A mechanical hand for taking parts from a die casting machine

Abstract

The application relates to a mechanical hand for taking out workpieces of a die casting machine and relates to the technical field of the mechanical hand for taking out workpieces, which comprises a placing plate, the top of the placing plate is provided with an adjusting box, and the top of the adjusting box is slidably connected with a lifting box. The application can flexibly adjust the position and angle of the mechanical hand through the second electric push rod, the first rotating structure and the second rotating structure, so as to adapt to workpieces of different shapes and sizes. The self-adapting clamping system is formed through the combination of the jacks in the clamping plate and the connecting springs. When the workpieces are mechanically clamped, the stable clamping can be guaranteed, and the workpiece surface can be prevented from being damaged. Meanwhile, the design of the movable groove and the groove can further enhance the stability of the clamping system. When the jacks are stressed, the jacks can automatically adjust the position and keep balanced pressure distribution, so that the safety and reliability of the workpiece taking-out process can be ensured, and the working efficiency of the mechanical hand is improved.

Description

Technical Field

[0001] This application relates to a robotic arm for retrieving parts, and more particularly to a robotic arm for retrieving parts from a die-casting machine. Background Technology

[0002] A die casting machine is a machine used for pressure casting. Under pressure, the die casting machine injects molten metal into a mold to cool and solidify. After the mold is opened, a solid metal casting is obtained. Castings produced by die casting machines have advantages such as high dimensional accuracy and high structural strength, and are widely used in the manufacturing industry.

[0003] A current patent (publication number: CN217798908U) discloses a robotic arm for retrieving parts from a die-casting machine, including a base, an arm, a clamping mechanism for holding the casting, and a drive mechanism for driving the clamping mechanism. The arm is slidably connected to the base, the clamping mechanism is connected to one end of the arm, and the drive mechanism is mounted on the arm. This application has the effect of reducing the labor intensity of workers.

[0004] While the device in the aforementioned comparative document solves the problem of high labor intensity and low efficiency for operators when manually removing workpieces using a picker, it suffers from poor flexibility and cannot flexibly adjust the position and angle of the mechanical gripper. Furthermore, it cannot perform adaptive clamping when holding workpieces, which can easily damage the workpiece surface while providing a stable grip. To address these issues, a robotic arm for removing parts from a die-casting machine is proposed. Utility Model Content

[0005] The purpose of this application is to provide a robotic arm for picking up parts in a die-casting machine, which has the advantages of flexible adjustment and adaptive clamping function. It solves the problems of poor flexibility of the comparison device, which cannot flexibly adjust the position and angle of the mechanical gripper, and cannot perform adaptive clamping when clamping the workpiece, which easily causes damage to the surface of the workpiece.

[0006] The robotic arm for picking up parts in a die-casting machine provided in this application adopts the following technical solution: it includes a placement plate, an adjustment box is installed and connected to the top of the placement plate, a lifting box is slidably connected to the top of the adjustment box, a support plate is slidably connected to the top of the lifting box, and a support frame is fixedly connected to the top of the support plate;

[0007] The support plate is provided with a second electric push rod at the top. One end of the second electric push rod is fixedly connected to a first rotating structure. The power output end of the first rotating structure is fixedly connected to a second rotating structure. The power output end of the second rotating structure is fixedly connected to a connecting rod. One end of the connecting rod is provided with a mechanical gripper. The mechanical gripper is provided with two clamping plates inside. The clamping plates are fixedly connected to a fixing block on the side. The fixing block has multiple movable slots inside. A top rod is slidably connected inside the movable slot. A connecting spring is fixedly connected to the bottom end inside the movable slot. A groove is provided inside the top rod. The top end of the connecting spring is fixedly connected to the top end inside the groove.

[0008] By adopting the above technical solution, and by setting a second electric push rod, a first rotating structure, and a second rotating structure, the position and angle of the mechanical gripper can be flexibly adjusted to adapt to workpieces of different shapes and sizes. Through the combination of the push rod inside the clamping plate and the connecting spring, an adaptive clamping system can be formed. When mechanically clamping the workpiece, it can ensure stable clamping while avoiding damage to the workpiece surface. At the same time, the design of the movable groove and recess can further enhance the stability of the clamping system, allowing the push rod to automatically adjust its position and maintain a balanced pressure distribution when under force, which can ensure the safety and reliability of the part removal process and improve the working efficiency of the robot.

[0009] Preferably, two limiting grooves are formed on the inner side of the movable groove, and two limiting blocks are fixedly connected to the surface of the top rod, with the limiting blocks slidably connected in the limiting grooves;

[0010] By adopting the above technical solution, the cooperation between the limiting groove and the limiting block can effectively prevent the push rod from shifting or rotating in the movable groove, thereby further improving the accuracy and stability of the clamping system, enhancing the adaptability of the robot in complex operating environments, and reducing the risk of clamping failure caused by external interference.

[0011] Preferably, a stepper motor is fixedly connected to the side of the adjustment box, the output end of the stepper motor rotates through the side of the adjustment box and is fixedly connected to a threaded rod, a threaded cylinder is threadedly connected to the surface of the threaded rod, a U-shaped movable block is fixedly connected to the surface of the threaded cylinder, through holes are opened on both opposite sides inside the adjustment box, the U-shaped movable block is slidably connected in the through holes, and the top of the U-shaped movable block is fixedly connected to the bottom of the support plate.

[0012] By adopting the above technical solution and setting a stepper motor, the operation of the stepper motor can drive the threaded rod to rotate, thereby causing the threaded cylinder to move linearly on the threaded rod. This allows for precise control of the movement distance and position of the U-shaped movable block. At the same time, the sliding connection between the U-shaped movable block and the through hole ensures the smoothness of the movement.

[0013] Preferably, a shrinkage groove is provided on the inner side of the through hole, and folding baffles are fixedly connected to both sides of the shrinkage groove. One side of each of the two folding baffles is fixedly connected to the opposite sides of the U-shaped movable block.

[0014] By adopting the above technical solution, and by setting the shrinkage groove and the folding baffle, additional protection and stability can be provided when the U-shaped movable block moves. When the U-shaped movable block slides in the through hole, the folding baffle can be expanded or contracted as needed, which can prevent external impurities from entering the through hole and thus extend the service life of the device.

[0015] Preferably, two slide rods are fixedly connected inside the shrinkage groove, and multiple slide plates are fixedly connected to the back of the folding baffle, with the slide plates slidably connected to the surface of the slide rods;

[0016] By adopting the above technical solution, the sliding stability of the folding baffle in the shrink groove can be further enhanced through the cooperation of the slide bar and the slide plate. When the slide plate moves along the surface of the slide bar, the friction can be reduced, which can ensure that the unfolding and shrinking action of the folding baffle is smoother. At the same time, the presence of the slide bar can also prevent the slide plate from deviating during the movement, thereby improving the reliability of the overall structure.

[0017] Preferably, a first electric push rod and a retractable rod are fixedly connected to the bottom of the lifting box. There are four retractable rods. The first electric push rod is located in the middle of the four retractable rods. The top of the first electric push rod and the top of the retractable rod slide through the top of the lifting box and are fixedly connected to the bottom of the support plate.

[0018] By adopting the above technical solution, through the combined design of the first electric push rod and the retractable rod, a stable lifting function can be provided during the operation of the robot arm. The first electric push rod is responsible for the main lifting power output, while the four evenly distributed retractable rods play an auxiliary support and guiding role, which can ensure the stability of the support plate during the movement.

[0019] Preferably, a nozzle is provided on the side of the support frame, and an inlet pipe is fixedly connected to the input end of the nozzle. The input end of the inlet pipe is connected to an external release agent delivery pump.

[0020] By adopting the above technical solution, and by setting a nozzle on the side of the support frame and connecting it to a liquid inlet pipe, the automatic spraying function of the release agent can be realized during the robot's part picking process. The nozzle position is precisely designed to cover the key areas of the workpiece surface, which can ensure the uniform distribution of the release agent. The liquid inlet pipe is connected to an external release agent delivery pump, which can ensure the continuity and stability of the spraying process, effectively reduce manual intervention, and improve production efficiency.

[0021] Preferably, a support rod is fixedly connected to the bottom of the placement plate, and a mounting base plate is fixedly connected to the bottom end of the support rod. Two mounting ears are fixedly connected to each of the opposite sides of the adjustment box.

[0022] By adopting the above technical solution and setting up a mounting base plate, a stable foundation support can be provided for the robot arm, ensuring the stability of the overall structure. By setting up mounting ear plates, it is convenient for people to install and connect the adjustment box to the top of the placement plate.

[0023] In summary, this application includes at least one of the following beneficial technical effects:

[0024] This robotic arm for retrieving parts from a die-casting machine, by incorporating a second electric push rod, a first rotating structure, and a second rotating structure, allows for flexible adjustment of the position and angle of the mechanical gripper, thus adapting to workpieces of different shapes and sizes. The combination of the push rod inside the clamping plate and the connecting spring forms an adaptive clamping system, ensuring stable clamping while preventing damage to the workpiece surface. Furthermore, the design of the movable groove and recess further enhances the stability of the clamping system, allowing the push rod to automatically adjust its position and maintain a balanced pressure distribution under stress, ensuring the safety and reliability of the part-retrieving process and improving the robotic arm's working efficiency. Attached Figure Description

[0025] Figure 1 This is a frontal three-dimensional structural diagram of this application;

[0026] Figure 2 This is a side-view perspective three-dimensional structural diagram of this application;

[0027] Figure 3 This is a structural schematic diagram of the cross-section of the lifting box in this application;

[0028] Figure 4 This is a schematic diagram of the cross-section of the adjustment box in this application;

[0029] Figure 5 This is a structural schematic diagram of the cross-section of the movable groove in this application.

[0030] In the picture:

[0031] 1. Placement plate; 101. Support rod; 102. Mounting base plate;

[0032] 2. Adjustment box; 201. Stepper motor; 202. Threaded rod; 203. Threaded cylinder; 204. Movable block; 205. Shrinkage groove; 206. Folding baffle; 207. Slide rod; 208. Slide plate; 209. Mounting ear plate; 2010. Through hole;

[0033] 3. Lifting box; 301. First electric push rod; 302. Retractable rod;

[0034] 4. Support plate; 401. Second electric push rod; 402. First rotating structure; 403. Second rotating structure; 404. Connecting rod; 405. Mechanical gripper; 406. Clamping plate;

[0035] 5. Fixing block; 501. Movable groove; 502. Connecting spring; 503. Top rod; 504. Groove; 505. Limiting groove; 506. Limiting block;

[0036] 6. Support frame; 601. Nozzle; 602. Liquid inlet pipe. Detailed Implementation

[0037] The following is in conjunction with the appendix Figure 1 - Appendix Figure 5 This application will be described in further detail below.

[0038] Example 1: A robotic arm for retrieving parts from a die-casting machine, referring to... Figure 1 , Figure 2 and Figure 5 It includes a placement plate 1, an adjustment box 2 is installed and connected to the top of the placement plate 1, a lifting box 3 is slidably connected to the top of the adjustment box 2, a support plate 4 is slidably connected to the top of the lifting box 3, and a support frame 6 is fixedly connected to the top of the support plate 4.

[0039] A second electric push rod 401 is provided on the top of the support plate 4. One end of the second electric push rod 401 is fixedly connected to a first rotating structure 402. The power output end of the first rotating structure 402 is fixedly connected to a second rotating structure 403. The power output end of the second rotating structure 403 is fixedly connected to a connecting rod 404. A mechanical gripper 405 is provided on one end of the connecting rod 404. Two clamping plates 406 are provided inside the mechanical gripper 405. A fixing block 5 is fixedly connected to the side of the clamping plate 406. Multiple movable slots 501 are opened inside the fixing block 5. A top rod 503 is slidably connected inside the movable slot 501. A connecting spring 502 is fixedly connected to the bottom end of the movable slot 501. A groove 504 is opened inside the top rod 503. The top end of the connecting spring 502 is fixedly connected to the top end of the groove 504. By setting the second electric push rod 401, the first rotating structure 402 and the second rotating structure 403, the position and angle of the mechanical gripper 405 can be flexibly adjusted to adapt to workpieces of different shapes and sizes. The combination of the internal push rod 503 and the connecting spring 502 forms an adaptive clamping system. During mechanical clamping of the workpiece, it ensures stable clamping while preventing damage to the workpiece surface. Simultaneously, the design of the movable groove 501 and the recess 504 further enhances the stability of the clamping system. The push rod 503 automatically adjusts its position and maintains a balanced pressure distribution when under force, ensuring the safety and reliability of the workpiece removal process and improving the robot's working efficiency. Two limiting grooves 505 are formed on the inner side of the movable groove 501, and two limiting blocks 506 are fixedly connected to the surface of the push rod 503. The limiting blocks 506 are slidably connected within the limiting grooves 505. Through the cooperation of the limiting grooves 505 and the limiting blocks 506, the push rod 503 can be effectively prevented from shifting or rotating within the movable groove 501, thereby further improving the accuracy and stability of the clamping system. This enhances the robot's adaptability in complex operating environments and reduces the risk of clamping failure due to external interference.

[0040] Please see Figure 2 and Figure 4A stepper motor 201 is fixedly connected to the side of the adjustment box 2. The output end of the stepper motor 201 rotates through the side of the adjustment box 2 and is fixedly connected to a threaded rod 202. A threaded cylinder 203 is threadedly connected to the surface of the threaded rod 202. A U-shaped movable block 204 is fixedly connected to the surface of the threaded cylinder 203. Through holes 2010 are opened on both opposite sides inside the adjustment box 2. The U-shaped movable block 204 is slidably connected in the through holes 2010. The top of the U-shaped movable block 204 is fixedly connected to the bottom of the support plate 4. By setting the stepper motor 201... 01. When the stepper motor 201 operates, it drives the threaded rod 202 to rotate, thereby causing the threaded cylinder 203 to move linearly along the threaded rod 202. This allows for precise control of the movement distance and position of the U-shaped movable block 204. Simultaneously, the sliding connection between the U-shaped movable block 204 and the through hole 2010 ensures smooth movement. A contraction groove 205 is provided on the inner side of the through hole 2010. Folding baffles 206 are fixedly connected to opposite sides of the contraction groove 205. One side of each folding baffle 206... The U-shaped movable block 204 is fixedly connected to opposite sides of the U-shaped movable block 204. By setting the contraction groove 205 and the folding baffle 206, additional protection and stability can be provided when the U-shaped movable block 204 moves. When the U-shaped movable block 204 slides in the through hole 2010, the folding baffle 206 can be expanded or contracted as needed, which can prevent external impurities from entering the through hole 2010, thereby extending the service life of the device. Two slide rods 207 are fixedly connected inside the contraction groove 205, and multiple slide plates 208 are fixedly connected to the back of the folding baffle 206. The slide plates 208 are slidably connected to the surface of the slide rods 207. Through the cooperation of the slide rods 207 and the slide plates 208, the sliding stability of the folding baffle 206 in the contraction groove 205 can be further enhanced. When the slide plates 208 move along the surface of the slide rods 207, the friction can be reduced, which can ensure that the expansion and contraction of the folding baffle 206 is smoother. At the same time, the presence of the slide rods 207 can also prevent the slide plates 208 from deviating during the movement, thereby improving the reliability of the overall structure.

[0041] Please see Figure 2 and Figure 3Inside the lifting box 3, a first electric push rod 301 and a retracting rod 302 are fixedly connected to the bottom. There are four retracting rods 302, with the first electric push rod 301 positioned in the middle. The tops of both the first electric push rod 301 and the retracting rods 302 slide through the top of the lifting box 3 and are fixedly connected to the bottom of the support plate 4. Through the combined design of the first electric push rod 301 and the retracting rods 302, a stable lifting function can be provided during the operation of the robot arm. The first electric push rod 301 is responsible for the main lifting power output, while the four evenly distributed retracting rods 302 play an auxiliary support and guiding role, ensuring the stability of the support plate 4 during movement. A nozzle 601 is provided on the side of the support frame 6. The input end of the nozzle 601 is fixedly connected to a liquid inlet pipe 602, and the input end of the liquid inlet pipe 602 is connected to an external release agent delivery pump. By connecting the nozzles 601 on the side of the support frame 6 and connecting them to the liquid inlet pipe 602, the automatic spraying function of the release agent can be realized during the robot's part picking process. The nozzles 601 are precisely designed to cover the key areas of the workpiece surface, ensuring uniform distribution of the release agent. The liquid inlet pipe 602 is connected to an external release agent delivery pump, which can ensure the continuity and stability of the spraying process, effectively reduce manual intervention, and improve production efficiency. The bottom of the placement plate 1 is fixedly connected to the support rod 101, and the bottom end of the support rod 101 is fixedly connected to the mounting base plate 102. The adjustment box 2 is fixedly connected to two mounting ear plates 209 on both sides. By setting the mounting base plate 102, a stable foundation support can be provided for the robot, ensuring the stability of the overall structure. By setting the mounting ear plates 209, it is easy for people to install and connect the adjustment box 2 to the top of the placement plate 1.

[0042] The implementation principle of this application embodiment is as follows: When in use, people stabilize the position of the device by installing the base plate 102. After stabilization, the adjustment box 2 is installed on the top of the placement plate 1 by installing the ear plate 209. After installation, the device can be used.

[0043] When the part is picked up, the stepper motor 201 drives the threaded rod 202 to rotate, causing the threaded cylinder 203 and the U-shaped movable block 204 to move linearly within the through hole 2010. The sliding connection between the U-shaped movable block 204 and the through hole 2010 ensures the smooth movement of the support plate 4, allowing the mechanical gripper 405 to extend into the die-casting machine. Then, the second electric push rod 401 moves, pushing the mechanical gripper 405 closer to the workpiece. Once close, the release agent is sprayed through the nozzle 601 located on the side of the support frame 6 and connected to the liquid inlet pipe 602. After spraying, the mechanical gripper 405 moves to pick up the part. After picking up the part, the second electric push rod 401 and the stepper motor 201 move again, causing the mechanical gripper 405 to return to its original position, thereby removing the workpiece from the die-casting machine. After removal, the position of the mechanical gripper 405 can be flexibly adjusted through the first rotating structure 402 and the second rotating structure 403. When transporting the workpiece, it can be moved to the transport structure for transport.

[0044] The embodiments described in this specific implementation are preferred embodiments of this application and are not intended to limit the scope of protection of this application. Identical components are represented by the same reference numerals. Therefore, all equivalent changes made to the structure, shape, and principle of this application should be covered within the scope of protection of this application.

Claims

1. A robotic arm for retrieving parts from a die-casting machine, comprising a placement plate (1), characterized in that: An adjustment box (2) is installed and connected to the top of the placement plate (1), a lifting box (3) is slidably connected to the top of the adjustment box (2), a support plate (4) is slidably connected to the top of the lifting box (3), and a support frame (6) is fixedly connected to the top of the support plate (4). The support plate (4) is provided with a second electric push rod (401) at its top. One end of the second electric push rod (401) is fixedly connected to a first rotating structure (402). The power output end of the first rotating structure (402) is fixedly connected to a second rotating structure (403). The power output end of the second rotating structure (403) is fixedly connected to a connecting rod (404). One end of the connecting rod (404) is provided with a mechanical gripper (405). The mechanical gripper (405) is provided with a... Two clamping plates (406) are provided. A fixing block (5) is fixedly connected to the side of the clamping plate (406). Multiple movable grooves (501) are provided inside the fixing block (5). A top rod (503) is slidably connected inside the movable groove (501). A connecting spring (502) is fixedly connected to the bottom of the movable groove (501). A groove (504) is provided inside the top rod (503). The top of the connecting spring (502) is fixedly connected to the top of the groove (504).

2. The robotic arm for retrieving parts from a die-casting machine according to claim 1, characterized in that: The inner side of the movable groove (501) has two limiting grooves (505), and the top rod (503) is fixedly connected to two limiting blocks (506), which are slidably connected in the limiting grooves (505).

3. The robotic arm for retrieving parts from a die-casting machine according to claim 1, characterized in that: A stepper motor (201) is fixedly connected to the side of the adjustment box (2). The output end of the stepper motor (201) rotates through the side of the adjustment box (2) and is fixedly connected to a threaded rod (202). A threaded cylinder (203) is threadedly connected to the surface of the threaded rod (202). A U-shaped movable block (204) is fixedly connected to the surface of the threaded cylinder (203). Through holes (2010) are opened on both opposite sides inside the adjustment box (2). The U-shaped movable block (204) is slidably connected in the through hole (2010). The top of the U-shaped movable block (204) is fixedly connected to the bottom of the support plate (4).

4. A robotic arm for retrieving parts from a die-casting machine according to claim 3, characterized in that: The through hole (2010) has a shrinkage groove (205) on its inner side. Folding baffles (206) are fixedly connected to the opposite sides of the shrinkage groove (205). The two folding baffles (206) are fixedly connected to the opposite sides of the U-shaped movable block (204) on one side respectively.

5. A robotic arm for retrieving parts from a die-casting machine according to claim 4, characterized in that: The shrinkage groove (205) has two slide rods (207) fixedly connected inside, and the back of the folding baffle (206) has multiple slide plates (208) fixedly connected, with the slide plates (208) slidably connected to the surface of the slide rods (207).

6. A robotic arm for retrieving parts from a die-casting machine according to claim 1, characterized in that: The bottom of the lifting box (3) is fixedly connected to a first electric push rod (301) and a retractable rod (302). There are four retractable rods (302). The first electric push rod (301) is located in the middle of the four retractable rods (302). The top of the first electric push rod (301) and the top of the retractable rod (302) slide through the top of the lifting box (3) and are fixedly connected to the bottom of the support plate (4).

7. A robotic arm for retrieving parts from a die-casting machine according to claim 1, characterized in that: The support frame (6) is provided with a nozzle (601) on its side. The nozzle (601) is fixedly connected to a liquid inlet pipe (602) at its input end. The input end of the liquid inlet pipe (602) is connected to an external release agent delivery pump.

8. A robotic arm for retrieving parts from a die-casting machine according to claim 1, characterized in that: The bottom of the placement plate (1) is fixedly connected to a support rod (101), and the bottom end of the support rod (101) is fixedly connected to a mounting base plate (102). The adjustment box (2) is fixedly connected to two mounting ear plates (209) on both sides.

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