CN107214316B - Seven-axis spraying and picking robot for die casting - Google Patents
Seven-axis spraying and picking robot for die casting Download PDFInfo
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- CN107214316B CN107214316B CN201710530976.3A CN201710530976A CN107214316B CN 107214316 B CN107214316 B CN 107214316B CN 201710530976 A CN201710530976 A CN 201710530976A CN 107214316 B CN107214316 B CN 107214316B
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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
- 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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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Abstract
The invention discloses a seven-axis spray picking robot for die casting, wherein a base is provided with a transverse moving bottom plate which horizontally moves left and right, the transverse moving bottom plate is provided with a front and back feeding bottom plate which reciprocates front and back, a spraying device and a picking device are arranged on the front and back feeding bottom plate side by side, a picking seat driving device for driving the picking device to rotate is arranged on the front and back feeding bottom plate, when spraying and picking are carried out, the picking seat driving device drives the picking device to rotate after picking by the picking device so as to enable a picked product to be far away from a die, and at the moment, the spraying device sprays; the whole machine has small volume and small occupied area, the motion stroke of the workpiece taking device is short, the reaction speed of the whole machine is high, and the production efficiency is improved; when the piece is taken in a spraying mode, the piece taking seat driving device drives the piece taking device to rotate after the piece taking device takes the piece, so that the taken product is far away from the mold.
Description
Technical Field
The invention relates to a robot, in particular to a seven-axis spraying workpiece taking robot for die casting.
Background
In the die-casting process of a die-casting machine, the die-casting machine generally comprises two steps of taking a die-casting piece of a die-casting mold and spraying the die-casting mold, because the temperature of the die-casting piece formed by the die-casting mold is very high, the die-casting piece formed by the die-casting mold needs to be taken away by a piece taking device so as to ensure the personal safety of an operator; just because the die-casting die is die-cast at high temperature to form a die-casting piece, in order to improve the die-casting forming efficiency, the spray device is needed to carry out spray treatment on the die-casting die so as to shorten the cooling time of the die-casting die in the die-casting forming process.
The existing die-casting equipment mainly comprises a truss type four-axis spraying and piece-taking integrated machine, an articulated connecting rod spraying machine, an articulated connecting rod piece-taking machine and the like. The truss type four-axis spraying and picking integrated machine has the advantages that after a product is picked up by the picking device, the picking device stays in the original position, and after the spraying device carries out spraying and cooling on the die-casting mould, the picking device and the spraying device leave together, so that the die-casting is easily polluted during spraying; and the whole size is large, and the occupied area is large. Articulated connecting rod sprayer, articulated connecting rod formula are got a two models of independent separately-mounted, and not only area is big, and one side emergency exit will be opened and be used for getting in addition in process of production, and this is unfavorable for production environment clean and workman's personal safety.
Disclosure of Invention
The invention aims to solve the technical problem of providing a seven-axis spray picking robot for die casting, which can prevent product pollution, has small volume and high reaction speed.
The technical scheme adopted by the invention for solving the technical problems is as follows: a spray picking robot for seven-axis die casting comprises a base, wherein a transverse moving bottom plate which moves horizontally left and right is arranged on the base, a front feeding bottom plate and a rear feeding bottom plate which move back and forth are arranged on the transverse moving bottom plate, a spraying device and a picking device are arranged on the front feeding bottom plate and the rear feeding bottom plate side by side, a picking seat driving device which drives the picking device to rotate around the front feeding bottom plate and the rear feeding bottom plate is arranged on the front feeding bottom plate and the rear feeding bottom plate, when a piece is picked in a spraying mode, the picking device picks the piece, the picking seat driving device drives the picking device to rotate so that a taken die casting is far away from a die, and at the moment, the spraying device sprays.
Get a device including getting a big arm, getting a forearm and getting a motor drive arrangement for what constitute by first servo motor and first RV speed reducer, the front and back advance to be provided with on the bottom plate and be used for the installation first servo motor first RV speed reducer with get a seat drive arrangement's first motor seal box, first servo motor fix first motor seal box's first curb plate on, first servo motor's output shaft stretch out first motor seal box's first curb plate, first servo motor's output shaft coupling have a RV speed reducer, first RV speed reducer's output shaft with get a big arm's one end coupling, get a big arm's the other end with get a forearm's upper end coupling mutually, get a small arm's lower extreme be provided with and get a clamping jaw. A first servo motor drives a first RV speed reducer to drive a large taking arm to rotate around the central axis of an output shaft of the first RV speed reducer, so that a small taking arm drives a taking clamping jaw to do curvilinear motion, and the taking clamping jaw is convenient to take a workpiece quickly.
Get a seat drive arrangement and include second servo motor and second RV speed reducer, second servo motor fix the lower plate of first motor seal box on, second servo motor's output shaft on be connected with the second RV speed reducer, the output flange of second RV speed reducer stretch out the lower plate and fix advance the bottom plate around on, the lower plate pass through the second RV speed reducer install advance the bottom plate around on, the drive of second RV speed reducer the lower plate around the center pin of output flange rotatory. Because the second servo motor is fixed on the lower base plate, the output flange of the second RV reducer is fixed on the front and rear base plates, the second servo motor drives the second RV reducer to drive the first motor seal box to rotate around the central shaft of the output flange, the small taking arm is coupled to the large taking arm and rotates along with the first motor seal box as the large taking arm is arranged on the first side plate of the first motor seal box, and the product is directly removed after the taking is realized, so that the product is prevented from being polluted during spraying.
The large workpiece taking arm is hinged to the first side plate, the first connecting rod assembly comprises a first long connecting rod and a first short connecting rod, one end of the first long connecting rod is hinged to the first side plate, the other end of the first long connecting rod is hinged to one end of the first short connecting rod, the other end of the first short connecting rod is connected between the small workpiece taking arm and the large workpiece taking arm in a shaft connection mode, and the first long connecting rod, the first short connecting rod, the large workpiece taking arm and the first side plate are encircled to form a parallel four side. A parallelogram is enclosed by the first long connecting rod, the first short connecting rod, the large fetching arm and the first side plate, so that the small fetching arm is always kept in a vertical state, and the stable and accurate fetching and placing of a product by the fetching clamping jaw are guaranteed.
Get a device still include first balanced cylinder, first curb plate on vertically be provided with and be used for fixing first balanced cylinder's first support column, first balanced cylinder's top fix the top of first support column, first balanced cylinder's tail end fix get a big arm on. Set up first balanced cylinder between getting a big arm and first curb plate, be favorable to getting a big arm steady, the fast rotation, played the effect of speeding up.
The spraying device comprises a spraying large arm, a spraying small arm and a first motor driving device consisting of a third servo motor and a third RV reducer, the third servo motor is fixed on the front and back feeding bottom plates, the output shaft of the third servo motor is connected with the third RV reducer in a coupling mode, the output shaft of the third RV reducer is connected with one end of the spraying large arm in a coupling mode, the other end of the spraying large arm is connected with the upper end of the spraying small arm in a coupling mode, the upper end of the spraying small arm is provided with a second motor driving device and a third motor driving device, the lower end of the spraying small arm is provided with a spraying integrated block, the second motor driving device drives the spraying integrated block to wind around the spraying small arm to swing back and forth, and the third motor driving device drives the spraying integrated block to rotate by taking the central axis of the spraying small arm as an axis. The third servo motor drives the third RV reducer to drive the large spraying arm to rotate around the central axis of the output shaft of the third RV reducer, so that the small spraying arm drives the spraying integrated block to move up and down, and the spraying integrated block can be conveniently and quickly sprayed; the second motor driving device drives the spraying integrated block to swing back and forth around the spraying small arm, and the third motor driving device drives the spraying integrated block to rotate by taking the central axis of the spraying small arm as an axis, so that the spraying integrated block can spray more comprehensively and quickly, and the spraying effect is good; the second motor driving device and the third motor driving device are arranged at the upper end of the spraying small arm, so that the water resistance is facilitated, the service life of the spraying small arm is prolonged, and the problems that the traditional spraying shaft motor is not easy to seal, is easy to damage due to water inflow and causes high overall machine repair rate are solved.
The upper end of the small spraying arm is provided with a motor mounting base for mounting the second motor driving device and the third motor driving device, the second motor driving device comprises a fourth servo motor, a driven shaft and a first planetary reducer, the fourth servo motor is fixed on the motor mounting base through a mounting base, the fourth servo motor is vertically fixed at the top end of the mounting base, the middle of the mounting base is provided with a groove, a coupler used for connecting an output shaft of the fourth servo motor with the upper end of the driven shaft is arranged in the groove, the small spraying arm is internally provided with a cavity which penetrates through the small spraying arm from top to bottom, the cavity is communicated with the motor mounting base, the driven shaft extends into the cavity, the lower end of the driven shaft is in shaft connection with the first planetary reducer, the first planetary reducer is a right-angle double-shaft output speed reducer, and the spraying integrated blocks are respectively in shaft connection with two output shafts of the first planetary reducer. The fourth servo motor drives the driven shaft to synchronously rotate through the coupler so as to drive the first planetary reducer to rotate, and the first planetary reducer is a right-angle double-shaft output reducer, so that the spray integrated block can swing back and forth around two output shafts of the fourth reducer, and comprehensive and rapid spray cooling is facilitated; fourth servo motor passes through the mount pad setting on the top of spraying forearm, is favorable to waterproof, improves the security performance that the motor used, prolongs fourth servo motor's life.
The third motor driving device comprises a fifth servo motor and a second planetary reducer, an output shaft of the fifth servo motor is connected with the second planetary reducer in a shaft-connected mode, the second planetary reducer is connected with a pinion in a shaft-connected mode, a large gear is fixedly arranged on the lower bottom face of the mounting seat and meshed with the pinion, the large gear is sleeved on the upper end of the driven shaft, a sleeve is arranged between the driven shaft and the small spraying arm, the sleeve and the small spraying arm are coaxially arranged, a first bearing assembly comprising a first connecting flange, a deep groove ball bearing and a first plane bearing is arranged between the sleeve and the large gear, the first bearing assembly is arranged on the driven shaft, and a second bearing assembly comprising a second plane bearing and a second connecting flange is arranged between the sleeve and the first planetary reducer.
The fifth servo motor drives the second planetary reducer to drive the pinion to rotate, the pinion drives the bull gear to rotate, the bull gear rotates to drive the fourth servo motor to rotate, the sleeve is driven to rotate through the action of the first bearing assembly, and the second bearing assembly is arranged between the sleeve and the first planetary reducer and is coaxially arranged with the spraying small arm, so that the first planetary reducer rotates along with the sleeve, the spraying integrated block rotates around the central axis of the spraying small arm, and the spraying cooling effect of 360 degrees is achieved; because deep groove ball bearing passes through first flange to be fixed on the driven shaft, consequently fourth servo motor drive driven shaft rotates and the whole mutually noninterfere that rotates of fifth servo motor drive fourth servo motor, therefore during spray cooling, the spraying integrated package is rotatory around spraying forearm the central axis promptly, again around spraying forearm swing back and forth, is favorable to more comprehensive, faster spray cooling.
The front and back feeding bottom plate is provided with a second motor seal box used for sealing a third servo motor and a third RV reducer, a large spray arm is installed on a second side plate of the second motor seal box through the third RV reducer, a second connecting rod assembly is arranged between the large spray arm and the second side plate and comprises a second long connecting rod and a second short connecting rod, one end of the second long connecting rod is hinged to the second side plate, the other end of the second long connecting rod is hinged to one end of the second short connecting rod, the other end of the second short connecting rod is connected to the small spray arm through a shaft, and the second long connecting rod, the second short connecting rod, the large part taking arm and the second side plate form a parallelogram in a surrounding mode. A parallelogram is enclosed by the second long connecting rod, the second short connecting rod, the workpiece taking large arm and the second side plate, so that the small spraying arm is always kept in a vertical state, and stable and accurate spraying of the spraying integrated block is guaranteed.
The spraying device further comprises a second balance cylinder, a second support column used for fixing the second balance cylinder is vertically arranged on the second side plate, one end of the second balance cylinder is connected with the top end of the second support column, and the other end of the second balance cylinder is connected with the spraying large arm. Set up the balanced cylinder of second between big arm of spraying and second curb plate, be favorable to big arm of spraying steady, fast rotation, played the effect of speeding up.
A first sliding device is arranged between the forward and backward moving bottom plate and the transverse moving bottom plate, the first sliding device comprises a first guide rail and a first sliding block, the first guide rail is fixedly arranged on the upper surface of the transverse moving bottom plate, the first sliding block is fixedly arranged on the lower bottom surface of the forward and backward moving bottom plate, and a sixth servo motor and a third planetary reducer which are used for driving the forward and backward moving bottom plate to horizontally move are arranged in the second motor sealing box.
A second sliding device is arranged between the transverse moving bottom plate and the base and comprises a second guide rail and a second sliding block, the second guide rail is fixedly arranged on the lower bottom surface of the transverse moving bottom plate, the second sliding block is fixedly arranged on the upper surface of the base, and a seventh servo motor and a fourth planetary reducer which are used for driving the transverse moving bottom plate to horizontally move left and right are arranged on the transverse moving bottom plate.
Compared with the prior art, the invention has the advantages that: the invention discloses a seven-axis spray picking robot for die casting, which comprises a base, wherein a transverse moving bottom plate which horizontally moves left and right is arranged on the base, a front and back feeding bottom plate which reciprocates back and forth is arranged on the transverse moving bottom plate, a spraying device and a picking device are arranged on the front and back feeding bottom plate side by side, and a picking seat driving device which drives the picking device to rotate around the front and back feeding bottom plate is arranged on the front and back feeding bottom plate; because be provided with the rotatory seat drive arrangement of getting of drive on the preceding back bottom plate, when the piece was got in the spraying, get a seat drive arrangement drive after the device got and get a device rotation and make the pressure foundry goods of getting keep away from the mould, at this moment, atomizer sprays the die mould, is favorable to guaranteeing the cleanness of product like this, prevents product pollution, and need not to open one side emergency exit and is used for getting the piece, is favorable to producing clean environment and workman's personal safety.
Drawings
FIG. 1 is a top view of the present invention;
FIG. 2 is a perspective view of the present invention;
FIG. 3 is a top view of the motor seal box of the present invention removed;
fig. 4 is an assembly view of the spray arm of the present invention with a second motor drive and a third motor drive.
Detailed Description
The invention is described in further detail below with reference to the accompanying examples.
The embodiment is as follows: as shown in fig. 1, 2 and 3, a seven-axis spray picking robot for die casting comprises a base 1, a transverse moving bottom plate 2 which moves horizontally left and right is arranged on the base 1, a front and back feeding bottom plate 3 which moves back and forth is arranged on the transverse moving bottom plate 2, a spraying device and a picking device are arranged on the front and back feeding bottom plate 3 side by side, a picking seat driving device which drives the picking device to rotate around the front and back feeding bottom plate 3 is arranged on the front and back feeding bottom plate 3, when picking is carried out in a spraying mode, after the picking device picks, the picking seat driving device drives the picking device to rotate so that a picked product is far away from a die, and at the moment, the spraying device sprays. Because the spraying device and the workpiece taking device are arranged on the front and rear bottom plates 3 side by side, the whole volume of the whole machine is reduced, the occupied area of the whole machine is small, the movement stroke of the workpiece taking device is shortened, the reaction speed of the whole machine is high, and the production efficiency is improved; because the seat drive arrangement that gets that the drive got a device rotation is provided with on preceding back bottom plate 3, when the piece was got in the spraying, get a device and get a seat drive arrangement drive after getting a device and get a device rotation and make the product of getting keep away from the mould, at this moment, the atomizer spraying is favorable to guaranteeing the cleanness of product like this, prevents product pollution, and need not to open one side emergency exit and is used for getting a, is favorable to the clean and workman's personal safety of production environment.
In this embodiment, the pickup device includes a pickup large arm 41, a pickup small arm 42, and a pickup motor driving device composed of a first servo motor 43 and a first RV reducer 44, a first motor seal box 45 for mounting the first servo motor 43, the first RV reducer 44, and the pickup base driving device is provided on the forward and backward base plate 3, the first servo motor 43 is fixed on a first side plate (not shown) of the first motor seal box 45, an output shaft of the first servo motor 43 extends out of the first side plate (not shown) of the first motor seal box 45, the first RV reducer 44 is coupled to an output shaft of the first servo motor 43, the output shaft of the first RV reducer 44 is coupled to one end of the pickup large arm 41, the other end of the pickup large arm 41 is coupled to an upper end of the pickup small arm 42, and a pickup jaw 46 is provided at a lower end of the pickup small arm 42. The first servo motor 43 drives the first RV reducer 44 to drive the workpiece taking big arm 41 to rotate around the central axis of the output shaft of the first RV reducer 44, so that the workpiece taking small arm 42 drives the workpiece taking clamping jaw 46 to move up and down, and the workpiece taking clamping jaw 46 can take workpieces quickly; the picker boom 41 is mounted on a first side plate (not shown) via a first RV reducer 44.
In this embodiment, the pick-up seat driving device includes a second servo motor 5 and a second RV reducer (not shown), the second servo motor 5 is fixed on a lower base plate (not shown) of the first motor seal box 45, a second RV reducer (not shown) is coupled to an output shaft of the second servo motor 5, an output flange of the second RV reducer (not shown) extends out of the lower base plate (not shown) and is fixed on the front and rear base plates 3, the lower base plate (not shown) is mounted on the front and rear base plates 3 through the second RV reducer (not shown), and the second RV reducer (not shown) drives the lower base plate to rotate around a central axis of the output flange. Because the second servo motor 5 is fixed on the lower base plate (not shown in the figure), and the output flange of the second RV reducer (not shown in the figure) is fixed on the front and rear base plates 3, the second servo motor 5 drives the second RV reducer (not shown in the figure) to drive the first motor seal box 45 to rotate around the central shaft of the output flange, and because the workpiece taking large arm 41 is arranged on the first side plate (not shown in the figure) of the first motor seal box 45, the workpiece taking small arm 42 is coupled on the workpiece taking large arm 41, the workpiece taking large arm 41 and the workpiece taking small arm 42 rotate along with the first motor seal box 45, the direct removal of the products after workpiece taking is realized, and the products are prevented from being polluted during spraying.
In this embodiment, a first link assembly is disposed between the large workpiece taking arm 41 and the first side plate (not shown in the figure), the first link assembly includes a first long link 61 and a first short link 62, one end of the first long link 61 is hinged to the first side plate (not shown in the figure), the other end of the first long link 61 is hinged to one end of the first short link 62, the other end of the first short link 62 is pivotally connected between the small workpiece taking arm 42 and the large workpiece taking arm 41, and the first long link 61, the first short link 62, the large workpiece taking arm 41 and the first side plate (not shown in the figure) enclose a parallelogram. The first long connecting rod 61, the first short connecting rod 62, the pickup big arm 41 and the first side plate (not shown) enclose a parallelogram, so that the pickup small arm 42 is always kept in a vertical state, and the pickup clamping jaw 46 is ensured to stably and accurately pick and place products.
In this embodiment, the pickup device further includes a first balance cylinder 47, a first support column 48 for fixing the first balance cylinder 47 is vertically disposed on the first side plate (not shown in the figure), a top end of the first balance cylinder 47 is fixed on a top end of the first support column 48, and a tail end of the first balance cylinder 47 is fixed on the pickup big arm 41. A first balance cylinder 47 is arranged between the large workpiece taking arm 41 and a first side plate (not shown in the figure), so that the large workpiece taking arm 41 can rotate stably and quickly, and the speed is increased.
In this embodiment, as shown in fig. 4, the spraying device includes a large spraying arm 71, a small spraying arm 72, and a first motor driving device composed of a third servo motor 73 and a third RV reducer 74, the third servo motor 73 is fixed on the front and rear bottom plates 3, the output shaft of the third servo motor 73 is coupled to the third RV reducer 74, the output shaft of the third RV reducer 74 is coupled to one end of the large spraying arm 71, the other end of the large spraying arm 71 is coupled to the upper end of the small spraying arm 72, the upper end of the small spraying arm 72 is provided with a second motor driving device 8 and a third motor driving device 9, the lower end of the small spraying arm 72 is provided with a spraying integrated block 75, the second motor driving device 8 drives the spraying integrated block 75 to swing back and forth around the small spraying arm 72, and the third motor driving device 9 drives the spraying integrated block 75 to rotate around the central axis of the small spraying arm 72. The third servo motor 73 drives the third RV reducer 74 to drive the large spraying arm 71 to rotate around the central axis of the output shaft of the third RV reducer 74, so that the small spraying arm 72 drives the integrated spraying block 75 to move up and down, and the integrated spraying block 75 can spray quickly; the second motor driving device 8 drives the spraying integrated block 75 to swing back and forth around the spraying small arm 72, and the third motor driving device 9 drives the spraying integrated block 75 to rotate by taking the central axis of the spraying small arm 72 as the axis, so that the spraying integrated block 75 can spray more comprehensively and quickly, and the spraying effect is good; the second motor driving device 8 and the third motor driving device 9 are arranged at the upper end of the spraying small arm 72, so that water resistance is facilitated, the service life of the spraying small arm is prolonged, and the problems that a traditional spraying shaft motor is not easy to seal, is easy to damage due to water inflow and causes high overall repair rate are solved.
In this embodiment, a motor mounting base 721 for mounting the second motor driving device 8 and the third motor driving device 9 is disposed at the upper end of the spray small arm 72, the second motor driving device 8 includes a fourth servo motor 81, a driven shaft 82 and a first planetary reducer 83, the fourth servo motor 81 is fixed on the motor mounting base 721 through a mounting seat 84, the fourth servo motor 81 is vertically fixed at the top end of the mounting seat 84, a groove 841 is disposed in the middle of the mounting seat 84, a coupler 85 for connecting the output shaft of the fourth servo motor 81 and the upper end of the driven shaft 82 is disposed in the groove 841, a cavity 722 penetrating up and down is disposed inside the spray small arm 72, the cavity 722 is communicated with the motor mounting base 721, the driven shaft 82 extends into the cavity 722, the lower end of the driven shaft 82 is coupled with the first planetary reducer 83, the first planetary reducer 83 is a right-angle dual-shaft reducer output, and the spray integrated blocks 75 are respectively coupled to two output shafts of the first planetary reducer 83. The fourth servo motor 81 drives the driven shaft 82 to synchronously rotate through the coupler 85 so as to drive the first planetary reducer 83 to rotate, and the first planetary reducer 83 is a right-angle double-shaft output reducer, so the spray manifold block 75 can swing back and forth around two output shafts of the fourth reducer, and comprehensive and rapid spray cooling is facilitated; fourth servo motor 81 passes through mount pad 84 and sets up on the top of spraying forearm 72, is favorable to waterproof, improves the security performance that the motor used, prolongs fourth servo motor 81's life.
In this embodiment, the third motor driving device 9 includes a fifth servo motor 91 and a second planetary reducer 92, the second planetary reducer 92 is coupled to an output shaft of the fifth servo motor 91, the second planetary reducer 92 is coupled to a pinion 93, a bull gear 94 is fixedly disposed on a lower bottom surface of the mounting seat 84, the bull gear 94 and the pinion 93 are engaged with each other, the bull gear 94 is sleeved on an upper end of the driven shaft 82, a sleeve 95 is disposed between the driven shaft 82 and the spray small arm 72, the sleeve 95 and the spray small arm 72 are coaxially disposed, a first bearing assembly including a first connecting flange 101, a deep groove ball bearing 102 and a first planar bearing 103 is disposed between the sleeve 95 and the bull gear 94, the first bearing assembly is mounted on the driven shaft 82, and a second bearing assembly including a second planar bearing 111 and a second connecting flange 112 is disposed between the sleeve 95 and the first planetary reducer 83.
In this embodiment, the fifth servo motor 91 drives the second planetary reducer 92 to drive the pinion 93 to rotate, the pinion 93 drives the bull gear 94 to rotate, the bull gear 94 drives the fourth servo motor 81 to rotate, the sleeve 95 is driven to rotate through the action of the first bearing assembly, and because the second bearing assembly is arranged between the sleeve 95 and the first planetary reducer 83 and the sleeve 95 and the spray forearm 72 are coaxially arranged, the first planetary reducer 83 rotates along with the sleeve 95, so that the spray manifold 75 rotates around the central axis of the spray forearm 72, and the spray cooling effect of 360 degrees is achieved; because the deep groove ball bearing 102 is fixed on the driven shaft 82 through the first connecting flange 101, the fourth servo motor 81 drives the driven shaft 82 to rotate and the fifth servo motor 91 drives the fourth servo motor 81 to integrally rotate without mutual interference, and therefore, during spray cooling, the spray manifold block 75 rotates around the central axis of the spray small arm 72 and swings back and forth around the spray small arm 72, and more comprehensive and faster spray cooling is facilitated.
In this embodiment, a second motor sealing box 76 for sealing the third servo motor 73 and the third RV reducer 74 is disposed on the forward and backward bottom plate 3, the large spray arm 71 is mounted on a second side plate 761 of the second motor sealing box 76 through the third RV reducer 74, a second connecting rod assembly is disposed between the large spray arm 71 and the second side plate 761, the second connecting rod assembly includes a second long connecting rod 121 and a second short connecting rod 122, one end of the second long connecting rod 121 is hinged to the second side plate 761, the other end of the second long connecting rod 121 is hinged to one end of the second short connecting rod 122, the other end of the second short connecting rod 122 is connected between the small spray arm 72 and the large spray arm 71, and the second long connecting rod 121, the second short connecting rod 122, the large pickup arm 41 and the second side plate 761 form a parallelogram. The second long connecting rod 121, the second short connecting rod 122, the workpiece taking large arm 41 and the second side plate 761 form a parallelogram, so that the small spraying arm 72 is always kept in a vertical state, and the stable and accurate spraying of the spraying manifold block 75 is ensured.
In this embodiment, the spraying device further includes a second balance cylinder 77, a second support pillar 78 for fixing the second balance cylinder 77 is vertically disposed on the second side plate 761, one end of the second balance cylinder 77 is connected to a top end of the second support pillar 78, and the other end of the second balance cylinder 77 is connected to the spray boom 71. The second balance cylinder 77 is arranged between the large spraying arm 71 and the second side plate 761, so that the large spraying arm 71 can rotate stably and quickly, and the speed is increased.
In this embodiment, a first sliding device is disposed between the forward/backward movement base plate 3 and the traverse base plate 2, the first sliding device includes a first guide rail (not shown) and a first slider 131, the first guide rail (not shown) is fixedly disposed on the upper surface of the traverse base plate 2, the first slider 131 is fixedly disposed on the lower bottom surface of the forward/backward movement base plate 3, and a sixth servo motor 141 and a third planetary reducer (not shown) for driving the forward/backward movement base plate 3 to horizontally move forward/backward are disposed in the second motor seal box 76.
In this embodiment, a second sliding device is disposed between the traverse base 2 and the base 1, the second sliding device includes a second guide rail (not shown) and a second slider 151, the second guide rail (not shown) is fixedly disposed on the lower bottom surface of the traverse base 2, the second slider 151 is fixedly disposed on the upper surface of the base 1, and a seventh servo motor 161 and a fourth planetary reducer 162 (not shown) for driving the traverse base 2 to horizontally move left and right are disposed on the traverse base 2.
Claims (6)
1. A seven-axis spray picking robot for die casting comprises a base, wherein a transverse moving bottom plate which horizontally moves left and right is arranged on the base, a front and back feeding bottom plate which reciprocates back and forth is arranged on the transverse moving bottom plate, a spraying device and a picking device are arranged on the front and back feeding bottom plate side by side, a picking seat driving device which drives the picking device to rotate is arranged on the front and back feeding bottom plate, when spraying picking is carried out, the picking seat driving device drives the picking device to rotate after picking is carried out by the picking device so as to enable a picked product to be far away from a die, and at the moment, the spraying device sprays;
the spraying device is characterized by comprising a spraying big arm, a spraying small arm and a first motor driving device consisting of a third servo motor and a third RV reducer, wherein the third servo motor is fixed on the front and back feeding bottom plate, the output shaft of the third servo motor is connected with the third RV reducer in a shaft coupling manner, the output shaft of the third RV reducer is connected with one end of the spraying big arm in a shaft coupling manner, the other end of the spraying big arm is connected with the upper end of the spraying small arm in a shaft coupling manner, the upper end of the spraying small arm is provided with a second motor driving device and a third motor driving device, the lower end of the spraying small arm is provided with a spraying integrated block, the second motor driving device drives the spraying integrated block to swing back and forth around the spraying small arm, and the third motor driving device drives the spraying integrated block to rotate by taking the central axis of the spraying small arm as an axis; the upper end of the small spraying arm is provided with a motor mounting base for mounting the second motor driving device and the third motor driving device, the second motor driving device comprises a fourth servo motor, a driven shaft and a first planetary reducer, the fourth servo motor is fixed on the motor mounting base through a mounting base, the fourth servo motor is vertically fixed at the top end of the mounting base, the middle part of the mounting base is provided with a groove, a coupler for connecting the output shaft of the fourth servo motor with the upper end of the driven shaft is arranged in the groove, the inside of the small spraying arm is a cavity which penetrates up and down, the cavity is communicated with the motor mounting base, the driven shaft extends into the cavity, the lower end of the driven shaft is in shaft connection with the first planetary reducer, the first planetary reducer is a right-angle double-shaft output reducer, and the spraying integrated blocks are respectively in shaft connection with two output shafts of the first planetary reducer; the third motor driving device comprises a fifth servo motor and a second planetary reducer, the second planetary reducer is connected to an output shaft of the fifth servo motor in a shaft coupling mode, the second planetary reducer is connected with a pinion in a shaft coupling mode, a large gear is fixedly arranged on the lower bottom surface of the mounting seat and meshed with the pinion, the large gear is sleeved at the upper end of the driven shaft, a sleeve is arranged between the driven shaft and the small spraying arm and coaxially arranged with the small spraying arm, a first bearing assembly consisting of a first connecting flange, a deep groove ball bearing and a first plane bearing is arranged between the sleeve and the large gear, the first bearing assembly is arranged on the driven shaft, and a second bearing assembly consisting of a second plane bearing and a second connecting flange is arranged between the sleeve and the first planetary reducer;
get a device including getting a big arm, getting a forearm and getting a motor drive unit for what constitute by a servo motor and a RV speed reducer, the front and back advance to be provided with on the bottom plate and be used for the installation a servo motor first RV speed reducer with get a seat drive arrangement's first motor seal box, a servo motor fix the first curb plate of first motor seal box on, a servo motor's output shaft stretch out the first curb plate of first motor seal box, a servo motor's output shaft coupling have first RV speed reducer, the output shaft of first RV speed reducer with get an end coupling of big arm, get the other end of a big arm with get an upper end coupling of forearm, the lower extreme of getting a forearm be provided with and get a clamping jaw.
2. The spray picking robot for seven-axis die casting according to claim 1, wherein the picking base driving device comprises a second servo motor and a second RV reducer, the second servo motor is fixed on the lower base plate of the first motor seal box, the output shaft of the second servo motor is connected with the second RV reducer, the output flange of the second RV reducer extends out of the lower base plate and is fixed on the front and back feeding plate, the lower base plate is mounted on the front and back feeding plate through the second RV reducer, and the second RV reducer drives the lower base plate to rotate around the central shaft of the output flange.
3. The spray picking robot for seven-axis die casting according to claim 1, wherein a first connecting rod assembly is arranged between the picking big arm and the first side plate, the first connecting rod assembly comprises a first long connecting rod and a first short connecting rod, one end of the first long connecting rod is hinged to the first side plate, the other end of the first long connecting rod is hinged to one end of the first short connecting rod, the other end of the first short connecting rod is connected between the picking small arm and the picking big arm in a shaft mode, and the first long connecting rod, the first short connecting rod, the picking big arm and the first side plate enclose a parallelogram.
4. The spray picking robot for seven-axis die casting according to claim 1, wherein the picking device further comprises a first balance cylinder, a first support column for fixing the first balance cylinder is vertically arranged on the first side plate, the top end of the first balance cylinder is fixed on the top end of the first support column, and the tail end of the first balance cylinder is fixed on the picking big arm.
5. The seven-axis spray picking robot for die-casting according to claim 1, wherein a second motor seal box is arranged on the front and rear feeding bottom plate, a third RV reducer is fixed on a second side plate of the second motor seal box, a second connecting rod assembly is arranged between the large spray arm and the second side plate and comprises a second long connecting rod and a second short connecting rod, one end of the second long connecting rod is hinged to the second side plate, the other end of the second long connecting rod is hinged to one end of the second short connecting rod, the other end of the second short connecting rod is hinged to the small spray arm and the large spray arm, and the second long connecting rod, the second short connecting rod, the large pick arm and the second side plate form a parallelogram.
6. The spray picking robot for seven-axis die casting according to claim 5, characterized in that the spraying device further comprises a second balance cylinder, a second support column for fixing the second balance cylinder is vertically arranged on the second side plate, one end of the second balance cylinder is connected with the top end of the second support column, and the other end of the second balance cylinder is connected with the spray boom.
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| CN201710530976.3A CN107214316B (en) | 2017-07-03 | 2017-07-03 | Seven-axis spraying and picking robot for die casting |
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| CN201710530976.3A CN107214316B (en) | 2017-07-03 | 2017-07-03 | Seven-axis spraying and picking robot for die casting |
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| CN107214316B true CN107214316B (en) | 2023-04-11 |
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| CN107583832A (en) * | 2017-10-11 | 2018-01-16 | 佛山市新鹏机器人技术有限公司 | A kind of automatic glue application cure system of trophy |
| CN108654894B (en) * | 2018-07-16 | 2024-03-12 | 上海震界自动化设备制造有限公司 | Coaxial connecting rod gets a spraying all-in-one |
| CN109047704B (en) * | 2018-08-13 | 2020-07-24 | 深圳市日昭自动化设备有限公司 | Automatic part taking and spraying production method for die casting |
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