CN101947607A - Intelligent mechanical arm of punch press - Google Patents

Intelligent mechanical arm of punch press Download PDF

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Publication number
CN101947607A
CN101947607A CN 201010259992 CN201010259992A CN101947607A CN 101947607 A CN101947607 A CN 101947607A CN 201010259992 CN201010259992 CN 201010259992 CN 201010259992 A CN201010259992 A CN 201010259992A CN 101947607 A CN101947607 A CN 101947607A
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CN
China
Prior art keywords
stepper motor
motion
arm
movement
manipulator
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Application number
CN 201010259992
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Chinese (zh)
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CN101947607B (en
Inventor
付国荣
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张新国
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Application filed by 张新国 filed Critical 张新国
Priority to CN 201010259992 priority Critical patent/CN101947607B/en
Publication of CN101947607A publication Critical patent/CN101947607A/en
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Publication of CN101947607B publication Critical patent/CN101947607B/en

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Abstract

The invention relates to an intelligent mechanical arm of a punch press. In the invention, a horizontal movement mechanism of the mechanical arm is transmitted by adopting a stepper motor and a linear ball screw; a mechanical arm rolling-over mechanism is transmitted by adopting a stepper motor and a gear, connected by a rolling-over spindle and rolled over by a driving arm, and the driving arm is provided with the mechanical horizontal movement mechanism which rolls over together; the mechanical horizontal movement mechanism is transmitted by adopting a servo motor and a planetary reducer; an executing end rotating movement mechanism is transmitted by a stepper motor and a synchronizing wheel, an executing part is a vacuum sucking disc, and the executing end rotating movement mechanism is arranged on the arm of the horizontal movement mechanism; a vertical movement mechanism is transmitted by adopting a stepper motor, a pair of bevel gears, a ball screw and a screw nut sleeve; and the horizontal movement mechanism, the rolling movement mechanism and the executing end rotating movement mechanism are all arranged on the screw nut sleeve of the vertical movement mechanism. The invention adopts a servo system in the aspect of electrical control to ensure that the running speed of the machine is improved, electricity is saved, and the effects of energy saving and environmental protection are achieved.

Description

The punch press puma manipulator
Technical field
The present invention relates to automated machine equipment, refer in particular to a kind of punch press puma manipulator.
Background technology
Present punching apparatus generally is to operate by hand when punching parts, be that staff is put into workpiece on the mould of punch press, after after the punching press of punch press patrix finishes, leaving counterdie, with hand stamping forming workpiece is taken out again, this way of putting and taking out workpiece by hand is very unsafe, often occur industrial accident, staff is broken the phenomenon that disables.
Summary of the invention
The objective of the invention is to be improved and innovate, a kind of efficient, accurate, flexible, safe punch press puma manipulator is provided at the shortcoming that exists in the background technology and problem.
Technical solution of the present invention provides by rack, distribution box, man-machine interface control cabinet, servomotor, stepper motor, gear, screw mandrel and female cover forms horicontal motion mechanism, flip-flop movement mechanism, swing arm motion, actuating station rotational motion mechanism, vertical movement mechanism, wherein:
Described manipulator horicontal motion mechanism adopts stepper motor and the transmission of line style ball screw, and the line style ball screw mother that is arranged on that the actuating station horizontal direction is moved forward and backward puts;
Described manipulator flip-flop movement mechanism adopts stepper motor and gear drive, connected and driven the arm upset by the upset main shaft, and arm is provided with the manipulator horicontal motion mechanism and together overturns;
Described manipulator swing arm motion structure adopts servomotor and planetary reducer transmission, and all motions all are arranged on the rack by the swing arm main shaft and swing thereupon;
Described actuating station rotational motion mechanism adopts stepper motor and synchronizing wheel transmission, and execution unit is a vacuum cup, and the actuating station rotational motion mechanism is arranged on the arm of horicontal motion mechanism;
Described vertical movement mechanism adopts the transmission of the female cover of stepper motor, bevel-gear sett, ball screw and screw mandrel, and horicontal motion mechanism, and the screw mandrel mother that flip-flop movement mechanism and actuating station rotational motion mechanism all are provided with vertical movement mechanism puts.
Advantage of the present invention and beneficial effect:
The running that links up of this kind of machine everything set for 5 seconds once, surpassed manually-operated production capacity 20%--30%, stopped the industrial injury accident that disables.Automatically controlled aspect adopts servo-drive system to make that machine operation speeds up, power saving, reaches the energy-conserving and environment-protective effect.The design of flip-flop movement mechanism, actuating station rotational motion mechanism and vertical movement mechanism particularly makes the client save investment in machinery on original manufacture, mould is invested more than 40%.
Description of drawings
Fig. 1 is a front view of the present invention.
Fig. 2 is Fig. 1 left view.
Fig. 3 is Fig. 1 vertical view.
Fig. 4 is that Fig. 3 A is to view.
Fig. 5 is that Fig. 2 B is to view.
The specific embodiment
By Fig. 1 to 5 as can be known, the present invention forms horicontal motion mechanism A, the B of flip-flop movement mechanism, swing arm motion C, actuating station rotational motion mechanism D, vertical movement mechanism E by rack, distribution box, man-machine interface control cabinet, servomotor, stepper motor, gear, screw mandrel and female cover, it is characterized in that:
Described manipulator horicontal motion mechanism A adopts stepper motor 12 and 15 transmissions of line style ball screw, with being arranged on the female cover 25 of line style ball screw that the actuating station horizontal direction moves forward and backward;
The described manipulator flip-flop movement B of mechanism adopts stepper motor 8 and gear 9 transmissions, connected and driven arm 22 upsets by upset main shaft 7, and arm 22 is provided with manipulator horicontal motion mechanism A and together overturns;
Described manipulator swing arm motion structure C adopts servomotor 30 and planetary reducer 29 transmissions, and all motions all are arranged on the rack 1 by swing arm main shaft 3 and swing thereupon;
Described actuating station rotational motion mechanism D adopts stepper motor 16 and synchronizing wheel 18 transmissions, and execution unit is a vacuum cup 19, and actuating station rotational motion mechanism D is arranged on the arm 22 of horicontal motion mechanism A;
Described vertical movement mechanism E adopts 25 transmissions of the female cover of stepper motor 4, bevel-gear sett 27,28, ball screw 26 and screw mandrel, and horicontal motion mechanism A, B of flip-flop movement mechanism and actuating station rotational motion mechanism D all are provided with on the female cover 25 of screw mandrel of vertical movement mechanism E.
Horicontal motion mechanism A stepper motor 12 of the present invention connects ball screw 15 by a shaft joint 13, stepper motor 12 and ball screw 15 are arranged on the arm base plate 21 by bearing (setting) plate 14,20, also are provided with the slide rail 24 for the female cover motion of screw mandrel on the base plate 21.The described flip-flop movement B of mechanism stepper motor 8, upset main shaft 7 and turning gear 9 are arranged on the arm base plate 22 by connecting plate 10 and fixed head 11.Described swing arm motion C servomotor 30 is fixed on the rack 1 by bearing (setting) plate, and servomotor 30 is by gears engaged pivot movable pendulum arm main shaft 3, and the ball screw 26 of vertical movement mechanism B is articulated in the top of swing arm main shaft 3.Described actuating station rotational motion mechanism D stepper motor 16 is arranged on the arm mainboard, and stepper motor 16 is by being with 17 to connect synchronizing wheel 18 synchronously, and vacuum cup 19 connects synchronizing wheel 18.In the described rack 1 distribution box 2 is set, man-machine interface control cabinet 6 is fixed on the rack 1 by spool column 5.
High-speed slide back and forth before and after the horicontal motion mechanism of the present invention, per second speed are the 260mm object work of taking fast; This position of flip-flop movement of the present invention mechanism is designed to any set angle upset of 360 degree.Turn over product and to turn 90 degrees the side punching press, product turns over turnback and is stamped into key design, sets required angle flexibly arbitrarily; Swing arm motion of the present invention is the handover function of stamping products from shift of origin to another point, and 1 second of handover time is finished accurate positioning efficient height in the 120 degree angular ranges.When actuating station rotational motion mechanism of the present invention was drawn stamping products, when the swing arm of C point was transferred product to the another location from initial point, the product angle can change.Be designed to 360 degree herein, rotation product angle is ajusted desired location.This design reduces the high request of shut die standard and Mold Making greatly, and the client reduces cost, efficient increases thereby make.The lifting action that vertical movement mechanism of the present invention is designed to the D place when drawing stamping products, rising or falling speed are that 50mm-60mm moves back and forth was 1 second, and total kilometres are 300mm.Man-computer interface control system of the present invention is regulated data and is oversimplified, and operator's training time is short, understandable; Electric-control system device cabinet.Adopt the design of against shock console mode, vibratility is little, and is steady when making the body running.
Embodiment of the present invention only is the description that preferred implementation of the present invention is carried out; be not that design of the present invention and scope are limited; under the prerequisite that does not break away from design philosophy of the present invention; engineers and technicians make technical scheme of the present invention in this area various modification and improvement; all should fall into protection scope of the present invention; the technology contents that the present invention asks for protection all is documented in claims.

Claims (6)

1. punch press puma manipulator, form horicontal motion mechanism (A), flip-flop movement mechanism (B), swing arm motion (C), actuating station rotational motion mechanism (D), vertical movement mechanism (E) by rack, distribution box, man-machine interface control cabinet, servomotor, stepper motor, gear, screw mandrel and female cover, it is characterized in that:
Described manipulator horicontal motion mechanism (A) adopts stepper motor (12) and line style ball screw (15) transmission, with being arranged on the female cover of line style ball screw (25) that the actuating station horizontal direction moves forward and backward;
Described manipulator flip-flop movement mechanism (B) adopts stepper motor (8) and gear (9) transmission, connected and driven arm (22) by upset main shaft (7) and overturn, and arm (22) is provided with manipulator horicontal motion mechanism (A) and together overturns;
Described manipulator swing arm motion structure (C) adopts servomotor (30) and planetary reducer (29) transmission, and all motions all are arranged on by swing arm main shaft (3), and rack (1) is gone up and swing thereupon;
Described actuating station rotational motion mechanism (D) adopts stepper motor (16) and synchronizing wheel (18) transmission, and execution unit is vacuum cup (19), and actuating station rotational motion mechanism (D) is arranged on the arm (22) of horicontal motion mechanism (A);
Described vertical movement mechanism (E) adopts (25) transmission of the female cover of stepper motor (4), bevel-gear sett (27,28), ball screw (26) and screw mandrel, and horicontal motion mechanism (A), flip-flop movement mechanism (B) and actuating station rotational motion mechanism (D) all are provided with on the female cover of screw mandrel (25) of vertical movement mechanism (E).
2. punch press puma manipulator according to claim 1, it is characterized in that described horicontal motion mechanism (A) stepper motor (12) connects ball screw (15) by a shaft joint (13), stepper motor (12) and ball screw (15) are arranged on the arm base plate (21) by bearing (setting) plate (14,20), also are provided with the slide rail (24) for the female cover motion of screw mandrel on the base plate (21).
3. punch press puma manipulator according to claim 1 is characterized in that described flip-flop movement mechanism (B) stepper motor (8), upset main shaft (7) and turning gear (9) are arranged on the arm base plate (22) by connecting plate (10) and fixed head (11).
4. punch press puma manipulator according to claim 1, it is characterized in that described swing arm motion (C) servomotor (30) is fixed on the rack (1) by bearing (setting) plate, servomotor (30) is by gears engaged pivot movable pendulum arm main shaft (3), and the ball screw (26) of vertical movement mechanism (B) is articulated in the top of swing arm main shaft (3).
5. punch press puma manipulator according to claim 1, it is characterized in that described actuating station rotational motion mechanism (D) stepper motor (16) is arranged on the arm mainboard, stepper motor (16) is by the synchronizing wheel (18) of band (17) connection synchronously, and vacuum cup (19) connects synchronizing wheel (18).
6. punch press puma manipulator according to claim 1 is characterized in that distribution box (2) is set in the described rack (1), and man-machine interface control cabinet (6) is fixed on the rack (1) by spool column (5).
CN 201010259992 2010-08-23 2010-08-23 Intelligent mechanical arm of punch press CN101947607B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 201010259992 CN101947607B (en) 2010-08-23 2010-08-23 Intelligent mechanical arm of punch press

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN 201010259992 CN101947607B (en) 2010-08-23 2010-08-23 Intelligent mechanical arm of punch press

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CN101947607A true CN101947607A (en) 2011-01-19
CN101947607B CN101947607B (en) 2012-12-26

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Cited By (24)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102416425A (en) * 2011-09-22 2012-04-18 浙江大学 Full-automatic punching machine with manipulators and suitable for fastener production
CN102554062A (en) * 2012-01-17 2012-07-11 柳州高华机械有限公司 Automatic stamping production line
CN102765086A (en) * 2012-07-26 2012-11-07 江苏尚诚精密模具科技有限公司 Intelligent robot with stamping and carrying functions
CN103252770A (en) * 2013-04-15 2013-08-21 佛山市鼎峰机器人有限公司 Workpiece stamping intelligent control process and intelligent control manipulator
CN103447408A (en) * 2012-06-04 2013-12-18 何芳 Mechanical arm
CN103537578A (en) * 2013-10-17 2014-01-29 亿和精密工业(苏州)有限公司 Manipulator taking mechanism
CN103803324A (en) * 2013-01-25 2014-05-21 常州先进制造技术研究所 Board overturning device and board overturning method thereof
CN104015187A (en) * 2014-05-26 2014-09-03 苏州西点金工精密机械有限公司 Flexible stamping mechanical arm
TWI458624B (en) * 2011-11-11 2014-11-01 Hon Hai Prec Ind Co Ltd Fetching mechanism and punching machine using the same
CN104259335A (en) * 2014-08-18 2015-01-07 昆山鑫腾顺自动化设备有限公司 Operation process of four-axis punching reclaimer
CN104440898A (en) * 2013-09-13 2015-03-25 范克健 Intelligent robot capable of high-speed feeding and discharging
CN104535383A (en) * 2014-12-10 2015-04-22 上海华之光谱仪器有限公司 Three-dimensional adjustable manipulator claw for sample pretreatment
CN104550523A (en) * 2015-01-07 2015-04-29 瑞安市杭瑞自动化科技有限公司 Single-punch automatic production line
CN104960963A (en) * 2015-06-02 2015-10-07 广西大学 Stacking device for punching plate materials
CN105150202A (en) * 2015-10-01 2015-12-16 合肥金海康五金机械制造有限公司 Grabbing mechanism of material taking mechanical arm
CN105149400A (en) * 2015-06-23 2015-12-16 东莞沁峰机器人有限公司 Efficient stamping robot
CN105171718A (en) * 2015-09-18 2015-12-23 东莞市三润田自动化设备有限公司 Four-axis mechanical arm
CN105234948A (en) * 2015-10-26 2016-01-13 泉州市远东环保设备有限公司 Demolding and collecting counting mechanism arm used for paper pulp mold environmental protection dining utensils
CN105234941A (en) * 2015-11-17 2016-01-13 江苏理工学院 Mechanical control device with cross position changing function and control method of control device
CN105436277A (en) * 2015-11-17 2016-03-30 江苏理工学院 Automatic control device for punching machine production line
CN105619156A (en) * 2016-03-25 2016-06-01 苏州倍特罗智能科技有限公司 Sucker type feeding and discharging manipulator of vertical punching machine
CN105965225A (en) * 2016-06-27 2016-09-28 中国原子能科学研究院 Reactor graphite removal device
CN106180455A (en) * 2016-08-26 2016-12-07 苏州神运机器人有限公司 Three axle pressing robot
CN107755559A (en) * 2016-08-23 2018-03-06 天津星原汽车零部件有限公司 A kind of angle regulating equipment being used for before automatic stamping

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Cited By (34)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102416425A (en) * 2011-09-22 2012-04-18 浙江大学 Full-automatic punching machine with manipulators and suitable for fastener production
CN102416425B (en) * 2011-09-22 2013-09-18 浙江大学 Full-automatic punching machine with manipulators and suitable for fastener production
TWI458624B (en) * 2011-11-11 2014-11-01 Hon Hai Prec Ind Co Ltd Fetching mechanism and punching machine using the same
CN102554062A (en) * 2012-01-17 2012-07-11 柳州高华机械有限公司 Automatic stamping production line
CN102554062B (en) * 2012-01-17 2014-05-28 柳州高华机械有限公司 Automatic stamping production line
CN103447408A (en) * 2012-06-04 2013-12-18 何芳 Mechanical arm
CN102765086A (en) * 2012-07-26 2012-11-07 江苏尚诚精密模具科技有限公司 Intelligent robot with stamping and carrying functions
CN103803324A (en) * 2013-01-25 2014-05-21 常州先进制造技术研究所 Board overturning device and board overturning method thereof
CN103803324B (en) * 2013-01-25 2016-04-06 常州先进制造技术研究所 Turning plate device and method for turning thereof
CN103252770A (en) * 2013-04-15 2013-08-21 佛山市鼎峰机器人有限公司 Workpiece stamping intelligent control process and intelligent control manipulator
CN104440898A (en) * 2013-09-13 2015-03-25 范克健 Intelligent robot capable of high-speed feeding and discharging
CN103537578A (en) * 2013-10-17 2014-01-29 亿和精密工业(苏州)有限公司 Manipulator taking mechanism
CN103537578B (en) * 2013-10-17 2016-01-20 亿和精密工业(苏州)有限公司 A kind of manipulator material fetching mechanism
CN104015187A (en) * 2014-05-26 2014-09-03 苏州西点金工精密机械有限公司 Flexible stamping mechanical arm
CN104259335A (en) * 2014-08-18 2015-01-07 昆山鑫腾顺自动化设备有限公司 Operation process of four-axis punching reclaimer
CN104535383A (en) * 2014-12-10 2015-04-22 上海华之光谱仪器有限公司 Three-dimensional adjustable manipulator claw for sample pretreatment
CN104535383B (en) * 2014-12-10 2017-06-23 上海华之光谱仪器有限公司 A kind of three-dimensional adjustable mechanical cleft hand for sample pre-treatments
CN104550523B (en) * 2015-01-07 2016-06-15 瑞安市杭瑞自动化科技有限公司 Single automatic production line for punch
CN104550523A (en) * 2015-01-07 2015-04-29 瑞安市杭瑞自动化科技有限公司 Single-punch automatic production line
CN104960963A (en) * 2015-06-02 2015-10-07 广西大学 Stacking device for punching plate materials
CN104960963B (en) * 2015-06-02 2017-05-17 广西大学 Stacking device for punching plate materials
CN105149400A (en) * 2015-06-23 2015-12-16 东莞沁峰机器人有限公司 Efficient stamping robot
CN105171718A (en) * 2015-09-18 2015-12-23 东莞市三润田自动化设备有限公司 Four-axis mechanical arm
CN105171718B (en) * 2015-09-18 2018-07-06 东莞三润田智能科技股份有限公司 Four axis robots
CN105150202A (en) * 2015-10-01 2015-12-16 合肥金海康五金机械制造有限公司 Grabbing mechanism of material taking mechanical arm
CN105234948A (en) * 2015-10-26 2016-01-13 泉州市远东环保设备有限公司 Demolding and collecting counting mechanism arm used for paper pulp mold environmental protection dining utensils
CN105436277B (en) * 2015-11-17 2018-07-10 江苏理工学院 Press line automaton
CN105436277A (en) * 2015-11-17 2016-03-30 江苏理工学院 Automatic control device for punching machine production line
CN105234941A (en) * 2015-11-17 2016-01-13 江苏理工学院 Mechanical control device with cross position changing function and control method of control device
CN105619156A (en) * 2016-03-25 2016-06-01 苏州倍特罗智能科技有限公司 Sucker type feeding and discharging manipulator of vertical punching machine
CN105965225A (en) * 2016-06-27 2016-09-28 中国原子能科学研究院 Reactor graphite removal device
CN107755559A (en) * 2016-08-23 2018-03-06 天津星原汽车零部件有限公司 A kind of angle regulating equipment being used for before automatic stamping
CN106180455B (en) * 2016-08-26 2018-06-01 苏州神运机器人有限公司 Three axis pressing robots
CN106180455A (en) * 2016-08-26 2016-12-07 苏州神运机器人有限公司 Three axle pressing robot

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