Pick-up manipulator of die-casting machine

Abstract

The utility model discloses a piece taking mechanical arm of a die-casting machine, and relates to the technical field of die-casting machines. The piece taking manipulator of the die-casting machine comprises a longitudinal mounting plate, a die, a base plate and a three-axis manipulator body, the mold is arranged on the front of the longitudinal mounting plate; the base plate is fixed to the front face of the longitudinal mounting plate in parallel, and an operation opening corresponding to a discharging opening of a mold is formed in the base plate. The three-axis mechanical arm body is installed on the base plate, a pneumatic clamping jaw is arranged on the three-axis mechanical arm body, and the pneumatic clamping jaw is used for clamping a workpiece when a mold is opened. The taking manipulator of the die-casting machine can quickly take and place finished workpieces when the die is opened and discharged, so that the finished workpieces are prevented from being collided and damaged.

Description

Technical Field

[0001] The utility model relates to the technical field of die-casting machines, in particular to a workpiece taking manipulator for a die-casting machine. Background Art

[0002] A die-casting machine is a machine used for die-casting. Under pressure, it hydraulically injects molten metal into a mold for cooling and forming. After the mold is opened, solid metal castings can be obtained. When some existing high-speed die-casting machines are in production, each mold takes about 2 seconds to form. After the mold is opened and formed, the finished workpieces are blown out by blowing air. However, the method of blowing out materials has certain defects. During the high-speed blowing process and when the materials fall, the finished workpieces are prone to collision, resulting in damage to the finished workpieces and reducing the qualified rate. Summary of the Utility Model

[0003] The technical problem to be solved by the utility model is to provide a workpiece taking manipulator for a die-casting machine, which can quickly pick and place the finished workpieces when the mold is opened and discharged, and avoid collision damage to the finished workpieces.

[0004] To solve the above technical problem, the utility model adopts the following technical solutions:

[0005] A workpiece taking manipulator for a die-casting machine includes a longitudinal mounting plate, a mold, a substrate, and a three-axis manipulator body; the mold is arranged on the front of the longitudinal mounting plate; the substrate is fixedly parallel to the front of the longitudinal mounting plate, and an operation port corresponding to the discharge port of the mold is arranged on the substrate; the three-axis manipulator body is installed on the substrate, and a pneumatic gripper is arranged on the three-axis manipulator body, and the pneumatic gripper is used to pick up the workpiece when the mold is opened.

[0006] In some embodiments, the three-axis manipulator body includes a Z-axis synchronous belt linear module, an X-axis synchronous belt linear module, and a Y-axis synchronous belt linear module. The Z-axis synchronous belt linear module is installed on the front of the substrate, and a Z-axis slide is fixedly connected to the slider of the Z-axis synchronous belt linear module. The X-axis synchronous belt linear module is installed on the Z-axis slide, and an X-axis slide is fixedly connected to the slider of the X-axis synchronous belt linear module. A vertical plate is fixedly connected to the X-axis slide, and the Y-axis synchronous belt linear module is installed on the vertical plate; the pneumatic gripper is arranged along the Y-axis and installed on the slider of the Y-axis synchronous belt linear module. After the mold is opened, the three-axis manipulator can drive the pneumatic gripper to move to the position of the finished workpiece and pick up the finished workpiece, achieving the purpose of quickly picking and placing the workpiece.

[0007] Compared with the prior art, the utility model at least achieves the following beneficial effects:

[0008] The three-axis manipulator body can drive the pneumatic gripper to move in three-axis directions. The position of the finished workpiece is determined by a sensor or a vision system. The pneumatic gripper moves to the position of the finished workpiece, grabs the workpiece from the operation port, and moves to a specified position for placement. Through the collaborative work of the three-axis manipulator body and the pneumatic gripper, the picking and placing actions of the finished workpiece can be achieved with high precision and high speed. Compared with the existing blowing and discharging method, the disadvantages of easy collision and damage of the workpiece are eliminated, and the yield rate and production capacity are improved. Brief Description of the Drawings

[0009] Now, one or more embodiments of the present invention will be described only by way of example with reference to the accompanying drawings, in which:

[0010] Figure 1 is a schematic structural diagram of an embodiment of the present application;

[0011] Figure 2 is a schematic structural diagram of the three-axis manipulator body of an embodiment of the present application;

[0012] Figure 3 is a schematic structural diagram of another perspective of the three-axis manipulator body of an embodiment of the present application;

[0013] Figure 4 is a schematic structural diagram of the mold of an embodiment of the present application.

[0014] The reference numerals in the drawings are: 1, longitudinal mounting plate; 2, mold; 21, discharge port; 3, substrate; 31, operation port; 4, three-axis manipulator body; 41, Z-axis synchronous belt linear module; 411, Z-axis servo motor; 42, X-axis synchronous belt linear module; 421, X-axis servo motor; 43, Y-axis synchronous belt linear module; 431, Y-axis servo motor; 5, pneumatic gripper; 51, cylinder body; 511, connecting shaft; 52, gripper; 521, clamping block; 6, Z-axis slide; 7, X-axis slide; 71, vertical plate; 8, fixed clamp; 9, rotating shaft; 10, mold clamping mechanism. Detailed Description of the Embodiments

[0015] The present invention will be described in detail below with reference to the exemplary embodiments in the drawings. It should be understood, however, that the present application can be implemented in many different forms and should not be construed as limited to the embodiments set forth herein. These embodiments are provided herein to make the disclosure of the present application more complete and to fully convey the concept of the present application to those skilled in the art.

[0016] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present application. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present application, the meaning of "several" and "multiple" is two or more, unless otherwise specifically defined. In the present application, unless otherwise clearly specified and limited, the terms "install", "connect", "couple", "fix", etc. should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances. In the present application, unless otherwise clearly specified and limited, the first feature being "on" or "under" the second feature may include the direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but in contact through other features between them. Moreover, the first feature being "above", "over" and "on top of" the second feature includes that the first feature is directly above and obliquely above the second feature, or simply means that the horizontal height of the first feature is higher than that of the second feature. The first feature being "under", "beneath" and "underneath" the second feature includes that the first feature is directly below and obliquely below the second feature, or simply means that the horizontal height of the first feature is lower than that of the second feature.

[0017] As Figures 1 to 4 shown, in an embodiment of the present utility model, the workpiece taking manipulator of the die-casting machine includes a longitudinal mounting plate 1, a mold 2, a substrate 3 and a three-axis manipulator body 4; the longitudinal mounting plate 1 is arranged on the machine table of the die-casting machine; the mold 2 is arranged in the middle of the front surface of the longitudinal mounting plate 1; the substrate 3 is fixedly arranged in parallel on the front surface of the longitudinal mounting plate 1, and an operation port 31 corresponding to the discharge port 21 of the mold 2 is arranged on the substrate 3; the three-axis manipulator body 4 is mounted on the substrate 3, and a pneumatic gripper 5 is arranged on the three-axis manipulator body 4. When the mold 2 is opened, the three-axis manipulator body 4 drives the pneumatic gripper 5 to move to the workpiece, pick up the workpiece and place the workpiece at a designated position.

[0018] The three-axis manipulator body 4 includes a Z-axis synchronous belt linear module 41, an X-axis synchronous belt linear module 42, and a Y-axis synchronous belt linear module 43. The Z-axis synchronous belt linear module 41 is installed on the front side of the substrate 3. A Z-axis slide base 6 is fixedly connected to the slider of the Z-axis synchronous belt linear module 41. The X-axis synchronous belt linear module 42 is installed on the Z-axis slide base 6. An X-axis slide base 7 is fixedly connected to the slider of the X-axis synchronous belt linear module 42. A vertical plate 71 is fixedly connected to the X-axis slide base 7. The Y-axis synchronous belt linear module 43 is installed on the vertical plate 71; the pneumatic gripper 5 is arranged along the Y-axis and installed on the slider of the Y-axis synchronous belt linear module 43.

[0019] Optionally, there are two groups of Z-axis synchronous belt linear modules 41. The two groups of Z-axis synchronous belt linear modules 41 are arranged in parallel and are respectively located on both sides of the operation port 31; a Z-axis servo motor 411, an X-axis servo motor 421, and a Y-axis servo motor 431 for driving the synchronous belt driving wheels are respectively provided on the Z-axis synchronous belt linear module 41, the X-axis synchronous belt linear module 42, and the Y-axis synchronous belt linear module 43; a rotating shaft 9 is connected between the synchronous belt driving wheels of the two groups of Z-axis synchronous belt linear modules 41. The motor shaft of the Z-axis servo motor 411 is connected to the rotating shaft 9. The Z-axis servo motor 411 is used to drive the driving wheels of the two groups of Z-axis synchronous belt linear modules 41 to work.

[0020] Optionally, a fixed clamp 8 is provided on the slider of the Y-axis synchronous belt linear module 43; the pneumatic gripper 5 includes a cylinder body 51 and a gripper 52. A connecting shaft 511 is provided on the cylinder body 51. The connecting shaft 511 passes through the fixed clamp 8 movably and is fixedly connected by a threaded fastener. The height of the pneumatic gripper 5 can be adjusted through the fixed clamp 8; a clamping block 521 is fixedly connected to the gripper 52.

[0021] The usage method of the workpiece taking manipulator of this die-casting machine is as follows: After the mold 2 is opened, the Z-axis synchronous belt linear module 41, the X-axis synchronous belt linear module 42, and the Y-axis synchronous belt linear module 43 of the three-axis manipulator body 4 can drive the pneumatic gripper 5 to move in the three-axis directions. The position of the finished workpiece is determined through a sensor or a vision system. The pneumatic gripper 5 moves to the position of the finished workpiece, clamps and takes out the workpiece from the operation port 31, and moves to a specified position for placement. Through the coordinated work of the Z-axis servo motor 411, the X-axis servo motor 421, the Y-axis servo motor 431, and the pneumatic gripper 5, the high-precision and high-speed picking and placing of the workpiece can be realized. Compared with the existing air-blowing discharging method, the disadvantages of easy collision and damage of the workpiece are eliminated, and the qualified rate and production capacity are improved. The three-axis manipulator body 4 controls the mold locking mechanism 10 of the mold 2 in a linked manner. The mold locking mechanism 10 cooperates with the three-axis manipulator body 4 to perform corresponding fixed-point and mold opening and closing actions, etc., so as to achieve the purpose of quickly picking and placing the workpiece by the pneumatic gripper 5.

[0022] It should be understood that all of the above embodiments are exemplary rather than restrictive. Those skilled in the art, under the concept of the present utility model, any modifications, equivalent changes, and decorations made to the specific embodiments described above still fall within the scope of the technical solution of the present utility model.

Claims

1. A pick-up manipulator for a die-casting machine, characterized in that: It includes a longitudinal mounting plate (1), a mold (2), a substrate (3), and a three-axis manipulator body (4); the mold (2) is arranged on the front of the longitudinal mounting plate (1); the substrate (3) is fixedly parallel to the front of the longitudinal mounting plate (1), and an operation port (31) corresponding to the discharge port (21) of the mold (2) is provided on the substrate (3); the three-axis manipulator body (4) is installed on the substrate (3), and a pneumatic gripper (5) is provided on the three-axis manipulator body (4), and the pneumatic gripper (5) is used to pick up workpieces when the mold (2) is opened.

2. The pick-up manipulator for a die-casting machine according to claim 1, wherein: The three-axis manipulator body (4) includes a Z-axis synchronous belt linear module (41), an X-axis synchronous belt linear module (42), and a Y-axis synchronous belt linear module (43). The Z-axis synchronous belt linear module (41) is installed on the front of the substrate (3), and a Z-axis slide base (6) is fixedly connected to the slider of the Z-axis synchronous belt linear module (41). The X-axis synchronous belt linear module (42) is installed on the Z-axis slide base (6), and an X-axis slide base (7) is fixedly connected to the slider of the X-axis synchronous belt linear module (42). A vertical plate (71) is fixedly connected perpendicularly to the X-axis slide base (7), and the Y-axis synchronous belt linear module (43) is installed on the vertical plate (71); the pneumatic gripper (5) is arranged along the Y-axis and installed on the slider of the Y-axis synchronous belt linear module (43).

3. The pick-up manipulator of the die-casting machine according to claim 2, characterized in that: A fixed clamp (8) is provided on the slider of the Y-axis synchronous belt linear module (43); the pneumatic gripper (5) includes a cylinder body (51) and a gripper (52), and a connecting shaft (511) is provided on the cylinder body (51), and the connecting shaft (511) passes through the fixed clamp (8) and is fixedly connected by a threaded fastener.

4. The pick-up manipulator of the die-casting machine according to claim 3, characterized in that: A clamping block (521) is fixedly connected to the gripper (52).

5. The pick-up manipulator of the die-casting machine according to claim 2, characterized in that: There are two groups of the Z-axis synchronous belt linear modules (41), and the two groups of Z-axis synchronous belt linear modules (41) are arranged in parallel and located on both sides of the operation port (31) respectively.

6. The pick-up manipulator of the die-casting machine according to claim 5, characterized in that: Z-axis servo motors (411), X-axis servo motors (421), and Y-axis servo motors (431) for driving the synchronous belt driving wheels are respectively provided on the Z-axis synchronous belt linear module (41), the X-axis synchronous belt linear module (42), and the Y-axis synchronous belt linear module (43); a rotating shaft (9) is connected between the synchronous belt driving wheels of the two groups of Z-axis synchronous belt linear modules (41), and the motor shaft of the Z-axis servo motor (411) is connected to the rotating shaft (9).

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