CN212170459U - Six-axis mechanical arm manipulator for taking and placing mold gate filter screen - Google Patents
Six-axis mechanical arm manipulator for taking and placing mold gate filter screen Download PDFInfo
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- CN212170459U CN212170459U CN202020254148.9U CN202020254148U CN212170459U CN 212170459 U CN212170459 U CN 212170459U CN 202020254148 U CN202020254148 U CN 202020254148U CN 212170459 U CN212170459 U CN 212170459U
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Abstract
The utility model relates to a six manipulators for arm especially relate to a six manipulators for arm for mould runner filter screen is got and is put belongs to automation equipment technical field. Including manipulator main part and magnetic material conduction material filter screen, the bottom of manipulator main part be equipped with a plurality of scalabilities and get and put the filter screen subassembly, get the magnetic head that puts the filter screen subassembly and include adsorbable magnetic material conduction material filter screen. Further improving the operation efficiency and the operation precision.
Description
Technical Field
The utility model relates to a six manipulators for arm especially relate to a six manipulators for arm that is used for low pressure die casting die runner filter screen to get and puts belongs to automation equipment technical field.
Background
At present, along with the deepening of intelligent manufacturing, the automation requirement for taking and placing the low-pressure die-casting die gate filter screen begins to continuously rise. In the work, the steel material filter screen has the requirements of accurate clamping, high-speed carrying, safety protection, flexible placement, 300-degree high temperature resistance, capability of absorbing magnetic materials and the like. With the increasing importance on the automation degree and the cost of the used space, the used manipulator is also required to have more use functions, smaller volume space and operation space by various production, scientific research units, teaching units and the like.
However, in the existing automatic manipulator, when the manipulator meets the requirements of high-precision clamping, high-speed carrying, safety protection, flexible placement, 300-degree high temperature resistance, capability of sucking steel material filter screens of magnetic materials and the like, the size and the operation space are both large, and the requirements of flexibility, multifunctionality and small size and small operation space cannot be simultaneously considered.
SUMMERY OF THE UTILITY MODEL
The utility model discloses solve exist not enough among the prior art, aim at provides the clamping, high-speed transport, safety protection, demand such as nimble placing, aim at solving the robot and accomplishing the clamping of high accuracy, high-speed transport, safety protection, place in a flexible way, 300 degrees high temperature resistant, when demands such as the steel material filter screen of adsorbable magnetic material, volume and operating space are all great, compromise the flexibility simultaneously, and multifunctionality, with the problem of the little operating space's of small volume requirement be used for the mould runner filter screen to get the manipulator for six arms of putting.
The above technical problem of the present invention can be solved by the following technical solutions:
the utility model provides a six arms are with manipulator for getting is put for mould runner filter screen, includes manipulator main part and magnetic material guide filter screen, the bottom of manipulator main part be equipped with a plurality of scalabilities and get and put filter screen subassembly, get the magnetic head that puts filter screen subassembly and include adsorbable magnetic material guide filter screen.
Preferably, the manipulator main part in be equipped with a plurality of taking of being interval distribution get put filter screen position frame, the below of getting put filter screen position frame be equipped with can be from top to bottom the displacement get put filter screen finger mount, the bottom of getting put filter screen finger mount be equipped with a plurality of be and equally divide the form distribution get put the filter screen subassembly.
As preferred, get and put filter screen subassembly still include and get the directional hexagonal post of filter screen subassembly that the filter screen finger mount is fixed connection with getting, the bottom of the directional hexagonal post of filter screen subassembly be equipped with can follow the fixed head of magnet that the directional hexagonal post outer wall of filter screen subassembly carries out elastic sleeve joint, the fixed head of magnet in be equipped with and carry out elastic sleeve joint's flexible post with the directional hexagonal post inner wall of filter screen subassembly, the magnetic head fix the bottom at the fixed head of magnet, the fixed head of magnet pass through the magnetic head and adsorb the magnetic conductive material filter screen in the bottom.
Preferably, the magnet fixing head extends downwards from the telescopic column, the magnetic head comprises a central magnet arranged at the central position of the telescopic column, a plurality of edge magnets distributed annularly are arranged on the periphery of the central magnet, the edge magnets are arranged at the bottom of the magnet fixing head, and the telescopic column is positioned with the magnet fixing head through a positioning half-ring;
the central magnet and the telescopic column, and the edge magnet and the magnet fixing head are fixed by magnet fixing screws respectively.
Preferably, the directional hexagonal column of the filter screen assembly and the magnet fixing head are sleeved with a magnet fixing head expansion spring, the upper part of the magnet fixing head expansion spring is elastically connected with the filter screen taking and placing finger fixing frame, and the lower part of the magnet fixing head expansion spring is elastically connected with the bottom end of the magnet fixing head; the directional hexagonal post of filter screen subassembly in be equipped with the central reset spring who is elastic connection with the upper portion of flexible post, the upper end cover of flexible post have the stopper, flexible post in be equipped with and keep off the spacing post that connects with the stopper, spacing post can follow flexible post and carry out the displacement, get and put filter screen finger mount and the directional hexagonal post of filter screen subassembly between lead to filter screen subassembly fixing screw fixed.
As preferred, get and put and be equipped with the promotion in the filter screen position frame and get the filter screen finger mount of getting that puts and carry out displacement from top to bottom and get the flexible cylinder of filter screen mount of getting, get and be equipped with downwardly extending and get the filter screen finger mount guide post of getting that filter screen finger mount is sliding guide with getting in the filter screen position frame of getting.
Preferably, the upper part of the manipulator main body is provided with a plurality of manipulator finger assemblies for taking and placing workpieces, each manipulator finger assembly comprises a finger fixing seat fixed to the upper part of the manipulator main body, a manipulator finger which is automatically opened and closed with the finger fixing seat is arranged in the finger fixing seat, and the manipulator finger is used for taking and placing workpieces.
Preferably, a manipulator finger telescopic cylinder for driving a manipulator finger to open and close is arranged in the manipulator main body, the manipulator finger is connected with the finger fixing seat through a finger hinge, and a finger heat insulation pad in contact with a workpiece is arranged on the inner wall of the head of the manipulator finger;
the upper portion of manipulator main part be equipped with 4 and be the manipulator finger subassembly of rectangular distribution.
Preferably, 4 filter screen taking and placing position frames which are uniformly distributed are arranged in the manipulator main body.
The method comprises the following steps:
the mechanical finger assembly on the mechanical hand main body drives the mechanical hand finger to move through the movement of the mechanical hand finger telescopic cylinder, so that the clamping and the releasing of a workpiece can be completed;
the filter screen taking and placing position frame on the manipulator main body is provided with a filter screen taking and placing fixing frame telescopic cylinder, the filter screen taking and placing finger fixing frame guide assembly guides the movement through the movement of the filter screen taking and placing fixing frame telescopic cylinder, the filter screen taking and placing finger fixing frame drives the filter screen taking and placing assembly fixed on the finger fixing frame to stretch when the filter screen taking and placing fixing frame telescopic cylinder stretches, the height change of the manipulator main body is completed, and therefore the small size is achieved;
the magnetic material-conducting filter screen is placed on the filter screen taking and placing component, positioning is carried out through the inner ring of the magnet fixing head, and meanwhile, a plurality of edge magnets on the magnet fixing head and a central magnet on the telescopic column are adsorbed to fix the magnetic material-conducting filter screen; the mechanical arm moves, the mechanical arm main body reaches the position above a sprue of the multi-sprue low-pressure die-casting die, the mechanical arm main body moves downwards after aligning the sprue position, the magnet fixing head is contacted with the surface of the sprue and then positioned, the outer edge of the magnetic material guide material filter screen is clamped on the inner wall of the sprue along with the continuous downward movement of the mechanical arm main body, if other sprue positions are lower positions, the outer edge of the magnetic material guide material filter screen is clamped on the inner wall of the sprue along with the continuous downward movement of the mechanical arm main body, the magnet fixing head telescopic spring and the central reset spring in the previously placed filter screen taking and placing component are compressed, and the magnet fixing head is tightly attached to the sprue of the multi-sprue low-pressure die-casting die, so that the magnetic material guide material;
the magnet fixing head is made of high-temperature-resistant and heat-dissipating materials, so that the central magnet and the edge magnets are prevented from demagnetizing due to high-temperature accumulation; if once takes place the demagnetization phenomenon, accessible dismantlement magnet set screw and magnet set screw carry out quick replacement center magnet and marginal magnet.
A manipulator main body;
the manipulator main body is provided with a main body maintenance window and a manipulator cylinder adjusting hole and is provided with a cylinder sensor adjusting window;
the manipulator main body is provided with a manipulator finger position sensor adjusting window, and a quick maintenance window.
A robot finger assembly disposed on the robot body;
the manipulator main body is provided with a filter screen taking and placing position frame through screw connection;
get and put on the filter screen position frame and get and put filter screen mount telescopic cylinder through a plurality of fix with screw, last fixed manipulator heat insulating board and the cylinder heat exchanger that insulates against heat of telescopic cylinder, telescopic cylinder front end is fixed through the fix with screw and is got and put filter screen finger mount, is fixed with the mount uide bushing on the mount, gets and puts a plurality of fixed filter screen finger mount and gets and put the filter screen subassembly.
Get and put filter screen subassembly and contain:
filter screen subassembly set screw, the directional hexagonal post of filter screen subassembly, magnet fixed head expanding spring, central reset spring, spacing post, stopper, magnet fixed head, magnet set screw, location half-turn, central magnet, edge magnet, flexible post.
Get and put and fix trachea through the screw on the filter screen position frame and separate heat exchanger upper cover and lower cover, get in upper cover and the lower cover through getting the high temperature resistant trachea pipe of putting the flexible cylinder air feed of filter screen mount, high temperature resistant trachea connects out through manipulator one end and connects the arm air supply. A finger fixing frame guiding component for taking and placing the filter screen is fixed on the filter screen taking and placing position frame so as to facilitate the cylinder to drive the filter screen taking and placing component on the filter screen taking and placing fixing frame to stretch, the upper end of the finger fixing frame guiding component for taking and placing the filter screen is fixed on the position frame, and a guiding column is fixed.
The manipulator finger assembly is connected to the manipulator main body through a screw;
the finger heat insulating mattress of manipulator finger subassembly is fixed on the manipulator finger, and the manipulator finger links to each other with the finger hinge through finger hinge pivot, and finger hinge pivot links to each other with the finger fixing base again, and manipulator finger fixing base passes through the screw and links to each other with manipulator finger telescopic cylinder to fix in the manipulator main part.
Therefore, the utility model discloses a six arms are with manipulator for mould runner filter screen is got and is put further promotes operating efficiency and operation precision.
Drawings
Fig. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic bottom perspective view of the present invention;
fig. 3 is a schematic diagram of the explosion structure of the present invention;
FIG. 4 is a schematic cross-sectional view of the filter screen assembly of the present invention;
FIG. 5 is an exploded view of the filter screen assembly of the present invention;
FIG. 6 is a schematic structural view of the middle multi-gate low-pressure die-casting mold of the present invention;
fig. 7 is a schematic structural diagram of the magnetic permeable material filter screen according to the present invention.
Detailed Description
The technical solution of the present invention is further specifically described below by way of examples and with reference to the accompanying drawings.
Example 1: as shown in the figure, a six-axis manipulator for mechanical arm for putting is got to mould runner filter screen, includes manipulator main part 1 and magnetic material guide filter screen 2, the bottom of manipulator main part 1 be equipped with a plurality of scalabilities and get and put filter screen subassembly 3, get and put filter screen subassembly 3 including the magnetic head of adsorbable magnetic material guide filter screen 2.
Manipulator main part 1 in be equipped with a plurality of taking of being interval distribution get put filter screen position frame 4, the below of getting put filter screen position frame 4 be equipped with can be from top to bottom the displacement get put filter screen finger mount 5, the bottom of getting put filter screen finger mount 5 be equipped with a plurality of be and equally divide the filter screen subassembly of getting of form distribution.
Get and put filter screen subassembly still include and get the directional hexagonal post of filter screen subassembly that filter screen finger mount 5 is fixed connection 6, the bottom of the directional hexagonal post of filter screen subassembly 6 be equipped with and carry out the fixed head 7 of magnet that elasticity cup jointed along the directional hexagonal post 6 outer wall of filter screen subassembly, fixed head 7 of magnet in be equipped with and carry out the flexible post 8 that elasticity cup jointed with the directional hexagonal post 6 inner wall of filter screen subassembly, the magnetic head fix the bottom at fixed head 7 of magnet, fixed head 7 of magnet pass through the magnetic head and adsorb 2 in the bottom with magnetic conductive material filter screen.
The telescopic column 8 extends downwards to form a magnet fixing head 7, the magnetic head comprises a central magnet 9 arranged at the central position of the telescopic column 8, a plurality of edge magnets 10 distributed annularly are arranged on the periphery of the central magnet 9, the edge magnets 10 are arranged at the bottom of the magnet fixing head 7, and the telescopic column 8 is positioned with the magnet fixing head 7 through a positioning half-ring 11;
the central magnet 9 and the telescopic column 8, and the edge magnet 10 and the magnet fixing head 7 are fixed by magnet fixing screws 12 respectively.
A magnet fixing head telescopic spring 13 is sleeved outside the directional hexagonal column 6 and the magnet fixing head 7 of the filter screen assembly, the upper part of the magnet fixing head telescopic spring 13 is elastically connected with the filter screen taking and placing finger fixing frame 5, and the lower part of the magnet fixing head telescopic spring 13 is elastically connected with the bottom end of the magnet fixing head 7; the directional hexagonal post of filter screen subassembly in be equipped with the central reset spring 14 that is elastic connection with the upper portion of flexible post 8, the last pot head of flexible post 8 have stopper 15, flexible post 8 in be equipped with and be the spacing post 16 that keeps off and connect with stopper 15, spacing post 16 can follow flexible post 8 and carry out the displacement, get and put filter screen finger mount 5 and the directional hexagonal post 6 of filter screen subassembly between fixed through filter screen subassembly set screw 17.
Get and put and be equipped with in the filter screen position frame 4 and promote to get and put filter screen finger mount 5 and carry out getting of displacement about and put filter screen mount telescopic cylinder 18, get and be equipped with downwardly extending and get filter screen finger mount guide post 19 with getting that filter screen finger mount 5 is sliding guide's getting in getting and put filter screen position frame 4.
The upper portion of manipulator main part 1 be equipped with a plurality of manipulator finger subassemblies that are used for getting and put the work piece, manipulator finger subassembly include with 1 upper portion of manipulator fixed finger fixing base 20 mutually, finger fixing base 20 in be equipped with and be the manipulator finger 21 of automatic start-stop with finger fixing base 20, manipulator finger 21 be used for getting and put the work piece.
A manipulator finger telescopic cylinder 22 for driving a manipulator finger 21 to open and close is arranged in the manipulator main body 1, the manipulator finger 21 is connected with the finger fixing seat 20 through a finger hinge 23, and a finger heat insulation pad 24 in contact with a workpiece is arranged on the inner wall of the head of the manipulator finger 21;
the upper part of the manipulator main body 1 is provided with 4 manipulator finger assemblies 3 which are distributed in a rectangular shape.
The manipulator main body 1 is internally provided with 4 filter screen taking and placing position frames 4 which are uniformly distributed.
It should be understood that equivalent alterations and modifications can be made by those skilled in the art according to the technical solution of the present invention and the inventive concept, and all such alterations and modifications shall fall within the scope of the appended claims.
Claims (9)
1. The utility model provides a six for arm manipulator that is used for mould runner filter screen to get to put which characterized in that: including manipulator main part (1) and magnetic material guiding material filter screen (2), the bottom of manipulator main part (1) be equipped with a plurality of scalabilities and get and put the filter screen subassembly, get the magnetic head that puts the filter screen subassembly and include adsorbable magnetic material guiding material filter screen (2).
2. The manipulator for the six-axis mechanical arm for picking and placing the filter screen of the mold gate of claim 1, wherein: manipulator main part (1) in be equipped with a plurality of taking of being interval distribution get put filter screen position frame (4), the below of getting put filter screen position frame (4) be equipped with can be from top to bottom the displacement get put filter screen finger mount (5), the bottom of getting put filter screen finger mount (5) be equipped with a plurality of be and equally divide the filter screen subassembly of getting of form distribution.
3. The manipulator for the six-axis mechanical arm for picking and placing the filter screen of the mold gate of claim 2, wherein: get and put filter screen subassembly still include and get the directional hexagonal post of filter screen subassembly (6) that filter screen finger mount (5) is fixed connection, the bottom of the directional hexagonal post of filter screen subassembly (6) be equipped with can follow the directional hexagonal post of filter screen subassembly (6) outer wall and carry out the fixed head of magnet (7) that elasticity cup jointed, fixed head of magnet (7) in be equipped with and carry out flexible post (8) that elasticity cup jointed with the directional hexagonal post of filter screen subassembly (6) inner wall, the magnetic head fix the bottom at fixed head of magnet (7), fixed head of magnet (7) adsorb magnetic conductive material filter screen (2) in the bottom through the magnetic head.
4. The manipulator for the six-axis mechanical arm for picking and placing the filter screen of the mold gate of claim 3, wherein: the telescopic column (8) extends downwards to form a magnet fixing head (7), the magnetic head comprises a central magnet (9) arranged at the central position of the telescopic column (8), a plurality of edge magnets (10) distributed annularly are arranged on the periphery of the central magnet (9), the edge magnets (10) are arranged at the bottom of the magnet fixing head (7), and the telescopic column (8) is positioned with the magnet fixing head (7) through a positioning half ring (11);
the central magnet (9) and the telescopic column (8) and the edge magnet (10) and the magnet fixing head (7) are fixed through magnet fixing screws (12) respectively.
5. The manipulator for the six-axis mechanical arm for picking and placing the filter screen of the mold gate of claim 3, wherein: the directional hexagonal column (6) of the filter screen assembly and the magnet fixing head (7) are sleeved with magnet fixing head telescopic springs (13), the upper parts of the magnet fixing head telescopic springs (13) are elastically connected with the finger fixing frame (5) for taking and placing the filter screen, and the lower parts of the magnet fixing head telescopic springs (13) are elastically connected with the bottom end of the magnet fixing head (7); the directional hexagonal post of filter screen subassembly (6) in be equipped with the central reset spring (14) that is elastic connection with the upper portion of flexible post (8), the upper end cover of flexible post (8) have stopper (15), flexible post (8) in be equipped with and be spacing post (16) that keep off and connect with stopper (15), spacing post (16) can follow flexible post (8) and carry out the displacement, get and put that the filter screen points between mount (5) and the directional hexagonal post of filter screen subassembly (6) to fix through filter screen subassembly set screw (17).
6. The manipulator for the six-axis mechanical arm for picking and placing the filter screen of the mold gate of claim 3, wherein: get and put and be equipped with in filter screen position frame (4) and promote to get and put filter screen finger mount (5) and carry out getting of displacement about going on and put filter screen mount telescopic cylinder (18), get and be equipped with downwardly extending and get filter screen finger mount guide post (19) with getting that it is sliding guide to get in filter screen position frame (4).
7. The manipulator for the six-axis mechanical arm for picking and placing the filter screen of the mold gate of claim 1, wherein: the upper portion of manipulator main part (1) be equipped with a plurality of manipulator finger assemblies that are used for getting and put the work piece, manipulator finger assembly include with manipulator main part (1) upper portion fixed finger fixing base (20), finger fixing base (20) in be equipped with and be automatic open and close's manipulator finger (21) with finger fixing base (20), manipulator finger (21) be used for getting and put the work piece.
8. The robot arm for the six-axis robot arm for picking and placing the filter screen of the mold gate of claim 7, wherein: a manipulator finger telescopic cylinder (22) which drives a manipulator finger (21) to open and close is arranged in the manipulator main body (1), the manipulator finger (21) is connected with the finger fixing seat (20) through a finger hinge (23), and a finger heat insulation pad (24) which is in contact with a workpiece is arranged on the inner wall of the head of the manipulator finger (21);
the upper part of the manipulator main body (1) is provided with 4 manipulator finger assemblies distributed in a rectangular shape.
9. The manipulator for the six-axis mechanical arm for picking and placing the filter screen of the mold gate of claim 2, wherein: the manipulator main body (1) is internally provided with 4 filter screen taking and placing position frames (4) which are uniformly distributed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020254148.9U CN212170459U (en) | 2020-03-05 | 2020-03-05 | Six-axis mechanical arm manipulator for taking and placing mold gate filter screen |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020254148.9U CN212170459U (en) | 2020-03-05 | 2020-03-05 | Six-axis mechanical arm manipulator for taking and placing mold gate filter screen |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212170459U true CN212170459U (en) | 2020-12-18 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020254148.9U Active CN212170459U (en) | 2020-03-05 | 2020-03-05 | Six-axis mechanical arm manipulator for taking and placing mold gate filter screen |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212170459U (en) |
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2020
- 2020-03-05 CN CN202020254148.9U patent/CN212170459U/en active Active
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