CN110640788A - Die-casting robotic arm - Google Patents

Die-casting robotic arm Download PDF

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Publication number
CN110640788A
CN110640788A CN201911032848.1A CN201911032848A CN110640788A CN 110640788 A CN110640788 A CN 110640788A CN 201911032848 A CN201911032848 A CN 201911032848A CN 110640788 A CN110640788 A CN 110640788A
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CN
China
Prior art keywords
driving rod
driving
chain
hawa
rod
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201911032848.1A
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Chinese (zh)
Inventor
林雲峰
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Dongguan Guokai Intelligent Manufacturing Co Ltd
Original Assignee
Dongguan Guokai Intelligent Manufacturing Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Dongguan Guokai Intelligent Manufacturing Co Ltd filed Critical Dongguan Guokai Intelligent Manufacturing Co Ltd
Priority to CN201911032848.1A priority Critical patent/CN110640788A/en
Publication of CN110640788A publication Critical patent/CN110640788A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B25J18/025—Arms extensible telescopic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0062—Lubrication 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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
    • H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Manipulator (AREA)

Abstract

The invention relates to the technical field of mechanical arms, in particular to a die-casting mechanical arm which comprises a cross beam and a driving rod, wherein the driving rod is connected with a driven rod in a sliding manner, the driving rod is connected with a group of transmission gears in a rotating manner, a Hawa chain is meshed between the two groups of transmission gears, and the cross beam is provided with a driving assembly; the driving assembly comprises a first sliding plate, the driving rod is provided with a first guide rail along the length direction of the driving rod, the first sliding plate is provided with a first sliding block, and the first sliding plate is fixedly connected with the Hawa chain; the beam is provided with a driving motor, and an output shaft of the driving motor is provided with a gear meshed with the rack; the first sliding block is provided with an oil nozzle which is communicated with an external oil tank through an oil pipe, and the oil pipe is provided with an oil pump; the driving rod is provided with a protective cover for covering the driving rod; the device also comprises a control module. The invention has the advantage of improving the working precision of the manipulator.

Description

Die-casting robotic arm
Technical Field
The invention relates to the technical field of mechanical arms, in particular to a die-casting mechanical arm.
Background
With the development of industrial intelligence, more and more automatic equipment is used as processing equipment to replace manpower; among the automation equipment, the most commonly used is the manipulator device that carries out the work piece displacement, especially in the die casting manipulator field, the manipulator can realize the upper and lower material work, very big manpower and time cost have been saved, however, because the die casting need spray the release agent in to the mould after the drawing of patterns, and then lead to the dust in the mould to fly upward, when more and more dust falls on the drive mechanism of manipulator, on the guide rail slider, the smoothness degree that can very big influence the manipulator action, reduce the work precision of manipulator.
Disclosure of Invention
In view of the above-mentioned deficiencies of the prior art, the present invention aims to provide a die-casting robot arm having an advantage of improving the working precision of the robot arm.
The technical purpose of the invention is realized by the following technical scheme: a die-casting mechanical arm comprises a cross beam and a driving rod, wherein the driving rod is connected with a driven rod in a sliding mode along the length direction of the driving rod, two ends of the driving rod are respectively connected with a group of transmission gears in a rotating mode, a Hawa chain is meshed between the two groups of transmission gears, the driven rod is fixedly connected with the Hawa chain, and the cross beam is provided with a driving assembly for synchronously driving the driving rod to slide and driving the Hawa chain to drive;
the driving assembly comprises a first sliding plate fixedly arranged on the cross beam, the driving rod is provided with a first guide rail along the length direction of the driving rod, the first sliding plate is provided with a first sliding block connected to the first guide rail in a sliding manner, and the first sliding plate is fixedly connected with the Hawa chain; the beam is provided with a driving motor, and an output shaft of the driving motor is provided with a gear meshed with the rack;
the side surface of the first sliding block is provided with an oil nozzle for spraying lubricating oil, the oil nozzle is communicated with an external oil tank through an oil pipe, and the oil pipe is provided with an oil pump;
the driving rod is provided with a protective cover for covering the driving rod;
the oil pump is electrically connected with the driving assembly.
Preferably, the gear is a helical gear, and the rack is a helical rack.
Preferably, any group of the transmission gears comprises two gears meshed with the Hawa chain, and the two gears are respectively and rotatably connected to two sides of the end part of the driving rod.
Preferably, the driving motor is a servo motor.
Preferably, the control module comprises a controller, and the model of the controller is an SC200 controller.
In conclusion, the invention has the following beneficial effects: when the manipulator works, the control module regulates and controls the driving motor to start, drives the gear to rotate, further drives the gear to be meshed with the rack, drives the driving rod to slide relative to the sliding plate, simultaneously, actively slides to drive the Hawa chain to transmit on the driving rod, thereby driving the driven rod arranged at the other side of the driving rod to slide along the driving rod, achieving the purpose of synchronously driving the driving rod and the driven rod to slide, meanwhile, the Hawa chain arranged on the driving rod drives the driving rod to slide relative to the bracket, and simultaneously, the driven rod is driven to slide relative to the driving rod under the action of the Hawa chain, the Hawa chain is a high-precision toothed chain, has the advantages of belt stability and chain transmission compactness, is economical, long in service life, high in bearing capacity, free of adding lubricating oil for maintenance and high in practicability; when the manipulator needs to be lubricated, the control module regulates and controls the oil pump to be started, and the lubricating oil in the oil tank is conveyed to the first sliding block through the oil pipe, so that the first guide rail and the first sliding block are lubricated; due to the arrangement of the protective cover, dust can be reduced from invading the first guide rail and the first slide block, so that the working precision of the manipulator is improved; the control module realizes automatic control of the manipulator, and improves the working precision and the processing quality.
Drawings
FIG. 1 is a schematic structural diagram of an embodiment of the present invention;
FIG. 2 is a schematic view of a shield according to an embodiment of the present invention;
FIG. 3 is another perspective view of the embodiment of the present invention with the shield hidden;
FIG. 4 is a partial schematic structural view of a cross beam and an active bar in an embodiment of the present invention;
FIG. 5 is a schematic structural view of an L-shaped plate and cross member in an embodiment of the present invention;
FIG. 6 is a schematic structural view of a first slide plate and a first slide block in an embodiment of the present invention;
fig. 7 is a connection relationship diagram in the embodiment of the present invention.
Reference numerals: 1. a cross beam; 11. a first slide plate; 12. a first slider; 2. a driving lever; 21. a transmission gear; 22. a Hawa chain; 23. a first guide rail; 24. a helical rack; 25. a second guide rail; 3. a driven lever; 31. a second slide plate; 32. a second slider; 4. a drive assembly; 41. a drive motor; 42. a helical gear; 5. an L-shaped plate; 51. a fixing plate; 52. a through hole; 6. a nozzle tip; 7. a shield; 8. an oil pump; 9. and a control module.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly or indirectly connected to the other element.
It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for convenience in describing and simplifying the description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit to the number of technical features indicated. Thus, a feature defined as "first", "second", may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.
A die-casting mechanical arm comprises a cross beam 1 and a driving rod 2, wherein the driving rod 2 is connected with a driven rod 3 in a sliding mode along the length direction of the driving rod 2, two ends of the driving rod 2 are respectively connected with a group of transmission gears 21 in a rotating mode, a Hawa chain 22 is meshed between the two groups of transmission gears 21, the driven rod 3 is fixedly connected with the Hawa chain 22, and the cross beam 1 is provided with a driving component 4 which synchronously drives the driving rod 2 to slide and drives the Hawa chain 22 to drive;
the driving assembly 4 comprises a first sliding plate 11 fixedly mounted on the cross beam 1, the driving rod 2 is provided with a first guide rail 23 along the length direction of the driving rod 2, the first sliding plate 11 is provided with a first sliding block 12 connected to the first guide rail 23 in a sliding manner, and the first sliding plate 11 is fixedly connected with the Hawa chain 22; the beam is characterized by further comprising a rack arranged along the length direction of the driving rod 2, the beam 1 is provided with a driving motor 41, and an output shaft of the driving motor 41 is provided with a gear meshed with the rack;
an oil nozzle 6 for spraying lubricating oil is installed on the side surface of the first sliding block 12, the oil nozzle 6 is communicated with an external oil tank (not shown) through an oil pipe (not shown), and the oil pipe is provided with an oil pump 8;
the driving rod 2 is provided with a protective cover 7 for coating the driving rod 2;
the oil pump and the drive assembly 4 are electrically connected with the control module 9 respectively, and the oil pump 8 is electrically connected with the control module 9.
When the manipulator works, the control module 9 regulates and controls the driving motor 41 to start, drives the gear to rotate, further the gear is meshed with the rack, drives the driving rod 2 to slide relative to the sliding plate, simultaneously, the driving rod 2 slides, drives the Hawa chain 22 to transmit on the driving rod 2, further drives the driven rod 3 arranged at the other side of the driving rod 2 to slide along the driving rod 2, so as to achieve the purpose of synchronously driving the driving rod 2 and the driven rod 3 to slide, simultaneously, the Hawa chain 22 arranged on the driving rod 2 transmits, so that the driving rod 2 slides relative to the bracket, simultaneously, the driven rod 3 slides relative to the driving rod 2 under the action of the Hawa chain 22, further, the purpose of free extension and retraction of the manipulator is achieved, so that the manipulator can grab, the Hawa chain 22 is a high-precision toothed chain, has the stability of a belt and the compact type of chain transmission, is economical and long in service life, and has larger, the maintenance is carried out without adding lubricating oil, and the practicability is strong; when the manipulator needs to be lubricated, the control module 9 regulates and controls the oil pump 8 to be started, so that lubricating oil in the oil tank is conveyed to the first sliding block 12 through the oil pipe, and the first guide rail 23 and the first sliding block 12 are further lubricated, and due to the arrangement of the structure, the first guide rail 23 is conveniently lubricated, the maintenance cost is reduced, the lubricating effect of the manipulator is improved, and the service life of the manipulator is prolonged; the arrangement of the shield 7 can reduce dust from invading the first guide rail 23 and the first slide block 12, thereby improving the working precision of the manipulator; the control module 9 realizes automatic control of the manipulator, and improves the working precision and the processing quality.
Specifically, an L-shaped plate 5 bent at 90 degrees is fixedly mounted at the end of the beam 1, the inner side surface of the L-shaped plate 5 comprises an inner vertical surface and an inner horizontal surface, the outer side surface of the L-shaped plate 5 comprises an outer vertical surface and an outer horizontal surface, and the side surface and the end surface of the beam 1 are respectively parallel to the inner vertical surface and the inner horizontal surface of the L-shaped plate 5; the driving rod 2 is connected to the outer vertical surface of the L-shaped plate 5 in a sliding mode, and the cross beam 1 and the driving rod 2 are perpendicular to each other.
When the beam 1 and the driving rod 2 are installed, firstly, the inner side surface of the L-shaped plate 5 is correspondingly installed at the end part of the beam 1, so that the side surface and the end surface of the beam 1 are respectively parallel to the inner vertical surface and the inner horizontal surface of the L-shaped plate 5, and then the driving rod 2 is connected to the L-shaped plate 5 in a sliding manner; the L-shaped plate 5 that sets up like this is 90 buckles because of L-shaped plate 5 self, so when arbitrary face and crossbeam 1's interior vertical face or interior horizontal plane laminating in the medial surface of L-shaped plate 5, its another face all is perpendicular with crossbeam 1's terminal surface or side, installs the laminating of driving lever 2 in L-shaped plate 5's another face again, can guarantee the straightness that hangs down between crossbeam 1 and the driving lever 2, and then improves the precision of manipulator.
Specifically, the inner vertical surface of the L-shaped plate 5 is provided with a fixing plate 51, and the fixing plate 51 and the cross beam 1 are provided with through holes 52 for inserting bolts. In the present embodiment, by providing bolts, it is convenient for a worker to mount and dismount the L-shaped plate 5.
Specifically, the gear is a helical gear 42, and the rack is a helical rack 24. The helical gear 42 is meshed with helical teeth, and compared with a straight gear and a straight rack, the meshing contact area is larger, the transmission efficiency is higher, and the transmission is more stable.
Specifically, any one group of the transmission gears 21 comprises two gears meshed with the Hawa chain 22, and the two gears are respectively and rotatably connected to two sides of the end part of the driving rod 2.
Specifically, the driving rod 2 is further provided with a second guide rail 25 along the length direction of the driving rod 2, the driven rod 3 is fixedly connected with a second sliding plate 31, the second sliding plate 31 is provided with a second sliding block which is connected to the second guide rail 25 in a sliding manner, and an oil nozzle 6 used for spraying lubricating oil is also installed on the side surface of the second sliding block 31. The second slide block is matched with the second guide rail 25, so that the sliding fluency between the driven rod 3 and the driving rod 2 is improved.
Specifically, the driving motor 41 is a servo motor. The working precision of the servo motor is high.
Specifically, the control module 9 includes a controller, and the model of the controller is an SC200 controller. In addition, the control module 9 further includes a plurality of displacement sensors (not shown in the figure), so as to realize fixed-length extension and retraction of the mechanical arm and realize accurate control.
The above-mentioned embodiments are merely illustrative and not restrictive, and those skilled in the art can make modifications to the embodiments without inventive contribution as required after reading the present specification, but only protected by the patent laws within the scope of the claims.

Claims (5)

1. The die-casting mechanical arm is characterized in that: the device comprises a cross beam and a driving rod, wherein the driving rod is connected with a driven rod in a sliding manner along the length direction of the driving rod, two ends of the driving rod are respectively connected with a group of transmission gears in a rotating manner, a Hawa chain is meshed between the two groups of transmission gears, the driven rod is fixedly connected with the Hawa chain, and the cross beam is provided with a driving component for synchronously driving the driving rod to slide and the Hawa chain to drive;
the driving assembly comprises a first sliding plate fixedly arranged on the cross beam, the driving rod is provided with a first guide rail along the length direction of the driving rod, the first sliding plate is provided with a first sliding block connected to the first guide rail in a sliding manner, and the first sliding plate is fixedly connected with the Hawa chain; the beam is provided with a driving motor, and an output shaft of the driving motor is provided with a gear meshed with the rack;
the side surface of the first sliding block is provided with an oil nozzle for spraying lubricating oil, the oil nozzle is communicated with an external oil tank through an oil pipe, and the oil pipe is provided with an oil pump;
the driving rod is provided with a protective cover for covering the driving rod;
the oil pump is electrically connected with the driving assembly.
2. A die-cast robot arm as claimed in claim 1, wherein: the gear is a helical gear, and the rack is a helical rack.
3. A die-cast robot arm as claimed in claim 2, wherein: any group of the transmission gears comprises two gears meshed with the Hawa chain, and the two gears are respectively and rotatably connected to two sides of the end part of the driving rod.
4. A die-cast robot arm as claimed in claim 3, wherein: the driving motor is a servo motor.
5. The die-casting robot arm as claimed in claim 4, wherein: the control module comprises a controller, and the model of the controller is an SC200 controller.
CN201911032848.1A 2019-10-28 2019-10-28 Die-casting robotic arm Pending CN110640788A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201911032848.1A CN110640788A (en) 2019-10-28 2019-10-28 Die-casting robotic arm

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201911032848.1A CN110640788A (en) 2019-10-28 2019-10-28 Die-casting robotic arm

Publications (1)

Publication Number Publication Date
CN110640788A true CN110640788A (en) 2020-01-03

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Family Applications (1)

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CN201911032848.1A Pending CN110640788A (en) 2019-10-28 2019-10-28 Die-casting robotic arm

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CN (1) CN110640788A (en)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5125789A (en) * 1990-01-02 1992-06-30 Peerless Automation Molded parts removal and transfer robot
CN104029194A (en) * 2014-06-18 2014-09-10 宁波伟立机器人科技有限公司 Hybrid type industrial robot
CN104723516A (en) * 2015-03-31 2015-06-24 宁波伟立机器人科技有限公司 Span shaft mechanical hand
CN207682382U (en) * 2017-12-24 2018-08-03 昆山新科之星自动化科技有限公司 A kind of Die-casting Machines hand both arms handle composite assemble mechanism
CN109397257A (en) * 2017-08-15 2019-03-01 深圳市炫硕智造技术有限公司 The Z axis telecontrol equipment of manipulator

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5125789A (en) * 1990-01-02 1992-06-30 Peerless Automation Molded parts removal and transfer robot
CN104029194A (en) * 2014-06-18 2014-09-10 宁波伟立机器人科技有限公司 Hybrid type industrial robot
CN104723516A (en) * 2015-03-31 2015-06-24 宁波伟立机器人科技有限公司 Span shaft mechanical hand
CN109397257A (en) * 2017-08-15 2019-03-01 深圳市炫硕智造技术有限公司 The Z axis telecontrol equipment of manipulator
CN207682382U (en) * 2017-12-24 2018-08-03 昆山新科之星自动化科技有限公司 A kind of Die-casting Machines hand both arms handle composite assemble mechanism

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Application publication date: 20200103

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