CN102848379A - Automatic manipulator of caster support press line - Google Patents
Automatic manipulator of caster support press line Download PDFInfo
- Publication number
- CN102848379A CN102848379A CN2012103180863A CN201210318086A CN102848379A CN 102848379 A CN102848379 A CN 102848379A CN 2012103180863 A CN2012103180863 A CN 2012103180863A CN 201210318086 A CN201210318086 A CN 201210318086A CN 102848379 A CN102848379 A CN 102848379A
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Abstract
The invention relates to an automatic manipulator of a caster support press line. The automatic manipulator comprises a shell, a structural support, an electric manipulator, a driving device and a control device. The structural frame comprises a fixing plate, guide columns, an upper base, a lower base, an upper lifting table, a lower lifting table and a rotating table, and the upper base, the lower base, the upper lifting table and the lower lifting table are supported by the guide columns in a crossing manner; the electric manipulator is mounted on the rotating table; the driving device comprises two stepper motors, one stepper motor is mounted on the upper lifting table, is connected with a rotary shaft of the rotating table by a synchronous belt pulley and drives the manipulator to rotate, and the other stepper motor is mounted on the lower base, is connected with the lifting tables by a synchronous belt pulley and a lead screw and enables the manipulator to ascend and descend; and the control device comprises sensors and a programmable controller. The automatic manipulator is low in cost and easy to operate, is simple, convenient and stable, can move in various manners, has dust and chip prevention functions, can accurately extend onto a cavity of a punch press according to different characteristics of dies at different stations of the press line, picks up and delivers workpieces and replaces workers to carry out tasks such as carrying, feeding and discharging.
Description
Technical field
The present invention relates to trundle bracket punch line equipment technical field, be specifically related to a kind of automatic mechanical hand that is applicable to the trundle bracket punch line.
Background technology
Mostly domestic trundle bracket punch line is the manual punching production of workman at present, and not only working condition is abominable for the manual loading and unloading punching press of workman, and security is low, and easily fatigue causes production accident.Although the manipulator design of some is also arranged in order to replace the operation that this action is simple, repeatability is larger at present, but with regard to domestic trundle bracket punch line, Unimate is expensive, complex structure, for this simple repetitive operation, the function that seems is superfluous, and operating personnel are also had higher requirement, and trundle bracket is because shape is special, the mould of each station has different characteristics, and scope of activities is limited in the punch press die cavity, and workpiece requires flexibility ratio large when crawl.So need a kind of simple and reliable manipulator that is specifically designed to the production of trundle bracket automatic stamping of design.But at present, be exclusively used at home field or blank of manipulator that the trundle bracket automatic stamping produces.
Summary of the invention
For above situation, technical problem to be solved by this invention is, trundle bracket punch line automatic mechanical hand is provided, be used for automatically finishing the loading and unloading and transporting between each punching machine mold of trundle bracket workpiece, claimed structure is simple, easy to operate, with low cost simultaneously, and the present invention realizes by following scheme.
Trundle bracket punch line automatic mechanical hand comprises shell, structure stand, electricapparatus hand, drive unit and control device, and described shell is divided into upper strata shell and lower floor's shell; Structure stand comprises fixed head, guide pillar, Up/down base, oscilaltion platform and turntable; The electricapparatus hand is installed on the turntable, with the turntable swing rotary; Drive unit comprises the first stepper motor and the second stepper motor, and the reducing gear that carries of the first stepper motor is installed on the lifting platform and the rotating shaft of motor shaft connection turntable, and the driving device hand rotatablely moves; Second stepper motor is installed on the lower bottom base and motor shaft connects the elevating movement that screw mandrel on the lower lifting platform is realized manipulator; Control device comprises for detection of the sensor of the manipulator anglec of rotation and adjustable height with for the Programmable Logic Controller of controlling electricapparatus hand, stepper motor.
Further, described shell is divided into upper strata shell and lower floor's shell, plays effects dustproof and anti-bits, its at the middle and upper levels shell be fixed on the turntable, thereupon rotation, lower floor's shell is installed on the base, maintains static.
Further, described structure stand comprises that mainly fixed head, supporting guide pillar, Up/down base, oscilaltion platform and turntable form, and fixed head passes through fixedly lower bottom base of 3 supporting guide pillars, and lower bottom base connects upper bed-plate by the 3 foundation seat axis of guides; Lower lifting platform is installed between the Up/down base, and upper lifting platform connects by 3 lifting platform axis of guides with lower lifting platform; Described base guide axle passes lower lifting platform, and the described lifting platform axis of guide passes upper bed-plate, the supporting so that Up/down base and oscilaltion platform cross one another, so that compact conformation, and stablize durable; Turntable is installed on the upper lifting platform by bearing.
Further, described electricapparatus hand comprises telescopic cylinder, the gentle pawl of rotary cylinder, and the gas pawl is installed on the rotary cylinder, and rotary cylinder connects telescopic cylinder, and last telescopic cylinder is installed on the turntable by section bar; This electricapparatus hand compact conformation can stretch into die cavity, according to the special shape of trundle bracket, at each position grabbing workpiece.
Further, described gas pawl replaces with sucker.
Further, drive unit comprises two stepper motors, is responsible for respectively rotatablely moving and elevating movement of manipulator; The first stepper motor of being responsible for rotatablely moving is installed on the lifting platform, and machine shaft links to each other by the rotating shaft of synchronous pulley and turntable; The second stepper motor of being responsible for elevating movement is installed on the lower bottom base, and machine shaft is mounted on leading screw on the lower lifting platform by synchronous pulley; This drive unit can freely be controlled accurately the elevating movement of manipulator and rotatablely move, thereby the auxiliary electrical manipulator stretches into die cavity, arrives the suitable position of fetching and delivering, and flexibility ratio is large.
When the present invention uses, be installed in the motor rotation on the base, drive synchronizing wheel and leading screw and rotate, thus the elevating movement of realization manipulator.Be installed in the motor rotation on the lifting platform, the rotating shaft that drives synchronizing wheel and turntable is rotated, and can realize that mechanical arm 360 degree rotate.Telescopic cylinder inflation so that the rotary cylinder that is installed on it, gas pawl move horizontally thereupon, after rotary cylinder can make workpiece be held take mechanical arm as axis rotation.
Compared with prior art, the present invention has following advantage and technique effect: the present invention is simple and compact for structure, cost is lower, handled easily, realizes the multi-motion mode, and has dustproof, anti-bits function.The manipulator control adjustable range is large, be applicable to the trundle bracket production of multiple different size, have simultaneously 4 frees degree, can stretch into easily die cavity, the realization workpiece is fetched and delivered at each station in limited scope of activities, satisfies the different characteristics of each station mold in the trundle bracket production fully.This manipulator can be realized the multi-motion mode, and has dustproof, an anti-bits function, the automatic improving that is particularly useful for the trundle bracket stamping line, can be for the different characteristics of each station die of punch line, accurately stretch into the punch press die cavity, realize fetching and delivering of workpiece, replace the workman and finish the tasks such as carrying on each station, loading and unloading.
Description of drawings
Fig. 1 a is the cut-away view of trundle bracket punch line automatic mechanical hand in the embodiment.
Fig. 1 b and Fig. 1 c are the enlarged drawing of the first synchronous pulley 3 and the second synchronous pulley.
Fig. 2 is the side view of trundle bracket punch line automatic mechanical hand shown in Figure 1.
Fig. 3 is the outline drawing of trundle bracket punch line automatic mechanical hand.
Wherein, 1 is fixed head, and 2 are supporting guide pillar * 3,3 is the first synchronous pulley, and 4 is lower bottom base, and 5 is sensor, 6 is lower lifting platform, and 7 is the first stepper motor, and 8 is upper bed-plate, 9 is the second synchronous pulley, and 10 is upper lifting platform, and 11 is bearing, 12 is turntable, and 13 is the gas pawl, and 14 is rotary cylinder, 15 is telescopic cylinder, 16 connecting plates, 17 is section bar, 18 are rotating shaft, 19 is the lifting platform axis of guide * 3,20 is that base guide axle * 3,21 are ball screw, and 22 is the second stepper motor, 23 is the upper strata shell, and 24 is lower floor's shell.
The specific embodiment
The present invention is further illustrated below in conjunction with drawings and Examples, but enforcement of the present invention is not limited to this.
Such as Fig. 1 a ~ Fig. 1 c, Fig. 2, trundle bracket punch line automatic mechanical hand comprises shell, structure stand, electricapparatus hand, drive unit and control device, described shell is divided into upper strata shell 23 and lower floor's shell 24, fixed head 1 passes through fixedly lower bottom base 4 of 3 supporting guide pillars 2, and the lower bottom base 4 usefulness 3 foundation seat axis of guides 20 connect upper bed-plates 8.Lower lifting platform 6 is installed between the Up/down base, is passed by base guide axle 20, and upper lifting platform 10 connects lower lifting platform 6 by 3 lifting platform axis of guides 19, and the lifting platform axis of guide 19 passes upper bed-plate 8.On the lower lifting platform 6 ball screw 21 is housed, stepper motor 22 is housed on the lower bottom base, stepper motor 22 is connected with ball screw by synchronous pulley 3 connections, and sensor 5 is installed in and detects adjustable height between the Up/down base.Turntable 12 connection rotating shafts 18 are installed on the upper lifting platform 10 by bearing 11.Stepper motor 7 is installed on the lifting platform 10, by the second synchronous pulley 9 connection rotating shafts 18.Section bar 17 is installed on the turntable 12, connects telescopic cylinder 15 with connecting plate 16, and rotary cylinder 14 is installed on the telescopic cylinder 15, and gas pawl 13 is installed on the rotary cylinder 14.
During the manipulator picking up work piece, under the driving of motor 22, the first synchronous pulley 3 drives ball screw 21 and rotates, so that lower lifting platform 6, upper lifting platform 10 and thereupon lifting of turntable 12.Base guide axle 20 connects lower bottom base 4 and upper bed-plate 8, passes simultaneously lower lifting platform 6, plays guiding and rock-steady structure.The lifting platform axis of guide 19 connects lower lifting platform 6 and upper lifting platform 10, passes simultaneously upper bed-plate 8, also is the effect of guiding and rock-steady structure.After being elevated to specified altitude assignment, motor 7 drives synchronizing wheel 9 and rotates, and drives rotating shaft 18 and turntable and rotates, thereby realize manipulator rotatablely moving around vertical direction.After forwarding assigned address to, telescopic cylinder 15 stretches out, and enters in the die cavity of punch press, rotary cylinder 14 rotates certain angle, simultaneously the second stepper motor 22 driving device hands among a small circle in lifting, arrive the assigned address of crawl after, the closure by the gas pawl realizes picking up of workpiece.For the variation of workpiece shape, the gas pawl also can change sucker into.Behind the grabbing workpiece, motor 22 among a small circle liftings of driving device hand help the workpiece demoulding.Then rotary cylinder 14 rotates, telescopic cylinder 15 indentations, and last the first stepper motor 7 driving device hand-screws leave out punch press die cavity scope.
Process is similar during the manipulator place work piece, the second stepper motor 22 driving device hands are elevated to specified altitude assignment, motor 7 driving device hands turn to specified angle, telescopic cylinder 15 stretches out, and rotary cylinder 14 turns an angle, and enters punch press die cavity assigned address, the 22 among a small circle liftings of driving device hand of the second stepper motor, manipulator is sent into mould, and the gas pawl is opened workpiece and is fallen into mould at last, and punch press carried out punching press after manipulator left die cavity.
Claims (6)
1. trundle bracket punch line automatic mechanical hand is characterized in that comprising shell, structure stand, electricapparatus hand, drive unit and control device, and described shell is divided into upper strata shell and lower floor's shell; Structure stand comprises fixed head, guide pillar, Up/down base, oscilaltion platform and turntable; The electricapparatus hand is installed on the turntable, with the turntable swing rotary; Drive unit comprises the first stepper motor and the second stepper motor, and the reducing gear that carries of the first stepper motor (7) is installed on the lifting platform (10) and the rotating shaft of motor shaft connection turntable, and the driving device hand rotatablely moves; Second stepper motor (22) is installed in the upper and motor shaft of lower bottom base (4) and connects the elevating movement that screw mandrel on the lower lifting platform (6) is realized manipulator; Control device comprises for detection of the sensor of the manipulator anglec of rotation and adjustable height with for the Programmable Logic Controller of controlling electricapparatus hand, stepper motor.
2. said trundle bracket punch line automatic mechanical hand according to claim 1, it is characterized in that: shell is divided into upper strata shell and lower floor's shell, its at the middle and upper levels shell be fixed on the turntable, thereupon rotation, lower floor's shell is installed on the base, maintains static.
3. said trundle bracket punch line automatic mechanical hand according to claim 1, it is characterized in that: described structure stand comprises that mainly fixed head, supporting guide pillar, Up/down base, oscilaltion platform and turntable form, fixed head passes through fixedly lower bottom base of 3 supporting guide pillars, and lower bottom base connects upper bed-plate by the 3 foundation seat axis of guides; Lower lifting platform is installed between the Up/down base, and upper lifting platform connects by 3 lifting platform axis of guides with lower lifting platform; Described base guide axle passes lower lifting platform, and the described lifting platform axis of guide passes upper bed-plate, the supporting so that Up/down base and oscilaltion platform cross one another.
4. said trundle bracket punch line automatic mechanical hand according to claim 1, it is characterized in that: described electricapparatus hand comprises telescopic cylinder, the gentle pawl of rotary cylinder, the gas pawl is installed on the rotary cylinder, rotary cylinder connects telescopic cylinder, and last telescopic cylinder is installed on the turntable by section bar.
5. said trundle bracket punch line automatic mechanical hand according to claim 4, it is characterized in that: described gas pawl replaces with sucker.
6. each described trundle bracket punch line automatic mechanical hand according to claim 1 ~ 5, it is characterized in that: in two stepper motors that drive unit comprises, the first stepper motor of being responsible for rotatablely moving is installed on the lifting platform (10), and machine shaft links to each other by the rotating shaft of synchronous pulley and turntable; The second stepper motor of being responsible for elevating movement is installed on the lower bottom base (4), and machine shaft is mounted on leading screw on the lower lifting platform (6) by synchronous pulley.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012103180863A CN102848379A (en) | 2012-08-31 | 2012-08-31 | Automatic manipulator of caster support press line |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2012103180863A CN102848379A (en) | 2012-08-31 | 2012-08-31 | Automatic manipulator of caster support press line |
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| CN102848379A true CN102848379A (en) | 2013-01-02 |
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| CN2012103180863A Pending CN102848379A (en) | 2012-08-31 | 2012-08-31 | Automatic manipulator of caster support press line |
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| CN103151883A (en) * | 2013-03-22 | 2013-06-12 | 江苏富天江电子电器有限公司 | Floating worktable of direct coil winding machine |
| CN103317044A (en) * | 2013-06-27 | 2013-09-25 | 中国航空工业集团公司北京航空制造工程研究所 | Discharge device and method for large-scale vertical spinning machine |
| CN103418705A (en) * | 2013-08-15 | 2013-12-04 | 浙江安统汽车部件有限公司 | Swing arm-type plate shifting and diverting mechanism |
| CN103522284A (en) * | 2013-10-29 | 2014-01-22 | 江苏剑桥涂装工程有限公司 | Workpiece auto-carry device |
| CN104001824A (en) * | 2014-05-13 | 2014-08-27 | 浙江农林大学 | Automatic feeder for punch press |
| CN104226845A (en) * | 2013-06-07 | 2014-12-24 | 珠海格力电器股份有限公司 | Automation distribution equipment and control method thereof |
| CN104552239A (en) * | 2014-12-31 | 2015-04-29 | 东莞市乐佰特机器人有限公司 | Four-axis transplanting manipulator |
| CN104646553A (en) * | 2014-12-11 | 2015-05-27 | 中国科学院自动化研究所北仑科学艺术实验中心 | Manipulator structure for work-piece clamping carrying |
| CN105479447A (en) * | 2016-01-11 | 2016-04-13 | 东莞市昌玖数控科技有限公司 | Glass carving machine and control method |
| CN105666470A (en) * | 2016-03-28 | 2016-06-15 | 苏州倍特罗智能科技有限公司 | Discharging manipulator device for EMC test equipment |
| CN105728580A (en) * | 2016-03-25 | 2016-07-06 | 宁波圣安机器人科技有限公司 | Red punching mold opening mechanical hand |
| CN105773587A (en) * | 2016-03-28 | 2016-07-20 | 苏州倍特罗智能科技有限公司 | Discharging mechanical arm device used for high and low temperature test equipment |
| CN105855346A (en) * | 2016-03-25 | 2016-08-17 | 宁波圣安机器人科技有限公司 | Hot-stamping flat-die manipulator |
| CN105856037A (en) * | 2016-06-06 | 2016-08-17 | 佛山市德琞科技有限公司 | Automated polishing machine |
| CN106141784A (en) * | 2016-06-30 | 2016-11-23 | 中原内配集团安徽有限责任公司 | A kind of automatic-blanking mechanism cutting processing for cylinder jacket of diesel engine |
| CN106541042A (en) * | 2015-09-23 | 2017-03-29 | 任思旭 | Sheet parts punch process loading and unloading manipulator arm system |
| CN107598000A (en) * | 2017-10-13 | 2018-01-19 | 广东海洋大学 | A kind of punching press loading and unloading manipulator |
| TWI623395B (en) * | 2015-02-03 | 2018-05-11 | Kawasaki Heavy Ind Ltd | Substrate transfer robot and substrate transfer method |
| CN108356195A (en) * | 2018-03-27 | 2018-08-03 | 湖南粤科汇智能科技有限公司 | A kind of efficient production system of hardware |
| CN108568813A (en) * | 2018-06-06 | 2018-09-25 | 格力电器（武汉）有限公司 | A kind of lift rotating equipment |
| CN108818505A (en) * | 2018-07-10 | 2018-11-16 | 华北理工大学 | Qu Shu robot of library |
| CN109129545A (en) * | 2018-08-21 | 2019-01-04 | 合肥工业大学 | A kind of cylindrical coordinate type automatic loading and unloading manipulator |
| CN109434412A (en) * | 2018-12-27 | 2019-03-08 | 武汉联航机电有限公司 | A kind of transfer feeding tooling |
| CN110253558A (en) * | 2019-07-23 | 2019-09-20 | 诸城市优德精工机械有限公司 | A kind of interval compound motion realizes the mechanism of mechanical arm movement |
| CN112008704A (en) * | 2019-05-31 | 2020-12-01 | 昆山怡德鑫精密机械有限公司 | Product transmission mechanical arm |
| CN113042936A (en) * | 2019-12-27 | 2021-06-29 | 天津中利特自动化设备科技有限公司 | Spot welding processing equipment |
| CN115090779A (en) * | 2022-08-25 | 2022-09-23 | 苏州弘皓光电科技有限公司 | Metal shell stamping equipment for developing industrial furnace inner temperature detector |
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| CN2629928Y (en) * | 2003-07-24 | 2004-08-04 | 李威 | Aluminium alloy head auto-cooling manipulator |
| CN201800035U (en) * | 2010-08-20 | 2011-04-20 | 上海电机学院 | Multiple-degree-of-freedom robot |
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| CN103151883A (en) * | 2013-03-22 | 2013-06-12 | 江苏富天江电子电器有限公司 | Floating worktable of direct coil winding machine |
| CN103151883B (en) * | 2013-03-22 | 2015-03-25 | 江苏富天江电子电器有限公司 | Floating worktable of direct coil winding machine |
| CN104226845A (en) * | 2013-06-07 | 2014-12-24 | 珠海格力电器股份有限公司 | Automation distribution equipment and control method thereof |
| CN103317044A (en) * | 2013-06-27 | 2013-09-25 | 中国航空工业集团公司北京航空制造工程研究所 | Discharge device and method for large-scale vertical spinning machine |
| CN103418705B (en) * | 2013-08-15 | 2015-08-19 | 浙江安统汽车部件有限公司 | Swing arm plate indexing mechanism |
| CN103418705A (en) * | 2013-08-15 | 2013-12-04 | 浙江安统汽车部件有限公司 | Swing arm-type plate shifting and diverting mechanism |
| CN103522284A (en) * | 2013-10-29 | 2014-01-22 | 江苏剑桥涂装工程有限公司 | Workpiece auto-carry device |
| CN104001824A (en) * | 2014-05-13 | 2014-08-27 | 浙江农林大学 | Automatic feeder for punch press |
| CN104646553A (en) * | 2014-12-11 | 2015-05-27 | 中国科学院自动化研究所北仑科学艺术实验中心 | Manipulator structure for work-piece clamping carrying |
| CN104646553B (en) * | 2014-12-11 | 2016-11-30 | 中国科学院自动化研究所北仑科学艺术实验中心 | A kind of robot manipulator structure for piece-holder carrying |
| CN104552239A (en) * | 2014-12-31 | 2015-04-29 | 东莞市乐佰特机器人有限公司 | Four-axis transplanting manipulator |
| TWI623395B (en) * | 2015-02-03 | 2018-05-11 | Kawasaki Heavy Ind Ltd | Substrate transfer robot and substrate transfer method |
| CN106541042A (en) * | 2015-09-23 | 2017-03-29 | 任思旭 | Sheet parts punch process loading and unloading manipulator arm system |
| CN105479447A (en) * | 2016-01-11 | 2016-04-13 | 东莞市昌玖数控科技有限公司 | Glass carving machine and control method |
| CN105479447B (en) * | 2016-01-11 | 2017-12-05 | 东莞市昌玖数控科技有限公司 | A kind of glass carving machine and control method |
| CN105855346A (en) * | 2016-03-25 | 2016-08-17 | 宁波圣安机器人科技有限公司 | Hot-stamping flat-die manipulator |
| CN105728580A (en) * | 2016-03-25 | 2016-07-06 | 宁波圣安机器人科技有限公司 | Red punching mold opening mechanical hand |
| CN105773587A (en) * | 2016-03-28 | 2016-07-20 | 苏州倍特罗智能科技有限公司 | Discharging mechanical arm device used for high and low temperature test equipment |
| CN105666470A (en) * | 2016-03-28 | 2016-06-15 | 苏州倍特罗智能科技有限公司 | Discharging manipulator device for EMC test equipment |
| CN105856037A (en) * | 2016-06-06 | 2016-08-17 | 佛山市德琞科技有限公司 | Automated polishing machine |
| CN105856037B (en) * | 2016-06-06 | 2018-01-23 | 佛山市德琞科技有限公司 | One kind automation sander |
| CN106141784A (en) * | 2016-06-30 | 2016-11-23 | 中原内配集团安徽有限责任公司 | A kind of automatic-blanking mechanism cutting processing for cylinder jacket of diesel engine |
| CN107598000A (en) * | 2017-10-13 | 2018-01-19 | 广东海洋大学 | A kind of punching press loading and unloading manipulator |
| CN107598000B (en) * | 2017-10-13 | 2023-11-21 | 广东海洋大学 | Stamping feeding and discharging manipulator |
| CN108356195A (en) * | 2018-03-27 | 2018-08-03 | 湖南粤科汇智能科技有限公司 | A kind of efficient production system of hardware |
| CN108568813A (en) * | 2018-06-06 | 2018-09-25 | 格力电器（武汉）有限公司 | A kind of lift rotating equipment |
| CN108818505A (en) * | 2018-07-10 | 2018-11-16 | 华北理工大学 | Qu Shu robot of library |
| CN109129545A (en) * | 2018-08-21 | 2019-01-04 | 合肥工业大学 | A kind of cylindrical coordinate type automatic loading and unloading manipulator |
| CN109434412A (en) * | 2018-12-27 | 2019-03-08 | 武汉联航机电有限公司 | A kind of transfer feeding tooling |
| CN112008704A (en) * | 2019-05-31 | 2020-12-01 | 昆山怡德鑫精密机械有限公司 | Product transmission mechanical arm |
| CN110253558A (en) * | 2019-07-23 | 2019-09-20 | 诸城市优德精工机械有限公司 | A kind of interval compound motion realizes the mechanism of mechanical arm movement |
| CN113042936A (en) * | 2019-12-27 | 2021-06-29 | 天津中利特自动化设备科技有限公司 | Spot welding processing equipment |
| CN115090779A (en) * | 2022-08-25 | 2022-09-23 | 苏州弘皓光电科技有限公司 | Metal shell stamping equipment for developing industrial furnace inner temperature detector |
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Application publication date: 20130102 |