission mechanism, and the transmission mechanism is connected with the forward and reverse rotation motor;
the transmission device comprises a rotating shaft, a fixed shaft and a connecting rod, wherein the fixed shaft is fixed on the finger of the holder, and the connecting rod is connected with the fixed shaft and the rotating shaft;
The transmission mechanism is a bevel gear group and comprises a first bevel gear, the first bevel gear and a third bevel gear are parallel to each other, the first bevel gear and the third bevel gear are respectively and vertically connected with a second bevel gear, one end of the first bevel gear and one end of the third bevel gear are connected with a rotation mechanism of the transmission device, the gear surfaces of the first bevel gear and the third bevel gear are respectively connected with the second bevel gear, and the second bevel gear is connected with a forward and backward rotation motor;
The device is simple in structure, the transmission mechanism adopts a bevel gear set, and the transmission mechanism is connected with the forward and reverse rotating motor through a second bevel gear to drive the first bevel gear and the third bevel gear to move so as to realize the opening and the closing of the gripper fingers, so that the preparation for clamping a workpiece can be ensured.
Further, the workpiece clamp comprises a left clamp assembly and a right clamp assembly, the left clamp assembly comprises a left bracket, a left support plate, a left clamp, a left driving shaft and a left driving device, the bottom of the left bracket is fixed on the upper surface of the die casting rack, a left shaft sleeve is arranged on the side surface of the left bracket, the left driving device is connected with one end of the left driving shaft, the other end of the left driving shaft penetrates through the left shaft sleeve to be connected with the left support plate, and the left clamp is fixed on one side, far away from the left bracket, of the left support plate;
The right clamp assembly comprises a right bracket, a right support plate, a right clamp, a right driving shaft and a right driving device, wherein the bottom of the right bracket is fixed on the upper surface of the die casting frame, a right shaft sleeve is arranged on the side surface of the right bracket, the right driving device is connected with one end of the right driving shaft, the other end of the right driving shaft penetrates through the right shaft sleeve to be connected with the right support plate, and the right clamp is fixed on one side, far away from the right bracket, of the right support plate;
The left clamp and the right clamp are buckled to form a cavity with openings at the upper end and the lower end;
above setting, work piece anchor clamps pass through left anchor clamps subassembly and right anchor clamps subassembly and constitute, and left anchor clamps subassembly passes through left socle to be fixed on the upper surface of die casting frame, drives left extension board and left anchor clamps motion through left drive arrangement drive left drive shaft and realizes the removal of left anchor clamps subassembly, and the removal of right anchor clamps subassembly is realized to the same principle, forms the cavity that is used for placing die casting material when left anchor clamps and right anchor clamps lock, this simple structure, and the stability that opens and shuts of left anchor clamps subassembly and right anchor clamps subassembly is good.
Further, the heating die is of a plate structure, the upper surface of the heating die is provided with a protruding part, the protruding part is matched with the lower end of the cavity, and the die casting material placed in the cavity can be heated better by arranging the protruding part matched with the cavity on the heating die;
Further, the compression mold comprises a compression mold support, a compression mold plate, a compression mold driving shaft and a compression mold driving device, wherein the bottom of the compression mold support is fixed on the upper surface of the compression mold frame through a compression mold supporting column, a compression mold shaft sleeve is arranged on the compression mold support, the compression mold driving device is connected with one end of the compression mold driving shaft, and the other end of the compression mold driving shaft is connected with the compression mold plate through the compression mold shaft sleeve;
The device drives the pressing die driving shaft through the pressing die driving device to drive the pressing die plate to move up and down on the pressing die support for die casting, and the structure stability is good.
Further, the transmission device further comprises a rotating shaft connecting seat and a fixed shaft connecting seat, a first connecting rod fixing hole is formed in the side wall of the rotating shaft connecting seat, a second connecting rod fixing hole is formed in the side wall of the fixed shaft connecting seat, the lower end of the rotating shaft is connected with the first bevel gear or the third bevel gear, the rotating shaft connecting seat is provided with a first fixing hole corresponding to the upper end of the rotating shaft, the upper end of the rotating shaft penetrates through the mounting hole to be rotationally connected with the first fixing hole and the connecting rod, a second fixed shaft is arranged at the upper end of the fixed shaft, a second fixing hole corresponding to the second fixed shaft is formed in the fixed shaft connecting seat, the second fixed shaft of the fixed shaft penetrates through the mounting hole to be fixedly connected with the second fixing hole and the connecting rod, and the lower end of the fixed shaft is fixed on a gripper finger;
Above setting, the axis of rotation passes through the rotation axis connecting seat and links to each other, and the fixed axle passes through the fixed axle connecting seat and links to each other, is equipped with the connecting rod on axis of rotation connecting seat and the fixed axle connecting seat for simple structure like this, and make things convenient for axis of rotation and fixed axle and connecting rod to be connected more reliably.
Further, the sliding rail comprises a sliding rail body, protruding parts are arranged at two ends of two side surfaces of the sliding rail body, a sliding device is arranged at the bottom of the heating furnace and comprises a rotating shaft and a sliding piece, shaft holes corresponding to the rotating shaft are formed in the sliding piece, two limiting plates are respectively arranged at two ends of the sliding piece, and the protruding parts are located between the two limiting plates;
above setting sets up the bellying on the slide rail, and the bellying is located between the limiting plate, makes the slider pull-type slip on the slide rail on the one hand, also can play certain restriction effect to the slider simultaneously.
Further, a lower margin nut is arranged at the bottom of the conveying frame of the conveying belt platform;
above setting is equipped with the rag nut owing to be equipped with in conveying platform's bottom to make conveying platform through the universal wheel support and restriction removal through the rag nut after removing.
Further, the left bracket comprises a first left support plate and a second left support plate, the first left support plate and the second left support plate form an L-shaped plate, left reinforcing plates are arranged on the front side and the rear side of the left bracket, and two adjacent edges of the left reinforcing plates are connected with the upper surfaces of the first left support plate and the second left support plate;
The right support comprises a first right support plate and a second right support plate, the first right support plate and the second right support plate form an L-shaped plate, right reinforcing plates are arranged on the front side and the rear side of the right support, and two adjacent edges of the right reinforcing plates are connected with the upper surfaces of the first right support plate and the second right support plate;
The left bracket and the right bracket are L-shaped plates, so that the pressure of the bracket to the die-casting frame is reduced, and the bracket is also convenient to fix on the die-casting frame.
Further, the surface of the left support plate connected with the left clamp is provided with more than two groups of first fixing grooves, each group of first fixing grooves comprises a first left fixing groove and a first right fixing groove, a gap is arranged between the first left fixing groove and the first right fixing groove, the first left fixing groove and the first right fixing groove are on the same horizontal line, and the more than two groups of first fixing grooves are arranged in parallel;
The surface of the right support plate, which is connected with the right clamp, is provided with more than two groups of second fixing grooves, each group of second fixing grooves comprises a second left fixing groove and a second right fixing groove, a gap is arranged between the second left fixing groove and the second right fixing groove, the second left fixing groove and the second right fixing groove are on the same horizontal line, and the more than two groups of second fixing grooves are arranged in parallel;
The setting above, because set up first fixed slot and second fixed slot respectively on left extension board and right extension board, realize fixed and the convenient anchor clamps of changing through the first fixed lug phase-match of fixed slot and left anchor clamps on the left socle, set up a plurality of fixed slots and a plurality of fixed slot parallel arrangement simultaneously, the adjustment of position about the convenient anchor clamps of realizing through the position of adjustment fixed slot.
Drawings
FIG. 1 is a schematic diagram of an automated casting apparatus for casting a cast article according to the present invention.
Fig. 2 is a schematic structural view of a die casting device in the present invention.
Fig. 3 is a schematic diagram showing a split structure of the die casting device in the present invention.
Fig. 4 is a schematic view of a conveyor belt platform structure according to the present invention.
Fig. 5 is a schematic view of a manipulator structure according to the present invention.
Fig. 6 is a schematic diagram of a manipulator splitting structure in the present invention.
Fig. 7 is a schematic diagram showing a detachable structure of the holder according to the present invention.
Fig. 8 is a schematic view of a bevel gear set connection structure in the holder of the present invention.
Fig. 9 is a schematic structural view of the left and right clamps in the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and the detailed description.
As shown in fig. 1-9, an automatic casting device for casting and picking up a part comprises a die casting device 1, a manipulator 3 and a conveyor platform 2 which are mutually and independently fixed, wherein the conveyor platform 2 is arranged on one side of the die casting device 1, the manipulator 3 is arranged on one side of the die casting device 1, and the manipulator 2 is arranged at a feeding end close to the conveyor platform 2;
The manipulator 3 comprises a fixed base 310, a rotary chassis 320, a large arm 330, a small arm 340 and a clamp 350, wherein the clamp 350 is arranged on the tail end of the manipulator 3;
The rotary chassis 320 is arranged above the fixed base 310, the large arm 330 is connected with the rotary chassis 320, the large arm driving motor 321 is arranged at the joint of the rotary chassis 320 and the large arm 330, the small arm 340 is connected with the large arm 330, the small arm driving motor 331 is arranged at the joint of the large arm 330 and the small arm 340, the small arm 340 is connected with the clamp 350, the clamp driving motor 341 is arranged at the joint of the small arm 340 and the clamp 350, the clamp 350 is provided with the forward and reverse rotation motor 352, in this embodiment, the large arm connecting rod 3411 is connected at one end of the small arm 340 connected with the large arm 330, the clamp connecting rod 3412 is arranged at the other end of the large arm connecting rod 3411, the other end of the clamp connecting rod 3412 is connected at the top of the clamp, and the damage to the clamp driving motor 341 caused by excessive torque of the clamped workpiece on the clamp is prevented by arranging the large arm connecting rod and the clamp connecting rod.
As shown in fig. 2-3 and 9, in this embodiment, the gripper 350 includes a gripper body 3501, a transmission device 3502, a transmission mechanism 3503 and a gripper finger 3504, the transmission device 3502 is mounted on the gripper finger 3504, the transmission device 3502 is connected with the transmission mechanism 3503, the transmission mechanism 3503 is connected with the forward and reverse rotation motor 352, a first groove 35011 extending towards the other end face is arranged on one end face of the gripper body 3501, the first groove 35011 is used for mounting the forward and reverse rotation motor 352, a fixed plate 35012 is arranged on a notch of the first groove 35011, the fixed plate 35012 is fixed on a notch of the first groove 35011 in a screw manner, a through hole 350121 corresponding to an output shaft of the forward and reverse rotation motor is arranged on the fixed plate 35012, the output shaft of the forward and reverse rotation motor 352 is connected with the transmission mechanism 3503 through the through hole 350121, two mounting plates 35013 extending away from the one end face are arranged on the other end face of the gripper body 3501, mounting plates 35013 are provided with mounting holes 350131, the transmission device is arranged on the mounting plates 350131, the transmission device 3502 is connected with the transmission mechanism 3503, and the transmission mechanism 3503 is connected with the forward and reverse rotation motor 352;
The transmission mechanism 3503 is a bevel gear set and comprises a first bevel gear 35031, a first bevel gear 35031 and a third bevel gear 35033 which are parallel to each other, the first bevel gear 35031 and the third bevel gear 35033 are respectively and vertically connected with a second bevel gear 35032, one end of the first bevel gear 35031 and one end of the third bevel gear 35033 are respectively connected with a rotating shaft in the transmission device 3502, gear surfaces of the first bevel gear 35031 and the third bevel gear 35033 are respectively connected with a second bevel gear 35032, and the second bevel gear 35032 is connected with a forward and reverse rotating motor 352;
the transmission unit 3502 comprises a rotating shaft 35021, a fixed shaft 35022, a connecting rod 35023, the fixed shaft 35022 is fixed on the finger 3504 of the gripper, and the connecting rod 35023 is connected with the fixed shaft 35022 and the rotating shaft 35021;
the transmission mechanism is driven to move through the rotation of the forward and reverse rotation motor, the transmission mechanism moves to drive the rotation of the transmission device to move, the rotation shaft drives the connecting rod to move to realize the opening and closing of the fingers of the clamp holder, the structure is simple, the transmission mechanism adopts a bevel gear set, the first bevel gear and the third bevel gear are driven to move through the connection of the second bevel gear and the forward and reverse rotation motor to realize the opening and closing of the fingers of the clamp holder, and the preparation for clamping a workpiece can be ensured.
Specifically, the transmission device 3502 further includes a rotating shaft connecting seat 350211 and a fixed shaft connecting seat 350221, a first connecting rod fixing hole 3502111 is provided on a side wall of the rotating shaft connecting seat 350211, a second connecting rod fixing hole 3502211 is provided on a side wall of the fixed shaft connecting seat 350221, a lower end of the rotating shaft 35021 is connected with the first bevel gear 35031 or the third bevel gear 35033, the rotating shaft connecting seat 350211 is provided with a first fixing hole 350211 corresponding to an upper end of the rotating shaft 350211, the upper end of the rotating shaft 350211 passes through the mounting hole to be rotationally connected with the first fixing hole 350211 and the connecting rod 35023, a second fixing hole 350211 corresponding to the second fixing shaft 350211 is provided on the fixed shaft connecting seat 350211, the second fixing shaft 350211 of the fixed shaft 3502 passes through the mounting hole 350211 to be fixedly connected with the second fixing hole 350211 and the connecting rod 35023, and a lower end of the fixed shaft 3502 is fixed on the gripper 3504;
The axis of rotation passes through the rotation axis connecting seat and links to each other, and the fixed axle passes through the fixed axle connecting seat and links to each other, is equipped with the connecting rod on rotation axis connecting seat and the fixed axle connecting seat for simple structure like this, and make things convenient for axis of rotation and fixed axle and connecting rod to be connected more reliably.
The die casting device 1 comprises a die casting frame 11, a slide rail 15, a heating furnace 14, a workpiece clamp 12, a die pressing die 13 and a heating die 16, wherein the slide rail 15 is arranged below the die casting frame 11, the slide rail 15 is provided with the heating furnace 14, the die casting frame 11 is provided with a workpiece clamp 12 which can be opened and closed and is positioned in front of the manipulator 3, the die pressing die 13 is arranged above the workpiece clamp 12, the heating die 16 is also arranged between the workpiece clamp 12 and the die casting frame 11,
The workpiece holder 12 comprises a left holder assembly 121 and a right holder assembly 122, the left holder assembly 121 comprises a left bracket 1211, a left support plate 1212, a left holder 1213, a left driving shaft 1214, and a left driving device (not shown in the figure), the bottom of the left bracket 1211 is fixed on the upper surface of the die casting frame 11, a left shaft sleeve (not shown in the figure) is arranged on the side surface of the left bracket 1212, the left driving device is connected with one end of the left driving shaft 1214, the other end of the left driving shaft 1214 passes through the left shaft sleeve 12121 to be connected with the left support plate 1212, and the left holder 1213 is fixed on one side of the left support plate 1212 far from the left bracket 1211;
the right clamp assembly 122 comprises a right bracket 1221, a right support plate 1222, a right clamp 1223, a right driving shaft 1224, and a right driving device (not shown in the figure), wherein the bottom of the right bracket 1222 is fixed on the upper surface of the die casting frame 11, a right shaft sleeve 12211 is arranged on the side surface of the right bracket 1221, the right driving device is connected with one end of the right driving shaft 1224, the other end of the right driving shaft 1224 passes through the right shaft sleeve 12211 to be connected with the right support plate 1222, and the right clamp 1223 is fixed on one side of the right support plate 1222 far from the right bracket 1221;
The left clamp 1213 and the right clamp 1223 are buckled to form a cavity with openings at the upper end and the lower end;
The left bracket 1211 comprises a first left support plate and a second left support plate, the first left support plate and the second left support plate form an L-shaped plate, left reinforcing plates 12112 are arranged on the front side and the rear side of the left bracket, and two adjacent edges of the left reinforcing plates are connected with the upper surfaces of the first left support plate and the second left support plate;
The right bracket 1221 includes a first right support plate and a second right support plate, where the first right support plate and the second right support plate form an L-shaped plate, right reinforcing plates 12212 are disposed on front and rear sides of the right bracket, and two adjacent edges of the right reinforcing plates 12212 are connected to upper surfaces of the first right support plate and the second right support plate;
The surface of the left support plate 1212 connected to the left clamp 1213 is provided with more than two groups of first fixing grooves 12121, each group of first fixing grooves 12121 comprises a first left fixing groove 121211 and a first right fixing groove 121212, a gap is arranged between the first left fixing groove 121211 and the first right fixing groove 121212, the first left fixing groove 121211 and the first right fixing groove 121212 are on the same horizontal line, and the more than two groups of first fixing grooves 12121 are arranged in parallel;
the surface of the right support plate 1222 connected with the right fixture 1223 is provided with more than two groups of second fixing grooves 12221, each group of second fixing grooves 12221 comprises a second left fixing groove and a second right fixing groove 122211, a gap is arranged between the second left fixing groove and the second right fixing groove 122211, the second left fixing groove and the second right fixing groove 122211 are on the same horizontal line, and the more than two groups of second fixing grooves are arranged in parallel;
Because the first fixing groove 12121 and the second fixing groove 12221 are respectively arranged on the left support plate 1212 and the right support plate 1222, the fixing is realized through the matching of the fixing groove on the left support plate 1212 and the first fixing convex block of the left clamp, the clamp is convenient to replace, and meanwhile, a plurality of fixing grooves are arranged in parallel, so that the adjustment of the upper and lower positions of the clamp is realized through the adjustment of the positions of the fixing grooves.
The heating die 16 is in a plate body structure, the upper surface of the heating die 16 is provided with a convex part 161, the convex part 161 is matched with the lower end of the cavity,
When the workpiece clamp needs to be moved, the left driving device drives the left driving shaft to drive the left support plate and the left clamp to move so as to realize movement of the left clamp assembly, the right clamp assembly is moved by the same principle, and a cavity for placing die casting materials is formed when the left clamp and the right clamp are buckled.
The die mold 13 comprises a die bracket 131, a die plate 132, a die driving shaft 133 and a die driving device (not shown in the figure), wherein the bottom of the die bracket 131 is fixed on the upper surface of the die frame 11 through a die supporting column, a die shaft sleeve 1311 is arranged on the die bracket 131, the die driving device (not shown in the figure) is connected with one end of the die driving shaft 133, and the other end of the die driving shaft 133 is connected with the die plate 132 through the die shaft sleeve 1311;
When the film pressing device works, the film pressing driving device drives the film pressing plate to move up and down on the film pressing support to perform die casting by driving the film pressing driving shaft, and the structure stability is good.
The sliding rail 15 comprises a sliding rail body 151, two ends of two side surfaces of the sliding rail body 151 are provided with protruding portions 1511, the bottom of the heating furnace 14 is provided with a sliding device 141, the sliding device 141 comprises a rotating shaft 1411 and a sliding piece 1412, shaft holes corresponding to the rotating shaft are formed in the sliding piece 1412, two limiting plates 14121 are respectively arranged at two ends of the sliding piece 1412, and the protruding portions are located between the two limiting plates 14121;
The conveying belt platform 2 comprises a conveying frame 21, rollers 22, a conveying belt 24 and a conveying motor 25, wherein the conveying motor 25 is arranged at the discharging end of the conveying frame 21, the rollers 22 are arranged at the feeding end of the conveying frame 21, the conveying motor 25 is connected with the rollers 22 through the conveying belt, and universal wheels 26 are arranged at the bottom of the conveying frame 21;
The upper surface of the conveyor belt 24 is flush with the upper surface of the die casting frame 11.
The bottom of the conveying frame 21 of the conveying belt platform 2 is also provided with a foot nut 27, and the height of the foot nut 27 is not smaller than that of the universal wheel, so that the universal wheel does not roll when the foot nut 27 is used.
The die casting device 1, the manipulator 2 and the conveying platform 2 are arranged independently, the manipulator 2 is arranged on one side of the die casting device 1 and is positioned at the feeding end of the conveying platform 2, the conveying platform 2 is arranged on one side of the die casting device 1, the universal wheels 26 are further arranged at the bottom of the conveying rack 21 of the conveying platform 2, so that the conveying platform can be conveniently moved and conveyed, three devices are independently arranged, the die casting device is convenient to convey, and is simple in structure, meanwhile, a die casting material is firstly put into a clamp, a heating furnace is controlled to heat, a film pressing mold descends to press a film, after a cast workpiece is molded, the heating furnace is stopped to heat, the clamp is opened, the manipulator clamps the workpiece from the clamp to be transported to the conveying platform for transportation, automatic conveying is realized in the whole process, meanwhile, the manipulator is fixed on the ground through a fixed base, the rotation of a rotary chassis driving motor is realized through a large arm and a small arm driving motor, the rotation of the large arm driving motor and the small arm driving motor is further realized, finally, the cast workpiece is clamped through a clamp, the clamp is fast in the workpiece taking speed, and the die casting device is arranged at a connecting position, and the heating furnace is simple in structure, and meanwhile, if the die casting device can be conveniently carried along a slide rail or a slide rail can be conveniently controlled to move along the heating rail.
Claims (8)
1. The automatic casting and picking equipment is characterized by comprising a die casting device, a manipulator and a conveyor platform which are mutually and independently fixed, wherein the conveyor platform is arranged on one side of the die casting device, the manipulator is arranged on one side of the die casting device, and the manipulator is arranged at a feeding end close to the conveyor platform;
the manipulator comprises a fixed base, a rotary chassis, a large arm, a small arm, a wrist and a clamp holder, wherein the clamp holder is arranged at the tail end of the manipulator;
a rotary chassis driving motor is arranged in the fixed base, the rotary chassis is arranged above the fixed base, the large arm is connected with the rotary chassis, a large arm driving motor is arranged at the joint of the rotary chassis and the large arm, the small arm is connected with the large arm, a small arm driving motor is arranged at the joint of the large arm and the small arm, the small arm is connected with the clamp holder, a clamp holder driving motor is arranged at the joint of the small arm and the clamp holder, and a forward and backward rotating motor is arranged on the clamp holder;
the die casting device comprises a die casting frame, a slide rail, a heating furnace, a pressing die, a workpiece holder and a heating die, wherein the slide rail is arranged below the die casting frame, the heating furnace is arranged on the slide rail, the workpiece holder which can be opened and closed is arranged in front of the manipulator on the die casting frame, the pressing die is arranged above the workpiece holder, the heating die is arranged between the workpiece holder and the die casting frame,
The conveying belt platform comprises a conveying frame, rollers, carrier rollers and a conveying belt, wherein a conveying motor is arranged at the discharging end of the conveying frame, the rollers are arranged at the feeding end of the conveying frame, the conveying motor is connected with the rollers through the conveying belt, and universal wheels are arranged at the bottom of the conveying frame;
the upper surface of the conveying belt is flush with the upper surface of the die casting frame;
The gripper comprises a gripper body, a transmission device, a transmission mechanism and gripper fingers, wherein the transmission device is arranged on the gripper fingers, the transmission device is connected with the transmission mechanism, the transmission mechanism is connected with a forward and reverse rotation motor, a first groove extending towards the other end face is arranged on one end face of the gripper body, the first groove is used for installing the forward and reverse rotation motor, a fixing plate is arranged on a notch of the first groove and is fixed on the notch of the first groove in a screw mode, a through hole corresponding to an output shaft of the forward and reverse rotation motor is arranged on the fixing plate, the output shaft of the forward and reverse rotation motor is connected with the transmission mechanism through the through hole, two mounting plates extending away from the one end face are arranged on the other end face of the gripper body, mounting holes are formed in the two mounting plates, the transmission device is arranged on the mounting plates, the transmission device is connected with the transmission mechanism, and the transmission mechanism is connected with the forward and reverse rotation motor;
The transmission mechanism is a bevel gear group and comprises a first bevel gear, the first bevel gear and a third bevel gear are parallel to each other, the first bevel gear and the third bevel gear are respectively and vertically connected with a second bevel gear, one end of the first bevel gear and one end of the third bevel gear are connected with a rotation mechanism of the transmission device, the gear surfaces of the first bevel gear and the third bevel gear are respectively connected with the second bevel gear, and the second bevel gear is connected with a forward and backward rotation motor;
the transmission device comprises a rotating shaft, a fixed shaft and a connecting rod, wherein the fixed shaft is fixed on the finger of the holder, and the connecting rod is connected with the fixed shaft and the rotating shaft;
The transmission device further comprises a rotating shaft connecting seat and a fixed shaft connecting seat, wherein a first connecting rod fixing hole is formed in the side wall of the rotating shaft connecting seat, a second connecting rod fixing hole is formed in the side wall of the fixed shaft connecting seat, the lower end of the rotating shaft is connected with a first bevel gear or a third bevel gear, the rotating shaft connecting seat is provided with a first fixing hole corresponding to the upper end of the rotating shaft, the upper end of the rotating shaft penetrates through the mounting hole to be rotationally connected with the first fixing hole and the connecting rod, a second fixing shaft is arranged at the upper end of the fixed shaft, a second fixing hole corresponding to the second fixing shaft is formed in the fixed shaft connecting seat, the second fixing shaft penetrates through the mounting hole to be fixedly connected with the second fixing hole and the connecting rod, the lower end of the fixed shaft is fixed on a gripper finger, the gripper finger comprises a first gripper finger part and a second gripper finger part, the lower end of the fixed shaft penetrates through the third fixing hole to be fixed by a bolt, a group of transmission device is arranged on the first bevel gear, a group of transmission device is arranged on the third bevel gear, two groups of transmission devices are arranged in each group of transmission device, the transmission device are connected through the rotating shaft connecting seat, the fixed shaft is connected with the fixed shaft through the fixed shaft connecting seat, and the fixed shaft is provided with the fixed shaft connecting seat.
2. The casting and picking automation equipment according to claim 1, wherein the workpiece clamp comprises a left clamp assembly and a right clamp assembly, the left clamp assembly comprises a left bracket, a left support plate, a left clamp, a left driving shaft and a left driving device, the bottom of the left bracket is fixed on the upper surface of the die casting frame, a left shaft sleeve is arranged on the side surface of the left bracket, the left driving device is connected with one end of the left driving shaft, the other end of the left driving shaft passes through the left shaft sleeve to be connected with the left support plate, and the left clamp is fixed on one side of the left support plate far away from the left bracket;
The right clamp assembly comprises a right bracket, a right support plate, a right clamp, a right driving shaft and a right driving device, wherein the bottom of the right bracket is fixed on the upper surface of the die casting frame, a right shaft sleeve is arranged on the side surface of the right bracket, the right driving device is connected with one end of the right driving shaft, the other end of the right driving shaft penetrates through the right shaft sleeve to be connected with the right support plate, and the right clamp is fixed on one side, far away from the right bracket, of the right support plate;
The left clamp and the right clamp are buckled to form a cavity with openings at the upper end and the lower end.
3. The automated casting and picking device according to claim 2, wherein the heating mold is of a plate structure, and a convex portion is arranged on the upper surface of the heating mold and matched with the lower end of the cavity.
4. The casting picking automation equipment of claim 1, wherein the die mold comprises a die support, a die plate, a die driving shaft and a die driving device, the bottom of the die support is fixed on the upper surface of the die casting frame through a die supporting column, a die shaft sleeve is arranged on the die support, the die driving device is connected with one end of the die driving shaft, and the other end of the die driving shaft is connected with the die plate through the die shaft sleeve.
5. The automatic casting and taking equipment according to claim 1, wherein the sliding rail comprises a sliding rail body, protruding parts are arranged at two ends of two side surfaces of the sliding rail body, a sliding device is arranged at the bottom of the heating furnace and comprises a rotating shaft and a sliding piece, shaft holes corresponding to the rotating shaft are formed in the sliding piece, a limiting plate is arranged at each of two ends of the sliding piece, and the protruding parts are located between the two limiting plates.
6. The automated casting extractor of claim 1, wherein the bottom of the conveyor frame of the conveyor belt platform is further provided with a wing nut.
7. The automated casting and picking device according to claim 2, wherein the left bracket comprises a first left support plate and a second left support plate, the first left support plate and the second left support plate form an L-shaped plate, left reinforcing plates are arranged on the front side and the rear side of the left bracket, and two adjacent edges of the left reinforcing plates are connected with the upper surfaces of the first left support plate and the second left support plate;
the right support comprises a first right support plate and a second right support plate, wherein the first right support plate and the second right support plate form an L-shaped plate, right reinforcing plates are arranged on the front side and the rear side of the right support, and two adjacent edges of each right reinforcing plate are connected with the upper surfaces of the first right support plate and the second right support plate.
8. The casting and picking automation equipment according to claim 2, wherein the surface of the left support plate connected with the left clamp is provided with more than two groups of first fixing grooves, each group of first fixing grooves comprises a first left fixing groove and a first right fixing groove, a gap is arranged between the first left fixing groove and the first right fixing groove, the first left fixing groove and the first right fixing groove are on the same horizontal line, and the more than two groups of first fixing grooves are arranged in parallel;
The surface of the right support plate, which is connected with the right clamp, is provided with more than two groups of second fixing grooves, each group of second fixing grooves comprises a second left fixing groove and a second right fixing groove, a gap is arranged between the second left fixing groove and the second right fixing groove, the second left fixing groove and the second right fixing groove are arranged on the same horizontal line, the more than two groups of second fixing grooves are arranged in parallel, and the right clamp is provided with more than one second left fixing convex block corresponding to the second left fixing groove and more than one second right fixing convex block corresponding to the second right fixing groove.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911061201.1A CN110625091B (en) | 2019-11-01 | 2019-11-01 | A casting taking out automatic equipment |
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| CN201911061201.1A CN110625091B (en) | 2019-11-01 | 2019-11-01 | A casting taking out automatic equipment |
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| CN111496217B (en) * | 2020-06-01 | 2024-10-15 | 昆山美和机械有限公司 | Automatic processing production line for high-precision multi-insert magnesium aluminum alloy castings |
| CN112059140B (en) * | 2020-08-18 | 2025-02-11 | 重庆登科金属制品有限公司 | A die casting mold extraction production line |
| CN114426211B (en) * | 2020-10-29 | 2024-06-14 | 唐山海容机器人应用技术研究院 | Automatic loading and unloading robot for box cargoes |
| CN114905608B (en) * | 2022-05-31 | 2023-11-14 | 江苏欧亿德新材料科技有限公司 | Refractory material die casting device that security is strong |
| CN115592085B (en) * | 2022-10-19 | 2023-05-26 | 山东泰展机电科技股份有限公司 | Pump shell preparation device of air pump |
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| CN210848268U (en) * | 2019-11-01 | 2020-06-26 | 华南理工大学广州学院 | Automatic casting and pickup equipment |
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| EP0993916B1 (en) * | 1998-10-15 | 2004-02-25 | Tecan Trading AG | Robot gripper |
| WO2015088655A1 (en) * | 2013-12-12 | 2015-06-18 | Covidien Lp | Gear train assemblies for robotic surgical systems |
| CN106825487B (en) * | 2017-02-22 | 2019-07-23 | 东莞市松庆智能自动化科技有限公司 | A kind of die casting is sprayed pickup automatic production line |
| CN208644039U (en) * | 2018-08-24 | 2019-03-26 | 新乡市长城铸钢有限公司 | A kind of novel low-pressure die casting plant |
| CN109622912B (en) * | 2019-01-04 | 2020-09-15 | 浙江吉盛机械有限公司 | Automatic die-casting forming production line and process for aluminum parts |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN210848268U (en) * | 2019-11-01 | 2020-06-26 | 华南理工大学广州学院 | Automatic casting and pickup equipment |
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