CN215149050U - Connecting rod type four-shaft workpiece taking and spraying integrated manipulator - Google Patents
Connecting rod type four-shaft workpiece taking and spraying integrated manipulator Download PDFInfo
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- CN215149050U CN215149050U CN202022928390.2U CN202022928390U CN215149050U CN 215149050 U CN215149050 U CN 215149050U CN 202022928390 U CN202022928390 U CN 202022928390U CN 215149050 U CN215149050 U CN 215149050U
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Abstract
The utility model discloses a connecting rod type four-axis workpiece taking and spraying integrated mechanical arm, which comprises a fixed base, an X-axis slide rail, a first slide plate arranged on the X-axis slide rail in a sliding manner, and an X-axis motor arranged on the first slide plate and used for driving the first slide plate to slide along the X-axis slide rail; the moving mechanism comprises a second sliding plate arranged on the first sliding plate in a sliding mode, a piece taking mechanism and a spraying mechanism, wherein the piece taking mechanism and the spraying mechanism are arranged on the second sliding plate respectively and used for grabbing articles, a first vertical plate and a second vertical plate are arranged at the top of the second sliding plate at intervals and used for bearing the piece taking mechanism and the spraying mechanism respectively, and a Y-axis sliding rail and a Y-axis motor driving the second sliding plate to slide along the Y-axis sliding rail are arranged at the bottom of the second sliding plate. The utility model discloses an integrative manipulator of a spraying is got to connecting rod formula four-axis will get a connecting rod, the setting of spraying connecting rod on a moving mechanism, has reduced the complexity of equipment, reduces the space that occupies of equipment, has improved the efficiency of production.
Description
Technical Field
The utility model relates to a die casting machine technical field specifically is a piece spraying integrative manipulator is got to connecting rod formula four-axis.
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 injects molten metal liquid under the action of pressure into a die to be cooled and formed, and a solid metal casting can be obtained after the die is opened and is initially used for die casting type. With the progress of scientific technology and industrial production, the die casting technology has been developed very rapidly, the automation and intelligence levels are gradually improved, and the procedures of automatic soup feeding, die casting, cooling, die sinking, part taking, spraying and the like are basically realized.
However, the traditional die casting machine is often provided with two movable platforms for carrying in the processes of taking and spraying, one movable platform is used for carrying the mechanism for taking a piece to move, the other movable platform is used for carrying the spraying mechanism, or two devices are installed for taking a piece and spraying, the occupied space is large, the production efficiency is low, and the development trend of the modern industry cannot be met. And the current die casting equipment generally adopts a plurality of long rods to jointly drive spraying and piece taking equipment, and the stress of a connecting rod is uneven in the operation process, so that the driving operation is not smooth, the product quality is affected, and the service life of the machine is prolonged.
SUMMERY OF THE UTILITY MODEL
Therefore, the connecting rod type four-shaft workpiece spraying integrated mechanical arm needs to be provided for solving the technical problems that in a workpiece taking and spraying process of a die casting machine, the occupied space of equipment is large, the combined driving stress of a multi-section connecting rod is uneven, and the driving operation is not smooth easily.
The utility model provides an integrative manipulator of piece spraying is got to connecting rod formula four-axis, this manipulator includes:
the X-axis sliding rail is arranged on the fixed base, and the first sliding plate is arranged on the X-axis sliding rail in a sliding mode;
the moving mechanism comprises a second sliding plate, a pickup mechanism and a spraying mechanism, the second sliding plate is arranged on the first sliding plate in a sliding manner, the pickup mechanism is used for grabbing objects, the spraying mechanism is used for spraying liquid to the objects, a first vertical plate and a second vertical plate which are correspondingly used for bearing the pickup mechanism and the spraying mechanism are arranged at the top of the second sliding plate at intervals, and a Y-axis sliding rail and a Y-axis motor for driving the second sliding plate to slide along the Y-axis sliding rail are arranged at the bottom of the second sliding plate; the moving mechanism reciprocates along the direction of the X-axis slide rail when the X-axis motor works;
the workpiece taking mechanism comprises a workpiece taking connecting rod, a first transmission motor, a workpiece taking vertical rod and a pneumatic clamping hand, wherein the workpiece taking connecting rod is connected to one end of the first vertical plate in a pivoted mode, the first transmission motor is fixedly installed at the other end of the first vertical plate and used for driving the workpiece taking connecting rod to rotate, the workpiece taking vertical rod is connected to the tail end of the workpiece taking connecting rod in a pivoted mode and is always in a vertical state, the pneumatic clamping hand is arranged at the bottom of the workpiece taking vertical rod and used for grabbing an object, the workpiece taking connecting rod drives the workpiece taking vertical rod to move when the first transmission motor drives the workpiece taking connecting rod to rotate, and the pneumatic clamping hand pushes the position of the object to drive the pneumatic clamping hand to grab the object;
the spraying mechanism comprises a spraying connecting rod which is connected with one end of the second vertical plate through a pivot, a second transmission motor which is fixedly arranged at the other end of the second vertical plate and used for driving the spraying connecting rod to rotate, a spraying vertical rod which is connected with the tail end of the spraying connecting rod through a pivot and is in a vertical state all the time, and a sprayer which is arranged at the bottom of the spraying vertical rod; the second vertical plate drives the spray connecting rod to move when the second transmission motor drives to rotate, and the spray connecting rod is pushed to the corresponding position of the mold to spray the objects.
In one embodiment, an angle driving sprocket is fixedly connected to an output rotating shaft of the first transmission motor, an angle compensation sprocket is arranged at a joint of the top end of the vertical taking member and the connecting rod of the vertical taking member, and a transmission chain is arranged between the angle driving sprocket and the angle compensation sprocket and used for driving the vertical taking member to move.
In one embodiment, the top end of the vertical spraying rod is fixedly connected with an angle deflection connecting rod, the middle part of the angle deflection connecting rod is hinged to the top end of the spraying connecting rod, the second vertical plate is hinged to a correction connecting rod, and the top end of the correction connecting rod is hinged to the top end of the angle deflection connecting rod and parallel to the spraying connecting rod.
In one embodiment, the second riser is provided with an encoder electrically connected with the second transmission motor, and the encoder is used for transmitting an encoded angle signal to the second transmission motor so as to control the rotation angle of the spray connecting rod.
In one of them embodiment, get the bottom fixedly connected with upset cylinder of a montant, the cylinder body bottom fixedly connected with drive case of upset cylinder, the bottom of drive case articulated have with pneumatic tong fixed connection's upset drive actuating block, be equipped with on the telescopic link of upset cylinder one end with the telescopic link is articulated, the other end with upset drive actuating block articulated upset connecting rod, in order to drive pneumatic tong swings.
In one embodiment, the fixed base and the moving mechanism are respectively provided with a sealing cover plate.
In one embodiment, two first limiting assemblies are fixedly mounted on one side of the side wall of the second sliding plate, which is adjacent to the pickup connecting rod, and first buffering members which are located on the same plane as the pickup connecting rod are respectively arranged on the two first limiting assemblies.
In one embodiment, a second limiting component is arranged on the second vertical plate on one side adjacent to the spray connecting rod, and a second buffer piece which is located on the same plane with the spray connecting rod is arranged on the second limiting component.
In one embodiment, the manipulator further comprises an electric control box, and the electric control box controls the operation of the X-axis motor, the Y-axis motor, the first transmission motor and the second transmission motor respectively.
Implement the utility model discloses an integrative manipulator of piece spraying is got to connecting rod formula four-axis keeps vertical setting through getting a montant, spraying montant, and gravity direction between them coincides with its self direction of height respectively, shortens moment, makes the power evenly distributed who gets the receipt of a connecting rod, spraying connecting rod in both ends, and the guarantee machine smoothly operates, guarantees product quality and extension machine life. Meanwhile, the workpiece taking connecting rod and the spraying connecting rod are arranged on one moving mechanism, so that the complexity of the equipment is reduced, the occupied space of the equipment is reduced, and the production efficiency is improved.
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 structural view of a connecting rod type four-axis picking and spraying integrated manipulator in an embodiment of the present invention.
Fig. 2 is a schematic structural view of the connecting rod type four-axis component-taking and spraying integrated mechanical arm after the sealing cover plate is removed in one embodiment of the present invention.
Fig. 3 is an enlarged schematic view of a portion a in the embodiment shown in fig. 2.
Fig. 4 is a perspective view of an embodiment of the present invention showing an angle of a connecting rod type four-axis picking and spraying integrated manipulator.
Fig. 5 is a perspective view of an embodiment of the present invention showing another angle of the connecting rod type four-axis pick-off and spraying integrated robot.
Fig. 6 is an enlarged schematic view of a portion B in the embodiment shown in fig. 5.
Fig. 7 is a schematic structural view of a pneumatic gripper 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 to 7, the present invention provides a connecting rod type four-axis picking and spraying integrated mechanical arm, which includes a fixed base 1 and a moving mechanism 2, wherein the fixed base 1 is provided with an X-axis slide rail 11, a first slide plate 12 slidably disposed on the X-axis slide rail 11, and an X-axis motor 10 disposed on the first slide plate 12 for driving the first slide plate 12 to slide along the X-axis slide rail 11; the moving mechanism 2 comprises a second sliding plate 20 arranged on the first sliding plate 12 in a sliding manner, a pickup mechanism 4 arranged on the second sliding plate 20 and used for picking up objects, and a spraying mechanism 5 used for spraying liquid to the objects, wherein the pickup mechanism 4 and the spraying mechanism 5 are arranged on the second sliding plate 20, a first vertical plate 3 and a second vertical plate 30 which are correspondingly used for bearing the pickup mechanism 4 and the spraying mechanism 5 are arranged at intervals on the top of the second sliding plate 20, a Y-axis sliding rail 21 and a Y-axis motor 22 for driving the second sliding plate 20 to slide along the Y-axis sliding rail 21 are arranged at the bottom of the second sliding plate 20, and when the X-axis motor 10 is started, the first sliding plate 12 drives the moving mechanism 2 arranged on the first sliding plate 12 to move back and forth along the X-axis sliding rail 11 direction; when starting Y axle motor 22, second slide 20 drives and installs and get a 4 spraying mechanism 5 of mechanism and slide along Y axle slide rail direction on second slide 20, improve equipment's automation level, reduce the cost of labor, improve the efficiency of production.
The taking mechanism 4 comprises a taking connecting rod 41 which is connected with one end of the first vertical plate 3 in a pivot mode, a first transmission motor 40 which is fixedly installed at the other end of the first vertical plate 3 and used for driving the taking connecting rod 41 to rotate, a taking vertical rod 42 which is connected with the tail end of the taking connecting rod 41 in a pivot mode and is in a vertical state all the time, and a pneumatic clamping hand 43 which is arranged at the bottom of the taking vertical rod 42 and used for grabbing objects, wherein the taking connecting rod 41 drives the taking vertical rod 42 to move when the first transmission motor 40 drives to rotate, and pushes the pneumatic clamping hand 43 to the position of the object so as to drive the pneumatic clamping hand 43) to grab the objects.
The spraying mechanism 5 comprises a spraying connecting rod 51 which is connected with one end of the second vertical plate 30 in a pivot mode, a second transmission motor 56 which is fixedly installed at the other end of the second vertical plate 30 and used for driving the spraying connecting rod 51 to rotate, a spraying vertical rod 52 which is connected with the tail end of the spraying connecting rod 51 in a pivot mode and is in a vertical state all the time, and a sprayer 53 which is arranged at the bottom of the spraying vertical rod 52, wherein the second vertical plate 30 drives the spraying connecting rod 51 to move when the second transmission motor 56 drives to rotate, and the spraying connecting rod 51 is pushed to the corresponding position of the mold so as to spray articles.
Implement the utility model discloses an integrative manipulator of piece spraying is got to connecting rod formula four-axis keeps vertical setting through getting a montant 42, spraying montant 52, and the direction of gravity between them respectively with its self high coincidence, shorten moment, make the power evenly distributed who gets the receipt of a connecting rod 41, spraying connecting rod 51 at both ends, guarantee the smooth and easy operation of machine, guarantee product quality and extension machine life. Meanwhile, the pickup mechanism 4 and the spraying mechanism 5 are arranged on the moving mechanism 2, so that the complexity of the equipment is reduced, the occupied space of the equipment is reduced, and the production efficiency is improved.
The rotation of the X-axis motor 10, the rotation of the Y-axis motor 22, the rotation of the first transmission motor 40 and the rotation of the second transmission motor 56 are controlled and operated through the electric cabinet 8, and the control program in the electric cabinet 8 is loaded after being edited through a third-party system.
In order to ensure that the pickup mechanism 4 stably picks up an object, referring to fig. 1 to 3, in an embodiment, an output rotating shaft of the first transmission motor 40 is fixedly connected with an angle driving sprocket 44, a connection between a top end of the pickup vertical rod 42 and the pickup connecting rod 41 is provided with an angle compensation sprocket, a transmission chain 45 is arranged between the angle driving sprocket 44 and the angle compensation sprocket, and the transmission chain 45 is used for driving the pickup vertical rod 42 to move so that the pneumatic gripper 43 picks up the object. Preferably, the bottom end of the vertical picking rod 42 is fixedly connected with a turning cylinder 7, the bottom end of the cylinder body of the turning cylinder 7 is fixedly connected with a driving box 71, the bottom of the driving box 71 is hinged with a turning driving block 72 fixedly connected with the pneumatic clamping arm 43, and a turning connecting rod 73, one end of which is hinged with the telescopic rod and the other end of which is hinged with the turning driving block 72, is arranged on the telescopic rod of the turning cylinder 7 so as to drive the pneumatic clamping arm 43 to swing. That is, when the pneumatic gripper 43 approaches the material, in order to ensure that the pneumatic gripper 43 can smoothly grip the material without damaging the material, the position of the pneumatic gripper 43 is swung by driving the turnover cylinder 7, so that the pneumatic gripper 43 grips the material.
Referring to fig. 4 to 6, in order to ensure the stability of the spraying mechanism 5 in the operation process, in an embodiment, a top end of the vertical spraying rod 52 is fixedly connected with an angle deviation connecting rod 54 having a middle portion hinged to a top end of the spraying connecting rod 51, a correcting connecting rod 55 is hinged to the second vertical plate 30, and a top end of the correcting connecting rod 55 is hinged to a top end of the angle deviation connecting rod 54 and parallel to the spraying connecting rod 51, so that the vertical spraying rod 52 is kept in a vertical state during the rotation of the spraying connecting rod 51, and the sprayer 53 is ensured to stably spray liquid onto the mold. Preferably, the second vertical plate 30 is provided with an encoder 6 electrically connected to the second transmission motor 56 for transmitting an encoded angle signal to the second transmission motor 56 to control the rotation angle of the spray link 51. The arrangement of the encoder 6 ensures that the second transmission motor 56 can avoid the rotation transition of the second transmission motor 56 when driving the spray connecting rod 51, and prevents the spray connecting rod 51 from colliding with other parts.
Referring to fig. 1 and 3, in an embodiment, two first limiting assemblies 46 are fixedly mounted on a side of a side wall of the second sliding plate 20 adjacent to the pickup link 41, and first buffering members 460 located on a same plane as the pickup link 41 are respectively disposed on the two first limiting assemblies 46, so that when the pickup link 41 suddenly stops in a rotation process, the pickup link 41 is prevented from over-rotating due to inertia, the pickup link 41 is protected, and the service life of the first transmission motor 40 is ensured.
Preferably, a second limit component 57 is disposed on the second vertical plate 30 on a side adjacent to the spray link 51, and a second buffer 570 located on the same plane as the spray link 51 is disposed on the second limit component 57, so that when the spray link 51 is suddenly stopped during rotation, the spray link 51 is prevented from being excessively rotated due to inertia, and the service life of the second transmission motor 56 is ensured while the spray link 51 is protected.
In addition, the fixed base 1 and the moving mechanism 2 are respectively provided with a sealing cover plate, and the sealing cover plates are arranged to prevent outside dust from entering the equipment to influence the normal operation of the equipment, so that the service life of the equipment is prolonged.
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 (9)
1. The utility model provides a piece spraying all-in-one manipulator is got to connecting rod formula four-axis, its characterized in that includes:
the X-axis sliding rail device comprises a fixed base (1), wherein an X-axis sliding rail (11), a first sliding plate (12) arranged on the X-axis sliding rail (11) in a sliding mode and an X-axis motor (10) used for driving the first sliding plate (12) to slide along the X-axis sliding rail (11) are mounted on the fixed base (1);
the moving mechanism (2) comprises a second sliding plate (20) which is arranged on the first sliding plate (12) in a sliding manner, a pickup mechanism (4) which is arranged on the second sliding plate (20) and used for picking up objects, and a spraying mechanism (5) which is used for spraying liquid to the objects, wherein a first vertical plate (3) and a second vertical plate (30) which are correspondingly used for bearing the pickup mechanism (4) and the spraying mechanism (5) are arranged at the top of the second sliding plate (20) at intervals, and a Y-axis sliding rail (21) and a Y-axis motor (22) which drives the second sliding plate (20) to slide along the Y-axis sliding rail (21) are arranged at the bottom of the second sliding plate (20); the moving mechanism (2) reciprocates along the direction of the X-axis slide rail (11) when the X-axis motor (10) works;
the piece taking mechanism (4) comprises a piece taking connecting rod (41) which is connected to one end of the first vertical plate (3) in a pivot mode, a first transmission motor (40) which is fixedly installed at the other end of the first vertical plate (3) and used for driving the piece taking connecting rod (41) to rotate, a piece taking vertical rod (42) which is connected to the tail end of the piece taking connecting rod (41) in a pivot mode and always in a vertical state, and a pneumatic clamping hand (43) which is provided with the bottom of the piece taking vertical rod (42) and used for grabbing an object, wherein the piece taking connecting rod (41) drives the piece taking vertical rod (42) to move when the first transmission motor (40) drives the piece taking vertical rod (42) to rotate, pushes the pneumatic clamping hand (43) to the position of the object, and drives the pneumatic clamping hand (43) to grab the object;
the spraying mechanism (5) comprises a spraying connecting rod (51) which is connected to one end of the second vertical plate (30) in a pivot mode, a second transmission motor (56) which is fixedly installed at the other end of the second vertical plate (30) and used for driving the spraying connecting rod (51) to rotate, a spraying vertical rod (52) which is connected to the tail end of the spraying connecting rod (51) in a pivot mode and is in a vertical state all the time, and a sprayer (53) which is arranged at the bottom of the spraying vertical rod (52); the second vertical plate (30) drives the spray connecting rod (51) to move when the second transmission motor (56) drives to rotate, and the spray connecting rod (51) is pushed to the corresponding position of the mold to spray articles.
2. The manipulator according to claim 1, wherein an angle driving sprocket (44) is fixedly connected to an output rotating shaft of the first transmission motor (40), an angle compensation sprocket is arranged at a joint of a top end of the vertical picking-up rod (42) and the picking-up connecting rod (41), a transmission chain (45) is arranged between the angle driving sprocket (44) and the angle compensation sprocket, and the transmission chain (45) is used for driving the vertical picking-up rod (42) to move.
3. The manipulator according to claim 2, characterized in that the top end of the vertical spray rod (52) is fixedly connected with an angle deviation connecting rod (54) with the middle hinged with the top end of the spray connecting rod (51), the second vertical plate (30) is hinged with a correcting connecting rod (55), and the top end of the correcting connecting rod (55) is hinged with the top end of the angle deviation connecting rod (54) and is parallel with the spray connecting rod (51).
4. The manipulator according to claim 3, characterized in that the second riser (30) is provided with an encoder (6) electrically connected with the second transmission motor (56) for transmitting an encoded angle signal to the second transmission motor (56) to control the rotation angle of the spray link (51).
5. The manipulator according to claim 4, characterized in that a turning cylinder (7) is fixedly connected to the bottom end of the vertical picking-up rod (42), a driving box (71) is fixedly connected to the bottom end of the cylinder body of the turning cylinder (7), a turning driving block (72) fixedly connected to the pneumatic gripper (43) is hinged to the bottom of the driving box (71), and a turning connecting rod (73) is arranged on the telescopic rod of the turning cylinder (7) and has one end hinged to the telescopic rod and the other end hinged to the turning driving block (72) so as to drive the pneumatic gripper (43) to swing.
6. The manipulator according to claim 5, characterized in that sealing covers are respectively arranged on the fixed base (1) and the moving mechanism (2).
7. The manipulator according to claim 6, wherein two first limiting assemblies (46) are fixedly mounted on the side wall of the second sliding plate (20) at one side adjacent to the pick-up connecting rod (41), and first buffering members (460) which are located on the same plane with the pick-up connecting rod (41) are respectively arranged on the two first limiting assemblies (46).
8. The manipulator according to claim 7, characterized in that a second limiting component (57) is arranged on the second vertical plate (30) on one side adjacent to the spray connecting rod (51), and a second buffer (570) which is positioned on the same plane with the spray connecting rod (51) is arranged on the second limiting component (57).
9. The manipulator according to claim 8, further comprising an electric cabinet (8), wherein the electric cabinet (8) controls the operation of the X-axis motor (10), the Y-axis motor (22), the first transmission motor (40), and the second transmission motor (56), respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022928390.2U CN215149050U (en) | 2020-12-07 | 2020-12-07 | Connecting rod type four-shaft workpiece taking and spraying integrated manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022928390.2U CN215149050U (en) | 2020-12-07 | 2020-12-07 | Connecting rod type four-shaft workpiece taking and spraying integrated manipulator |
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| CN215149050U true CN215149050U (en) | 2021-12-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202022928390.2U Active CN215149050U (en) | 2020-12-07 | 2020-12-07 | Connecting rod type four-shaft workpiece taking and spraying integrated manipulator |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112497185A (en) * | 2020-12-07 | 2021-03-16 | 东莞市辉胜自动化设备有限公司 | Connecting rod type four-shaft workpiece taking and spraying integrated manipulator |
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2020
- 2020-12-07 CN CN202022928390.2U patent/CN215149050U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112497185A (en) * | 2020-12-07 | 2021-03-16 | 东莞市辉胜自动化设备有限公司 | Connecting rod type four-shaft workpiece taking and spraying integrated manipulator |
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