CN102950590A - Two-axis manipulator for press line and working process of two-axis manipulator - Google Patents

Two-axis manipulator for press line and working process of two-axis manipulator Download PDF

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Publication number
CN102950590A
CN102950590A CN2012103962409A CN201210396240A CN102950590A CN 102950590 A CN102950590 A CN 102950590A CN 2012103962409 A CN2012103962409 A CN 2012103962409A CN 201210396240 A CN201210396240 A CN 201210396240A CN 102950590 A CN102950590 A CN 102950590A
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CN
China
Prior art keywords
axis
bar
transmission
terminal
collecting machine
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN2012103962409A
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Chinese (zh)
Inventor
王隆太
项余建
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Jiangsu (yangzhou) Numerical Control Machine Tool Research Institute
Original Assignee
Jiangsu (yangzhou) Numerical Control Machine Tool Research Institute
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by Jiangsu (yangzhou) Numerical Control Machine Tool Research Institute filed Critical Jiangsu (yangzhou) Numerical Control Machine Tool Research Institute
Priority to CN2012103962409A priority Critical patent/CN102950590A/en
Publication of CN102950590A publication Critical patent/CN102950590A/en
Pending legal-status Critical Current

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Abstract

The invention relates to a two-axis manipulator for a press line and a working process of the two-axis manipulator. The manipulator comprises a rack, a Y-axis transmission mechanism, an X-axis transmission mechanism, toolings and a control system, wherein a Y-axis servo motor is fixedly arranged above the rack and connected with a ball screw through a shaft coupling; a ball nut is fixedly arranged on a sliding platform; two sides of the sliding platform are respectively provided with a Y-axis guiding device; an X-axis servo motor is arranged in the middle part of a fixed bracket; two sides of the inner wall of the fixed bracket are respectively provided with a guiding device; cross rods can be horizontally and movably arranged in the guiding devices; and the toolings are respectively arranged below two ends of the cross rods. The manipulator is short in transmission path and high in transmission rigidity; the two cross rod structures are respectively suitable for different working conditions of high speed and low load as well as low speed and heavy load; and as a buffering stand structure is arranged, the two toolings can operate simultaneously, and the working efficiency is high.

Description

Stamping line two axis robot and the course of work thereof
Technical field
The present invention relates to the metal forming manufacture field, be applicable to the forcing press automated production, be particularly useful for the automatic feeding, discharge device of middle-size and small-size forcing press Serial Production Line.
Background technology
Metallic plate punching be shaped processing have production efficiency height, material consumption useless less, can improve product material internal structure and mechanical performance, belong to less, without the part forming technique of cutting, be a kind of very important manufacturing process of numerous machine industries.Yet the transmission of workpiece is still finished by manually-operated mostly between Present Domestic forcing press feeding, discharge or press production line machine, and its production efficiency is low, and operating environment is poor, and production safety can not get ensureing.
Although, some stamping line automatic loading/unloading technology have been proposed in recent years, such as the patent of invention ZL00210806.2(punching automation loading and unloading manipulator of having been authorized by State Intellectual Property Office), and the patent of invention 200910065630.6(that has announced is used for the punching automation loading and unloading manipulator), (annotate: the latter is entirely the former reprint), but have following many defectives and deficiency (such as figure below):
1) the two-freedom manipulator mentioned of prior art, its vertical direction are to realize by the cylinder of fixed journey system, can not satisfy stamped workpieces day by day complicated and changeable stroke requirement in the vertical direction;
2) servomotor of horizontal direction driving is arranged on frame one side, and motor output shaft extends to the driving cylinder place that terminal-collecting machine moves up and down by shaft coupling, and power transmission shaft is oversize, and this axle supporting condition and rigidity are all relatively poor;
3) movement in the horizontal direction of manipulator terminal-collecting machine be by the servomotor output shaft by synchronous pulley and be installed in synchronous belt pulley transmission on the line slideway, but be difficult to realize from illustrating its structure;
4) manipulator terminal-collecting machine stroke in the horizontal direction is usually larger, and in this direction guiding mechanism is not set, can produce larger swing or rock the functional reliability extreme difference when manipulator moves;
5) robot gantry bottom installed surface is less, and center of gravity drops on outside the installed surface, can cause that manipulator topples over.
Summary of the invention:
The present invention is directed to defective and the deficiency of prior art, proposed a kind of stamping line two axis robot, its technical scheme is: comprise frame, X-axis transmission mechanism, Y-axis transmission mechanism, terminal-collecting machine and composition of the control system;
Described X-axis transmission mechanism, comprise that X-axis servomotor, fixed support, X-axis transmission device, cross bar and X-axis guider form, the X-axis servomotor is arranged on the fixed support middle part, fixed support inwall both sides are provided with the X-axis guider, the X-axis transmission device connects with the X-axis servomotor, and cross bar is done horizontal movement through the X-axis actuator drives under the constraint of X-axis guider;
Described Y-axis transmission mechanism, comprise Y-axis servomotor, ballscrew nut fitting, sliding platform and Y-axis guider, the Y-axis servomotor is fixedly arranged on the top of frame, links to each other with ball screw through shaft coupling, ball nut is fixedly arranged on the sliding platform, and the sliding platform both sides are provided with the Y-axis guider;
Y-axis transmission mechanism and X-axis transmission mechanism connect firmly realization and connect up and down between the two with support bracket fastened through sliding platform;
Below, cross bar two ends arranges a terminal-collecting machine separately.
The cross bar of described X-axis transmission mechanism is hollow steel rectangular configuration, and the X-axis transmission device is the gear formation that is arranged on the tooth bar of cross bar top and is arranged on the decelerator output.
Described X-axis guider is by being arranged on up and down totally four V-type rails and be installed in that some rollers consist of on the fixed support both sides of cross bar both sides.
The cross bar of described X-axis transmission mechanism is the aluminium section structure, the X-axis transmission device is the synchronous pulley formation that is installed in the Timing Belt of aluminium section bar top and is arranged on the decelerator output, the Timing Belt two ends are installed in two ends, aluminium section bar top, and by being installed in two guide wheel tensionings on the frame.
The X-axis guider is that some little slide units consist of on the fixed support both sides by two linear guides that are arranged on the cross bar both sides and being installed in of matching with it.
Frame is provided with buffer table, as the relay station of material transmission between host computer and slave computer.
Above-mentioned robot manipulator structure can be connected and be formed a manipulator.
[w1] the present invention carries out operation according to the following steps:
1) stretches out to a side level: drive sheer pole in X-axis and stretch out to a side level, make the terminal-collecting machine of a side move to the host computer center, make simultaneously the terminal-collecting machine of opposite side move to frame buffer table place;
2) decline feeding: drive sheer pole in Y-axis and move down, side terminal-collecting machine feeding in the host computer mould, the opposite side terminal-collecting machine is from the buffer table feeding;
3) feeding promotes: mobile on the Y-axis, feeding promotes;
4) move to opposite side and stretch out: under X-axis drove, cross bar moved to opposite side, until a side terminal-collecting machine moves to frame buffer table place, the opposite side terminal-collecting machine moves to the slave computer center;
5) decline blowing: Y-axis drives and moves down, and a side terminal-collecting machine is discharged to the frame buffer table, and the opposite side terminal-collecting machine is discharged in the slave computer mould;
6) promote: mobile on the Y-axis, manipulator empty-handedly promotes;
7) next time working cycles is prepared in reposition.
Characteristics of the present invention: 1) X-axis servomotor of the present invention is arranged on central rack, and drive path is shortened, and has improved the rigidity of transmission system and associated components; 2) vertical direction of the present invention is by the Y-axis driven by servomotor, and its stroke free degree is controlled, can satisfy flexibly user demand; 3) the present invention arranges the transmission mechanism of two kinds of different structure forms in order to satisfy different use occasions, is suitable for respectively two kinds of different operating modes of high speed light loading and low-speed heave-load.
In sum, the present invention has vertical and horizontal both direction controllable degrees of freedom, manipulator arm has two kinds of different structures, be applicable to two kinds of different operating modes of high speed light loading and low-speed heave-load, simple for structure, low cost of manufacture can be used for separate unit forcing press feeding, discharge, also can be used for the material transferring between stamping line host computer and slave computer.
Description of drawings
Fig. 1 is structural representation of the present invention.
Fig. 2 is the side view of Fig. 1.
Fig. 3,4 is for the transmission mechanism structural representation of two kinds of different structure forms of the present invention.
Fig. 5 is the guiding mechanism structural representation of the transmission mechanism in the corresponding diagram 3.
Fig. 6 is the guiding mechanism structural representation of the transmission mechanism in the corresponding diagram 4.
Fig. 7 is the structural representation of Y-axis transmission system of the present invention.
Fig. 8 is that the present invention is applied to automated press line embodiment
Fig. 9 is working cycle diagram of the present invention.
1 is that Y-axis servomotor, 2 is that Y-axis linear guides, 3 is that X-axis support, 4 is that terminal-collecting machine, 5 is that frame, 6 is that compensating cylinder, 7 is that ballscrew nut fitting, 8 is that sliding platform, 9 is that buffer table, 10 is that X-axis servomotor, 11 is that decelerator, 12 is that gear, 13 is that tooth bar, 14 is that roller, 15 is that V-type rail, 16 is that cross bar one, 17 is that synchronous pulley, 18 is that Timing Belt, 19 is that guide wheel, 20 is that little slide unit, 21 is that X-axis linear guides, 22 is cross bar two among the figure.
The specific embodiment
The present invention's two axis robot comprise the compositions such as frame 5, X-shaft transmission system, Y-axis transmission system, X-axis support 3, buffer table 9 and control system.Y-axis servomotor 1 is fixedly arranged on the top of frame 5, link to each other with ball screw through shaft coupling, ball nut is fixedly arranged on the sliding platform 8, sliding platform 8 is driven through ballscrew nut fitting 7 by Y-axis servomotor 1 and realizes that it moves up and down, and sliding platform 8 guiding are to be finished by the Y-axis linear guides 2 that is fixedly arranged on the frame 5; X-shaft transmission system comprises the compositions such as X-axis servomotor 10, decelerator 11, X-axis support 3, cross bar, transmission mechanism and guiding mechanism, X-axis support 3 connects firmly with faying face on it and Y-axis sliding platform 8, and X-axis servomotor 10 is fixed on the X-axis support 3 through decelerator 11; At the cross bar two ends, with size different terminal-collecting machine 4 can be set according to the stamped workpieces planform.
X-shaft transmission system of the present invention has two kinds of different structures:
A kind of is hollow steel cross bar one 16 structures, and this cross bar 1 can be rectangular steel pipe, also can be two rectangular steel tubes and superposes in short transverse; The X-axis drive mechanism is gear 12 formations that are arranged on the tooth bar 13 of steel pipe top and decelerator 11 outputs are set, and X-axis servomotor 10 drives cross bar one 16 along continuous straight runs and moves through decelerator 11, rack-and-pinion; The X-axis guiding mechanism is by being arranged on up and down totally four V-type rails 15 and be installed in that some rollers 14 consist of on X-axis support 3 both sides of cross bar one 16 both sides.This X-shaft transmission system structure, cross bar one 16 rigidity are better, are applicable to large workpiece severe duty, but because sole mass is large, cause motion inertia force large, are not suitable for high-speed cruising.
Another kind of X-shaft transmission system structure is aluminium section cross bar 2 22 structures, its drive mechanism is synchronous pulley 17 formations that are installed in the Timing Belt 18 at two ends, aluminium section bar top and are arranged on decelerator 11 outputs, X-axis servomotor 10 drives cross bar 2 22 along continuous straight runs through decelerator 11, synchronous pulley 17 and Timing Belt 18 and moves, and Timing Belt 18 is by two guide wheel 19 tensionings that are installed on the X-axis support 3; The X-axis guiding mechanism is that some little slide units 20 consist of on X-axis support 3 two sides by two X-axis linear guides 21 that are arranged on cross bar 2 22 both sides and being installed in of matching with it.This X-shaft transmission system structure, cross bar 2 22 and guiding mechanism quality are light, and inertia force is little, is applicable to underloading high-speed cruising operating mode.
Frame 5 waists of the present invention arrange a buffer table 9, as the relay station of material transmission between host computer and slave computer.
The present invention's two axis robot can be used as material loading, blanking mechanical hand, also can be used as material conveyer tool hand between two forcing presses.
The present invention's two axis robot working cycles can be arranged arbitrarily by the control system programming, yet it is as follows to be used for the typical working cycles of stamping line two axis robot:
1) level is stretched out left: under X-axis drives manipulator arm left level stretch out, make left terminal-collecting machine 4 move to the host computer center, make simultaneously right terminal-collecting machine 4 move to frame buffer table 9 places;
2) decline feeding: manipulator arm moves down under Y-axis drives, left terminal-collecting machine 4 feeding in the host computer mould, and right terminal-collecting machine 4 is from buffer table 9 feedings;
3) feeding promotes: mobile on the Y-axis, feeding promotes;
4) move right and stretch out: under X-axis drove, manipulator moved right, until left terminal-collecting machine 4 moves to frame buffer table 9 places, right terminal-collecting machine 4 moves to the slave computer center;
5) decline blowing: Y-axis drives and moves down, and left terminal-collecting machine 4 is discharged to frame buffer table 9, and right terminal-collecting machine 4 is discharged in the slave computer mould;
6) promote: mobile on the Y-axis, manipulator empty-handedly promotes;
7) next time working cycles is prepared in reposition.

Claims (7)

1. stamping line two axis robot is characterized in that, comprise frame, X-axis transmission mechanism, Y-axis transmission mechanism, terminal-collecting machine and composition of the control system;
Described X-axis transmission mechanism, comprise that X-axis servomotor, fixed support, X-axis transmission device, cross bar and X-axis guider form, the X-axis servomotor is arranged on the fixed support middle part, fixed support inwall both sides are provided with the X-axis guider, the X-axis transmission device connects with the X-axis servomotor, and cross bar is done horizontal movement through the X-axis actuator drives under the constraint of X-axis guider;
Described Y-axis transmission mechanism, comprise Y-axis servomotor, ballscrew nut fitting, sliding platform and Y-axis guider, the Y-axis servomotor is fixedly arranged on the top of frame, links to each other with ball screw through shaft coupling, ball nut is fixedly arranged on the sliding platform, and the sliding platform both sides are provided with the Y-axis guider;
Y-axis transmission mechanism and X-axis transmission mechanism connect firmly realization and connect up and down between the two with support bracket fastened through sliding platform;
Below, cross bar two ends arranges a terminal-collecting machine separately.
2. stamping line two axis robot according to claim 1 is characterized in that, the cross bar of described X-axis transmission mechanism is hollow steel rectangular configuration, and the X-axis transmission device is the gear formation that is arranged on the tooth bar of cross bar top and is arranged on the decelerator output.
3. stamping line two axis robot according to claim 2 is characterized in that, described X-axis guider is by being arranged on up and down totally four V-type rails and be installed in that some rollers consist of on the fixed support both sides of cross bar both sides.
4. stamping line two axis robot according to claim 1, it is characterized in that, the cross bar of described X-axis transmission mechanism is the aluminium section structure, the X-axis transmission device is the synchronous pulley formation that is installed in the Timing Belt of aluminium section bar top and is arranged on the decelerator output, the Timing Belt two ends are installed in two ends, aluminium section bar top, and by being installed in two guide wheel tensionings on the frame.
5. stamping line two axis robot according to claim 4 is characterized in that, the X-axis guider is that some little slide units consist of on the fixed support both sides by two linear guides that are arranged on the cross bar both sides and being installed in of matching with it.
6. stamping line two axis robot according to claim 1 is characterized in that, frame is provided with the buffer table of transfer effect material is sent to the slave computer process from host computer.
7. the course of work of stamping line two axis robot is characterized in that, carries out according to the following steps operation:
1) stretches out to a side level: drive sheer pole in X-axis and stretch out to a side level, make the terminal-collecting machine of a side move to the host computer center, make simultaneously the terminal-collecting machine of opposite side move to frame buffer table place;
2) decline feeding: drive sheer pole in Y-axis and move down, side terminal-collecting machine feeding in the host computer mould, the opposite side terminal-collecting machine is from the buffer table feeding;
3) feeding promotes: mobile on the Y-axis, feeding promotes;
4) move to opposite side and stretch out: under X-axis drove, cross bar moved to opposite side, until a side terminal-collecting machine moves to frame buffer table place, the opposite side terminal-collecting machine moves to the slave computer center;
5) decline blowing: Y-axis drives and moves down, and a side terminal-collecting machine is discharged to the frame buffer table, and the opposite side terminal-collecting machine is discharged in the slave computer mould;
6) promote: mobile on the Y-axis, manipulator empty-handedly promotes;
7) next time working cycles is prepared in reposition.
CN2012103962409A 2012-10-18 2012-10-18 Two-axis manipulator for press line and working process of two-axis manipulator Pending CN102950590A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN2012103962409A CN102950590A (en) 2012-10-18 2012-10-18 Two-axis manipulator for press line and working process of two-axis manipulator

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Application Number Priority Date Filing Date Title
CN2012103962409A CN102950590A (en) 2012-10-18 2012-10-18 Two-axis manipulator for press line and working process of two-axis manipulator

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CN102950590A true CN102950590A (en) 2013-03-06

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105665503A (en) * 2016-02-24 2016-06-15 东莞市银通机械科技有限公司 Full-automatic oil press production line capable of automatic material feeding and discharging
CN106335051A (en) * 2016-11-18 2017-01-18 莱恩精机(深圳)有限公司 Double-dynamic quadratic-element internal robot
CN107175299A (en) * 2017-05-26 2017-09-19 清远初曲智能科技有限公司 A kind of punching press loading and unloading numerical control machining center intelligent machine multijaw grasping system
CN110167718A (en) * 2016-12-27 2019-08-23 Abb瑞士股份公司 Pendulum model processing system for punch line

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CN201493366U (en) * 2009-09-29 2010-06-02 蔡寿生 Full-automatic punching machine
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CN201960561U (en) * 2010-06-12 2011-09-07 莱恩精机(深圳)有限公司 Split-type servo manipulator
CN102371316A (en) * 2010-08-12 2012-03-14 昆山威创精密机械有限公司 Carrying device for products
CN202367750U (en) * 2011-12-16 2012-08-08 苏州青林自动化设备有限公司 Full-automatic manipulator capable of delivering independently
CN202461346U (en) * 2012-03-15 2012-10-03 吴江双谊电子科技有限公司 All-in-one machine device for transporting manipulator
CN202964649U (en) * 2012-10-18 2013-06-05 江苏省(扬州)数控机床研究院 Two-axis manipulator used on stamping production line

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6045018B2 (en) * 1981-06-12 1985-10-07 Orii Jidoki Seisakusho Kk
JPS5817519A (en) * 1981-07-24 1983-02-01 Fujitsu Ltd Magnetic head
CN101987339A (en) * 2009-08-03 2011-03-23 孟津县平乐新兴铸造厂 Mechanical hand for stamping and automatic loading and unloading
CN201493366U (en) * 2009-09-29 2010-06-02 蔡寿生 Full-automatic punching machine
CN201960561U (en) * 2010-06-12 2011-09-07 莱恩精机(深圳)有限公司 Split-type servo manipulator
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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105665503A (en) * 2016-02-24 2016-06-15 东莞市银通机械科技有限公司 Full-automatic oil press production line capable of automatic material feeding and discharging
CN105665503B (en) * 2016-02-24 2017-10-10 东莞市银通机械科技有限公司 A kind of Full-automatic oil hydraulic machine production line of automatic loading/unloading
CN106335051A (en) * 2016-11-18 2017-01-18 莱恩精机(深圳)有限公司 Double-dynamic quadratic-element internal robot
CN106335051B (en) * 2016-11-18 2019-05-31 莱恩精机(深圳)有限公司 Hybrid Quadratic Finite Element mould inner machine people
CN110167718A (en) * 2016-12-27 2019-08-23 Abb瑞士股份公司 Pendulum model processing system for punch line
CN107175299A (en) * 2017-05-26 2017-09-19 清远初曲智能科技有限公司 A kind of punching press loading and unloading numerical control machining center intelligent machine multijaw grasping system

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