Swing arm type workpiece taking and spraying all-in-one machine

Abstract

The utility model discloses a swing arm type piece taking and spraying all-in-one machine which comprises a base, a piece taking mechanical arm and a spraying mechanical arm, an X-axis sliding table and a first driving device are arranged on the base, a Y-axis sliding table and a second driving device are arranged on the X-axis sliding table, and the piece taking mechanical arm and the spraying mechanical arm are arranged on the Y-axis sliding table. The first driving device drives the X-axis sliding table to slide in the X-axis direction of the base, the second driving device drives the Y-axis sliding table to slide in the Y-axis direction of the X-axis sliding table, the part taking mechanical arm comprises a part taking swing arm and a clamping jaw, one end of the part taking swing arm is rotatably connected to the Y-axis sliding table, and the other end of the part taking swing arm is rotatably connected with the clamping jaw. The spraying mechanical arm comprises a spraying swing arm and a spraying device, one end of the spraying swing arm is rotatably connected to the Y-axis sliding table, the other end of the spraying swing arm is rotatably connected with the spraying device, the workpiece taking mechanical arm and the spraying mechanical arm move synchronously, the operation difficulty is lowered, the operation process is simplified, and installation is convenient.

Description

Technical Field

[0001] The utility model relates to the technical field of die-casting machines, in particular to a swing-arm type piece-taking and spraying integrated machine. Background Art

[0002] In the die-casting process of the die-casting machine, in order to ensure the safety and efficiency of the operation, two core steps are usually included: taking out and spraying. These two steps are indispensable because the die-casting mold will generate extremely high temperatures when forming the die-casting. In order to ensure the safety of the operator, the formed die-casting must be quickly taken away by a special taking device. The operating principle of the die-casting machine is to scoop out the hot liquid alloy from the furnace through the material spoon and then pour it into the material cup. As a key component, the material cup is responsible for injecting the liquid alloy into the mold cavity of the mold. However, the material cup is prone to heat bonding and thermal corrosion during use, which not only affects the quality of the die-casting, but also greatly reduces the service life of the material cup. In order to extend the service life of the material cup, engineers usually spray a layer of water-based graphite on the inside of the material cup. Water-based graphite has good heat resistance and lubricity, which can effectively prevent the occurrence of heat bonding and thermal corrosion, thereby ensuring the smooth progress of the die-casting process. In addition to the maintenance of the material cup, the mold cavity also needs maintenance. In order to ensure that the die casting can be easily removed after the mold is opened and avoid sticking or jamming, a release agent is usually sprayed into the mold cavity of the mold. The main function of the release agent is to reduce the adhesion between the mold and the die casting, so that the die casting can be demolded smoothly after cooling. This can not only improve production efficiency, but also reduce mold damage and die casting deformation caused by forced demolding.

[0003] Therefore, the pick-up device and spray device of the die-casting machine are two indispensable devices. The pick-up device and the spray device are mainly moved accurately from one position on the production line to another position through the slide. However, the existing pick-up device and the spray device are usually set on two slides and controlled independently, which not only increases the control difficulty, but also makes the overall structure complicated and the installation process is relatively cumbersome. This design method not only affects production efficiency, but also may increase the risk of operational errors and cause unnecessary losses, so it is necessary to improve it. Utility Model Content

[0004] The purpose of the utility model is to provide a swing-arm type pickup and sprayer integrated machine in view of the defects and shortcomings of the prior art. The structure is simple and reasonable, and the operation is convenient. The pickup robot and the sprayer robot are both arranged on the Y-axis slide for synchronous movement, which reduces the operating difficulty, simplifies the operating process, and is easy to install. The pickup robot and the sprayer robot can move in the X-axis and Y-axis directions of the base relative to the base, and have high flexibility.

[0005] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0006] The utility model describes a swing-arm type piece-picking and spraying integrated machine, comprising a base, a piece-picking robot and a spraying robot, the base is provided with an X-axis slide and a first drive device, the X-axis slide is provided with a Y-axis slide and a second drive device, the piece-picking robot and the spraying robot are both arranged on the Y-axis slide, the first drive device is used to drive the X-axis slide to slide relative to the base in the X-axis direction of the base, thereby driving the piece-picking robot and the spraying robot to move synchronously along the X-axis direction, the second drive device is used to drive the Y-axis slide to slide relative to the X-axis slide in the Y-axis direction of the X-axis slide, thereby driving the piece-picking robot and the spraying robot to move synchronously along the Y-axis direction, the piece-picking robot comprises a piece-picking swing arm and a clamp, one end of the piece-picking swing arm is rotatably connected to the Y-axis slide, and the other end of the piece-picking swing arm is rotatably connected to the clamp, the spraying robot comprises a spray swing arm and a spraying device, one end of the spray swing arm is rotatably connected to the Y-axis slide, and the other end of the spray swing arm is rotatably connected to the spraying device.

[0007] Furthermore, the picking arm includes a picking arm, a picking arm, a first drive motor and a second drive motor. The first drive motor is fixedly arranged on the Y-axis slide. The output end of the first drive motor is connected to the front end of the picking arm and drives the picking arm to rotate. The end of the picking arm is connected to the picking arm. The second drive motor is provided on the picking arm. The output end of the second drive motor is connected to the front end of the picking arm and drives the picking arm to rotate. The end of the picking arm is connected to a clamp.

[0008] Furthermore, the picking arm is also provided with a first rotating motor and a rotating shaft, the output end of the first rotating motor is transmission-connected to the front end of the rotating shaft, and drives the rotating shaft to rotate along its axis, and the end of the rotating shaft is rotationally connected to a clamping claw.

[0009] Furthermore, a flip cylinder and a flip plate are provided at one end of the clamp close to the picking arm, a flip shaft is provided at the output end of the flip cylinder, one end of the flip plate is fixedly connected to the flip shaft, and the other end of the flip plate is fixedly connected to the clamp, and the flip cylinder rotates the flip plate via the flip shaft, thereby driving the clamp to flip.

[0010] Furthermore, the spray swing arm includes a spray arm, a spray arm, a third drive motor and a second rotating motor. The third drive motor is fixedly arranged on the Y-axis slide. The output end of the third drive motor is transmission-connected to the front end of the spray arm and drives the spray arm to rotate. The end of the spray arm is rotationally connected to the spray arm. A second rotating motor is provided on the spray arm. The output end of the second rotating motor is transmission-connected to the front end of the spray arm, so that the spray arm can always maintain a downward posture during the rotation of the spray swing arm. A spray device is provided at the end of the spray arm.

[0011] Furthermore, the spray device includes a first spray assembly, the first spray assembly includes a spray seat and a plurality of capillaries, and the capillaries are connected to the spray seat.

[0012] Furthermore, the spray device also includes a second spray assembly, which includes a cylinder and a nozzle. The cylinder is integrated on the spray seat, a piston rod is movably provided in the cylinder, and the nozzle is connected to the piston rod of the cylinder.

[0013] Furthermore, the cylinder includes a cylinder body, and the two ends of the cylinder body are respectively provided with a front end cover and a rear end cover, and a fixed rod, a piston and a piston rod are provided in the cylinder body. The piston rod is movably connected to the fixed rod, the front end of the fixed rod is fixedly connected to the front end cover, the piston is fixedly connected to the piston rod, and the internal hollow of the fixed rod and the piston rod forms a fluid channel, and the end of the piston rod is fixedly connected to a nozzle.

[0014] Furthermore, the first driving device includes a moving frame, a driving sprocket A, a driven sprocket A, a chain A, a fourth driving motor and a chain fixing block A. The moving frame is slidably connected to the base, the X-axis slide is fixedly arranged at the upper end of the moving frame, and the base is respectively provided with a driving sprocket A and a driven sprocket A at both ends along the X-axis direction of the base, and the chain A is respectively engaged with the driving sprocket A and the driven sprocket A, the fourth driving motor is fixedly connected to the base, and the output end of the fourth driving motor is drivingly connected to the driving sprocket A, one end of the chain fixing block A is fixedly connected to the moving frame, and the other end of the chain fixing block A is fixedly connected to the chain A.

[0015] Further, the second driving device includes a sliding connection seat, a guide shaft, a driving sprocket B, a driven sprocket B, a chain B, a fifth driving motor and a chain fixing block B. The guide shaft is arranged along the Y-axis direction of the X-axis slide, the guide shaft is fixedly connected to the X-axis slide, the sliding connection seat is slidably connected to the guide shaft, the Y-axis slide is fixedly arranged at the upper end of the sliding connection seat, and the X-axis slide is respectively provided with a driving sprocket B and a driven sprocket B at both ends along the Y-axis direction of the X-axis slide, and the chain B is respectively engaged with the driving sprocket B and the driven sprocket B, the fifth driving motor is fixedly connected to the X-axis slide, and the output end of the fifth driving motor is transmission-connected to the driving sprocket B, one end of the chain fixing block B is fixedly connected to the sliding connection seat, and the other end of the chain fixing block B is fixedly connected to the chain B.

[0016] The beneficial effects of the utility model are as follows: the utility model describes a swing-arm type pickup and spray integrated machine, in which the pickup robot and the spray robot are both arranged on a Y-axis slide for synchronous movement, which reduces the difficulty of operation, simplifies the operation process, and is easy to install. It ensures that the pickup robot always maintains a relatively fixed position relationship with the spray robot during the process of grasping and moving, is not prone to collision, and improves safety. The pickup robot and the spray robot can move in the X-axis and Y-axis directions of the base relative to the base, and are highly flexible.

[0017] The working principle of the utility model is as follows: the first driving device drives the X-axis slide to slide along the X-axis direction of the base, and the second driving device drives the Y-axis slide to slide along the Y-axis direction of the X-axis slide, thereby driving the picking robot and the spray robot to move synchronously. The picking robot is used to grab and move workpieces, and the spray robot is used to spray mold release agents, graphite, etc. When the picking robot is working, the first driving motor drives the picking arm to rotate, and the second driving motor drives the picking arm to rotate. During the working process, the first rotating motor can drive the rotating shaft to rotate as needed, thereby adjusting the posture of the clamping claw to ensure the accuracy and stability of the clamping operation. The clamping claw can also be flipped by the flipping cylinder. When the clamping claw reaches When it reaches the designated pickup position, the gripper cylinder drives the gripper to perform the gripping operation. After the gripping is completed, the pickup arm and the pickup arm work together again to bring the gripper and the workpiece back to the designated position, completing the entire pickup process. The pickup robot has high grasping accuracy and flexible movements, which can achieve fast pickup and improve work efficiency. When the spray robot is working, the third drive motor drives the spray arm to rotate, and the second rotating motor enables the spray swing arm to always maintain a downward posture during the rotation process, which is convenient for the spray device to work. During operation, the first spray component sprays the release agent, and the second spray component sprays graphite. After spraying is completed, the spray arm and the spray arm work together again to reset. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0019] Figure 2 is a schematic structural diagram of the first driving device and the second driving device at a first viewing angle;

[0020] Figure 3 is a schematic structural diagram of the first driving device and the second driving device at a second viewing angle;

[0021] Figure 4 is a schematic structural diagram of a second driving device;

[0022] Figure 5 It is a schematic diagram of the exploded structure of the picking robot;

[0023] Figure 6It is a schematic diagram of the decomposed structure of the spray manipulator;

[0024] Figure 7 is a schematic diagram of the structure of the spray device;

[0025] Figure 8 It is a schematic diagram of the cross-sectional structure of the cylinder.

[0026] Figure 1-8 Middle: 1. Base; 2. X-axis slide; 3. Y-axis slide; 4. Pick-up arm; 5. Pick-up arm; 6. First drive motor; 7. Second drive motor; 8. Gripper; 9. First rotating motor; 10. Rotating shaft; 11. Flip cylinder; 12. Flip plate; 13. Fixed block; 14. Spray arm; 15. Spray arm; 16. Third drive motor; 17. Second rotating motor; 18. Spray device; 19. Spray seat; 20. Capillary; 21. Cylinder; 22. Nozzle; 23. Piston; 24. Fixed rod; 2 5. Piston rod; 26. Moving frame; 27. Driving sprocket A; 28. Driven sprocket A; 29. ​​Chain A; 30. Fourth driving motor; 31. Chain fixing block A; 32. Sliding connecting seat; 33. Guide shaft; 34. Driving sprocket B; 35. Driven sprocket B; 36. Chain B; 37. Fifth driving motor; 38. Chain fixing block B; 39. Guide rail; 40. Sliding block; 41. Gripping cylinder; 42. V-shaped groove; 43. First spray assembly; 44. Second spray assembly; 45. Front cover; 46. Rear cover. DETAILED DESCRIPTION

[0027] The utility model is further described below in conjunction with the accompanying drawings.

[0028] like Figure 1-8 The swing arm type pickup sprayer shown in the figure comprises a base 1, a pickup manipulator and a spray manipulator, the base 1 is provided with an X-axis slide 2 and a first driving device, the X-axis slide 2 is provided with a Y-axis slide 3 and a second driving device, the pickup manipulator and the spray manipulator are both arranged on the Y-axis slide 3, the first driving device is used to drive the X-axis slide 2 to slide relative to the base 1 in the X-axis direction of the base 1, thereby driving the pickup manipulator and the spray manipulator to move synchronously along the X-axis direction, and the second driving device is used to drive the Y-axis slide 3 slides in the Y-axis direction of the X-axis slide 2 relative to the X-axis slide 2, thereby driving the picking robot and the spray robot to move synchronously along the Y-axis direction, the picking robot includes a picking swing arm and a clamping claw 8, one end of the picking swing arm is rotatably connected to the Y-axis slide 3, and the other end of the picking swing arm is rotatably connected to the clamping claw 8, the spraying robot includes a spraying swing arm and a spraying device 18, one end of the spraying swing arm is rotatably connected to the Y-axis slide 3, and the other end of the spraying swing arm is rotatably connected to the spraying device 18.

[0029] The picking robot and the spraying robot are both arranged on the Y-axis slide 3 for synchronous movement, which reduces the difficulty of operation, simplifies the operation process, and is easy to install. It ensures that the picking robot always maintains a relatively fixed position relationship with the spraying robot during the grasping and moving process, is not prone to collision, and improves safety. The picking robot and the spraying robot can move in the X-axis and Y-axis directions of the base 1 relative to the base 1, and are more flexible.

[0030] Preferably, in this embodiment, refer to Figure 5 The pickup swing arm includes a pickup arm 4, a pickup arm 5, a first drive motor 6 and a second drive motor 7. The first drive motor 6 is fixedly arranged on the Y-axis slide 3. The output end of the first drive motor 6 is connected to the front end of the pickup arm 4 and drives the pickup arm 4 to rotate. The end of the pickup arm 4 is connected to the pickup arm 5. The pickup arm 4 is provided with a second drive motor 7. The output end of the second drive motor 7 is connected to the front end of the pickup arm 5 and drives the pickup arm 5 to rotate. The end of the pickup arm 5 is connected to the clamp 8. The pickup arm 4 and the pickup arm 5 work together, and the pickup swing arm can achieve flexible movements.

[0031] Specifically, a reduction mechanism is provided between the pickup arm 4 and the first drive motor 6, between the pickup arm 5 and the second drive motor 7, and between the spray arm 14 and the third drive motor 16 to reduce speed and ensure smooth and accurate movement. The reduction mechanism is a planetary gear reducer, which is composed of a plurality of planetary gears. The planetary gear reducer realizes power transmission and reduction through the interaction between different gears. For the specific structure of the planetary gear reducer, reference may be made to the planetary gear reducer disclosed in the Chinese patent (publication number CN103477118A). In view of the fact that the basic structure / principle of the planetary gear reducer has been disclosed in detail in the prior art, it will not be described in detail in this embodiment.

[0032] Preferably, in this embodiment, the picking arm 5 is also provided with a first rotating motor 9 and a rotating shaft 10. The output end of the first rotating motor 9 is transmission-connected to the front end of the rotating shaft 10, and drives the rotating shaft 10 to rotate along its axis. The end of the rotating shaft 10 is rotationally connected to the clamping jaw 8. When the first rotating motor 9 is working, it drives the rotating shaft 10 to rotate, and then drives the clamping jaw 8 to rotate, thereby improving the flexibility of the clamping jaw 8.

[0033] Preferably, in this embodiment, the end of the clamp 8 close to the picking arm 5 is also provided with a flip cylinder 11 and a flip plate 12, the output end of the flip cylinder 11 is provided with a flip shaft, one end of the flip plate 12 is fixedly connected to the flip shaft, and the other end of the flip plate 12 is fixedly connected to the clamp 8, the flip cylinder 11 rotates the flip plate 12 via the flip shaft, thereby driving the clamp 8 to flip, and the flip cylinder 11 drives the flip shaft to rotate when working, and the flip plate 12 rotates synchronously with the flip shaft, thereby driving the clamp 8 to flip, thereby further improving the flexibility of the clamp 8.

[0034] The clamp 8 includes a clamp cylinder 41 and two clamp bodies. The output end of the clamp cylinder 41 is transmission-connected to the clamp body. A sliding connection block is provided at one end of the clamp body close to the clamp cylinder 41. The clamp cylinder 41 is provided with a slide rail that slides with the sliding connection block. When the clamp cylinder 41 is working, it drives the two sliding connection blocks to approach each other, and then drives the clamp bodies to approach each other to grab the workpiece.

[0035] A clamp adapter plate is also fixed between the flip plate 12 and the clamp cylinder 41, so that the connection between the flip plate 12 and the clamp cylinder 41 is more secure. The clamp adapter plate can also play a buffering role, reducing the impact and vibration that may be generated during the flipping process, and protecting the clamp cylinder 41 from damage.

[0036] A V-groove 42 is provided on one end of the clamp body away from the clamp cylinder 41, and a plurality of anti-slip protrusions are provided on the V-groove 42. The V-groove 42 enables the clamp body to fit tightly against the outer surface of the workpiece, and the anti-slip protrusions can effectively prevent the workpiece from sliding or deflecting during the clamping process, thereby ensuring the reliability of clamping.

[0037] When the picking robot is working, the first drive motor 6 drives the picking arm 4 to rotate, and the second drive motor 7 drives the picking arm 5 to rotate. During the working process, the first rotating motor 9 can drive the rotating shaft 10 to rotate as needed, and then adjust the posture of the clamping jaw 8 to ensure the accuracy and stability of the clamping operation. The clamping jaw 8 can also be flipped by the flipping cylinder 11. When the clamping jaw 8 reaches the designated picking position, the clamping jaw cylinder 41 works to drive the clamping jaw 8 to perform the clamping operation. After the clamping is completed, the picking arm 4 and the picking arm 5 work together again to bring the clamping jaw 8 and the workpiece back to the designated position to complete the entire picking process. The picking robot has high grasping accuracy and flexible movements, can achieve fast picking, and improve work efficiency.

[0038] Preferably, in this embodiment, refer to Figure 6The spray swing arm includes a spray arm 14, a spray arm 15, a third drive motor 16 and a second rotary motor 17. The third drive motor 16 is fixedly arranged on the Y-axis slide 3. The output end of the third drive motor 16 is connected to the front end of the spray arm 14 and drives the spray arm 14 to rotate. The end of the spray arm 14 is connected to the spray arm 15. The spray arm 14 is provided with a second rotary motor 17. The output end of the second rotary motor 17 is connected to the front end of the spray arm 15, so that the spray arm 15 can always maintain a downward posture during the rotation of the spray swing arm. The end of the spray arm 15 is connected to a spray device 18. The spray arm 14 and the spray arm 15 work together, the spray swing arm can achieve flexible movements, and the spray arm 15 always maintains a downward posture during the working process, which is convenient for the spray device 18 to work.

[0039] Preferably, in this embodiment, the spray device 18 includes a first spray assembly 43, the first spray assembly 43 includes a spray seat 19 and a plurality of capillaries 20, the capillaries 20 are connected to the spray seat 19, and the first spray assembly 43 is used to spray a release agent, and the release agent liquid and gas enter the spray seat 19 respectively, and are atomized and sprayed out from the capillaries 20. The specific structure and working principle of the first spray assembly 43 belong to the prior art and will not be described in detail. For example, a servo sprayer disclosed in a Chinese patent application (Announcement No.: CN215088283U) can be referred to.

[0040] Specifically, the capillary 20 has plasticity, and its direction can be changed by bending the capillary 20 to a desired direction. By adjusting the direction of the capillary 20, the capillary 20 can face the mold cavity of the mold more evenly, and the release agent can be sprayed more evenly.

[0041] Specifically, the capillary 20 is fixedly connected in the middle by a fixing block 13 to ensure the stability of the capillary 20 .

[0042] Preferably, in this embodiment, the spray device 18 also includes a second spray assembly 44, the second spray assembly 44 includes a cylinder 21 and a nozzle 22, the cylinder 21 is integrated on the spray seat 19, a piston rod 25 is movably provided in the cylinder 21, the nozzle 22 is connected to the piston rod 25 of the cylinder 21, the second spray assembly 44 is used for spraying graphite, and a graphite feeding device is provided in the spray arm 15.

[0043] Preferably, in this embodiment, the cylinder 21 includes a cylinder body, and the two ends of the cylinder body are respectively provided with a front end cover 45 and a rear end cover 46, and a fixed rod 24, a piston 23 and a piston rod 25 are provided in the cylinder body, and the piston rod 25 is movably connected to the fixed rod 24, the front end of the fixed rod 24 is fixedly connected to the front end cover 45, the piston 23 is fixedly connected to the piston rod 25, the piston 23 and the piston rod 25 can move relative to the fixed rod 24, the front end of the fixed rod 24 is connected to the graphite feeding device, and the internal hollow of the fixed rod 24 and the piston rod 25 forms a fluid channel for graphite circulation, and the end of the piston rod 25 is fixedly connected to the nozzle 22. Specifically, the nozzle 22 is a ball-head nozzle 22, and the spraying range is wider and more uniform.

[0044] Preferably, in this embodiment, refer to Figure 2-3 , the first driving device includes a moving frame 26, a driving sprocket A27, a driven sprocket A28, a chain A29, a fourth driving motor 30 and a chain fixing block A31, the moving frame 26 is slidably connected to the base 1, specifically, a guide rail 39 is provided on the base 1, the moving frame 26 is provided with a slider 40 slidably matched with the guide rail 39, the X-axis slide 2 is fixedly arranged at the upper end of the moving frame 26, and moves synchronously with the moving frame 26, the base 1 is respectively provided with a driving sprocket A27 and a driven sprocket A28 at both ends of the base 1 along the X-axis direction of the base 1, the chain A29 is respectively meshed with the driving sprocket A27 and the driven sprocket A28, the fourth driving motor 30 is fixedly connected to the base 1, the output end of the fourth driving motor 30 is transmission-connected to the driving sprocket A27, one end of the chain fixing block A31 is fixedly connected to the moving frame 26, and the other end of the chain fixing block A31 is fixedly connected to the chain A29.

[0045] Specifically, when the fourth driving motor 30 is working, it transmits power to the driving sprocket A27, driving the driving sprocket A27 to rotate synchronously, the driving sprocket A27 drives the chain A29 to work, the chain A29 drives the driven sprocket A28 to rotate, the chain fixing block A31 is fixedly connected to the chain A29 and the movable frame 26 respectively, when the chain A29 is working, it drives the movable frame 26 to slide in the X-axis direction of the base 1, and then drives the X-axis slide 2 to slide in the X-axis direction of the base 1.

[0046] Preferably, in this embodiment, refer to Figure 4The second driving device includes a sliding connection seat 32, a guide shaft 33, a driving sprocket B34, a driven sprocket B35, a chain B36, a fifth driving motor 37 and a chain fixing block B38. The guide shaft 33 is arranged along the Y-axis direction of the X-axis slide 2. The guide shaft 33 is fixedly connected to the X-axis slide 2. The sliding connection seat 32 is slidably connected to the guide shaft 33. The guide shaft 33 plays a guiding role, so that the sliding connection seat 32 can slide smoothly along the guide shaft 33. The Y-axis slide 3 is fixedly arranged on the sliding connection seat. At the upper end of the connecting seat 32, a driving sprocket B34 and a driven sprocket B35 are respectively provided at both ends of the X-axis slide 2 along the Y-axis direction of the X-axis slide 2, and the chain B36 is respectively engaged with the driving sprocket B34 and the driven sprocket B35, the fifth driving motor 37 is fixedly connected to the X-axis slide 2, and the output end of the fifth driving motor 37 is transmission-connected to the driving sprocket B34, one end of the chain fixing block B38 is fixedly connected to the sliding connecting seat 32, and the other end of the chain fixing block B38 is fixedly connected to the chain B36.

[0047] Specifically, when the fifth driving motor 37 is working, it transmits power to the driving sprocket B34, driving the driving sprocket B34 to rotate synchronously, the driving sprocket B34 drives the chain B36 to work, the chain B36 drives the driven sprocket B35 to rotate, the chain fixing block B38 is respectively fixedly connected to the chain B36 and the sliding connection seat 32, when the chain B36 is working, it drives the sliding connection seat 32 to slide in the Y-axis direction of the X-axis slide 2, and then drives the Y-axis slide 3 to slide in the Y-axis direction of the X-axis slide 2.

[0048] The working principle of the utility model is as follows: the first driving device drives the X-axis slide 2 to slide along the X-axis direction of the base 1, and the second driving device drives the Y-axis slide 3 to slide along the Y-axis direction of the X-axis slide 2, thereby driving the picking robot and the spray robot to move synchronously. The picking robot is used to grab and move workpieces, and the spray robot is used to spray mold release agents, graphite, etc. When the picking robot is working, the first driving motor 6 drives the picking arm 4 to rotate, and the second driving motor 7 drives the picking arm 5 to rotate. During the working process, the first rotating motor 9 can drive the rotating shaft 10 to rotate as needed, thereby adjusting the posture of the clamping claw 8 to ensure the accuracy and stability of the clamping operation. The clamping claw 8 can also be flipped by the flipping cylinder 11. When the clamping claw 8 reaches the specified When the object is in the picking position, the clamping cylinder 41 works to drive the clamping claw 8 to perform the clamping operation. After the clamping is completed, the picking arm 4 and the picking arm 5 work together again to bring the clamping claw 8 and the workpiece back to the specified position, completing the entire picking process. The picking robot has high grasping accuracy and flexible movements, which can achieve fast picking and improve work efficiency. When the spray robot is working, the third drive motor 16 drives the spray arm 14 to rotate, and the second rotating motor 17 enables the spray swing arm to rotate. The spray arm 15 can always maintain a downward posture, which is convenient for the spray device 18 to work. During operation, the first spray component 43 sprays the release agent, and the second spray component 44 sprays graphite. After spraying is completed, the spray arm 14 and the spray arm 15 work together again to reset.

[0049] The above description is only a preferred embodiment of the present utility model, so all equivalent changes or modifications made according to the structure, features and principles described in the scope of the present utility model patent application are included in the scope of the present utility model patent application.

Claims

1. A swing-arm type pickup and spraying integrated machine, comprising a base (1), a pickup manipulator and a spraying manipulator, characterized in that: The base (1) is provided with an X-axis slide (2) and a first driving device, the X-axis slide (2) is provided with a Y-axis slide (3) and a second driving device, the pickup manipulator and the spray manipulator are both arranged on the Y-axis slide (3), the first driving device is used to drive the X-axis slide (2) to slide in the X-axis direction of the base (1) relative to the base (1), thereby driving the pickup manipulator and the spray manipulator to move synchronously along the X-axis direction, and the second driving device is used to drive the Y-axis slide (3) to move in the X-axis direction relative to the X-axis slide (2). (2) slides in the Y-axis direction, thereby driving the picking robot and the spray robot to move synchronously along the Y-axis direction, the picking robot includes a picking swing arm and a clamp (8), one end of the picking swing arm is rotatably connected to the Y-axis slide (3), and the other end of the picking swing arm is rotatably connected to the clamp (8), the spray robot includes a spray swing arm and a spray device (18), one end of the spray swing arm is rotatably connected to the Y-axis slide (3), and the other end of the spray swing arm is rotatably connected to the spray device (18).

2. The swing arm type pickup and spraying integrated machine according to claim 1, characterized in that: The pickup swing arm comprises a pickup arm (4), a pickup arm (5), a first drive motor (6) and a second drive motor (7). The first drive motor (6) is fixedly arranged on the Y-axis slide (3). The output end of the first drive motor (6) is connected to the front end of the pickup arm (4) in a transmission manner and drives the pickup arm (4) to rotate. The end of the pickup arm (4) is connected to the pickup arm (5) in a rotational manner. The pickup arm (4) is provided with a second drive motor (7). The output end of the second drive motor (7) is connected to the front end of the pickup arm (5) in a transmission manner and drives the pickup arm (5) to rotate. The end of the pickup arm (5) is connected in a rotational manner with a clamping claw (8).

3. The swing arm type pickup and spraying integrated machine according to claim 2, characterized in that: The pickup arm (5) is also provided with a first rotating motor (9) and a rotating shaft (10); the output end of the first rotating motor (9) is drivingly connected to the front end of the rotating shaft (10) and drives the rotating shaft (10) to rotate along its axis; the end of the rotating shaft (10) is rotatably connected to a clamping claw (8).

4. The swing arm type pickup and spraying integrated machine according to claim 2 or 3, characterized in that: The end of the clamping jaw (8) close to the pickup arm (5) is also provided with a flip cylinder (11) and a flip plate (12); the output end of the flip cylinder (11) is provided with a flip shaft; one end of the flip plate (12) is fixedly connected to the flip shaft; the other end of the flip plate (12) is fixedly connected to the clamping jaw (8); the flip cylinder (11) rotates the flip plate (12) via the flip shaft, thereby driving the clamping jaw (8) to flip.

5. The swing arm type pickup and spraying integrated machine according to claim 1, characterized in that: The spray swing arm comprises a spray arm (14), a spray arm (15), a third drive motor (16) and a second rotating motor (17). The third drive motor (16) is fixedly arranged on the Y-axis slide (3). The output end of the third drive motor (16) is connected to the front end of the spray arm (14) in a transmission manner and drives the spray arm (14) to rotate. The end of the spray arm (14) is connected to the spray arm (15) in a rotation manner. The spray arm (14) is provided with a second rotating motor (17). The output end of the second rotating motor (17) is connected to the front end of the spray arm (15) in a transmission manner so that the spray arm (15) can always maintain a downward posture during the rotation of the spray swing arm. The end of the spray arm (15) is provided with a spray device (18).

6. The swing arm type pickup and spraying integrated machine according to claim 5, characterized in that: The spray device (18) comprises a first spray assembly (43), wherein the first spray assembly (43) comprises a spray seat (19) and a plurality of capillaries (20), wherein the capillaries (20) are connected to the spray seat (19).

7. The swing arm type pickup and spraying integrated machine according to claim 6, characterized in that: The spray device (18) further comprises a second spray assembly (44), the second spray assembly (44) comprising a cylinder (21) and a nozzle (22), the cylinder (21) being integrated on the spray seat (19), a piston rod (25) being movably disposed in the cylinder (21), and the nozzle (22) being connected to the piston rod (25) of the cylinder (21).

8. The swing arm type pickup and spraying integrated machine according to claim 7, characterized in that: The cylinder (21) comprises a cylinder body, with a front end cover (45) and a rear end cover (46) respectively provided at both ends of the cylinder body. A fixed rod (24), a piston (23) and a piston rod (25) are provided in the cylinder body. The piston rod (25) is movably sleeved with the fixed rod (24). The front end of the fixed rod (24) is fixedly connected to the front end cover (45). The piston (23) is fixedly connected to the piston rod (25). A fluid passage is formed in the hollow interior of the fixed rod (24) and the piston rod (25). The end of the piston rod (25) is fixedly connected to a nozzle (22).

9. The swing arm type pickup and spraying integrated machine according to claim 1, characterized in that: The first driving device comprises a moving frame (26), a driving sprocket A (27), a driven sprocket A (28), a chain A (29), a fourth driving motor (30) and a chain fixing block A (31); the moving frame (26) is slidably connected to the base (1); the X-axis slide table (2) is fixedly arranged at the upper end of the moving frame (26); the base (1) is provided with a driving sprocket A (27) and a driven sprocket A (28) at two ends along the X-axis direction of the base (1); the chain A (29) is respectively meshed with the driving sprocket A (27) and the driven sprocket A (28); the fourth driving motor (30) is fixedly connected to the base (1); the output end of the fourth driving motor (30) is transmission-connected to the driving sprocket A (27); one end of the chain fixing block A (31) is fixedly connected to the moving frame (26); and the other end of the chain fixing block A (31) is fixedly connected to the chain A (29).

10. The swing arm type pickup and spraying integrated machine according to claim 1, characterized in that: The second driving device comprises a sliding connection seat (32), a guide shaft (33), a driving sprocket B (34), a driven sprocket B (35), a chain B (36), a fifth driving motor (37) and a chain fixing block B (38); the guide shaft (33) is arranged along the Y-axis direction of the X-axis slide table (2); the guide shaft (33) is fixedly connected to the X-axis slide table (2); the sliding connection seat (32) is slidably connected to the guide shaft (33); the Y-axis slide table (3) is fixedly arranged at the upper end of the sliding connection seat (32); the X-axis slide table (2) is arranged along the X-axis A driving sprocket B (34) and a driven sprocket B (35) are respectively provided at both ends of the slide table (2) in the Y-axis direction, the chain B (36) is respectively meshed with the driving sprocket B (34) and the driven sprocket B (35), the fifth drive motor (37) is fixedly connected to the X-axis slide table (2), the output end of the fifth drive motor (37) is transmission-connected to the driving sprocket B (34), one end of the chain fixing block B (38) is fixedly connected to the sliding connection seat (32), and the other end of the chain fixing block B (38) is fixedly connected to the chain B (36).

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