CN214055254U

CN214055254U - Cross beam type multi-shaft grabbing and spraying integrated manipulator

Info

Publication number: CN214055254U
Application number: CN202022927179.9U
Authority: CN
Inventors: 陈博辉; 成飞; 谢文瑞
Original assignee: Dongguan Huisheng Automation Equipment Co ltd
Current assignee: Dongguan Huisheng Automation Equipment Co ltd
Priority date: 2020-12-07
Filing date: 2020-12-07
Publication date: 2021-08-27
Anticipated expiration: 2030-12-07

Abstract

The utility model relates to a die-casting equipment technical field specifically is crossbeam formula multiaxis snatchs spraying all-in-one manipulator, including the base of installing the X axle slide rail and at least a set of moving platform of installing on the base, install lift actuating mechanism and the lift connecting rod that goes up and down by lift actuating mechanism drive on a set of moving platform respectively, tong subassembly and atomizer are installed respectively to the lift connecting rod bottom on a set of moving platform, moving platform locates first slide on the base and drives first slide along the gliding X axle motor of X axle slide rail including sliding, fixed mounting has Y axle slide rail and with the gliding second slide of Y axle slide rail cooperation on the first slide, install on the second slide and drive the gliding Y axle motor of second slide along Y axle slide rail. The manipulator adopts a platform type conveying structure, the structural stability is high, the control procedure is simple, the load of a motor rotating shaft is reduced, the smooth degree of driving operation is ensured, the product quality is ensured, and the service life of the machine is prolonged.

Description

Cross beam type multi-shaft grabbing and spraying integrated manipulator

Technical Field

The utility model relates to a die-casting equipment technical field specifically is crossbeam formula multiaxis snatchs integrative manipulator of spraying.

Background

The die casting machine is a machine for pressure casting, and comprises a hot pressure chamber and a cold pressure chamber. The latter are divided into two types, straight type and horizontal type. The die casting machine hydraulically injects molten metal into a die to be cooled and formed under the action of pressure, a solid metal casting can be obtained after die opening, the solid metal casting is initially used for die casting of type, the die casting technology is rapidly developed along with the progress of scientific technology and industrial production, the automation and intelligence levels are gradually improved, and the processes of automatic feeding, die casting, cooling, die opening, part taking, spraying and the like are basically realized.

At present, in most die casting machines get, in the spraying process, can adopt two equipment respectively to accomplish the work of getting and spraying usually, cause the occupation space of equipment great, the procedure is complicated, and present die casting equipment generally adopts the mode of multiaxis connecting rod to carry out three-dimensional space multiple spot location, the control procedure is complicated, and can lead to the moment extension along with the connecting rod deflection in the operation process, the load of motor shaft aggravates, lead to easily that the drive operation is not smooth and easy, influence product quality and machine life.

SUMMERY OF THE UTILITY MODEL

The utility model overcomes the above-mentioned not enough, it is simple to provide a structure and process, and the higher crossbeam formula multiaxis of work efficiency snatchs the integrative manipulator of spraying.

A cross beam type multi-shaft grabbing and spraying integrated mechanical arm comprises a base provided with an X-axis slide rail and a group of moving platforms arranged on the base in a sliding mode, wherein a lifting driving mechanism and a lifting connecting rod driven by the lifting driving mechanism to lift are arranged on the group of moving platforms respectively, and a clamping hand assembly used for grabbing an object and a sprayer used for spraying the object are arranged at the bottom end of the lifting connecting rod respectively;

the movable platform comprises a first sliding plate, an X-axis motor and a Y-axis sliding rail, wherein the first sliding plate is arranged on the base in a sliding mode and used for bearing the lifting driving mechanism, the X-axis motor is used for driving the first sliding plate to slide along the X-axis sliding rail in a reverse direction, the Y-axis sliding rail is arranged on the first sliding plate, the first sliding plate is provided with a second sliding plate in sliding fit with the Y-axis sliding rail, the Y-axis motor is arranged at the bottom of the second sliding plate and used for driving the second sliding plate, and the second sliding plate is driven by the Y-axis motor and slides along the extending direction of the Y-axis sliding rail;

the lifting driving mechanism comprises a moving frame fixedly arranged on the front side of the second sliding plate, a lifting guide rail arranged on the moving frame, a lifting slider fixedly connected to the lifting connecting rod and in sliding fit with the lifting guide rail, and a Z-axis motor driving the lifting connecting rod to lift;

the Z-axis motor is used for driving the lifting connecting rod connected with the clamping hand assembly or the sprayer to slide up and down so as to drive the clamping hand assembly to grab an object, or driving the sprayer to be close to or far away from the object to spray liquid.

In one embodiment, the X-axis slide rail is provided with a first X-axis slide rail and a second X-axis slide rail, the first X-axis slide rail is installed on the side wall of one side of the base, and the second X-axis slide rail is installed on one side of the top of the base close to the lifting driving mechanism.

In one embodiment, a first rack in meshing transmission with a first gear on the X-axis motor is arranged on one side of the bottom of the base, which is close to the first X-axis slide rail, so as to drive the moving platform to move along the direction of the X-axis slide rail.

In one embodiment, a second gear is arranged on the output shaft of the Y-axis motor, and a second rack in meshing transmission with the second gear is arranged on the second sliding plate to drive the lifting driving mechanism to move along the direction of the Y-axis sliding rail.

In one embodiment, chain wheels are mounted on two sides of the top of the movable frame, and lifting chains driven by the Z-axis motor are hung on the chain wheels; the lifting connecting rod is fixedly connected with a lifting driving block connected with the lifting chain and used for lifting under the pulling of the lifting chain.

In one embodiment, the gripper assembly comprises a gripper bracket fixedly connected to the bottom end of the lifting connecting rod, a turning block hinged to the bottom end of the gripper bracket, and a pneumatic gripper fixedly connected to the turning block, a hinged portion is arranged at the tail end of the turning block, a turning cylinder is hinged to the gripper bracket, and a telescopic rod of the turning cylinder is hinged to the hinged portion of the turning block.

In one embodiment, the device further comprises a connecting seat, wherein the connecting seat is used for fixing the base and is connected with external machine equipment.

In one embodiment, a liquid bearing disc is arranged at one side, close to the sprayer, of the bottom of the base and is used for bearing liquid flowing out after the sprayer is reset after working is finished.

In one embodiment, the sprayer comprises a mounting plate mounted on a lifting connecting rod, a liquid sending pipe fixed on the mounting plate and used for receiving liquid to be sprayed, and a plurality of nozzles communicated with the liquid sending pipe and arranged in an array.

Compared with the prior art, the utility model discloses the beneficial effect who gains does: the platform type conveying structure is adopted, the structural stability is high, the control procedure is simple, the load of the motor rotating shaft is reduced, the smoothness of driving operation and the product quality are ensured, and the service life of the machine is prolonged; simultaneously install tong subassembly, atomizer respectively on a set of moving platform on same unable adjustment base, realize getting and spraying through the activity of lift actuating mechanism drive tong subassembly, atomizer on moving platform, this design simple structure has reduced the volume of equipment, has reduced the occupation space of equipment, and the driven procedure is fairly simple, has promoted the work efficiency of equipment.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.

Fig. 1 is a schematic perspective view of a robot according to an embodiment of the present invention.

Fig. 2 is a schematic perspective view of an embodiment of the present invention, in which the lifting driving mechanism is installed on the mobile platform.

Fig. 3 is a schematic perspective view of a gripper assembly according to an embodiment of the present invention;

fig. 4 is a schematic perspective view of a sprayer according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely below, and it should be understood that the described embodiments are only some embodiments of the present invention, but not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1 and 2, the present invention provides a cross beam type multi-axis grabbing and spraying integrated mechanical arm, which includes a base 1 equipped with an X-axis slide rail 21 and a set of moving platforms 2 slidably mounted on the base 1, wherein a lifting driving mechanism and a lifting connecting rod 5 driven by the lifting driving mechanism to lift are respectively mounted on the set of moving platforms 2, and a gripper assembly 5 and a sprayer 5 are respectively mounted at the bottom end of the lifting connecting rod 5 on the set of moving platforms 2; the moving platform 2 comprises a first sliding plate 22 arranged on the base 1 in a sliding mode and used for bearing a lifting driving mechanism, an X-axis motor 23 used for driving the first sliding plate 22 to slide along an X-axis sliding rail 21, and a Y-axis sliding rail 24 arranged on the first sliding plate 22, wherein the first sliding plate 22 is provided with a second sliding plate 20 matched with the Y-axis sliding rail 24 to slide, a Y-axis motor 25 arranged at the bottom of the second sliding plate 20 and used for driving the second sliding plate 20 to slide along the Y-axis sliding rail 24, and the second sliding plate 20 is used for being connected with the lifting driving mechanism; the lifting driving mechanism comprises a lifting guide rail 63, a lifting slider 51 fixedly connected to the lifting connecting rod 5 and matched with the lifting guide rail 63 in a sliding manner, and a Z-axis motor 62 for driving the lifting connecting rod 5 to lift.

Implement the utility model discloses a crossbeam formula multiaxis snatchs spraying all-in-one manipulator adopts platform formula transport structure, and structural stability is high, and control procedure is simple, alleviates motor shaft's load, guarantees the smooth and easy degree of drive moving, guarantees product quality, extension machine life. Meanwhile, the clamping hand assembly 3 and the sprayer 4 are respectively arranged on a group of moving platforms 2 of the same base 1, and the lifting driving mechanism drives the clamping hand assembly 3 and the sprayer 4 to move on the moving platforms 2 so as to realize workpiece taking and spraying; the design structure is simple, the volume of the equipment is reduced, the occupied space of the equipment is reduced, the driving program is simple, and the working efficiency of the equipment is improved.

X axle slide rail 21 is equipped with first X axle slide rail 21a and second X axle slide rail 21b, guarantees the stable slip of moving platform 2 on base 1, and is preferred, and first X axle slide rail 21a installs on the lateral wall of base 1 one side, and second X axle slide rail 21b installs in the base 1 top that closes on lift actuating mechanism one side, sets up different positions with two X axle slide rails 21, the effectual gliding stability of moving platform 2 on base 1 of guaranteeing.

The moving platform 2 is used for bearing the lifting driving mechanism, so that the working stability of the lifting driving mechanism is ensured, preferably, one end of the bottom of the base 1, which is close to the first X-axis sliding rail 21a, is provided with a first rack which is meshed with the first gear 26 on the X-axis motor 23 for transmission, so that the moving platform 2 is driven to move along the X-axis direction, and the lifting driving mechanism moves along the X-axis sliding rail 21 direction to take a piece or spray. Preferably, the second sliding plate 20 is provided with a second rack 27 in meshing transmission with a second gear on the Y-axis motor 25, so as to drive the lifting driving mechanism to move along the Y-axis sliding rail 24.

The base 1 is used for bearing the moving platform 2 and driving the moving platform 2 to slide along the direction of the X-axis sliding rail 21 through the X-axis motor 23, and in order to facilitate the base 1 to be installed on external machine equipment, preferably, the cross beam type multi-axis grabbing and spraying integrated manipulator further comprises a connecting seat 10, and the connecting seat 10 is used for fixing the base 1 and is connected with the external machine equipment.

Referring to fig. 2, in order to improve the stability of the picking and spraying process, the lifting driving mechanism further includes a moving frame 61 fixedly installed at the front end of the moving platform 2, a lifting guide rail 63 and a Z-axis motor 62 are respectively connected to the moving frame 61, chain wheels 64 are installed at two sides of the top of the moving frame 61, a lifting chain 65 driven by the Z-axis motor 62 is hung on the chain wheels 64, and a lifting driving block 52 connected to the lifting chain 65 is fixedly connected to the lifting link 5, so that the lifting link 5 can stably realize the lifting function, the lifting chain 65 is driven to rotate by driving the Z-axis motor 62, so that the lifting link 5 is driven by the lifting chain 65 to slide up and down on the lifting guide rail 63, and the chain wheels 64 are installed at two sides of the top of the moving frame 61, and therefore two lifting chains 65 are provided to drive the lifting link 5 to realize stable lifting.

Further referring to fig. 2 and 3, in order to rapidly take a workpiece, the gripper assembly 3 includes a gripper bracket 31 fixedly connected to the bottom end of the lifting link 5, a turning block 32 hinged to the bottom end of the gripper bracket 31, and a pneumatic gripper 33 fixedly connected to the turning block 32, the pneumatic gripper 33 is provided with a plurality of air pipe connectors, the air pipe connectors are used for connecting air pipes, so that the pneumatic gripper 33 can rapidly take a workpiece, the tail end of the turning block 32 is provided with a hinged portion 321, the gripper bracket 31 is provided with a turning cylinder 34 with a cylinder body tail portion hinged thereto, a telescopic rod of the turning cylinder 34 is hinged to the hinged portion 321 of the turning block 32, and the telescopic rod of the turning cylinder 34 is hinged to the hinged portion 321 of the turning block 32, so that the pneumatic gripper 33 swings within a certain angle range, and the pneumatic gripper 33 can better take a workpiece.

The sprayer 4 often still has residual liquid to flow out from the sprayer 4 after finishing spraying, can cause the liquid to flow to the ground, can influence the environment at work place, can lead to the staff to slip and fall and hinder possibly. Therefore, a liquid bearing disc 40 is arranged at one side, close to the sprayer 4, of the bottom of the base 1, the liquid bearing disc 40 is used for bearing liquid flowing out after the sprayer 4 is reset after work is finished, the liquid bearing disc 40 is arranged for bearing the liquid, and the liquid flowing out from the sprayer 4 can be recycled while the environment is dry.

Referring to fig. 4, in one embodiment, the sprayer 4 includes a mounting plate 41 mounted on the lifting link 5, a liquid feeding tube 42 fixed to the mounting plate 41 for receiving a liquid to be sprayed, and a plurality of nozzles 43 connected to the liquid feeding tube 42 and arranged in an array. The plurality of nozzles 43 are arranged in the array, so that the spraying area of the output end of the liquid sending pipe 42 is increased, liquid can be uniformly sprayed on the surface of an object, and the spraying effect is improved.

Compared with the prior art, the utility model respectively installs the clamping hand assembly 3 and the sprayer 4 on the lifting connecting rod 5 of a group of mobile platform 2, installs a group of mobile platform 2 on the same base 1, fixedly installs two X-axis slide rails 21 on the base 1, installs the first slide plate 22 on the X-axis slide rail 21, so the mobile platform 2 can reciprocate along the X-axis slide rail 21 on the base 1 through the first slide plate 22, and further fixedly installs the Y-axis slide rail 24 on the first slide plate 22, the mobile platform 2 is in sliding fit with the Y-axis slide rail 24, so the mobile platform 2 can reciprocate along the Y-axis slide rail 24, the mobile platform 2 slides along the X-axis slide rail 21 and the mobile platform 2 slides along the Y-axis slide rail 24 and is respectively driven by the X-axis motor 23 and the Y-axis motor 25, so as to prepare for the grabbing of die castings and the spraying of die-casting forming dies, and because the clamping hand assembly 3 and the sprayer 4 are respectively arranged on the lifting connecting rods 5 of the group of moving platforms 2, the lifting connecting rods 5 are lifted and lowered by driving the Z-axis motor 62 to drive the lifting chain 65 arranged on the moving frame 61 to rotate, so that the lifting connecting rods 5 are driven by the lifting chain 65 to slide on the lifting guide rail 63 along the Z-axis direction, and the workpiece taking and spraying are respectively realized. The platform type conveying structure is adopted, the structural stability is high, the control program is simple, the load of the motor rotating shaft is reduced, the smooth degree of driving operation is guaranteed, the product quality is guaranteed, and the service life of the machine is prolonged. Simultaneously with tong subassembly 3, atomizer 4 install respectively on a set of moving platform 2 on same base 1, realize getting and spraying through the activity of lift actuating mechanism drive tong subassembly 3, atomizer 4 on moving platform 2, this design simple structure has reduced the volume of equipment, has reduced the occupation space of equipment, and the driven procedure is fairly simple, has promoted the work efficiency of equipment.

It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.

Claims

1. A cross beam type multi-shaft grabbing and spraying integrated mechanical arm is characterized by comprising a base (1) provided with an X-axis slide rail (21) and a group of moving platforms (2) installed on the base (1) in a sliding mode, wherein a lifting driving mechanism and a lifting connecting rod (5) driven by the lifting driving mechanism to lift are installed on the group of moving platforms (2) respectively, and a clamping hand assembly (3) used for grabbing an object and a sprayer (4) used for spraying the object are installed at the bottom end of the lifting connecting rod (5) respectively;

the moving platform (2) comprises a first sliding plate (22) which is arranged on the base (1) in a sliding mode and used for bearing the lifting driving mechanism, an X-axis motor (23) which drives the first sliding plate (22) to slide along the X-axis sliding rail (21) in the opposite direction, and a Y-axis sliding rail (24) which is arranged on the first sliding plate (22), wherein a second sliding plate (20) which is matched with the Y-axis sliding rail (24) in a sliding mode and a Y-axis motor (25) which is arranged at the bottom of the second sliding plate (20) and used for driving the second sliding plate (20) are arranged on the first sliding plate (22), and the second sliding plate (20) is driven by the Y-axis motor (25) and slides along the extending direction of the Y-axis sliding rail (24);

the lifting driving mechanism comprises a moving frame (61) fixedly arranged on the front side of the second sliding plate (20), a lifting guide rail (63) arranged on the moving frame (61), a lifting slider (51) fixedly connected to the lifting connecting rod (5) and in sliding fit with the lifting guide rail (63), and a Z-axis motor (62) for driving the lifting connecting rod (5) to lift;

the Z-axis motor (62) is used for driving the lifting connecting rod (5) connected with the clamping hand assembly (3) or the sprayer (4) to slide up and down so as to drive the clamping hand assembly (3) to grab an object, or drive the sprayer (4) to be close to or far away from the object to spray liquid.

2. The robot hand according to claim 1, wherein the X-axis slide rail (21) is provided with a first X-axis slide rail (21a) and a second X-axis slide rail (21b), the first X-axis slide rail (21a) is installed on a side wall of one side of the base (1), and the second X-axis slide rail (21b) is installed on a side of the top of the base (1) adjacent to the lifting drive mechanism.

3. The manipulator according to claim 2, characterized in that a first rack engaged with a first gear (26) on the X-axis motor (23) is arranged at the bottom of the base (1) on a side adjacent to the first X-axis slide rail (21a) to drive the moving platform (2) to move along the direction of the X-axis slide rail (21).

4. The manipulator according to claim 1, wherein a second gear is arranged on the output shaft of the Y-axis motor (25), and a second rack (27) in meshing transmission with the second gear is arranged on the second sliding plate (20) so as to drive the lifting driving mechanism to move along the direction of the Y-axis sliding rail (24).

5. The robot hand according to claim 1, wherein chain wheels (64) are installed on both sides of the top of the moving frame (61), and a lifting chain (65) driven by the Z-axis motor (62) is hung on the chain wheels (64); the lifting connecting rod (5) is fixedly connected with a lifting driving block (52) connected with the lifting chain (65) and used for lifting under the pulling of the lifting chain (65).

6. The manipulator according to claim 1, wherein the gripper assembly (3) comprises a gripper bracket (31) fixedly connected to the bottom end of the lifting link (5), a turning block (32) hinged to the bottom end of the gripper bracket (31), and a pneumatic gripper (33) fixedly connected to the turning block (32), a hinge portion (321) is provided at the tail end of the turning block (32), a turning cylinder (34) is hinged to the gripper bracket (31), and a telescopic rod of the turning cylinder (34) is hinged to the hinge portion (321) of the turning block (32).

7. The manipulator according to claim 1, further comprising a coupling socket (10), the coupling socket (10) being used to fix the base (1) and to couple with an external machine device.

8. The manipulator according to claim 1, characterized in that a liquid receiving plate (40) is arranged at the bottom of the base (1) on the side close to the sprayer (4), and the liquid receiving plate (40) is used for receiving the liquid flowing out after the sprayer (4) is reset after work is completed.

9. The manipulator according to claim 1, characterized in that the sprayer (4) comprises a mounting plate (41) mounted to a lifting link (5), a liquid delivery tube (42) fixed to the mounting plate (41) for accessing the liquid to be sprayed, and a plurality of nozzles (43) communicating with the liquid delivery tube (42) and arranged in an array.