Suspension type workpiece taking and spraying all-in-one machine

Abstract

The invention aims at providing a suspension type part taking and spraying all-in-one machine which comprises a driving master controller, a working arm is arranged on the driving master controller, a mechanical arm capable of grabbing a casting and a spraying head capable of spraying a die-casting mold are arranged on the working arm, and a suspension frame capable of being connected with a die-casting machine is connected to the driving master controller. The driving master controller can be mounted on the die-casting machine in a suspended manner through the suspension bracket, and the manipulator and the spray head can be controlled through the working arm to perform workpiece taking and spraying operation, so that the driving master controller can be integrally mounted above the ground through the transverse frame and the vertical frame, and is arranged on the die-casting machine in a suspended manner, so that the ground space of a workshop is saved, and the working efficiency is improved. Compared with the prior art, the automatic spraying device has the advantages that the utilization rate of workshop space is increased, the manipulator and the spraying head are mounted on the same working arm to be used, the workpiece taking and spraying actions are simple, the working efficiency is high, the capital investment is reduced, and the cost is saved due to the fact that the manipulator and the spraying head are mounted on the same working arm.

Description

Technical Field

[0001] The invention belongs to the technical field of aluminum die-casting, and in particular relates to a hanging type all-in-one pickup and sprayer. Background Art

[0002] Aluminum die-casting is the process of heating aluminum alloy to liquid and then injecting it into a die-casting mold, filling the mold cavity with high pressure and speed, and solidifying under pressure to form a casting. When the die-casting mold is opened after the casting is formed, the casting is usually taken out from the die-casting mold by a retrieval robot, and the inside of the mold is sprayed and cooled with a spray robot. The existing retrieval robot and spray robot are both split, and the two robots are large in size. The retrieval robot and the spray robot are both installed on the workshop floor for use, which leads to excessive occupation of the workshop space and reduces the space utilization rate of the workshop. Summary of the invention

[0003] To achieve the above-mentioned purpose, the specific technical solution of the present invention is: a suspended piece-picking and spraying integrated machine, including a driving master control, a working arm is provided on the driving master control, a manipulator for grabbing castings and a spray head for spraying die-casting molds are provided on the working arm, and a hanging frame that can be connected to the die-casting machine is installed on the driving master control, and the driving master control can be installed on the die-casting machine in a suspended posture through the hanging frame, and the manipulator and the spray head can be controlled through the working arm to perform piece-picking and spraying operations.

[0004] According to the above technical solution, the master drive control can control the working arm to adjust along the X, Y, and Z axes, and control the manipulator and the spray head to approach or move away from the die-casting mold.

[0005] It is worth mentioning that the X-axis represents the movement in the left-right direction, the Y-axis represents the movement in the front-back direction, and the Z-axis represents the movement in the up-down direction.

[0006] According to the above technical solution, a cylinder is further installed on the working arm, the manipulator is installed on the cylinder, the spray head is directly connected to the working arm, and a distance is left between the manipulator and the spray head. The cylinder can control the manipulator to approach or move away from the spray head, so that the manipulator and the spray head operate in steps and cooperate to complete the operation of picking up the parts first and then spraying.

[0007] According to the above technical solution, the master drive control includes a first drive module, a second drive module and a third drive module. The working arm can be slidably mounted on the third drive module. Through the cooperative drive between the third drive module, the first drive module and the second drive module, the working arm can be driven to adjust along the X, Y and Z axes, thereby realizing the flexible operation of the working arm and the manipulator to first grab and then spray the casting.

[0008] According to the above technical solution, the suspension frame further includes a horizontal frame, which can be connected to the die-casting machine. The drive master control can be installed between the horizontal frame and the die-casting machine. The horizontal frame is provided with a vertical frame for supporting the drive master control. The vertical frame is provided with a screw hole fixing plate. The vertical frame can be fixed to the ground through the screw hole fixing plate, which can support the drive master control to drive the working arm to operate stably.

[0009] According to the above technical solution, further, the first drive module is connected to the horizontal frame, the second drive module is arranged on the first drive module, and the third drive module is connected to the second drive module. After the first drive module, the second drive module and the third drive module are connected accordingly, the first drive module and the second drive module are in a vertical state, and the second drive module and the third drive module are in a vertical state.

[0010] According to the above technical solution, further, the first driving module includes a first connecting plate, which can be assembled with the cross frame by bolts, a first motor is installed on the first connecting plate, a first gear is installed on the first motor, a first slide seat and a second slide seat are provided on the first connecting plate, a first slide rail and a second slide rail are slidably mounted in the first slide seat and the second slide seat, a first sliding body is provided on the first slide rail and the second slide rail, a first rack is provided on the first sliding body, and the first rack can be meshed and connected with the first gear, and by driving the first motor to work, the first gear and the first rack can be driven to cooperate with each other to make the first sliding body pass through the first slide rail and the second slide rail, and slide under the support of the first slide seat and the second slide seat, so as to realize Y-axis adjustment of the working arm.

[0011] According to the above technical solution, further, the second driving module includes a second sliding body, and the second sliding body can be connected to the first sliding body. After the connection, the second sliding body and the first sliding body are in a vertical state. The second sliding body is provided with a second rack and a third slide rail. The third slide rail is slidably mounted with a third slide seat, and the third slide seat is provided with a second connecting plate. The second connecting plate is installed with a second motor. The second motor is equipped with a second gear, and the second gear can be meshed and connected with the second rack. By driving the second motor to work, the second gear and the second rack can be driven to cooperate with each other to make the second connecting plate pass through the third slide seat and the third slide rail and slide along the extension direction of the second sliding body, so as to realize Z-axial adjustment of the working arm.

[0012] Further according to the above technical scheme, the third driving module includes a third connecting plate, the third connecting plate can be assembled with the second connecting plate by bolts, the third connecting plate is installed with a third motor, the third motor is installed with a third gear, the third connecting plate is provided with a fourth slide and a fifth slide, the fourth slide and the fifth slide are slidably mounted with a fourth slide rail and a fifth slide rail, the fourth slide rail and the fifth slide rail are provided with a third sliding body, the third sliding body is provided with a third rack, the third gear can mesh with the third rack, and the third sliding body is provided with two pulley mounting seats, both pulley mounting seats are rotatably provided with pulleys, the two pulleys are provided with synchronous belts, the two pulleys are transmitted through the synchronous belt, the synchronous belt is provided with a toothed plate and a connecting seat, the toothed plate is connected to the third connecting plate, the connecting seat is connected to the working arm, the working arm is connected to the third sliding body The third gear and the third rack are driven to cooperate with each other to make the third slide body pass through the fourth slide rail and the fifth slide rail, and slide under the support of the fourth slide seat and the fifth slide seat. When the synchronous third slide body slides, it will drive the synchronous belt to slide horizontally. In this process, the synchronous belt will be pulled by the fixed restriction of the tooth plate, so that it can operate under the transmission of the two pulleys, so that the working arm connected with the connecting seat can slide out from the third slide body, so as to realize the X-axis adjustment of the working arm. The third slide body is provided with a sixth slide seat and a seventh slide rail, and the working arm is provided with a sixth slide rail that can be clamped with the sixth slide seat and a seventh slide rail that can be clamped with the seventh slide rail, so that the working arm can be slidably mounted on the third slide body through the sixth slide rail and the sixth slide seat as well as the seventh slide rail and the seventh slide seat, so as to realize the stable sliding between the working arm and the third slide body.

[0013] According to the above technical scheme, further, the cylinder includes a first cylinder and a second cylinder, a first mounting seat is provided on the working arm, a first cylinder is installed on the first mounting seat, a driving shaft is provided on the first cylinder, a second mounting seat is mounted on the second mounting seat, a second cylinder is installed on the second mounting seat, a driving shaft is provided on the second cylinder, a third mounting seat is mounted on the driving shaft of the second cylinder, and the manipulator is arranged in the third mounting seat, and by driving the first cylinder and the second cylinder, the driving shaft of the first cylinder can push the second mounting seat to move, and synchronously, the driving shaft of the second cylinder can push the third mounting seat to move, thereby adjusting the position of the manipulator, so that the manipulator is close to or away from the die-casting mold, an eighth slide is provided on the second mounting seat and the third mounting seat, an eighth slide rail is provided on the working arm, and the eighth slide can be slidably mounted on the eighth slide rail to achieve stable sliding of the second mounting seat and the third mounting seat.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: the overall drive control can be installed off the ground through the provision of horizontal and vertical frames, and can be suspended on the die-casting machine, saving floor space in the workshop and improving the utilization rate of the workshop space; the manipulator and the spray head are installed on the same working arm for use, the action of taking and spraying is simple, the working efficiency is high, and the manipulator and the spray head are installed on the same working arm, which also reduces capital investment and saves costs; at the same time, there is a distance between the manipulator and the spray head for staggered operations, and the spraying operation is performed first. During this period, the water stains from the spraying basically do not contact the product, and the product is easy to store for a long time. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0016] Figure 1 This is a reference schematic diagram of the overall structural state of an embodiment of the present invention.

[0017] Figure 2 This is a reference schematic diagram of the structural state of the first driving module according to an embodiment of the present invention.

[0018] Figure 3 This is a reference schematic diagram of the structural state of the second driving module according to an embodiment of the present invention.

[0019] Figure 4 This is a reference schematic diagram of the structural state of the third driving module according to an embodiment of the present invention.

[0020] Figure 5 This is a reference schematic diagram of the structural state of the third driving module from another viewing angle according to an embodiment of the present invention.

[0021] Figure 6 This is a reference schematic diagram of an actual usage scenario of an embodiment of the present invention.

[0022] Explanation of the marks in the figure: 1. suspension frame; 2. horizontal frame; 3. vertical frame; 4. drive master control; 5. working arm; 6. manipulator; 7. spray head; 8. first drive module; 81. first slide; 82. first connecting plate; 83. first motor; 84. first gear; 85. first rack; 86. first slide rail; 87. first slide seat; 88. second slide rail; 89. second slide seat; 9. second drive module; 91. second slide; 92. second connecting plate; 93. second motor; 94. second gear; 95. second rack; 96. third slide rail; 97. third slide seat; 10. third drive module; 101. third Sliding body; 102, third connecting plate; 103, third motor; 104, third gear; 105, third rack; 106, fourth slide rail; 107, fourth slide seat; 108, fifth slide seat; 109, fifth slide rail; 110, pulley mounting seat; 111, pulley; 112, synchronous belt; 113, tooth plate; 114, connecting seat; 11, sixth slide rail; 12, sixth slide seat; 13, seventh slide rail; 14, seventh slide seat; 15, eighth slide rail; 16, eighth slide seat; 17, first mounting seat; 18, first cylinder; 19, second mounting seat; 20, second cylinder; 21, third mounting seat; 22, towing belt. DETAILED DESCRIPTION

[0023] The embodiments of the present disclosure are described in detail below in conjunction with the accompanying drawings. The implementation methods of the present disclosure are explained below through specific examples. Those skilled in the art can easily understand other advantages and effects of the present disclosure from the contents disclosed in this specification, which are further explained below in conjunction with the accompanying drawings.

[0024] See also Figure 1-6 It can be known that, in an embodiment of the present invention, a suspended piece picking and spraying integrated machine comprises a suspension frame 1 which can be connected to a die-casting machine, a driving master control 4 is mounted on the suspension frame 1, the driving master control 4 comprises a first driving module 8, a second driving module 9 and a third driving module 10, a working arm 5 is slidably mounted on the third driving module 10, and a manipulator 6 which can grab the casting and a spray head 7 which sprays the die-casting mold are provided on the working arm 5. Through the cooperative drive between the third driving module 10, the first driving module 8 and the second driving module 9, the working arm 5 can be driven to adjust along the X, Y and Z axes, so as to realize the flexible operation of first grabbing and then spraying the casting by the working arm 5 and the manipulator 6.

[0025] It is worth mentioning that the X-axis represents the movement in the left-right direction, the Y-axis represents the movement in the front-back direction, and the Z-axis represents the movement in the up-down direction.

[0026] Furthermore, the suspension frame 1 includes a horizontal frame 2, which can be connected to the die-casting machine. The drive master control 4 can be installed between the horizontal frame 2 and the die-casting machine, so that the drive master control 4 can be fixed on the die-casting machine in a suspended manner. The horizontal frame 2 is provided with a vertical frame 3 for supporting the drive master control 4. The vertical frame 3 is provided with a screw hole fixing plate. The vertical frame 3 can be fixed to the ground through the screw hole fixing plate, which can support the stable operation of the drive master control 4.

[0027] Furthermore, the first drive module 8 is mounted on the cross frame 2, the second drive module 9 is arranged on the first drive module 8, and the third drive module 10 is mounted on the second drive module 9. After the first drive module 8, the second drive module 9 and the third drive module 10 are correspondingly connected, the first drive module 8 and the second drive module 9 are in a vertical state, and the second drive module 9 and the third drive module 10 are in a vertical state.

[0028] Further, the first driving module 8 includes a first connecting plate 82, which can be assembled with the cross frame 2 by bolts, a first motor 83 is installed on the first connecting plate 82, a first gear 84 is installed on the first motor 83, a first slide 87 and a second slide 89 are provided on the first connecting plate 82, a first slide rail 86 and a second slide rail 88 are slidably mounted in the first slide 87 and the second slide 89, a first slide body 81 is provided on the first slide rail 86 and the second slide rail 88, a first rack 85 is provided on the first slide body 81, and the first rack 85 can be meshed and connected with the first gear 84, and by driving the first motor 83 to work, the first gear 84 and the first rack 85 can be driven to cooperate with each other for operation, so that the first slide body 81 passes through the first slide rail 86 and the second slide rail 88 and slides under the support of the first slide seat 87 and the second slide seat 89, so as to realize the Y-axis adjustment of the working arm 5.

[0029] Furthermore, the second driving module 9 includes a second sliding body 91, and the second sliding body 91 can be connected to the first sliding body 81. After the connection, the second sliding body 91 and the first sliding body 81 are in a vertical state. The second sliding body 91 is provided with a second rack 95 and a third slide rail 96. The third slide rail 96 is slidably mounted with a third slide seat 97, and the third slide seat 97 is equipped with a second connecting plate 92. The second connecting plate 92 is installed with a second motor 93, and the second motor 93 is equipped with a second gear 94. The second gear 94 can be meshed and connected with the second rack 95. By driving the second motor 93 to work, the second gear 94 can be driven to cooperate with the second rack 95 to operate, so that the second connecting plate 92 passes through the third slide seat 97 and the third slide rail 96 and slides along the extension direction of the second sliding body 91, thereby realizing the Z-axial adjustment of the working arm 5.

[0030] Further, the third driving module 10 includes a third connecting plate 102, the third connecting plate 102 can be assembled with the second connecting plate 92 by bolts, a third motor 103 is installed on the third connecting plate 102, a third gear 104 is installed on the third motor 103, a fourth slide 107 and a fifth slide 108 are provided on the third connecting plate 102, a fourth slide rail 106 and a fifth slide rail 109 are slidably mounted in the fourth slide 107 and the fifth slide 108, a third sliding body 101 is provided on the fourth slide rail 106 and the fifth slide rail 109, a third sliding body 101 is provided on the third sliding body 101, a third rack 105 is provided on the third sliding body 101, the third gear 104 can mesh with the third rack 105, two pulley mounting seats 110 are provided on the two pulley mounting seats 110, pulleys 111 are rotatably provided on the two pulley mounting seats 110, a synchronous belt 112 is provided on the two pulleys 111, and the two pulleys 111 are provided with a synchronous belt 112. 11 is transmitted through a synchronous belt 112, and a tooth plate 113 and a connecting seat 114 are provided on the synchronous belt 112. The tooth plate 113 is connected to the third connecting plate 102, and the connecting seat 114 is connected to the working arm 5. The working arm 5 slides between the third sliding body 101, and by driving the third motor 103 to work, the third gear 104 and the third rack 105 can be driven to cooperate with the operation, so that the third sliding body 101 passes through the fourth slide rail 106 and the fifth slide rail 109, and slides under the support of the fourth slide seat 107 and the fifth slide seat 108. When the synchronized third sliding body 101 slides, it will drive the synchronous belt 112 to slide in translation, and in this process, the synchronous belt 112 will be pulled by the fixed restriction of the tooth plate 113, so that it will operate under the transmission of the two pulleys 111, so that the working arm 5 connected with the connecting seat 114 slides out from under the third sliding body 101, so as to realize the X-axis adjustment of the working arm 5.

[0031] Furthermore, the third sliding body 101 is provided with a sixth sliding seat 12 and a seventh sliding rail 13, and the working arm 5 is provided with a sixth sliding rail 11 that can be clamped with the sixth sliding seat 12 and a seventh sliding seat 14 that can be clamped with the seventh sliding rail 13, so that the working arm 5 can be slidably hung on the third sliding body 101 through the sixth sliding rail 11 and the sixth sliding seat 12 as well as the seventh sliding rail 13 and the seventh sliding seat 14, thereby realizing stable sliding between the working arm 5 and the third sliding body 101.

[0032] Furthermore, a first mounting seat 17 is provided on the working arm 5, a first cylinder 18 is installed on the first mounting seat 17, a driving shaft is provided on the first cylinder 18, a second mounting seat 19 is mounted on the driving shaft of the first cylinder 18, a second cylinder 20 is installed on the second mounting seat 19, a driving shaft is provided on the second cylinder 20, a third mounting seat 21 is mounted on the driving shaft of the second cylinder 20, and the manipulator 6 is arranged in the third mounting seat 21. By driving the first cylinder 18 and the second cylinder 20, the driving shaft of the first cylinder 18 can push the second mounting seat 19 to move, and synchronously, the driving shaft of the second cylinder 20 can push the third mounting seat 21 to move, thereby adjusting the position of the manipulator 6 so that the manipulator 6 is close to or away from the die-casting mold.

[0033] Furthermore, a limiter is provided on the first mounting seat 17 , which can limit the manipulator 6 after the second mounting seat 19 is pulled back.

[0034] Furthermore, an eighth slide 16 is provided on both the second mounting seat 19 and the third mounting seat 21, and an eighth slide rail 15 is provided on the working arm 5. The eighth slide 16 can be slidably mounted on the eighth slide rail 15 to achieve stable sliding of the second mounting seat 19 and the third mounting seat 21.

[0035] Furthermore, a towing belt 22 for arranging wires is installed between the second connecting plate 92 and the third sliding body 101. The towing belt 22 can arrange the wires in an orderly manner and protect them to achieve circuit connectivity.

[0036] like Figure 6 As shown, when the all-in-one machine is used in an actual workshop, it is connected to the die-casting machine A. The driving master control 4 can drive the manipulator 6 and the spray head 7 to approach the die-casting mold on the die-casting machine to perform the picking and spraying operations. After the spraying is completed, the casting will be grabbed onto the conveying device B and output to the next station.

[0037] It is worth mentioning that: there is a distance between the robot 6 and the spray head 7 for staggered operation. The robot 6 will first take out the casting from the die-casting mold, and when retreating, the die-casting mold will be sprayed and cooled by the spray head 7. During this period, the water stains from the spray will basically not contact the product, so that the product is not easy to mold and affect the product quality when stored for a long time.

[0038] Specific steps for collection: When the movable and fixed molds of the die-casting machine are separated, the first motor 83 can be driven to work, and the first gear 84 can be driven to cooperate with the first rack 85 to make the first slide 81 pass through the first slide rail 86 and the second slide rail 88, and slide backward under the support of the first slide seat 87 and the second slide seat 89, so that the working arm 5 can be adjusted in the Y-axis direction to align with the separation area of ​​the die-casting mold; Synchronous: driving the second motor 93 to work, which can drive the second gear 94 and the second rack 95 to cooperate with each other, so that the second connecting plate 92 passes through the third slide seat 97 and the third slide rail 96 and slides downward along the extension direction of the second slide body 91, so as to adjust the working arm 5 in the Z-axis direction to align the casting; Synchronous: By driving the third motor 103 to work, the third gear 104 and the third rack 105 can be driven to cooperate with each other to make the third slide body 101 pass through the fourth slide rail 106 and the fifth slide rail 109 and slide toward the die-casting mold under the support of the fourth slide seat 107 and the fifth slide seat 108; Synchronous: When the third slide body 101 slides, it will drive the synchronous belt 112 to slide in translation. During this process, the synchronous belt 112 is pulled by the fixed limit of the tooth plate 113, so that it can run under the transmission of the two pulleys 111, so that the working arm 5 connected to the connecting seat 114 slides out from under the third slide body 101, and pushes the spray head 7 close to the die-casting mold; Synchronous: The first cylinder 18 and the second cylinder 20 will cooperate to push the manipulator 6 close to the die-casting mold. At this time, the first motor 83 is driven to work again, so that the first slide 81 pushes the manipulator 6 close to the workpiece to take the workpiece. After the workpiece is taken, the first motor 83 is driven to work again to pull back the manipulator 6, take out the workpiece, and then the manipulator 6 is pulled back to the limiter by the first cylinder 18 and the second cylinder 20, and then the third motor 103 is driven to work again, so that the third slide 101 cooperates with the synchronous belt 112 to pull the working arm 5 back. When the spray head 7 is retracted to the die-casting mold At the work station, the spray head 7 performs a spraying operation. After the spraying is completed, the third motor 103 is driven again to drive the working arm 5 to continue to retreat. When the working arm 5 retreats to the third slide 101, the second motor 93 is driven again to make the second connecting plate 92 drive the third slide 101 to move downward toward the conveying device B. When the manipulator 6 approaches the conveying device B, the manipulator 6 releases the casting, allowing the conveying device B to transport the casting, thereby driving the first motor 83 and the second motor 93 again, controlling the manipulator 6 to reset, and waiting for a new round of picking and spraying operations.

[0039] It is worth mentioning that the above actions are not limited, but only provide a kind of spray action for picking up items, the purpose is to better The spraying can be performed for picking up items, or other actions can be performed for picking up items.

[0040] In summary, the above are only specific embodiments of the present disclosure, but the protection scope of the present disclosure is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present disclosure should be included in the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be based on the protection scope of the claims.

Claims

1. A hanging type pick-up sprayer, comprising a driving master control (4), characterized in that: The drive master control (4) is provided with a working arm (5), and the working arm (5) is provided with a manipulator (6) capable of grabbing castings and a spray head (7) capable of spraying the die casting mold. The drive master control (4) is equipped with a suspension frame (1) capable of being connected to the die casting machine. The drive master control (4) can be mounted on the die casting machine in a suspended posture through the suspension frame (1), and the manipulator (6) and the spray head (7) can be controlled through the working arm (5) to perform a workpiece picking and spraying operation.

2. The hanging type pickup sprayer according to claim 1, characterized in that: The driving master control (4) can control the working arm (5) to adjust along the X, Y, and Z axes, and control the manipulator (6) and the spray head (7) to approach or move away from the die-casting mold.

3. The hanging type pickup sprayer according to claim 1, characterized in that: The working arm (5) is provided with a cylinder, the manipulator (6) is provided on the cylinder, the spray head (7) is directly connected to the working arm (5), and a distance is left between the manipulator (6) and the spray head (7). The cylinder can control the manipulator (6) to approach or move away from the spray head (7), so that the manipulator (6) and the spray head (7) operate in steps, and cooperate to complete the operation of first picking up the parts and then spraying.

4. The hanging type pickup sprayer according to any one of claims 1 to 2, characterized in that: The driving master control (4) comprises a first driving module (8), a second driving module (9) and a third driving module (10), and the working arm (5) is slidably mounted on the third driving module (10). The working arm (5) can be driven to adjust along the X, Y and Z axes by the cooperative driving of the third driving module (10), the first driving module (8) and the second driving module (9), so that the working arm (5) and the manipulator (6) can flexibly perform a first grab and then spray operation on the casting.

5. The hanging type pickup sprayer according to claim 1, characterized in that: The suspension frame (1) comprises a horizontal frame (2), the horizontal frame (2) can be connected to the die-casting machine, the drive master control (4) can be installed between the horizontal frame (2) and the die-casting machine, the horizontal frame (2) is provided with a vertical frame (3) for supporting the drive master control (4), the vertical frame (3) is provided with a screw hole fixing plate, the vertical frame (3) can be fixed to the ground through the screw hole fixing plate, and can support the drive master control (4) to drive the working arm (5) to operate stably.

6. The hanging type pickup and spraying integrated machine according to claim 4, characterized in that: The first drive module (8) is mounted on the cross frame (2), the second drive module (9) is arranged on the first drive module (8), and the third drive module (10) is mounted on the second drive module (9). After the first drive module (8), the second drive module (9) and the third drive module (10) are correspondingly connected, the first drive module (8) and the second drive module (9) are in a vertical state, and the second drive module (9) and the third drive module (10) are in a vertical state.

7. The hanging type pickup sprayer according to claim 4, characterized in that: The first drive module (8) comprises a first connecting plate (82), the first connecting plate (82) being connectable to the cross frame (2) by means of bolts, a first motor (83) being mounted on the first connecting plate (82), a first gear (84) being mounted on the first motor (83), a first slide seat (87) and a second slide seat (89) being provided on the first connecting plate (82), a first slide rail (86) and a second slide rail (88) being slidably mounted in the first slide seat (87) and the second slide seat (89), and the first slide rail (86) and the second slide rail A first sliding body (81) is arranged on the first sliding body (88), and a first rack (85) is arranged on the first sliding body (81). The first rack (85) can be meshed with the first gear (84). By driving the first motor (83) to work, the first gear (84) and the first rack (85) can be driven to cooperate with each other to operate, so that the first sliding body (81) passes through the first slide rail (86) and the second slide rail (88), and slides under the support of the first slide seat (87) and the second slide seat (89), so as to realize the Y-axis adjustment of the working arm (5).

8. The hanging type pickup and spraying integrated machine according to claim 7, characterized in that: The second driving module (9) comprises a second sliding body (91), the second sliding body (91) can be connected to the first sliding body (81), after the connection, the second sliding body (91) and the first sliding body (81) are in a vertical state, the second sliding body (91) is provided with a second rack (95) and a third sliding rail (96), the third sliding rail (96) is slidably mounted with a third sliding seat (97), the third sliding seat (97) is mounted with a second connecting plate (92), and the second connecting plate (92) is mounted with a third sliding seat (97). A second motor (93) is provided, and a second gear (94) is provided on the second motor (93). The second gear (94) can be meshedly connected with a second rack (95). By driving the second motor (93) to work, the second gear (94) and the second rack (95) can be driven to cooperate with each other to operate, so that the second connecting plate (92) slides along the extension direction of the second sliding body (91) through the third slide seat (97) and the third slide rail (96), thereby realizing Z-axis adjustment of the working arm (5).

9. The hanging type pickup sprayer according to claim 8, characterized in that: The third driving module (10) comprises a third connecting plate (102), the third connecting plate (102) can be assembled with the second connecting plate (92) by means of bolts, a third motor (103) is mounted on the third connecting plate (102), a third gear (104) is mounted on the third motor (103), a fourth slide seat (107) and a fifth slide seat (108) are provided on the third connecting plate (102), a fourth slide rail (106) and a fifth slide rail (109) are slidably mounted in the fourth slide seat (107) and the fifth slide seat (108), a third slide body (101) is provided on the fourth slide rail (106) and the fifth slide rail (109), and the third The sliding body (101) is provided with a third rack (105), and the third gear (104) can mesh with the third rack (105). The third sliding body (101) is provided with two pulley mounting seats (110), and pulleys (111) are rotatably provided on the two pulley mounting seats (110). The two pulleys (111) are provided with synchronous belts (112), and the two pulleys (111) are transmitted through the synchronous belts (112). The synchronous belts (112) are provided with toothed plates (113) and connecting seats (114), and the toothed plates (113) are connected to the third connecting plates (102), and the connecting seats (114) are connected to the working arms (5). The arm (5) slides between the third slide body (101), and by driving the third motor (103) to work, the third gear (104) and the third rack (105) can be driven to cooperate with each other to make the third slide body (101) pass through the fourth slide rail (106) and the fifth slide rail (109), and slide under the support of the fourth slide seat (107) and the fifth slide seat (108). When the synchronous third slide body (101) slides, it will drive the synchronous belt (112) to slide in translation. In this process, the synchronous belt (112) is pulled by the fixed restriction of the tooth plate (113), so that it can run under the transmission of the two pulleys (111), so that it can be connected with the connecting seat (114). ) slides out from under the third slide body (101) to achieve X-axis adjustment of the working arm (5); the third slide body (101) is provided with a sixth slide seat (12) and a seventh slide rail (13); the working arm (5) is provided with a sixth slide rail (11) that can be clamped with the sixth slide seat (12) and a seventh slide seat (14) that can be clamped with the seventh slide rail (13); the working arm (5) is slidably mounted on the third slide body (101) through the sixth slide rail (11) and the sixth slide seat (12) and the seventh slide rail (13) and the seventh slide seat (14), so that stable sliding between the working arm (5) and the third slide body (101) is achieved.

10. The hanging type pickup and spraying integrated machine according to claim 3, characterized in that: The cylinder comprises a first cylinder (18) and a second cylinder (20); the working arm (5) is provided with a first mounting seat (17); the first mounting seat (17) is provided with the first cylinder (18); the first cylinder (18) is provided with a drive shaft; the drive shaft of the first cylinder (18) is connected to a second mounting seat (19); the second mounting seat (19) is provided with a second cylinder (20); the second cylinder (20) is provided with a drive shaft; the drive shaft of the second cylinder (20) is connected to a third mounting seat (21); the manipulator (6) is provided in the third mounting seat (21); and by driving the first cylinder (18) and The second cylinder (20) can cause the driving shaft of the first cylinder (18) to push the second mounting seat (19) to move, and synchronously, the driving shaft of the second cylinder (20) can push the third mounting seat (21) to move, thereby adjusting the position of the manipulator (6) so that the manipulator (6) is close to or away from the die-casting mold. The second mounting seat (19) and the third mounting seat (21) are both provided with an eighth slide seat (16), and the working arm (5) is provided with an eighth slide rail (15). The eighth slide seat (16) can be slidably mounted on the eighth slide rail (15) to achieve stable sliding of the second mounting seat (19) and the third mounting seat (21).

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