CN101745908B - Mechanical arm and metal plate stamping processing equipment using same - Google Patents
Mechanical arm and metal plate stamping processing equipment using same Download PDFInfo
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- CN101745908B CN101745908B CN 200810220253 CN200810220253A CN101745908B CN 101745908 B CN101745908 B CN 101745908B CN 200810220253 CN200810220253 CN 200810220253 CN 200810220253 A CN200810220253 A CN 200810220253A CN 101745908 B CN101745908 B CN 101745908B
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Abstract
本发明公开一种机械手，包括主横梁、用于支撑主横梁的多个支撑架，所述多个支撑架沿所述主横梁轴向设置，所述主横梁上设置有多个手臂，所述机械手还包括驱动所述主横梁左右水平运动的驱动装置和上下垂直运动的驱动装置。使用该机械手能有效地实现钣材在多工序冲压设备的多个工序之间的传递，能大大地缩小物料转运时间。本发明还公开了一种使用该机械手的钣材冲压加工设备，使用该机械手的多工序冲压设备大大地提高了产品的生产效率，提高成品合格率及降低企业的用工成本，同时也将操作工人从繁琐、枯燥的劳动中解脱出来，使企业的生产更趋向于人性化发展。
The invention discloses a manipulator, comprising a main beam, a plurality of support frames for supporting the main beam, the plurality of support frames are arranged along the axial direction of the main beam, and a plurality of arms are arranged on the main beam. The manipulator also includes a driving device for driving the main crossbeam to move horizontally left and right and a driving device to move vertically up and down. Using the manipulator can effectively realize the transfer of sheet metal between multiple processes of multi-process stamping equipment, and can greatly reduce the material transfer time. The invention also discloses a sheet metal stamping processing equipment using the manipulator. The multi-process stamping equipment using the manipulator greatly improves the production efficiency of products, improves the qualified rate of finished products and reduces the labor cost of the enterprise. Freed from tedious and boring labor, so that the production of enterprises tends to be more humanized.
Description
Technical field
The invention belongs to the manufacture field of panel beating industry, be specifically related to a kind of manipulator and use this manipulator metal plate stamping device.
Background technology
In the prior art, the traditional processing technology of panel beating industry and method are that one or two operators operate an open type or closed punch simultaneously, its operating procedure is: first steel plate coiled strip banding machine itemize, steel are cut into the blank dimension that needs with cross cut shears again, then manually raw material are put into the diel punch process, again the good product of punching press is manually taken out after finishing, whole production process needs more operator to operate, the mode of production falls behind, workman's working strength is large, poor working environment, and in process, exist significantly potential safety hazard, its production efficiency is low, because the location in the punching course is all by manually operating, it is difficult to position accurately, so that the defective work of punching press product out is more, the qualification rate of finished product is lower.
In Punching Process, for convenient and carry rapidly metal plate material stock, autoloader has appearred in the prior art, this autoloader can directly be installed to the last process of punch press, reduced the horizontal operation of cutting of metal plate material, but this feeder just is fit to the unit converted products, is not suitable for the multiple operation punch machining equipment for automotive.
In addition, in existing patent documentation, the manipulator that some can replace the staff convey materials is also disclosed, for example: the patent No. is 200620059939.6, notification number is CN2933743, denomination of invention is the patent of invention of vacuum chuck type manipulator, this vacuum chuck type manipulator comprises that mainly sucking disc type mechanical hand comprises mechanical arm and control module, the bottom of described mechanical arm with is connected vacuum cup and connects, described vacuum cup can hold surface of the work, and control module control mechanical arm is done on the plane of X, Y-axis and moved freely.This vacuum chuck type manipulator has used vavuum pump to inhale the work principle, utilize manipulator to replace the staff feeding to form, can improve precision and the efficient of punch press, and suitably reducing job costs, the assurance of the efficient of single and mini-batch production or trial product and precision has important effect on panel beating and the hardware industry.But it can not satisfy large in batches, and operation is many, the needs of the metal plate stamping device that production scale is larger.
Summary of the invention
The present invention seeks to overcome the deficiencies in the prior art, provide a kind of and can and be transported to easily the manipulator that different operations is processed with the material while.
The present invention also provides a kind of metal plate stamping device of using aforementioned manipulator, this metal plate material pressing equipment, the needs of the metal plate materials processing that batch is large, operation is many, production scale is large can be effectively satisfied, the recruitment cost of enterprise, production efficiency and the product qualified rate of raising product can be reduced widely.
In order to reach above-mentioned first technical purpose, the present invention realizes by following technical scheme:
A kind of manipulator, comprise main beam, be used for to support a plurality of bracing frames of main beam, described a plurality of bracing frame axially arranges along described main beam, be provided with a plurality of arms on the described main beam, described manipulator also comprises the horizontal drive apparatus that drives described main beam left and right horizontal motion and drives the vertical drive that described main beam moves both vertically up and down;
Described vertical drive comprises the drive source that is arranged on the main beam below and the gear case assembly that is connected with described drive source, and wherein the power intake of gear case assembly is connected with the output of described drive source;
Described gear case assembly is comprised of a plurality of gear-boxes, described gear-box comprises casing, extends to the outer tooth bar of casing and places in the casing and the tooth bar meshed gears, the rear portion is provided with upwardly extending slide plate in the described casing, this slide plate top is provided with for the assembly pulley that fastens with main beam, and the bottom of described slide plate is provided with chute.
A plurality of described gear-boxes are axial arranged in two side positions of described drive source along described main beam, and wherein the power intake of the described gear-box of close described drive source setting is connected with the drive source output by connecting rod; Place between the gear-box of described drive source homonymy and interconnect by connecting rod; Described gear-box upper end is slidably to be articulated on the main beam.
At the described gear coaxial fork that is connected with also, be provided with a bearing pin parallel with the fork rotating shaft at the free end of this fork, be set with a tourelle on the described bearing pin, this tourelle rolls in described chute.
A side axial at described main beam also is provided with master console, and described drive source is arranged on this master console, and described gear case assembly comprises two gear-boxes that are arranged on the master console and the gear-box that is fixed on each bracing frame upper end; The tooth bar that wherein is located at the gear-box on the master console is connected with the drive source output by connecting rod, interconnects by the connecting rod that is connected on the tooth bar separately between the described gear-box that places the drive source homonymy.
Described horizontal drive apparatus comprises servomotor and by the multistage synchronous belt drive mechanism of driven by servomotor, be coaxially arranged with a synchronous belt wheel with the output belt wheel of afterbody synchronous belt drive mechanism in the described multistage synchronous belt drive mechanism, and described synchronous pulley can move up and down axially along its rotating shaft; The Timing Belt that two ends are fixed on the main beam is enclosed within on the described synchronous pulley.
Described multistage synchronous belt drive mechanism adopts secondary drive mechanism, this secondary drive mechanism comprises first order variable transmission mechanism and second level synchronization transmission structure, wherein the input belt wheel of first order variable transmission mechanism is installed on the output shaft of servomotor, the simultaneously coaxial setting of input belt wheel of the output belt wheel of first order variable transmission mechanism and second level synchronous drive mechanism, the coaxial setting of output belt wheel of described synchronous pulley and second level synchronous drive mechanism.
With the both sides rotating shaft of the shaft parallel of described synchronous pulley on also be respectively arranged with a pinch roller; Described servomotor and multistage synchronous belt drive mechanism all are arranged on the master console.
Described horizontal drive apparatus comprises servomotor, be installed on the described servomotor output shaft synchronous pulley that can move along output shaft, walk around described synchronous pulley two ends is fixed on Timing Belt on the main beam.
In order to reach above-mentioned second technical purpose, the present invention realizes by following technical scheme: a kind of metal plate stamping device that uses aforementioned manipulator, comprise metal plate material automatic charging machine, many cover metal plate material pressing equipments, the metal plate forming mold that cooperates punching press with every cover metal plate material pressing equipment, transmission metal plate material carries out manipulator and the finished product collecting machine of different process operations simultaneously, described metal plate material automatic charging machine places the metal plate material porch of manipulator main beam front end, and described metal plate material pressing equipment and the metal plate forming mold that is mated punching press are evenly arranged along the main beam direction of manipulator.
Described automatic charging machine comprises active-feeding machine and metal plate material levelling machine, during use, by the active-feeding machine steel plate coiled strip is carried out uncoiling and conveying, and then through the smoothing of metal plate material levelling machine, controls the distance of its feeding by control device.
Compared with prior art, the invention has the beneficial effects as follows:
(1) the present invention can dwindle the material transfer time widely owing to having used the manipulator with many arms, compares with panel beating operation before, and its production efficiency can be brought up in the past about 20 times;
(2) the present invention is with the use that is serially connected of metal plate material automatic charging machine, metal plate material pressing equipment, metal plate forming mold and robot device, need to carry out uncoiling rip cutting and crosscut two procedures with existing machined steel board raw material, reduced the crosscut operation, it has not only avoided the restriction of personnel and place effectively, has also reduced widely workman's labour intensity;
(3) the present invention is full-automatic pressing equipment owing to what use, compare with the existing mode of artificial location that relies on fully, it can be located accurately in process, and machining accuracy is high, effectively improve stability and the uniformity of product, thereby improve the qualification rate of finished product;
(3) the present invention only need use seriation and unitized metal plate punching mould, can produce different products by changing different moulds, can be widely used in processing in enormous quantities, the product that multiple operation and production scale are large;
(4) the present invention is because whole process is full-automatic, only need an operator can control the operation of whole piece production line, reduced widely the recruitment cost of enterprise, also liberate simultaneously the labour, make the operator can from repeat, free among the scissors and paste, make the processing of product more tend to the hommization development.
Description of drawings
Fig. 1 is metal plate material multiple operation punch machining equipment for automotive structural representation of the present invention;
Fig. 2 is the Facad structure schematic diagram of manipulator of the present invention;
Fig. 3 is the plan structure schematic diagram of manipulator of the present invention;
Fig. 4 is middle gear case Facad structure schematic diagram of the present invention;
Fig. 5 is middle gear case side sectional view of the present invention;
Fig. 6 is the inner perspective view of middle gear case of the present invention;
Fig. 7 is middle gear case inner plane structural representation of the present invention;
Fig. 8 is arm structure schematic diagram among the present invention;
Fig. 9 is master console perspective view among the present invention;
Figure 10 is master console Facad structure schematic diagram among the present invention.
The specific embodiment
As shown in Figure 1, a kind of metal plate material multiple operation punch machining equipment for automotive, the metal plate forming mold 3 that comprises metal plate material automatic charging machine 1, five cover metal plate material pressing equipments 2, is used in conjunction with every cover metal plate material pressing equipment 2, also comprise for transmitting simultaneously manipulator 4 and the finished product collecting machine 5 of metal plate material to different operations, described automatic charging machine 1 comprises volume metal plate feeder 11 and metal plate material levelling machine 12, during use, carry out uncoiling and conveying by 11 pairs of steel plate coiled strips of volume metal plate feeder, and then through 12 smoothings of metal plate material levelling machine, by the distance of its feeding of control Electric Machine Control.
Described metal plate material levelling machine 12 places manipulator 4 front end metal plate material porch; In addition, metal plate material pressing equipment 2 and metal plate forming mold 3 are used in conjunction with simultaneously, this five covers metal plate material pressing equipment 2 and the metal plate forming mold 3 that cooperates thereof are serially connected on the same production line and are in different stations, manipulator 4 be used for the material of different station real-time, synchronous be sent to next process.
Such as Fig. 2～shown in Figure 7, the concrete structure of a kind of manipulator of the present invention, this manipulator 4 comprises main beam 41, is used for supporting four bracing frames 42 of main beam 41, the certain distance in interval is fixed with six arms 43 on main beam 41, also be provided with the intermediate station 48 for the transfer material at main beam 41 centre positions places, in addition, also be provided with master console 44 in main beam 41 axial sides, be provided with driving oil cylinder 45 at this master console 44, this drives oil cylinder 45 can also be drive motors or driving cylinder; And, all be fixedly installed a gear-box 46 in the upper end of each bracing frame 42; In addition, also be provided with two gear-boxes 46 on master console 44, namely have six gear-boxes 46, these six gear-boxes 46 axially arrange the composition gear case assembly along main beam 41.
Among the present invention, gear-box 46 specifically comprises casing 461, extend to the tooth bar 462 outside the casing 461 and place in the casing 461 and tooth bar 462 meshed gears 463, rear positions in casing 461 also is provided with upwardly extending slide plate 464, and main beam 41 is slidably to be fastened on up and down two groups of formed interorbitals of assembly pulley that pulley 465 forms set on gear-box 46 slide plates 464, the bottom of described slide plate 464 also is provided with chute 466, simultaneously, also be provided with coaxially fork 467 on the gear 463, free end at this fork 467 is provided with a bearing pin 469 parallel with fork 467 rotating shafts, described bearing pin 469 extends in the above-mentioned chute 466, and, the outer peripheral face of described bearing pin 469 also is set with tourelle, this tourelle upper, the lower surface contacts with end face and the bottom surface of chute 466 respectively, and this tourelle is specifically as follows rolling bearing 468.
Above-mentioned six gear-boxes 46 are along described main beam 41 axial arranged two side positions in driving oil cylinder 45, the tooth bar 462 that wherein is located at two gear-boxes 46 on the master console 44 links to each other by connecting rod 47 and also is connected with the output that drives oil cylinder 45 simultaneously, is that connecting rod 47 by being connected on the tooth bar 462 separately links together and be between three gear-boxes 46 that drive oil cylinder 45 the same sides.Described driving oil cylinder and jointly formed with the gear case assembly that is connected of driving oil cylinder and to drive the vertical drive that described main beam moves both vertically up and down.
When driving oil cylinder 45 action, drive tooth bar 462 motions of oil cylinder 45 driving gearboxs 46, when tooth bar 462 is driven by external force, can drive with its meshed gears 463 and rotate, then can drive fork 467 swings, because the outer peripheral face of an end of this fork 467 also is provided with a rolling bearing 468, will drive like this slide plate 464 moves up and down, because the slide plate 464 of gear-box 46 is to be articulated on the main beam 41 by the assembly pulley that is comprised of two groups of pulleys 465, so, the slide plate 464 of gear-box 46 is when moving up and down, main beam 41 is also along with moving up and down together, like this, just can realize being fixed on six arms 43 on the main beam 41 and also do simultaneously the motion of above-below direction.Certainly, the combining structure of described fork 467 and bearing pin 469 can also have the distortion of other structure, for example substitutes with the crank-type fork.
In addition, for the motion that guarantees that arm 43 on the main beam 41 in the horizontal direction also can be simultaneously, described manipulator 4 also is provided with the horizontal drive apparatus that drives described main beam left and right horizontal motion, described horizontal drive apparatus comprises servomotor 49 and the multistage synchronous belt drive mechanism that is driven by servomotor 49, be coaxially arranged with a synchronous belt wheel 412 with the output belt wheel of afterbody synchronous belt drive mechanism in the described multistage synchronous belt drive mechanism, and described synchronous pulley 412 can move up and down axially along its rotating shaft; The Timing Belt (not shown) that two ends are fixed on the main beam 41 is enclosed within on the described synchronous pulley 412.In order to make reliable and stable described main beams 41 work of drive of described synchronous pulley 412, with the both sides rotating shaft of the shaft parallel of described synchronous pulley 412 on also be respectively arranged with a pinch roller 413.And this servomotor 49 and multistage synchronous belt drive mechanism all are arranged on the master console 44.
In the present embodiment, multistage synchronous belt drive mechanism adopts secondary drive mechanism, this secondary drive mechanism comprises first order variable transmission mechanism and second level synchronization transmission structure, wherein the input belt wheel of first order variable transmission mechanism 410 is installed on the output shaft of servomotor 49, the simultaneously coaxial setting of input belt wheel of the output belt wheel of first order variable transmission mechanism 410 and second level synchronous drive mechanism 411, the coaxial setting of output belt wheel of described synchronous pulley 412 and second level synchronous drive mechanism 411.
Because gear-box 46 is to be fixedly installed, and main beam 41 is slidably to be fastened on gear-box 46 slide plates 464 between set up and down two groups of pulleys 465, when servomotor 49 forwards or counter-rotating, by secondary drive mechanism and synchronous pulley 412 and walk around described synchronous pulley 412 two ends be fixed on Timing Belt on the main beam 41 just drive main beam 41 on the track that two groups of pulleys 465 form left or move right, can realize effectively that main beam 41 moves in the horizontal direction, thereby drive the arm 43 be fixed on the main beam 41 along with main beam 41 together move left and right.
In order to make the manipulator 4 can be smoothly and draw easily workpiece, the concrete structure of arm 43 is: comprise that cross bar 431 and an end are connected to the medium position of cross bar 431, the other end is fixedly connected on the trailing arm 432 on the main beam 41, four branch's vertical poles 433 also are set on the described cross bar 431, wherein be provided with the vacuum cup 434 for absorption metal plate material on two branch's vertical poles 433 of contiguous trailing arm 432, be provided with electromagnet 435 on two branch's vertical poles 433 away from trailing arm 432 in addition, when arm 43 moves to the absorption location of workpiece, vacuum cup 434 and electromagnet 435 act on simultaneously, grabbing workpiece, thereby the motion by main beam 41 brings to the subsequent processing position with workpiece, arm 43 discharges workpiece and returns back to home, has just finished the transmission of inter process material.
Certainly, can move described synchronous pulley 412 by output shaft if directly install one at the output shaft of described servomotor 49, then rely on and walk around the Timing Belt that described synchronous pulley 412 two ends are fixed on the main beam 41 and also can drive main beam 41 move left and right.
As shown in Figure 1, the workflow of metal plate stamping device of the present invention is: volume metal plate feeder 11 is according to the feeding of metal plate material levelling machine metal plate material use quantity automatic intermittent, also quantitatively the metal plate material is sent in the first set metal plate material pressing equipment 2 by 12 smoothings of metal plate material levelling machine, after first set metal plate material pressing equipment 2 punch process, finished product after manipulator 4 is processed the 5th cover metal plate material pressing equipment 2 is delivered in the finished product collecting machine 5, semi-finished product after 2 processing of quadruplet metal plate material pressing equipment are delivered to the 5th cover metal plate material pressing equipment 2, semi-finished product on the intermediate station 48 are delivered to quadruplet metal plate material pressing equipment 2, semi-finished product after 2 processing of the 3rd cover metal plate material pressing equipment are delivered on the intermediate station 48, semi-finished product after 2 processing of the second cover metal plate material pressing equipment are delivered to the 3rd cover metal plate material pressing equipment 2, five actions are carried out simultaneously, when manipulator 4 is got workpiece from mould, 12 beginnings of metal plate material levelling machine are sent the metal plate material in first set metal plate material pressing equipment 2, when manipulator 4 feedings are finished and after 12 feedings of metal plate material levelling machine put in place, again punching press.Repeat above-mentioned action, can realize five simultaneously continuous operations of cover metal plate material pressing equipment.
The number of manipulator 4 last arms 43 of the present invention is not limited to six mentioned in above-described embodiment arms 43, the more arm 43 of more number can be set at the main beam 41 of manipulator 4, correspondingly be: metal plate material pressing equipment 2 and the metal plate forming mold 3 that is used in conjunction with metal plate material pressing equipment 2 also can be for more, like this, just can realize the full-automatic punching course that more stamping procedures carry out simultaneously, improve widely the production efficiency of whole punch machining equipment for automotive, can also effectively reduce simultaneously the quantity of operator on the production line, reduce the recruitment cost of enterprise, because manipulator 4 can position exactly, reduce the quantity owing to the artificial positioningly inaccurate defect ware that brings, greatly improved the qualification rate of product.
Claims (10)
1. manipulator, it is characterized in that: comprise main beam, be used for to support a plurality of bracing frames of main beam, described a plurality of bracing frame axially arranges along described main beam, be provided with a plurality of arms on the described main beam, described manipulator also comprises the horizontal drive apparatus that drives described main beam left and right horizontal motion and drives the vertical drive that described main beam moves both vertically up and down;
Described vertical drive comprises the drive source that is arranged on the main beam below and the gear case assembly that is connected with described drive source, and wherein the power intake of gear case assembly is connected with the output of described drive source;
Described gear case assembly is comprised of a plurality of gear-boxes, described gear-box comprises casing, extends to the outer tooth bar of casing and places in the casing and the tooth bar meshed gears, the rear portion is provided with upwardly extending slide plate in the described casing, this slide plate top is provided with for the assembly pulley that fastens with main beam, and the bottom of described slide plate is provided with chute.
2. manipulator according to claim 1, it is characterized in that: a plurality of described gear-boxes are axial arranged in two side positions of described drive source along described main beam, and wherein the power intake of the described gear-box of close described drive source setting is connected with the drive source output by connecting rod; Place between the gear-box of described drive source homonymy and interconnect by connecting rod; Described gear-box upper end is slidably to be articulated on the main beam.
3. manipulator according to claim 2, it is characterized in that: at the described gear coaxial fork that is connected with also, free end at this fork is provided with a bearing pin parallel with the fork rotating shaft, is set with a tourelle on the described bearing pin, and this tourelle rolls in described chute.
4. manipulator according to claim 3, it is characterized in that: a side axial at described main beam also is provided with master console, described drive source is arranged on this master console, and described gear case assembly comprises two gear-boxes that are arranged on the master console and the gear-box that is fixed on each bracing frame upper end; The tooth bar that wherein is located at the gear-box on the master console is connected with the drive source output by connecting rod, interconnects by the connecting rod that is connected on the tooth bar separately between the described gear-box that places the drive source homonymy.
5. each described manipulator according to claim 1-4, it is characterized in that: described horizontal drive apparatus comprises servomotor and by the multistage synchronous belt drive mechanism of driven by servomotor, be coaxially arranged with a synchronous belt wheel with the output belt wheel of afterbody synchronous belt drive mechanism in the described multistage synchronous belt drive mechanism, and described synchronous pulley can move up and down axially along its rotating shaft; The Timing Belt that two ends are fixed on the main beam is enclosed within on the described synchronous pulley.
6. manipulator according to claim 5, it is characterized in that: described multistage synchronous belt drive mechanism adopts secondary drive mechanism, this secondary drive mechanism comprises first order variable transmission mechanism and second level synchronization transmission structure, wherein the input belt wheel of first order variable transmission mechanism is installed on the output shaft of servomotor, the simultaneously coaxial setting of input belt wheel of the output belt wheel of first order variable transmission mechanism and second level synchronous drive mechanism, the coaxial setting of output belt wheel of described synchronous pulley and second level synchronous drive mechanism.
7. manipulator according to claim 5 is characterized in that: with the both sides rotating shaft of the shaft parallel of described synchronous pulley on also be respectively arranged with a pinch roller; Described servomotor and multistage synchronous belt drive mechanism all are arranged on the master console.
8. each described manipulator according to claim 1-4 is characterized in that: described horizontal drive apparatus comprises servomotor, be installed on the described servomotor output shaft synchronous pulley that can move along output shaft, walk around described synchronous pulley two ends is fixed on Timing Belt on the main beam.
9. each described manipulator according to claim 1-4 is characterized in that: axially be provided with intermediate station for transfer metal plate material along described main beam.
10. a right to use requires the metal plate stamping device of each described manipulator of 1-4, it is characterized in that: comprise metal plate material automatic charging machine, overlap metal plate material pressing equipment more, cooperate the metal plate forming mold of punching press, manipulator and the finished product collecting machine that transmission metal plate material carries out different process operations simultaneously from every cover metal plate material pressing equipment, described metal plate material automatic charging machine places the metal plate material porch of manipulator main beam front end, and described metal plate material pressing equipment and the metal plate forming mold that is mated punching press are evenly arranged along the main beam direction of manipulator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200810220253 CN101745908B (en) | 2008-12-18 | 2008-12-18 | Mechanical arm and metal plate stamping processing equipment using same |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200810220253 CN101745908B (en) | 2008-12-18 | 2008-12-18 | Mechanical arm and metal plate stamping processing equipment using same |
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| CN101745908A CN101745908A (en) | 2010-06-23 |
| CN101745908B true CN101745908B (en) | 2013-01-16 |
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| WO2007082323A1 (en) * | 2006-01-19 | 2007-07-26 | Trumpf Maschinen Austria Gmbh & Co. Kg. | Bending press having a loading device and method for operating it |
| CN201201241Y (en) * | 2008-04-28 | 2009-03-04 | 珠海格力电器股份有限公司 | Mechanical arm and metal plate stamping processing equipment using same |
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|---|---|
| CN101745908A (en) | 2010-06-23 |
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