CN114082918B - A manipulator and robot for die-casting processing - Google Patents
A manipulator and robot for die-casting processing Download PDFInfo
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- CN114082918B CN114082918B CN202111427164.9A CN202111427164A CN114082918B CN 114082918 B CN114082918 B CN 114082918B CN 202111427164 A CN202111427164 A CN 202111427164A CN 114082918 B CN114082918 B CN 114082918B
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- die
- telescopic
- thimble
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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
- 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
- B22D17/2084—Manipulating or transferring devices for evacuating cast pieces
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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
- B22D17/2218—Cooling or heating equipment for dies
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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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Nozzles (AREA)
- Casting Devices For Molds (AREA)
Abstract
The invention provides a mechanical arm and a robot for die-casting processing, which comprise a fixed die, a movable die and a multipurpose mechanical arm, wherein the fixed die and the movable die are matched to form a forming cavity for die-casting, spray holes at the top end of a spray telescopic thimble are communicated with a liquid inlet hole formed in the side edge of the spray telescopic thimble, a reset push plate is movably abutted against one end of the telescopic clamping thimble and one end of the spray telescopic thimble, which are close to a fixed cooling spray head, and an air supply cabin is communicated with an air supply valve arranged on the side wall of a shell.
Description
Technical Field
The invention relates to the technical field of die-casting workpiece taking manipulators, in particular to a manipulator and a robot for die-casting processing.
Background
In the prior art, a control method of a die-casting six-axis manipulator with publication number "CN103894583B" includes a manipulator arm, the manipulator arm is provided with a transverse moving part, a drawing part, a positive arm part and an auxiliary arm part, the positive arm part is provided with a part-taking clamping jaw, and a die-casting six-axis manipulator control system is provided, the control system includes a manipulator arm motion control device and a servo control spray recovery device, and the method includes the following steps: arranging a mechanical arm motion state control device; arranging a mechanical arm servo driving device; setting a servo control spray recovery device; the die-casting six-axis manipulator control system and the die-casting machine are started, the data acquisition unit acquires real-time motion data of the manipulator, the real-time motion data are transmitted to the computer to draw a motion track, correction information is obtained and fed back to the servo control single chip microcomputer, the motion of the manipulator is corrected, and the space motion and the precision of the manipulator in the dynamic state are accurately controlled.
However, the control method of the die-casting six-axis manipulator still has obvious defects in the use process: 1. the device realizes clamping and taking of the die-casting formed part through the mechanical arm, the die-casting formed part is usually of a special-shaped structure, so that the manipulator is difficult to clamp in the clamping process and is influenced by the plate changing of the mold, the clamping manipulator needs to adjust a clamping point according to the influence of the plate changing mold, the debugging burden is increased, and the die-casting formed raw material is usually an iron-free alloy material with relatively low hardness, so that the formed part is easily damaged due to overlarge clamping force in the clamping and taking process, and the quality of the formed part is further influenced; 2. the function of the device is single, only the clamping of die casting finished piece can be carried out and the piece is got, and in the die casting process, the surface of mould spraying department is under high temperature gradient all the time, the thermal shock that its surface receives is very big, so big temperature gradient is harm mould life-span, reduce one of the reasons of foundry goods product performance, consequently press from both sides the clearance at the clamp of formed piece, the mode that can adopt the spraying cooling usually carries out the spraying cooling to fixed mould and movable mould, and the spraying cooling among the prior art is got with the centre gripping and is got the piece and adopt different arms to realize usually, thereby the time of getting piece and spraying has been prolonged to the two cross work, and owing to adopt different arms, and then mechanical cost has been increased.
Disclosure of Invention
The invention aims to provide a manipulator and a robot for die-casting processing, so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
a mechanical arm for die-casting processing comprises a fixed die, a movable die and a multipurpose mechanical arm, wherein the fixed die and the movable die are matched to form a forming cavity for die-casting, blanking push rods respectively connected to different telescopic cylinders are movably inserted into the upper side and the lower side of the fixed die, and the multipurpose mechanical arm is movably connected to the working end of the mechanical arm;
the multipurpose manipulator comprises a shell, a plurality of fixed cooling spray heads are arranged on the shell on one side of the movable die in a rectangular array manner, the fixed cooling spray heads are all communicated with a first liquid supply chamber arranged in the shell, a plurality of telescopic clamping thimbles and telescopic spraying thimbles are inserted in the shell on one side of the multipurpose manipulator, which is far away from the fixed cooling spray heads, spray holes are formed in one ends of the telescopic spraying thimbles, which are far away from the fixed cooling spray heads, respectively, the spray holes in the top ends of the telescopic spraying thimbles are communicated with liquid inlet holes formed in the side edges of the telescopic spraying thimbles, the telescopic spraying thimbles are inserted in a second liquid supply chamber in a penetrating manner, the liquid inlet holes formed in the side edges of the telescopic spraying thimbles are movably matched with the second liquid supply chamber, a reset push plate is arranged in the shell on one side, which is far away from the spray holes of the telescopic spraying thimbles, the reset push plate movably abuts against one end, which is close to the fixed cooling spray telescopic clamping thimbles, one end of the reset push plate, is fixedly connected with a reset air bag, and the reset air bag is communicated with an air supply chamber formed in the shell;
first feed liquor room, second feed liquor room all communicate with the feed liquor valve that the casing lateral wall set up, the feed liquor valve passes through feed pipe and external feed liquid pump intercommunication, the air feed cabin communicates with the air feed valve that the casing lateral wall set up, the air feed valve passes through air supply pipe and external gassing pump intercommunication.
Preferably, the outer parts of the telescopic clamping ejector pin and the spraying telescopic ejector pin are wrapped by rubber layers.
Preferably, slide bar holes are further formed in two sides of the reset pushing plate, translation slide bars are inserted into the slide bar holes, and two ends of each translation slide bar are fixedly connected to the inner wall of the shell.
A robot for die-casting processing comprises a mechanical clamp for lossless blanking of a die-casting body, wherein the mechanical clamp adopts the mechanical arm for die-casting processing.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, the material is supported by adopting a thimble stretching mode, the traditional clamping type material taking mode is abandoned, and in the transfer process of the molding material, the molding material is prevented from displacing by adopting the fence type telescopic clamping thimble and the spraying telescopic thimble at the edge profile of the molding material, so that the limit mode is not influenced by the shape of the molding part, and the mold can still be adapted after being changed for multiple times, thereby greatly reducing the machine debugging time and reducing the damage rate of the molding part in the transfer process;
2. in addition, the spraying telescopic ejector pins can intelligently identify whether the spraying telescopic ejector pins are shielded by the formed part or not, and further automatically stop the spraying work of the corresponding area.
The invention adopts the thimble stretching mode to realize the material bearing, and the limit is carried out by adopting the fence type stretching clamping thimble and the spraying stretching thimble at the edge outline of the molding material, thereby preventing the molding material from generating displacement.
Drawings
FIG. 1 is a schematic view of the multi-purpose robot picking and spraying process of the present invention;
FIG. 2 is a schematic view of the multipurpose manipulator mounting structure of the present invention;
FIG. 3 is a schematic cross-sectional view of the internal structure of the multi-purpose robot of the present invention;
FIG. 4 is a schematic view of the structure of the invention in which the reset push plate is matched with the retractable clamping thimble and the spray retractable thimble;
FIG. 5 is an enlarged view of the area A of the present invention;
FIG. 6 is an enlarged view of the area B of the present invention;
fig. 7 is an enlarged structural diagram of the region C according to the present invention.
In the figure: the device comprises a fixed die 1, a movable die 2, a multi-purpose manipulator 3, a discharging push rod 4, a mechanical arm 5, a shell 6, a fixed cooling spray head 7, a first liquid supply chamber 8, a telescopic clamping thimble 9, a telescopic spraying thimble 10, a spraying hole 11, a liquid inlet hole 12, a second liquid supply chamber 13, a resetting push plate 14, a resetting air bag 15, an air supply chamber 16, a liquid inlet valve 17, a liquid supply pipe 18, an air supply valve 19, an air supply pipe 20, a translation slide rod 21 and a formed part 22.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example (b):
referring to fig. 1-7, the present invention provides a technical solution:
the first embodiment is as follows:
a mechanical arm for die-casting processing comprises a fixed die 1, a movable die 2 and a multipurpose mechanical arm 3, wherein the fixed die 1 and the movable die 2 are matched to form a forming cavity for die-casting, blanking push rods 4 respectively connected to different telescopic cylinders are movably inserted into the upper side and the lower side of the fixed die 1, and the multipurpose mechanical arm 3 is movably connected to the working end of a mechanical arm 5;
the multipurpose manipulator 3 comprises a shell 6, a plurality of fixed cooling spray heads 7 are arranged on the shell 6 on one side of the movable mold 2 in a rectangular array manner, the plurality of fixed cooling spray heads 7 are all communicated with a first liquid supply chamber 8 arranged in the shell 6, a plurality of telescopic clamping thimbles 9 and telescopic spraying thimbles 10 are inserted in the shell 6 on one side, away from the fixed cooling spray heads 7, of the multipurpose manipulator 3 in an array manner, spraying holes 11 are formed in one ends, away from the fixed cooling spray heads 7, of the telescopic spraying thimbles 10, the spraying holes 11 in the top ends of the telescopic spraying thimbles 10 are all communicated with liquid inlet holes 12 formed in the side edges of the spraying telescopic thimbles 12, the telescopic spraying thimbles 10 are all inserted in a penetrating manner in a second liquid supply chamber 13, the liquid inlet holes 12 formed in the side edges of the telescopic spraying thimbles 10 are all movably matched with the second liquid supply chamber 13, a resetting push plate 14 is arranged in the shell 6 in a translation manner on one side, away from the spraying holes 11 of the telescopic spraying thimbles 10, the resetting push plate 14 movably abuts against one ends, close to the clamping thimbles 9 and the fixed cooling spray telescopic spraying thimbles 7, one ends of the resetting air bag 15, and an air supply chamber 16 in the resetting air bag 6 is formed in the resetting air bag 6;
the first liquid supply chamber 8 and the second liquid supply chamber 13 are both communicated with a liquid inlet valve 17 arranged on the side wall of the shell 6, the liquid inlet valve 17 is communicated with an external liquid supply pump through a liquid supply pipe 18, the air supply cabin 16 is communicated with an air supply valve 19 arranged on the side wall of the shell 6, and the air supply valve 19 is communicated with an external air charging and discharging pump through an air supply pipe 20.
In this embodiment, the fixed mold 1 and the movable mold 2 cooperate to form a forming cavity for die-casting, a molten metal solution is die-cast into the forming cavity through a die-casting device, thereby forming a formed part, after the forming is completed, the formed part is exposed in the air through the separation of the fixed mold 1 and the movable mold 2, so as to be taken down through the multipurpose manipulator 3, the mechanical arm 5 realizes the taking and spraying cooling operation through driving the multipurpose manipulator 3, the fixed mold 1 and the movable mold 2 are cooled by using the cooling solution jetted from the fixed cooling nozzle 7 and the spraying telescopic thimble 10, meanwhile, the formed part is supported and separated by using the telescopic clamping thimble 9 and the spraying telescopic thimble 10, the reset air bag 15 stretches and retracts to drive the reset push plate 14, the reset push plate 14 stretches and retracts to extrude and reset the telescopic clamping thimble 9 and the spraying telescopic thimble 10 in an extrusion state, thereby the formed part is pushed down by using the thrust in the extrusion process, thereby completing the unloading operation, and realizing the supply of gas or liquid by using an external charging and discharging pump.
Example two:
in this embodiment, the rubber layers are wrapped outside the retractable clamping thimble 9 and the spray retractable thimble 10, and the rubber layers are wrapped to increase the friction between the retractable clamping thimble 9 and the spray retractable thimble 10 and the housing forming hole by the arrangement of the wrapped rubber layers, so as to ensure that the retractable clamping thimble 9 and the spray retractable thimble 10 can keep the state in the extrusion state, and meanwhile, because the spray retractable thimble 10 is movably matched with the second liquid supply chamber 13, the arrangement of the rubber layers can further ensure the tightness between the matching holes, and prevent the liquid from overflowing around the spray retractable thimble 10 in a large amount in the spray state.
Example three:
in this embodiment, two sides of the reset pushing plate 14 are further provided with slide rod holes, translation slide rods 21 are inserted in the slide rod holes, two ends of each translation slide rod 21 are fixedly connected to the inner wall of the shell 6, and the slide rod holes are matched with the translation slide rods 21, so that the stability of the reset pushing plate 14 in the telescoping process is ensured.
A robot for die-casting processing comprises a mechanical clamp for lossless blanking of a die-casting body, wherein the mechanical clamp adopts the mechanical arm for die-casting processing.
The working steps are as follows:
the method comprises the following steps: forming a forming cavity for die-casting by matching the fixed die 1 and the movable die 2, and die-casting the molten metal solution into the forming cavity by using a die-casting device so as to form a formed part;
step two: controlling the movable die 2 to be separated from the fixed die 1 through a hydraulic telescopic device connected to the movable die 2, so that the formed part is exposed to the external environment;
step three: the multipurpose manipulator 3 is driven by the mechanical arm 5 to enable one side of the telescopic clamping thimble 9 and the spraying telescopic thimble 10 to move towards one side of the fixed mould 1 where the formed part is located, so that the formed part is completely located in an area covered by the telescopic clamping thimble 9 and the spraying telescopic thimble 10;
step four: the mechanical arm 5 controls the multi-purpose mechanical arm 3 to horizontally move, so that the telescopic clamping thimble 9 and the spraying telescopic thimble 10 are in contact with the formed part, and the telescopic clamping thimble 9 and the spraying telescopic thimble 10 are gradually close to the formed part 22 to shrink towards the inside of the shell 6 under the supporting state of the formed part in the fixed die 1, so that the formed part 22 is borne;
step five: the upper and lower sides of the fixed mold 1 are movably inserted with the blanking push rods 4 to respectively push the formed part 22 in the upper and lower directions, so that the formed part 22 is separated from the cavity of the fixed mold 1, after the formed part 22 is separated from the cavity, the upper blanking push rod 4 is continuously pushed forwards, at the moment, the mechanical arm 5 controls the multipurpose manipulator 3 to turn over to one side of the movable mold 2 at a certain angle, so that the formed part 22 is completely borne on the multipurpose manipulator 3, and the edge profile of the formed part 22 is limited by adopting a fence type telescopic clamping thimble 9 and a spraying telescopic thimble 10, so that the formed part is prevented from displacing;
step six: after the molding material 22 is completely loaded, pumping a cooling solution into the first liquid supply chamber 8 and the second liquid supply chamber 13 through the liquid supply pipe 18, and finally enabling the cooling solution to be sprayed out through the fixed cooling spray head 7 and the non-extruded spray telescopic ejector pins 10 around the molding part 22, so that the non-shielding spray cooling between the fixed mold 1 and the movable mold 2 is completed, and in the process, the mechanical arm 5 drives the multi-purpose manipulator 3 to move up and down in a reciprocating manner, so that the full coverage of the spray is ensured;
step seven: after spraying the completion, arm 5 shifts out the clearance of fixed mould 1 and movable mould 2, utilize air supply pipe 20 to aerify in the air feed cabin 16, thereby make the gasbag 15 that resets expand, and then drive the slurcam 14 that resets and remove to being close to flexible centre gripping thimble 9 and spraying flexible thimble 10 one side, overturn downwards under the effect of arm 5 along with multipurpose manipulator 3 this moment, and flexible centre gripping thimble 9 and spray under the promotion of flexible thimble 10, formed part 22 breaks away from multipurpose manipulator 3, thereby accomplish and unload, flexible centre gripping thimble 9 and spray flexible thimble 10 and resume initial state this moment, thereby external inflation and deflation pump outwards exhausts once more and realizes resetting of slurcam 14, and then prepare next work flow.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (4)
1. The utility model provides a manipulator for die-casting processing, includes fixed mould (1), movable mould (2) and multipurpose manipulator (3), its characterized in that: the multi-purpose manipulator is characterized in that the fixed die (1) and the movable die (2) are matched to form a forming cavity for die casting, blanking push rods (4) respectively connected to different telescopic cylinders are movably inserted into the upper side and the lower side of the fixed die (1), and the multi-purpose manipulator (3) is movably connected to the working end of the manipulator (5);
the multipurpose manipulator (3) comprises a shell (6), a plurality of fixed cooling spray heads (7) are arranged on the shell (6) on one side of the movable mould (2) in a rectangular array manner, the fixed cooling spray heads (7) are communicated with a first liquid supply chamber (8) arranged in the shell (6), the multipurpose manipulator (3) is far away from the shell (6) on one side of the fixed cooling spray heads (7) in an array manner, a plurality of telescopic clamping thimbles (9) and spraying telescopic thimbles (10) are inserted, one end of the spraying telescopic thimbles (10) far away from the fixed cooling spray heads (7) is provided with a spraying hole (11), the spraying hole (11) on the top end of the spraying telescopic thimbles (10) is communicated with a liquid inlet hole (12) arranged on the side of the spraying telescopic thimbles (10), the spraying telescopic thimbles (10) are inserted into a second liquid supply chamber (13), the liquid inlet hole (12) arranged on the side of the spraying telescopic thimbles (10) is movably matched with the second liquid supply chamber (13), the spraying telescopic thimbles (10) are movably abutted against the inner part of the movable thimbles (7) on one side of the fixed cooling spray thimble (10), and a movable thimble plate (14) which is close to the movable thimble (7) and a movable thimble plate which is arranged on one side of the movable thimble (10), one end of the reset pushing plate (14) far away from the spray telescopic thimble (10) is fixedly connected with a reset air bag (15), and the reset air bag (15) is communicated with an air supply cabin (16) arranged in the shell (6);
first confession liquid room (8), second confession liquid room (13) all communicate with feed liquor valve (17) that casing (6) lateral wall set up, feed liquor valve (17) are through liquid feed pipe (18) and external liquid feed pump intercommunication, air feed cabin (16) and air feed valve (19) intercommunication that casing (6) lateral wall set up, air feed valve (19) are through air supply pipe (20) and external air charge and discharge pump intercommunication.
2. The robot hand for die casting according to claim 1, wherein: the outsides of the telescopic clamping thimble (9) and the spraying telescopic thimble (10) are wrapped by rubber layers.
3. The robot hand for die casting according to claim 1, wherein: slide bar holes are further formed in the two sides of the reset pushing plate (14), translation slide bars (21) are inserted into the slide bar holes, and the two ends of each translation slide bar (21) are fixedly connected to the inner wall of the shell (6).
4. The utility model provides a robot for die-casting processing, includes the mechanical fixture who is used for carrying out the harmless unloading of die-casting body, its characterized in that: the mechanical clamp adopts the mechanical arm for die-casting processing of any one of claims 1 to 3.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111427164.9A CN114082918B (en) | 2021-11-28 | 2021-11-28 | A manipulator and robot for die-casting processing |
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| CN202111427164.9A CN114082918B (en) | 2021-11-28 | 2021-11-28 | A manipulator and robot for die-casting processing |
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| CN114082918A CN114082918A (en) | 2022-02-25 |
| CN114082918B true CN114082918B (en) | 2022-12-27 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114670227A (en) * | 2022-04-12 | 2022-06-28 | 刘少林 | Integrated vision robot clamping jaw and using method thereof |
| CN114734019B (en) * | 2022-05-12 | 2024-02-27 | 蚌埠隆华压铸机有限公司 | Special flexible clamping spray cooling die casting robot for die casting machine |
| CN117943524B (en) * | 2024-03-27 | 2024-05-24 | 德州市鲁冠制动元件股份有限公司 | Die-casting forming device for processing automobile brake pad |
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| CN213049926U (en) * | 2020-07-31 | 2021-04-27 | 覃锦梅 | Industrial dust purification sprays treatment facility |
| CN112518718A (en) * | 2020-11-26 | 2021-03-19 | 苏州鑫睿益荣信息技术有限公司 | Automatic feeding, discharging and cleaning system based on manipulator and machining method |
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| CN114082918A (en) | 2022-02-25 |
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